cxdcxd / RRS

Realistic Robotic Simulator for Pouring Liquids

Realistic Robotic Simulator (RRS) for Pouring Liquids

OS	Kernel Version	ROS Version	Nvidia Driver Version	CUDA Version	Unity Version	Ml Agents
Ubuntu 18.04.06 LTS	5.4.0-58-generic	ROS Melodic	460.27.04	11.2	Unity 2020.3.22f1	Release_17

Ml Agents 17 Package Detail

• com.unity.ml-agents (C#) v2.0.0
• com.unity.ml-agents.extensions (C#) v0.4.0-preview
• ml-agents (Python) v0.26.0
• ml-agents-envs (Python) v0.26.0
• gym-unity (Python) v0.26.0
• Communicator (C#/Python) v1.5.0

System architecure and ROS2Unity bridge

The pdf presentation file: ROS2Unity

Setup and Installation

1. Install ROS Melodic

2. Clone this Repository and run the automatic installer

git clone https://github.com/cxdcxd/RRS.git
cd rrs_ros
./install.sh

3. Download Unity 2020.3.22f1 or above

4. Open Unity Hub and go to Projects, click ADD and then browse the folder rrs_unity from the downloaded repository and launch it. Make sure the Unity Version is set to 2020.3.22f1 or above

5. Open the repository in a new terminal and type cd rrs_ros and build the workspace: catkin_make

6. Source the workspace:

setup ~/rrs_ros/devel/setup.bash

Run example

Step 1: (ROS Side)

ros launch rrs_ros rrs_main.launch 

Step 2: (Unity Side)

open the scenes/DemoLiquidPouring
Unity3D -> Play

Step 3: (ROS Side)

ros launch mpc real_movo_sc.launch                         

Settings (rrs_ros)

open the config file from : (RRS/rrs_ros/src/core/cfg/config.yaml)

ntp_server_host_name: test               //define the ntp server hostname (current RRS is not using ntp ignored)
local_network_address: 127.0.0.1         //local ip address
consul_network_address: 127.0.0.1        //consul ip address
consul_network_mask: 255.255.255.0       //consul network mask
consul_network_port: 8500                //consul network port

Settings (rrs_unity)

open the config file from : (RRS/rrs_unity/Config/config.xml)

<?xml version="1.0" encoding="utf-8"?>
<Config xmlns:xsd="http://www.w3.org/2001/XMLSchema" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
  <consul_network_address>127.0.0.1</consul_network_address>
  <local_network_address>127.0.0.1</local_network_address>
  <consul_network_port>8500</consul_network_port>
  <consul_network_mask>255.255.255.0</consul_network_mask>
  <ntp_server_host_name>test</ntp_server_host_name> //define the ntp server hostname (current RRS is not using ntp ignored)
  <use_relative_origin>false</use_relative_origin>
</Config>

For RL and Gym Training (No need to ROS Side)

open the Assets\Scenes\PourNetTraining.unity

Virtual Environment

mkdir ~/python-envs
python3 -m venv ~/python-envs/sample-env
source ~/python-envs/sample-env/bin/activate
pip3 install --upgrade pip
pip3 install --upgrade setuptools
deactivate 

Tensor Board

tensorboard.exe --logdir=".\results\PourNet-LSTM" --host="0.0.0.0" --port=6006

Train example

 mlagents-learn.exe .\TrainingConfig\TrainingConfig\ppo_curriculum_curiosity_lstm.yaml --env=".\ServerBuild\ServerBuild\LearnPouring" --num-envs=32 --base-port=5000 --run-id="PourNet-LSTM-Left-2"