Merge pull request #67 from robotology/fix/hand_retargeting_configura…

…tion_file Fix hand retargeting configuration file
robotology · Sep 9, 2020 · 9963563 · 9963563
2 parents 2d0a4a5 + 4b5db6f
commit 9963563
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Showing 3 changed files with 14 additions and 14 deletions.
diff --git a/src/RetargetingHelper/src/Helper.cpp b/src/RetargetingHelper/src/Helper.cpp
@@ -76,7 +76,7 @@ bool RetargetingClient::initialize(const yarp::os::Searchable &config,
         auto initializeHand = [&](auto& hand, const std::string& portNameLabel) -> bool
         {
             // open left hand port
-            if(!YarpUtilities::getStringFromSearchable(config, portNameLabel,
+            if(!YarpUtilities::getStringFromSearchable(option, portNameLabel,
                                                        portName))
             {
                 yError() << "[RetargetingClient::initialize] Unable to get the string from searchable.";
@@ -85,15 +85,15 @@ bool RetargetingClient::initialize(const yarp::os::Searchable &config,
             hand.port.open("/" + name + portName);
 
 
-            if(!YarpUtilities::getNumberFromSearchable(config, "smoothing_time_approaching", smoothingTimeApproching))
+            if(!YarpUtilities::getNumberFromSearchable(option, "smoothing_time_approaching", smoothingTimeApproching))
             {
                 yError() << "[RetargetingClient::initialize] Unable to get the number from searchable.";
                 return false;
             }
             hand.smoothingTimeInApproaching = smoothingTimeApproching;
 
 
-            if(!YarpUtilities::getNumberFromSearchable(config, "smoothing_time_walking", smoothingTimeWalking))
+            if(!YarpUtilities::getNumberFromSearchable(option, "smoothing_time_walking", smoothingTimeWalking))
             {
                 yError() << "[RetargetingClient::initialize] Unable to get the number from searchable.";
                 return false;

diff --git a/src/WalkingModule/app/robots/iCubGenova04/dcm_walking/hand_retargeting/inverseKinematics.ini b/src/WalkingModule/app/robots/iCubGenova04/dcm_walking/hand_retargeting/inverseKinematics.ini
@@ -17,11 +17,11 @@ solver_name             ma27
 max-cpu-time            20
 
 #DEGREES
-jointRegularization     (15, 0, 0,
-			 -7, 22, 11, 30, 0,
-			 -7, 22, 11, 30, 0,
-			 5.082, 0.406, -0.131, -45.249, -26.454, -0.351,
-			 5.082, 0.406, -0.131, -45.249, -26.454, -0.351)
+jointRegularization            (15, 0, 0,
+                                -7, 22, 11, 30, 0, 0, 0,
+                                -7, 22, 11, 30, 0, 0, 0,
+                                5.082, 0.406, -0.131, -45.249, -26.454, -0.351,
+                                5.082, 0.406, -0.131, -45.249, -26.454, -0.351)
 
 #jointRegularization     (0, 15, 0, 0, -29.794, 29.97, 0.00, 44.977, -29.794, 29.97, 0.00, 44.977, 5.082, 0.406, -0.131, -45.249, -26.454, -0.351, 5.082, 0.406, -0.131, -45.249, -26.454, -0.351)
 #jointRegularization     (15, 0, 0, 5.082, 0.406, -0.131, -45.249, -26.454, -0.351, 5.082, 0.406, -0.131, -45.249, -26.454, -0.351)
diff --git a/...alkingModule/app/robots/iCubGenova04/dcm_walking/hand_retargeting/qpInverseKinematics.ini b/...alkingModule/app/robots/iCubGenova04/dcm_walking/hand_retargeting/qpInverseKinematics.ini
@@ -8,20 +8,20 @@ additional_rotation             ((0.0 0.0 1.0),(1.0 0.0 0.0),(0.0 1.0 0.0))
 
 ## Regularization in degrees
 joint_regularization            (15, 0, 0,
-                                -7, 22, 11, 30, 0,
-                                -7, 22, 11, 30, 0,
+                                -7, 22, 11, 30, 0, 0, 0,
+                                -7, 22, 11, 30, 0, 0, 0,
                                 5.082, 0.406, -0.131, -45.249, -26.454, -0.351,
                                 5.082, 0.406, -0.131, -45.249, -26.454, -0.351)
 
 joint_regularization_weights   (1.0, 1.0, 1.0,
-                                0.15, 0.25, 0.25, 0.15, 0.25,
-                                0.15, 0.25, 0.25, 0.15, 0.25,
+                                0.15, 0.25, 0.25, 0.15, 0.25, 0.25, 0.25,
+                                0.15, 0.25, 0.25, 0.15, 0.25, 0.25, 0.25,
                                 1.0, 1.0, 1.0, 1.0, 1.0, 1.0,
                                 1.0, 1.0, 1.0, 1.0, 1.0, 1.0)
 
 joint_regularization_gains       (5.0, 5.0, 5.0,
-                                 1.0, 1.0, 1.0, 1.0, 1.0,
-                                 1.0, 1.0, 1.0, 1.0, 1.0,
+                                 1.0, 1.0, 1.0, 1.0, 1.0, 5.0, 5.0,
+                                 1.0, 1.0, 1.0, 1.0, 1.0, 5.0, 5.0,
                                  5.0, 5.0, 5.0, 5.0, 5.0, 5.0
                                  5.0, 5.0, 5.0, 5.0, 5.0, 5.0)