[Question] How can I reduce action space while keeping actuation alive? about orbit HOT 3 CLOSED

I have no idea if is there a more clear way to change action space through the configuration file, I did somehow change it.

Q1. I would appreciate it if you make me know if there is a better way.
Q2. Is there any possibility that this temporary modification cause any problems?

lift_env.py/_initialize_views

        elif self.cfg.control.control_type == "default":
            # self.num_actions = self.robot.num_actions   # original
            self.num_actions = self.robot.num_actions - 1 # bong

lift_env.py/_step_impl

        elif self.cfg.control.control_type == "default":
            # self.robot_actions[:] = self.actions   # original
            self.robot_actions[:, :-1] = self.actions # bong
            self.robot_actions[:, -1] = -1 * self.should_i_close_gripper():

from orbit.

I see what you are trying to do. I think your current workaround is the best way to do it at the moment. To make the code least disrupted, I would suggest renaming the control type to be called something else ("only_arm" or something). That way you can switch in the future easily.

It is a bit hard to capture all the possible use-cases from the config file without letting it blow up. But I agree, there should be a way to specify which "actuator groups" are part of the robot's action space. I will have to think about it but this will require some more restructuring.

from orbit.

ok, thank you for your reply!

from orbit.