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Merge branch 'devel'
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@Tobias-Fischer
Tobias-Fischer committed Feb 14, 2017
2 parents 704024c + 1b9dabd commit c7fd462
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135 changes: 95 additions & 40 deletions main/app/demos/scripts/wysiwyd-demo-y3-upf.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -25,7 +25,7 @@
<module>
<name>actionsRenderingEngine</name>
<parameters>--motor::block_eyes 5.0 --motor::impedance on</parameters>
<node>icububuntu</node>
<node>icubAlien</node>
<ensure>
<wait when="stop">21</wait>
</ensure>
Expand All @@ -38,6 +38,9 @@
<ensure>
<wait when="stop">18</wait>
</ensure>
<dependencies>
<port timeout="10">/actionsRenderingEngine/cmd:io</port>
</dependencies>
</module>

<module>
Expand All @@ -47,11 +50,15 @@
<ensure>
<wait when="stop">3</wait>
</ensure>
<dependencies>
<port timeout="10">/karmaMotor/rpc</port>
</dependencies>
</module>

<module>
<name>kinectServer</name>
<node>ikart</node>
<parameters>--seatedMode</parameters>
<ensure>
<wait when="stop">13</wait>
</ensure>
Expand All @@ -60,10 +67,13 @@
<module>
<name>objectsPropertiesCollector</name>
<parameters>--name OPC --no-load-db --no-save-db</parameters>
<node>icubAlien</node>
<node>icubVulcan</node>
<ensure>
<wait when="stop">17</wait>
</ensure>
<dependencies>
<port timeout="10">/karmaMotor/rpc</port>
</dependencies>
</module>

<module>
Expand Down Expand Up @@ -104,17 +114,6 @@
</ensure>
</module>

<module>
<name>yarpview</name>
<parameters>--name /yarpview/autobiographicalMemory/icub/camcalib/left/out/KSC0 --x 750 --y 0 --h 480 --w 480 --compact</parameters>
<node>icubAlien</node>
</module>
<module>
<name>yarpview</name>
<parameters>--name /viewer/iol/track --x 620 --y 680 --p 50 --compact</parameters>
<node>icubAlien</node>
</module>

<module>
<name>guiUpdater</name>
<parameters>--displaySkeletons 1</parameters>
Expand Down Expand Up @@ -249,7 +248,7 @@
<module>
<name>narrativeGraph</name>
<parameters></parameters>
<node>icubAlien</node>
<node>icubVulcan</node>
<dependencies>
<port timeout="10">/OPC/rpc</port>
<port timeout="10">/actionsRenderingEngine/cmd:io</port>
Expand All @@ -259,7 +258,7 @@
<port timeout="10">/lrh/rpc</port>
</dependencies>
<ensure>
<wait when="stop">11</wait>
<wait when="stop">15</wait>
</ensure>
</module>

Expand All @@ -271,35 +270,44 @@
<wait when="stop">11</wait>
</ensure>
</module>

<module>
<name>yarpview</name>
<parameters>--name /viewer/iol/lbpSegmented --x 620 --y -30 --p 50 --compact</parameters>
<parameters>--name /yarpview/autobiographicalMemory/icub/camcalib/left/out/KSC0 --x 1450 --y 20 --h 480 --w 480 --compact</parameters>
<node>icubAlien</node>
</module>
<module>
<name>yarpview</name>
<parameters>--name /viewer/iol/lbpSegmented --x 30 --y -30 --p 50 --compact</parameters>
<node>icubAlien</node>
</module>
<module>
<name>yarpview</name>
<parameters>--name /viewer/iol/localizer --x 1305 --y 0 --out /viewer/iol/localizer:o --p 50 --compact</parameters>
<parameters>--name /viewer/iol/localizer --x 30 --y 30 --out /viewer/iol/localizer:o --p 50 --compact</parameters>
<node>icubAlien</node>
</module>
<module>
<name>yarpview</name>
<parameters>--name /viewer/iol/histogram --x 930 --y 350 --w 300 --h 315 --p 50 --compact</parameters>
<parameters>--name /viewer/iol/histogram --x 1475 --y 600 --w 320 --h 260 --p 50 --compact</parameters>
<node>icubAlien</node>
</module>
<module>
<name>yarpview</name>
<parameters>--name /viewer/iol/track --x 620 --y 680 --p 50 --compact</parameters>
<parameters>--name /viewer/iol/track --x 400 --y 600 --p 50 --compact --w 320 --h 260</parameters>
<node>icubAlien</node>
</module>
<module>
<name>yarpview</name>
<parameters>--name /viewer/skeleton --compact --x 2340 --y 0 --w 320 --h 260</parameters>
<parameters>--name /viewer/skeleton --compact --x 50 --y 600 --w 320 --h 260</parameters>
<node>icubAlien</node>
</module>
<module>
<name>yarpview</name>
<parameters>--name /viewer/faceSegmentation --compact --w 320 --h 260 --x 1145 --y 600</parameters>
<node>icubAlien</node>
</module>
<module>
<name>iCubGui</name>
<parameters>--xpos 2010 --ypos 520 --width 650 --height 550</parameters>
<parameters>--xpos 50 --ypos 20 --width 650 --height 550</parameters>
<node>icubAlien</node>
<ensure>
<wait when="stop">9</wait>
Expand All @@ -309,7 +317,7 @@
<module>
<name>iCubSkinGui</name>
<!-- Remember to use the proper configuration files (i.e. "_V2.ini" for V2 robots) -->
<parameters>--from right_hand_V2_1.ini --useCalibration --xpos 1305 --ypos 850 --width 300 --height 230</parameters>
<parameters>--from right_hand_V2_1.ini --useCalibration --xpos 935 --ypos 600 --width 200 --height 200</parameters>
<node>icubAlien</node>
<tag>skinGuiRH</tag>
<ensure>
Expand All @@ -320,7 +328,7 @@
<module>
<name>samSupervisor.py</name>
<parameters></parameters>
<node>icubAlien</node>
<node>icubVulcan</node>
<ensure>
<wait when="stop">11</wait>
</ensure>
Expand All @@ -340,8 +348,8 @@

<module>
<name>CLMYarp</name>
<parameters>--from /home/icub/robotology/human-sensing-SAM/build/bin/</parameters>
<node>icubAlien</node>
<parameters>--from /media/disk/dev/robotology/human-sensing-SAM/build/bin/</parameters>
<node>icubVulcan</node>
<dependencies>
<port timeout="10">/OPC/rpc</port>
</dependencies>
Expand All @@ -350,34 +358,45 @@
</ensure>
</module>

<module>
<name>sensationManager</name>

<module>
<name>VMI.sh</name>
<parameters></parameters>
<node>icubAlien</node>
<dependencies>
<port timeout="10">/sam/rpc:i</port>
<port timeout="10">/sam/faces/imageData:o</port>
</dependencies>
</module>

<module>
<name>ears</name>
<parameters>--from ears.ini</parameters>
<node>icubVulcan</node>
<dependencies>
<port timeout="10">/OPC/rpc</port>
<port timeout="10">/speechRecognizer/rpc</port>
</dependencies>
<ensure>
<wait when="stop">8</wait>
</ensure>
</module>
<module>
<name>homeostasis</name>
<parameters></parameters>

<module>
<name>sensationManager</name>
<parameters>--object_valence -1 --hand_valence 0.7</parameters>
<node>icubVulcan</node>
<dependencies>
<port timeout="10">/OPC/rpc</port>
</dependencies>
<ensure>
<wait when="stop">8</wait>
</ensure>
</module>

<module>
<name>ears</name>
<parameters>--from ears.ini</parameters>
<name>homeostasis</name>
<parameters></parameters>
<node>icubVulcan</node>
<dependencies>
<port timeout="10">/OPC/rpc</port>
<port timeout="10">/speechRecognizer/rpc</port>
</dependencies>
<ensure>
<wait when="stop">8</wait>
</ensure>
Expand All @@ -398,6 +417,7 @@
<port timeout="10">/iol2opc/rpc</port>
<port timeout="10">/sam/rpc:i</port>
<port timeout="10">/sam/faces/imageData:i</port>
<port timeout="10">/sam/actions/actionData:i</port>
</dependencies>
<ensure>
<wait when="stop">6</wait>
Expand Down Expand Up @@ -460,22 +480,32 @@

<module>
<name>allostatic_plot.py</name>
<parameters>--x 940</parameters>
<parameters>--xpos 725 --ypos 20 --width 700</parameters>
<node>icubAlien</node>
<dependencies>
<port timeout="30">/AllostaticController/rpc</port>
</dependencies>
</module>
<module>
<name>drive_control_gui.py</name>
<parameters>--x940 --y600</parameters>
<parameters>-x 730 -y 820</parameters>
<node>icubAlien</node>
<dependencies>
<port timeout="30">/AllostaticController/rpc</port>
</dependencies>
</module>


<module>
<name>command.sh</name>
<parameters></parameters>
<node>icubAlien</node>
<dependencies>
<port timeout="10">/speechRecognizer/rpc</port>
</dependencies>
</module>


<connection>
<from>/icub/face/emotions/out</from>
<to>/icub/face/raw/in</to>
Expand Down Expand Up @@ -688,6 +718,11 @@
<to>/sam/actions/actionData:i</to>
<protocol>udp</protocol>
</connection>
<connection>
<from>/CLM/imageSeg/out</from>
<to>/viewer/faceSegmentation</to>
<protocol>udp</protocol>
</connection>
<connection>
<from>/CLM/imageSeg/out</from>
<to>/sam/faces/imageData:i</to>
Expand All @@ -698,4 +733,24 @@
<to>/CLM/image/in</to>
<protocol>udp</protocol>
</connection>
<connection>
<from>/sam/faces/imageData:o</from>
<to>/sam/unity/face:i</to>
<protocol>udp</protocol>
</connection>
<connection>
<from>/sam/unity/generate:o</from>
<to>/sam/rpc:i</to>
<protocol>udp</protocol>
</connection>
<connection>
<from>/sam/unity/paor:i</from>
<to>/narrativeGraph/icubClient/lrh:o:sam</to>
<protocol>udp</protocol>
</connection>
<connection>
<from>/speechRecognizer/rpc</from>
<to>/speechvisualizer</to>
<protocol>tcp+log.in</protocol>
</connection>
</application>
2 changes: 1 addition & 1 deletion main/app/reservoir/lrh/conf/lrh.ini
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Original file line number Diff line number Diff line change
@@ -1,4 +1,4 @@
nameSamInputPort "/SAM/rpc"
nameSamInputPort "/sam/rpc:i"

keyword "lrh"
corpusFile "Corpus/corpusNaive.txt"
Expand Down
7 changes: 4 additions & 3 deletions main/src/examples/ARE_KARMAiCubClientExample/main.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -66,13 +66,13 @@ int main()

bool ok ;

iCub.home(); // Home by using ARE
/*iCub.home(); // Home by using ARE
cout<<"try to pushFront with KARMA ..."<<endl;
ok = iCub.pushKarmaFront(x,-0.35); //WARNING: second argument is the desired x[0] that we want and should be less than original x[0]
cout<<(ok?"success":"failed")<<endl;
Time::delay(4.0);
/*iCub.home(); // Home by using ARE
iCub.home(); // Home by using ARE
x[1] =x[1] - 0.1; //offset on lateral to draw?
cout<<"try to pull with KARMA...";
ok = iCub.drawKarma(x,0,0.1,0.1); //draw of 0.1m but the objects is considered as -0.35 so final: -0.25
Expand All @@ -83,7 +83,7 @@ int main()


//----------------------------> ARE related action
iCub.home(); // Home by using ARE
/*iCub.home(); // Home by using ARE
cout<<"try to point using ARE..."<<endl;
ok = iCub.point(x); // automatic selection of the hand
cout<<(ok?"success":"failed")<<endl;
Expand Down Expand Up @@ -118,6 +118,7 @@ int main()
cout<<(ok?"success":"failed")<<endl;
Time::delay(4.0);
iCub.home();
*/

cout<<"shutting down ... "<<endl;
iCub.close();
Expand Down
4 changes: 2 additions & 2 deletions main/src/examples/AREiCubClientExample/main.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -82,7 +82,7 @@ int main()
port.write(cmd,reply);
port.close();

iCub.home();
/*iCub.home();
cout<<"pointing at the object ... "<<endl;
iCub.point(x); // automatic selection of the hand
Time::delay(2.0);
Expand All @@ -100,7 +100,7 @@ int main()
cout<<"releasing ... "<<endl;
iCub.release(x);
iCub.home();
}
}*/

cout<<"shutting down ... "<<endl;
iCub.close();
Expand Down
4 changes: 2 additions & 2 deletions main/src/examples/KARMAiCubClientExample/main.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -64,7 +64,7 @@ int main()
Vector wx=T*x;
x.pop_back();

iCub.home(); // Home by using ARE
/*iCub.home(); // Home by using ARE
x[1] =x[1] - 0.1;
yInfo()<<"[KARMAiCubClientExample] try to push with KARMA...";
bool ok = iCub.pushKarma(x,180,0.2);
Expand Down Expand Up @@ -107,7 +107,7 @@ int main()
yInfo()<<"[KARMAiCubClientExample] try to pullBack with KARMA...";
ok = iCub.pullKarmaBack(x,-0.25);
yInfo()<<(ok?"success":"failed");
Time::delay(4.0);
Time::delay(4.0);*/

yInfo()<<"[KARMAiCubClientExample] shutting down ... ";
iCub.close();
Expand Down
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