[ergoCubSN002] Tune the velocity-acceleration KF on the ergoCubSN002 on the legs torso and arms (no wrist) #650
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This PR tunes the gains of the Kalman filter for the joint velocities and acceleration in the EMS.
The filter has been tuned by an automatic procedure that is explained in https://github.com/ami-iit/component_bipedal-locomotion/issues/157
Here are some results for several joints, with both datasets collected while the robot was walking:
Velocity [rad/s]
Acceleration [rad/s^2]
Important
According to the plots, the velocity/acceleration of the torso roll appears smoother. This is likely because the original configuration did not enable the Kalman filter for the torso roll.
cc @isorrentino @DanielePucci