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robotic-powder-weighting

Getting started

To build environments

Experiments

check behavior of the powder weighing simulator

This code shows powder shaking actions. You can control the environment by joystick controller.

cd simulation
python test_env_hellow.py --render

test powder weighing

This code shows powder shaking actions. You can control the environment by joystick controller.

cd simulation
python test_env_stick.py --render

learning policies

This code shows how to run the learning policies. Particularly, isaacgym have a memory-reek error. So, in this experiments the environment is reset by subprocess.

cd simulation
python root_learning.py --flag 1111111111 --render

flag means what domain parameters are fixed on learning and action definitions. 1 means random or set, 0 means fixed or removed. All parameters are bellow.

  • incline_flag
  • shake_flag
  • ball_radius_flag
  • ball_mass_flag
  • ball_friction_flag
  • ball_layer_num_flag
  • spoon_friction_flag
  • goal_powder_amount_flag
  • shake_speed_weight_flag
  • gravity_flag

render means learning with rendering the environment or not.

test policies on real robot

  1. build up ros packages in catkin_ws
  2. set up weighing machine
    • connect data cable from PC to the machine.
    • check USB port name(ex: /dev/ttyUSB or COM2)
    • set Format to 5 of weighing machine
    • set unit to mg of weighing machine
    • sudo chmod a+rw /dev/ttyUSB0
  3. run the robot with learned policies
cd real_robot/powder_task
python PowderEnvironmentController.py --test --dir ./policy_directly/Policy.pth