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Unveiling

Unvealing Event - 28/02/2025

The demos has the following steps: - Walking to the desk (default controllers - position control) - Grasp an object using an aruco marker - Walk with the object (lip_mpc - torque control) - Offer and give the object to someone - Walk to the balancing spot - Balance on the ground (Visitors can interact, touch & take photos)

Info:

  1. default controller is position control
  2. dcm_walking_controller controller is torque control

Starting

Open one terminator with three screens terminators

  1. Terminal 1: 
    ssh -X pal@talos-7c
  2. Terminal 2: 
    ssh -X pal@talos-7c
  3. Terminal 3 ("Docker"): 
    ./pal_docker.sh -it -v /home/talos/docker_mounts/ros1/talos:/home/user -v /home:/home registry.gitlab.com/pal-robotics/tud/dockers:pal-ferrum-pal-metapkg-development-talos-7-dev-latest bash

    source /opt/pal/ferrum/setup.bash

    export ROS_MASTER_URI='http://talos-7c:11311'

Setup

  1. Crane: Make sure that Talos is in the air
  2. WebCommander: (talos-7c:8080): run Controllers >> Initialization Script
  3. WebCommander: Pesentation ony Volume 100%

Start Rviz torque control

  1. Docker run: 

    rviz -d talos_base_frame.rviz

  2. Put rviz on TV and go to fullscreen (F11)

Default Controller

  1. Terminal 1: execute 
    roslaunch talos_controller_configuration default_controllers.launch

Self Presentation

  1. Crane: put Talos on floor
  2. WebCommander: run Presentation >> Unveileiling

Kinematik Walking and grasping

  1. Crane: Ensure enough slack
  2. Joystick: Walk to the table
  3. Terminal 1: Stop (Ctrl-C) default controller
  4. Terminal 1: execute 
    roslaunch wbc_grasp_demo grasp_demo.launch real_robot:=true
  5. Terminal 2: execute (GrapsGUI open)
rosrun actionlib axclient.py /grasp_demo
  1. GraspGUI: click on send goal in gui action send of type 0
  2. Terminal 2: Stop (Ctrl-C) GUI
  3. Terminal 1: Stop (Ctrl-C) WBC

Dynamic Walking and Handover

  1. Terminal 1: execute 
    roslaunch pal_lip_mpc_actions talos_reactive_walk_controller.launch
  2. Joystick: Walk to Person for Handover
  3. WebCommander: Click on Movements >> offer right gripper (Right arm moves)
  4. WebCommander: Click on Movements >> open right gripper (Object Handover)
  5. WebCommander: Click on Movements >> Walk pose (Robot lower COM)
  6. Joystick: move backwards
  7. Crane: Tighten
  8. Terminal 1: Stop (Ctrl-C) controller
  9. Crane: Lift robot from ground

Balancing

  1. Terminal 1: execute (Robot stretches legs and goes to home) 
    roslaunch talos_controller_configuration default_controllers.launch
  2. Terminal 1: stop controller
  3. Put balancing board under feets in the middle
  4. Stailize board with one foot and lower crane
  5. Terminal 1: execute 
    roslaunch talos_pal_locomotion robot_dcm_walking_controller.launch biped_parameters:=balancing
  6. Demonstrate balancing
  7. Get ready for catching hands
  8. Lift robot to stabilize
  9. Terminal 1: Stop (Ctrl-C) dcm controller
  10. Crane: Lift robot and remove board

Frame and picture pose

  1. Terminal 1: execute 
    roslaunch talos_controller_configuration default_controllers.launch

Web commander movements: take frame from president motion

"handover frame" (middle left)

"Close Left Gripper" (top right)

"Open Left Gripper" ("middle middle")

"walk pose" (buttom right)

"picture_right" (buttom left)

Terminal 1 stop default controller

Visitor Interaction

  1. Terminal 1: execute 

    roslaunch talos_controller_configuration default_controllers.launch

  2. Terminal 1: Stop (Ctrl-C) default controller

  3. Crane: Put robot on the ground
  4. Terminal 1: execute 
    roslaunch talos_pal_locomotion robot_dcm_walking_controller.launch
  5. Visitors shake hands
  6. Terminal 1: Stop (Ctrl-C) dcm controller
  7. Terminal 1: execute 
    roslaunch talos_controller_configuration default_controllers.launch
  8. lift crane
  9. shut off pc