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robotology / whole-body-estimators

YARP devices that implement estimators for humanoid robots.
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[WBD] Add fixed joints l_foot_ft_sensor and r_foot_ft_sensor explicitly #109

Closed HosameldinMohamed closed 3 years ago

HosameldinMohamed commented 3 years ago

Reference issue in iDynTree https://github.com/robotology/idyntree/issues/829

The PR appends fixed joints l_foot_ft_sensor, r_foot_ft_sensor in case they are omitted because the corresponding F/T sensors are not included in the model.

This will enable adding the link frames l_foot and r_foot in the config group WBD_OUTPUT_EXTERNAL_WRENCH_PORTS even when the fee F/T sensors are removed from the URDF model.

traversaro commented 3 years ago

I think this change will break the use of wbd for models that do not have the l_foot_ft_sensor and r_foot_ft_sensor (such as old iCub models or non-iCub models). Rather then hardcoding this list, ideally this should be passed in the conf file as a new parameter additionalConsideredFixedJoints or similar.

HosameldinMohamed commented 3 years ago

I think this change will break the use of wbd for models that do not have the l_foot_ft_sensor and r_foot_ft_sensor (such as old iCub models or non-iCub models). Rather then hardcoding this list, ideally this should be passed in the conf file as a new parameter additionalConsideredFixedJoints or similar.

Right, in https://github.com/robotology/whole-body-estimators/pull/109/commits/2c649f903c79fb3afde184f76bf8bc07cf46b9e1 I added it as a parameter. In order to reuse the function getConfigParamsAsList(getConfigParamsAsList(os::Searchable& config,std::string propertyName , std::vector<std::string> & list) but avoid the error message https://github.com/robotology/whole-body-estimators/blob/9457244856ae0fba7997228eee51c2d70679c0b0/devices/wholeBodyDynamics/WholeBodyDynamicsDevice.cpp#L158

In case the parameter is optional (as withadditionalConsideredFixedJoints), I added an additional boolean function to specify whether the parameter is optional or not.

HosameldinMohamed commented 3 years ago

Thanks guys!