Name		Name	Last commit message	Last commit date
parent directory ..
README.md		README.md
ee_pose_control.py		ee_pose_control.py
ee_xyz_control.py		ee_xyz_control.py
joint_position_control.py		joint_position_control.py
joint_torque_control.py		joint_torque_control.py
joint_velocity_control.py		joint_velocity_control.py
move_to_neutral.py		move_to_neutral.py
moveit_obstacles.py		moveit_obstacles.py
moveit_planning.py		moveit_planning.py

README.md

Examples for using PyRobot API 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.

Running the examples

Start the joint trajectory controller

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

Launch MoveIt for Sawyer in a new terminal

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

Run PyRobot examples in a new terminal

cd ~/ros_ws
./intera.sh
source ~/pyenv_pyrobot/bin/activate
python joint_position_control.py