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.

Copilot wasn't able to review any files in this pull request.

Files not reviewed (5)

• 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).

[pattacini]

Hi @ale-git

We need to address conflicts. In particular, we need to depend on the latest icub-firmware-shared version, which is v1.41.0.

[pattacini]

/remind December 16, @ale-git please proceed asap with this.

[octo-reminder]

⏰ Reminder
Monday, December 16, 2024 10:00 AM (GMT+01:00)

, @ale-git please proceed asap with this.

[valegagge]

Hi @ale-git , I left some notes on the code.
Let me know what do you think. Thanks

[pattacini]

Hi @ale-git

Please, rebase your branch on top of the latest upstream devel and check the following:

• icub-fw-shared versioning: just remove the modification as requested inline.
• address @valegagge's comments

[octo-reminder]

🔔 @pattacini

, @ale-git please proceed asap with this.

[ale-git]

@pattacini @valegagge I've made the requested changes and rebased on devel.

[pattacini]

Thanks @ale-git 👍🏻
Fine by me. Awaiting CI and @valegagge's final approval before merging.

[pattacini]

Hi @ale-git

Please, address the CI failure.

[pattacini]

Put it back to draft as robotology/icub-firmware-shared#99 still has to be merged.

[ale-git]

I've updated the icub_firmware_shared required version and fixed the -1 bug, ready for merge as soon as icub_firmware_shared is merged (ready for it).