fix data path, rm base_action print

agilexrobotics · Oct 23, 2023 · d172494 · d172494
1 parent 85da580
commit d172494
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Showing 2 changed files with 2 additions and 2 deletions.
diff --git a/aloha_scripts/constants.py b/aloha_scripts/constants.py
@@ -1,6 +1,7 @@
 ### Task parameters
+import os
 
-DATA_DIR = '~/interbotix_ws/src/aloha/aloha_scripts/data'
+DATA_DIR = os.path.expanduser('~/data')
 TASK_CONFIGS = {
     'aloha_wear_shoe':{
         'dataset_dir': DATA_DIR + '/aloha_wear_shoe',

diff --git a/aloha_scripts/real_env.py b/aloha_scripts/real_env.py
@@ -163,7 +163,6 @@ def step(self, action, base_action=None):
             angular_vel_limit = 0.5
             base_action_linear = np.clip(base_action[0], -linear_vel_limit, linear_vel_limit)
             base_action_angular = np.clip(base_action[1], -angular_vel_limit, angular_vel_limit)
-            print(f'base_action: {base_action}')
             self.tracer.SetMotionCommand(linear_vel=base_action_linear, angular_vel=base_action_angular)
         time.sleep(DT)
         return dm_env.TimeStep(