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[ergoCubSN001] Enable the logging of the external wrenches of the leg…
…s and the arms IMUs (#888)
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Original file line number | Diff line number | Diff line change |
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@@ -20,12 +20,17 @@ BSD-3-Clause license. --> | |
<param name="text_logging_subnames">("ergoCubSN001/yarprobotinterface")</param> | ||
<param name="code_status_cmd_prefixes">("ssh [email protected]" "ssh [email protected]")</param> | ||
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<!-- <group name="REAL_TIME_STREAMING"> | ||
<param name="remote">"/rtLoggingVectorCollections"</param> | ||
</group> --> | ||
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<group name="Telemetry"> | ||
<param name="save_period">1800.0</param> | ||
</group> | ||
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<group name="ExogenousSignals"> | ||
<param name="vectors_collection_exogenous_inputs">("Walking", "GridTracking","cmw")</param> | ||
<param name="vectors_collection_exogenous_inputs">("Walking", "GridTracking","cmw", "Balancing")</param> | ||
<param name="vectors_exogenous_inputs">()</param> | ||
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<group name="Walking"> | ||
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@@ -43,8 +48,8 @@ BSD-3-Clause license. --> | |
</group> | ||
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<group name="Balancing"> | ||
<param name="local">"/yarp-robot-logger/exogenous_signals/balancing_position_controller"</param> | ||
<param name="remote">"/balancing_position_controller/logger"</param> | ||
<param name="local">"/yarp-robot-logger/exogenous_signals/balancing_torque_controller"</param> | ||
<param name="remote">"/balancing_torque_controller/logger"</param> | ||
<param name="signal_name">"balancing"</param> | ||
<param name="carrier">"udp"</param> | ||
</group> | ||
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@@ -96,15 +101,14 @@ BSD-3-Clause license. --> | |
</group> | ||
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<group name="CartesianWrenches"> | ||
<!-- <param name="cartesian_wrenches_list">("left_front_wrench_client", "left_rear_wrench_client", "right_front_wrench_client", "right_rear_wrench_client", "left_arm_wrench_client", "right_arm_wrench_client")</param> --> | ||
<param name="cartesian_wrenches_list">("left_front_wrench_client", "left_rear_wrench_client", "right_front_wrench_client", "right_rear_wrench_client")</param> | ||
<param name="cartesian_wrenches_list">("left_front_wrench_client", "left_rear_wrench_client", "right_front_wrench_client", "right_rear_wrench_client", "left_arm_wrench_client", "right_arm_wrench_client", "left_leg_wrench_client", "right_leg_wrench_client")</param> | ||
</group> | ||
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<group name="InertialSensors"> | ||
<param name="accelerometers_list">(waist_imu_0, l_foot_front_ft_imu, l_foot_rear_ft_imu, r_foot_front_ft_imu, r_foot_rear_ft_imu, l_leg_ft_imu, r_leg_ft_imu)</param> | ||
<param name="gyroscopes_list">(waist_imu_0, l_foot_front_ft_imu, l_foot_rear_ft_imu, r_foot_front_ft_imu, r_foot_rear_ft_imu, l_leg_ft_imu, r_leg_ft_imu)</param> | ||
<param name="magnetometers_list">(waist_imu_0, l_foot_front_ft_imu, l_foot_rear_ft_imu, r_foot_front_ft_imu, r_foot_rear_ft_imu, l_leg_ft_imu, r_leg_ft_imu)</param> | ||
<param name="orientation_sensors_list">(waist_imu_0, l_foot_front_ft_imu, l_foot_rear_ft_imu, r_foot_front_ft_imu, r_foot_rear_ft_imu, l_leg_ft_imu, r_leg_ft_imu)</param> | ||
<param name="accelerometers_list">(waist_imu_0, l_foot_front_ft_imu, l_foot_rear_ft_imu, r_foot_front_ft_imu, r_foot_rear_ft_imu, l_leg_ft_imu, r_leg_ft_imu, r_arm_ft_imu, l_arm_ft_imu)</param> | ||
<param name="gyroscopes_list">(waist_imu_0, l_foot_front_ft_imu, l_foot_rear_ft_imu, r_foot_front_ft_imu, r_foot_rear_ft_imu, l_leg_ft_imu, r_leg_ft_imu, r_arm_ft_imu, l_arm_ft_imu)</param> | ||
<param name="magnetometers_list">(waist_imu_0, l_foot_front_ft_imu, l_foot_rear_ft_imu, r_foot_front_ft_imu, r_foot_rear_ft_imu, l_leg_ft_imu, r_leg_ft_imu, r_arm_ft_imu, l_arm_ft_imu)</param> | ||
<param name="orientation_sensors_list">(waist_imu_0, l_foot_front_ft_imu, l_foot_rear_ft_imu, r_foot_front_ft_imu, r_foot_rear_ft_imu, l_leg_ft_imu, r_leg_ft_imu, r_arm_ft_imu, l_arm_ft_imu)</param> | ||
</group> | ||
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</group> | ||
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@@ -117,8 +121,10 @@ BSD-3-Clause license. --> | |
<elem name="left_rear_wrench_client">left_rear_wrench_client</elem> | ||
<elem name="right_front_wrench_client">right_front_wrench_client</elem> | ||
<elem name="right_rear_wrench_client">right_rear_wrench_client</elem> | ||
<!--elem name="right_arm_wrench_client">right_arm_wrench_client</elem> | ||
<elem name="left_arm_wrench_client">left_arm_wrench_client</elem--> | ||
<elem name="right_leg_wrench_client">right_leg_wrench_client</elem> | ||
<elem name="left_leg_wrench_client">left_leg_wrench_client</elem> | ||
<elem name="right_arm_wrench_client">right_arm_wrench_client</elem> | ||
<elem name="left_arm_wrench_client">left_arm_wrench_client</elem> | ||
<elem name="mas-remapper">mas-remapper</elem> | ||
<!-- <elem name="realsense">realsense</elem> --> | ||
<elem name="jabra">jabra</elem> | ||
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@@ -129,4 +135,3 @@ BSD-3-Clause license. --> | |
<!-- FINISH ATTACH--> | ||
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</device> | ||
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