Missing motor information with robot in simulation

[isorrentino]

I tried to use yarp-telemetry with iCub3 in simulation and I used the following config file:

<?xml version="1.0" encoding="UTF-8" ?>
<!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
  
<robot name="yarp_telemetry" build="1" xmlns:xi="http://www.w3.org/2001/XInclude">

  <device name="right_leg_mc" type="remote_controlboard">
    <param name="remote"> /icubSim/right_leg </param>
    <param name="local"> /yarptelemetry/right_leg </param>
  </device>

  <device xmlns:xi="http://www.w3.org/2001/XInclude" name="telemetryDeviceDumper" type="telemetryDeviceDumper">
    <param name="axesNames">(r_hip_pitch,r_hip_roll,r_hip_yaw,r_knee,r_ankle_pitch,r_ankle_roll)</param>
    <param name="logIEncoders">true</param>
    <param name="logITorqueControl">true</param>
    <param name="logIMotorEncoders">false</param>
    <param name="logIControlMode">true</param>
    <param name="logIInteractionMode">true</param>
    <param name="logIPidControl">true</param>
    <param name="logIAmplifierControl">true</param>
    <param name="saveBufferManagerConfiguration">true</param>
    <param name="experimentName">test_telemetry</param>
    <param name="path">/home/isorrentino/devel/Telexistence/Datasets/yarp_telemetry/</param>
    <param name="n_samples">100000</param>
    <param name="save_periodically">true</param>
    <param name="save_period">120.0</param>
    <param name="data_threshold">100</param>
    <param name="auto_save">true</param>
    
    <action phase="startup" level="15" type="attach">
      <paramlist name="networks">
        <!-- motorcontrol and virtual torque sensors -->
        <elem name="right_leg">right_leg_mc</elem>
        <!-- ft -->
      </paramlist>
    </action>
    
    <action phase="shutdown" level="2" type="detach" />
    
  </device>
</robot>

But the application prints the following warnings:

[WARNING] telemetryDeviceDumper warning : joint torque errors was not readed correctly
[WARNING] telemetryDeviceDumper warning : joint torque references was not readed correctly
[WARNING] telemetryDeviceDumper warning : voltage PWM was not readed correctly

The option causing these warnings is logIPidControl.
I'm opening this issue as I expect to read the torque references and errors even when the robot is in simulation. Is there something I'm not considering, so the warnings are ok, or should I see those quantities also in simulation?

cc @prashanthr05 @traversaro

[traversaro]

I guess the methods related to those quantities need to be implemented in gazebo_yarp_controlboard .

[prashanthr05]

I guess the methods related to those quantities need to be implemented in gazebo_yarp_controlboard .

[WARNING] telemetryDeviceDumper warning : voltage PWM was not readed correctly

In looking at the gazebo controlboard code, the methods related to voltage PWM which is a part of IAmplifierControl interface does not seem to be implemented.

[WARNING] telemetryDeviceDumper warning : joint torque references was not readed correctly

This error is not expected, since the method is implemented here.

[WARNING] telemetryDeviceDumper warning : joint torque errors was not readed correctly

Instead, the errors related to the joint torque errors are strange.
Especially, with torque errors from the gazebo control board implementation of IPIDControl interface. When the PID type is passed as VOCAB_CM_TORQUE, the method returning false is not expected, moreover, whatever be the PID type, the method is returning only position errors.

[Nicogene]

@prashanthr05 @traversaro shall we open those 3 issues in gazebo-yarp-plugins?

I think that here we are just using the interfaces, I don't think that there are problems in the telemetryDeviceDumper, also because those methods on real iCub work

[traversaro]

@prashanthr05 @traversaro shall we open those 3 issues in gazebo-yarp-plugins?

Ok.

[Nicogene]

Closing in favor of robotology/gazebo-yarp-plugins#554 robotology/gazebo-yarp-plugins#555 robotology/gazebo-yarp-plugins#556