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Merge pull request #126 from robotology/nunoguedelha-patch-1
- Update README (after #122) - Converted floating-base-balancing-torque-control-with-simulator into a package +floatingBaseBalancingTorqueControlWithSimulator - Added the package installation through CMake.
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controllers/+floatingBaseBalancingTorqueControlWithSimulator/README.md
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| ## Module description | ||
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| This module implements the same torque controller described in [floating-base-balancing-torque-control](../floating-base-balancing-torque-control/README.md), the block **"MOMENTUM BASED TORQUE CONTROL"**, but instead of controlling the real iCub robot or the model on Gazebo, it is integrated with the robot simulator from [matlab-whole-body-simulator](https://github.com/dic-iit/matlab-whole-body-simulator). | ||
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| <img src="/doc/pics/torqueControlwithSimu_w_SampleRates.png" width="1800"> | ||
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| In the above diagram, signals and blocks sampling times are identified by colors | ||
| - red: 1 ms | ||
| - pink: constant | ||
| - green: 10 ms | ||
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| More precisely: | ||
| - The controller **"MOMENTUM BASED TORQUE CONTROL"** feeds the joint torques to the robot dynamics simulator **"Robot Simulator"** through a memory block for avoiding algebraic loops. | ||
| - The **"Robot Simulator"** simulates the robot dynamics, handling the contacts of the feet with the ground. This sub-system provides the inputs required by the controller: | ||
| - joint positions | ||
| - joint velocities | ||
| - joint accelerations | ||
| - left foot wrench | ||
| - right foot wrench | ||
| - IMU measurements | ||
| - The **"Robot Visualizer"** allows to visualize the robot. It avoids using Gazebo as a visualizer. As a result, the overall procedure for running the simulation is simpler (no need to run Yarp nor Gazebo, nor synchronize them with Matlab). | ||
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| <img src="/doc/pics/robotSimulator_w_SampleRates.png" width="1800"> | ||
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| The **"Robot Simulator"** has its own **"Config"** block, for a robot configuration specific to the simulation, and is composed of three other blocks: | ||
| - The **"RobotDynWithContacts"**, actual simulator core, simulates the robot dynamics and provides all the robot kinematic and dynamic quantities. | ||
| - The **"IMU"** emulates the sensor outputs from the floating base state and linear acceleration. | ||
| - The **"Friction Model"** block implements a simple viscous friction model, function of the joints velocities and desired torques. | ||
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| "RobotDynWithContacts", "IMU" and "RobotVisualizer" blocks are library blocks imported from [`matlab-whole-body-simulator`](https://github.com/dic-iit/matlab-whole-body-simulator). Their parameters are set through their respective masks. For further details on the "RobotDynWithContacts" configuration, refer to https://github.com/dic-iit/matlab-whole-body-simulator/blob/master/README.md. | ||
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| ### Compatibility | ||
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| The folder contains the Simulink model `torqueControlBalancingWithSimu.mdl`, which is generated by using Matlab R2020b. | ||
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| ### Supported robots | ||
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| Currently, the only supported robot model is `iCubGazeboV2_5` which has the proper inertia tuning (for the very small and light links within the shoulders, hips, etc). | ||
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| ## Module details | ||
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| ### How to run the demo | ||
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| You don't need any module external module running outside of Matlab. | ||
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| For running the simulation from the source module (for developpers wishing to perform any modification), follow the few steps below: | ||
| 1. Set the `YARP_ROBOT_NAME` environment variable to the desired model. The default and only currently supported model is `iCubGazeboV2_5`. There is no direct link with Gazebo. This model is suitable for the `matlab-whole-body-simulator` because of the modified inertia of the intermediate small and light links within the 3-DoF joints (shoulder pitch-roll-yaw, hip pitch-roll-yaw, etc), tuned for stabilising the dynamics of the simulation. | ||
| ``` | ||
| > setenv(`YARP_ROBOT_NAME`,`iCubGazeboV2_5`) | ||
| ``` | ||
| 2. Verify that the target robot model is available. You can check if the controller is targeting the correct robot model by typing on the Matlab command line: | ||
| ``` | ||
| system('yarp resource --find model.urdf') | ||
| ``` | ||
| then, check that the path and the model name are correct. | ||
| 3. Change the working directory to the [parent folder of the controller model](./). | ||
| 4. Open the Simulink model `torqueControlBalancingWithSimu.mdl`. | ||
| 5. Run the model. | ||
| For running the simulation from the installed module (e.g. in case of a user, without any experience in simulation nor control, just trying the simulator for the first time), skip steps 3. and 4. and execute instead: | ||
| - still in Matlab, and from any location except from [whole-body-controllers/controllers](../) (for avoiding file naming collision with [this folder](./)), open the model directly from the Matlab command line: | ||
| ``` | ||
| >> floatingBaseBalancingTorqueControlWithSimulator.torqueControlBalancingWithSimu | ||
| ``` | ||
| ### Configuration file | ||
| At start, the module calls the initialization file `initTorqueControlBalancingWithSimu.m`. Once opened, this file contains some configuration variables. Please follow the instruction inside the script to properly configure your simulation. | ||
| ### Robot and demo specific configurations | ||
| The gains and references for a specific robot (specified by the variable `YARP_ROBOT_NAME`) or a specific demo can be found in the folder `app/robots/YARP_ROBOT_NAME`. |
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