Merge pull request #152 from robotology/humanoids

File modifications for the humanoids demo
robotology · Dec 2, 2024 · 78f41c0 · 78f41c0
2 parents ecc9ac3 + f3e9f03
commit 78f41c0
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Showing 6 changed files with 185 additions and 33 deletions.
diff --git a/app/robots/ergoCubSN000/openXRHeadsetParameters.ini b/app/robots/ergoCubSN000/openXRHeadsetParameters.ini
@@ -1,14 +1,4 @@
-###Use as subdevice
-### Device params
-device             JoypadControlServer
-use_separate_ports 1
-subdevice          openxrheadset
-stick_as_axis      false
-####
-
-###Use as direct device
-#device              openxrheadset
-###
+device              openxrheadset
 
 period             10
 name               /headset

diff --git a/app/robots/ergoCubSN001/openXRHeadsetParameters.ini b/app/robots/ergoCubSN001/openXRHeadsetParameters.ini
@@ -1,14 +1,4 @@
-###Use as subdevice
-### Device params
-device             JoypadControlServer
-use_separate_ports 1
-subdevice          openxrheadset
-stick_as_axis      false
-####
-
-###Use as direct device
-#device              openxrheadset
-###
+device              openxrheadset
 
 period             10
 name               /headset

diff --git a/app/robots/ergoCubSN002/openXRHeadsetParameters.ini b/app/robots/ergoCubSN002/openXRHeadsetParameters.ini
@@ -1,14 +1,4 @@
-###Use as subdevice
-### Device params
-device             JoypadControlServer
-use_separate_ports 1
-subdevice          openxrheadset
-stick_as_axis      false
-####
-
-###Use as direct device
-#device              openxrheadset
-###
+device              openxrheadset
 
 period             10
 name               /headset

diff --git a/app/scripts/ergoCub001-Teleoperation-2.xml b/app/scripts/ergoCub001-Teleoperation-2.xml
@@ -0,0 +1,50 @@
+<!-- Copyright (C) 2023 Fondazione Istituto Italiano di Tecnologia (IIT) -->
+<!-- All Rights Reserved. -->
+
+<application>
+
+  <name>ergoCub001-Teleoperation-2</name>
+  <description>Step 2 for the ergoCub teleoperation.</description>
+  <version>1.0</version>
+  <authors>
+    <author email="[email protected]">Stefano Dafarra</author>
+  </authors>
+
+  <module>
+    <name>yarpdev</name>
+    <parameters>--from openXRHeadsetParameters.ini</parameters>
+    <node>icub-virtualizer</node>
+  </module>
+
+  <module>
+    <name>yarp</name>
+    <parameters>repeat /depthCamera001/repeated/rgbImage:o </parameters>
+    <node>ergocub001-lap</node>
+  </module>
+
+  <module>
+    <name>yarprobotinterface</name>
+    <parameters>--config realsense2.xml</parameters>
+    <node>ergocub001-head</node>
+  </module>
+
+  <!-- Connections -->
+  <connection>
+    <from>/depthCamera001/rgbImage:o</from>
+    <to>/depthCamera001/repeated/rgbImage:o</to>
+    <protocol>mjpeg</protocol>
+  </connection>
+
+  <connection>
+    <from>/depthCamera001/repeated/rgbImage:o</from>
+    <to>/headset/display:i</to>
+    <protocol>fast_tcp+send.portmonitor+file.image_compression_ffmpeg+recv.portmonitor+file.image_compression_ffmpeg+type.dll+custom_enc.hevc_nvenc+custom_dec.hevc_cuvid+pixel_format.23+cq.31+delay.2+tune.ull</protocol>
+  </connection>
+
+  <connection>
+    <from>/object-distance-001/augmented_reality:o</from>
+    <to>/headset/augmentedReality</to>
+    <protocol>fast_tcp+send.portmonitor+file.image_compression_ffmpeg+recv.portmonitor+file.image_compression_ffmpeg+type.dll+custom_enc.hevc_nvenc+custom_dec.hevc_cuvid+pixel_format.23+cq.31+delay.2+tune.ull</protocol>
+  </connection>
+
+</application>
diff --git a/app/scripts/ergoCub001-Teleoperation-4.xml b/app/scripts/ergoCub001-Teleoperation-4.xml
@@ -0,0 +1,102 @@
+<!-- Copyright (C) 2021 Fondazione Istituto Italiano di Tecnologia (IIT) -->
+<!-- All Rights Reserved. -->
+<!-- Author: Riccardo Grieco <[email protected]> -->
+
+<application>
+
+  <name>ergoCub001-Teleoperation-4</name>
+  <description>Step 4 for the ergoCub teleoperation.</description>
+  <version>1.0</version>
+  <authors>
+    <author email="[email protected]">Stefano Dafarra</author>
+  </authors>
+
+  <module>
+    <name>ergoCubEmotions</name>
+    <parameters>--context ergoCubEmotions --from config.ini --portprefix /ergocub001 </parameters>
+    <node>ergocub001-head</node>
+  </module>
+
+  <module>
+    <name>SRanipalModule</name>
+    <parameters>--skipEyeCalibration --robot ergocub001 --noEyebrows --noEyelids --gazeVelocityGain 2.0 --gazeDeadzone 0.1 --gazeDeadzoneActivationOffset 0.1 --gazeDeadzoneMinActivationTime 0.2 --eyesVersionName none --eyesVergenceName none --eyesTiltName camera_tilt --blinkToDisableGUIs "(0)" --headControlBoardName head</parameters>
+    <node>icub-virtualizer</node>
+  </module>
+
+  <module>
+    <name>HapticGloveModule</name>
+    <node>ergocub001-torso</node>
+    <parameters>--name HapticGloveRetargeting001 --GENERAL::getHumanMotionRange 0 --GENERAL::waitingDurationTime 0.0 --GENERAL::robot ergocub001 --GENERAL::calibrationTimePeriod 0.1 --GENERAL::robotInitializationTime 1.0 --LEFT_FINGERS_RETARGETING::wearable_data_locals "(/WearableData001/HapticGlove/LeftHand/data:i)" --LEFT_FINGERS_RETARGETING::wearable_data_actuator_ports_out "/WearableData001/HapticGlove/LeftHand/Actuators/input:o" --RIGHT_FINGERS_RETARGETING::wearable_data_locals "(/WearableData001/HapticGlove/RightHand/data:i)" --RIGHT_FINGERS_RETARGETING::wearable_data_actuator_ports_out "/WearableData001/HapticGlove/RightHand/Actuators/input:o"
+</parameters>
+  </module>
+
+  <module>
+    <name>WalkingModule</name>
+    <node>ergocub001-torso</node>
+    <parameters>--from dcm_walking_iFeel_joint_retargeting.ini</parameters>
+  </module>
+
+  <module>
+    <name>yarprobotinterface</name>
+    <parameters>--config launch-yarp-robot-logger.xml</parameters>
+    <node>ergocub-laptop</node>
+    <workdir>/home/ergocub/Desktop/walking_logger</workdir>
+  </module>
+
+  <!-- Connections -->
+
+  <connection>
+    <from>/SRanipalModule/VR/rpc:o</from>
+    <to>/headset/rpc</to>
+    <protocol>fast_tcp</protocol>
+  </connection>
+
+  <connection>
+    <from>/SRanipalModule/eyeExpressions:o</from>
+    <to>/ergocub001/ergoCubEmotions/rpc</to>
+    <protocol>fast_tcp</protocol>
+  </connection>
+
+  <connection>
+      <from>/WearableData/HapticGlove/LeftHand/data:o</from>
+      <to>/WearableData001/HapticGlove/LeftHand/data:i</to>
+      <protocol>fast_tcp</protocol>
+  </connection>
+
+  <connection>
+      <from>/WearableData/HapticGlove/RightHand/data:o</from>
+      <to>/WearableData001/HapticGlove/RightHand/data:i</to>
+      <protocol>fast_tcp</protocol>
+  </connection>
+
+  <connection>
+    <from>/WearableData001/HapticGlove/LeftHand/Actuators/input:o</from>
+    <to>/WearableData/HapticGlove/LeftHand/Actuators/input:i</to>
+    <protocol>fast_tcp</protocol>
+  </connection>
+
+  <connection>
+    <from>/WearableData001/HapticGlove/RightHand/Actuators/input:o</from>
+    <to>/WearableData/HapticGlove/RightHand/Actuators/input:i</to>
+    <protocol>fast_tcp</protocol>
+  </connection>
+
+  <connection>
+    <from>/ergoCub/RobotStateServer/state:o</from>
+    <to>/walking-coordinator-001/humanState:i</to>
+    <protocol>fast_tcp</protocol>
+  </connection>
+
+  <connection>
+    <from>/iFeelWalking/goal:o</from>
+    <to>/walking-coordinator-001/goal:i</to>
+    <protocol>fast_tcp</protocol>
+  </connection>
+
+  <connection>
+    <from>/joypad/goal:o</from>
+    <to>/walking-coordinator-001/goal:i</to>
+    <protocol>fast_tcp</protocol>
+  </connection>
+
+</application>
diff --git a/app/scripts/ergoCub001-Teleoperation.xml b/app/scripts/ergoCub001-Teleoperation.xml
@@ -0,0 +1,30 @@
+<!-- Copyright (C) 2023 Fondazione Istituto Italiano di Tecnologia (IIT) -->
+<!-- All Rights Reserved. -->
+
+<application>
+
+  <name>ergoCub001-Teleoperation</name>
+  <description>Application to run module related to vision for retargeting.</description>
+  <version>1.0</version>
+  <authors>
+    <author email="[email protected]">Stefano Dafarra</author>
+  </authors>
+
+  <application>
+    <name> ergoCub-Teleoperation-1</name>
+  </application>
+
+  <application>
+    <name> ergoCub001-Teleoperation-2</name>
+  </application>
+
+  <application>
+    <name> ergoCub-Teleoperation-3</name>
+  </application>
+
+  <application>
+    <name> ergoCub001-Teleoperation-4</name>
+  </application>
+
+
+</application>