RLBench_SDP

This repository contains the project "RLBench: Mobile Manipulator Extension" to fulfill the requirements of the course-work 'Software Development Project' at Hochschule Bonn-Rhein-Sieg

Project Advisors:

• Prof. Dr. Nico Hochgeschwender
• Alex Mitrevski

Team Members:

• Syed Musharraf Ali
• Ekansh Sharma
• Hamza Ullah Khan

How to run?

• Pre-requisites: This project assume the following system specification/software components installation:

  • Ubuntu 16.04, 18.04 or 20.04
  • Anaconda
  • No prior installation of CoppeliaSim (If installed already, edit the .bashrc file to delete the existing COPPELIASIM_ROOT path variable)

• Clone this repository using: https://github.com/musharrafleo95/RLBench_SDP.git

• Go to this repository directory: cd RLBench_SDP

• Open terminal inside the repository directory and run: source setup.sh

• Wait for a while (10-20 minutes approx) till the installation is complete and the terminal shows the successfull installation of all packages.

• Now in the existing terminal, run the following commands:

  • cd RLBench/tools/
  • Python3 task_builder.py
  • Enter the task name as: test_hsr_task.py and press Enter
  • Wait for the task to load and then in the terminal enter + to run the simulation
  • Enter d to see the demo in CoppeliaSim

• Now the task will be running and the HSR robot arm will be reaching the ball in the environment.

Note: The `scripts` directory contains an example of a Lua script and a Python script