Closed AndrejOrsula closed 3 years ago
Implements https://github.com/AndrejOrsula/drl_grasping/issues/38
Adds end-effector position, orientation and gripper state to observations space alongside octree. These proprioceptive observations are stacked together with octrees (if octree stacking is enabled).
Due to the current lack of Dict obs support in stable-baselines3 (track PR https://github.com/DLR-RM/stable-baselines3/pull/243), this implementation is kinda hacky, but works...
Implements https://github.com/AndrejOrsula/drl_grasping/issues/38
Adds end-effector position, orientation and gripper state to observations space alongside octree. These proprioceptive observations are stacked together with octrees (if octree stacking is enabled).
Due to the current lack of Dict obs support in stable-baselines3 (track PR https://github.com/DLR-RM/stable-baselines3/pull/243), this implementation is kinda hacky, but works...