def get_action(self, obs):
o_d = self._parse_obs(obs)
action = Action({'delta_pos': np.arange(3), 'grab_effort': 3})
action['delta_pos'] = move(o_d['hand_pos'],
to_xyz=self._desired_pos(o_d),
p=10.)
action['grab_effort'] = self._grab_effort(o_d)
return action.array
def get_action(self, obs):
o_d = self._parse_obs(obs)
action = Action({
'delta_pos': np.arange(3),
'grab_pow': 3
})
action['delta_pos'] = move(o_d['hand_pos'], to_xyz=self._desired_xyz(o_d), p=5.)
action['grab_pow'] = 0.
return action.array
