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Use the odri yaml file to load the robot configuration #104

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Use the odri yaml file to load the robot configuration #104

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10 changes: 10 additions & 0 deletions src/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -40,6 +40,16 @@ create_robots_library(solo8)
create_robots_library(solo8ti)
create_robots_library(solo12)

# YAML parameters.
string(
CONCAT odri_control_interface_yaml_path
"${PythonModules_robot_properties_solo_PATH}/"
"robot_properties_solo/robot_properties_solo/odri_control_interface/"
"solo12_driver.yaml")
target_compile_definitions(
solo12
PUBLIC ODRI_CONTROL_INTERFACE_YAML_PATH="${odri_control_interface_yaml_path}")

#
# Build executables like the calibration programs.
#
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70 changes: 7 additions & 63 deletions src/solo12.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -3,6 +3,7 @@
#include <odri_control_interface/common.hpp>
#include "solo/common_programs_header.hpp"
#include "real_time_tools/spinner.hpp"
#include "odri_control_interface/utils.hpp"

namespace solo
{
Expand Down Expand Up @@ -83,69 +84,12 @@ void Solo12::initialize(const std::string& network_id,
serial_reader_ =
std::make_shared<blmc_drivers::SerialReader>(serial_port, 5);

main_board_ptr_ = std::make_shared<MasterBoardInterface>(network_id_);

VectorXi motor_numbers(12);
motor_numbers << 0, 3, 2, 1, 5, 4, 6, 9, 8, 7, 11, 10;
VectorXb motor_reversed(12);
motor_reversed << false, true, true, true, false, false, false, true, true,
true, false, false;

double lHAA = 0.9;
double lHFE = 1.45;
double lKFE = 2.80;
Eigen::VectorXd joint_lower_limits(12);
joint_lower_limits << -lHAA, -lHFE, -lKFE, -lHAA, -lHFE, -lKFE, -lHAA,
-lHFE, -lKFE, -lHAA, -lHFE, -lKFE;
Eigen::VectorXd joint_upper_limits(12);
joint_upper_limits << lHAA, lHFE, lKFE, lHAA, lHFE, lKFE, lHAA, lHFE, lKFE,
lHAA, lHFE, lKFE;

// Define the joint module.
joints_ = std::make_shared<odri_control_interface::JointModules>(
main_board_ptr_,
motor_numbers,
motor_torque_constants_(0),
joint_gear_ratios_(0),
motor_max_current_(0),
motor_reversed,
joint_lower_limits,
joint_upper_limits,
80.,
0.2);

// Define the IMU.
VectorXl rotate_vector(3);
rotate_vector << 1, 2, 3;
VectorXl orientation_vector(4);
orientation_vector << 1, 2, 3, 4;
imu_ = std::make_shared<odri_control_interface::IMU>(
main_board_ptr_, rotate_vector, orientation_vector);

// Define the robot.
robot_ = std::make_shared<odri_control_interface::Robot>(
main_board_ptr_, joints_, imu_);

std::vector<odri_control_interface::CalibrationMethod> directions{
odri_control_interface::POSITIVE,
odri_control_interface::POSITIVE,
odri_control_interface::POSITIVE,
odri_control_interface::NEGATIVE,
odri_control_interface::POSITIVE,
odri_control_interface::POSITIVE,
odri_control_interface::POSITIVE,
odri_control_interface::POSITIVE,
odri_control_interface::POSITIVE,
odri_control_interface::NEGATIVE,
odri_control_interface::POSITIVE,
odri_control_interface::POSITIVE};

// Use zero position offsets for now. Gets updated in the calibration
// method.
Eigen::VectorXd position_offsets(12);
position_offsets.fill(0.);
calib_ctrl_ = std::make_shared<odri_control_interface::JointCalibrator>(
robot_->joints, directions, position_offsets, 5., 0.05, 3.0, 0.001);
// Main driver interface.
robot_ = odri_control_interface::RobotFromYamlFile(
network_id_, ODRI_CONTROL_INTERFACE_YAML_PATH);

calib_ctrl_ = odri_control_interface::JointCalibratorFromYamlFile(
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Do we need this? a calib controller is created by default now no?

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Yes, things have changed and I think you are right. One is created by default now. I will update the PR and test it on the real solo.

ODRI_CONTROL_INTERFACE_YAML_PATH, robot_->joints);

// Initialize the robot.
robot_->Init();
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