script to test control extraction

scripts/test_controller.py

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+import robosuite as suite
+from robosuite.controllers import load_controller_config
+import numpy as np
+
+# Load the desired controller's default config as a dict
+config = load_controller_config(default_controller="OSC_POSE")
+env_config = {}
+env_config["env_name"] = "Lift"
+env_config["robots"] = "Panda"
+env_config["camera_names"] = ["frontview"]
+env_config["camera_heights"] = 480
+env_config["camera_widths"] = 480
+env_config["control_freq"] = 10
+env_config["controller_configs"] = suite.load_controller_config(default_controller="OSC_POSE")
+env_config["has_renderer"] = False
+env_config["has_offscreen_renderer"] = False
+env_config["ignore_done"] = True
+env_config["use_camera_obs"] = False
+
+# Make the environment
+env = suite.make(**env_config)
+
+# Reset the environment
+env.reset()
+
+# Get action limits
+low, high = env.action_spec
+
+# do visualization
+for i in range(10000):
+    action = np.random.uniform(low, high)
+    obs, reward, done, _ = env.step(action)
+
+    # Print action and corresponding torque from the environment. Format them so it's clear
+    print(f"Action: {action}")
+    print(f"Torque: {env.sim.data.ctrl}")