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jrl-umi3218 / mc_rtc

mc_rtc is an interface for simulated and real robotic systems suitable for real-time control
BSD 2-Clause "Simplified" License
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[mc_rbdyn] Implement addForceSensor #433

Closed gergondet closed 9 months ago

gergondet commented 9 months ago

This function allows to insert a new force sensor into a robot at run-time.

This also updates the frames of every robot that uses the same data. This means that adding a force sensor to the control robot will not only update the frames of the control robot but also the real/observed robot and their outputs counterpart.

The sensor calibration file is not searched, the usual scenario where this might be used implies that calibration files do not exist or do not reside in the usual location so searching for them would be wasteful.