Motion planner

The motion planner package has three features.

• it can execute a infinite series of random motions which is useful when you want to create synthetic data.
• you can send motions to execute directly in memory.
• you can pass a motion file to be read and executed

When the package runs it subscribes to a topic: humanoid_X/execute_motion which inputs a stringified message of a dict (joint_name, value) or a filename.

Requirement: Running this command require you to run these nodes first:

replay_motion_namespace="humanoid_1"

./control.sh sim # run simulation
./control.sh humanoid # spawn humanoid
./control.sh humanoid_moveit # allow humanoid to run motions

file mode

You can replay each motion data file separately:

./control.sh execute_motion simulation/humanoid_motion_planner/motions/default_motion.json

If you don't have any motions available, there are ready ones inside the motions/ folder.

string mode

The easiest way to use it is in python using a dictionary, stringifying it with json, and then publishing it to the topic:

motion_dict = {JOINT_DATA}
json_str = json.dumps(motion_dict)
cmd = [
    "ros2",
    "topic",
    "pub",
    "--once",
    f"{humanoid_namespace}/execute_motion",
    "std_msgs/msg/String",
    f"{{data: '{json_str}'}}",
]
subprocess.run(cmd, check=True)

random mode

To send random motion to the humanoid use the command below

ros2 launch humanoid_motion_planner random_motion.launch.py run_random_generate:=true output_dir:=$1 "log_level:=${log_level}"

or alternatively:

./control.sh random_motion