Questioun on Variable 'aff_threshold' and 'global_xyz_bounds'

[taeyunwoo]

Hello, I'm trying to add a new primitive types on your code. Before questions, I'm really appreciate your work! Thanks a lot.

Anyway, I cannot understand the 'aff_threshold' and 'global_xyz_bounds'. As I read the paper, 'aff_threshold' variable may be used when the network chooses a proper primitive with softmax returned value. However, 'reach' primitive does not have an 'aff_threshold' variable. Does it use base_config's aff_threshold? Also, the skill 'open' (Gripper Release) information was not in skill_config. Where can I see its code?

To 'global_xyz_bounds' as I guessed, 'global_xyz_bounds' may be the threshold of checking primitives in the network. Is it right?

Thank you for reading this questions.

[humphreyde]

Hi, I have the same problem with you. Have you solved it? Since I have changed robot and the position of object such as peg in PegInHole, I'm not sure if I need to change position_limits or aff_threshold in env_params. I would appreciate for your reply！