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Demonstrator 6: Visuomotor reaching and grasping

This repo contains the files related to the Demonstrator 6 - visuomotor reaching and grasping experiment.

Install

To run this experiment you need the recent version of the Neurorobotics Platform, a docker installation also works.

  1. Clone this repo into your ~/.opt/.nrpStorage folder
  2. Copy the content of the Models folder into your Models and create a symlink:
cp -r ./Models/* ${NRP_MODELS_DIRECTORY}
cd ${NRP_MODELS_DIRECTORY}
./create-symlinks.sh
  1. Register this new experiment with the web frontend (click on scan or import a zip/folder)

Dependencies

If you are using the NRP docker image, you will need to run these steps everytime you reset or update the image.

  1. Checkout and build the demonstrator6 branch of GazeboRosPackages:
cd ${HBP}/GazeboRosPackages
git remote add github https://github.com/HBPNeurorobotics/GazeboRosPackages.git
git fetch github
git checkout demonstrator6
catkin_make
  1. Install the following packages:
sudo apt install ros-melodic-ros-controllers ros-melodic-controller-manager ros-melodic-robot-state-publisher
  1. As well as the following python packages available in the NRP experiment:
source ~/.opt/platform_venv/bin/activate
pip install torch
deactivate