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6-881-examples

This repository contains a collection of tools for interacting with robots and cameras, developed to support the Intelligent Robot Manipulation class (MIT 6.881).

Note that the master branch is currently on a version of Drake from December 2018. For newer code that doesn't have tests that run against CI, see the km_thesis_work branch.

Pre-reqs

In the root directory of this repository, run the following command in a terminal to build a docker image that includes Drake and denpendencies for PDDLStream:

$ docker build -t mit6881 -f ubuntu16_04_mit6881.dockerfile --build-arg DRAKE_VERSION=20181212 .

Use

In the root directory of this repository, run

$ python ./docker_run.py --os [your operating system]

where [your operating system] should be replaced with mac or linux. This command will start a docker container (virtual machine) with the docker image you have created. The 6-881-examples folder on the host machine (your laptop/desktop) is mounted to /6-881-examples in the docker container.

In the docker container, run

$ terminator

to launch terminator, a popular terminal multiplexer on linux. The terminator window is launched with a dark green background to distinct itself from terminals running on the host machine.