From 0f190a8084fba8330f9b116d067d9d553a0541b8 Mon Sep 17 00:00:00 2001 From: yuqix Date: Fri, 24 Jan 2025 15:27:25 -0600 Subject: [PATCH] fix pot with handles when pot is rectangle --- robosuite/models/objects/composite/pot_with_handles.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/robosuite/models/objects/composite/pot_with_handles.py b/robosuite/models/objects/composite/pot_with_handles.py index 6783e5ebe9..157c162477 100644 --- a/robosuite/models/objects/composite/pot_with_handles.py +++ b/robosuite/models/objects/composite/pot_with_handles.py @@ -169,7 +169,7 @@ def _get_geom_attrs(self): [-(self.body_half_size[1] - self.thickness / 2), 0, self.body_half_size[1] - self.thickness / 2, 0] ) w_vals = np.array( - [self.body_half_size[1], self.body_half_size[0], self.body_half_size[1], self.body_half_size[0]] + [self.body_half_size[0], self.body_half_size[1], self.body_half_size[0], self.body_half_size[1]] ) r_vals = np.array([np.pi / 2, 0, -np.pi / 2, np.pi]) for i, (x, y, w, r) in enumerate(zip(x_off, y_off, w_vals, r_vals)):