Install Instructions

From project root

mkdir build && cd build
cmake ..
make
sudo make install

If you don't have the libbarrett dependency, you can disable related executables with:

cmake -DBUILD_BARRETT=OFF ..

To run tests, from the build directory execute:

ctest

Integrate with your project

Add to CMakeLists.txt

find_package(haptip_wrist REQUIRED)
...
target_link_libraries(your_target haptic_wrist) 

See programs/demo_grav_comp.cpp and tool_frame_cb.h for integrating with the wam.

Notes

The joint numbers match the wam wrist, that is J1, J2, J3 correspond with J5, J6, J7 on the wam wrist, respectively.

Make sure wam toolplate dh_params are correct. d should be 0.0

Zero position is set when haptic wrist is powered up, not when process started. Make sure the wrist is close to its zero position (within 1 motor revolution).

If present, reads config files from ~/.config/haptic_wrist. Otherwise reads from /etc/haptic_wrist. Overwrite the config dir location with env variable HAPTIC_WRIST_CONFIG_DIR

moteus commands

Zeros the moteus

python3 -m moteus.moteus_tool --target 1,2,3 --zero-offset

Open tview:

python3 -m moteus_gui.tview --target 1,2,3