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It's developed by Hejia Zhang.\n+## Support Platform\n+| Robot        | Workstation OS | ROS    | Python | Simulation Platform | \n+|:------------:|:--------------:| :-----:|:------:|:-------------------:|\n+| Sawyer       | Ubuntu16.04    | Kinetic| 3      |Gazebo 7.0           |\n+## Installation\n+- Assuming we got a clean system which only has rllab running.\n+- Check if our robots and workstations are supported by rllab.contrib.ros    \n+- Following is how we setup the rllab.contrib.ros's environment for sawyer robot\n+### Setup Workstation\n+#### INSTALL ROS\n+##### Configure Ubuntu repositories\n+Configure your Ubuntu repositories to allow \"restricted,\" \"universe,\" and \"multiverse.\" **Likely, they are already configured properly, and you only need to confirm the configuration.**\n+##### Setup your sources.list\n+    $ sudo sh -c 'echo \"deb http://packages.ros.org/ros/ubuntu xenial main\" > /etc/apt/sources.list.d/ros-latest.list'\n+##### Setup your keys\n+    $ sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116\n+##### Update to Latest Software Lists\n+    $ sudo apt-get update\n+##### Install ROS Kinetic Desktop Full\n+    $ sudo apt-get install ros-kinetic-desktop-full\n+##### Initialize rosdep\n+rosdep enables you to easily install system dependencies for source you want to compile and is required to run some core components in ROS.\n+    \n+    $ sudo rosdep init\n+    $ rosdep update\n+##### Install rosinstall\n+    $ sudo apt-get install python-rosinstall\n+#### CREATE DEVELOPMENT WORKSPACE\n+##### Create ROS Workspace\n+    $ mkdir -p ~/<YOUR_FAVORITE_WORKSPACE_NAME>/src\n+##### Source ROS Setup\n+    $ source /opt/ros/kinetic/setup.bash\n+You can also add this to you .bashrc by using\n+    \n+    $ echo \"source /opt/ros/kinetic/setup.bash\" >> ~/.bashrc\n+##### Build\n+    $ cd ~/<YOUR_FAVORITE_WORKSPACE_NAME>\n+    $ catkin_make\n+#### INSTALL INTERA SDK DEPENDENCIES\n+##### Install SDK Dependencies\n+    $ sudo apt-get update\n+    $ sudo apt-get install git-core python-argparse python-wstool python-vcstools python-rosdep ros-kinetic-control-msgs ros-kinetic-joystick-drivers ros-kinetic-xacro ros-kinetic-tf2-ros ros-kinetic-rviz ros-kinetic-cv-bridge ros-kinetic-actionlib ros-kinetic-actionlib-msgs ros-kinetic-dynamic-reconfigure ros-kinetic-trajectory-msgs ros-kinetic-rospy-message-converter\n+#### INSTALL INTERA ROBOT SDK\n+##### Activate the conda environment for rllab\n+    $ source activate rllab3\n+\n+**rllab3 is your rllab conda environment's name** \n+##### Download the SDK on your Workstation\n+    $ cd ~/<YOUR_FAVORITE_WORKSPACE_NAME>/src\n+    $ wstool init .\n+    $ git clone https://github.com/RethinkRobotics/sawyer_robot.git\n+    $ wstool merge sawyer_robot/sawyer_robot.rosinstall\n+    $ wstool update\n+##### Download the dependecies \n+    $ git clone https://github.com/ros/geometry.git\n+    $ cd geometry\n+    $ git checkout indigo-devel\n+##### Source ROS Setup\n+    $ source /opt/ros/kinetic/setup.bash\n+##### Build\n+    $ cd ~/<YOUR_FAVORITE_WORKSPACE_NAME>\n+    $ catkin_make -DPYTHON_EXECUTABLE:FILEPATH=<path_to_your_rllab_env_python_interp>\n+#### GONFIGURE ROBOT COMMUNICATION/ROS WORKSPACE\n+##### intera.sh ROS Environment Setup\n+##### Copy the intera.sh script\n+The intera.sh file already exists in intera_sdk repo, copy the file into your ros workspace.\n+    \n+    $ cp ~/<YOUR_FAVORITE_WORKSPACE_NAME>/src/intera_sdk/intera.sh ~/<YOUR_FAVORITE_WORKSPACE_NAME>\n+##### Customize the intera.sh script\n+    $ cd ~/<YOUR_FAVORITE_WORKSPACE_NAME>\n+    $ gedit intera.sh\n+##### Edit the 'robot_hostname' field\n+##### Edit the 'your_ip' field\n+##### Verify 'ros_version' field\n+update: ros_version='kinetic'\n+##### Save and Close intera.sh script\n+##### Initialize your SDK environment\n+    $ cd ~/<YOUR_FAVORITE_WORKSPACE_NAME>\n+    $ ./intera.sh\n+### Setup Gazebo Simulation for Sawyer\n+**Please skip this section if you don't want simulation**\n+#### Installation/Prerequisites\n+- Make sure you have finished [workstation setup](#setup-workstation)\n+- Ensure the following software packages are installed:\n+    \n+    \n+    $ sudo apt-get install gazebo7 ros-kinetic-qt-build ros-kinetic-gazebo-ros-control ros-kinetic-gazebo-ros-pkgs ros-kinetic-ros-control ros-kinetic-control-toolbox ros-kinetic-realtime-tools ros-kinetic-ros-controllers ros-kinetic-xacro python-wstool ros-kinetic-tf-conversions ros-kinetic-kdl-parser ros-kinetic-sns-ik-lib\n+#### Sawyer Simulator Installation\n+##### Install sawyer_simulator\n+    $ cd ~/<YOUR_FAVORITE_WORKSPACE_NAME>/src\n+    $ git clone https://github.com/RethinkRobotics/sawyer_simulator.git\n+    $ wstool merge sawyer_simulator/sawyer_simulator.rosinstall\n+    $ wstool update\n+##### Build Source\n+    $ source /opt/ros/kinetic/setup.bash\n+    $ cd ~/<YOUR_FAVORITE_WORKSPACE_NAME>\n+    $ catkin_make -DPYTHON_EXECUTABLE:FILEPATH=<path_to_your_rllab_env_python_interp>\n+### Convert Python2 code in intera packages to Python3\n+- As our environments only support Python3, we need to convert Python2 code in intera packages.\n+- These can be done using rllab.contrib.ros.scripts.sawyer_2to3.sh\n+##### Customize sawyer_2to3.sh\n+Upgrade path:\n+    \n+    ros_ws=<YOUR_FAVORITE_WORKSPACE_PATH>/src/\n+Remove sawyer_simulator, if you don't need it:\n+\n+    packages=(intera_sdk)\n+##### Execute script\n+## Usage\n+### Start the gazebo simulation\n+- This section is only for simulation user\n+#### Copy the sawyer simulation launch file and simulation world file\n+    $ cp <rllab.contrib.ros.envs.sawyer.sawyer_learning.launch, rllab.contrib.ros.envs.sawyer.sawyer_world_learning.launch> <YOUR_FAVORITE_WORKSPACE_PATH>/src/sawyer_simulator/sawyer_gazebo/launch\n+    $ cp <rllab.contrib.ros.envs.sawyer.sawyer_learning.world> 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