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Fixed gripper not releasing object #128

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merged 3 commits into from
May 31, 2021
Merged

Fixed gripper not releasing object #128

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ce2e87b
[skip ci] Update matrix reshape following PyRep update. Resolves #124.
stepjam Apr 12, 2021
f5972ae
fixed gripper not releasing object
chisarie May 8, 2021
860d27e
Merge branch '1.1.0' into chisarie_branch
stepjam May 31, 2021
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10 changes: 4 additions & 6 deletions rlbench/backend/scene.py
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Original file line number Diff line number Diff line change
Expand Up @@ -254,18 +254,16 @@ def get_mask(sensor: VisionSensor, mask_fn):
gripper_pose=(
np.array(tip.get_pose())
if self._obs_config.gripper_pose else None),
gripper_matrix=(
np.reshape(tip.get_matrix(), (3, 4))
if self._obs_config.gripper_matrix else None),
gripper_matrix=(tip.get_matrix()
if self._obs_config.gripper_matrix else None),
gripper_touch_forces=(
ee_forces_flat
if self._obs_config.gripper_touch_forces else None),
gripper_joint_positions=(
np.array(self._robot.gripper.get_joint_positions())
if self._obs_config.gripper_joint_positions else None),
wrist_camera_matrix=(
np.reshape(self._cam_wrist.get_matrix(), (3, 4))
if self._cam_wrist.still_exists() else None),
wrist_camera_matrix=(self._cam_wrist.get_matrix()
if self._cam_wrist.still_exists() else None),
task_low_dim_state=(
self._active_task.get_low_dim_state() if
self._obs_config.task_low_dim_state else None))
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4 changes: 2 additions & 2 deletions rlbench/task_environment.py
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Expand Up @@ -184,8 +184,8 @@ def step(self, action) -> (Observation, int, bool):
raise ValueError('Gripper action expected to be within 0 and 1.')

# Discretize the gripper action
current_ee = (1.0 if self._robot.gripper.get_open_amount()[0] > 0.9
else 0.0)
open_condition = all(x > 0.9 for x in self._robot.gripper.get_open_amount())
current_ee = 1.0 if open_condition else 0.0

if ee_action > 0.5:
ee_action = 1.0
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