{"id":31548482,"url":"https://github.com/rohanpsingh/grasp-fsm-sample-controller","last_synced_at":"2026-02-13T22:34:38.551Z","repository":{"id":104058357,"uuid":"524164124","full_name":"rohanpsingh/grasp-fsm-sample-controller","owner":"rohanpsingh","description":"mc-rtc FSM controller to demonstrate biped walking and object grasping","archived":false,"fork":false,"pushed_at":"2022-09-01T07:42:22.000Z","size":21,"stargazers_count":9,"open_issues_count":2,"forks_count":1,"subscribers_count":1,"default_branch":"master","last_synced_at":"2025-10-04T16:39:03.318Z","etag":null,"topics":["humanoid-robots","mc-mujoco","mc-rtc","mujoco"],"latest_commit_sha":null,"homepage":"","language":"CMake","has_issues":true,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":null,"license":null,"status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/rohanpsingh.png","metadata":{"files":{"readme":"README.md","changelog":null,"contributing":null,"funding":null,"license":null,"code_of_conduct":null,"threat_model":null,"audit":null,"citation":null,"codeowners":null,"security":null,"support":null,"governance":null,"roadmap":null,"authors":null,"dei":null,"publiccode":null,"codemeta":null,"zenodo":null,"notice":null,"maintainers":null,"copyright":null,"agents":null,"dco":null,"cla":null}},"created_at":"2022-08-12T17:00:21.000Z","updated_at":"2024-12-16T11:18:18.000Z","dependencies_parsed_at":null,"dependency_job_id":"8d8c5d8d-9cc7-4283-981a-20fb5d0ab479","html_url":"https://github.com/rohanpsingh/grasp-fsm-sample-controller","commit_stats":null,"previous_names":[],"tags_count":0,"template":false,"template_full_name":null,"purl":"pkg:github/rohanpsingh/grasp-fsm-sample-controller","repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/rohanpsingh%2Fgrasp-fsm-sample-controller","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/rohanpsingh%2Fgrasp-fsm-sample-controller/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/rohanpsingh%2Fgrasp-fsm-sample-controller/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/rohanpsingh%2Fgrasp-fsm-sample-controller/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/rohanpsingh","download_url":"https://codeload.github.com/rohanpsingh/grasp-fsm-sample-controller/tar.gz/refs/heads/master","sbom_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/rohanpsingh%2Fgrasp-fsm-sample-controller/sbom","scorecard":null,"host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":286080680,"owners_count":29420227,"icon_url":"https://github.com/github.png","version":null,"created_at":"2022-05-30T11:31:42.601Z","updated_at":"2026-02-13T22:20:51.549Z","status":"ssl_error","status_checked_at":"2026-02-13T22:20:49.838Z","response_time":78,"last_error":"SSL_read: unexpected eof while reading","robots_txt_status":"success","robots_txt_updated_at":"2025-07-24T06:49:26.215Z","robots_txt_url":"https://github.com/robots.txt","online":false,"can_crawl_api":true,"host_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub","repositories_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories","repository_names_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repository_names","owners_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners"}},"keywords":["humanoid-robots","mc-mujoco","mc-rtc","mujoco"],"created_at":"2025-10-04T16:36:22.648Z","updated_at":"2026-02-13T22:34:38.543Z","avatar_url":"https://github.com/rohanpsingh.png","language":"CMake","funding_links":[],"categories":[],"sub_categories":[],"readme":"# grasp-fsm-sample-controller\n\n\u003cdiv align=\"center\"\u003e\n      \u003ca href=\"https://youtu.be/7GmmAW5C20o\"\u003e\n     \u003cimg src=\"https://img.youtube.com/vi/7GmmAW5C20o/maxresdefault.jpg\" \n      alt=\"Demo video\" \n      style=\"width:80%;\"\u003e\n      \u003c/a\u003e\n\u003c/div\u003e\n\n\n### Notes\n\nAssumes `longtable` and `box` objects are placed in the mujoco scene as follows: \n\n\n```\nobjects:\n  box:\n    module: \"box\"\n    init_pos:\n      translation: [3.1, 0, 0.9]\n      rotation: [0, 0, 0]\n  longtable:\n    module: \"longtable\"\n    init_pos:\n      translation: [3.5, 0, 0.8]\n      rotation: [3.14, 0, 0]\n```\nThere is no need to add these objects to `mc-rtc`.  \nYou may need to apply the following patch to LIPM-Walking to set the desired target:\n```\ndiff --git a/include/lipm_walking/PlanInterpolator.h b/include/lipm_walking/PlanInterpolator.h\nindex 8db8c9f..b8f6012 100644\n--- a/include/lipm_walking/PlanInterpolator.h\n+++ b/include/lipm_walking/PlanInterpolator.h\n@@ -342,7 +342,7 @@ private:\n   SE2d lastBackwardTarget_ = {-0.5, 0., 0.}; /**\u003c Last target for a custom_backward plan */\n   SE2d lastForwardTarget_ = {0.5, 0., 0.}; /**\u003c Last target for a custom_forward plan */\n   SE2d lastLateralTarget_ = {0.0, 0.3, 0.}; /**\u003c Last target for a custom_lateral plan */\n-  SE2d targetPose_ = {0.5, 0., 0.}; /**\u003c Target SE2 transform in the horizontal plane */\n+  SE2d targetPose_ = {2.5, 0., 0.}; /**\u003c Target SE2 transform in the horizontal plane */\n   bool startWithRightFootstep_ = true;\n   double desiredStepAngle_ = 10. * M_PI / 180.; // [rad]\n   double desiredStepLength_ = 0.2; // [m]\n\n```\n\n### Build and Install\n\n```sh\n$ git clone --recursive git@github.com:rohanpsingh/grasp-fsm-sample-controller.git\n$ cd mc_mujoco\n$ mkdir build \u0026\u0026 cd build\n$ cmake .. -DCMAKE_BUILD_TYPE=RelWithDebInfo\n$ make install\n```\n\n### Launch\nEdit `mc-rtc` config file:\n```yaml\nMainRobot: HRP5P\nEnabled: GraspFSM\nTimestep: 0.002\n``` \n\nFire up `mc-mujoco` (or any other interface):\n\n```sh\n$ mc_mujoco\n```\n\nAll states and transitions should occur automatically.\n\n\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Frohanpsingh%2Fgrasp-fsm-sample-controller","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Frohanpsingh%2Fgrasp-fsm-sample-controller","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Frohanpsingh%2Fgrasp-fsm-sample-controller/lists"}