1. blocktest-yarp-plugins

• 1. blocktest-yarp-plugins
• 4. Installation
  • 4.1. Prerequisite Linux
  • 4.2. Prerequisite Windows
  • 4.3. Installation and compilation
• 2. Available commands
  • 1.0.2. Yarp commands
  • 1.0.2. Yarp walking commands (not tested)

Repository containing the yarp plugins for blocktest.

4. Installation

Supported OS: Linux Ubuntu 18.10 and Windows 10. Boost library version must be >1.64.

4.1. Prerequisite Linux

sudo apt-get install -y cmake libboost-all-dev

YARP see https://github.com/robotology/yarp

4.2. Prerequisite Windows

vcpkg install boost:x86-windows

YARP see https://github.com/robotology/yarp

In bash:

export blocktest_DIR=<path to your blocktest build dir>

4.3. Installation and compilation

In order to compile just execute the following commands in a bash terminal.

git clone https://github.com/robotology/blocktest-yarp-plugins     
cd blocktest-yarp-plugins
mkdir build
cd build
ccmake ..

Make sure your CMAKE_INSTALL_PREFIX in ccmake is <path to your blocktest build dir>

Suggested location:

~\blocktest\build

Make sure your blocktestcore_DIR is <path to your blocktest build dir>

Suggested location:

~\blocktest\build

Make sure your blocktestcore_INCLUDE_DIR is <path to your blocktest src dir>

Then:

make -j 4
make install

2. Available commands

These action blocks are contained in yarp blocktest plugin.

1.0.2. Yarp commands

• yarpreset

  Reset the robot to the original frame position and pose.

      <command name="yarpreset" repetitions="1" wait="0" reporterror="true"/>

• yarpsendpwm

  Send the pwm value to a specific jointname. The pwm profile can be: sin/const/stepwave

      <command name="yarpsendpwm" profile="sin" frequency="1" dutycycle="20" time="20" jointname="L_AK_R" repetitions="1" wait="0" reporterror="true"/>

• yarpsendposdirect

  Send the position to a specific jointname

      <command name="yarpsenddirectpos" jointname="L_AK_R" degree="-30" repetitions="1" wait="0" reporterror="true"/>

• yarpsendpos

  Send the position to a specific jointname using a minimum jerk trajectory.

      <command name="yarpsendpos" jointname="L_AK_R" degree="0" velocity="20" repetitions="1" wait="0" reporterror="true"/>

• yarpcheckrobot

      <command name="checkRobot" repetitions="1" wait="0" reporterror="true"/>

  Check if joints are present.

• yarpcheckjointposition

  Check if the joint position is correct.

      <command name="yarpcheckjointposition" wrappername="/right_leg" jointname="r_ankle_pitch" tolerance="1" expectedvalue="15" repetitions="1" wait="0" reporterror="true"/>

• yarpcheckrobotisvertical

  Check if robot is vertical.

      <command name="yarpcheckrobotisvertical" repetitions="1" wait="0" reporterror="true"/>

• yarpsendpwmtrain

      <command name="yarpsendpwmtrain" dutycycle="20" maxposition="20" minposition="-20" cycletime="10" cyclesleep="8" jointname="L_AK_R" repetitions="1" wait="0" reporterror="true"/>

  Send a PWM train. Chenge PWM sign when the position is reached

• applyforce

  Apply wrench to the robot.

1.0.2. Yarp walking commands (not tested)

• setvelocity

      <command name="setVelocity" xvelocity="0.05" yvelocity="0.00001" repetitions="1" wait="0" reporterror="true"/>

  The attributes xvelocity and yvelocity rapesent the velocity in that direction.

• checkposition

      <command name="checkPosition" xminposition="0.14" yminposition="0.13" zminposition="0.15" repetitions="1" wait="0" reporterror="true"/>

  Check if joints are present.

• preparestraightwalking

      <command name="prepareStraightWalking" repetitions="1" wait="0" reporterror="true"/>

  No params needed

• startwalking

      <command name="startWalking" repetitions="1" wait="0" reporterror="true"/>

  No params needed

• resetwalking

      <command name="resetWalking" repetitions="1" wait="0" reporterror="true"/>

  No params needed

  If the robot position is less than xminposition,yminposition,zminposition the check fails. If the position is 0 it doesn't check on that axis. For now only the abs value of the position is checked.