Quick Setup

Quick Setup

This chapter helps you complete the system's basic connections and configuration so that you can quickly bring up real-time communication for coordinated motion control of the mobile manipulation kit. A controller provides limited control input and cannot control every finger joint independently, so glove control is more flexible. Because the glove must be used with the wrist tracker, Configuration 1 is recommended and is used throughout this chapter. (Guidance is provided in both the configuration files and the software???)

End effector: dexterous hand

Configuration/Component	VR	Glove	Controllers ×2	Wrist Tracker	Functional Roles
Configuration 1	[Check mark]	[Check mark]	[Check mark] (×1)	[Check mark]	Wrist tracker: Provides robotic-arm end-effector pose information Glove: Remotely controls the dexterous hand Controller #1: Starts/stops the task and moves the GO2
Configuration 2	[Check mark]		[Check mark] (×2)	[Check mark]	Wrist tracker: Provides robotic-arm end-effector pose information Controller #1: Starts/stops control and moves the GO2 Controller #2: Controls the dexterous hand
Configuration 3	[Check mark]		[Check mark] (×2)		Controller #1 or #2: Provides robotic-arm end-effector pose information (see the configuration-file instructions) Controller #1: Starts/stops control and moves the GO2 Controller #2: Controls the dexterous hand