Avatar Digital Twin Assembly
Was this helpful?
Was this helpful?
As mentioned in the Avatar Additional VR Functionalities, the Avatar system is designed with the principle of modularity: each of the following is treated as a separate robot,
Lifting Module and Pan Tilt mechanism (Torso Robot)
Left robotic arm (Left Robot)
Right robotic arm (Right Robot)
Mobile Base (Base Robot)
In order to create a digital twin representation of mechanically assembled Avatar v1 (following the instructions in Assembly Instructions), the following steps should be followed in AMAS VR app:
Using the steps in the Robokit Addition and Configuration, add the Base Robot using the rosPort defined in the delivery documentation.
Using the similar steps as above, add the Torso Robot using the rosPort defined in the delivery documentation.
Using the similar steps as above, add the Left Robot, Right Robot(rosPort information for each would be provided for the delivery documentation).
After adding all the Robot, in the active Robot panel, click on the link/attach button 🔗 which will appear for the Torso Robot.
The Avatar Torso Attachment panel opens once the attach/link button is clicked. Click the attach button and select the corresponding Robots for the arms and mobile base for the Avatar. For example, select 'Attach Mobile Base' and then select the corresponding base from the active Robot list. Then select 'Attach Left Arm' and select the left arm from the active Robot list. Repeat until all Robot devices are linked.
Once the configuration is completed, click save/save locally to save the configuration.
