SCL Robot Monitor

Robots available

Waiting for redis update...

Robot selected

scl::robot::kinovajaco6

Joint Angles (q)

scl::robot::kinovajaco6::sensors::q

0 0 0 0 0 0

Joint Velocities (dq)

scl::robot::kinovajaco6::sensors::dq

0 0 0 0 0 0

Joint Torques (Fgc)

scl::robot::kinovajaco6::actuators::fgc

Set torques here (sent to robot every ~100ms)

0 0 0 0 0 0 Send to redis Get from redis Zero torques

0 0 0 0 0 0

Usage Notes:

The panel automatically selects a robot key and populates the monitors below. You may manually change the robot key, and the values will be updated automatically. You may also change the remaining keys but you probably shouldn't.

Requirements:

$ sudo apt-get install webdis && webdis &

$ sudo apt-get install redis-server && redis-server &

Download and run the python script to set redis keys. This one is customized for the Kinova Jaco 6 robot's scl spec.

Consider adding this json to your webdis config file for security (/etc/webdis/webdis.json): "acl": [ { "disabled": ["SET", "SADD", "DEBUG", "FLUSHDB", "FLUSHALL"] }, { "ip": "127.0.0.1", "enabled": ["SET", "SADD"] } ]