From 42102108f02991ccc3776e6ee46e9159da9178c7 Mon Sep 17 00:00:00 2001
From: Rainer Kartmann <rainer.kartmann@kit.edu>
Date: Wed, 21 Jul 2021 22:03:30 +0200
Subject: [PATCH] Add proprioception aron xml
---
.../armem_robot_state/CMakeLists.txt | 3 +-
.../armem_robot_state/aron/Proprioception.xml | 119 ++++++++++++++++++
2 files changed, 121 insertions(+), 1 deletion(-)
create mode 100644 source/RobotAPI/libraries/armem_robot_state/aron/Proprioception.xml
diff --git a/source/RobotAPI/libraries/armem_robot_state/CMakeLists.txt b/source/RobotAPI/libraries/armem_robot_state/CMakeLists.txt
index 79de71c71..defd8a3f4 100644
--- a/source/RobotAPI/libraries/armem_robot_state/CMakeLists.txt
+++ b/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
)
diff --git a/source/RobotAPI/libraries/armem_robot_state/aron/Proprioception.xml b/source/RobotAPI/libraries/armem_robot_state/aron/Proprioception.xml
new file mode 100644
index 000000000..9a402c5f0
--- /dev/null
+++ b/source/RobotAPI/libraries/armem_robot_state/aron/Proprioception.xml
@@ -0,0 +1,119 @@
+<?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>
--
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