Take logs with THOR

1. Press the emergency button. Then turn on the powers for robot and the computer.

2. Turn on the zbox on the robot.

3. ssh to zbox(192.168.123.222), pw:ddlive

4. Create a new screen called imu with screen -S imu
   Then inside this screen:
   cd UPennDev/Robots/THOROP
   ./run_imu.lua
   This turns on the imu sensor on the robot. Make sure that the robot is touching the ground so it is not moving at all. Otherwise the imu check will fail.

5. Create a new screen called dcm with
   screen -S dcm
   Then inside this screen:
   cd UPennDev/Robots/THOROP
   ./run_dcm.lua
   This turns on the motors on the robot

6. Create a new screen called test with screen -S test
   Inside this screen:
   cd UPennDev
   ./Test/test_teleop.lua
   This allows you to control the robot with keyboard

7. Create a new screen called state with screen -S state
   Inside this screen:
   cd UPennDev/Run
   ./state_wizard.lua

8. Now go back to screen test. Press 1 to initialize the robot, then press 8 to make it standup. Press "~" to control the head. Now you can use 'w' 'a' 's' 'd' to control the movement of the head.

9. Create a new screen with
   screen -S lidar
   Inside:
   cd UPennDev/Run
   ./lidar_wizard.lua

10. Create a new screen with screen -S mesh
    inside:
    cd UPennDev/Run
    ./mesh_wizard.lua

11. Create a new screen with screen -S kinect
    inside:
    cd UPennDev/Run
    ./kinect2_wizard.lua

12. now you can go the screen test and control the head for logs.

13. After you take enough log, you can stop the wizard programs. The logs are in /tmp/. You can go the the folder on your computer and do scp "[email protected]:/tmp/.log" . This will copy the logs from the robot to your computer. After that, just do rm /tmp/.log on the robot. And you are done.