BUGFIX: Removing spurious self collisions in fetch model that was pre…

…venting full range of motion
vikashplus · Oct 19, 2023 · e160593 · e160593
1 parent 9726f7f
commit e160593
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Showing 3 changed files with 7 additions and 3 deletions.
diff --git a/robohive/envs/arms/fetch/assets/fetch_reach_v0.xml b/robohive/envs/arms/fetch/assets/fetch_reach_v0.xml
@@ -40,4 +40,8 @@
 
     </worldbody>
 
+    <keyframe>
+        <key name="pick_pose" qpos='-0.000445298 0 0.4334 0.0803 -0.906015 -0.0314 0.87789 0 1.62 0 0.0315 0.0315'/>
+    </keyframe>
+
 </mujoco>
diff --git a/robohive/simhive/fetch_sim b/robohive/simhive/fetch_sim
diff --git a/robohive_init.py b/robohive_init.py
@@ -59,7 +59,7 @@ def fetch_simhive():
     print("RoboHive:> Initializing...")
 
     # Mark the SimHive version (ToDo: Remove this when commits hashes are auto fetched from submodules)
-    __version__ = "0.6.0"
+    __version__ = "0.7.0"
 
     # Fetch SimHive
     print("RoboHive:> Downloading simulation assets (upto ~300MBs)")
@@ -89,7 +89,7 @@ def fetch_simhive():
                 clone_path=simhive_path)
 
     fetch_git(repo_url="https://github.com/vikashplus/fetch_sim.git",
-                commit_hash="58d561fa416b6a151761ced18f2dc8f067188909",
+                commit_hash="7f6d25ae8a6f5778379a48fa60c17d685075e64d",
                 clone_directory="fetch_sim",
                 clone_path=simhive_path)