https://github.com/rohanpsingh/grasp-fsm-sample-controller
mc-rtc FSM controller to demonstrate biped walking and object grasping
https://github.com/rohanpsingh/grasp-fsm-sample-controller
humanoid-robots mc-mujoco mc-rtc mujoco
Last synced: 4 months ago
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mc-rtc FSM controller to demonstrate biped walking and object grasping
- Host: GitHub
- URL: https://github.com/rohanpsingh/grasp-fsm-sample-controller
- Owner: rohanpsingh
- Created: 2022-08-12T17:00:21.000Z (almost 4 years ago)
- Default Branch: master
- Last Pushed: 2022-09-01T07:42:22.000Z (almost 4 years ago)
- Last Synced: 2025-10-04T16:39:03.318Z (9 months ago)
- Topics: humanoid-robots, mc-mujoco, mc-rtc, mujoco
- Language: CMake
- Homepage:
- Size: 20.5 KB
- Stars: 9
- Watchers: 1
- Forks: 1
- Open Issues: 2
-
Metadata Files:
- Readme: README.md
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README
# grasp-fsm-sample-controller
### Notes
Assumes `longtable` and `box` objects are placed in the mujoco scene as follows:
```
objects:
box:
module: "box"
init_pos:
translation: [3.1, 0, 0.9]
rotation: [0, 0, 0]
longtable:
module: "longtable"
init_pos:
translation: [3.5, 0, 0.8]
rotation: [3.14, 0, 0]
```
There is no need to add these objects to `mc-rtc`.
You may need to apply the following patch to LIPM-Walking to set the desired target:
```
diff --git a/include/lipm_walking/PlanInterpolator.h b/include/lipm_walking/PlanInterpolator.h
index 8db8c9f..b8f6012 100644
--- a/include/lipm_walking/PlanInterpolator.h
+++ b/include/lipm_walking/PlanInterpolator.h
@@ -342,7 +342,7 @@ private:
SE2d lastBackwardTarget_ = {-0.5, 0., 0.}; /**< Last target for a custom_backward plan */
SE2d lastForwardTarget_ = {0.5, 0., 0.}; /**< Last target for a custom_forward plan */
SE2d lastLateralTarget_ = {0.0, 0.3, 0.}; /**< Last target for a custom_lateral plan */
- SE2d targetPose_ = {0.5, 0., 0.}; /**< Target SE2 transform in the horizontal plane */
+ SE2d targetPose_ = {2.5, 0., 0.}; /**< Target SE2 transform in the horizontal plane */
bool startWithRightFootstep_ = true;
double desiredStepAngle_ = 10. * M_PI / 180.; // [rad]
double desiredStepLength_ = 0.2; // [m]
```
### Build and Install
```sh
$ git clone --recursive git@github.com:rohanpsingh/grasp-fsm-sample-controller.git
$ cd mc_mujoco
$ mkdir build && cd build
$ cmake .. -DCMAKE_BUILD_TYPE=RelWithDebInfo
$ make install
```
### Launch
Edit `mc-rtc` config file:
```yaml
MainRobot: HRP5P
Enabled: GraspFSM
Timestep: 0.002
```
Fire up `mc-mujoco` (or any other interface):
```sh
$ mc_mujoco
```
All states and transitions should occur automatically.