Refactor OpenManipulator env class (#46)

* Merge subin branch Squashed commit of the following: commit 98112b8c05f955b1eb49a6b78023cad0979d5f95 Author: Subin Yang <ysb8049@naver.com> Date: Sat Mar 30 18:19:46 2019 +0900 Remove noqa commit f45571a80afd403c8ec56db8a2fb5cbedf288db7 Author: Subin Yang <ysb8049@naver.com> Date: Sat Mar 30 17:50:39 2019 +0900 Resolve flake8 commit 058d85bc4ed09441d27065e6d304bfb946942a98 Author: Subin Yang <ysb8049@naver.com> Date: Sat Mar 30 17:41:35 2019 +0900 Modify structures of ros interface and reacher env commit ae4c859ffa6b008823050f310bdccbee6a1de30a Author: Subin Yang <ysb8049@naver.com> Date: Sat Mar 30 17:28:15 2019 +0900 Resolve flake8 commit 4c74ec6527b52d75882ddbe1b4f518f9c252a25c Author: Subin Yang <ysb8049@naver.com> Date: Sat Mar 30 17:23:30 2019 +0900 Resolve flake8 commit 243b2f3739b4388d814a886d5cf1b85a05bb526a Author: Subin Yang <ysb8049@naver.com> Date: Sat Mar 30 17:18:13 2019 +0900 Add open manipulator environment * Refactor openmanipulator environment class * Refactored env structure * Fix errors * Fix error * Add open_manipulator launch file * Fix errors * fix error * fix error * fix error * fix error * fix error * fix error * fix error * Fix typo * Delete unused script * Change reward * Fix typo, add env name to config * Change demo file compatible to python2 (#40) * Change demo file to python2 compatible * Add object to classes for compatibility with python2 * Refactoring config, envs and ros interface (#48) * Refactoring config architecture * Replace network hyper params on agent config * Modify env class and ros interface class * Modify getter and setter on ros interface * Modify wrong code * Fix typo * Add env config * Final environment class and test scripts before the test (#43) * new user branch * Resolve formatting issues on test scripts * Resolve formatting issues on test scripts * Merge subin branch Squashed commit of the following: commit 98112b8c05f955b1eb49a6b78023cad0979d5f95 Author: Subin Yang <ysb8049@naver.com> Date: Sat Mar 30 18:19:46 2019 +0900 Remove noqa commit f45571a80afd403c8ec56db8a2fb5cbedf288db7 Author: Subin Yang <ysb8049@naver.com> Date: Sat Mar 30 17:50:39 2019 +0900 Resolve flake8 commit 058d85bc4ed09441d27065e6d304bfb946942a98 Author: Subin Yang <ysb8049@naver.com> Date: Sat Mar 30 17:41:35 2019 +0900 Modify structures of ros interface and reacher env commit ae4c859ffa6b008823050f310bdccbee6a1de30a Author: Subin Yang <ysb8049@naver.com> Date: Sat Mar 30 17:28:15 2019 +0900 Resolve flake8 commit 4c74ec6527b52d75882ddbe1b4f518f9c252a25c Author: Subin Yang <ysb8049@naver.com> Date: Sat Mar 30 17:23:30 2019 +0900 Resolve flake8 commit 243b2f3739b4388d814a886d5cf1b85a05bb526a Author: Subin Yang <ysb8049@naver.com> Date: Sat Mar 30 17:18:13 2019 +0900 Add open manipulator environment * Refactor openmanipulator environment class * Test the training loop with td3 baseline * Add one-shot launch file for gazebo initialization * Refactored env structure * Fix errors * Fix error * Fix errors * fix error * fix error * fix error * fix error * fix error * fix error * fix error * Fix typo * Delete unused script * Change reward * Fix typo, add env name to config * Refactoring config, envs and ros interface (#48) * Refactoring config architecture * Replace network hyper params on agent config * Modify env class and ros interface class * Modify getter and setter on ros interface * Modify wrong code * Fix typo * Add env config * Resolve flake8, typo issue * Resolve conflict during pull remote
2026-09-10 12:14:41 +08:00 · 2019-04-09 20:45:21 +09:00
parent 7ec5c23c4e
commit 37e9697b1b
28 changed files with 828 additions and 710 deletions
@@ -0,0 +1,52 @@
+from math import pi
+
+from geometry_msgs.msg import Quaternion
+
+config = {
+    "TERM_COUNT": 10,
+    "SUCCESS_COUNT": 10,
+    "OVERHEAD_ORIENTATION": Quaternion(
+        x=-0.00142460053167, y=0.999994209902, z=-0.00177030764765, w=0.00253311793936
+    ),
+    # box boundary
+    "POLAR_RADIAN_BOUNDARY": (0.134, 0.32),
+    "POLAR_THETA_BOUNDARY": (-pi * 0.7 / 4, pi * 0.7 / 4),
+    "Z_BOUNDARY": (0.05, 0.28),
+    "JOINT_LIMITS": {
+        "HIGH": {
+            "J1": pi * 0.9,
+            "J2": pi * 0.5,
+            "J3": pi * 0.44,
+            "J4": pi * 0.65,
+            "GRIP": -0.001,
+        },
+        "LOW": {
+            "J1": -pi * 0.9,
+            "J2": -pi * 0.57,
+            "J3": -pi * 0.3,
+            "J4": -pi * 0.57,
+            "GRIP": 0.019,
+        },
+    },
+    # Global variables
+    "ACTION_DIM": 5,  # Cartesian
+    "OBSERVATION_DIM": (25,),
+    # terminal condition
+    "INNER_RADIAN": 0.134,
+    "OUTER_RADIAN": 0.3,
+    "LOWER_RADIAN": 0.384,
+    "INNER_Z": 0.321,
+    "OUTER_Z": 0.250,
+    "LOWER_Z": 0.116,
+    "ENV_MODE": "sim",
+    "TRAIN_MODE": True,
+    "MAX_EPISODE_STEPS": 100,
+    "DISTANCE_THRESHOLD": 0.1,
+    "REWARD_RESCALE_RATIO": 1.0,
+    "REWARD_FUNC": "l2",
+    "CONTROL_MODE": "position",
+}
+
+
+def get():
+    return config