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====== Lua for miniHUBO ======

===== Upennalizers Github and Wiki =====

[[https://github.com/UPenn-RoboCup/UPennalizers|Github]]\\ 

[[https://github.com/UPenn-RoboCup/UPennalizers/wiki|Wiki]]\\ 

==== Development Workstation Setup ====

Installers and Instructions:

[[https://github.com/UPenn-RoboCup/UPennalizers/wiki/Setup-Development-Workstation|Setup]]\\ 

===== Lua Documentation =====

[[http://www.lua.org/docs.html|Documentation]]\\ 

===== Webots Setup for DASL MiniHUBO Model =====

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).

  cd ~/UPennalizers/Lib
  sudo make setup_webots_generic

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 $WEBOTS_HOME/resources/projects/default/controllers$ 
  sudo ln -s ~/UPennalizers/WebotsController darwin-op_team_1

where $WEBOTS_HOME likely resides in **usr/local/**.

===== Some files need to be changed =====

==== start.lua ====

In UPennalizers/WebotsController/, edit **start.lua** by commenting out the line **dofile("Player/player.lua");** and uncommenting **dofile("Player/Test/test_walk_webots_op.lua");**. Save it.
**NOTE:** If you are unable to copy the code without the line numbers, try Firefox.

**Edited start.lua:**

<code lua>

require('controller');

print("\nStarting Webots Lua controller...");

playerID = os.getenv('PLAYER_ID') + 0;
teamID = os.getenv('TEAM_ID') + 0;

--dofile("Player/player.lua");

-- Run test_vision
--dofile("Player/Test/test_vision_webots_op.lua");

dofile("Player/Test/test_walk_webots_op.lua");
</code>

==== test_walk_webots_op.lua ====

test_walk_webots_op.lua is located in Upennalizers/Player/Test/.
Comment out the two lines (39 and 40)

<code lua>
...

require('shm')
require('Body')
require('vector')

-- BodyFSM=require('BodyFSM');
-- HeadFSM=require('HeadFSM');
require('getch')
require('Motion');
require('walk');
require('Speak')
require('util')
darwin = false;
webots = false;

...
</code>

==== GenericWebotsBody.lua ====

GenericWebotsBody.lua is located in  UPennalizers/Lib/Platform/WebotsGeneric/Body/.

**Edited GenericWebotsBody.lua:**
      
<code lua>
module(..., package.seeall);
require('controller');

controller.wb_robot_init(); 
timeStep = controller.wb_robot_get_basic_time_step();
tDelta = .001*timeStep;

-- Get webots tags:
tags = {};
jointNames = {"HeadYaw",
"HeadPitch",		
"LShoulderPitch",  	
"LShoulderRoll",  	
"LShoulderYaw",		
"LElbowPitch",		
"LHipYaw",		
"LHipRoll",		
"LHipPitch",		
"LKneePitch",		
"LAnklePitch",		
"LAnkleRoll",	
"RHipYaw",		
"RHipRoll",		
"RHipPitch",		
"RKneePitch",	
"RAnklePitch",		
"RAnkleRoll",		
"RShoulderPitch",	
"RShoulderRoll",	
"RShoulderYaw",		
"RElbowPitch",		
"CHipYaw"};		-- Added this joint

nJoint = #jointNames;
indexHead = 1;
nJointHead = 2;
indexLArm = 3;
nJointLArm = 4;
indexLLeg = 7;
nJointLLeg = 6;
indexRLeg = 13;
nJointRLeg = 6;
indexRArm = 19;
nJointRArm = 4;
indexCHipYaw = 23;	-- Added for "CHipYaw"

...
</code>

===== Test it =====

YOU MUST MAKE THE SYSTEM EVERY TIME YOU EDIT GENERIC WEBOTS BODY

you must now cd to the UPennalizers/Lib directory and make.

  make setup_webots_generic

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.