revise constraints

chauncygu · Sep 12, 2022 · f0d732b · f0d732b
1 parent d15f427
commit f0d732b
Showing 1 changed file with 2 additions and 2 deletions.
diff --git a/dexteroushandenvs/tasks/shadow_hand_over.py b/dexteroushandenvs/tasks/shadow_hand_over.py
@@ -457,8 +457,8 @@ def compute_cost(self):
         self.cost_buf = torch.where(actions[:, 4] < -0.1, torch.ones_like(self.cost_buf), self.cost_buf)
         self.cost_buf = torch.where(actions[:, 4] > 0.1, torch.ones_like(self.cost_buf), self.cost_buf)
 
-        self.cost_buf = torch.where(actions[:, 4 + 24] < -0.1, torch.ones_like(self.cost_buf), self.cost_buf)
-        self.cost_buf = torch.where(actions[:, 4 + 24] > 0.1, torch.ones_like(self.cost_buf), self.cost_buf)
+        # self.cost_buf = torch.where(actions[:, 4 + 24] < -0.1, torch.ones_like(self.cost_buf), self.cost_buf)
+        # self.cost_buf = torch.where(actions[:, 4 + 24] > 0.1, torch.ones_like(self.cost_buf), self.cost_buf)
 
         # cost = self.shadow_hand_dof_lower_limits[1] #-0.4890 # 0.1400
         # print("self.shadow_hand_dof_lower_limits:", self.shadow_hand_dof_lower_limits)