Examples for using PyRobot to control Sawyer

Getting started

Make sure your system has intera installed. If not, please follow the official tutorial to setup intera and its MoveIt for Sawyer.

Setup Sawyer-Gazebo simulator

To set up the gazebo simulator follow the "Sawyer Simulator Installation" instructions provided in this tutorial.

Running the examples

1. Intial setup,

For real robot only,

cd ~/ros_ws # or the appropriate catkin workspace in which intera_sdk package is in
 ./src/intera_sdk/intera.sh 

For the Gazebo simulator only,

cd ~/ros_ws # or the appropriate catkin workspace in which intera_sdk package is in
 ./src/intera_sdk/intera.sh sim
 roslaunch sawyer_gazebo sawyer_world.launch electric_gripper:=true #launch the Gazebo simulagtor

2. Start the joint trajectory controller

cd ~/ros_ws
./src/intera_sdk/intera.sh
rosrun intera_interface joint_trajectory_action_server.py

3. Launch MoveIt for Sawyer in a new terminal

cd ~/ros_ws
./src/intera_sdk/intera.sh
roslaunch sawyer_moveit_config sawyer_moveit.launch electric_gripper:=true

4. Run PyRobot examples in a new terminal