Improved resources for inspection

compare_tables.m

@@ -1,5 +1,5 @@
 
-DHsource = readtable('resources/icubarm_source_dhparams.csv');
+DHsource = readtable('resources/icubarm_right_source_dhparams.csv');
 DHsource.Properties.VariableNames = {'a', 'd', 'alpha', 'offset', 'min', 'max', 'n'};
 RobotSource = Revolute('d', DHsource.d(1), 'a', DHsource.a(1), 'alpha', deg2rad(DHsource.alpha(1)), 'offset', deg2rad(DHsource.offset(1)));
 for i=2:height(DHsource)
@@ -12,15 +12,15 @@
                     0	0	0	1];
 RobotSource.tool = eye(4);
 
-DHidyn = readtable('resources/icubgenova02_urdf_dhparams.csv');
+DHidyn = readtable('resources/icubarm_right_urdf_dhparams.csv');
 DHidyn.Properties.VariableNames = {'a', 'd', 'alpha', 'offset', 'min', 'max'};
 RobotIDyn = Revolute('d', DHidyn.d(1), 'a', DHidyn.a(1), 'alpha', deg2rad(DHidyn.alpha(1)), 'offset', deg2rad(DHidyn.offset(1)));
 for i=2:height(DHsource)
    RobotIDyn = RobotIDyn + Revolute('d', DHidyn.d(i), 'a', DHidyn.a(i), 'alpha', deg2rad(DHidyn.alpha(i)), 'offset', deg2rad(DHidyn.offset(i)));
 end
 RobotIDyn.name = 'iDynTree';
 
-homtable = readtable('resources/icubgenova02_urdf_h0_hn.txt');
+homtable = readtable('resources/icubarm_right_urdf_h0_hn.txt');
 h = zeros(4,4);
 k = 2;
 for i=1:4
@@ -49,7 +49,7 @@
 qdes7 = [25 -15 -9.6, 9.45 160.80 79.56 19.005 0 0 5];
 qdes8 = [-25 30 -9.6, 9.45 160.80 79.56 19.005 0 10 5];
 
-Q = deg2rad(qdes4);
+Q = deg2rad(qdes2);
 RobotIDyn.display
 RobotIDyn.fkine(Q)
 

resources/icubarm_left_urdf_h0_hn.txt

@@ -0,0 +1,2 @@
+H0,1.0,5.05321549807430190246e-16,5.05321549807430288854e-16,0.0,5.05321549807430190246e-16,6.12323399573679192037e-17,-1.0,0.0269347999999999913878,-5.05321549807430288854e-16,1.0,0.0,0.0,0.0,0.0,0.0,1.0
+HN,0.99959092942265237447,0.0286002415367100221166,4.53551091589034021534e-16,0.0,-0.0286002415367101747723,0.99959092942265237447,0.0,0.0,-9.77036098837362180009e-19,-3.53499627176365468261e-18,1.00000000000000044409,0.0,0.0,0.0,0.0,1.0

resources/icubarm_right_source_dhparams.csv

@@ -0,0 +1,11 @@
+A,D,alpha,offset,min,max,link
+0.032,0,90,0,-22,84,0
+0,-0.0055,90,-90,-39,39,1
+-0.0233647,-0.1433,90,-105,-59,59,2
+0,-0.10774,90,-90,-95.5,5,3
+0,0,-90,-90,0,160.8,4
+-0.015,-0.15228,-90,-105,-37,100,5
+0.015,0,90,0,5.5,106,6
+0,-0.1413,90,-90,-50,50,7
+0,0,90,90,-65,10,8
+0.0625,0.02598,0,180,-25,25,9

resources/icubarm_right_urdf_dhparams.csv

@@ -0,0 +1,11 @@
+A,D,alpha, offset, min, max
+0.0320000000000000006661,0.0269347998092649976165,90.0,90.0000000000000142109,-20.0,70.0
+-0.0,-0.00549750000000000238476,-90.0,90.0,-29.9999999999999964473,29.9999999999999964473
+0.0233646633351782505306,-0.142799999999999982503,-90.0,-104.99999492786972155,-50.0,50.0
+-0.0,-0.106989110133286047244,90.0,89.9999999999999573674,-95.5,10.0
+-2.32609163678971655497e-07,3.94469938130596173065e-08,90.0000000000000142109,90.0000000000000284217,0.0,160.800000000000011369
+0.0150000000000000480171,-0.159060000000000006937,90.0,-104.99999492786972155,-37.0,80.0
+0.0149999999999999977102,-1.38777878078144567553e-17,90.0,-179.999999999999943157,14.9999999999999982236,106.0
+7.0000000000070006223e-06,-0.14230000000000003757,-90.0,89.9999999999947846163,-59.9999999999999928946,59.9999999999999928946
+-0.0,-1.73472347597680709441e-18,-90.0,-90.0000000000000426326,-80.0,25.0
+0.0592582408027778131943,-0.0250566999999999873161,-180.0,178.361103386001985882,-20.0,25.0

resources/icubarm_right_urdf_h0_hn.txt

@@ -0,0 +1,2 @@
+H0,1.0,5.05321549807430190246e-16,5.05321549807430288854e-16,0.0,5.05321549807430190246e-16,6.12323399573679192037e-17,-1.0,0.0269347999999999913878,-5.05321549807430288854e-16,1.0,0.0,0.0,0.0,0.0,0.0,1.0
+HN,0.99959092942265237447,0.0286002415367101921195,-7.74950271920312516122e-17,0.0,-0.0286002415367101921195,0.99959092942265237447,0.0,0.0,-1.20206974395989865984e-17,-2.26463034567312906182e-17,1.0,0.0,0.0,0.0,0.0,1.0