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How to run Whole-Body Geometric Retargeting

This page describes how to run the geometric retargeting of human motion into a robot model, using kinematic sensors.

The configuration file to run the Whole-Body Retargeting for iCub2.5 robot is RobotStateProvider_iCub2_5.xml, and it can be launched with:

yarprobotinterface --config RobotStateProvider_iCub2_5.xml

Before running

Before running the device make sure that:

  • yarpserver is running
  • TransformServer is running. In order to run it 
    yarprobotinterface --config TransformServer.xml
  • In the RobotStateProvider configuration file (the example file is given for iCub2.5 robot), the following parameters are set propery:
    • wearableDataPorts: Is the name of the port streaming the required wearable data
    • urdf: Name of the urdf file corresponding to the robot
    • MODEL_TO_DATA_LINK_NAMES: describes the map between model frame names and wearable kineamtic data with the following format 
      <param name="ENTRY_NAME">(MODEL_FRAME_NAME, WEARABLE_SENSOR_NAME)</param>
  • CUSTOM_CONSTRAINTS are set for the robot if required.
  • The following wearable data sources are available:

Calibration

For kinematic calibration, please refere to Inverse Kinematics Calibration.

Output

If the device is running correctly, the terminal will show the frequency at which the dynamical inverse kinematics step is running. The computed model configuration is accessible reading the following port:

yarp read ... /iCub/RobotStateServer/state:o

Visualization

Two visualizer are currently supported.

Human State Visualizer

The human state visualizer is an application based on iDynTree visualizer.

In order to run the visualization:

  • Set the correct subject urdf model in the configuration file
  • Run the following commnad 
    HumanStateVisualizer --from HumanStateVisualizer_iCub2_5.ini
retargeting-icub.mov

RViz Visualizer

Data can be visualized on rviz trough the following steps:

  • Launch yarpserver with ros with the following two commands 
    roscore
    yarpserver --ros
  • Launch the wearable sources and inverse kinematics as described above
  • Launch the yarprobotstatepublisher with the following options 
    yarprobotstatepublisher --period 0.0001 --name-prefix iCub --tf-prefix /iCub/ --model teleoperation_iCub_model_V_2_5.urdf --reduced-model true --base-frame root_link_fake --jointstates-topic "/iCub/joint_states"
  • Set the correct subject urdf model in the rivz configuration file
  • Run rviz with the following commands 
    roslaunch HDERviz iCubRviz.launch

Robot Control

It is possible to direcly control the robot position with the computed configuration. In order to do so:

  • make sure that the robot is running withing the same yarp network, exposing remoteControlBoard
  • Set the correct port/joint names in the configuration file
  • Run the RobotPositionController with the following command 
    yarprobotinterface --config RobotPositionController_iCub.xml

Reference

Whole-Body Geometric Retargeting for Humanoid Robots.
Darvish, K., Tirupachuri, Y., Romualdi, G., Rapetti, L., Ferigo, D., Chavez, F. J. A., Pucci, D.
IEEE-RAS 19th International Conference on Humanoid Robots (Humanoids) (pp. 679-686), 2019, doi:
10.1109/Humanoids43949.2019.9035059
https://ieeexplore.ieee.org/abstract/document/9035059

The bibtex code for including this citation is provided:

@inproceedings{darvish2019whole,
  title={Whole-body geometric retargeting for humanoid robots},
  author={Darvish, Kourosh and Tirupachuri, Yeshasvi and Romualdi, Giulio and Rapetti, Lorenzo and Ferigo, Diego and Chavez, Francisco Javier Andrade and Pucci, Daniele},
  booktitle={2019 IEEE-RAS 19th International Conference on Humanoid Robots (Humanoids)},
  pages={679--686},
  year={2019},
  organization={IEEE}
}