Hi I’m trying to work on the OpenAI Fetch gripper tasks with reinforcement learning. I’m attempting to solve it using just the joint positions for the action which are then passed to the joint controllers. The issue is that the arm sways back and forth too much around the cube.
I’m using the Fetch environment defined in Fetch_Simple_Simulation and I noticed that https://bitbucket.org/theconstructcore/fetch_simple_simulation/src/master/fetch_simple_description/config/fetch.yaml
there are certain PID values defined for the controllers for the Fetch robot.
Under the original Fetch_Gazebo package [https://github.com/fetchrobotics/fetch_gazebo/blob/gazebo9/fetch_gazebo/config/default_controllers.yaml] there are different PID values defined.
I was thinking that using different PID values might reduce the amount of sway in the controllers and I wanted to know why you chose these values vs. the original Fetch_Gazebo values?