Skip to content

Latest commit

 

History

History

examples

Folders and files

NameName
Last commit message
Last commit date

parent directory

..
teleop-icub
teleop-icub
 
 
README.md
README.md
 
 

README.md

Examples of YARP Client plugins

iCub Teleoperation with Geomagic Haptic Device

Building

Cmake the teleop-icub project.

Prerequisities
  • Geomagic YARP Device Wrapper is running.
  • icub/icubSim is running with the Cartesian Controllers available.
  • Gaze Controller is running too, but that's optional.
Command-line Options
  • name "port-stem-name": a string specifying the ports stem-name (teleop-icub by default).
  • geomagic port-stem-name: a string specifying the remote driver to connect to.
  • robot name: a string specifying the robot name (icub by default).
  • part part: a string specifying the robot part to teleoperate (right_arm by default).
  • simulator sw: a string on/off to display the target within the simulator (off by default).
  • gaze sw: a string on/off to control the gaze as well (off by default).
  • torso sw: a string on/off to enable/disable the control of the torso during the teleoperation (on by default).
  • Tp2p time: a number (double) accounting for point-to-point trajectory time expressed in seconds (1.0 s by default). Decrease it to go faster.
  • min-force-feedback val: a number (double) accounting for the minimum force that can be transmitted as a feedback to the device (3.0 N by default).
  • max-force-feedback val: a number (double) accounting for the maximum force that can be transmitted as a feedback to the device (15.0 N by default).

The port /teleop-icub/force-feedback:i does accept three numbers to implement the 3D force feedback on the tip of the device.

How to Teleoperate the icub/icubSim

The first button is the greyest.

  • By pressing the first button once, you will switch the control mode: from "xyz" (position only) to "full" (position+orientation).
  • By pressing the second button once, you will select whether to open or to close the hand.
  • By keeping the first button pressed, you will move/rotate the robot hand with respect to the present pose.
  • By keeping the second button pressed, you will open/close the robot hand.
  • As soon as you release any button, the ongoing teleoperation gets stopped.
Video

For a video on the iCub teleoperation, click on the image below (you will be redirected to a youtube video):

iCub Teleoperation