silva: A Python repository from ustyui

Silva is an android operation framework generates lifelike android motion by using a developed framework by merging multiple motion generator models.

ROS Version	Kinetic	Melodic
Build Status

It is authored by Shiqi Yu, Satoshi Yagi, Naoki Ise, Yifei Wang and Yoshihiro Nakata from Osaka University, Japan. Currently, it is being maintained by Shiqi Yu. To use silva, A ROS environment under linux is necessary. For detail handbooks, please refer to ibukiDEVGuide.

^{The mobile android ibuki showing conversation postures using silva.}

Excepted Features

The beta version of silva has been released, the whole project is still under daily development. Silva is designed to have the following expected features:

Compatibily: Given the robot with limited diversity, the framework can enable the lifelike motion charactistics of the robot.
Tolerance: For the faults and errors from the inputs or the framework itself, the behavior of the robot will be constrainted in common
Synthesis: The framework can adapt as many kinds of existing motion models as it can.
Easy Modularize: Users can easy design the modules and add them to the existing frameworks.

Configuration

OS: Ubuntu 18.04 on Nvidia AGX Xaiver suggested

Installation
Quick Start
Citation

Installation

cd ~/some_path
git clone https://github.com/ustyui/silva.git
cd ~/catkin_ws
ln -s ~/some_path/silva ~/catkin_ws/src/silva
cd ~/catkin_ws/src/silva/scripts
sudo chmod u+x ./preinstall.sh
sudo ./preinstall.sh
cd ~/catkin_ws
catkin_make

Quick Start

System Boot (Robot Side)

roslaunch silva_beta beta.launch

Idle Motion (Robot Side)

roslaunch silva_beta tanh.launch

Midi Controller Interface (Command PC Side, OR on Robot Side for debug)

roslaunch silva_beta controlpanel.launch

GUI Usage (On Command PC Side, OR on Robot Side for debug)

rosrun silva_beta silva.py

Humanoid Simulation Model Mapping

see docs in /doc/data_input_format.csv

To run the example, run

rosrun silva_beta HSM_csv.py lookaround

You can monitor the output using

rostopic echo /silva/slave_local/operation

Messages

Silva has different type of messages. To check messages and the protocol in use, see here.

You can check the message type by using

rostopic list /silva

Feedback Function

To take position feedback and current feedback using silva, do as follows:

run basic silva system roslaunch silva_beta feedback.launch

rosbag record -a Then you can get a .bag file in the terminal repository. Press Ctrl+c to stop recording.

If you want to monitor the raw feedback message in the terminal, run roslaunch echo /silva/reflex_local/ch0 for position feedback,

and

roslaunch echo /silva/reflex_local/ch1 for current feedback(ibuki hardware launch needed).

Citation

Please cite the following papers in your publications if it helps your research:

Acknowledgements

This work was supported by JST ERATO Grant Number JPMJER1401, Japan.

ustyui/silva