Sawyer Reaching

Install sourcecode

mkdir ~/ee331 && cd ~/ee331
git clone https://github.com/thanhkaist/SawyerReaching.git
cd SawyerReaching

Update submodule

git submodule init
git submodule update

Install dependency

1. ros_kinetic + intera_interface_sdk
   https://sdk.rethinkrobotics.com/intera/Workstation_Setup
2. gazebo
   https://sdk.rethinkrobotics.com/intera/Gazebo_Tutorial
3. install sawyer_control
   Follow this [sawyer_control/README.md]
   Remember:

• Use your (path to ros_ws)/src instead of ~/catkin_ws/src \
• Change this step

run `git clone https://github.com/mdalal2020/sawyer_control.git` in ~/catkin_ws/src/

to

cd (path to ros_ws)/src
ln -s (path to SawyerReaching)/sawyer_control .

• Change this step

pip install -r system_python_requirements.txt

to

pip install -r system_python_requirements.txt --no-deps

• No need to install kinect2 bridge (step 14)
  Note: you also need to install sawyer_control to your virtual env (e.g my_env) with

cd (path to SawyerReaching)/sawyer_control
pip install -e .

and run $python_path alias before you can use that package

4. install multiworld

Install multiworld package into your virtual env (e.g my_env) that you have created in step 3.

cd (path to SawyerReaching)/multiworld
pip install -e .

Training algorithm

Requirement

Install algorithm dependency

conda activate my_env
pip install -r algorithm/requirement.txt

Add useful alias to ~/.bashrc

alias ros_enable="source /opt/ros/kinetic/setup.bash; source ~/$ros_ws$/devel/setup.bash"
alias saw_sim="ros_enable; ./intera.sh sim"
alias saw="cd ~/ros_ws/; ros_enable; ./intera.sh "
alias exp_nodes="roslaunch ~/ros_ws/src/sawyer_control/exp_nodes.launch"
alias python_path="export PYTHONPATH=/home/$your_user$/miniconda2/envs/$ros_ws$/lib/python3.5/site-packages:$PYTHONPATH:/opt/ros/kinetic/lib/python2.7/dist-packages/"

Working with simulation

Note: For all command below, make sure you current working directory in $ros_ws$

Run sawyer gazebo

saw_sim
roslaunch sawyer_gazebo sawyer_world.launch

Run control nodes (in another terminal)

saw_sim
exp_nodes

Run visualization nodes if needed (in another terminal)

saw_sim
roslauch ~/ros_ws/src/sawyer_control/main.launch

In rviz, File->Open Config-> (path to SawyerReaching)/reachingXYZ.rviz

Train your algorithm (in another terminal)

saw_sim
conda activate my_env
python_path
cd (path to SawyerReaching)/algorithm/ddpg
python ddpg.py --env $name$

Test your algorithm

saw_sim
conda activate my_env
python_path
cd (path to SawyerReaching)/algorithm/ddpg
python ddpg_test.py 

Working on real robot

Set up parameters for the hand-eye camera

saw
rosrun intera_examples camera_display.py -c right_hand_camera -x 10 -g 10

Run control nodes (in another terminal)

saw
exp_nodes

Run visualization nodes and vision node (in another terminal)

saw
roslaunch ~/ros_ws/src/sawyer_control/main.launch

Run grasping (in another terminal)

saw
conda activate my_env
python_path
cd (path to SawyerReaching)/algorithm
python  grasp_object.py