Improve skin retargeting

lrapetti commented 2 years ago

With this PR:

Add rpc to enable/disable robot hand motion
Add rpc to change the skin retargeting parameters
Remove some unused parameters/variables
Add possibility to remove the tactileUpdateThreshold
Apply output function (defined in https://github.com/ami-iit/element_retargeting-from-human/issues/182#issuecomment-1000472012) also at the derivative signal
Change the threshold (both for contact and derivative signal) such that they are composed of a constant plus a part that depends on the signal variance

lrapetti commented 2 years ago

@GiulioRomualdi @S-Dafarra please have a look if those changes can be merged!

lrapetti commented 2 years ago

Hi @S-Dafarra, I have addressed your review, check if the PR can be merged.

S-Dafarra commented 2 years ago

Merging when the CI passess

robotology / walking-teleoperation