mobiman

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Installation:

1. Clone libccd into any directory (e.g. Home) and install libccd library from its source:

git clone https://github.com/danfis/libccd.git
cd libccd
mkdir build && cd build
cmake -G "Unix Makefiles" -DENABLE_DOUBLE_PRECISION=ON ..
sudo make -j4
sudo make install

2. Clone fcl into any directory (e.g. Home) and install fcl library from its source:

git clone https://github.com/flexible-collision-library/fcl.git
cd fcl
mkdir build && cd build
cmake ..
sudo make -j4
sudo make install

3. Clone the mobiman repository into the src folder of catkin workspace and install all required ROS packages:

git clone [email protected]:RIVeR-Lab/mobiman.git
cd mobiman
./install_mobiman.sh

4. Install ROS dependencies:

rosdep install --from-paths src --ignore-src -r -y

5. Install iGibson simulator and its library by following the instructions in igibson README.

Run (Manual mode):

1. Set configurations in mobiman_framework.launch

   1. Set parameter "config_mobiman_framework":
      • iGibson example: "config_mobiman_framework_igibson_manual"

2. In seperate terminals in ROS workspace:

   1. Launch mobiman framework:

   # Do not forget to source: source devel/setup.bash
   roslaunch mobiman_simulation mobiman_framework.launch 2> >(grep -v TF_REPEATED_DATA buffer_core)
   

   2. Run the (python) simulation script:

   # Do not forget to source: source devel/setup.bash
   python src/igibson-ros/scripts/mobiman_jackalJaco.py
   

Note: grep command added to avoid stream of warnings as depicted in here.

Run (DRL mode):

1. Set configurations in mobiman_framework.launch

   1. Set parameter "config_mobiman_framework":
      • iGibson example: "config_mobiman_framework_igibson_drl"

2. Set drl configurations in config_mobiman_drl_pick

3. In seperate terminals in ROS workspace:

   1. Launch mobiman framework:

   # Do not forget to source: source devel/setup.bash
   roslaunch mobiman_simulation mobiman_framework.launch 2> >(grep -v TF_REPEATED_DATA buffer_core)
   

   2. Run the (python) training/testing script:
      1. Training:

      # Do not forget to source: source devel/setup.bash
      python src/igibson-ros/scripts/drl_training_sb3_mobiman_jackalJaco.py
      

      2. Testing:

      # Do not forget to source: source devel/setup.bash
      python src/igibson-ros/scripts/drl_testing_sb3_mobiman_jackalJaco.py
      

Dataset:

• Trained models to reach static object on a conveyor belt