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bmagyar merged 3 commits into from
Oct 22, 2020
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[components architecture and urdf examples] Add an example of a 12 DO… #24

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[components architecture and urdf examples] Add an example of a 12 DO…
olivier-stasse Aug 28, 2020
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[components architecture and urdf examples] Real robot example Solo
olivier-stasse Sep 13, 2020
24aeb9e
Touch up 10DoF example
bmagyar Oct 22, 2020
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298 changes: 297 additions & 1 deletion design_drafts/components_architecture_and_urdf_examples.md
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Expand Up @@ -108,7 +108,7 @@ Note:
* the communication is done using proprietary API to communicate with robot control box
* Data for all joints is exchanged in batch (at once)
* Multiple values can be commanded, e.g. goal position and the maximal velocity on the trajectory allowed
* Examples: (humanoid robots?)
* Examples: humanoid robots (TALOS), 4 legged robot [solo](https://github.com/open-dynamic-robot-initiative/master-board/blob/master/documentation/BLMC_%C2%B5Driver_SPI_interface.md)
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@destogl destogl Sep 10, 2020

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I would propose to add this long example on the end of the file. Can you open a new subsection with a name "Real robot Examples" and than add yours. It would be also good to reference to this example 2.1.

The intention behind this is that user can fast scroll through all different examples and on the end have real-world use-cases to study them.

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@destogl destogl Sep 10, 2020

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Any you can simply name the example "TALOS" as this is the name of the robot.

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@olivier-stasse olivier-stasse Sep 10, 2020

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Good to me. To be a bit more precise, TALOS and the 4 legged robot (SOLO) are two different robots. SOLO is mostly to highlight an original way to access the low level power electronics.

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@destogl destogl Sep 10, 2020

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Then you are free to choose which one you think is more relevant and describe it


```xml
<ros2_control name="RRBotSystemMultiInterface" type="system">
Expand Down Expand Up @@ -149,6 +149,7 @@ Note:
```



#### 3. Industrial Robots with integrated sensor
* the communication is done using proprietary API
* Data for all joints is exchanged in batch (at once)
Expand Down Expand Up @@ -401,3 +402,298 @@ Note:
</transmission>
</ros2_control>
```

#### 10. Real robot examples

##### [Solo: a 4 legged robot](https://github.com/open-dynamic-robot-initiative/master-board/blob/master/documentation/BLMC_%C2%B5Driver_SPI_interface.md)

```xml
<ros2_control name="SOLO/12DOFLeggedSystemRobotMultiInterface" type="system">
<hardware>
<classType>solo_control/SoloRobotHardware</classType>
<param name="write_for_sec">0.001</param>
<param name="read_for_sec">0.001</param>
</hardware>
<joint name="front_left_leg_joint1">
<commandInterfaceType name="position">
<param name="min">-1</param>
<param name="max">1</param>
</commandInterfaceType>
<commandInterfaceType name="velocity">
<param name="min">-1</param>
<param name="max">1</param>
</commandInterfaceType>
<commandInterfaceType name="effort">
<param name="min">-0.5</param>
<param name="max">0.5</param>
</commandInterfaceType>
<commandInterfaceType>Kp</commandInterfaceType>
<commandInterfaceType>Kd</commandInterfaceType>
<commandInterfaceType>effort_limit</commandInterfaceType>
<stateInterfaceType>position</stateInterfaceType>
<stateInterfaceType>velocity</stateInterfaceType>
<stateInterfaceType>effort</stateInterfaceType>
<stateInterfaceType>coil_resistance</stateInterfaceType>
<stateInterfaceType>timestamp</stateInterfaceType>
</joint>
<joint name="front_left_leg_joint2">
<commandInterfaceType name="position">
<param name="min">-1</param>
<param name="max">1</param>
</commandInterfaceType>
<commandInterfaceType name="velocity">
<param name="min">-1</param>
<param name="max">1</param>
</commandInterfaceType>
<commandInterfaceType name="effort">
<param name="min">-0.5</param>
<param name="max">0.5</param>
</commandInterfaceType>
<commandInterfaceType>Kp</commandInterfaceType>
<commandInterfaceType>Kd</commandInterfaceType>
<commandInterfaceType>effort_limit</commandInterfaceType>
<stateInterfaceType>position</stateInterfaceType>
<stateInterfaceType>velocity</stateInterfaceType>
<stateInterfaceType>effort</stateInterfaceType>
<stateInterfaceType>coil_resistance</stateInterfaceType>
<stateInterfaceType>timestamp</stateInterfaceType>
</joint>
<joint name="front_left_leg_joint3">
<commandInterfaceType name="position">
<param name="min">-1</param>
<param name="max">1</param>
</commandInterfaceType>
<commandInterfaceType name="velocity">
<param name="min">-1</param>
<param name="max">1</param>
</commandInterfaceType>
<commandInterfaceType name="effort">
<param name="min">-0.5</param>
<param name="max">0.5</param>
</commandInterfaceType>
<commandInterfaceType>Kp</commandInterfaceType>
<commandInterfaceType>Kd</commandInterfaceType>
<commandInterfaceType>effort_limit</commandInterfaceType>
<stateInterfaceType>position</stateInterfaceType>
<stateInterfaceType>velocity</stateInterfaceType>
<stateInterfaceType>effort</stateInterfaceType>
<stateInterfaceType>coil_resistance</stateInterfaceType>
<stateInterfaceType>contact_information</stateInterfaceType>
<stateInterfaceType>timestamp</stateInterfaceType>
</joint>
<joint name="front_right_leg_joint1">
<commandInterfaceType name="position">
<param name="min">-1</param>
<param name="max">1</param>
</commandInterfaceType>
<commandInterfaceType name="velocity">
<param name="min">-1</param>
<param name="max">1</param>
</commandInterfaceType>
<commandInterfaceType name="effort">
<param name="min">-0.5</param>
<param name="max">0.5</param>
</commandInterfaceType>
<commandInterfaceType>Kp</commandInterfaceType>
<commandInterfaceType>Kd</commandInterfaceType>
<commandInterfaceType>effort_limit</commandInterfaceType>
<stateInterfaceType>position</stateInterfaceType>
<stateInterfaceType>velocity</stateInterfaceType>
<stateInterfaceType>effort</stateInterfaceType>
<stateInterfaceType>coil_resistance</stateInterfaceType>
<stateInterfaceType>timestamp</stateInterfaceType>
</joint>
<joint name="front_right_leg_joint2">
<commandInterfaceType name="position">
<param name="min">-1</param>
<param name="max">1</param>
</commandInterfaceType>
<commandInterfaceType name="velocity">
<param name="min">-1</param>
<param name="max">1</param>
</commandInterfaceType>
<commandInterfaceType name="effort">
<param name="min">-0.5</param>
<param name="max">0.5</param>
</commandInterfaceType>
<commandInterfaceType>Kp</commandInterfaceType>
<commandInterfaceType>Kd</commandInterfaceType>
<commandInterfaceType>effort_limit</commandInterfaceType>
<stateInterfaceType>position</stateInterfaceType>
<stateInterfaceType>velocity</stateInterfaceType>
<stateInterfaceType>effort</stateInterfaceType>
<stateInterfaceType>coil_resistance</stateInterfaceType>
<stateInterfaceType>timestamp</stateInterfaceType>
</joint>
<joint name="front_right_leg_joint3">
<commandInterfaceType name="position">
<param name="min">-1</param>
<param name="max">1</param>
</commandInterfaceType>
<commandInterfaceType name="velocity">
<param name="min">-1</param>
<param name="max">1</param>
</commandInterfaceType>
<commandInterfaceType name="effort">
<param name="min">-0.5</param>
<param name="max">0.5</param>
</commandInterfaceType>
<commandInterfaceType>Kp</commandInterfaceType>
<commandInterfaceType>Kd</commandInterfaceType>
<commandInterfaceType>effort_limit</commandInterfaceType>
<stateInterfaceType>position</stateInterfaceType>
<stateInterfaceType>velocity</stateInterfaceType>
<stateInterfaceType>effort</stateInterfaceType>
<stateInterfaceType>coil_resistance</stateInterfaceType>
<stateInterfaceType>contact_information</stateInterfaceType>
<stateInterfaceType>timestamp</stateInterfaceType>
</joint>
<joint name="hind_left_leg_joint1">
<commandInterfaceType name="position">
<param name="min">-1</param>
<param name="max">1</param>
</commandInterfaceType>
<commandInterfaceType name="velocity">
<param name="min">-1</param>
<param name="max">1</param>
</commandInterfaceType>
<commandInterfaceType name="effort">
<param name="min">-0.5</param>
<param name="max">0.5</param>
</commandInterfaceType>
<commandInterfaceType>Kp</commandInterfaceType>
<commandInterfaceType>Kd</commandInterfaceType>
<commandInterfaceType>effort_limit</commandInterfaceType>
<stateInterfaceType>position</stateInterfaceType>
<stateInterfaceType>velocity</stateInterfaceType>
<stateInterfaceType>effort</stateInterfaceType>
<stateInterfaceType>coil_resistance</stateInterfaceType>
<stateInterfaceType>timestamp</stateInterfaceType>
</joint>
<joint name="hind_left_leg_joint2">
<commandInterfaceType name="position">
<param name="min">-1</param>
<param name="max">1</param>
</commandInterfaceType>
<commandInterfaceType name="velocity">
<param name="min">-1</param>
<param name="max">1</param>
</commandInterfaceType>
<commandInterfaceType name="effort">
<param name="min">-0.5</param>
<param name="max">0.5</param>
</commandInterfaceType>
<commandInterfaceType>Kp</commandInterfaceType>
<commandInterfaceType>Kd</commandInterfaceType>
<commandInterfaceType>effort_limit</commandInterfaceType>
<stateInterfaceType>position</stateInterfaceType>
<stateInterfaceType>velocity</stateInterfaceType>
<stateInterfaceType>effort</stateInterfaceType>
<stateInterfaceType>coil_resistance</stateInterfaceType>
<stateInterfaceType>timestamp</stateInterfaceType>
</joint>
<joint name="hind_left_leg_joint3">
<commandInterfaceType name="position">
<param name="min">-1</param>
<param name="max">1</param>
</commandInterfaceType>
<commandInterfaceType name="velocity">
<param name="min">-1</param>
<param name="max">1</param>
</commandInterfaceType>
<commandInterfaceType name="effort">
<param name="min">-0.5</param>
<param name="max">0.5</param>
</commandInterfaceType>
<commandInterfaceType>Kp</commandInterfaceType>
<commandInterfaceType>Kd</commandInterfaceType>
<commandInterfaceType>effort_limit</commandInterfaceType>
<stateInterfaceType>position</stateInterfaceType>
<stateInterfaceType>velocity</stateInterfaceType>
<stateInterfaceType>effort</stateInterfaceType>
<stateInterfaceType>coil_resistance</stateInterfaceType>
<stateInterfaceType>contact_information</stateInterfaceType>
<stateInterfaceType>timestamp</stateInterfaceType>
</joint>

<joint name="hind_right_leg_joint1">
<commandInterfaceType name="position">
<param name="min">-1</param>
<param name="max">1</param>
</commandInterfaceType>
<commandInterfaceType name="velocity">
<param name="min">-1</param>
<param name="max">1</param>
</commandInterfaceType>
<commandInterfaceType name="effort">
<param name="min">-0.5</param>
<param name="max">0.5</param>
</commandInterfaceType>
<commandInterfaceType>Kp</commandInterfaceType>
<commandInterfaceType>Kd</commandInterfaceType>
<commandInterfaceType>effort_limit</commandInterfaceType>
<stateInterfaceType>position</stateInterfaceType>
<stateInterfaceType>velocity</stateInterfaceType>
<stateInterfaceType>effort</stateInterfaceType>
<stateInterfaceType>coil_resistance</stateInterfaceType>
<stateInterfaceType>timestamp</stateInterfaceType>
</joint>
<joint name="hind_right_leg_joint2">
<commandInterfaceType name="position">
<param name="min">-1</param>
<param name="max">1</param>
</commandInterfaceType>
<commandInterfaceType name="velocity">
<param name="min">-1</param>
<param name="max">1</param>
</commandInterfaceType>
<commandInterfaceType name="effort">
<param name="min">-0.5</param>
<param name="max">0.5</param>
</commandInterfaceType>
<commandInterfaceType>Kp</commandInterfaceType>
<commandInterfaceType>Kd</commandInterfaceType>
<commandInterfaceType>effort_limit</commandInterfaceType>
<stateInterfaceType>position</stateInterfaceType>
<stateInterfaceType>velocity</stateInterfaceType>
<stateInterfaceType>effort</stateInterfaceType>
<stateInterfaceType>coil_resistance</stateInterfaceType>
<stateInterfaceType>timestamp</stateInterfaceType>
</joint>
<joint name="hind_right_leg_joint3">
<commandInterfaceType name="position">
<param name="min">-1</param>
<param name="max">1</param>
</commandInterfaceType>
<commandInterfaceType name="velocity">
<param name="min">-1</param>
<param name="max">1</param>
</commandInterfaceType>
<commandInterfaceType name="effort">
<param name="min">-0.5</param>
<param name="max">0.5</param>
</commandInterfaceType>
<commandInterfaceType>Kp</commandInterfaceType>
<commandInterfaceType>Kd</commandInterfaceType>
<commandInterfaceType>effort_limit</commandInterfaceType>
<stateInterfaceType>position</stateInterfaceType>
<stateInterfaceType>velocity</stateInterfaceType>
<stateInterfaceType>effort</stateInterfaceType>
<stateInterfaceType>coil_resistance</stateInterfaceType>
<stateInterfaceType>contact_information</stateInterfaceType>
<stateInterfaceType>timestamp</stateInterfaceType>
</joint>

<sensor name="sensor1">
<classType>ros2_control_components/IMUSensor</classType>
<stateInterfaceType>orientation</stateInterfaceType>
<stateInterfaceType>velocity</stateInterfaceType>
<stateInterfaceType>acceleration</stateInterfaceType>
<param name="min">-54</param>
<param name="max">23</param>
<param name="min_acceleration_value">-10</param>
<param name="max_acceleration_value">10</param>
</sensor>

</ros2_control>
```