From bc2fff5841ee4ededd1abb63bc315e9b1b3f192c Mon Sep 17 00:00:00 2001 From: Linfeng Date: Mon, 4 Nov 2024 17:01:56 -0500 Subject: [PATCH] update sampler for hand view --- predicators/ground_truth_models/spot_env/nsrts.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/predicators/ground_truth_models/spot_env/nsrts.py b/predicators/ground_truth_models/spot_env/nsrts.py index 982e639be..dd27416c2 100644 --- a/predicators/ground_truth_models/spot_env/nsrts.py +++ b/predicators/ground_truth_models/spot_env/nsrts.py @@ -105,9 +105,9 @@ def _move_to_hand_view_object_from_top_sampler(state: State, goal: Set[GroundAto obj_to_nav_to = objs[1] # TODO NOTE: Ensure the angle is set to view from the top - # min_angle, max_angle = _get_approach_angle_bounds(obj_to_nav_to, state) + min_angle, max_angle = _get_approach_angle_bounds(obj_to_nav_to, state) # min_angle, max_angle = 0.8 * np.pi, np.pi - min_angle, max_angle = -0.2 * np.pi, 0.2 * np.pi + # min_angle, max_angle = -0.2 * np.pi, 0.2 * np.pi return _move_offset_sampler(state, robot_obj, obj_to_nav_to, rng, min_dist, max_dist, min_angle, max_angle)