Playback of Skin Data for iCub robot

[Ahmad-k95]

Hello,

We are currently working on a project with the iCub robot at INSERM U1093 - CAPS in Dijon, France, to develop a data dumper that collects data from various sensors (joints, images, skin). We have successfully developed this functionality and are able to play back joint and image data using the yarpdataplayer.

However, we are encountering issues when trying to play back the skin data. We would like to ask for your assistance or guidance in understanding whether it is possible to play back the skin data using the skin GUI tools developed by IIT.

Here is the complete code of our current implementation:

<?xml version="1.0" encoding="UTF-8" ?>

<application>

	<name>iCub_data_dumper</name>

<!-- //////////////////// DEPENDENCIES \\\\\\\\\\\\\\\\\\\\ -->

	<dependencies>
		<port>/icub/skin/left_arm</port>
		<port>/icub/skin/left_forearm</port>
		<port>/icub/skin/left_hand</port>
		<port>/icub/skin/right_arm</port>
		<port>/icub/skin/right_forearm</port>
		<port>/icub/skin/right_hand</port>
	</dependencies>
	
<!-- //////////////////// MODULES \\\\\\\\\\\\\\\\\\\\ -->

	<module>
	  <name>skinManager</name>
	  <parameters>--from skinManAllPlusLegs.ini --context skinGui</parameters>
	  <node>icubsrv</node>
	  <tag>skinMan</tag>
	</module>
	
	<module>
	  <name>skinManagerGui</name>
	  <parameters>--from skinManGui.ini --context skinGui --xpos 1020 --ypos 350</parameters>
	  <node>icubsrv</node>
	  <tag>skinManGui</tag>
	</module>
	 
	<module>
		<name>yarpdatadumper</name>
		<parameters>--name /data/skin/left_arm_skin --type bottle </parameters>
		<node>icubsrv</node>
	</module>

	<module>
		<name>yarpdatadumper</name>
		<parameters>--name /data/skin/left_forearm_skin --type bottle </parameters>
		<node>icubsrv</node>
	</module>

	<module>
		<name>yarpdatadumper</name>
		<parameters>--name /data/skin/left_hand_skin --type bottle </parameters>
		<node>icubsrv</node>
	</module>

	<module>
		<name>yarpdatadumper</name>
		<parameters>--name /data/skin/right_arm_skin --type bottle </parameters>
		<node>icubsrv</node>
	</module>

	<module>
		<name>yarpdatadumper</name>
		<parameters>--name /data/skin/right_forearm_skin --type bottle </parameters>
		<node>icubsrv</node>
	</module>

	<module>
		<name>yarpdatadumper</name>
		<parameters>--name /data/skin/right_hand_skin --type bottle </parameters>
		<node>icubsrv</node>
	</module>
	
    	<module>
        	<name>yarpdatadumper</name>
        	<parameters>--name /data/head</parameters>
        	<node>localhost</node>
        	<stdio></stdio>
        	<tag>yarpdatadumper</tag>
    	</module>
        
    	<module>
        	<name>yarpdatadumper</name>
        	<parameters>--name /data/torso</parameters>
        	<node>localhost</node>
        	<stdio></stdio>
        	<tag>yarpdatadumper</tag>
    	</module>
    	
    	<module>
        	<name>yarpdatadumper</name>
        	<parameters>--name /data/leftArm</parameters>
        	<node>localhost</node>
        	<stdio></stdio>
        	<tag>yarpdatadumper</tag>
    	</module>
    	
    	<module>
        	<name>yarpdatadumper</name>
        	<parameters>--name /data/rightArm</parameters>
        	<node>localhost</node>
        	<stdio></stdio>
        	<tag>yarpdatadumper</tag>
    	</module>
    	
    	<module>
        	<name>yarpdatadumper</name>
        	<parameters>--name /data/leftLeg</parameters>
        	<node>localhost</node>
        	<stdio></stdio>
        	<tag>yarpdatadumper</tag>
    	</module>
    	
    	<module>
        	<name>yarpdatadumper</name>
        	<parameters>--name /data/rightLeg</parameters>
        	<node>localhost</node>
        	<stdio></stdio>
        	<tag>yarpdatadumper</tag>
    	</module>
    	
    	<module>
        	<name>yarpdatadumper</name>
        	<parameters>--name /data/images/left --type image</parameters>
        	<node>localhost</node>
        	<stdio></stdio>
        	<tag>yarpdatadumper</tag>
    	</module>
    	
    	<module>
        	<name>yarpdatadumper</name>
        	<parameters>--name /data/images/right --type image</parameters>
        	<node>localhost</node>
        	<stdio></stdio>
        	<tag>yarpdatadumper</tag>
    	</module>

<!-- //////////////////// CONNECTIONS \\\\\\\\\\\\\\\\\\\\ -->

	<connection>
	  <from>/skinManagerGui/rpc:o</from>
	  <to>/skinManager/rpc</to>
	  <protocol>tcp</protocol>
	</connection>
	
	<connection>
	  <from>/skinManager/monitor:o</from>
	  <to>/skinManagerGui/monitor:i</to>
	  <protocol>udp</protocol>
	</connection>
	
	<connection>
	  <from>/skinManager/info:o</from>
	  <to>/skinManagerGui/info:i</to>
	  <protocol>tcp</protocol>
	</connection>
	
	<connection>
		<from>/icub/skin/left_arm</from>
		<to>/data/skin/left_arm_skin</to>
		<protocol>udp</protocol>
	</connection>

	<connection>
		<from>/icub/skin/left_forearm</from>
		<to>/data/skin/left_forearm_skin</to>
		<protocol>udp</protocol>
	</connection>

	<connection>
		<from>/icub/skin/left_hand</from>
		<to>/data/skin/left_hand_skin</to>
		<protocol>udp</protocol>
	</connection>
	
	<connection>
		<from>/icub/skin/right_arm</from>
		<to>/data/skin/right_arm_skin</to>
		<protocol>udp</protocol>
	</connection>

	<connection>
		<from>/icub/skin/right_forearm</from>
		<to>/data/skin/right_forearm_skin</to>
		<protocol>udp</protocol>
	</connection>
	
	<connection>
		<from>/icub/skin/right_hand</from>
		<to>/data/skin/right_hand_skin</to>
		<protocol>udp</protocol>
	</connection>	
    	
    	<connection>
        	<from>/icub/head/state:o</from>
        	<to>/data/head</to>
        	<protocol>udp</protocol>
    	</connection>
    	
    	<connection>
        <from>/icub/torso/state:o</from>
        <to>/data/torso</to>
        <protocol>udp</protocol>
    	</connection>
    	
    	<connection>
        	<from>/icub/left_arm/state:o</from>
        	<to>/data/leftArm</to>
        	<protocol>udp</protocol>
    	</connection>
    	
    	<connection>
        	<from>/icub/right_arm/state:o</from>
        	<to>/data/rightArm</to>
        	<protocol>udp</protocol>
    	</connection>
    	
    	<connection>
        	<from>/icub/left_leg/state:o</from>
        	<to>/data/leftLeg</to>
        	<protocol>udp</protocol>
    	</connection>
    	
    	<connection>
        	<from>/icub/right_leg/state:o</from>
        	<to>/data/rightLeg</to>
        	<protocol>udp</protocol>
    	</connection>

    	<connection>
        	<from>/icub/camcalib/left/out</from>
        	<to>/data/images/left</to>
        	<protocol>udp</protocol>
    	</connection>
    	
    	<connection>
        	<from>/icub/camcalib/right/out</from>
        	<to>/data/images/right</to>
        	<protocol>udp</protocol>
    	</connection>
    	
<!-- //////////////////// END OF APPLICATION \\\\\\\\\\\\\\\\\\\\ -->
	
</application>

We are able to play back joint and image data correctly, but the skin data is not being processed as expected. We would appreciate your assistance in understanding whether any additional steps or tools are required to support the playback of skin data.

Thank you for your time, and we look forward to your guidance.

Best regards,
Ahmad Kaddour
INSERM U1093 - CAPS, Dijon, France
Robotics Engineer
@pfdominey

[traversaro]

We are able to play back joint and image data correctly, but the skin data is not being processed as expected.

Can you elaborate on this? What is the outcome of the processing you are expecting and the one that instead you get? Furthermore, can you provide some information on the version of the software (yarp, icub-main, ...) used in your experiments? Thanks!

[Ahmad-k95]

Hello,
Thank you for your response.
Here is more information regarding our current situation:
Expected Outcome: We are aiming to play back the skin data using the skin GUI tools provided by IIT. Specifically, we want to visualize the tactile sensor data from the robot's skin (e.g., for the arms, forearms, and hands) in the same way we can successfully replay joint and image data using yarpdataplayer.
Software Versions: YARP 3.7.2
Please let us know if there are any specific configurations or tools that we should be using to ensure proper playback of the skin data.

[matejhof]

Hi, I cannot look into the details of your code now, but I can confirm that we were using this functionality - replaying tactile data on skinGuis - in the past.

[Ahmad-k95]

Hi,
Thank you for your response.
Could you please tell us how you managed to do it?

[matejhof]

Have a look here https://github.com/robotology/peripersonal-space/blob/master/app/scripts/bonus-or-deprecated/iCub_dataSetPlayer.xml and other scripts in that directory.

[matejhof]

Note that we were logging with two time stamps: --txTime --rxTime. That is not needed but should be consistent between dumper and player. See also https://github.com/robotology/peripersonal-space/blob/master/app/scripts/bonus-or-deprecated/iCub_Log_tx_rx_time.xml

[pattacini]

Hi @Ahmad-k95

The resources @matejhof pointed you to are a good starting point for your tests, indeed 👍🏻

You may refer to https://github.com/robotology/peripersonal-space/blob/master/app/scripts/bonus-or-deprecated/iCub_Log.xml for the logging and to https://github.com/robotology/peripersonal-space/blob/master/app/scripts/bonus-or-deprecated/iCub_dataSetPlayer.xml ¹ for the replaying.

Footnotes

1. For simplicity, you could neglect all those parts regarding the iCubGui, to begin with. ↩