drexel_lua_minihubo
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drexel_lua_minihubo [2016/11/01 10:45] – created dwallace | drexel_lua_minihubo [2016/11/06 14:16] – dwallace | ||
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====== Lua for miniHUBO ====== | ====== Lua for miniHUBO ====== | ||
- | ==Upennalizers Github and Wiki== | + | ===== Upennalizers Github and Wiki ===== |
- | https:// | + | |
- | ===Upennalizers Wiki Link=== | + | [[https:// |
- | https:// | + | |
- | ===Development Workstation Setup=== | + | [[https:// |
- | Installers and Instructions:< | + | |
- | https:// | + | |
- | ==Lua Documentation== | + | ==== Development Workstation Setup ==== |
- | http:// | + | |
- | ==Webots Setup for DASL MiniHUBO Model== | + | Installers and Instructions: |
+ | |||
+ | [[https:// | ||
+ | |||
+ | ===== Lua Documentation ===== | ||
+ | |||
+ | [[http:// | ||
+ | |||
+ | ===== Webots Setup for DASL MiniHUBO Model ===== | ||
Please refer to the Upennalizers Development Workstation Setup guide for the github repository and necessary installs needed. | Please refer to the Upennalizers Development Workstation Setup guide for the github repository and necessary installs needed. | ||
- | < | + | |
To compile the UPenn code for use with MiniHUBO, we need to compile for the generic version (not Darwin or Nao). | To compile the UPenn code for use with MiniHUBO, we need to compile for the generic version (not Darwin or Nao). | ||
- | < | + | |
- | <br> | + | cd ~/ |
+ | | ||
After that, for ease of use later, we will create a symbolic link between one of the default Darwin Controllers and the Webots default controllers folder | After that, for ease of use later, we will create a symbolic link between one of the default Darwin Controllers and the Webots default controllers folder | ||
- | < | + | cd $WEBOTS_HOME/ |
+ | | ||
+ | |||
+ | where $WEBOTS_HOME likely resides in **usr/local/**. | ||
+ | |||
+ | ===== Some files need to be changed ===== | ||
+ | |||
+ | ==== start.lua ==== | ||
- | where $WEBOTS_HOME likely resides in '' | + | In UPennalizers/WebotsController/, edit **start.lua** by commenting out the line **dofile(" |
+ | **NOTE:** If you are unable to copy the code without the line numbers, try Firefox. | ||
- | ==Some files need to be changed== | + | **Edited start.lua:** |
- | ===start.lua=== | + | |
- | In UPennalizers/ | + | |
- | ''' | + | |
- | < | + | |
- | ''' | + | |
- | <syntaxhighlight lang="lua" line start=" | + | <code lua> |
require(' | require(' | ||
Line 49: | Line 57: | ||
dofile(" | dofile(" | ||
- | </syntaxhighlight> | + | </code> |
+ | |||
+ | ==== test_walk_webots_op.lua ==== | ||
- | ===test_walk_webots_op.lua=== | ||
test_walk_webots_op.lua is located in Upennalizers/ | test_walk_webots_op.lua is located in Upennalizers/ | ||
- | Comment out the two lines (39 and 40).< | + | Comment out the two lines (39 and 40) |
- | < | + | |
- | ''' | + | |
- | < | + | |
+ | <code lua> | ||
... | ... | ||
Line 75: | Line 82: | ||
... | ... | ||
- | </syntaxhighlight> | + | </code> |
- | ===GenericWebotsBody.lua=== | + | ==== GenericWebotsBody.lua ==== |
- | GenericWebotsBody.lua is located in UPennalizers/ | + | |
- | < | + | |
- | ''' | + | |
- | + | ||
- | < | + | |
+ | GenericWebotsBody.lua is located in UPennalizers/ | ||
+ | |||
+ | **Edited GenericWebotsBody.lua: | ||
+ | | ||
+ | <code lua> | ||
module(..., package.seeall); | module(..., package.seeall); | ||
require(' | require(' | ||
Line 131: | Line 138: | ||
... | ... | ||
- | </syntaxhighlight> | + | </code> |
- | ==Test it== | + | ===== Test it ===== |
YOU MUST MAKE THE SYSTEM EVERY TIME YOU EDIT GENERIC WEBOTS BODY | YOU MUST MAKE THE SYSTEM EVERY TIME YOU EDIT GENERIC WEBOTS BODY | ||
Line 139: | Line 146: | ||
you must now cd to the UPennalizers/ | you must now cd to the UPennalizers/ | ||
- | make setup_webots_generic | + | |
This will copy the changed files into the Player/Lib directory. | This will copy the changed files into the Player/Lib directory. | ||
Now, if you open up the world file for Penn's MiniHUBO model, he should start walking in place when you push play. | Now, if you open up the world file for Penn's MiniHUBO model, he should start walking in place when you push play. | ||
- | The Penn MiniHUBO is available here: [[Media: | + | The Penn MiniHUBO is available here: |
+ | |||
+ | {{dylanw: |
drexel_lua_minihubo.txt · Last modified: 2016/11/07 22:06 by dwallace