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Added yarprobotinterface files #18

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e50db50
Added yri files to run the clock
S-Dafarra Nov 19, 2025
7325252
Added yri files to stream the RGBD camera
S-Dafarra Nov 19, 2025
d8ff0f4
Added missing newlines
Nov 19, 2025
f0b0637
Created bridge folder for yri files and changed naming
S-Dafarra Nov 21, 2025
56bf43a
Added bridge files for FT and started adding wrappers
S-Dafarra Nov 21, 2025
f05e405
Added remaining wrappers for FTs
S-Dafarra Nov 21, 2025
916319c
Fixed name of right leg FT device
S-Dafarra Nov 21, 2025
604d421
Added yri files for the IMUs
S-Dafarra Nov 21, 2025
6a92cd3
Added yri files for controlboards
S-Dafarra Dec 4, 2025
13759f5
Added files to consider the fingers coupling
S-Dafarra Dec 4, 2025
39cea82
Added wholebodydynamics yri conf file
S-Dafarra Dec 4, 2025
f1e6b6c
Updated yri cb files with new topic name
S-Dafarra Dec 7, 2025
d9c83ad
Using fingers coupling only if specifically enabled
S-Dafarra Dec 12, 2025
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8 changes: 8 additions & 0 deletions conf/clock/isaacsim_clock_ros2.xml
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<?xml version="1.0" encoding="UTF-8"?>
<!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">

<device xmlns:xi="http://www.w3.org/2001/XInclude" name="isaacsim_clock_ros2" type="IsaacSimClockROS2">
<param name="node_name"> ClockSubYarp </param>
<param name="topic_name"> /clock </param>
<param name="port_name"> /clock </param>
</device>
8 changes: 8 additions & 0 deletions conf/ergocub/bridge/FT/left_arm-FT_isaacsim.xml
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<?xml version="1.0" encoding="UTF-8"?>
<!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">

<device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_arm-FT_isaacsim" type="IsaacSimMultipleAnalogSensorsNWCROS2">
<param name="node_name"> left_arm_FT_subscriber </param>
<param name="ft_topic_names"> ("/ergocub/FT/l_arm_ft") </param>
<param name="imu_topic_names"> () </param>
</device>
8 changes: 8 additions & 0 deletions conf/ergocub/bridge/FT/left_foot-FT_isaacsim.xml
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<?xml version="1.0" encoding="UTF-8"?>
<!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">

<device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_foot-FT_isaacsim" type="IsaacSimMultipleAnalogSensorsNWCROS2">
<param name="node_name"> left_foot_FT_subscriber </param>
<param name="ft_topic_names"> ("/ergocub/FT/l_foot_front_ft", "/ergocub/FT/l_foot_rear_ft") </param>
<param name="imu_topic_names"> () </param>
</device>
8 changes: 8 additions & 0 deletions conf/ergocub/bridge/FT/left_leg-FT_isaacsim.xml
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<?xml version="1.0" encoding="UTF-8"?>
<!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">

<device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_leg-FT_isaacsim" type="IsaacSimMultipleAnalogSensorsNWCROS2">
<param name="node_name"> left_leg_FT_subscriber </param>
<param name="ft_topic_names"> ("/ergocub/FT/l_leg_ft") </param>
<param name="imu_topic_names"> () </param>
</device>
8 changes: 8 additions & 0 deletions conf/ergocub/bridge/FT/right_arm-FT_isaacsim.xml
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<?xml version="1.0" encoding="UTF-8"?>
<!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">

<device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_arm-FT_isaacsim" type="IsaacSimMultipleAnalogSensorsNWCROS2">
<param name="node_name"> right_arm_FT_subscriber </param>
<param name="ft_topic_names"> ("/ergocub/FT/r_arm_ft") </param>
<param name="imu_topic_names"> () </param>
</device>
8 changes: 8 additions & 0 deletions conf/ergocub/bridge/FT/right_foot-FT_isaacsim.xml
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<?xml version="1.0" encoding="UTF-8"?>
<!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">

<device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_foot-FT_isaacsim" type="IsaacSimMultipleAnalogSensorsNWCROS2">
<param name="node_name"> right_foot_FT_subscriber </param>
<param name="ft_topic_names"> ("/ergocub/FT/r_foot_front_ft", "/ergocub/FT/r_foot_rear_ft") </param>
<param name="imu_topic_names"> () </param>
</device>
8 changes: 8 additions & 0 deletions conf/ergocub/bridge/FT/right_leg-FT_isaacsim.xml
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<?xml version="1.0" encoding="UTF-8"?>
<!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">

<device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_leg-FT_isaacsim" type="IsaacSimMultipleAnalogSensorsNWCROS2">
<param name="node_name"> right_leg_FT_subscriber </param>
<param name="ft_topic_names"> ("/ergocub/FT/r_leg_ft") </param>
<param name="imu_topic_names"> () </param>
</device>
8 changes: 8 additions & 0 deletions conf/ergocub/bridge/inertials/head-inertials_isaacsim.xml
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<?xml version="1.0" encoding="UTF-8"?>
<!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">

<device xmlns:xi="http://www.w3.org/2001/XInclude" name="head-inertials_isaacsim" type="IsaacSimMultipleAnalogSensorsNWCROS2">
<param name="node_name"> head_IMU_subscriber </param>
<param name="ft_topic_names"> () </param>
<param name="imu_topic_names"> ("/ergocub/IMU/head_imu_0") </param>
</device>
8 changes: 8 additions & 0 deletions conf/ergocub/bridge/inertials/waist-inertials_isaacsim.xml
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<?xml version="1.0" encoding="UTF-8"?>
<!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">

<device xmlns:xi="http://www.w3.org/2001/XInclude" name="waist-inertials_isaacsim" type="IsaacSimMultipleAnalogSensorsNWCROS2">
<param name="node_name"> waist_IMU_subscriber </param>
<param name="ft_topic_names"> () </param>
<param name="imu_topic_names"> ("/ergocub/IMU/waist_imu_0") </param>
</device>
13 changes: 13 additions & 0 deletions conf/ergocub/bridge/motorcontrol/head-mc_isaacsim.xml
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<?xml version="1.0" encoding="UTF-8"?>
<!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">

<device xmlns:xi="http://www.w3.org/2001/XInclude" name="head-mc_isaacsim" type="IsaacSimControlBoardNWCROS2">
<param name="streaming_node_name">head_mc_streaming</param>
<param name="service_node_name">head_mc_service</param>
<param name="joint_state_topic_name">/ergocub/head/joint_state</param>
<param name="motor_state_topic_name">/ergocub/head/motor_state</param>
<param name="joint_references_topic_name">/ergocub/head/joint_state/input</param>
<param name="parameter_events_topic_name">/ergocub/head/parameter_events</param>
<param name="set_parameters_service_name">/ergocub/head/set_parameters</param>
<param name="requests_timeout">0.5</param>
</device>
13 changes: 13 additions & 0 deletions conf/ergocub/bridge/motorcontrol/left_arm-mc_isaacsim.xml
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<?xml version="1.0" encoding="UTF-8"?>
<!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">

<device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_arm-mc_isaacsim" type="IsaacSimControlBoardNWCROS2">
<param name="streaming_node_name">left_arm_mc_streaming</param>
<param name="service_node_name">left_arm_mc_service</param>
<param name="joint_state_topic_name">/ergocub/left_arm/joint_state</param>
<param name="motor_state_topic_name">/ergocub/left_arm/motor_state</param>
<param name="joint_references_topic_name">/ergocub/left_arm/joint_state/input</param>
<param name="parameter_events_topic_name">/ergocub/left_arm/parameter_events</param>
<param name="set_parameters_service_name">/ergocub/left_arm/set_parameters</param>
<param name="requests_timeout">0.5</param>
</device>
13 changes: 13 additions & 0 deletions conf/ergocub/bridge/motorcontrol/left_hand-mc_isaacsim.xml
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<?xml version="1.0" encoding="UTF-8"?>
<!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">

<device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_hand-mc_isaacsim" type="IsaacSimControlBoardNWCROS2">
<param name="streaming_node_name">left_hand_mc_streaming</param>
<param name="service_node_name">left_hand_mc_service</param>
<param name="joint_state_topic_name">/ergocub/left_hand/joint_state</param>
<param name="motor_state_topic_name">/ergocub/left_hand/motor_state</param>
<param name="joint_references_topic_name">/ergocub/left_hand/joint_state/input</param>
<param name="parameter_events_topic_name">/ergocub/left_hand/parameter_events</param>
<param name="set_parameters_service_name">/ergocub/left_hand/set_parameters</param>
<param name="requests_timeout">0.5</param>
</device>
13 changes: 13 additions & 0 deletions conf/ergocub/bridge/motorcontrol/left_leg-mc_isaacsim.xml
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<?xml version="1.0" encoding="UTF-8"?>
<!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">

<device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_leg-mc_isaacsim" type="IsaacSimControlBoardNWCROS2">
<param name="streaming_node_name">left_leg_mc_streaming</param>
<param name="service_node_name">left_leg_mc_service</param>
<param name="joint_state_topic_name">/ergocub/left_leg/joint_state</param>
<param name="motor_state_topic_name">/ergocub/left_leg/motor_state</param>
<param name="joint_references_topic_name">/ergocub/left_leg/joint_state/input</param>
<param name="parameter_events_topic_name">/ergocub/left_leg/parameter_events</param>
<param name="set_parameters_service_name">/ergocub/left_leg/set_parameters</param>
<param name="requests_timeout">0.5</param>
</device>
13 changes: 13 additions & 0 deletions conf/ergocub/bridge/motorcontrol/right_arm-mc_isaacsim.xml
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<?xml version="1.0" encoding="UTF-8"?>
<!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">

<device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_arm-mc_isaacsim" type="IsaacSimControlBoardNWCROS2">
<param name="streaming_node_name">right_arm_mc_streaming</param>
<param name="service_node_name">right_arm_mc_service</param>
<param name="joint_state_topic_name">/ergocub/right_arm/joint_state</param>
<param name="motor_state_topic_name">/ergocub/right_arm/motor_state</param>
<param name="joint_references_topic_name">/ergocub/right_arm/joint_state/input</param>
<param name="parameter_events_topic_name">/ergocub/right_arm/parameter_events</param>
<param name="set_parameters_service_name">/ergocub/right_arm/set_parameters</param>
<param name="requests_timeout">0.5</param>
</device>
13 changes: 13 additions & 0 deletions conf/ergocub/bridge/motorcontrol/right_hand-mc_isaacsim.xml
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<?xml version="1.0" encoding="UTF-8"?>
<!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">

<device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_hand-mc_isaacsim" type="IsaacSimControlBoardNWCROS2">
<param name="streaming_node_name">right_hand_mc_streaming</param>
<param name="service_node_name">right_hand_mc_service</param>
<param name="joint_state_topic_name">/ergocub/right_hand/joint_state</param>
<param name="motor_state_topic_name">/ergocub/right_hand/motor_state</param>
<param name="joint_references_topic_name">/ergocub/right_hand/joint_state/input</param>
<param name="parameter_events_topic_name">/ergocub/right_hand/parameter_events</param>
<param name="set_parameters_service_name">/ergocub/right_hand/set_parameters</param>
<param name="requests_timeout">0.5</param>
</device>
13 changes: 13 additions & 0 deletions conf/ergocub/bridge/motorcontrol/right_leg-mc_isaacsim.xml
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<?xml version="1.0" encoding="UTF-8"?>
<!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">

<device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_leg-mc_isaacsim" type="IsaacSimControlBoardNWCROS2">
<param name="streaming_node_name">right_leg_mc_streaming</param>
<param name="service_node_name">right_leg_mc_service</param>
<param name="joint_state_topic_name">/ergocub/right_leg/joint_state</param>
<param name="motor_state_topic_name">/ergocub/right_leg/motor_state</param>
<param name="joint_references_topic_name">/ergocub/right_leg/joint_state/input</param>
<param name="parameter_events_topic_name">/ergocub/right_leg/parameter_events</param>
<param name="set_parameters_service_name">/ergocub/right_leg/set_parameters</param>
<param name="requests_timeout">0.5</param>
</device>
13 changes: 13 additions & 0 deletions conf/ergocub/bridge/motorcontrol/torso-mc_isaacsim.xml
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<?xml version="1.0" encoding="UTF-8"?>
<!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">

<device xmlns:xi="http://www.w3.org/2001/XInclude" name="torso-mc_isaacsim" type="IsaacSimControlBoardNWCROS2">
<param name="streaming_node_name">torso_mc_streaming</param>
<param name="service_node_name">torso_mc_service</param>
<param name="joint_state_topic_name">/ergocub/torso/joint_state</param>
<param name="motor_state_topic_name">/ergocub/torso/motor_state</param>
<param name="joint_references_topic_name">/ergocub/torso/joint_state/input</param>
<param name="parameter_events_topic_name">/ergocub/torso/parameter_events</param>
<param name="set_parameters_service_name">/ergocub/torso/set_parameters</param>
<param name="requests_timeout">0.5</param>
</device>
8 changes: 8 additions & 0 deletions conf/ergocub/bridge/sensors/realsense_isaacsim.xml
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<?xml version="1.0" encoding="UTF-8"?>
<!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">

<device xmlns:xi="http://www.w3.org/2001/XInclude" name="realsense_isaacsim" type="IsaacSimRGBDSensorNWCROS2">
<param name="node_name"> RGBDBridgeSubscriber </param>
<param name="rgb_topic_name"> /ergocub/realsense/rgb </param>
<param name="depth_topic_name"> /ergocub/realsense/depth </param>
</device>
71 changes: 71 additions & 0 deletions conf/ergocub/ergocub_isaacsim.xml
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<?xml version="1.0" encoding="UTF-8" ?>
<!DOCTYPE robot PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">

<robot name="ergocubIsaacsim" build="1" portprefix="/ergocubSim" xmlns:xi="http://www.w3.org/2001/XInclude">

<devices>
<!-- REALSENSE -->
<xi:include href="bridge/sensors/realsense_isaacsim.xml" />
<xi:include href="wrappers/sensors/realsense_wrapper.xml" />

<!-- MOTOR CONTROL -->
<xi:include href="bridge/motorcontrol/head-mc_isaacsim.xml" />
<xi:include href="bridge/motorcontrol/torso-mc_isaacsim.xml" />
<xi:include href="bridge/motorcontrol/left_leg-mc_isaacsim.xml" />
<xi:include href="bridge/motorcontrol/right_leg-mc_isaacsim.xml" />
<xi:include href="bridge/motorcontrol/left_arm-mc_isaacsim.xml" />
<xi:include href="bridge/motorcontrol/right_arm-mc_isaacsim.xml" />
<xi:include href="bridge/motorcontrol/left_hand-mc_isaacsim.xml" />
<xi:include href="bridge/motorcontrol/right_hand-mc_isaacsim.xml" />

<xi:include href="wrappers/motorcontrol/head-mc_wrapper.xml" />
<xi:include href="wrappers/motorcontrol/torso-mc_wrapper.xml" />
<xi:include href="wrappers/motorcontrol/left_leg-mc_wrapper.xml" />
<xi:include href="wrappers/motorcontrol/right_leg-mc_wrapper.xml" />
<xi:include href="wrappers/motorcontrol/left_upper_arm-mc_wrapper.xml" />
<xi:include href="wrappers/motorcontrol/right_upper_arm-mc_wrapper.xml" />
<xi:include href="wrappers/motorcontrol/left_hand-mc_wrapper.xml" />
<xi:include href="wrappers/motorcontrol/right_hand-mc_wrapper.xml" />

<!-- Left arm with hand coupling -->
<xi:include href="wrappers/motorcontrol/left_hand-coupling_handler.xml" enabled_by="enable_coupling" />
<xi:include href="wrappers/motorcontrol/left_hand-mc_wrapper-coupling.xml" enabled_by="enable_coupling" />

<!-- Right arm with hand coupling -->
<xi:include href="wrappers/motorcontrol/right_hand-coupling_handler.xml" enabled_by="enable_coupling" />
<xi:include href="wrappers/motorcontrol/right_hand-mc_wrapper-coupling.xml" enabled_by="enable_coupling" />

<!-- FT -->
<xi:include href="bridge/FT/left_arm-FT_isaacsim.xml" />
<xi:include href="bridge/FT/left_foot-FT_isaacsim.xml" />
<xi:include href="bridge/FT/left_leg-FT_isaacsim.xml" />
<xi:include href="bridge/FT/right_arm-FT_isaacsim.xml" />
<xi:include href="bridge/FT/right_foot-FT_isaacsim.xml" />
<xi:include href="bridge/FT/right_leg-FT_isaacsim.xml" />

<xi:include href="wrappers/FT/left_arm-FT_wrapper.xml" />
<xi:include href="wrappers/FT/left_foot-FT_wrapper.xml" />
<xi:include href="wrappers/FT/left_leg_hip-FT_wrapper.xml" />
<xi:include href="wrappers/FT/left_leg-FT_remapper.xml" />
<xi:include href="wrappers/FT/left_leg-FT_wrapper.xml" />
<xi:include href="wrappers/FT/right_arm-FT_wrapper.xml" />
<xi:include href="wrappers/FT/right_foot-FT_wrapper.xml" />
<xi:include href="wrappers/FT/right_leg_hip-FT_wrapper.xml" />
<xi:include href="wrappers/FT/right_leg-FT_remapper.xml" />
<xi:include href="wrappers/FT/right_leg-FT_wrapper.xml" />

<!-- INERTIALS -->
<xi:include href="bridge/inertials/head-inertials_isaacsim.xml" />
<xi:include href="bridge/inertials/waist-inertials_isaacsim.xml" />

<xi:include href="wrappers/inertials/alljoints-inertials_remapper.xml" />
<xi:include href="wrappers/inertials/alljoints-inertials_wrapper.xml" />
<xi:include href="wrappers/inertials/head-inertials_wrapper.xml" />
<xi:include href="wrappers/inertials/waist-inertials_wrapper.xml" />

<!-- ESTIMATORS -->
<xi:include href="estimators/wholebodydynamics.xml" />

</devices>

</robot>
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