From bcaa0157dd08bf87fa0fe02e5572835dd3b19a7a Mon Sep 17 00:00:00 2001 From: Martina Gloria Date: Mon, 4 Mar 2024 11:23:34 +0100 Subject: [PATCH 1/5] Add pixi support to build and run IMU test --- .gitattributes | 3 + .gitignore | 5 +- pixi.lock | 3741 ++++++++++++++++++++++++++++++++++++++++++++++++ pixi.toml | 19 + 4 files changed, 3767 insertions(+), 1 deletion(-) create mode 100644 .gitattributes create mode 100644 pixi.lock create mode 100644 pixi.toml diff --git a/.gitattributes b/.gitattributes new file mode 100644 index 0000000..16ef5c5 --- /dev/null +++ b/.gitattributes @@ -0,0 +1,3 @@ +# GitHub syntax highlighting +pixi.lock linguist-language=YAML + diff --git a/.gitignore b/.gitignore index 996e174..81f8eb2 100644 --- a/.gitignore +++ b/.gitignore @@ -4,4 +4,7 @@ build CMakeLists.txt.user result.txt .DS_Store -.vscode \ No newline at end of file +.vscode +.pixi +.build +*.mat \ No newline at end of file diff --git a/pixi.lock b/pixi.lock new file mode 100644 index 0000000..c652b5e --- /dev/null +++ b/pixi.lock @@ -0,0 +1,3741 @@ +version: 4 +environments: + default: + channels: + - 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The movements are executed sequentially, traversing from the home position to the lower limit, upper limit and back to the home position for each joint. +* The test involves the movements of the joints belonging to the part on which the sensors are mounted. * -* You can manually modify the suites/contexts/icub/test_imu.ini file depending on the parameters of the test. In this case, after compiling, you can run: +* You can find the parameters involved in the test in suites/contexts/icub/test_imu.ini file. +* To run the test, you have to install pixi and then, after cloning this repo, you can run: * -* Example: robottestingframework-testrunner --suite ../suites/imu.xml +* pixi run imu_test * -* This will launch the test and open a yarpscope with the plots of the IMU traces. +* This will compile the dependencies, launch the test and, at the end, a .mat file is generated containing the relevant measurements of the test. * * Accepts the following parameters: * | Parameter name | Type | Units | Default Value | Required | Description | Notes | From 736e4f482363a32826de4f733a3f340614cc4908 Mon Sep 17 00:00:00 2001 From: Martina Gloria Date: Tue, 5 Mar 2024 10:36:08 +0100 Subject: [PATCH 3/5] Set ENV variables in set_path.sh activation file --- .gitignore | 6 +- pixi.lock | 6916 +++++---------------------------------------------- pixi.toml | 10 +- set_path.sh | 3 + 4 files changed, 582 insertions(+), 6353 deletions(-) create mode 100644 set_path.sh diff --git a/.gitignore b/.gitignore index 81f8eb2..6f00023 100644 --- a/.gitignore +++ b/.gitignore @@ -5,6 +5,6 @@ CMakeLists.txt.user result.txt .DS_Store .vscode -.pixi -.build -*.mat \ No newline at end of file +.pixi* +.build* +*.mat diff --git a/pixi.lock b/pixi.lock index 21a0913..93df473 100644 --- a/pixi.lock +++ b/pixi.lock @@ -3,6 +3,7 @@ environments: default: channels: - 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sha256: aa3e9d46b13d1959faf634f03d929d7dec950dc1b84a8ff109f7f0e3f364b562 - md5: 96866c7301479abaf8308c50958c71a4 - depends: - - libgcc-ng >=12 - - libzlib 1.2.13 h31becfc_5 - license: Zlib - license_family: Other - size: 95842 - timestamp: 1686575155348 -- kind: conda - name: zlib - version: 1.2.13 - build: h53f4e23_5 - build_number: 5 - subdir: osx-arm64 - url: https://conda.anaconda.org/conda-forge/osx-arm64/zlib-1.2.13-h53f4e23_5.conda - sha256: de0ee1e24aa6867058d3b852a15c8d7f49f262f5828772700c647186d4a96bbe - md5: a08383f223b10b71492d27566fafbf6c - depends: - - libzlib 1.2.13 h53f4e23_5 - license: Zlib - license_family: Other - size: 79577 - timestamp: 1686575471024 - kind: conda name: zlib version: 1.2.13 @@ -14636,36 +8888,6 @@ packages: license_family: BSD size: 343428 timestamp: 1693151615801 -- kind: conda - name: zstd - version: 1.5.5 - build: h4c53e97_0 - subdir: linux-aarch64 - url: https://conda.anaconda.org/conda-forge/linux-aarch64/zstd-1.5.5-h4c53e97_0.conda - sha256: d1e070029e9d07a3f25e6ed082d507b0f3cff1b109dd18d0b091a5c7b86dd07b - md5: b74eb9dbb5c3c15cb3cee7cbdf198c75 - depends: - - libgcc-ng >=12 - - libstdcxx-ng >=12 - - libzlib >=1.2.13,<1.3.0a0 - license: BSD-3-Clause - license_family: BSD - size: 528989 - timestamp: 1693151197934 -- kind: conda - name: zstd - version: 1.5.5 - build: h4f39d0f_0 - subdir: osx-arm64 - url: https://conda.anaconda.org/conda-forge/osx-arm64/zstd-1.5.5-h4f39d0f_0.conda - sha256: 7e1fe6057628bbb56849a6741455bbb88705bae6d6646257e57904ac5ee5a481 - md5: 5b212cfb7f9d71d603ad891879dc7933 - depends: - - libzlib >=1.2.13,<1.3.0a0 - license: BSD-3-Clause - license_family: BSD - size: 400508 - timestamp: 1693151393180 - kind: conda name: zstd version: 1.5.5 diff --git a/pixi.toml b/pixi.toml index f04a9a6..274848b 100644 --- a/pixi.toml +++ b/pixi.toml @@ -3,11 +3,14 @@ name = "icub-tests" version = "0.0.0" description = "Set of tests to check the functionalities of a robot" authors = ["Martina Gloria "] -channels = ["conda-forge"] -platforms = ["linux-64", "linux-aarch64", "win-64", "osx-arm64", "osx-64"] +channels = ["conda-forge", "robotology"] +platforms = ["linux-64", "win-64", "osx-64"] + +[activation] +scripts = ["set_path.sh"] [tasks] -build_imu_test = {cmd = "cmake -S. -B.build -DICUB_TESTS_COMPILES_IMU_TEST=ON"} +build_imu_test = {cmd = "cmake -DCMAKE_INSTALL_PREFIX=$CMAKE_INSTALL_PREFIX -S. -B.build -DICUB_TESTS_COMPILES_IMU_TEST=ON"} compile_imu_test = {cmd = "cmake --build .build", depends_on = ["build_imu_test"]} imu_sim_test = {cmd = "robottestingframework-testrunner --verbose --suite suites/imu-icubGazeboSim.xml", depends_on = ["compile_imu_test"]} imu_test = {cmd = "robottestingframework-testrunner --verbose --suite suites/imu.xml", depends_on = ["compile_imu_test"]} @@ -17,3 +20,4 @@ robometry = ">=1.2.3,<1.3" idyntree = ">=10.3.0,<10.4" yarp = ">=3.9.0,<3.10" robot-testing-framework = ">=2.0.1,<2.1" +icub-main = ">=2.5.0,<2.6" diff --git a/set_path.sh b/set_path.sh new file mode 100644 index 0000000..f2d113a --- /dev/null +++ b/set_path.sh @@ -0,0 +1,3 @@ +export CMAKE_INSTALL_PREFIX=$CONDA_PREFIX +export YARP_DATA_DIRS=$CMAKE_INSTALL_PREFIX/share/yarp:$CMAKE_INSTALL_PREFIX/share/iCub:$PIXI_PROJECT_ROOT/suites +export LD_LIBRARY_PATH=$CMAKE_INSTALL_PREFIX/lib/robottestingframework:$PIXI_PROJECT_ROOT/.build/plugins From 180cc4accc0af79293a2bdf0c4627e31ac22c49d Mon Sep 17 00:00:00 2001 From: Martina Gloria Date: Wed, 6 Mar 2024 16:57:52 +0100 Subject: [PATCH 4/5] Prepend CONDA_PREFIX to the CMAKE_PREFIX_PATH env --- pixi.lock | 258 ++++++++++++++++++++++++++++++++++++++++++++++++++++ pixi.toml | 17 ++-- set_path.sh | 1 + 3 files changed, 269 insertions(+), 7 deletions(-) diff --git a/pixi.lock b/pixi.lock index 93df473..201fd53 100644 --- a/pixi.lock +++ b/pixi.lock @@ -40,6 +40,7 @@ environments: - conda: https://conda.anaconda.org/conda-forge/linux-64/harfbuzz-8.3.0-h3d44ed6_0.conda - conda: https://conda.anaconda.org/conda-forge/linux-64/hdf5-1.14.3-nompi_h4f84152_100.conda - conda: https://conda.anaconda.org/conda-forge/linux-64/icu-73.2-h59595ed_0.conda + - conda: https://conda.anaconda.org/conda-forge/linux-64/icub-models-2.5.0-py311hb755f60_0.conda - conda: https://conda.anaconda.org/conda-forge/linux-64/idyntree-10.3.0-py311ha885c8a_0.conda - conda: https://conda.anaconda.org/conda-forge/linux-64/ipopt-3.14.14-h04b96a2_1.conda - conda: https://conda.anaconda.org/conda-forge/linux-64/irrlicht-1.8.5-h2a6caf8_4.conda @@ -218,6 +219,7 @@ environments: - conda: https://conda.anaconda.org/conda-forge/noarch/tzdata-2024a-h0c530f3_0.conda - conda: https://conda.anaconda.org/robotology/linux-64/icub-firmware-shared-1.38.0-h59595ed_119.tar.bz2 - conda: https://conda.anaconda.org/robotology/linux-64/icub-main-2.5.0-py311h8fc83d3_119.tar.bz2 + - conda: https://conda.anaconda.org/robotology/linux-64/robotology-distro-2024.02.0-ha770c72_118.tar.bz2 osx-64: - conda: https://conda.anaconda.org/conda-forge/noarch/font-ttf-dejavu-sans-mono-2.37-hab24e00_0.tar.bz2 - conda: https://conda.anaconda.org/conda-forge/noarch/font-ttf-inconsolata-3.000-h77eed37_0.tar.bz2 @@ -254,6 +256,7 @@ environments: - conda: https://conda.anaconda.org/conda-forge/osx-64/harfbuzz-8.3.0-hf45c392_0.conda - conda: https://conda.anaconda.org/conda-forge/osx-64/hdf5-1.14.3-nompi_h691f4bf_100.conda - conda: https://conda.anaconda.org/conda-forge/osx-64/icu-73.2-hf5e326d_0.conda + - conda: https://conda.anaconda.org/conda-forge/osx-64/icub-models-2.5.0-py311hdd0406b_0.conda - conda: https://conda.anaconda.org/conda-forge/osx-64/idyntree-10.3.0-py311h616ed6d_0.conda - conda: https://conda.anaconda.org/conda-forge/osx-64/ipopt-3.14.14-h09c0c07_1.conda - conda: https://conda.anaconda.org/conda-forge/osx-64/irrlicht-1.8.5-h5bfa9a0_4.conda @@ -379,6 +382,7 @@ environments: - conda: https://conda.anaconda.org/conda-forge/osx-64/zstd-1.5.5-h829000d_0.conda - conda: https://conda.anaconda.org/robotology/osx-64/icub-firmware-shared-1.38.0-h2f15cd5_119.tar.bz2 - conda: https://conda.anaconda.org/robotology/osx-64/icub-main-2.5.0-py311h3bba15c_119.tar.bz2 + - conda: https://conda.anaconda.org/robotology/osx-64/robotology-distro-2024.02.0-h694c41f_118.tar.bz2 win-64: - conda: https://conda.anaconda.org/conda-forge/noarch/font-ttf-dejavu-sans-mono-2.37-hab24e00_0.tar.bz2 - conda: https://conda.anaconda.org/conda-forge/noarch/font-ttf-inconsolata-3.000-h77eed37_0.tar.bz2 @@ -412,6 +416,7 @@ environments: - conda: https://conda.anaconda.org/conda-forge/win-64/harfbuzz-8.3.0-h7ab893a_0.conda - conda: https://conda.anaconda.org/conda-forge/win-64/hdf5-1.14.3-nompi_h73e8ff5_100.conda - conda: https://conda.anaconda.org/conda-forge/win-64/icu-73.2-h63175ca_0.conda + - conda: https://conda.anaconda.org/conda-forge/win-64/icub-models-2.5.0-py311h12c1d0e_0.conda - conda: https://conda.anaconda.org/conda-forge/win-64/idyntree-10.3.0-py311heed4631_0.conda - conda: https://conda.anaconda.org/conda-forge/win-64/intel-openmp-2024.0.0-h57928b3_49841.conda - conda: https://conda.anaconda.org/conda-forge/win-64/ipopt-3.14.14-h1709daf_1.conda @@ -511,6 +516,7 @@ environments: - 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libgcc-ng >=12 + - libstdcxx-ng >=12 + - python >=3.11,<3.12.0a0 + - python_abi 3.11.* *_cp311 + license: CC-BY-SA-4.0 + size: 18581307 + timestamp: 1707240225529 +- kind: conda + name: icub-models + version: 2.5.0 + build: py311hdd0406b_0 + subdir: osx-64 + url: https://conda.anaconda.org/conda-forge/osx-64/icub-models-2.5.0-py311hdd0406b_0.conda + sha256: ef84718b28b532e60cd722aff9ac76208a02fa16a28601abf29f001a61c3c3e4 + md5: 6300dc8276f228ff2744269e149159d0 + depends: + - libcxx >=16 + - python >=3.11,<3.12.0a0 + - python_abi 3.11.* *_cp311 + license: CC-BY-SA-4.0 + size: 17161140 + timestamp: 1707240370198 - kind: conda name: idyntree version: 10.3.0 @@ -7515,6 +7569,210 @@ packages: license: LGPL-2.1-or-later size: 186609 timestamp: 1674117260864 +- kind: conda + name: robotology-distro + version: 2024.02.0 + build: h57928b3_118 + build_number: 118 + subdir: win-64 + url: https://conda.anaconda.org/robotology/win-64/robotology-distro-2024.02.0-h57928b3_118.tar.bz2 + sha256: b27cde9b87e609a18e2fa70f51c85bd3d3ca6650474f63d30ea92c61ded935d5 + md5: 6a4d2cfa189e273891e6045dbc632027 + constrains: + - robots-configuration=2.6.0 + - yarp-device-openxrheadset=0.0.3 + - blocktest=2.3.8 + - idyntree-yarp-tools=0.0.9 + - resolve-robotics-uri-py=0.2.0 + - icub-models=2.5.0 + - openvr=1.16.8.1 + - human-gazebo=1.1.0 + - casadi=3.6.3 + - speech=1.2.0 + - wearables=1.8.0 + - icub-contrib-common=1.19.0 + - icub-firmware-shared=1.38.0 + - yarp-openvr-trackers=0.0.1 + - libgazebo-yarp-plugins=4.10.0 + - icub-main=2.5.0 + - libbayes-filters-lib=0.10.0 + - idyntree=10.3.0 + - idyntree-matlab-bindings=10.3.0 + - bipedal-locomotion-framework=0.18.0 + - walking-teleoperation=1.3.4 + - yarp-devices-forcetorque=0.3.1 + - wb-toolbox=5.6.1 + - blockfactory=0.8.5 + - matlab-whole-body-simulator=3.3.0 + - icub-basic-demos=1.24.0 + - robot-testing-framework=2.0.1 + - icub-tests=1.26.0 + - libmatio-cpp=0.2.3 + - casadi-matlab-bindings=3.6.3.1 + - pyqtconsole=1.2.3 + - libosqp=0.6.3 + - whole-body-controllers=2.5.6 + - cppad=20240000.3 + - openxr-sdk=1.0.34 + - libyarp=3.9.0 + - ycm-cmake-modules=0.16.2 + - liblie-group-controllers=0.2.0 + - osqp-matlab=0.6.2.4 + - icub-firmware=1.38.0 + - qpoases=3.2.1 + - libunicycle-footstep-planner=0.7.0 + - walking-controllers=0.8.0 + - osqp-eigen=0.8.1 + - ergocub-software=0.7.1 + - librobometry=1.2.3 + - human-dynamics-estimation=3.0.0 + - manif=0.0.4 + - yarp-matlab-bindings=3.9.1 + - whole-body-estimators=0.10.0 + - robot-log-visualizer=0.8.0 + - funny-things=2.2.0 + - meshcat-python=0.3.2 + - blocktest-yarp-plugins=1.1.4 + arch: x86_64 + platform: win + size: 6670 + timestamp: 1709229909367 +- kind: conda + name: robotology-distro + version: 2024.02.0 + build: h694c41f_118 + build_number: 118 + subdir: osx-64 + url: https://conda.anaconda.org/robotology/osx-64/robotology-distro-2024.02.0-h694c41f_118.tar.bz2 + sha256: 444967146322c5b215461e5a208e6d484b3e39b98ef9412aa408c5f5b24413dd + md5: 8d2299b1166b0730d3d29efdb3ae2021 + constrains: + - walking-controllers=0.8.0 + - idyntree=10.3.0 + - osqp-eigen=0.8.1 + - libbayes-filters-lib=0.10.0 + - resolve-robotics-uri-py=0.2.0 + - 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yarp-matlab-bindings=3.9.1 + - blocktest-yarp-plugins=1.1.4 + - robot-testing-framework=2.0.1 + - wearables=1.8.0 + - walking-teleoperation=1.3.4 + - icub-contrib-common=1.19.0 + - icub-models=2.5.0 + - robot-log-visualizer=0.8.0 + arch: x86_64 + platform: osx + size: 6803 + timestamp: 1709234431562 +- kind: conda + name: robotology-distro + version: 2024.02.0 + build: ha770c72_118 + build_number: 118 + subdir: linux-64 + url: https://conda.anaconda.org/robotology/linux-64/robotology-distro-2024.02.0-ha770c72_118.tar.bz2 + sha256: 32cbe612348c36bcda5b13f0bc9cc0fa23b0c46e7cf99635803a6edf60a38ac4 + md5: 29a435ae615b128c9c3172671e6b4b29 + constrains: + - blocktest=2.3.8 + - bipedal-locomotion-framework=0.18.0 + - walking-teleoperation=1.3.4 + - matlab-whole-body-simulator=3.3.0 + - robot-testing-framework=2.0.1 + - blockfactory=0.8.5 + - libbayes-filters-lib=0.10.0 + - yarp-openvr-trackers=0.0.1 + - human-gazebo=1.1.0 + - idyntree-yarp-tools=0.0.9 + - human-dynamics-estimation=3.0.0 + - robots-configuration=2.6.0 + - cppad=20240000.3 + - idyntree-matlab-bindings=10.3.0 + - icub-firmware=1.38.0 + - funny-things=2.2.0 + - walking-controllers=0.8.0 + - icub-firmware-shared=1.38.0 + - robot-log-visualizer=0.8.0 + - libgazebo-yarp-plugins=4.10.0 + - speech=1.2.0 + - casadi=3.6.3 + - idyntree=10.3.0 + - whole-body-estimators=0.10.0 + - osqp-matlab=0.6.2.4 + - yarp-device-xsensmt=0.3.0 + - openxr-sdk=1.0.34 + - icub-tests=1.26.0 + - qpoases=3.2.1 + - proxsuite=0.6.3 + - openvr=1.16.8.1 + - pyqtconsole=1.2.3 + - librobometry=1.2.3 + - yarp-device-openxrheadset=0.0.3 + - icub-models=2.5.0 + - meshcat-python=0.3.2 + - icub-basic-demos=1.24.0 + - whole-body-controllers=2.5.6 + - wb-toolbox=5.6.1 + - yarp-matlab-bindings=3.9.1 + - libyarp=3.9.0 + - libunicycle-footstep-planner=0.7.0 + - wearables=1.8.0 + - libmatio-cpp=0.2.3 + - manif=0.0.4 + - yarp-devices-forcetorque=0.3.1 + - libosqp=0.6.3 + - ergocub-software=0.7.1 + - liblie-group-controllers=0.2.0 + - casadi-matlab-bindings=3.6.3.1 + - blocktest-yarp-plugins=1.1.4 + - event-driven=2.1 + - icub-main=2.5.0 + - icub-contrib-common=1.19.0 + - osqp-eigen=0.8.1 + - ycm-cmake-modules=0.16.2 + - resolve-robotics-uri-py=0.2.0 + arch: x86_64 + platform: linux + size: 6767 + timestamp: 1709225364541 - kind: conda name: scotch version: 7.0.4 diff --git a/pixi.toml b/pixi.toml index 274848b..c2ba243 100644 --- a/pixi.toml +++ b/pixi.toml @@ -12,12 +12,15 @@ scripts = ["set_path.sh"] [tasks] build_imu_test = {cmd = "cmake -DCMAKE_INSTALL_PREFIX=$CMAKE_INSTALL_PREFIX -S. -B.build -DICUB_TESTS_COMPILES_IMU_TEST=ON"} compile_imu_test = {cmd = "cmake --build .build", depends_on = ["build_imu_test"]} -imu_sim_test = {cmd = "robottestingframework-testrunner --verbose --suite suites/imu-icubGazeboSim.xml", depends_on = ["compile_imu_test"]} -imu_test = {cmd = "robottestingframework-testrunner --verbose --suite suites/imu.xml", depends_on = ["compile_imu_test"]} +install_imu_test = {cmd = "cmake --install .build", depends_on = ["compile_imu_test"]} +imu_sim_test = {cmd = "robottestingframework-testrunner --verbose --suite suites/imu-icubGazeboSim.xml", depends_on = ["install_imu_test"]} +imu_test = {cmd = "robottestingframework-testrunner --verbose --suite suites/imu.xml", depends_on = ["install_imu_test"]} [dependencies] -robometry = ">=1.2.3,<1.3" -idyntree = ">=10.3.0,<10.4" -yarp = ">=3.9.0,<3.10" -robot-testing-framework = ">=2.0.1,<2.1" -icub-main = ">=2.5.0,<2.6" +robometry = "*" +idyntree = "*" +yarp = "*" +robot-testing-framework = "*" +icub-main = "*" +icub-models = "*" +robotology-distro = ">=2024.2.0,<2024.3" diff --git a/set_path.sh b/set_path.sh index f2d113a..bab1743 100644 --- a/set_path.sh +++ b/set_path.sh @@ -1,3 +1,4 @@ export CMAKE_INSTALL_PREFIX=$CONDA_PREFIX export YARP_DATA_DIRS=$CMAKE_INSTALL_PREFIX/share/yarp:$CMAKE_INSTALL_PREFIX/share/iCub:$PIXI_PROJECT_ROOT/suites export LD_LIBRARY_PATH=$CMAKE_INSTALL_PREFIX/lib/robottestingframework:$PIXI_PROJECT_ROOT/.build/plugins +export CMAKE_PREFIX_PATH=$CONDA_PREFIX:$CMAKE_PREFIX_PATH \ No newline at end of file From 371bd131d58b3fd8bd2fa62fd547bf6b884ea138 Mon Sep 17 00:00:00 2001 From: Martina Gloria Date: Mon, 11 Mar 2024 10:17:35 +0100 Subject: [PATCH 5/5] Add the documentation to run the test with pixi --- set_path.sh | 2 +- src/imu/README.md | 95 +++++++++++++++++++++++++++++++ src/imu/imu.h | 26 ++++----- suites/contexts/icub/test_imu.ini | 3 +- 4 files changed, 108 insertions(+), 18 deletions(-) create mode 100644 src/imu/README.md diff --git a/set_path.sh b/set_path.sh index bab1743..30478f5 100644 --- a/set_path.sh +++ b/set_path.sh @@ -1,4 +1,4 @@ export CMAKE_INSTALL_PREFIX=$CONDA_PREFIX export YARP_DATA_DIRS=$CMAKE_INSTALL_PREFIX/share/yarp:$CMAKE_INSTALL_PREFIX/share/iCub:$PIXI_PROJECT_ROOT/suites export LD_LIBRARY_PATH=$CMAKE_INSTALL_PREFIX/lib/robottestingframework:$PIXI_PROJECT_ROOT/.build/plugins -export CMAKE_PREFIX_PATH=$CONDA_PREFIX:$CMAKE_PREFIX_PATH \ No newline at end of file +export CMAKE_PREFIX_PATH=$CONDA_PREFIX \ No newline at end of file diff --git a/src/imu/README.md b/src/imu/README.md new file mode 100644 index 0000000..faff195 --- /dev/null +++ b/src/imu/README.md @@ -0,0 +1,95 @@ +IMU orientation test +==================== + +## Prerequisites + +If you want to test multiple IMUs at once, the robot must expose in its `yarprobotinterface` configuration file a `multipleanalogsensorsserver` that publishes the orientation measurements for all of available sensors, with a `prefix` that matches exactly the `port` parameter of the test (the default one is `${portprefix}/alljoints/inertials`). + +An example of `alljoints-inertials_wrapper.xml` for iCubV2_* models: + +```sh + + + + + 10 + ${portprefix}/alljoints/inertials + + + + alljoints-inertials_remapper + + + + + +``` + +and `alljoints-inertials_remapper.xml`: + +```sh + + + + + + + (l_arm_ft r_arm_ft head_imu_0) + + + + head_inertial_hardware_device + left_arm_inertial_hardware_device + right_arm_inertial_hardware_device + + + + + + +``` + +## Usage + +There are essentially two methods to install and run the IMU orientation test, which are going to be described in the following sections. In both cases, after launching the test, a .mat file containing the relevant measurements involved in the test will be generated. + +### robotology-superbuild + +If you have installed `icub-tests` as a part of the `robotology superbuild` framework with the [Robot Testing profile](https://github.com/robotology/robotology-superbuild/blob/master/doc/cmake-options.md#robot-testing) activation, i.e. by enabling the `ROBOTOLOGY_ENABLE_ROBOT_TESTING` CMake option of the superbuild, this test, like the others, is already available. + +In this case, after compiling and being sure that `yarpserver` is up, you can run: + +```sh +cd robotology-superbuild/src/icub-tests +robottestingframework-testrunner --suite suites/imu.xml +``` + +Otherwise, if you want to launch the test in a simulation environment, in a shell open a `gazebo` environment and import, for example, your iCub model. After that, open a separated shell, and: + +```sh +#set YARP_ROBOT_NAME env variable with the name of the model you imported in gazebo +#example: +export YARP_ROBOT_NAME=iCubGazeboV2_7 +cd robotology-superbuild/src/icub-tests +robottestingframework-testrunner --suite suites/imu-icubGazeboSim.xml +``` + +### pixi + +If you want to run the test without depending on the whole robotology-superbuild, you can use `pixi`. First of all, be sure to have [`pixi`](https://pixi.sh/#installation) installed. Then, clone `icub-tests` and run the test as a pixi task: + +```sh +git clone https://github.com/robotology/icub-tests +cd icub-tests +pixi run imu_test +``` + +In simulation, instead, import your model in `gazebo` and then run: + +```sh +#set YARP_ROBOT_NAME env variable with the name of the model you imported in gazebo +#example: +export YARP_ROBOT_NAME=iCubGazeboV2_7 +cd icub-tests +pixi run imu_sim_test +``` \ No newline at end of file diff --git a/src/imu/imu.h b/src/imu/imu.h index 40795d6..78c5500 100644 --- a/src/imu/imu.h +++ b/src/imu/imu.h @@ -20,23 +20,19 @@ * It takes as input the urdf of the robot and make a comparison between the expected values retrieved from the forward kinematics and the ones read from the IMU itself. * The test involves the movements of the joints belonging to the part on which the sensors are mounted. * -* You can find the parameters involved in the test in suites/contexts/icub/test_imu.ini file. -* To run the test, you have to install pixi and then, after cloning this repo, you can run: +* You can find the parameters involved in the test in the following table: * -* pixi run imu_test +* | Parameter name | Type | Required | Description | Notes | +* |:------------------:|:------------------:|:--------:|:-----------:|:-----:| +* | robot | string | Yes | The name of the robot. | e.g. icub | +* | model | string | Yes | The name of the robot model. | e.g. model.urdf | +* | port | string | Yes | The name of the port streaming IMU data. | e.g. /icub/alljoints/inertials | +* | remoteControlBoards| vector of string | Yes | The list of the controlboards to open. | e.g. ("torso", "head") | +* | axesNames | vector of string | Yes | The list of the controlled joints. | e.g. ("torso_pitch", "torso_roll", "torso_yaw", "neck_pitch", "neck_roll", "neck_yaw") | +* | sensorsList | vector of string | Yes | The list of the sensors to be tested. | e.g. ("head_imu_0", "l_arm_ft") or ("all")| +* | maxError | double | Yes | The tolerance on the error. | | * -* This will compile the dependencies, launch the test and, at the end, a .mat file is generated containing the relevant measurements of the test. -* -* Accepts the following parameters: -* | Parameter name | Type | Units | Default Value | Required | Description | Notes | -* |:------------------:|:------------------:|:-----:|:-------------:|:--------:|:-----------:|:-----:| -* | robot | string | - | - | Yes | The name of the robot. | e.g. icub | -* | model | string | - | - | Yes | The name of the robot model. | e.g. model.urdf | -* | port | string | - | - | Yes | The name of the port streaming IMU data. | e.g. /icub/head/inertials | -* | remoteControlBoards| vector of string | - | - | Yes | The list of the controlboards to open. | e.g. ("torso", "head") | -* | axesNames | vector of string | - | - | Yes | The list of the controlled joints. | e.g. ("torso_pitch", "torso_roll", "torso_yaw", "neck_pitch", "neck_roll", "neck_yaw") | -* | sensorsList | vector of string | - | - | Yes | The list of the sensors to be tested | e.g. ("head_imu_0", "l_arm_ft") or ("all)| -* | maxError | double | - | - | Yes | The tolerance on the error. | | +* Further instructions about how to install, configure and run the test can be found in the related page. */ class Imu : public yarp::robottestingframework::TestCase { diff --git a/suites/contexts/icub/test_imu.ini b/suites/contexts/icub/test_imu.ini index 0d9cbc3..fe00d7d 100644 --- a/suites/contexts/icub/test_imu.ini +++ b/suites/contexts/icub/test_imu.ini @@ -3,6 +3,5 @@ model model.urdf port /${robotname}/alljoints/inertials remoteControlBoards ("torso", "head", "left_arm", "right_arm") axesNames ("torso_pitch", "torso_roll", "torso_yaw", "neck_pitch", "neck_roll", "neck_yaw", "l_shoulder_pitch", "l_shoulder_roll", "l_shoulder_yaw", "r_shoulder_pitch", "r_shoulder_roll", "r_shoulder_yaw") -; sensorsList ("head_imu_0", "l_arm_ft", "r_arm_ft") -sensorsList ("all") +sensorsList ("all") maxError 0.1