机器人学习 多任务学习 终身学习 机器人持续学习基准LIBERO系列4——robosuite最基本demo

0.前置

机器人持续学习基准LIBERO系列1——基本介绍与安装测试机器人持续学习基准LIBERO系列2——路径与基准基本信息机器人持续学习基准LIBERO系列3——相机画面可视化及单步移动更新

1.robosuite的相关资料

是基于MuJoCo的机器人学习方针环境，提供一套基准环境，MuJoCo官方DeepMind长期支持，是通过模拟环境推进机器人智能倡议项目（ Advancing Robot Intelligence through Simulated Environments (ARISE) Initiative）的一部分。是LIBERO的底层环境基本介绍博文简单运行和搭建简单环境的博文官方网站官方文档

2.robosuite最基本demo

创建一个简单的抓取任务环境，并可视化演示随机动作

import numpy as np

import robosuite as suite

# create environment instance

env = suite.make(

env_name="Lift", # try with other tasks like "Stack" and "Door"

robots="Panda", # try with other robots like "Sawyer" and "Jaco"

has_renderer=True,

has_offscreen_renderer=False,

use_camera_obs=False,

)

# reset the environment

env.reset()

action = np.random.randn(env.robots[0].dof) # sample random action

obs, reward, done, info = env.step(action)

for i in obs:

print(i)

for i in range(1000):

action = np.random.randn(env.robots[0].dof) # sample random action

obs, reward, done, info = env.step(action) # take action in the environment

env.render() # render on display

env.close()

结果 如果最后没有用env.close()手动关闭环境的话，程序结束后会报错：

Exception ignored in:

Traceback (most recent call last):

File "/home/jiangyvhang/anaconda3/envs/maniskill2/lib/python3.8/site-packages/robosuite/utils/binding_utils.py", line 199, in __del__

File "/home/jiangyvhang/anaconda3/envs/maniskill2/lib/python3.8/site-packages/robosuite/renderers/context/egl_context.py", line 149, in free

File "/home/jiangyvhang/anaconda3/envs/maniskill2/lib/python3.8/site-packages/OpenGL/error.py", line 230, in glCheckError

OpenGL.raw.EGL._errors.EGLError:

Exception ignored in:

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