MotorEconders-consistency - retrieve the coupling matrix at runtime #60
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pattacini
reviewed
Feb 18, 2022
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Some comments @davidetome.
If we no longer use the ini files, I'd rather remove them from the repo and then clean up the cmake machinery.
pattacini
requested changes
Feb 18, 2022
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As agreed offline, @davidetome will get shot of the couple matrix param from within the ini file.
as sad T2T w/ @pattacini ,unfortunately, there are still some params used in the cc @traversaro |
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@pattacini matrices removed from .ini files, tested 👍🏻 cc @traversaro |
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This PR fixes the problem on the
MotorEconders-consistencytests, due to the fact that the coupling matrix was retrieved from its own.inifiles instead of the ones used by the robot.Using the
IRemoteVariableinterface we access thekinematic_mjvariable that stores the matrices for each group of joints (loaded from the XML files).After re-formatting into a single matrix, the results of the test are now consistent.
Tested on the Left Leg
Old way (using matrices in separate .ini files)
Used Matrix
Plots
New way (using matrices retrieved at runtime)
Used Matrix
Plots
The other parts have been tested in terms of a retrieved matrix using the DEBUG mode on an ETH robot (run w/o the robot)
cc @pattacini @Uboldi80 @gsisinna