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slides/main.typ
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slides/main.typ
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== `unitree_mujoco`
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#centered(scale(70%, reflow: true, diagram({
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node(name: <sdk>, (0, 0))[SDK]
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node(enclose: ((1, 1), (-1, 1)), stroke: blue, inset: 10pt, snap: false, text(
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fill: blue,
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)[Canaux \ DDS])
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node(name: <lowcmd>, (1, 1))[`rt/lowcmd`]
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node(name: <lowstate>, (-1, 1))[`rt/lowstate`]
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node(
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name: <bridge>,
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enclose: ((1, 2), (-1, 2)),
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stroke: black,
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inset: 10pt,
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)[Bridge]
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node(name: <mujoco>, (0, 3))[Mujoco]
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edge(<sdk>, <lowcmd>, "->", bend: 30deg)[pub]
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edge(<lowcmd>, (1, 2), "-->", bend: 20deg)[via sub]
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edge((1, 2), <mujoco>, "->", bend: 20deg, `data->ctrl[i] = ...`)
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edge(<sdk>, <lowstate>, "<--", bend: -30deg)[via sub]
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edge(<lowstate>, (-1, 2), "<-", bend: -20deg)[pub]
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edge((-1, 2), <mujoco>, "<-", bend: -20deg, `... = data->sensordata[i]`)
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edge(
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<mujoco>,
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<mujoco>,
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"->",
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bend: 130deg,
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loop-angle: -90deg,
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`mj_step(model, data)`,
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)
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})))
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#title-slide[
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== Développement de _gz-unitree_
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Un bridge pour Gazebo
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#pagebreak()
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#centered(scale(75%, reflow: true, ```cpp
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#include <gz/sim/System.hh>
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namespace gz_unitree
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{
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class UnitreePlugin :
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public gz::sim::System,
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public gz::sim::ISystemPreUpdate
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{
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public:
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UnitreePlugin();
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public:
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~UnitreePlugin() override;
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public:
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void PreUpdate(const gz::sim::UpdateInfo &_info,
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gz::sim::EntityComponentManager &ecm) override;
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};
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}
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```))
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#pagebreak()
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#centered(scale(75%, reflow: true, grid(
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columns: 2,
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gutter: 2em,
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```cpp
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#include <gz/plugin/Register.hh>
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... // class implementation
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GZ_ADD_PLUGIN(
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UnitreePlugin,
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gz::sim::System,
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UnitreePlugin::ISystemPreUpdate)
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```,
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zebraw(
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numbering: false,
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highlight-lines: (..range(3, 5),),
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```xml
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<sdf version='1.11'>
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<world name="default">
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<plugin filename="gz-unitree" name="gz_unitree::UnitreePlugin">
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</plugin>
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</world>
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<model name='h1_description'>
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<link name='pelvis'>
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<inertial>
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...
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```,
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),
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)))
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#pagebreak()
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#let legend = (
···
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#let policy-edge = (..args) => colored-edge(fuchsia, ..args)
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#centered-slide(scale(56%, reflow: true, architecture(
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show-legend: false,
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pauses: true,
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edge(
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<configure>,
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"u",
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<channelfactory>,
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"->",
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label-side: left,
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label-pos: 50%,
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)[appelle],
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pause,
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edge(<configure>, "d,d,d,r", <gzclock>, "->", label-pos: 85%)[démarre],
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pause,
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edge(
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<configure>,
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"d,d",
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(0, 3.75),
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"r,r",
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<gzimu>,
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"->",
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label-pos: 75%,
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)[démarre],
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pause,
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edge(<channelfactory>, "->", <publisher>)[initialise],
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edge(<channelfactory>, "->", <subscriber>)[initialise],
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edge(<publisher>, "<->", <lowstate>)[`std::bind`],
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edge(<subscriber>, "<->", <lowcmd>)[`std::bind`],
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)))
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#centered-slide(scale(56%, reflow: true, architecture(
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show-legend: true,
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pauses: false,
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pause,
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pauses: true,
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// Simulation loop
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sim-edge(