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--- projects:dlr_hit_hand_arm_sim [2012/02/08 17:00] – memeruiz
+++ projects:dlr_hit_hand_arm_sim [2012/02/13 16:04] (current) – memeruiz
@@ Line 1: / Line 1: @@
+====== Hand/arm simulator for the Kuka arms and DLR/HIT hands ======
+You can run a system that simulates the impedance and damping control of the arms and hands on TUM-Rosie.
+  * Run the hand simulator.
+  cd ias_manipulation_nonfree/sahand_api
+  ./sahand_yarp.py -s -d -n
+  * Run the arm motion control in simulation mode:
+  cd ias_manipulation/arm/motionControl/
+  ./system_start.sh -r lwr -i right -s
+  ./system_start.sh -r lwr -i left -s
+  * Run the robot visualizator.
+  cd ias_manipulation/arm/motionControl/
+  ./roboviewer.py -r lwr --arm_left --arm_right --hand_left --hand_right
+  * Run the torque simulation module.
+  cd ias_manipulation/arm/motionControl/
+  ./torque_sim.py -s
+===== How to use it =====
+Once the system is running you can send forces to the finger tips in the yarp port /torque_sim/force_in . An example:
+  (1 -1 0 0) (2 -1 0 0 )
+The format is: (finger_number force_x force_y force_z). Multiple fingers can be controlled in one single yarp write.
+===== Calibrating the finger angles and torques =====
+  cd ias_manipulation/hand/hand_cartesian
+edit file ./calibrate_hand.py and change fingers_to_calibrate to configure the fingers you want to calibrate. Only right hand is supported.