Running a test

In the following, we quickly demonstrate how to run a test with sot-torque-control and talos-torque-control.

Start the simulation

First of all, you need to start the simulation.

To start Gazebo, load a scene and spawn Talos, the simplest way is to directly use the launch file provided by PAL:

roslaunch talos_gazebo talos_gazebo.launch

Notice that this will spawn Talos at configuration zero. This is not always what you want. The package talos_data offers different launch files to spawn it at different configurations.

Most commonly, you might want to spawn the robot in the half-sitting position:

roslaunch talos_data talos_gazebo.launch start_half_sitting:=true

Start the SoT in position mode

To start the SoT in simulation in position mode:

roslaunch roscontrol_sot_talos sot_talos_controller_gazebo.launch

Start the SoT in torque mode

To start the SoT in simulation in torque mode:

roslaunch roscontrol_sot_talos sot_talos_controller_gazebo_effort.launch

Run the test

First of all, you need to go to the folder where your script is. For instance, for running the standard tests of talos-torque-control, assuming you are in the root directory:

cd script

Then, you can just run the chosen test. For instance:

python sim_com.py position

This will launch a test routine executing a sinusoid on the CoM of the robot in position control (you should have started the SoT in position mode). It also saves the dynamic graph in /tmp/sot_talos_tsid_com.pdf.

Graph of the architecture

For torque control simply run:

python sim_com.py torque

Graph of the architecture

These two examples replicate the ex2 of the TSID jupyter notebooks in position and torque control in Gazebo (see the jupyter here).

Interacting with the dynamic graph

If you want to dynamically interact with the graph

rosrun dynamic_graph_bridge run_command

Other

More information on how to use the SoT and how to work on Talos can be found in the robot wiki page (you need LAAS permissions to access this).