Fine tuning Demo RedBall

[justdiandes]

Hi everyone!

So, I've been calibrating the demoRedBall and making the stereoCalib in order to make some studies related to the grasping and the vision itself. What I find interesting is that since the update from v2022 to v2024.02.0 in icub-head, the movement of the icub the demoRedBall with single camera is different in the sense that there's some behavior in the trajectory. For context on this I post the following videos:

IMG_8091.MOV

IMG_8092.MOV

So, the icub has some problems in the movement itself, like if the robot had some issues with the joints or something related, but the only changes we've been doing is the software update. That's why I tried the calibration for the demoRedBall using the calibOffset module but didn't fix the problem.

Additionally, there's the log outputs for the demoRedBall, yarprobotinterface and pf3dTracker here:
demoredball.txt
pf3dtracker.txt
yarprobotinterface.txt

I wonder if there's any way to improve the performance in the robot movement and also if someone could guide in the stereo Red Ball module it will be really good.

Thanks in advance!

[pattacini]

Hi @justdiandes

the movement of the icub the demoRedBall with single camera is different in the sense that there's some behavior in the trajectory.

What are exactly the strange behaviors you mentioned?
From the videos you posted, it appears to me that the robot behaves normally while performing the red-ball-demo, to the extent that it needs to be tuned.