world_generator

Basic steps to make door worlds.

Step0: Download the doorknob data set

Pull knobs (0.75 GB)

Lever knobs (0.77 GB)

Round knobs (1.24 GB)

Step1: Configure the folder structure.

• Extract and place the downloaded door knob dataset under the door folder (or make a symlink).
• Place your favorite robots under the robot folder. (Blue robots are there as default)

Step2: Run following (e.g. lever knob and hook arm combination.)

cd path/to/DoorGym/

python3 ./world_generator/world_generator.py --knob-type lever --robot-type floatinghook

Step3: Check the model by running the mujoco simulator

cd ~/.mujoco/mjpro150/bin

./simulate path/to/DoorGym/world_generator/world/lever_floatinghook/1551848929_lever_floatinghook.xml

Arguments

name	options	default	explaination
knob-type	"lever", "round" or "pull"	' '	If no arg, it use all types.
robot-type	"gripper","hook","floatinghook","floatinggripper", "mobile_gripper" or "mobile_hook"	'floatinghook'	-
one-dir	True/False	False	Save everything into one dir, or save into separate dir by its robot and knob types
pulldoor-ratio	0.0~1.0	1.0	ratio of door that opens by pulling.
righthinge-ratio	0.0~1.0	1.0	ratio of door that has hinge on right side.

Reference

This mjcf generator is powered by the following repo.

https://github.com/iandanforth/mjcf