Tekkotsu XWalk Introduction
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
- A. Create a robot simulation and put related files into appropriate directories(More details: http://www.tekkotsu.org/mirage.html)
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.