diff --git a/README.md b/README.md index 993da78..f4ad1b1 100644 --- a/README.md +++ b/README.md @@ -1,2 +1,46 @@ -# event-driven-demos -A collection of demos show-casing event-driven cameras and technologies +# iCub Gazebo Simulator + +## Docker environment to run iCub in simulation. + +First, please follow the instructions at this [link](https://docs.docker.com/engine/install/) to install Docker on your computer. + +Create the docker image +```sh +$ git clone https://github.com/event-driven-robotics/event-driven-demos.git +git checkout tutorials +cd gazebo-docker/ +docker build -t gazebo:latest +``` + +Create a docker container named _gz_ +```sh +docker images +docker run -it --name gz --hostname gz --gpus all --network=host -v /tmp/.X11-unix/:/tmp/.X11-unix -e DISPLAY=unix$DISPLAY "${@:3}" "${@}" gazebo:latest +``` + +Run yarpserver +```sh +docker exec -it gz bash +yarpserver +``` +Open a new terminal and run yarpmanager, which will open the relative GUI +```sh +docker exec -it gz bash +yarpmanager +``` + +Under Application, open "Tutorial on iCub Gazebo" and run all modules. This should open the Gazebo simulator and all modules should become green colour. The robot is ready to be controlled in the joint and cartesian space. + +## Run the cartesian controller example code: +```sh + +cd /usr/local/src/event-driven-demos/tutorial_cartesian/build/ +./tutorial_cartesian +``` + +## Run the joint controllers' examples codes: +```sh + +cd /usr/local/src/event-driven-demos/tutorial_joint/build/ +./tutorial_joint +``` diff --git a/gazebo_docker/Dockerfile b/gazebo_docker/Dockerfile new file mode 100644 index 0000000..5c9f8ca --- /dev/null +++ b/gazebo_docker/Dockerfile @@ -0,0 +1,80 @@ +ARG FROM=eventdrivenrobotics/yarp:jammy_v3.7.2 + +FROM $FROM + +ARG SOURCE_FOLDER=/usr/local/src +ARG GAZEBO_YARP_PLUGINS_BRANCH=v4.5.2 +ARG ICUB_MAIN_VERSION=v2.0.2 +ARG ICUB_MODELS_VERSION=v1.26.0 + +RUN apt update && \ + apt install -y \ + curl \ + git \ + gnupg2 \ + coinor-libipopt-dev \ + openssh-server \ + openssh-client \ + libtinyxml-dev \ + && apt-get autoremove \ + && apt-get clean \ + && rm -rf /tmp/* /var/lib/apt/lists/* /var/tmp/* + +RUN cd $SOURCE_FOLDER/yarp/build && cmake .. && make -j `nproc` install + +RUN curl -sSL http://get.gazebosim.org | sh + +RUN cd $SOURCE_FOLDER && \ + git clone https://github.com/robotology/icub-main.git && \ + cd icub-main && \ + git checkout $ICUB_MAIN_VERSION && \ + mkdir build && \ + cd build/ && \ + cmake .. -DENABLE_icubmod_cartesiancontrollerclient=ON \ + -DENABLE_icubmod_cartesiancontrollerserver=ON \ + -DENABLE_icubmod_gazecontrollerclient=ON && \ + make -j `nproc` install + +RUN cd $SOURCE_FOLDER && \ + git clone https://github.com/robotology/gazebo-yarp-plugins.git && \ + cd gazebo-yarp-plugins && \ + git checkout $GAZEBO_YARP_PLUGINS_BRANCH && \ + mkdir build && \ + cd build/ && \ + cmake .. && \ + make -j `nproc` install + +RUN cd $SOURCE_FOLDER && \ + git clone https://github.com/robotology/icub-models.git && \ + cd icub-models && \ + git checkout $ICUB_MODELS_VERSION && \ + mkdir build && \ + cd build/ && \ + cmake .. && \ + make -j `nproc` install + +RUN cd $SOURCE_FOLDER && \ + git clone https://github.com/event-driven-robotics/event-driven-demos.git && \ + cd event-driven-demos/ && \ + git checkout tutorials && \ + cd tutorial_cartesian/ && \ + mkdir build && \ + cd build/ && \ + cmake .. && \ + make -j `nproc` install + +RUN cd $SOURCE_FOLDER && \ + cd event-driven-demos/ && \ + git checkout tutorials && \ + cd tutorial_joint && \ + mkdir build && \ + cd build/ && \ + cmake .. &&\ + make -j `nproc` install + +COPY models /usr/local/share/models +COPY worlds /usr/local/share/worlds +ENV GAZEBO_MODEL_PATH /usr/local/share/iCub/robots/:/usr/local/share/:/usr/local/share/models +ENV GAZEBO_PLUGIN_PATH /usr/local/lib + +COPY iCubGazeboControl.xml /usr/local/share/yarp/applications/ diff --git a/gazebo_docker/iCubGazeboControl.xml b/gazebo_docker/iCubGazeboControl.xml new file mode 100644 index 0000000..65e2a32 --- /dev/null +++ b/gazebo_docker/iCubGazeboControl.xml @@ -0,0 +1,114 @@ + +Tutorial on iCub Gazebo + + + + + + yarplogger + --start --no_stop + localhost + + + + gzserver + /usr/local/share/worlds/vte_scenario.sdf + + /yarplogger + + YARP_FORWARD_LOG_ENABLE=1 + localhost + + + + gzclient + localhost + + + + yarprobotinterface + --context gazeboCartesianControl --config no_legs.xml + + /yarplogger + /icubSim/torso/state:o + /icubSim/left_arm/state:o + /icubSim/right_arm/state:o + + YARP_FORWARD_LOG_ENABLE=1 + + 5 + + localhost + + + + iKinCartesianSolver + --context gazeboCartesianControl --part right_arm + + /yarplogger + /icubSim/torso/state:o + /icubSim/right_arm/state:o + + YARP_FORWARD_LOG_ENABLE=1 + localhost + + + + iKinCartesianSolver + --context gazeboCartesianControl --part left_arm + + /yarplogger + /icubSim/torso/state:o + /icubSim/left_arm/state:o + + YARP_FORWARD_LOG_ENABLE=1 + localhost + + + + iKinGazeCtrl + --context gazeboCartesianControl --from iKinGazeCtrl.ini + + /yarplogger + /icubSim/torso/state:o + /icubSim/head/state:o + /icubSim/inertial + + YARP_FORWARD_LOG_ENABLE=1 + + 5 + + localhost + + + + wholeBodyDynamics + --robot icubSim --autoconnect --dummy_ft --headV2 --no_legs + + /yarplogger + /icubSim/head/state:o + /icubSim/torso/state:o + /icubSim/right_arm/state:o + /icubSim/left_arm/state:o + /icubSim/inertial + + YARP_FORWARD_LOG_ENABLE=1 + localhost + + + + actionsRenderingEngine + --from gazebo/config.ini + + /yarplogger + /iKinGazeCtrl/rpc + /icubSim/cartesianController/left_arm/state:o + /icubSim/cartesianController/right_arm/state:o + /wholeBodyDynamics/rpc:i + + YARP_FORWARD_LOG_ENABLE=1 + localhost + + + + diff --git a/gazebo_docker/models/vte_box/box.off b/gazebo_docker/models/vte_box/box.off new file mode 100644 index 0000000..b87aa27 --- /dev/null +++ b/gazebo_docker/models/vte_box/box.off @@ -0,0 +1,24 @@ +OFF +8 12 0 + +-0.12 0.085 -0.0185 +-0.12 -0.085 -0.0185 +-0.12 -0.085 0.0185 +-0.12 0.085 0.0185 +0.12 0.085 -0.0185 +0.12 -0.085 -0.0185 +0.12 -0.085 0.0185 +0.12 0.085 0.0185 + +3 0 1 2 +3 2 3 0 +3 1 5 6 +3 6 2 1 +3 5 4 7 +3 7 6 5 +3 0 3 7 +3 7 4 0 +3 2 6 7 +3 7 3 2 +3 5 1 0 +3 0 4 5 diff --git a/gazebo_docker/models/vte_box/model.config b/gazebo_docker/models/vte_box/model.config new file mode 100644 index 0000000..e4bc5ef --- /dev/null +++ b/gazebo_docker/models/vte_box/model.config @@ -0,0 +1,11 @@ + + + + Box + 1.0 + model.sdf + + + Box with variable lengths and mass. + + diff --git a/gazebo_docker/models/vte_box/model.rsdf b/gazebo_docker/models/vte_box/model.rsdf new file mode 100644 index 0000000..f8077ef --- /dev/null +++ b/gazebo_docker/models/vte_box/model.rsdf @@ -0,0 +1,91 @@ + +<% +# Box with variable lengths and mass. + +# Mass +m = 0.8 + +# Lengths +w = 0.24 +d = 0.17 +h = 0.037 +half_h = h / 2.0 + +# Inertia matrix +factor = 1.0 / 12.0 * m +ixx = factor * (h*h + d*d) +ixy = 0.0 +ixz = 0.0 +iyy = factor * (h*h + w*w) +iyz = 0.0 +izz = factor * (d*d + w*w) + +# Friction coefficients +mu = 0.5 +mu2 = 0.5 +%> + + + + + 0 0 <%= half_h %> 0 0 0 + + + 0.0 0.0 0.0 + <%= m %> + + <%= ixx %> + <%= ixy %> + <%= ixz %> + <%= iyy %> + <%= iyz %> + <%= izz %> + + + + + + <%= w %> <%= d %> <%= h %> + + + + + + <%= mu %> + <%= mu2 %> + + + + + + + + <%= w %> <%= d %> <%= h %> + + + + + + 0.4 + + + + 0.01 + + + 0.5 + 0 0.07 0.93 + 100 + model://vte_box/box.off + fakepointcloud:o + false + 0.0 + 0.0 + true + Gazebo/RedTransparent + + + diff --git a/gazebo_docker/models/vte_box/model.sdf b/gazebo_docker/models/vte_box/model.sdf new file mode 100644 index 0000000..a077470 --- /dev/null +++ b/gazebo_docker/models/vte_box/model.sdf @@ -0,0 +1,67 @@ + + + + + + + 0 0 0.0185 0 0 0 + + + 0.0 0.0 0.0 + 0.8 + + 0.0020179333333333336 + 0.0 + 0.0 + 0.003931266666666666 + 0.0 + 0.005766666666666667 + + + + + + 0.24 0.17 0.037 + + + + + + 0.5 + 0.5 + + + + + + + + 0.24 0.17 0.037 + + + + + + 0.4 + + + + 0.01 + + + 0.5 + 0 0.07 0.93 + 100 + model://vte_box/box.off + fakepointcloud:o + false + 0.0 + 0.0 + true + Gazebo/RedTransparent + + + diff --git a/gazebo_docker/models/vte_mustard/model.config b/gazebo_docker/models/vte_mustard/model.config new file mode 100644 index 0000000..fc7e86b --- /dev/null +++ b/gazebo_docker/models/vte_mustard/model.config @@ -0,0 +1,11 @@ + + + + YCB Mustard + 1.0 + model.sdf + + + Mustard from YCB nontextured with collision enabled. + + diff --git a/gazebo_docker/models/vte_mustard/model.rsdf b/gazebo_docker/models/vte_mustard/model.rsdf new file mode 100644 index 0000000..faecce5 --- /dev/null +++ b/gazebo_docker/models/vte_mustard/model.rsdf @@ -0,0 +1,82 @@ + +<% +# YCB mustard table with arbitrary mass. + +# Mass +m = 0.5 + +# Inertia matrix +ixx = 0.00260845618915160 * m +ixy = 0.00017020862308762 * m +ixz = 0.00001340751043115 * m +iyy = 0.00250998609179416 * m +iyz = 0.00002876216968011 * m +izz = 0.00078655076495132 * m + +# Friction coefficients +mu = 0.1 +mu2 = 0.1 +%> + + + + + + 0 0 0.0932 0 0 0 + + + + 0.000134 0.000351 -0.013002 0 0 0 + <%= m %> + + + <%= ixx %> + <%= ixy %> + <%= ixz %> + <%= iyy %> + <%= iyz %> + <%= izz %> + + + + + model://vte_mustard/mustard.stl + + + + + <%= mu %> + <%= mu2 %> + + + + + + + model://vte_mustard/mustard.dae + + + + + + + + 0.01 + + + 0.5 + 0 0.07 0.93 + 100 + model://vte_mustard/mustard.off + fakepointcloud:o + false + 0.0 + 0.0 + true + Gazebo/RedTransparent + + + diff --git a/gazebo_docker/models/vte_mustard/model.sdf b/gazebo_docker/models/vte_mustard/model.sdf new file mode 100644 index 0000000..db269ad --- /dev/null +++ b/gazebo_docker/models/vte_mustard/model.sdf @@ -0,0 +1,65 @@ + + + + + + + + 0 0 0.0932 0 0 0 + + + + 0.000134 0.000351 -0.013002 0 0 0 + 0.5 + + + 0.0013042280945758 + 8.510431154381e-05 + 6.703755215575e-06 + 0.00125499304589708 + 1.4381084840055e-05 + 0.00039327538247566 + + + + + model://vte_mustard/mustard.stl + + + + + 0.1 + 0.1 + + + + + + + model://vte_mustard/mustard.dae + + + + + + + + 0.01 + + + 0.5 + 0 0.07 0.93 + 100 + model://vte_mustard/mustard.off + fakepointcloud:o + false + 0.0 + 0.0 + true + Gazebo/RedTransparent + + + diff --git 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b/gazebo_docker/models/vte_shelf/model.config @@ -0,0 +1,11 @@ + + + + Shelf + 1.0 + model.sdf + + + Shelf where to place object with variable lengths. + + diff --git a/gazebo_docker/models/vte_shelf/model.rsdf b/gazebo_docker/models/vte_shelf/model.rsdf new file mode 100644 index 0000000..782a5d3 --- /dev/null +++ b/gazebo_docker/models/vte_shelf/model.rsdf @@ -0,0 +1,84 @@ + +<% +# Shelf where to place objects + +# Geometry +w = 0.7 +d = 0.4 +h = 0.10 +surface_h = 0.02; +surface_z0 = h + surface_h / 2.0; +support_w = 0.02; +support_z0 = h / 2.0; +support_left_x0 = -1 * w / 2.0 + support_w / 2.0 +support_right_x0 = 1 * w / 2.0 - support_w / 2.0 + +# Friction coefficients +mu = 0.4 +mu2 = 0.4 +%> + + + true + + + 0 0 <%= surface_z0 %> 0 0 0 + + + <%= w %> <%= d %> <%= surface_h %> + + + + + + <%= mu %> + <%= mu2 %> + + + + + + 0 0 <%= surface_z0 %> 0 0 0 + + + <%= w %> <%= d %> <%= surface_h %> + + + + + + + + <%= support_left_x0 %> 0.0 <%= support_z0 %> 0 0 0 + + + <%= support_w %> <%= d %> <%= h %> + + + + + + + + <%= support_right_x0 %> 0.0 <%= support_z0 %> 0 0 0 + + + <%= support_w %> <%= d %> <%= h %> + + + + + + + + + diff --git a/gazebo_docker/models/vte_shelf/model.sdf b/gazebo_docker/models/vte_shelf/model.sdf new file mode 100644 index 0000000..318b5cb --- /dev/null +++ b/gazebo_docker/models/vte_shelf/model.sdf @@ -0,0 +1,67 @@ + + + + + true + + + 0 0 0.11 0 0 0 + + + 0.7 0.4 0.02 + + + + + + 0.4 + 0.4 + + + + + + 0 0 0.11 0 0 0 + + + 0.7 0.4 0.02 + + + + + + + + -0.33999999999999997 0.0 0.05 0 0 0 + + + 0.02 0.4 0.1 + + + + + + + + 0.33999999999999997 0.0 0.05 0 0 0 + + + 0.02 0.4 0.1 + + + + + + + + + diff --git a/gazebo_docker/models/vte_table/model.config b/gazebo_docker/models/vte_table/model.config new file mode 100644 index 0000000..17834a2 --- /dev/null +++ b/gazebo_docker/models/vte_table/model.config @@ -0,0 +1,13 @@ + + + + Table + 1.0 + model.sdf + + + A wooden table provided with an embedded ruby version + with parametrized height of the legs and of the surface + and friction coefficients of the surface. + + diff --git a/gazebo_docker/models/vte_table/model.rsdf b/gazebo_docker/models/vte_table/model.rsdf new file mode 100644 index 0000000..87b7d72 --- /dev/null +++ b/gazebo_docker/models/vte_table/model.rsdf @@ -0,0 +1,149 @@ + +<% +# A wooden table +# Consists of four legs and one surface on top +# SI units (length in meters) + +# Geometry +leg_h = 0.35 +leg_z0 = leg_h*0.5 +surf_h = 0.03 +surf_z0 = leg_h + surf_h*0.5 + +# Friction coefficients +mu = 0.1 +mu2 = 0.1 +%> + + + true + + + 0 0 <%= surf_z0 %> 0 0 0 + + + 1.5 0.8 <%= surf_h %> + + + + + + <%= mu %> + <%= mu2 %> + + + + + + 0 0 <%= surf_z0 %> 0 0 0 + + + 1.5 0.8 <%= surf_h %> + + + + + + + + 0.68 0.38 <%= leg_z0 %> 0 0 0 + + + 0.02 + <%= leg_h %> + + + + + 0.68 0.38 <%= leg_z0 %> 0 0 0 + + + 0.02 + <%= leg_h %> + + + + + + + + 0.68 -0.38 <%= leg_z0 %> 0 0 0 + + + 0.02 + <%= leg_h %> + + + + + 0.68 -0.38 <%= leg_z0 %> 0 0 0 + + + 0.02 + <%= leg_h %> + + + + + + + + -0.68 -0.38 <%= leg_z0 %> 0 0 0 + + + 0.02 + <%= leg_h %> + + + + + -0.68 -0.38 <%= leg_z0 %> 0 0 0 + + + 0.02 + <%= leg_h %> + + + + + + + + -0.68 0.38 <%= leg_z0 %> 0 0 0 + + + 0.02 + <%= leg_h %> + + + + + -0.68 0.38 <%= leg_z0 %> 0 0 0 + + + 0.02 + <%= leg_h %> + + + + + + + + + diff --git a/gazebo_docker/models/vte_table/model.sdf b/gazebo_docker/models/vte_table/model.sdf new file mode 100644 index 0000000..f8e0c3b --- /dev/null +++ b/gazebo_docker/models/vte_table/model.sdf @@ -0,0 +1,135 @@ + + + + + true + + + 0 0 0.365 0 0 0 + + + 1.5 0.8 0.03 + + + + + + 0.1 + 0.1 + + + + + + 0 0 0.365 0 0 0 + + + 1.5 0.8 0.03 + + + + + + + + 0.68 0.38 0.175 0 0 0 + + + 0.02 + 0.35 + + + + + 0.68 0.38 0.175 0 0 0 + + + 0.02 + 0.35 + + + + + + + + 0.68 -0.38 0.175 0 0 0 + + + 0.02 + 0.35 + + + + + 0.68 -0.38 0.175 0 0 0 + + + 0.02 + 0.35 + + + + + + + + -0.68 -0.38 0.175 0 0 0 + + + 0.02 + 0.35 + + + + + -0.68 -0.38 0.175 0 0 0 + + + 0.02 + 0.35 + + + + + + + + -0.68 0.38 0.175 0 0 0 + + + 0.02 + 0.35 + + + + + -0.68 0.38 0.175 0 0 0 + + + 0.02 + 0.35 + + + + + + + + + diff --git a/gazebo_docker/worlds/icub.world b/gazebo_docker/worlds/icub.world new file mode 100644 index 0000000..38baff7 --- /dev/null +++ b/gazebo_docker/worlds/icub.world @@ -0,0 +1,27 @@ + + + + + + + + + model://sun + + + + + model://ground_plane + + + + + model://icub + + + + diff --git a/gazebo_docker/worlds/icub_fixed.world b/gazebo_docker/worlds/icub_fixed.world new file mode 100644 index 0000000..8a1da35 --- /dev/null +++ b/gazebo_docker/worlds/icub_fixed.world @@ -0,0 +1,27 @@ + + + + + + + + + model://sun + + + + + model://ground_plane + + + + + model://icub_fixed + + + + diff --git a/gazebo_docker/worlds/vte_scenario.sdf b/gazebo_docker/worlds/vte_scenario.sdf new file mode 100644 index 0000000..29c4b96 --- /dev/null +++ b/gazebo_docker/worlds/vte_scenario.sdf @@ -0,0 +1,69 @@ + + + + + + + model://sun + + + + + model://ground_plane + + + + + model://vte_table + 0.530772 0 0 0 0 -1.57 + + + + + model://vte_shelf + + + 0.359608 0 0.38 0 0 -1.57 + + + + + model://vte_box + + + + 0.4 0.0 0.55 0 0 -0.97 + + + + + + model://iCub/robots/iCubGazeboV2_5_visuomanip + 0 0 0.6 0 0 -3.14 + + + + + + + + + + 2.54724 -0.953577 1.71618 0 0.469796 2.62419 + fps + perspective + + + + + diff --git a/tutorial_cartesian/CMakeLists.txt b/tutorial_cartesian/CMakeLists.txt new file mode 100644 index 0000000..139811a --- /dev/null +++ b/tutorial_cartesian/CMakeLists.txt @@ -0,0 +1,13 @@ +# requires minimum cmake version +cmake_minimum_required(VERSION 3.5) + +# produce the cmake var PROJECT_NAME +project(tutorial_cartesian) + +# mandatory use of these packages +find_package(YARP 3.5.1 REQUIRED) + +add_executable(${PROJECT_NAME} ${CMAKE_SOURCE_DIR}/src/main.cpp) +target_compile_definitions(${PROJECT_NAME} PRIVATE _USE_MATH_DEFINES) +target_link_libraries(${PROJECT_NAME} ${YARP_LIBRARIES}) +install(TARGETS ${PROJECT_NAME} DESTINATION bin) \ No newline at end of file diff --git a/tutorial_cartesian/src/main.cpp b/tutorial_cartesian/src/main.cpp new file mode 100644 index 0000000..38f8f63 --- /dev/null +++ b/tutorial_cartesian/src/main.cpp @@ -0,0 +1,271 @@ +// -*- mode:C++; tab-width:4; c-basic-offset:4; indent-tabs-mode:nil -*- +// +// A tutorial on how to use the Cartesian Interface to control a limb +// in the operational space. +// +// Author: Ugo Pattacini - + +#include +#include + +#include +#include +#include +#include +#include +#include +#include + +#include +#include +#include + +#define CTRL_THREAD_PER 0.02 // [s] +#define PRINT_STATUS_PER 1.0 // [s] +#define MAX_TORSO_PITCH 30.0 // [deg] + +using namespace std; +using namespace yarp::os; +using namespace yarp::dev; +using namespace yarp::sig; +using namespace yarp::math; + +class CtrlThread : public PeriodicThread +{ +protected: + PolyDriver client; + ICartesianControl *arm; + + Vector xd; + Vector od; + + int startup_context_id; + + double t; + double t0; + double t1; + +public: + CtrlThread() : PeriodicThread(1.0) {} + + virtual bool threadInit() + { + // open a client interface to connect to the cartesian server of the simulator + // we suppose that: + // + // 1 - the iCub simulator is running + // 2 - the cartesian server is running + // 3 - the cartesian solver for the left arm is running too + // + Property option; + option.put("device", "cartesiancontrollerclient"); + option.put("remote", "/icubSim/cartesianController/left_arm"); + option.put("local", "/cartesian_client/left_arm"); + + // let's give the controller some time to warm up + bool ok = false; + t0 = Time::now(); + while (Time::now() - t0 < 10.0) + { + // this might fail if controller + // is not connected to solver yet + if (client.open(option)) + { + ok = true; + break; + } + + Time::delay(1.0); + } + + if (!ok) + { + yError() << "Unable to open the Cartesian Controller"; + return false; + } + + // open the view + client.view(arm); + + // latch the controller context in order to preserve + // it after closing the module + // the context contains the dofs status, the tracking mode, + // the resting positions, the limits and so on. + arm->storeContext(&startup_context_id); + + // set trajectory time + arm->setTrajTime(1.0); + + // get the torso dofs + Vector newDof, curDof; + arm->getDOF(curDof); + newDof = curDof; + + // enable the torso yaw and pitch + // disable the torso roll + newDof[0] = 1; + newDof[1] = 0; + newDof[2] = 1; + + // send the request for dofs reconfiguration + arm->setDOF(newDof, curDof); + + // impose some restriction on the torso pitch + limitTorsoPitch(); + + xd.resize(3); + od.resize(4); + + yInfo() << "Thread started successfully"; + t = t0 = t1 = Time::now(); + + return true; + } + + virtual void run() + { + t=Time::now(); + + generateTarget(); + + // go to the target :) + // (in streaming) + arm->goToPose(xd,od); + + // some verbosity + printStatus(); + } + + virtual void threadRelease() + { + // we require an immediate stop + // before closing the client for safety reason + arm->stopControl(); + + // it's a good rule to restore the controller + // context as it was before opening the module + arm->restoreContext(startup_context_id); + + client.close(); + } + + void generateTarget() + { + // translational target part: a circular trajectory + // in the yz plane centered in [-0.3,-0.1,0.1] with radius=0.1 m + // and frequency 0.1 Hz + xd[0]=-0.3; + xd[1]=-0.1+0.1*cos(2.0*M_PI*0.1*(t-t0)); + xd[2]=+0.1+0.1*sin(2.0*M_PI*0.1*(t-t0)); + + // we keep the orientation of the left arm constant: + // we want the middle finger to point forward (end-effector x-axis) + // with the palm turned down (end-effector y-axis points leftward); + // to achieve that it is enough to rotate the root frame of pi around z-axis + od[0]=0.0; od[1]=0.0; od[2]=1.0; od[3]=M_PI; + } + + void limitTorsoPitch() + { + int axis=0; // pitch joint + double min, max; + + // sometimes it may be helpful to reduce + // the range of variability of the joints; + // for example here we don't want the torso + // to lean out more than 30 degrees forward + + // we keep the lower limit + arm->getLimits(axis,&min,&max); + arm->setLimits(axis,min,MAX_TORSO_PITCH); + } + + void printStatus() + { + if (t-t1>=PRINT_STATUS_PER) + { + Vector x,o,xdhat,odhat,qdhat; + + // we get the current arm pose in the + // operational space + if (!arm->getPose(x,o)) + return; + + // we get the final destination of the arm + // as found by the solver: it differs a bit + // from the desired pose according to the tolerances + if (!arm->getDesired(xdhat,odhat,qdhat)) + return; + + double e_x=norm(xdhat-x); + double e_o=norm(odhat-o); + + yInfo()<<"+++++++++"; + yInfo()<<"xd [m] = "< + +#include +#include + +#include +#include +#include +#include +#include + +#include +#include +#include + +using namespace yarp::os; +using namespace yarp::dev; + + +class CtrlModule: public RFModule +{ +protected: + PolyDriver clienJoint; + IControlLimits *ilim; + IEncoders *ienc; + IControlMode *imod; + IPositionControl *ipos; + + RpcServer rpc; + int joint; + + void go() + { + // retrieve joint bounds + double min,max,range; + ilim->getLimits(joint,&min,&max); + range=max-min; + + // retrieve current joint position + double enc; + ienc->getEncoder(joint,&enc); + + // select target + double target; + if (fabs(enc-min)setControlMode(joint,VOCAB_CM_POSITION); + + // set up the speed in [deg/s] + ipos->setRefSpeed(joint,30.0); + + // set up max acceleration in [deg/s^2] + ipos->setRefAcceleration(joint,100.0); + + // yield the actual movement + yInfo()<<"Yielding new target: "<positionMove(joint,target); + + // wait (with timeout) until the movement is completed + bool done=false; + double t0=Time::now(); + while (!done&&(Time::now()-t0<10.0)) + { + yInfo()<<"Waiting..."; + Time::delay(0.1); // release the quantum to avoid starving resources + ipos->checkMotionDone(&done); + } + + if (done) + yInfo()<<"Movement completed"; + else + yWarning()<<"Timeout expired"; + } + +public: + virtual bool configure(ResourceFinder &rf) + { + // open a client interface to connect to the joint controller + Property optJoint; + optJoint.put("device","remote_controlboard"); + optJoint.put("remote","/icubSim/left_arm"); + optJoint.put("local","/position/left_arm"); + + if (!clienJoint.open(optJoint)) + { + yError()<<"Unable to connect to /icubSim/left_arm"; + return false; + } + + // open views + bool ok=true; + ok=ok && clienJoint.view(ilim); + ok=ok && clienJoint.view(ienc); + ok=ok && clienJoint.view(imod); + ok=ok && clienJoint.view(ipos); + + if (!ok) + { + yError()<<"Unable to open views"; + return false; + } + + // elbow + joint=3; + + // open rpc port + rpc.open("/position"); + + // attach the callback respond() + attach(rpc); + + return true; + } + + virtual bool close() + { + rpc.close(); + clienJoint.close(); + + return true; + } + + virtual bool respond(const Bottle &cmd, Bottle &reply) + { + if (cmd.get(0).asString()=="go") + { + go(); + reply.addString("ack"); + } + else if (cmd.get(0).asString()=="enc") + { + double enc; + ienc->getEncoder(joint,&enc); + reply.addString("ack"); + reply.addFloat64(enc); + } + else + reply.addString("nack"); + + return true; + } + + virtual double getPeriod() + { + return 1.0; + } + + virtual bool updateModule() + { + return true; + } +}; + + + +int main(int argc, char *argv[]) +{ + Network yarp; + if (!yarp.checkNetwork()) + { + yError()<<"YARP doesn't seem to be available"; + return EXIT_FAILURE; + } + + ResourceFinder rf; + rf.configure(argc,argv); + + CtrlModule mod; + return mod.runModule(rf); +} diff --git a/tutorial_joint/src/positiondirect.cpp b/tutorial_joint/src/positiondirect.cpp new file mode 100644 index 0000000..aed639b --- /dev/null +++ b/tutorial_joint/src/positiondirect.cpp @@ -0,0 +1,201 @@ +// -*- mode:C++; tab-width:4; c-basic-offset:4; indent-tabs-mode:nil -*- +// +// A tutorial on how to use the Gaze Interface. +// +// Author: Ugo Pattacini - + +#include +#include +#include +#include + +#include +#include +#include +#include +#include + +#include +#include +#include + +using namespace std; +using namespace yarp::os; +using namespace yarp::dev; + + +class CtrlModule: public RFModule +{ +protected: + PolyDriver clienJoint; + IControlLimits *ilim; + IEncoders *ienc; + IControlMode *imod; + IPositionDirect *iposd; + + RpcServer rpc; + + mutex mtx_done; + condition_variable cv_done; + + int joint; + double target; + bool control; + double enc0; + double t0; + + void go() + { + // retrieve joint bounds + double min,max,range; + ilim->getLimits(joint,&min,&max); + range=max-min; + + // retrieve current joint position + double enc; + ienc->getEncoder(joint,&enc); + + // select target + if (fabs(enc-min)setControlMode(joint,VOCAB_CM_POSITION_DIRECT); + + // start the control + yInfo()<<"Yielding new target: "< lck(mtx_done); + cv_done.wait(lck); + yInfo()<<"We're done"; + } + +public: + virtual bool configure(ResourceFinder &rf) + { + // open a client interface to connect to the joint controller + Property optJoint; + optJoint.put("device","remote_controlboard"); + optJoint.put("remote","/icubSim/left_arm"); + optJoint.put("local","/positiondirect/left_arm"); + + if (!clienJoint.open(optJoint)) + { + yError()<<"Unable to connect to /icubSim/left_arm"; + return false; + } + + // open views + bool ok=true; + ok=ok && clienJoint.view(ilim); + ok=ok && clienJoint.view(ienc); + ok=ok && clienJoint.view(imod); + ok=ok && clienJoint.view(iposd); + + if (!ok) + { + yError()<<"Unable to open views"; + return false; + } + + // elbow + joint=3; + + // start with control disabled + control=false; + + // open rpc port + rpc.open("/positiondirect"); + + // attach the callback respond() + attach(rpc); + + return true; + } + + virtual bool close() + { + rpc.close(); + clienJoint.close(); + + return true; + } + + virtual bool respond(const Bottle &cmd, Bottle &reply) + { + if (cmd.get(0).asString()=="go") + { + go(); + reply.addString("ack"); + } + else if (cmd.get(0).asString()=="enc") + { + double enc; + ienc->getEncoder(joint,&enc); + reply.addString("ack"); + reply.addFloat64(enc); + } + else + reply.addString("nack"); + + return true; + } + + virtual double getPeriod() + { + // we set up the control rate here in [s] + return 0.02; + } + + virtual bool updateModule() + { + if (control) + { + double T=5.0; // time period in [s] + double dt=Time::now()-t0; + + // time ratios + double r=dt/T; + double r3=r*r*r; + double r4=r3*r; + double r5=r4*r; + + // minimum-jerk formula + double ref=enc0+(target-enc0)*(10.0*r3-15.0*r4+6.0*r5); + iposd->setPosition(joint,ref); + + // notify we're done + if (dt>T) + { + control=false; + cv_done.notify_all(); + } + } + + return true; + } +}; + + + +int main(int argc, char *argv[]) +{ + Network yarp; + if (!yarp.checkNetwork()) + { + yError()<<"YARP doesn't seem to be available"; + return EXIT_FAILURE; + } + + ResourceFinder rf; + rf.configure(argc,argv); + + CtrlModule mod; + return mod.runModule(rf); +} diff --git a/tutorial_joint/src/velocity.cpp b/tutorial_joint/src/velocity.cpp new file mode 100644 index 0000000..8df025a --- /dev/null +++ b/tutorial_joint/src/velocity.cpp @@ -0,0 +1,201 @@ +// -*- mode:C++; tab-width:4; c-basic-offset:4; indent-tabs-mode:nil -*- +// +// A tutorial on how to use the Gaze Interface. +// +// Author: Ugo Pattacini - + +#include +#include +#include +#include +#include + +#include +#include +#include +#include +#include + +#include +#include +#include + +using namespace std; +using namespace yarp::os; +using namespace yarp::dev; + + +class CtrlModule: public RFModule +{ +protected: + PolyDriver clienJoint; + IControlLimits *ilim; + IEncoders *ienc; + IControlMode *imod; + IVelocityControl *ivel; + + RpcServer rpc; + + mutex mtx_done; + condition_variable cv_done; + + int joint; + double target; + bool control; + + void go() + { + // retrieve joint bounds + double min,max,range; + ilim->getLimits(joint,&min,&max); + range=max-min; + + // retrieve current joint position + double enc; + ienc->getEncoder(joint,&enc); + + // select target + if (fabs(enc-min)setControlMode(joint,VOCAB_CM_VELOCITY); + + // remove any possible limitation on the acceleration + ivel->setRefAcceleration(joint,numeric_limits::max()); + + // start the control + yInfo()<<"Yielding new target: "< lck(mtx_done); + cv_done.wait(lck); + yInfo()<<"We're done"; + } + +public: + virtual bool configure(ResourceFinder &rf) + { + // open a client interface to connect to the joint controller + Property optJoint; + optJoint.put("device","remote_controlboard"); + optJoint.put("remote","/icubSim/left_arm"); + optJoint.put("local","/velocity/left_arm"); + + if (!clienJoint.open(optJoint)) + { + yError()<<"Unable to connect to /icubSim/left_arm"; + return false; + } + + // open views + bool ok=true; + ok=ok && clienJoint.view(ilim); + ok=ok && clienJoint.view(ienc); + ok=ok && clienJoint.view(imod); + ok=ok && clienJoint.view(ivel); + + if (!ok) + { + yError()<<"Unable to open views"; + return false; + } + + // elbow + joint=3; + + // start with control disabled + control=false; + + // target = current joint position + ienc->getEncoder(joint,&target); + + // open rpc port + rpc.open("/velocity"); + + // attach the callback respond() + attach(rpc); + + return true; + } + + virtual bool close() + { + rpc.close(); + clienJoint.close(); + + return true; + } + + virtual bool respond(const Bottle &cmd, Bottle &reply) + { + if (cmd.get(0).asString()=="go") + { + go(); + reply.addString("ack"); + } + else if (cmd.get(0).asString()=="enc") + { + double enc; + ienc->getEncoder(joint,&enc); + reply.addString("ack"); + reply.addFloat64(enc); + } + else + reply.addString("nack"); + + return true; + } + + virtual double getPeriod() + { + // we set up the control rate here in [s] + return 0.02; + } + + virtual bool updateModule() + { + if (control) + { + // retrieve current joint position + double enc; + ienc->getEncoder(joint,&enc); + + // perform P control + double Kp=2.0; + double error=target-enc; + ivel->velocityMove(joint,Kp*error); + + // notify we're done + if (fabs(target-enc)<1.0) + { + control=false; + ivel->velocityMove(joint,0.0); + cv_done.notify_all(); + } + } + + return true; + } +}; + + + +int main(int argc, char *argv[]) +{ + Network yarp; + if (!yarp.checkNetwork()) + { + yError()<<"YARP doesn't seem to be available"; + return EXIT_FAILURE; + } + + ResourceFinder rf; + rf.configure(argc,argv); + + CtrlModule mod; + return mod.runModule(rf); +}