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Read floating base groundtruth #7

Merged
merged 3 commits into from
Jul 10, 2020
Merged

Read floating base groundtruth #7

merged 3 commits into from
Jul 10, 2020

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arntanguy
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This PR connects the following ports to the "FloatingBase" BodySensor:

  • basePoseIn
  • baseVelIn
  • baseAccIn

This allows reading ground-truth floating base information from choreonoid simulation.

Note if you wish to use this for your own robots:

Everything is set-up for the simulations with the JVRC robot provided with this repository. If you wish to obtain grountruth information for your own robot, you will need the following:

  • In Virtual-YourRobot-RTC.conf
out-port = waistAbsTransform:PELVIS:ABS_TRANSFORM2
out-port = waistAbsVelocity:PELVIS:ABS_VELOCITY
out-port = waistAbsAcceleration:PELVIS:ABS_ACCELERATION
  • In the simulation script sim_mc.py
    connectPorts(rh.port("waistAbsTransform"), mc.port("basePoseIn"))
    connectPorts(rh.port("waistAbsVelocity"), mc.port("baseVelIn"))
    connectPorts(rh.port("waistAbsAcceleration"), mc.port("baseAccIn"))

@gergondet gergondet merged commit 478f8f0 into jrl-umi3218:master Jul 10, 2020
gergondet added a commit that referenced this pull request May 10, 2022
@gergondet
Release v1.2.0
db1a95c 
* Connect floating base ground-truth (#7)
* Let mc_rtc handle the floating base initialization (#8)
* Avoid crashes when the FloatingBase sensor does not exist
* Connect encoder velocities (#11)
* Add more sample projects with JVRC1 (#10/#12)
* Initialize from initial target rather than initial encoders (#14)
* Log iteration to iteration time (#16)
* Prepare for mc_rtc 2.0
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@gergondet gergondet gergondet approved these changes

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@arntanguy @gergondet