mmckester / sai-kinova

sai-kinova

Repository for controlling the Kinova Mico or Jaco via SAI 2.0. We have derived this repository from the CS225a (experimental robotics) class repository.

Automatic Installation Instructions (for Ubuntu and Mac only)

1. If you have a Mac, install Brew (https://brew.sh/). If you have Ubuntu, install git (sudo apt install git)

2. Clone this repository

   git clone https://github.com/StanfordVL/sai-kinova.git sai-kinova.git

3. Obtain sai2-simulation.zip and extract its contents into sai-kinova.git/sai2-simulation.

4. Run the install script inside sai-kinova.git. This will take a few minutes.

   sh install.sh

5. Build the sai-kinova.git applications

   sh make.sh

Manual Installation Instructions (for any Linux distro or Mac)

1. Install Brew for Mac (https://brew.sh/) or have Ubuntu installed or any other distro with the following packages. Also install git (sudo apt-get install git). Windows will have to dualboot ubuntu or install a VM.

2. Install Cmake

   Linux: sudo apt-get install cmake

   Mac: brew install cmake

3. Install Eigen

   Linux:sudo apt-get install libeigen3-dev

   Mac:brew install eigen

4. Install TinyXML

   Linux:sudo apt-get install libtinyxml2-dev

   Mac:brew install tinyxml2

5. Install JsonCPP

   Linux:sudo apt-get install libjsoncpp-dev

   Mac:brew install jsoncpp

6. Install HiRedis Client

   Linux:sudo apt-get install libhiredis-dev

   Mac:brew install hiredis

7. Install GLFW + Other things Chai3D Needs

   Linux:

   sudo apt-get install libglfw3-dev
   sudo apt-get install xorg-dev
   sudo apt-get install freeglut3-dev
   sudo apt-get install libasound2-dev
   sudo apt-get install libusb-1.0-0-dev
   

   Mac:

   brew install glfw3
   brew install libusb
   

8. Install Redis-Server

   Linux:sudo apt-get install redis-server

   Mac:brew install redis

9. Install Yaml-CPP

   Linux:sudo apt-get install libyaml-cpp-dev

   Mac:brew install yaml

10. Clone, Build, Install RBDL Download a copy of the repository as a zip from https://bitbucket.org/rbdl/rbdl Extract into a folder (should be called rbdl)

    cd rbdl
    mkdir build 
    cd build
    cmake -DRBDL_BUILD_ADDON_URDFREADER=On -DRBDL_USE_ROS_URDF_LIBRARY=OFF ..
    make -j4
    sudo make install
    

11. Install Chai

    Download and extract the multiplatform release from : http://www.chai3d.org/download/releases Cd into the extracted folder

    mkdir build
    cd build
    cmake ..
    make -j4
    

12. Extract the Zip of SAI2 Simulation Library given to you and cd into the extracted folder.

    mkdir build
    cd build
    cmake ..
    make -j4
    

13. Clone the SAI2 Common library and Build

    git clone https://github.com/manips-sai/sai2-common.git
    cd sai2-common
    

v mkdir build cd build cmake .. make -j4 ```

14. Clone This Repo

    sh make.sh
    

Post-Installation

1. Inside bin, you will find visualizer, simulator, and controller. Run all of these using one of the following. The shell scripts set the controller gains, initialize starting joint position, and kick off the simulator, visualizer, and controller.

   sh init_jaco.sh
   sh init_mico.sh