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PandaEnv Standard Workflow

Pre-requirements

miniconda

libfranka

franka-ros

moveit

gym

A Panda Setup Tutorial in Chminese simplify

One Good Reference: sawyer-control

Step1: Modify the bashrc file

gedit ~/.bashrc

Add in the bashrc:

source /home/dell/catkin_ws/devel/setup.bash
# some useful aliases
alias de='conda deactivate'
alias ac='conda activate base'
alias cv='export PYTHONPATH="/home/dell/miniconda3/lib/python3.7/site-packages:$PYTHONPATH"'

hint: change the '/home/dell' due to your own PC configuration

Step2: Bringup the robot

For testing position mode in simulation:

roslaunch panda_moveit_config demo.launch

trick: to reduce the render load, try not to use the rviz:

add the following code in demo.lauch:

<!--add a arg named rviz_on-->
<arg name="rviz_on" default="false"/>
<!-- Run Rviz -->
<!--add the rviz_on arg after if -->
  <include file="$(find panda_moveit_config)/launch/moveit_rviz.launch" if="$(arg rviz_on)">
    <arg name="rviz_tutorial" value="$(arg rviz_tutorial)"/>
    <arg name="debug" value="$(arg debug)"/>
  </include>

assign the rviz_on value to enable the rviz window:

roslaunch panda_moveit_config demo.launch rviz_on:=True

Step3: Openup the services

de
roslaunch sawyer_control exp_nodes.launch

Step4: Create the standard gym env

Copy the env files into gym.env

cp -r /panda-control/src/panda-control /home/dell/miniconda3/lib/python3.7/site-packages/gym/envs/robotics/

in panda_reaching.py:

import sys
sys.path.append('/home/dell/miniconda3/lib/python3.7/site-packages/gym/envs/robotics/panda_control')

hint: change the '/home/dell' due to your own PC configuration, use 'pip show gym' to see the gym.env path.

Use the sys.path.append line if "no module named 'panda_env_base'" error comes up

Modify the init.py in both robotics folder and gym.env folder:

an example of ../robotics/_init_.py

from gym.envs.robotics.hand.manipulate_touch_sensors import HandEggTouchSensorsEnv
from gym.envs.robotics.hand.manipulate_touch_sensors import HandPenTouchSensorsEnv
# user add
from gym.envs.robotics.panda_control.panda_reaching import PandaReachXYZEnv

../gym/envs/_init_.py

...
# Robotics
# ----------------------------------------
# user add
register(
    id="PandaReach-v1",
    entry_point='gym.envs.robotics:PandaReachXYZEnv',
    max_episode_steps=50,
)

def _merge(a, b):
    a.update(b)
    return a
...

Change the PYTHONHOME sys.path due to cv requests:

cv

Test the gym env:

python
import gym
env=gym.make('PandaReach-v1')
env.reset()