Merge pull request #100 from robotology/texture_retargeting_pr_devel_…

…patience

Texture retargeting

app/robots/iCubErzelli02/hapticGloveConfig.ini

@@ -19,6 +19,11 @@ getHumanMotionRange     1
 steadyStateCounterThreshold 5
 # the threshold to check the error between the desired and feedback values for the steady state check [rad]
 steadyStateThreshold        0.05
+# threshold in which an skin data is considered updated [no units]
+tactileWorkingThreshold     0.0001
+# threshold in which an skin data is considered updated [no units]
+tactileUpdateThreshold     0.0001
+
 
 # include fingers parameters
 [include LEFT_FINGERS_RETARGETING   "leftFingersHapticRetargetingParams.ini"]

app/robots/iCubGazeboV2_5/hapticGloveConfig.ini

@@ -10,6 +10,7 @@ useLeftHand             1
 useRightHand            1
 smoothingTime           0.25
 isMandatory             0
+useSkin                 0
 #calibrationTimePeriod [sec]
 calibrationTimePeriod   2.0
 #robotInitializationTime [sec]
@@ -19,6 +20,13 @@ getHumanMotionRange     1
 steadyStateCounterThreshold 5
 # the threshold to check the error between the desired and feedback values for the steady state check [rad]
 steadyStateThreshold        0.05
+# the time teleoperation should wait before running [sec]
+waitingDurationTime         5.0
+# threshold in which an skin is considered as working fine [no units]
+tactileWorkingThreshold     0.0001
+# threshold in which an skin data is considered updated [no units]
+tactileUpdateThreshold     0.0001
+
 
 # include fingers parameters
 [include LEFT_FINGERS_RETARGETING   "leftFingersHapticRetargetingParams.ini"]

app/robots/iCubGazeboV2_5/leftFingersHapticRetargetingParams.ini

@@ -15,6 +15,15 @@ joint_list                   (  "l_thumb_oppose",    "l_thumb_proximal", "l_thum
                                 "l_ring_abduction",  "l_ring_proximal",   "l_ring_middle",  "l_ring_distal",
                                 "l_pinky_abduction", "l_pinky_proximal",  "l_pinky_middle", "l_pinky_distal" )
 
+# the custom range of axes motion [degrees]
+#                        axis-name ,         min value,     max value
+axes_custom_motion_range  (   ( "l_thumb_oppose" ,  10,            90) )
+
+# the custom axes home angle value [degrees]
+# By default it home values are set to min axis values
+#                        axis-name ,         axis value
+axes_custom_home_angle  (   ( "l_thumb_oppose" ,  30) )
+
 # if a joint is not listed here, the sensory information is of encoder type.
 # notice that "l_thumb_oppose" and "l_hand_fingers" is measured by joint encoders not the analog sensors
 analog_list           (  "l_thumb_proximal", "l_thumb_middle", "l_thumb_distal",
@@ -35,6 +44,7 @@ l_middle_proximal      (  "l_middle_proximal" )
 l_middle_distal        ( "l_middle_middle", "l_middle_distal" )
 l_pinky                ( "l_ring_proximal", "l_ring_middle", "l_ring_distal", "l_pinky_proximal", "l_pinky_middle", "l_pinky_distal" )
 
+robot_finger_list ( "l_thumb_finger", "l_index_finger", "l_middle_finger", "l_ring_finger", "l_little_finger")
 ###############
 ### HUMAN
 ###############

app/robots/iCubGazeboV2_5/rightFingersHapticRetargetingParams.ini

@@ -1,21 +1,28 @@
 ###############
 ### ROBOT
 ###############
-
 remote_control_boards   ("right_arm")
-
 remote_sensor_boards    "right_hand"
 
-axis_list             (  "r_hand_fingers", "r_thumb_oppose", "r_thumb_proximal", "r_thumb_distal", "r_index_proximal", "r_index_distal", "r_middle_proximal", "r_middle_distal", "r_pinky" )
+axis_list             ( "r_hand_fingers", "r_thumb_oppose", "r_thumb_proximal", "r_thumb_distal", "r_index_proximal", "r_index_distal", "r_middle_proximal", "r_middle_distal", "r_pinky" )
+
+all_axis_list         ( "r_hand_fingers", "r_thumb_oppose", "r_thumb_proximal", "r_thumb_distal", "r_index_proximal", "r_index_distal", "r_middle_proximal", "r_middle_distal", "r_pinky" )
 
-all_axis_list         (  "r_hand_fingers", "r_thumb_oppose", "r_thumb_proximal", "r_thumb_distal", "r_index_proximal", "r_index_distal", "r_middle_proximal", "r_middle_distal", "r_pinky" )
 
+joint_list            (  "r_thumb_oppose",    "r_thumb_proximal",  "r_thumb_middle",  "r_thumb_distal",
+                         "r_index_abduction", "r_index_proximal",  "r_index_middle", "r_index_distal",
+                         "r_middle_proximal", "r_middle_middle",   "r_middle_distal",
+                         "r_ring_abduction",  "r_ring_proximal",   "r_ring_middle",  "r_ring_distal",
+                         "r_pinky_abduction", "r_pinky_proximal",  "r_pinky_middle", "r_pinky_distal" )
 
-joint_list            (  "r_thumb_oppose",    "r_thumb_proximal", "r_thumb_middle", "r_thumb_distal",
-                         "r_index_abduction", "r_index_proximal",  "r_index_middle",   "r_index_distal",
-                         "r_middle_proximal", "r_middle_middle",  "r_middle_distal",
-                         "r_ring_abduction",  "r_ring_proximal",   "r_ring_middle",    "r_ring_distal",
-                         "r_pinky_abduction", "r_pinky_proximal",  "r_pinky_middle",   "r_pinky_distal" )
+# the custom range of axes motion [degrees]
+#                        axis-name ,         min value,     max value
+axes_custom_motion_range  (   ( "r_thumb_oppose" ,  10,            60) )
+
+# the custom axes home angle value [degrees]
+# By default it home values are set to min axis values
+#                        axis-name ,         axis value
+axes_custom_home_angle  (   ( "r_thumb_oppose" ,  30) )
 
 # if a joint is not listed here, the sensory information is of encoder type.
 # notice that "r_thumb_oppose" and "r_hand_fingers" is measured by joint encoders not the analog sensors
@@ -25,8 +32,8 @@ analog_list           (  "r_thumb_proximal",  "r_thumb_middle", "r_thumb_distal"
                          "r_ring_proximal",   "r_ring_middle",   "r_ring_distal",
                          "r_pinky_proximal",  "r_pinky_middle",   "r_pinky_distal" )
 
-#Adding the groups of each axis and associated analog sensors
-r_hand_fingers          ( "r_index_abduction", "r_ring_abduction", "r_pinky_abduction")
+#Adding the groups of each axis and associated joints
+r_hand_fingers          ( "r_index_abduction", "r_ring_abduction", "r_pinky_abduction" )
 r_thumb_oppose         ( "r_thumb_oppose" )
 r_thumb_proximal       ( "r_thumb_proximal" )
 r_thumb_distal         ( "r_thumb_middle", "r_thumb_distal"  )
@@ -36,20 +43,21 @@ r_middle_proximal      ( "r_middle_proximal" )
 r_middle_distal        ( "r_middle_middle", "r_middle_distal" )
 r_pinky                ( "r_ring_proximal",   "r_ring_middle",   "r_ring_distal", "r_pinky_proximal",   "r_pinky_middle",   "r_pinky_distal" )
 
+robot_finger_list ( "r_thumb_finger", "r_index_finger", "r_middle_finger", "r_ring_finger", "r_little_finger")
+
 ###############
 ### HUMAN
 ###############
-human_joint_list      ( "r_thumb_oppose", "r_thumb_proximal", "r_thumb_middle", "r_thumb_distal",
-                         "r_index_abduction", "r_index_proximal", "r_index_middle", "r_index_distal",
-                         "r_middle_abduction", "r_middle_proximal", "r_middle_middle", "r_middle_distal",
-                         "r_ring_abduction",  "r_ring_proximal",   "r_ring_middle",   "r_ring_distal",
-                         "r_pinky_abduction", "r_pinky_proximal",   "r_pinky_middle",   "r_pinky_distal" )
+human_joint_list      (  "r_thumb_oppose",     "r_thumb_proximal",   "r_thumb_middle",   "r_thumb_distal",
+                         "r_index_abduction",  "r_index_proximal",   "r_index_middle",   "r_index_distal",
+                         "r_middle_abduction", "r_middle_proximal",  "r_middle_middle",  "r_middle_distal",
+                         "r_ring_abduction",   "r_ring_proximal",    "r_ring_middle",    "r_ring_distal",
+                         "r_pinky_abduction",  "r_pinky_proximal",   "r_pinky_middle",   "r_pinky_distal" )
 
 human_finger_list ( "r_thumb_finger", "r_index_finger", "r_middle_finger", "r_ring_finger", "r_little_finger")
 
 hand_link           r_hand
 
-
 wearable_data_ports ("/WearableData/HapticGlove/RightHand/data:o")
 
 use_rpc               0
@@ -67,24 +75,21 @@ wearable_data_actuator_ports_in "/WearableData/HapticGlove/RightHand/Actuators/i
 motorsJointsCoupled      1
 
 # haptic feedback retargeting from the robot axis groups to the human finger
-r_thumb_finger                  (  "r_thumb_oppose", "r_thumb_proximal", "r_thumb_distal"  )
-r_index_finger                  (  "r_hand_finger",  "r_index_proximal", "r_index_distal"  )
-r_middle_finger                 (  "r_middle_proximal", "r_middle_distal"  )
-r_ring_finger                   (  "r_pinky" )
-r_little_finger                 (  "r_pinky" )
+r_thumb_finger                  ( "r_thumb_oppose",   "r_thumb_proximal", "r_thumb_distal"  )
+r_index_finger                  ( "r_hand_fingers", "r_index_proximal", "r_index-distal"  )
+r_middle_finger                 ( "r_middle_proximal", "r_middle_distal"  )
+r_ring_finger                   ( "r_pinky" )
+r_little_finger                 ( "r_pinky" )
 
-# This gain is multiplied to the total error for each motor/axis to compute the force feedback to the user associated with each axis,
-# defined according to user experience
-# Number of gains = number of motors/axis
-gainTotalError            ( 0.0 0.0 600.0   600.0 600.0 600.0   600.0 600.0 600.0 )
+# This gain is multiplied to the total error for each motor to compute the force feedback to the user, computed by user experience
+# No of gains= No of motors
+gainTotalError            ( 0.0 0.0 600.0    600.0 600.0 600.0    600.0 600.0 600.0 )
 
 # check this issue for the velocity Gain: https://github.com/dic-iit/element_retargeting-from-human/issues/141
-# number of gains = number of motors/axis
-gainVelocityError         ( 0.0 0.0 0.1   0.1 0.1 0.1   0.1 0.1 0.1 )
+gainVelocityError         ( 0.0 0.0 0.1     0.1 0.1 0.1     0.1 0.1 0.1 )
 
 # this value is multiplied to forcefeedback and provides haptic feedback to the user
-# number of gains =  number of fingers
-gainVibrotactile          ( 0.8 0.8 0.8 0.8 0.8 )
+gainVibrotactile ( 0.8 0.8 0.8 0.8 0.8 )
 
 # scaling and biased values for maping the human to robot motion
 # the sign of the following vector is important, while the absolute values will be found at configuration file
@@ -95,9 +100,9 @@ human_to_robot_joint_angles_scaling (  1.0 1.0 1.0 1.0
                                        1.0 1.0 1.0 1.0 )
 
 human_to_robot_joint_anlges_bias    (  0.0 0.0 0.0 0.0
-                                       0.0 0.0 0.0 0.0
                                        0.0 0.0 0.0
                                        0.0 0.0 0.0 0.0
+                                       0.0 0.0 0.0 0.0
                                        0.0 0.0 0.0 0.0  )
 
 axisContactThreshold                 0.1
@@ -108,16 +113,16 @@ axisContactThreshold                 0.1
 
 useVelocity           0
 
-referenceVelocityForPositionControl 80.0
+referenceVelocityForPositionControl 100.0
 
 # minimum and maximum values of the joints
 # related to analog sensors
 # values are in degrees
-analog_joints_min_boundary      ( 0.0   0.0   0.0      0.0   0.0   0.0      0.0   0.0   0.0      0.0   0.0   0.0      0.0   0.0   0.0  )
-analog_joints_max_boundary      ( 90.0  90.0  90.0     90.0  90.0  90.0     90.0  90.0  90.0     90.0  90.0  90.0     90.0  90.0  90.0 )
+analog_joints_min_boundary ( 0.0  0.0  0.0     0.0  0.0  0.0     0.0  0.0  0.0   0.0  0.0  0.0    0.0  0.0  0.0  )
+analog_joints_max_boundary ( 90.0 90.0 90.0    90.0 90.0 90.0    90.0 90.0 90.0  90.0 90.0 90.0   90.0 90.0 90.0 )
 
-analog_sensors_raw_min_boundary ( 255.0 255.0 255.0    255.0 255.0 255.0    255.0 255.0 255.0    255.0 255.0 255.0    255.0 255.0 255.0 )
-analog_sensors_raw_max_boundary ( 0.0   0.0   0.0      0.0   0.0   0.0      0.0   0.0   0.0      0.0   0.0   0.0      0.0   0.0   0.0 )
+analog_sensors_raw_min_boundary ( 255.0 255.0 255.0   255.0 255.0 255.0    255.0 255.0 255.0    250.0 255.0 255.0    255.0 255.0 255.0  )
+analog_sensors_raw_max_boundary ( 25.0  0.0   37.0    15.0  24.0  12.0     0.0   0.0   0.0      40.0  0.0   0.0      0.0   30.0  0.0 )
 
 # in case each joint does not have independant motor to actuate, they are coupled
 axesJointsCoupled     1
@@ -127,13 +132,13 @@ doCalibration           1
 #robot controller exponential filter gain
 exponentialFilterGain           0.9
 
+
 # q= A x m, where:
 #       q (n,1) is the joint values
-#       m (m,1) is the axis/motor values
+#       m (m,1) is the motors values
 #       A (n,m) is the mapping from the motors values to the joint values
 
 # CouplingMatrix = A : (n,m) matrix
-# if doCalibration is true, then the CouplingMatrix will be over-written
 CouplingMatrix          ( 1.1 0.0 0.0 0.0 0.0
                           0.0 1.0 1.0 0.0 0.0
                           0.0 0.0 1.0 0.0 0.0
@@ -145,8 +150,7 @@ CouplingMatrix          ( 1.1 0.0 0.0 0.0 0.0
 
 # for joint-axis qp controller
 # eqaul to the number of all joints
-q_qp_control    ( 1.0 1.0 1.0 1.0    1.0 1.0 1.0 1.0    1.0 1.0 1.0    1.0 1.0 1.0 1.0    1.0 1.0 1.0 1.0 )
-
+q_qp_control    ( 1.0 1.0 1.0 1.0    1.0 1.0 1.0 1.0    1.0 1.0 1.0     1.0 1.0 1.0 1.0     1.0 1.0 1.0 1.0 )
 
 # eqaul to the number of all axes
 r_qp_control    ( 0.0 0.0 0.0   0.0 0.0 0.0   0.0 0.0 0.0 )
@@ -158,3 +162,30 @@ no_states_kf            3
 no_measurement_kf       1
 q_matrix_kf             ( 10.0 150.0 100000.0 )
 r_matrix_kf             ( 0.0000001 )
+
+
+#####################
+## TACTILE SENSORS ##
+#####################
+## length of the tactile sensor port
+noTactileSensors        192
+
+## indices to read from the port for each finger
+##                                     starting index <uint>   ending index <uint>      contact threshold      gain vibrotactile feedback     gain derivative vibrotactile feedback            contact derivative threshold
+r_thumb_finger_tactile_info          ( 48                      59                       5.0                     200.0                              50.0                                  3.0                             )
+r_index_finger_tactile_info          ( 0                       11                       5.0                     200.0                              50.0                                  3.0                             )
+r_middle_finger_tactile_info         ( 12                      23                       5.0                     200.0                              50.0                                  3.0                             )
+r_ring_finger_tactile_info           ( 24                      35                       5.0                     200.0                              50.0                                  3.0                             )
+r_little_finger_tactile_info         ( 36                      47                       5.0                     200.0                              50.0                                  3.0                             )
+
+# absolute vibrotactile feedback nonlinear function parameters
+# 15.0 * std::log(2 * std::pow(x, 0.7) + 1) + 0.5 * std::pow(x, 1.1);
+# reference to https://github.com/ami-iit/element_retargeting-from-human/issues/182#issuecomment-1000472012
+absoluteVibrotactileFeedbackNonlinearFunctionParameters ( 15.0       2.0       0.7       1.0       0.5       1.1 )
+
+# percentage dedicated to absolute skin data for providing the vibrotactile feedback
+# the value is between [0,1]
+# 0 : 0% absolute skin value for the vibrotactile feedback; 100% derivative skin value for the vibrotactile feedback
+# 1 : 100% absolute skin value for the vibrotactile feedback; 0% derivative skin value for the vibrotactile feedback
+absoluteSkinValuePercentage 1.0
+skinDerivativeSmoothingGain 0.9

app/robots/iCubGenova04/hapticGloveConfig.ini

@@ -10,6 +10,7 @@ useLeftHand             1
 useRightHand            1
 smoothingTime           0.25
 isMandatory             0
+useSkin                 1
 #calibrationTimePeriod [sec]
 calibrationTimePeriod   2.0
 #robotInitializationTime [sec]
@@ -19,6 +20,12 @@ getHumanMotionRange     1
 steadyStateCounterThreshold 5
 # the threshold to check the error between the desired and feedback values for the steady state check [rad]
 steadyStateThreshold        0.05
+# the time teleoperation should wait before running [sec]
+waitingDurationTime         5.0
+# threshold in which an skin is considered as working fine [no units]
+tactileWorkingThreshold     0.0001
+# threshold in which an skin data is considered updated [no units]
+tactileUpdateThreshold     0.0001
 
 # include fingers parameters
 [include LEFT_FINGERS_RETARGETING   "leftFingersHapticRetargetingParams.ini"]

app/robots/iCubGenova04/leftFingersHapticRetargetingParams.ini

@@ -15,6 +15,16 @@ joint_list                   (  "l_thumb_oppose", "l_thumb_proximal", "l_thumb_m
                                 "l_ring_abduction", "l_ring_proximal",   "l_ring_middle",   "l_ring_distal",
                                 "l_pinky_abduction", "l_pinky_proximal",   "l_pinky_middle",   "l_pinky_distal" )
 
+# the custom range of axes motion [degrees]
+#                        axis-name ,         min value,     max value
+axes_custom_motion_range  (   ( "l_thumb_oppose" ,  10,            90) )
+
+
+# the custom axes home angle value [degrees]
+# By default it home values are set to min axis values
+#                        axis-name ,         axis value
+axes_custom_home_angle  (   ( "l_thumb_oppose" ,  30) )
+
 # if a joint is not listed here, the sensory information is of encoder type.
 # notice that "l_thumb_oppose" and "l_hand_fingers" is measured by joint encoders not the analog sensors
 analog_list           (  "l_thumb_proximal", "l_thumb_middle", "l_thumb_distal",

app/robots/iCubGenova04/rightFingersHapticRetargetingParams.ini

@@ -15,6 +15,15 @@ joint_list            (  "r_thumb_oppose",    "r_thumb_proximal",  "r_thumb_midd
                          "r_ring_abduction",  "r_ring_proximal",   "r_ring_middle",  "r_ring_distal",
                          "r_pinky_abduction", "r_pinky_proximal",  "r_pinky_middle", "r_pinky_distal" )
 
+# the custom range of axes motion [degrees]
+#                        axis-name ,         min value,     max value
+axes_custom_motion_range  (   ( "r_thumb_oppose" ,  10,            90) )
+
+# the custom axes home angle value [degrees]
+# By default it home values are set to min axis values
+#                        axis-name ,         axis value
+axes_custom_home_angle  (   ( "r_thumb_oppose" ,  30) )
+
 # if a joint is not listed here, the sensory information is of encoder type.
 # notice that "r_thumb_oppose" and "r_hand_finger" is measured by joint encoders not the analog sensors
 analog_list           (  "r_thumb_proximal",  "r_thumb_middle", "r_thumb_distal",

app/robots/iCubGenova09/hapticGloveConfig.ini

@@ -10,15 +10,22 @@ useLeftHand             1
 useRightHand            1
 smoothingTime           0.25
 isMandatory             0
+useSkin                 1
 #calibrationTimePeriod [sec]
 calibrationTimePeriod   2.0
 #robotInitializationTime [sec]
-robotInitializationTime 10.0
+robotInitializationTime 3.0
 getHumanMotionRange     1
 # the counter to check if steady state is reached [steps]
 steadyStateCounterThreshold 5
 # the threshold to check the error between the desired and feedback values for the steady state check [rad]
 steadyStateThreshold        0.05
+# the time teleoperation should wait before running [sec]
+waitingDurationTime         5.0
+# threshold in which an skin is considered as working fine [no units]
+tactileWorkingThreshold     0.0001
+# threshold in which an skin data is considered updated [no units]
+tactileUpdateThreshold     0.0001
 
 # include fingers parameters
 [include LEFT_FINGERS_RETARGETING   "leftFingersHapticRetargetingParams.ini"]