Difference between revisions of "Installing openrave, openhubo, hubo-ach and performing peg-in-hole"
From Lofaro Lab Wiki
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</syntaxhighlight> | </syntaxhighlight> | ||
| − | 6. | + | 6. Change the following lines starting at line 296 to |
<syntaxhighlight lang="bash"> | <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': | if oh_version=='0.8.0': | ||
[robot,ctrl,ind,ghost,recorder]=openhubo.load_scene(env,options) | [robot,ctrl,ind,ghost,recorder]=openhubo.load_scene(env,options) | ||
| Line 23: | Line 33: | ||
else: | else: | ||
[robot,ctrl,ind,ghost,recorder]=openhubo.load_scene(env,options.robotfile,options.scenefile,options.stop, options.physics, options.ghost) | [robot,ctrl,ind,ghost,recorder]=openhubo.load_scene(env,options.robotfile,options.scenefile,options.stop, options.physics, options.ghost) | ||
| + | ... | ||
</syntaxhighlight> | </syntaxhighlight> | ||
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 nophysics5. Instructions for running the ARCHR code can be found here
