Teaching Baxter to Use Tools

This repository contains the final project deliverables for Team Baxter in CPSC 473 Intelligent Robotics Laboratory at Yale University. The deliverables include:

• Conference-style paper
• Slides from in-class presentation
• 1-slide summary of project
• 1-paragraph description of team member contributions

In addition, the repository contains source code developed under the project. Videos of Baxter can be found here.

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Physical Baxter

The directory baxter-tool/physical/ contains the source code for work on the physical Baxter system.

Run python simulation.py to run the script for Baxter to execute tool length detection, offset calculation for kinematics extension, and action trajectory execution. This command must be done on the Baxter workspace at the ScazLab with Baxter turned on, untucked and ROS launched.

1. Turn on Baxter using the switch on the back.
2. In /home/scazlab/ros_devel_ws, run roslaunch humann_robot_collaboration baxter_controller.launch.
3. Using another shell, in the same directory, run untuck.
4. In that same shell, in the directory that contains simulation.py, run python simulation.py.

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Simulation Baxter

1. Installation

Anaconda

Before beginning, ensure that Anaconda is installed. You can install Anaconda here.

MuJoCo

1. You can obtain a 30-day free trial on the MuJoCO website. If you are a student, you can obtain a free license.
2. Download MuJoCo version 1.50 binaries.
3. Unzip the downloaded mjpro150 directory into ~/.mujoco/mjpro150, and place the license key (mjkey.txt) at ~/.mujoco/mjkey.txt.

Anaconda Environment

1. Run conda env create --name environment.yml to create the Baxter environment
2. Run conda activate baxter to activate the Baxter environment

Alternatively, you can follow the steps below to create your own Anaconda environment

mujoco-py

1. Clone the mujoco-py repository.
2. Build from source by running pip install -e . in the mujoco-py directory

mujoco-py is notoriously difficult to install. You may need to add the following to your .bashrc:

• export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:~/.mujoco/mjpro150/bin/libglew.so
• export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:~/.mujoco/mjpro150/bin
• export MUJOCO_PY_MJPRO_PATH=$LD_LIBRARY_PATH:~/.mujoco/mjpro150

OpenAI Gym

1. Clone the Gym repository.
2. Build from source by running pip install -e . in the Gym directory

OpenAI Baselines

We do not use OpenAI's baselines repository per se. Rather, we use a fork of that repository, called stable-baselines. We find that stable-baselines is more readable and easier to use. stable-baselines also has documentation

1. Follow the instructions to install stable-baselines at their repository.

baxter-tool

1. Fork this repository
2. Add export PYTHONPATH="${PYTHONPATH}:[PATH TO THIS REPOSITORY]" to your .bashrc
3. Add the directory /baxter-tool/simulation/baxter to the directory /gym/gym/envs/ in your Gym installation.
4. Add the file /baxter-tool/simulation/__init__.py to the directory /gym/gym/envs/ in your Gym installation, replacing the old __init__.py.

2. Baxter Model

• The Baxter MuJoCo model is defined in baxter-tool/simulation/baxter/assets/baxter/. The specific task model is defined in that directory as reach.xml, whereas robot.xml and shared.xml are relevant to any tasks environments.
• The general Baxter Gym environment is defined in baxter-tool/simulation/baxter/baxter_env.py and baxter-tool/simulation/baxter/baxter_rot_env.py. The former forbids learning rotation control of the gripper, while the latter includes learning rotation control.
• The specific Baxter Gym environment for our task is defined in baxter-tool/simulation/baxter/tasks/reach.py and baxter-tool/simulation/baxter/tasks/reach_rot.py. The former involves environments using baxter_env.py while the latter involves environments using baxter_rot_env.py.

If you would like to create a new task environment, first create the xml file in baxter-tool/simulation/baxter/assets/baxter/, then create the environment in a python file in baxter-tool/simulation/baxter/tasks/.

3. Trained Models

baxter-tool/simulation/commands.txt contains all the commands used to train, evaluate, render, and plot the models for conducting experiments. It also contains an explanation of each of the trained models we provide in baxter-tool/simulation/models/. You can render a trained model by running the corresponding command. You can also re-train a model by running the corresponding command.

4. Training and Rendering New Models

Training

You can train a new PPO model by running train_baxter.py. train_baxter_a2c.py, train_baxter_trpo.py and train_baxter_ddpg.py use A2C, TRPO and DDPG respectively for training. The model will be saved under models/ and the training history will be saved under logs/, under the name specified.

Example command: python train_baxter.py --env BaxterReachEnv-v11 --load False --save-path 11-baxter --train-timesteps 1.25e6 --eval-timesteps 5e3

Usage:

[TrainFile].py --env [EnvName] --load [Load] --save-path [SavePath] --load-path [LoadPath] --train-timesteps [TrainSteps] -- eval-timesteps [EvalSteps]

• TrainFile: one of train_baxter.py. train_baxter_a2c.py, train_baxter_trpo.py and train_baxter_ddpg.py
• EnvName: the corresponding Baxter environment with which the model should be trained
• Load: whether a trained model should be loaded for further training, either True or False
• SavePath: the name to save the model under
• LoadPath: if --load True, the name of the model saved in models/ for loading
• TrainSteps: the number of timesteps with which to train the model
• EvalSteps: the number of timesteps with which to evaluate the model

Rendering

You can render a trained PPO model by running render_baxter.py. render_baxter_a2c.py, render_baxter_trpo.py and render_baxter_ddpg.py use A2C, TRPO and DDPG respectively for rendering. The plot will be saved under figs/, under the name specified.

Example command: python render_baxter.py --env BaxterReachEnv-v11 --load-path 11-baxter --fig-path 11-baxter

Usage:

[RenderFile].py --env [EnvName] --load-path [ModelName] --fig-path [FigName]

• RenderFile: one of render_baxter.py. render_baxter_a2c.py, render_baxter_trpo.py or render_baxter_ddpg.py
• EnvName: the corresponding Baxter environment with which the model was trained on, or a different environment as desired
• ModelName: the name of the model saved in models/
• FigName: the desired name of the plot