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ami-iit / yarp-openmct

Repo for YARP and OpenMCT integration.
BSD 3-Clause "New" or "Revised" License
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Visualise `FT_sensors` #126

Closed nunoguedelha closed 2 years ago

nunoguedelha commented 2 years ago

Visualise the data from all the FTs available on iCubGenova09:

The FT sensors Yarp wrapper configuration files are located at ami-iit/robots-configuration/iCubGenova09/wrappers/FT#devel_iCubGenova09.

FT sensor location Config file YARP port Device Type
Left arm left_arm-FT_wrapper.xml /icub/left_arm/measures:o multipleanalogsensorsserver
Right arm right_arm-FT_wrapper.xml /icub/right_arm/measures:o multipleanalogsensorsserver
Left leg hip left_leg_hip-FT_wrapper.xml /icub/left_leg_hip/measures:o multipleanalogsensorsserver
Right leg hip right_leg_hip-FT_wrapper.xml /icub/right_leg_hip/measures:o multipleanalogsensorsserver
Left foot left_foot-FT_wrapper.xml /icub/left_foot_heel_tiptoe/measures:o multipleanalogsensorsserver
Right foot right_foot-FT_wrapper.xml /icub/right_foot_heel_tiptoe/measures:o multipleanalogsensorsserver
Device Type Parts Data Format
multipleanalogsensorsserver arm () () () () () ( ((F_x F_y F_z Tau_x Tau_y Tau_z) timestamp) ) () () () ()
multipleanalogsensorsserver leg_hip () () () () () ( ((F_x F_y F_z Tau_x Tau_y Tau_z) timestamp) ) () () () ()
multipleanalogsensorsserver foot_heel_toe () () () () () ( ((F_x F_y F_z Tau_x Tau_y Tau_z) timestamp) ((F_x F_y F_z Tau_x Tau_y Tau_z) timestamp) ) () () () ()

Note (to be verified)

we index the nested blocks inwards as follows:

[^1]: The modalities are grouped across all the sensors: e.g. the orientation measurements from all the IMUs, the angular velocity measurements from all IMUs, the force/torque measurements from all the FT sensors, etc.

nunoguedelha commented 2 years ago

Ciao @S-Dafarra . Could you let me know which main config file you are using when activating the FT sensors, or simply which files in https://github.com/ami-iit/robots-configuration/blob/devel_iCubGenova09/iCubGenova09/wrappers/FT you intend to use for activating the FTs?

S-Dafarra commented 2 years ago

Our main configuration file is https://github.com/ami-iit/robots-configuration/blob/devel_iCubGenova09/iCubGenova09/icub_wbd.xml

nunoguedelha commented 2 years ago

Thanks!

nunoguedelha commented 2 years ago

@S-Dafarra , out of curiosity, if I understood correctly from the configuration files, the heel and toe FTs...

Right?

nunoguedelha commented 2 years ago

@S-Dafarra , out of curiosity, if I understood correctly from the configuration files, the heel and toe FTs...

  • used to be connected respectively to the boards/devices right_leg-eb11-j0_2-strain and right_leg-eb12-j3_5-strain,
  • and are now both connected to the same board/device right_leg-eb12-j3_5-strain.

Right?

as pr the wrapper in the table and the configuration file https://github.com/ami-iit/robots-configuration/blob/devel_iCubGenova09/iCubGenova09/hardware/FT/right_leg-eb12-j3_5-strain.xml.

S-Dafarra commented 2 years ago

Yes, before only one EMS could have handled only one FT. But when we installed some new FTs in the thigh, we ran out of EMS. So we needed to change the FW in order to handle multiple FTs from the same board.

nunoguedelha commented 2 years ago

whenever you can, until tomorrow noon, if you could drop here a sample of the Yarp data from one of the ports in the description (e.g. /icub/left_foot_heel_tiptoe/measures:o), it would be great.

S-Dafarra commented 2 years ago

whenever you can, until tomorrow noon, if you could drop here a sample of the Yarp data from one of the ports in the description (e.g. /icub/left_foot_heel_tiptoe/measures:o), it would be great.

We have some issue with the robot at the moment and I am not able to get those data yet.

S-Dafarra commented 2 years ago

whenever you can, until tomorrow noon, if you could drop here a sample of the Yarp data from one of the ports in the description (e.g. /icub/left_foot_heel_tiptoe/measures:o), it would be great.

Here you go:

() () () () (((264.0) 1662118197.98573541641) ((264.0) 1662118197.98173546791)) (((-57.952880859375 -101.806640625 8.23974609375 -1.666259765625 0.4852294921875 0.2471923828125) 157041978.0) ((-78.55224609375 -60.05859375 -54.74853515625 -0.30670166015625 1.190185546875 -0.01373291015625) 157037978.0)) () () () ()
() () () () (((264.0) 1662118197.99573731422) ((264.0) 1662118197.99173736572)) (((-57.037353515625 -101.25732421875 6.77490234375 -1.666259765625 0.47607421875 0.2471923828125) 157051980.0) ((-78.55224609375 -59.6923828125 -55.11474609375 -0.2838134765625 1.190185546875 -0.00457763671875) 157047980.0)) () () () ()
() () () () (((264.0) 1662118198.00573444366) ((264.0) 1662118198.00173449516)) (((-57.403564453125 -101.98974609375 7.50732421875 -1.68914794921875 0.47149658203125 0.2471923828125) 157061977.0) ((-78.460693359375 -60.150146484375 -53.8330078125 -0.3021240234375 1.1993408203125 -0.0091552734375) 157057977.0)) () () () ()
() () () () (((264.0) 1662118198.00573444366) ((264.0) 1662118198.01173734665)) (((-57.403564453125 -101.98974609375 7.50732421875 -1.68914794921875 0.47149658203125 0.2471923828125) 157061977.0) ((-78.55224609375 -59.50927734375 -55.2978515625 -0.28839111328125 1.1993408203125 -0.02288818359375) 157067980.0)) () () () ()
() () () () (((264.0) 1662118198.02574038506) ((264.0) 1662118198.02174139023)) (((-57.403564453125 -100.982666015625 7.32421875 -1.67083740234375 0.494384765625 0.25177001953125) 157081983.0) ((-78.643798828125 -59.234619140625 -54.5654296875 -0.28839111328125 1.20849609375 -0.00457763671875) 157077984.0)) () () () ()
nunoguedelha commented 2 years ago

Corrected the format documentation in the description.