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🤖 [ergoCubGazeboV1_1] Add configuration files for data logging (#806)
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13 changes: 13 additions & 0 deletions
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...gerDevice/app/robots/ergoCubGazeboV1_1/blf-yarp-robot-logger-interfaces/all_joints_mc.xml
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| <!-- Copyright (C) 2019 Istituto Italiano di Tecnologia (IIT). All rights reserved. | ||
| 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="all_joints_mc" type="remotecontrolboardremapper"> | ||
| <param name="remoteControlBoards">("/ergocubSim/head", "/ergocubSim/torso", "/ergocubSim/left_arm", "/ergocubSim/right_arm", "/ergocubSim/left_leg", "/ergocubSim/right_leg")</param> | ||
| <param name="axesNames">("neck_pitch", "neck_roll", "neck_yaw", "camera_tilt", "torso_roll", "torso_yaw", "l_shoulder_pitch", "l_shoulder_roll", "l_shoulder_yaw", "l_elbow", "l_wrist_roll", "l_wrist_pitch", "l_wrist_yaw", "r_shoulder_pitch", "r_shoulder_roll", "r_shoulder_yaw", "r_elbow", "r_wrist_roll", "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> | ||
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| <group name="REMOTE_CONTROLBOARD_OPTIONS"> | ||
| <param name="carrier">udp</param> | ||
| </group> | ||
| </device> |
36 changes: 36 additions & 0 deletions
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...LoggerDevice/app/robots/ergoCubGazeboV1_1/blf-yarp-robot-logger-interfaces/ft_clients.xml
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| <!-- 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. --> | ||
| <?xml version="1.0" encoding="UTF-8" ?> | ||
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| <devices> | ||
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| <device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_arm_ft_client" type="multipleanalogsensorsclient"> | ||
| <param name="remote">/ergocubSim/left_arm/FT</param> | ||
| <param name="local">/yarp_robot_logger/left_arm</param> | ||
| <param name="timeout">0.5</param> | ||
| <param name="carrier">fast_tcp</param> | ||
| </device> | ||
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| <device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_arm_ft_client" type="multipleanalogsensorsclient"> | ||
| <param name="remote">/ergocubSim/right_arm/FT</param> | ||
| <param name="local">/yarp_robot_logger/right_arm</param> | ||
| <param name="timeout">0.5</param> | ||
| <param name="carrier">fast_tcp</param> | ||
| </device> | ||
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| <device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_leg_ft_client" type="multipleanalogsensorsclient"> | ||
| <param name="remote">/ergocubSim/left_leg/FT</param> | ||
| <param name="local">/yarp_robot_logger/left_leg</param> | ||
| <param name="timeout">0.5</param> | ||
| <param name="carrier">fast_tcp</param> | ||
| </device> | ||
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| <device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_leg_ft_client" type="multipleanalogsensorsclient"> | ||
| <param name="remote">/ergocubSim/right_leg/FT</param> | ||
| <param name="local">/yarp_robot_logger/right_leg</param> | ||
| <param name="timeout">0.5</param> | ||
| <param name="carrier">fast_tcp</param> | ||
| </device> | ||
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| </devices> |
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...oggerDevice/app/robots/ergoCubGazeboV1_1/blf-yarp-robot-logger-interfaces/imu_clients.xml
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| <!-- Copyright (C) 2019 Istituto Italiano di Tecnologia (IIT). All rights reserved. | ||
| This software may be modified and distributed under the terms of the | ||
| GNU Lesser General Public License v2.1 or any later version. --> | ||
| <?xml version="1.0" encoding="UTF-8" ?> | ||
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| <devices> | ||
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| <device xmlns:xi="http://www.w3.org/2001/XInclude" name="head_imu_acc" type="multipleanalogsensorsclient"> | ||
| <param name="remote">/ergocub/head/inertials</param> | ||
| <param name="local">/yarp_robot_logger/head/inertials</param> | ||
| <param name="timeout">0.5</param> | ||
| <param name="carrier">fast_tcp</param> | ||
| </device> | ||
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| <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> | ||
| <param name="carrier">fast_tcp</param> | ||
| </device> | ||
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| <device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_arm_imu_client" type="multipleanalogsensorsclient"> | ||
| <param name="remote">/ergocub/right_arm/imu</param> | ||
| <param name="local">/yarp_robot_logger/right_arm/imu</param> | ||
| <param name="timeout">0.5</param> | ||
| <param name="carrier">fast_tcp</param> | ||
| </device> | ||
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| <device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_foot_imu_client" type="multipleanalogsensorsclient"> | ||
| <param name="remote">/ergocub/left_foot/imu</param> | ||
| <param name="local">/yarp_robot_logger/left_foot/imu</param> | ||
| <param name="timeout">0.5</param> | ||
| <param name="carrier">fast_tcp</param> | ||
| </device> | ||
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| <device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_foot_imu_client" type="multipleanalogsensorsclient"> | ||
| <param name="remote">/ergocub/right_foot/imu</param> | ||
| <param name="local">/yarp_robot_logger/right_foot/imu</param> | ||
| <param name="timeout">0.5</param> | ||
| <param name="carrier">fast_tcp</param> | ||
| </device> | ||
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| </devices> |
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...ggerDevice/app/robots/ergoCubGazeboV1_1/blf-yarp-robot-logger-interfaces/mas-remapper.xml
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| <!-- 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. --> | ||
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| <?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="SixAxisForceTorqueSensorsNames"> | ||
| (l_arm_ft, r_arm_ft, l_leg_ft, l_foot_front_ft, l_foot_rear_ft, r_leg_ft, r_foot_front_ft, r_foot_rear_ft) | ||
| </param> | ||
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| <param name="TemperatureSensorsNames"> | ||
| (l_arm_ft, r_arm_ft, l_leg_ft, l_foot_front_ft, l_foot_rear_ft, r_leg_ft, r_foot_front_ft, r_foot_rear_ft) | ||
| </param> | ||
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| <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_leg_ft_client">left_leg_ft_client</elem> | ||
| <elem name="right_leg_ft_client">right_leg_ft_client</elem> | ||
| </paramlist> | ||
| </action> | ||
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| <action phase="shutdown" level="5" type="detach" /> | ||
| </device> |
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...erDevice/app/robots/ergoCubGazeboV1_1/blf-yarp-robot-logger-interfaces/wrench_clients.xml
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| <!-- 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. --> | ||
| <?xml version="1.0" encoding="UTF-8" ?> | ||
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| <devices> | ||
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| <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> | ||
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| <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> | ||
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| <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> | ||
| <param name="local">/yarp_robot_logger/left_front_wrench</param> | ||
| <param name="carrier">udp</param> | ||
| </device> | ||
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| <device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_rear_wrench_client" type="genericSensorClient"> | ||
| <param name="remote">/wholeBodyDynamics/left_foot_rear/cartesianEndEffectorWrench:o</param> | ||
| <param name="local">/yarp_robot_logger/left_rear_wrench</param> | ||
| <param name="carrier">udp</param> | ||
| </device> | ||
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| <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> | ||
| <param name="carrier">udp</param> | ||
| </device> | ||
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| <device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_rear_wrench_client" type="genericSensorClient"> | ||
| <param name="remote">/wholeBodyDynamics/right_foot_rear/cartesianEndEffectorWrench:o</param> | ||
| <param name="local">/yarp_robot_logger/right_rear_wrench</param> | ||
| <param name="carrier">udp</param> | ||
| </device> | ||
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| </devices> |
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devices/YarpRobotLoggerDevice/app/robots/ergoCubGazeboV1_1/launch-yarp-robot-logger.xml
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| <!-- Copyright (C) 2019-2022 Istituto Italiano di Tecnologia (IIT). All rights reserved. | ||
| This software may be modified and distributed under the terms of the | ||
| BSD-3-Clause license. --> | ||
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| <?xml version="1.0" encoding="UTF-8" ?> | ||
| <!DOCTYPE robot PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd"> | ||
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| <robot name="ergoCubGazeboV1_1" portprefix="YarpRobotLogger" build="1" xmlns:xi="http://www.w3.org/2001/XInclude"> | ||
| <devices> | ||
| <!-- interface --> | ||
| <xi:include href="blf-yarp-robot-logger-interfaces/all_joints_mc.xml" /> | ||
| <xi:include href="blf-yarp-robot-logger-interfaces/ft_clients.xml" /> | ||
| <xi:include href="blf-yarp-robot-logger-interfaces/mas-remapper.xml" /> | ||
| <xi:include href="./yarp-robot-logger.xml" /> | ||
| </devices> | ||
| </robot> |
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devices/YarpRobotLoggerDevice/app/robots/ergoCubGazeboV1_1/yarp-robot-logger.xml
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| <!-- 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. --> | ||
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| <?xml version="1.0" encoding="UTF-8" ?> | ||
| <device xmlns:xi="http://www.w3.org/2001/XInclude" name="yarp-robot-logger" type="YarpRobotLoggerDevice"> | ||
| <param name="robot">ergocubSim</param> | ||
| <param name="sampling_period_in_s">0.002</param> | ||
| <param name="rgb_cameras_fps">(30)</param> | ||
| <param name="video_codec_code">mp4v</param> | ||
| <param name="port_prefix">/yarp-robot-logger</param> | ||
| <param name="text_logging_subnames">("ergoCubGazeboV1/yarprobotinterface")</param> | ||
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| <group name="Telemetry"> | ||
| <param name="save_period">600.0</param> | ||
| </group> | ||
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| <group name="ExogenousSignals"> | ||
| <param name="vectors_collection_exogenous_inputs">("Walking")</param> | ||
| <param name="vectors_exogenous_inputs">()</param> | ||
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| <group name="Walking"> | ||
| <param name="local">"/yarp-robot-logger/exogenous_signals/walking"</param> | ||
| <param name="remote">"/walking-coordinator/logger"</param> | ||
| <param name="signal_name">"walking"</param> | ||
| <param name="carrier">"udp"</param> | ||
| </group> | ||
| </group> | ||
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| <group name="RobotCameraBridge"> | ||
| <param name="stream_cameras">false</param> | ||
| <group name="Cameras"> | ||
| <param name="rgb_cameras_list">()</param> | ||
| </group> | ||
| </group> | ||
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| <group name="RobotSensorBridge"> | ||
| <param name="check_for_nan">false</param> | ||
| <param name="stream_joint_states">true</param> | ||
| <param name="stream_inertials">false</param> | ||
| <param name="stream_cartesian_wrenches">false</param> | ||
| <param name="stream_forcetorque_sensors">true</param> | ||
| <param name="stream_pids">false</param> | ||
| <param name="stream_motor_PWM">false</param> | ||
| <param name="stream_temperatures">true</param> | ||
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| <group name="RemoteControlBoardRemapper"> | ||
| <param name="joints_list">("neck_pitch", "neck_roll", "neck_yaw", "camera_tilt", "torso_roll", "torso_yaw", "l_shoulder_pitch", "l_shoulder_roll", "l_shoulder_yaw", "l_elbow", "l_wrist_roll", "l_wrist_pitch", "l_wrist_yaw", "r_shoulder_pitch", "r_shoulder_roll", "r_shoulder_yaw", "r_elbow", "r_wrist_roll", "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> | ||
| </group> | ||
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| <group name="SixAxisForceTorqueSensors"> | ||
| <param name="sixaxis_forcetorque_sensors_list">("l_arm_ft", "r_arm_ft", "l_leg_ft", "l_foot_front_ft", "l_foot_rear_ft", "r_leg_ft", "r_foot_front_ft", "r_foot_rear_ft")</param> | ||
| </group> | ||
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| <group name="TemperatureSensors"> | ||
| <param name="temperature_sensors_list">("l_arm_ft", "r_arm_ft", "l_leg_ft", "l_foot_front_ft", "l_foot_rear_ft", "r_leg_ft", "r_foot_front_ft", "r_foot_rear_ft")</param> | ||
| </group> | ||
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| </group> | ||
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| <!-- ATTACH --> | ||
| <action phase="startup" level="15" type="attach"> | ||
| <paramlist name="networks"> | ||
| <elem name="all_joints">all_joints_mc</elem> | ||
| <elem name="mas-remapper">mas-remapper</elem> | ||
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| </paramlist> | ||
| </action> | ||
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| <action phase="shutdown" level="2" type="detach" /> | ||
| <!-- FINISH ATTACH--> | ||
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| </device> |