[Question] Is there a way to set the environment to a specific state in franka kitchen tasks?

[ygtkorkmaz]

I am trying to replay the expert demonstrations in the franka kitchen environment but I couldn't find any way of setting the environment to a specific state in the code. Any help would be appreciated!

[Kallinteris-Andreas]

Set the values in

env.unwrapped.data.qpos
env.unwrapped.data.qvel

more info how mujuco state works can be found here: https://mujoco.readthedocs.io/en/latest/computation/index.html#the-state

[ygtkorkmaz]

Got it, thanks a lot. Also, I realized envs in gymnasium-robotics don't have a get_dataset() function. I believe I should get the dataset using Minari?

[Kallinteris-Andreas]

yes, this project only have robotic environments, for offline RL you need to use minari

[ygtkorkmaz]

Great, thank you so much!