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Add non-collocated wrench estimation in HumanWrenchProvider #309

Merged
merged 31 commits into from
Sep 2, 2022
Merged

Add non-collocated wrench estimation in HumanWrenchProvider #309

merged 31 commits into from
Sep 2, 2022

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RiccardoGrieco
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This PR adds the estimation of external wrenches as described in https://ieeexplore.ieee.org/abstract/document/9526592 in the HumanStateProvider device.

@RiccardoGrieco RiccardoGrieco self-assigned this Jul 18, 2022
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CI is failing because the required changes in iDynTree are still in the devel branch (see robotology/idyntree#991) and not yet in master.

@traversaro
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CI is failing because the required changes in iDynTree are still in the devel branch (see robotology/idyntree#991) and not yet in master.

I can do a release, no problem.

@traversaro
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CI is failing because the required changes in iDynTree are still in the devel branch (see robotology/idyntree#991) and not yet in master.

I can do a release, no problem.

robotology/idyntree#1005 is for the current master, after that I can merge devel in master and release 6.0.0 .

@RiccardoGrieco RiccardoGrieco force-pushed the feature/add-berdy_ext_wrench_estimation branch from be0e22f to 24e4cfa Compare July 25, 2022 10:00
RiccardoGrieco and others added 24 commits July 25, 2022 12:04
@RiccardoGrieco
Read NCWE measurement parameters
e50cde0
@RiccardoGrieco
Read mu_dyn_variables param
30e4ed6
@RiccardoGrieco
Initialize MAP estimation solver
ba9ea38
@RiccardoGrieco
Initialize NET_EXT_WRENCH_SENSOR sensor covariance
63e103c
@RiccardoGrieco
Set RCM_SENSOR covariance
efd97ce
@RiccardoGrieco
Set NCWE mu_d
f90d25f
@RiccardoGrieco
Fix NCWE measurementsPriorCovarianceMatrix init
3457eb5
@RiccardoGrieco
Set NCWE priorDynamicsRegularizationCovariance
03b6400
@RiccardoGrieco
Populate NCWE measurements vector
1b804b1
@RiccardoGrieco
Update exposed data with estimate
29fb389
@lrapetti @RiccardoGrieco
Update Human.xml
b4d836c
@RiccardoGrieco
Add computation of RCM sensor measurement
ec5f076
@RiccardoGrieco
Fix BerdySparseMAPSolver in WrenchProvider
aa5f1bf
@RiccardoGrieco
Improve iHumanState check in DynamicsEstimator
1d8e77a
@RiccardoGrieco
Add human_mass parameter in WrenchProvider
84a6e25
@RiccardoGrieco
Add human_mass in WrenchProvider
d6623e2
@RiccardoGrieco
[WrenchProvider] Raise missing parameter error
d6b76fd
@RiccardoGrieco
Simplify RCM calculation for the MAP estimation
9df0cf6
@RiccardoGrieco
Set WrenchProvider base frame from params
089db6b
@RiccardoGrieco
[WrenchProvider] Remove number_of_sources param
eb19add
@RiccardoGrieco
[WrenchProvider] Fix transform in RCM computation
8940052
@RiccardoGrieco
[WrenchProvider] Clean code
0ba611e
@RiccardoGrieco
Update Human.xml with MAP estimator parameters
cb3a86b
@RiccardoGrieco
Update HDERviz with HandCOM topics
71fc032
@RiccardoGrieco RiccardoGrieco force-pushed the feature/add-berdy_ext_wrench_estimation branch from 24e4cfa to 550efac Compare July 25, 2022 10:05
traversaro
traversaro approved these changes Aug 24, 2022
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Minor comments.

@lrapetti
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Related to the models used in this PR I have merged robotology/human-gazebo#30 and prepared a new release of human-gazebo models (robotology/human-gazebo#31)

lrapetti
lrapetti approved these changes Aug 26, 2022
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Looks good, I have added just a minor comment you can evaluate if it makes sense to change it or not.

The only thing, I would add a comment just to recall that for the time being the rate-of-change of momentum is computed without considering link velocities and accelerations, and open a separate issue for that point.

devices/HumanDynamicsEstimator/HumanDynamicsEstimator.cpp Show resolved Hide resolved
devices/HumanWrenchProvider/HumanWrenchProvider.cpp Show resolved Hide resolved
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Following this PR, I would also proceed with releasing the devel code into master, what do you thing @RiccardoGrieco?

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RiccardoGrieco commented Sep 1, 2022 •
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@lrapetti you can proceed with merging the PR.

Following this PR, I would also proceed with releasing the devel code into master, what do you thing @RiccardoGrieco?

I agree!

The only thing, I would add a comment just to recall that for the time being the rate-of-change of momentum is computed without considering link velocities and accelerations, and open a separate issue for that point.

Opened #312

@RiccardoGrieco RiccardoGrieco mentioned this pull request Sep 1, 2022
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lrapetti commented Sep 2, 2022

Great, we can merge it!

@lrapetti lrapetti merged commit 163f1e4 into robotology:devel Sep 2, 2022
@lrapetti lrapetti mentioned this pull request Sep 2, 2022
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@DanielePucci
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Thank you all guys for fixing this longstanding critical situation!

This was referenced Sep 22, 2022
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@lrapetti lrapetti lrapetti approved these changes

@traversaro traversaro traversaro approved these changes

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@RiccardoGrieco @traversaro @lrapetti @DanielePucci