Fix order of setting the arm configuration

active_grasp/simulation.py

@@ -46,9 +46,10 @@ class Simulation:
         self.rng = np.random.default_rng(seed)
 
     def reset(self):
+        self.set_arm_configuration([0.0, -0.79, 0.0, -2.356, 0.0, 1.57, 0.79])
+        self.scene.reset(rng=self.rng)
         q = self.scene.sample_initial_configuration(self.rng)
         self.set_arm_configuration(q)
-        self.scene.reset(rng=self.rng)
         uid = self.select_target()
         bbox = self.get_target_bbox(uid)
         return bbox

cfg/scenes/test3.yaml

@@ -1,7 +0,0 @@
-center: [0.45, 0.0, 0.20]
-q:  [0.0, -1.39, 0.0, -2.36, 0.0, 1.57, 0.79]
-objects:
-- object_id: 019_pitcher_base
-  xyz: [0, 0.1, 0]
-  rpy: [0, 0, 60]
-  scale: 1.0

cfg/scenes/test4.yaml

@@ -1,12 +1,7 @@
-center: [0.5, 0.05, 0.2]
+center: [0.45, 0.0, 0.20]
 q:  [0.0, -1.39, 0.0, -2.36, 0.0, 1.57, 0.79]
 objects:
-- object_id: 004_sugar_box
-  xyz: [-0.04, -0.03, 0.0]
+- object_id: 019_pitcher_base
+  xyz: [0, 0.1, 0]
   rpy: [0, 0, 30]
-- object_id: 008_pudding_box
-  xyz: [-0.02, -0.06, 0.19]
-  rpy: [0, 0, 45]
-- object_id: 010_potted_meat_can
-  xyz: [0.04, 0.03, 0.0]
-  rpy: [0, 0, 60]
+  scale: 1.0

cfg/scenes/test5.yaml

@@ -0,0 +1,12 @@
+center: [0.5, 0.05, 0.2]
+q:  [0.0, -1.39, 0.0, -2.36, 0.0, 1.57, 0.79]
+objects:
+- object_id: 004_sugar_box
+  xyz: [-0.04, -0.03, 0.0]
+  rpy: [0, 0, 30]
+- object_id: 008_pudding_box
+  xyz: [-0.02, -0.06, 0.19]
+  rpy: [0, 0, 45]
+- object_id: 010_potted_meat_can
+  xyz: [0.04, 0.03, 0.0]
+  rpy: [0, 0, 60]