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robotology / whole-body-estimators

YARP devices that implement estimators for humanoid robots.
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Add support for nonConsideredAxesPositions parameter #188

Closed traversaro closed 2 months ago

traversaro commented 2 months ago

This PR requires iDynTree v12.2.0, to use the feature added in https://github.com/robotology/idyntree/pull/1174 . It can be used to deal with robots that have the revolute joints fixed to a given position, using the nonConsideredAxesPositions option to set their value. If the value of a joint is not set, it is assumed that the joint is fixed to the 0 position, as it happened before this

traversaro commented 2 months ago

pixi CI has been modified to use https://github.com/robotology/idyntree/pull/1174, so it works. conda CI fails as expected.

traversaro commented 2 months ago

conda CI is failing as we do not have an icub-main binary compiled with ipopt 3.14.15 or 3.14.16 . I guess we can just remove icub-main for the time being.

traversaro commented 2 months ago

conda CI is failing as we do not have an icub-main binary compiled with ipopt 3.14.15 or 3.14.16 . I guess we can just remove icub-main for the time being.

Actually we can't, as icub-main is actually a dependency of whole-body-estimator. The pixi CI is working as it is compiling icub-main from source. At this point, I think we can just drop the conda-ci.yml as the pixi CI is doing almost the same.

traversaro commented 2 months ago

Ok, now the PR is ready for review. @GiulioRomualdi @S-Dafarra

S-Dafarra commented 2 months ago

Great!