After I’ve installed the YARP, iCub and iCub simulator I read 2 presentations that helped me to better understand how to control the robot via YARP.

In the configuration file which is located at $ICUB_ROOT/app/simConfig/conf is set which parts of the body listen on the RPC port so you can connect to them via YARP.

I played with the robot for a while. I connected to one camera (there 2 cameras placed in each eye of the robot) and look on the video in the yarpview application. Then I connected to one of his arms and played with all 16 DoF.

The whole procedure looks as follows:

  1. Start the YARP server in terminal #1: yarp server
  2. Start the iCub simulator in terminal #2: iCub_SIM [name of the app or empty]
  3. Connect to the right arm in terminal #3: yarp rpc /icubSim/right_arm/rpc:i
  4. Write commands in terminal #3 to control the robot arm
    1. Set velocity for particular joint(DoF):
      set vel [indexofDOF] [speed] (e.g. set vel 0 20)
    2. Set position of particular joint(DoF):
      set pos [indexofDOF] [angle] (e.g. set pos 0 –45)

Results after a few commands with the right arm.

iCub: Peace gesture

iCub: Playing with objects

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104 Responses to Controlling the iCub

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