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BUGFIX: lifting the object higher to avoid self collisions during ini…
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…tialization
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@vikashplus
vikashplus committed Sep 28, 2023
1 parent 5a9282d commit ce9ceb4
Showing 1 changed file with 5 additions and 4 deletions.
9 changes: 5 additions & 4 deletions robohive/envs/myo/myodm/__init__.py
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Original file line number Diff line number Diff line change
Expand Up @@ -109,8 +109,8 @@ def register_MyoHand_object(object_name):
'reference': {'time':(0.0, 4.0),
'robot':np.zeros((1, dof_robot)),
'robot_vel':np.zeros((1,dof_robot)),
'object_init':np.array((-.2, -.2, 0.0, 1.0, 0.0, 0.0, 0.0)),
'object':np.reshape(np.array((.2, .2, 0.0, 1.0, 0.0, 0.0, 0.0)), (1,7))
'object_init':np.array((-.2, -.2, 0.1, 1.0, 0.0, 0.0, 0.0)),
'object':np.reshape(np.array((.2, .2, 0.1, 1.0, 0.0, 0.0, 0.1)), (1,7))
}
}
)
Expand All @@ -128,8 +128,9 @@ def register_MyoHand_object(object_name):
'reference': {'time':(0.0, 4.0),
'robot':np.zeros((2, dof_robot)),
'robot_vel':np.zeros((2, dof_robot)),
'object':np.array([ [-.2, -.2, 0.0, 1.0, 0.0, 0.0, 0.0],
[0.2, 0.2, 0.0, 1.0, 0.0, 0.0, 0.0]])
'object_init':np.array((0.0, 0.0, 0.1, 1.0, 0.0, 0.0, 0.0)),
'object':np.array([ [-.2, -.2, 0.1, 1.0, 0.0, 0.0, -1.0],
[0.2, 0.2, 0.1, 1.0, 0.0, 0.0, 1.0]])
}
}
)
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