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ami-iit / element_weight-retargeting

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Use steps instead of continuous linear mapping #15

Closed RiccardoGrieco closed 2 years ago

RiccardoGrieco commented 2 years ago

The WeightRetargetingModule currently uses a linear mapping of joint torques using the minimum and maximum thresholds set in configuration or from the RPC. Using this kind of mapping might be not the best approach. This issue is ti allow the management of the vibration intensity by means of step functions.

RiccardoGrieco commented 2 years ago

Changes are being implemented in https://github.com/ami-iit/element_weight-retargeting/tree/feature-step_mapping.

RiccardoGrieco commented 2 years ago

This was done and tested together with #25.

Closing the issue.