Added LuGre friction model parameters to protocol

[ale-git]

The yarprobotinterface parser is now able to read LuGre friction model parameters from robot configuration files.

[pattacini]

Hi @ale-git

We need to handle the icub-firmware-shared version as per robotology/icub-firmware-shared#99 (review).

[pattacini]

Originated from robotology/icub-firmware-models#97.

[pattacini]

Reposting here this comment as it pertains more to this PR:

Hi @ale-git

What's the strategy behind parsing the LuGre params?
Ideally, to provide back-compatibility (quite important here), if the section is not found then the SW should NOT make use of the LuGre.

[valegagge]

Hi @ale-git, I wrote down some small changes. The most important one is related to making the new parameter group mandatory. This means that all robots' configurations need to be updated accordingly.

[valegagge]

Hi @ale-git ,

in addition, I suggest updating the template of the robot configuration files in order to maintain updated the documentation. If the new group is not mandatory you can add the info to the version 6.

Thanks

[ale-git]

Hi @pattacini and @valegagge I've made the requested changes (LuGre section is not mandatory and the other issues).

[pattacini]

Thanks @ale-git

We still need to address #989 (review).

For what concerns #989 (comment), I believe a subsequent PR will follow on robots-configuration, so that we can keep Templates up-to-date as well.

cc @valegagge

[valegagge]

Hi @pattacini and @valegagge I've made the requested changes (LuGre section is not mandatory and the other issues).

I'll do the review in the next few days (asap)

[valegagge]

Thanks @ale-git !

[pattacini]

Well done.
We have to first merge robotology/icub-firmware-shared#99 (review) and then put this in ready for review.

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• conf/iCubFindDependencies.cmake: Language not supported
• src/libraries/icubmod/embObjMotionControl/embObjMotionControl.cpp: Language not supported
• src/libraries/icubmod/embObjMotionControl/embObjMotionControl.h: Language not supported
• src/libraries/icubmod/embObjMotionControl/eomcParser.cpp: Language not supported
• src/libraries/icubmod/embObjMotionControl/eomcParser.h: Language not supported

[pattacini]

See #989 (comment).