Some depandencies are in environment.yml file
type this in terminal before running code to get around OpenGL issue
export MUJOCO_GL="osmesa"
To permenantly get rid of this issue, add the above line to your .bashrc file.
original_door_env.py contains the original door environment copied from robosuite. It contains just a door without robot.
curri_door_env.py contains the door environment for curricula of door pose initialized in increasing range. It extends original door env.
door_random_point_env.py contains the door environment that generates random force point each episodes. It extends curriclum door env.
Curriculum learning with
fixed initial pose -> wider initial pose -> random point
works good.
Do we need discretization if so?
For microwave, X is facing outward, Y is facing up, Z is facing "left" dishwasher: X facing outward, Y facing downward, Z facing "right" Door counterclock: X out, Y left, Z down