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Setting action_mode = ActionMode(ArmActionMode.DELTA_EE_POSE) for the gym reach_target task, for example, gives rlbench.task_environment.InvalidActionError: Could not find a path. This is due to the action_space giving out of bounds possibilities.
Edit: after looking into this it seems that the IK breaks even with tiny epsilon (< 0.0005) movement, perhaps when colliding into an object? not sure.
The text was updated successfully, but these errors were encountered:
bycn
changed the title
Gym End Effector-related action mode doesn't work (EE_POSE)
Gym doesn't support End Effector-related action mode (EE_POSE)
Mar 31, 2020
I can't reopen this issue — but could you tell me what delta for example the panda arm can be set to? I'm still getting errors w/ actions on the order of 0.01
Setting action_mode = ActionMode(ArmActionMode.DELTA_EE_POSE) for the gym reach_target task, for example, gives rlbench.task_environment.InvalidActionError: Could not find a path. This is due to the action_space giving out of bounds possibilities.
Edit: after looking into this it seems that the IK breaks even with tiny epsilon (< 0.0005) movement, perhaps when colliding into an object? not sure.
The text was updated successfully, but these errors were encountered: