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ami-iit / bipedal-locomotion-framework

Suite of libraries for achieving bipedal locomotion on humanoid robots
https://ami-iit.github.io/bipedal-locomotion-framework/
BSD 3-Clause "New" or "Revised" License
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Avoid to call BufferedPort::prepare every time VectorsCollectionServer::populateData is called #790

Closed GiulioRomualdi closed 6 months ago

GiulioRomualdi commented 6 months ago

If this code approach is fine I will update the walking-controller and the application in blf that streams the data

GiulioRomualdi commented 6 months ago

I tested the modification on the robot, and everything seems to be working as expected. I'm going to finalize the PR this morning, merge it and release the software

GiulioRomualdi commented 6 months ago

In windows the IK test fails with this nice error: https://github.com/ami-iit/bipedal-locomotion-framework/actions/runs/7582705428/job/20652803791?pr=790#step:14:312

GiulioRomualdi commented 6 months ago

Let's see if the tests are bugged https://github.com/ami-iit/bipedal-locomotion-framework/pull/797

GiulioRomualdi commented 6 months ago

The test failing is the QP IK with gravity task and for sure it is not related to this PR so I'm going to merge it. However I will open an issue for this since there could be something not consider cc @EhsanRanjbari and @S-Dafarra

S-Dafarra commented 6 months ago

The test failing is the QP IK with gravity task and for sure it is not related to this PR so I'm going to merge it. However I will open an issue for this since there could be something not consider cc @EhsanRanjbari and @S-Dafarra

It is very weird, that tests started failing all of a sudden and only on Windows. It also fails quite largely, so it is not just a problem of tolerances