ARISE-Initiative
Unable to control mobile base in device control demo
Hi, I’m trying to use Robosuite for a project involving mobile manipulation with a platform like the Tiago. However, I can’t figure out how to control the robot’s base.
I expected this to work in the device control demo when selecting the Tiago robot. From what I understand, the Tiago is modeled with a NullMobileBase: https://github.com/ARISE-Initiative/robosuite/blob/77a4751233c29456a5381209e30dd0dbf39a6557/robosuite/models/robots/manipulators/tiago_robot.py#L17-L22 which appears to define a holonomic base: https://github.com/ARISE-Initiative/robosuite/blob/77a4751233c29456a5381209e30dd0dbf39a6557/robosuite/models/assets/bases/null_mobile_base.xml#L1-L19
When running the demo, pressing b to switch control modes and then using the arrow keys does nothing. Is mobile base control not supported in this context, or am I missing a configuration step?
I’m running the latest master branch and installed with pip install . Any help is appreciated!
Hi, it may be an issue with the demo_device_control script. Can you try running the following and let me know if you are able to perform mobile base control: python robosuite/scripts/collect_human_demonstrations.py --robots Tiago
I ran mjpython robosuite/scripts/collect_human_demonstrations.py --robots Tiago on macOS, and I can confirm that base control works properly there.
I'm not sure how this is connected, but if you remove the DataCollectionWrapper in collect_human_demonstrations.py, the robot base stops moving. Here’s the relevant code snippet: https://github.com/ARISE-Initiative/robosuite/blob/77a4751233c29456a5381209e30dd0dbf39a6557/robosuite/scripts/collect_human_demonstrations.py#L325-L326