Access the joint torques estimated by WBD

[isorrentino]

Hi all, I was wondering if there is a way to read the joint torques estimated by WBD when the robot is simulated? I checked the available YARP ports and none is used for the estimated joint torques. Are they exposed in some way? I would like to read them in order to log a dataset.

cc @GiulioRomualdi @traversaro

[traversaro]

The estimated torques are published in C++ by attaching devices that implement the YARP Device interface IVirtualAnalogSensor (see

whole-body-estimators/devices/wholeBodyDynamics/WholeBodyDynamicsDevice.cpp

Line 1501 in 64b513c

ok = this->openRemapperVirtualSensors(config);

). This interface is implemented on the real robot on devics such as embObjMotionControl (see https://github.com/robotology/icub-main/blob/624bc968dabe64bfb129a25f72e0b80fc9503af0/src/libraries/icubmod/embObjMotionControl/embObjMotionControl.cpp#L3733), but to publish that on a YARP port, you can use a virtualAnalogClient device, see

whole-body-estimators/devices/virtualAnalogClient/VirtualAnalogClient.h

Line 36 in 353985f

* Parameters accepted in the config argument of the open method:

for its parameters.

See for example:

• whole-body-estimators/devices/wholeBodyDynamics/app/launch-wholebodydynamics-icub-six-fts.xml

  Line 58 in 353985f

  <device name="left_leg_virtual_strain" type="virtualAnalogClient">

• whole-body-estimators/devices/wholeBodyDynamics/app/wholebodydynamics-icub-external-and-can-six-fts.xml

  Line 58 in 64b513c

  <elem name="left_leg_vsens">left_leg_virtual_strain</elem>

[traversaro]

fyi @Nicogene