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Welcome to the hecatonquiros wiki!

Official doc in https://vigus.github.io/hecatonquiros/

INSTALLATION

1. Install dependencies

git clone https://github.com/Bardo91/hecatonquiros
cd hecatonquiros
bash scripts/install_dependencies.sh

2. Compile library and install

cd build
cmake ..
make -j4
sudo make install

DEPENDENCIES

• tinyxml2 https://github.com/leethomason/tinyxml2
• In order to use the arm controller with arduino it is necessary to install https://github.com/wjwwood/serial
• OpenRAVE:
  • https://github.com/Tencent/rapidjson
  • sudo apt-get install cmake g++ git ipython minizip python-dev python-h5py python-numpy python-scipy python-sympy qt4-dev-tools
  • sudo apt-get install libassimp-dev libavcodec-dev libavformat-dev libavformat-dev libboost-all-dev libboost-date-time-dev libbullet-dev libfaac-dev libglew-dev libgsm1-dev liblapack-dev liblog4cxx-dev libmpfr-dev libode-dev libogg-dev libpcrecpp0v5 libpcre3-dev libqhull-dev libqt4-dev libsoqt-dev-common libsoqt4-dev libswscale-dev libswscale-dev libvorbis-dev libx264-dev libxml2-dev libxvidcore-dev
  • git clone --tag v2.5.0 https://github.com/rdiankov/collada-dom.git
  • sudo apt-get install libcairo2-dev libjasper-dev libpoppler-glib-dev libsdl2-dev libtiff5-dev libxrandr-dev
  • sudo apt-get install libccd-dev
  • git clone --branch OpenSceneGraph-3.4 https://github.com/openscenegraph/OpenSceneGraph.git
  • pip install sympy==0.7.1.0
  • pip install numpy numpy-quaternion numba
  • Openrave itself:

git clone https://github.com/rdiankov/openrave.git
cd openrave
git checkout 2befaa1b842320633a2a93046ebd456051f16bdc
mkdir build ; cd build
cmake ..
make -j `nproc`

TUTORIALS

tutorial gazebo

Arm models

PWM servos Model 4 DoF

Feetech serial servos Model 4 DoF

Tools

Gripper 0 Dof PWM

Gripper 1 Dof PWM

Gripper 2 Dof PWM

Docking Tool

Arm Tester GUI