Repository for controlling the Kinova Mico or Jaco via SAI 2.0. We have derived this repository from the CS225a (experimental robotics) class repository.
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If you have a Mac, install Brew (https://brew.sh/). If you have Ubuntu, install git (sudo apt install git)
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Clone this repository
git clone https://github.com/StanfordVL/sai-kinova.git sai-kinova.git
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Obtain sai2-simulation.zip and extract its contents into sai-kinova.git/sai2-simulation.
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Run the install script inside sai-kinova.git. This will take a few minutes.
sh install.sh
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Build the sai-kinova.git applications
sh make.sh
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Install Brew for Mac (https://brew.sh/) or have Ubuntu installed or any other distro with the following packages. Also install git (sudo apt-get install git). Windows will have to dualboot ubuntu or install a VM.
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Install Cmake
Linux:
sudo apt-get install cmake
Mac:
brew install cmake
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Install Eigen
Linux:
sudo apt-get install libeigen3-dev
Mac:
brew install eigen
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Install TinyXML
Linux:
sudo apt-get install libtinyxml2-dev
Mac:
brew install tinyxml2
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Install JsonCPP
Linux:
sudo apt-get install libjsoncpp-dev
Mac:
brew install jsoncpp
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Install HiRedis Client
Linux:
sudo apt-get install libhiredis-dev
Mac:
brew install hiredis
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Install GLFW + Other things Chai3D Needs
Linux:
sudo apt-get install libglfw3-dev sudo apt-get install xorg-dev sudo apt-get install freeglut3-dev sudo apt-get install libasound2-dev sudo apt-get install libusb-1.0-0-dev
Mac:
brew install glfw3 brew install libusb
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Install Redis-Server
Linux:
sudo apt-get install redis-server
Mac:
brew install redis
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Install Yaml-CPP
Linux:
sudo apt-get install libyaml-cpp-dev
Mac:
brew install yaml
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Clone, Build, Install RBDL Download a copy of the repository as a zip from https://bitbucket.org/rbdl/rbdl Extract into a folder (should be called rbdl)
cd rbdl mkdir build cd build cmake -DRBDL_BUILD_ADDON_URDFREADER=On -DRBDL_USE_ROS_URDF_LIBRARY=OFF .. make -j4 sudo make install
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Install Chai
Download and extract the multiplatform release from : http://www.chai3d.org/download/releases Cd into the extracted folder
mkdir build cd build cmake .. make -j4
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Extract the Zip of SAI2 Simulation Library given to you and cd into the extracted folder.
mkdir build cd build cmake .. make -j4
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Clone the SAI2 Common library and Build
git clone https://github.com/manips-sai/sai2-common.git cd sai2-common
v mkdir build cd build cmake .. make -j4 ```
- Clone This Repo
sh make.sh
- Inside bin, you will find visualizer, simulator, and controller. Run all of these using one of the following. The shell scripts set the controller gains, initialize starting joint position, and kick off the simulator, visualizer, and controller.
sh init_jaco.sh sh init_mico.sh