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Basic Peripersonal Space Demo

This demo illustrates the most important features of learning and using the peripersonal space representation as implemented in this software on the iCub humanoid robot.

Use the main branch of the repository.

Prerequisites

  1. CalibCameras
  2. iCubStartup (need iKinCartesianController, iKinCartesianSolver, iKinGazeCtrl, wholebodyDynamics, gravityCompensator)
  3. Skin_Gui_All - in fact, the demo operates on hand and forearms only.
  4. iCubGui
  • For iCubGui, connect everything apart from /wholeBodyDynamics/contacts:o /iCubGui/forces

Note, for correct operation of the PPS, you need to have the skin of the hands and forearms configured correctly. This pertains in particular to:

  1. taxel position files - as per https://github.com/robotology/icub-main/tree/master/app/skinGui/conf/positions - make sure you have the latest ones that are appropriate for your robot in the relevant directories - in particular the left/right_forearm_V2.txt in case you have a V2 skin version robot.
  2. skinManager configuration, in particular the skinManAll.ini (in icub-main/app/skinGui/conf). The taxelPositionFiles section specifies which taxel positions files will be loaded. For V2 skin, make sure it refers to V2 forearms files.

There are several modalities that can be run with the visuoTactileRF software. visuoTactileRF --help For the demo, we usually use: 1D version (only position) and red ball as stimulus.

Red ball version

The pf3dtracker is used to track a red ball in the left eye camera image. The frameGrabberGui2 of left camera thus needs to be adjusted appropriately. Rule of thumb: mainly go to Features (adv) and pull the Saturation knob from about 0.4 to about 0.6.

Application script to use: pps_1D_pf3dTracker_prelearned.xml

Note: you may want to run it from the display machine in order to get pf3dtracker viewer there.

PPS activation demonstration

Using the above script:

  1. Run everything apart from demoAvoidance
  2. Connect everything

This gives basic PPS functionality - as you approach the robot with red ball, you should see PPS activations on skinGuis (green) and iCubGui (red arrows).

Alternatively, from terminal:

[visuoTactileRF --help]

visuotactileRF --taxelsFile taxelsFiles/taxels1D_45cmRF_skinV2_perfect_all.ini --rate 20

Avoidance demo

run demoAvoidance [--autoConnect]

If not autoConnect - need to connect the /visuoTactileRF/skin_events:o to /avoidance/data:i - in yarpmanager

N.B. Check if robot can run in impedance mode - otherwise, run in stiff mode (demoAvoidance --stiff).

Catching variant

That is robot will reach with activated skin part rather than avoid.

demoAvoidance --catching

Learning illustration

Simplest: start visuotactileRF with no taxels file specified. This starts from a blank state. Approach with red ball and touch skin. After a while, you will see green activations. The default .ini file is taxels1D.ini. If you save using rpc (see below) or at module exit it will be saved to taxels1D_out.ini.

rpc port

yarp rpc /visuoTactileRF/rpc:i You can save, load - from .ini file, reset, stop (learning), rest (restore learning - call only after a stop).

“All in one” demo version

That is, learning and demonstration.

visuotactileRF --taxelsFile taxelsFiles/taxels1D_45cmRF_skinV2_perfect_allButRightForearm.ini

With this file, there is blank right forearm - so you can show learning there, with correct (already learned responses) for other body parts.

"Avoidance during circular movement" demo

Similar to red-ball demo, this also uses the pf3dtracker to track the approaching ball as obstacle.

Prerequisites:

Setting and Running:

  1. (Optional) If using the green fluo ball as in the script, please adjust some parameters of the frameGrabberGui2 of left camera as following:
  • Saturation (in Features (adv)): 0.6
  • Gamma (in Features (adv)): 0.6
  • Gain (in Features): 0.2

  1. Run and connect all modules in application.

  2. Connect to the rpc service of react-controller, and make the controlled arm (left by default) move in a circle:

yarp rpc /reactController/rpc:i  
set_relative_circular_xd 0.08 0.27

“Arbitrary objects” version

Use the script PPS_with_Optical_Flow

(The script has both - pf3dtracker - red ball - and "ultimate tracker". These are two variants two track the stimulus - do not run them at the same time.)

For arbitrary objects, the ultimate tracker pipeline is needed:, motionCUT, Structure_from_Motion (SFM - in reality stereovision), templatePFTtracker, and ultimateTracker

  1. run all yarpviews
  2. run motionCUT, templatePFTracker, SFM; connect - connects to yarpviews
  3. run ultimateTracker, connect
  4. run visuoTactileRF, visuoTactileWrapper; connect

demoAvoidance can be added - see instructions for the red ball above.

Troubleshooting, adaptation to robot problems (e.g. skin malfunction) etc.

If some skin parts are firing wrong, you can call visuoTactileRF with a specific body part - e.g. --leftHand, --leftForeArm, …