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danijar / daydreamer

DayDreamer: World Models for Physical Robot Learning
https://danijar.com/daydreamer
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set gripper speed 10000 may break gripper #2

Open k-ish0212 opened 1 year ago

k-ish0212 commented 1 year ago

Thank you for sharing the code!

We are testing this repository's xArm part too, but we noticed xarm-python-SDK have some problems. In this code, gripper speed was set to 10000, but the actual maximum speed is below this value. The problem is that xarm-python-SDK seems not set upper thresh of gripper speed so it may cause unknown behavior. https://github.com/danijar/daydreamer/blob/709016ce11c32dad1f24c4cc77afdf980d2a92a8/embodied/envs/other.py#L265 We found it is better to set around 4500.

danijar commented 1 year ago

Thanks for sharing! Is this just to hide the warnings or does the robot actually behave better in some way?

tatsukamijo commented 1 year ago

Hi,

It doesn't cause any errors, or even warnings, but the gripper started making strange noise after few hours of training. Then we found that the gripper speed was set higher than the maximum.

danijar commented 1 year ago

Haha we noticed a strange noise too, that may be the reason. Thanks!