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robotology / human-dynamics-estimation

Software repository for estimating human dynamics
BSD 3-Clause "New" or "Revised" License
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Add non-collocated wrench estimation in HumanWrenchProvider #309

Closed RiccardoGrieco closed 2 years ago

RiccardoGrieco commented 2 years ago

This PR adds the estimation of external wrenches as described in https://ieeexplore.ieee.org/abstract/document/9526592 in the HumanStateProvider device.

RiccardoGrieco commented 2 years ago

CI is failing because the required changes in iDynTree are still in the devel branch (see https://github.com/robotology/idyntree/pull/991) and not yet in master.

traversaro commented 2 years ago

CI is failing because the required changes in iDynTree are still in the devel branch (see robotology/idyntree#991) and not yet in master.

I can do a release, no problem.

traversaro commented 2 years ago

CI is failing because the required changes in iDynTree are still in the devel branch (see robotology/idyntree#991) and not yet in master.

I can do a release, no problem.

https://github.com/robotology/idyntree/pull/1005 is for the current master, after that I can merge devel in master and release 6.0.0 .

lrapetti commented 2 years ago

Related to the models used in this PR I have merged https://github.com/robotology/human-gazebo/pull/30 and prepared a new release of human-gazebo models (https://github.com/robotology/human-gazebo/pull/31)

lrapetti commented 2 years ago

Following this PR, I would also proceed with releasing the devel code into master, what do you thing @RiccardoGrieco?

RiccardoGrieco commented 2 years ago

@lrapetti you can proceed with merging the PR.

Following this PR, I would also proceed with releasing the devel code into master, what do you thing @RiccardoGrieco?

I agree!

The only thing, I would add a comment just to recall that for the time being the rate-of-change of momentum is computed without considering link velocities and accelerations, and open a separate issue for that point.

Opened https://github.com/robotology/human-dynamics-estimation/issues/312

lrapetti commented 2 years ago

Great, we can merge it!

DanielePucci commented 2 years ago

Thank you all guys for fixing this longstanding critical situation!