Fix for the collision problem in the pusher environment #3266
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…otic gripper goes through the object
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We are no longer updating Gym with all changes happening on Gymnasium. Please see changes on Farama-Foundation/Gymnasium#950 |
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Description
The issue involves inaccurate collision calculations in a robotic manipulation experiment due to an error in the file pusher.xml. This error prevents the robot gripper from successfully grasping the cup. To rectify this issue, line 69 within the pusher.xml file needs modification.
Fixes # (issue)
Change:
<geom rgba="1 1 1 0" type="sphere" size=“0.05 0.05 0.05" density="0.00001" conaffinity="0"/>
To:
Type of change
Video
Before: https://github.com/openai/gym/assets/83762186/6f6f6e4e-e524-459a-8022-7574eea85abf
After: https://github.com/openai/gym/assets/83762186/2be15619-3787-4b34-b6ef-9df9876ff8ce