towardthesea/PPS-visualization

This repo provides Matlab scripts to visual the peripersonal space (PPS) learned by iCub humanoid robot

PPS-Visualization

The repository provides Matlab scripts and functions to handle mainly visualization-related things of the peripersonal space (PPS) representation of the iCub humanoid robot.

PPS in iCub is provided by this module: [peripersonal-space] (https://github.com/robotology/peripersonal-space)

Table of contents

1. Main PPS visualization
2. Individual body part PPS visualization
3. Perfect PPS generation
4. Receptive field formulation and visualization
5. How to

Main PPS visualization

Please run the command in the same folder or add the path of the folder before running main to visualize the whole upper body PPS as shown in figures:

• Front view (percRF(right,left) = (0.25, 0.5)):
• Top view (percRF(right,left) = (0.25, 0.5)):

This will visualize the PPS around all taxels of all the forearms and hands.

Main can optionally take up two parameters: main(thrRF,SKIN_VERSION, percRF) where

• thrRF can be a number <0,1> or an array of up to 4 numbers. This is a threshold applied to the visualization of PPS of the skin parts. E.g., with thrRF=0.9, only those parts of the PPS with activations exceeding 0.9 will be visualized. Default: 0.0
• SKIN_VERSION applies to forearm versions, so that the correct taxel positions are loaded. Default: 2
• percRF can be a number <0,1> or an array of up to 2 numbers. This is to sink the RF of PPS.

All files with learned / handcrafted represenations are stored in the ppsTaxelsFiles directory. The ones that are loaded and plotted are specified in the individual script files:

• ppsPlot_leftForearm_func.m
• ppsPlot_leftPalm_func.m
• ppsPlot_rightForearm_func.m
• ppsPlot_rightPalm_func.m

Individual body part PPS visualization

Please refer to:

• ppsPlot_leftForearm.m
• ppsPlot_leftPalm.m
• ppsPlot_rightForearm.m
• ppsPlot_rightPalm.m

Perfect PPS generation

These scripts allow to generate (rather than learn) a handcrafted PPS .ini file - possibly a "perfect" representation.

The scripts are in the perfectPPSgenerationScripts folder.

Use this script to generate: generatePerfectTaxelsFile.m

The shape can be set for example here: writeTaxelsFile_n.m

Note: currently, the "mapping" section generated is not correct and has to be replaced by hand.

Receptive field formulation and visualization

The maximumRF.m script contains formulation and visualization of the spherical sector that forms the RF of individual taxels.

How to

• Figure 4, HRI2018: run script pwe_draw.m without any arguments. This script also relates mainly to parzen_estimation.m
• Figure 5, HRI2018: run script main.m:

main(0,2,[0.5, 1])