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robotology / whole-body-estimators

YARP devices that implement estimators for humanoid robots.
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Should we set the use of joint accelerations off by default? #66

Open fjandrad opened 4 years ago

fjandrad commented 4 years ago

From experience, we know that the measurements for velocity and acceleration can be very noisy. Using this measurements may affect WBD estimation. For this reason, we might consider setting by default the use of these measurements to false. At least, until a solution for these measurements is released. What do you think? @prashanthr05 @traversaro @pattacini

prashanthr05 commented 4 years ago

Currently,

The useJointVelocity and useJointAcceleration by default in wholebodydynamics device is set to true. This is propagated through the robot-configurations files of all the robots that use the wholebodydynamics device to use the joint accelerations and velocity measurements coming from the IEncoders interface by default unless explicitly set to false, like done here. Before fixing this bug in #53 a low pass filtering of 3 Hz was performed on both these measurements. I suppose even with the low pass filtering of these measurements, the performance of WBD estimation was not relatively better?

If we decide to make any changes in wholebodydynamics device about the default settings, this change needs to be propagated uniformly throughout the configuration files.