psvl / doorgym Goto Github PK

Hi,

We are trying to use the environment for training a Toyota HSR to open doors, but we seem to have some problem with the collisions, which leads to the handle moving within the plane of the door. The problem is illustrated in the image below, where you can see the handle being pushed away towards the middle of the door:

In case it's relevant, we generated our robot model from the HSR's URDF (if it helps to debug the issue, we have the model in our fork: https://github.com/alex-mitrevski/DoorGym/blob/feature/hsr/world_generator/robot/hsr.xml). For the collision, we used contype="16" and conaffinity="7"as in the Blue floating hook model.

We trained the robot using PPO and the training seemed to be going well, but the learned policy obviously makes no sense due to the incorrect physical behaviour.

Do you by any chance know what might be going wrong here? Are we perhaps making a mistake in defining the collisions?

Thanks!

Hi @yusukeurakami thank you sharing your great works. i want to ask you, is it possible to implement the doorgym using stable-baselines RL https://stable-baselines.readthedocs.io/en/master/ ?

On the README it states that "8/13/2019 Random Door knob Generator has been released!". However, I can only find the world generator in the source code. Is this door knob generator publicly available? If so, where can I access it?

Hello, your work is so interesting. But currently it seems that I can not download three knob datasets, which means to require the download permission.
Looking forwards to your help, thank you. 😃
I‘ve solved the problem by changing another browser.

Can I run the doorgym in docker container?
because i don't know how to run the unity in the docker container,which seems that has no display device.

I have question about Unity version, because I use this repo and install the new version Unity 2020.3.25f1 run readme train with vision network with unity, the Unity screen can render doorgym environment as below picture.

However the terminal always frozen and didn't any response like below picture.

Is the version of Unity wrong? or some problem?
I use Ubuntu 20.04 and my driver version is nvidia-460.