Re-add line

kevin-thankyou-lin · kevin-thankyou-lin · commit 7871abbb39c5 · 2025-12-23T16:19:56.000-06:00
diff --git a/robosuite/controllers/composite/composite_controller.py b/robosuite/controllers/composite/composite_controller.py
@@ -567,6 +567,7 @@ def _init_joint_action_policy(self):
             max_dq=self.composite_controller_specific_config.get("ik_max_dq", 4),
             max_dq_torso=self.composite_controller_specific_config.get("ik_max_dq_torso", 0.2),
             input_rotation_repr=self.composite_controller_specific_config.get("ik_input_rotation_repr", "axis_angle"),
+            input_ref_frame=self.composite_controller_specific_config.get("ik_input_ref_frame", "world"),
             input_type=self.composite_controller_specific_config.get("ik_input_type", "axis_angle"),
             debug=self.composite_controller_specific_config.get("verbose", False),
         )

Original file line number	Diff line number	Diff line change
`@@ -567,6 +567,7 @@ def _init_joint_action_policy(self):`
`567`	`567`	`max_dq=self.composite_controller_specific_config.get("ik_max_dq", 4),`
`568`	`568`	`max_dq_torso=self.composite_controller_specific_config.get("ik_max_dq_torso", 0.2),`
`569`	`569`	`input_rotation_repr=self.composite_controller_specific_config.get("ik_input_rotation_repr", "axis_angle"),`
	`570`	`+ input_ref_frame=self.composite_controller_specific_config.get("ik_input_ref_frame", "world"),`
`570`	`571`	`input_type=self.composite_controller_specific_config.get("ik_input_type", "axis_angle"),`
`571`	`572`	`debug=self.composite_controller_specific_config.get("verbose", False),`
`572`	`573`	`)`