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perezjln / gym-lowcostrobot

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Initial position of the robot #7

Closed qgallouedec closed 3 months ago

qgallouedec commented 4 months ago

@perezjln I don't know what this initial position is (I work headless so I can't render the scene) but it's certainly not very relevant (straight robot?). Can you find another, more natural default position?

https://github.com/perezjln/gym-lowcostrobot/blob/c62654a0f018f57688fa54b0176ebaf519781f7b/gym_lowcostrobot/envs/reach_cube_env.py#L92

perezjln commented 4 months ago

It correspond to this position which is related to the mujoco file :

image

qgallouedec commented 4 months ago

It's actually a pretty good default position after all. Can you check the ranges for the joints? I put -pi, pi but I'm not sure that's correct either (it's not necessary for the whole range to be reachable, the important thing is that all the observations are in the range).

perezjln commented 4 months ago

It's actually a pretty good default position after all. Can you check the ranges for the joints? I put -pi, pi but I'm not sure that's correct either (it's not necessary for the whole range to be reachable, the important thing is that all the observations are in the range).

As we can see - https://github.com/perezjln/gym-lowcostrobot/blob/main/gym_lowcostrobot/assets/low_cost_robot.xml - The use of class make sure joints and actuators are in the same range pairwise. for the 4 first [-pi , pi] and then a bit more 'custom' for the last one due to architecture. does that me sense to us ?

qgallouedec commented 4 months ago

It makes sense. So we’ve just to set the range for joint 5 to -2.45 0.032

perezjln commented 4 months ago

It makes sense. So we’ve just to set the range for joint 5 to -2.45 0.032

Action definition and application are factorized to base_env (https://github.com/perezjln/gym-lowcostrobot/commit/73b3439c31e8c57a6aa3212006996e0844f7f957)

I'm wondering if joint 5 should be continuous or discrete in the context of grasping task.

As we deal with rearrangement tasks (lift, pickplace, stack), Im wondering if the continuous action space for gripper is mandatory here.

What do yoou think @qgallouedec ?

qgallouedec commented 3 months ago

I'm wondering if joint 5 should be continuous or discrete in the context of grasping task.

I would say continuous. I've made the change in #18