robot-project

Any code for the DACERI (DAta CEnter Robot Inspector) project in affiliation with Jefferson Lab.

Run Simulation

1. Download the respective file based on OS and architecture: https://github.com/google-deepmind/mujoco/releases
2. Extract the file, and run simulate inside the extracted folder. Mujoco simulator should run
3. Clone this repository
4. Go into the sim/ directory
5. Drag-and-drop any .xml into the simulator

Print 3D model parts

1. Clone this repository
2. Go into the designs/ directory
3. Choose any design you'd like
4. Open in any CAD software and export as STL
5. Use a program like UltiMaker Cura or Prusa Slicer and slice the STL file into GCODE
6. Run on a 3D printer

Move the robot

1. Clone this repository on both the client computer and the robot's R-Pi
2. On the robot's R-Pi, run the following steps according to your desired setup:
   • Run this first:

     python -m venv ./.venv --system-site-packages
     pip install -r /path/to/daceri/libs/requirements.txt
     source ./.venv/bin/activate
     

   • UDP Server (Modify the IP Address in the udp-server.py file to the IP of the R-Pi):

     python /path/to/daceri/scripts/udp-server.py
     

   • Websockets Server:

     python /path/to/daceri/scripts/websockets.py
     

3. Go into the scripts/ directory
4. Use the provided Dockerfile (Wiki: How to download and install Docker) to automatically setup the correct packages and libraries or use a Linux/MacOS system with Python installed
   • Container:

     cd ./robot-project
     docker build -t robot-container .
     docker run -v `pwd`:/work/robot:Z -v /dev/input:/dev/input:ro --rm -it robot-container:latest
     

   • Host System (Linux/MacOS):

     python -m venv --system-site-packages ./.venv
     source ./.venv/bin/activate
     pip install -r /path/to/daceri/libs/requirements.txt
     

5. Plug in a controller (OS-dependent; usually Linux works the best)
6. Run the RobotController.py file (under the scripts/ subdirectory) with the desired connection type:
   • Serial Sockets:

     python RobotController.py s
     

   • Websockets:

     python RobotController.py w [R-Pi IPv4 address]
     

   • UDP Sockets:

     python RobotController.py u [R-Pi IPv4 address]
     

7. Press the right joystick to activate the motors
8. Start moving the joysticks to move the robot!