Issues about yaml file reading

[antennae]

Hi,

I'm using the qualisys through this library. And I have some issues when setting it up:

• When reading yaml file, it seems all the parameters are hard-coded and required. It need a better exception handle for user to know what's wrong. Currently, it just shows "bad conversion" which is very confusing.
• Qualisys is very integrated into soft-trunk. It would be very helpful if the motion capture system can be used independently.

[olivefi]

The parameters aren't hard-coded, they're default values that can be changed by YAML. "Bad conversion" results if the YAML parameter is a wrong type, see the wiki on YAMLs for correct types for each parameter.
Motion Capture can be used independently, see our repo "mobilerack-interface"

[antennae]

What I mean by hard-coded is that all the parameters in the yaml file are required, any missing parameters will result in "Bad Conversion". I was trying to use Motion Capture without any model so I deleted many parameters in yaml, maybe this is not what is designed to be used. But it would be helpful to check if a parameter exist in yaml, or if it is a correct type before doing anything so it is easier to find out which parameter is wrong. There used to be a CurvatureCalculator where you could easily read motion capture data though.

[olivefi]

Ah, if you want to only get curvature but not output anything you can just never call set_ref, the valves only start actuating once that is called. The model runs in the background and wouldn't interfere with curvature collection.