evana13g/rapdr

Research in Action Primitive Discovery for Robotics

Setup Instructions

Setup each of the following, in order:

1. Ubuntu 16.04

2. ROS Kinetic (http://wiki.ros.org/kinetic/Installation/Ubuntu & http://wiki.ros.org/ROS/Tutorials)

3. Gazebo 7 (Installs with ROS installation)

4. Baxter Gazebo Simulation (http://sdk.rethinkrobotics.com/wiki/Simulator_Installation) a. Note, we are not using the baxter.sh sim script

5. PyperPlan (https://bitbucket.org/malte/pyperplan) a. Manually download the code to the src directory and rename it 'pyperplan'

6. cpDetect (https://github.com/choderalab/cpdetect.git)

7. Clone the RAPDR project

** At this point, the file heirarchy should take the following form:

    catkin_ws/
    catkin_ws/src/
    catkin_ws/src/RAPDR/
    catkin_ws/src/*all baxter gazebo packages*
    catkin_ws/src/pyperplan/
    catkin_ws/src/cpdetect/

8. Build:

    cd ~/catkin_ws
    catkin_make
    source devel/setup.bash
   

Run instructions

Each of the following should be run in a separate terminal window:

1. Launch baxter sim.

    roslaunch baxter_gazebo baxter_world.launch
   

2. Spawn the environment elements (table, buttons, object)

    rosrun environment initialize_environment.py
   

3. Spawn the robot action server nodes (each in a seperate terminal window):

   1. Service for obtaining object

       rosrun agent obtain_object.py
      

   2. Service for pressing button

       rosrun agent press_button.py
      

4. Spawn data conversion node (converts raw data into predicate form)

    rosrun environment scenario_data.py
   

5. Spawn the PDDL nodes (each in a seperate terminal window):

   1. Service for generating pddl plans

       rosrun pddl plan_generator.py
      

   2. Service for executing pddl plans

       rosrun pddl plan_executor.py
      

6. Spawn partial plan execution node (for executing segmentations)

    rosrun agent partial_plan_executor.py
   

7. Spawn action primitive variation node

    rosrun action_primitive_variation APV_server.py
   

8. Run the agent brain (creepy). All configs are set here.

    rosrun agent brain.py
   

Other Info

The URDF models are inside the baxter_simulation package in a folder that I believe is called baxter_sim_examples/models. The URDF model for the table and the wall is called cafe_table.

1. For proof of concept scenario #1, we assume the following protocol:

"left_gripper" - left gripper \n "right_gripper" - right gripper \n "block" - object to obtain \n "left_button" - left button \n "right_button" - right button \n

2. Many of the .py files might not be runnable. Navigate to their directories and run:

    chmod +x [filename]
   

For example:

    chmod +x brain.py