A tentative C++-based Gazebo-YARP plugin for the python-based DIGIT tactile sensor simulator.
This is a work in progress and very likely to change often:
- No connections to a physical environment are considered
- The interaction between the sensor and a single object is considered
can be installed, e.g. on Ubuntu, using
apt install pybind11-dev
it is not required to download it as the provided
CMakeLists.txt
take care of it
To install it, refer to this quick start guide
We strongly advise to create a Python virtual environment before proceeding.
git clone https://github.com/robotology-playground/gazebo-yarp-digit-plugin.git
cd gazebo-yarp-digit-plugin
mkdir build
cd build
cmake ../
At this point, please wait for the
TACTO
repository to be cloned.
pip install -r _deps/tacto-src/requirements/requirements.txt
make -j
Then, put the following lines of code in the ~/.bashrc:
export GAZEBO_PLUGIN_PATH=$GAZEBO_PLUGIN_PATH:/path/to/the/repo/gazebo-yarp-digit-plugin/build/lib
export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:/path/to/the/repo/gazebo-yarp-digit-plugin/models
(Remember to source the .bashrc)
The following snippet code is an example on how to add the DIGIT link to your robot
<link name = "your_link_name">
<pose>"your_pose"</pose>
<inertial>
<pose>0 0 0.015 0 0 0</pose>
<mass>.1</mass>
<inertia>
<ixx>1</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>1</iyy>
<iyz>0</iyz>
<izz>1</izz>
</inertia>
</inertial>
<collision name= "your_collision_name">
<pose>0 0 0 0 0 0</pose>
<geometry>
<mesh><uri> "path to the digit.STL file into the models/digit directory"</uri></mesh>
</geometry>
</collision>
<visual name="your_visual_name">
<geometry>
<mesh><uri>"path to the digit.STL file into the models directory "</uri></mesh>
</geometry>
</visual>
<sensor name='your_sensor_name' type='contact'>
<contact>
<collision> "your_collision_name" </collision>
</contact>
<update_rate> 30 </update_rate>
</sensor>
</link>
The following snippet shows how to declare the RendererDigitPlugin
<plugin name="RendererDigitPlugin" filename="libRendererDigitPlugin.so">
<ObjectName>your_object</ObjectName>
<ObjectMeshAbsolutePath>the relative path of your object mesh</ObjectMeshAbsolutePath>
<NumberOfSensors>N(number of sensors used)</NumberOfSensors>
<LinkName1>base</LinkName1>
<SensorName1>contact_digit</SensorName1>
...
<LinkNameN>base</LinkNameN>
<SensorNameN>contact_digit</SensorNameN>
<UpdatePeriod>s</UpdatePeriod>
</plugin>
The ObjectName
parameter is the name of the object the sensors are sensitive to.
The ObjectMeshAbsolutePath
parameter is the path of the mesh of the object.
The NumberOfSensors
parameter indicates the number of sensors in the model.
The LinkName
and SensorName
parameters indicate the name of the links and sensors attached to them.
The UpdatePeriod
parameters indicates the sleep time of the rendering thread in seconds.
The following snippet shows how to declare the ControlDigitPlugin
<plugin name="ControlDigitPlugin" filename="libControlDigitPlugin.so">
<Gain>10</Gain>
</plugin>
The following snippet shows how to declare the ControlPlugin
<plugin name="ControlPlugin" filename="libControlPlugin.so">
<Gain>10</Gain>
<Link>link_name</Link>
<PortOutputPoseName>name_of_the_output_port</PortOutputPoseName>
<PortRpcName>name_of_the_rpc_port</PortRpcName>
</plugin>
The Link
parameter indicates the name of the link that is controlled.
The PortOutputPoseName
and PortRpcName
indicates the names of the port which outputs the real time pose of the link and the name of the rpc port to send command to.
At the moment, the urdf snippet code is not available.
The code simulates the contact between the sensor and a small ball which touches the sensor periodically.
-
Run the
yarpserver
-
Run the executable
gazebo ../world/digit_and_ball.world
-
Open a terminals and write
yarpview --name /in:i
-
In another terminal, connect ports
yarp connect /gazebo-yarp-digit-plugin/output:o /in:i
-
Run the
yarpserver
-
Run the executable
gazebo world/hand_one_sensor.world
-
Open a terminals and write
yarpview --name /medium:i
-
In another terminal, connect ports
yarp connect /gazebo-yarp-digit-plugin-sensor_link_medium"/output:o /medium:i
-
Launch the binary
./build/bin/grasp-example
-
In another terminal, launch the script
GraspExample/script.sh
-
Run the
yarpserver
-
Run the executable
gazebo world/hand_three_sensors.world
- Open 3 terminals and write
yarpview --name /thumb:i
yarpview --name /index:i
yarpview --name /medium:i
- In another terminal, connect ports
yarp connect /gazebo-yarp-digit-plugin-sensor_link_thumb/output:o /in1:i
yarp connect /gazebo-yarp-digit-plugin-sensor_link_index/output:o /in2:i
yarp connect /gazebo-yarp-digit-plugin-sensor_link_medium/output:o /in3:i