vrpuppet

Imported from GitHub: Roboy/VRpuppet · commit a52257c · license BSD-3-Clause

Description

An actor struggles to die onstage, but a puppet has to struggle to live

README

This folder contains the control files for CARDSFlow robots.

Doxygen documentation is found in documentation/html/index.html.

Before the Python scripts related to the Rickshaw can be run, the Rickshaw robot must be launched. This can at the time of writing be done with:
roslaunch kindyn robot.launch robot_name:=rikshaw start_controllers:='joint_hip_left joint_hip_right joint_wheel_right joint_wheel_back joint_pedal spine_joint joint_wheel_left joint_front joint_pedal_right joint_pedal_left elbow_right_rot1 joint_foot_left joint_knee_right joint_knee_left joint_foot_right left_shoulder_axis0 left_shoulder_axis1 left_shoulder_axis2 elbow_left_rot1 elbow_left_rot0 left_wrist_0 left_wrist_1 right_shoulder_axis0 right_shoulder_axis2 right_shoulder_axis1 elbow_right_rot0 right_wrist_0 right_wrist_1 head_axis0 head_axis1 head_axis2'

#roslaunch kindyn robot.launch robot_name:=rikshaw start_controllers:='spine_joint sphere_head_axis0 sphere_head_axis1 sphere_head_axis2 joint_hip_left joint_knee_left joint_foot_left joint_hip_right joint_knee_right joint_foot_right left_shoulder_axis0 left_shoulder_axis1 left_shoulder_axis2 elbow_left wrist_left_sphere_axis0 wrist_left_sphere_axis1 wrist_left_sphere_axis2 right_shoulder_axis0 right_shoulder_axis1 right_shoulder_axis2 elbow_right wrist_right_sphere_axis0 wrist_right_sphere_axis1 wrist_right_sphere_axis2 little_right_joint0 ring_right_joint0 middle_right_joint0 index_right_joint0 thumb_right_joint0 little_right_joint1 ring_right_joint1 middle_right_joint1 index_right_joint1 thumb_right_joint1 little_right_joint2 ring_right_joint2 middle_right_joint2 index_right_joint2 thumb_right_joint2 little_left_joint0 ring_left_joint0 middle_left_joint0 index_left_joint0 thumb_left_joint0 little_left_joint1 ring_left_joint1 middle_left_joint1 index_left_joint1 thumb_left_joint1 little_left_joint2 ring_left_joint2 middle_left_joint2 index_left_joint2 thumb_left_joint2 joint_wheel_left joint_wheel_right joint_front joint_wheel_back joint_pedal joint_pedal_right joint_pedal_left'

#roslaunch kindyn robot.launch robot_name:=rikshaw start_controllers:='joint_hip_left joint_knee_left joint_foot_left joint_hip_right joint_knee_right joint_foot_right left_shoulder_axis0 left_shoulder_axis1 left_shoulder_axis2 elbow_left wrist_left_sphere_axis0 right_shoulder_axis0 right_shoulder_axis1 right_shoulder_axis2 elbow_right wrist_right_sphere_axis0 joint_front joint_pedal joint_pedal_right joint_pedal_left'

Below is a content description of each subfolder:

controller
This folder contains myo-muscle control files.

images
This folder contains graphs and images relevant to steering and pedaling control of Roboy.

pedaling
This folder contains files relevant to Roboy pedaling the rickshaw.

robots
This folder contains the CARDSFlow implementation of each robot.

steering
This folder contains files relevant to Roboy steering the rickshaw.

utilities
This folder contains files used in the Rickshaw project.

Todo:
Add usage information?
Add description of files inside folders
Add prerequisites
Add installation guide