Trivial: constrain base x/y noise

haosulab · Mar 3, 2024 · 547374a · 547374a
1 parent ccbb0fc
commit 547374a
Showing 1 changed file with 2 additions and 2 deletions.
diff --git a/mani_skill2/envs/scenes/tasks/pick.py b/mani_skill2/envs/scenes/tasks/pick.py
@@ -264,8 +264,8 @@ def _initialize_agent(self, env_idx):
  # base pos
  robot_pos = self.agent.robot.pose.p
  robot_pos[..., :2] += torch.clamp(torch.normal(
- 0, 0.1, (b, len(robot_pos[0, :2]))
- ), -0.1, 0.1).to(self.device)
+ 0, 0.04, (b, len(robot_pos[0, :2]))
+ ), -0.075, 0.075).to(self.device)
  self.agent.robot.set_pose(Pose.create_from_pq(p=robot_pos))
  # base rot
  qpos[..., 2:3] += torch.clamp(torch.normal(