From 2189ce10fb8446334ac11094904b9a4fbfadb0d2 Mon Sep 17 00:00:00 2001 From: Jiayuan-Gu Date: Mon, 28 Nov 2022 19:18:56 -0800 Subject: [PATCH] [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) --- mani_skill2/envs/pick_and_place/base_env.py | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/mani_skill2/envs/pick_and_place/base_env.py b/mani_skill2/envs/pick_and_place/base_env.py index 1227a137f..513cbd7c9 100644 --- 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):