YAML for movements
I created a folder for YAML files in ros/sot_talos_balance/yaml. This folder will be part of the sot_talos_balance
ROS package, which is installed on the robot.
In the future, I think we should use it for #69, but I created it so that we can easily put the robot in any configuration we want before running an experiment (and, most of all, share these configurations).
So, if you have an experiment where the robot is supposed to start in a configuration different from half_sitting
, you can store this configuration as a YAML and put it there (just copy half_sitting.yaml and modify it). Then, once you have installed it, the procedure is the following:
- On talos-1c run the full body controller as usual:
roslaunch talos_controller_configuration position_controllers.launch
- On talos-1c load the proper motion, e.g.
my_motion.yaml
:
roscd sot_talos_balance/yaml
rosparam load ./my_motion.yaml
- On nakasan, run actionlib as usual:
rosrun actionlib axclient.py /play_motion
- In the GUI, choose the proper motion:
motion_name: 'my_motion'
skip_planning: True
A note of caution: before running this on the robot, test it on your PC to verify there are no self-collisions, you have selected the good joints with the good values, etc.
@frisbourg I think you might use this.