Giter Club home page Giter Club logo

slabrobot's Introduction

Slab Robot

Work in progress...

Mechanical Design

OnShape CAD Document

Simulation

Prototype Prototype Prototype

Onshape to Robot is used to generate robot simulation URDF files based on the concept assembly CAD.

# generate urdf
sudo apt install openscad meshlab # install system dependencies
pip install onshape-to-robot # install python application

# generate and output to urdf directory based on urdf/config.json
onshape-to-robot urdf

Run the following commands (or the equivalent on your system) to setup:

# install system dependencies
sudo apt install cmake gcc python3
# Install pytohn dependencies:
pip3 install -r requirements.txt

# Build libslab
mkdir libslab/build
(cd libslab/build && cmake .. && make)

To start, execute ./sim.py. A connected USB gamepad is required.

The controls are:

  • Home button resets simulation.
  • Select button recenters camera.
  • Left stick controls wheels.
    • X-axis controls turning velocity.
    • Y-axis controls forward velocity.
    • D-pad scaled by L-trigger maps to left stick controls.
  • Right stick controls legs.
    • X-axis controls rotation of both legs in the same direction.
    • Y-axis controls rotation of both legs in different directions (when not balancing).
    • Y-axis controls body incline (when balancing).
    • Diagonal axis controls individual legs.
    • Buttons scaled by R-trigger maps to right stick controls.
  • Holding R button maps right stick to leg position presets.
    • Up maps U preset.
    • Down maps to inverted U preset.
    • Left maps to fully unfolded preset.
    • Right maps to fully folded preset.
  • Holding L button disables balance controller.
  • Balance controller automatically engages when one pair of legs are detected to be off the ground.

slabrobot's People

Contributors

wzli avatar

Stargazers

 avatar  avatar  avatar  avatar  avatar

Watchers

 avatar  avatar

slabrobot's Issues

Recommend Projects

  • React photo React

    A declarative, efficient, and flexible JavaScript library for building user interfaces.

  • Vue.js photo Vue.js

    ๐Ÿ–– Vue.js is a progressive, incrementally-adoptable JavaScript framework for building UI on the web.

  • Typescript photo Typescript

    TypeScript is a superset of JavaScript that compiles to clean JavaScript output.

  • TensorFlow photo TensorFlow

    An Open Source Machine Learning Framework for Everyone

  • Django photo Django

    The Web framework for perfectionists with deadlines.

  • D3 photo D3

    Bring data to life with SVG, Canvas and HTML. ๐Ÿ“Š๐Ÿ“ˆ๐ŸŽ‰

Recommend Topics

  • javascript

    JavaScript (JS) is a lightweight interpreted programming language with first-class functions.

  • web

    Some thing interesting about web. New door for the world.

  • server

    A server is a program made to process requests and deliver data to clients.

  • Machine learning

    Machine learning is a way of modeling and interpreting data that allows a piece of software to respond intelligently.

  • Game

    Some thing interesting about game, make everyone happy.

Recommend Org

  • Facebook photo Facebook

    We are working to build community through open source technology. NB: members must have two-factor auth.

  • Microsoft photo Microsoft

    Open source projects and samples from Microsoft.

  • Google photo Google

    Google โค๏ธ Open Source for everyone.

  • D3 photo D3

    Data-Driven Documents codes.