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Jshen: /* Operating */

2025-01-20T08:55:15Z

Operating

← Older revision		Revision as of 01:55, 20 January 2025
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	# In terminal 3, start the sense communication thread after BRUCE can stand on the ground on its own <code>python3 -m Startups.run_sense</code>.		# In terminal 3, start the sense communication thread after BRUCE can stand on the ground on its own <code>python3 -m Startups.run_sense</code>.
	# In terminal 4, start the state estimation thread <code>python3 -m Startups.run_estimation</code>.		# In terminal 4, start the state estimation thread <code>python3 -m Startups.run_estimation</code>.
	# In terminal 5, start the low-level control thread <code>python3 -m Play.~~Demo~~.low_level</code>.		# In terminal 5, start the low-level control thread <code>python3 -m Play.Walking.low_level</code>.
	# In terminal 6, start the high-level planning thread <code>python3 -m Play.~~Demo~~.high_level</code>.		# In terminal 6, start the high-level planning thread <code>python3 -m Play.Walking.high_level</code>.
	# In terminal 7, start the top-level user keyboard input thread <code>python3 -m Play.~~Demo~~.top_level</code>.		# In terminal 7, start the top-level user keyboard input thread <code>python3 -m Play.Walking.top_level</code>.
	# You can now play with BRUCE and remember to press the <span style="color:#ff0000">'''E-STOP'''</span> in emergencies. You can recover BRUCE by releasing the <span style="color:#ff0000">'''E-STOP'''</span> and then repeating Steps 4-11.		# You can now play with BRUCE and remember to press the <span style="color:#ff0000">'''E-STOP'''</span> in emergencies. You can recover BRUCE by releasing the <span style="color:#ff0000">'''E-STOP'''</span> and then repeating Steps 4-11.

Jshen: /* Downloads */

2024-09-04T04:33:34Z

Downloads

← Older revision		Revision as of 21:33, 3 September 2024
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	# [[2D Drawings\|2D drawing of Signal Cables]]		# [[2D Drawings\|2D drawing of Signal Cables]]
	# [https://wiki.bruce-op.com/uploads/HIP_CALIBRATION_RevC.STEP Calibration Tools]		# [https://wiki.bruce-op.com/uploads/HIP_CALIBRATION_RevC.STEP Calibration Tools]
	# [https://wiki.bruce-op.com/uploads/demo_controller_0.0.5.zip Binary Demo Controller]		# [https://wiki.bruce-op.com/uploads/demo_controller_0.0.6.zip Binary Demo Controller]
	# [[Other Accessories]]		# [[Other Accessories]]

Jshen: /* Hardware Platform */

2024-07-31T05:35:12Z

Hardware Platform

← Older revision		Revision as of 22:35, 30 July 2024
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	For the sake of safety during operation, a wireless E-Stop built in-house is mounted onboard as well to put BEAR actuators into damping mode in emergencies.		For the sake of safety during operation, a wireless E-Stop built in-house is mounted onboard as well to put BEAR actuators into damping mode in emergencies.
	In total, BRUCE has a net weight of around 4.8 kg.		In total, BRUCE has a net weight of around 4.8 kg.
	~~The~~ schematic diagram of BRUCE is shown in the ~~image~~.		A hardware overview and schematic diagram of BRUCE are shown in the images.

	=== Software Architecture ===		=== Software Architecture ===

Jshen: /* Hardware Platform */

2024-07-31T05:34:14Z

Hardware Platform

← Older revision		Revision as of 22:34, 30 July 2024
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	[[File:BRUCE_cover_photo.jpg\|thumb\|Photo of BRUCE platform]]		[[File:BRUCE_cover_photo.jpg\|thumb\|Photo of BRUCE platform]]

	[[File:BRUCE_hardware_overview.~~jpg~~\|thumb\|BRUCE hardware overview]]		[[File:BRUCE_hardware_overview.png\|thumb\|BRUCE hardware overview]]

	[[File:BRUCE_schematic_diagram.jpg\|thumb\|BRUCE schematic diagram]]		[[File:BRUCE_schematic_diagram.jpg\|thumb\|BRUCE schematic diagram]]

Jshen: /* Hardware Platform */

2024-07-31T05:33:42Z

Hardware Platform

← Older revision		Revision as of 22:33, 30 July 2024
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	[[File:BRUCE_cover_photo.jpg\|thumb\|Photo of BRUCE platform]]		[[File:BRUCE_cover_photo.jpg\|thumb\|Photo of BRUCE platform]]

	[[File:~~BRUCE_harware_overview~~.jpg\|thumb\|BRUCE hardware overview]]		[[File:BRUCE_hardware_overview.jpg\|thumb\|BRUCE hardware overview]]

	[[File:BRUCE_schematic_diagram.jpg\|thumb\|BRUCE schematic diagram]]		[[File:BRUCE_schematic_diagram.jpg\|thumb\|BRUCE schematic diagram]]

Jshen: /* Introduction */

2024-07-31T05:32:12Z

Introduction

← Older revision		Revision as of 22:32, 30 July 2024
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	[[File:BRUCE_cover_photo.jpg\|thumb\|Photo of BRUCE platform]]		[[File:BRUCE_cover_photo.jpg\|thumb\|Photo of BRUCE platform]]

	[[File:~~BRUCE_harware_overview1~~.jpg\|thumb\|BRUCE hardware ~~overview1]]~~		[[File:BRUCE_harware_overview.jpg\|thumb\|BRUCE hardware overview]]

	~~[[File:BRUCE_harware_overview2.jpg\|thumb\|BRUCE hardware overview2~~]]

	[[File:BRUCE_schematic_diagram.jpg\|thumb\|BRUCE schematic diagram]]		[[File:BRUCE_schematic_diagram.jpg\|thumb\|BRUCE schematic diagram]]

Jshen: /* Introduction */

2024-07-31T05:20:30Z

Introduction

← Older revision		Revision as of 22:20, 30 July 2024
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	[[File:BRUCE_cover_photo.jpg\|thumb\|Photo of BRUCE platform]]		[[File:BRUCE_cover_photo.jpg\|thumb\|Photo of BRUCE platform]]

			[[File:BRUCE_harware_overview1.jpg\|thumb\|BRUCE hardware overview1]]

			[[File:BRUCE_harware_overview2.jpg\|thumb\|BRUCE hardware overview2]]

	[[File:BRUCE_schematic_diagram.jpg\|thumb\|BRUCE schematic diagram]]		[[File:BRUCE_schematic_diagram.jpg\|thumb\|BRUCE schematic diagram]]
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	For the sake of safety during operation, a wireless E-Stop built in-house is mounted onboard as well to put BEAR actuators into damping mode in emergencies.		For the sake of safety during operation, a wireless E-Stop built in-house is mounted onboard as well to put BEAR actuators into damping mode in emergencies.
	In total, BRUCE has a net weight of around 4.8 kg.		In total, BRUCE has a net weight of around 4.8 kg.
	The ~~wiring~~ diagram of BRUCE is shown in the image.		The schematic diagram of BRUCE is shown in the image.

	=== Software Architecture ===		=== Software Architecture ===

Jshen: /* Bluetooth Gamepad */

2024-07-30T09:50:31Z

Bluetooth Gamepad

← Older revision		Revision as of 02:50, 30 July 2024
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	[[File:BRUCE Gamepad.jpg\|none\|thumb\|BRUCE BLE Gamepad]]There are two joysticks with push-buttons, two shoulder rollers with push-buttons, and 14 buttons on the remote. All buttons are labeled in the following figure:		[[File:BRUCE Gamepad.jpg\|none\|thumb\|BRUCE BLE Gamepad]]There are two joysticks with push-buttons, two shoulder rollers with push-buttons, and 14 buttons on the remote. All buttons are labeled in the following figure:
	[[File:BLE Remote.jpg\|none\|thumb\|869x869px]]		[[File:BLE Remote.jpg\|none\|thumb\|869x869px]]
	~~When~~ BRUCE is ~~in motion~~, the screen is used to show the control commends and robot status:		After BRUCE is launched, the screen is used to show the control commends and robot status:
	[[File:Gamepad Legend.png\|none\|thumb\|892x892px]]		[[File:Gamepad Legend.png\|none\|thumb\|892x892px]]
	Currently implemented Key Combinations/Commands on BRUCE-OP are:		Currently implemented Key Combinations/Commands on BRUCE-OP are:

Jshen: /* Finding The Reason of A Failure */

2024-07-30T09:46:55Z

Finding The Reason of A Failure

← Older revision		Revision as of 02:46, 30 July 2024
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	There are multiple threads running concurrently on BRUCE, and it is achieved with multiple windows under one screen session. It is recommended to go through [https://www.gnu.org/software/screen/manual/screen.html this manual] to learn the basic operation and functions of Linux Screen.		There are multiple threads running concurrently on BRUCE, and it is achieved with multiple windows under one screen session. It is recommended to go through [https://www.gnu.org/software/screen/manual/screen.html this manual] to learn the basic operation and functions of Linux Screen.

	====== ~~Finding The Reason of A Failure~~ ======		====== Looking Into Malfunction ======
	When BRUCE failed to perform a certain motion or fell, you should be able to see errors and more specific details on the failure in each thread. Follow the steps below to visit each thread for error reports:		When BRUCE failed to perform a certain motion or fell, you should be able to see errors and more specific details on the failure in each thread. Follow the steps below to visit each thread for error reports:

Jshen: /* Developers */

2024-07-30T09:40:34Z

Developers

← Older revision		Revision as of 02:40, 30 July 2024
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	\|}		\|}

	= Developers =		= For Developers =

	=== Simulation Environment ===		=== Simulation Environment ===

← Older revision		Revision as of 22:34, 30 July 2024
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	[[File:BRUCE_cover_photo.jpg\|thumb\|Photo of BRUCE platform]]		[[File:BRUCE_cover_photo.jpg\|thumb\|Photo of BRUCE platform]]

	[[File:BRUCE_hardware_overview.~~jpg~~\|thumb\|BRUCE hardware overview]]		[[File:BRUCE_hardware_overview.png\|thumb\|BRUCE hardware overview]]

	[[File:BRUCE_schematic_diagram.jpg\|thumb\|BRUCE schematic diagram]]		[[File:BRUCE_schematic_diagram.jpg\|thumb\|BRUCE schematic diagram]]

← Older revision		Revision as of 22:33, 30 July 2024
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	[[File:BRUCE_cover_photo.jpg\|thumb\|Photo of BRUCE platform]]		[[File:BRUCE_cover_photo.jpg\|thumb\|Photo of BRUCE platform]]

	[[File:~~BRUCE_harware_overview~~.jpg\|thumb\|BRUCE hardware overview]]		[[File:BRUCE_hardware_overview.jpg\|thumb\|BRUCE hardware overview]]

	[[File:BRUCE_schematic_diagram.jpg\|thumb\|BRUCE schematic diagram]]		[[File:BRUCE_schematic_diagram.jpg\|thumb\|BRUCE schematic diagram]]

← Older revision		Revision as of 22:32, 30 July 2024
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	[[File:BRUCE_cover_photo.jpg\|thumb\|Photo of BRUCE platform]]		[[File:BRUCE_cover_photo.jpg\|thumb\|Photo of BRUCE platform]]

	[[File:~~BRUCE_harware_overview1~~.jpg\|thumb\|BRUCE hardware ~~overview1]]~~		[[File:BRUCE_harware_overview.jpg\|thumb\|BRUCE hardware overview]]

	~~[[File:BRUCE_harware_overview2.jpg\|thumb\|BRUCE hardware overview2~~]]

	[[File:BRUCE_schematic_diagram.jpg\|thumb\|BRUCE schematic diagram]]		[[File:BRUCE_schematic_diagram.jpg\|thumb\|BRUCE schematic diagram]]