mirror of
https://github.com/wassname/kair_algorithms_draft.git
synced 2026-08-28 12:50:42 +08:00
Whi Kwon
37e9697b1b
* 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
51 lines
2.5 KiB
XML
Executable File
51 lines
2.5 KiB
XML
Executable File
<?xml version="1.0"?>
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<launch>
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<!-- controller related args -->
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<arg name="use_robot_name" default="open_manipulator"/>
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<arg name="dynamixel_usb_port" default="/dev/ttyUSB0"/>
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<arg name="dynamixel_baud_rate" default="1000000"/>
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<arg name="control_period" default="0.010"/>
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<arg name="use_platform" default="false"/>
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<arg name="use_moveit" default="false"/>
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<arg name="planning_group_name" default="arm"/>
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<arg name="moveit_sample_duration" default="0.050"/>
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<!-- gazebo related args -->
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<arg name="paused" default="false"/>
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<arg name="use_sim_time" default="true"/>
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<arg name="gui" default="true"/>
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<arg name="headless" default="false"/>
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<arg name="debug" default="false"/>
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<!-- controller related -->
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<node name="$(arg use_robot_name)" pkg="open_manipulator_controller" type="open_manipulator_controller" output="screen" args="$(arg dynamixel_usb_port) $(arg dynamixel_baud_rate)">
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<param name="using_platform" value="$(arg use_platform)"/>
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<param name="using_moveit" value="$(arg use_moveit)"/>
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<param name="planning_group_name" value="$(arg planning_group_name)"/>
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<param name="control_period" value="$(arg control_period)"/>
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<param name="moveit_sample_duration" value="$(arg moveit_sample_duration)"/>
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</node>
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<!-- gazebo related -->
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<rosparam file="$(find open_manipulator_gazebo)/config/gazebo_controller.yaml" command="load" />
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<include file="$(find gazebo_ros)/launch/empty_world.launch">
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<arg name="world_name" value="$(find open_manipulator_gazebo)/worlds/empty.world"/>
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<arg name="debug" value="$(arg debug)" />
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<arg name="gui" value="$(arg gui)" />
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<arg name="paused" value="$(arg paused)"/>
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<arg name="use_sim_time" value="$(arg use_sim_time)"/>
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<arg name="headless" value="$(arg headless)"/>
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</include>
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<!-- Load the URDF into the ROS Parameter Server -->
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<param name="robot_description"
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command="$(find xacro)/xacro --inorder '$(find open_manipulator_description)/urdf/open_manipulator.urdf.xacro'"/>
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<!-- Run a python script to the send a service call to gazebo_ros to spawn a URDF robot -->
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<node name="urdf_spawner" pkg="gazebo_ros" type="spawn_model" respawn="false" output="screen"
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args="-urdf -model open_manipulator -z 0.0 -param robot_description"/>
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<!-- ros_control robotis manipulator launch file -->
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<include file="$(find open_manipulator_gazebo)/launch/open_manipulator_controller.launch"/>
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</launch>
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