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ami-iit / MAPest

Maximum A Posteriori estimation for human kinematics and dynamics.
BSD 3-Clause "New" or "Revised" License
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Align code to the `master` of iDynTree for Stack-of-Task MAP computation #5

Open claudia-lat opened 1 year ago

claudia-lat commented 1 year ago

The Stack-of-Task (SoT) MAP code in this repo is not aligned with the master branch of iDynTree. In general, the SoT code computes the human whole-body kinematics and dynamics estimation as a combo of these two sequential tasks (details in this paper), as follows:

Screenshot 2022-10-21 at 17 40 38

The alignment change concerns the way in which the two tasks implementation is defined, according to this https://github.com/robotology/idyntree/pull/991.

RiccardoGrieco commented 1 year ago

Useful similar pieces of code:

Task 1 (Non collocated wrench estimation)

Setup of the berdy option/helper: https://github.com/robotology/human-dynamics-estimation/blob/3384a0bd6b8411c865e38136a30ece69241ce7c7/devices/HumanWrenchProvider/HumanWrenchProvider.cpp#L841-L848

Computation and use of the Rate of Change of Momentum (no acceleration or velocity terms): https://github.com/robotology/human-dynamics-estimation/blob/3384a0bd6b8411c865e38136a30ece69241ce7c7/devices/HumanWrenchProvider/HumanWrenchProvider.cpp#L426-L445

https://github.com/robotology/human-dynamics-estimation/blob/3384a0bd6b8411c865e38136a30ece69241ce7c7/devices/HumanWrenchProvider/HumanWrenchProvider.cpp#L1182-L1189

Task 2 (Full dynamics)

Setup of the berdy option/helper

https://github.com/robotology/human-dynamics-estimation/blob/3384a0bd6b8411c865e38136a30ece69241ce7c7/devices/HumanDynamicsEstimator/HumanDynamicsEstimator.cpp#L932-L941

lrapetti commented 1 year ago

The code was merged in devel since a while (https://github.com/robotology/idyntree/pull/991), and then released in master with iDynTree v6.0.0 (see https://github.com/robotology/idyntree/releases/tag/v6.0.0)

lrapetti commented 1 year ago

The code was merged in devel since a while (robotology/idyntree#991), and then released in master with iDynTree v6.0.0 (see https://github.com/robotology/idyntree/releases/tag/v6.0.0)

Sorry, the issue actually refers to the MAPest code implemented in Matlab. @claudia-lat do you have updates on this? Was the code updated?

RiccardoGrieco commented 1 year ago

The code was merged in devel since a while (robotology/idyntree#991), and then released in master with iDynTree v6.0.0 (see https://github.com/robotology/idyntree/releases/tag/v6.0.0)

Sorry, the issue actually refers to the MAPest code implemented in Matlab. @claudia-lat do you have updates on this? Was the code updated?

Friendly ping @claudia-lat

claudia-lat commented 1 year ago

The updated version is used in https://github.com/ami-iit/component_cht-intention-retargeting/tree/versionWithMAP/code. The main of this repo should be aligned to this one.