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Fix pytorch solver qpos mapping #253

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Merged
matafela merged 1 commit into from
May 7, 2026
Merged

Fix pytorch solver qpos mapping #253

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13 changes: 13 additions & 0 deletions embodichain/lab/sim/solvers/pytorch_solver.py
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Original file line number Diff line number Diff line change
Expand Up @@ -303,6 +303,19 @@ def _qpos_map_to_limits(
is_within_limits = (qpos_mapped >= self.lower_qpos_limits) & (
qpos_mapped <= self.upper_qpos_limits
)

# if qpos_mapped is valid near zero, use it
k_zero = torch.ceil(
(-torch.pi - qpos) / two_pi
) # [-pi, pi] is the valid range near zero
qpos_mapped_near_zero = qpos + k_zero * two_pi
is_within_limits_near_zero = (
qpos_mapped_near_zero >= self.lower_qpos_limits
) & (qpos_mapped_near_zero <= self.upper_qpos_limits)
qpos_mapped[is_within_limits_near_zero] = qpos_mapped_near_zero[
is_within_limits_near_zero
]

return is_within_limits.all(dim=1), qpos_mapped
Comment on lines +318 to 319

@ensure_pose_shape
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