iCubErzelli03 - Controlling the facial expressions

[ddetommaso]

Description of the failure

The facial expressions work normally except for some conditions.

• The eye-lids system doesn't work. Sending commands to close the eyes (set eli sad) nothing happens.

• The robot starts with the LEDs activated even if the module is not running. I'd like to know if it's possible to disable the LED changing some configuration files.

• How it is possible to change LED colors (iCubErzelli03 has rfe board)

Thanks

[julijenv]

Hi @ddetommaso , unfortunately or should /i say fortunately for you the face of iCubErzelli03 is way more davcne than the old face that you were moving before. Now it is a real motor that activate the movement and so you can control it. The control is done by motorcontrol and not anymore with the little board attache to the head. if you look into the yarpmotorgui you should see that the eyelid can be moved with a specific motor interface. hope it helps, for the colour changes I noticed to @valegagge to give you more details about it or where to look for info about it.

[ddetommaso]

Hi @julijenv, that sounds good! It works perfectly with the motorcontrol. Still having more details about the facial expressions color changes would be appreciated.

Thank you!

[valegagge]

Hi @ddetommaso , as @julijenv said, your robot has the Robot Face Expression (rfe) board, the new board for managing the expressions. In absence of new requirements, I developed its firmware in order to obtain the same behavior of the old board.

If you have new needs, I can add them. Please tell me if there are other requirements, in addition of above mentioned, and their priority so I can develop them in the near future. Thanks!

[maggia80]

@MrAndrea

[ddetommaso]

Hi @valegagge,

at the moment we're controlling the face expressions using the basic functionalities already available for the older robot'versions, but of course it would be nice to exploit more the new RFE.

I would suggest some features to implement (not urgently):

1. Adding the possibility to switch off the LEDs
2. Adding the possibility to modify the color of the expressions
3. Adding the possibility to have transitions (positional and color'gradients) in the changes between one facial expression and the other.

Thanks!

[stale[bot]]

This issue has been automatically marked as stale because it has not had recent activity. It will be closed if no further activity occurs.

[julijenv]

same request from issue #838

[pattacini]

Hello gens, @ddetommaso @amaroyo @reafrancesco

We'll deal with this feature request internally and find out a suitable place for it within our agenda of planned activities. Gonna let you know when this can be developed. Stay tuned.

cc @arrenglover @ChiaraBartolozzi

[ddetommaso]

Hi guys,

any updates about this feature?

[julijenv]

Hi @ddetommaso , you should look at https://github.com/icub-tech-iit/tickets/issues/103

[Nicogene]

Hi @ddetommaso,

In this https://github.com/robotology/QA/issues/403#issuecomment-638161499 I explained the rpc protocol for exploiting the feature of the new facial expression.

Maybe this bash script can help you to understand how to use them, you can find in icub-main.

Fyi we are planning to put all this information in a renewed version of the documentation of the facial expression

[pattacini]

Hi @ddetommaso,

In particular, the work on these new facial expressions has been announced at https://github.com/robotology/QA/issues/377.

We agree that this announcement is not sufficient to convey all the required information. To this end, we will be improving the way we make available new features to the community.

For the time being, please refer to the material @Nicogene has just posted as well as to the PR's referenced from within https://github.com/robotology/QA/issues/377. Also, don't hesitate to ask for direct help on this.

[ddetommaso]

Cool!! Thank you guys!