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Add robots and environmentvs to hrpsys-simulator
Description: This tutorial shows how to add robots and environments to hrpsys-simulatorTutorial Level: INTERMEDIATE
Next Tutorial: Model file conversion
Contents
-
Generate configuration file and use it
- SampleRobot example 1 : Add user-defined environments (20cm stair)
- SampleRobot example 2 : Add user-defined environments (Terrain environment)
- SampleRobot example 3 : Use torque-based simulation
- SampleRobot example 4 : Use kinematics-only simulation
- Sample4LegRobot example 1 : Use torque-based simulation
- Sample4LegRobot example 2 : Use kinematics-only simulation
-
Closed robots examples
- HRP2JSK example 1 : Use torque control simulation
- HRP2JSKNT example 1 : Add use-define environment (20cm stair)
- HRP2JSKNT example 2 : Add use-define environment (Terrain Block)
- HRP2JSKNT example 3 : Add user-defined environment (DRC terrain)
- HRP2JSKNT example 4 : Add user-defined environment (DRC stair)
- HRP2JSKNT example 5 : Use torque control simulation
- HRP2JSKNT example 6 : Use kinematics only simulation
- HRP2JSKNTS example 0 : Use torque control simulation
- STARO example 1 : Add user-define environment (20cm stair)
- STARO example 2 : Add user-define environment (Terrain Block)
- STARO example 3 : Add user-define environment (Stair)
- STARO example 4 : Use torque control simulation
- URATALEG example 1 : Add user-define environment (20cm stair)
- URATALEG example 2 : Add user-define environment (Terrain Block)
- URATALEG example 3 : Use torque control simulation
- JAXON example 1 : Add user-define environment (20cm stair)
- JAXON example 2 : Add user-define environment (Terrain Block)
- JAXON example 3 : Add user-define environment (Stair)
- JAXON example 4 : Use torque control simulation
- JAXON_RED example 4 : Use torque control simulation
- For Torque-control + PD servo simulation
-
Generate configuration file and use it
- Write own your model files
- Model conversion in RTM-ROS system
Generate configuration file and use it
Generate project file
hrpsys-simulator is configured by OpenHRP3 Project File (XML file). Users can manually write project file or generate it by using projectGenerator in openhrp3.
Launch with generated project file
In launching hrpsys-simulator, project file is specified by PROJECT_FILE argument. http://wiki.ros.org/rtmros_common/Tutorials/WorkingWithEusLisp
SampleRobot example 1 : Add user-defined environments (20cm stair)
Generate project file
openhrp-project-generator `rospack find openhrp3`/share/OpenHRP-3.1/sample/model/sample1.wrl `rospack find openhrp3`/share/OpenHRP-3.1/sample/model/longfloor.wrl `rospack find openhrp3`/share/OpenHRP-3.1/sample/model/box.wrl,0.3,0,0.1,1,0,0,0 --output /tmp/SampleRobot_for_20cmStep.xml --dt 0.002
Launch with generated project file
rtmlaunch hrpsys_ros_bridge_tutorials samplerobot.launch PROJECT_FILE:=/tmp/SampleRobot_for_20cmStep.xml
SampleRobot example 2 : Add user-defined environments (Terrain environment)
Generate project file
openhrp-project-generator `rospack find openhrp3`/share/OpenHRP-3.1/sample/model/sample1.wrl `rospack find hrpsys`/share/hrpsys/samples/environments/TerrainFloor.wrl,-4.15,-0.2,0,1,0,0,0 --output /tmp/SampleRobot_for_TerrainBlock.xml --dt 0.002
Launch with generated project file
rtmlaunch hrpsys_ros_bridge_tutorials samplerobot.launch PROJECT_FILE:=/tmp/SampleRobot_for_TerrainBlock.xml
SampleRobot example 3 : Use torque-based simulation
Generate project file
openhrp-project-generator `rospack find openhrp3`/share/OpenHRP-3.1/sample/model/sample1_bush.wrl `rospack find openhrp3`/share/OpenHRP-3.1/sample/model/longfloor.wrl --use-highgain-mode false --output /tmp/SampleRobot_for_torquecontrol.xml --timeStep 0.001 --dt 0.002 --method RUNGE_KUTTA
Launch with generated project file
export BUSH_CUSTOMIZER_CONFIG_PATH=`rospack find openhrp3`/../OpenHRP-3.1/customizer/sample1_bush_customizer_param.conf rtmlaunch hrpsys_ros_bridge samplerobot.launch PROJECT_FILE:=/tmp/SampleRobot_for_torquecontrol.xml hrpsys_precreate_rtc:=PDcontroller USE_UNSTABLE_RTC:=true
SampleRobot example 4 : Use kinematics-only simulation
Generate project file
openhrp-project-generator `rospack find openhrp3`/share/OpenHRP-3.1/sample/model/sample1.wrl `rospack find openhrp3`/share/OpenHRP-3.1/sample/model/longfloor.wrl --integrate false --output /tmp/SampleRobot_for_kinematicsonly.xml --timeStep 0.001 --dt 0.002
Launch with generated project file
rtmlaunch hrpsys_ros_bridge samplerobot.launch PROJECT_FILE:=/tmp/SampleRobot_for_kinematicsonly.xml USE_UNSTABLE_RTC:=true
Sample4LegRobot example 1 : Use torque-based simulation
Generate project file
openhrp-project-generator `rospack find openhrp3`/share/OpenHRP-3.1/sample/model/sample_4leg_robot_bush.wrl `rospack find openhrp3`/share/OpenHRP-3.1/sample/model/longfloor.wrl --use-highgain-mode false --output /tmp/Sample4LegRobot_for_torquecontrol.xml --timeStep 0.001 --dt 0.002 --method RUNGE_KUTTA
Launch with generated project file
export BUSH_CUSTOMIZER_CONFIG_PATH=`rospack find openhrp3`/../OpenHRP-3.1/customizer/sample_4leg_robot_bush_customizer_param.conf rtmlaunch hrpsys_ros_bridge sample4legrobot.launch PROJECT_FILE:=/tmp/Sample4LegRobot_for_torquecontrol.xml hrpsys_precreate_rtc:=PDcontroller USE_UNSTABLE_RTC:=true
Sample4LegRobot example 2 : Use kinematics-only simulation
Generate project file
openhrp-project-generator `rospack find openhrp3`/share/OpenHRP-3.1/sample/model/sample_4leg_robot.wrl `rospack find openhrp3`/share/OpenHRP-3.1/sample/model/longfloor.wrl --integrate false --output /tmp/Sample4LegRobot_for_kinematicsonly.xml --timeStep 0.001 --dt 0.002
Launch with generated project file
rtmlaunch hrpsys_ros_bridge sample4legrobot.launch PROJECT_FILE:=/tmp/Sample4LegRobot_for_kinematicsonly.xml USE_UNSTABLE_RTC:=true
Closed robots examples
HRP2JSK example 1 : Use torque control simulation
Generate project file
openhrp-project-generator `rospack find hrp2_models`/HRP2JSK_for_OpenHRP3/HRP2JSKmain_bush.wrl `rospack find openhrp3`/share/OpenHRP-3.1/sample/model/longfloor.wrl --use-highgain-mode false --output /tmp/HRP2JSK_for_torquecontrol.xml --timeStep 0.001 --dt 0.004 --method RUNGE_KUTTA
Launch with generated project file
export BUSH_CUSTOMIZER_CONFIG_PATH=`rospack find hrpsys_ros_bridge_tutorials`/models/HRP2JSK_bush_customizer_param.conf rtmlaunch hrpsys_ros_bridge_tutorials hrp2jsk.launch PROJECT_FILE:=/tmp/HRP2JSK_for_torquecontrol.xml hrpsys_precreate_rtc:=PDcontroller
HRP2JSKNT example 1 : Add use-define environment (20cm stair)
Generate project file
rtmtest -t hrpsys_tools _gen_project.launch INPUT:=${CVSDIR}/OpenHRP/etc/HRP2JSKNT_for_OpenHRP3/HRP2JSKNTmain.wrl OUTPUT:=/tmp/HRP2JSKNT_for_20cmStep.xml OBJECT_MODELS:="`rospack find openhrp3`/share/OpenHRP-3.1/sample/model/longfloor.wrl `rospack find openhrp3`/share/OpenHRP-3.1/sample/model/box.wrl,0.3,0,0.1,1,0,0,0" CORBA_PORT:=15005 CONF_DT_OPTION:="--dt 0.004"
Launch with generated project file
rtmlaunch hrpsys_ros_bridge_tutorials hrp2jsknt.launch PROJECT_FILE:=/tmp/HRP2JSKNT_for_20cmStep.xml
HRP2JSKNT example 2 : Add use-define environment (Terrain Block)
Generate project file
rtmtest -t hrpsys_tools _gen_project.launch INPUT:=${CVSDIR}/OpenHRP/etc/HRP2JSKNT_for_OpenHRP3/HRP2JSKNTmain.wrl OUTPUT:=/tmp/HRP2JSKNT_for_TerrainBlock.xml OBJECT_MODELS:="`rospack find hrpsys`/share/hrpsys/samples/environments/TerrainFloor.wrl,-4.15,-0.2,0,1,0,0,0" CORBA_PORT:=15005 CONF_DT_OPTION:="--dt 0.004"
Launch with generated project file
rtmlaunch hrpsys_ros_bridge_tutorials hrp2jsknt.launch PROJECT_FILE:=/tmp/HRP2JSKNT_for_TerrainBlock.xml
HRP2JSKNT example 3 : Add user-defined environment (DRC terrain)
Generate project file
openhrp-project-generator `rospack find hrp2_models`/HRP2JSKNT_for_OpenHRP3/HRP2JSKNTmain.wrl `rospack find hrpsys`/share/hrpsys/samples/environments/DRCTestbedTerrainJPBlock.wrl,0.4,-2.0,0,1,0,0,0, --use-highgain-mode false --dt 0.004 --timeStep 0.001 --method RUNGE_KUTTA --output /tmp/HRP2JSKNT_for_DRCTestbedBlock.xml
Launch with generated project file
rtmlaunch hrpsys_ros_bridge_tutorials hrp2jsknt.launch PROJECT_FILE:=/tmp/HRP2JSKNT_for_DRCTestbedBlock.xml
HRP2JSKNT example 4 : Add user-defined environment (DRC stair)
Generate project file
rtmtest -t hrpsys_tools _gen_project.launch INPUT:=${CVSDIR}/OpenHRP/etc/HRP2JSKNT_for_OpenHRP3/HRP2JSKNTmain.wrl OUTPUT:=/tmp/HRP2JSKNT_for_DRCTestbedStair.xml OBJECT_MODELS:="`rospack find hrpsys`/share/hrpsys/samples/environments/DRCTestbedStair.wrl,0.15,0,0,1,0,0,0" CORBA_PORT:=15005 CONF_DT_OPTION:="--dt 0.004"
Launch with generated project file
rtmlaunch hrpsys_ros_bridge_tutorials hrp2jsknt.launch PROJECT_FILE:=/tmp/HRP2JSKNT_for_DRCTestbedStair.xml
HRP2JSKNT example 5 : Use torque control simulation
Generate project file
openhrp-project-generator `rospack find hrp2_models`/HRP2JSKNT_for_OpenHRP3/HRP2JSKNTmain_bush.wrl `rospack find openhrp3`/share/OpenHRP-3.1/sample/model/longfloor.wrl --use-highgain-mode false --output /tmp/HRP2JSKNT_for_torquecontrol.xml --timeStep 0.001 --dt 0.004 --method RUNGE_KUTTA
Launch with generated project file
export BUSH_CUSTOMIZER_CONFIG_PATH=`rospack find hrpsys_ros_bridge_tutorials`/models/HRP2JSKNT_bush_customizer_param.conf rtmlaunch hrpsys_ros_bridge_tutorials hrp2jsknt.launch PROJECT_FILE:=/tmp/HRP2JSKNT_for_torquecontrol.xml hrpsys_precreate_rtc:=PDcontroller
HRP2JSKNT example 6 : Use kinematics only simulation
Generate project file
openhrp-project-generator `rospack find hrp2_models`/HRP2JSKNT_for_OpenHRP3/HRP2JSKNTmain.wrl `rospack find openhrp3`/share/OpenHRP-3.1/sample/model/longfloor.wrl --integrate false --dt 0.004 --timeStep 0.004 --method RUNGE_KUTTA --output /tmp/HRP2JSKNT_for_kinematicsonly.xml
Launch with generated project file
rtmlaunch hrpsys_ros_bridge_tutorials hrp2jsknt.launch PROJECT_FILE:=/tmp/HRP2JSKNT_for_kinematicsonly.xml
HRP2JSKNTS example 0 : Use torque control simulation
Generate project file
openhrp-project-generator `rospack find hrp2_models`/HRP2JSKNTS_for_OpenHRP3/HRP2JSKNTSmain_bush.wrl `rospack find openhrp3`/share/OpenHRP-3.1/sample/model/longfloor.wrl --use-highgain-mode false --output /tmp/HRP2JSKNTS_for_torquecontrol.xml --timeStep 0.001 --dt 0.004 --method RUNGE_KUTTA
Launch with generated project file
export BUSH_CUSTOMIZER_CONFIG_PATH=`rospack find hrpsys_ros_bridge_tutorials`/models/HRP2JSKNTS_bush_customizer_param.conf rtmlaunch hrpsys_ros_bridge_tutorials hrp2jsknts.launch PROJECT_FILE:=/tmp/HRP2JSKNTS_for_torquecontrol.xml hrpsys_precreate_rtc:=PDcontroller
STARO example 1 : Add user-define environment (20cm stair)
Generate project file
rtmtest -t hrpsys_tools _gen_project.launch INPUT:=${CVSDIR}/euslib/rbrain/staro/STAROmain.wrl OUTPUT:=/tmp/STARO_for_20cmStep.xml OBJECT_MODELS:="`rospack find openhrp3`/share/OpenHRP-3.1/sample/model/longfloor.wrl `rospack find openhrp3`/share/OpenHRP-3.1/sample/model/box.wrl,0.3,0,0.1,1,0,0,0" CORBA_PORT:=15005 CONF_DT_OPTION:="--dt 0.002" SIMULATION_TIMESTEP_OPTION:="--timeStep 0.002"
Launch with generated project file
rtmlaunch hrpsys_ros_bridge_tutorials staro.launch PROJECT_FILE:=/tmp/STARO_for_20cmStep.xml
STARO example 2 : Add user-define environment (Terrain Block)
Generate project file
rtmtest -t hrpsys_tools _gen_project.launch INPUT:=${CVSDIR}/euslib/rbrain/staro/STAROmain.wrl OUTPUT:=/tmp/STARO_for_TerrainBlock.xml OBJECT_MODELS:="`rospack find hrpsys`/share/hrpsys/samples/environments/TerrainFloor.wrl,-4.15,-0.2,0,1,0,0,0" CORBA_PORT:=15005 CONF_DT_OPTION:="--dt 0.002" SIMULATION_TIMESTEP_OPTION:="--timeStep 0.002"
Launch with generated project file
rtmlaunch hrpsys_ros_bridge_tutorials staro.launch PROJECT_FILE:=/tmp/STARO_for_TerrainBlock.xml
STARO example 3 : Add user-define environment (Stair)
Generate project file
rtmtest -t hrpsys_tools _gen_project.launch INPUT:=${CVSDIR}/euslib/rbrain/staro/STAROmain.wrl OUTPUT:=/tmp/STARO_for_DRCTestbedStair.xml OBJECT_MODELS:="`rospack find hrpsys`/share/hrpsys/samples/environments/DRCTestbedStair.wrl,0.15,0.0,0,1,0,0,0," CORBA_PORT:=15005 CONF_DT_OPTION:="--dt 0.002" SIMULATION_TIMESTEP_OPTION:="--timeStep 0.002"
Launch with generated project file
rtmlaunch hrpsys_ros_bridge_tutorials staro.launch PROJECT_FILE:=/tmp/STARO_for_DRCTestbedStair.xml
STARO example 4 : Use torque control simulation
Generate project file
Launch with generated project file
URATALEG example 1 : Add user-define environment (20cm stair)
Generate project file
rtmtest -t hrpsys_tools _gen_project.launch INPUT:=${CVSDIR}/euslib/rbrain/urataleg/URATALEGmain.wrl OUTPUT:=/tmp/URATALEG_for_20cmStep.xml OBJECT_MODELS:="`rospack find openhrp3`/share/OpenHRP-3.1/sample/model/longfloor.wrl `rospack find openhrp3`/share/OpenHRP-3.1/sample/model/box.wrl,0.3,0,0.1,1,0,0,0" CORBA_PORT:=15005 CONF_DT_OPTION:="--dt 0.002" SIMULATION_TIMESTEP_OPTION:="--timeStep 0.002"
Launch with generated project file
rtmlaunch hrpsys_ros_bridge_tutorials urataleg.launch PROJECT_FILE:=/tmp/urataleg_for_20cmStep.xml
URATALEG example 2 : Add user-define environment (Terrain Block)
Generate project file
rtmtest -t hrpsys_tools _gen_project.launch INPUT:=${CVSDIR}/euslib/rbrain/staro/URATALEGmain.wrl OUTPUT:=/tmp/URATALEG_for_TerrainBlock.xml OBJECT_MODELS:="`rospack find hrpsys`/share/hrpsys/samples/environments/TerrainFloor.wrl,-4.15,-0.2,0,1,0,0,0" CORBA_PORT:=15005 CONF_DT_OPTION:="--dt 0.002" SIMULATION_TIMESTEP_OPTION:="--timeStep 0.002"
Launch with generated project file
rtmlaunch hrpsys_ros_bridge_tutorials urataleg.launch PROJECT_FILE:=/tmp/urataleg_for_TerrainBlock.xml
URATALEG example 3 : Use torque control simulation
Generate project file
Launch with generated project file
JAXON example 1 : Add user-define environment (20cm stair)
Generate project file
Launch with generated project file
JAXON example 2 : Add user-define environment (Terrain Block)
Generate project file
Launch with generated project file
JAXON example 3 : Add user-define environment (Stair)
Generate project file
rtmtest -t hrpsys_tools _gen_project.launch INPUT:=${CVSDIR}/euslib/rbrain/jaxon/JAXONmain.wrl OUTPUT:=/tmp/JAXON_for_DRCTestbedStair.xml OBJECT_MODELS:="`rospack find hrpsys`/share/hrpsys/samples/environments/DRCTestbedStair.wrl,0.15,0.0,0,1,0,0,0," CORBA_PORT:=15005 CONF_DT_OPTION:="--dt 0.002" SIMULATION_TIMESTEP_OPTION:="--timeStep 0.002"
Launch with generated project file
rtmlaunch hrpsys_ros_bridge_tutorials jaxon.launch PROJECT_FILE:=/tmp/JAXON_for_DRCTestbedStair.xml
JAXON example 4 : Use torque control simulation
Generate project file
openhrp-project-generator `rospack find jsk_models`/JAXON/JAXONmain_bush.wrl `rospack find openhrp3`/share/OpenHRP-3.1/sample/model/longfloor.wrl --use-highgain-mode false --output /tmp/JAXON_for_torquecontrol.xml --timeStep 0.001 --dt 0.002 --method RUNGE_KUTTA
Launch with generated project file
export BUSH_CUSTOMIZER_CONFIG_PATH=`rospack find hrpsys_ros_bridge_tutorials`/models/JAXON_bush_customizer_param.conf rtmlaunch hrpsys_ros_bridge_tutorials jaxon.launch PROJECT_FILE:=/tmp/JAXON_for_torquecontrol.xml hrpsys_precreate_rtc:=PDcontroller
JAXON_RED example 4 : Use torque control simulation
Generate project file
openhrp-project-generator `rospack find jsk_models`/JAXON_RED/JAXON_REDmain_bush.wrl `rospack find openhrp3`/share/OpenHRP-3.1/sample/model/longfloor.wrl --use-highgain-mode false --output /tmp/JAXON_RED_for_torquecontrol.xml --timeStep 0.001 --dt 0.002 --method RUNGE_KUTTA
Launch with generated project file
export BUSH_CUSTOMIZER_CONFIG_PATH=`rospack find hrpsys_ros_bridge_tutorials`/models/JAXON_RED_bush_customizer_param.conf rtmlaunch hrpsys_ros_bridge_tutorials jaxon_red.launch PROJECT_FILE:=/tmp/JAXON_RED_for_torquecontrol.xml hrpsys_precreate_rtc:=PDcontroller
For Torque-control + PD servo simulation
To execute torque-control and PD servi simulation,
Generate project file.
For example,
rtmtest -t hrpsys_tools _gen_project.launch INPUT:=${CVSDIR}/OpenHRP/etc/HRP2JSKNT_for_OpenHRP3/HRP2JSKNTmain.wrl OUTPUT:=/tmp/HRP2JSKNT_for_torquecontroller.xml OBJECT_MODELS:="`rospack find openhrp3`/share/OpenHRP-3.1/sample/model/longfloor.wrl" CORBA_PORT:=15005 USE_HIGHGAIN_MODE_OPTION:="--use-highgain-mode false" SIMULATION_TIMESTEP_OPTION:="--timestep 0.001" CONF_DT_OPTION:="--dt 0.004"
Write PDgain files and add file path to your conf file
For example, in HRP2JSKNT.conf,
... pdgains_sim.file_name:/path/to/your/gain/file/HRP2JSKNT_hrpsys_sim_pdgain.sav # Add here
Execute launch file with PDcontroller
For example,
rtmlaunch hrpsys_ros_bridge_tutorials hrp2jsknt.launch PROJECT_FILE:=/tmp/HRP2JSKNT_for_torquecontroller.xml hrpsys_precreate_rtc:=PDcontroller
Write own your model files
Write own your model files as VRML file
Model Documentation (Japanese) Sample Model Description (Japanese) Model Documentation (English) Sample Model Description (English)
Model conversion in RTM-ROS system
Conversion overview
VRML, COLLADA, Euslisp, URDF
