doubleTouch needs some revision - Githubissues

robotology / peripersonal-space

This repository deals with the implementation of peripersonal space representations on the iCub humanoid robot.

GNU General Public License v2.0

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doubleTouch needs some revision #8

Closed alecive closed 9 years ago

alecive commented 9 years ago

Two issues arose during some testing:

[x] --type option does not seem to work properly, expecially when using both* arguments. Eventually, it would be nice to add a --type all option, in which any movement is available to the user.
[x] --type LHtoR does the movement (albeit unsuccessfully apparently), but it goes in yFatal right afterwards
[x] --type RHtoL seems to go toward a wrong orientation

alecive commented 9 years ago

Update: I have looked at the code. The module seems too tight to a specific IK task to be easily extended in order to solve any chain. So the --type everything seems unfeasible in the short term, and --type both*as well.

alecive commented 9 years ago

@matejhof regarding the yFatals, It happens when the ID of the taxel that has been touched does not correspond to a proper calibrated taxel (e.g. the fingertip). In that situation, the normal direction is [0,0,0] and the software is not able to create a frame of reference around the taxel any more.

alecive commented 9 years ago

This commit 4f45109a79b729ee83f4dedd008caa0ddd426467 from https://github.com/robotology/icub-main fixed the RHtoL problem.

alecive commented 9 years ago

The branch https://github.com/alecive/periPersonalSpace/tree/test/doubleTouchWithAnyBodyPart Sort of fixed everything. There still seems to be an issue with the LtoR task (from left forearm to right arm, which does not seem to be working at all).

alecive commented 9 years ago

My idea was to merge the branch, close this issue and eventually open anotehr issue with this problem alone.