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ascentai / diy-gym

A framework for creating your own reinforcement learning environments using pybullet
MIT License
19 stars 3 forks source link

Gripper env #16

Closed lbermillo closed 5 years ago

lbermillo commented 5 years ago

Aside from adding the env for the gripper pick and place, I made a few changes on the controllers to accept position targets and modified position gains for smoother movements. This change propagated to the ur_high_five. Also modified the ur5_2f urdf to extend the end effector to the tool center point according to Robotiq docs. Added a new sensor to to give an object's base position and orientation and reward addon for the gripper env.

thomascent commented 5 years ago

hey man, sorry to leave this hanging, you're finished with those changes right? I'll have another look and hit merge if that's ok with you?

lbermillo commented 5 years ago

All good, just made some last minute changes. This is good to merge though.

thomascent commented 5 years ago

sorry it took so long to get in this in, thanks @lbermillo !