Added possibility to connect to WBD to display the net external wrenches

[S-Dafarra]

It requires https://github.com/robotology/whole-body-estimators/pull/111, but it is not a hard constraint.

It displays 2 arrows for each wrench. One for the force (default red) one for the torque (default blue).

Example:

[prashanthr05]

Wow!

[traversaro]

Just a curiosity, where does the requirement for iDynTree 3.1 comes from?

[traversaro]

I think this functionality is quite important for all @robotology/iit-dynamic-interaction-control, and can be finally mean that we can stop using the iCubGui for debugging if the external force estimation coming from WBD.

[traversaro]

cc @Nicogene @pattacini this was the new drop-in for iCubGui that I mentioned in some meetings, I guess this functionality can be helpful for iCub 3 or in general when running WBD on robot models not supported by iCubGui.

[S-Dafarra]

Just a curiosity, where does the requirement for iDynTree 3.1 comes from?

I needed to bump the required version because I used the methods introduced in https://github.com/robotology/idyntree/pull/849. I thought to directly use the latest release then.

[pattacini]

cc @Nicogene @pattacini this was the new drop-in for iCubGui that I mentioned in some meetings, I guess this functionality can be helpful for iCub 3 or in general when running WBD on robot models not supported by iCubGui.

This looks like a very nice piece of SW indeed. Just want to point out that for replacing the current iCubGui we'd need also to replicate the layer responsible for creating objects. In iCubGui we can only deal with simple objects and trajectories, so maybe this can be taken into account as well.

[S-Dafarra]

@prashanthr05 let me know if the modifications are ok for you!

[prashanthr05]

@prashanthr05 let me know if the modifications are ok for you!

Yep. LGTM!!

[S-Dafarra]

@traversaro I would squash and merge. Is that ok with you?

[traversaro]

@traversaro I would squash and merge. Is that ok with you?

Ok!