Assumes longtable and box objects are placed in the mujoco scene as follows:
objects:
box:
module: "box"
init_pos:
translation: [3.1, 0, 0.9]
rotation: [0, 0, 0]
longtable:
module: "longtable"
init_pos:
translation: [3.5, 0, 0.8]
rotation: [3.14, 0, 0]
There is no need to add these objects to mc-rtc.
You may need to apply the following patch to LIPM-Walking to set the desired target:
diff --git a/include/lipm_walking/PlanInterpolator.h b/include/lipm_walking/PlanInterpolator.h
index 8db8c9f..b8f6012 100644
--- a/include/lipm_walking/PlanInterpolator.h
+++ b/include/lipm_walking/PlanInterpolator.h
@@ -342,7 +342,7 @@ private:
SE2d lastBackwardTarget_ = {-0.5, 0., 0.}; /**< Last target for a custom_backward plan */
SE2d lastForwardTarget_ = {0.5, 0., 0.}; /**< Last target for a custom_forward plan */
SE2d lastLateralTarget_ = {0.0, 0.3, 0.}; /**< Last target for a custom_lateral plan */
- SE2d targetPose_ = {0.5, 0., 0.}; /**< Target SE2 transform in the horizontal plane */
+ SE2d targetPose_ = {2.5, 0., 0.}; /**< Target SE2 transform in the horizontal plane */
bool startWithRightFootstep_ = true;
double desiredStepAngle_ = 10. * M_PI / 180.; // [rad]
double desiredStepLength_ = 0.2; // [m]
$ git clone --recursive [email protected]:rohanpsingh/grasp-fsm-sample-controller.git
$ cd mc_mujoco
$ mkdir build && cd build
$ cmake .. -DCMAKE_BUILD_TYPE=RelWithDebInfo
$ make installEdit mc-rtc config file:
MainRobot: HRP5P
Enabled: GraspFSM
Timestep: 0.002Fire up mc-mujoco (or any other interface):
$ mc_mujocoAll states and transitions should occur automatically.
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