ICUB_STANDUP_README.md

ICUB STANDUP DEMO: INSTRUCTIONS

Dependencies

In order to run the simulation of iCub standing up from a chair, make sure you have installed on your pc the following dependencies:

• yarp

• icub-main

• Gazebo simulator

• codyco-superbuild

• Both iCub and the chair models are stored into icub-gazebo-wholebody repository.

• WBToolbox and WBIToolbox-controllers are required for setting up the simulation.

It is suggested to install the above mentioned repositories using codyco-superbuild (enable CODYCO_USES_GAZEBO, CODYCO_USES_MATLAB, CODYCO_USES_WBI_TOOLBOX_CONTROLLERS options).

Installation

1. In your .bashrc file, add the following line to your GAZEBO_RESOURCE_PATH:

  source /usr/share/gazebo/setup.sh
  export GAZEBO_RESOURCE_PATH=$GAZEBO_RESOURCE_PATH:/PATH/WHERE/YOUR/WORLD/IS
 

Instead of opening Gazebo as usual, on a terminal type:

gazebo -slibgazebo_yarp_clock.so nameOfYourWorld where for iCub standup demo nameOfYourWorld = icub_standup_world.

and it will load the correct model.

Simulations

• To run iCub stand up demo, just use torqueBalancing controller as for the other simulations. (for further details see README). Do not open the yarpmotorgui: iCub is already in its home position!

• In the initialization file, there is now the new state-machine option "STANDUP" as long as the old ones "YOGA" and "COORDINATOR".

• All the demos "STANDUP", "YOGA" and "COORDINATOR" should be still available without conflicts (BUT with the right Gazebo environment for each demo).