3D OpenRAVE models for TEO robot. If you are looking for the source code of the robot itself, visit the teo-main repository.

Installation

Installation instructions for installing from source can be found here.

Docker

The following Docker images are available in the ghcr.io container registry:

• docker pull ghcr.io/roboticslab-uc3m/teo-openrave-models:latest

TEO OpenRAVE models are already preinstalled.

Usage

The image is configured to use the openrave executable as entry point and the /usr/local/share/teo-openrave-models path as the working directory.

First, make sure you launched the YARP server (yarp server --write) and gave access to the X server (sudo xhost +). Then, issue the following command anywhere on the preinstalled model you wish to load, e.g. teo_lacqueyFetch.robot.xml:

docker run --rm --privileged \
           -v /tmp/.X11-unix:/tmp/.X11-unix:ro \
           -v $HOME/.config/yarp:/root/.config/yarp:ro \
           -e DISPLAY \
           ghcr.io/roboticslab-uc3m/teo-openrave-models:latest openrave/teo_lacqueyFetch.robot.xml

Alternatively, appending -v $XAUTHORITY:/root/.Xauthority:ro to the list of options would avoid the need of sudo xhost +. In .bashrc, add the following line:

export XAUTHORITY=$(xauth info | grep "Authority file" | awk '{ print $3 }')

Note: this command will NOT launch the joint controllers, just the visual/articulated model. In order to send motion commands to the simulated robot and interface with its sensors, you need to invoke the plugins (see openrave-yarp-plugins). This is easier done through the helper script teoSim available through the teo-configuration-files repository.

It is advised to register the following aliases in your .bashrc:

XAUTHORITY=$(xauth info | grep "Authority file" | awk '{ print $3 }')
alias openrave='docker run --rm --privileged -v /tmp/.X11-unix:/tmp/.X11-unix:ro -v $XAUTHORITY:/root/.Xauthority:ro -v $HOME/.config/yarp:/root/.config/yarp:ro -e DISPLAY ghcr.io/roboticslab-uc3m/teo-openrave-models:latest'

Now, just run teoSim from the terminal to launch the model with its associated controllers.

Developing

You might want to clone this repo and load the models you are currently working on instead of the preinstalled ones. A volume mounting point can be added on the current working directory (navigate to the path where your models are located):

docker run --rm --privileged \
           -v /tmp/.X11-unix:/tmp/.X11-unix:ro \
           -v $HOME/.config/yarp:/root/.config/yarp:ro \
           -v $PWD:/openrave:ro \
           -e DISPLAY \
           ghcr.io/roboticslab-uc3m/teo-openrave-models:latest teo_lacqueyFetch.robot.xml

In .bashrc (following the previous snippet), you may want to add the following line:

alias openrave-dev='docker run --rm --privileged -v /tmp/.X11-unix:/tmp/.X11-unix:ro -v $XAUTHORITY:/root/.Xauthority:ro -v $HOME/.config/yarp:/root/.config/yarp:ro -v $PWD:/openrave:ro -e DISPLAY ghcr.io/roboticslab-uc3m/teo-openrave-models:latest'

Building

The following build args are available:

• YARP_TAG: YARP tag/branch/commit to compile against (default: master)
• CORES: number of cores passed to the compiler (default: 1)

Note that YARP_TAG=yarp-3.9 was reported to cause issues (#10).

Example:

cd /path/to/teo-openrave-models/docker
docker build -t ghcr.io/roboticslab-uc3m/teo-openrave-models:latest --build-arg CORES=18 --build-arg YARP_TAG=master --file Dockerfile .

It is advised to use the GitHub Action docker.yml via manual dispatch (click on "Run workflow").

Contributing

Posting Issues

1. Read CONTRIBUTING.md
2. Post an issue / Feature request / Specific documentation request

Fork & Pull Request

1. Fork the repository
2. Create your feature branch (git checkout -b my-new-feature) off the master branch, following the Forking Git workflow
3. Commit your changes
4. Push to the branch (git push origin my-new-feature)
5. Create a new Pull Request

Status

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