Difference between revisions of "Installing openrave, openhubo, hubo-ach and performing peg-in-hole"

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3. Install Hubo-ach from [https://github.com/hubo/hubo-ach here]
 
3. Install Hubo-ach from [https://github.com/hubo/hubo-ach here]
  
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4. Instructions for running the ARCHR code can be found [http://wiki.lofarolabs.com/index.php/Hubo_DRC_Peg-In-Hole_%26_Valve_Turn here]
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4. Navigate to the hubo-ach folder
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<syntaxhighlight lang="bash">
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$ cd /etc/hubo-ach
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</syntaxhighlight>
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5. Edit the virtualHubo.py file
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<syntaxhighlight lang="bash">
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$ sudo gedit virtualHubo.py
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</syntaxhighlight>
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6. Edit the following lines starting at line 296 to
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<syntaxhighlight lang="bash">
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    if oh_version=='0.8.0':
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        [robot,ctrl,ind,ghost,recorder]=openhubo.load_scene(env,options)
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    elif oh_version=='0.7.0':
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        [robot,ctrl,ind,ghost,recorder]=openhubo.load_scene(env,options.robotfile,options.scenefile,options.stop, options.physics, options.ghost)
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    else:
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        [robot,ctrl,ind,ghost,recorder]=openhubo.load_scene(env,options.robotfile,options.scenefile,options.stop, options.physics, options.ghost)
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</syntaxhighlight>
 +
 
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4. Run the hubo-ach simulator to test it
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<syntaxhighlight lang="bash">
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$ hubo-ach sim openhubo nophysics
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</syntaxhighlight>
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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]

Revision as of 02:03, 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. Edit 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_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

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