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tutorials:object_manipulation_robot_simulator [2019/05/06 08:56]
dgarcia [Installation problems] Removing this section, as we now prefer containers
tutorials:object_manipulation_robot_simulator [2019/09/16 20:48] (current)
admin [Running the FRI KRC KRL client controller code]
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   git clone https://​gitlab.com/​arcoslab/​arcospyu.git   git clone https://​gitlab.com/​arcoslab/​arcospyu.git
   cd arcospyu   cd arcospyu
 +  git checkout 0.1.2
   make xstow_install   make xstow_install
   ​   ​
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 ==== DLR HIT II ==== ==== DLR HIT II ====
 +
 +**WARNING**:​ ''​planar_sliding''​ and ''​slider_control''​ will fail because of some changes that were introduced for the dual-cmap project. And it will probably remain deprecated because **OMS** is replacing **CMOC**.
  
 Now if you want to run the simulation using the new hand (DLR HIT II): Now if you want to run the simulation using the new hand (DLR HIT II):
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 === KRC === === KRC ===
  
-Check that you have FRI properly installed. In case that there are network communication problems some times there is a problem with the network card installation. The KRC has two network cards, one for Windows and one for VXworks. To be sure that the one for VXWorks is properly installed, go to control-panel->​ Device Manager, and check that the PCI network controller is listed under "​Realtime OS Devices"​ and not under "​Network Adapters"​. If it is under "​Network Adapters"​ it means windows has "​claimed"​ it. To reassign it to VXWorks, insert the FRI installation CD and go to INTERNAT\KRCUPD directory and run "​KsNetCfg.exe"​. This will install again the VXWorks network adapter card. This is usually a problem with the Intel Pro1000 GT card. Reboot and reconfigure FRI ini files.+Check that you have FRI properly installed. In case that there are network communication problems some times there is a problem with the network card installation. The KRC has two network cards, one for Windows and one for VXworks. To be sure that the one for VXWorks is properly installed, go to control-panel->​System->​Hardware->Device Manager, and check that the PCI network controller is listed under "​Realtime OS Devices"​ and not under "​Network Adapters"​. If it is under "​Network Adapters"​ it means windows has "​claimed"​ it. To reassign it to VXWorks, insert the FRI installation CD and go to INTERNAT\KRCUPD directory and run "​KsNetCfg.exe"​. This will install again the VXWorks network adapter card. This is usually a problem with the Intel Pro1000 GT card. Reboot and reconfigure FRI ini files.
  
 === Linux Installation === === Linux Installation ===
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     * Configure->​Set tool/​base-> ​  Tool no: 1(empty) 2(hand) 3(L link), base no: 1     * Configure->​Set tool/​base-> ​  Tool no: 1(empty) 2(hand) 3(L link), base no: 1
     * With the file manager, go to: R1/​Program/​FRIDemo/​     * With the file manager, go to: R1/​Program/​FRIDemo/​
-    * Select file FRIControl+    * Select file FRIControl ​  (this file is in the KRL/​ARCOS-Lab_KRC1/​FRIDemo/​ repository directory. You must internally check for the gravity vector and the tool number to be correct)
     * Select Position Control with LWR button     * Select Position Control with LWR button
     * Monitor->​Variable->​Single->​Name:​ $torque_tcp_est ​ (check that torques and forces don't exceed a value of 2)     * Monitor->​Variable->​Single->​Name:​ $torque_tcp_est ​ (check that torques and forces don't exceed a value of 2)
  • tutorials/object_manipulation_robot_simulator.1557151003.txt.gz
  • Last modified: 2019/05/06 08:56
  • by dgarcia