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Merge branch 'master' into feat/demo_refactoring

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Whi Kwon
2019-06-26 23:35:01 +09:00
committed by GitHub
parent d279d52d9f 9c2475498c
commit 7fff8e3d5a
3 changed files with 30 additions and 5 deletions
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scripts/envs/open_manipulator/open_manipulator_reacher_env.py
+4 -3
View File
@@ -76,15 +76,16 @@ class OpenManipulatorReacherEnv(gym.Env):
if self.env_mode == "sim":
self.reward = self.compute_reward()
# TODO: Add termination condition
# if self.ros_interface.check_for_termination():
# self.done = True
# if self.ros_interface.check_for_termination():
# self.done = True
if self.ros_interface.check_for_success():
self.done = True
self.episode_steps = 0
obs = self.ros_interface.get_observation()
if self.episode_steps == self._max_episode_steps:
self.done = True
self.done = False
self.episode_steps = 0
return obs, self.reward_rescale_ratio * self.reward, self.done, None
scripts/envs/open_manipulator/ros_interface.py
+1 -1
View File
@@ -306,7 +306,6 @@ class OpenManipulatorRosBaseInterface(object):
self.success_count += 1
if self.success_count == self.cfg["SUCCESS_COUNT"]:
print ("Current episode succeeded")
self.success_count = 0
return True
else:
return False
@@ -388,6 +387,7 @@ class OpenManipulatorRosGazeboInterface(OpenManipulatorRosBaseInterface):
# self.delete_target_block()
self.init_robot_pose()
self.success_count = 0
time.sleep(0.5)
self.set_target_block(block_pose)