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"