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genesis_manipulation

About

A motion planning example for a Panda arm using Genesis and reinforcement learning.

eval

setup

git clone https://github.com/TakashiSato/genesis_manipulation.git ~/genesis_ws/genesis_manipulation
cd ~/genesis_ws/genesis_manipulation/
bash scripts/setup.bash

train

cd ~/genesis_ws/genesis_manipulation/
source ~/genesis_ws/.venv/bin/activate
python3 src/panda_train.py --max_iterations 100 -B 4096
  • -B is the number of parallel environments

train with viewer

  • append --show_viewer to the train command
  • NOTE
    • visualize only the first environment
    • train will be slower but you can see the training process
python3 panda_train.py --max_iterations 100 -B 4096 --show_viewer

train with viewer and visualize parallel

  • append --show_viewer and --show_parallel to the train command
  • NOTE
    • train will be more slower than the above command
python3 panda_train.py --max_iterations 100 -B 128 --show_viewer --show_parallel

train_parallel

visualize training states with tensorboard

  1. execute panda_train.py
  2. execute tensorboard in another terminal
source ~/genesis_ws/.venv/bin/activate
tensorboard --logdir ~/genesis_ws/genesis_manipulation/logs
  1. open http://localhost:6006/ in your browser

evaluate trained model

cd ~/genesis_ws/genesis_manipulation/
source ~/genesis_ws/.venv/bin/activate
python3 src/panda_eval.py --ckpt 100