remove delta w.r.t. terrain

ami-iit · Apr 30, 2024 · 0e130e3 · 0e130e3
1 parent 5e1463e
commit 0e130e3
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/src/comodo/mujocoSimulator/mujocoSimulator.py b/src/comodo/mujocoSimulator/mujocoSimulator.py
@@ -52,7 +52,7 @@ def set_visualize_robot_flag(self, visualize_robot):
 
     def set_base_pose_in_mujoco(self, xyz_rpy):
         base_xyz_quat = np.zeros(7)
-        base_xyz_quat[:3] = xyz_rpy[:3] + 0.0001
+        base_xyz_quat[:3] = xyz_rpy[:3]
         base_xyz_quat[3:] = self.RPY_to_quat(xyz_rpy[3], xyz_rpy[4], xyz_rpy[5])
         base_xyz_quat[2] = base_xyz_quat[2]
         self.data.qpos[:7] = base_xyz_quat