Murtaza Khuzema Basuwala

Simulating UR in ROS

10

Hello, I have been looking for such a repository for a long time. I am currently working on a project which involves stimulating and coordinating two UR5 in ROS/Gazebo for...

extrinsic and intrinsic combination

1

Hello, I am trying to implement ICM in PPO with both extrinsic and intrinsic combination. I have seen in few repos where they weight out an extrinsic reward more than...

Taking 'done' into consideration while calculating returns

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Hello, thank you for making this repo, I think while calculating the returns you should take done into consideration as, ``` def calculate_returns(self, rewards, dones, normalize = True): returns =...

SWA wasn't applied to param {}; skipping it".format(p))

3

hello, I get this error have no clue what I am doing wrong. Here's my code ``` for _ in range(self.K_epochs): # Evaluating old actions and values : logprobs, values,...

Hello, I have a doubt what is the max effort of the gripper? you have mentioned in this line `goal.command.max_effort = -1.0 # Do not limit the effort` but if...

GAE seems to be an important parameter for PPO it acts as a trade-off between Bias and Variances. It would be great if you can implement that

Hello, I wanted to know that why didn't you prefer to use the moveit python interface for simulating the robot in Gazebo because Moveit has built-in FK and IK solvers...