Minor change to remove hardcoded base name from go2

Author: earlaud

include/simple-mpc/inverse-dynamics.hpp

@@ -30,7 +30,7 @@ namespace simple_mpc
       static Settings Default()
       {
         return {};
-      } // Work-around c++ bug to have a default constructor
+      } // Work-around c++ bug to have a default constructor of nested class
     };
 
     KinodynamicsID(const simple_mpc::RobotModelHandler & model_handler, const Settings settings = Settings::Default())
@@ -69,7 +69,8 @@ namespace simple_mpc
       samplePosture_ = tsid::trajectories::TrajectorySample(robot_.nq_actuated(), robot_.na());
 
       // Add the base task
-      baseTask_ = std::make_shared<tsid::tasks::TaskSE3Equality>("task-base", robot_, "root_joint");
+      baseTask_ =
+        std::make_shared<tsid::tasks::TaskSE3Equality>("task-base", robot_, model_handler_.getBaseFrameName());
       baseTask_->Kp(settings_.kp_base * Eigen::VectorXd::Ones(6));
       baseTask_->Kd(2.0 * baseTask_->Kp().cwiseSqrt());
       baseTask_->setReference(pose_base_);

include/simple-mpc/robot-handler.hpp

@@ -135,6 +135,11 @@ namespace simple_mpc
       return base_id_;
     }
 
+    std::string getBaseFrameName() const
+    {
+      return model_.frames[base_id_].name;
+    }
+
     FrameIndex getFootId(const std::string & foot_name) const
     {
       return feet_ids_.at(getFootNb(foot_name));