drc_hubo_gui_tutorial_dw
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drc_hubo_gui_tutorial_dw [2016/11/11 23:04] – created dwallace | drc_hubo_gui_tutorial_dw [2017/04/27 21:52] (current) – dwallace | ||
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===== Private GUI ===== | ===== Private GUI ===== | ||
- | The private GUI is full of great features that allow teleoperation of HUBO helpful. There are 6 major tabs in the private GUI: Setting, Tutorial, Walking, Wheel, Joystick, and Car. Within this tutorial we will cover using the first 4. | + | The private GUI is full of great features that allow teleoperation of HUBO helpful. There are 6 major tabs in the private GUI: Setting, Tutorial, Walking, Wheel, Joystick, and Car. Within this tutorial we will cover using the first 4. |
+ | |||
+ | Before using any of the tabs, it is useful to start these 4 ALs: Walkready, Omniwheel, Freewalking, | ||
==== Setting Tab ==== | ==== Setting Tab ==== | ||
- | {{ }}\\ | + | {{ dylanw: |
- | The picture above depicts the Setting tab of the private GUI. This tab is used to set the positions of DRC-HUBO' | + | The picture above depicts the Setting tab of the private GUI. This tab is used to set the positions of DRC-HUBO' |
+ | |||
+ | In order to move a joint just select the joint, select the angle and time of movement, and the press "Move Joint" | ||
==== Tutorial Tab ==== | ==== Tutorial Tab ==== | ||
+ | {{ dylanw: | ||
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+ | The picture above depicts the Tutorial tab of the private GUI. This tab is most important for its ability to control head scans. | ||
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+ | In order to take a scan, enter the angle range that you would like to scan (negative value and positive value should be opposites, and this number is the range of the scan), enter the time of the scan, and then press the " | ||
+ | |||
+ | ==== Walking Tab ==== | ||
+ | |||
+ | {{ dylanw: | ||
+ | |||
+ | The picture above depicts the Walking tab of the private GUI. This tab is used to control DRC-HUBO in walking mode. | ||
+ | |||
+ | Before controlling HUBO in walking mode, use the "Walk Ready" button to put HUBO into Walk-Ready mode. Then, set the "Step length" | ||
+ | |||
+ | ==== Wheel Tab ==== | ||
+ | |||
+ | {{ dylanw: | ||
+ | |||
+ | The picture above depicts the Wheel tab of the private GUI. This tab is used to control DRC-HUBO in wheel mode. | ||
+ | |||
+ | Before putting HUBO into wheel mode, first press the " | ||
+ | |||
+ | ==== Joystick Tab ==== | ||
+ | |||
+ | {{ dylanw: | ||
+ | |||
+ | The picture above depicts the Joystick tab of the private GUI. This tab is used to control DRC-HUBO with a controller. HUBO can be controlled on wheels with the controller, and the arms of HUBO for manipulation. | ||
+ | |||
+ | In order to control HUBO in wheel mode with a controller, first follow the steps listed above for wheel mode. Next, turn the Logitech controller on and press the " | ||
+ | |||
+ | In order to control the arm movements of HUBO, use the "One Hand" button (if in walking mode use the "One Hand Standing" | ||
+ | |||
+ | ==== Joints, Sensor Data, and Motion Visualization ==== | ||
+ | |||
+ | {{ dylanw: | ||
+ | |||
+ | The picture above depicts the part of the GUI used for monitoring joints positions, sensor data, and HUBO motions. These can be opened using the " | ||
+ | |||
+ | The left side of this section is for visualizing joint positions, in reference angles or encoder ticks. The middle is used to track sensor data from the joints, IMU, FOG, and vision sensors. The right section is used to visualize HUBO's motions in a low-level simulation. | ||
+ | |||
+ | ===== Public GUI ===== | ||
+ | |||
+ | The public GUI has much less features than the private GUI, so as to limit what the public can do with HUBO. This version is available for the public to use in simulation, without a real robot. This version only includes the ability to take head scans, set joints, drive in wheel mode, do simple object grasping/ | ||
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+ | {{ dylanw: | ||
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+ | ==== Pose Change ==== | ||
+ | |||
+ | This section is used to put DRC-HUBO into different positions for use. These include the Home position, Walk-ready, and wheel mode. These can be achieved by pressing the respective buttons in the "Pose Change" | ||
+ | |||
+ | ==== Head Control ==== | ||
+ | |||
+ | This section is used to control DRC-HUBO' | ||
+ | |||
+ | ==== Wheel Control ==== | ||
+ | |||
+ | This section can be used to drive DRC-HUBO to specific points while in wheel mode. This can be achieved by setting the position and rotation into the respective fields (X, Y, Z, and Angle), and then pressing the "Goto Point" button. | ||
+ | |||
+ | ==== Object Picking ==== | ||
+ | |||
+ | This section can be used to control the position of DRC-HUBO' | ||
+ | |||
+ | In order to move the hand to a desired position, set that position into the respective fields (X, Y, Z, and wrist rotation), and then press the " | ||
+ | |||
+ | ==== Final Words ==== | ||
+ | This tutorial' | ||
+ | \\ | ||
+ | \\ | ||
+ | For questions, clarifications, |
drc_hubo_gui_tutorial_dw.1478934291.txt.gz · Last modified: 2016/11/11 23:04 by dwallace