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robotology / robots-configuration

Contains robots configuration files
BSD 3-Clause "New" or "Revised" License
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wholeBodyDynamics configuration files for ergoCubSN00* not setting the estimateJointVelocityAcceleration option? #668

Closed traversaro closed 1 day ago

traversaro commented 1 month ago

While working on https://github.com/robotology/whole-body-estimators/pull/194 , I noticed that the test was printing a warning:

[WARNING] wholeBodyDynamics: estimateVelocityAccelerationOptionName bool parameter missing, please specify it.";
[WARNING] wholeBodyDynamics: setting estimateVelocityAccelerationOptionName to the default value of true, but this is a deprecated behaviour that will be removed in the future.";

that was surprising for me, as I based the test introduced in https://github.com/robotology/whole-body-estimators/pull/177 on the configurations of ergoCubSN00 . Indeed, by looking in the configuration files for ergoCubSN00, I noticed that the estimateJointVelocityAcceleration option is never set (the error refers to a different name, but it is a typo).

*This means that for ergoCubSN00 torque estimation we never used the velocity estimated at low level, but always the velocity estimated at high level with a kalman filter.**

I guess we should get rid of this warning by explicitly setting estimateJointVelocityAcceleration (as done for iCub3 in https://github.com/robotology/robots-configuration/blob/8883a01d17fbb6da01372843ede67b066ce91ffd/robots-icebox/iCubGenova09/estimators/wholebodydynamics.xml#L23) and then we can modify wbd to raise an error if the parameter is not set.

fyi @GiulioRomualdi @isorrentino @loremoretti

traversaro commented 1 month ago

Actually as noticed by @S-Dafarra actually the default value is false, so we should be good to go, see https://github.com/robotology/whole-body-estimators/pull/194/files#r1673528015 . However, I think we should anyhow set the parameter explicitly to silence the warning.