Acrutonics Robotics Modifications made in code, not succesful

Acrutonics Robotics Modifications made in code, not succesful

I have been trying to use the robot provided by acrutonicsrobotics to train the mara.py to move from point A to point B then point C like a pick and place robot.

After adding the following codes in the train_ppo2_mlp.py

modifications in train_ppo2_mlp.py

I have added a new file to run the saved model in a while loop in order to train it randomly from point B to any random point in the working space as follows.

while loop training file

when I train it, it is successful however while running it, it doesn’t give the desired results.

Can someone help me to identify the possible errors I am making, it would be of much much help.

*For reference

Target position as in point B and Observation module in mara.py

In the above code, even if I change the initial joints and positions of End Effector the launching is done from null position, I tried checking the urdf file, however, there was no pose given.

NN model described in the mara environment of openAI baselines

Keep help me if you can. Thanks in advnance.

submitted by /u/samhuntrocks
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