From a87966c4122522f0dd9c71ec614380fb5de44646 Mon Sep 17 00:00:00 2001 From: Ines Date: Sat, 9 Apr 2022 11:25:26 +0200 Subject: [PATCH 1/5] Add logging of fts and cartesian wrenches of left and right arm and right upper leg --- .../iCubGazeboV3/interface/left_arm_ft_client.xml | 8 ++++++++ .../interface/left_arm_wrench_client.xml | 8 ++++++++ .../iCubGazeboV3/interface/right_arm_ft_client.xml | 8 ++++++++ .../interface/right_arm_wrench_client.xml | 8 ++++++++ .../interface/right_upper_leg_ft_client.xml | 8 ++++++++ .../interface/right_upper_leg_wrench_client.xml | 11 +++++++++++ .../robots/iCubGazeboV3/launch-yarp-robot-logger.xml | 6 ++++++ .../app/robots/iCubGazeboV3/yarp-robot-logger.xml | 12 +++++++++--- 8 files changed, 66 insertions(+), 3 deletions(-) create mode 100644 devices/YarpRobotLoggerDevice/app/robots/iCubGazeboV3/interface/left_arm_ft_client.xml create mode 100644 devices/YarpRobotLoggerDevice/app/robots/iCubGazeboV3/interface/left_arm_wrench_client.xml create mode 100644 devices/YarpRobotLoggerDevice/app/robots/iCubGazeboV3/interface/right_arm_ft_client.xml create mode 100644 devices/YarpRobotLoggerDevice/app/robots/iCubGazeboV3/interface/right_arm_wrench_client.xml create mode 100644 devices/YarpRobotLoggerDevice/app/robots/iCubGazeboV3/interface/right_upper_leg_ft_client.xml create mode 100644 devices/YarpRobotLoggerDevice/app/robots/iCubGazeboV3/interface/right_upper_leg_wrench_client.xml diff --git a/devices/YarpRobotLoggerDevice/app/robots/iCubGazeboV3/interface/left_arm_ft_client.xml b/devices/YarpRobotLoggerDevice/app/robots/iCubGazeboV3/interface/left_arm_ft_client.xml new file mode 100644 index 0000000000..6d8ea60650 --- /dev/null +++ b/devices/YarpRobotLoggerDevice/app/robots/iCubGazeboV3/interface/left_arm_ft_client.xml @@ -0,0 +1,8 @@ + + + + /icubSim/left_arm/analog:o + /yarp_robot_logger/left_arm + diff --git a/devices/YarpRobotLoggerDevice/app/robots/iCubGazeboV3/interface/left_arm_wrench_client.xml b/devices/YarpRobotLoggerDevice/app/robots/iCubGazeboV3/interface/left_arm_wrench_client.xml new file mode 100644 index 0000000000..826638c567 --- /dev/null +++ b/devices/YarpRobotLoggerDevice/app/robots/iCubGazeboV3/interface/left_arm_wrench_client.xml @@ -0,0 +1,8 @@ + + + + /wholeBodyDynamics/left_arm/cartesianEndEffectorWrench:o + /yarp_robot_logger/left_arm_wrench + diff --git a/devices/YarpRobotLoggerDevice/app/robots/iCubGazeboV3/interface/right_arm_ft_client.xml b/devices/YarpRobotLoggerDevice/app/robots/iCubGazeboV3/interface/right_arm_ft_client.xml new file mode 100644 index 0000000000..88255bb368 --- /dev/null +++ b/devices/YarpRobotLoggerDevice/app/robots/iCubGazeboV3/interface/right_arm_ft_client.xml @@ -0,0 +1,8 @@ + + + + /icubSim/right_arm/analog:o + /yarp_robot_logger/right_arm + diff --git a/devices/YarpRobotLoggerDevice/app/robots/iCubGazeboV3/interface/right_arm_wrench_client.xml b/devices/YarpRobotLoggerDevice/app/robots/iCubGazeboV3/interface/right_arm_wrench_client.xml new file mode 100644 index 0000000000..3d7c205bd5 --- /dev/null +++ b/devices/YarpRobotLoggerDevice/app/robots/iCubGazeboV3/interface/right_arm_wrench_client.xml @@ -0,0 +1,8 @@ + + + + /wholeBodyDynamics/right_arm/cartesianEndEffectorWrench:o + /yarp_robot_logger/right_arm_wrench + diff --git a/devices/YarpRobotLoggerDevice/app/robots/iCubGazeboV3/interface/right_upper_leg_ft_client.xml b/devices/YarpRobotLoggerDevice/app/robots/iCubGazeboV3/interface/right_upper_leg_ft_client.xml new file mode 100644 index 0000000000..999055dd1f --- /dev/null +++ b/devices/YarpRobotLoggerDevice/app/robots/iCubGazeboV3/interface/right_upper_leg_ft_client.xml @@ -0,0 +1,8 @@ + + + + /icubSim/right_leg/analog:o + /yarp_robot_logger/right_upper_leg_ft + diff --git a/devices/YarpRobotLoggerDevice/app/robots/iCubGazeboV3/interface/right_upper_leg_wrench_client.xml b/devices/YarpRobotLoggerDevice/app/robots/iCubGazeboV3/interface/right_upper_leg_wrench_client.xml new file mode 100644 index 0000000000..6db84cb3a4 --- /dev/null +++ b/devices/YarpRobotLoggerDevice/app/robots/iCubGazeboV3/interface/right_upper_leg_wrench_client.xml @@ -0,0 +1,11 @@ + + + + /wholeBodyDynamics/right_upper_leg/cartesianEndEffectorWrench:o + /yarp_robot_logger/right_upper_leg_wrench_client + + + + diff --git a/devices/YarpRobotLoggerDevice/app/robots/iCubGazeboV3/launch-yarp-robot-logger.xml b/devices/YarpRobotLoggerDevice/app/robots/iCubGazeboV3/launch-yarp-robot-logger.xml index 76110db603..dc8dc61a03 100644 --- a/devices/YarpRobotLoggerDevice/app/robots/iCubGazeboV3/launch-yarp-robot-logger.xml +++ b/devices/YarpRobotLoggerDevice/app/robots/iCubGazeboV3/launch-yarp-robot-logger.xml @@ -15,10 +15,16 @@ GNU Lesser General Public License v2.1 or any later version. --> + + + + + + diff --git a/devices/YarpRobotLoggerDevice/app/robots/iCubGazeboV3/yarp-robot-logger.xml b/devices/YarpRobotLoggerDevice/app/robots/iCubGazeboV3/yarp-robot-logger.xml index 515ece44ae..3b48868efc 100644 --- a/devices/YarpRobotLoggerDevice/app/robots/iCubGazeboV3/yarp-robot-logger.xml +++ b/devices/YarpRobotLoggerDevice/app/robots/iCubGazeboV3/yarp-robot-logger.xml @@ -26,7 +26,7 @@ GNU Lesser General Public License v2.1 or any later version. --> false true false - true + false true true @@ -35,11 +35,11 @@ GNU Lesser General Public License v2.1 or any later version. --> - ("left_front_ft_client", "left_rear_ft_client", "right_front_ft_client", "right_rear_ft_client") + ("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") - ("left_front_wrench_client", "left_rear_wrench_client", "right_front_wrench_client", "right_rear_wrench_client") + ("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") @@ -58,10 +58,16 @@ GNU Lesser General Public License v2.1 or any later version. --> left_rear_ft_client right_front_ft_client right_rear_ft_client + right_upper_leg_ft_client + left_arm_ft_client + right_arm_ft_client 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 mas-remapper From 16061cf345060b457923b2bead8ac47e7e08b2b9 Mon Sep 17 00:00:00 2001 From: Ines Date: Sat, 9 Apr 2022 11:25:44 +0200 Subject: [PATCH 2/5] Remove duplicated param --- .../app/robots/iCubGenova09/yarp-robot-logger.xml | 1 - 1 file changed, 1 deletion(-) diff --git a/devices/YarpRobotLoggerDevice/app/robots/iCubGenova09/yarp-robot-logger.xml b/devices/YarpRobotLoggerDevice/app/robots/iCubGenova09/yarp-robot-logger.xml index 73cf425ba5..1f1f5b8cb3 100644 --- a/devices/YarpRobotLoggerDevice/app/robots/iCubGenova09/yarp-robot-logger.xml +++ b/devices/YarpRobotLoggerDevice/app/robots/iCubGenova09/yarp-robot-logger.xml @@ -28,7 +28,6 @@ GNU Lesser General Public License v2.1 or any later version. --> true true true - true true true From 4221bd8102d37a9c2b7054ad4859f436df2e0792 Mon Sep 17 00:00:00 2001 From: Ines Date: Sat, 9 Apr 2022 11:32:38 +0200 Subject: [PATCH 3/5] Update CHANGELOG --- CHANGELOG.md | 1 + 1 file changed, 1 insertion(+) diff --git a/CHANGELOG.md b/CHANGELOG.md index e6b93bbc8d..5f19292995 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -10,6 +10,7 @@ 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) From df9391fb4af1946baa75eb1d8a1104a2b247bf7a Mon Sep 17 00:00:00 2001 From: Ines Date: Tue, 12 Apr 2022 14:58:21 +0200 Subject: [PATCH 4/5] Reorganize multiple FT sensors files into a single file Reorganize multiple contact wrench files into a single file --- .../iCubGazeboV2_5/interface/ft_clients.xml | 28 ++++++++++++ .../interface/wrench_clients.xml | 28 ++++++++++++ .../iCubGazeboV3/interface/ft_clients.xml | 43 +++++++++++++++++++ .../interface/left_arm_ft_client.xml | 8 ---- .../interface/left_arm_wrench_client.xml | 8 ---- .../interface/left_front_ft_client.xml | 8 ---- .../interface/left_front_wrench_client.xml | 8 ---- .../interface/left_rear_ft_client.xml | 8 ---- .../interface/left_rear_wrench_client.xml | 8 ---- .../interface/right_arm_ft_client.xml | 8 ---- .../interface/right_arm_wrench_client.xml | 8 ---- .../interface/right_front_ft_client.xml | 8 ---- .../interface/right_front_wrench_client.xml | 8 ---- .../interface/right_rear_ft_client.xml | 8 ---- .../interface/right_rear_wrench_client.xml | 8 ---- .../interface/right_upper_leg_ft_client.xml | 8 ---- .../right_upper_leg_wrench_client.xml | 11 ----- .../iCubGazeboV3/interface/wrench_clients.xml | 43 +++++++++++++++++++ .../iCubGazeboV3/launch-yarp-robot-logger.xml | 16 +------ .../iCubGenova02/interface/ft_clients.xml | 29 +++++++++++++ .../interface/mas-left-foot-ft-client.xml | 10 ----- .../interface/mas-left-leg-ft-client.xml | 11 ----- .../interface/mas-right-foot-ft-client.xml | 10 ----- .../interface/mas-right-leg-ft-client.xml | 10 ----- .../iCubGenova02/launch-yarp-robot-logger.xml | 5 +-- .../iCubGenova04/interface/ft_clients.xml | 29 +++++++++++++ .../interface/mas-left-foot-ft-client.xml | 10 ----- .../interface/mas-left-leg-ft-client.xml | 11 ----- .../interface/mas-right-foot-ft-client.xml | 10 ----- .../interface/mas-right-leg-ft-client.xml | 10 ----- .../iCubGenova04/launch-yarp-robot-logger.xml | 5 +-- .../iCubGenova09/interface/ft_clients.xml | 43 +++++++++++++++++++ .../interface/left_arm_ft_client.xml | 8 ---- .../interface/left_arm_wrench_client.xml | 8 ---- .../interface/left_front_ft_client.xml | 8 ---- .../interface/left_front_wrench_client.xml | 8 ---- .../interface/left_rear_ft_client.xml | 8 ---- .../interface/left_rear_wrench_client.xml | 8 ---- .../interface/right_arm_ft_client.xml | 8 ---- .../interface/right_arm_wrench_client.xml | 8 ---- .../interface/right_front_ft_client.xml | 8 ---- .../interface/right_front_wrench_client.xml | 8 ---- .../interface/right_rear_ft_client.xml | 8 ---- .../interface/right_rear_wrench_client.xml | 8 ---- .../interface/right_upper_leg_ft_client.xml | 8 ---- .../right_upper_leg_wrench_client.xml | 11 ----- .../iCubGenova09/interface/wrench_clients.xml | 43 +++++++++++++++++++ .../iCubGenova09/launch-yarp-robot-logger.xml | 16 +------ 48 files changed, 292 insertions(+), 348 deletions(-) create mode 100644 devices/YarpRobotLoggerDevice/app/robots/iCubGazeboV2_5/interface/ft_clients.xml create mode 100644 devices/YarpRobotLoggerDevice/app/robots/iCubGazeboV2_5/interface/wrench_clients.xml create mode 100644 devices/YarpRobotLoggerDevice/app/robots/iCubGazeboV3/interface/ft_clients.xml delete mode 100644 devices/YarpRobotLoggerDevice/app/robots/iCubGazeboV3/interface/left_arm_ft_client.xml delete mode 100644 devices/YarpRobotLoggerDevice/app/robots/iCubGazeboV3/interface/left_arm_wrench_client.xml delete mode 100644 devices/YarpRobotLoggerDevice/app/robots/iCubGazeboV3/interface/left_front_ft_client.xml delete mode 100644 devices/YarpRobotLoggerDevice/app/robots/iCubGazeboV3/interface/left_front_wrench_client.xml delete mode 100644 devices/YarpRobotLoggerDevice/app/robots/iCubGazeboV3/interface/left_rear_ft_client.xml delete mode 100644 devices/YarpRobotLoggerDevice/app/robots/iCubGazeboV3/interface/left_rear_wrench_client.xml delete mode 100644 devices/YarpRobotLoggerDevice/app/robots/iCubGazeboV3/interface/right_arm_ft_client.xml delete mode 100644 devices/YarpRobotLoggerDevice/app/robots/iCubGazeboV3/interface/right_arm_wrench_client.xml delete mode 100644 devices/YarpRobotLoggerDevice/app/robots/iCubGazeboV3/interface/right_front_ft_client.xml delete mode 100644 devices/YarpRobotLoggerDevice/app/robots/iCubGazeboV3/interface/right_front_wrench_client.xml delete mode 100644 devices/YarpRobotLoggerDevice/app/robots/iCubGazeboV3/interface/right_rear_ft_client.xml delete mode 100644 devices/YarpRobotLoggerDevice/app/robots/iCubGazeboV3/interface/right_rear_wrench_client.xml delete mode 100644 devices/YarpRobotLoggerDevice/app/robots/iCubGazeboV3/interface/right_upper_leg_ft_client.xml delete mode 100644 devices/YarpRobotLoggerDevice/app/robots/iCubGazeboV3/interface/right_upper_leg_wrench_client.xml create mode 100644 devices/YarpRobotLoggerDevice/app/robots/iCubGazeboV3/interface/wrench_clients.xml create mode 100644 devices/YarpRobotLoggerDevice/app/robots/iCubGenova02/interface/ft_clients.xml delete mode 100644 devices/YarpRobotLoggerDevice/app/robots/iCubGenova02/interface/mas-left-foot-ft-client.xml delete mode 100644 devices/YarpRobotLoggerDevice/app/robots/iCubGenova02/interface/mas-left-leg-ft-client.xml delete mode 100644 devices/YarpRobotLoggerDevice/app/robots/iCubGenova02/interface/mas-right-foot-ft-client.xml delete mode 100644 devices/YarpRobotLoggerDevice/app/robots/iCubGenova02/interface/mas-right-leg-ft-client.xml create mode 100644 devices/YarpRobotLoggerDevice/app/robots/iCubGenova04/interface/ft_clients.xml delete mode 100644 devices/YarpRobotLoggerDevice/app/robots/iCubGenova04/interface/mas-left-foot-ft-client.xml delete mode 100644 devices/YarpRobotLoggerDevice/app/robots/iCubGenova04/interface/mas-left-leg-ft-client.xml delete mode 100644 devices/YarpRobotLoggerDevice/app/robots/iCubGenova04/interface/mas-right-foot-ft-client.xml delete mode 100644 devices/YarpRobotLoggerDevice/app/robots/iCubGenova04/interface/mas-right-leg-ft-client.xml create mode 100644 devices/YarpRobotLoggerDevice/app/robots/iCubGenova09/interface/ft_clients.xml delete mode 100644 devices/YarpRobotLoggerDevice/app/robots/iCubGenova09/interface/left_arm_ft_client.xml delete mode 100644 devices/YarpRobotLoggerDevice/app/robots/iCubGenova09/interface/left_arm_wrench_client.xml delete mode 100644 devices/YarpRobotLoggerDevice/app/robots/iCubGenova09/interface/left_front_ft_client.xml delete mode 100644 devices/YarpRobotLoggerDevice/app/robots/iCubGenova09/interface/left_front_wrench_client.xml delete mode 100644 devices/YarpRobotLoggerDevice/app/robots/iCubGenova09/interface/left_rear_ft_client.xml delete mode 100644 devices/YarpRobotLoggerDevice/app/robots/iCubGenova09/interface/left_rear_wrench_client.xml delete mode 100644 devices/YarpRobotLoggerDevice/app/robots/iCubGenova09/interface/right_arm_ft_client.xml delete mode 100644 devices/YarpRobotLoggerDevice/app/robots/iCubGenova09/interface/right_arm_wrench_client.xml delete mode 100644 devices/YarpRobotLoggerDevice/app/robots/iCubGenova09/interface/right_front_ft_client.xml delete mode 100644 devices/YarpRobotLoggerDevice/app/robots/iCubGenova09/interface/right_front_wrench_client.xml delete mode 100644 devices/YarpRobotLoggerDevice/app/robots/iCubGenova09/interface/right_rear_ft_client.xml delete mode 100644 devices/YarpRobotLoggerDevice/app/robots/iCubGenova09/interface/right_rear_wrench_client.xml delete mode 100644 devices/YarpRobotLoggerDevice/app/robots/iCubGenova09/interface/right_upper_leg_ft_client.xml delete mode 100644 devices/YarpRobotLoggerDevice/app/robots/iCubGenova09/interface/right_upper_leg_wrench_client.xml create mode 100644 devices/YarpRobotLoggerDevice/app/robots/iCubGenova09/interface/wrench_clients.xml diff --git a/devices/YarpRobotLoggerDevice/app/robots/iCubGazeboV2_5/interface/ft_clients.xml b/devices/YarpRobotLoggerDevice/app/robots/iCubGazeboV2_5/interface/ft_clients.xml new file mode 100644 index 0000000000..f404e74c59 --- /dev/null +++ b/devices/YarpRobotLoggerDevice/app/robots/iCubGazeboV2_5/interface/ft_clients.xml @@ -0,0 +1,28 @@ + + + + + + + /icubSim/left_foot_front/analog:o + /yarp_robot_logger/left_front_ft + + + + /icubSim/left_foot_rear/analog:o + /yarp_robot_logger/left_rear_ft + + + + /icubSim/right_foot_front/analog:o + /yarp_robot_logger/right_front_ft + + + + /icubSim/right_foot_rear/analog:o + /yarp_robot_logger/right_rear_ft + + + diff --git a/devices/YarpRobotLoggerDevice/app/robots/iCubGazeboV2_5/interface/wrench_clients.xml b/devices/YarpRobotLoggerDevice/app/robots/iCubGazeboV2_5/interface/wrench_clients.xml new file mode 100644 index 0000000000..76ee8a7cf7 --- /dev/null +++ b/devices/YarpRobotLoggerDevice/app/robots/iCubGazeboV2_5/interface/wrench_clients.xml @@ -0,0 +1,28 @@ + + + + + + + /wholeBodyDynamics/left_foot_front/cartesianEndEffectorWrench:o + /yarp_robot_logger/left_front_wrench + + + + /wholeBodyDynamics/left_foot_rear/cartesianEndEffectorWrench:o + /yarp_robot_logger/left_rear_wrench + + + + /wholeBodyDynamics/right_foot_front/cartesianEndEffectorWrench:o + /yarp_robot_logger/right_front_wrench + + + + /wholeBodyDynamics/right_foot_rear/cartesianEndEffectorWrench:o + /yarp_robot_logger/right_rear_wrench + + + diff --git a/devices/YarpRobotLoggerDevice/app/robots/iCubGazeboV3/interface/ft_clients.xml b/devices/YarpRobotLoggerDevice/app/robots/iCubGazeboV3/interface/ft_clients.xml new file mode 100644 index 0000000000..e90cf9b25e --- /dev/null +++ b/devices/YarpRobotLoggerDevice/app/robots/iCubGazeboV3/interface/ft_clients.xml @@ -0,0 +1,43 @@ + + + + + + + /icubSim/left_arm/analog:o + /yarp_robot_logger/left_arm + + + + /icubSim/right_arm/analog:o + /yarp_robot_logger/right_arm + + + + /icubSim/left_foot_front/analog:o + /yarp_robot_logger/left_front_ft + + + + /icubSim/left_foot_rear/analog:o + /yarp_robot_logger/left_rear_ft + + + + /icubSim/right_leg/analog:o + /yarp_robot_logger/right_upper_leg_ft + + + + /icubSim/right_foot_front/analog:o + /yarp_robot_logger/right_front_ft + + + + /icubSim/right_foot_rear/analog:o + /yarp_robot_logger/right_rear_ft + + + diff --git a/devices/YarpRobotLoggerDevice/app/robots/iCubGazeboV3/interface/left_arm_ft_client.xml b/devices/YarpRobotLoggerDevice/app/robots/iCubGazeboV3/interface/left_arm_ft_client.xml deleted file mode 100644 index 6d8ea60650..0000000000 --- a/devices/YarpRobotLoggerDevice/app/robots/iCubGazeboV3/interface/left_arm_ft_client.xml +++ /dev/null @@ -1,8 +0,0 @@ - - - - /icubSim/left_arm/analog:o - /yarp_robot_logger/left_arm - diff --git a/devices/YarpRobotLoggerDevice/app/robots/iCubGazeboV3/interface/left_arm_wrench_client.xml b/devices/YarpRobotLoggerDevice/app/robots/iCubGazeboV3/interface/left_arm_wrench_client.xml deleted file mode 100644 index 826638c567..0000000000 --- a/devices/YarpRobotLoggerDevice/app/robots/iCubGazeboV3/interface/left_arm_wrench_client.xml +++ /dev/null @@ -1,8 +0,0 @@ - - - - /wholeBodyDynamics/left_arm/cartesianEndEffectorWrench:o - /yarp_robot_logger/left_arm_wrench - diff --git a/devices/YarpRobotLoggerDevice/app/robots/iCubGazeboV3/interface/left_front_ft_client.xml b/devices/YarpRobotLoggerDevice/app/robots/iCubGazeboV3/interface/left_front_ft_client.xml deleted file mode 100644 index 9d53cb2cc6..0000000000 --- a/devices/YarpRobotLoggerDevice/app/robots/iCubGazeboV3/interface/left_front_ft_client.xml +++ /dev/null @@ -1,8 +0,0 @@ - - - - /icubSim/left_foot_front/analog:o - /yarp_robot_logger/left_front_ft - diff --git a/devices/YarpRobotLoggerDevice/app/robots/iCubGazeboV3/interface/left_front_wrench_client.xml b/devices/YarpRobotLoggerDevice/app/robots/iCubGazeboV3/interface/left_front_wrench_client.xml deleted file mode 100644 index 63cd9c73bd..0000000000 --- a/devices/YarpRobotLoggerDevice/app/robots/iCubGazeboV3/interface/left_front_wrench_client.xml +++ /dev/null @@ -1,8 +0,0 @@ - - - - /wholeBodyDynamics/left_foot_front/cartesianEndEffectorWrench:o - /yarp_robot_logger/left_front_wrench - diff --git a/devices/YarpRobotLoggerDevice/app/robots/iCubGazeboV3/interface/left_rear_ft_client.xml b/devices/YarpRobotLoggerDevice/app/robots/iCubGazeboV3/interface/left_rear_ft_client.xml deleted file mode 100644 index e830367762..0000000000 --- a/devices/YarpRobotLoggerDevice/app/robots/iCubGazeboV3/interface/left_rear_ft_client.xml +++ /dev/null @@ -1,8 +0,0 @@ - - - - /icubSim/left_foot_rear/analog:o - /yarp_robot_logger/left_rear_ft - diff --git a/devices/YarpRobotLoggerDevice/app/robots/iCubGazeboV3/interface/left_rear_wrench_client.xml b/devices/YarpRobotLoggerDevice/app/robots/iCubGazeboV3/interface/left_rear_wrench_client.xml deleted file mode 100644 index 09f6adb89c..0000000000 --- a/devices/YarpRobotLoggerDevice/app/robots/iCubGazeboV3/interface/left_rear_wrench_client.xml +++ /dev/null @@ -1,8 +0,0 @@ - - - - /wholeBodyDynamics/left_foot_rear/cartesianEndEffectorWrench:o - /yarp_robot_logger/left_rear_wrench - diff --git a/devices/YarpRobotLoggerDevice/app/robots/iCubGazeboV3/interface/right_arm_ft_client.xml b/devices/YarpRobotLoggerDevice/app/robots/iCubGazeboV3/interface/right_arm_ft_client.xml deleted file mode 100644 index 88255bb368..0000000000 --- a/devices/YarpRobotLoggerDevice/app/robots/iCubGazeboV3/interface/right_arm_ft_client.xml +++ /dev/null @@ -1,8 +0,0 @@ - - - - /icubSim/right_arm/analog:o - /yarp_robot_logger/right_arm - diff --git a/devices/YarpRobotLoggerDevice/app/robots/iCubGazeboV3/interface/right_arm_wrench_client.xml b/devices/YarpRobotLoggerDevice/app/robots/iCubGazeboV3/interface/right_arm_wrench_client.xml deleted file mode 100644 index 3d7c205bd5..0000000000 --- a/devices/YarpRobotLoggerDevice/app/robots/iCubGazeboV3/interface/right_arm_wrench_client.xml +++ /dev/null @@ -1,8 +0,0 @@ - - - - /wholeBodyDynamics/right_arm/cartesianEndEffectorWrench:o - /yarp_robot_logger/right_arm_wrench - diff --git a/devices/YarpRobotLoggerDevice/app/robots/iCubGazeboV3/interface/right_front_ft_client.xml b/devices/YarpRobotLoggerDevice/app/robots/iCubGazeboV3/interface/right_front_ft_client.xml deleted file mode 100644 index 23c2a071e7..0000000000 --- a/devices/YarpRobotLoggerDevice/app/robots/iCubGazeboV3/interface/right_front_ft_client.xml +++ /dev/null @@ -1,8 +0,0 @@ - - - - /icubSim/right_foot_front/analog:o - /yarp_robot_logger/right_front_ft - diff --git a/devices/YarpRobotLoggerDevice/app/robots/iCubGazeboV3/interface/right_front_wrench_client.xml b/devices/YarpRobotLoggerDevice/app/robots/iCubGazeboV3/interface/right_front_wrench_client.xml deleted file mode 100644 index c415f9e074..0000000000 --- a/devices/YarpRobotLoggerDevice/app/robots/iCubGazeboV3/interface/right_front_wrench_client.xml +++ /dev/null @@ -1,8 +0,0 @@ - - - - /wholeBodyDynamics/right_foot_front/cartesianEndEffectorWrench:o - /yarp_robot_logger/right_front_wrench - diff --git a/devices/YarpRobotLoggerDevice/app/robots/iCubGazeboV3/interface/right_rear_ft_client.xml b/devices/YarpRobotLoggerDevice/app/robots/iCubGazeboV3/interface/right_rear_ft_client.xml deleted file mode 100644 index 1e1c3de3b5..0000000000 --- a/devices/YarpRobotLoggerDevice/app/robots/iCubGazeboV3/interface/right_rear_ft_client.xml +++ /dev/null @@ -1,8 +0,0 @@ - - - - /icubSim/right_foot_rear/analog:o - /yarp_robot_logger/right_rear_ft - diff --git a/devices/YarpRobotLoggerDevice/app/robots/iCubGazeboV3/interface/right_rear_wrench_client.xml b/devices/YarpRobotLoggerDevice/app/robots/iCubGazeboV3/interface/right_rear_wrench_client.xml deleted file mode 100644 index 69b6e4d8cb..0000000000 --- a/devices/YarpRobotLoggerDevice/app/robots/iCubGazeboV3/interface/right_rear_wrench_client.xml +++ /dev/null @@ -1,8 +0,0 @@ - - - - /wholeBodyDynamics/right_foot_rear/cartesianEndEffectorWrench:o - /yarp_robot_logger/right_rear_wrench - diff --git a/devices/YarpRobotLoggerDevice/app/robots/iCubGazeboV3/interface/right_upper_leg_ft_client.xml b/devices/YarpRobotLoggerDevice/app/robots/iCubGazeboV3/interface/right_upper_leg_ft_client.xml deleted file mode 100644 index 999055dd1f..0000000000 --- a/devices/YarpRobotLoggerDevice/app/robots/iCubGazeboV3/interface/right_upper_leg_ft_client.xml +++ /dev/null @@ -1,8 +0,0 @@ - - - - /icubSim/right_leg/analog:o - /yarp_robot_logger/right_upper_leg_ft - diff --git a/devices/YarpRobotLoggerDevice/app/robots/iCubGazeboV3/interface/right_upper_leg_wrench_client.xml b/devices/YarpRobotLoggerDevice/app/robots/iCubGazeboV3/interface/right_upper_leg_wrench_client.xml deleted file mode 100644 index 6db84cb3a4..0000000000 --- a/devices/YarpRobotLoggerDevice/app/robots/iCubGazeboV3/interface/right_upper_leg_wrench_client.xml +++ /dev/null @@ -1,11 +0,0 @@ - - - - /wholeBodyDynamics/right_upper_leg/cartesianEndEffectorWrench:o - /yarp_robot_logger/right_upper_leg_wrench_client - - - - diff --git a/devices/YarpRobotLoggerDevice/app/robots/iCubGazeboV3/interface/wrench_clients.xml b/devices/YarpRobotLoggerDevice/app/robots/iCubGazeboV3/interface/wrench_clients.xml new file mode 100644 index 0000000000..bc1e41b3ac --- /dev/null +++ b/devices/YarpRobotLoggerDevice/app/robots/iCubGazeboV3/interface/wrench_clients.xml @@ -0,0 +1,43 @@ + + + + + + + /wholeBodyDynamics/left_arm/cartesianEndEffectorWrench:o + /yarp_robot_logger/left_arm_wrench + + + + /wholeBodyDynamics/right_arm/cartesianEndEffectorWrench:o + /yarp_robot_logger/right_arm_wrench + + + + /wholeBodyDynamics/left_foot_front/cartesianEndEffectorWrench:o + /yarp_robot_logger/left_front_wrench + + + + /wholeBodyDynamics/left_foot_rear/cartesianEndEffectorWrench:o + /yarp_robot_logger/left_rear_wrench + + + + /wholeBodyDynamics/right_upper_leg/cartesianEndEffectorWrench:o + /yarp_robot_logger/right_upper_leg_wrench_client + + + + /wholeBodyDynamics/right_foot_front/cartesianEndEffectorWrench:o + /yarp_robot_logger/right_front_wrench + + + + /wholeBodyDynamics/right_foot_rear/cartesianEndEffectorWrench:o + /yarp_robot_logger/right_rear_wrench + + + diff --git a/devices/YarpRobotLoggerDevice/app/robots/iCubGazeboV3/launch-yarp-robot-logger.xml b/devices/YarpRobotLoggerDevice/app/robots/iCubGazeboV3/launch-yarp-robot-logger.xml index dc8dc61a03..b0ddd67190 100644 --- a/devices/YarpRobotLoggerDevice/app/robots/iCubGazeboV3/launch-yarp-robot-logger.xml +++ b/devices/YarpRobotLoggerDevice/app/robots/iCubGazeboV3/launch-yarp-robot-logger.xml @@ -11,20 +11,8 @@ GNU Lesser General Public License v2.1 or any later version. --> - - - - - - - - - - - - - - + + diff --git a/devices/YarpRobotLoggerDevice/app/robots/iCubGenova02/interface/ft_clients.xml b/devices/YarpRobotLoggerDevice/app/robots/iCubGenova02/interface/ft_clients.xml new file mode 100644 index 0000000000..f2b7aaf0ac --- /dev/null +++ b/devices/YarpRobotLoggerDevice/app/robots/iCubGenova02/interface/ft_clients.xml @@ -0,0 +1,29 @@ + + + + + + + + /icub/left_foot + /yarp_robot_logger/left_foot + + + + /icub/left_leg + /yarp_robot_logger/left_leg + + + + /icub/right_foot + /yarp_robot_logger/right_foot + + + + /icub/right_leg + /yarp_robot_logger/right_leg + + + diff --git a/devices/YarpRobotLoggerDevice/app/robots/iCubGenova02/interface/mas-left-foot-ft-client.xml b/devices/YarpRobotLoggerDevice/app/robots/iCubGenova02/interface/mas-left-foot-ft-client.xml deleted file mode 100644 index 5b754fce01..0000000000 --- a/devices/YarpRobotLoggerDevice/app/robots/iCubGenova02/interface/mas-left-foot-ft-client.xml +++ /dev/null @@ -1,10 +0,0 @@ - - - - - /icub/left_foot - /yarp_robot_logger/left_foot - - diff --git a/devices/YarpRobotLoggerDevice/app/robots/iCubGenova02/interface/mas-left-leg-ft-client.xml b/devices/YarpRobotLoggerDevice/app/robots/iCubGenova02/interface/mas-left-leg-ft-client.xml deleted file mode 100644 index faff8d758c..0000000000 --- a/devices/YarpRobotLoggerDevice/app/robots/iCubGenova02/interface/mas-left-leg-ft-client.xml +++ /dev/null @@ -1,11 +0,0 @@ - - - - - /icub/left_leg - /yarp_robot_logger/left_leg - - - diff --git a/devices/YarpRobotLoggerDevice/app/robots/iCubGenova02/interface/mas-right-foot-ft-client.xml b/devices/YarpRobotLoggerDevice/app/robots/iCubGenova02/interface/mas-right-foot-ft-client.xml deleted file mode 100644 index 4842a476ad..0000000000 --- a/devices/YarpRobotLoggerDevice/app/robots/iCubGenova02/interface/mas-right-foot-ft-client.xml +++ /dev/null @@ -1,10 +0,0 @@ - - - - - /icub/right_foot - /yarp_robot_logger/right_foot - - diff --git a/devices/YarpRobotLoggerDevice/app/robots/iCubGenova02/interface/mas-right-leg-ft-client.xml b/devices/YarpRobotLoggerDevice/app/robots/iCubGenova02/interface/mas-right-leg-ft-client.xml deleted file mode 100644 index 24aea45410..0000000000 --- a/devices/YarpRobotLoggerDevice/app/robots/iCubGenova02/interface/mas-right-leg-ft-client.xml +++ /dev/null @@ -1,10 +0,0 @@ - - - - - /icub/right_leg - /yarp_robot_logger/right_leg - - diff --git a/devices/YarpRobotLoggerDevice/app/robots/iCubGenova02/launch-yarp-robot-logger.xml b/devices/YarpRobotLoggerDevice/app/robots/iCubGenova02/launch-yarp-robot-logger.xml index 6c22f40a7a..2d46c8aa9b 100644 --- a/devices/YarpRobotLoggerDevice/app/robots/iCubGenova02/launch-yarp-robot-logger.xml +++ b/devices/YarpRobotLoggerDevice/app/robots/iCubGenova02/launch-yarp-robot-logger.xml @@ -10,10 +10,7 @@ GNU Lesser General Public License v2.1 or any later version. --> - - - - + diff --git a/devices/YarpRobotLoggerDevice/app/robots/iCubGenova04/interface/ft_clients.xml b/devices/YarpRobotLoggerDevice/app/robots/iCubGenova04/interface/ft_clients.xml new file mode 100644 index 0000000000..f2b7aaf0ac --- /dev/null +++ b/devices/YarpRobotLoggerDevice/app/robots/iCubGenova04/interface/ft_clients.xml @@ -0,0 +1,29 @@ + + + + + + + + /icub/left_foot + /yarp_robot_logger/left_foot + + + + /icub/left_leg + /yarp_robot_logger/left_leg + + + + /icub/right_foot + /yarp_robot_logger/right_foot + + + + /icub/right_leg + /yarp_robot_logger/right_leg + + + diff --git a/devices/YarpRobotLoggerDevice/app/robots/iCubGenova04/interface/mas-left-foot-ft-client.xml b/devices/YarpRobotLoggerDevice/app/robots/iCubGenova04/interface/mas-left-foot-ft-client.xml deleted file mode 100644 index 5b754fce01..0000000000 --- a/devices/YarpRobotLoggerDevice/app/robots/iCubGenova04/interface/mas-left-foot-ft-client.xml +++ /dev/null @@ -1,10 +0,0 @@ - - - - - /icub/left_foot - /yarp_robot_logger/left_foot - - diff --git a/devices/YarpRobotLoggerDevice/app/robots/iCubGenova04/interface/mas-left-leg-ft-client.xml b/devices/YarpRobotLoggerDevice/app/robots/iCubGenova04/interface/mas-left-leg-ft-client.xml deleted file mode 100644 index faff8d758c..0000000000 --- a/devices/YarpRobotLoggerDevice/app/robots/iCubGenova04/interface/mas-left-leg-ft-client.xml +++ /dev/null @@ -1,11 +0,0 @@ - - - - - /icub/left_leg - /yarp_robot_logger/left_leg - - - diff --git a/devices/YarpRobotLoggerDevice/app/robots/iCubGenova04/interface/mas-right-foot-ft-client.xml b/devices/YarpRobotLoggerDevice/app/robots/iCubGenova04/interface/mas-right-foot-ft-client.xml deleted file mode 100644 index 4842a476ad..0000000000 --- a/devices/YarpRobotLoggerDevice/app/robots/iCubGenova04/interface/mas-right-foot-ft-client.xml +++ /dev/null @@ -1,10 +0,0 @@ - - - - - /icub/right_foot - /yarp_robot_logger/right_foot - - diff --git a/devices/YarpRobotLoggerDevice/app/robots/iCubGenova04/interface/mas-right-leg-ft-client.xml b/devices/YarpRobotLoggerDevice/app/robots/iCubGenova04/interface/mas-right-leg-ft-client.xml deleted file mode 100644 index 24aea45410..0000000000 --- a/devices/YarpRobotLoggerDevice/app/robots/iCubGenova04/interface/mas-right-leg-ft-client.xml +++ /dev/null @@ -1,10 +0,0 @@ - - - - - /icub/right_leg - /yarp_robot_logger/right_leg - - diff --git a/devices/YarpRobotLoggerDevice/app/robots/iCubGenova04/launch-yarp-robot-logger.xml b/devices/YarpRobotLoggerDevice/app/robots/iCubGenova04/launch-yarp-robot-logger.xml index c074ee18ef..512277e42b 100644 --- a/devices/YarpRobotLoggerDevice/app/robots/iCubGenova04/launch-yarp-robot-logger.xml +++ b/devices/YarpRobotLoggerDevice/app/robots/iCubGenova04/launch-yarp-robot-logger.xml @@ -10,10 +10,7 @@ GNU Lesser General Public License v2.1 or any later version. --> - - - - + diff --git a/devices/YarpRobotLoggerDevice/app/robots/iCubGenova09/interface/ft_clients.xml b/devices/YarpRobotLoggerDevice/app/robots/iCubGenova09/interface/ft_clients.xml new file mode 100644 index 0000000000..463fc16128 --- /dev/null +++ b/devices/YarpRobotLoggerDevice/app/robots/iCubGenova09/interface/ft_clients.xml @@ -0,0 +1,43 @@ + + + + + + + /icub/left_arm/analog:o + /yarp_robot_logger/left_arm + + + + /icub/right_arm/analog:o + /yarp_robot_logger/right_arm + + + + /icub/left_foot_tiptoe/analog:o + /yarp_robot_logger/left_front_ft + + + + /icub/left_foot_heel/analog:o + /yarp_robot_logger/left_foot_rear + + + + /icub/right_leg_hip/analog:o + /yarp_robot_logger/right_upper_leg_ft + + + + /icub/right_foot_tiptoe/analog:o + /yarp_robot_logger/right_front_ft + + + + /icub/right_foot_heel/analog:o + /yarp_robot_logger/right_rear_ft + + + diff --git a/devices/YarpRobotLoggerDevice/app/robots/iCubGenova09/interface/left_arm_ft_client.xml b/devices/YarpRobotLoggerDevice/app/robots/iCubGenova09/interface/left_arm_ft_client.xml deleted file mode 100644 index 206e645351..0000000000 --- a/devices/YarpRobotLoggerDevice/app/robots/iCubGenova09/interface/left_arm_ft_client.xml +++ /dev/null @@ -1,8 +0,0 @@ - - - - /icub/left_arm/analog:o - /yarp_robot_logger/left_arm - diff --git a/devices/YarpRobotLoggerDevice/app/robots/iCubGenova09/interface/left_arm_wrench_client.xml b/devices/YarpRobotLoggerDevice/app/robots/iCubGenova09/interface/left_arm_wrench_client.xml deleted file mode 100644 index 826638c567..0000000000 --- a/devices/YarpRobotLoggerDevice/app/robots/iCubGenova09/interface/left_arm_wrench_client.xml +++ /dev/null @@ -1,8 +0,0 @@ - - - - /wholeBodyDynamics/left_arm/cartesianEndEffectorWrench:o - /yarp_robot_logger/left_arm_wrench - diff --git a/devices/YarpRobotLoggerDevice/app/robots/iCubGenova09/interface/left_front_ft_client.xml b/devices/YarpRobotLoggerDevice/app/robots/iCubGenova09/interface/left_front_ft_client.xml deleted file mode 100644 index a7cd95282c..0000000000 --- a/devices/YarpRobotLoggerDevice/app/robots/iCubGenova09/interface/left_front_ft_client.xml +++ /dev/null @@ -1,8 +0,0 @@ - - - - /icub/left_foot_tiptoe/analog:o - /yarp_robot_logger/left_front_ft - diff --git a/devices/YarpRobotLoggerDevice/app/robots/iCubGenova09/interface/left_front_wrench_client.xml b/devices/YarpRobotLoggerDevice/app/robots/iCubGenova09/interface/left_front_wrench_client.xml deleted file mode 100644 index 63cd9c73bd..0000000000 --- a/devices/YarpRobotLoggerDevice/app/robots/iCubGenova09/interface/left_front_wrench_client.xml +++ /dev/null @@ -1,8 +0,0 @@ - - - - /wholeBodyDynamics/left_foot_front/cartesianEndEffectorWrench:o - /yarp_robot_logger/left_front_wrench - diff --git a/devices/YarpRobotLoggerDevice/app/robots/iCubGenova09/interface/left_rear_ft_client.xml b/devices/YarpRobotLoggerDevice/app/robots/iCubGenova09/interface/left_rear_ft_client.xml deleted file mode 100644 index 10ea1bef74..0000000000 --- a/devices/YarpRobotLoggerDevice/app/robots/iCubGenova09/interface/left_rear_ft_client.xml +++ /dev/null @@ -1,8 +0,0 @@ - - - - /icub/left_foot_heel/analog:o - /yarp_robot_logger/left_foot_rear - diff --git a/devices/YarpRobotLoggerDevice/app/robots/iCubGenova09/interface/left_rear_wrench_client.xml b/devices/YarpRobotLoggerDevice/app/robots/iCubGenova09/interface/left_rear_wrench_client.xml deleted file mode 100644 index 09f6adb89c..0000000000 --- a/devices/YarpRobotLoggerDevice/app/robots/iCubGenova09/interface/left_rear_wrench_client.xml +++ /dev/null @@ -1,8 +0,0 @@ - - - - /wholeBodyDynamics/left_foot_rear/cartesianEndEffectorWrench:o - /yarp_robot_logger/left_rear_wrench - diff --git a/devices/YarpRobotLoggerDevice/app/robots/iCubGenova09/interface/right_arm_ft_client.xml b/devices/YarpRobotLoggerDevice/app/robots/iCubGenova09/interface/right_arm_ft_client.xml deleted file mode 100644 index 6dc028daa0..0000000000 --- a/devices/YarpRobotLoggerDevice/app/robots/iCubGenova09/interface/right_arm_ft_client.xml +++ /dev/null @@ -1,8 +0,0 @@ - - - - /icub/right_arm/analog:o - /yarp_robot_logger/right_arm - diff --git a/devices/YarpRobotLoggerDevice/app/robots/iCubGenova09/interface/right_arm_wrench_client.xml b/devices/YarpRobotLoggerDevice/app/robots/iCubGenova09/interface/right_arm_wrench_client.xml deleted file mode 100644 index 3d7c205bd5..0000000000 --- a/devices/YarpRobotLoggerDevice/app/robots/iCubGenova09/interface/right_arm_wrench_client.xml +++ /dev/null @@ -1,8 +0,0 @@ - - - - /wholeBodyDynamics/right_arm/cartesianEndEffectorWrench:o - /yarp_robot_logger/right_arm_wrench - diff --git a/devices/YarpRobotLoggerDevice/app/robots/iCubGenova09/interface/right_front_ft_client.xml b/devices/YarpRobotLoggerDevice/app/robots/iCubGenova09/interface/right_front_ft_client.xml deleted file mode 100644 index 6080498edd..0000000000 --- a/devices/YarpRobotLoggerDevice/app/robots/iCubGenova09/interface/right_front_ft_client.xml +++ /dev/null @@ -1,8 +0,0 @@ - - - - /icub/right_foot_tiptoe/analog:o - /yarp_robot_logger/right_front_ft - diff --git a/devices/YarpRobotLoggerDevice/app/robots/iCubGenova09/interface/right_front_wrench_client.xml b/devices/YarpRobotLoggerDevice/app/robots/iCubGenova09/interface/right_front_wrench_client.xml deleted file mode 100644 index c415f9e074..0000000000 --- a/devices/YarpRobotLoggerDevice/app/robots/iCubGenova09/interface/right_front_wrench_client.xml +++ /dev/null @@ -1,8 +0,0 @@ - - - - /wholeBodyDynamics/right_foot_front/cartesianEndEffectorWrench:o - /yarp_robot_logger/right_front_wrench - diff --git a/devices/YarpRobotLoggerDevice/app/robots/iCubGenova09/interface/right_rear_ft_client.xml b/devices/YarpRobotLoggerDevice/app/robots/iCubGenova09/interface/right_rear_ft_client.xml deleted file mode 100644 index e8cfb2cf8d..0000000000 --- a/devices/YarpRobotLoggerDevice/app/robots/iCubGenova09/interface/right_rear_ft_client.xml +++ /dev/null @@ -1,8 +0,0 @@ - - - - /icub/right_foot_heel/analog:o - /yarp_robot_logger/right_rear_ft - diff --git a/devices/YarpRobotLoggerDevice/app/robots/iCubGenova09/interface/right_rear_wrench_client.xml b/devices/YarpRobotLoggerDevice/app/robots/iCubGenova09/interface/right_rear_wrench_client.xml deleted file mode 100644 index 69b6e4d8cb..0000000000 --- a/devices/YarpRobotLoggerDevice/app/robots/iCubGenova09/interface/right_rear_wrench_client.xml +++ /dev/null @@ -1,8 +0,0 @@ - - - - /wholeBodyDynamics/right_foot_rear/cartesianEndEffectorWrench:o - /yarp_robot_logger/right_rear_wrench - diff --git a/devices/YarpRobotLoggerDevice/app/robots/iCubGenova09/interface/right_upper_leg_ft_client.xml b/devices/YarpRobotLoggerDevice/app/robots/iCubGenova09/interface/right_upper_leg_ft_client.xml deleted file mode 100644 index b62b4e9e2a..0000000000 --- a/devices/YarpRobotLoggerDevice/app/robots/iCubGenova09/interface/right_upper_leg_ft_client.xml +++ /dev/null @@ -1,8 +0,0 @@ - - - - /icub/right_leg_hip/analog:o - /yarp_robot_logger/right_upper_leg_ft - diff --git a/devices/YarpRobotLoggerDevice/app/robots/iCubGenova09/interface/right_upper_leg_wrench_client.xml b/devices/YarpRobotLoggerDevice/app/robots/iCubGenova09/interface/right_upper_leg_wrench_client.xml deleted file mode 100644 index 6db84cb3a4..0000000000 --- a/devices/YarpRobotLoggerDevice/app/robots/iCubGenova09/interface/right_upper_leg_wrench_client.xml +++ /dev/null @@ -1,11 +0,0 @@ - - - - /wholeBodyDynamics/right_upper_leg/cartesianEndEffectorWrench:o - /yarp_robot_logger/right_upper_leg_wrench_client - - - - diff --git a/devices/YarpRobotLoggerDevice/app/robots/iCubGenova09/interface/wrench_clients.xml b/devices/YarpRobotLoggerDevice/app/robots/iCubGenova09/interface/wrench_clients.xml new file mode 100644 index 0000000000..bc1e41b3ac --- /dev/null +++ b/devices/YarpRobotLoggerDevice/app/robots/iCubGenova09/interface/wrench_clients.xml @@ -0,0 +1,43 @@ + + + + + + + /wholeBodyDynamics/left_arm/cartesianEndEffectorWrench:o + /yarp_robot_logger/left_arm_wrench + + + + /wholeBodyDynamics/right_arm/cartesianEndEffectorWrench:o + /yarp_robot_logger/right_arm_wrench + + + + /wholeBodyDynamics/left_foot_front/cartesianEndEffectorWrench:o + /yarp_robot_logger/left_front_wrench + + + + /wholeBodyDynamics/left_foot_rear/cartesianEndEffectorWrench:o + /yarp_robot_logger/left_rear_wrench + + + + /wholeBodyDynamics/right_upper_leg/cartesianEndEffectorWrench:o + /yarp_robot_logger/right_upper_leg_wrench_client + + + + /wholeBodyDynamics/right_foot_front/cartesianEndEffectorWrench:o + /yarp_robot_logger/right_front_wrench + + + + /wholeBodyDynamics/right_foot_rear/cartesianEndEffectorWrench:o + /yarp_robot_logger/right_rear_wrench + + + diff --git a/devices/YarpRobotLoggerDevice/app/robots/iCubGenova09/launch-yarp-robot-logger.xml b/devices/YarpRobotLoggerDevice/app/robots/iCubGenova09/launch-yarp-robot-logger.xml index edeee4937a..68df2fd73b 100644 --- a/devices/YarpRobotLoggerDevice/app/robots/iCubGenova09/launch-yarp-robot-logger.xml +++ b/devices/YarpRobotLoggerDevice/app/robots/iCubGenova09/launch-yarp-robot-logger.xml @@ -11,20 +11,8 @@ GNU Lesser General Public License v2.1 or any later version. --> - - - - - - - - - - - - - - + + From 7ab12fac32786fa3ef9d5026e4c3cd05832726ef Mon Sep 17 00:00:00 2001 From: Ines Date: Wed, 27 Apr 2022 12:31:01 +0200 Subject: [PATCH 5/5] Update CHANGELOG --- CHANGELOG.md | 1 + 1 file changed, 1 insertion(+) diff --git a/CHANGELOG.md b/CHANGELOG.md index 5f19292995..ed82b0b3ec 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -17,6 +17,7 @@ All notable changes to this project are documented in this file. - 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)