TriFinger workshop example package

Installation

Testing in simulation

To test your solution in simulation before submitting it (highly recommended), create a virtual environment

python3.8 -m venv trifinger_venv

activate it

. trifinger_venv/bin/activate

update pip

pip install -U pip

and install the trifinger example package

pip install -e ./trifinger_example

Apptainer

If you want to

i) view videos of the real-robot episodes, or ii) add dependencies to the code running on the real robot,

then please install apptainer: https://github.com/apptainer/apptainer/releases

Creating videos of real-robot episodes requires the 'video_creation_image.sif' image. Dependencies should be added to the 'workshop_image.def' image and a new images can then be build based on 'rrc2021.sif'.

Usage

Test locally in simulation

To test your solution in simulation run

python trifinger_example/scripts/run_robot.py --simulate

Submit to the real robot cluster

To submit to the real robot cluster, make sure you have set up the roboch.json correctly and copied it to your user account via

scp roboch.json username@robots.real-robot-challenge.com:

You can then run the bash script to automatically submit, download and create the video:

bash scripts/submit_and_download.sh /path/to/output/dir/ 1 /path/to/video_creation_image.sif

Alternatively, you can also login directly

ssh annoyediguana@robots.real-robot-challenge.com`

which allows you to check your configuration, check the status of your job, and cancel a job (as long as it's not already running).