parameters.py

# IMPORTANT VARIABLES #
new_task_prob = 0.1
compositional_task_prob = 0.
scene_change_prob = 0. #0.1
move_robot_frequency = 10 #300
# new_task_prob = 0.1
# compositional_task_prob = 0.3
# scene_change_prob = 0.3 #0.1
# move_robot_frequency = 10 #300

task_weights = {
	'Press button': 1,
	'Open or close hinged object': 1,
	'Open or close slidable objects': 1,
	'Turn twistable object': 1,
	'Move object into or out of container': 1,
	'Move lid on or off of container': 1,
	'Move object to a new position and orientation': 1,
	'Use cup to pour something granular': 1,
	'Use object to pick up something': 1,
	'Use cloth to clean something': 1,
	'Use object to stir something': 1,
	'Open or close curtain': 1,
	'Hang or unhang object': 1,
	'Fold, spread out, or clump object': 1,
}

# LOW PRIORITY VARIABLES #
reset_hold_time = 5
reset_duration = 5

# Links #
task_ideas_link = 'https://docs.google.com/document/d/1HCthaZrzdlnAxBYd4vCkXHYLTvm94SurF68xtgyJl4s/edit?usp=sharing'
debugging_link = 'https://docs.google.com/document/d/1y6NJgLyHbJUwBxdUxahp6LDZ0cCGDDyIgAfMwECCU14/edit?usp=sharing'
franka_website = 'https://172.16.0.8/desk/'