Desired torque decimals are not displayed in the motorgui if the torque control mode is set

[LoreMoretti]

Describe the bug
I noticed that the desired torque are treated as integer in the motorgui
To Reproduce
Start the motorgui and set on joint in torque
Expected behavior
It would be nice to have three decimal as the position control
Screenshots

Configuration (please complete the following information):

• OS:
• yarp version:
• compiler:

Additional context
cc @GiulioRomualdi

[GiulioRomualdi]

yarp version: YARP version 3.9.0+8-20240206.2+git27242fd41

[GiulioRomualdi]

If someone can point me the code I should check I can try to fix it

[traversaro]

If someone can point me the code I should check I can try to fix it

I guess somewhere around

yarp/src/yarpmotorgui/jointitem.cpp

Lines 1145 to 1176 in bde9cd2

	void JointItem::enableTorqueSliderDoubleValue(double value)
	{
	double torqueSliderStep = 1 / value;
	ui->sliderTorqueTorque->setSliderStep(torqueSliderStep);
	ui->sliderTorqueTorque->setIsDouble(true);
	int sliderMin = -max_torque*torqueSliderStep; //note that we are using -max_torque
	int sliderMax = max_torque*torqueSliderStep;
	ui->sliderTorqueTorque->setRange(sliderMin, sliderMax);
	int v = ui->sliderTorqueTorque->value();
	if (v > sliderMax) {}
	if (v < sliderMin) {}
	setRefTorque(ref_torque);
	}
	void JointItem::disableTorqueSliderDouble()
	{
	if (fabs(max_torque) < 1.0)
	{
	yError("Unable to set integer torque slider");
	return;
	}
	double torqueSliderStep = 1;
	ui->sliderTorqueTorque->setSliderStep(torqueSliderStep);
	ui->sliderTorqueTorque->setIsDouble(false);
	int sliderMin = -max_torque; //note that we are using -max_torque
	int sliderMax = max_torque;
	ui->sliderTorqueTorque->setRange(sliderMin, sliderMax);
	int v = ui->sliderTorqueTorque->value();
	if (v > sliderMax) {}
	if (v < sliderMin) {}
	setRefTorque(ref_torque);
	}

.

[traversaro]

Reading the code, I guess there is already a similar functionality if you go in Slider ---> Torque Options.

[traversaro]

[GiulioRomualdi]

Cool! Still, according to your picture, the number of slider decimal digits seems to be available oly for position control

[GiulioRomualdi]

So I checked the code and there are three possible solutions:

The easiest solution

Modify the following line

yarp/src/yarpmotorgui/sliderWithTarget.h

Line 23 in bde9cd2

int number_of_decimals = 0;

intermediate solution

add a function to change the slide for the torque (and velocity at this point) and modify

void PartItem::onSetVelSliderOptionPI(int mode, double step)

and

   void PartItem::onSetTrqSliderOptionPI(int mode, double step)

to set the decimal number to an hardcoded value

complex solution

modify the GUI and all the signal slots to have the possibility to set the number of digits. Indeed they are set only for position control in

yarp/src/yarpmotorgui/jointitem.cpp

Line 1050 in bde9cd2

void JointItem::setNumberOfPositionSliderDecimals(size_t num)

[isorrentino]

Hi @traversaro,

Do you have any updates or ideas on how to proceed with this task?

[traversaro]

Hi @traversaro,

Do you have any updates or ideas on how to proceed with this task?

I think the easy solution proposed by Giulio Romualdi make sense. I think it make sense to have 1 or 2 as default number of decimal (rather then 0), can you try if that works?