From f0591b2c381e58a68ad5f6e5073964bbcc0a1224 Mon Sep 17 00:00:00 2001 From: Giulio Romualdi Date: Mon, 23 Sep 2024 17:07:03 +0200 Subject: [PATCH] [ergoCubSN001] Enable the logging of the external wrenches of the legs and the arms IMUs (#888) --- .../imu_clients.xml | 4 +-- .../mas-remapper.xml | 12 +++---- .../webcams.xml | 2 +- .../wrench_clients.xml | 34 +++++++++++++------ .../robots/ergoCubSN001/yarp-robot-logger.xml | 29 +++++++++------- 5 files changed, 49 insertions(+), 32 deletions(-) diff --git a/devices/YarpRobotLoggerDevice/app/robots/ergoCubSN001/blf-yarp-robot-logger-interfaces/imu_clients.xml b/devices/YarpRobotLoggerDevice/app/robots/ergoCubSN001/blf-yarp-robot-logger-interfaces/imu_clients.xml index d6602b5099..ea6c1da71c 100644 --- a/devices/YarpRobotLoggerDevice/app/robots/ergoCubSN001/blf-yarp-robot-logger-interfaces/imu_clients.xml +++ b/devices/YarpRobotLoggerDevice/app/robots/ergoCubSN001/blf-yarp-robot-logger-interfaces/imu_clients.xml @@ -21,7 +21,7 @@ - + /ergocub/left_foot_heel_tiptoe/imu diff --git a/devices/YarpRobotLoggerDevice/app/robots/ergoCubSN001/blf-yarp-robot-logger-interfaces/mas-remapper.xml b/devices/YarpRobotLoggerDevice/app/robots/ergoCubSN001/blf-yarp-robot-logger-interfaces/mas-remapper.xml index 00d3670d9a..1bb6cf384b 100644 --- a/devices/YarpRobotLoggerDevice/app/robots/ergoCubSN001/blf-yarp-robot-logger-interfaces/mas-remapper.xml +++ b/devices/YarpRobotLoggerDevice/app/robots/ergoCubSN001/blf-yarp-robot-logger-interfaces/mas-remapper.xml @@ -6,16 +6,16 @@ 10 - (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) - (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) - (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) - (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) (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 @@ right_leg_ft_client waist_imu_client - + left_arm_imu_client + right_arm_imu_client left_foot_imu_client right_foot_imu_client left_leg_imu_client diff --git a/devices/YarpRobotLoggerDevice/app/robots/ergoCubSN001/blf-yarp-robot-logger-interfaces/webcams.xml b/devices/YarpRobotLoggerDevice/app/robots/ergoCubSN001/blf-yarp-robot-logger-interfaces/webcams.xml index 580c5c2f6b..412f4efd1f 100644 --- a/devices/YarpRobotLoggerDevice/app/robots/ergoCubSN001/blf-yarp-robot-logger-interfaces/webcams.xml +++ b/devices/YarpRobotLoggerDevice/app/robots/ergoCubSN001/blf-yarp-robot-logger-interfaces/webcams.xml @@ -4,7 +4,7 @@ BSD-3-Clause license. --> - + 0 1920 diff --git a/devices/YarpRobotLoggerDevice/app/robots/ergoCubSN001/blf-yarp-robot-logger-interfaces/wrench_clients.xml b/devices/YarpRobotLoggerDevice/app/robots/ergoCubSN001/blf-yarp-robot-logger-interfaces/wrench_clients.xml index e2cae85c02..300d1dfaa2 100644 --- a/devices/YarpRobotLoggerDevice/app/robots/ergoCubSN001/blf-yarp-robot-logger-interfaces/wrench_clients.xml +++ b/devices/YarpRobotLoggerDevice/app/robots/ergoCubSN001/blf-yarp-robot-logger-interfaces/wrench_clients.xml @@ -5,17 +5,17 @@ - - - - - - - - - - - + + /wholeBodyDynamics/left_arm/cartesianEndEffectorWrench:o + /yarp_robot_logger/left_arm_wrench + udp + + + + /wholeBodyDynamics/left_leg/cartesianEndEffectorWrench:o + /yarp_robot_logger/left_leg_wrench + udp + /wholeBodyDynamics/left_foot_front/cartesianEndEffectorWrench:o @@ -29,6 +29,18 @@ udp + + /wholeBodyDynamics/right_arm/cartesianEndEffectorWrench:o + /yarp_robot_logger/right_arm_wrench + udp + + + + /wholeBodyDynamics/right_leg/cartesianEndEffectorWrench:o + /yarp_robot_logger/right_leg_wrench + udp + + /wholeBodyDynamics/right_foot_front/cartesianEndEffectorWrench:o /yarp_robot_logger/right_front_wrench diff --git a/devices/YarpRobotLoggerDevice/app/robots/ergoCubSN001/yarp-robot-logger.xml b/devices/YarpRobotLoggerDevice/app/robots/ergoCubSN001/yarp-robot-logger.xml index d341d86991..ad4185012d 100644 --- 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. --> ("ergoCubSN001/yarprobotinterface") ("ssh ergocub@10.0.2.2" "ssh ergocub@10.0.2.3") + + + 1800.0 - ("Walking", "GridTracking","cmw") + ("Walking", "GridTracking","cmw", "Balancing") () @@ -43,8 +48,8 @@ BSD-3-Clause license. --> - "/yarp-robot-logger/exogenous_signals/balancing_position_controller" - "/balancing_position_controller/logger" + "/yarp-robot-logger/exogenous_signals/balancing_torque_controller" + "/balancing_torque_controller/logger" "balancing" "udp" @@ -96,15 +101,14 @@ BSD-3-Clause license. --> - - ("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", "left_arm_wrench_client", "right_arm_wrench_client", "left_leg_wrench_client", "right_leg_wrench_client") - (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_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_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_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_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) + (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) + (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) + (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) @@ -117,8 +121,10 @@ BSD-3-Clause license. --> left_rear_wrench_client right_front_wrench_client right_rear_wrench_client - + right_leg_wrench_client + left_leg_wrench_client + right_arm_wrench_client + left_arm_wrench_client mas-remapper jabra @@ -129,4 +135,3 @@ BSD-3-Clause license. --> -