From 76d62569f8710e735a6be690aff74bb47223754f Mon Sep 17 00:00:00 2001 From: Ines Sorrentino <43743081+isorrentino@users.noreply.github.com> Date: Thu, 8 Feb 2024 21:09:58 +0100 Subject: [PATCH] =?UTF-8?q?=F0=9F=A4=96=20[ergoCubGazeboV1=5F1]=20Add=20co?= =?UTF-8?q?nfiguration=20files=20for=20data=20logging=20(#806)?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- CHANGELOG.md | 3 +- .../all_joints_mc.xml | 13 ++++ .../ft_clients.xml | 36 +++++++++ .../imu_clients.xml | 43 +++++++++++ .../mas-remapper.xml | 26 +++++++ .../wrench_clients.xml | 44 +++++++++++ .../launch-yarp-robot-logger.xml | 16 ++++ .../ergoCubGazeboV1_1/yarp-robot-logger.xml | 73 +++++++++++++++++++ 8 files changed, 253 insertions(+), 1 deletion(-) create mode 100644 devices/YarpRobotLoggerDevice/app/robots/ergoCubGazeboV1_1/blf-yarp-robot-logger-interfaces/all_joints_mc.xml create mode 100644 devices/YarpRobotLoggerDevice/app/robots/ergoCubGazeboV1_1/blf-yarp-robot-logger-interfaces/ft_clients.xml create mode 100644 devices/YarpRobotLoggerDevice/app/robots/ergoCubGazeboV1_1/blf-yarp-robot-logger-interfaces/imu_clients.xml create mode 100644 devices/YarpRobotLoggerDevice/app/robots/ergoCubGazeboV1_1/blf-yarp-robot-logger-interfaces/mas-remapper.xml create mode 100644 devices/YarpRobotLoggerDevice/app/robots/ergoCubGazeboV1_1/blf-yarp-robot-logger-interfaces/wrench_clients.xml create mode 100644 devices/YarpRobotLoggerDevice/app/robots/ergoCubGazeboV1_1/launch-yarp-robot-logger.xml create mode 100644 devices/YarpRobotLoggerDevice/app/robots/ergoCubGazeboV1_1/yarp-robot-logger.xml diff --git a/CHANGELOG.md b/CHANGELOG.md index 09193e1931..890fe2be33 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -5,6 +5,7 @@ All notable changes to this project are documented in this file. ### Added - Set submodel states from IMUs in RDE and add friction torques as measurement (https://github.com/ami-iit/bipedal-locomotion-framework/pull/793) - Add streaming of arm fts in YarpRobotLoggerDevice (https://github.com/ami-iit/bipedal-locomotion-framework/pull/803) +- Add configuration files to log data from `ergoCubGazeboV1_1` (https://github.com/ami-iit/bipedal-locomotion-framework/pull/806) ### Changed ### Fixed @@ -555,4 +556,4 @@ All notable changes to this project are documented in this file. [0.3.0]: https://github.com/ami-iit/bipedal-locomotion-framework/compare/v0.2.0...v0.3.0 [0.2.0]: https://github.com/ami-iit/bipedal-locomotion-framework/compare/v0.1.1...v0.2.0 [0.1.1]: https://github.com/ami-iit/bipedal-locomotion-framework/compare/v0.1.0...v0.1.1 -[0.1.0]: https://github.com/ami-iit/bipedal-locomotion-framework/releases/tag/v0.1.0 \ No newline at end of file +[0.1.0]: https://github.com/ami-iit/bipedal-locomotion-framework/releases/tag/v0.1.0 diff --git a/devices/YarpRobotLoggerDevice/app/robots/ergoCubGazeboV1_1/blf-yarp-robot-logger-interfaces/all_joints_mc.xml b/devices/YarpRobotLoggerDevice/app/robots/ergoCubGazeboV1_1/blf-yarp-robot-logger-interfaces/all_joints_mc.xml new file mode 100644 index 0000000000..653344d6c9 --- /dev/null +++ b/devices/YarpRobotLoggerDevice/app/robots/ergoCubGazeboV1_1/blf-yarp-robot-logger-interfaces/all_joints_mc.xml @@ -0,0 +1,13 @@ + + + + ("/ergocubSim/head", "/ergocubSim/torso", "/ergocubSim/left_arm", "/ergocubSim/right_arm", "/ergocubSim/left_leg", "/ergocubSim/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", "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") + /yarp_robot_logger/joints + + + udp + + diff --git a/devices/YarpRobotLoggerDevice/app/robots/ergoCubGazeboV1_1/blf-yarp-robot-logger-interfaces/ft_clients.xml b/devices/YarpRobotLoggerDevice/app/robots/ergoCubGazeboV1_1/blf-yarp-robot-logger-interfaces/ft_clients.xml new file mode 100644 index 0000000000..4c9e9179db --- /dev/null +++ b/devices/YarpRobotLoggerDevice/app/robots/ergoCubGazeboV1_1/blf-yarp-robot-logger-interfaces/ft_clients.xml @@ -0,0 +1,36 @@ + + + + + + + /ergocubSim/left_arm/FT + /yarp_robot_logger/left_arm + 0.5 + fast_tcp + + + + /ergocubSim/right_arm/FT + /yarp_robot_logger/right_arm + 0.5 + fast_tcp + + + + /ergocubSim/left_leg/FT + /yarp_robot_logger/left_leg + 0.5 + fast_tcp + + + + /ergocubSim/right_leg/FT + /yarp_robot_logger/right_leg + 0.5 + fast_tcp + + + diff --git a/devices/YarpRobotLoggerDevice/app/robots/ergoCubGazeboV1_1/blf-yarp-robot-logger-interfaces/imu_clients.xml b/devices/YarpRobotLoggerDevice/app/robots/ergoCubGazeboV1_1/blf-yarp-robot-logger-interfaces/imu_clients.xml new file mode 100644 index 0000000000..014860d483 --- /dev/null +++ b/devices/YarpRobotLoggerDevice/app/robots/ergoCubGazeboV1_1/blf-yarp-robot-logger-interfaces/imu_clients.xml @@ -0,0 +1,43 @@ + + + + + + + /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/imu + /yarp_robot_logger/left_foot/imu + 0.5 + fast_tcp + + + + /ergocub/right_foot/imu + /yarp_robot_logger/right_foot/imu + 0.5 + fast_tcp + + + diff --git a/devices/YarpRobotLoggerDevice/app/robots/ergoCubGazeboV1_1/blf-yarp-robot-logger-interfaces/mas-remapper.xml b/devices/YarpRobotLoggerDevice/app/robots/ergoCubGazeboV1_1/blf-yarp-robot-logger-interfaces/mas-remapper.xml new file mode 100644 index 0000000000..9beac7ab08 --- /dev/null +++ b/devices/YarpRobotLoggerDevice/app/robots/ergoCubGazeboV1_1/blf-yarp-robot-logger-interfaces/mas-remapper.xml @@ -0,0 +1,26 @@ + + + + + 10 + + (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) + + + + (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) + + + + + left_arm_ft_client + right_arm_ft_client + left_leg_ft_client + right_leg_ft_client + + + + + diff --git a/devices/YarpRobotLoggerDevice/app/robots/ergoCubGazeboV1_1/blf-yarp-robot-logger-interfaces/wrench_clients.xml b/devices/YarpRobotLoggerDevice/app/robots/ergoCubGazeboV1_1/blf-yarp-robot-logger-interfaces/wrench_clients.xml new file mode 100644 index 0000000000..3fef18f098 --- /dev/null +++ b/devices/YarpRobotLoggerDevice/app/robots/ergoCubGazeboV1_1/blf-yarp-robot-logger-interfaces/wrench_clients.xml @@ -0,0 +1,44 @@ + + + + + + + /wholeBodyDynamics/left_arm/cartesianEndEffectorWrench:o + /yarp_robot_logger/left_arm_wrench + udp + + + + /wholeBodyDynamics/right_arm/cartesianEndEffectorWrench:o + /yarp_robot_logger/right_arm_wrench + udp + + + + /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/ergoCubGazeboV1_1/launch-yarp-robot-logger.xml b/devices/YarpRobotLoggerDevice/app/robots/ergoCubGazeboV1_1/launch-yarp-robot-logger.xml new file mode 100644 index 0000000000..55f28a9b11 --- /dev/null +++ b/devices/YarpRobotLoggerDevice/app/robots/ergoCubGazeboV1_1/launch-yarp-robot-logger.xml @@ -0,0 +1,16 @@ + + + + + + + + + + + + + + diff --git a/devices/YarpRobotLoggerDevice/app/robots/ergoCubGazeboV1_1/yarp-robot-logger.xml b/devices/YarpRobotLoggerDevice/app/robots/ergoCubGazeboV1_1/yarp-robot-logger.xml new file mode 100644 index 0000000000..faf1ca044c --- /dev/null +++ b/devices/YarpRobotLoggerDevice/app/robots/ergoCubGazeboV1_1/yarp-robot-logger.xml @@ -0,0 +1,73 @@ + + + + + ergocubSim + 0.002 + (30) + mp4v + /yarp-robot-logger + ("ergoCubGazeboV1/yarprobotinterface") + + + 600.0 + + + + ("Walking") + () + + + "/yarp-robot-logger/exogenous_signals/walking" + "/walking-coordinator/logger" + "walking" + "udp" + + + + + false + + () + + + + + false + true + false + false + true + false + false + true + + + ("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") + + + + ("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") + + + + ("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") + + + + + + + + all_joints_mc + mas-remapper + + + + + + + +