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