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maxEpisodeLength: 200 #200
approaching: 5
reward:
base_height_target: 0.55
only_positive_rewards: False
scales:
approaching: 5.0
lifting: 1.0
pick_up: 5.0 # 0.5
acc_penalty: -0.001
command_penalty: -1.0
command_reward: 0.25
standpick: 0.25 # no found in reward_vec_task.py
action_rate: -0.001
ee_orn: 0.05 # 0.01
base_dir: 0.25
rad_penalty: 0.0
base_ang_pen: 0.0
base_approaching: 0.01 # 0.05
grasp_base_height: 0.5 # no found in reward_vec_task.py
gripper_rate: -0.1 # -0.1
reward:
base_height_target: 0.55
only_positive_rewards: False
scales:
approaching: 5.0
lifting: 1.0
pick_up: 5.0 # 0.5
acc_penalty: -0.001
command_penalty: -1.0
command_reward: 0.25
standpick: 0.25 # no found in reward_vec_task.py
action_rate: -0.001
ee_orn: 0.05 # 0.01
base_dir: 0.25
rad_penalty: 0.0
base_ang_pen: 0.0
base_approaching: 0.01 # 0.05
grasp_base_height: 0.5 # no found in reward_vec_task.py
gripper_rate: -0.1 # -0.1
…wholebody into train/parameter
reward:
base_height_target: 0.55
only_positive_rewards: False
scales:
approaching: 10.0
lifting: 1.0
pick_up: 5.0 # 0.5
acc_penalty: -0.001
command_penalty: -1.0
command_reward: 0.25
standpick: 0.25 # no found in reward_vec_task.py
action_rate: -0.001
ee_orn: 0.05 # 0.01
base_dir: 0.25
rad_penalty: 0.0
base_ang_pen: 0.0
base_approaching: 0.01 # 0.05
grasp_base_height: 0.5 # no found in reward_vec_task.py
gripper_rate: -0.1 # -0.1
reward:
base_height_target: 0.55
only_positive_rewards: False
scales:
approaching: 5.0
lifting: 1.0
pick_up: 5.0 # 0.5
acc_penalty: -0.001
command_penalty: -1.0
command_reward: 0.25
standpick: 0.25 # no found in reward_vec_task.py #
action_rate: -0.001
ee_orn: 0.1 # 0.01
base_dir: 0.25
rad_penalty: 0.0
base_ang_pen: 0.0
base_approaching: 0.01 # 0.05
grasp_base_height: 0.5 # no found in reward_vec_task.py
gripper_rate: -0.1 # -0.1
reward:
base_height_target: 0.55
only_positive_rewards: False
scales:
approaching: 5.0
lifting: 1.0
pick_up: 5.0 # 0.5
acc_penalty: -0.001
command_penalty: -1.0
command_reward: 0.25
standpick: 0.25 # no found in reward_vec_task.py #
action_rate: -0.001
ee_orn: 0.1 # 0.01
base_dir: 0.25
rad_penalty: 0.0
base_ang_pen: 0.0
base_approaching: 0.01 # 0.05
grasp_base_height: 0.5 # no found in reward_vec_task.py
gripper_rate: -0.1 # -0.1
…lebody into train/scales
Owner
|
Hi, Weijie, what is this PR for? What changes have you made? |
Author
Nothing, Eri. I just fixed something that went wrong on my PC. Sorry for bothering you. |
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