OpenMR: Modular Robots plug-in for Openrave

Simulating the locomotion of the Minicube-I modular robot

Introduction

OpenMR is an OpenRave Modular Robots plug-in for simulating the locomotion of modular robots.

Installation and setup

• Install OpenMR

Running the Examples

C++

• Go to the openmr/examples directory
• Execute cmake

cmake .

• Compile with make:

make

• The examples are ready. Try this one:

./Test-servocontroller-1

Python

• Make sure you have installed OpenRave with Python support
• Go to the openmr/examples directory
• Modify the PYTHONPATH to include openrave. For example, in my system I should type:

  export PYTHONPATH=$PYTHONPATH:/home/juan/desarrollo/openrave/localinstall/share/openrave

• The python examples are ready! You can try this one:

 python Test-servocontroller-1.py

Repository

svn co http://svn.iearobotics.com/openmr/trunk  openmr

License

This code is under the GPLv3 license

Author

Juan Gonzalez-Gomez

Links

• Openrave
• Y1 modules
• Modular Robotics and Locomotion: Application to Limbless robots. PhD Thesis

News

• 2010/03/08: This page is started