Скачать или смотреть Dagger turorial

Download folder from: git clone https://github.com/RCLlab/ur5_dagger

Requirements: pip install pandas

Install python3.8 (models were trained there)
Create a virtual environment: python3.8 -m venv venv
Activate the virtual environment: source ./venv/bin/activate
Inside of the venv install packages: pip install torch, numpy, scipy, pyyaml, rospkg, casadi

In order to train Dagger model:
1. Launch ursim: start-ursim.sh
2. roslaunch ur_modern_driver ur5_bringup.launch robot_ip:=127.0.0.1
3. rosrun human_vrep human_sim
4. rosrun human_vrep train_human.py
5. rosrun mpc_low move_low_node
6. rosrun mpc_high move_high_node
7. source ./venv/bin/active cd workspaces/ur5_dagger/src/dil_train
./e_dagger_train.py