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https://github.com/wassname/kair_algorithms_draft.git
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54 lines
1.3 KiB
Python
Executable File
54 lines
1.3 KiB
Python
Executable File
from math import pi
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from geometry_msgs.msg import Quaternion
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config = {
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"ENV_NAME": "OpenManipulatorReacher",
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"MAX_EPISODE_STEPS": 100,
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"TERM_COUNT": 5,
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"SUCCESS_COUNT": 5,
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"OVERHEAD_ORIENTATION": Quaternion(
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x=-0.00142460053167, y=0.999994209902, z=-0.00177030764765, w=0.00253311793936
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),
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# box boundary
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"POLAR_RADIAN_BOUNDARY": (0.134, 0.32),
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"POLAR_THETA_BOUNDARY": (-pi * 0.7 / 4, pi * 0.7 / 4),
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"Z_BOUNDARY": (0.05, 0.28),
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"JOINT_LIMITS": {
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"HIGH": {
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"J1": pi * 0.9,
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"J2": pi * 0.5,
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"J3": pi * 0.44,
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"J4": pi * 0.65,
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"GRIP": 0.019,
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},
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"LOW": {
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"J1": -pi * 0.9,
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"J2": -pi * 0.57,
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"J3": -pi * 0.3,
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"J4": -pi * 0.57,
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"GRIP": -0.001,
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},
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},
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# Global variables
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"ACTION_DIM": 5, # Cartesian
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"OBSERVATION_DIM": (25,),
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# terminal condition
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"INNER_RADIAN": 0.134,
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"OUTER_RADIAN": 0.3,
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"LOWER_RADIAN": 0.384,
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"INNER_Z": 0.321,
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"OUTER_Z": 0.250,
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"LOWER_Z": 0.116,
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"ENV_MODE": "sim",
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"TRAIN_MODE": True,
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"DISTANCE_THRESHOLD": 0.05,
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"REWARD_RESCALE_RATIO": 1.0,
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"REWARD_FUNC": "l2",
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"CONTROL_MODE": "position",
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}
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def get():
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return config
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