Add proprioception aron xml

source/RobotAPI/libraries/armem_robot_state/CMakeLists.txt

@@ -75,9 +75,10 @@ armarx_enable_aron_file_generation_for_target(
     TARGET_NAME
         "${LIB_NAME}"
     ARON_FILES
+        aron/JointState.xml
+        aron/Proprioception.xml
         aron/TransformHeader.xml
         aron/Transform.xml
-        aron/JointState.xml
 )
 
 

source/RobotAPI/libraries/armem_robot_state/aron/Proprioception.xml

+<?xml version="1.0" encoding="UTF-8" ?>
+<!--
+Robot proprioception.
+-->
+<AronTypeDefinition>
+    <GenerateTypes>
+
+        <Object name="armarx::armem::prop::arondto::Joints">
+            
+            <ObjectChild key="positions">
+                <Dict>
+                    <Float />
+                </Dict>
+            </ObjectChild>
+
+            <ObjectChild key="velocities">
+                <Dict>
+                    <Float />
+                </Dict>
+            </ObjectChild>
+            
+            <ObjectChild key="accellerations">
+                <Dict>
+                    <Float />
+                </Dict>
+            </ObjectChild>
+            
+            <ObjectChild key="torques">
+                <Dict>
+                    <Float />
+                </Dict>
+            </ObjectChild>
+            
+            <ObjectChild key="inertiaTorques">
+                <Dict>
+                    <Float />
+                </Dict>
+            </ObjectChild>
+            
+            <ObjectChild key="gravityTorques">
+                <Dict>
+                    <Float />
+                </Dict>
+            </ObjectChild>
+            
+            <ObjectChild key="inserveDynamicsTorques">
+                <Dict>
+                    <Float />
+                </Dict>
+            </ObjectChild>
+            
+        </Object>
+
+        
+        <Object name="armarx::armem::prop::arondto::Platform">
+            
+            <ObjectChild key="absolutePosition">
+                <EigenMatrix rows="3" cols="1" type="float" />
+            </ObjectChild>
+            
+            <ObjectChild key="relativePosition">
+                <EigenMatrix rows="3" cols="1" type="float" />
+            </ObjectChild>
+            
+            <ObjectChild key="velocity">
+                <EigenMatrix rows="3" cols="1" type="float" />
+            </ObjectChild>
+            
+            <ObjectChild key="accelleration">
+                <EigenMatrix rows="3" cols="1" type="float" />
+            </ObjectChild>
+            
+        </Object>
+        
+        
+        
+        <Object name="armarx::armem::prop::arondto::ForceTorque">
+            
+            <ObjectChild key="force">
+                <EigenMatrix rows="3" cols="1" type="float" />
+            </ObjectChild>
+            
+            <ObjectChild key="torque">
+                <EigenMatrix rows="3" cols="1" type="float" />
+            </ObjectChild>
+            
+            <ObjectChild key="gravityCompensationForce">
+                <EigenMatrix rows="3" cols="1" type="float" />
+            </ObjectChild>
+            
+            <ObjectChild key="gravityCompensationTorque">
+                <EigenMatrix rows="3" cols="1" type="float" />
+            </ObjectChild>
+            
+        </Object>
+
+        
+        
+        <Object name="armarx::armem::prop::arondto::Proprioception">
+            
+            <ObjectChild key="joints">
+                <armarx::armem::prop::arondto::Joints/>
+            </ObjectChild>
+            
+            <ObjectChild key="platform">
+                <armarx::armem::prop::arondto::Platform/>
+            </ObjectChild>
+            
+            <ObjectChild key="forceTorque">
+                <Dict>
+                    <armarx::armem::prop::arondto::ForceTorque/>
+                </Dict>
+            </ObjectChild>
+            
+        </Object>
+
+            
+    </GenerateTypes>
+</AronTypeDefinition>