Add fixed trajectory baseline

2021-07-08 09:15:09 +02:00
parent 5855f67c2a
commit 869a61e981
3 changed files with 39 additions and 1 deletions
--- a/active_grasp/simulation.py
+++ b/active_grasp/simulation.py
@@ -33,7 +33,7 @@ class Simulation(BtSim):
        ori = Rotation.from_rotvec(np.array([0, 0, np.pi / 2])).as_quat()
        p.loadURDF("table/table.urdf", baseOrientation=ori, useFixedBase=True)
        self.length = 0.3
-        self.origin = [-0.3, -0.5 * self.length, 0.5]
+        self.origin = [-0.35, -0.5 * self.length, 0.5]

    def load_robot(self):
        self.T_W_B = Transform(Rotation.identity(), np.r_[-0.6, 0.0, 0.4])