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gz-sim-yarp-plugins: add support for icub 2.x #280

Merged
merged 1 commit into from
Nov 29, 2024
Merged

gz-sim-yarp-plugins: add support for icub 2.x #280

merged 1 commit into from
Nov 29, 2024

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Nicogene
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@Nicogene Nicogene commented Nov 12, 2024 •
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This PR add the usage of gz-sim plugins in the icub 2.x models (not visuomanip)

cc @xela-95

@Nicogene Nicogene requested a review from traversaro November 12, 2024 16:21
@Nicogene Nicogene self-assigned this Nov 12, 2024
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On icubGazeboV2_x everything seems work fine

image

yarp name list | grep measures:o
registration name /icubSim/alljoints/inertials/measures:o ip 10.255.255.254 port 10040 type tcp
registration name /icubSim/head/inertials/measures:o ip 10.255.255.254 port 10034 type tcp
registration name /icubSim/left_arm/FT/measures:o ip 10.255.255.254 port 10030 type tcp
registration name /icubSim/left_arm/imu/measures:o ip 10.255.255.254 port 10036 type tcp
registration name /icubSim/left_leg/FT/measures:o ip 10.255.255.254 port 10026 type tcp
registration name /icubSim/right_arm/FT/measures:o ip 10.255.255.254 port 10032 type tcp
registration name /icubSim/right_arm/imu/measures:o ip 10.255.255.254 port 10038 type tcp
registration name /icubSim/right_leg/FT/measures:o ip 10.255.255.254 port 10028 type tcp

@Nicogene Nicogene force-pushed the feat/add-gz-sim-support branch from 88e2f48 to 6ebdf30 Compare November 15, 2024 14:26
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Everything ok also on iCubGazeboV3

image

yarp name list | grep measures:o
registration name /icubSim/head/inertials/measures:o ip 10.255.255.254 port 10034 type tcp
registration name /icubSim/left_arm/FT/measures:o ip 10.255.255.254 port 10030 type tcp
registration name /icubSim/left_leg/FT/measures:o ip 10.255.255.254 port 10026 type tcp
registration name /icubSim/right_arm/FT/measures:o ip 10.255.255.254 port 10032 type tcp
registration name /icubSim/right_leg/FT/measures:o ip 10.255.255.254 port 10028 type tcp

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This PR is ready for review as soon as:

is merged.

Once removed iCub3 I need to rebase this branch and drop the commit on iCub3 model

@Nicogene Nicogene force-pushed the feat/add-gz-sim-support branch from d0e33d7 to cc4405c Compare November 20, 2024 13:29
@Nicogene Nicogene changed the title gz-sim-yarp-plugins: add support for icub 2.x and 3.0 gz-sim-yarp-plugins: add support for icub 2.x Nov 29, 2024
@Nicogene Nicogene force-pushed the feat/add-gz-sim-support branch from cc4405c to ca6a7bd Compare November 29, 2024 09:09
@Nicogene Nicogene marked this pull request as ready for review November 29, 2024 09:09
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@traversaro i removed the icub 3 commit, now it should be ready to be merged

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@traversaro i removed the icub 3 commit, now it should be ready to be merged

Great!

@traversaro traversaro merged commit 87d1222 into master Nov 29, 2024
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@traversaro traversaro deleted the feat/add-gz-sim-support branch November 29, 2024 09:50
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Can we add a section on how to consume the models from gz-sim in https://github.com/robotology/icub-models?tab=readme-ov-file#usage ?

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@traversaro traversaro Awaiting requested review from traversaro

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