[Question] Is there a way to adjust the joint action values using custom trajectory generator values in manager-based workflow code?

[H-Hisamichi]

Dear All,

I created a trajectory generator for a robot with special movements.
How can I adjust the action values using this generator's values in a Manager-based Workflow?
I was able to implement it in the Direct Workflow.

Best regards,

[Mayankm96]

The way I am doing it for my work is having the trajectory generator as a part of the command generator (depends on your application but for mine the goal is to track these demonstrations robustly so it made sense). Then I made a separate action term that gets the data from the command generator.

I hope this helps!

[H-Hisamichi]

Hello @Mayankm96,

Thank you for the advice!
I plan to create an original action MDP and incorporate the generator values.