Use different actuator groups with the same joint

ami-iit / element_weight-retargeting

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Use different actuator groups with the same joint #18

Closed RiccardoGrieco closed 2 years ago

RiccardoGrieco commented 2 years ago

This PR to enable the use of different groups of actuators using the same joint axis.

For instance, this allows us to activate some actuators for retargeting the weight when holding an object, and other actuators for making the operator aware of unnoticed obstacles (e.g when bumping the arm on a table). In the first case positive values of the joint torques are used, while in the second one the negative values are exploited.

See also #14.

RiccardoGrieco commented 2 years ago

Thanks for the reviews @traversaro , @S-Dafarra.

In addition to the ones to address your review, I added the following commits:

2f38928: set the BufferedPort::write argument to false as in https://github.com/robotology/human-dynamics-estimation/pull/279
9558218, 4261654 : added a config file with a general name for (WeightRetargeting_iCub3.ini) for https://github.com/robotology/walking-teleoperation/pull/84

If it's ok with you I can proceed with the merge.

RiccardoGrieco commented 2 years ago

Thanks @traversaro @S-Dafarra. Proceeding with the merge.