grasp-fsm-sample-controller

Notes

This controller was previously built on top of LIPM-Walking and has since been ported to use BaselineWalkingController for footstep planning and walking.

The scene assumes a longtable object and a tallbox (a box of size="0.02 0.06 0.15" and noslip_iterations="3"); both are shipped in etc/mc_mujoco.in.yaml and installed for you (see Launch).

Tested with

Dependency	Commit
BaselineWalkingController	9cba7e2
CentroidalControlCollection	a874f6a
ForceControlCollection	55de511
TrajectoryCollection	3f18e7a
QpSolverCollection	42cb586
NMPC	d88792c

Build and Install

$ git clone --recursive git@github.com:rohanpsingh/grasp-fsm-sample-controller.git
$ cd grasp-fsm-sample-controller
$ mkdir build && cd build
$ cmake .. -DCMAKE_BUILD_TYPE=RelWithDebInfo
$ make install

Launch

Copy the shipped configs into your mc_rtc user config dir (one-time setup):

$ mkdir -p ~/.config/mc_rtc/mc_mujoco
$ cp <install-prefix>/lib/mc_controller/etc/mc_rtc.yaml    ~/.config/mc_rtc/mc_rtc.yaml
$ cp <install-prefix>/lib/mc_controller/etc/mc_mujoco.yaml ~/.config/mc_rtc/mc_mujoco/mc_mujoco.yaml

Then fire up mc-mujoco (or any other interface):

$ mc_mujoco

All states and transitions should occur automatically.