💥 Adds new push, slide and pick and place task environments #26
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parameters Features: - A get_controlled_joint service has been added which can be used to retreive the joints that are controlled by a control_type. - Added a get random joint positions services which can be used to request random valid joint positions. - A 'goal_smaple_region' and 'target_marker' rviz marker were added. Small features: - The 'joint_positions_2_follow_joint_trajectory_goal' function now also takes a 'SetJointPositionRequest' message. - The '_set_action' function now also takes joint positions, joint efforts and joint trajectories. Bug Fix: - Fixed a small bug in the 'set_init_pose' function. - Fixed a type check error in the 'control_switcher' class. Breaking changes: - In earlier commits, ROS parameters were used to set values in the PandaTaskEnv environment. In this commit, however, I decided to switch to using one central YAML configuration file. I believe by doing this, it is more evident for users where they can change environment parameters. Additionally, this makes the panda_task_env script less complex. Consequently, the 'ddpg_config.yaml' and 'her_config.yaml' files have been removed as well as the PandaTaskEnv 'get_parms' and '_get_parms' functions.
Features: - A method was added to the PandaTaskEnv which validates the constructor input arguments.i - A '_spawn_object' and '_set_model_state' function were added to the GazeboGoalEnvironment such that we can spawn and change the position of objects in the simulation. Changes: - Removed get_params and _get_params functions since the ROS parameters are no longer used. Bug fix: - Fixed a bug in the init_set_pose function
…ices. Improvements: - Improved input argeument validation function. - Improved the random ee pose and random joint positions services such that users can now also specify joint limits and bounding regions when requesting a random position/pose. Bug Fixes: - Fixed a bug in the PandaTaskEnv and GazeboGoalEnvironment which caused the 'joint_states', 'model_states' and 'link_states' to be never updated since the rospy.spin() was never called. To do this subscribers were replaced by properties in which the 'rospy.wait_for_message' function is used. - Fixed a bug in the 'moveit_planner_service' which caused the retval to never return to the user.
Main Features: - The 'PandaTaskEnv' now automatically determines the size of the acion space based on the constructor input arguments. - The 'goal_sample' function was updated such that is samples within the goal sample region. Small features: - Added a boolean which allows the user to specify wheter the robot pose has to be reset when the environment is reset. - Added a 'env_config.yaml' file which can be used to set a number of important parameters for the 'PandaTaskEnv'. - The 'set_ee_pose', 'set_joint_positions' and 'set_joint_efforts' services now also takes a list of values as an input. Breaking Changes: - Due to the fact that the python package structure and the package name has been changed the code in this commit is not fully back compatible with earlier commits. Other changes: - Cleaned up the code in all the functions and scripts. - Improved docstrings.
🙈 Updates .gitignore
This was referenced Jun 4, 2020
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Adds 3 new task environments to the panda_openai_sim package:
position.
💥 NOTE:
While doing this I had to introduce a lot of breaking changes for the new environments to work. As a result some of the code in this pull request is not back compatibile.