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mobiman

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
  1. 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
  1. 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
  1. Install ROS dependencies:
rosdep install --from-paths src --ignore-src -r -y
  1. 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)
    1. 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)
    1. 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
      1. Testing:
      # Do not forget to source: source devel/setup.bash
python src/igibson-ros/scripts/drl_testing_sb3_mobiman_jackalJaco.py

Dataset: