dtiresearch/senseact repository overview

⁠SenseAct Docker images

by Danish Technological Institute, Author: Nicolai A. Lynnerup, Consultant & Industrial PhD Fellow, mail: [email protected]⁠.

The Dockerfile is available at our public Github repository: dti-research/SenseAct⁠.

The original SenseAct framework⁠ does not in its current state support Docker. We've made a minimal of changes from the original codebase while enabling the use of the framework on a wider range of UR robot versions, by including the work of Oliver Limoyo in PR29⁠.

⁠Licens

Find licenses for all our repositories here on Github⁠.

⁠Running Experiments

To run the experiments presented in our paper (under review, link TBA), you need to have a working install of Docker⁠ prior to proceeding.

1. On the host machine do:

# 1. Clone this repo (anywhere on your PC)
git clone https://github.com/dti-research/SenseActExperiments.git

# 2. Change directory into the docker folder
cd SenseActExperiments/

# 3. Start the Docker container (w/ experiment folder bind mounted into )
docker run -it --rm -v $PWD:/code -w /code dtiresearch/senseact bash

If you want to build our version of the SenseAct⁠ framework from source, please see consult the install guide at Github⁠.

1. Inside the Docker container

# 1. Go into the folder containing the code
root@2c9828ac7a9b:/code# cd code

# 2. Run the train script given the experiment configuration file
root@2c9828ac7a9b:/code/code# python3 train/train.py -f experiments/ur5/trpo_kindred_example.yaml

That's it folks! You should be able to obtain results very similar to ours.

⁠Running the Docker Container as Standalone

docker run -it --rm dtiresearch/senseact bash