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jr-robotics / robo-gym

An open source toolkit for Distributed Deep Reinforcement Learning on real and simulated robots.
https://sites.google.com/view/robo-gym
MIT License
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Initial, maximum and minimum joint angles #48

Closed Miftahur92 closed 2 years ago

Miftahur92 commented 2 years ago

I have some queries. I am using robo-gym v0.1.8 in ros kinetic. For the mobile manipulation work, I have attached the UR10 manipulator on a mobile base. I want to set some initial joint position for the manipulator so that after every reset it starts from that specific position. Also, I want to set maximum and minimum joint angles so that the arm do not collide with the mobile base. For initial joint angles, I tried changing the values in the "_get_initial_joint_positions" functions inside UR10.py in envs. But the simulation is still starting from the same position.

  1. Is there any other way to change the initial joint angles?
  2. How to monitor the joint angles in each episode ? Thank you.
matteolucchi commented 2 years ago

Hi @Miftahur92,

as mentioned in the docs we are only supporting the latest version of robo-gym.

Is there any other way to change the initial joint angles?

In the latest version you can find in the reset of the environment the possibility to set initial joint positions https://github.com/jr-robotics/robo-gym/blob/835ba2ddb356894279f2a2fcc572a33e2466f060/robo_gym/envs/ur/ur_base_env.py#L73 .

How to monitor the joint angles in each episode ?

What exactly do you mean by monitor? You get the joint angles in the environment state.

Hope this helps.

Cheers,

Matteo

Miftahur92 commented 2 years ago

Hi @matteolucchi Thanks for the hints. I will try to find out.