For the door opening task, I obviously needed a door. I remodeled a scaled door that was present in the lab.
Fig 1 : The door that was already in the lab.
Fig 2 : The remodeled Single Door with geometrical constraints
Fig 3: Door space for a double door. (right door yet to be mounted)
Dimensions: The door way for the single door task is about 13 inches (about 35cm) wide.(Fig 2)
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
Fig 4 : Darwin's - modified hands
The modified Darwin has one extra degree of freedom which is a yaw joint at the Shoulder.
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.