FirefoxMetzger / panda-ignition-sim

Use gym-ignition and ignition gazebo (ign-gazebo) to simulate a panda robot

Simulation Environment for Legibility with Panda

Installation

1. Install gym-ignition following the official instructions
2. pip install pyzmq numpy matplotlib
3. Install ropy

Scripts

• sim_runner.py env_idx goal_idx trajectory_idx A script that sets up the environment with ID env_idx, samples a single trajectory to goal goal_idx, and records a 2d visualization of the trajectory, a video of the trajectories execution as well as numpy arrays of the trajectory in joint, world, and pixel space.
• scaffold_dataset.py A script to set up the folder structure of the dataset and to generate the environments
• create_trajectory_dataset.py A script to populate the dataset with the actual simulation. The script is aware of current progress, will continue where it left off if interrupted, and will skip existing runs. Essentially it calls sim_runner.py in a coordinated fashion.
• add_observer_scores.py A script that computes the attributed legibility scores for each behavior.