Config files to use iFeel retargeting added for iCubGenova04

[isorrentino]

No description provided.

[GiulioRomualdi]

In 42870dd I disabled use_com_retargeting when iFeel is enabled.

@S-Dafarra let me know if I can merge it :)

[S-Dafarra]

In 42870dd I disabled use_com_retargeting when iFeel is enabled.

@S-Dafarra let me know if I can merge it :)

The modifications of 49431bd were temporary? The r_wrist_pronosup has been removed because it was broken. Do we want to keep this by default?

[GiulioRomualdi]

Working on it :)

[GiulioRomualdi]

I actually noticed that 49431bd was required because iFeel was streaming only the following joints

https://github.com/robotology/walking-controllers/blob/42870dd1e9eb7827749e3271db3644cd4810e8c0/src/WalkingModule/app/robots/iCubGenova04/dcm_walking/iFeel_joint_retargeting/jointRetargeting.ini#L6-L14

As far as I know, now iFeel streams also the wrist information. If yes I can reenable the wrists

cc @kouroshD @lrapetti

[kouroshD]

@GiulioRomualdi Yes, as you can see in https://github.com/robotology/walking-teleoperation/blob/devel/app/robots/iCubGenova09/iFeelRetargetingWalking.ini, we are sending all the wrist joints.

[S-Dafarra]

@GiulioRomualdi Yes, as you can see in https://github.com/robotology/walking-teleoperation/blob/devel/app/robots/iCubGenova09/iFeelRetargetingWalking.ini, we are sending all the wrist joints.

Note that we are referring to iCubGenova04

[GiulioRomualdi]

For iCubGenova04 the wrists are disabled

https://github.com/robotology/walking-teleoperation/blob/b27616c51758176bac140a8469c5d5fd6e16fdb9/app/robots/iCubGenova04/iFeelRetargetingWalking.ini#L15-L17

[kouroshD]

Note that we are referring to iCubGenova04

OK, so we should add them to the iCubGenova04 walking teleoperation which are missing.

[kouroshD]

I opened a small pr on walking teleoperation side to fix this. gbionics/walking-teleoperation#64

[kouroshD]

I opened a small pr on walking teleoperation side to fix this. gbionics/walking-teleoperation#64

@isorrentino The problem on walking teloperation side has been fixed. feel free to apply the suggested fix here and merge the pr if there are no other revision here.

[isorrentino]

This commit 9c2b2c4 adds the missing wrist joints for iCubGenova04 and iCubGazeboV2_5. @kouroshD @S-Dafarra

[GiulioRomualdi]

Why these commits?

[GiulioRomualdi]

Furhermore you deleted 42870dd and 49431bd

This is the right history

with_iFeel_Retargeting, origin.20210616110407/walking_with_iFeel_Retargeting)
Author: Giulio Romualdi <giulio.romualdi@gmail.com>
Date:   Thu Jul 1 10:39:24 2021 +0200

    Disable com retargeting when iFeel retargeting is enabled

commit 49431bd819f8c4372a46d92f0c173923cd3ed99e
Author: Giulio Romualdi <giulio.romualdi@gmail.com>
Date:   Fri May 28 16:36:00 2021 +0000

    Update the configuration files for iFeel retargeting

commit 2302de825186749588319bdc1bd620a3e971f97b
Author: Ines <ines.sorrentino@iit.it>
Date:   Fri May 28 11:41:36 2021 +0200

    Config files to use iFeel retargeting added for iCubGenova04

commit dcc2698e3d16adb5c78c973a27a359f0986ae535
Merge: e56451d 3e8ace6
Author: Giulio Romualdi <giulio.romualdi@gmail.com>
Date:   Mon Feb 15 17:47:51 2021 +0100

    Merge pull request #81 from valentino-razza/patch-1
    
    Add Eigen3 link library in WholeBodyControllers component

Try to avoid to do push --force if you are not 100% sure 😸

[isorrentino]

@GiulioRomualdi I noticed that the branch was not aligned with the devel branch. I just did the rebase, the commit of the modifications for the two files and checked the log before doing push --force. I probably can’t read anymore, next time I’ll be more careful, I’m sorry.

[GiulioRomualdi]

Do not worry @isorrentino :) I've just fixed it.

Now I will add your commit

[GiulioRomualdi]

The PR can be now meged. Waiting your (@isorrentino @S-Dafarra and @kouroshD) green flag.

Could you please link the commit where the joints have been enabled in the teleoperation side?

[kouroshD]

Could you please link the commit where the joints have been enabled in the teleoperation side?

here is the PR: gbionics/walking-teleoperation#64 and the commit number gbionics/walking-teleoperation@c7d0c79

[GiulioRomualdi]

Top @kouroshD