This package can be installed via pip. Simply navigate into the root directory of the repository and run
pip install .If you plan on using the real robot, additional dependencies have to be installed.
# Controller for the Robotis gripper
pip install git+https://github.com/TimSchneider42/python-rhp12rn-controller.git
# Natnet client used to process Optitrack streams
pip install git+https://github.com/TimSchneider42/python-natnet-client
# Optionally, if you want to use the Telegram bot for controlling and watching the robot remotely
pip install opencv-python pyrogramGym environments used in our IROS paper Active Exploration for Robotic Manipulation.
See example/random_action.py for a usage example.
To recreate the conditions used in our experiments, invoke the script as follows:
# For the experiment without holes in the table (`-f` controls the finger friction, setting it higher decreases the task difficulty)
python random_action.py -f 0.3
# For the experiment with holes in the table
python random_action.py -f 0.5 -H See our paper for further details.
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