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| Original file line number | Diff line number | Diff line change |
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| 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 | ||
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| # 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") |
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| 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 | ||
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| # 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") |
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| # The name of the module | ||
| name face_expressions_from_mic | ||
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| # The audio input port. Connect to this port the source to be used to trigger the face expressions. | ||
| audio_input_port_name /in | ||
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| # The emotions output port. Connect this port to the emotion interface input port. | ||
| emotions_output_port_name /emotions:o | ||
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| # The module period. In any case, it depends on the frequency of the input port. | ||
| period 0.01 | ||
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| # It controls the frequency with which the robot opens and close the mouth. | ||
| expression_counter_max_value 2 |
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| name HapticGloveRetargeting | ||
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| [GENERAL] | ||
| robot icub | ||
| samplingTime 0.01 | ||
| enableMoveRobot 1 | ||
| enableLogger 1 | ||
| useLeftHand 1 | ||
| useRightHand 1 | ||
| smoothingTime 0.25 | ||
| isMandatory 0 | ||
| #calibrationTimePeriod [sec] | ||
| calibrationTimePeriod 2.0 | ||
| #robotInitializationTime [sec] | ||
| robotInitializationTime 10.0 | ||
| getHumanMotionRange 1 | ||
| # the counter to check if steady state is reached [steps] | ||
| steadyStateCounterThreshold 5 | ||
| # the threshold to check the error between the desired and feedback values for the steady state check [rad] | ||
| steadyStateThreshold 0.05 | ||
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| # include fingers parameters | ||
| [include LEFT_FINGERS_RETARGETING "leftFingersHapticRetargetingParams.ini"] | ||
| [include RIGHT_FINGERS_RETARGETING "rightFingersHapticRetargetingParams.ini"] |
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| 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") | ||
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| smoothingTime 1.0 | ||
| PreparationSmoothingTime 3.0 | ||
| PreparationJointReferenceValues (0.0 , 0.0 , 0.0) |
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| name iFeelRetargeting | ||
| 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 | ||
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| # 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 ( "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") |
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app/robots/iCubErzelli02/leftFingersHapticRetargetingParams.ini
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| ############### | ||
| ### ROBOT | ||
| ############### | ||
| remote_control_boards ("left_arm") | ||
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| remote_sensor_boards "left_hand" | ||
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| axis_list ( "l_thumb_oppose", "l_thumb_proximal", "l_thumb_distal", "l_index_proximal", "l_index_distal", "l_middle_proximal", "l_middle_distal", "l_pinky" ) | ||
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| all_axis_list ( "l_hand_finger", "l_thumb_oppose", "l_thumb_proximal", "l_thumb_distal", "l_index_proximal", "l_index_distal", "l_middle_proximal", "l_middle_distal", "l_pinky" ) | ||
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| joint_list ( "l_thumb_oppose", "l_thumb_proximal", "l_thumb_middle", "l_thumb_distal", | ||
| "l_index_abduction", "l_index_proximal", "l_index_middle", "l_index_distal", | ||
| "l_middle_proximal", "l_middle_middle", "l_middle_distal", | ||
| "l_ring_abduction", "l_ring_proximal", "l_ring_middle", "l_ring_distal", | ||
| "l_pinky_abduction", "l_pinky_proximal", "l_pinky_middle", "l_pinky_distal" ) | ||
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| # if a joint is not listed here, the sensory information is of encoder type. | ||
| # notice that "l_thumb_oppose" and "l_hand_fingers" is measured by joint encoders not the analog sensors | ||
| analog_list ( "l_thumb_proximal", "l_thumb_middle", "l_thumb_distal", | ||
| "l_index_proximal", "l_index_middle", "l_index_distal", | ||
| "l_middle_proximal", "l_middle_middle", "l_middle_distal", | ||
| "l_ring_proximal", "l_ring_middle", "l_ring_distal", | ||
| "l_pinky_proximal", "l_pinky_middle", "l_pinky_distal" ) | ||
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| #Adding the groups of each axis and associated joints | ||
| l_hand_finger ( "l_index_abduction", "l_ring_abduction", "l_pinky_abduction" ) | ||
| l_thumb_oppose ( "l_thumb_oppose" ) | ||
| l_thumb_proximal ( "l_thumb_proximal" ) | ||
| l_thumb_distal ( "l_thumb_middle", "l_thumb_distal" ) | ||
| l_index_proximal ( "l_index_proximal" ) | ||
| l_index_distal ( "l_index_middle", "l_index_distal" ) | ||
| l_middle_proximal ( "l_middle_proximal" ) | ||
| l_middle_distal ( "l_middle_middle", "l_middle_distal" ) | ||
| l_pinky ( "l_ring_proximal", "l_ring_middle", "l_ring_distal", "l_pinky_proximal", "l_pinky_middle", "l_pinky_distal" ) | ||
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| ############### | ||
| ### HUMAN | ||
| ############### | ||
| human_joint_list ( "l_thumb_oppose", "l_thumb_proximal", "l_thumb_middle", "l_thumb_distal", | ||
| "l_index_abduction", "l_index_proximal", "l_index_middle", "l_index_distal", | ||
| "l_middle_abduction", "l_middle_proximal", "l_middle_middle", "l_middle_distal", | ||
| "l_ring_abduction", "l_ring_proximal", "l_ring_middle", "l_ring_distal", | ||
| "l_pinky_abduction", "l_pinky_proximal", "l_pinky_middle", "l_pinky_distal" ) | ||
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| human_finger_list ( "l_thumb_finger", "l_index_finger", "l_middle_finger", "l_ring_finger", "l_little_finger") | ||
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| hand_link l_hand | ||
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| wearable_data_ports ("/WearableData/HapticGlove/LeftHand/data:o") | ||
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| use_rpc 0 | ||
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| wearable_rpc_ports ( "/WearableData/HapticGlove/LeftHand/metadataRpc:o" ) | ||
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| wearable_data_actuator_ports_out "/WearableData/HapticGlove/LeftHand/Actuators/input:o" | ||
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| wearable_data_actuator_ports_in "/WearableData/HapticGlove/LeftHand/Actuators/input:i" | ||
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| ############### | ||
| ### RETARGETING | ||
| ############### | ||
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| motorsJointsCoupled 1 | ||
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| # haptic feedback retargeting from the robot axis groups to the human finger | ||
| l_thumb_finger ( "l_thumb_oppose", "l_thumb_proximal", "l_thumb_distal" ) | ||
| l_index_finger ( "l_hand_finger", "l_index_proximal", "l_index_distal" ) | ||
| l_middle_finger ( "l_middle_proximal", "l_middle_distal" ) | ||
| l_ring_finger ( "l_pinky" ) | ||
| l_little_finger ( "l_pinky" ) | ||
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| # This gain is multiplied to the total error for each motor/axis to compute the force feedback to the user associated with each axis, | ||
| # defined according to user experience | ||
| # Number of gains = number of motors/axis | ||
| gainTotalError ( 0.0 0.0 600.0 600.0 600.0 600.0 600.0 600.0 600.0 ) | ||
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| # check this issue for the velocity Gain: https://github.com/dic-iit/element_retargeting-from-human/issues/141 | ||
| # number of gains = number of motors/axis | ||
| gainVelocityError ( 0.0 0.0 0.1 0.1 0.1 0.1 0.1 0.1 0.1 ) | ||
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| # this value is multiplied to forcefeedback and provides haptic feedback to the user | ||
| gainVibrotactile ( 0.8 0.8 0.8 0.8 0.8 ) | ||
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| # scaling and biased values for maping the human to robot motion | ||
| # the sign of the following vector is important, while the absolute values will be found at configuration file | ||
| human_to_robot_joint_angles_scaling ( -1.0 1.0 1.0 1.0 | ||
| 1.0 1.0 1.0 1.0 | ||
| 1.0 1.0 1.0 | ||
| -1.0 1.0 1.0 1.0 | ||
| -1.0 1.0 1.0 1.0 ) | ||
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| human_to_robot_joint_anlges_bias ( 0.0 0.0 0.0 0.0 | ||
| 0.0 0.0 0.0 0.0 | ||
| 0.0 0.0 0.0 | ||
| 0.0 0.0 0.0 0.0 | ||
| 0.0 0.0 0.0 0.0 ) | ||
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| axisContactThreshold 0.1 | ||
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| ############################## | ||
| ### ROBOT CONTROL & ESTIMATION | ||
| ############################## | ||
| useVelocity 0 | ||
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| referenceVelocityForPositionControl 100.0 | ||
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| # minimum and maximum values of the joints | ||
| # related to analog sensors | ||
| analog_joints_min_boundary ( 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 ) | ||
| analog_joints_max_boundary ( 90.0 90.0 90.0 90.0 90.0 90.0 90.0 90.0 90.0 90.0 90.0 90.0 90.0 90.0 90.0 ) | ||
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| # hall sensors minimum and maximum values | ||
| analog_sensors_raw_min_boundary ( 249.0 221.0 255.0 255.0 240.0 253.0 248.0 245.0 244.0 255.0 247.0 255.0 245.0 248.0 247.0 ) | ||
| analog_sensors_raw_max_boundary ( 2.0 29.0 7.0 0.0 4.0 0.0 8.0 54.0 0.0 36.0 0.0 0.0 0.0 15.0 0.0 ) | ||
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| # in case each joint does not have independant motor to actuate, they are coupled | ||
| axesJointsCoupled 1 | ||
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| # in case a calibration phase necessary before starting teleoperating the robot, | ||
| # otherwise read the calibration matrix from the config file | ||
| doCalibration 1 | ||
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| #robot controller exponential filter gain | ||
| exponentialFilterGain 0.9 | ||
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| # q= A x m, where: | ||
| # q (n,1) is the joint values | ||
| # m (m,1) is the motors values | ||
| # A (n,m) is the mapping from the motors values to the joint values | ||
| # CouplingMatrix = A : (n,m) matrix | ||
| CouplingMatrix ( 1.1 0.0 0.0 0.0 0.0 | ||
| 0.0 1.0 1.0 0.0 0.0 | ||
| 0.0 0.0 1.0 0.0 0.0 | ||
| 0.0 0.0 0.0 0.0 1.0 ) | ||
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| # in the Quadratic optimizartion problem to compute the motor values from the joint values : xT Q X + uT R u | ||
| # q_matrix_joint_motor is a list that identifies the main diagonal values of matrix Q: (q x q) matrix; | ||
| # size of q: is the number of desired joints to control | ||
| # r_matrix_joint_motor is a list that identifies the main diagonal of matrix R: (m x m) matrix; | ||
| # size of m: is the number of desired motors to control | ||
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| q_qp_control ( 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 ) | ||
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| r_qp_control ( 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 ) | ||
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| # in the Kalman filter problem to estimate the axis values, velocity and acceleration: | ||
| # q_matrix_kf is a list that identifies the main diagonal of matrix: E[ (w(t) -w_bar(t)) (w(t) -w_bar(t))^T ], | ||
| # size: m*m positive matrix, Dx(t)= Fx(t)+ Gw(t), the process noise */ | ||
| # r_matrix_kf is a list that identifies the main diagonal of matrix: E[ v(t) v(t)^T ], | ||
| # size: p*p positive matrix, Z(t)= Hx(t)+ v(t), the measurement noise | ||
| no_states_kf 3 | ||
| no_measurement_kf 1 | ||
| q_matrix_kf ( 10.0 150.0 100000.0 ) | ||
| r_matrix_kf ( 0.0000001 ) |
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| 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") | ||
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| useVelocity 1 | ||
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| fingersScaling (1, 3.5, 2, 3.5, 1, 3.5, 5) |
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| # 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)) | ||
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| # 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)) |
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