MicroPython-urdflib-ISWC2023

This repository is dedicated to the ISWC2023 Poster and Demos Track, where we have submitted a paper. In this repository, you will find instructions on how to replicate and access the evaluation results mentioned in our paper.

Prerequisites

Before you begin, ensure you have the following prerequisites:

Git installed on your system.
MicroPython and "urdflib" repositories cloned to your local machine. (I used MicroPython v1.20.0)
An EPS32 for running it on ESP32 port

Step 1: Clone MicroPython and "urdflib" Repositories

Open your terminal.

Clone the MicroPython and urdflib repository to a directory of your choice:

$ git clone -b v1.21.0 --depth 1 --recurse-submodules --shallow-submodules https://github.com/micropython/micropython.git

Step 2: Configure MicroPython

Navigate to the MicroPython repository and add the urdflib-ext submodule:

cd micropython
git submodule add --depth 1 https://github.com/moh3nhadavi/urdflib-ext.git lib/urdflib-ext
git submodule add --depth 1 https://github.com/moh3nhadavi/micropython-urdflib urdflib

build MicroPython cross-compiler
```
$ cd mpy-cross
$ make
```

Step 3: Build and Run MicroPython with "urdflib"

UNIX port

To build on UNIX port, do not make all warnings into errors:

 $ cd ../ports/unix
 $ make submodules
 $ sed -i '/CWARN = -Wall -Werror/cCWARN = -Wall #CWARN = -Wall -Werror' Makefile
 $ make USER_C_MODULES=../../urdflib

After build, you can run it by:

 $ ./build-standard/micropython

To run the evaluation.py file:

$ ./build-standard/micropython /path/to/evaluation.py

ESP32 port

To build on ESP32 port, you need to setup ESP-IDF and the build environment. Version release-v5.1.1 is used in this tutorial.

This tutorial assumes idf.py is added to the PATH environment variable. This is done in Step 4 of the ESP-IDF get started tutorial.

```bash
$ . ~/esp/esp-idf/export.sh
```

When ESP-IDF is set up, come back to your MicroPython directory with the same terminal and follow below steps.

Make submodules
```
$ cd ports/esp32
$ make submodules
```

add urdflib-ext to ESP32:

LINE=$(grep -n "list(APPEND MICROPY_SOURCE_LIB" esp32_common.cmake  | cut -d : -f 1)
sed -i "${LINE}r ../../urdflib/esp32_common.cmake.insert" esp32_common.cmake

Build MicroPython by:

make USER_C_MODULES=../../../urdflib/urdflib/micropython.cmake

After build, you can find the firmware.bin file at build-ESP32_GENERIC directory. follow this Link to flash this firmware on your ESP32 microcontroller and try the evaluation.py file.

NOTE: replace USB or serial port /dev/USB0 to the one used by your device, and firmware esp32-20180511-v1.9.4.bin with your build-ESP32_GENERIC/firmware.bin file.

for example:

```bash
esptool.py --chip esp32 --port /dev/ttyS1 write_flash -z 0x1000 build-ESP32_GENERIC/firmware.bin
```

moh3nhadavi / micropython-urdflib-iswc2023