eager-dev / eagerx_interbotix

EAGERx interface to interbotix robot arms.

eagerx_interbotix package

Table of Contents

• What is the eagerx_interbotix package?
• Installation
• Dependencies (reality only)
• Real-world experiments
• Acknowledgements

What is the eagerx_interbotix package?

This repository interfaces interbotix robots with EAGERx. EAGERx (Engine Agnostic Graph Environments for Robotics) enables users to easily define new tasks, switch from one sensor to another, and switch from simulation to reality with a single line of code by being invariant to the physics engine.

The core repository is available here.

Full documentation and tutorials (including package creation and contributing) are available here.

Installation

You can install the package using pip:

pip3 install eagerx-interbotix

Dependencies (reality only)

We require ROS, the interbotix ros package and the copilot to control the interbotix manipulators in the real world.

If you do not have rosdep already installed (check if your shell recognizes the command rosdep -help), run the code below. If you use the melodic distribution, use python-rosdep instead.

sudo apt-get install python3-rosdep
sudo rosdep init
rosdep update

Reboot your computer if you had to install rosdep.

Then install the package by typing:

cd ~
curl 'https://raw.githubusercontent.com/Interbotix/interbotix_ros_manipulators/main/interbotix_ros_xsarms/install/amd64/xsarm_amd64_install.sh' > xsarm_amd64_install.sh
chmod +x xsarm_amd64_install.sh
./xsarm_amd64_install.sh

If a previous installation attempt failed, remove directory ~/interbotix_ws, before retrying.

Then, install the copilot by following the installation instruction there.

Real-world experiments

After you installed the copilot, you should launch the driver. Open a terminal, source the ros environment that contains the copilot, and run the command below.

• Assign robot_model with the robot model (e.g. vx300s, px150, etc..).
• Assign robot_name with the name you specified when creating the arm object spec in eagerx.
• Assign dof with the number of degrees of freedom that the robot model has.
• Optionally, you can set use_sim:=True to use a mock arm in RViz.
• Optionally, you can turn off rviz with use_rviz:=False.
• See here for more options.

roslaunch interbotix_copilot copilot.launch robot_model:=px150 robot_name:=px150 dof:=5 use_rviz:=True use_sim:=True

Acknowledgements

EAGERx is funded by the OpenDR Horizon 2020 project.