human-dynamics-estimation

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After PR https://github.com/robotology/human-dynamics-estimation/pull/309, the `HumanWrenchProvider` can use a Maxiumum-A-Posteriori solver to estimate external wrenches, implementing the Non-collocated wrench estimation task described in https://ieeexplore.ieee.org/abstract/document/9526592/. In order to do that, the rate...

RiccardoGrieco

Migrate Rviz support from ROS1 to ROS2

11

Upstream effort from the ROS mantainers has shifted from years from ROS1 to ROS2. To avoid future mantainance problem, it would be great to migrate the part of this repo...

traversaro

Add human logger device for storing data as .mat

2

This PR adds a device `HumanLogger` that can be used for saving human kinematics and dynamics data as `.mat`

lrapetti

Until now the calibration methods of the `HumanStateProvider` called [here](https://github.com/robotology/human-dynamics-estimation/blob/f55e70d7adebc66552f4359f62b90fbed8b8d7ae/devices/HumanStateProvider/HumanStateProvider.cpp#L315-L384) are using a single data point to compute the calibration matrices. This could be improved by using multiple data points.

lrapetti

In the main development branch (`add-different-target-types`) if base velocity limits are not passed trough configuration files they are set to zero (so the system is treated as fixed-base)

lrapetti

As proposed by @kouroshD in https://github.com/robotology/human-dynamics-estimation/pull/279#issuecomment-1007300866

lrapetti

Add CHANGELOG to the repo

1

In order to properly structure the releases of the code contained in this repo, it would be nice to add a `CHANGELOG.md` file tracking the changes among the different release...

lrapetti

Algorithms used in the HumanStateProvider should be moved into the HDE library (introduced with https://github.com/robotology/human-dynamics-estimation/pull/246). Those includes: - [ ] sensors calibration algorithms - [x] integration-based inverse kinematics (https://github.com/robotology/human-dynamics-estimation/issues/249)

lrapetti

Add the possibility to add/remove targets after the initialization

1

Now targets in `inversevelocitykinematics` and `dynamicalinversekinematics` (PR https://github.com/robotology/human-dynamics-estimation/pull/265) can be added/removed only before running the first initialization and can not be changed in real-time. We should implement this feature.

lrapetti

This is missing both for the `inverseDynamicalKinematics` and `dynamicalInverseKinematics`. That can be done by changing the map key from the link index to a unique target name.

lrapetti