Closed zichunxx closed 10 months ago
Thanks @STAY-Melody for trying RoboHive. I was able to reproduce this at my end. It seems like the arms starts colliding with the back of the body.
The reason seems to be that the convex hull (used for mesh collisions) is not a good approximation of the actual geometry. The fix should involve creating a better collision surface that avoids that issue. The fix shouldn't be hard, I will update once it is available in the
dev
branch for you to try.
Fixed in e16059360032c300a7f6503b8b47ba7253070d6e
Thanks for the quick response and fix.
Hi!
Thanks to the work of Robohive team!
Before working with the fetch_reach_v0.xml, I found that the
shoulder_pan_joint
can only reach 1.04 instead of its upper limit of 1.6056.Here is the PNG to illustrate this phenomenon:
Is this caused by the Mujoco actuator of the
shoulder_pan_joint
?