yarp-omega3

Simple YARP-enabled server for the Force Dimension Omega.3 device.

Supports Linux only at the moment.

Dependencies

Notes:

the SDK of the robot is automatically downloaded during the build process
libpthread and libusb, both required by the robot SDK, can be easily installed, e.g. in Ubuntu use
```
apt install libusb-1.0-0-dev libpthread-stubs0-dev
```

How to build

git clone https://github.com/robotology-playground/yarp-omega3
cd yarp-omega3
mkdir build
cd build
cmake -DCMAKE_INSTALL_PREFIX=<where_to_install> ../
make install

In order to use the device in user space, you need to import the provided udev rule, e.g. in /etc/udev/rules.d.

How to use

Run yarp-omega3-server and send RPC commands to /yarp-omega3-server/rpc:i.

please run the yarpserver if you did not already before running the yarp-omega3-server

Available commands are

help
set_force(f_x, f_y, f_z) (send a force reference)
set_position(x, y, z) (send a static position)
track_position(x, y, z) (send a position, to be used in streaming mode)
tracking_parameters(amax, vmax, jerk) (set motion parameters)
position_parameters(amax, vmax, jerk) (set motion parameters)
stop (completely disengange robot control)
quit (close the module)

The state of the robot is available in forms of a yarp::sig::Vector sent over the port /yarp-omega3-server/robot_state:o. It comprises 9 values (3D Cartesian position, 3D linear velocity and 3D exchanged force).

The aforementioned motion parameters are:

amax, the maximum linear acceleration;
vmax, the maximum linear velocity;
jerk, the maximum jerk.

Sample modules written in Python are available.

Note:

when connected to a usb hub it might be neccesary to reboot system to connect to the robot for the first use.
the module switches from position to force control depending on the input from the user. After calling tracking_parameters or position_parameters please call position or force control again. The server will not return in that state on its own.

Maintainers

This repository is maintained by:


	@xenvre