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Improve secondary calibration#211

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lrapetti merged 10 commits intogbionics:develfrom
lrapetti:improve-calibration
Nov 16, 2020
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Improve secondary calibration#211
lrapetti merged 10 commits intogbionics:develfrom
lrapetti:improve-calibration

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@lrapetti lrapetti commented Aug 3, 2020

This PR introduce the new calibration methods described in #208 (comment) and improve the overall structure of the calibration code.

The new calibration methods introduced are the following:

  • Relative calibration
    command: calibrateRelativeLink <parent> <child>
    example: calibrating the pelvis (child) w.r.t. the chest (parent) the iCub model torso gets straight
    calibrateRelativeLink chest_fake root_link_fake
    calibrateRelativeLink_2

  • Custom offset calibration
    command setRotationOffset <link> <roll pitch yaw [deg]>
    example we add a 45 degrees offset on the chest yaw
    setRotationOffset

Moreover, the other calibration commads are now the following

  • whole-body calibration -> command: calibrateAll
  • link calibration -> command: calibrate <linkName> (not changed)
  • chain calibration -> command: calibrateSubTree <parentLinkName> <childLinkName>

@lrapetti lrapetti added this to the Iteration 43 milestone Aug 3, 2020
@lrapetti lrapetti self-assigned this Aug 3, 2020
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claudia-lat commented Sep 8, 2020

CC @Yeshasvitvs @kouroshD

@claudia-lat claudia-lat modified the milestones: Iteration 45, Iteration 46 Sep 8, 2020
@claudia-lat claudia-lat linked an issue Sep 21, 2020 that may be closed by this pull request
Improve secondary calibration #208
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claudia-lat commented Sep 21, 2020

CC: @Yeshasvitvs and @kouroshD

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yeshasvitirupachuri commented Sep 22, 2020

@lrapetti what is the difference between calibrateRelativeLink and calibrateSubTree ?

yeshasvitirupachuri
yeshasvitirupachuri suggested changes Sep 22, 2020
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@claudia-lat claudia-lat modified the milestones: Iteration 47, Iteration 48 Oct 6, 2020
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lrapetti commented Oct 8, 2020

@lrapetti what is the difference between calibrateRelativeLink and calibrateSubTree ?

The main difference is that with calibrateRelativeLink we compute the calibration matrix for a single link (assuming a zero configuration w.r.t. the other link), while with calibrateSubTree the calibration matrix is computed for each link in the subtree.

More information can be found in the related issue #208.

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lrapetti commented Oct 9, 2020 •
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The CI is failing on MacOS such as in previous PR (#213 (comment)), I will open a specific issue for that.

@Yeshasvitvs @kouroshD let me know if you have further comments on this PR.

EDIT: issue opened at #214

kouroshD
kouroshD reviewed Oct 12, 2020
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@claudia-lat claudia-lat modified the milestones: Iteration 49, Iteration 50 Nov 2, 2020
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lrapetti commented Nov 6, 2020 •
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@kouroshD @Yeshasvitvs I have taken care of the modification you suggested, please let me know if you have any other comment.

Otherwise what is left is:

  • rebase the branch on current devel
  • final test of the implemented calibration features.
  • squash the commits

@lrapetti lrapetti force-pushed the improve-calibration branch from dfa4a04 to a5ba40d Compare November 6, 2020 11:03
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kouroshD commented Nov 6, 2020

@lrapetti Fine to me. You can go on. Thanks.

@lrapetti lrapetti merged commit 856288e into gbionics:devel Nov 16, 2020
@lrapetti lrapetti mentioned this pull request Nov 16, 2020
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valentino-razza pushed a commit that referenced this pull request Nov 3, 2021
@lrapetti
Improve secondary calibration (#211)
dd031fd 
* initial commit, new calibration features and code cleaning

* minor fix

* Add configuration file for iCub Retargeting in Simulation

* fixies for secondary calibration

* remove base transform calibration for calibrateAll

* improve response messages

* add again ik took log message

* remove duplicated file

* minor fixies

* Minor fix
traversaro pushed a commit that referenced this pull request Sep 23, 2024
@S-Dafarra
Merge pull request #211 from robotology/remapper_local_port
6faf038
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@yeshasvitirupachuri yeshasvitirupachuri yeshasvitirupachuri requested changes

@kouroshD kouroshD kouroshD approved these changes

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Improve secondary calibration

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