nico config update - reach task

incognite-lab · Feb 5, 2024 · 1e8750d · 1e8750d
1 parent 69e74db
commit 1e8750d
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Showing 3 changed files with 5 additions and 5 deletions.
diff --git a/myGym/configs/train_F_nico.json b/myGym/configs/train_F_nico.json
@@ -1,7 +1,7 @@
 {
     #Environment
     "env_name"  :"Gym-v0",
-    "workspace" :"table",
+    "workspace" :"table_nico",
     "engine"    :"pybullet",
     "render"    :"opengl",
     "seed"      :1,

diff --git a/myGym/configs/train_reach_nicorh6d.json b/myGym/configs/train_reach_nicorh6d.json
@@ -1,7 +1,7 @@
 {
 #Environment
 "env_name"  :"Gym-v0",
-"workspace" :"table",
+"workspace" :"table_nico",
 "engine"    :"pybullet",
 "render"    :"opengl",
 "seed"      :1,
@@ -21,7 +21,7 @@
 "task_type"             :"reach",
 "natural_language"      :0,
 "task_objects"          :[{"init":{"obj_name":"null"},
-                           "goal":{"obj_name":"towertarget","fixed":1,"rand_rot":0, "sampling_area":[-0.2, 0.2, 0.43, 0.6, 0.06, 0.07]}}],
+                           "goal":{"obj_name":"towertarget","fixed":1,"rand_rot":0, "sampling_area":[-0.2, 0.2, 0.35, 0.65, 0.1, 0.11]}}],
 "used_objects"          :{"num_range":[0,0], "obj_list":[]},
 // Observation
 // actual_state options (pick one): "endeff_xyz", "endeff_6D" (robot end effector), "obj_xyz", "obj_6D", "vae", "yolact", "voxel" or "dope"

diff --git a/myGym/envs/robots/nico/nico_upper_rh6d.urdf b/myGym/envs/robots/nico/nico_upper_rh6d.urdf
@@ -264,14 +264,14 @@
     	<visual>
       		<origin rpy="0 0 0" xyz="0 0.0 0.0"/>
       		<geometry>
-        		<sphere radius="0.005"/>
+        		<sphere radius="0.01"/>
       		</geometry>
     	</visual>
   	</link>
 	<joint name="endeffector_joint" type="fixed">
     	<parent link="gripper"/>
     	<child link="endeffector"/>
-    	<origin rpy="0 0 0" xyz="0.03 0.00 -0.03"/>
+    	<origin rpy="0 0 0" xyz="0.00 -0.02 -0.11"/>
 	</joint>
 	<link name="middlefinger">
 		<visual>