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duobench/scripts/example.py at master · RobotControlStack/duobench · GitHub

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import time

from duobench.tasks.example import MyTaskEnvConfig

if __name__ == "__main__":

scene = MyTaskEnvConfig()

env = scene.create_env(scene.config())

obs, info = env.reset()

time.sleep(5.0)

print(obs)

# Duo

for _ in range(100):

for _ in range(10):

# move 1cm in x direction (forward) and close gripper

act = {

"left": {"tquat": [0.01, 0, 0, 0, 0, 0, 1], "gripper": [0]},

"right": {"tquat": [0.01, 0, 0, 0, 0, 0, 1], "gripper": [0]},

}

obs, reward, terminated, truncated, info = env.step(act)

# print(obs)

print(reward, terminated, truncated, info)

time.sleep(1.0)

for _ in range(10):

# move 1cm in negative x direction (backward) and open gripper

act = {

"left": {"tquat": [-0.01, 0, 0, 0, 0, 0, 1], "gripper": [1]},

"right": {"tquat": [-0.01, 0, 0, 0, 0, 0, 1], "gripper": [1]},

}

obs, reward, terminated, truncated, info = env.step(act)

# print(obs)

print(reward, terminated, truncated, info)

time.sleep(1.0)

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