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updates for HARMONIOUS paper (#37)
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@rozliv
rozliv authored Nov 29, 2024
1 parent b302856 commit d3cf976
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Showing 18 changed files with 1,023 additions and 406 deletions.
2 changes: 2 additions & 0 deletions .gitignore
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Expand Up @@ -3,3 +3,5 @@ build
*~
*kdev*
app/scripts/playground
.idea
cmake-build*
12 changes: 9 additions & 3 deletions CMakeLists.txt
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Expand Up @@ -10,12 +10,18 @@ endif(COMMAND cmake_policy)

project(PPS)

find_package(ICUBcontrib)
find_package(YARP 3.3.0 REQUIRED COMPONENTS os dev sig math cv gsl idl_tools)
set(CMAKE_CXX_EXTENSIONS OFF)
set(CMAKE_CXX_STANDARD 11)
set(CMAKE_CXX_STANDARD_REQUIRED 11)

find_package(YARP)
find_package(ICUB)
find_package(ICUBcontrib)


list(APPEND CMAKE_MODULE_PATH ${ICUB_MODULE_PATH})
list(APPEND CMAKE_MODULE_PATH ${ICUBCONTRIB_MODULE_PATH})
set(CMAKE_INSTALL_PREFIX ${ICUBCONTRIB_INSTALL_PREFIX})
include(ICUBcontribHelpers)
include(ICUBcontribOptions)
icubcontrib_set_default_prefix()
Expand All @@ -29,6 +35,6 @@ add_subdirectory(modules)
## then apps
add_subdirectory(app)

icubcontrib_finalize_export(periPersonalSpace)
#icubcontrib_finalize_export(periPersonalSpace)
icubcontrib_add_uninstall_target()

190 changes: 184 additions & 6 deletions app/conf/taxelsFiles/taxels1D_45cmRF_skinV2_perfect_all.ini
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14 changes: 7 additions & 7 deletions app/scripts/ppsAndReactControl_icub_redBall.xml
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Expand Up @@ -7,45 +7,45 @@
<module>
<name>reactController</name>
<parameters>--referenceGen minJerk --additionalControlPoints off --stiff off</parameters>
<node>icub22</node>
<node>localhost</node>
<stdio></stdio>
<tag>reactController</tag>
</module>

<module>
<name>skinEventsAggregator</name>
<parameters>general::robot icub</parameters>
<node>icub21</node>
<node>localhost</node>
<stdio></stdio>
<tag>skinEventsAggreg</tag>
</module>

<module>
<name>ppsAggregEventsForiCubGui</name>
<parameters></parameters>
<node>icub21</node>
<node>localhost</node>
<stdio></stdio>
<tag>aggregEvForiCubGui</tag>
</module>

<module>
<name>pf3dTracker</name>
<!-- <parameters>--from fluoBall.ini</parameters>-->
<node>icub21</node>
<node>localhost</node>
<tag>PF3DTracker</tag>
</module>

<module>
<name>visuoTactileWrapper</name>
<parameters>--noDoubleTouch</parameters>
<node>icub21</node>
<node>localhost</node>
<stdio></stdio>
</module>

<module>
<name>visuoTactileRF</name>
<parameters>--taxelsFile taxelsFiles/taxels1D_45cmRF_skinV2_perfect_all.ini --rate 20</parameters>
<node>icub21</node>
<node>localhost</node>
<stdio></stdio>
</module>

Expand All @@ -54,7 +54,7 @@
<name>yarpview</name>
<!-- <parameters>--name /PF3DT_viewer --RefreshTime 33 --x 2000 --y 750 --w 320 --h 260 --compact</parameters>-->
<parameters>--name /PF3DT_viewer --p 20 --x 950 --y 360 --w 320 --h 260 --compact</parameters>
<node>icub22</node>
<node>localhost</node>
<tag>PF3DTracker_viewer</tag>
</module>

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207 changes: 207 additions & 0 deletions app/scripts/ppsAndReactControl_icub_redBall_new.xml
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@@ -0,0 +1,207 @@
<application>
<name>PPS_and_reactCtrl_with_redBall_new</name>

<dependencies>
</dependencies>

<module>
<name>skinEventsAggregator</name>
<parameters>general::robot icub</parameters>
<node>localhost</node>
<stdio></stdio>
<tag>skinEventsAggreg</tag>
</module>

<module>
<name>ppsAggregEventsForiCubGui</name>
<parameters></parameters>
<node>localhost</node>
<stdio></stdio>
<tag>aggregEvForiCubGui</tag>
</module>


<module>
<name>visuoTactileWrapper</name>
<parameters>--noDoubleTouch</parameters>
<node>localhost</node>
<stdio></stdio>
</module>

<module>
<name>visuoTactileRF</name>
<parameters>--taxelsFile taxelsFiles/taxels1D_45cmRF_skinV2_perfect_all.ini --rate 20</parameters>
<node>localhost</node>
<stdio></stdio>
</module>

<module>
<name>yarpdatadumper</name>
<parameters>--name /data/reactCtrl --txTime --rxTime</parameters>
<node>localhost</node>
<stdio></stdio>
<tag>dataDumperReactCtrl</tag>
</module>


<module>
<name>yarpdatadumper</name>
<parameters>--name /data/obsdata --txTime --rxTime</parameters>
<node>localhost</node>
<stdio></stdio>
<tag>dataDumperReactCtrlObs</tag>
</module>



<!--module>
<name></name>
<parameters></parameters>
<node>localhost</node>
<stdio></stdio>
<tag></tag>
</module-->

<connection>
<from>/reactController/data:o</from>
<to>/data/reactCtrl</to>
<protocol>udp</protocol>
</connection>

<connection>
<from>/reactController/obsdata:o</from>
<to>/data/obsdata</to>
<protocol>udp</protocol>
</connection>

<connection>
<from>/reactController/gui:o</from>
<to>/iCubGui/objects</to>
<protocol>udp</protocol>
</connection>

<connection>
<from>/reactController/prox_gui:o</from>
<to>/iCubGui/forces</to>
<protocol>udp</protocol>
</connection>

<connection>
<from>/skinManager/skin_events:o</from>
<to>/skinEventsAggregator/skin_events:i</to>
<protocol>udp</protocol>
</connection>

<connection>
<from>/skinEventsAggregator/skin_events_aggreg:o</from>
<to>/reactController/skin_events_aggreg:i</to>
<protocol>udp</protocol>
</connection>

<connection>
<from>/visuoTactileRF/pps_events_aggreg:o</from>
<to>/reactController/pps_events_aggreg:i</to>
<protocol>udp</protocol>
</connection>


<connection>
<from>/skinEventsAggregator/skin_events_aggreg:o</from>
<to>/ppsAggregEventsForiCubGui/skin_events_aggreg:i</to>
<protocol>udp</protocol>
</connection>

<connection>
<from>/visuoTactileRF/pps_events_aggreg:o</from>
<to>/ppsAggregEventsForiCubGui/pps_events_aggreg:i</to>
<protocol>udp</protocol>
</connection>

<connection>
<from>/ppsAggregEventsForiCubGui/contacts:o</from>
<to>/iCubGui/forces</to>
<protocol>udp</protocol>
</connection>

<connection>
<from>/skinManager/skin_events:o</from>
<to>/visuoTactileRF/skin_events:i</to>
<protocol>tcp</protocol>
</connection>
<connection>
<from>/icub/camcalib/left/out</from>
<to>/pf3dTracker/video:i</to>
<protocol>tcp</protocol>
</connection>
<connection>
<from>/pf3dTracker/video:o</from>
<to>/PF3DT_viewer</to>
<protocol>tcp</protocol>
</connection>
<connection>
<from>/pf3dTracker/data:o</from>
<to>/visuoTactileWrapper/pf3dTracker:i</to>
<protocol>tcp</protocol>
</connection>

<connection>
<from>/visuoTactileWrapper/gui:o</from>
<to>/iCubGui/objects</to>
<protocol>tcp</protocol>
</connection>

<connection>
<from>/icub/camcalib/left/out</from>
<to>/visuoTactileRF/imageL:i</to>
<protocol>udp</protocol>
</connection>
<connection>
<from>/icub/camcalib/right/out</from>
<to>/visuoTactileRF/imageR:i</to>
<protocol>udp</protocol>
</connection>

<connection>
<from>/visuoTactileWrapper/events:o</from>
<to>/visuoTactileRF/events:i</to>
<protocol>tcp</protocol>
</connection>

<connection>
<from>/visuoTactileRF/skinGuiForearmL:o</from>
<to>/skinGui/left_forearm_virtual:i</to>
<protocol>tcp</protocol>
</connection>
<connection>
<from>/visuoTactileRF/skinGuiForearmR:o</from>
<to>/skinGui/right_forearm_virtual:i</to>
<protocol>tcp</protocol>
</connection>
<connection>
<from>/visuoTactileRF/skinGuiHandL:o</from>
<to>/skinGui/left_hand_virtual:i</to>
<protocol>tcp</protocol>
</connection>
<connection>
<from>/visuoTactileRF/skinGuiHandR:o</from>
<to>/skinGui/right_hand_virtual:i</to>
<protocol>tcp</protocol>
</connection>

<connection>
<from>/visuoTactileRF/skinGuiUpperarmL:o</from>
<to>/skinGui/left_arm_virtual:i</to>
<protocol>tcp</protocol>
</connection>
<connection>
<from>/visuoTactileRF/skinGuiUpperarmR:o</from>
<to>/skinGui/right_arm_virtual:i</to>
<protocol>tcp</protocol>
</connection>
<connection>
<from>/visuoTactileRF/skinGuiTorso:o</from>
<to>/skinGui/torso_virtual:i</to>
<protocol>tcp</protocol>
</connection>

</application>
4 changes: 2 additions & 2 deletions lib/src/taxelPWE.cpp
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Expand Up @@ -5,8 +5,8 @@ using namespace yarp::os;
using namespace yarp::sig;
using namespace std;

#define TAXEL_RF_ANGLE_DEG 50.0
#define DESIRED_RADIUS_XY_AT_RF_APEX 0.07 // meters; we don't want the RF spherical sector to start at the apex,
#define TAXEL_RF_ANGLE_DEG 70.0
#define DESIRED_RADIUS_XY_AT_RF_APEX 0.17 // meters; we don't want the RF spherical sector to start at the apex,
//but we want to truncate it such that it starts at the height with this radius;

/****************************************************************/
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2 changes: 1 addition & 1 deletion modules/fingertipTracker/CMakeLists.txt
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Expand Up @@ -15,7 +15,7 @@ source_group("Header Files" FILES ${header})

add_executable(fingertipTracker ${source} ${header} )

target_link_libraries(fingertipTracker periPersonalSpace ${YARP_LIBRARIES} ${OpenCV_LIBS})
target_link_libraries(fingertipTracker periPersonalSpace ${YARP_LIBRARIES} ${OpenCV_LIBRARIES})

install(TARGETS fingertipTracker DESTINATION bin)

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