params.yaml

fetch: #namespace

    # Fetch Task Realated parameters
    n_actions: 6 # X+/-,Y+/-,Z+/-
    n_observations: 4 # XYZ of the TCP and the distance from GOAL
    position_ee_max: 1.0
    position_ee_min: -1.0

    init_pos: # This has to be validated in the fetch_moveit_test.py in fetch_openai_ros_example or something that tests this pos is possible
      joint0: 0.0
      joint1: 0.0
      joint2: 0.0
      joint3: 0.0
      joint4: 0.0
      joint5: 0.0
      joint6: 0.0


    setup_ee_pos: # This has to be validated in the fetch_moveit_test.py in fetch_openai_ros_example or something that tests this pos is possible
      x: 0.598
      y: 0.005
      z: 0.9

    goal_ee_pos: # This has to be validated in the fetch_moveit_test.py in fetch_openai_ros_example or something that tests this pos is possible
      x: -0.750
      y: 0.041
      z: 0.062

    position_delta: 0.1 # Increments of Decrements in the X/Y/Z positions each action step

    step_punishment: -1
    closer_reward: 10
    impossible_movement_punishement: -100
    reached_goal_reward: 100

    max_distance: 3.0 # Maximum distance from EE to the desired GOAL EE