[Bug] [wholeBodyDynamics] filtered joint accelerations copied into joint velocities buffer

robotology / whole-body-estimators

YARP devices that implement estimators for humanoid robots.

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[Bug] [wholeBodyDynamics] filtered joint accelerations copied into joint velocities buffer #123

Closed prashanthr05 closed 2 years ago

prashanthr05 commented 2 years ago

With @isorrentino we were going through the wholeBodyDynamics code and came across this bug in

https://github.com/robotology/whole-body-estimators/blob/035d96ef6c48ac3a07d53b4914cf6a1233b8d5c1/devices/wholeBodyDynamics/WholeBodyDynamicsDevice.cpp#L2140

But, this will come into effect only when useJointAccelerations is set to true, which we usually do not set to true in most of our cases (iCubGenova04, iCubGenova09).

prashanthr05 commented 2 years ago

cc @HosameldinMohamed

traversaro commented 2 years ago

Great catch!

DanielePucci commented 2 years ago

Great catch guys

isorrentino commented 2 years ago

PR opened #124.