====== Preparing the Hardware for Darin-OP Door Opening ======

For the door opening task, I obviously needed a door. I remodeled a scaled door that was present in the lab. 

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Fig 1 : The door that was already in the lab.

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Fig 2 : The remodeled Single Door with geometrical constraints

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Fig 3: Door space for a double door. (right door yet to be mounted)

  * I used 80-20 frames to make the door frames. 
  * I used a simple strip of aluminum and bent it to make the handle, drilled a couple of holes to mount it on the door. 

**Dimensions:** The door way for the single door task is about 13 inches (about 35cm) wide.(Fig 2)

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In order to perform the door opening task, I needed the Darwin to have fingers/grippers, thus I used the Darwin-OP the Lab that had modified fingers as shown in Fig 4 

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Fig 4 : Darwin's - modified hands

The modified Darwin has one extra degree of freedom which is a yaw joint at the Shoulder. 
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The Darwin with the modified hands apparently also had modified foot that were used for other purposes. I tried to modify Darwin's source code to be able to walk using the Motion manager, but it was not successful. I thus went ahead and switched the Darwin's feet to the original ones. I had to use the foot of the other Darwin in the lab since this one lacked some parts. 

The following were taken during the transition.

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