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You need the following installed:

Running the code: Run each of the following in a separate terminal:

  • rosrun asp_module ASPInterface.py path_to_SPARC_solver path_to_catkin_workspace/src/asp_module/src/
  • rosrun controller_module ControllerInterface.py
  • rosrun learning_module LearningModule.py
  • rosrun simulator_module Simulator.py

If you want to use a robot arm instead you can create a Robot module to replace the simulator module.

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