Reach Object

Installation

This implementation requires the following dependencies (tested on Ubuntu 16.04 LTS):

• Python 2.7. The default python version in the ubuntu 16.04.

• ROS Kinetic. You can quickly install the ROS and Gazebo by following the wiki installation web(if you missing dependency package, you can install these package by runing the following):

  sudo apt-get install ros-kinetic-(Name)
  sudo apt-get install ros-kinetic-(the part of Name)*   # * is the grammar of regular expression

• NumPy, SciPy, OpenCV-Python, Matplotlib. You can quickly install/update these dependencies by running the following:

  pip install numpy scipy opencv-python matplotlib

• Torch == 1.0.0 and Torchvision == 0.2.1

  pip install torch==1.0.0 torchvision==0.2.1

• CUDA and cudnn. You need to install the GPU driver、the cuda and the cudnn, this code has been tested with CUDA 9.0 and cudnn 7.1.4 on two 1080Ti GPU(11GB).

Reach Object Code

1. download this repository and compile the ROS workspace.

   git clone https://github.com/nizhihao/Reach-Object.git
   mv /home/user/Reach-Object/myur_ws /home/user
   cd /home/user/myur_ws
   catkin_make
   echo "source /home/user/myur_ws/devel/setup.bash" >> ~/.bashrc
   source ~/.bashrc

   The Introduction of the ROS package.

   gazebo-pkgs       # Gazebo grasp plugin
   reach_objcet    # the RL package(all algorithm code in this package)
   universal_robot-kinetic-devel  	# UR robotic arm package
   ur_modern_driver 		     # UR robotic arm driver in the real world 
   ur_robotiq 			  # cube, Mesh

2. If you want to train or test in Gazebo, You can run the following command line.

   roslaunch ur_gazebo ur5.launch   # run the Gazebo
   roslaunch ur5_moveit_config ur5_moveit_planning_execution.launch sim:=true   # run moveit
   roslaunch ur5_moveit_config moveit_rviz.launch config:=true  # run rviz
   rosrun reach_object main.py   # run the agent

   The Introduction of the reach_object(RL) package.

   main.py   	   # main func
   TD3.py   	 # agent 
   env.py   # environment
   plot.py		   # plot