Add configuration file for XPRIZE demo Feb 2021 (#47)

* First test with iCubGenova09

* Add the xprizeDemo.xml application

* add configuration files for iCubGenova09

* Some fixes after testing on the robot.

* Using 1 channel for the microphone of the operator.

This allows using the microphone in the oculus rift.

* Added visualizer to the xprize demo.

* Add stop walking option in the oculus module

* Tune oculus camera paramters

* Tune scale_X and scale_Y in virtualizer module

* fixes on yarpmanager application to run first xprize video (Feb 2nd)

* Apply suggestions from code review

Co-authored-by: Stefano Dafarra <[email protected]>

* Update leftHandRetargetingParams.ini

* Update rightHandRetargetingParams.ini

* Rename xprizeDemo.xml to xprizeDemoVirtualizerXsensGlove.xml

Co-authored-by: icub <[email protected]>
Co-authored-by: Kourosh Darvish <[email protected]>
Co-authored-by: Stefano Dafarra <[email protected]>

app/robots/iCubGenova09/XsensRetargetingWalking.ini

@@ -0,0 +1,18 @@
+name                    XsensRetargeting
+samplingTime            0.01
+robot                   icub
+# if the following is enabled we will use smoothing with smoothingTime value (default is true)
+useSmoothing 0
+smoothingTime   0.25
+# The max difference (threshold) of a joint value coming from the human (rad)
+jointDifferenceThreshold 0.5
+wholeBodyJointsPort           /HumanStateWrapper/state:i
+controllerJointsPort     /jointPosition:o
+controllerCoMPort     /CoM:o
+
+# ROBOT JOINT LIST (Notice the order of the joint list is not wrong)
+# Indeed they are written according to the joint order of the walking-coordinator
+joints_list ("neck_pitch", "neck_roll", "neck_yaw",
+             "torso_pitch", "torso_roll", "torso_yaw",
+             "l_shoulder_pitch", "l_shoulder_roll", "l_shoulder_yaw", "l_elbow", "l_wrist_prosup", "l_wrist_pitch", "l_wrist_yaw",
+             "r_shoulder_pitch", "r_shoulder_roll", "r_shoulder_yaw", "r_elbow", "r_wrist_prosup", "r_wrist_pitch", "r_wrist_yaw")

app/robots/iCubGenova09/XsensRetargetingYoga.ini

@@ -0,0 +1,19 @@
+name                    XsensRetargeting
+samplingTime            0.01
+robot                   icub
+# if the following is enabled we will use smoothing with smoothingTime value (default is true)
+useSmoothing 1
+smoothingTime   0.25
+# The max difference (threshold) of a joint value coming from the human (rad)
+jointDifferenceThreshold 0.5
+wholeBodyJointsPort           /HumanStateWrapper/state:i
+controllerJointsPort     /jointPosition:o
+controllerCoMPort     /CoM:o
+
+# ROBOT JOINT LIST (Notice the order of the joint list is not wrong)
+# Indeed they are written according to the joint order of the yoga-retargeting
+joints_list (            "torso_pitch", "torso_roll", "torso_yaw",
+                         "l_shoulder_pitch", "l_shoulder_roll", "l_shoulder_yaw", "l_elbow",
+                         "r_shoulder_pitch", "r_shoulder_roll", "r_shoulder_yaw", "r_elbow",
+                         "l_hip_pitch", "l_hip_roll", "l_hip_yaw", "l_knee", "l_ankle_pitch", "l_ankle_roll",
+                         "r_hip_pitch", "r_hip_roll", "r_hip_yaw", "r_knee", "r_ankle_pitch", "r_ankle_roll")

app/robots/iCubGenova09/headRetargetingParams.ini

@@ -0,0 +1,8 @@
+remote_control_boards   ("head")
+# Notice the order of the joint list is not wrong.
+# Indeed they are written according to the joint order of the icub-neck
+joints_list             ("neck_pitch", "neck_roll", "neck_yaw")
+
+smoothingTime   1.0
+PreparationSmoothingTime 3.0
+PreparationJointReferenceValues (0.0 , 0.0 , 0.0)

app/robots/iCubGenova09/leftFingersRetargetingParams.ini

@@ -0,0 +1,6 @@
+remote_control_boards   ("left_arm")
+joints_list             ("l_thumb_proximal", "l_thumb_distal", "l_index_proximal", "l_index-distal", "l_middle-proximal", "l_middle-distal", "l_little-fingers")
+
+useVelocity           1
+
+fingersScaling        (1, 3.5, 2, 3.5, 1, 3.5, 5)

app/robots/iCubGenova09/leftHandRetargetingParams.ini

@@ -0,0 +1,17 @@
+# additional rotations
+# the following rotation map the hand oculus frame and the hand robot frame
+handOculusFrame_R_handRobotFrame ((0.0 0.0 -1.0), (-1.0 0.0 0.0), (0.0 1.0 0.0))
+
+# the following rotation map the teleoperation frame and the teleoperation robot
+# frame the Teleoperation robot frame chosen is "imu_frame" and according to iCub
+# CAD has:
+# The z-axis is parallel to gravity but pointing upwards.
+# The x-axis points behind the robot.
+# The y-axis points laterally and is chosen according to the right-hand rule.
+# the Teleoperation frame is attached to the virtualizer and the  origin is the
+# same oculus inertial frame. In other words:
+# The z-axis is parallel to gravity but pointing upwards
+# The x-axis points forward
+# The y-axis points laterally and is chosen according to the right-hand rule.
+# So the rotation matrix is simply given by Rotz(pi)
+teleoperationRobotFrame_R_teleoperationFrame ((1.0 0.0 0.0), (0.0 1.0 0.0), (0.0 0.0 1.0))

app/robots/iCubGenova09/oculusConfig.ini

@@ -0,0 +1,60 @@
+name                    oculusRetargeting
+
+# ports
+leftHandPosePort        /leftHandPose:o
+rightHandPosePort       /rightHandPose:o
+playerOrientationPort   /playerOrientation:i
+rpcWalkingPort_name     /walkingRpc
+rpcVirtualizerPort_name /virtualizerRpc
+
+[GENERAL]
+samplingTime            0.01
+robot                   icub
+useXsens                1
+enableLogger            0
+enableMoveRobot         1
+# the following value is a threshold used to update the teleoperation frame position
+# when the human rotates inside the virtualizer
+playerOrientationThreshold    0.2
+
+# For kinematic scaling for task-space retargeting
+humanHeight                   1.76
+# The robot arm span is the distance between the left and right index fingertips when the arms are aligned, i.e. T pose.
+robotArmSpan                  1.0
+# If resetCameras !=0, the module will attempt to reset the cameras during the initialization phase.
+resetCameras            1
+# The leftCameraPort and rightCameraPort are needed only if resetCameras is 1
+leftCameraPort          /icub/cam/left
+rightCameraPort         /icub/cam/right
+
+
+# include head parameters
+[include HEAD_RETARGETING "headRetargetingParams.ini"]
+
+# include fingers parameters
+[include LEFT_FINGERS_RETARGETING "leftFingersRetargetingParams.ini"]
+[include RIGHT_FINGERS_RETARGETING "rightFingersRetargetingParams.ini"]
+
+# include hand parameters
+[include LEFT_HAND_RETARGETING "leftHandRetargetingParams.ini"]
+[include RIGHT_HAND_RETARGETING "rightHandRetargetingParams.ini"]
+
+# include Torso parameters [iff using Xsens]
+[include TORSO_RETARGETING "torsoRetargeting.ini"]
+
+[OCULUS]
+root_frame_name                 mobile_base_body_link
+left_hand_frame_name            loculus
+right_hand_frame_name           roculus
+oculusOrientationPort           /oculusOrientation:i
+oculusPositionPort              /oculusPosition:i
+
+move_icub_using_joypad        1
+deadzone                      0.3
+fullscale                     1.0
+scale_X                       5.0
+scale_Y                       5.0
+use_left                      1
+
+# root_frame_name                 oculusworld
+# head_frame_name                 headoculus

app/robots/iCubGenova09/rightFingersRetargetingParams.ini

@@ -0,0 +1,6 @@
+remote_control_boards   ("right_arm")
+joints_list             ("r_thumb_proximal", "r_thumb_distal", "r_index_proximal", "r_index-distal", "r_middle-proximal", "r_middle-distal", "r_little-fingers")
+
+useVelocity           1
+
+fingersScaling        (1, 3.5, 2, 3.5, 1, 3.5, 5)

app/robots/iCubGenova09/rightHandRetargetingParams.ini

@@ -0,0 +1,17 @@
+# additional rotations
+# the following rotation map the hand oculus frame and the hand robot frame
+handOculusFrame_R_handRobotFrame ((0.0 0.0 -1.0), (-1.0 0.0 0.0), (0.0 1.0 0.0))
+
+# the following rotation map the teleoperation frame and the teleoperation robot
+# frame the Teleoperation robot frame chosen is "imu_frame" and according to iCub
+# CAD has:
+# The z-axis is parallel to gravity but pointing upwards.
+# The x-axis points behind the robot.
+# The y-axis points laterally and is chosen according to the right-hand rule.
+# the Teleoperation frame is attached to the virtualizer and the  origin is the
+# same oculus inertial frame. In other words:
+# The z-axis is parallel to gravity but pointing upwards
+# The x-axis points forward
+# The y-axis points laterally and is chosen according to the right-hand rule.
+# So the rotation matrix is simply given by Rotz(pi)
+teleoperationRobotFrame_R_teleoperationFrame ((1.0 0.0 0.0), (0.0 1.0 0.0), (0.0 0.0 1.0))

app/robots/iCubGenova09/torsoRetargeting.ini

@@ -0,0 +1,2 @@
+remote_control_boards   ("torso")
+joints_list             ("torso_pitch", "torso_roll", "torso_yaw")