[ergoCubSN00*] Missing elbow and wrist joints from axesNames used in WBD

[traversaro]

See

robots-configuration/ergoCubSN001/estimators/wholebodydynamics.xml

Line 6 in c6a2982

<param name="axesNames">(torso_pitch,torso_roll,torso_yaw,neck_pitch, neck_roll,neck_yaw,l_shoulder_pitch,l_shoulder_roll,l_shoulder_yaw,r_shoulder_pitch,r_shoulder_roll,r_shoulder_yaw,l_hip_pitch,l_hip_roll,l_hip_yaw,l_knee,l_ankle_pitch,l_ankle_roll,r_hip_pitch,r_hip_roll,r_hip_yaw,r_knee,r_ankle_pitch,r_ankle_roll)</param>

and similar list.

I guess the following joints are missing:

• l_elbow/r_elbow
• l_wrist_roll/r_wrist_roll
• l_wrist_pitch/r_wrist_yaw
• l_wrist_yaw/r_wrist_yaw

wrist joints are probably just a nice to have, but the absence of the elbow joint may indeed affect the force and torque estimation.

cc @isorrentino @GiulioRomualdi @LoreMoretti @Nicogene @martinaxgloria

[pattacini]

Is anyone eager to propose a PR, @isorrentino @GiulioRomualdi?

[GiulioRomualdi]

I can do it

[pattacini]

Thanks!

[pattacini]

#656 added the missing info for ergoCubSN002.
I think ergoCubSN000 and ergoCubSN001 still need the patch.
cc @GiulioRomualdi

[pattacini]

#664 added the patch for ergoCubSN001.
Closing for now.