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generated_default_config.yaml
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# config that builds the env using the World Generator
run:
algorithm:
load_model: False
model_path: ""
type: "PPO"
gamma: 0.99
learning_rate: 0.0003
train:
num_envs : 16
logging: 0
timesteps: 15000000
save_freq : 30000
save_folder: "./models/weights"
save_name: "generated_default"
eval:
max_episodes: -1
logging: 1
display_delay: 0.00416666666
show_world_aux: True
show_goal_aux: True
show_sensor_aux: True
env:
max_steps_per_episode: 1024
stat_buffer_size: 25
normalize_observations: False
normalize_rewards: False
use_physics_sim: True
gravity: [0, 0, -9.8]
sim_step: 0.00416666666
sim_steps_per_env_step: 1
robots:
- type: "UR5"
config:
name: "ur5_1"
base_position: [0, 0, 1.1]
base_orientation: [0, 0, 0]
resting_angles: [-180, -45, -90, -135, 90, 0]
control_mode: 0
sensors:
- type: "LidarSensorGeneric"
config:
update_steps: 1
add_to_observation_space: True
add_to_logging: True
indicator_buckets: 6
ray_start: 0
ray_end: 0.3
indicator: True
ray_setup:
ee_link: 10
goal:
type: "PositionCollision"
config:
add_to_logging: True
continue_after_success: True
reward_success: 10
reward_collision: -5
reward_distance_mult: -0.01
dist_threshold_start: 0.2
dist_threshold_end : 0.01
dist_threshold_increment_start: 0.01
dist_threshold_increment_end: 0.001
dist_threshold_overwrite: "None"
world:
type: "Generated"
config:
workspace_boundaries: [-2, 2, -2, 2, 0, 5]
obstacles:
- type: "shelf"
position: [-1.25, -1, 0]
rotation: [90, 0, 0]
params:
rows: 5
cols: 5
element_size: .5
shelf_depth: .5
wall_thickness: .01
- type: "shelf"
position: [-1.25, 1.5, 0]
rotation: [90, 0, 0]
scale: 1
params:
rows: 5
cols: 5
element_size: .5
shelf_depth: .5
wall_thickness: .01
vel: 10
move:
- [-2.5, 0.5, 1.4]
- [2.5, 0.5, 1.4]
- type: "human"
position: [5, 5, 0]
rotation: [0, 0, 0]
scale: 1
params:
move:
- [-2.5, 0.5, 1.4]
- [2.5, 0.5, 1.4]
- type: "maze"
position: [10, 10, 0]
rotation: [0, 0, 0]
params:
rows: 5
cols: 5
element_size: .5
element_depth: .5
wall_thickness: .01
difficulty: 1
connector_strict: False
connector_probability: 0.7
connector_height: 0.1