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multisensory_integration_icubSim.xml
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multisensory_integration_icubSim.xml
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<application>
<name>Multisensory Integration icubSim</name>
<dependencies>
<port>/icubSim/left_arm/state:o</port>
<!--<port>/icubSim/right_arm/state:o</port>-->
</dependencies>
<module>
<name>iCub_SIM</name>
<node>localhost</node>
<tag>icubSim</tag>
</module>
<module>
<name>iCubGui</name>
<node>localhost</node>
<tag>iCubGui</tag>
</module>
<module>
<name>yarpmotorgui</name>
<node>localhost</node>
<tag>motorgui</tag>
</module>
<!--PPS modules-->
<module>
<name>skinEventsSampler</name>
<parameters>--name skinEventsAggregator</parameters>
<node>localhost</node>
<stdio></stdio>
<tag>skinEventsAggreg</tag>
</module>
<!--skinGui modules-->
<module>
<name>iCubSkinGui</name>
<!-- Remember to use the proper configuration files (i.e. "_V2.ini" for V2 robots) -->
<parameters>--from left_forearm.ini --useCalibration --xpos 0 --ypos 0 --width 300 --height 300</parameters>
<node>localhost</node>
<tag>skinGuiLF</tag>
</module>
<module>
<name>iCubSkinGui</name>
<!-- Remember to use the proper configuration files (i.e. "_V2.ini" for V2 robots) -->
<parameters>--from left_hand_V2_1.ini --useCalibration --xpos 320 --ypos 0 --width 300 --height 300</parameters>
<node>localhost</node>
<tag>skinGuiLH</tag>
</module>
<module>
<name>iCubSkinGui</name>
<!-- Remember to use the proper configuration files (i.e. "_V2.ini" for V2 robots) -->
<parameters>--from right_forearm.ini --useCalibration --xpos 640 --ypos 0 --width 300 --height 300</parameters>
<node>localhost</node>
<tag>skinGuiRF</tag>
</module>
<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 960 --ypos 0 --width 300 --height 300</parameters>-->
<parameters>--from right_hand_V2_1.ini --useCalibration --xpos 941 --ypos 0 --width 300 --height 300</parameters>
<node>localhost</node>
<tag>skinGuiRH</tag>
</module>
<!--yarp view for images-->
<module>
<name>yarpview</name>
<!--<parameters>--name /icubSim/view/left --x 0 --y 0 --p 50</parameters>-->
<parameters>--name /icubSim/view/left --x 640 --y 353 --p 50</parameters>
<node>localhost</node>
</module>
<module>
<name>yarpview</name>
<!--<parameters>--name /icubSim/view/right --x 320 --y 0 --p 50</parameters>-->
<parameters>--name /icubSim/view/right --x 941 --y 353 --p 50</parameters>
<node>localhost</node>
</module>
<module>
<name>yarpview</name>
<parameters>--name /test/view/left --x 0 --y 320 --p 50</parameters>
<node>localhost</node>
</module>
<module>
<name>yarpview</name>
<parameters>--name /test/view/right --x 320 --y 320 --p 50</parameters>
<node>localhost</node>
</module>
<module>
<name>motorBabbling</name>
<parameters>--robot icubSim</parameters>
<node>localhost</node>
</module>
<module>
<name>reachObjMultiDemo</name>
<parameters>--robot icubSim --part right_arm</parameters>
<node>localhost</node>
</module>
<ensure>
<wait>5.0</wait>
</ensure>
<!--GUI connections-->
<connection>
<from>/guiUpdater/gui:o</from>
<to>/iCubGui/objects</to>
<protocol>tcp</protocol>
</connection>
<connection>
<from>/guiUpdater/guiBase:o</from>
<to>/iCubGui/base:i</to>
<protocol>tcp</protocol>
</connection>
<connection>
<from>/icubSim/head/state:o</from>
<to>/iCubGui/head:i</to>
<protocol>udp</protocol>
</connection>
<connection>
<from>/icubSim/inertial</from>
<to>/iCubGui/inertial:i</to>
<protocol>udp</protocol>
</connection>
<connection>
<from>/icubSim/left_arm/state:o</from>
<to>/iCubGui/left_arm:i</to>
<protocol>udp</protocol>
</connection>
<connection>
<from>/icubSim/right_arm/state:o</from>
<to>/iCubGui/right_arm:i</to>
<protocol>udp</protocol>
</connection>
<connection>
<from>/icubSim/torso/state:o</from>
<to>/iCubGui/torso:i</to>
<protocol>udp</protocol>
</connection>
<!--Skin connections-->
<connection>
<from>/icubSim/skinManager/skin_events:o</from>
<to>/visuoTactileRF/skin_events:i</to>
<protocol>udp</protocol>
</connection>
<connection>
<from>/icubSim/skinManager/skin_events:o</from>
<to>/skinEventsAggregator/skin_events:i</to>
<protocol>udp</protocol>
</connection>
<connection>
<from>/icubSim/skin/left_hand_comp</from>
<to>/skinGui/left_hand:i</to>
<protocol>udp</protocol>
</connection>
<connection>
<from>/icubSim/skin/left_forearm_comp</from>
<to>/skinGui/left_forearm:i</to>
<protocol>udp</protocol>
</connection>
<connection>
<from>/icubSim/skin/left_arm_comp</from>
<to>/skinGui/left_arm:i</to>
<protocol>udp</protocol>
</connection>
<connection>
<from>/icubSim/skin/right_hand_comp</from>
<to>/skinGui/right_hand:i</to>
<protocol>udp</protocol>
</connection>
<connection>
<from>/icubSim/skin/right_forearm_comp</from>
<to>/skinGui/right_forearm:i</to>
<protocol>udp</protocol>
</connection>
<connection>
<from>/icubSim/skin/right_arm_comp</from>
<to>/skinGui/right_arm:i</to>
<protocol>udp</protocol>
</connection>
<!--Camera connections-->
<connection>
<output>/icubSim/cam/left</output>
<input>/icubSim/view/left</input>
<protocol>fast_tcp</protocol>
</connection>
<connection>
<output>/icubSim/cam/right</output>
<input>/icubSim/view/right</input>
<protocol>fast_tcp</protocol>
</connection>
<connection>
<output>/icubSim/cam/left</output>
<input>/motorBabbling/imageL:i</input>
<protocol>fast_tcp</protocol>
</connection>
<connection>
<output>/icubSim/cam/right</output>
<input>/motorBabbling/imageR:i</input>
<protocol>fast_tcp</protocol>
</connection>
<connection>
<output>/motorBabbling/imageL:o</output>
<input>/test/view/left</input>
<protocol>fast_tcp</protocol>
</connection>
<connection>
<output>/motorBabbling/imageR:o</output>
<input>/test/view/right</input>
<protocol>fast_tcp</protocol>
</connection>
</application>