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[UPenn-Humanoid] How To Run The Framework

HOW TO RUN HUMANOID

1. Set up Robot To Connect WIFI via LAN

2. Use Client To Connect the Robot via WIFI

3. Run The Script

===========================================================================
===> SET UP TO WIRELESS NETWORK
===========================================================================
0. plugged in the LAN cable

Essential Command
– Check Adaptor Configuration ( Including IP , Subnet Mask , etc.)
$    ifconfig

– SSID Listing
$    sudo iwlist scan

– Full Network Detail
$     nm-tool

– Scan Computer / Client IP On Network (All Over Subnet Mask /24)
$     nmap scan 192.168.1.0/24

1. get into Robot (from ip that we scan) ex 192.168.1.251
$ ssh -X odroid@192.168.1.251

2. Run Ubuntu GUI to Set Wireless
$ startxfec4

===========================================================================
===> RUN THE ROBOT testing script
===========================================================================

1. get into Robot (via Wireless)
$ ssh -X odroid@192.168.1.77

2. cd in to Hanuman/Player
$ cd ~/Hanuman/Player

3. We Need Three Windows ( Do 1. , 2. in the new windows )
Call New Window > Ctrl+Alt+T
Do the 1,2 Again in new Windows

Run these Following Step in sequence consecutively

4. First Window type (Device Control Manager => for IMU Gyro and Servos)
$ lua run_dcm.lua

5. Second Window Type (Cognition Modules For Vision and Localization)
$ lua run_cognition.lua

6. Third Window Type (“The Script”) for ex. test_walk.lua
$ lua test_walk.lua

===========================================================================
===> Operate Test_walk.lua
===========================================================================

“7” => SIT
“8” => STANCE

“K” => Reset Velocity
“I” => + forward Velocity
“<” => – forward Velocity
“J” => turn_left velocity
“L” => turn_right velocity

===========================================================================

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chulacueicHumanoidHumanoidhumanoidmemoryrobotsharedupennalizer

iTUTOR~ • July 29, 2014


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