Push Environments #88
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palanc
commented
May 1, 2023
palanc
commented
- Update existing push env to use cartesian action space
- Add new pushing envs
- All pushing envs use robotiq gripper. See additional PR here for gripper updates: Additional joint constraints robotiq_sim#1
added 2 commits
May 1, 2023 14:33
vikashplus
reviewed
May 1, 2023
| @@ -1,7 +1,7 @@ | |||
| { | |||
| # device1: sensors, actuators | |||
| 'franka':{ | |||
| 'interface': {'type': 'franka', 'ip_address':'169.254.163.91'}, | |||
| 'interface': {'type': 'franka', 'ip_address':'172.16.0.1', 'gain_scale': 1.5}, | |||
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Scale can only be a max of 1.0
| <include file="../../../../simhive/scene_sim/topfloor_scene.xml"/> | ||
| <include file="../../../../simhive/franka_sim/assets/assets.xml"/> | ||
| <include file="../../../../simhive/franka_sim/assets/gripper_assets.xml"/> | ||
| <include file="../../../../simhive/robotiq_sim/assets/assets.xml"/> |
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Note that this is franka robot. Adding RobotiQ will cause confusion. We should create a new file for this and name it appropriately.
| @@ -25,6 +30,27 @@ class PushBaseV0(env_base.MujocoEnv): | |||
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| def __init__(self, model_path, obsd_model_path=None, seed=None, **kwargs): | |||
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Currently it looks like, the original env is being replaced by this new IK based env. Right? I think the right way to implement this is to
- define a new act mode called IK
- Once the robot receives
ctrl_desiredin the step, it relies on the process-actuator call to do the translation from ee space to jnt space. - I also think the action space definitions needs to be updated if its IK space
In summary, landing this in a generic way seems to require a rather larger refactor (possibly involving a refactor of the robot class). Let me know if should discuss this before going down this route.
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