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Whole-body Compliant Dynamical Contacts in Cognitive Humanoids
www.codyco.eu
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[wholeBodyDynamicsTree] Backward compatibility #40

Closed traversaro closed 7 years ago

traversaro commented 10 years ago

For simplifying the codyco demo scenario (in relation to https://github.com/robotology/codyco/issues/39) I was looking into adding /icub/part/endEffectorWrench:o and /icub/part/cartesianEndEffectorWrench:o to stream directly the wrench acting at the end effector, expressed at root (base) and end effector reference frame.

Apparently this ports are used by some users out in the world, as reported on rc-hackers.

In general, we have to decide which ports to support in the new wholeBodyDynamics for backward compatibility (I guess we all agree that we do not want to support ALL the ports that are currently exposed by wholeBodyDynamics).

iron76 commented 10 years ago

I am ok with the ports at the end effectors. Concerning which ports to port I would only add those that are used by first sending an email to rc-hackers, adding those that people ask not to remove. In case someone changes his mind we can always add the other ports upon request. Francesco

Francesco Nori Istituto Italiano di Tecnologia Email: francesco.nori@iit.itmailto:francesco.nori@iit.it

Web: people.liralab.it/ironhttp://people.liralab.it/iron

On 15/apr/2014, at 19:04, "Silvio Traversaro" notifications@github.com<mailto:notifications@github.com> wrote:

For simplifying the codyco demo scenario (in relation to #39https://github.com/robotology/codyco/issues/39) I was looking into adding /icub/part/endEffectorWrench:o and /icub/part/cartesianEndEffectorWrench:o to stream directly the wrench acting at the end effector, expressed at root (base) and end effector reference frame.

Apparently this ports are used by some users out in the world, as reported on rc-hackershttp://robotcub-hackers.2198711.n2.nabble.com/cartesianEndEffectorWrench-in-wholeBodyDynamics-td7193972.html.

In general, we have to decide which ports to support in the new wholeBodyDynamics for backward compatibility (I guess we all agree that we do not want to support ALL the ports that are currently exposed by wholeBodyDynamics).

— Reply to this email directly or view it on GitHubhttps://github.com/robotology/codyco/issues/40.

serena-ivaldi commented 10 years ago

I am using these ports !!

Sere

From: Francesco Nori [mailto:notifications@github.com] Sent: mercredi 16 avril 2014 07:46 To: robotology/codyco Subject: Re: [codyco] [wholeBodyDynamicsTree] Backward compatibility (#40)

I am ok with the ports at the end effectors. Concerning which ports to port I would only add those that are used by first sending an email to rc-hackers, adding those that people ask not to remove. In case someone changes his mind we can always add the other ports upon request. Francesco

Francesco Nori Istituto Italiano di Tecnologia Email: mailto:francesco.nori@iit.it%3cmailto:francesco.nori@iit.it francesco.nori@iit.itmailto:francesco.nori@iit.it

Web: people.liralab.it/iron< http://people.liralab.it/iron http://people.liralab.it/iron>

On 15/apr/2014, at 19:04, "Silvio Traversaro" < mailto:notifications@github.com%3cmailto:notifications@github.com notifications@github.commailto:notifications@github.com> wrote:

For simplifying the codyco demo scenario (in relation to #39< https://github.com/robotology/codyco/issues/39 https://github.com/robotology/codyco/issues/39>) I was looking into adding /icub/part/endEffectorWrench:o and /icub/part/cartesianEndEffectorWrench:o to stream directly the wrench acting at the end effector, expressed at root (base) and end effector reference frame.

Apparently this ports are used by some users out in the world, as reported on rc-hackers< http://robotcub-hackers.2198711.n2.nabble.com/cartesianEndEffectorWrench-in-wholeBodyDynamics-td7193972.html http://robotcub-hackers.2198711.n2.nabble.com/cartesianEndEffectorWrench-in-wholeBodyDynamics-td7193972.html>.

In general, we have to decide which ports to support in the new wholeBodyDynamics for backward compatibility (I guess we all agree that we do not want to support ALL the ports that are currently exposed by wholeBodyDynamics).

— Reply to this email directly or view it on GitHub< https://github.com/robotology/codyco/issues/40 https://github.com/robotology/codyco/issues/40>.

— Reply to this email directly or view it on GitHub https://github.com/robotology/codyco/issues/40#issuecomment-40565191 . https://github.com/notifications/beacon/3786602__eyJzY29wZSI6Ik5ld3NpZXM6QmVhY29uIiwiZXhwaXJlcyI6MTcxMzI0NjM2MCwiZGF0YSI6eyJpZCI6MzAwNzM1ODl9fQ==--070057fe004820b9578f30a895e0b416f4175092.gif

lornat75 commented 10 years ago

Can we all meet after the 23rd and define a new set of interfaces? There are other things we have to discuss and post-poned for too long now ☺

From: Francesco Nori [mailto:notifications@github.com] Sent: mercoledì 16 aprile 2014 07:46 To: robotology/codyco Subject: Re: [codyco] [wholeBodyDynamicsTree] Backward compatibility (#40)

I am ok with the ports at the end effectors. Concerning which ports to port I would only add those that are used by first sending an email to rc-hackers, adding those that people ask not to remove. In case someone changes his mind we can always add the other ports upon request. Francesco

Francesco Nori Istituto Italiano di Tecnologia Email: francesco.nori@iit.itmailto:francesco.nori@iit.itmailto:francesco.nori@iit.it%3cmailto:francesco.nori@iit.it

Web: people.liralab.it/ironhttp://people.liralab.it/iron

On 15/apr/2014, at 19:04, "Silvio Traversaro" notifications@github.com<mailto:notifications@github.com<mailto:notifications@github.com%3cmailto:notifications@github.com>> wrote:

For simplifying the codyco demo scenario (in relation to #39https://github.com/robotology/codyco/issues/39) I was looking into adding /icub/part/endEffectorWrench:o and /icub/part/cartesianEndEffectorWrench:o to stream directly the wrench acting at the end effector, expressed at root (base) and end effector reference frame.

Apparently this ports are used by some users out in the world, as reported on rc-hackershttp://robotcub-hackers.2198711.n2.nabble.com/cartesianEndEffectorWrench-in-wholeBodyDynamics-td7193972.html.

In general, we have to decide which ports to support in the new wholeBodyDynamics for backward compatibility (I guess we all agree that we do not want to support ALL the ports that are currently exposed by wholeBodyDynamics).

— Reply to this email directly or view it on GitHubhttps://github.com/robotology/codyco/issues/40.

— Reply to this email directly or view it on GitHubhttps://github.com/robotology/codyco/issues/40#issuecomment-40565191.

traversaro commented 10 years ago

Ok for me!

traversaro commented 10 years ago

cc @alecive

traversaro commented 7 years ago

The wholeBodyDynamicsTree module is currently in the process of being deprecated, see https://github.com/robotology/codyco-modules/blob/master/doc/force_control_on_icub.md for the documentation on how to use the latest wholebodydynamics YARP device, and https://github.com/robotology/codyco-modules/issues/223 for the current status of the deprecation.