Robot_Autonomy_Project

16-662 Group Project

Members: Bryson Jones Quentin Cheng Shaun Ryer

Robot Autonomy Spring 2020 Simulation Project

Installation

Please use Python 3.6

1. Install PyRep
2. Install RLBench
3. pip install -r requirements.txt

Example RLBench Usage

Run python rlbench_example.py to launch the example script. Here, the BlockPyramid task is used, and the policy is random end-effector positions.

This script contains example code on how to control the robot, get observations, and get noisy object pose readings.

Useful Files

The following files may be useful to reference from the In the rlbench folder in the RLBench repo:

• rlbench/action_modes.py - Different action modes to control the robot
• rlbench/backend/observation.py - All fields available in the observation object