Hubo planning, control, and visualziation software

Please contact Matt Zucker mzucker1@swarthmore.edu with questions, comments, or rants.

Some IK/FK code from Hubo Motion library - https://github.com/hubo/hubo-motion-rt

To build the software, you will need these libraries:

• GLUT
• eigen3
• expat
• qt4 (optional, but required for calibration GUI)

You must install cmake to build the software as well. To build:

cd /path/to/hubomz
mkdir build
cd build
cmake .. -DCMAKE_BUILD_TYPE=Release
make

To run the software, you will need an OpenRAVE model of the Hubo plus. Get the openHubo package from https://github.com/daslrobotics/openHubo and patch it using the huboplus.patch in the root directory of this project.

cd /path/to/openHubo
patch -p0 < /path/to/hubomz/huboplus.patch

Next, symlink the huboplus directory from openHubo into the root directory of this repository.

cd /path/to/hubomz
ln -s /path/to/openHubo/robots/huboplus

Now, you can run the software, for instance:

cd /path/to/hubomz/build
./zmpdemo -g ../myhubo.kinbody.xml

On the mac, instead run

./zmpdemo.app/Contents/MacOS/zmpdemo -g ../myhubo.kinbody.xml

A few tests can automatically be run. After you've successfully run make, do:

make
ctest