FetchGamePhysics

Experimenter View

Ceiling Camera

This repo is a Work In Progress ditigal twin of our experiment rig.

Many parts are adapted from Unity-Robotics-Hub, especially the Pick-and-Place Tutorial and Object Pose Estimation Tutorial. A basic familiarity on these two tutorials and ROS Tutorial would help better working with FetchGamePhysics.

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Table of contents

• Part 1: Installation Instruction
• Part 2: ROS–Unity Integration
• Part 3: Pick-and-Place In Unity

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Note, skip Part 2 and Part 3 if you are only interested in Reinforcement learning agent training with this environment.

Part 1: Installation Instruction

Part 2: ROS–Unity Integration

Part 3: Pick-and-Place In Unity

TODO

• Trajectory planner for picking up the cube and place it on the goal.
• Integrate three robots, working tables, ramp to complete the scene.
• Integration with ur_rtde and UR offline simulator.
• Calibration and integration with real robot.
• Game release

Acknowledgement

• Jinyao Yan
• Philip Hubbard
• David Schauder
• Jeff Talbot
• Jon Arnold
• Rob Johnson