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Commit b55ae008 authored by Fabian Reister's avatar Fabian Reister Committed by Fabian Reister
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local changes on the planning PC

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scenarios/memory_to_debug_observer/config/MemoryToDebugObserver.cfg
+ 10
− 2
View file @ b55ae008
......@@ -163,10 +163,18 @@
# ArmarX.MemoryToDebugObserver.p.memoryToDebugObserverJson: Configuration of MemoryToDebugObserver in JSON format.
# Attributes:
# - Default: {"plottedValues":[{"aronPath":["joints","position","Neck_1_Yaw"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["joints","velocity","Neck_1_Yaw"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["joints","position","Neck_2_Hemisphere_A"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["joints","velocity","Neck_2_Hemisphere_A"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["joints","position","Neck_3_Hemisphere_B"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["joints","velocity","Neck_3_Hemisphere_B"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]}]}
# - Default: {"plottedValues":[{"aronPath":["joints","position","Neck_1_Yaw"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["extraLongs","Neck_1_Yaw.absoluteEncoderTicks"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["joints","positionTarget","Neck_1_Yaw"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["extraLongs","Neck_1_Yaw.absoluteEncoderTicks"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["joints","relativePosition","Neck_1_Yaw"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["extraLongs","Neck_1_Yaw.absoluteEncoderTicks"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["joints","velocity","Neck_1_Yaw"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["extraLongs","Neck_1_Yaw.absoluteEncoderTicks"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["joints","velocityTarget","Neck_1_Yaw"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["extraLongs","Neck_1_Yaw.absoluteEncoderTicks"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["joints","torque","Neck_1_Yaw"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["extraLongs","Neck_1_Yaw.absoluteEncoderTicks"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["joints","motorCurrent","Neck_1_Yaw"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["extraLongs","Neck_1_Yaw.absoluteEncoderTicks"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["joints","currentTarget","Neck_1_Yaw"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["extraLongs","Neck_1_Yaw.absoluteEncoderTicks"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["joints","position","Neck_2_Hemisphere_A"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["extraLongs","Neck_2_Hemisphere_A.absoluteEncoderTicks"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["joints","positionTarget","Neck_2_Hemisphere_A"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["extraLongs","Neck_2_Hemisphere_A.absoluteEncoderTicks"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["joints","relativePosition","Neck_2_Hemisphere_A"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["extraLongs","Neck_2_Hemisphere_A.absoluteEncoderTicks"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["joints","velocity","Neck_2_Hemisphere_A"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["extraLongs","Neck_2_Hemisphere_A.absoluteEncoderTicks"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["joints","velocityTarget","Neck_2_Hemisphere_A"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["extraLongs","Neck_2_Hemisphere_A.absoluteEncoderTicks"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["joints","torque","Neck_2_Hemisphere_A"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["extraLongs","Neck_2_Hemisphere_A.absoluteEncoderTicks"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["joints","motorCurrent","Neck_2_Hemisphere_A"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["extraLongs","Neck_2_Hemisphere_A.absoluteEncoderTicks"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["joints","currentTarget","Neck_2_Hemisphere_A"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["extraLongs","Neck_2_Hemisphere_A.absoluteEncoderTicks"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["joints","position","Neck_3_Hemisphere_B"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["extraLongs","Neck_3_Hemisphere_B.absoluteEncoderTicks"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["joints","positionTarget","Neck_3_Hemisphere_B"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["extraLongs","Neck_3_Hemisphere_B.absoluteEncoderTicks"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["joints","relativePosition","Neck_3_Hemisphere_B"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["extraLongs","Neck_3_Hemisphere_B.absoluteEncoderTicks"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["joints","velocity","Neck_3_Hemisphere_B"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["extraLongs","Neck_3_Hemisphere_B.absoluteEncoderTicks"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["joints","velocityTarget","Neck_3_Hemisphere_B"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["extraLongs","Neck_3_Hemisphere_B.absoluteEncoderTicks"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["joints","torque","Neck_3_Hemisphere_B"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["extraLongs","Neck_3_Hemisphere_B.absoluteEncoderTicks"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["joints","motorCurrent","Neck_3_Hemisphere_B"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["extraLongs","Neck_3_Hemisphere_B.absoluteEncoderTicks"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["joints","currentTarget","Neck_3_Hemisphere_B"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["extraLongs","Neck_3_Hemisphere_B.absoluteEncoderTicks"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]}]}
# - Case sensitivity: yes
# - Required: no
# ArmarX.MemoryToDebugObserver.p.memoryToDebugObserverJson = {"plottedValues":[{"aronPath":["joints","position","Neck_1_Yaw"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["joints","velocity","Neck_1_Yaw"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["joints","position","Neck_2_Hemisphere_A"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["joints","velocity","Neck_2_Hemisphere_A"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["joints","position","Neck_3_Hemisphere_B"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["joints","velocity","Neck_3_Hemisphere_B"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]}]}
# ArmarX.MemoryToDebugObserver.p.memoryToDebugObserverJson = {"plottedValues":[{"aronPath":["joints","position","Neck_1_Yaw"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["extraLongs","Neck_1_Yaw.absoluteEncoderTicks"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["joints","positionTarget","Neck_1_Yaw"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["extraLongs","Neck_1_Yaw.absoluteEncoderTicks"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["joints","relativePosition","Neck_1_Yaw"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["extraLongs","Neck_1_Yaw.absoluteEncoderTicks"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["joints","velocity","Neck_1_Yaw"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["extraLongs","Neck_1_Yaw.absoluteEncoderTicks"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["joints","velocityTarget","Neck_1_Yaw"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["extraLongs","Neck_1_Yaw.absoluteEncoderTicks"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["joints","torque","Neck_1_Yaw"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["extraLongs","Neck_1_Yaw.absoluteEncoderTicks"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["joints","motorCurrent","Neck_1_Yaw"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["extraLongs","Neck_1_Yaw.absoluteEncoderTicks"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["joints","currentTarget","Neck_1_Yaw"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["extraLongs","Neck_1_Yaw.absoluteEncoderTicks"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["joints","position","Neck_2_Hemisphere_A"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["extraLongs","Neck_2_Hemisphere_A.absoluteEncoderTicks"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["joints","positionTarget","Neck_2_Hemisphere_A"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["extraLongs","Neck_2_Hemisphere_A.absoluteEncoderTicks"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["joints","relativePosition","Neck_2_Hemisphere_A"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["extraLongs","Neck_2_Hemisphere_A.absoluteEncoderTicks"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["joints","velocity","Neck_2_Hemisphere_A"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["extraLongs","Neck_2_Hemisphere_A.absoluteEncoderTicks"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["joints","velocityTarget","Neck_2_Hemisphere_A"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["extraLongs","Neck_2_Hemisphere_A.absoluteEncoderTicks"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["joints","torque","Neck_2_Hemisphere_A"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["extraLongs","Neck_2_Hemisphere_A.absoluteEncoderTicks"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["joints","motorCurrent","Neck_2_Hemisphere_A"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["extraLongs","Neck_2_Hemisphere_A.absoluteEncoderTicks"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["joints","currentTarget","Neck_2_Hemisphere_A"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["extraLongs","Neck_2_Hemisphere_A.absoluteEncoderTicks"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["joints","position","Neck_3_Hemisphere_B"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["extraLongs","Neck_3_Hemisphere_B.absoluteEncoderTicks"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["joints","positionTarget","Neck_3_Hemisphere_B"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["extraLongs","Neck_3_Hemisphere_B.absoluteEncoderTicks"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["joints","relativePosition","Neck_3_Hemisphere_B"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["extraLongs","Neck_3_Hemisphere_B.absoluteEncoderTicks"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["joints","velocity","Neck_3_Hemisphere_B"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["extraLongs","Neck_3_Hemisphere_B.absoluteEncoderTicks"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["joints","velocityTarget","Neck_3_Hemisphere_B"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["extraLongs","Neck_3_Hemisphere_B.absoluteEncoderTicks"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["joints","torque","Neck_3_Hemisphere_B"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["extraLongs","Neck_3_Hemisphere_B.absoluteEncoderTicks"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["joints","motorCurrent","Neck_3_Hemisphere_B"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["extraLongs","Neck_3_Hemisphere_B.absoluteEncoderTicks"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["joints","currentTarget","Neck_3_Hemisphere_B"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["extraLongs","Neck_3_Hemisphere_B.absoluteEncoderTicks"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]}]}
# ArmarX.MemoryToDebugObserver.p.pollFrequencyHz:
# Attributes:
# - Default: 30
# - Case sensitivity: yes
# - Required: no
# ArmarX.MemoryToDebugObserver.p.pollFrequencyHz = 30
# ArmarX.RedirectStdout: Redirect std::cout and std::cerr to ArmarXLog
......
source/RobotAPI/components/armem/client/MemoryToDebugObserver/Component.cpp
+ 10
− 0
View file @ b55ae008
......@@ -49,7 +49,13 @@ namespace armarx::memory_to_debug_observer
{
std::vector<std::string> attributes{
"position",
"positionTarget",
"relativePosition",
"velocity",
"velocityTarget",
"torque",
"motorCurrent",
"currentTarget",
};
for (const std::string& attribute : attributes)
{
......@@ -57,6 +63,10 @@ namespace armarx::memory_to_debug_observer
.entityID = robotEntityId,
.aronPath = {{"joints", attribute, jointName}},
});
properties.memoryToDebugObserver.plottedValues.push_back({
.entityID = robotEntityId,
.aronPath = {{"extraLongs", jointName + ".absoluteEncoderTicks"}},
});
}
}
......
source/RobotAPI/libraries/armem_objects/client/class/ClassReader.cpp
+ 1
− 1
View file @ b55ae008
......@@ -35,7 +35,7 @@ namespace armarx::armem::obj::clazz
ClassReader::getObjectClasses(const std::vector<ObjectID>& objectIDs)
{
armem::client::query::Builder builder;
auto entities = builder.coreSegments()
auto& entities = builder.coreSegments()
.withName(properties().coreSegmentName)
.providerSegments()
.all()
......
source/RobotAPI/libraries/skills/provider/detail/SkillImplementationWrapper.cpp
+ 1
− 0
View file @ b55ae008
......@@ -242,6 +242,7 @@ namespace armarx
{
std::string message = "SkillError 201: The prepare method of skill '" +
skillName + "' did not succeed.";
ARMARX_ERROR_S << message;
return exitAndMakeFailedResult(message);
}
}
......
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