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dummy.py: Defines the classes for the low-fidelity objects of the testbed.
workflow_utils.py: Defines helper functions for writing workflows.
deck.py: Initializes all devices in one file.
Running Workflows
Configuration
Download interbotix and pass the file path of viperx repository in the deck.py file.
Install pyniryo python library using the following command line pip install pyniryo
Dose, Shake, and Heat using One Robot
Run the command python dose_shake_heat_one_robot.py
Dose, Shake, and Heat using Two Robots Sequentially
Run the command python dose_shake_heat_two_robots_sequential.py
Dose, Shake, and Heat using Two Simultaneously Moving Robots
Open two command terminals
Execute python dose_shake_heat_two_robots_simulataneous_viperx.py in one terminal and python dose_shake_heat_two_robots_simulataneous_ned2.py in the other terminal together.