Difference between revisions of "Asibot - Implemented Modules"
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These modules' behaviour corresponds to [[Modules_-_Command_Format#Joint_Motion_Controllers_.28JMC.29|Robot Component Guidelines v0.3 commands for JMCs]]. | These modules' behaviour corresponds to [[Modules_-_Command_Format#Joint_Motion_Controllers_.28JMC.29|Robot Component Guidelines v0.3 commands for JMCs]]. | ||
=== jmc_rave ([[jmc_rave Ubuntu Install|'''Ubuntu''']] / [[jmc_rave Windows Install|'''Windows''']]) === | === jmc_rave ([[jmc_rave Ubuntu Install|'''Ubuntu''']] / [[jmc_rave Windows Install|'''Windows''']]) === | ||
| − | A module that instantiates a OpenRAVE kitchen with ASIBOT environment. No force control has been implemented. Further reference at [http://robots.uc3m.es/trac/ASIBOTcoderepo/doxygen/jmc_rave/html/index.html Code Documentation: jmc_rave]. | + | A module that instantiates a OpenRAVE kitchen with ASIBOT environment. No force control has been implemented. Further reference at [http://robots.uc3m.es/trac/ASIBOTcoderepo/doxygen/jmc_rave/html/index.html Code Documentation: jmc_rave]. [Modules_-_Standard_v0.2#Joint_Motion_Controllers Link to RCGv02 command format]. |
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Revision as of 13:13, 9 November 2010
ASIBOT Implemented Robot Components
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| This page contains descriptions of Robot Component Guidelines v0.3 ASIBOT modules. |
Category: Joint Motion Controllers
These modules' behaviour corresponds to Robot Component Guidelines v0.3 commands for JMCs.
jmc_rave (Ubuntu / Windows)
A module that instantiates a OpenRAVE kitchen with ASIBOT environment. No force control has been implemented. Further reference at Code Documentation: jmc_rave. [Modules_-_Standard_v0.2#Joint_Motion_Controllers Link to RCGv02 command format].
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jmc_can (RT-Linux)
Controlls real robot.
Category: Cartesian Motion Controllers
These modules' behaviour corresponds to Robot Component Guidelines v0.3 commands for CMCs.
cmc_recursive (Ubuntu / Windows)
Based on recursive methods, such as Newton-Raphson. Should work fine between any interface and a JMC. Further reference at Code Documentation: cmc_recursive.
Category: Sensor
These modules' behaviour corresponds to Module Guidelines v0.3 commands for SNSs.
sns_xsens
A wrapper module for Xsense IMU.
http://robots.uc3m.es/svn/ASIBOTcoderepo/trunk/sns_xsens
Category: HMI
hmi_wiimote
A wrapper module for wiimote driver. Basic interface is as a sensor.
http://robots.uc3m.es/svn/ASIBOTcoderepo/trunk/hmi_wiimote
hmi_3d (Ubuntu)
Category: Vision
vis_rsanchez
Currently under development, integrates OpenCV and GTK. Check out the recent video.