Fix order of setting the arm configuration

2021-09-11 10:55:48 +02:00
parent 6514872b74
commit 7e6eb53fa7
4 changed files with 18 additions and 17 deletions
--- a/active_grasp/simulation.py
+++ b/active_grasp/simulation.py
@@ -46,9 +46,10 @@ class Simulation:
        self.rng = np.random.default_rng(seed)

    def reset(self):
+        self.set_arm_configuration([0.0, -0.79, 0.0, -2.356, 0.0, 1.57, 0.79])
+        self.scene.reset(rng=self.rng)
        q = self.scene.sample_initial_configuration(self.rng)
        self.set_arm_configuration(q)
-        self.scene.reset(rng=self.rng)
        uid = self.select_target()
        bbox = self.get_target_bbox(uid)
        return bbox