Using data collected after training

[kerenR1]

Hi,

I want to use data collected from the task of Franka lift cube, after the training proces, during the play phase. I want the Franka robot joint angels while I change the cube position each time, Is there a way to do this?

Thank you

[RandomOakForest]

Thank you for posting this discussion. You may implement this functionality in the sim.step() API. However, in the case that training has finished, you may write a script that loads the environment, and define a main loop that steps the simulation, steps the environment, and reads the joint positions. Alternatively, if using the play.py script, you may modify it to add some logic to read back the joint positions and save those as needed.