Difference between revisions of "Hubo DRC Peg-In-Hole & Valve Turn"

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The Hubo-DRC successfully performs peg-in-hole via the ARCHR team's controller and instructions are located [http://wiki.lofarolabs.com/index.php/Installing_openrave,_openhubo,_hubo-ach_and_performing_peg-in-hole here]
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[[File:DRCHuboARCHR.png]]
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== Overview ==
  
* [https://www.youtube.com/watch?v=sSjuIeD9I-o Video demonstration] for the physical controller
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The ARCHR controller maintained accurate control of Baxters end effector within a sphere of 4cm. It was purchased by George Mason University in Spring 2014 and a major robot in the [http://wiki.lofarolabs.com/index.php/Archr ARCHR] project. Our project utilizes ROS and Baxter SDK scripts together with our stereovision system to offer an immersive controller. Its use could be extended in the future by adding realistic barrel vision, vibrational feedback, as well as implementing the Baxters features available from  the sonar, IR, wrist-camera, and built-in front-facing camera. See rethink robotics webpage on Baxter and its various features [http://www.rethinkrobotics.com/research-education/ here].
  
* [https://www.youtube.com/watch?v=4qXgPeQS--w&list=UU1bXijFzURTJU3T0gwT8egg Video demonstration] for the keyboard controller
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==Tutorials==
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*[http://wiki.lofarolabs.com/index.php/Setting_up_computer_environment_for_controlling_Baxter Setting up the software environment for Baxter]
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*[http://wiki.lofarolabs.com/index.php/%22Hello_World%22_with_Baxter Running the first script "Hello World" with Baxter]
  
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==Code==
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;Setting up the code
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1:
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<syntaxhighlight lang="bash">
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$ cd /
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</syntaxhighlight>
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;Running the code
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1:
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==Videos==
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: [https://www.youtube.com/watch?v=sSjuIeD9I-o Video demonstration] for the physical controller
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: [https://www.youtube.com/watch?v=4qXgPeQS--w&list=UU1bXijFzURTJU3T0gwT8egg Video demonstration] for the keyboard controller
 
<html>
 
<html>
 
<iframe width="560" height="315" src="//www.youtube.com/embed/sSjuIeD9I-o" frameborder="0" allowfullscreen></iframe>
 
<iframe width="560" height="315" src="//www.youtube.com/embed/sSjuIeD9I-o" frameborder="0" allowfullscreen></iframe>
 
</html>
 
</html>
 
 
 
Valve-turn is in prototype stage, a sample environment is included in the link above. It can be selected by modifying the 'VirtualHubo.py' file located in the '/etc/hubo-ach' folder and selecting the line for valve-turn.
 
Valve-turn is in prototype stage, a sample environment is included in the link above. It can be selected by modifying the 'VirtualHubo.py' file located in the '/etc/hubo-ach' folder and selecting the line for valve-turn.
  
 
* [https://www.youtube.com/watch?v=d1ittCajkl0 Video of Attempt]
 
* [https://www.youtube.com/watch?v=d1ittCajkl0 Video of Attempt]
  
Code
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==Building==
*[http://wiki.lofarolabs.com/index.php/Installing_openrave,_openhubo,_hubo-ach_and_performing_peg-in-hole code]
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* N/A
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----
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The Hubo-DRC successfully performs peg-in-hole via the ARCHR team's controller and instructions are located [http://wiki.lofarolabs.com/index.php/Installing_openrave,_openhubo,_hubo-ach_and_performing_peg-in-hole here]

Revision as of 01:12, 17 December 2014

DRCHuboARCHR.png

Overview

The ARCHR controller maintained accurate control of Baxters end effector within a sphere of 4cm. It was purchased by George Mason University in Spring 2014 and a major robot in the ARCHR project. Our project utilizes ROS and Baxter SDK scripts together with our stereovision system to offer an immersive controller. Its use could be extended in the future by adding realistic barrel vision, vibrational feedback, as well as implementing the Baxters features available from the sonar, IR, wrist-camera, and built-in front-facing camera. See rethink robotics webpage on Baxter and its various features here.

Tutorials

Code

Setting up the code

1:

$ cd /


Running the code

1:

Videos

Video demonstration for the physical controller
Video demonstration for the keyboard controller

Valve-turn is in prototype stage, a sample environment is included in the link above. It can be selected by modifying the 'VirtualHubo.py' file located in the '/etc/hubo-ach' folder and selecting the line for valve-turn.

Building

  • N/A

The Hubo-DRC successfully performs peg-in-hole via the ARCHR team's controller and instructions are located here