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panda_reach.yaml
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panda_reach.yaml
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# This config file contains the configuration values that are used by the Panda reach task
panda_reach:
########################################
# Control settings #####################
########################################
control:
direct_control: True # Directly control the panda robot by publishing on the controller command topics (FAST). When ``False`` the 'panda_gazebo' control services will be used (SLOWER).
# ee_link: "panda_link8" # Uncomment to change end effector. Defaults: 'panda_hand' if gripper loaded, 'panda_link8' otherwise.
# NOTE: Gripper not loaded due to gravity compensation issues with effort control (see https://github.com/frankaemika/franka_ros/issues/160#issuecomment-992776684).
load_gripper: False # Whether you want to load the gripper.
# lock_gripper: True # Whether the gripper should be locked (i.e. not move).
grasping: False # Whether the gripper should grasp objects. If true a max effort of 10N will be used when not specified otherwise.
arm_wait: False # Wait for the arm control to complete before continuing to the next step.
hand_wait: False # Wait for the hand control to complete before continuing to the next step.
ee_control_coordinates: # Control variables used during ee-control.
- "x"
- "y"
- "z"
- "rx"
- "ry"
- "rz"
- "rw"
controlled_joints: # Joints that are controlled during joint position/effort control.
- "panda_joint1"
- "panda_joint2"
- "panda_joint3"
- "panda_joint4"
- "panda_joint5"
- "panda_joint6"
- "panda_joint7"
# NOTE: The current implementation only accepts gripper_width not individual finger joints.
# - "gripper_width"
# NOTE: When uncommented the robot also tries to control the max gripper effort. Only used when 'gripper_width' is controlled.
# - "gripper_max_effort"
locked_arm_joints: # Arm joints that are locked during control.
# - "panda_joint1"
# - "panda_joint2"
# - "panda_joint3"
# - "panda_joint4"
# - "panda_joint5"
# - "panda_joint6"
# - "panda_joint7"
# End-effector frame offset.
# NOTE: Can be used to offset the end-effector pose returned by the robot. By default the transform between the end-effector link and
# the 'panda_EE' frame is used.
# WARNING: The 'ee_frame_offset' is not yet applied correctly when the control type is set to 'end_effector' (see #97).
# ee_frame_offset:
# x: 0.0
# y: 0.0
# z: 0.0
# rx: 0.0
# ry: 0.0
# rz: 0.0
# rw: 1.0
########################################
# Sampling settings ####################
########################################
# Initial pose
pose_sampling:
visualize_init_pose_bounds: True # RViz pose sampling region visualization. Only works for 'pose_sampling_type' is 'ee_pose'.
reset_init_pose: True # Reset the initial pose when resetting the simulation.
random_init_pose: True # Use a random initial pose. The 'init_pose' field below will be used if set to `False`.
randomize_first_episode: True # Also randomize the pose in the first episode.
attempts: 10 # Maximum number of attempts for sampling a random initial pose within the set bounds.
pose_sampling_type: "end_effector_pose" # From which set we should sample the initial pose. Options: 'end_effector_pose' and 'joint_positions'.
moveit_control: False # Use MoveIt to set the initial pose. If `False` the Gazebo 'set_model_configuration' service will be used.
# The initial robot pose (used when random is disabled).
init_pose:
x: 0.23
y: 0.29
z: 0.35
rx: 0.78
ry: 0.62
rz: -0.0
rw: 4.42
panda_joint1: 0.0
panda_joint2: 0.0
panda_joint3: 0.0
panda_joint4: -1.57079632679
panda_joint5: 0.0
panda_joint6: 1.57079632679
panda_joint7: 0.785398163397
gripper_width: 0.001
# Initial ee pose position offset
# NOTE: Ignored when 'random_init_pose' is `False` and 'pose_sampling_type' is `joint_positions`.
offset:
x: 0.0
y: 0.0
z: 0.0
# Init pose sampling bounds
# NOTE: Comment out if you don't want to clip the EE pose or joint positions during sampling.
bounds:
x_min: 0.1
x_max: 0.8
y_min: -0.4
y_max: 0.4
z_min: 0.1
z_max: 1.0
panda_joint1_min: -2.8973 # Min: -2.8973
panda_joint1_max: 2.8973 # Max: 2.8973
panda_joint2_min: -1.7628 # Min: -1.7628
panda_joint2_max: 1.7628 # Max: 1.7628
panda_joint3_min: -2.8973 # Min: -2.8973
panda_joint3_max: 2.8973 # Max: 2.8973
panda_joint4_min: -3.0718 # Min: -3.0718
panda_joint4_max: -0.0698 # Max: -0.0698
panda_joint5_min: -2.8973 # Min: -2.8973
panda_joint5_max: 2.8973 # Max: 2.8973
panda_joint6_min: -0.0175 # Min: -0.0175
panda_joint6_max: 3.7525 # Max: 3.7525
panda_joint7_min: -2.8973 # Min: -2.8973
panda_joint7_max: 2.8973 # Max: 2.8973
gripper_width_min: 0.0 # Min: 0.0
gripper_width_max: 0.08 # Max: 0.08
# Target sampling settings
target_sampling:
strategy: "global" # Options are: `global`, `local` and `fixed`.
visualize_target: True # RViz target visualization.
visualize_target_bounds: True # RViz target sampling region visualization.
offset: # A additional offset applied to the target
x: 0.0
y: 0.0
z: 0.0
# Fixed target
# NOTE: Used when strategy is set to `fixed`.
fixed_target:
x: 0.4
y: 0.0
z: 0.8
# Random target sampling bounds
bounds:
global: # Relative to the world frame
x_min: 0.1
x_max: 0.8
y_min: -0.4
y_max: 0.4
z_min: 0.1
z_max: 1.0
local: # Relative to the current ee_pose.
x_min: -0.15
x_max: 0.15
y_min: -0.15
y_max: 0.15
z_min: -0.15
z_max: 0.15
########################################
# Training settings ####################
########################################
training:
reward_type: "dense" # The reward type used in the reward function ("sparse" or "dense").
target_hold: True # Hold the target position for N samples before done.
hold_samples: 2 # The number of samples for which a agent should hold a target position.
distance_threshold: 0.05 # The threshold for determining a target has been reached.
collision_penalty: 0.0 # The penalty given for when the robot is in collision. Set to `0.0` if you don't want to use a collision penalty.
########################################
# Environment settings #################
########################################
environment:
pause_after_step: True # Pause the simulation after each step.
# The environment action space
action_space:
bounds:
ee_pose:
low:
x: -1.3
y: -1.3
z: 0.0
rx: 0
ry: 0
rz: 0
rw: 0
high:
x: 1.3
y: 1.3
z: 1.3
rx: 1
ry: 1
rz: 1
rw: 1
joint_positions: # NOTE: Limits were taken from the robot urdf file (see franka_description).
low:
panda_joint1: -2.8973
panda_joint2: -1.7628
panda_joint3: -2.8973
panda_joint4: -3.0718
panda_joint5: -2.8973
panda_joint6: -0.0175
panda_joint7: -2.8973
gripper_width: 0.0
high:
panda_joint1: 2.8973
panda_joint2: 1.7628
panda_joint3: 2.8973
panda_joint4: -0.0698
panda_joint5: 2.8973
panda_joint6: 3.7525
panda_joint7: 2.8973
gripper_width: 0.08
joint_efforts:
low:
panda_joint1: -87
panda_joint2: -87
panda_joint3: -87
panda_joint4: -87
panda_joint5: -12
panda_joint6: -12
panda_joint7: -12
gripper_max_effort: 0.0
high:
panda_joint1: 87
panda_joint2: 87
panda_joint3: 87
panda_joint4: 87
panda_joint5: 12
panda_joint6: 12
panda_joint7: 12
gripper_max_effort: 140
########################################
# Other reach environment settings #####
########################################
physics: "ode" # The physics engine you want to use: dart|ode
load_rviz: True # Whether RViz should be loaded.
rviz_file: config/panda_reach.rviz # RViz config file. Path is relative to parent folder.
load_gazebo_gui: False # Whether the gazebo GUI should be shown.
log_reset: False # Whether we want to print a log statement when the world/simulation is reset.
log_step_debug_info: False # Whether debug info about the step should be logged (i.e. reward, is_done, action etc.).
roslaunch_log_to_console: False # Whether to write the log statements of the ROS launch files to the console.
##########################################
# Other settings #########################
##########################################
# NOTE: The settings below can be used to overwrite settings of other ROS nodes.
# panda_moveit_planner_server: # Scale the MoveIt control speed/ acceleration.
# max_velocity_scaling_factor: 0.5
# max_acceleration_scaling_factor: 0.5