ioarun / sawyer-robot-learning

Simulation source code and examples for applying machine learning on Sawyer Robot

sawyer-robot-learning

This repository contains the simulation source codes and examples for applying machine learning algorithms on Sawyer Robot in Gazebo simulation environment.

Dependencies & Packages:

• Ubuntu 16.04
• ROS Kinetic
• Gazebo 7
• Sawyer-ROS Packages & SDK includes Sawyer robot model & simulator packages for accessing the Sawyer robot in Gazebo environment.
• Python 3.6

Setting up the package:

Clone the repository into the sawyer file(with the previously installed sawyer simulator and sdk's) and then cd to catkin_ws directory

$ cd catkin_ws
$ catkin_make

How to access the files in the package:

Terminal 1: To launch the Sawyer robot in Gazebo environment

$ roslaunch sawyer_gazebo_env sawyer_gazebo_env.launch

Terminal 2: To launch the task specific environment (eg, reaching task)

$ roslaunch sawyer_demonstration sawyer_demonstration.launch \task:=reaching controller:=falcon

Note: For different task environment(say, peg in hole) set task:= peginhole and a different controller set controller:=joystick