[R] Docker image of walking controller used on HRP humanoid robots

[R] Docker image of walking controller used on HRP humanoid robots

We are releasing a Docker image of the walking and stair climbing controller that we use on the HRP-4 and HRP-2Kai humanoid robots. We applied this controller to make HRP-4 climb stairs in an industrial demonstrator at the Airbus Saint-Nazaire factory.

The Docker image includes a fully functional build and simulation environment where you can try the controller on the open-source JVRC-1 robot model. Feel free to modify it and try new things!

Getting started

This image has been tested on Ubuntu LTS releases from 14.04 to 18.04. Depending on your release you might need to give Docker permissions to connect to X11:

xhost +local:docker 

Pull and run the Docker image by running:

docker run -it --rm --user ayumi -e DISPLAY=${DISPLAY} -v /tmp/.X11-unix:/tmp/.X11-unix:rw stephanecaron/lipm_walking_controller lipm_walking --floor 

You should end up with the following windows:

RViz controller panel (left), Choreonoid simulation of JVRC-1 (top right) and log messages (bottom right).

See the Graphical user interface page of the wiki for further instructions on how to use this GUI.

Check out the Docker troubleshooting section of the documentation if you encounter any problem.

submitted by /u/tastalian
[link] [comments]