Motion Profiler 2.0

This module allows to control the velocity of icub's end-effector.
The trajectory is set by the user and is described as an ellipse:

O	A	B	θstart	θstop
center (m)	vertex (m)	co-vertex (m)	starting angle (rad)	final angle (rad)

Parameters:

• --name : changes the rootname of the module ports
• --robot : changes the name of the robot where the module interfaces to
• --name : rootname for all the connection of the module
• --part : selected arm
• --pitchDof : 0/1 disable/enable the torso DoF
• --yawDof : 0/1 disable/enable the torso DoF
• --rollDof : 0/1 disable/enable the torso DoF
• --gazeTracking : enable gaze tracking
• --help : get help from terminal

Motion profiles:

It is possible to generate different motion profiles

Generate constant velocity profile:

GEN CVP (((O -0.3 -0.1 0.1) (A -0.3 -0.0 0.1) (B -0.3 -0.1 0.2) (theta 0.0 1.57) (param 0.1)))

Minimum jerk profile:

GEN MJP (((O -0.3 -0.1 0.1) (A -0.3 -0.0 0.1) (B -0.3 -0.1 0.2) (theta 0.0 1.57) (param 1.57 3.0)))

General velocity profile:
Custom velocity profile read from file

GEN GVP (((O -0.3 0.1 0.1) (A -0.3 0.2 0.1) (B -0.3 0.1 0.2) (theta 0.0 3.14) (vel 0.3 0.3 0.3)))

NON two-third power law profile:

GEN TTPL (((O -0.3 -0.1 0.1) (A -0.3 -0.0 0.1) (B -0.3 -0.1 0.3) (theta 0.0 1.57) (param 0.1 0.33)))

Two-third power law profile:

GEN TTL (((O -0.3 -0.1 0.1) (A -0.3 -0.0 0.1) (B -0.3 -0.1 0.3) (theta 0.0 1.57) (param 0.01 0.33)))

Other Useful commands:

• PALM CUS : to change the orientation of the palm e.g. PALM CUS (-0.076 -0.974 0.213 3.03)
• STAR SIM: start simulation (yellow trajectory in iCubGUI)
• STAR EXE: start execution (green trajectory in iCubGUI)
• STAR RES: start resetting of the posture
• SIM CLR: simulator cleaning
• STAR FILE SPEE #value: start execution from file with speed multiplied for the value, default value is 1.0
• SAVE JOI: save joints positions in file
• MARK START/STOP: start/stop time interval
• SYNC: set time interval decided with MARK START/STOP
• REPS #value: set number of repetitions for file execution
• LOAD FILE: set the name of the file to load
• GRAS ON: turn on grasping
• GRAS RES: reset the open hand
• GRAZ CVV (params): constant velocity grasping

Mantainers

Perfect code does not exist, we try our best.
For info:

Name	Mail	GitHub
Luca Garello	Luca.Garello@iit.it	@MissingSignal
Linda Lastrico	Linda.Lastrico@iit.it	@lindalastrico
Fabio Vannucci	Fabio.Vannucci@iit.it	Unknown