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