Installing openrave, openhubo, hubo-ach and performing peg-in-hole
From Lofaro Lab Wiki
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