Difference between revisions of "Installing openrave, openhubo, hubo-ach and performing peg-in-hole"
From Lofaro Lab Wiki
(10 intermediate revisions by the same user not shown) | |||
Line 5: | Line 5: | ||
3. Install Hubo-ach from [https://github.com/hubo/hubo-ach here] | 3. Install Hubo-ach from [https://github.com/hubo/hubo-ach here] | ||
− | 4. | + | 4. Navigate to the hubo-ach folder |
+ | <syntaxhighlight lang="bash"> | ||
+ | $ cd /etc/hubo-ach | ||
+ | </syntaxhighlight> | ||
− | 5. | + | 5. Edit the virtualHubo.py file |
+ | <syntaxhighlight lang="bash"> | ||
+ | $ sudo gedit virtualHubo.py | ||
+ | </syntaxhighlight> | ||
− | 6. | + | 6. Change the following lines starting at line 296 to |
+ | <syntaxhighlight lang="bash"> | ||
+ | ... | ||
+ | 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) | ||
+ | ... | ||
+ | </syntaxhighlight> | ||
− | + | 4. Run the hubo-ach simulator to test it | |
− | + | ||
− | + | ||
− | + | ||
− | + | ||
− | + | ||
− | + | ||
− | + | ||
− | + | ||
− | + | ||
− | + | ||
− | + | ||
− | + | ||
− | + | ||
− | + | ||
− | + | ||
− | + | ||
− | + | ||
− | + | ||
− | + | ||
− | + | ||
− | + | ||
− | + | ||
− | + | ||
− | + | ||
− | + | ||
− | + | ||
− | + | ||
− | + | ||
− | + | ||
− | + | ||
− | + | ||
− | + | ||
− | + | <syntaxhighlight lang="bash"> | |
+ | $ hubo-ach sim openhubo nophysics | ||
+ | </syntaxhighlight> | ||
− | + | 5. Instructions for running the ARCHR code can be found [http://wiki.lofarolabs.com/index.php/Hubo_DRC_Peg-In-Hole_%26_Valve_Turn here] |
Latest revision as of 02:04, 17 December 2014
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