Merge branch 'master' of https://github.com/robotology/poeticon

robotology · Mar 31, 2016 · cfe4126 · cfe4126
2 parents 7eac1c7 + 77c2b87
commit cfe4126
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diff --git a/README.md b/README.md
@@ -35,12 +35,7 @@ Speech recognition dependencies:
 
 ### Linux
 
-Installation of the core POETICON++ build:
-
-    git clone https://github.com/robotology/poeticon
-    cd poeticon && mkdir build && cd build && cmake .. && make
-
-Instructions to install libPRADA, required by the probabilistic planner:
+First install libPRADA, required by the probabilistic planner:
 
     cd poeticon
     tar xzvf 3rdparty/libPRADA.tgz && cd libPRADA
@@ -49,6 +44,13 @@ Instructions to install libPRADA, required by the probabilistic planner:
     make
     cp test/relational_plan/x.exe ../app/conf/planner.exe
 
+Then install the core POETICON++ build:
+
+    git clone https://github.com/robotology/poeticon
+    cd poeticon && mkdir build && cd build && cmake .. && make
+
+Note: the modules belonging to the probabilistic planner part (planningCycle, affordanceCommunication, geometricGrounding, goalCompiler) must have access to the same "contexts/poeticon" directory. One way to accomplish this is to run them on the same machine.
+
 ## Documentation
 
 Please refer to the documentation inside each module, and to the help commands available via RPC interfaces.

diff --git a/app/CMakeLists.txt b/app/CMakeLists.txt
@@ -8,8 +8,18 @@ set(APPNAME poeticon)
 file(GLOB conf ${CMAKE_CURRENT_SOURCE_DIR}/conf/*.ini)
 file(GLOB scripts ${CMAKE_CURRENT_SOURCE_DIR}/scripts/*.template)
 
-file(GLOB prada ${CMAKE_CURRENT_SOURCE_DIR}/conf/planner.exe)
-file(GLOB pradaFiles ${CMAKE_CURRENT_SOURCE_DIR}/conf/config ${CMAKE_CURRENT_SOURCE_DIR}/conf/*.dat)
+if(EXISTS "${CMAKE_CURRENT_SOURCE_DIR}/conf/planner.exe")
+  set(prada_FOUND ON)
+  message(STATUS "libPRADA found")
+else()
+  set(prada_FOUND OFF)
+  message(WARNING "libPRADA not found")
+endif()
+
+if(prada_FOUND)
+  file(GLOB prada ${CMAKE_CURRENT_SOURCE_DIR}/conf/planner.exe)
+  file(GLOB pradaFiles ${CMAKE_CURRENT_SOURCE_DIR}/conf/config ${CMAKE_CURRENT_SOURCE_DIR}/conf/*.dat)
+endif()
 
 set(lua_fsm ${CMAKE_CURRENT_SOURCE_DIR}/lua/poeticon_root_fsm.lua)
 set(lua_bin ${CMAKE_CURRENT_SOURCE_DIR}/lua/poeticon_main.lua)
@@ -25,8 +35,10 @@ icubcontrib_set_default_prefix()
 yarp_install(FILES ${conf} DESTINATION ${ICUBCONTRIB_CONTEXTS_INSTALL_DIR}/${APPNAME})
 yarp_install(FILES ${scripts} DESTINATION ${ICUBCONTRIB_APPLICATIONS_TEMPLATES_INSTALL_DIR})
 
-yarp_install(PROGRAMS ${prada} DESTINATION ${ICUBCONTRIB_CONTEXTS_INSTALL_DIR}/${APPNAME})
-yarp_install(FILES ${pradaFiles} DESTINATION ${ICUBCONTRIB_CONTEXTS_INSTALL_DIR}/${APPNAME})
+if(prada_FOUND)
+  yarp_install(PROGRAMS ${prada} DESTINATION ${ICUBCONTRIB_CONTEXTS_INSTALL_DIR}/${APPNAME})
+  yarp_install(FILES ${pradaFiles} DESTINATION ${ICUBCONTRIB_CONTEXTS_INSTALL_DIR}/${APPNAME})
+endif()
 
 yarp_install(PROGRAMS ${lua_fsm} DESTINATION ${ICUBCONTRIB_CONTEXTS_INSTALL_DIR}/${APPNAME}/lua)
 

diff --git a/app/conf/pre_rules.dat b/app/conf/pre_rules.dat
@@ -23,7 +23,7 @@ OUTCOMES:
 ACTION:
   grasp__obj_with__hand()
 CONTEXT:
-  -_obj_ishand() _hand_clearhand() _hand_ishand() _obj_isreachable_with__hand() -_ALL_on__obj()
+  -_obj_ishand() _hand_clearhand() _hand_ishand() _obj_isreachable_with__hand() -_ALL_on__obj() -_obj_inhand__OTHERHAND()
 OUTCOMES:
   0.95 _obj_inhand__hand() -_hand_clearhand()
   0.05 <noise>

diff --git a/app/lua/poeticon_main.lua b/app/lua/poeticon_main.lua
@@ -17,7 +17,7 @@ object_port = yarp.Port()
 poeticon_port = yarp.Port()
 
 -- defining objects and actions vocabularies
-objects = {"rake", "meat", "cheese", "tomato", "stick", "bun-bottom", "bun-top"}
+objects = {"Rake", "Stick", "Ham", "Tomato", "Bun-bottom", "Bun-top"}
 actions = {"{point at}", "{what is this}"}
 
 -- defining speech grammar for Menu

diff --git a/app/scripts/classifyRoi.xml.template b/app/scripts/classifyRoi.xml.template
@@ -0,0 +1,97 @@
+<application>
+<name>Classify Observe ROI </name>
+
+        <dependencies>
+                <port>/icub/camcalib/left/out</port>
+                <port>/icub/camcalib/right/out</port>
+                <port>/iKinGazeCtrl/rpc</port>
+        </dependencies>
+
+        <module>
+                <name>dispBlobber</name>
+                <parameters>--minBlobSize 1000</parameters>
+                <node>icub21</node>
+        </module>
+        <module>
+                <name>caffeCoder</name>
+                <parameters>--name caffeCoderRoi</parameters>
+                <node>icub-tesla</node>
+        </module>
+        <module>
+                <name>linearClassifierModule</name>
+                <parameters>--name linearClassifierModuleRoi --BufferSize 1 --CSVM 1.0 --databaseFolder ROIDatabase --WeightedSVM 1</parameters>
+                <node>icub-b1</node>
+        </module>
+        <module>
+                <name>himrepClassifier</name>
+                <parameters>--name himrepClassifierRoi</parameters>
+                <node>icub21</node>
+        </module>
+        <module>
+                <name>objectsPropertiesCollector</name>
+                <parameters>--name memoryRoi --db memory_CAFFE_ROI.ini</parameters>
+                <node>icub-b2</node>
+        </module>
+        <module>
+                <name>yarpview</name>
+                <parameters>--name /roiViewer/nearBlob --compact</parameters>
+                <node>icub22</node>
+        </module>
+
+        <connection>
+                <from>/activityInterface/imgClassifier:o</from>
+                <to>/himrepClassifierRoi/img:i</to>
+                <protocol>tcp</protocol>
+        </connection>
+        <connection>
+                <from>/activityInterface/classify:rpc</from>
+                <to>/himrepClassifierRoi/rpc</to>
+                <protocol>tcp</protocol>
+        </connection>
+
+        <connection>
+                <from>/himrepClassifierRoi/img:o</from>
+                <to>/caffeCoderRoi/img:i</to>
+                <protocol>tcp</protocol>
+        </connection>
+        <connection>
+                <from>/caffeCoderRoi/code:o</from>
+                <to>/himrepClassifierRoi/features:i</to>
+                <protocol>tcp</protocol>
+        </connection>
+        <connection>
+                <from>/himrepClassifierRoi/features:o</from>
+                <to>/linearClassifierModuleRoi/features:i</to>
+                <protocol>tcp</protocol>
+        </connection>
+        <connection>
+                <from>/linearClassifierModuleRoi/scores:o</from>
+                <to>/himrepClassifierRoi/scores:i</to>
+                <protocol>tcp</protocol>
+        </connection>
+        <connection>
+                <from>/himrepClassifierRoi/classify:rpc</from>
+                <to>/linearClassifierModuleRoi/rpc</to>
+                <protocol>tcp</protocol>
+        </connection>
+        <connection>
+                <from>/caffeCoderRoi/img:o</from>
+                <to>/himrepClassifierRoi/SIFTimg:i</to>
+                <protocol>tcp</protocol>
+        </connection>
+        <connection>
+                <from>/himrepClassifierRoi/opc</from>
+                <to>/memoryRoi/rpc</to>
+                <protocol>tcp</protocol>
+        </connection>
+         <connection>
+                <from>/SFM/disp:o</from>
+                <to>/dispBlobber/img:i</to>
+                <protocol>tcp</protocol>
+        </connection>
+        <connection>
+                <from>/dispBlobber/opt:o</from>
+                <to>/roiViewer/nearBlob</to>
+                <protocol>tcp</protocol>
+        </connection>
+</application>