[BC] Change the base camera pose in pick-and-place environments

This change is to ease RGBD-based approaches (goal position is now within the base camera view)
haosulab · Nov 29, 2022 · 2189ce1 · 2189ce1
1 parent 5178d73
commit 2189ce1
Showing 1 changed file with 2 additions and 1 deletion.
diff --git a/mani_skill2/envs/pick_and_place/base_env.py b/mani_skill2/envs/pick_and_place/base_env.py
@@ -119,7 +119,8 @@ def _setup_cameras(self):
         base_camera = self._scene.add_camera(
             "base_camera", 128, 128, np.pi / 2, 0.01, 10
         )
-        base_camera.set_local_pose(look_at([0.2, 0, 0.4], [0, 0, 0]))
+        # base_camera.set_local_pose(look_at([0.2, 0, 0.4], [0, 0, 0]))
+        base_camera.set_local_pose(look_at([0.3, 0, 0.6], [-0.1, 0, 0.1]))
         self._cameras["base_camera"] = base_camera
 
     def _setup_viewer(self):