remove density

ARISE-Initiative · Jun 1, 2018 · cc8eec0 · cc8eec0
1 parent 3efcfb6
commit cc8eec0
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Showing 2 changed files with 28 additions and 29 deletions.
diff --git a/MujocoManip/environments/baxter_lift.py b/MujocoManip/environments/baxter_lift.py
@@ -117,37 +117,37 @@ def reward(self, action):
             # When grippers are far away, tell them to be closer
             l_gh_dist_xy = np.linalg.norm(l_gripper_to_handle)
             r_gh_dist_xy = np.linalg.norm(r_gripper_to_handle)
-            if l_gh_dist_xy > 0.05:
-                reward += 1 - np.tanh(l_gh_dist_xy)
-            if r_gh_dist_xy > 0.05:
-                reward += 1 - np.tanh(r_gh_dist_xy)
+            # if l_gh_dist_xy > 0.05:
+            reward += 1 - np.tanh(l_gh_dist_xy)
+            # if r_gh_dist_xy > 0.05:
+            reward += 1 - np.tanh(r_gh_dist_xy)
 
-            l_gh_dist_xy = np.linalg.norm(l_gripper_to_handle[:2])
-            r_gh_dist_xy = np.linalg.norm(r_gripper_to_handle[:2])
+            # l_gh_dist_xy = np.linalg.norm(l_gripper_to_handle[:2])
+            # r_gh_dist_xy = np.linalg.norm(r_gripper_to_handle[:2])
 
-            l_gh_z_diff = l_gripper_to_handle[2]
-            r_gh_z_diff = r_gripper_to_handle[2]
+            # l_gh_z_diff = l_gripper_to_handle[2]
+            # r_gh_z_diff = r_gripper_to_handle[2]
 
-            handle_reward = 0
+            # handle_reward = 0
 
             # When gripper is close and above, tell them to move away and down
             # When gripper is close and below, tell them to move close and up
-            coef_z = 2
-            coef_xy = 1
-            if l_gh_z_diff > 0: # gripper below handle
-                handle_reward -= coef_z * l_gh_z_diff
-                handle_reward -= coef_xy * l_gh_dist_xy
-            else:
-                handle_reward += coef_z * l_gh_z_diff
-                handle_reward += coef_xy * min(0, -0.05 + l_gh_dist_xy) # force the gripper to move away a bit
-            if r_gh_z_diff > 0:
-                handle_reward -= coef_z * r_gh_z_diff
-                handle_reward -= coef_xy * r_gh_dist_xy
-            else:
-                handle_reward += coef_z * l_gh_z_diff
-                handle_reward += coef_xy * min(0, -0.05 + l_gh_dist_xy) # force the gripper to move away a bit
-
-            reward += handle_reward
+            # coef_z = 2
+            # coef_xy = 1
+            # if l_gh_z_diff > 0: # gripper below handle
+            #     handle_reward -= coef_z * l_gh_z_diff
+            #     handle_reward -= coef_xy * l_gh_dist_xy
+            # else:
+            #     handle_reward += coef_z * l_gh_z_diff
+            #     handle_reward += coef_xy * min(0, -0.05 + l_gh_dist_xy) # force the gripper to move away a bit
+            # if r_gh_z_diff > 0:
+            #     handle_reward -= coef_z * r_gh_z_diff
+            #     handle_reward -= coef_xy * r_gh_dist_xy
+            # else:
+            #     handle_reward += coef_z * l_gh_z_diff
+            #     handle_reward += coef_xy * min(0, -0.05 + l_gh_dist_xy) # force the gripper to move away a bit
+
+            # reward += handle_reward
 
             contact_reward = 0.25
             for contact in self.find_contacts(self.gripper_left.contact_geoms(),

diff --git a/MujocoManip/models/mujoco_object.py b/MujocoManip/models/mujoco_object.py
@@ -406,13 +406,13 @@ class GeneratedPotObject(MujocoGeneratedObject):
     def __init__(self,
                  body_half_size=None,
                  handle_radius=0.005,
-                 handle_length=0.06,
+                 handle_length=0.09,
                  handle_width=0.09,
                  rgba_body=None,
                  rgba_handle_1=None,
                  rgba_handle_2=None,
                  solid_handle=True,
-                 density=3000, # 3 * water, 3 * mujoco default
+                 density=3000, # 3 * water, 3 * mujoco default DEPRECATED for now
                 ):
         super().__init__()
         if body_half_size: 
@@ -460,8 +460,7 @@ def get_collision(self, name=None, site=None):
         main_body.append(gen_geom(geom_type='box',
                          size=self.body_half_size,
                          rgba=self.rgba_body,
-                         group=1,
-                         density=str(self.density)))
+                         group=1))
         handle_z = self.body_half_size[2] - self.handle_radius
         handle_1_center = [0,
                            self.body_half_size[1] + self.handle_length,