GraspAdaptation [Modules]

Demo module for the Grasp Adaptation learning technique developed at LASA-EPFL. More...

Demo module for the Grasp Adaptation learning technique developed at LASA-EPFL.

Abstract

The reference and abstract of the research paper describing this work can be found here.

Description

Documentation wise, this page will strictly describe the basics of the module. For documentation as to how to run a demo and about the data format of generated files,
see the LASA's Grasp Adaptation extended documentation pages.

This software comes in two parts: the GraspAdaptation module and some octave/matlab scripts. The module controls the robot, prepares data, save them, and execute models. The octave scripts are here to learn the models from the data gathered by the module.

The octave/matlab scripts can be found in: $ICUB_ROOT/contrib/src/lasaBox/src/modules/GraspAdaptation/octave

For sake of completeness, here's the full command list available to the module:

*** State and behavior control commands ***********************************
idle         : Idle mode (No commands are sent to the motors at all)
rest         : Go to a predefined rest position mode 
rec          : Record mode
               - keep the last position fron Idle mode
               - use low gains            
run          : Run a loaded  model
recr         : Run a model and and set the recording mode 
               - use the model to help manipulating and refining
               - use low gains            
rep          : Replay data
reps         : Replay data and simulate skin input
*** Data control commands *************************************************
lrep <name>  : Load replay data
lgmm <name>  : Load GMM data
<RETURN>     : Switch on/off data output on port
dnam <name>  : Use <name> for auto saving data when output streaming is on
asav         : Toggle auto save during output streaming
test         : toggle test data output mode
*** Model behavior control  commands **************************************
mism         : toggle reliability measure check
gon          : turn on gradient ascent mode
goff         : turn off gradient ascent mode
gain <double>: set a global gain to the controllers: useful to compensate 
               for the untensioning of the hand cables
*** Miscelanous commands **************************************************
scal         : Reset skin calibration (nothing shall be in the robot's hand)
don          : Debug message On
doff         : Debug message Off

Dependencies

• YARP
• iCubInterface shall be running

Parameters

--name <string>:    the module base name for port creation (GraspAdaptation by default)
--period <double>:  control loop period (0.02 sec by default)
--robot <string>:   the robot name to connect to
--part <string>:    the icub part to be controlled (left or right) (mandatory parameter)

ports:

• /moduleName/partName/rpc
• /moduleName/partName/fingertip:i : port to which skin data shoudl be streamed

ports:

• /moduleName/partName/output:o : streams output data (see Port output and file format)

Input Data Files

See below

Output Data Files

See below

Configuration Files

None

Tested OS

Linux

Example Instantiation of the Module

GraspAdaptation --robot icub --part right --path $ICUB_ROOT/contrib/src/lasaBox/data/GraspAdaptation

Author:

Eric Sauser

Copyright (C) 2011 RobotCub Consortium

CopyPolicy: Released under the terms of the GNU GPL v2.0.

This file can be edited at $ICUB_ROOT/contrib/src/lasaBox/src/modules/GraspAdaptation