learn_to_manipulate

Prerequisites

Gazebo 7 or higher, ROS Kinetic, pytorch.

Installation

1. Clone the learn_to_manipulate package into your catkin workspace.

2. Install packages for controlling the robot arm:

sudo apt-get install ros-kinetic-ur5-moveit-config ros-kinetic-ur-kinematics

sudo apt-get install ros-kinetic-gazebo-ros-pkgs ros-kinetic-gazebo-ros-control

3. Clone the universal_robot folder from the kinetic-devel branch of my fork of it (https://github.com/marcrigter96/universal_robot) into your catkin workspace. This fork modifies the description of the robot to include a rectangle implement for pushing the block.

4. Add to your .bashrc:

export GAZEBO_MODEL_PATH=/path_to_this_package/models:$GAZEBO_MODEL_PATH

5. Build your catkin workspace.

Run the simulation

roslaunch ur_gazebo ur5_joint_limited.launch (launch gazebo, gui:=false for headless)

roslaunch ur5_moveit_config ur5_moveit_planning_execution.launch sim:=true limited:=true (launch planner for moving robot arm joints)

rosrun learn_to_manipulate run_sim.py (run a script which simulates episodes)

roslaunch scitos_teleop teleop_joystick.launch js:=/dev/input/js0 (optional: use this to use input from a joystick)