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How run Teleoperation scenario?
With the Teleoperation module, you can run 4 different types of experiments based on your needs and technology you are using.
Important: When start running the experiment, the initial shape or configuration of the teleoperation user (the user head!, who wears the Oculus VR headset), is considered as the inertial frame of the user world. The image rotation and in teleoperation scenarios, this frame is used for computations. Therefore, stay in a proper pose at the beginning.
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Before running, follow the installation steps here, to ensure you are in the correct branch of this module and its dependencies.
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If you have installed correctly the module, you will see the following application files in the
yarpmanager-> Entities -> Applications
.
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ensure the Oculus is calibrated: follow steps mentioned here.
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ensure
yarprun
is running in theicub-virtualizer
laptop (Alienware laptop) inicub
user account.- to run
yarprun
in aliweware laptop, you need to dorun selected
it inyarpmanager -> cluster -> icub-virtualizer
- if the command above does not work,
yarp run --server /icub-virtualizer --log
inPowerShell
of Alienware laptop.
- to run
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ensure
yarprun
is running inicub-head
andicub30
as well, you can do it usingyarpmanger
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Application name: go to
iCubStartup_wbd
application, in the applications list.run following modules:
yarplogger icub30 -start -no_stop
yarprobotinterface icub-head -config icub_wbd.xml
yarpmotorgui icub30 -from homePoseBalancing.ini
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in a new terminal run following command:
yarp rpc /wholeBodyDynamics/rpc
and insertcalib all 300
to calibrate the FT sensors (at this step the robot feet are not on the floor, and the robot is kept by the crane). -
if you are using cyberith virtualizer treadmill, run
VirtualizerControlPanel.exe
application located inDocuments/icub_ws/Cyberith/cybSDK_tools_controlpanel_main
in alienware laptop. Rotate and move vertically the virtualizer before going inside in order to calibrate it. you can see the changes in the application if you connect. later unconnect and close this application.
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Application name: go to
DCM_walking_retargeting
application, in the applications list:-
run all
the modules listed in the application - the user should receive the image in oculus
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connect all
the ports
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use
z
of the Alienware keyboard to decrease the image size, and user
to refresh to image center, so that the user can see better. -
use the oculus joypad and press
A
button prepare the robot, so that the robot goes to its walking position. -
put the robot on the floor.
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use the oculus joypad and press
X
button start walking and start teleoperating the robot. -
use the left joypad joystick (directional pad) to control the robot walking.
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enjoy teleoperating the robot!
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Application name: go to
DCM_walking_retargeting_(Virtualizer)
application, in the applications list:-
run all
the modules listed in the application - the user should receive the image in oculus
-
connect all
the ports
-
-
use
z
of the Alienware keyboard to decrease the image size, and user
to refresh to image center, so that the user can see better. -
use the oculus joypad and press
A
button prepare the robot, so that the robot goes to its walking position. -
put the robot on the floor.
-
use the oculus joypad and press
X
button start walking and start teleoperating the robot. -
walk on the virtualizer to control the robot walking.
-
enjoy teleoperating the robot!
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Application name: go to
DCM_walking_retargeting_(Xsens)
application, in the applications list:-
run all
the modules listed in the application - the user should receive the image in oculus
-
connect all
the ports
-
-
use
z
of the Alienware keyboard to decrease the image size, and user
to refresh to image center, so that the user can see better. -
use the oculus joypad and press
A
button prepare the robot, so that the robot goes to its walking position. -
put the robot on the floor.
-
use the oculus joypad and press
X
button start walking and start teleoperating the robot. -
use the left joypad joystick (directional pad) to control the robot walking.
-
enjoy teleoperating the robot!
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Application name: go to
DCM_walking_retargeting_(Virtualizer_Xsens)
application, in the applications list:-
run all
the modules listed in the application - the user should receive the image in oculus
-
connect all
the ports
-
-
use
z
of the Alienware keyboard to decrease the image size, and user
to refresh to image center, so that the user can see better. -
use the oculus joypad and press
A
button prepare the robot, so that the robot goes to its walking position. -
put the robot on the floor.
-
use the oculus joypad and press
X
button start walking and start teleoperating the robot. -
walk on the virtualizer to control the robot walking.
-
enjoy teleoperating the robot!