icub-bimanual

Control classes for 2-handed control of the iCub robot

Prerequisites

This repository utilizes:

• Eigen,
• Robotology Superbuild,
• iCub Models, and
• Gazebo for simulation.

Follow the links to install each of these.

Installation

1. Clone the repository to your workspace:

git clone https://github.com/Woolfrey/icub-bimanual.git

2. Navigate to the directory:

cd icub-bimanual/

3. Create a new build directory and navigate to it:

mkdir build && cd build

4. Then build the repository:

cmake ../ && make

Running a demo in Gazebo

1. Open a new terminal in Ubuntu with ctrl + alt + t and start the YARP server:

yarpserver

If this fails to launch, try using:

yarpserver --write

2. Open another terminal and run:

gazebo ~/your_workspace_directory/icub-bimanual/gazebo/words/grasp-demo.sdf

A model of the iCub2 should launch in Gazebo.

3. In a third terminal, navigate to ~/icub-bimanual/build and run:

./bin//grasp-demo ~/directory/to/urdf

If you have installed the icub-models repository, then you can use:

./bin/grasp-demo ~/your_workspace_directory/icub-models/iCub/robots/iCubGazeboV2_7/model.urdf

If successful, then a yarp port /command should be open for communication.

4. In a fourth terminal, run:

yarp rpc /command

You can now type commands for the robot to execute.

List of Commands

In the terminal where you can yarp rpc /command, you can type the following:

• stop: stops any current action so that the robot holds its current joint configuration
• home: lowers the arms to a resting configuration
• wave: makes the robot wave with its right hand,
• shake: makes the robot extend its right hand,
• ready: moves the arms to a position ready for grasping
• grasp: moves the hands together in a grasp pose
• release: moves the hands apart and back to the home positionm
• in: moves the hands from their current positionsinward
• out: moves the hands from their current position outward
• up: moves the hands from their current position upward
• down: moves the hands from their current position downward
• fore: moves the hands from their current position forward
• aft: moves the hands from their current positions backward