wassname/kair_algorithms_draft
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Modify docker related commands (#54)

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* Add new ros package installation(orocos, hrl-kdl)

* Add source bashrc

* update train script

* Add custom package ros

* Change delegating env_name logic

* Add reacher env when training selection

* Change clone branch to master
This commit is contained in:
Whi Kwon
2019-05-21 13:26:52 +09:00
committed by Seungjae Ryan Lee
parent 5ff59a280e
commit 4b56ae781b
3 changed files with 18 additions and 5 deletions
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Dockerfile
+4 -2
View File
@@ -13,7 +13,7 @@ RUN apt-get update -y && apt-get upgrade -y
RUN apt-get install -y ros-${ROS_DISTRO}-desktop-full ros-${ROS_DISTRO}-rqt-*
RUN rosdep init && rosdep update
RUN apt install -y python-rosinstall python-rosinstall-generator python-wstool build-essential
RUN apt-get install -y ros-${ROS_DISTRO}-ros-controllers ros-${ROS_DISTRO}-gazebo* ros-${ROS_DISTRO}-moveit* ros-${ROS_DISTRO}-industrial-core
RUN apt-get install -y ros-${ROS_DISTRO}-ros-controllers ros-${ROS_DISTRO}-gazebo* ros-${ROS_DISTRO}-moveit* ros-${ROS_DISTRO}-industrial-core ros-${ROS_DISTRO}-orocos-*
RUN rm -rf /var/lib/apt/lists/*
# ROS setting
@@ -35,13 +35,14 @@ RUN cd src/ && \
git clone -b ${ROS_DISTRO}-devel https://github.com/kairproject/open_manipulator_msgs.git && \
git clone -b ${ROS_DISTRO}-devel https://github.com/kairproject/open_manipulator_simulations.git && \
git clone -b ${ROS_DISTRO}-devel https://github.com/kairproject/robotis_manipulator.git && \
git clone https://github.com/gt-ros-pkg/hrl-kdl.git && \
git clone https://github.com/kairproject/kair_algorithms_draft.git
RUN cd src/DynamixelSDK/python && python setup.py install
# install pip
RUN wget https://bootstrap.pypa.io/get-pip.py
RUN python2.7 get-pip.py
RUN python2.7 get-pip.py && rm get-pip.py
# gym requirements
RUN apt-get update && apt-get install -y python3-opengl zlib1g-dev libjpeg-dev patchelf \
@@ -49,6 +50,7 @@ RUN apt-get update && apt-get install -y python3-opengl zlib1g-dev libjpeg-dev p
# install repository requirements
RUN apt-get remove -y python-psutil
RUN cd src/kair_algorithms_draft/scripts && python2.7 -m pip install -r requirements.txt
RUN python2.7 -m pip install gym['Box2d']
docker_train.sh
+10 -2
View File
@@ -4,12 +4,20 @@ ROS_DISTRO=kinetic
CATKIN_WS=/root/catkin_ws
KAIR=$CATKIN_WS/src/kair_algorithms_draft
source /opt/ros/$ROS_DISTRO/setup.bash
source $CATKIN_WS/devel/setup.bash
if [ "$1" == "lunarlander" ]; then
cd $KAIR/scripts; \
python run_lunarlander_continuous.py --algo $2 --off-render
elif [ "$1" == "openmanipulator" ]; then
elif [ "$1" == "reacher" ]; then
cd $KAIR/scripts; \
/opt/ros/$ROS_DISTRO/bin/rosrun kair_algorithms run_open_manipulator_reacher_v0.py --algo $2 --off-render
python run_reacher_v1.py --algo $2 --off-render
elif [ "$1" == "openmanipulator" ]; then
cd $CATKIN_WS; \
roslaunch kair_algorithms open_manipulator_env.launch gui:=false &
cd $KAIR/scripts; \
rosrun kair_algorithms run_open_manipulator_reacher_v0.py --algo $2 --off-render
else
echo "Unknown parameter"
fi
scripts/algorithms/common/abstract/agent.py
+4 -1
View File
@@ -44,7 +44,10 @@ class AbstractAgent(object):
self.args.max_episode_steps = env._max_episode_steps
# for logging
self.env_name = str(self.env.env).split("<")[1].replace(">>", "")
if hasattr(env, "env_name"):
self.env_name = env.env_name
else:
self.env_name = self.env.unwrapped.spec.id
self.sha = (
subprocess.check_output(["git", "rev-parse", "--short", "HEAD"])[:-1]
.decode("ascii")