For all the following steps, open a terminal and move to a directory where to install the software. All the following steps are meant to be executed sequentially in this terminal.
Clone this repo:
git clone https://github.com/ami-iit/paper_sorrentino_ral2024_balancing_torque
Create a conda environment:
conda env create -f environment.yaml
Once created, activate the conda environment:
conda activate momentumbasedtorquecontrolenv
Clone the bipedal-locomotion-framework and checkout the restoreUFK branch of this fork:
git clone https://github.com/ami-iit/bipedal-locomotion-framework
cd bipedal-locomotion-framework
git remote add fork https://github.com/isorrentino/bipedal-locomotion-framework
git fetch fork
git checkout restoreUKF
Configure the bipedal-locomotion-framework
cmake -S . -B build/ \
-DCMAKE_INSTALL_PREFIX=$CONDA_PREFIX \
-DFRAMEWORK_COMPILE_PYTHON_BINDINGS:BOOL=OFF
Compile and install it:
cmake --build build/ --target install
It might take a while.
Configure the MomentumBasedTorqueController:
cd ../paper_sorrentino_ral2024_balancing_torque
cmake -S . -B build/ \
-DCMAKE_INSTALL_PREFIX=$CONDA_PREFIX
Compile and install it:
cmake --build build/ --target install
Open a terminal and run:
conda activate momentumbasedtorquecontrolenv
export GZ_SIM_RESOURCE_PATH=<user_directory>/paper_sorrentino_ral2024_balancing_torque/config/robots/ergoCubGazeboV1_1/:$GZ_SIM_RESOURCE_PATH
export YARP_ROBOT_NAME=ergoCubGazeboV1_1
replacing <user_directory> with yours.
Moreover, consider to add this command to your .bashrc to avoid running it everytime.
Then, run:
yarpserver --write
In another terminal, launch gz-sim:
cd ./paper_sorrentino_ral2024_balancing_torque/config/robots/ergoCubGazeboV1_1/world
YARP_CLOCK=/clock gz sim world.sdf -r
In another terminal, run the controller:
cd ./paper_sorrentino_ral2024_balancing_torque/config/robots/ergoCubGazeboV1_1
YARP_CLOCK=/clock MomentumBasedTorqueControl