Add the possibility to run the SkinRetargeting NN online

.github/workflows/ci.yml

@@ -8,6 +8,11 @@ on:
   # Execute a "nightly" build at 2 AM UTC
   - cron:  '0 2 * * *'
 
+env:
+  vcpkg_robotology_TAG: v0.10.1
+
+  # Overwrite the VCPKG_INSTALLATION_ROOT env variable defined by GitHub Actions to point to our vcpkg
+  VCPKG_INSTALLATION_ROOT: C:\robotology\vcpkg
 
 jobs:
   build:
@@ -40,21 +45,27 @@ jobs:
     - name: Dependencies [Windows]
       if: matrix.os == 'windows-latest'
       run: |
-        git clone https://github.com/robotology-dependencies/robotology-vcpkg-binary-ports C:/robotology-vcpkg-binary-ports
-        vcpkg.exe --overlay-ports=C:/robotology-vcpkg-binary-ports install --triplet x64-windows ace libxml2 eigen3 ipopt-binary catch2
+        # To avoid spending a huge time compiling vcpkg dependencies, we download a root that comes precompiled with all the ports that we need
+        choco install -y wget unzip
+        # To avoid problems with non-relocatable packages, we unzip the archive exactly in the same C:/robotology/vcpkg
+        # that has been used to create the pre-compiled archive
+        cd C:/
+        wget https://github.com/robotology/robotology-superbuild-dependencies-vcpkg/releases/download/${env:vcpkg_robotology_TAG}/vcpkg-robotology-with-gazebo.zip
+        unzip vcpkg-robotology-with-gazebo.zip -d C:/
+        rm vcpkg-robotology-with-gazebo.zip
 
     - name: Dependencies [macOS]
       if: matrix.os == 'macOS-latest'
       run: |
-        brew install ace boost eigen swig qt5 orocos-kdl catch2
+        brew install ace boost eigen swig qt5 orocos-kdl catch2 nlohmann-json
 
     - name: Dependencies [Ubuntu]
       if: matrix.os == 'ubuntu-latest'
       run: |
         sudo apt-get update
         sudo apt-get install git build-essential cmake libace-dev coinor-libipopt-dev  libboost-system-dev libboost-filesystem-dev \
                              libboost-thread-dev liborocos-kdl-dev libeigen3-dev swig qtbase5-dev qtdeclarative5-dev qtmultimedia5-dev \
-                             libxml2-dev liburdfdom-dev libtinyxml-dev liburdfdom-dev liboctave-dev python3-dev valgrind
+                             libxml2-dev liburdfdom-dev libtinyxml-dev liburdfdom-dev liboctave-dev python3-dev valgrind nlohmann-json3-dev
 
     - name: Source-based Dependencies [Windows]
       if: matrix.os == 'windows-latest'

app/CMakeLists.txt

@@ -25,5 +25,10 @@ foreach (dir ${subdirs})
   yarp_install(FILES ${scripts} DESTINATION ${YARP_ROBOTS_INSTALL_DIR}/${dir})
 endforeach ()
 
+foreach (dir ${subdirs})
+  file(GLOB scripts robots/${dir}/*.json)
+  yarp_install(FILES ${scripts} DESTINATION ${YARP_ROBOTS_INSTALL_DIR}/${dir})
+endforeach ()
+
 file(GLOB scripts scripts/*.xml)
 yarp_install(FILES ${scripts} DESTINATION ${YARP_APPLICATIONS_INSTALL_DIR})

app/robots/iCubGenova09/hapticGloveConfig_rightHand.ini

@@ -0,0 +1,31 @@
+name                    HapticGloveRetargeting
+
+
+[GENERAL]
+robot                   icub
+samplingTime            0.01
+enableMoveRobot         1
+enableLogger            0
+useLeftHand             0
+useRightHand            1
+isMandatory             0
+useSkin                 1
+#calibrationTimePeriod [sec]
+calibrationTimePeriod   8.0
+#robotInitializationTime [sec]
+robotInitializationTime 3.0
+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
+# the time teleoperation should wait before running [sec]
+waitingDurationTime         5.0
+# threshold in which an skin is considered as working fine [no units]
+tactileWorkingThreshold     0.0001
+# threshold in which an skin data is considered updated [no units]
+tactileUpdateThreshold     -1.0
+
+# include fingers parameters
+[include LEFT_FINGERS_RETARGETING   "leftFingersHapticRetargetingParams.ini"]
+[include RIGHT_FINGERS_RETARGETING "rightFingersHapticRetargetingParams.ini"]

app/robots/iCubGenova09/leftFingersHapticRetargetingParams.ini

@@ -1,11 +1,14 @@
 ###############
 ### ROBOT
 ###############
-remote_control_boards   ("left_arm")
+remote_control_boards           ("left_arm")
 
-remote_sensor_boards    "left_hand"
+remote_sensor_boards            "left_hand"
 
-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" )
+connect_to_calibrated_skin      1
+remote_calibrated_sensor_board  "left_hand_filtered"
+
+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" )
 
 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" )
 
@@ -21,8 +24,8 @@ joint_list                   (  "l_thumb_oppose", "l_thumb_proximal", "l_thumb_m
 
 # the custom axes home angle value [degrees]
 # By default it home values are set to min axis values
-#                        axis-name ,         axis value
-axes_custom_home_angle  (   ( "l_thumb_oppose" ,  30) )
+#                                  axis-name ,  axis value
+# axes_custom_home_angle  (   ( ${AXES_NAME} ,      ${VAL}) )
 
 # 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
@@ -64,12 +67,34 @@ wearable_data_actuator_ports_out "/WearableData/HapticGlove/LeftHand/Actuators/i
 
 wearable_data_actuator_ports_in "/WearableData/HapticGlove/LeftHand/Actuators/input:i"
 
+# delta on human finger joint motion range
+motion_range_min_delta  (   ( "l_thumb_oppose" ,  -30) )
+
 ###############
 ### RETARGETING
 ###############
 
 motorsJointsCoupled      1
 
+# motion retargetin
+# motion retargetin
+robot_to_human_map              ( ("l_thumb_oppose",    "l_thumb_oppose")
+                                  ("l_thumb_proximal",  "l_thumb_proximal")
+                                  ("l_thumb_distal",    "l_thumb_distal" )
+                                  ("l_thumb_middle",    "l_thumb_middle" )
+                                  ("l_index_proximal",  "l_index_proximal")
+                                  ("l_index_distal",    "l_index_distal")
+                                  ("l_index_middle",    "l_index_middle")
+                                  ("l_middle_proximal", "l_middle_proximal")
+                                  ("l_middle_distal",   "l_middle_distal")
+                                  ("l_middle_middle",   "l_middle_middle")
+                                  ("l_ring_proximal", "l_ring_proximal")
+                                  ("l_ring_distal",   "l_ring_distal")
+                                  ("l_ring_middle",   "l_ring_middle")
+                                  ("l_pinky_proximal", "l_pinky_proximal")
+                                  ("l_pinky_distal",   "l_pinky_distal")
+                                  ("l_pinky_middle",   "l_pinky_middle") )
+
 # 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" )
@@ -127,7 +152,7 @@ axesJointsCoupled     1
 
 # in case a calibration phase necessary before starting teleoperating the robot,
 # otherwise read the calibration matrix from the config file
-doCalibration           1
+doCalibration           0
 
 #robot controller exponential filter gain
 exponentialFilterGain           0.9
@@ -177,6 +202,16 @@ l_middle_finger_tactile_info         ( 12                      23
 l_ring_finger_tactile_info           ( 24                      35                    0.14                1.0                    200.0                   0.5                    3.0                   40.0)
 l_little_finger_tactile_info         ( 36                      47                    0.14                1.0                    200.0                   0.5                    3.0                   40.0)
 
+
+net_model_name                       "left_palm_model_alexnet32_25ep.json"
+use_calibrated_skin_for_palm         1
+palm_skin_index_offset               96
+number_of_palm_skin_taxels           48
+palm_skin_activation_norm_raw        1630
+palm_skin_activation_norm_calibrated 15
+palm_skin_mapping                    ((29 0 0), (28 0 1), (30 0 2), (31 0 3), (33 0 4), (27 1 1), (26 1 2), (32 1 3), (34 1 4), (35 2 2), (25 2 3), (24 2 4), (6 0 5), (7 0 6), (8 0 7), (9 0 8), (10 0 9), (11 0 10), (3 1 5), (1 1 6), (4 1 7), (5 1 8), (2 2 5), (0 2 6), (17 2 7), (20 2 8), (21 2 9), (15 3 5), (14 3 6), (16 3 7), (19 3 8), (13 4 7), (18 4 8), (22 3 9), (12 4 9), (23 5 8), (45 5 5), (42 5 6), (36 5 7), (44 6 5), (40 6 6), (38 6 7), (37 6 8), (41 7 6), (39 7 7), (43 8 6), (47 4 6), (46 4 5))
+
+
 # absolute vibrotactile feedback nonlinear function parameters
 # 15.0 * std::log(2 * std::pow(x, 0.7) + 1) + 0.5 * std::pow(x, 1.1);
 # reference to https://github.com/ami-iit/element_retargeting-from-human/issues/182#issuecomment-1000472012

app/robots/iCubGenova09/rightFingersHapticRetargetingParams.ini

@@ -21,8 +21,8 @@ joint_list            (  "r_thumb_oppose",    "r_thumb_proximal",  "r_thumb_midd
 
 # the custom axes home angle value [degrees]
 # By default it home values are set to min axis values
-#                        axis-name ,         axis value
-axes_custom_home_angle  (   ( "r_thumb_oppose" ,  30) )
+#                                  axis-name ,  axis value
+# axes_custom_home_angle  (   ( ${AXES_NAME} ,      ${VAL}) )
 
 # if a joint is not listed here, the sensory information is of encoder type.
 # notice that "r_thumb_oppose" and "r_hand_finger" is measured by joint encoders not the analog sensors
@@ -64,12 +64,34 @@ wearable_data_actuator_ports_out "/WearableData/HapticGlove/RightHand/Actuators/
 
 wearable_data_actuator_ports_in "/WearableData/HapticGlove/RightHand/Actuators/input:i"
 
+# delta on human finger joint motion range
+motion_range_min_delta  (   ( "r_thumb_oppose" ,  30) )
+
 ###############
 ### RETARGETING
 ###############
 
 motorsJointsCoupled      1
 
+# motion retargetin
+robot_to_human_map              ( ("r_thumb_oppose",    "r_thumb_oppose")
+                                  ("r_thumb_proximal",  "r_thumb_proximal")
+                                  ("r_thumb_distal",    "r_thumb_distal" )
+                                  ("r_thumb_middle",    "r_thumb_middle" )
+                                  ("r_index_proximal",  "r_index_proximal")
+                                  ("r_index_distal",    "r_index_distal")
+                                  ("r_index_middle",    "r_index_middle")
+                                  ("r_middle_proximal", "r_index_proximal")
+                                  ("r_middle_distal",   "r_index_distal")
+                                  ("r_middle_middle",   "r_index_middle")
+                                  ("r_ring_proximal", "r_ring_proximal")
+                                  ("r_ring_distal",   "r_ring_distal")
+                                  ("r_ring_middle",   "r_ring_middle")
+                                  ("r_pinky_proximal", "r_pinky_proximal")
+                                  ("r_pinky_distal",   "r_pinky_distal")
+                                  ("r_pinky_middle",   "r_pinky_middle") )
+
+
 # haptic feedback retargeting from the robot axis groups to the human finger
 r_thumb_finger                  ( "r_thumb_oppose",   "r_thumb_proximal", "r_thumb_distal"  )
 r_index_finger                  ( "r_hand_finger", "r_index_proximal", "r_index-distal"  )
@@ -123,7 +145,7 @@ analog_sensors_raw_max_boundary ( 25.0  0.0   37.0    15.0  24.0  12.0     0.0
 # in case each joint does not have independant motor to actuate, they are coupled
 axesJointsCoupled     1
 
-doCalibration           1
+doCalibration           0
 
 #robot controller exponential filter gain
 exponentialFilterGain           0.9
@@ -174,6 +196,9 @@ r_middle_finger_tactile_info         ( 12                      23
 r_ring_finger_tactile_info           ( 24                      35                    0.14                1.0                    200.0                   0.5                    3.0                   40.0)
 r_little_finger_tactile_info         ( 36                      47                    0.14                1.0                    200.0                   0.5                    3.0                   40.0)
 
+
+
+
 # absolute vibrotactile feedback nonlinear function parameters
 # 15.0 * std::log(2 * std::pow(x, 0.7) + 1) + 0.5 * std::pow(x, 1.1);
 # reference to https://github.com/ami-iit/element_retargeting-from-human/issues/182#issuecomment-1000472012