Skip to content

Fix Wipe table height drifting across resets #816

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Merged
Abhiram824 merged 2 commits into from
Jul 11, 2026
+3 −3
Merged

Fix Wipe table height drifting across resets #816

Changes from all commits
Commits
Show all changes
2 commits
Select commit Hold shift + click to select a range
0e8bc18
Fix Wipe table height drifting across resets
HaozheZhang6 Jul 9, 2026
4abac28
Remove standalone test file per review
HaozheZhang6 Jul 11, 2026
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
6 changes: 3 additions & 3 deletions robosuite/environments/manipulation/wipe.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -237,6 +237,7 @@ def __init__(
self.table_height_std = self.task_config["table_height_std"]
self.delta_height = None # sample variation in height done in load_model
self.table_offset = np.array(self.task_config["table_offset"])
self.base_table_offset = np.array(self.task_config["table_offset"])
self.table_friction = self.task_config["table_friction"]
self.table_friction_std = self.task_config["table_friction_std"]
self.line_width = self.task_config["line_width"]
Expand Down Expand Up @@ -534,9 +535,8 @@ def _load_model(self):

# Get robot's contact geoms
self.robot_contact_geoms = self.robots[0].robot_model.contact_geoms
if self.delta_height is None:
self.delta_height = self.rng.normal(self.table_height, self.table_height_std)
self.table_offset[2] += self.delta_height
self.delta_height = self.rng.normal(self.table_height, self.table_height_std)
self.table_offset[2] = self.base_table_offset[2] + self.delta_height
mujoco_arena = WipeArena(
table_full_size=self.table_full_size,
table_friction=self.table_friction,
Expand Down
Loading