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Merge pull request #525 from isorrentino/addLoggingAllFTsiCubGazeboV3
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Add logging of fts and cartesian wrenches on left and right arm and right upper leg when using iCubGazeboV3
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GiulioRomualdi authored Apr 27, 2022
2 parents b5113d4 + 7ab12fa commit 639c53b
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2 changes: 2 additions & 0 deletions CHANGELOG.md
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Expand Up @@ -10,12 +10,14 @@ All notable changes to this project are documented in this file.
- Implement the `VectorsCollectionWrapper` device for collection of arbitrary vector ports (https://github.com/ami-iit/bipedal-locomotion-framework/pull/512)
- Add reading of right upper leg FT for `iCubGenova09` and associated cartesian wrench in `YarpRobotLoggerDevice` configuration files (https://github.com/ami-iit/bipedal-locomotion-framework/pull/513)
- Add reading of right and left arms FT for `iCubGenova09` in `YarpRobotLoggerDevice` configuration files (https://github.com/ami-iit/bipedal-locomotion-framework/pull/515)
- Add reading of right and left arms and right upper leg FTs and cartesian wrenches for `iCubGazeboV3` in `YarpRobotLoggerDevice` (https://github.com/ami-iit/bipedal-locomotion-framework/pull/525)

### Changed
- An error it will be returned if the user tries to change the clock type once the `clock()` has been already called once (https://github.com/ami-iit/bipedal-locomotion-framework/pull/500)
- Log the arms external wrenches on the YarpRobotLogger for iCubGenova09 (https://github.com/ami-iit/bipedal-locomotion-framework/pull/502)
- IK and TSID now uses the weight provider to specify the weight associated to a task (https://github.com/ami-iit/bipedal-locomotion-framework/pull/506)
- The `Planners`, `System`, `RobotInterface` and `YarpImplementation` components are no more mandatory to compile the python bindings (https://github.com/ami-iit/bipedal-locomotion-framework/pull/511)
- Reorganize the multiple FT sensor and external wrench files into a single file in the YarpRobotLoggerDevice (https://github.com/ami-iit/bipedal-locomotion-framework/pull/525)

### Fix
- Remove outdated includes in YarpRobotLoggerDevice.cpp (https://github.com/ami-iit/bipedal-locomotion-framework/pull/502)
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<!-- Copyright (C) 2019 Istituto Italiano di Tecnologia (IIT). All rights reserved.
This software may be modified and distributed under the terms of the
GNU Lesser General Public License v2.1 or any later version. -->
<?xml version="1.0" encoding="UTF-8" ?>

<devices>

<device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_front_ft_client" type="analogsensorclient">
<param name="remote">/icubSim/left_foot_front/analog:o</param>
<param name="local">/yarp_robot_logger/left_front_ft</param>
</device>

<device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_rear_ft_client" type="analogsensorclient">
<param name="remote">/icubSim/left_foot_rear/analog:o</param>
<param name="local">/yarp_robot_logger/left_rear_ft</param>
</device>

<device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_front_ft_client" type="analogsensorclient">
<param name="remote">/icubSim/right_foot_front/analog:o</param>
<param name="local">/yarp_robot_logger/right_front_ft</param>
</device>

<device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_rear_ft_client" type="analogsensorclient">
<param name="remote">/icubSim/right_foot_rear/analog:o</param>
<param name="local">/yarp_robot_logger/right_rear_ft</param>
</device>

</devices>
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<!-- Copyright (C) 2019 Istituto Italiano di Tecnologia (IIT). All rights reserved.
This software may be modified and distributed under the terms of the
GNU Lesser General Public License v2.1 or any later version. -->
<?xml version="1.0" encoding="UTF-8" ?>

<devices>

<device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_front_wrench_client" type="genericSensorClient">
<param name="remote">/wholeBodyDynamics/left_foot_front/cartesianEndEffectorWrench:o</param>
<param name="local">/yarp_robot_logger/left_front_wrench</param>
</device>

<device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_rear_wrench_client" type="genericSensorClient">
<param name="remote">/wholeBodyDynamics/left_foot_rear/cartesianEndEffectorWrench:o</param>
<param name="local">/yarp_robot_logger/left_rear_wrench</param>
</device>

<device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_front_wrench_client" type="genericSensorClient">
<param name="remote">/wholeBodyDynamics/right_foot_front/cartesianEndEffectorWrench:o</param>
<param name="local">/yarp_robot_logger/right_front_wrench</param>
</device>

<device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_rear_wrench_client" type="genericSensorClient">
<param name="remote">/wholeBodyDynamics/right_foot_rear/cartesianEndEffectorWrench:o</param>
<param name="local">/yarp_robot_logger/right_rear_wrench</param>
</device>

</devices>
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<!-- Copyright (C) 2022 Istituto Italiano di Tecnologia (IIT). All rights reserved.
This software may be modified and distributed under the terms of the
GNU Lesser General Public License v2.1 or any later version. -->
<?xml version="1.0" encoding="UTF-8" ?>

<devices>

<device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_arm_ft_client" type="analogsensorclient">
<param name="remote">/icubSim/left_arm/analog:o</param>
<param name="local">/yarp_robot_logger/left_arm</param>
</device>

<device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_arm_ft_client" type="analogsensorclient">
<param name="remote">/icubSim/right_arm/analog:o</param>
<param name="local">/yarp_robot_logger/right_arm</param>
</device>

<device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_front_ft_client" type="analogsensorclient">
<param name="remote">/icubSim/left_foot_front/analog:o</param>
<param name="local">/yarp_robot_logger/left_front_ft</param>
</device>

<device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_rear_ft_client" type="analogsensorclient">
<param name="remote">/icubSim/left_foot_rear/analog:o</param>
<param name="local">/yarp_robot_logger/left_rear_ft</param>
</device>

<device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_upper_leg_ft_client" type="analogsensorclient">
<param name="remote">/icubSim/right_leg/analog:o</param>
<param name="local">/yarp_robot_logger/right_upper_leg_ft</param>
</device>

<device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_front_ft_client" type="analogsensorclient">
<param name="remote">/icubSim/right_foot_front/analog:o</param>
<param name="local">/yarp_robot_logger/right_front_ft</param>
</device>

<device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_rear_ft_client" type="analogsensorclient">
<param name="remote">/icubSim/right_foot_rear/analog:o</param>
<param name="local">/yarp_robot_logger/right_rear_ft</param>
</device>

</devices>

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<!-- Copyright (C) 2022 Istituto Italiano di Tecnologia (IIT). All rights reserved.
This software may be modified and distributed under the terms of the
GNU Lesser General Public License v2.1 or any later version. -->
<?xml version="1.0" encoding="UTF-8" ?>

<devices>

<device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_arm_wrench_client" type="genericSensorClient">
<param name="remote">/wholeBodyDynamics/left_arm/cartesianEndEffectorWrench:o</param>
<param name="local">/yarp_robot_logger/left_arm_wrench</param>
</device>

<device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_arm_wrench_client" type="genericSensorClient">
<param name="remote">/wholeBodyDynamics/right_arm/cartesianEndEffectorWrench:o</param>
<param name="local">/yarp_robot_logger/right_arm_wrench</param>
</device>

<device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_front_wrench_client" type="genericSensorClient">
<param name="remote">/wholeBodyDynamics/left_foot_front/cartesianEndEffectorWrench:o</param>
<param name="local">/yarp_robot_logger/left_front_wrench</param>
</device>

<device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_rear_wrench_client" type="genericSensorClient">
<param name="remote">/wholeBodyDynamics/left_foot_rear/cartesianEndEffectorWrench:o</param>
<param name="local">/yarp_robot_logger/left_rear_wrench</param>
</device>

<device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_upper_leg_wrench_client" type="genericSensorClient">
<param name="remote">/wholeBodyDynamics/right_upper_leg/cartesianEndEffectorWrench:o</param>
<param name="local">/yarp_robot_logger/right_upper_leg_wrench_client</param>
</device>

<device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_front_wrench_client" type="genericSensorClient">
<param name="remote">/wholeBodyDynamics/right_foot_front/cartesianEndEffectorWrench:o</param>
<param name="local">/yarp_robot_logger/right_front_wrench</param>
</device>

<device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_rear_wrench_client" type="genericSensorClient">
<param name="remote">/wholeBodyDynamics/right_foot_rear/cartesianEndEffectorWrench:o</param>
<param name="local">/yarp_robot_logger/right_rear_wrench</param>
</device>

</devices>
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Expand Up @@ -11,14 +11,8 @@ GNU Lesser General Public License v2.1 or any later version. -->
<xi:include href="interface/all_joints_mc.xml" />
<xi:include href="interface/head_imu.xml" />
<xi:include href="interface/mas-remapper.xml" />
<xi:include href="interface/left_front_ft_client.xml" />
<xi:include href="interface/left_rear_ft_client.xml" />
<xi:include href="interface/right_front_ft_client.xml" />
<xi:include href="interface/right_rear_ft_client.xml" />
<xi:include href="interface/left_front_wrench_client.xml" />
<xi:include href="interface/left_rear_wrench_client.xml" />
<xi:include href="interface/right_front_wrench_client.xml" />
<xi:include href="interface/right_rear_wrench_client.xml" />
<xi:include href="interface/ft_clients.xml" />
<xi:include href="interface/wrench_clients.xml" />
<xi:include href="./yarp-robot-logger.xml" />
</devices>
</robot>
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Expand Up @@ -26,7 +26,7 @@ GNU Lesser General Public License v2.1 or any later version. -->
<param name="check_for_nan">false</param>
<param name="stream_joint_states">true</param>
<param name="stream_motor_states">false</param>
<param name="stream_inertials">true</param>
<param name="stream_inertials">false</param>
<param name="stream_cartesian_wrenches">true</param>
<param name="stream_forcetorque_sensors">true</param>

Expand All @@ -35,11 +35,11 @@ GNU Lesser General Public License v2.1 or any later version. -->
</group>

<group name="SixAxisForceTorqueSensors">
<param name="sixaxis_forcetorque_sensors_list">("left_front_ft_client", "left_rear_ft_client", "right_front_ft_client", "right_rear_ft_client")</param>
<param name="sixaxis_forcetorque_sensors_list">("left_front_ft_client", "left_rear_ft_client", "right_front_ft_client", "right_rear_ft_client", "right_arm_ft_client", "left_arm_ft_client", "right_upper_leg_ft_client")</param>
</group>

<group name="CartesianWrenches">
<param name="cartesian_wrenches_list">("left_front_wrench_client", "left_rear_wrench_client", "right_front_wrench_client", "right_rear_wrench_client")</param>
<param name="cartesian_wrenches_list">("left_front_wrench_client", "left_rear_wrench_client", "right_front_wrench_client", "right_rear_wrench_client", "right_arm_wrench_client", "left_arm_wrench_client", "right_upper_leg_wrench_client")</param>
</group>

<group name="InertialSensors">
Expand All @@ -58,10 +58,16 @@ GNU Lesser General Public License v2.1 or any later version. -->
<elem name="left_rear_ft_client">left_rear_ft_client</elem>
<elem name="right_front_ft_client">right_front_ft_client</elem>
<elem name="right_rear_ft_client">right_rear_ft_client</elem>
<elem name="right_upper_leg_ft_client">right_upper_leg_ft_client</elem>
<elem name="left_arm_ft_client">left_arm_ft_client</elem>
<elem name="right_arm_ft_client">right_arm_ft_client</elem>
<elem name="left_front_wrench_client">left_front_wrench_client</elem>
<elem name="left_rear_wrench_client">left_rear_wrench_client</elem>
<elem name="right_front_wrench_client">right_front_wrench_client</elem>
<elem name="right_rear_wrench_client">right_rear_wrench_client</elem>
<elem name="right_arm_wrench_client">right_arm_wrench_client</elem>
<elem name="left_arm_wrench_client">left_arm_wrench_client</elem>
<elem name="right_upper_leg_wrench_client">right_upper_leg_wrench_client</elem>
<elem name="mas-remapper">mas-remapper</elem>
</paramlist>
</action>
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<!-- Copyright (C) 2019-2021 Istituto Italiano di Tecnologia (IIT). All rights reserved.
This software may be modified and distributed under the terms of the
GNU Lesser General Public License v2.1 or any later version. -->

<?xml version="1.0" encoding="UTF-8" ?>

<devices>

<device xmlns:xi="http://www.w3.org/2001/XInclude" name="left-foot-ft-client" type="multipleanalogsensorsclient">
<param name="remote">/icub/left_foot</param>
<param name="local">/yarp_robot_logger/left_foot</param>
</device>

<device xmlns:xi="http://www.w3.org/2001/XInclude" name="left-leg-ft-client" type="multipleanalogsensorsclient">
<param name="remote">/icub/left_leg</param>
<param name="local">/yarp_robot_logger/left_leg</param>
</device>

<device xmlns:xi="http://www.w3.org/2001/XInclude" name="right-foot-ft-client" type="multipleanalogsensorsclient">
<param name="remote">/icub/right_foot</param>
<param name="local">/yarp_robot_logger/right_foot</param>
</device>

<device xmlns:xi="http://www.w3.org/2001/XInclude" name="right-leg-ft-client" type="multipleanalogsensorsclient">
<param name="remote">/icub/right_leg</param>
<param name="local">/yarp_robot_logger/right_leg</param>
</device>

</devices>

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