Human Dynamics Estimation interface module to send human data to simulink through a device driver about human-dynamics-estimation HOT 9 CLOSED

Tested the driver with simulink blocks of get measurements for joint positions, velocity, acceleration and torques. The values read are correct.

Thank you very much for the discussions and support guys @diegoferigo @traversaro 😀

from human-dynamics-estimation.

Well done @Yeshasvitvs!! When you're ready, open a PR so we can review it. We should discuss also the naming you used, let's see if we can make even it more clear.

from human-dynamics-estimation.

This module implements a custom control board device driver wrapped with a controlboardwrapper2 to send human data as a control board device.

from human-dynamics-estimation.

@diegoferigo I noticed that in matlab the get measurement block for joint acceleration is actually reading joint velocities 😕❓

from human-dynamics-estimation.

@diegoferigo This data is collected using this test remote control board. The data in the first file is the actual values from HDE ports and the data in the bottom file are read from the remote control board. Here, the data is read correctly. So, I think we need to have a look at the matlab end of the remote controlboardremapper

from human-dynamics-estimation.

Let's have a chat f2f for details. In the meantime, here is the code that reads accelerations

https://github.com/robotology/WB-Toolbox/blob/b75d36d856e03aba7f0fa2ad37b22b082078faa4/toolbox/src/GetMeasurement.cpp#L146-L157

from human-dynamics-estimation.

@claudia-lat @lucaTagliapietra

from human-dynamics-estimation.

The get acceleration block of WB3.0 reads joint velocities instead of joint accelerations . It is tracked in this issue

from human-dynamics-estimation.

Additional testing and tuning of HDE control board driver is followed in this issue

from human-dynamics-estimation.