Helping Hands RL Environments

License

This package contains various simulated robotics environments used for research in the Helping Hands lab. The majority of these environments entail a robotic arm armed with a paralel jaw gripper executing a series of manipulation based tasks. For a full list of the tasks currently implemented see below. The core simulator used for most tasks is PyBullet but a simple numpy based simulator is included for quick prototyping.

Requirments
Installation
Environments
Parameters
Publications

Requirments

Install

Install Python 3.7

Clone this repo

git clone https://github.com/hai-h-nguyen/pomdp_robot_domains
cd helping_hands_rl_envs

Install dependencies
```
pip install -r requirements.txt 
```
Install this package
```
pip install -e .
```

Run the block stacking demo

import numpy as np
from helping_hands_rl_envs import env_factory

workspace = np.asarray([[0.3, 0.6],
                        [-0.15, 0.15],
                        [0, 0.50]])
# environment parameters
env_config = {'workspace': workspace, 'max_steps': 10, 'obs_size': 90, 'render': True, 'fast_mode': True,
              'seed': 0, 'action_sequence': 'pxyr', 'num_objects': 4, 'random_orientation': True,
              'reward_type': 'sparse', 'robot': 'kuka', 'workspace_check': 'point'}
# planner parameters
planner_config = {'random_orientation': True}
# create 1 block_stacking environment
env = env_factory.createEnvs(1, 'block_stacking', env_config, planner_config)
env.reset()
for i in range(5, -1, -1):
    action = env.getNextAction()
    (states_, in_hands_, obs_), rewards, dones = env.step(action, auto_reset=False)
    input('press enter to continue')
env.close()

Environments

2.5D Environments

Block Stacking Environments

block_picking: Pick up all blocks.
block_stacking: Pick up blocks and place them in a stack.
block_adjacent: TODO
brick_stacking: TODO
pyramid_stacking: TODO
house_building_1: Build a house structure with a block stack and a small triangle roof on top.
house_building_2: Build a house structure with two block bases and a large triangle roof.
house_building_3: Build a house structure with two block bases, one brick in the middle, and a large triangle roof.
house_building_4: Build a house structure with two block bases, one brick in the second layer, two blocks in the third layer, and a large triangle roof.
house_building_x: TODO
improvise_house_building_2: Build a house structure with two random shape bases and a large triangle roof.
improvise_house_building_3: Build a house structure with two random shape bases, one brick in the middle, and a large triangle roof.
improvise_house_building_discrete: Build a house structure with 4 random shapes and a large triangle roof. The heights of the random shapes are sampled from two discrete numbers.
improvise_house_building_random: Build a house structure with 4 random shapes and a large triangle roof. The heights of the random shapes are sampled from continuous numbers.

Realistic Environments

block_bin_packing: Pack blocks in a box.
bottle_tray: Arrange 6 bottles in a tray.
box_palletizing: Stack boxes on top of a pallet.
covid_test: Supervise 3 covid tests.
object_grasping: Grasping objects in clutter.

6D Environments

ramp_block_stacking: Finish block_stacking in the workspace with two ramps
ramp_house_building_1: Finish house_building_1 in the workspace with two ramps
ramp_house_building_2: Finish house_building_2 in the workspace with two ramps
ramp_house_building_3: Finish house_building_3 in the workspace with two ramps
ramp_house_building_4: Finish house_building_4 in the workspace with two ramps
ramp_improvise_house_building_2: Finish improvise_house_building_2 in the workspace with two ramps
ramp_improvise_house_building_3: Finish improvise_house_building_3 in the workspace with two ramps
bumpy_house_building_4: Finish house_building_4 in the workspace with a bumpy surface
bumpy_box_palletizing: Finish bumpy_box_palletizing in the workspace with a bumpy surface

Parameters

Publications

If you like this package and use it in your own work, please cite this repository.

hai-h-nguyen/pomdp_robot_domains