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How-to-run-iCub-as-wearable-source.md

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How to run iCub as Wearable Device

This page describes how to run the iCub humanoid robot as a wearable device source, by exposing its sensors measurement and joints state.

The configuration file to run iCub as wearable device is ICubWearableDevice.xml, and it can be launched with:

yarprobotinterface --config ICubWearableDevice.xml

Before running

Before running the device make sure that:

  • yarpserver is running
  • The YARP_ROBOT_NAME is set to the proper robot name.
  • The robot is currently running (either Gazebo simulator or real robot making sure it is runned with the proper configuration for whole-body-dynamics)
  • If the robot is running in simulation, the whole-body-dynamics estimatior has to be launched 
    yarprobotinterface --config launch-wholebodydynamics.xml
    When the real robot is running, whole-body-dynamics estimatior should be running if the robot is launched with the proper configuration. To verify if the estimator is running, you can check whether data are streamed for the end-effectors to be used as sensors (e.g. /wholeBodyDynamics/right_arm/endEffectorWrench:o).
  • In the configuration file, the following parameters are set properly:
    • ft-sensors: wrenche measurements that have to be exposed as wearable data. Those measurements should be provided by whole-body-dynamics estimator, or directly from sensors measurement.
    • joint-sensors: joints for which the state has to be exposed as wearable data.

Calibration

The estimated wrench data computed by whole-body-dynamics may be characterized by an offset due to ft sensors meaasurement. If using the real-robot, the following command can be sent to remove the offset (while the robot is lifted from the ground):

yarp rpc /wholeBodyDynamics/rpc
calib all 300

If instead simulated robot is used, the command is the following (while the robot is on the ground):

yarp rpc /wholeBodyDynamics/rpc
resetOffset all 300

Data

If the device is running correctly, the stream of wearable data can be read with:

/ICub/WearableData/data:o