Closed lrapetti closed 2 years ago
The history of the commits need to be cleaned
The history of the commits need to be cleaned
Commit history is now cleaned
@lrapetti let us know if this PR can be reviewed already?
@lrapetti let us know if this PR can be reviewed already?
yes, it can be reviewed now, thanks!
Hi @prashanthr05, with some delays I have addressed your comments. Do you have other comments?
@RiccardoGrieco are you planning to review this PR?
For what concerns the check failures, I think that https://github.com/robotology/human-dynamics-estimation/issues/296 was addressed only for master
.
For what concerns the check failures, I think that #296 was addressed only for
master
.
In 0729c6c I replaced the is/asDouble()
methods with is/asFloat64()
.
Hopefully this will make all the checks pass and will fix the CI failures also on devel
once the PR is merged.
For what concerns the check failures, I think that #296 was addressed only for
master
.In 0729c6c I replaced the
is/asDouble()
methods withis/asFloat64()
.Hopefully this will make all the checks pass and will fix the CI failures also on
devel
once the PR is merged.
Thanks a lot @RiccardoGrieco
@prashanthr05 do you have any additional comment? Otherwise we would proceed merging it in devel
Thanks @lrapetti ! No further comments from my side since @RiccardoGrieco also handled the YARP deprecations. We may proceed to merge.
With @lrapetti we noticed that the changes introduced in https://github.com/robotology/human-dynamics-estimation/pull/299 (commit 69d15cb ) caused a segmentation fault due to an uninitialized unique_ptr
.
In 9cfaa99 this has been fixed.
@lrapetti the checks passed, I think you can proceed! 🚀
@lrapetti the checks passed, I think you can proceed! 🚀
Check passed, we can close it!
Awesome!!
Adding target type
floorContact
which takes as input a force-torque measurement, compare it with a threshold, and in case it is higher it fixies the x-y position of the contact and fixes the z to zero.This allow floating base estimation with orientation+force-torque sensors only like:
https://user-images.githubusercontent.com/35487806/170206990-c09704e0-8ab1-4981-8338-d4ce8baa9dff.mov