Social Interaction Robots

Setting up the custom Fetch environment

• Create a new conda environment

  conda create mpi4py python=3.7 -n fetch
  

• Set up MuJoCo

  1. Download the MuJoCo version 2.0 binaries from the MuJoCo website.
  2. Set the paths (MUJOCO_PY_MJKEY_PATH and MUJOCO_PY_MUJOCO_PATH) if you put the binary and key in a different place.

• Install requirements

  pip install -r requirements.txt
  

• Demo environment: FetchThreeObjEnv

  • After installing the requirements, run demo.py to see the demo environment.
  • This environment contains a Fetch robot and three blocks on the table. The red rectangle area at the corner of the table is the tray area. This environment gives reward 1 if the robot successfully move any block to the tray; and the environment gives done=True when the robot succeeds or timeout (the default time limit is 50 time steps).
  • To add other robot or objects, there are at least two required changes:
    1. update pnp_three_objects.xml or add a new xml file to specify the environment configuration.
    2. update fetch_three_obj_env.py or add a new class that extends RobotEnv to specify the rules for reset() and step()