Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

Automatic polling for exogenous signals #570

Merged
merged 9 commits into from
Jan 12, 2023
Merged

Automatic polling for exogenous signals #570

Show file tree
Hide file tree
Changes from 6 commits
Commits
Show all changes
9 commits
Select commit Hold shift + click to select a range
6530903
The YarpRobotLogger will now automatically connect to the exogenous s…
GiulioRomualdi Oct 4, 2022
277c952
🤖 [iCubGenova09] Add the left and right hands skin data acquisition
GiulioRomualdi Oct 5, 2022
6b07ff3
🤖 [iCubGenova09] Add the left and right hands filtered skin data acqu…
GiulioRomualdi Oct 6, 2022
0783aca
🤖 [iCubGenova09] General update of the configuration file for the Yar…
Oct 7, 2022
ad7e1a4
Merge branch 'master' into device/polling_exogenous
GiulioRomualdi Jan 10, 2023
8958341
Update the CHANGELOG
GiulioRomualdi Jan 10, 2023
0534224
Avoid to query the list of all the ports in the network in YarpRobotL…
GiulioRomualdi Jan 10, 2023
b2f6106
Merge branch 'master' into device/polling_exogenous
GiulioRomualdi Jan 10, 2023
5cda60e
Merge branch 'master' into device/polling_exogenous
GiulioRomualdi Jan 11, 2023
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
2 changes: 2 additions & 0 deletions CHANGELOG.md
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -5,6 +5,8 @@ All notable changes to this project are documented in this file.
### Added

### Changed
- The YarpRobotLogger will now automatically connect to the exogenous signal port if available (https://github.com/ami-iit/bipedal-locomotion-framework/pull/570/)
- 🤖 [iCubGenova09] Add the left and right hands skin (raw and filtered) data acquisition (https://github.com/ami-iit/bipedal-locomotion-framework/pull/570/)

### Fix

Expand Down
4 changes: 4 additions & 0 deletions devices/YarpRobotLoggerDevice/app/robots/iCubGenova09/interface/all_joints_mc.xml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -6,4 +6,8 @@ BSD-3-Clause license. -->
<param name="remoteControlBoards">("/icub/head", "/icub/torso", "/icub/left_arm", "/icub/right_arm", "/icub/left_leg", "/icub/right_leg")</param>
<param name="axesNames">("neck_pitch", "neck_roll", "neck_yaw", "torso_pitch", "torso_roll", "torso_yaw", "l_shoulder_pitch", "l_shoulder_roll", "l_shoulder_yaw", "l_elbow", "l_wrist_prosup", "l_wrist_pitch", "l_wrist_yaw", "r_shoulder_pitch", "r_shoulder_roll", "r_shoulder_yaw", "r_elbow", "r_wrist_prosup", "r_wrist_pitch", "r_wrist_yaw", "l_hip_pitch", "l_hip_roll", "l_hip_yaw", "l_knee", "l_ankle_pitch", "l_ankle_roll", "r_hip_pitch", "r_hip_roll", "r_hip_yaw", "r_knee", "r_ankle_pitch", "r_ankle_roll")</param>
<param name="localPortPrefix">/yarp_robot_logger/joints</param>

<group name="REMOTE_CONTROLBOARD_OPTIONS">
<param name="carrier">udp</param>
</group>
</device>
81 changes: 43 additions & 38 deletions devices/YarpRobotLoggerDevice/app/robots/iCubGenova09/interface/ft_clients.xml
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -1,44 +1,49 @@
<!-- Copyright (C) 2022 Istituto Italiano di Tecnologia (IIT). All rights reserved.
This software may be modified and distributed under the terms of the
BSD-3-Clause license. -->
This software may be modified and distributed under the terms of the
BSD-3-Clause license. -->
<?xml version="1.0" encoding="UTF-8" ?>

<devices>

<device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_arm_ft_client" type="multipleanalogsensorsclient">
<param name="remote">/icub/left_arm</param>
<param name="local">/yarp_robot_logger/left_arm</param>
<param name="timeout">0.02</param>
</device>

<device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_arm_ft_client" type="multipleanalogsensorsclient">
<param name="remote">/icub/right_arm</param>
<param name="local">/yarp_robot_logger/right_arm</param>
<param name="timeout">0.02</param>
</device>

<device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_upper_leg_ft_client" type="multipleanalogsensorsclient">
<param name="remote">/icub/left_leg_hip</param>
<param name="local">/yarp_robot_logger/left_upper_leg_ft</param>
<param name="timeout">0.02</param>
</device>

<device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_foot_ft_client" type="multipleanalogsensorsclient">
<param name="remote">/icub/left_foot_heel_tiptoe</param>
<param name="local">/yarp_robot_logger/left_foot_heel_tiptoe</param>
<param name="timeout">0.02</param>
</device>

<device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_upper_leg_ft_client" type="multipleanalogsensorsclient">
<param name="remote">/icub/right_leg_hip</param>
<param name="local">/yarp_robot_logger/right_upper_leg_ft</param>
<param name="timeout">0.02</param>
</device>

<device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_foot_ft_client" type="multipleanalogsensorsclient">
<param name="remote">/icub/right_foot_heel_tiptoe</param>
<param name="local">/yarp_robot_logger/right_foot_heel_tiptoe</param>
<param name="timeout">0.02</param>
</device>
<device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_arm_ft_client" type="multipleanalogsensorsclient">
<param name="remote">/icub/left_arm</param>
<param name="local">/yarp_robot_logger/left_arm</param>
<param name="timeout">0.5</param>
<param name="carrier">fast_tcp</param>
</device>

<device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_arm_ft_client" type="multipleanalogsensorsclient">
<param name="remote">/icub/right_arm</param>
<param name="local">/yarp_robot_logger/right_arm</param>
<param name="timeout">0.5</param>
<param name="carrier">fast_tcp</param>
</device>

<device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_upper_leg_ft_client" type="multipleanalogsensorsclient">
<param name="remote">/icub/left_leg_hip</param>
<param name="local">/yarp_robot_logger/left_upper_leg_ft</param>
<param name="timeout">0.5</param>
<param name="carrier">fast_tcp</param>
</device>

<device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_foot_ft_client" type="multipleanalogsensorsclient">
<param name="remote">/icub/left_foot_heel_tiptoe</param>
<param name="local">/yarp_robot_logger/left_foot_heel_tiptoe</param>
<param name="timeout">0.5</param>
<param name="carrier">fast_tcp</param>
</device>

<device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_upper_leg_ft_client" type="multipleanalogsensorsclient">
<param name="remote">/icub/right_leg_hip</param>
<param name="local">/yarp_robot_logger/right_upper_leg_ft</param>
<param name="timeout">0.5</param>
<param name="carrier">fast_tcp</param>
</device>

<device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_foot_ft_client" type="multipleanalogsensorsclient">
<param name="remote">/icub/right_foot_heel_tiptoe</param>
<param name="local">/yarp_robot_logger/right_foot_heel_tiptoe</param>
<param name="timeout">0.5</param>
<param name="carrier">fast_tcp</param>
</device>

</devices>
21 changes: 14 additions & 7 deletions devices/YarpRobotLoggerDevice/app/robots/iCubGenova09/interface/imu_clients.xml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -8,43 +8,50 @@
<device xmlns:xi="http://www.w3.org/2001/XInclude" name="head_imu_acc" type="multipleanalogsensorsclient">
<param name="remote">/icub/head/inertials</param>
<param name="local">/yarp_robot_logger/xsens_inertial</param>
<param name="timeout">0.02</param>
<param name="timeout">0.5</param>
<param name="carrier">fast_tcp</param>
</device>

<device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_arm_imu_client" type="multipleanalogsensorsclient">
<param name="remote">/icub/left_arm/imu</param>
<param name="local">/yarp_robot_logger/left_arm/imu</param>
<param name="timeout">0.02</param>
<param name="timeout">0.5</param>
<param name="carrier">fast_tcp</param>
</device>

<device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_arm_imu_client" type="multipleanalogsensorsclient">
<param name="remote">/icub/right_arm/imu</param>
<param name="local">/yarp_robot_logger/right_arm/imu</param>
<param name="timeout">0.02</param>
<param name="timeout">0.5</param>
<param name="carrier">fast_tcp</param>
</device>

<device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_upper_leg_imu_client" type="multipleanalogsensorsclient">
<param name="remote">/icub/left_leg/imu</param>
<param name="local">/yarp_robot_logger/left_leg/imu</param>
<param name="timeout">0.02</param>
<param name="timeout">0.5</param>
<param name="carrier">fast_tcp</param>
</device>

<device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_foot_imu_client" type="multipleanalogsensorsclient">
<param name="remote">/icub/left_foot/imu</param>
<param name="local">/yarp_robot_logger/left_foot/imu</param>
<param name="timeout">0.02</param>
<param name="timeout">0.5</param>
<param name="carrier">fast_tcp</param>
</device>

<device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_upper_leg_imu_client" type="multipleanalogsensorsclient">
<param name="remote">/icub/right_leg/imu</param>
<param name="local">/yarp_robot_logger/right_leg/imu</param>
<param name="timeout">0.02</param>
<param name="timeout">0.5</param>
<param name="carrier">fast_tcp</param>
</device>

<device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_foot_imu_client" type="multipleanalogsensorsclient">
<param name="remote">/icub/right_foot/imu</param>
<param name="local">/yarp_robot_logger/right_foot/imu</param>
<param name="timeout">0.02</param>
<param name="timeout">0.5</param>
<param name="carrier">fast_tcp</param>
</device>

</devices>
Expand Down
78 changes: 39 additions & 39 deletions devices/YarpRobotLoggerDevice/app/robots/iCubGenova09/interface/mas-remapper.xml
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -1,48 +1,48 @@
<!-- Copyright (C) 2019-2021 Istituto Italiano di Tecnologia (IIT). All rights reserved.
This software may be modified and distributed under the terms of the
BSD-3-Clause license. -->
This software may be modified and distributed under the terms of the
BSD-3-Clause license. -->

<?xml version="1.0" encoding="UTF-8" ?>
<device xmlns:xi="http://www.w3.org/2001/XInclude" name="mas-remapper" type="multipleanalogsensorsremapper">
<param name="period">10</param>
<param name="ThreeAxisGyroscopesNames">
(rfeimu_gyro, l_arm_ft_gyro, r_arm_ft_gyro, l_leg_ft_gyro, l_foot_front_ft_gyro, l_foot_rear_ft_gyro, r_leg_ft_gyro, r_foot_front_ft_gyro, r_foot_rear_ft_gyro)
</param>
<param name="ThreeAxisLinearAccelerometersNames">
(rfeimu_acc, l_arm_ft_acc, r_arm_ft_acc, l_leg_ft_acc, l_foot_front_ft_acc, l_foot_rear_ft_acc, r_leg_ft_acc, r_foot_front_ft_acc, r_foot_rear_ft_acc)
</param>
<param name="ThreeAxisMagnetometersNames">
(rfeimu_mag, l_arm_ft_mag, r_arm_ft_mag, l_leg_ft_mag, l_foot_front_ft_mag, l_foot_rear_ft_mag, r_leg_ft_mag, r_foot_front_ft_mag, r_foot_rear_ft_mag)
</param>
<param name="OrientationSensorsNames">
(rfeimu_eul, l_arm_ft_eul, r_arm_ft_eul, l_leg_ft_eul, l_foot_front_ft_eul, l_foot_rear_ft_eul, r_leg_ft_eul, r_foot_front_ft_eul, r_foot_rear_ft_eul)
</param>
<param name="SixAxisForceTorqueSensorsNames">
(l_arm_ft_sensor, r_arm_ft_sensor, l_leg_ft_sensor, l_foot_front_ft_sensor, l_foot_rear_ft_sensor, r_leg_ft_sensor, r_foot_front_ft_sensor, r_foot_rear_ft_sensor)
</param>
<param name="TemperatureSensorsNames">
(l_arm_ft_sensor, r_arm_ft_sensor, l_leg_ft_sensor, l_foot_front_ft_sensor, l_foot_rear_ft_sensor, r_leg_ft_sensor, r_foot_front_ft_sensor, r_foot_rear_ft_sensor)
</param>
<param name="period">10</param>
<param name="ThreeAxisGyroscopesNames">
(rfeimu_gyro, l_arm_ft_gyro, r_arm_ft_gyro, l_leg_ft_gyro, l_foot_front_ft_gyro, l_foot_rear_ft_gyro, r_leg_ft_gyro, r_foot_front_ft_gyro, r_foot_rear_ft_gyro)
</param>
<param name="ThreeAxisLinearAccelerometersNames">
(rfeimu_acc, l_arm_ft_acc, r_arm_ft_acc, l_leg_ft_acc, l_foot_front_ft_acc, l_foot_rear_ft_acc, r_leg_ft_acc, r_foot_front_ft_acc, r_foot_rear_ft_acc)
</param>
<param name="ThreeAxisMagnetometersNames">
(rfeimu_mag, l_arm_ft_mag, r_arm_ft_mag, l_leg_ft_mag, l_foot_front_ft_mag, l_foot_rear_ft_mag, r_leg_ft_mag, r_foot_front_ft_mag, r_foot_rear_ft_mag)
</param>
<param name="OrientationSensorsNames">
(rfeimu_eul, l_arm_ft_eul, r_arm_ft_eul, l_leg_ft_eul, l_foot_front_ft_eul, l_foot_rear_ft_eul, r_leg_ft_eul, r_foot_front_ft_eul, r_foot_rear_ft_eul)
</param>
<param name="SixAxisForceTorqueSensorsNames">
(l_arm_ft_sensor, r_arm_ft_sensor, l_leg_ft_sensor, l_foot_front_ft_sensor, l_foot_rear_ft_sensor, r_leg_ft_sensor, r_foot_front_ft_sensor, r_foot_rear_ft_sensor)
</param>
<param name="TemperatureSensorsNames">
(l_arm_ft_sensor, r_arm_ft_sensor, l_leg_ft_sensor, l_foot_front_ft_sensor, l_foot_rear_ft_sensor, r_leg_ft_sensor, r_foot_front_ft_sensor, r_foot_rear_ft_sensor)
</param>

<action phase="startup" level="5" type="attach">
<paramlist name="networks">
<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_upper_leg_ft_client">left_upper_leg_ft_client</elem>
<elem name="left_foot_ft_client">left_foot_ft_client</elem>
<elem name="right_upper_leg_ft_client">right_upper_leg_ft_client</elem>
<elem name="right_foot_ft_client">right_foot_ft_client</elem>
<action phase="startup" level="5" type="attach">
<paramlist name="networks">
<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_upper_leg_ft_client">left_upper_leg_ft_client</elem>
<elem name="left_foot_ft_client">left_foot_ft_client</elem>
<elem name="right_upper_leg_ft_client">right_upper_leg_ft_client</elem>
<elem name="right_foot_ft_client">right_foot_ft_client</elem>

<elem name="head_imu_acc">head_imu_acc</elem>
<elem name="head_imu_acc">head_imu_acc</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_upper_leg_imu_client">left_upper_leg_imu_client</elem>
<elem name="left_foot_imu_client">left_foot_imu_client</elem>
<elem name="right_upper_leg_imu_client">right_upper_leg_imu_client</elem>
<elem name="right_foot_imu_client">right_foot_imu_client</elem>
</paramlist>
</action>
<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_upper_leg_imu_client">left_upper_leg_imu_client</elem>
<elem name="left_foot_imu_client">left_foot_imu_client</elem>
<elem name="right_upper_leg_imu_client">right_upper_leg_imu_client</elem>
<elem name="right_foot_imu_client">right_foot_imu_client</elem>
</paramlist>
</action>

<action phase="shutdown" level="5" type="detach" />
<action phase="shutdown" level="5" type="detach" />
</device>
26 changes: 14 additions & 12 deletions devices/YarpRobotLoggerDevice/app/robots/iCubGenova09/interface/webcams.xml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -7,20 +7,22 @@ BSD-3-Clause license. -->

<device xmlns:xi="http://www.w3.org/2001/XInclude" name="camera1" type="opencv_grabber">
<param name="camera">0</param>
<param name="width">1280</param>
<param name="height">720</param>
<param name="width">1024</param>
<param name="height">576</param>
</device>

<device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_eye" type="remote_grabber">
<param name="local">/yarp_robot_logger/cam/left</param>
<param name="remote">/icub/cam/left</param>
<param name="stream">mjpeg</param>
</device>
<!-- Enable the following block if you want to collect retrieve the cameras of the robot -->

<device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_eye" type="remote_grabber">
<param name="local">/yarp_robot_logger/cam/right</param>
<param name="remote">/icub/cam/right</param>
<param name="stream">mjpeg</param>
</device>
<!-- <device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_eye" type="remote_grabber"> -->
<!-- <param name="local">/yarp_robot_logger/cam/left</param> -->
<!-- <param name="remote">/icub/cam/left</param> -->
<!-- <param name="stream">mjpeg</param> -->
<!-- </device> -->

<!-- <device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_eye" type="remote_grabber"> -->
<!-- <param name="local">/yarp_robot_logger/cam/right</param> -->
<!-- <param name="remote">/icub/cam/right</param> -->
<!-- <param name="stream">mjpeg</param> -->
<!-- </device> -->

</devices>
Loading