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improve example of icub #94

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Merged
merged 2 commits into from
Sep 16, 2020
Merged

improve example of icub #94

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8b910cc
improve example of icub
jbmouret Sep 7, 2020
95a585d
[icub]: make it nicer looking
costashatz Sep 16, 2020
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7 changes: 6 additions & 1 deletion robots/icub/icub.urdf
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Original file line number Diff line number Diff line change
Expand Up @@ -205,7 +205,9 @@
<geometry>
<mesh filename="package://icub_description/meshes/visual/glb/icub_l_foot.glb"/>
</geometry>

<material name="LightGrey">
<color rgba="0.9 0.9 0.9 1.0"/>
</material>
</visual>
</link>
<link name="r_hip_pitch_link">
Expand Down Expand Up @@ -371,6 +373,9 @@
<geometry>
<mesh filename="package://icub_description/meshes/visual/glb/icub_r_foot.glb"/>
</geometry>
<material name="LightGrey">
<color rgba="0.9 0.9 0.9 1.0"/>
</material>
</visual>
</link>
<link name="chest">
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34 changes: 26 additions & 8 deletions src/examples/icub.cpp
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Expand Up @@ -19,6 +19,8 @@ int main()
auto robot = std::make_shared<robot_dart::Robot>("icub/icub.urdf", packages);

robot->set_color_mode("material");
robot->set_color_mode("aspect", "right_foot");
robot->set_color_mode("aspect", "left_foot");

robot->set_position_enforced(true);
robot->skeleton()->setPosition(5, 0.5);
Expand All @@ -39,18 +41,34 @@ int main()
simu.add_robot(robot);

simu.set_control_freq(100); // 100 Hz
std::vector<std::string> dofs = {};
std::vector<std::string> dofs = {
"l_knee",
"r_knee",
"l_ankle_pitch",
"r_ankle_pitch",
"l_hip_pitch",
"r_hip_pitch",
"l_shoulder_pitch",
"l_shoulder_roll",
"r_shoulder_pitch",
"r_shoulder_roll",
};

auto start = std::chrono::steady_clock::now();
while (simu.scheduler().next_time() < 20 && !simu.graphics()->done()) {
if (simu.schedule(simu.control_freq())) {
// Eigen::VectorXd commands(5);
// commands << sin(simu.scheduler().current_time() * 4),
// sin(simu.scheduler().current_time() * 4),
// sin(simu.scheduler().current_time() * 4),
// sin(simu.scheduler().current_time() * 4),
// sin(simu.scheduler().current_time() * 4);
// robot->set_commands(commands, dofs);
Eigen::VectorXd commands(dofs.size());
commands[0] = -0.45 * sin(simu.scheduler().current_time() * 2);
commands[1] = -0.45 * sin(simu.scheduler().current_time() * 2);
commands[2] = -0.35 * sin(simu.scheduler().current_time() * 2);
commands[3] = -0.35 * sin(simu.scheduler().current_time() * 2);
commands[4] = 0.15 * sin(simu.scheduler().current_time() * 2);
commands[5] = 0.15 * sin(simu.scheduler().current_time() * 2);
commands[6] = -0.15 * sin(simu.scheduler().current_time() * 2);
commands[7] = 0.15 * sin(simu.scheduler().current_time() * 2);
commands[8] = -0.15 * sin(simu.scheduler().current_time() * 2);
commands[9] = 0.15 * sin(simu.scheduler().current_time() * 2);
robot->set_commands(commands, dofs);
}
simu.step_world();
}
Expand Down