[ergoCubSN001] Enable the logging of the external wrenches of the leg…

…s and the arms IMUs (#888)
ami-iit · Sep 23, 2024 · f0591b2 · f0591b2
1 parent 5806285
commit f0591b2
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Showing 5 changed files with 49 additions and 32 deletions.
diff --git a/...obotLoggerDevice/app/robots/ergoCubSN001/blf-yarp-robot-logger-interfaces/imu_clients.xml b/...obotLoggerDevice/app/robots/ergoCubSN001/blf-yarp-robot-logger-interfaces/imu_clients.xml
@@ -21,7 +21,7 @@
  </device>
 
 
- <!--device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_arm_imu_client" type="multipleanalogsensorsclient">
+ <device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_arm_imu_client" type="multipleanalogsensorsclient">
  <param name="remote">/ergocub/left_arm/imu</param>
  <param name="local">/yarp_robot_logger/left_arm/imu</param>
  <param name="timeout">0.5</param>
@@ -33,7 +33,7 @@
  <param name="local">/yarp_robot_logger/right_arm/imu</param>
  <param name="timeout">0.5</param>
  <param name="carrier">fast_tcp</param>
- </device-->
+ </device>
 
  <device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_foot_imu_client" type="multipleanalogsensorsclient">
  <param name="remote">/ergocub/left_foot_heel_tiptoe/imu</param>

diff --git a/...botLoggerDevice/app/robots/ergoCubSN001/blf-yarp-robot-logger-interfaces/mas-remapper.xml b/...botLoggerDevice/app/robots/ergoCubSN001/blf-yarp-robot-logger-interfaces/mas-remapper.xml
@@ -6,16 +6,16 @@
 <device xmlns:xi="http://www.w3.org/2001/XInclude" name="mas-remapper" type="multipleanalogsensorsremapper">
  <param name="period">10</param>
  <param name="ThreeAxisGyroscopesNames">
- (waist_imu_0, l_foot_front_ft_imu, l_foot_rear_ft_imu, r_foot_front_ft_imu, r_foot_rear_ft_imu, l_leg_ft_imu, r_leg_ft_imu)
+ (waist_imu_0, l_arm_ft_imu, r_arm_ft_imu, l_foot_front_ft_imu, l_foot_rear_ft_imu, r_foot_front_ft_imu, r_foot_rear_ft_imu, l_leg_ft_imu, r_leg_ft_imu)
  </param>
  <param name="ThreeAxisLinearAccelerometersNames">
- (waist_imu_0, l_foot_front_ft_imu, l_foot_rear_ft_imu, r_foot_front_ft_imu, r_foot_rear_ft_imu, l_leg_ft_imu, r_leg_ft_imu)
+ (waist_imu_0, l_arm_ft_imu, r_arm_ft_imu, l_foot_front_ft_imu, l_foot_rear_ft_imu, r_foot_front_ft_imu, r_foot_rear_ft_imu, l_leg_ft_imu, r_leg_ft_imu)
  </param>
  <param name="ThreeAxisMagnetometersNames">
- (waist_imu_0, l_foot_front_ft_imu, l_foot_rear_ft_imu, r_foot_front_ft_imu, r_foot_rear_ft_imu, l_leg_ft_imu, r_leg_ft_imu)
+ (waist_imu_0, l_arm_ft_imu, r_arm_ft_imu, l_foot_front_ft_imu, l_foot_rear_ft_imu, r_foot_front_ft_imu, r_foot_rear_ft_imu, l_leg_ft_imu, r_leg_ft_imu)
  </param>
  <param name="OrientationSensorsNames">
- (waist_imu_0, l_foot_front_ft_imu, l_foot_rear_ft_imu, r_foot_front_ft_imu, r_foot_rear_ft_imu, l_leg_ft_imu, r_leg_ft_imu)
+ (waist_imu_0, l_arm_ft_imu, r_arm_ft_imu, l_foot_front_ft_imu, l_foot_rear_ft_imu, r_foot_front_ft_imu, r_foot_rear_ft_imu, l_leg_ft_imu, r_leg_ft_imu)
  </param>
  <param name="SixAxisForceTorqueSensorsNames">
  (l_foot_front_ft, l_foot_rear_ft, r_foot_front_ft, r_foot_rear_ft, l_leg_ft, r_leg_ft, r_arm_ft, l_arm_ft)
@@ -32,8 +32,8 @@
  <elem name="right_leg_ft_client">right_leg_ft_client</elem>
  <!--elem name="head_imu_acc">head_imu_acc</elem-->
  <elem name="waist_imu_client">waist_imu_client</elem>
- <!--elem name="left_arm_imu_client">left_arm_imu_client</elem>
- <elem name="right_arm_imu_client">right_arm_imu_client</elem-->
+ <elem name="left_arm_imu_client">left_arm_imu_client</elem>
+ <elem name="right_arm_imu_client">right_arm_imu_client</elem>
  <elem name="left_foot_imu_client">left_foot_imu_client</elem>
  <elem name="right_foot_imu_client">right_foot_imu_client</elem>
  <elem name="left_leg_imu_client">left_leg_imu_client</elem>

diff --git a/...arpRobotLoggerDevice/app/robots/ergoCubSN001/blf-yarp-robot-logger-interfaces/webcams.xml b/...arpRobotLoggerDevice/app/robots/ergoCubSN001/blf-yarp-robot-logger-interfaces/webcams.xml
@@ -4,7 +4,7 @@ BSD-3-Clause license. -->
 <?xml version="1.0" encoding="UTF-8" ?>
 
 <devices>
-
+<!-- camera 0 -->
  <device xmlns:xi="http://www.w3.org/2001/XInclude" name="jabra" type="opencv_grabber">
  <param name="camera">0</param>
  <param name="width">1920</param>

diff --git a/...tLoggerDevice/app/robots/ergoCubSN001/blf-yarp-robot-logger-interfaces/wrench_clients.xml b/...tLoggerDevice/app/robots/ergoCubSN001/blf-yarp-robot-logger-interfaces/wrench_clients.xml
@@ -5,17 +5,17 @@
 
 <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> -->
- <!-- <param name="carrier">udp</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> -->
- <!-- <param name="carrier">udp</param> -->
- <!-- </device> -->
+ <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>
+  <param name="carrier">udp</param>
+ </device>
+
+ <device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_leg_wrench_client" type="genericSensorClient">
+  <param name="remote">/wholeBodyDynamics/left_leg/cartesianEndEffectorWrench:o</param>
+  <param name="local">/yarp_robot_logger/left_leg_wrench</param>
+  <param name="carrier">udp</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>
@@ -29,6 +29,18 @@
  <param name="carrier">udp</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>
+ <param name="carrier">udp</param>
+ </device>
+
+ <device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_leg_wrench_client" type="genericSensorClient">
+ <param name="remote">/wholeBodyDynamics/right_leg/cartesianEndEffectorWrench:o</param>
+ <param name="local">/yarp_robot_logger/right_leg_wrench</param>
+ <param name="carrier">udp</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>

diff --git a/devices/YarpRobotLoggerDevice/app/robots/ergoCubSN001/yarp-robot-logger.xml b/devices/YarpRobotLoggerDevice/app/robots/ergoCubSN001/yarp-robot-logger.xml
@@ -20,12 +20,17 @@ BSD-3-Clause license. -->
  <param name="text_logging_subnames">("ergoCubSN001/yarprobotinterface")</param>
  <param name="code_status_cmd_prefixes">("ssh ergocub@10.0.2.2" "ssh ergocub@10.0.2.3")</param>
 
+ <!-- <group name="REAL_TIME_STREAMING">
+ <param name="remote">"/rtLoggingVectorCollections"</param>
+ </group> -->
+
+
  <group name="Telemetry">
  <param name="save_period">1800.0</param>
  </group>
 
  <group name="ExogenousSignals">
- <param name="vectors_collection_exogenous_inputs">("Walking", "GridTracking","cmw")</param>
+ <param name="vectors_collection_exogenous_inputs">("Walking", "GridTracking","cmw", "Balancing")</param>
  <param name="vectors_exogenous_inputs">()</param>
 
  <group name="Walking">
@@ -43,8 +48,8 @@ BSD-3-Clause license. -->
  </group>
 
  <group name="Balancing">
- <param name="local">"/yarp-robot-logger/exogenous_signals/balancing_position_controller"</param>
- <param name="remote">"/balancing_position_controller/logger"</param>
+ <param name="local">"/yarp-robot-logger/exogenous_signals/balancing_torque_controller"</param>
+ <param name="remote">"/balancing_torque_controller/logger"</param>
  <param name="signal_name">"balancing"</param>
  <param name="carrier">"udp"</param>
  </group>
@@ -96,15 +101,14 @@ BSD-3-Clause license. -->
  </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", "left_arm_wrench_client", "right_arm_wrench_client")</param> -->
- <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", "left_arm_wrench_client", "right_arm_wrench_client", "left_leg_wrench_client", "right_leg_wrench_client")</param>
  </group>
 
  <group name="InertialSensors">
- <param name="accelerometers_list">(waist_imu_0, l_foot_front_ft_imu, l_foot_rear_ft_imu, r_foot_front_ft_imu, r_foot_rear_ft_imu, l_leg_ft_imu, r_leg_ft_imu)</param>
- <param name="gyroscopes_list">(waist_imu_0, l_foot_front_ft_imu, l_foot_rear_ft_imu, r_foot_front_ft_imu, r_foot_rear_ft_imu, l_leg_ft_imu, r_leg_ft_imu)</param>
- <param name="magnetometers_list">(waist_imu_0, l_foot_front_ft_imu, l_foot_rear_ft_imu, r_foot_front_ft_imu, r_foot_rear_ft_imu, l_leg_ft_imu, r_leg_ft_imu)</param>
- <param name="orientation_sensors_list">(waist_imu_0, l_foot_front_ft_imu, l_foot_rear_ft_imu, r_foot_front_ft_imu, r_foot_rear_ft_imu, l_leg_ft_imu, r_leg_ft_imu)</param>
+ <param name="accelerometers_list">(waist_imu_0, l_foot_front_ft_imu, l_foot_rear_ft_imu, r_foot_front_ft_imu, r_foot_rear_ft_imu, l_leg_ft_imu, r_leg_ft_imu, r_arm_ft_imu, l_arm_ft_imu)</param>
+ <param name="gyroscopes_list">(waist_imu_0, l_foot_front_ft_imu, l_foot_rear_ft_imu, r_foot_front_ft_imu, r_foot_rear_ft_imu, l_leg_ft_imu, r_leg_ft_imu, r_arm_ft_imu, l_arm_ft_imu)</param>
+ <param name="magnetometers_list">(waist_imu_0, l_foot_front_ft_imu, l_foot_rear_ft_imu, r_foot_front_ft_imu, r_foot_rear_ft_imu, l_leg_ft_imu, r_leg_ft_imu, r_arm_ft_imu, l_arm_ft_imu)</param>
+ <param name="orientation_sensors_list">(waist_imu_0, l_foot_front_ft_imu, l_foot_rear_ft_imu, r_foot_front_ft_imu, r_foot_rear_ft_imu, l_leg_ft_imu, r_leg_ft_imu, r_arm_ft_imu, l_arm_ft_imu)</param>
  </group>
 
  </group>
@@ -117,8 +121,10 @@ BSD-3-Clause license. -->
  <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_leg_wrench_client">right_leg_wrench_client</elem>
+ <elem name="left_leg_wrench_client">left_leg_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="mas-remapper">mas-remapper</elem>
  <!-- <elem name="realsense">realsense</elem> -->
  <elem name="jabra">jabra</elem>
@@ -129,4 +135,3 @@ BSD-3-Clause license. -->
  <!-- FINISH ATTACH-->
 
 </device>
-