Niryo

Step to Run

1. Git clone this repo into the home folder (it will create a Niryo workspace)
2. cd into the Niryo folder and catkin build
3. type source devel/setup.bash into terminal
4. roslaunch niryo_one_moveit_config bed_making_world.launch

Requirements

install pip if you don't have it already with
sudo apt-get install python-pi

Do not update pip if it said it's an old version on Ubuntu as it is not statble for newer version of pip. This may cause the pip system to fail and you may have to reinstall Ubuntu

pip install torch

(if above doesn't work, try pip install --no-cache-dir torch)

pip install future

Run sudo apt-get install ros-kinetic-{} for the following:

moveit*
rviz*
joint*
ros-control*
control*
trajectory*
gazebo*

Run this command to start the simulation

roslaunch niryo_one_moveit_config bed_making_world.launch 

Then to train the model, go to the agent folder of RL algorithm agent you want to test and run

python train.py