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PPS_modulation_iCub_skeleton3D_openpose.xml
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<application>
<name>PPS Modulation icub with Skeleton3D and OpenPose</name>
<module>
<name>iCubGui</name>
<parameters>--xpos 1300 --ypos 0 --width 600 --height 930</parameters>
<node>icub22</node>
<tag>iCubGui</tag>
</module>
<!--OPC and related modules-->
<module>
<name>objectsPropertiesCollector</name>
<parameters>--name OPC --no-load-db --no-save-db</parameters>
<node>icub21</node>
</module>
<!--SFM modules-->
<module>
<name>SFM</name>
<parameters></parameters>
<node>icub22</node>
</module>
<module>
<name>yarpview</name>
<parameters>--name /SFM/disp --x 960 --y 720 --p 50 --compact</parameters>
<node>icub22</node>
</module>
<!-- Tool connection-->
<connection>
<from>/skeleton3D/askTool:rpc</from>
<to>/onTheFlyRecognition_right/human:io</to>
<protocol>tcp</protocol>
</connection>
<connection>
<from>/onTheFlyRecognition_right/class:o</from>
<to>/skeleton3D/toolClass:i</to>
<protocol>tcp</protocol>
</connection>
<connection>
<from>/onTheFlyRecognition_left/class:o</from>
<to>/skeleton3D/toolClass_left:i</to>
<protocol>tcp</protocol>
</connection>
<!-- On the fly connection-->
<connection>
<from>/skeleton3D/handBlobs:o</from>
<to>/onTheFlyRecognition_right/roi:i</to>
<protocol>tcp</protocol>
</connection>
<connection>
<from>/skeleton3D/handBlobs_left:o</from>
<to>/onTheFlyRecognition_left/roi:i</to>
<protocol>tcp</protocol>
</connection>
<!--Skeleton modules-->
<module>
<name>yarpview</name>
<parameters>--name /dispSkeleton:i --x 960 --y 370 --p 50 --compact</parameters>
<node>icub22</node>
</module>
<module>
<name>yarpOpenPose</name>
<node>icub-cuda</node>
</module>
<module>
<name>skeleton3D</name>
<parameters>--dThresholdDisparition 10.0 --part_dimension 0.07 --filter_order 9 --use_part_conf 0 --period 0.01 --body_valence 1.0 --part_conf_thres 0.2</parameters>
<dependencies>
<port timeout="10">/OPC/rpc</port>
<port timeout="10">/SFM/rpc</port>
<port timeout="10">/yarpOpenPose/target:o</port>
</dependencies>
<node>icub21</node>
</module>
<connection>
<from>/skeleton3D/get3d:rpc</from>
<to>/SFM/rpc</to>
<protocol>tcp</protocol>
</connection>
<!--PPS modules-->
<module>
<name>skinEventsAggregator</name>
<parameters></parameters>
<node>icub21</node>
<stdio></stdio>
<tag>skinEventsAggreg</tag>
</module>
<module>
<name>ppsAggregEventsForiCubGui</name>
<parameters></parameters>
<node>icub21</node>
<stdio></stdio>
<tag>aggregEvForiCubGui</tag>
</module>
<module>
<name>visuoTactileWrapper</name>
<parameters>--robot icub --noDoubleTouch</parameters>
<node>icub21</node>
<stdio></stdio>
</module>
<module>
<name>visuoTactileRF</name>
<parameters>--robot icub --taxelsFile taxelsFiles/taxels1D_45cmRF_skinV2_perfect_all.ini --rate 20</parameters>
<node>icub21</node>
<stdio></stdio>
</module>
<!--GUI modules-->
<module>
<name>guiUpdater</name>
<parameters>--displaySkeletons 1</parameters>
<dependencies>
<port timeout="10">/OPC/rpc</port>
</dependencies>
<node>icub21</node>
</module>
<!--react-ctrl modules-->
<module>
<name>reactController</name>
<parameters>--referenceGen minJerk --additionalControlPoints off --stiff off</parameters>
<node>icub22</node>
<stdio></stdio>
<tag>reactController</tag>
</module>
<!--skinGui modules-->
<module>
<name>skinManager</name>
<parameters>--from skinManAll.ini --context skinGui</parameters>
<node>icub21</node>
<tag>skinMan</tag>
</module>
<module>
<name>skinManagerGui</name>
<parameters>--from skinManGui.ini --context skinGui --xpos 1020 --ypos 350</parameters>
<node>icub21</node>
<tag>skinManGui</tag>
</module>
<module>
<name>iCubSkinGui</name>
<!-- Remember to use the proper configuration files (i.e. "_V2.ini" for V2 robots) -->
<parameters>--from left_forearm_V2.ini --useCalibration --xpos 0 --ypos 0 --width 300 --height 300</parameters>
<node>icub22</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>icub22</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_V2.ini --useCalibration --xpos 640 --ypos 0 --width 300 --height 300</parameters>
<node>icub22</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>
<node>icub22</node>
<tag>skinGuiRH</tag>
</module>
<ensure>
<wait>5.0</wait>
</ensure>
<!--PPS connections-->
<connection>
<from>/skinEventsAggregator/skin_events_aggreg:o</from>
<to>/reactController/skin_events_aggreg:i</to>
<protocol>udp</protocol>
</connection>
<connection>
<from>/skinEventsAggregator/skin_events_aggreg:o</from>
<to>/ppsAggregEventsForiCubGui/skin_events_aggreg:i</to>
<protocol>udp</protocol>
</connection>
<connection>
<from>/skeleton3D/visuoTactileWrapper/objects:o</from>
<to>/visuoTactileWrapper/sensManager:i</to>
<protocol>tcp</protocol>
</connection>
<connection>
<from>/visuoTactileWrapper/events:o</from>
<to>/visuoTactileRF/events:i</to>
<protocol>tcp</protocol>
</connection>
<connection>
<from>/visuoTactileWrapper/gui:o</from>
<to>/iCubGui/objects</to>
<protocol>tcp</protocol>
</connection>
<connection>
<from>/visuoTactileRF/pps_events_aggreg:o</from>
<to>/ppsAggregEventsForiCubGui/pps_events_aggreg:i</to>
<protocol>udp</protocol>
</connection>
<connection>
<from>/visuoTactileRF/pps_events_aggreg:o</from>
<to>/reactController/pps_events_aggreg:i</to>
<protocol>udp</protocol>
</connection>
<connection>
<from>/ppsAggregEventsForiCubGui/contacts:o</from>
<to>/iCubGui/forces</to>
<protocol>udp</protocol>
</connection>
<!--SFM connections-->
<connection>
<from>/icub/camcalib/right/out</from>
<to>/SFM/right:i</to>
<protocol>tcp</protocol>
</connection>
<connection>
<from>/icub/camcalib/left/out</from>
<to>/SFM/left:i</to>
<protocol>tcp</protocol>
</connection>
<connection>
<from>/SFM/disp:o</from>
<to>/SFM/disp</to>
<protocol>udp</protocol>
</connection>
<!--Skeleton connections-->
<connection>
<from>/icub/camcalib/left/out</from>
<to>/yarpOpenPose/image:i</to>
<protocol>udp</protocol>
</connection>
<connection>
<from>/yarpOpenPose/image:o</from>
<to>/dispSkeleton:i</to>
<protocol>udp</protocol>
</connection>
<connection>
<from>/yarpOpenPose/target:o</from>
<to>/skeleton3D/bodyParts:i</to>
<protocol>udp</protocol>
</connection>
<!--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>/icub/head/state:o</from>
<to>/iCubGui/head:i</to>
<protocol>udp</protocol>
</connection>
<connection>
<from>/icub/inertial</from>
<to>/iCubGui/inertial:i</to>
<protocol>udp</protocol>
</connection>
<connection>
<from>/icub/left_arm/state:o</from>
<to>/iCubGui/left_arm:i</to>
<protocol>udp</protocol>
</connection>
<connection>
<from>/icub/right_arm/state:o</from>
<to>/iCubGui/right_arm:i</to>
<protocol>udp</protocol>
</connection>
<connection>
<from>/icub/torso/state:o</from>
<to>/iCubGui/torso:i</to>
<protocol>udp</protocol>
</connection>
<!--skinGui connections-->
<connection>
<from>/skinManager/skin_events:o</from>
<to>/wholeBodyDynamics/skin_contacts:i</to>
<protocol>udp</protocol>
</connection>
<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>/skinManager/skin_events:o</from>
<to>/visuoTactileRF/skin_events:i</to>
<protocol>udp</protocol>
</connection>
<connection>
<from>/skinManager/skin_events:o</from>
<to>/skinEventsAggregator/skin_events:i</to>
<protocol>udp</protocol>
</connection>
<connection>
<from>/visuoTactileRF/skinGuiForearmL:o</from>
<to>/skinGui/left_forearm_virtual:i</to>
<protocol>udp</protocol>
</connection>
<connection>
<from>/visuoTactileRF/skinGuiForearmR:o</from>
<to>/skinGui/right_forearm_virtual:i</to>
<protocol>udp</protocol>
</connection>
<connection>
<from>/visuoTactileRF/skinGuiHandL:o</from>
<to>/skinGui/left_hand_virtual:i</to>
<protocol>udp</protocol>
</connection>
<connection>
<from>/visuoTactileRF/skinGuiHandR:o</from>
<to>/skinGui/right_hand_virtual:i</to>
<protocol>udp</protocol>
</connection>
<connection>
<from>/icub/skin/left_hand_comp</from>
<to>/skinGui/left_hand:i</to>
<protocol>udp</protocol>
</connection>
<connection>
<from>/icub/skin/left_forearm_comp</from>
<to>/skinGui/left_forearm:i</to>
<protocol>udp</protocol>
</connection>
<connection>
<from>/icub/skin/left_arm_comp</from>
<to>/skinGui/left_arm:i</to>
<protocol>udp</protocol>
</connection>
<connection>
<from>/icub/skin/right_hand_comp</from>
<to>/skinGui/right_hand:i</to>
<protocol>udp</protocol>
</connection>
<connection>
<from>/icub/skin/right_forearm_comp</from>
<to>/skinGui/right_forearm:i</to>
<protocol>udp</protocol>
</connection>
<connection>
<from>/icub/skin/right_arm_comp</from>
<to>/skinGui/right_arm:i</to>
<protocol>udp</protocol>
</connection>
</application>