Learning Embodied Intuitive Physics with Baxter Robot
scripts/main.py
is the code central to experimental set up.
source /opt/ros/<kinetic/noetic>/setup.bash
mkdir -p ~/baxter_ws/src
cd ~/baxter_ws/src
wstool init .
wstool merge https://raw.githubusercontent.com/J0HNN7G/baxter_epoke/main/rosinstall/<kinetic/noetic>.rosinstall
wstool update
cd ~/baxter_ws/src/baxter_epoke/plugins
mkdir build
cd build
cmake ../
make
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.
cd ~/baxter_ws/
catkin build
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