mc_GraspMoveBoxController

FSM controller for biped loco-manipulation with mc_rtc.

This project defines a controller plugin named DemoController (from src/lib.cpp) that extends BWC::BaselineWalkingController and runs a scripted scenario:

• walk to box 0 -> pick it up -> carry and drop it,
• walk to box 1 -> pick it up -> carry and drop it.

The main configuration is etc/DemoController.in.yaml.

TODO

• fix centroidalManager_->setRefComZ refusing to move CoMZ
• admittance task should be only active up until contact
  • switch back hold box to position task
  • switch back dropoff to position task
  • deactivate admittance when contact is set in pickup

What is in this package

• src/DemoController.*: controller class inheriting from BaselineWalkingController.
• src/states/GoTo.*: footstep-planner based navigation state.
• src/states/MoveHands.*: hand motion utility state.
• src/states/PickupBox.*: approach/grasp/raise sequence.
• src/states/HoldBox.*: keep dual-hand hold while moving.
• src/states/DropoffBox.*: lower/release/remove-hands sequence.
• etc/DemoController.in.yaml: full FSM graph, robot/environment setup, and task parameters.

Dependencies

At build time this package expects:

• mc_rtc
• baseline_walking_controller
• baseline_footstep_planner

Build

If this repository is inside your existing mc_rtc workspace, build it with CMake (example):

cd /home/martin/workspace
cmake -S sandbox/mc_GraspMoveBoxController -B sandbox/mc_GraspMoveBoxController/build
cmake --build sandbox/mc_GraspMoveBoxController/build -j
cmake --install sandbox/mc_GraspMoveBoxController/build

Enable controller in mc_rtc

Set your mc_rtc controller selection so Enabled is DemoController in your mc_rtc.yaml.

Typical local config location is:

• ~/.config/mc_rtc/mc_rtc.yaml

Example snippet:

Enabled: DemoController