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Running Robots

We have prepared all the codes necessary to run the robot and generate a plot automatically.

Output Examples

If you run our code in R4A repository, you can generate the following outputs.


Hardware video captured with MoCap
model gif model gif
Analytical model (left) vs. Hardware motion captured with MoCap (right)


Analytical model in an interactive graph. It may be slower than realtime depending on devices.


Hardware motion captured with MoCap in an interactive graph. It may be slower than realtime depending on devices.


Input System

We have three ways of providing input to the robot:

Keyboard

With Arrow keys: Up, Down, Left, Right, page up and down buttons: Page Up, Page Down you can control your robot remotely.

For more details on all key combinations, please refer to the link below.

Keyboard Control

CSV trajectory file

You can use CSV trajectory files to run pre-defined inputs. You can use provided csv files or you can create your own. You can use the CSV files generated after run as an input file which will reproduce the input commands.

Hint

First you can run your robot with keyboard inputs, which will automatically generate csv.

Then you can specify them as your input file to repeat the same commands.


What's Next?

Let's test MoCap!

Setup Mocap