remove base velocities from global central state

TIERS · Aug 28, 2023 · 451663b · 451663b
1 parent 48e293c
commit 451663b
Showing 1 changed file with 5 additions and 4 deletions.
diff --git a/omniisaacgymenvs/tasks/mobile_franka_marl.py b/omniisaacgymenvs/tasks/mobile_franka_marl.py
@@ -79,7 +79,7 @@ def __init__(
 
         if self.use_local_obs:
             self._num_observations = 26
-            self._num_states = 27 + 3 #27
+            self._num_states = 27 # + 3 #27
 
         self.initial_target_pos = np.array([2.0, 0.0, 0.5])
 
@@ -269,8 +269,8 @@ def get_observations(self) -> dict:
             self.states_buf = torch.hstack((
                 base_pos_xy,
                 base_yaw,
-                base_vel_xy, 
-                base_angvel_z, 
+                #base_vel_xy, 
+                #base_angvel_z, 
                 arm_dof_pos_scaled,
                 franka_dof_vel[:, 3:] * self.dof_vel_scale,
                 self.franka_lfinger_pos,
@@ -286,7 +286,8 @@ def get_observations(self) -> dict:
                 #base_angvel_z, 
                 franka_dof_vel[:, 3:] * self.dof_vel_scale,
                 self.franka_lfinger_pos,
-                self.target_positions
+                self.target_positions,
+
             )).to(dtype=torch.float32)
 
             base_obs = obs