State and Action Space
The state-space representation for our three-fingered gripper while performing valve rotation tasks is conveyed through a 1D vector comprising 19 values:
- Angles of the nine servo joints
- X and Y positions of the four valve tips
- Current angle of the valve
- Target angle for the valve
This configuration is depicted in the image below. The X and Y positions of the valve tips are computed using trigonometric calculations, providing additional insight into potential pushing locations on the valve.
We employ a continuous action space to control the gripper effectively that generates a nine-element vector, specifying the destination angle for each servo joint. To ensure the safety and feasibility of these actions, the angle values are confined within predefined maximum and minimum limits, preventing the servos from moving to physically unattainable positions.