The HAPTIX project simulates advanced robotic prosthetic limbs to allow researchers and developers to test their control software before running on the real hardware. The HAPTIX setup is composed of a Gazebo simulator, a client library and a client controller. The Gazebo simulator runs on a Linux machine, whereas the HAPTIX client library and the client controller can run on Linux and Windows hosts. This tutorial will guide your through the installation of Gazebo and the HAPTIX client library. Check out the rest of the HAPTIX tutorials for instructions on how to create your own hand controller.
Note: This section is only required if you do not yet have a Linux server running Gazebo with the HAPTIX packages.
Before installing Gazebo, you need a machine with Ubuntu 14.04 64-bit installed. Once your Linux machine is ready, open up a terminal and run the following command:
wget -O /tmp/haptix_gazebo_install.sh https://osrf-distributions.s3.amazonaws.com/haptix/haptix_gazebo_install.sh; sudo sh /tmp/haptix_gazebo_install.sh
You can test your Gazebo installation by running the next command in your terminal:
Gazebo will load a manipulation environment with a right Modular Prosthetic Limb (MPL). Alternatively, you can load a left arm by typing:
Once you are done testing, please close Gazebo.
The HAPTIX client library SDK is a stack of libraries that enables communication
between your control software and the simulated hand in Gazebo. The main library is
haptix-comm exposes the API that will allow your software to
request information about the hand (number of joints, motors, number of sensors,
etc.), as well as send new joint commands and receive the hand state.
We currently support Windows 7, Visual Studio 2013, and Matlab R2014b or newer, all
64-bit (you can determine the Matlab version by selecting
MATLAB from the main menu). We are working on 32-bit versions; they will be
Download the SDK by going to:
and selecting a version. You probably want the latest version that is available (but check below for information on version compatibility section near the bottom of this document).
Unzip the zip file into your preferred HAPTIX folder. For example:
Now, you need to do some network configuration to specify the IP address that you will use for communicating with Gazebo.
Click on the
Start button and type
cmd in the
Search box. Once you are in
the terminal run the following command:
Look for the
IPv4 Address inside the
Ethernet adapter Local Area Connection section.
Click on the
Start button and search for
Edit the system environment variables, and then, click on the button
Environment variables. Click on the
New button from the
section to create a new environment variable with name
Enter the IPv4 Address mentioned above.
Now, we want to create a partition to group your Gazebo machine with all the related machines (e.g.: your MATLAB/Octave/Visual Studio development machine). This is important because if you decide to later run a second or third Gazebo instance on the same network, you will get crosstalk if there is no partition.
Click on the
New button again and create a new environment variable with name
IGN_PARTITION. Enter a name like
gazebo1. Repeat this process on any Windows
machine that you plan to use with this Gazebo instance.
wget -O /tmp/haptix_sdk_install.sh https://osrf-distributions.s3.amazonaws.com/haptix/haptix_sdk_install.sh; sudo sh /tmp/haptix_sdk_install.sh
Setup your computer to accept software from packages.osrfoundation.org.
sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-latest.list'
wget https://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -;
sudo apt-get update
Install the SDK.
sudo apt-get install libhaptix-comm-dev
Now, you need to do some network configuration to specify the IP address that you will use for communicating with the other machines (e.g. your MATLAB development machine).
Open a terminal and run the following command:
inet addr in the
Run the following command in the terminal, replacing the
IGN_IP value with the
inet_addr mentioned above:
echo "export IGN_IP=172.23.2.37" >> ~/.bashrc
Now, we want to add our Linux machines (Gazebo/Octave) to the partition created
in the previous section (in this example we called it
Run the following command in the terminal:
echo "export IGN_PARTITION=gazebo1" >> ~/.bashrc
Repeat this process on any Linux machine that you plan to use with this Gazebo instance.
There are two ways the HAPTIX software may be updated:
Run the following commands
sudo apt-get update
sudo apt-get upgrade
Using the desktop icon.
haptixUpdate desktop icon. For more information, see here.
haptixUpate icon on the desktop.
There are two version numbers relevant to the HAPTIX software. One is the version of the simulator; the other is the version of the client SDK.
To check the simulator version: Run Gazebo by either double-clicking the
haptixStart desktop icon, or running the following command in a terminal.
The simulator version (more specifically, the version of the
package) is located at the bottom left of the on-screen GUI.
In this case, the simulator version is 0.5.1.
From 0.8.0 version on, the version number in the menu located at the right top corner of the hand GUI, after pressed the gear icon:
In this case, the simulator version is 0.8.1
On Windows, the client SDK version is in the name of the
.zip file and the
directory that you downloaded (and the resulting directory that the
extracts to). E.g., if you downloaded
then you have version 0.6.0 of the client SDK.
On Linux, the client SDK version is the version of the
package that is installed. You can check it by running the following command in
dpkg -l libhaptix-comm-dev
You should see output similar to:
|/ Err?=(none)/Reinst-required (Status,Err: uppercase=bad)
||/ Name Version Architecture Description
ii libhaptix-comm-dev:amd6 0.6.0-1~trusty amd64 Haptix project communication library - Development f
In this case, the client SDK version is 0.6.0.
To ensure correct behavior between the Gazebo simulator and the client library SDK, you should check that you are using compatible versions of the two packages. The following table summarizes compatible combinations:
Simulator Version : Client SDK Version
The HAPTIX CANbus driver is needed to control the real DEKA Luke hand using the
HAPTIX client library SDK. The installation process requires access to the
DEKA webtransfer system. If you believe you should have received access but do
not, please contact
email@example.com for help.
A CANbus adapter is also required. We recommend the PCAN-USB Adapter made by PEAK-System Technik.
Download the zipped file
haptix-canbus-osrf.zip from the DEKA webtransfer system.
Unzip it in your preferred directory and you will find the
file which will enable the communication with the hand via the HAPTIX
protocol when executed.
Install the CANbus dependencies.
sudo apt-get update
sudo apt-get install libpcan-dev libpcanbasic-dev
Download the package
the DEKA webtransfer system.
Install the HAPTIX CANbus driver.
sudo dpkg -i ~/Downloads/haptix-luke-proprietary_0.0.1-1~trusty_amd64.deb