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icub-tech-iit / ergocub-software

Main collector of ergoCub specific SW
https://icub-tech-iit.github.io/ergocub-software/
BSD 3-Clause "New" or "Revised" License
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Discuss the possibility of integrating whole-body dynamics into the robot interface of the simulation #203

Open GiulioRomualdi opened 9 months ago

GiulioRomualdi commented 9 months ago

I am opening this issue to discuss the possibility of enabling the automatic execution of whole-body dynamics when the robot is dropped into Gazebo.

In our research at AMI, we utilize whole-body dynamics to calculate the estimated contact force. Currently, many team members manually run whole-body dynamics after placing the robot in Gazebo. Automating this process would simplify the simulation.

Furthermore, WBD running within the same YARP robot interface as the simulation would eliminate the need for a network wrapper to retrieve data from the simulated robot.

cc @traversaro @Nicogene

traversaro commented 9 months ago

Related issue: https://github.com/icub-tech-iit/ergocub-software/issues/35 .

Nicogene commented 9 months ago

Hi @GiulioRomualdi, do you mean making run wbd via the yarprobotinterface gazebo plugin? This may be a problem for whom wants to use ergoCub model without having installed the whole-body-estimators repo, this is a similar discussion we had about putting the ros2 nws spawned by default

GiulioRomualdi commented 9 months ago

Yes that's make sense you're right

GiulioRomualdi commented 9 months ago

One possibility is to verify whether the whole-body-estimator is installed in the system. If it is, the XML file can then include the device. Otherwise, this functionality can be enabled through CMake.

traversaro commented 9 months ago

One possibility is to verify whether the whole-body-estimator is installed in the system. If it is, the XML file can then include the device. Otherwise, this functionality can be enabled through CMake.

To be honest, I would avoid that, as then downstream you need to handle both cases, and it may be quite easy to get the wrong file. As most users of ergocub are inside IIT, I would just understand if that is actually a problem for someone, and if not we just enable whole-body-estimator, what do you think?

Nicogene commented 9 months ago

One possibility is to verify whether the whole-body-estimator is installed in the system. If it is, the XML file can then include the device. Otherwise, this functionality can be enabled through CMake.

To be honest, I would avoid that, as then downstream you need to handle both cases, and it may be quite easy to get the wrong file. As most users of ergocub are inside IIT, I would just understand if that is actually a problem for someone, and if not we just enable whole-body-estimator, what do you think?

I think that this is something that can be asked in the internal channel of ergoCub, if everyone agrees we can add it

traversaro commented 9 months ago

We could use https://github.com/robotology/gazebo-yarp-plugins/issues/672 to either permit to disable or to enable (depending on what we want the default to be) wbd. If the default on the robot is to have wbd on, I would keep it by default on also on the simulated robot.