Deterministic reach-down -> close gripper -> lift (7-D EE-delta + gripper).
(n_down=6, n_close=3, n_lift=7)
| 91 | |
| 92 | |
| 93 | def _scripted_actions(n_down=6, n_close=3, n_lift=7): |
| 94 | """Deterministic reach-down -> close gripper -> lift (7-D EE-delta + gripper).""" |
| 95 | acts = [] |
| 96 | for _ in range(n_down): |
| 97 | acts.append(np.array([0, 0, -0.06, 0, 0, 0, 1.0], dtype=np.float32)) # descend, gripper open |
| 98 | for _ in range(n_close): |
| 99 | acts.append(np.array([0, 0, 0, 0, 0, 0, -1.0], dtype=np.float32)) # close gripper |
| 100 | for _ in range(n_lift): |
| 101 | acts.append(np.array([0, 0, 0.06, 0, 0, 0, -1.0], dtype=np.float32)) # lift, gripper closed |
| 102 | return acts |
| 103 | |
| 104 | |
| 105 | def _build(task): |