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robotology-legacy / wysiwyd

What You Say Is What You Did
http://wysiwyd.upf.edu
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No tracking look #31

Closed pattacini closed 8 years ago

pattacini commented 8 years ago

The ICubClient::look() remaps onto a tracking behavior of the gaze (by heritage); we should foresee a simple look service (i.e. no tracking) instead.

/cc @gregoire-pointeau

pattacini commented 8 years ago

ARE sub-system is ready for that. Thus, the modification is to be applied to attentionSelector (where we have a look(xyz) but not a look(object_name)) and, consequently, all the downstream modules need to be carefully checked/upgraded.

Tobias-Fischer commented 8 years ago

@gregoire-pointeau @pattacini: Can we close this issue after our discussions yesterday? It seems tracking is what we actually want, so I don't see the need for the look method.

pattacini commented 8 years ago

Fine for the single look, but I still have to check whether there'll be a weird interaction between attentionSelector and ARE during a commanded action (e.g. point ...).

Stay tuned!

Tobias-Fischer commented 8 years ago

Actually, I think there is still some discussions to do here. Right now, both the ARE and attention subsystems offer a look service. In iCubClient, we employ the service from attention (which is then internally calling ARE). However, if attentionSelector is not running, this is not successful. What should the correct behavior be? Using attentionSelector by default, but if the subsystem is not connected fall back to ARE?

pattacini commented 8 years ago

I can certainly implement as backup for look the call to ARE in case attentionSelector is not connected, but I don't think it will add that much. If we decided to go for the tracking look, then I believe attentionSelector must be marked as mandatory component to run the demo.

pattacini commented 8 years ago

What's the final decision on this?

DbD-zz commented 8 years ago

Ramping the project up again. Thanks Dick Woods 

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-------- Original message -------- From: Ugo Pattacini notifications@github.com Date: 12/18/2015 1:02 PM (GMT-07:00) To: robotology/wysiwyd wysiwyd@noreply.github.com Subject: Re: [wysiwyd] No tracking look (#31)

What's the final decision on this?

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Tobias-Fischer commented 8 years ago

We don't use attention selector here, so I personally think it would be nice to have a backup in that case :) What do you think @gregoire-pointeau?

pattacini commented 8 years ago

Ok then, I'll do the backup.