Issue #67: Add the distance between the gripper and the target into state

2026-09-09 11:25:10 +08:00 · 2019-06-23 21:22:22 +09:00
parent 9264c03f76
commit 805887c7cf
1 changed files with 4 additions and 0 deletions
@@ -219,6 +219,9 @@ class OpenManipulatorRosBaseInterface(object):
        robot_joint_velocities = np.array(self.joint_velocities)
        robot_joint_efforts = np.array(self.joint_efforts)

+        # dist to target
+        dist = np.array([self.get_dist()])
+
        obs = np.concatenate(
            (
                gripper_pos,
@@ -226,6 +229,7 @@ class OpenManipulatorRosBaseInterface(object):
                robot_joint_angles,
                robot_joint_velocities,
                robot_joint_efforts,
+                dist
            )
        )
        return obs