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richardrl/gist.py

Created May 8, 2019 06:46
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gist.py
block_gripper_contacts = list(filter(lambda contact: (contact.geom1 == right_gripperid or contact.geom1 == left_gripperid) and contact.geom2 == blockid, self.sim.data.contact))
block_gripper_distances = [contact.dist for contact in block_gripper_contacts]
if len(block_gripper_distances) > 0:
collisions += np.any(np.array(block_gripper_distances) <= 0)
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