Fix: fetch grip directions (#361)

haosulab · Jun 2, 2024 · 993c56f · 993c56f
1 parent 38ef2d1
commit 993c56f
Showing 1 changed file with 2 additions and 2 deletions.
diff --git a/mani_skill/agents/robots/fetch/fetch.py b/mani_skill/agents/robots/fetch/fetch.py
@@ -386,8 +386,8 @@ def is_grasping(self, object: Actor, min_force=0.5, max_angle=85):
         rforce = torch.linalg.norm(r_contact_forces, axis=1)
 
         # direction to open the gripper
-        ldirection = self.finger1_link.pose.to_transformation_matrix()[..., :3, 1]
-        rdirection = -self.finger2_link.pose.to_transformation_matrix()[..., :3, 1]
+        ldirection = -self.finger1_link.pose.to_transformation_matrix()[..., :3, 1]
+        rdirection = self.finger2_link.pose.to_transformation_matrix()[..., :3, 1]
         langle = common.compute_angle_between(ldirection, l_contact_forces)
         rangle = common.compute_angle_between(rdirection, r_contact_forces)
         lflag = torch.logical_and(