File size: 955 Bytes
b86de98 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 | from metaworld.envs.mujoco.sawyer_xyz.sawyer_pick_and_place import (
SawyerPickAndPlaceEnv,
SawyerPickAndPlaceEnvYZ,
)
# from metaworld.core.image_env import ImageEnv
# from metaworld.envs.mujoco.cameras import sawyer_pick_and_place_camera
import numpy as np
env = SawyerPickAndPlaceEnvYZ(
hand_low=(-0.1, 0.55, 0.05),
hand_high=(0.0, 0.65, 0.2),
action_scale=0.02,
hide_goal_markers=False,
num_goals_presampled=5,
p_obj_in_hand=1,
)
while True:
obs = env.reset()
"""
Sample a goal (object will be in hand as p_obj_in_hand=1) and try to set
the env state to the goal. I think there's a small chance this can fail
and the object falls out.
"""
env.set_to_goal(
{'state_desired_goal': env.generate_uncorrected_env_goals(1)['state_desired_goal'][0]}
)
# Close gripper for 20 timesteps
action = np.array([0, 0, 1])
for _ in range(20):
obs, _, _, _ = env.step(action)
env.render() |