Installing openRAVE, openHubo, and hubo-ach

1. Install openRAVE version 0.9.0 from here (compile it from sources)

2. Install openHubo from here

3. Install Hubo-ach from here

4. Navigate to the hubo-ach folder

$ cd /etc/hubo-ach

5. Edit the virtualHubo.py file

$ sudo gedit virtualHubo.py

6. Change the following lines starting at line 296 to

        ...
    if oh_version=='0.8.0':
        [robot,ctrl,ind,ghost,recorder]=openhubo.load_scene(env,options)
    elif oh_version=='0.7.0':
        [robot,ctrl,ind,ghost,recorder]=openhubo.load_scene(env,options.robotfile,options.scenefile,options.stop, options.physics, options.ghost)
    else:
        [robot,ctrl,ind,ghost,recorder]=openhubo.load(env,options.robotfile,options.scenefile,options.stop, options.physics, options.ghost)
        ...   
To:
        ...
    if oh_version=='0.8.0':
        [robot,ctrl,ind,ghost,recorder]=openhubo.load_scene(env,options)
    elif oh_version=='0.7.0':
        [robot,ctrl,ind,ghost,recorder]=openhubo.load_scene(env,options.robotfile,options.scenefile,options.stop, options.physics, options.ghost)
    else:
        [robot,ctrl,ind,ghost,recorder]=openhubo.load_scene(env,options.robotfile,options.scenefile,options.stop, options.physics, options.ghost)
        ...

4. Run the hubo-ach simulator to test it

$ hubo-ach sim openhubo nophysics

5. Instructions for running the ARCHR code can be found here