Merge pull request #220 from NOSALRO/robot_examples

Updated Supported Robots
NOSALRO · Sep 3, 2024 · 62d365a · 62d365a
2 parents 011000c + 68ff90c
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diff --git a/docs/images/tiago.png b/docs/images/tiago.png
diff --git a/docs/images/vx300.png b/docs/images/vx300.png
diff --git a/docs/robots/index.html b/docs/robots/index.html
diff --git a/docs/search/search_index.json b/docs/search/search_index.json
diff --git a/docs/sitemap.xml.gz b/docs/sitemap.xml.gz
diff --git a/src/docs/docs/images/tiago.png b/src/docs/docs/images/tiago.png
diff --git a/src/docs/docs/images/vx300.png b/src/docs/docs/images/vx300.png
diff --git a/src/docs/docs/robots.md b/src/docs/docs/robots.md
@@ -49,7 +49,7 @@ We have two URDF files:
 {{TALOS}}
     === "Python"
 {{TALOS_PYTHON}}
-    
+
 - `utheque/talos/talos_fast.urdf`:
     * no collision except for the feet, which are approximated by boxes
     * grippers are fixed (no movement is allowed)
@@ -197,6 +197,43 @@ This hexapod is a simple 6-legged robot based on dynamixel actuators. It is simi
     === "Python"
 {{HELLO_WORLD_ROBOT_CREATION_PYTHON}}
 
+## Vx-300
+![Vx-300 robotic arm](images/vx300.png){: style="display: block;margin-left: auto;margin-right: auto;width:70%"}
+
+The ViperX-300 is a versatile robotic arm developed by [Interbotix](https://docs.trossenrobotics.com/interbotix_xsarms_docs/specifications/vx300.html). It is designed for a range of applications including education, research, and light industrial tasks.
+
+- 5 degrees of freedom plus a gripper
+- URDF: [[vx300.urdf](https://github.com/NOSALRO/robot_dart/blob/master/utheque/vx300/vx300.urdf)]
+- Example: [[vx300.cpp](https://github.com/resibots/robot_dart/blob/master/src/examples/vx300.cpp)] [[vx300.py](https://github.com/resibots/robot_dart/blob/master/src/examples/python/vx300.py)]
+
+!!! note "Load Vx-300"
+    === "C++"
+{{VX300}}
+    === "Python"
+{{VX300_PYTHON}}
+
+
+
+## Tiago (PAL Robotics)
+![Tiago single-arm robot](images/tiago.png){: style="display: block;margin-left: auto;margin-right: auto;width:70%"}
+
+Tiago is a mobile manipulator robot developed by [PAL Robotics](https://pal-robotics.com/robots/tiago/), designed for tasks such as navigation, object manipulation, and human-robot interaction.
+
+- Datasheet: [pdf](https://pal-robotics.com/wp-content/uploads/2024/04/Datasheet-TIAGo.pdfs)
+- Height: 110 - 145 cm
+- Weight: 70 kg
+- Degrees of Freedom (DoF): 7 (Arm), 2 (Head), 2 (Mobile Base)
+- Force/Torque sensor in the gripper
+- URDF: [[tiago.urdf](https://github.com/NOSALRO/robot_dart/blob/master/utheque/tiago/tiago_steel.urdf)]
+- Example: [[tiago.cpp](https://github.com/resibots/robot_dart/blob/master/src/examples/tiago.cpp)] [[tiago.py](https://github.com/resibots/robot_dart/blob/master/src/examples/python/tiago.py)]
+
+!!! note "Load Tiago"
+    === "C++"
+{{TIAGO}}
+    === "Python"
+{{TIAGO_PYTHON}}
+
+
 ## Simple arm
 ![simple arm robot](images/arm.png){: style="display: block;margin-left: auto;margin-right: auto;width:70%"}
 
@@ -236,4 +273,3 @@ RobotDART gives you the ability to load custom robots  that are defined in [URDF
         your_robot = robot_dart.Robot("path/to/model.urdf", your_model_packages)
     ```
 
-
diff --git a/src/docs/include/macros.py b/src/docs/include/macros.py
diff --git a/src/examples/python/tiago.py b/src/examples/python/tiago.py
@@ -0,0 +1,57 @@
+import RobotDART as rd
+import time
+import numpy as np
+dt = 0.001
+simu = rd.RobotDARTSimu(dt)
+
+# this is important for wheel collision; with FCL it does not work well
+simu.set_collision_detector("bullet")
+
+freq = int(1//dt)
+# @TIAGO_PYTHON@
+robot = rd.Tiago(freq)
+# @TIAGO_PYTHON_END@
+print("the model used is [", robot.model_filename(), "]")
+
+configuration = rd.gui.GraphicsConfiguration()
+configuration.width = 1280
+configuration.height = 960
+configuration.bg_color = [1.0, 1.0, 1.0, 1.0]
+graphics = rd.gui.Graphics(configuration)
+simu.set_graphics(graphics)
+graphics.look_at([0., 3., 2.], [0., 0., 0.25])
+graphics.record_video("tiago_dancing.mp4")
+
+simu.add_checkerboard_floor()
+simu.add_robot(robot)
+
+simu.set_control_freq(freq)
+wheel_dofs = ["wheel_right_joint", "wheel_left_joint"]
+arm_dofs = ["arm_1_joint",
+            "arm_2_joint",
+            "arm_3_joint",
+            "arm_4_joint",
+            "arm_5_joint",
+            "torso_lift_joint"]
+
+init_positions = robot.positions(arm_dofs)
+start = time.time()
+
+while (simu.scheduler().next_time() < 20. and not simu.graphics().done()):
+    if (simu.schedule(simu.control_freq())):
+        delta_pos = [np.sin(simu.scheduler().current_time() * 2) + np.pi/2,
+                     np.sin(simu.scheduler().current_time() * 2),
+                     np.sin(simu.scheduler().current_time() * 2),
+                     np.sin(simu.scheduler().current_time() * 2),
+                     np.sin(simu.scheduler().current_time() * 2),
+                     np.sin(simu.scheduler().current_time() * 2)]
+        commands = (init_positions + delta_pos) - robot.positions(arm_dofs)
+        robot.set_commands(commands, arm_dofs)
+        cmd = [0, 5]
+        robot.set_commands(cmd, wheel_dofs)
+    simu.step_world()
+
+end = time.time()
+elapsed_seconds = end - start
+print("benchmark time: ", elapsed_seconds, " s")
+robot.reset()
diff --git a/src/examples/python/vx300.py b/src/examples/python/vx300.py
@@ -0,0 +1,28 @@
+import RobotDART as rd
+
+# @VX300_PYTHON@
+robot = rd.Vx300()
+# @VX300_PYTHON_END@
+robot.set_actuator_types("servo")
+
+ctrl = [0.0, 1.0, -1.5, 1.0, 0.5, 0.]
+
+controller = rd.PDControl(ctrl)
+robot.add_controller(controller)
+
+simu = rd.RobotDARTSimu()
+simu.set_collision_detector("fcl")
+
+simu.set_graphics(rd.gui.Graphics())
+simu.add_robot(robot)
+simu.add_checkerboard_floor()
+
+for n in robot.dof_names():
+    print(n)
+
+simu.run(2.5)
+
+ctrl = [0.0, -0.5, 0.5, -0.5, 0., 1.]
+controller.set_parameters(ctrl)
+controller.set_pd(20., 0.)
+simu.run(2.5)
diff --git a/src/examples/tiago.cpp b/src/examples/tiago.cpp
@@ -13,7 +13,9 @@ int main()
     simu.set_collision_detector("bullet");
 
     size_t freq = 1. / dt;
+    // @TIAGO@
     auto robot = std::make_shared<robot_dart::robots::Tiago>(freq);
+    // @TIAGO_END@
     std::cout << "The model used is: [" << robot->model_filename() << "]" << std::endl;
 
 #ifdef GRAPHIC

diff --git a/src/examples/vx300.cpp b/src/examples/vx300.cpp
@@ -8,7 +8,9 @@
 
 int main()
 {
+    // @VX300@
     auto robot = std::make_shared<robot_dart::robots::Vx300>();
+    // @VX300_END@
     robot->set_actuator_types("servo");
 
     Eigen::VectorXd ctrl = robot_dart::make_vector({0.0, 1.0, -1.5, 1.0, 0.5, 0.});