Added logging of trintrin messages #1013

S-Dafarra · 2025-10-27T14:44:37Z

This is on top of #1012

It adds trintrin as dependency for the logger in order to allow logging the output of the Human IK and gloves

S-Dafarra · 2025-10-27T14:52:38Z

Unfortunately, conda fails to resolve the environment

Channels:
 - conda-forge
 - robostack-jazzy
 - robotology
Platform: linux-64
Collecting package metadata (repodata.json): ...working... done
Solving environment: ...working... failed

LibMambaUnsatisfiableError: Encountered problems while solving:
  - package libtrintrin-0.0.1-h62e2a63_0 requires libyarp >=3.12.1,<3.12.2.0a0, but none of the providers can be installed

Could not solve for environment specs
The following packages are incompatible
├─ librobometry =* * is installable with the potential options
│  ├─ librobometry [1.1.0|1.2.0|1.2.2] would require
│  │  └─ yarp-cxx [>=3.7.0,<3.7.1.0a0 *|>=3.7.2,<3.7.3.0a0 *], which requires
│  │     └─ jpeg >=9e,<10a *, which can be installed;
│  ├─ librobometry [1.2.0|1.2.1] would require
│  │  └─ yarp-cxx >=3.8.0,<3.8.1.0a0 * with the potential options
│  │     ├─ yarp-cxx [3.7.0|3.7.2|3.8.0], which can be installed (as previously explained);
│  │     └─ yarp-cxx [3.8.0|3.8.1] would require
│  │        └─ libjpeg-turbo >=2.1.5.1,<3.0a0 *, which can be installed;
│  ├─ librobometry [1.2.1|1.2.2] would require
│  │  └─ yarp-cxx >=3.8.1,<3.8.2.0a0 * with the potential options
│  │     ├─ yarp-cxx [3.8.0|3.8.1], which can be installed (as previously explained);
│  │     └─ yarp-cxx 3.8.1 would require
│  │        └─ portaudio >=19.6.0,<19.7.0a0 *, which can be installed;
│  ├─ librobometry [1.2.2|1.2.3|1.2.4] would require
│  │  └─ libyarp >=3.9.0,<3.9.1.0a0 *, which can be installed;
│  ├─ librobometry [1.2.4|1.2.5] would require
│  │  └─ libyarp >=3.10.1,<3.10.2.0a0 *, which can be installed;
│  ├─ librobometry 1.2.5 would require
│  │  └─ libyarp >=3.11.1,<3.11.2.0a0 *, which can be installed;
│  ├─ librobometry [1.2.5|1.2.6|1.2.7] would require
│  │  └─ libyarp >=3.11.2,<3.11.3.0a0 *, which can be installed;
│  ├─ librobometry 1.2.7 would require
│  │  └─ libyarp >=3.12.0,<3.12.1.0a0 *, which can be installed;
│  └─ librobometry [1.2.7|1.2.8] would require
│     └─ libboost >=1.88.0,<1.89.0a0 *, which can be installed;
├─ libtrintrin =* * is not installable because it requires
│  └─ libyarp >=3.12.1,<3.12.2.0a0 *, which requires
│     ├─ libjpeg-turbo >=3.1.0,<4.0a0 *, which requires
│     │  └─ jpeg <0.0.0a *, which conflicts with any installable versions previously reported;
│     ├─ libopencv >=4.12.0,<4.12.1.0a0 * with the potential options
│     │  ├─ libopencv 4.12.0 would require
│     │  │  └─ libprotobuf >=6.31.1,<6.31.2.0a0 *, which can be installed;
│     │  └─ libopencv 4.12.0 would require
│     │     └─ libprotobuf >=5.29.3,<5.29.4.0a0 *, which can be installed;
│     └─ portaudio >=19.7.0,<19.8.0a0 *, which conflicts with any installable versions previously reported;
├─ ros-jazzy-rclcpp =* * is not installable because it requires
│  ├─ ros-jazzy-rcl =* *, which requires
│  │  ├─ ros-jazzy-rcl-logging-spdlog =* * with the potential options
│  │  │  ├─ ros-jazzy-rcl-logging-spdlog 3.1.0 would require
│  │  │  │  └─ spdlog >=1.13.0,<1.14.0a0 *, which can be installed;
│  │  │  ├─ ros-jazzy-rcl-logging-spdlog 3.1.1 would require
│  │  │  │  └─ spdlog >=1.14.1,<1.15.0a0 *, which can be installed;
│  │  │  ├─ ros-jazzy-rcl-logging-spdlog 3.1.1 would require
│  │  │  │  ├─ ros2-distro-mutex =0.7 jazzy_*, which requires
│  │  │  │  │  └─ libprotobuf =5.28.3 *, which conflicts with any installable versions previously reported;
│  │  │  │  └─ spdlog >=1.15.1,<1.16.0a0 *, which conflicts with any installable versions previously reported;
│  │  │  ├─ ros-jazzy-rcl-logging-spdlog 3.1.1 would require
│  │  │  │  ├─ ros2-distro-mutex =0.8 jazzy_*, which requires
│  │  │  │  │  └─ libboost =1.86 *, which conflicts with any installable versions previously reported;
│  │  │  │  └─ spdlog >=1.15.2,<1.16.0a0 *, which conflicts with any installable versions previously reported;
│  │  │  └─ ros-jazzy-rcl-logging-spdlog 3.1.1 would require
│  │  │     ├─ ros2-distro-mutex [=0.10 jazzy_*|=0.11 jazzy_*|=0.9 jazzy_*], which cannot be installed (as previously explained);
│  │  │     └─ spdlog >=1.15.3,<1.16.0a0 *, which conflicts with any installable versions previously reported;
│  │  └─ ros2-distro-mutex [=0.10 jazzy_*|=0.11 jazzy_*|=0.7 jazzy_*|=0.8 jazzy_*|=0.9 jazzy_*], which cannot be installed (as previously explained);
│  └─ ros2-distro-mutex [=0.10 jazzy_*|=0.11 jazzy_*|=0.7 jazzy_*|=0.8 jazzy_*|=0.9 jazzy_*], which cannot be installed (as previously explained);
└─ spdlog >=1.15.1 * is not installable because it conflicts with any installable versions previously reported.

@traversaro would you have any suggestion?

traversaro · 2025-11-06T14:43:41Z

@traversaro would you have any suggestion?

Sorry I had missed this comment.

Anyhow, we now:

Merged trintrin in conda-forge, with rebuilds for pybind11==11, see Add recipe for the trintrin C++ and Python package conda-forge/staged-recipes#31251 and Rebuild for pybind11 3 and pybind11_abi 11 conda-forge/trintrin-feedstock#2
We had recently a rebuild of robostack-jazzy, see Full Rebuild (Sync) November 2025: bump ros2-distro-mutex to 0.12.0 and build_number to 12 RoboStack/ros-jazzy#116

So hopefully now everything can be installed cleanly, can we rerun the CI?

.github/workflows/conda-forge-ci.yml

traversaro · 2025-11-06T15:00:00Z

So hopefully now everything can be installed cleanly, can we rerun the CI?

No, the problem is still there, but it is due to something else:

traversaro@IITBMP014LW012:~$ conda create -n test -c conda-forge -c robostack-jazzy libyarp==3.12.1 ros-jazzy-rclcpp librobometry
Retrieving notices: done
Channels:
 - conda-forge
 - robostack-jazzy
Platform: linux-64
Collecting package metadata (repodata.json): done
Solving environment: failed

LibMambaUnsatisfiableError: Encountered problems while solving:
  - package libyarp-3.12.1-h7fe703c_0 requires ace >=8.0.5,<8.0.6.0a0, but none of the providers can be installed

Could not solve for environment specs
The following packages are incompatible
├─ librobometry =* * is installable with the potential options
│  ├─ librobometry 1.2.2 would require
│  │  └─ yarp-cxx >=3.7.0,<3.7.1.0a0 * with the potential options
│  │     ├─ yarp-cxx 3.7.0 would require
│  │     │  └─ ace >=7.0.7,<7.0.8.0a0 *, which can be installed;
│  │     └─ yarp-cxx [3.7.0|3.7.2|3.8.0|3.8.1] would require
│  │        └─ portaudio >=19.6.0,<19.7.0a0 *, which can be installed;
│  ├─ librobometry [1.1.0|1.2.0|1.2.1|1.2.2] would require
│  │  └─ yarp-cxx [>=3.7.2,<3.7.3.0a0 *|>=3.8.0,<3.8.1.0a0 *|>=3.8.1,<3.8.2.0a0 *], which can be installed (as previously explained);
│  ├─ librobometry [1.2.2|1.2.3|1.2.4] would require
│  │  └─ libyarp >=3.9.0,<3.9.1.0a0 *, which can be installed;
│  ├─ librobometry [1.2.4|1.2.5] would require
│  │  └─ libyarp >=3.10.1,<3.10.2.0a0 *, which can be installed;
│  ├─ librobometry 1.2.5 would require
│  │  └─ libyarp >=3.11.1,<3.11.2.0a0 *, which can be installed;
│  ├─ librobometry [1.2.5|1.2.6|1.2.7] would require
│  │  └─ libyarp >=3.11.2,<3.11.3.0a0 *, which can be installed;
│  ├─ librobometry 1.2.7 would require
│  │  └─ libyarp >=3.12.0,<3.12.1.0a0 *, which can be installed;
│  └─ librobometry [1.2.7|1.2.8] would require
│     └─ libboost >=1.88.0,<1.89.0a0 *, which can be installed;
├─ libyarp ==3.12.1 * is not installable because it requires
│  ├─ ace >=8.0.5,<8.0.6.0a0 *, which conflicts with any installable versions previously reported;
│  └─ portaudio >=19.7.0,<19.8.0a0 *, which conflicts with any installable versions previously reported;
└─ ros-jazzy-rclcpp =* * is not installable because there are no viable options
   ├─ ros-jazzy-rclcpp 28.1.2 would require
   │  └─ ros2-distro-mutex ==0.5 jazzy, which requires
   │     └─ libboost =1.84 *, which conflicts with any installable versions previously reported;
   └─ ros-jazzy-rclcpp [28.1.10|28.1.12|...|28.1.9] would require
      └─ ros2-distro-mutex [=0.10 jazzy_*|=0.11 jazzy_*|...|=0.9 jazzy_*], which requires
         └─ libboost =1.86 *, which conflicts with any installable versions previously reported.

Basically there is no librobometry build with libboost=1.86.*, that is still needed by ROS as the libboost 1.88 migration is taking a long time. The easiest fix for this is to do a dual build of librobometry with both 1.86 and 1.88 for now.

traversaro · 2025-11-06T17:04:22Z

There is still an incompat between robostack-jazzy and recent YARP, due to libprotobuf:

traversaro@IITBMP014LW012:~/pixiws/testblf$ pixi add make compilers make ninja pkg-config                       "idyntree>=12.2.1" "yarp>=3.5.0" libmatio libmatio-cpp librobometry                       liblie-group-controllers eigen qhull "casadi>=3.5.5" cppad "spdlog>=1.15.1"                       nlohmann_json manif manifpy pybind11 numpy pytest scipy opencv pcl                       tomlplusplus libunicycle-footstep-planner "icub-models>=1.23.4"                       ros-jazzy-rclcpp onnxruntime-cpp libbayes-filters-lib cmake-package-check catch2 libtrintrin libprotobuf==5.29.3.*
Error:   × failed to solve requirements of environment 'default' for platform 'linux-64'
  ├─▶   × failed to solve the environment
  │
  ╰─▶ Cannot solve the request because of: The following packages are incompatible
      └─ libtrintrin * cannot be installed because there are no viable options:
         └─ libtrintrin 0.0.1 | 0.0.1 would require
            └─ libyarp >=3.12.1,<3.12.2.0a0, which cannot be installed because there are no viable options:
               └─ libyarp 3.12.1 | 3.12.1 would require
                  ├─ ffmpeg >=8.0.0,<9.0a0, which can be installed with any of the following options:
                  │  └─ ffmpeg 8.0.0 | 8.0.0 | 8.0.0 | 8.0.0 | 8.0.0 | 8.0.0 | 8.0.0 | 8.0.0 | 8.0.0 | 8.0.0 | 8.0.0 | 8.0.0 | 8.0.0 | 8.0.0 | 8.0.0 | 8.0.0 | 8.0.0 | 8.0.0 | 8.0.0 | 8.0.0 | 8.0.0 | 8.0.0 | 8.0.0 | 8.0.0 | 8.0.0 | 8.0.0 | 8.0.0 | 8.0.0 | 8.0.0 |
      8.0.0 | 8.0.0 | 8.0.0 | 8.0.0 | 8.0.0 | 8.0.0 | 8.0.0 | 8.0.0 | 8.0.0 | 8.0.0 | 8.0.0 | 8.0.0 | 8.0.0 | 8.0.0 | 8.0.0 | 8.0.0 | 8.0.0 | 8.0.0 | 8.0.0 | 8.0.0 | 8.0.0 | 8.0.0 | 8.0.0 | 8.0.0 | 8.0.0 | 8.0.0 would require
                  │     └─ libopenvino-tensorflow-frontend >=2025.2.0,<2025.2.1.0a0, which can be installed with any of the following options:
                  │        └─ libopenvino-tensorflow-frontend 2025.2.0
                  └─ libopencv >=4.12.0,<4.12.1.0a0, which cannot be installed because there are no viable options:
                     ├─ libopencv 4.12.0 | 4.12.0 | 4.12.0 | 4.12.0 | 4.12.0 | 4.12.0 | 4.12.0 | 4.12.0 | 4.12.0 | 4.12.0 | 4.12.0 | 4.12.0 | 4.12.0 | 4.12.0 | 4.12.0 | 4.12.0 | 4.12.0 | 4.12.0 | 4.12.0 | 4.12.0 | 4.12.0 | 4.12.0 | 4.12.0 | 4.12.0 | 4.12.0 | 4.12.0 |
      4.12.0 | 4.12.0 | 4.12.0 | 4.12.0 | 4.12.0 | 4.12.0 | 4.12.0 | 4.12.0 | 4.12.0 | 4.12.0 | 4.12.0 | 4.12.0 | 4.12.0 | 4.12.0 | 4.12.0 | 4.12.0 | 4.12.0 | 4.12.0 | 4.12.0 | 4.12.0 | 4.12.0 | 4.12.0 | 4.12.0 | 4.12.0 | 4.12.0 | 4.12.0 | 4.12.0 | 4.12.0 | 4.12.0 |
      4.12.0 | 4.12.0 | 4.12.0 | 4.12.0 | 4.12.0 would require
                     │  └─ libprotobuf >=6.31.1,<6.31.2.0a0, for which no candidates were found.
                     └─ libopencv 4.12.0 | 4.12.0 | 4.12.0 | 4.12.0 | 4.12.0 | 4.12.0 | 4.12.0 | 4.12.0 | 4.12.0 | 4.12.0 would require
                        └─ libopenvino-tensorflow-frontend >=2025.0.0,<2025.0.1.0a0, which cannot be installed because there are no viable options:
                           ├─ libopenvino-tensorflow-frontend 2025.0.0, which conflicts with the versions reported above.
                           └─ libopenvino-tensorflow-frontend 2025.0.0 | 2025.0.0 | 2025.0.0 would require
                              └─ libprotobuf >=5.28.3,<5.28.4.0a0, for which no candidates were found.

this is something we may want to fix, but this is not the place. I will add a build of trintrin with YARP 3.12.0 and call it a day.

traversaro · 2025-11-07T08:31:12Z

This is now fixed thanks to conda-forge/trintrin-feedstock#3 . The Windows job fails independently.

S-Dafarra · 2025-11-07T12:59:35Z

This is now fixed thanks to conda-forge/trintrin-feedstock#3 . The Windows job fails independently.

Awesome, thanks a lot!

…messages This simplifies the code in the run method

Co-authored-by: Silvio Traversaro <silvio.traversaro@iit.it>

S-Dafarra · 2025-12-15T10:11:38Z

Also this PR is ready to go

GiulioRomualdi

Just some minor comments

GiulioRomualdi · 2025-12-04T15:03:10Z

devices/YarpRobotLoggerDevice/include/BipedalLocomotion/MessageConversionUtilities.h

+void extractMetadata(const trintrin::msgs::HumanState& message,
+                     const std::string& prefix,
+                     BipedalLocomotion::YarpUtilities::VectorsCollectionMetadata& metadata);
+void extractMetadata(const trintrin::msgs::WearableTargets& message,
+                     const std::string& prefix,
+                     BipedalLocomotion::YarpUtilities::VectorsCollectionMetadata& metadata);
+void extractMetadata(const trintrin::msgs::WearableData& message,
+                     const std::string& prefix,
+                     BipedalLocomotion::YarpUtilities::VectorsCollectionMetadata& metadata);
+
+void convertToVectorsCollection(const trintrin::msgs::HumanState& message,
+                                const std::string& prefix,
+                                BipedalLocomotion::YarpUtilities::VectorsCollection& collection);
+void convertToVectorsCollection(const trintrin::msgs::WearableTargets& message,
+                                const std::string& prefix,
+                                BipedalLocomotion::YarpUtilities::VectorsCollection& collection);
+void convertToVectorsCollection(const trintrin::msgs::WearableData& message,
+                                const std::string& prefix,
+                                BipedalLocomotion::YarpUtilities::VectorsCollection& collection);


Could you add the documentation here?

GiulioRomualdi · 2025-12-04T15:03:30Z

devices/YarpRobotLoggerDevice/src/YarpRobotLoggerDevice.cpp

+Eigen::Vector3d trintrinVectorXYZToVector3(const trintrin::msgs::VectorXYZ& vec)
+{
+    Eigen::Vector3d eigenVec;
+    eigenVec(0) = vec.x;
+    eigenVec(1) = vec.y;
+    eigenVec(2) = vec.z;
+    return eigenVec;
+}


I would move it in a separate file

github-actions bot added the 🏗️ GitHub action label Oct 27, 2025

traversaro reviewed Nov 6, 2025

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.github/workflows/conda-forge-ci.yml Outdated Show resolved Hide resolved

traversaro mentioned this pull request Nov 6, 2025

Add build for both YARP 3.12.0 and 3.12.1 conda-forge/trintrin-feedstock#3

Merged

5 tasks

S-Dafarra force-pushed the trintrin_logging branch from 08f60bc to 656ea54 Compare November 17, 2025 10:08

S-Dafarra force-pushed the trintrin_logging branch from 656ea54 to 5c6d9c2 Compare November 25, 2025 17:24

S-Dafarra and others added 8 commits November 27, 2025 15:02

Added trintrin dependency

2ff1409

Added possibility to log HumanState messages

4f52d98

Convert HumanState to VectorsCollection to unify code with different …

d7815c9

…messages This simplifies the code in the run method

Added logging of WearableTargets message

2fc0681

Added logging of WearableData

3843f9b

Added options to log wearable messages in conf files

65c4f9b

Moved message conversions to separate files

6bcb687

Remove robotology channel

9ecc663

Co-authored-by: Silvio Traversaro <silvio.traversaro@iit.it>

S-Dafarra force-pushed the trintrin_logging branch from 5c6d9c2 to 9ecc663 Compare November 27, 2025 14:02

S-Dafarra marked this pull request as ready for review December 2, 2025 15:23

S-Dafarra requested a review from GiulioRomualdi as a code owner December 2, 2025 15:23

GiulioRomualdi reviewed Dec 19, 2025

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Added logging of trintrin messages #1013

Added logging of trintrin messages #1013

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S-Dafarra commented Oct 27, 2025 •

edited

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S-Dafarra commented Oct 27, 2025 •

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