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tutorials:object_manipulation_system

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tutorials:object_manipulation_system [2019/05/06 14:16] – [Installation] dgarciatutorials:object_manipulation_system [2022/09/20 00:08] (current) – external edit 127.0.0.1
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 ===== Installation ===== ===== Installation =====
  
-First you will need to install the humanoid robot Simulator. So follow [[tutorials:object_manipulation_robot_simulator| this tutorial]] for installing it.+**First** you will need to install the humanoid robot Simulator. So follow [[tutorials:object_manipulation_robot_simulator| this tutorial]] for installing it.
  
 When you have installed the Humanoid Robot Simulator, you will need to create a Python virtual environment. **Please note that OMS uses Python3**, do not create a Python2 virtualenv, as it will not work. When you have installed the Humanoid Robot Simulator, you will need to create a Python virtual environment. **Please note that OMS uses Python3**, do not create a Python2 virtualenv, as it will not work.
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 It is also possible to execute **OMS** with the robot. Inside the **OMS** repository some instructions are provided to get a basic setup going. Here one can learn how to execute it with the entire robot. It is worth mentioning that **OMS** and the robot simulator are not 100%  compatible (mainly because they use different Python versions) so a //glue// script was developed to have an interface between the two. This //glue// is not part of the official simulator, because when the simulator is ported to Python3/[[http://www.ros.org/|ROS]] it will not be required. Similarly, the //glue// is not part of **OMS** because once it is ported to [[http://www.ros.org/|ROS]], it will not be required. So it was decided to include this glue into [[https://gitlab.com/arcoslab/cmoc/ | CMOC]], the predecessor of **OMS**. It is also possible to execute **OMS** with the robot. Inside the **OMS** repository some instructions are provided to get a basic setup going. Here one can learn how to execute it with the entire robot. It is worth mentioning that **OMS** and the robot simulator are not 100%  compatible (mainly because they use different Python versions) so a //glue// script was developed to have an interface between the two. This //glue// is not part of the official simulator, because when the simulator is ported to Python3/[[http://www.ros.org/|ROS]] it will not be required. Similarly, the //glue// is not part of **OMS** because once it is ported to [[http://www.ros.org/|ROS]], it will not be required. So it was decided to include this glue into [[https://gitlab.com/arcoslab/cmoc/ | CMOC]], the predecessor of **OMS**.
- 
-First checkout the branch where the script was included: 
- 
-  cd {CMOC_REPO_PATH} 
-  git checkout glue 
      
 Now, start a YARP server. Now, start a YARP server.
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   cd ~/local/src   cd ~/local/src
-  vfclik -i lwr -i right -d robot_descriptions/arcosbot/kinematics/lwr/ -s +  vfclik -s -n /arcosbot-real -i lwr -i right -d robot_descriptions/arcosbot/kinematics/lwr/
- +
-In a separate terminal, execute ''vfclick'' for the left arm: +
- +
-  cd ~/local/src +
-  vfclik -i lwr -i left -d robot_descriptions/arcosbot/kinematics/lwr/ -s+
  
 In another terminal execute the hands simulator: In another terminal execute the hands simulator:
  
   cd ~/local/src   cd ~/local/src
-  sahand_yarp_sim -s -d -n -f robot_descriptions/arcosbot/kinematics/sahand/hands_kin.py+  sahand_yarp_sim -b /arcosbot-real -r -d -n -f robot_descriptions/arcosbot/kinematics/sahand/hands_kin.py -s
      
 Then execute ''pyrovito'' for visualization: Then execute ''pyrovito'' for visualization:
  
   cd ~/local/src   cd ~/local/src
-  pyrovito -r lwr --arm_right --arm_left --hand_right --hand_left -a robot_descriptions/arcosbot/kinematics/lwr/ -d robot_descriptions/arcosbot/kinematics/sahand/+  pyrovito -n /arcosbot-real -r lwr --arm_right --hand_right -a robot_descriptions/arcosbot/kinematics/lwr/ -d robot_descriptions/arcosbot/kinematics/sahand/
      
 Finally execute ''glue'' in a separate terminal. Finally execute ''glue'' in a separate terminal.
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   python glue.py   python glue.py
      
 +If you want to run with the finger calibration
 +
 +  cd ~/local/src/cmoc/objects/sliding/sctipts
 +  python glue.py -c ~/local/src/robot_descriptions/arcosbot/kinematics/sahand/calibration_data/finger_calibration_data.py -n /arcosbot-real
 +
 If you want to ignore **OMS** commands and move the robot from the keyboard add the ''-g'' option. This will only ignore the commands that come from the robot interface, but it will still send the end effectors state back to **OMS**, so that the robot can still interact with the objects. If you want to ignore **OMS** commands and move the robot from the keyboard add the ''-g'' option. This will only ignore the commands that come from the robot interface, but it will still send the end effectors state back to **OMS**, so that the robot can still interact with the objects.
  
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     "robot_carrier": "tcp",     "robot_carrier": "tcp",
     "vis_carrier": "tcp",     "vis_carrier": "tcp",
 +    "perceived_object": "clorox",
     "frequency": 60     "frequency": 60
 }  } 
tutorials/object_manipulation_system.1557152163.txt.gz · Last modified: 2022/09/20 00:08 (external edit)