Open traversaro opened 2 years ago
The filtering part is historically a pain point as the default filtering parameters are quite conservative (3.0 Hz) as they were tuned when the iCub was perfoming this demo https://www.youtube.com/watch?v=jaTEbCsFp_M in 2014 and no one ever touched them after it (as far as I am aware of), even if the iCub in which the task is used drastically changed (see https://www.youtube.com/watch?v=VE2toULLlbk or https://www.youtube.com/watch?v=Fb_R6IDDU4A).
In some cases (simulators) there is not even need (in theory) to do any filtering, so it would be convenient to have an option to just disable any filtering.
The filtering part is historically a pain point as the default filtering parameters are quite conservative (3.0 Hz) as they were tuned when the iCub was perfoming this demo https://www.youtube.com/watch?v=jaTEbCsFp_M in 2014 and no one ever touched them after it (as far as I am aware of), even if the iCub in which the task is used drastically changed (see https://www.youtube.com/watch?v=VE2toULLlbk or https://www.youtube.com/watch?v=Fb_R6IDDU4A).
In some cases (simulators) there is not even need (in theory) to do any filtering, so it would be convenient to have an option to just disable any filtering.