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Changes in skinManager configuration files #932

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Jan 23, 2024
Merged

Changes in skinManager configuration files #932

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53 changes: 34 additions & 19 deletions app/skinGui/conf/skinManAll.ini
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Original file line number Diff line number Diff line change
Expand Up @@ -2,17 +2,30 @@ inputPorts ( /icub/skin/left_hand \
/icub/skin/left_forearm \
/icub/skin/left_arm \
/icub/skin/right_hand \
/icub/skin/right_forearm \
/icub/skin/right_arm \
/icub/skin/torso )
/icub/skin/right_forearm \
/icub/skin/right_arm \
/icub/skin/torso \
/icub/skin/left_leg_upper \
/icub/skin/left_leg_lower \
/icub/skin/left_foot \
/icub/skin/right_leg_upper \
/icub/skin/right_leg_lower \
/icub/skin/right_foot )


outputPorts ( /icub/skin/left_hand_comp \
/icub/skin/left_forearm_comp \
/icub/skin/left_arm_comp \
/icub/skin/right_hand_comp \
/icub/skin/right_forearm_comp \
/icub/skin/right_arm_comp \
/icub/skin/torso_comp )
/icub/skin/right_forearm_comp \
/icub/skin/right_arm_comp \
/icub/skin/torso_comp \
/icub/skin/left_leg_upper_comp \
/icub/skin/left_leg_lower_comp \
/icub/skin/left_foot_comp \
/icub/skin/right_leg_upper_comp \
/icub/skin/right_leg_lower_comp \
/icub/skin/right_foot_comp )

robot icub
name skinManager
Expand All @@ -27,18 +40,20 @@ smoothFactor 0.5
binarization true

[SKIN_EVENTS]
skinParts ( 1 2 3 4 5 6 7 )
taxelPositionFiles ( positions/left_hand_V2_1.txt \
positions/left_forearm_mesh.txt \
positions/left_arm_mesh.txt \
positions/right_hand_V2_1.txt \
positions/right_forearm_mesh.txt \
positions/right_arm_mesh.txt \
positions/torso.txt )
skinParts ( 1 2 3 4 5 6 7 8 9 10 11 12 13)
taxelPositionFiles ( positions/left_hand_V2_1.txt \
positions/left_forearm_V2.txt \
positions/left_arm.txt \
positions/right_hand_V2_1.txt \
positions/right_forearm_V2.txt\
positions/right_arm.txt \
positions/torso.txt \
positions/left_leg_upper.txt \
positions/left_leg_lower.txt \
positions/left_foot.txt \
positions/right_leg_upper.txt \
positions/right_leg_lower.txt
positions/right_foot.txt)
maxNeighborDist 0.015

% The positions files should be in this particular order, matching enum SkinPart from skinDynLib/common.h
% SKIN_PART_UNKNOWN=0, SKIN_LEFT_HAND, SKIN_LEFT_FOREARM, SKIN_LEFT_UPPER_ARM,
% SKIN_RIGHT_HAND, SKIN_RIGHT_FOREARM, SKIN_RIGHT_UPPER_ARM,
% SKIN_FRONT_TORSO, LEFT_LEG_UPPER, LEFT_LEG_LOWER, LEFT_FOOT,
% RIGHT_LEG_UPPER, RIGHT_LEG_LOWER, RIGHT_FOOT,
%enum SkinPart: UNKNOWN_SKIN_PART=0, LEFT_HAND, LEFT_FOREARM, LEFT_UPPER_ARM, RIGHT_HAND, RIGHT_FOREARM, RIGHT_UPPER_ARM, FRONT_TORSO, LEFT_LEG_UPPER, LEFT_LEG_LOWER, LEFT_FOOT, RIGHT_LEG_UPPER, RIGHT_LEG_LOWER, RIGHT_FOOT
44 changes: 0 additions & 44 deletions app/skinGui/conf/skinManAllPlusFoot.ini
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This file was deleted.

57 changes: 0 additions & 57 deletions app/skinGui/conf/skinManAllPlusLegs.ini
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This file was deleted.

18 changes: 9 additions & 9 deletions app/skinGui/conf/skinManArms.ini
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Original file line number Diff line number Diff line change
Expand Up @@ -2,15 +2,15 @@ inputPorts ( /icub/skin/left_hand \
/icub/skin/left_forearm \
/icub/skin/left_arm \
/icub/skin/right_hand \
/icub/skin/right_forearm \
/icub/skin/right_arm )
/icub/skin/right_forearm \
/icub/skin/right_arm )

outputPorts ( /icub/skin/left_hand_comp \
/icub/skin/left_forearm_comp \
/icub/skin/left_arm_comp \
/icub/skin/right_hand_comp \
/icub/skin/right_forearm_comp \
/icub/skin/right_arm_comp )
/icub/skin/right_forearm_comp \
/icub/skin/right_arm_comp )

period 20
minBaseline 3
Expand All @@ -26,11 +26,11 @@ smoothFactor 0.5
[SKIN_EVENTS]
skinParts ( 1 2 3 4 5 6 )
taxelPositionFiles ( positions/left_hand_V2_1.txt \
positions/left_forearm_mesh.txt \
positions/left_arm_mesh.txt \
positions/left_forearm_V2.txt \
positions/left_arm.txt \
positions/right_hand_V2_1.txt \
positions/right_forearm_mesh.txt \
positions/right_arm_mesh.txt )
positions/right_forearm_V2.txt \
positions/right_arm.txt )
maxNeighborDist 0.015

%enum SkinPart: UNKNOWN_SKIN_PART=0, LEFT_HAND, LEFT_FOREARM, LEFT_UPPER_ARM, RIGHT_HAND, RIGHT_FOREARM, RIGHT_UPPER_ARM, FRONT_TORSO
%enum SkinPart: UNKNOWN_SKIN_PART=0, LEFT_HAND, LEFT_FOREARM, LEFT_UPPER_ARM, RIGHT_HAND, RIGHT_FOREARM, RIGHT_UPPER_ARM, FRONT_TORSO
10 changes: 5 additions & 5 deletions app/skinGui/conf/skinManForearms.ini
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Original file line number Diff line number Diff line change
@@ -1,14 +1,14 @@
inputPorts ( /icub/skin/left_hand \
/icub/skin/left_forearm \
/icub/skin/right_hand \
/icub/skin/right_forearm )
/icub/skin/right_forearm )


outputPorts ( /icub/skin/left_hand_comp \
/icub/skin/left_forearm_comp \
/icub/skin/right_hand_comp \
/icub/skin/right_forearm_comp )
/icub/skin/right_forearm_comp )


period 20
minBaseline 3
Expand All @@ -24,9 +24,9 @@ smoothFactor 0.5
[SKIN_EVENTS]
skinParts ( 1 2 3 4 )
taxelPositionFiles ( positions/left_hand_V2_1.txt \
positions/left_forearm_mesh.txt \
positions/left_forearm_V2.txt \
positions/right_hand_V2_1.txt \
positions/right_forearm_mesh.txt )
positions/right_forearm_V2.txt )

maxNeighborDist 0.015

Expand Down
6 changes: 3 additions & 3 deletions app/skinGui/conf/skinManLeft.ini
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Original file line number Diff line number Diff line change
Expand Up @@ -20,8 +20,8 @@ smoothFactor 0.5
[SKIN_EVENTS]
skinParts ( 1 2 3 )
taxelPositionFiles ( positions/left_hand_V2_1.txt \
positions/left_forearm_mesh.txt \
positions/left_arm_mesh.txt )
positions/left_forearm_V2.txt \
positions/left_arm.txt )
maxNeighborDist 0.015

%enum SkinPart: UNKNOWN_SKIN_PART=0, LEFT_HAND, LEFT_FOREARM, LEFT_UPPER_ARM, RIGHT_HAND, RIGHT_FOREARM, RIGHT_UPPER_ARM, FRONT_TORSO
%enum SkinPart: UNKNOWN_SKIN_PART=0, LEFT_HAND, LEFT_FOREARM, LEFT_UPPER_ARM, RIGHT_HAND, RIGHT_FOREARM, RIGHT_UPPER_ARM, FRONT_TORSO
32 changes: 32 additions & 0 deletions app/skinGui/conf/skinManLegsOnly.ini
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Original file line number Diff line number Diff line change
@@ -0,0 +1,32 @@
inputPorts ( /icub/skin/left_leg_lower \
/icub/skin/left_leg_upper \
/icub/skin/right_leg_upper \
/icub/skin/right_leg_lower )


outputPorts ( /icub/skin/left_leg_lower_comp \
/icub/skin/left_leg_upper_comp \
/icub/skin/right_leg_upper_comp \
/icub/skin/right_leg_lower_comp)

robot icub
name skinManager
period 20
minBaseline 3
addThreshold 7
compensationGain 0.2
contactCompensationGain 0.05
zeroUpRawData false
smoothFilter true
smoothFactor 0.5
binarization true

[SKIN_EVENTS]
skinParts ( 8 9 11 12)
taxelPositionFiles ( positions/left_leg_lower.txt \
positions/left_leg_upper.txt \
positions/right_leg_upper.txt \
positions/right_leg_lower.txt )
maxNeighborDist 0.015

%enum SkinPart: UNKNOWN_SKIN_PART=0, LEFT_HAND, LEFT_FOREARM, LEFT_UPPER_ARM, RIGHT_HAND, RIGHT_FOREARM, RIGHT_UPPER_ARM, FRONT_TORSO, LEFT_LEG_UPPER, LEFT_LEG_LOWER, LEFT_FOOT, RIGHT_LEG_UPPER, RIGHT_LEG_LOWER, RIGHT_FOOT
14 changes: 8 additions & 6 deletions app/skinGui/conf/skinManLowerBody.ini
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Original file line number Diff line number Diff line change
Expand Up @@ -28,12 +28,14 @@ smoothFactor 0.5
binarization true

[SKIN_EVENTS]
skinParts ( 7 8 9 11 12 )
taxelPositionFiles ( positions/torso.txt \
positions/left_leg_upper.txt \
positions/left_leg_lower.txt \
positions/right_leg_upper.txt \
positions/right_leg_lower.txt )
skinParts ( 7 8 9 10 11 12 13)
taxelPositionFiles ( positions/torso.txt \
positions/left_leg_upper.txt \
positions/left_leg_lower.txt \
positions/left_foot.txt \
positions/right_leg_upper.txt \
positions/right_leg_lower.txt
positions/right_foot.txt)
maxNeighborDist 0.015

%enum SkinPart: UNKNOWN_SKIN_PART=0, LEFT_HAND, LEFT_FOREARM, LEFT_UPPER_ARM, RIGHT_HAND, RIGHT_FOREARM, RIGHT_UPPER_ARM, FRONT_TORSO, LEFT_LEG_UPPER, LEFT_LEG_LOWER, LEFT_FOOT, RIGHT_LEG_UPPER, RIGHT_LEG_LOWER, RIGHT_FOOT
6 changes: 3 additions & 3 deletions app/skinGui/conf/skinManRight.ini
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Original file line number Diff line number Diff line change
Expand Up @@ -20,8 +20,8 @@ smoothFactor 0.5
[SKIN_EVENTS]
skinParts ( 4 5 6 )
taxelPositionFiles ( positions/right_hand_V2_1.txt \
positions/right_forearm_mesh.txt \
positions/right_arm_mesh.txt )
positions/right_forearm_V2.txt \
positions/right_arm.txt )
maxNeighborDist 0.015

%enum SkinPart: UNKNOWN_SKIN_PART=0, LEFT_HAND, LEFT_FOREARM, LEFT_UPPER_ARM, RIGHT_HAND, RIGHT_FOREARM, RIGHT_UPPER_ARM, FRONT_TORSO
%enum SkinPart: UNKNOWN_SKIN_PART=0, LEFT_HAND, LEFT_FOREARM, LEFT_UPPER_ARM, RIGHT_HAND, RIGHT_FOREARM, RIGHT_UPPER_ARM, FRONT_TORSO
44 changes: 44 additions & 0 deletions app/skinGui/conf/skinManUpperBody.ini
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Original file line number Diff line number Diff line change
@@ -0,0 +1,44 @@
inputPorts ( /icub/skin/left_hand \
/icub/skin/left_forearm \
/icub/skin/left_arm \
/icub/skin/right_hand \
/icub/skin/right_forearm \
/icub/skin/right_arm \
/icub/skin/torso )

outputPorts ( /icub/skin/left_hand_comp \
/icub/skin/left_forearm_comp \
/icub/skin/left_arm_comp \
/icub/skin/right_hand_comp \
/icub/skin/right_forearm_comp \
/icub/skin/right_arm_comp \
/icub/skin/torso_comp )

robot icub
name skinManager
period 20
minBaseline 3
addThreshold 7
compensationGain 0.2
contactCompensationGain 0.05
zeroUpRawData false
smoothFilter true
smoothFactor 0.5
binarization true

[SKIN_EVENTS]
skinParts ( 1 2 3 4 5 6 7 )
taxelPositionFiles ( positions/left_hand_V2_1.txt \
positions/left_forearm_V2.txt \
positions/left_arm.txt \
positions/right_hand_V2_1.txt \
positions/right_forearm_V2.txt \
positions/right_arm.txt \
positions/torso.txt )
maxNeighborDist 0.015

% The positions files should be in this particular order, matching enum SkinPart from skinDynLib/common.h
% SKIN_PART_UNKNOWN=0, SKIN_LEFT_HAND, SKIN_LEFT_FOREARM, SKIN_LEFT_UPPER_ARM,
% SKIN_RIGHT_HAND, SKIN_RIGHT_FOREARM, SKIN_RIGHT_UPPER_ARM,
% SKIN_FRONT_TORSO, LEFT_LEG_UPPER, LEFT_LEG_LOWER, LEFT_FOOT,
% RIGHT_LEG_UPPER, RIGHT_LEG_LOWER, RIGHT_FOOT,