The calibrations of the following parts have been created from CAD models:

• left_leg_lower.txt
• left_leg_upper.txt
• right_leg_lower.txt
• right_leg_upper.txt

Code

The code is available at: https://gitlab.fel.cvut.cz/body-schema/icub/icub-skin-calibration/-/tree/main/skin_models.

• CStransformations_*.npy 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 skinGui to generate taxel position files (visualization included).
• read_calib.py is a script for visualization.
• The calibrations folder contains the position files.