Comments (3)
Zackory
commented on May 24, 2024
The action space is defined here: https://github.com/Healthcare-Robotics/assistive-gym/blob/main/assistive_gym/envs/env.py#L46
The actions are delta joint angles, in radians, and shown here: https://github.com/Healthcare-Robotics/assistive-gym/blob/main/assistive_gym/envs/env.py#L214
For the Sawyer, you can find the joint indices (from the URDF) that are controlled: https://github.com/Healthcare-Robotics/assistive-gym/blob/main/assistive_gym/envs/agents/sawyer.py#L8
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gabriansa
commented on May 24, 2024
Okay, I thought it could have been delta joint angles. Thanks so much for confirming.
I have another question. I am trying to train a model and then transfer the trained policy onto a real Sawyer robot. I am actually pretty close to achieving this and I guess it could be a great addition to this library.
So my question is (rather dumb but just to double-check) the dimensions of the Sawyer in the simulation are realistic correct?
Just to make sure that what I input to the Sawyer is correct.
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Zackory
commented on May 24, 2024
Yes, it is the Sawyer URDF, which comes from the original Sawyer robot definition.
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