From c27d09633a75568e9bdc443fe752415981bd9730 Mon Sep 17 00:00:00 2001
From: whikwon <whikwon@gmail.com>
Date: Wed, 29 May 2019 20:39:17 +0900
Subject: [PATCH 1/3] Change directory name

---
 scripts/config/environment/__init__.py     | 0
 scripts/gazebo_test_open_manipulator.py    | 1 +
 scripts/run_open_manipulator_reacher_v0.py | 3 +--
 3 files changed, 2 insertions(+), 2 deletions(-)
 delete mode 100644 scripts/config/environment/__init__.py

diff --git a/scripts/config/environment/__init__.py b/scripts/config/environment/__init__.py
deleted file mode 100644
index e69de29..0000000
diff --git a/scripts/gazebo_test_open_manipulator.py b/scripts/gazebo_test_open_manipulator.py
index 5fea141..87aa30f 100755
--- a/scripts/gazebo_test_open_manipulator.py
+++ b/scripts/gazebo_test_open_manipulator.py
@@ -6,6 +6,7 @@
 from config.environment.open_manipulator import config as cfg
 
 import rospy
+from config.envs.open_manipulator import config as cfg
 from envs.open_manipulator import OpenManipulatorReacherEnv
 from geometry_msgs.msg import Pose, Quaternion
 from open_manipulator_msgs.msg import JointPosition, KinematicsPose
diff --git a/scripts/run_open_manipulator_reacher_v0.py b/scripts/run_open_manipulator_reacher_v0.py
index 2547c01..7b3fea9 100755
--- a/scripts/run_open_manipulator_reacher_v0.py
+++ b/scripts/run_open_manipulator_reacher_v0.py
@@ -10,9 +10,8 @@
 import argparse
 import importlib
 
-from config.environment.open_manipulator import config as env_cfg
-
 import algorithms.common.helper_functions as common_utils
+from config.envs.open_manipulator import config as env_cfg
 from envs.open_manipulator.open_manipulator_reacher_env import OpenManipulatorReacherEnv
 
 # configurations

From f17a922fb2c2c723bb926fb02077fba5969e8ec9 Mon Sep 17 00:00:00 2001
From: whikwon <whikwon@gmail.com>
Date: Wed, 29 May 2019 20:40:41 +0900
Subject: [PATCH 2/3] Change directory name

---
 scripts/config/envs/__init__.py         |  0
 scripts/config/envs/open_manipulator.py | 54 +++++++++++++++++++++++++
 2 files changed, 54 insertions(+)
 create mode 100644 scripts/config/envs/__init__.py
 create mode 100755 scripts/config/envs/open_manipulator.py

diff --git a/scripts/config/envs/__init__.py b/scripts/config/envs/__init__.py
new file mode 100644
index 0000000..e69de29
diff --git a/scripts/config/envs/open_manipulator.py b/scripts/config/envs/open_manipulator.py
new file mode 100755
index 0000000..2da7afb
--- /dev/null
+++ b/scripts/config/envs/open_manipulator.py
@@ -0,0 +1,54 @@
+from math import pi
+
+from geometry_msgs.msg import Quaternion
+
+
+config = {
+    "ENV_NAME": "OpenManipulatorReacher",
+    "MAX_EPISODE_STEPS": 100,
+    "TERM_COUNT": 5,
+    "SUCCESS_COUNT": 5,
+    "OVERHEAD_ORIENTATION": Quaternion(
+        x=-0.00142460053167, y=0.999994209902, z=-0.00177030764765, w=0.00253311793936
+    ),
+    # box boundary
+    "POLAR_RADIAN_BOUNDARY": (0.134, 0.32),
+    "POLAR_THETA_BOUNDARY": (-pi * 0.7 / 4, pi * 0.7 / 4),
+    "Z_BOUNDARY": (0.05, 0.28),
+    "JOINT_LIMITS": {
+        "HIGH": {
+            "J1": pi * 0.9,
+            "J2": pi * 0.5,
+            "J3": pi * 0.44,
+            "J4": pi * 0.65,
+            "GRIP": 0.019,
+        },
+        "LOW": {
+            "J1": -pi * 0.9,
+            "J2": -pi * 0.57,
+            "J3": -pi * 0.3,
+            "J4": -pi * 0.57,
+            "GRIP": -0.001,
+        },
+    },
+    # Global variables
+    "ACTION_DIM": 5,  # Cartesian
+    "OBSERVATION_DIM": (25,),
+    # terminal condition
+    "INNER_RADIAN": 0.134,
+    "OUTER_RADIAN": 0.3,
+    "LOWER_RADIAN": 0.384,
+    "INNER_Z": 0.321,
+    "OUTER_Z": 0.250,
+    "LOWER_Z": 0.116,
+    "ENV_MODE": "sim",
+    "TRAIN_MODE": True,
+    "DISTANCE_THRESHOLD": 0.05,
+    "REWARD_RESCALE_RATIO": 1.0,
+    "REWARD_FUNC": "l2",
+    "CONTROL_MODE": "position",
+}
+
+
+def get():
+    return config

From b418b904acce399c1b49f75f19a167fea8e1265e Mon Sep 17 00:00:00 2001
From: whikwon <whikwon@gmail.com>
Date: Thu, 25 Jul 2019 23:01:13 +0900
Subject: [PATCH 3/3] Remove unused line

---
 scripts/gazebo_test_open_manipulator.py | 1 -
 1 file changed, 1 deletion(-)

diff --git a/scripts/gazebo_test_open_manipulator.py b/scripts/gazebo_test_open_manipulator.py
index 87aa30f..cd8a4f9 100755
--- a/scripts/gazebo_test_open_manipulator.py
+++ b/scripts/gazebo_test_open_manipulator.py
@@ -3,7 +3,6 @@
 from math import cos, pi, sin
 
 import numpy as np
-from config.environment.open_manipulator import config as cfg
 
 import rospy
 from config.envs.open_manipulator import config as cfg