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Data and code for analysis of 6 axis force torque sensors, the majority of the tests are done using the FTSens iCub Facility Force/Torque sensor.
The scripts in this repo uses the iDynTree matlab bindings. To estimate wrenches based on the iCub robot model.
The external directory external repositories. It contains a copy of the quadfit toolbox for fitting quadratics surfaces.
If you have access to the ftSensCalib repository, checkout it in the external directory to make it available to the script into this repo, i.e. from the root of the repo you can run this command:
svn co https://svn.icub.iit.local/repos/mecha/ftSensCalib/trunk/ ./external/ftSensCalib
You can download the https://gitlab.com/dynamic-interaction-control/icub-insitu-ft-analysis-big-datasets repository in the data directory to make the data from that repo available:
git clone https://gitlab.com/dynamic-interaction-control/icub-insitu-ft-analysis-big-datasets.git ./data/icub-insitu-ft-analysis-big-datasets
You can download the https://gitlab.com/dynamic-interaction-control/green-iCub-Insitu-Datasets repository in the data directory to make the data from that repo available:
git clone https://gitlab.com/dynamic-interaction-control/green-iCub-Insitu-Datasets ./data/green-iCub-Insitu-Datasets