zohan638 / ocean10k

Ocean 10K

Dependencies

This project depends on sai2 libraries. The install instructions can be found here.

Build Instructions

Create a build directory, then make by running:

mkdir build
cd build
cmake .. && make -j4

Changing Sai2Graphics Instructions

In Sai2Graphics.cpp, under

void Sai2Graphics::renderGraphicsWorld()

You will need to comment out the lines

setCameraPose(camera_name, camera_pos, camera_up_axis, camera_lookat_point);

and

render(camera_name);

Additionally, in Sai2Graphics.h, you will also need to move

void render(const std::string& camera_name);

from private to public.

Interfacing with Haptic Controllers

1. Clone the chai3d wrapper:

git clone
https://github.com/manips-sai-org/chaiHapticdeviceRedisDriver.git

2. Install all dependencies:

sudo apt-get install cmake redis redis-server libhiredis-dev libjsoncpp-dev

3. From the source directory, create a build directory and make:

cd chaiHapticdeviceRedisDriver
mkdir build && cd build
cmake .. && make -j4

4. Start the Redis server:

redis-server

5. Plug in the haptic device to your device (e.g. laptop) and power it on.

6. Calibrate the device. For example, for Falcon Novint, gently pull the controller out to its limit, press the HOME button, then release it.

7. From chaiHapticdeviceRedisDriver/build, run:

sudo ./chai_devices_redis_driver

Running the Project

1. Start Redis server (if not already running):

redis-server

2. From the bin folder, navigate to the directory of the application to run:

cd bin/ocean1

3. Run the simulation:

./simviz_ocean1

4. From another terminal, run:

./controller_ocean1

5. The haptic device should return to its HOMED state. Press the HOME button without disturbing its HOMED location. Once the button is pressed, you can start interacting with it normally.

6. You can now interact with the environment!

ocean10k's Issues

Add game logic and scoring feature

Implement collision mesh for end effectors on ocean k urdf

Consider using admittance type over impedance type for haptics

Implement new Sai2Graphics for alternate camera view

Potentially integrate button press to toggle camera view during simulation

Implement haptic feedback from world

Bug: haptic controller stuck in homing state

this leads to haptic input not giving correct robot position.

Implement clutch and state button presses