def get_action(self, obs):
o_d = self._parse_obs(obs)
action = Action({'delta_pos': np.arange(3), 'grab_effort': 3})
# NOTE this policy looks different from the others because it must
# modify its p constant part-way through the task
pos_curr = o_d['hand_pos']
pos_drwr = o_d['drwr_pos'] + np.array([.0, .0, -.02])
# align end effector's Z axis with drawer handle's Z axis
if np.linalg.norm(pos_curr[:2] - pos_drwr[:2]) > 0.06:
to_pos = pos_drwr + np.array([0., 0., 0.3])
action['delta_pos'] = move(o_d['hand_pos'], to_pos, p=4.)
# drop down to touch drawer handle
elif abs(pos_curr[2] - pos_drwr[2]) > 0.04:
to_pos = pos_drwr
action['delta_pos'] = move(o_d['hand_pos'], to_pos, p=4.)
# push toward a point just behind the drawer handle
# also increase p value to apply more force
else:
to_pos = pos_drwr + np.array([0., -0.06, 0.])
action['delta_pos'] = move(o_d['hand_pos'], to_pos, p=50.)
# keep gripper open
action['grab_effort'] = -1.
return action.array
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._target, p=25.)
action['grab_effort'] = 0.
return action.array
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_xyz'],
to_xyz=self._desired_xyz(o_d),
p=25.)
action['grab_pow'] = 1.
return action.array