add joint poses to misc observation #236
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eugeneteoh
reviewed
Jul 1, 2024
| @@ -556,4 +556,6 @@ def _get_cam_data(cam: VisionSensor, name: str): | |||
| if self._joint_position_action is not None: | |||
| # Store the actual requested joint positions during demo collection | |||
| misc.update({"joint_position_action": self._joint_position_action}) | |||
| joint_poses = [j.get_pose() for j in self.robot.arm.joints] | |||
| misc.update({'joint_poses': joint_poses}) | |||
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This should be in the observation.
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The use of joint poses is very uncommon. I don't think it's worth adding this to the main observation config
stepjam
approved these changes
Jul 2, 2024
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