Difference between revisions of "Tekkotsu XWalk Introduction"

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=== How to run XWalk ===
 
=== How to run XWalk ===
 
1)Running XWalk with a Robot simulation
 
1)Running XWalk with a Robot simulation
A. Create a robot simulation and put related files into appropriate directories(More details: http://www.tekkotsu.org/mirage.html)
+
*A. Create a robot simulation and put related files into appropriate directories(More details: http://www.tekkotsu.org/mirage.html)
B. cd Tekkotsu/tools/mirage
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*B.  
 +
    cd Tekkotsu/tools/mirage
 
     ./mirage
 
     ./mirage
 
Afterward, a window should appear, displaying the Mirage 3D environment.
 
Afterward, a window should appear, displaying the Mirage 3D environment.
C. connecting Tekkotsu
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*C. connecting Tekkotsu
cd Tekkotsu/project
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  cd Tekkotsu/project
./tekkotsu-TARGET –c mirage.plist (for example, if we use the simulation of Gort, we type :
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  ./tekkotsu-TARGET –c mirage.plist (for example, if we use the simulation of Gort, we type :
./tekkotsu-GORT –c mirage.plist)
+
  ./tekkotsu-GORT –c mirage.plist)
D.turning on ControllerGUI
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*D.turning on ControllerGUI
cd Tekkotsu/tools/bin
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  cd Tekkotsu/tools/bin
./ControllerGUI localhost
+
  ./ControllerGUI localhost
E.Root Control -> TekkotsuMon -> Walk Controller
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*E.Root Control -> TekkotsuMon -> Walk Controller
Actually, not only the Walk Controller will call XWalk, many other motions in the list, including Chase Ball call XWalk, too.
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*Actually, not only the Walk Controller will call XWalk, many other motions in the list, including Chase Ball call XWalk, too.

Revision as of 02:43, 16 December 2010

What is XWalk

XWalk is a motion trajectory generator in Tekkotsu. Once the configuration of a robot is set in the .kin file, XWalk will enable the robot to walk over a certain displacement at a certain speed.

How to run XWalk

1)Running XWalk with a Robot simulation

    cd Tekkotsu/tools/mirage
    ./mirage

Afterward, a window should appear, displaying the Mirage 3D environment.

  • C. connecting Tekkotsu
  cd Tekkotsu/project
  ./tekkotsu-TARGET –c mirage.plist (for example, if we use the simulation of Gort, we type :
  ./tekkotsu-GORT –c mirage.plist)
  • D.turning on ControllerGUI
  cd Tekkotsu/tools/bin
  ./ControllerGUI localhost
  • E.Root Control -> TekkotsuMon -> Walk Controller
  • Actually, not only the Walk Controller will call XWalk, many other motions in the list, including Chase Ball call XWalk, too.