Add Stack Pyramid task and motionplanning solution#683
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chenyenru wants to merge 20 commits intohaosulab:mainfrom
Open
Add Stack Pyramid task and motionplanning solution#683chenyenru wants to merge 20 commits intohaosulab:mainfrom
chenyenru wants to merge 20 commits intohaosulab:mainfrom
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StoneT2000
requested changes
Nov 7, 2024
| class Panda(BaseAgent): | ||
| uid = "panda" | ||
| urdf_path = f"{PACKAGE_ASSET_DIR}/robots/panda/panda_v2.urdf" | ||
| urdf_path = f"{PACKAGE_ASSET_DIR}/robots/panda/panda_v3.urdf" |
| def __init__( | ||
| self, *args, robot_uids="panda_wristcam", robot_init_qpos_noise=0.02, **kwargs | ||
| ): | ||
| self.num_cubes = 6 # 3 + 2 + 1 |
| z_offset = torch.abs(offset[..., 2] - self.cube_half_size[2]) | ||
| xy_flag = xy_offset <= 0.05 | ||
| z_flag = z_offset <= 0.05 | ||
| logger.debug(f"NEXT TO Distance XY: {xy_offset}") |
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remove the print statements and logging
| @@ -0,0 +1,69 @@ | |||
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we don't usually have per env specific tests. this should be removed
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Gotcha. As a side question, I'm curious if there's a reason environments generally don't have per-environment tests?
My rationale for unit testing environment implementation was that it could help ensure the environment works correctly with current and future code changes. However, among different RL environments / framework, I've only come across one instance of environment-specific testing in Gymnasium, specifically in this file:
| **Success Conditions:** | ||
| - the blue cube is static | ||
| - the blue cube is on top of both the red and green cube (to within half of the cube size) | ||
| - the blue cube is static |
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Author
|
Thanks for the comments! They should be addressed now, please take a look |
…jectory Generation
…es, and reversed change for updating panda version
…jectory Generation
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