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Merge devel into master #99

Merged
merged 257 commits into from
May 27, 2022
Merged

Merge devel into master #99

merged 257 commits into from
May 27, 2022

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S-Dafarra
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kouroshD and others added 30 commits January 17, 2022 13:31
@kouroshD
add the logger to the hapticgloveDevice, solve the problem with the l…
451daac 
…ogger file name
@kouroshD
add logging and implementation for calibrating the coupling of hand m…
2ecdae0 
…otors and joints
@kouroshD
remove the axis with no feedback from the learning phase of the coupl…
d4430f4 
…ing matrix
@kouroshD
add Quadartic Cost Function to control motors from the reference join…
f6365bf 
…t values
@kouroshD
fix error related to math constants in windows
38b9343
@kouroshD
add sense glove library to the project
c1c41af
@kouroshD
glove control helper added initially, adding library temporariliy is …
c9939ae 
…fixed, should be investigated later.
@kouroshD
give buzz motor commands to the haptic glove
fef2c06
@kouroshD
try the force feedback and the thumper feedback
6aab40b
@kouroshD
get the sensory information from the glove: sensors, glove, and hand …
7f1c588 
…data
@kouroshD
get the joint angles from senseGlove and provide the reference comman…
d346b17 
…d to the icub hand joints
@kouroshD
fix the FindSenseGlove.cmake on linux, fix the thread error on Linux
ac9c278
@kouroshD
fix the CMakeLists problem to find SenseGlove library in Windows
ff40c5d
@kouroshD
updates for the real robot
1888820
@kouroshD
fix the problems of target finger for teleoperation, can perform unil…
5692aaf 
…ateral retargeting with the robot
@kouroshD
add changes for ubuntu
9d6f695
@kouroshD
fixes for ubuntu and logger in order to run
e890c41
@kouroshD
retargeting done for all the joints, [to fix]: 1) the range of motion…
cbbb926 
… for calibration of the robot hand, 2) to add another calibration step to retarget the human joints range of motion to the similar robot range of motion
@kouroshD
add the very first P controller for hand retargeting force feedback
8ca5be9
@kouroshD
fix the tuning with the first P controller for hand retargeting force…
e86e86e 
… feedback
@kouroshD
fix the class names with better naming, fix the problem with the logger
6f2bd1f
@kouroshD
add logger for the right glove values and forcefeedback values; exten…
5a947ef 
…d the forcefeedback policy to the all involved axes; add buzz motors feedback to the controller
@kouroshD
fix the bug related to force feedback logger and the buzz motors feed…
b7429b5 
…back
@kouroshD
add min jerk smoother to haptic feedback computation
23bfe8e
@kouroshD
add linear interpolation for the qp output to motor references
7d700d1
@kouroshD
add current control interface to the module
a868008
@kouroshD
add logger for current control reference and motor velocity to the ha…
24f5cee 
…ptic glove module
@kouroshD
add haptic retargeting for the left hand
d9b197c
@kouroshD
add logger for the left hand retargeting
15e1947
@kouroshD
add paramter for buzz motors, add filter to the transient phase, add …
9a40380 
…velocity term in the impedance control
S-Dafarra and others added 23 commits May 2, 2022 16:25
@S-Dafarra @kouroshD
Added time check before deactivating deadzone.
990e5dc
@S-Dafarra @kouroshD
Updated README with gazeDeadzoneMinActivationTime desscription.
bfc81f4
@S-Dafarra @kouroshD
Added quantization to the control of the VR images.
2e37287
@kouroshD
Using virtualizer velocity and increased deadzone
f353427
@S-Dafarra @kouroshD
Attempt to make the eyelids less reactive.
d37e01e
@S-Dafarra @kouroshD
Added a check on eyeOpenPrecision and improved documentation.
3ce96a9
@S-Dafarra @kouroshD
Added some comments on the gaze deadzone logic.
4c5ba26
@S-Dafarra @kouroshD
Fixed some typos in the comments.
6d1ddf1
@kouroshD
Merge pull request #92 from robotology/eyes_tracking_hysteresis
6808168 
Eyes tracking hysteresis
@S-Dafarra
Added a time condition to consider the operator moving when using the…
8fe5513 
… ring velocity.
@S-Dafarra
Bugfix and tuning of the virtualizer deadzone
aaada93
@S-Dafarra
Added RPC call to reset the still angle
671e764
@S-Dafarra
Added the possibility to use only the sign of the ring velocity.
63b5b61
@S-Dafarra
Added possibility to "jam" the lateral output when the operator start…
e2cff1b 
…s moving.
@S-Dafarra
Some improvements to the reusability
7fa7344
@S-Dafarra
Added jamming option using robot angle.
a4051c4
@S-Dafarra
Use also the speed to check if operator is fixed
65a7770
@S-Dafarra
The robot is jammed only once
2e7a891
@S-Dafarra
Some tuning on the robot
5c4dfe0
@S-Dafarra
Merge pull request #94 from robotology/virtualizer_velocity_deadzone
f86d135 
Virtualizer velocity deadzone
@S-Dafarra
Fix deprecations of yarp methods (#97)
07f61b5 
* Fixed deprecation of isInt, isDouble methods in Yarp

* Missed an addDouble
@S-Dafarra
Bumped version for Release
0b6653e
@S-Dafarra
Merge branch 'master' into devel
3b48a8a
@S-Dafarra S-Dafarra mentioned this pull request May 27, 2022
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Merging after CI passes

@S-Dafarra S-Dafarra merged commit 28c685a into master May 27, 2022
@S-Dafarra S-Dafarra deleted the devel branch June 9, 2022 08:32
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@traversaro traversaro traversaro approved these changes

@GiulioRomualdi GiulioRomualdi Awaiting requested review from GiulioRomualdi GiulioRomualdi is a code owner

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6 participants
@S-Dafarra @traversaro @kouroshD @paolo-viceconte @RiccardoGrieco @lrapetti