Welcome to SCL's manips group page

Getting Started with the Wiki

• How to Create a Page
• How to Add Images/Files
• Original Wiki Help Page

Installation and Help

• Getting started with the Simulator
• Setting up locally the scl-manips-wiki
• Install Eclipse
• Configure Eclipse for coding
• Using git
• Setting up ssh access
• Using vim
• Using Ubuntu
• How to do MAKE-files
• How to do CMAKE-files

Bugs Merging Master

• Merging after update to Chai3d 3.0

SCL Extensions

• Brian's GUI Extensions
• Brian's Trajectory Extensions
• April's GUI Integration

Control Tutorial

• Understanding how to control RPPBot

Documentation

• Basic Documentation
• Additional Models
• Writing Your Own Controllers
• SCL XML File Specification

How do I?

• Create a new operational point task?
• Create a new generalized coordinate space task?
• Get the SRigidBodyDyn object for a task (to compute dynamics)?
• Switch tasks on/off during in response to run-time events?
• Use keyboard inputs for my task?
• Use mouse inputs for my task?
• Completely remap the ui keys and mouse interaction?
• Move from glut to Qt?
• Print text on the screen during execution?
• Add graphics-only objects to the simulation?
• Design an application with multiple robots?
• Integrate a planner?
• Debug my application in 32 bit linux? Eigen throws an error about vector alignment.
• Create an OBJ from a Solidworks part?
• Center a Solidworks part in Blender?
• Access a key handler?
• Use the Jr3 Driver under Linux?
• Use a CMappedList?
• Reorder link-id's inside a tree?

Sample Applications

• Example controller : A comprehensive example that exports most of scl's functionality
• Network controller : Excutables demonstrating how to interface with scl over the network

Debugging control implementations

• My code doesn't work. Help!
• Deciding control gains
• Controller instabilities?
• Deciding control task priority order
• Tasks conflict with each other
• Task doesn't do anything: Filtered by null space?
• Task doesn't do anything: Theoretical control design issues?
• Which is better: Robot-specific vs. Robot-independent tasks
• I'm getting confused with ids: Which position in q_ refers to what joint?

Haptic fMRI Interface Documentation

Here is part of the documentation for the HFI:

• System ID for the HFI

NeuroArm Configuration

Here are notes on how to configure various hardware and software platforms on NeuroArm:

• NeuroArm Robotic Platform Overview
• NeuroArm Electrical Configuration
• Installing the EtherCAT Master Application
• Installing the XDE Environment
• Loading Code and Running Demo XMOS Apps

Using NeuroArm

Here are notes on how to build your own app that controls NeuroArm:

• NeuroArm App Building Tutorial

Nengo Robot Controller

• Robot Controller
• Code Documentation
• Timing Issues for Real-time Control

Haptic Teleoperation Demo & KUKA Torque Interface

• Intro : WBC with the KUKA LWR
• Build : Build the Project
• Usage : How to setup and run the demo
• Software : How to use SMIC and the KUKA Torque Interface to run your own SCL controllers on the LWR

People Pages

Here are private pages for people's programming and misc. notes:

• Samir
• Robert
• Kevin
• Arushi
• Michelle
• Ann
• Chris
• Hari
• Scott
• Kenji
• Fabian
• Brandon
• Brian
• Kaidi
• Nayan