Merged 'sim' into 'main' #29
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…ed cube pick-and-place tbh lol).
also fixed offline dataset rewards being 1 instead of 10.
because the franka gripper has a delay and so RLIF just completely fails due to not distinguishing the state before opening the gripper and after.
cube_reach2 is for mobile base, cube_reach3 is for vention table.
…k for both jax 0.6.0 and 0.4.35, while we were using 0.4.35 before now. this is due to some stupid config issues i was encountering with the zed camera, and so i created a new environment. ahhhhhh
been bothering me a long time.
not tested.
i've been wanting to add this for some time now.
as in, it's obtained immediately after reset, which occurs before the 7.0s wait, so it tends to include the human's hand and the block in the bowl.
which is then saved to the buffer and can be loaded to see.
…serl into main-merge-test
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