Wobbler: Ball balancing robot

A ball balancing environment utilizing pybullet for simulation of robotic manipulation tasks.

Setup

I recommend using conda for setup:

conda create -n roboverse python=3.9
conda activate roboverse
pip install -r requirements.txt

When using this repository with other projects, run pip install -e . in the root directory of this repo.

Reproduce experiments

To reproduce all the data stored in the runs folder, simply execute the run_commands.py script.

Run on real hardware

To run the policy on real hardware, simply change the environment in the config file for Widow250EnvROSARob-v0, specify the pretrained model in the from_pretrained field and set real_application field to True.

Credits

Roboverse developers: Avi Singh, Albert Yu, Jonathan Yang, Michael Janner, Huihan Liu, Gaoyue Zhou