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fix an bug where the naming of the kwarg collides with the property torque_compensation #794

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fix an bug where the naming of the kwarg collides with the property torque_compensation #794

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4 changes: 2 additions & 2 deletions robosuite/controllers/parts/generic/joint_vel.py
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Original file line number Diff line number Diff line change
Expand Up @@ -124,7 +124,7 @@ def __init__(
self.current_vel = np.zeros(self.joint_dim) # Current velocity setpoint, pre-compensation
self.torques = None # Torques returned every time run_controller is called

self.torque_compensation = kwargs.get("use_torque_compensation", True)
self.use_torque_compensation = kwargs.get("use_torque_compensation", True)

def set_goal(self, velocities):
"""
Expand Down Expand Up @@ -189,7 +189,7 @@ def run_controller(self):
self.summed_err += err

# Compute command torques via PID velocity controller plus gravity compensation torques
if self.torque_compensation:
if self.use_torque_compensation:
torques = (
self.kp * err + self.ki * self.summed_err + self.kd * self.derr_buf.average + self.torque_compensation
)
Expand Down