Set estimateJointVelocityAcceleration for ergoCubSN00* (#677)

robotology · Sep 6, 2024 · 25307df · 25307df
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diff --git a/ergoCubSN000/estimators/wholebodydynamics.xml b/ergoCubSN000/estimators/wholebodydynamics.xml
@@ -20,6 +20,7 @@
         <param name="devicePeriodInSeconds">0.002</param>
         <param name="useSkinForContacts">false</param>
         <param name="publishNetExternalWrenches">true</param>
+        <param name="estimateJointVelocityAcceleration">false</param>  <!-- if true a kf will estimate the joint velocities and accelerations -->
 	<!--<param name="assume_fixed">root_link</param>-->
 	<group name="HW_USE_MAS_IMU">
 	    <param name="accelerometer">waist_imu_0</param>

diff --git a/ergoCubSN000/estimators/wholebodydynamics_no_right_forearm.xml b/ergoCubSN000/estimators/wholebodydynamics_no_right_forearm.xml
@@ -20,6 +20,7 @@
         <param name="devicePeriodInSeconds">0.002</param>
         <param name="useSkinForContacts">false</param>
         <param name="publishNetExternalWrenches">true</param>
+        <param name="estimateJointVelocityAcceleration">false</param>  <!-- if true a kf will estimate the joint velocities and accelerations -->
 	<!--<param name="assume_fixed">root_link</param>-->
 	<group name="HW_USE_MAS_IMU">
 	    <param name="accelerometer">waist_imu_0</param>

diff --git a/ergoCubSN001/estimators/wholebodydynamics.xml b/ergoCubSN001/estimators/wholebodydynamics.xml
@@ -20,6 +20,7 @@
   <param name="devicePeriodInSeconds">0.002</param>
   <param name="useSkinForContacts">false</param>
   <param name="publishNetExternalWrenches">true</param>
+  <param name="estimateJointVelocityAcceleration">false</param>  <!-- if true a kf will estimate the joint velocities and accelerations -->
   <!--<param name="assume_fixed">root_link</param>-->
   <group name="HW_USE_MAS_IMU">
     <param name="accelerometer">waist_imu_0</param>

diff --git a/ergoCubSN002/estimators/wholebodydynamics.xml b/ergoCubSN002/estimators/wholebodydynamics.xml
@@ -20,6 +20,7 @@
   <param name="devicePeriodInSeconds">0.001</param>
   <param name="useSkinForContacts">false</param>
   <param name="publishNetExternalWrenches">true</param>
+  <param name="estimateJointVelocityAcceleration">false</param>  <!-- if true a kf will estimate the joint velocities and accelerations -->
   <!--<param name="assume_fixed">root_link</param>-->
   <group name="HW_USE_MAS_IMU">
     <param name="accelerometer">waist_imu_0</param>