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It seems like the init_qpos value for the RethinkGripper is out of the bounds of the reachable qpos values.
Is there currently a method to obtain the gripper qpos bounds?
By experiment (I created an instance of the reach environment with a panda robot and a rethink gripper) it seems like the reachable gripper qpos values range from ca. [-0.01, 0.01] to ca. [0.01, -0.01], while init_qpos is set to be [ 0.020833, -0.020833].
Script to reproduce:
import robosuite
if __name__ == "__main__":
rsenv = robosuite.make(
"Lift",
robots="Panda",
gripper_types="RethinkGripper",
has_renderer=True,
has_offscreen_renderer=False,
render_camera="frontview",
control_freq=20,
use_camera_obs=False,
use_object_obs=False,
horizon=200,
)
# Switch between episodes between opening and closing gripper
# to show both bounds
gripper_actuation = 1
init_qpos = rsenv.robots[0].gripper.init_qpos
print(f"init_qpos: {init_qpos}")
obs = rsenv.reset()
print(obs["robot0_gripper_qpos"])
while True:
rsenv.render()
act = rsenv.action_spec[0] * 0
act[-1] = gripper_actuation
obs, _, done, _ = rsenv.step(act)
gqps = obs["robot0_gripper_qpos"]
print(f"obs: {gqps}")
if done:
gripper_actuation *= -1
rsenv.reset()
The text was updated successfully, but these errors were encountered:
It seems like the init_qpos value for the RethinkGripper is out of the bounds of the reachable qpos values.
Is there currently a method to obtain the gripper qpos bounds?
By experiment (I created an instance of the reach environment with a panda robot and a rethink gripper) it seems like the reachable gripper qpos values range from ca. [-0.01, 0.01] to ca. [0.01, -0.01], while init_qpos is set to be [ 0.020833, -0.020833].
Script to reproduce:
The text was updated successfully, but these errors were encountered: