Visualise `FT_sensors`

Question

Visualise `FT_sensors`

Closed this issue 2 years ago · 10 comments

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:

modality index¹ -> sensor index -> measurements or timestamp selection index -> measurement component index.

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

Thanks!

Answer 1 · 2022-09-01T14:21:48.000Z

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?

Answer 2 · 2022-09-01T14:28:36.000Z

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

Answer 3 · 2022-09-01T16:08:44.000Z

@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?

Answer 4 · 2022-09-01T16:12:01.000Z

@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.

Answer 5 · 2022-09-01T16:17:15.000Z

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.

Answer 6 · 2022-09-01T16:33:35.000Z

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.

Answer 7 · 2022-09-02T07:14:26.000Z

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.

Answer 8 · 2022-09-02T11:31:02.000Z

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)) () () () ()

Answer 9 · 2022-09-05T18:20:14.000Z

Corrected the format documentation in the description.

Note (to be verified)

Footnotes