LocomanipController

Humanoid loco-manipulation controller

HRP2001-LMC-Wheelbarrow-cut-20230111.mp4

LocomanipController-PushCartWaypoint-20221227.mp4

Features

• Completely open source! (controller framework: mc_rtc, simulator: Choreonoid, sample robot model: JVRC1)
• Accepts commands for trajectory and velocity of a loco-manipulation object.
• Considers object manipulation forces on the hands in the balance control during loco-manipulation.
• Automated management with CI: Dynamics simulation is run on CI to verify loco-manipulation.

Technical details

This controller is a simple extension of BaselineWalkingController for loco-manipulation.
For more information on walking control, see BaselineWalkingController.
For more information on the balance control in loco-manipulation considering object manipulation forces, please see the following paper:

• M Murooka, et al. Humanoid loco-Manipulations pattern generation and stabilization control. RA-Letters, 2021. (available here)

Install

Requirements

• Compiler supporting C++17
• Tested with Ubuntu 20.04 / ROS Noetic and Ubuntu 18.04 / ROS Melodic

Dependencies

This package depends on

• mc_rtc

This package also depends on the following packages. However, manual installation is unnecessary when this package is installed using wstool as described in Controller installation.

• QpSolverCollection
• ForceControlCollection
• TrajectoryCollection
• NMPC
• CentroidalControlCollection
• BaselineWalkingController
• CnoidRosUtils (Only for Choreonoid simulation)

Preparation

1. (Skip if ROS is already installed.) Install ROS. See here for details.

$ export ROS_DISTRO=melodic
$ sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
$ wget http://packages.ros.org/ros.key -O - | sudo apt-key add -
$ sudo apt-get update
$ sudo apt-get install ros-${ROS_DISTRO}-ros-base python-catkin-tools python-rosdep

2. (Skip if mc_rtc is already installed.) Install mc_rtc. See here for details.

$ curl -1sLf 'https://dl.cloudsmith.io/public/mc-rtc/stable/setup.deb.sh' | sudo -E bash
$ sudo apt-get install libmc-rtc-dev mc-rtc-utils mc-state-observation jvrc-choreonoid libcnoid-dev ros-${ROS_DISTRO}-mc-rtc-plugin ros-${ROS_DISTRO}-mc-rtc-rviz-panel libeigen-qld-dev

Controller installation

1. Setup catkin workspace.

$ mkdir -p ~/ros/ws_lmc/src
$ cd ~/ros/ws_lmc
$ wstool init src
$ wstool set -t src isri-aist/LocomanipController https://github.com/isri-aist/LocomanipController --git -y
$ wstool update -t src isri-aist/LocomanipController
$ wstool merge -t src src/isri-aist/LocomanipController/depends.rosinstall
$ wstool update -t src

2. Install dependent packages.

$ source /opt/ros/${ROS_DISTRO}/setup.bash
$ rosdep install -y -r --from-paths src --ignore-src

3. Build a package.

$ catkin build locomanip_controller -DCMAKE_BUILD_TYPE=RelWithDebInfo -DENABLE_QLD=ON --catkin-make-args all tests

4. Setup controller

$ mkdir -p ~/.config/mc_rtc/controllers
$ cp ~/ros/ws_lmc/src/isri-aist/LocomanipController/etc/mc_rtc.yaml ~/.config/mc_rtc/mc_rtc.yaml

5. Setup motion configuration file (optional)

$ roscd locomanip_controller
$ cp .github/workflows/config/PushCartWaypoint.yaml ~/.config/mc_rtc/controllers/LocomanipController.yaml

Simulation execution

# Terminal 1
$ source ~/ros/ws_lmc/devel/setup.bash
$ roscore
# Terminal 2
$ source ~/ros/ws_lmc/devel/setup.bash
$ roscd locomanip_controller/cnoid/project/
$ /usr/share/hrpsys/samples/JVRC1/clear-omninames.sh
$ choreonoid LMC_JVRC1_Cart.cnoid --start-simulation
# Terminal 3
$ source ~/ros/ws_lmc/devel/setup.bash
$ roslaunch locomanip_controller display.launch