/rl-manip-objects-ipab

Non-Prehensile Manipulation with Baxter Robot

Primary LanguagePythonMIT LicenseMIT

baxter_epoke

Learning Embodied Intuitive Physics with Baxter Robot

Experiment

scripts/main.py is the code central to experimental set up.

ROS/Gazebo Installation

1. Source ROS distribution

source /opt/ros/<kinetic/noetic>/setup.bash

2. Create workspace

mkdir -p ~/baxter_ws/src

3. Download packages

cd ~/baxter_ws/src
wstool init .
wstool merge https://raw.githubusercontent.com/J0HNN7G/baxter_epoke/main/rosinstall/<kinetic/noetic>.rosinstall
wstool update

4. Build baxter_epoke plugins

cd ~/baxter_ws/src/baxter_epoke/plugins
mkdir build
cd build
cmake ../
make

5. Comment out lines causing errors

Lines 78-79 from

~/baxter_ws/src/baxter_interface/src/joint_trajectory_action/joint_trajectory_action.py

when left uncommented

        self._cuff = baxter_interface.DigitalIO('%s_lower_cuff' % (limb,))
        self._cuff.state_changed.connect(self._cuff_cb)

gave me issues with using MoveIt to control Baxter.

6. Build workspace

cd ~/baxter_ws/
catkin build

ROS/Gazebo usage

Once installed, the following should have Baxter untuck its arms and be receptive to MoveIt commands via Rospy, in a world where there is a static white table, with a static purple block on top, with a moveable green cube on top:

  • Terminal 1:
source ~/baxter_ws/devel/setup.bash
roslaunch baxter_epoke baxter_world.launch
  • Terminal 2:
source ~/baxter_ws/devel/setup.bash
roslaunch baxter_epoke moveit_init.launch
  • Terminal 3:
source ~/baxter_ws/devel/setup.bash
rosrun baxter_tools enable_robot.py -e
rosrun baxter_tools tuck_arms.py -u