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Handling demo red ball in gazebo #32

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Apr 21, 2021
Merged

Handling demo red ball in gazebo #32

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7f36155
handle red ball demo in gazebo
Nov 2, 2020
4801ead
[demoRedBall] made GAZEBO package quiet
Apr 20, 2021
6c98b36
[demoRedBall] removed leftover
Apr 21, 2021
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16 changes: 16 additions & 0 deletions demoRedBall/CMakeLists.txt
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Expand Up @@ -22,6 +22,21 @@ add_executable(${PROJECT_NAME} ${sources})
target_link_libraries(${PROJECT_NAME} ctrlLib ${YARP_LIBRARIES})
install(TARGETS ${PROJECT_NAME} DESTINATION bin)

# world
option(GAZEBO_AVAILABLE "enable gazebo" ON)
if(GAZEBO_AVAILABLE)
find_package(GAZEBO REQUIRED)
if (GAZEBO_FOUND)
add_library(${PROJECT_NAME}-world SHARED src/world.cpp)
target_compile_definitions(${PROJECT_NAME}-world PRIVATE _USE_MATH_DEFINES)
target_include_directories(${PROJECT_NAME}-world PRIVATE ${GAZEBO_INCLUDE_DIRS})
target_link_libraries(${PROJECT_NAME}-world PRIVATE ${GAZEBO_LIBRARIES} ${YARP_LIBRARIES})
install(TARGETS ${PROJECT_NAME}-world LIBRARY DESTINATION "${CMAKE_INSTALL_LIBDIR}" COMPONENT shlib)
add_subdirectory(gazebo)
endif()
endif()


if(NOT BUILD_BUNDLE)
icubcontrib_add_uninstall_target()
endif()
Expand All @@ -33,3 +48,4 @@ file(GLOB scripts ${CMAKE_CURRENT_SOURCE_DIR}/app/scripts/*.template

yarp_install(FILES ${conf} DESTINATION ${ICUBCONTRIB_CONTEXTS_INSTALL_DIR}/${PROJECT_NAME})
yarp_install(FILES ${scripts} DESTINATION ${ICUBCONTRIB_APPLICATIONS_TEMPLATES_INSTALL_DIR})

53 changes: 53 additions & 0 deletions demoRedBall/app/conf/config-gazebo.ini
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[general]
robot icubSim
thread_period 20
left_arm on
right_arm on
traj_time 1.0
reach_tol 0.01
eye left
idle_tmo 5.0
use_network off
network network.ini
speech on
simulation on

[torso]
pitch on (min -10.0) (max 10.0)
roll off
yaw on (min -30.0) (max 30.0)

[left_arm]
grasp_enable on
reach_offset 0.19 -0.06 0.07
grasp_offset 0.19 0.02 0.06
hand_orientation 0.0 -0.707106781186547 0.707106781186548 3.14159265358979
impedance_velocity_mode on
impedance_stiffness 0.4 0.4 0.4 0.2 0.2
impedance_damping 0.002 0.002 0.002 0.002 0.0

[right_arm]
grasp_enable on
reach_offset 0.19 -0.01 0.08
grasp_offset 0.19 -0.02 0.08
hand_orientation 0.0 -0.707106781186547 0.707106781186548 3.14159265358979
impedance_velocity_mode on
impedance_stiffness 0.4 0.4 0.4 0.2 0.2
impedance_damping 0.002 0.002 0.002 0.002 0.0

[home_arm]
poss -30.0 30.0 0.0 45.0 0.0 0.0 0.0
vels 10.0 10.0 10.0 10.0 10.0 10.0 10.0

[arm_selection]
hysteresis_thres 0.10

[grasp]
sphere_radius 0.1
sphere_tmo 2.0
release_tmo 4.0
open_hand 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0
close_hand 10.0 80.0 30.0 30.0 30.0 40.0 30.0 40.0 150.0
vels_hand 20.0 40.0 50.0 50.0 50.0 50.0 50.0 50.0 80.0

[include speech "speech_English.ini"]
2 changes: 1 addition & 1 deletion demoRedBall/app/conf/config.ini
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@@ -1,4 +1,3 @@

[general]
robot icub
thread_period 20
Expand All @@ -11,6 +10,7 @@ idle_tmo 5.0
use_network off
network network.ini
speech on
simulation off

[torso]
pitch on (min -10.0) (max 10.0)
Expand Down
122 changes: 122 additions & 0 deletions demoRedBall/app/scripts/demoRedBall_gazebo.xml.template
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<application>
<name>Red-Ball Demo Gazebo</name>

<dependencies>
<port>/icubSim/left/out</port>
<port>/iKinGazeCtrl/rpc</port>
<port>/icubSim/cartesianController/right_arm/state:o</port>
<port>/icubSim/cartesianController/left_arm/state:o</port>
<port>/wholeBodyDynamics/right_arm/FT:i</port>
<port>/wholeBodyDynamics/left_arm/FT:i</port>
</dependencies>

<module>
<name>gzserver</name>
<parameters>grasp-ball-gazebo.sdf</parameters>
<node>localhost</node>
</module>

<module>
<name>gzclient</name>
<node>localhost</node>
</module>

<module>
<name>iKinGazeCtrl</name>
<parameters>--context gazeboCartesianControl --from iKinGazeCtrl.ini</parameters>
<dependencies>
<port timeout="20">/icubSim/torso/state:o</port>
<port timeout="20">/icubSim/head/state:o</port>
<port timeout="20">/icubSim/inertial</port>
</dependencies>
<ensure>
<wait when="stop">5</wait>
</ensure>
<node>localhost</node>
</module>

<module>
<name>yarprobotinterface</name>
<parameters>--context gazeboCartesianControl --config no_legs.xml</parameters>
<dependencies>
<port timeout="20">/icubSim/torso/state:o</port>
<port timeout="20">/icubSim/left_arm/state:o</port>
<port timeout="20">/icubSim/right_arm/state:o</port>
</dependencies>
<ensure>
<wait when="stop">5</wait>
</ensure>
<node>localhost</node>
</module>

<module>
<name>iKinCartesianSolver</name>
<parameters>--context gazeboCartesianControl --part right_arm</parameters>
<dependencies>
<port timeout="20">/icubSim/torso/state:o</port>
<port timeout="20">/icubSim/right_arm/state:o</port>
</dependencies>
<node>localhost</node>
</module>

<module>
<name>iKinCartesianSolver</name>
<parameters>--context gazeboCartesianControl --part left_arm</parameters>
<dependencies>
<port timeout="20">/icubSim/torso/state:o</port>
<port timeout="20">/icubSim/left_arm/state:o</port>
</dependencies>
<node>localhost</node>
</module>

<module>
<name>wholeBodyDynamics</name>
<parameters>--robot icubSim --autoconnect --dummy_ft --headV2 --no_legs</parameters>
<dependencies>
<port timeout="20">/icubSim/head/state:o</port>
<port timeout="20">/icubSim/torso/state:o</port>
<port timeout="20">/icubSim/right_arm/state:o</port>
<port timeout="20">/icubSim/left_arm/state:o</port>
<port timeout="20">/icubSim/inertial</port>
</dependencies>
<node>localhost</node>
</module>


<module>
<name>pf3dTracker</name>
<parameters>--from pf3dTracker-gazebo.ini</parameters>
<node>pwrNode1</node>
</module>

<module>
<name>demoRedBall</name>
<parameters>--from config-gazebo.ini</parameters>
<dependencies>
<port timeout="20">/iKinGazeCtrl/rpc</port>
</dependencies>
<node>pwrNode2</node>
</module>

<module>
<name>yarpview</name>
<parameters>--name /PF3DTracker_viewer --x 320 --y 0 --p 50 --compact</parameters>
<node>console</node>
</module>

<connection>
<from>/icubSim/cam/left/rgbImage:o</from>
<to>/pf3dTracker/video:i</to>
<protocol>fast_tcp</protocol>
</connection>
<connection>
<from>/pf3dTracker/video:o</from>
<to>/PF3DTracker_viewer</to>
<protocol>fast_tcp</protocol>
</connection>
<connection>
<from>/pf3dTracker/data:o</from>
<to>/demoRedBall/trackTarget:i</to>
<protocol>fast_tcp</protocol>
</connection>
</application>
12 changes: 12 additions & 0 deletions demoRedBall/gazebo/CMakeLists.txt
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@@ -0,0 +1,12 @@
################################################################################
# #
# Copyright (C) 2020 Fondazione Istitito Italiano di Tecnologia (IIT) #
# All Rights Reserved. #
# #
################################################################################

# Install models
install(DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/models DESTINATION share/gazebo)

# Install worlds
install(DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/worlds DESTINATION share/gazebo)
11 changes: 11 additions & 0 deletions demoRedBall/gazebo/models/red-ball/model.config
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@@ -0,0 +1,11 @@
<?xml version="1.0"?>

<model>
<name>red-ball</name>
<version>1.0</version>
<sdf version="1.7">model.sdf</sdf>

<description>
A red ball.
</description>
</model>
29 changes: 29 additions & 0 deletions demoRedBall/gazebo/models/red-ball/model.sdf
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<?xml version="1.0" ?>

<sdf version="1.7">
<model name="red-ball">

<link name ='root_link'>
<pose>0 0 0 0 0 0</pose>
<inertial>
<mass>700</mass>
</inertial>
<collision name ='collision'>
<geometry>
<sphere><radius>0.020</radius></sphere>
</geometry>
</collision>
<visual name ='visual'>
<geometry>
<sphere><radius>0.025</radius></sphere>
</geometry>
<material>
<ambient>255 0 0 1</ambient>
<diffuse>255 0 0 1</diffuse>
</material>
</visual>
<gravity>false</gravity>
</link>

</model>
</sdf>
49 changes: 49 additions & 0 deletions demoRedBall/gazebo/worlds/grasp-ball-gazebo.sdf
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<?xml version="1.0" ?>
<sdf version="1.7">
<world name="default">

<include>
<uri>model://sun</uri>
</include>

<state world_name='default'>
<light name='sun'>
<pose frame=''>0 0 10 0 -0 3.14</pose>
</light>
</state>

<include>
<uri>model://ground_plane</uri>
</include>

<model name="iCub">
<include>
<uri>model://iCubGazeboV2_5_visuomanip</uri>
<pose>0.0 0.0 0.63 0.0 0.0 0.0</pose>
</include>
</model>

<model name="red-ball">
<include>
<uri>model://red-ball</uri>
<plugin name="pose_mover" filename='libdemoRedBall-world.so'/>
</include>
<pose>-0.35 0.0 0.935 0.0 0.0 0.0</pose>
<!--<static>true</static>-->
<!-- workaround, as the static flag does not allow to update the visual position in gazebo -->
<!--<joint name="fixed_to_ground" type="fixed">
<parent>world</parent>
<child>red-ball::root_link</child>
</joint>-->
</model>

<gui fullscreen='0'>
<camera name='user_camera'>
<pose frame=''>-1.3907 -0.0286 0.9762 0 0.15 0</pose>
<view_controller>orbit</view_controller>
<projection_type>perspective</projection_type>
</camera>
</gui>

</world>
</sdf>
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