considering torso joints when projecting stimuli onto taxel frames

[matejhof]

Currently, the PPS software was not taking the torso joints into account and while projecting external stimuli onto the taxel frames, it was assuming the torso is in home. https://github.com/robotology/peripersonal-space/blob/pps-with-modulations/modules/visuoTactileRF/vtRFThread.cpp#L835 What needs to be done:

• [ ] unlock the torso in armL and armR
• [x] create a new encoder for reading the torso joints

[matejhof]

actually, torso encoders seem to be already in place: https://github.com/robotology/peripersonal-space/blob/pps-with-modulations/modules/visuoTactileRF/vtRFThread.cpp#L194

[alecive]

It is used for projecting the taxel into the eyes (something that I did long ago but we rarely used afterwards). So even better! There's less work to do :)

[matejhof]

Ok, but still we need to free the joints in the iCubArms, here? https://github.com/robotology/peripersonal-space/blob/pps-with-modulations/modules/visuoTactileRF/vtRFThread.cpp#L37 Something like: for (int i = 0; i < NR_TORSO_JOINTS; i++) { armL->releaseLink(i); armR->releaseLink(i); } We don't need an option without the torso, do we?

[alecive]

I don't think we do need an option without the torso.

But I would release the left and right arms separately because we should account for when one of the two arms is not available and we want to use the other one. I would put the two for loops inside the already available ifs: https://github.com/robotology/peripersonal-space/blob/pps-with-modulations/modules/visuoTactileRF/vtRFThread.cpp#L112

[matejhof]

Should be addressed by this commit: 0eb263263225dc5c336c6efa181b2501e51b74f2 in pps-with-modulations-dev Will test before closing. @alecive check the commit if you want.

[alecive]

Shall we open the pull request that fixes this issue then?

[matejhof]

Solved by accepting current pull request of pps-with-modulation-dev into pps-with-modulation.