D'Claw Examples/Documentation

[swinterbotix]

Hi,

Using your assembly and software installation documentation, I was able to get my D'Claw robot and work-space properly configured. I'm a bit at a loss though as to how to perform the three benchmark tasks. I ran the code specified at https://github.com/google-research/robel#23-example-usage and observed the robot motors jerk once. I then put the 'env.step(env.action_space.sample()) part in an infinite loop so that the robot would keep moving, but I don't fully understand what 'DClawTurnFixed-v0' means and how it differs from its two counterparts ('DClawTurnRandom-v0' and 'DClawTurnRandomDynamics-v0'). I assume there are pre-trained models that can be run for each of the three benchmark tasks (pose, screw, turn)? How do I go about running them so that I can visually see the robot doing each task?

Thanks,
Solomon