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YARP-based estimators for humanoid robots.

• 📙 Implementation
• 📄 Dependencies
• 🔨 Installation
• Usage
• Authors

The current implementations available in thedevices folder include,

• baseEstimatorV1 includes a simple humanoid floating base estimation algorithm fusing legged odometry and IMU attitude estimation, aimed to be used along side walking controllers.

• wholeBodyDynamics primarily implements external contact wrench and internal joint torques estimation using various sensor modalities of the robot. Please see the documentForce Control on iCub for more details (This is ported from its original archived repositoryrobotology-legacy/codyco-modules). It additionally includes supporting algorithms for gravity compensation torques estimation, and force-torque sensors calibration.

• YCM extra CMake Modules for YARP and friends.

• YARP: to handle the comunication with the robot;

• ICUB: to use the utilities like low pass filters from thectrLib library

• iDynTree: to setup the floating base estimation algorithm. Please compile iDynTree with CMake option IDYNTREE_USES_ICUB_MAIN ON (depends on ICUB).

• Gazebo: for the simulation (tested Gazebo 8 and 9).

  Optional Dependencies

  • walking-controllers: to test the floating base estimation along side walking controllers

It must be noted that all of these dependencies can be directly installed together in one place using therobotology-superbuild, in particular enabling itsDynamics component.

You can easily installwhole-body-estimators with withconda using the following command

conda install -c conda-forge -c robotology whole-body-estimators

If you are not familiar with conda or conda-forge, you can read an introduction document inconda-forge overview.

If you are installingwhole-body-estimators for use as part ofiCub humanoid robot software installation, you may want to installwhole-body-estimators through therobotology-superbuild, an easy way to download, compile and install the robotology software on multiple operating systems, using theCMake build system and its extensionYCM. To getwhole-body-estimators when using therobotology-superbuild, please enable theROBOTOLOGY_ENABLE_DYNAMICS CMake option of the superbuild.

If you are just interesting in building the devices to check that the compilation is working fine and tests pass, you can use pixi:

git clone https://github.com/robotology/whole-body-estimators.gitcd whole-body-estimatorspixi run download_depspixi run install_depspixi run test

git clone https://github.com/robotology/whole-body-estimators.gitcd whole-body-estimatorsmkdir build&&cd buildcmake ../make[sudo] make install

Notice:sudo is not necessary if you specify theCMAKE_INSTALL_PREFIX. In this case it is necessary to add in the.bashrc or.bash_profile the following lines:

export WBDEstimator_INSTALL_DIR=/path/where/you/installedexport YARP_DATA_DIRS=${YARP_DATA_DIRS}:${WBDEstimator_INSTALL_DIR}/share/yarp

Note that this is not necessary if you installwhole-body-estimators via therobotology-superbuild .

• baseEstimatorV1 Please follow the documentation available here to run the floating base estimator.
• wholeBodyDynamics Please follow the documentation for a description of features/parameters of the device and please follow the documentation inForce Control on iCub for running the whole body dynamics device.

Hosameldin Awadalla Omer Mohamed <hosameldin.mohamed@iit.it>Francisco Javier Andrade Chavez <FranciscoJavier.AndradeChavez@iit.it>Prashanth Ramadoss <prashanth.ramadoss@iit.it>Giulio Romualdi    <giulio.romualdi@iit.it>Silvio Traversaro  <silvio.traversaro@iit.it>Daniele Pucci      <daniele.pucci@iit.it>