NRC

Repository for Natural Robot Control (Based off of devel branch of cs225a git repository: https://github.com/tmigimatsu/cs225a-dist.git)

Complete Installation Instructions

NRC Automatic Installation Instructions (for Ubuntu and Mac only)

If you have a Mac, install Brew (https://brew.sh/). If you have Ubuntu, install git (sudo apt install git)
Clone this repository

git clone https://github.com/The-Dawwctor/nrc.git nrc.git
Download sai2-simulation.zip from AFS and extract its contents into nrc.git/sai2-simulation.
Run the install script inside nrc.git. This will take a few minutes.

sh install.sh
Build the nrc applications

sh make.sh

NRC Manual Installation Instructions (for any Linux distro or Mac)

Install Brew for Mac (https://brew.sh/) or have Ubuntu installed or any other distro with the following packages. Also install git (sudo apt-get install git). Windows will have to dualboot ubuntu or install a VM.
Install Cmake

Linux: sudo apt-get install cmake

Mac: brew install cmake
Install Eigen

Linux:sudo apt-get install libeigen3-dev

Mac:brew install eigen
Install TinyXML

Linux:sudo apt-get install libtinyxml2-dev

Mac:brew install tinyxml2
Install JsonCPP

Linux:sudo apt-get install libjsoncpp-dev

Mac:brew install jsoncpp
Install HiRedis Client

Linux:sudo apt-get install libhiredis-dev

Mac:brew install hiredis

Install GLFW + Other things Chai3D Needs

Linux:

sudo apt-get install libglfw3-dev
sudo apt-get install xorg-dev
sudo apt-get install freeglut3-dev
sudo apt-get install libasound2-dev
sudo apt-get install libusb-1.0-0-dev

Mac:

brew install glfw3
brew install libusb

Install Redis-Server

Linux:sudo apt-get install redis-server

Mac:brew install redis
Install Yaml-CPP

Linux:sudo apt-get install libyaml-cpp-dev

Mac:brew install yaml
Clone, Build, Install RBDL Download a copy of the repository as a zip from https://bitbucket.org/rbdl/rbdl Extract into a folder (should be called rbdl)
```
cd rbdl
mkdir build 
cd build
cmake -DRBDL_BUILD_ADDON_URDFREADER=On -DRBDL_USE_ROS_URDF_LIBRARY=OFF ..
make -j4
sudo make install
```
Install Chai

Download and extract the multiplatform release from : http://www.chai3d.org/download/releases Cd into the extracted folder
```
mkdir build
cd build
cmake ..
make -j4
```
Extract the Zip of SAI2 Simulation Library given to you and cd into the extracted folder.
```
mkdir build
cd build
cmake ..
make -j4
```

Clone the SAI2 Common library and Build

git clone https://github.com/manips-sai/sai2-common.git
cd sai2-common
mkdir build
cd build
cmake ..
make -j4

Clone This Repo
```
sh make.sh
```

SEMPRE-robot Installation

Follow the instructions at https://github.com/The-Dawwctor/sempre-robot

SHRDLURN-robot Installation

Follow the instructions at https://github.com/The-Dawwctor/shrdlurn-robot

Post-Installation

To run the SEMPRE-robot server, while in the SEMPRE-robot git repository, run
```
ant interactive
./interactive/run @mode=robot -server -interactive
```
and keep it running in a separate terminal.
To run the SHRDLURN-robot client, while in the SHRDLURN-robot git repository, run
```
yarn start
```
to open a website through localhost.

Alternatively, type
```
yarn build &&
yarn deploy
```
and go to the website https://the-dawwctor.github.io/shrdlurn-robot/ to see the web client. You may need to enable unsafe scripts in order for the javascript on the web client to work.

The website can be changed through the instructions on the SHRDLURN-robot git repository.
Inside bin of the nrc git repository, you will find a run_nrc.sh script Note this opens up the applications in the background, use "jobs" to see currently running jobs and "fg" or "bg" to foreground next job or background next job

To run the program, type
```
sh run_nrc.sh resources/nrc/world.urdf resources/nrc/kuka_iiwa.urdf kuka_iiwa
```
Read the source code of NRC inside src/nrc/NRC.cpp and the URDF file src/nrc/kuka_iiwa.urdf and src/nrc/world.urdf to understand what is happening for the robot simulation and control.