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add joint poses to misc observation #236

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Jul 2, 2024
Merged

add joint poses to misc observation #236

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2 changes: 2 additions & 0 deletions rlbench/backend/scene.py
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Original file line number Diff line number Diff line change
Expand Up @@ -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

return misc
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