JSK EusLisp repository

This repository containts software devleoped and used by JSK at The University of Tokyo.

1. Getting started

1.1 Install binary (RECOMMENDED: Ubuntu 14.04)

1.1.1 Setup ROS repository

sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu `lsb_release -cs` main" > /etc/apt/sources.list.d/ros-latest.list'
wget http://packages.ros.org/ros.key -O - | sudo apt-key add -
echo "source /opt/ros/indigo/setup.bash" >> ~/.bashrc
sudo apt-get update

1.1.2 Install Euslisp

sudo apt-get install ros-indigo-euslisp

1.2 Install via Homebrew (OSX)

brew install euslisp/jskeus/jskeus

2 Playing with Demo programs

2.1 Motion generation

$ irteusgl irteus/demo/demo.l

and type any command, such as ‘(crank-motion)’ or ‘(dual-arm-ik)’

2.2 Robots and objects models

$ irteusgl models/irt-all-robots.l "(make-all-robots)"

$ irteusgl models/irt-all-objects.l "(make-all-objects)"

3 Getting started for ROS and PR2 users

3.1 Install binaries (RECOMMENDED: Ubuntu 14.04)

3.1.1 Setup ROS repository

You can skip this procdeure if you already setup ROS system

sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu `lsb_release -cs` main" > /etc/apt/sources.list.d/ros-latest.list'
wget http://packages.ros.org/ros.key -O - | sudo apt-key add -
echo "source /opt/ros/indigo/setup.bash" >> ~/.bashrc
sudo apt-get update

3.1.2 Install pr2/euslisp programs

sudo apt-get install ros-indigo-pr2eus

3.3 Running demo programs

3.3.1 Visualizinot pr2 robot

$ rosrun euscollada pr2.sh

3.3.2 For real PR2 users

After you set ROS_MASTER_URI and ROS_IP to your PR2 robot (or simulated PR2), try following command

$ roscd pr2eus
;; read joint state and display in euslisp viewer, print jacobian
$ roslaunch ./pr2-read-state.launch
;; sample program to show how to make pr2 posture from euslisp, THIS WILL MOVE REAL ROBOT, CAUTION!!!
$ roslaunch ./pr2-send-joints.launch

You can use our script to set ROS_MASTER_URI and ROS_IP

``` $ source rospack find jsk_tools/src/bashrc.ros

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Changelog for package jskeus

1.1.0 (2017-03-07)

• Add vector-variance and covariance-matrix (#418)
  • add documentation to vector-variance and covariance-matrix
  • add vector-variance and covariance-matrix
• [irteus.irtscene.l] add :remove-wall for scene-model (#417)
• [irteus/irtpointcloud.l] fix bug of :set-color. (#416)
• Adapt to moved formulae: homebrew/homebrew-x11 -> euslisp/homebrew-jskeus Fix #412
• irtgl.l/irtpointcloud.l: add :aarch64 (#410)
• Contributors: Kei Okada, Kentaro Wada, Masaki Murooka, Yohei Kakiuchi, Yuki Furuta

1.0.14 (2016-12-30)

• update bvh2eus (#400)
  • fix documentation of bvh2eus
  • support :objects keyword for bvh2eus
  • check if the robot has correspond joint
  • add copy-state-to to rikiya-bvh-model
  • add {rikiya/cmu/tmu}-bvh2eus
• add :makecurrent in :draw-on, this will fix https://github.com/euslisp/jskeus/issues/401 (#402 )
• irtrobot.l: :inverse-kinematics-loop-for-look-at : use joint-list from joint of link-liste (#408 )
• load lib/llib/time.l from .so object. Fix https://github.com/euslisp/jskeus/issues/292 (#409 )
• irtviewer.l: Add :makecurrent in :change-background. Fix https://github.com/euslisp/jskeus/issues/404 (#406 )
• Update kalmanlib (#396)
  • [irteus/kalmanlib.l] add kalmanlib sample of accelerated motion
  • [irteus/kalmanlib.l] allow larger dimension of H than A in kalman filter model
  • [irteus/kalmanlib.l] add controller term in model
• add circle.yaml : run make doc in circleci (#395)
• add test/queue.l for https://github.com/euslisp/EusLisp/pull/185 (#394 )
• Contributors: Ryo Koyama, Kei Okada, Shun Hasegawa

1.0.13 (2016-08-02)

• add linear/minjerk-interpolator https://github.com/euslisp/jskeus/pull/391
  • add linear/minjerk-interpolator
  • add irteus/test/interpolator.l
  • add doc for interpolators
• mathtest.l : fix wrongly comment out-ed at https://github.com/euslisp/jskeus/pull/364 (https://github.com/euslisp/jskeus/pull/390 )
• add test for eps>, eps<, eps>=, eps<= https://github.com/euslisp/jskeus/pull/385 (#385)
  • mathtest.l : fix wrongly comment out-ed at https://github.com/euslisp/jskeus/pull/364
  • mathtest.l : add test for eps<, eps>, eps<=, eps>=, see section 14 of the manual.pdf
  • mathtest.l : add test for eps= and eps<>
• Enable to set eps for orient-coords-to-axis https://github.com/euslisp/jskeus/pull/392
  • [irteus/irtgeo.l] Enable to set eps for orient-coords-to-axis (epsilon is used for acos and this is too big in terms of angle error).
• implement function for transpose image (https://github.com/euslisp/jskeus/pull/388 )
  • [irteus/irtglc.c,irtues/irtext.l,Makefile] add irtglc.c / implement function for transpose image (https://github.com/euslisp/jskeus/pull/388 )
  • [irteus/irtgl.l] add interface for transpose image function in irtglc.c; replace lisp code for transpose image with C code.
  • [irteus/test/rendering.l] add test for transpose
  • [irteus/test/pr2.png] add test image
• irtdyna.l : add condition whther parent is root-link or not in irtdyna.l, and add test for calculate torque when using with-append-root-joint in irteus/test/test-irt-motion.l https://github.com/euslisp/jskeus/pull/382
• irtdyna.l: set analysis level :coords in :calc-torque-from-vel-acc (irtdyna.l) https://github.com/euslisp/jskeus/pull/383
• [irteus/irtrobot.l] Add all-limbs as robot limb information to motion result from calc-walk-pattern (https://github.com/euslisp/jskeus/pull/379 )
• Calculate smooth swing foot rotation for walking motion (https://github.com/euslisp/jskeus/pull/378 )
  • [irtdyna.l] Enable to calculate ZMP from total force/moment when update is t in :calc-zmp
  • [demo/walk-motion.l] Reduce execution time for small robot walking sample by reducing footstep number

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