WB-Toolbox 3.0

[francesco-romano]

The idea is to migrate away from yarp-wholebodyinterface.
The model will use directly iDynTree (in particular KinDynComputations).
Reading sensors and commanding actuators can be done through the YARP ControlBoardRemapper control board.

The tricky part remains in moving the estimators and filters away from the state interface.
The filter classes can be exposed as blocks.

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Edited by @diegoferigo:

Here is the list of TODOs for migrating from the following components of yarpWholeBodyInterface:

- yarpWholeBodyStates

• Create a new block that wraps the iCub::ctrl::Filter class (it will substitute the filtering that happens inside yarpWbi::yarpWholeBodyEstimator) PR DiscreteFilter block #47
• Get the velocities from the ControlBoardRemapper. The new robots have now encoders and it is not needed estimating them

- yarpWholeBodyModel

• Exploit iDynTree

- yarpWholeBodyActuators yarpWholeBodySensors

• Exploit ControlBoardRemapper

- Other

• Discuss how to handle the configuration file

[traversaro]

Possible challenges:

• WB-Toolbox stateless model blocks vs iDynTree::KinDynComputations stateful interface
• Degrees used in YARP interfaces vs Radians used in WB-Toolbox and iDynTree interfaces

[diegoferigo]

@francesco-romano I edited your first post adding a draft of the steps required for the migration. Feel free to add more details, I'll keep it updated while working on it.