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usage.md

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Usage Instructions

⚠️ Each of the steps from 1 to 6 require a dedicated terminal

Please refer to the Installation document to setup the system to run the codebase with the dataset.

  1. Run the ROS server:
roscore
  1. Run the YARP server:
yarpserver --ros --write
  1. Open the dataset: a. Extract the dataset zip file to an accesible location b. Launch yarpdataplayer 
    yarpdataplayer --withExtraTimeCol 2

c. File->"Open Directory" -> open the directory extracted from the dataset zip file

  1. Goto options and select loop option, and play the dataset by pressing ▶️ on yarpdataplayer. This runs the dataset in a loop.

  2. Launch the Human Dynamics Estimation:

yarprobotinterface --config Human_AMTI.xml
  1. Run the state publisher:
yarprobotstatepublisher --period 0.0001 --name-prefix Human --tf-prefix /Human/ --model humanSubject02_66dof.urdf --reduced-model true --base-frame Pelvis --jointstates-topic "/Human/joint_states"
  1. Launch RVIZ with the HDE configuration:
roslaunch HDERviz HDERviz.launch
  1. Remove the wrench offset through /HumanDynamicsEstimator/rpc:i rpc port
yarp rpc /HumanDynamicsEstimator/rpc:i
removeWrenchOffset

⚠️ The offset removals is to be done at the start of the dataset, where the human subject is in neutral npose without any load in the hand. The offset removal process removes the wrench that corresponds to the difference between the mass of the actual subject and the mass of the subject in the model. The offset removal process results in zeroing the estimated object mass. Furthermore, if you do not see the arrow at the hand, click on the RightHand_EstimatedExtWrenches and increase the Force Arrow Scale value.