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temporary fix to line the push up with the training distribution #60

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Jun 5, 2024
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temporary fix to line the push up with the training distribution #60

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20 changes: 19 additions & 1 deletion scripts/eval_rlbench.py
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Original file line number Diff line number Diff line change
Expand Up @@ -843,11 +843,29 @@ def pr():
if TASK_DICT[task_spec.name]["phase"][phase]["gripper_open"]:
gripper_state = np.array([1.0])
else:
gripper_state = np.array([0.0])
# We have a bug somewhere in keypointing where the gripper is not closing.
# When we fix that, we should change this back to 0.0.
# HACK: Remove.
if task_spec.name == "push_button" and phase == "prepush":
gripper_state = np.array([1.0])
else:
gripper_state = np.array([0.0])
action = np.concatenate(
[p_gripper_world, q_gripper_world, gripper_state]
)

# If the action is postpush, then we should first close the gripper.
# Super hacky, remove this once we fix the gripper closing bug.
# HACK: REMOVE.
if task_spec.name == "push_button" and phase == "postpush" and i == 0:
close_pos = T_gripper_world[:3, 3]
close_pos[2] += 0.06
close_quat = R.from_matrix(T_gripper_world[:3, :3]).as_quat()
close_action = np.concatenate(
[close_pos, close_quat, np.array([0.0])]
)
obs, reward, terminate = task.step(close_action)

# Attempt the action.
try:
obs, reward, terminate = move(
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