Change how external contacts are defined, loaded, and stored from configuration files
isorrentino opened this issue · comments
I noticed that there is a bug in the RDE related to how I define external contacts and fts in the configuration file, both for the model loading and for the ukf config. Basically, if the contact and the ft are in the same frame and have the same name, we have a segmentation fault as the variable handler stores the variable only once due to the same name.
I have to change this behavior. The idea is to use the name variable as the definition of the contact and the frame as the definition of the frame where the contact happens. Same for the fts. In this way, the name can be chosen by the user, while the frame has to be contained in the urdf. At this point, to include a contact in the UKF state, we can use the name instead of the frame as we were doing before. The same can be done for the fts. This solution allows having different names in the state variable handler even in the case the ft and the contact share the same frame.
Once I implement this new logic, I'll open a PR.
Associated PR #759.
PR merged. Closing.