Use IMU measurements to set submodel base state in RDE #793
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CHANGELOG.md.orig
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| # Changelog | |||
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CHANGELOG.md
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| - Add the support of QP problems with no constraint in `QPInverseKinematics` and `QPTSID` (https://github.com/ami-iit/bipedal-locomotion-framework/pull/784) | |||
| - Implement `blf-joints-grid-position-tracking` application in `utilities` (https://github.com/ami-iit/bipedal-locomotion-framework/pull/787) | |||
| - Add the possibility to resample the contact in a given contact list (https://github.com/ami-iit/bipedal-locomotion-framework/pull/788) | |||
| - Set submodel states from IMUs in RDE (Use IMU measurements to set submodel base state in RDE) | |||
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Can you rebase the PR on top of master and move this line to unreleased?
isorrentino
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@GiulioRomualdi after the rebase the CI fails. |
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@traversaro I requested also your review to be sure about the implemented formulas. If you can check the code here that is where I take the imu measurements to set the submodel base states and compute the forward dynamics as discussed in https://github.com/ami-iit/element_sensorless-torque-control/issues/70, it would be great :) |
Th computation seems correct. However, formula in are not obvious, so if you could add a reference (for example with a comment) for that equation it would be great. |
traversaro
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Hi @isorrentino can you rebase the PR on top of master? |
…urement dynamics for the same sensor
isorrentino
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Done. |
GiulioRomualdi
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Jan 26, 2024
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This PR implements what is described in #70 and #95.
In addition, the PR introduces a code restructure to have the possibility to define more than one measurement dynamics for a given sensor.
The tests have been modified accordingly.
[UPDATE] I added also the possibility of having the friction torques as a measurement for the estimator.