Currently pointing at the old wiki, let's update to the new wiki pages.

Currently, this repo contain two versions of the meshes for the Sawyer robot:

https://github.com/RethinkRobotics/sawyer_robot/tree/master/sawyer_description/meshes/sawyer_ft
https://github.com/RethinkRobotics/sawyer_robot/tree/master/sawyer_description/meshes/sawyer_pv

Both meshes have similar latest commit time, which suggests that both are actively maintained.
Closer inspection suggests that "sawyer_pv" is generated by solidworks, and "sawyer_ft" by Meshlab.
However, it is not clear what further practical difference this would lead to.

Some sort of documentation explaining the difference between the two, and guidelines to choose either one would be helpful.

The current meshes have decimation artifacts. Preferably, they should be removed in favor of slightly larger (but prettier) meshes.

Moved from RethinkRobotics/intera_common#14

Adjust the actual mesh for the pedestal (e.g. in blender) down a bit to align with /base and the bottom of the robot.

We need to copy out the named_poses.yaml file from the internal sawyer_description/params folder into sawyer_description/params folder in this repo for the following poses:

• Neutral Pose
• Shipping Pose

These parameters will only be loaded in sawyer_simulator launch scripts, and must reflect what is found on the parameter server of the robot.

Hi, I hope someone is taking care of this project :)

Can you please provide a tutorial like this one that explains how to setup ROS Kinetic to run an Openai gym algorithm using Sawyer?

I have evidence that suggests that launching ./intera.sh modifies somehow the settings, therefore the classic tutorials are quite ineffective in this case.

• Environment: Ubuntu 16.04, ROS Kinetic

Problem: I followed the install instruction in http://sdk.rethinkrobotics.com/intera/Workstation_Setup and everything works well until I connect Sawyer to my computer with cable.

• First I run sudo avahi-autoipd eth0 and the result is:

Found user 'avahi-autoipd' (UID 105) and group 'avahi-autoipd' (GID 113).
Successfully called chroot().
Successfully dropped root privileges.
Starting with address 169.254.6.90
Callout BIND, address 169.254.6.90 on interface eth0
Successfully claimed IP address 169.254.6.90

• Then I open a new terminal and run ping 021608CP00057.local, where 021608CP00057.local is the controller's serial number, the output seems right:

PING 021608CP00057.local (169.254.6.199) 56(84) bytes of data.
64 bytes from 021608CP00057.local (169.254.6.199): icmp_seq=1 ttl=64 time=0.315 ms
64 bytes from 021608CP00057.local (169.254.6.199): icmp_seq=2 ttl=64 time=0.154 ms
64 bytes from 021608CP00057.local (169.254.6.199): icmp_seq=3 ttl=64 time=0.177 ms

• After this, I run ./intera.sh in the folder ros_ws, and the ping command turns to be this:

From 172.17.0.1 icmp_seq=33 Destination Host Unreachable
From 172.17.0.1 icmp_seq=34 Destination Host Unreachable
From 172.17.0.1 icmp_seq=35 Destination Host Unreachable
From 172.17.0.1 icmp_seq=36 Destination Host Unreachable

By the way, the env | grep ROS gives me:

ROS_ROOT=/opt/ros/kinetic/share/ros
ROS_PACKAGE_PATH=/home/minty/ros_ws/src:/opt/ros/kinetic/share
ROS_MASTER_URI=http://021608CP00057.local:11311
ROS_HOSTNAME=localhost
ROSLISP_PACKAGE_DIRECTORIES=/home/minty/ros_ws/devel/share/common-lisp
__ROS_PROMPT=1
ROS_DISTRO=kinetic
ROS_IP=169.254.6.90
ROS_ETC_DIR=/opt/ros/kinetic/etc/ros

I've changed robot_hostname to be the serial number and your_ip = 169.254.6.90 in intera.sh.
I don't know why this sh file can't work? This processing seems workable when I connect another Baxter robot.

Thanks a lot!

I cannot open sawyer.urdf in Gazebo with command

rosrun gazebo_ros spawn_model -file rospack find sawyer_description/urdf/sawyer.urdf -urdf -model sawyer

The model works after I change
->