refactor(identification): patch filter configuration management in base identification

Author: thanhndv212

src/figaroh/identification/base_identification.py

@@ -70,7 +70,7 @@ def __init__(self, robot, config_file="config/robot_config.yaml"):
         self.model = self.robot.model
         self.data = self.robot.data
 
-        # Load configuration using the TIAGo-style approach
+        # Load configuration initiating self.identif_config
         self.load_param(config_file)
 
         # Initialize attributes for identification results
@@ -89,10 +89,17 @@ def __init__(self, robot, config_file="config/robot_config.yaml"):
         self.tau_ref = None
         self.tau_identif = None
         self.tau_noised = None
-        self.filter_config = {
-            'differentiation_method': 'gradient',
-            'filter_params': {}
-        }
+
+        # Set default filter configuration, can be overridden in subclasses
+        self.filter_config = self.identif_config.get("filter_config", {
+            "differentiation_method": "gradient",
+            "filter_params": {
+                "nbutter": 4,
+                "f_butter": 2,
+                "med_fil": 5,
+                "f_sample": 100
+            }
+        })
         logger.info(f"{self.__class__.__name__} initialized")
 
     def initialize(self, truncate=None):

src/figaroh/identification/config.py

@@ -165,6 +165,19 @@ def _extract_signal_processing_params(identif_config, signal_processing):
     identif_config["ts"] = ts
     identif_config["cut_off_frequency_butterworth"] = cutoff_freq
 
+    # Build filter configuration dictionary
+    filter_config_ = {}
+    filter_config_["cutoff_frequency"] = cutoff_freq
+    filter_config_["sampling_frequency"] = sampling_freq
+    filter_config_["filter_type"] = signal_processing.get(
+        "filter_type", "butterworth"
+    )
+    filter_config_["differentiation_method"] = signal_processing.get(
+        "differentiation_method", "gradient"
+    )
+    filter_config_["filter_params"] = signal_processing.get("filter_params", {})
+
+    identif_config["filter_config"] = filter_config_
 
 def _extract_joint_limits(identif_config, joints):
     """Extract joint limit parameters.