wholeBodyDynamics configuration files for ergoCubSN00* not setting the estimateJointVelocityAcceleration option?

[traversaro]

While working on robotology/whole-body-estimators#194 , I noticed that the test was printing a warning:

[WARNING] wholeBodyDynamics: estimateVelocityAccelerationOptionName bool parameter missing, please specify it.";
[WARNING] wholeBodyDynamics: setting estimateVelocityAccelerationOptionName to the default value of true, but this is a deprecated behaviour that will be removed in the future.";

that was surprising for me, as I based the test introduced in robotology/whole-body-estimators#177 on the configurations of ergoCubSN00* . Indeed, by looking in the configuration files for ergoCubSN00*, I noticed that the estimateJointVelocityAcceleration option is never set (the error refers to a different name, but it is a typo).

This means that for ergoCubSN00 torque estimation we never used the velocity estimated at low level, but always the velocity estimated at high level with a kalman filter.*

I guess we should get rid of this warning by explicitly setting estimateJointVelocityAcceleration (as done for iCub3 in

robots-configuration/robots-icebox/iCubGenova09/estimators/wholebodydynamics.xml

Line 23 in 8883a01

<param name="estimateJointVelocityAcceleration">false</param> <!-- if true a kf will estimate the joint velocities and accelerations -->

) and then we can modify wbd to raise an error if the parameter is not set.

fyi @GiulioRomualdi @isorrentino @LoreMoretti

[traversaro]

Actually as noticed by @S-Dafarra actually the default value is false, so we should be good to go, see https://github.com/robotology/whole-body-estimators/pull/194/files#r1673528015 . However, I think we should anyhow set the parameter explicitly to silence the warning.