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https://github.com/pollen-robotics/reachy-2019-masks
https://github.com/pollen-robotics/reachy-2019-masks
Last synced: about 1 month ago
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- Host: GitHub
- URL: https://github.com/pollen-robotics/reachy-2019-masks
- Owner: pollen-robotics
- Created: 2021-02-22T13:14:25.000Z (almost 4 years ago)
- Default Branch: master
- Last Pushed: 2021-02-22T17:13:06.000Z (almost 4 years ago)
- Last Synced: 2024-11-06T08:13:31.502Z (3 months ago)
- Language: Python
- Size: 11.8 MB
- Stars: 0
- Watchers: 3
- Forks: 0
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
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README
# Use Reachy to distribute masks!
## Install everything
```bash
cd ~/dev
git clone https://github.com/pollen-robotics/reachy-masks.git
cd ~/dev/reachy-masks
pip3 install -e .
```
You'll need to make a few changes to *reachy API* to have this working.
To start the application:
```bash
cd ~/dev/reachy-masks
python3 -m reachy_masks.mask_launcher
```
You will need to replace Reachy's left gripper with a custom 3d printed piece. You can find the 3d files [here](https://cad.onshape.com/documents/bab2997550deb4aad12c7153/w/db22f447bcbaf9fd28d5a02d/e/b4d43361b40b080d9f70675a).
## Add the following elements to Reachy
In `reachy/software/reachy/parts/head.py` add to the **__init__** function:
```python
self.previous_look_at = [0, 0, 0]
```
and to the **look_at** function:
```python
self.previous_look_at = [x, y, z]
```
Don't forget to create a new type of hand for the custom piece!
Declare it in `reachy/software/reachy/parts/hand.py`:
```python
class FlyerHand(Hand):
"""Half a wrist and no hand Part.
Args:
io (str): port name where the modules can be found
side (str): which side the part is attached to ('left' or 'right')
Composed of two dynamixel motors.
"""
fans = {'wrist_fan': 'hand.wrist_pitch'}
def __init__(self, root, io):
"""Create a new Empty Hand."""
Hand.__init__(self, root=root, io=io)
dxl_motors = OrderedDict({
name: dict(conf)
for name, conf in self.dxl_motors.items()
})
self.attach_dxl_motors(dxl_motors)
class LeftFlyerHand(FlyerHand):
"""Left Empty Hand Part."""
dxl_motors = OrderedDict([
('forearm_yaw', {
'id': 24, 'offset': 0.0, 'orientation': 'indirect',
'angle-limits': [-100, 100],
'link-translation': [0, 0, 0], 'link-rotation': [0, 0, 1],
}),
('wrist_pitch', {
'id': 25, 'offset': 0.0, 'orientation': 'indirect',
'angle-limits': [-45, 70],
'link-translation': [0, 0, -0.25], 'link-rotation': [0, 1, 0],
}),
])
```
and add it to the list of existing hands in `reachy/software/reachy/parts/arm.py`:
```python
hands = {
# [...] other hands already declared
'flyer_hand': {'left': LeftFlyerHand},
}
```