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HorizonRobotics / SocialRobot

Apache License 2.0
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Add pick and place task #113

Closed Jialn closed 4 years ago

Jialn commented 4 years ago

Changes:

  1. add PickAndPlace Task
  2. add model wood_cube_5cm and wood_cube_10cm, copied form https://bitbucket.org/osrf/gazebo_models
  3. remove unnecessary action dimension of youbot (4wd -> 2wd) , lower PID parameter for the wheel joints, more stable

Some other changes in task.py are due to pre-commit auto-formating.

pickplace_1

emailweixu commented 4 years ago

Were you able to train the robot to do this task?

Jialn commented 4 years ago

The task can be solved in about 10M steps using the SAC example, on my laptop 4 cores @ 2.6GHz without GPU it takes about 23 hours https://github.com/HorizonRobotics/SocialRobot/pull/113/commits/fe6ab14ac7f3b35e6e09850283aa8ab5ea140f13 poick_and_place the episode length begin to drop at some 5M env steps (meaning there are some successful cases).