New position files for soles and upper arms

[rustlluk]

This PR adds position files for the skin on left/right soles and upper arms.

How the files were created

• soles:
  • centers of triangles extracted from URDF model
• upper arms:
  • centers of triangles extracted from CAD models of the skin mounts
• other taxels are "flat" around it
• the triangles are rotated along the Z-axis to fit the orientation on the real robot
• the positions are specified w.r.t. URDF frames specified in the files (l/r_foot and l/r_upper_arm)

Tests

• local positions w.r.t. local frames were tested by manually poking individual taxels on iCubPrague01
• global position were tested by loading URDF of the robot in a simulator and moving the skin together with its corresponding frame

@matejhof @BoPot

[CLAassistant]

All committers have signed the CLA.

[sonarcloud]

Quality Gate passed

Kudos, no new issues were introduced!

0 New issues
0 Security Hotspots
No data about Coverage
No data about Duplication

See analysis details on SonarCloud

[simeonedussoni]

Hi @rustlluk
the PR looks pretty good. It would be very nice to have a couple screenshots showing the robot with the applied taxels for visual reference. Can you provide this?

[pattacini]

This PR can be merged straight away.

It would be very nice to have a couple screenshots showing the robot with the applied taxels for visual reference. Can you provide this?

I concur with @simeonedussoni. It'd be nice to have them before merging.

[rustlluk]

Sure, no problem.
I tried to capture everything, but can add more if needed

[pattacini]

Thanks heaps! Look nice!

Merging in devel rather than master.