some fixes

examples/OctopusArmControl/arm_simulator_with_mesh.py

@@ -500,7 +500,10 @@ def locomotion_reset(self):
 
         """ Set up arm simulator """
         self.one_arm_fixed_sim = OneArmSimulator()
-        self.one_arm_fixed_sim.append(self.mesh_surface)
+        if self.mesh_surface is not None:
+            self.one_arm_fixed_sim.append(self.mesh_surface)
+        else:
+            self.one_arm_fixed_sim.append(self.plane)
         self.shearable_rods = []
 
         self.angle_list = (

examples/OctopusArmControl/octopus_with_mesh.py

@@ -20,7 +20,7 @@
     "arm_c_per": 1.013,
     "arm_c_tan": 0.0256,
     "target_radius": 0.02,
-    "env_idx": 0,  # 0 for flat ground, 1 for m32_Viekoda_Bay, 2 for mars-landscape
+    "env_idx": 2,  # 0 for flat ground, 1 for m32_Viekoda_Bay, 2 for mars-landscape
 }
 
 task = {}
@@ -86,7 +86,7 @@ def main(filename):
             activations.append(np.zeros(current_muscle_groups[m].activation.shape))
         activations_octopus.append(activations)
 
-    i_arm = 3
+    i_arm = 1
 
     for k_sim in tqdm(range(total_steps)):
         time, systems, done = env.step(time, activations_octopus)

examples/OctopusArmControl/surface_import_and_grid.py

@@ -10,7 +10,7 @@
 
 n_elem = 100  # number of discretized elements of the arm
 base_length = 0.2  # total length of the arm
-env_idx = 1  # 1 for m32_Viekoda_Bay, 2 for mars-landscape
+env_idx = 2  # 1 for m32_Viekoda_Bay, 2 for mars-landscape
 
 # radius_tip = 0.0012  # radius of the arm at the tip
 # radius_base = 0.012  # radius of the arm at the base
@@ -30,7 +30,7 @@
     mesh.translate(-np.array(mesh.mesh_center))
     mesh.rotate(axis=np.array([1.0, 0.0, 0.0]), angle=90)
     mesh.scale(np.array([10.0, 10.0, 10.0]) / np.max(mesh.mesh_scale))
-    mesh.translate(np.array([0.0, 0.0, 0.0]))
+    mesh.translate(np.array([0.0, 0.0, 0.05]))
     filename = "mars-landscape/grid_mars-landscape.dat"
 
 grid_size = max(2 * max(radius_mean), base_length / n_elem)