Change directory name

2026-09-09 11:25:10 +08:00 · 2019-07-25 22:59:28 +09:00
parent c27d09633a
commit f17a922fb2
2 changed files with 54 additions and 0 deletions
@@ -0,0 +1,54 @@
+from math import pi
+
+from geometry_msgs.msg import Quaternion
+
+
+config = {
+    "ENV_NAME": "OpenManipulatorReacher",
+    "MAX_EPISODE_STEPS": 100,
+    "TERM_COUNT": 5,
+    "SUCCESS_COUNT": 5,
+    "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": 0.019,
+        },
+        "LOW": {
+            "J1": -pi * 0.9,
+            "J2": -pi * 0.57,
+            "J3": -pi * 0.3,
+            "J4": -pi * 0.57,
+            "GRIP": -0.001,
+        },
+    },
+    # 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,
+    "DISTANCE_THRESHOLD": 0.05,
+    "REWARD_RESCALE_RATIO": 1.0,
+    "REWARD_FUNC": "l2",
+    "CONTROL_MODE": "position",
+}
+
+
+def get():
+    return config