Difference between revisions of "Hubo DRC Peg-In-Hole"

From Lofaro Lab Wiki
Jump to: navigation, search
 
(2 intermediate revisions by the same user not shown)
Line 1: Line 1:
−
1. Install openRAVE version 0.9.0 from here (compile it from sources)
+
1. Install openRAVE version 0.9.0 from [http://openrave.org/en/coreapihtml/installation_linux.html here] (compile it from sources)
−
2. Install openHubo from here
+
−
3. Install Hubo-ach from here
+
−
4. Download the github code for the ARCHR peg-in-hole from here, and run the keyboard example 'HuboKeyboardControl.py' and press the appropriate keyboard key for performing manipulations on the various limbs of DRC. For example, pressing 'a' moves the RSP up 0.1 radians, 'z' moves it down 0.1 radians.
+
  
−
All joints and keys are shown below:
+
2. Install openHubo from [https://github.com/daslrobotics/openHubo here]
  
 +
3. Install Hubo-ach from [https://github.com/hubo/hubo-ach here]
  
 +
4. Download the github code for the ARCHR peg-in-hole from [https://github.com/LofaroLabs/Simulation/tree/master/archr_drc here], and save the entire contents in a folder called 'Hubo_Simulation'
  
−
----
+
5. Run openrave with hubo-ach with the command: hubo-ach sim openhubo physics drc
 +
 
 +
6. Run the python keyboard example 'HuboKeyboardControl.py' and press the appropriate keyboard key for performing manipulations on the various limbs of DRC. For example, pressing 'a' moves the RSP up 0.1 radians, 'z' moves it down 0.1 radians.
 +
 
 +
All joints and keys are shown below:
 
    if c == 'a':
 
    if c == 'a':
 
         RSP = RSP-0.1;
 
         RSP = RSP-0.1;
Line 41: Line 44:
 
         if c == 't':  
 
         if c == 't':  
 
           RF2 = -1;
 
           RF2 = -1;
−
 
  
 
note: RF1 and RF2 require a value of 1 or -1 to open or close the two portions of the hand.
 
note: RF1 and RF2 require a value of 1 or -1 to open or close the two portions of the hand.

Latest revision as of 00:07, 28 September 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. Download the github code for the ARCHR peg-in-hole from here, and save the entire contents in a folder called 'Hubo_Simulation'

5. Run openrave with hubo-ach with the command: hubo-ach sim openhubo physics drc

6. Run the python keyboard example 'HuboKeyboardControl.py' and press the appropriate keyboard key for performing manipulations on the various limbs of DRC. For example, pressing 'a' moves the RSP up 0.1 radians, 'z' moves it down 0.1 radians.

All joints and keys are shown below: if c == 'a': 

   		    RSP = RSP-0.1;
   	    if c == 'z': 
     		    RSP = RSP+0.1;

if c == 's': 

   		    RSR = RSR-0.1;
   	    if c == 'x': 
     		    RSR = RSR+0.1;

if c == 'd': 

   		    RSY = RSY-0.1;
   	    if c == 'c': 
     		    RSY = RSY+0.1;

if c == 'f': 

   		    REB = REB-0.1;
   	    if c == 'v': 
     		    REB = REB+0.1;

if c == 'g': 

   		    RWY = RWY-0.1;
   	    if c == 'b': 
     		    RWY = RWY+0.1;

#if c == 'h': 

   		    RWP = RWP-0.1;
   	    #if c == 'n': 
     		    RWP = RWP+0.1;
   	    if c == 'w': 
     		    RF1 = 1;
   	    if c == 'e': 
     		    RF1 = -1;
   	    if c == 'r': 
     		    RF2 = 1;
   	    if c == 't': 
     		    RF2 = -1;

note: RF1 and RF2 require a value of 1 or -1 to open or close the two portions of the hand.

Retrieved from "http://wiki.lofarolabs.com/index.php?title=Hubo_DRC_Peg-In-Hole&oldid=37"