First Person View Mode

Functionality to move to the first person view (Embody Mode) mode of the Tiago.

After adding the Robokit and Sensekit (and performing the calibration process) as described in the section, Mobile Base, Arm and Torso Control and 3D Sensor, the user can enter the first person view mode.

To enter the first person view mode, follow the following steps,

1. On the Wrist Panel go to the Interaction Tab.

2. In the Interaction Tab click on the reset view button.

Tiago First Person Mode.

After clicking the reset view button the user will be teleported to the head of the Tiago and will be able to see from first person view.

While in the first person view the motion of the user head is mapped to the motion of the Tiago Head, an additional functionality provided by the Tiago to move the camera around enhancing the user perception.

The head on the Tiago has 2 DoF and can rotate towards up, down, left and right.

Note :

The motion of the head can also be controlled while in 3D person view by moving the users hand into 1 on the targets shown in the picture below.

Tiago Head control points while in 3rd Person Mode.

To control the head in the 3rd Person mode, move your hand into one of the targets and then using the joystick on the Right hand Controller the head could be moved around

• Forward on the joystick will make the head to start looking up.

• Backward on the joystick will make the head to start looking down.

• Right on the joystick will make the head to start looking right.

• Left on the joystick will make the head to start looking left.

Example of First Person View