def _set_action(self, action):
assert action.shape == (2, )
action = action.copy(
) # ensure that we don't change the action outside of this scope
pos_ctrl = action[:2] # robot:body0 and robot:body1 for moving limbs
pos_ctrl *= 0.05 # limit maximum change in position
# Apply action to simulation.
utils.ctrl_set_action(self.sim, pos_ctrl)
def _set_action(self, action): assert action.shape == (2,) action = np.array(action.copy()) # ensure that we don't change the action outside of this scope action *= 1 action = action.clip(-0.5,0.5) # Apply action to simulation. utils.ctrl_set_action(self.sim, action) #utils.mocap_set_action(self.sim, action) for i in range(60): self.sim.step()
def _set_action(self, action):
assert action.shape == (4, )
action = action.copy(
) # ensure that we don't change the action outside of this scope
pos_ctrl, gripper_ctrl = action[:3], action[3]
pos_ctrl *= 0.05 # limit maximum change in position
rot_ctrl = [
1., 0., 1., 0.
] # fixed rotation of the end effector, expressed as a quaternion
gripper_ctrl = np.array([gripper_ctrl, gripper_ctrl])
assert gripper_ctrl.shape == (2, )
if self.block_gripper:
gripper_ctrl = np.zeros_like(gripper_ctrl)
action = np.concatenate([pos_ctrl, rot_ctrl, gripper_ctrl])
# Apply action to simulation.
utils.ctrl_set_action(self.sim, action)
utils.mocap_set_action(self.sim, action)
def _set_action(self, action):
"""
Currently, I am just returning 1 number for the gripper control because there are 2 fingers in the
robot that is used in the OpenAI gym library. If I start using movo, I would need 3 fingers so
perhaps increase the gripper control from 2 to 3.
"""
assert action.shape == (8,)
action = action.copy() # ensures that we don't change the action outside of this scope
pos_ctrl, rot_ctrl, gripper_ctrl = action[:3], action[3:7], action[-1]
# This is where I match the gripper control to number of fingers
gripper_ctrl = np.array([gripper_ctrl, gripper_ctrl])
assert gripper_ctrl.shape == (2,)
# Create the action that we want to pass into the simulation
action = np.concatenate([pos_ctrl, rot_ctrl, gripper_ctrl])
# Now apply the action to the simulation
utils.ctrl_set_action(self.sim, action) # note self.sim is an inherited variable
utils.mocap_set_action(self.sim, action)