robot_init_options: Confusion about head tilt #101
Description
I was playing around with the initial scene configuration. I have set fixed positions for the objects to be placed. Now, I am adjusting some values in the qpos array that can be passed as robot_init_options but has some provided default values in base_env
The default values and ranges look as follows:
qpos = np.array(
[-0.2639457174606611, # joint_torso [-4.49, 1.35]
0.0831913360274175, # joint_shoulder [-2.66, 3.18]
0.5017611504652179, # joint_bicep [-2.13, 3.71]
1.156859026208673, # joint_elbow [-2.05, 3.79]
0.028583671314766423, # joint_forearm [-2.92, 2.92]
1.592598203487462, # joint_wrist [-1.79, 1.79]
-1.080652960128774, # joint_gripper (arm joint) [-4.49, 1.35]
0, 0, # joint_finger_right / joint_finger_left [-0.0001, 1.3]
-0.00285961, # joint_head_pan [-3.79, 2.22]
0.7851361 # joint_head_tilt [-1.17, 1.17]
]
)This results in the following scene:
When changing the value for the joint_head_pan, I would expect the robot to rotate its head horizontally, resulting in a different crop of the image.
qpos = np.array(
[-0.2639457174606611,
0.0831913360274175,
0.5017611504652179,
1.156859026208673,
0.028583671314766423,
1.592598203487462,
-1.080652960128774,
0, 0,
-3.5, # only value that changed
0.7851361
]
)However, the scene doesn't change at all. The robot arm and objects disappear. Why is that the case?
