This tutorial covers various teloperation methods for use in the HAPTIX simulation environment. The hardware devices supported include:
Keyboard: Control the arm position and joints using a set of keys
Spacenav: Control arm position using a 3D mouse
Razer hydra: Control arm position and grasps using a 3D gaming joystick.
For each of the following sections, use the following command to start simulation:
A set of keys, as shown in the above figure, are mapped to arm and hand control.
Press and hold a number key, between one and three to close the hand using:
To release the hand incrementally, press and hold
SHIFT and the number key for that grasp.
Use the WASDQE keys to move the position of the arm in a 2D plane. The plane is defined by the local coordinate frame of the arm. This means the hand will "fly" like a plane, and is most noticable if you change the arm's orientation.
Use SHIFT + WASDQE keys to change the orientation of the arm. This will affect the plane along which the hand will move when changing its position.
Use ZXC keys to control the wrist joint.
The GUI on the left side of the HAPTIX simulator has some options for controlling keyboard teleop.
If the "Local frame" checkbox is checked, keyboard teleop will move the arm in the arm's local axes, which change as the arm rotates. If "Local frame" is unchecked, the keys will always move the arm in the same "global" coordinate system.
The slider next to "Arm move speed" controls the speed of the arm under keyboard teleop.
These options are only relevant for keyboard teleop control. They do not affect motion capture teleoperation or Spacenav.
Ctrl+R to reset the arm position, viewpoint and the objects in the scene.
By default, the spacenav mouse controls the position and orientation of the viewpoint. Press the button the left side of the mouse to change control to the arm. Once in this mode, the mouse will change the position and orientation of the arm.
If the Spacenav is not working, try running:
You could also try
sudo service spacenavd restart sudo spacenavd
Please follow the hydra installation instructions.
Once installed, the right paddle will perform the following actions:
n on the keyboard: Enable/disable hydra control.
Once enabled, move paddle to change arm position and orientation.
Button 1: Deadman switch for grasping with Trigger.
Trigger: While holding down Button 1, the Trigger closes and opens the grasp.