erl_xArm

This repository contains the code to run xArm6 robot in both real and simulation.

Dependencies

• xArm Python SDK
• robosuite fork
• scipy
• opencv-python
• pyrealsense2

Usage

1. Mandatory Setup

   • Set up python path

     export PYTHONPATH=$PYTHONPATH:/path/to/erl_xArm

2. (Optional) Setup for real robot experiments

   • Ensure fsr port is open

     sudo chmod a+rw /dev/ttyACM0

   • Run camera extrinsics calibration

     cd scripts
     python3 camera_extrinsics_calibration.py

     Note: extrinsics.npz is saved to the directory from where you execute camera_extrinsics_calibration.py.

3. Run experiments

   cd scripts
   python3 gui_run_experiment.py

   Note: If you wish to run tasks on xarm that use camera input, then extrinsics.npz must be present in the scripts directory# xarm-map-rl