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Mike_Fair

Sawyer SDK 5.2 is Now Available

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Rethink Robotics is thrilled to announce the latest version of the Sawyer SDK is available for download! The release includes:

  • Gazebo Simulator - Allows you to simulate controlling Sawyer in a physics and virtual environment before running the actual robot.

  • New Motion Interface - This mode allows the user to specify high-level (Joint or Cartesian space) waypoints. Sawyer’s own onboard motion controller will then generate smooth trajectories that will interpolate motion between these waypoints.

  • Impedance and Force control mode interfaces - Users can more quickly take advantage of Sawyer’s unique differentiator of having built in torque sensors on each joint to use force or impedance control with the robot.  Impedance control allows you to directly control the Cartesian stiffness of the endpoint. Force control enables the robot to exert forces and moments in the six Cartesian dimensions.

  • ClickSmart - Support for the Rethink Robotics ClickSmart family of gripper kits.

More detailed information about the release can be found in Ian’s recent blog post

 

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It is important to note that you must upgrade to Intera 5.2.2 in order to use the latest Sawyer SDK functionality. Also, if you intend to use Sawyer in Gazebo, you must make sure your workstation is running Ubuntu 16.04 and ROS Kinetic. If you're not using Gazebo at all, you may still use SDK 5.2 with a workstation running Ubuntu 14.04 and ROS Indigo.

 

Getting Started with Sawyer SDK:

1. Download Intera 5.2.2 from the Forum 

2. Update Developer Workstation to SDK 5.2

3. Check out the Gazebo Tutorial

 

For additional support please be sure to visit our SDK Forum to tap into the vast network of global experts for answers, suggestions, and collaboration.   

 

 

 

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I have now tried upgrading to the latest version, and it is only offering intera as an option in the fsm - there is no interaction sdk option

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They changed the interface. Now when you select where it says intera, it opens a list with the different boot options.

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Thanks for that.

Will reinstall it and try again.

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Hello,

When is said : Gazebo Simulator - Allows you to simulate controlling Sawyer in a physics and virtual environment before running the actual robot.

Does that mean that we can simulate real movements without connecting with sawyer ? or we still need the physical robot ?

 

 

 

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On 3/20/2018 at 4:50 AM, JoseMiguel said:

Hello,

When is said : Gazebo Simulator - Allows you to simulate controlling Sawyer in a physics and virtual environment before running the actual robot.

Does that mean that we can simulate real movements without connecting with sawyer ? or we still need the physical robot ?

 

 

 

Yes, you can simulate movements without connecting to a physical robot.

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ClickSmart - Support for the Rethink Robotics ClickSmart family of gripper kits.

How can I use ClickSmart? Where can I find the guide for it?

Your post told me it was "included", but where? how...?

        

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Hi Everyone,

I've tried to use the Gazebo simulator and the example in the interaction control tutorial:

rosrun intera_examples go_to_joint_angles_in_contact.py -q 0 -0.8 0 1.6 0 0.8 0

I get the following error:


[ERROR] [1523018443.139539, 109.682000]: Timed out waiting for Motion Controller Server to connect. Check your ROS networking  and/or reboot the robot.
[ERROR] [1523018443.765130, 109.689000]: Trajectory FAILED to send!

 

However this example works:

rosrun intera_examples joint_torque_springs.py

Why doesn't this example work? Is the "Motion Control " and "Interaction Control" implemented on the simulated robot in Gazebo? If not, what functionality is implemented on both the physical robot and simulated robot in Gazebo? It would be nice to use the same code in both places.

Thanks!

Guru

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On 3/20/2018 at 3:06 PM, Arnaud said:

Can we use Sawyer's cameras with Gazebo Simulator?

Yes! The cameras are fully simulated in the Sawyer Gazebo simulation.

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On 4/6/2018 at 8:48 AM, Guru said:

Hi Everyone,

I've tried to use the Gazebo simulator and the example in the interaction control tutorial:


rosrun intera_examples go_to_joint_angles_in_contact.py -q 0 -0.8 0 1.6 0 0.8 0

I get the following error:


[ERROR] [1523018443.139539, 109.682000]: Timed out waiting for Motion Controller Server to connect. Check your ROS networking  and/or reboot the robot.
[ERROR] [1523018443.765130, 109.689000]: Trajectory FAILED to send!

 

However this example works:


rosrun intera_examples joint_torque_springs.py

Why doesn't this example work? Is the "Motion Control " and "Interaction Control" implemented on the simulated robot in Gazebo? If not, what functionality is implemented on both the physical robot and simulated robot in Gazebo? It would be nice to use the same code in both places.

Thanks!

Guru

Right, the new motion_interface utilizes the proprietary motion planner onboard the robot. As such, this is not simulated through Gazebo currently. You can use any of the older control modes: Position, Velocity, Trajectory, or Torque control with Sawyer in Gazebo.

Hope this helps!

~ Ian

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Hi,

why is the simulator restricted to Ubuntu 16.04 + Kinetic? I adapted the code to compile in 14.04 + Indigo and tried the pick and place demo; it works. I'm wondering if we will encounter some limitations / errors in the future.

Could you please list the features of 16.04 + Kinetic (and not available in 14.04 + Indigo) that are used by the simulator?

--Roberto

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Are there any updates on using the motion controller and interaction controller with the gazebo simulator?

It would be great if there was something already developed or anything that could be integrated by users.

Thanks!

John

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