sawyer_tufts

Installation Instruction:

• If ROS is not installed, follow the instructions in the link below:

http://wiki.ros.org/ROS/Installation

• If sawyer simulation is not installed, please follow the instructions in the link below:

http://sdk.rethinkrobotics.com/intera/Gazebo_Tutorial

• Locate the the file "intera.sh", open and ennsure the ros_version matches the ros version you insatalled. Modify if need.
• Move the "intera.sh" file to workspace directory.
• Clone this repo into the src of your workspace.
• make the workspace.

Introduction:

This package when ran launches gazebo world, a table and a specified block on the table via a python script. The user specifies the block's serial number(0 through 4) and the number of times to run the code. The joint_state is recorded into a rosbag. The naming convention for the rosbag file is:

                <sawyer_model>_<Block number>_<Time stamp>.bag

example:

                 sawyer_model_4_2018-08-01-14-25-14.bag

Run:

To run the code, the user runs the following in the commandline:

                roslaunch sawyer_tufts pick_and_place_tufts.launch num_of_run:="natural number"

example:

                roslaunch sawyer_tufts pick_and_place_tufts.launch num_of_run:=4

where:

• sawyer_tufts -> the name of package
• pick_and_place_tufts.launch -> the launch file for the gazebo world and the demo python script
• num_of_run -> number of desired time the robot should pick block. Number should be greater than

Demos:

Grasp, Pick, Hold, Shake and Place(Gif):

Pick and Place(Full Video):