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Add secondary calibration #164

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Jan 31, 2020
Merged

Add secondary calibration #164

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4 changes: 1 addition & 3 deletions .ci/build_deps.sh
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Expand Up @@ -91,9 +91,8 @@ cmake --build . --config ${TRAVIS_BUILD_TYPE} --target install
# Build and install osqp
cd $GIT_FOLDER
rm -rf osqp
git clone --recursive https://github.com/robotology-dependencies/osqp.git
git clone --recursive https://github.com/oxfordcontrol/osqp.git
cd osqp
git checkout fix-lf-problems
mkdir -p build && cd build
cmake -G"${TRAVIS_CMAKE_GENERATOR}" \
-DCMAKE_BUILD_TYPE=${TRAVIS_BUILD_TYPE} \
Expand All @@ -106,7 +105,6 @@ cd $GIT_FOLDER
rm -rf OsqpEigen
git clone https://github.com/robotology/osqp-eigen.git OsqpEigen
cd OsqpEigen
git checkout v0.4.1
mkdir -p build && cd build
cmake -G"${TRAVIS_CMAKE_GENERATOR}" \
-DCMAKE_BUILD_TYPE=${TRAVIS_BUILD_TYPE} \
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3 changes: 2 additions & 1 deletion conf/xml/RobotStateProvider_Atlas.xml
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Expand Up @@ -26,6 +26,7 @@
<param name="rotTargetWeight">1.0</param>
<param name="costRegularization">1.0</param>
<param name="costTolerance">0.001</param>
<param name="rpcPortPrefix">Atlas</param>
<!-- inverse velocity kinematics parameters -->
<!-- inverseVelocityKinematicsSolver values:
QP
Expand All @@ -36,7 +37,7 @@
sparseCholeskyDecomposition,
robustCholeskyDecomposition,
sparseRobustCholeskyDecomposition -->
<param name='inverseVelocityKinematicsSolver'>QP</param>
<param name='inverseVelocityKinematicsSolver'>sparseRobustCholeskyDecomposition</param>
<param name="linVelTargetWeight">0.0</param>
<param name="angVelTargetWeight">1.0</param>
<!-- integration based IK parameters -->
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1 change: 1 addition & 0 deletions conf/xml/RobotStateProvider_Baxter.xml
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Expand Up @@ -26,6 +26,7 @@
<param name="rotTargetWeight">1.0</param>
<param name="costRegularization">1.0</param>
<param name="costTolerance">0.001</param>
<param name="rpcPortPrefix">Baxter</param>
<!-- inverse velocity kinematics parameters -->
<!-- inverseVelocityKinematicsSolver values:
QP
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3 changes: 2 additions & 1 deletion conf/xml/RobotStateProvider_Human.xml
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Expand Up @@ -26,6 +26,7 @@
<param name="rotTargetWeight">1.0</param>
<param name="costRegularization">0.000001</param>
<param name="costTolerance">0.001</param>
<param name="rpcPortPrefix">Human</param>
<!-- inverse velocity kinematics parameters -->
<!-- inverseVelocityKinematicsSolver values:
QP
Expand All @@ -36,7 +37,7 @@
sparseCholeskyDecomposition,
robustCholeskyDecomposition,
sparseRobustCholeskyDecomposition -->
<param name='inverseVelocityKinematicsSolver'>QP</param>
<param name='inverseVelocityKinematicsSolver'>sparseRobustCholeskyDecomposition</param>
<param name="linVelTargetWeight">0.0</param>
<param name="angVelTargetWeight">1.0</param>
<!-- integration based IK parameters -->
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1 change: 1 addition & 0 deletions conf/xml/RobotStateProvider_Nao.xml
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Expand Up @@ -26,6 +26,7 @@
<param name="rotTargetWeight">1.0</param>
<param name="costRegularization">1.0</param>
<param name="costTolerance">0.001</param>
<param name="rpcPortPrefix">Nao</param>
<!-- inverse velocity kinematics parameters -->
<!-- inverseVelocityKinematicsSolver values:
QP
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5 changes: 3 additions & 2 deletions conf/xml/RobotStateProvider_Walkman.xml
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Expand Up @@ -26,6 +26,7 @@
<param name="rotTargetWeight">1.0</param>
<param name="costRegularization">1.0</param>
<param name="costTolerance">0.001</param>
<param name="rpcPortPrefix">Walkman</param>
<!-- inverse velocity kinematics parameters -->
<!-- inverseVelocityKinematicsSolver values:
QP
Expand All @@ -36,7 +37,7 @@
sparseCholeskyDecomposition,
robustCholeskyDecomposition,
sparseRobustCholeskyDecomposition -->
<param name='inverseVelocityKinematicsSolver'>QP</param>
<param name='inverseVelocityKinematicsSolver'>sparseRobustCholeskyDecomposition</param>
<param name="linVelTargetWeight">0.0</param>
<param name="angVelTargetWeight">1.0</param>
<!-- integration based IK parameters -->
Expand Down Expand Up @@ -131,7 +132,7 @@
<param name="baseTFName">/Walkman/base_link</param>
<param name="humanJointsTopic">/Walkman/joint_states</param>
<param name="portprefix">walkman</param>
<param name="basePositionOffset">(0.0 5.0 0.0)</param>
<param name="basePositionOffset">(0.0 8.0 0.0)</param>
<!--param name="baseOrientationOffset">(0.7071068 0.0 0.0 0.7071068)</param-->
<action phase="startup" level="5" type="attach">
<paramlist name="networks">
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1 change: 1 addition & 0 deletions conf/xml/RobotStateProvider_iCub.xml
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Expand Up @@ -26,6 +26,7 @@
<param name="rotTargetWeight">1.0</param>
<param name="costRegularization">1.0</param>
<param name="costTolerance">0.001</param>
<param name="rpcPortPrefix">iCub</param>
<!-- inverse velocity kinematics parameters -->
<!-- inverseVelocityKinematicsSolver values:
QP
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