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jrl-umi3218 / mc_openrtm

Interface between OpenRTM and mc_rtc
BSD 2-Clause "Simplified" License
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Log command torques from IOB #26

Closed rohanpsingh closed 1 year ago

rohanpsingh commented 1 year ago

This creates a new InPort named cmdTauInIn which is expected to receive the commanded torques at the IOB level (independent of position/velocity/torque control_mode) It should be connected to the ctau port of RobotHardware as follows:

connectPorts(rh.port("ctau"), mc.port("cmdTauIn"))

For now, the received data is directly logged through controller().logger().

rohanpsingh commented 1 year ago

I confirmed that I can log the command torques on the real robot!

rohanpsingh commented 1 year ago

In order to use this feature, we need to add the following lines to our project's exp_mc.py: connectPorts(rh.port("ctau"), mc.port("cmdTauIn")) But since I don't have access to hrp-choreonoid, I cannot make that commit.

gergondet commented 1 year ago

Thanks @rohanpsingh, I will close #23 since this contains the same commits

gergondet commented 1 year ago

But since I don't have access to hrp-choreonoid, I cannot make that commit.

I think this has been fixed in recent days. Can you send a MR there?

rohanpsingh commented 1 year ago

Thank you @gergondet, Here is the MR you requested: https://gite.lirmm.fr/choreonoid-hrp-installation/hrp-choreonoid/-/merge_requests/36