Add leg skin spatial calibration

[BoPot]

The calibrations are created from provided CAD models of upper and lower leg covers. Source code and files can be found here: https://gitlab.fel.cvut.cz/body-schema/icub/icub-skin-calibration/-/tree/main/skin_models

CStransformations and CSlabels .npy files contain transformations to triangle centers extracted from CAD files and corresponding triangle IDs, respectively. skin_from_CS.py uses these files and .ini files from https://github.com/robotology/icub-main/tree/master/app/skinGui/conf/skinGui to generate taxel position files (visualization included).
calibrations folder contains the position files and read_calib.py script for visualization.

@matejhof @rustlluk @traversaro @maggia80 @fiorisi

[CLAassistant]

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[pattacini]

Thanks a lot @BoPot for your contribution 🚀

I would require you to apply a few changes before merging.

Also, a couple of questions:

• https://gitlab.fel.cvut.cz/body-schema/icub/icub-skin-calibration/-/tree/main/skin_models is not accessible. Would you consider somehow making it available? Alternatively, we could host that code in icub-main, somewhere.
• The files you uploaded do not seem to be referenced from within the GUI conf files. Did you plan on pushing them later on?

[pattacini]

I have edited the names in the headers according to the convention.
Sorry about the link issues in the comment, I have fixed that, too, they should work now.

Thanks a lot 👍🏻

I was not aware of the references in GUI conf files, I will try to add them where needed.

I meant those files in https://github.com/robotology/icub-main/tree/master/app/skinGui/conf that serve to configure the GUI. Some of them do refer to files in the positions subdir.

However, address my request only if you have somehow tested your positions within the GUI as well.

[matejhof]

The file https://github.com/robotology/icub-main/blob/master/app/skinGui/conf/skinManAll.ini does not include the legs which, given the name of the file and the fact that iCub now comes with skin on the legs, is strange. Shall we consider adding the leg guis and position files to this? Or rename the file?

[pattacini]

Hi @matejhof

Shall we consider adding the leg guis and position files to this? Or rename the file?

Yep, we can extend the file to include the new positions.

Also, on second thought, I think it'd be valuable to add a README.md file within the positions directory with just a brief section telling how the new .txt files have been generated (i.e., with a pointer to your Gitlab project).

Better off making this information explicit rather than leaving it only in this PR.

[matejhof]

Ok, let's do that. Maybe we can do it with @rustlluk - test the new skinManAll.ini on the robot first, add the README, and then extend the PR with these changes or make a new PR. It will not happen in the next 2 or 3 weeks though. In the meantime, shall we proceed with the current PR?

[pattacini]

Agree @matejhof 👍🏻

I can add the README myself ex-post: it's very easy.
I'm going thus to merge this PR.

Thanks for the nice addition!