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How run Teleoperation scenario?

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Kourosh Darvish edited this page Jun 10, 2019 · 5 revisions

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.

  • Before running, follow the installation steps here, to ensure you are in the correct branch of this module and its dependencies.

  • If you have installed correctly the module, you will see the following application files in the yarpmanager-> Entities -> Applications.

Important: Update the scaling Factor and install again the module if it was not updated. Scaling factor provides the ratio between the teleoperation user and robot arm length: $$ ScalingFactor=\frac{robotArmLength}{humanArmLength} $$ You should update it for both left arm and right arm. You can find them in /app/robots/iCubGenova04/leftHandRetargetingParams.ini and /app/robots/iCubGenova04/rightHandRetargetingParams.ini

pre-steps

  • ensure the Oculus is calibrated: follow steps mentioned here.

  • ensure yarprun is running in the icub-virtualizer laptop (Alienware laptop) in icub user account.

    • to run yarprun in aliweware laptop, you need to do run selected it in yarpmanager -> cluster -> icub-virtualizer
    • if the command above does not work, yarp run --server /icub-virtualizer --login PowerShell of Alienware laptop.

  • ensure yarprun is running in icub-head and icub30 as well, you can do it using yarpmanger.

  • 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

  • in a new terminal run following command:yarp rpc /wholeBodyDynamics/rpc and insert calib 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 in Documents/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.

Scenario Steps

1. Joypad + Occulus

  1. 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
    • connect all the ports

  2. use z of the Alienware keyboard to decrease the image size, and use r to refresh to image center, so that the user can see better.

  3. use the oculus joypad and press A button prepare the robot, so that the robot goes to its walking position.

  4. put the robot on the floor.

  5. use the oculus joypad and press X button start walking and start teleoperating the robot.

  6. use the left joypad joystick (directional pad) to control the robot walking.

  7. enjoy teleoperating the robot!

2. Occulus + Virtualizer

  1. 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

  2. use z of the Alienware keyboard to decrease the image size, and use r to refresh to image center, so that the user can see better.

  3. use the oculus joypad and press A button prepare the robot, so that the robot goes to its walking position.

  4. put the robot on the floor.

  5. use the oculus joypad and press X button start walking and start teleoperating the robot.

  6. walk on the virtualizer to control the robot walking.

  7. enjoy teleoperating the robot!

3. xsense + Occulus

  1. 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

  2. use z of the Alienware keyboard to decrease the image size, and use r to refresh to image center, so that the user can see better.

  3. use the oculus joypad and press A button prepare the robot, so that the robot goes to its walking position.

  4. put the robot on the floor.

  5. use the oculus joypad and press X button start walking and start teleoperating the robot.

  6. use the left joypad joystick (directional pad) to control the robot walking.

  7. enjoy teleoperating the robot!

4. xsense + Occulus + Virtualizer

  1. 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

  2. use z of the Alienware keyboard to decrease the image size, and use r to refresh to image center, so that the user can see better.

  3. use the oculus joypad and press A button prepare the robot, so that the robot goes to its walking position.

  4. put the robot on the floor.

  5. use the oculus joypad and press X button start walking and start teleoperating the robot.

  6. walk on the virtualizer to control the robot walking.

  7. enjoy teleoperating the robot!

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