3 In the following, we quickly demonstrate how to run a test with sot-torque-control and <a href="https://gitlab.laas.fr/pyrene-dev/talos-torque-control.git">talos-torque-control</a>.
5 ## Start the simulation
7 First of all, you need to start the simulation.
9 To start Gazebo, load a scene and spawn Talos, the simplest way is to directly use the launch file provided by PAL:
11 roslaunch talos_gazebo talos_gazebo.launch
14 Notice that this will spawn Talos at configuration zero. This is not always what you want.
15 The package talos_data offers different launch files to spawn it at different configurations.
17 Most commonly, you might want to spawn the robot in the half-sitting position:
19 roslaunch talos_data talos_gazebo.launch start_half_sitting:=true
23 ## Start the SoT in position mode
25 To start the SoT in simulation in position mode:
27 roslaunch roscontrol_sot_talos sot_talos_controller_gazebo.launch
30 ## Start the SoT in torque mode
32 To start the SoT in simulation in torque mode:
34 roslaunch roscontrol_sot_talos sot_talos_controller_gazebo_effort.launch
39 First of all, you need to go to the folder where your script is.
40 For instance, for running the standard tests of talos-torque-control, assuming you are in the root directory:
46 Then, you can just run the chosen test. For instance:
49 python sim_com.py position
52 This will launch a test routine executing a sinusoid on the CoM of the robot in position control (you should have started the SoT in position mode).
53 It also saves the dynamic graph in /tmp/sot_talos_tsid_com.pdf.
55 ### Graph of the architecture
57 \image html Sot_torque_control_framework_for_position_control.png
60 For torque control simply run:
63 python sim_com.py torque
66 ### Graph of the architecture
68 \image html Sot_torque_control_framework_for_torque_control.png
70 These two examples replicate the ex2 of the TSID jupyter notebooks in position and torque control in Gazebo (see the jupyter <a href="https://github.com/stack-of-tasks/tsid/blob/master/exercizes/notebooks/TSID_ex2.ipynb">here</a>).
73 ## Interacting with the dynamic graph
75 If you want to dynamically interact with the graph
78 rosrun dynamic_graph_bridge run_command
83 More information on how to use the SoT and how to work on Talos can be found <a href="https://wiki.laas.fr/robots/Pyrene">in the robot wiki page</a> (you need LAAS permissions to access this).