The HEBI Community Forum

nhongoc,

Looking at your errors, I believe that you have not set your environment variables correctly. Please make sure to set the environment variables described in Step 1 of the readme here: https://github.com/HebiRobotics/hebi_gazebo, and that should ensure that your model loads up correctly. To be sure that you're up and running, be sure to check Scope to see if:

1. the modules pop up in the bar on the left
2. you are able to send commands / receive feedback in the monitoring tab of Scope

Thanks. I just had a capitalization error with the environment path.

Thanks for your patience with this, we believe we've fixed the issues you were facing on the moveit front.

To get up and running with our moveit fixes, pull the latest changes from the melodic-devel branch of the hebi_moveit_configs repo. With your hebi_description, hebi_gazebo, and hebi_cpp_api_examples packages all up to date, the following command should then get you up and running for your 4-DoF arm:

If you experience any unusual behavior, especially at startup, try changing the home position or your ik_seed. The home position can be changed in the appropriate yaml file, located in the following folder:
Let us know how it goes - hope this helps!