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:
- Start the YARP server in terminal #1: yarp server
- Start the iCub simulator in terminal #2: iCub_SIM [name of the app or empty]
- Connect to the right arm in terminal #3: yarp rpc /icubSim/right_arm/rpc:i
- Write commands in terminal #3 to control the robot arm
- Set velocity for particular joint(DoF):
set vel [indexofDOF] [speed] (e.g. set vel 0 20) - Set position of particular joint(DoF):
set pos [indexofDOF] [angle] (e.g. set pos 0 –45)
- Set velocity for particular joint(DoF):
Results after a few commands with the right arm.
iCub: Peace gesture
iCub: Playing with objects
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About
Master thesis of Lukáš Zdechovan,
Lukáš Zdechovan (Author)
a master degree student of Applied Informatics at Comenius University. Thesis is lead by docent Igor Farkaš.
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