robossembler/gello_software
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UPDATE emancro gello

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This commit is contained in:
Yuwei Xia 2024-09-23 13:19:29 -07:00
parent daae81f4a7
commit 8e84ad0222
6 changed files with 153 additions and 64 deletions
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9
experiments/run_env.py
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@ -117,7 +117,7 @@ def main(args):
)
if args.start_joints is None:
reset_joints = np.deg2rad(
[0, -90, 90, -90, -90, 0, 0]
[90, 0, 0, 0, 0, 0, 0, 0]
) # Change this to your own reset joints
else:
reset_joints = args.start_joints
@ -146,10 +146,12 @@ def main(args):
raise ValueError("Invalid agent name")
# going to start position
print("Going to start position")
print(f"Going to start position {env.get_obs()}")
start_pos = agent.act(env.get_obs())
print(f"start_pos as: {start_pos}" )
obs = env.get_obs()
joints = obs["joint_positions"]
print(f"joints {joints}")
abs_deltas = np.abs(start_pos - joints)
id_max_joint_delta = np.argmax(abs_deltas)
@ -189,7 +191,7 @@ def main(args):
obs = env.get_obs()
joints = obs["joint_positions"]
action = agent.act(obs)
if (action - joints > 0.5).any():
if (action - joints > 0.5*10).any():
print("Action is too big")
# print which joints are too big
@ -220,6 +222,7 @@ def main(args):
flush=True,
)
action = agent.act(obs)
print(f"action: {action}")
dt = datetime.datetime.now()
if args.use_save_interface:
state = kb_interface.update()