yoheikakiuchi/choreonoidsim repository overview

docker pull yoheikakiuchi/choreonoid:release-1.7
## use ./run_choreonoid.sh

docker pull yoheikakiuchi/choreonoid:16.04_no_gl_latest_ros
## use ./run_no_gl_choreonoid.sh

./run_choreonoid.sh

./run_no_gl_choreonoid.sh

(terminal 1)
$ ./run_choreonoid roscore

(terminal 2)
$ ./exec_choreonoid.sh bash
$ choreonoid /choreonoid_ws/devel/share/choreonoid-1.7/WRS2018/script/T1M-AizuSpiderSS-ROS.py
(push simulator-start button / シミュレータースタートボタンを押す)
https://choreonoid.org/ja/manuals/latest/simulation/execution-and-playback.html

(terminal 3)
$ ./exec_choreonoid.sh /my_entrypoint.sh rosrun choreonoid_joy node

(terminal 1)
$ roscore ###　ノートパソコンなど

(terminal 2)
$ DOCKER_OPTION=-it ./run_choreonoid.sh bash
$ choreonoid /choreonoid_ws/devel/share/choreonoid-1.7/WRS2018/script/T1M-AizuSpiderSS-ROS.py
(push simulator-start button / シミュレータースタートボタンを押す)
https://choreonoid.org/ja/manuals/latest/simulation/execution-and-playback.html

(terminal 3)
$ ./exec_choreonoid.sh /my_entrypoint.sh rosrun choreonoid_joy node

sensor_msgs/Joy
header: 
  seq: 67
  stamp: 
    secs: 1556275115
    nsecs: 374474259
  frame_id: ''
axes: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
buttons: [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]

length(axes) == 8 / from -1.0 to 1.0
axes: [left_R/L, left_U/D, right_R/L, right_U/D, pad_U/D, pad_R/L, L2, R2]
length(buttons) == 11 / 0 or 1
buttons: [×, ○, □, △, L1, R1, SHARE, OPTIONS, left_stick, right_stick, PS]

docker pull yoheikakiuchi/choreonoidsim:release-1.7

$ ./run.sh
## this equals to './run.sh rtmlaunch hrpsys_choreonoid_tutorials jaxon_jvrc_choreonoid.launch'

$ DOCKER=docker ./run.sh
## add DOCKER=docker to ./exec.sh

$ ./exec.sh '/my_entrypoint.sh roslaunch hrpsys_choreonoid_tutorials tracking_recognition.launch gui:=true'

$ ./exec.sh '/my_entrypoint.sh roseus /catkin_ws/src/rtmros_choreonoid/hrpsys_choreonoid_tutorials/euslisp/action_and_perception/walk-to-target.l (progn (make-random-first-position) (walk-to-target))'

$ ./exec.sh '/my_entrypoint.sh roseus /catkin_ws/src/rtmros_choreonoid/hrpsys_choreonoid_tutorials/euslisp/action_and_perception/jvrc-statenet.l (start-statenet-demo)'

$ ./exec.sh '/my_entrypoint.sh roseus /catkin_ws/src/rtmros_choreonoid/hrpsys_choreonoid_tutorials/euslisp/action_and_perception/kick-ball-demo.l (kick-ball-to-goal-demo)'

$ ./exec.sh '/my_entrypoint.sh rosrun rviz rviz -d /catkin_ws/src/rtmros_choreonoid/hrpsys_choreonoid_tutorials/config/jaxon_jvrc.rviz'

$ ./run.sh
$ ./exec.sh '/my_entrypoint.sh roseus /userdir/sample-program.l (your-function)'
## you can write program with robotsimulation-docker/chorenoid_docker/sample-program.l

$ ./run.sh
$ ./exec.sh
docker$ . /catkin_ws/devel/setup.bash
docker$ roscd hrpsys_choreonoid_tutorials
docker$ roseus euslisp/jaxon_jvrc-interface.l
docker$ roseus$ jaxon_jvrc-init
;; *ri* and *jaxon_jvrc* created

(load "package://hrpsys_choreonoid_tutorials/euslisp/jaxon_jvrc-interface.l")

(jaxon_jvrc-init) ;; with simulation
(jaxon_jvrc) ;; without simulation

(setq *robot* *jaxon_jvrc*)

;; visualize robot
(objects (list *robot*))

;; pre defined poses
(send *robot* :reset-pose)
(send *robot* :reset-manip-pose)

;; angle-vector (vector of each joint angle)
(send *robot* :angle-vector)

;; angle-vector of each limb
(send *robot* :rarm  :anlge-vector)
(send *robot* :rleg  :anlge-vector)
(send *robot* :head  :anlge-vector)
(send *robot* :torso :anlge-vector)

;; list of joint
(send *robot* :joint-list)

;;;; all joints (access by joint name)
;; head
(send *robot* :head :neck-p :joint-angle)
(send *robot* :head :neck-y :joint-angle)

;; arm (:rarm :larm)
(send *robot* :rarm :collar-y :joint-angle)
(send *robot* :rarm :shoulder-p :joint-angle)
(send *robot* :rarm :shoulder-r :joint-angle)
(send *robot* :rarm :shoulder-y :joint-angle)
(send *robot* :rarm :elbow-p :joint-angle)
(send *robot* :rarm :wrist-y :joint-angle)
(send *robot* :rarm :wrist-r :joint-angle)
(send *robot* :rarm :wrist-p :joint-angle)

;; torso
(send *robot* :torso :waist-p :joint-angle)
(send *robot* :torso :waist-r :joint-angle)
(send *robot* :torso :waist-y :joint-angle)

;; leg (:rleg :lleg)
(send *robot* :rleg :crotch-y :joint-angle)
(send *robot* :rleg :crotch-r :joint-angle)
(send *robot* :rleg :crotch-p :joint-angle)
(send *robot* :rleg :knee-p :joint-angle)
(send *robot* :rleg :ankle-p :joint-angle)
(send *robot* :rleg :ankle-r :joint-angle)

;; search position of joint
(position (send *robot* :rleg :ankle-r) (send *robot* :joint-list) )

;; move robot(root)
(send *robot* :fix-leg-to-coords (make-coords))

;; move limbs
(send *robot* :larm :move-end-pos (float-vector 0 0 70) :world)

;; inverse-kinematics
(send *robot* :rarm :end-coords :draw-on :flush t :width 2 :size 200)
(let ((cds (send *robot* :rarm :end-coords :copy-worldcoords)))
  (send cds :translate (float-vector 0 0 70) :world)
  (send cds :draw-on :flush t :width 2 :size 200 :color (float-vector 1 1 0))
  (send *robot* :rarm :inverse-kinematics cds)
  )
(send *irtviewer* :draw-objects)

;; move actual robot
(send *ri* :angle-vector (send *robot* :angle-vector) 3000) ;; angle-vector time [ms]
(send *ri* :wait-interpolation) ;; wait until finishing

;; walk
(send *ri* :go-pos 1.0 0 0) ;; x y theta

;; walk
(send *ri* :go-velocity 0 0 0) ;; x_vel y_vel theta_vel
(send *ri* :go-stop)