How to Run Demo stickbot_humanoid_32dof (COM and Hand Position)

This section describes how to control stickbot_humanoid_32dof's COM and hand positions.

Below is a video of what you should see.

Generate the URDFs

Note: One only needs to generate the URDFs again if the xacros from which the URDFs are derived have changed. If this is your first time running the demo or you are unsure if the xacros have changed, do not skip this step.

Generate the URDF description files:

$ roscd stickbot_humanoid_32dof_controlit/models/
$ ./generate_stickbot_humanoid_32dof_controlit_urdfs.sh 

Launch Automatically Using a Single Command

To run the demo using a single command:

$ reset && roslaunch stickbot_humanoid_32dof_controlit simulate_hand_com.launch 

Launch Manually Using Multiple Commands

Follow the same joint position instructions except replace command:

$ roslaunch stickbot_humanoid_32dof_controlit load_stickbot_humanoid_params_jpos.launch 

with:

$ roslaunch stickbot_humanoid_32dof_controlit load_stickbot_humanoid_params_hand_com.launch 

Usage Notes

To change the position of the center of mass:

$ rostopic pub --once /stickbot_humanoid_32dof_controller/COMTask/goalPosition std_msgs/Float64MultiArray '{layout: {dim: [{label: "x", size: 3, stride: 3}], data_offset: 0}, data: [0.02587, 0.0, 0.0]}'

To change the enable state of the right wrist position task (0 = disable, 1 = sensing, 2 = enabled):

$ rostopic pub --once /stickbot_humanoid_32dof_controller/LeftWristPositionTask/enableState std_msgs/Int32 '{data: 2}'