From 909bb4bf04d3991d0d7e0a704119f0a320f0fe9b Mon Sep 17 00:00:00 2001 From: Giulio Romualdi Date: Thu, 2 Nov 2023 13:57:24 +0100 Subject: [PATCH] =?UTF-8?q?=F0=9F=A4=96=20[ergoCubSN001]=20Add=20the=20con?= =?UTF-8?q?figuration=20file=20for=20YarpRobotLoggerDevice=20(#747)?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- CHANGELOG.md | 1 + .../all_joints_mc.xml | 13 +++ .../ft_clients.xml | 35 ++++++ .../imu_clients.xml | 59 ++++++++++ .../mas-remapper.xml | 44 +++++++ .../webcams.xml | 40 +++++++ .../wrench_clients.xml | 44 +++++++ .../ergoCubSN001/launch-yarp-robot-logger.xml | 19 +++ .../robots/ergoCubSN001/yarp-robot-logger.xml | 110 ++++++++++++++++++ 9 files changed, 365 insertions(+) create mode 100644 devices/YarpRobotLoggerDevice/app/robots/ergoCubSN001/blf-yarp-robot-logger-interfaces/all_joints_mc.xml create mode 100644 devices/YarpRobotLoggerDevice/app/robots/ergoCubSN001/blf-yarp-robot-logger-interfaces/ft_clients.xml create mode 100644 devices/YarpRobotLoggerDevice/app/robots/ergoCubSN001/blf-yarp-robot-logger-interfaces/imu_clients.xml create mode 100644 devices/YarpRobotLoggerDevice/app/robots/ergoCubSN001/blf-yarp-robot-logger-interfaces/mas-remapper.xml create mode 100644 devices/YarpRobotLoggerDevice/app/robots/ergoCubSN001/blf-yarp-robot-logger-interfaces/webcams.xml create mode 100644 devices/YarpRobotLoggerDevice/app/robots/ergoCubSN001/blf-yarp-robot-logger-interfaces/wrench_clients.xml create mode 100644 devices/YarpRobotLoggerDevice/app/robots/ergoCubSN001/launch-yarp-robot-logger.xml create mode 100644 devices/YarpRobotLoggerDevice/app/robots/ergoCubSN001/yarp-robot-logger.xml diff --git a/CHANGELOG.md b/CHANGELOG.md index f2c9f7b65e..cda63d7b14 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -13,6 +13,7 @@ All notable changes to this project are documented in this file. - Add the `getControllerOutput` method to the `TSID::SE3Task` class (https://github.com/ami-iit/bipedal-locomotion-framework/pull/740) - Implement the python bindings for the `Wrench` class (https://github.com/ami-iit/bipedal-locomotion-framework/pull/716) - Implement the python bindings for the `SimplifiedModelControllers` components (https://github.com/ami-iit/bipedal-locomotion-framework/pull/716) +- 🤖 Add the configuration files to use `YarpRobotLoggerDevice` with `ergoCubSN001` (https://github.com/ami-iit/bipedal-locomotion-framework/pull/747) ### Changed - Remove the possibility to disable the telemetry in `System::AdvanceableRunner` (https://github.com/ami-iit/bipedal-locomotion-framework/pull/726) diff --git a/devices/YarpRobotLoggerDevice/app/robots/ergoCubSN001/blf-yarp-robot-logger-interfaces/all_joints_mc.xml b/devices/YarpRobotLoggerDevice/app/robots/ergoCubSN001/blf-yarp-robot-logger-interfaces/all_joints_mc.xml new file mode 100644 index 0000000000..b52e1d5081 --- /dev/null +++ b/devices/YarpRobotLoggerDevice/app/robots/ergoCubSN001/blf-yarp-robot-logger-interfaces/all_joints_mc.xml @@ -0,0 +1,13 @@ + + + + ("/ergocub/head", "/ergocub/torso", "/ergocub/left_arm", "/ergocub/right_arm", "/ergocub/left_leg", "/ergocub/right_leg") + ("neck_pitch", "neck_roll", "neck_yaw", "camera_tilt", "torso_roll", "torso_yaw", "l_shoulder_pitch", "l_shoulder_roll", "l_shoulder_yaw", "l_elbow", "r_shoulder_pitch", "r_shoulder_roll", "r_shoulder_yaw", "r_elbow", "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") + /yarp_robot_logger/joints + + + udp + + diff --git a/devices/YarpRobotLoggerDevice/app/robots/ergoCubSN001/blf-yarp-robot-logger-interfaces/ft_clients.xml b/devices/YarpRobotLoggerDevice/app/robots/ergoCubSN001/blf-yarp-robot-logger-interfaces/ft_clients.xml new file mode 100644 index 0000000000..56329018bd --- /dev/null +++ b/devices/YarpRobotLoggerDevice/app/robots/ergoCubSN001/blf-yarp-robot-logger-interfaces/ft_clients.xml @@ -0,0 +1,35 @@ + + + + + + /ergocub/left_arm/FT + /yarp_robot_logger/left_arm + 0.5 + fast_tcp + + + + /ergocub/right_arm/FT + /yarp_robot_logger/right_arm + 0.5 + fast_tcp + + + + /ergocub/left_leg/FT + /yarp_robot_logger/left_leg + 0.5 + fast_tcp + + + + /ergocub/right_leg/FT + /yarp_robot_logger/right_leg + 0.5 + fast_tcp + + + 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 new file mode 100644 index 0000000000..b499fbe466 --- /dev/null +++ b/devices/YarpRobotLoggerDevice/app/robots/ergoCubSN001/blf-yarp-robot-logger-interfaces/imu_clients.xml @@ -0,0 +1,59 @@ + + + + + + + /ergocub/head/inertials + /yarp_robot_logger/head/inertials + 0.5 + fast_tcp + + + + /ergocub/left_arm/imu + /yarp_robot_logger/left_arm/imu + 0.5 + fast_tcp + + + + /ergocub/right_arm/imu + /yarp_robot_logger/right_arm/imu + 0.5 + fast_tcp + + + + /ergocub/left_foot_heel_tiptoe/imu + /yarp_robot_logger/left_foot_heel_tiptoe/imu + 0.5 + fast_tcp + + + + /ergocub/right_foot_heel_tiptoe/imu + /yarp_robot_logger/right_foot_heel_tiptoe/imu + 0.5 + fast_tcp + + + + /ergocub/left_leg/imu + /yarp_robot_logger/left_leg/imu + 0.5 + fast_tcp + + + + /ergocub/right_leg/imu + /yarp_robot_logger/right_leg/imu + 0.5 + fast_tcp + + + + + 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 new file mode 100644 index 0000000000..e5eebda061 --- /dev/null +++ b/devices/YarpRobotLoggerDevice/app/robots/ergoCubSN001/blf-yarp-robot-logger-interfaces/mas-remapper.xml @@ -0,0 +1,44 @@ + + + + + 10 + + (rfeimu_gyro, l_arm_ft_gyro, r_arm_ft_gyro, l_foot_front_ft_gyro, l_foot_rear_ft_gyro, r_foot_front_ft_gyro, r_foot_rear_ft_gyro, l_leg_ft_gyro, r_leg_ft_gyro) + + + (rfeimu_acc, l_arm_ft_acc, r_arm_ft_acc, l_foot_front_ft_acc, l_foot_rear_ft_acc, r_foot_front_ft_acc, r_foot_rear_ft_acc, l_leg_ft_acc, r_leg_ft_acc) + + + (rfeimu_mag, l_arm_ft_mag, r_arm_ft_mag, l_foot_front_ft_mag, l_foot_rear_ft_mag, r_foot_front_ft_mag, r_foot_rear_ft_mag, l_leg_ft_mag, r_leg_ft_mag) + + + (rfeimu_eul, l_arm_ft_eul, r_arm_ft_eul, l_foot_front_ft_eul, l_foot_rear_ft_eul, r_foot_front_ft_eul, r_foot_rear_ft_eul, l_leg_ft_eul, r_leg_ft_eul) + + + (l_arm_ft, r_arm_ft, l_foot_front_ft, l_foot_rear_ft, r_foot_front_ft, r_foot_rear_ft, l_leg_ft, r_leg_ft) + + + (l_arm_ft, r_arm_ft, l_foot_front_ft, l_foot_rear_ft, r_foot_front_ft, r_foot_rear_ft, l_leg_ft, r_leg_ft) + + + + + left_arm_ft_client + right_arm_ft_client + left_leg_ft_client + right_leg_ft_client + head_imu_acc + left_arm_imu_client + right_arm_imu_client + left_foot_imu_client + right_foot_imu_client + left_leg_imu_client + right_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 new file mode 100644 index 0000000000..5c0a103f94 --- /dev/null +++ b/devices/YarpRobotLoggerDevice/app/robots/ergoCubSN001/blf-yarp-robot-logger-interfaces/webcams.xml @@ -0,0 +1,40 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 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 new file mode 100644 index 0000000000..e2cae85c02 --- /dev/null +++ b/devices/YarpRobotLoggerDevice/app/robots/ergoCubSN001/blf-yarp-robot-logger-interfaces/wrench_clients.xml @@ -0,0 +1,44 @@ + + + + + + + + + + + + + + + + + + + /wholeBodyDynamics/left_foot_front/cartesianEndEffectorWrench:o + /yarp_robot_logger/left_front_wrench + udp + + + + /wholeBodyDynamics/left_foot_rear/cartesianEndEffectorWrench:o + /yarp_robot_logger/left_rear_wrench + udp + + + + /wholeBodyDynamics/right_foot_front/cartesianEndEffectorWrench:o + /yarp_robot_logger/right_front_wrench + udp + + + + /wholeBodyDynamics/right_foot_rear/cartesianEndEffectorWrench:o + /yarp_robot_logger/right_rear_wrench + udp + + + diff --git a/devices/YarpRobotLoggerDevice/app/robots/ergoCubSN001/launch-yarp-robot-logger.xml b/devices/YarpRobotLoggerDevice/app/robots/ergoCubSN001/launch-yarp-robot-logger.xml new file mode 100644 index 0000000000..b6c440edad --- /dev/null +++ b/devices/YarpRobotLoggerDevice/app/robots/ergoCubSN001/launch-yarp-robot-logger.xml @@ -0,0 +1,19 @@ + + + + + + + + + + + + + + + + + diff --git a/devices/YarpRobotLoggerDevice/app/robots/ergoCubSN001/yarp-robot-logger.xml b/devices/YarpRobotLoggerDevice/app/robots/ergoCubSN001/yarp-robot-logger.xml new file mode 100644 index 0000000000..ffefc05c23 --- /dev/null +++ b/devices/YarpRobotLoggerDevice/app/robots/ergoCubSN001/yarp-robot-logger.xml @@ -0,0 +1,110 @@ + + + + + ergocub + 0.01 + + () + () + + () + () + () + () + + mp4v + /yarp-robot-logger + ("ergoCubSN001/yarprobotinterface") + ("ssh ergocub@10.0.2.2" "ssh ergocub@10.0.2.3") + + + 1800.0 + + + + ("Walking") + () + + + "/yarp-robot-logger/exogenous_signals/walking:i" + "/walking-coordinator/logger/data:o" + "walking" + "udp" + + + + "/yarp-robot-logger/exogenous_signals/rde:i" + "/robot-dynamics-estimator/data:o" + "rde" + "udp" + + + + + false + + () + () + + + + + false + true + true + true + true + true + false + true + true + + + ("neck_pitch", "neck_roll", "neck_yaw", "camera_tilt", "torso_roll", "torso_yaw", "l_shoulder_pitch", "l_shoulder_roll", "l_shoulder_yaw", "l_elbow", "r_shoulder_pitch", "r_shoulder_roll", "r_shoulder_yaw", "r_elbow", "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") + + + + (l_arm_ft, r_arm_ft, l_foot_front_ft, l_foot_rear_ft, r_foot_front_ft, r_foot_rear_ft, l_leg_ft, r_leg_ft) + + + + (l_arm_ft, r_arm_ft, l_foot_front_ft, l_foot_rear_ft, r_foot_front_ft, r_foot_rear_ft, l_leg_ft, r_leg_ft) + + + + + ("left_front_wrench_client", "left_rear_wrench_client", "right_front_wrench_client", "right_rear_wrench_client") + + + + (rfeimu_acc, l_arm_ft_acc, r_arm_ft_acc, l_foot_front_ft_acc, l_foot_rear_ft_acc, r_foot_front_ft_acc, r_foot_rear_ft_acc, l_leg_ft_acc, r_leg_ft_acc) + (rfeimu_gyro, l_arm_ft_gyro, r_arm_ft_gyro, l_foot_front_ft_gyro, l_foot_rear_ft_gyro, r_foot_front_ft_gyro, r_foot_rear_ft_gyro, l_leg_ft_gyro, r_leg_ft_gyro) + (rfeimu_mag, l_arm_ft_mag, r_arm_ft_mag, l_foot_front_ft_mag, l_foot_rear_ft_mag, r_foot_front_ft_mag, r_foot_rear_ft_mag, l_leg_ft_mag, r_leg_ft_mag) + (rfeimu_eul, l_arm_ft_eul, r_arm_ft_eul, l_foot_front_ft_eul, l_foot_rear_ft_eul, r_foot_front_ft_eul, r_foot_rear_ft_eul, l_leg_ft_eul, r_leg_ft_eul) + + + + + + + + all_joints_mc + left_front_wrench_client + left_rear_wrench_client + right_front_wrench_client + right_rear_wrench_client + + + mas-remapper + + + + + + + + +