[Rock-dev] Force/Torque data

Discussion:

Dennis Mronga

2013-11-21 17:44:45 UTC

Hi,

is there a force/torque datatype in Rock, something equivalent to
KDL/Wrench?

If not, is it planned/desired to have one? Or should I use the KDL type?

Best,
Dennis
--
Dipl.-Ing. Dennis Mronga
Researcher

Hauptgesch?ftsstelle Standort Bremen:
DFKI GmbH
Robotics Innovation Center
Robert-Hooke-Stra?e 5
28359 Bremen, Germany

Tel.: +49 421 178 45-6560
Zentrale: +49 421 178 45-4100
Fax: +49 421 178 45-4150 (Faxe bitte namentlich kennzeichnen)
E-Mail: dennis.mronga at dfki.de

Weitere Informationen: http://www.dfki.de/robotik
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Firmensitz: Trippstadter Stra?e 122, D-67663 Kaiserslautern
Geschaeftsfuehrung: Prof. Dr. Dr. h.c. mult. Wolfgang Wahlster
(Vorsitzender) Dr. Walter Olthoff
Vorsitzender des Aufsichtsrats: Prof. Dr. h.c. Hans A. Aukes
Amtsgericht Kaiserslautern, HRB 2313
Sitz der Gesellschaft: Kaiserslautern (HRB 2313)
USt-Id.Nr.: DE 148646973
Steuernummer: 19/673/0060/3
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Jakob Schwendner

2013-11-22 07:59:46 UTC

Permalink

To use internally, or as an interface type?
As far as I can see, there is only the effort field in the joints.
Defining a wrench in base, equivalent to the kdl type seems to be feasible.

Cheers,

Jakob

-----Original Message-----
From: rock-dev-bounces at dfki.de [mailto:rock-dev-bounces at dfki.de] On Behalf
Of Dennis Mronga
Sent: Donnerstag, 21. November 2013 18:45
To: rock-dev at dfki.de
Subject: [Rock-dev] Force/Torque data

Hi,

is there a force/torque datatype in Rock, something equivalent to
KDL/Wrench?

If not, is it planned/desired to have one? Or should I use the KDL type?

Best,
Dennis

--
Dipl.-Ing. Dennis Mronga
Researcher

Hauptgesch?ftsstelle Standort Bremen:
DFKI GmbH
Robotics Innovation Center
Robert-Hooke-Stra?e 5
28359 Bremen, Germany

Tel.: +49 421 178 45-6560
Zentrale: +49 421 178 45-4100
Fax: +49 421 178 45-4150 (Faxe bitte namentlich kennzeichnen)
E-Mail: dennis.mronga at dfki.de

Weitere Informationen: http://www.dfki.de/robotik
-----------------------------------------------------------------------
Deutsches Forschungszentrum fuer Kuenstliche Intelligenz GmbH
Firmensitz: Trippstadter Stra?e 122, D-67663 Kaiserslautern
Geschaeftsfuehrung: Prof. Dr. Dr. h.c. mult. Wolfgang Wahlster
(Vorsitzender) Dr. Walter Olthoff
Vorsitzender des Aufsichtsrats: Prof. Dr. h.c. Hans A. Aukes
Amtsgericht Kaiserslautern, HRB 2313
Sitz der Gesellschaft: Kaiserslautern (HRB 2313)
USt-Id.Nr.: DE 148646973
Steuernummer: 19/673/0060/3
-----------------------------------------------------------------------

Sylvain Joyeux

2013-11-22 09:42:28 UTC

Permalink

Post by Jakob Schwendner
To use internally, or as an interface type?
As far as I can see, there is only the effort field in the joints.
Defining a wrench in base, equivalent to the kdl type seems to be feasible.

There is a RigidBodyAcceleration type ... However we should probably
rename the type to e.g. Wrench ?
--
Sylvain Joyeux (Dr.Ing.)
Senior Researcher

Space & Security Robotics
Underwater Robotics

!!! Achtung, neue Telefonnummer!!!

Standort Bremen:
DFKI GmbH
Robotics Innovation Center
Robert-Hooke-Stra?e 5
28359 Bremen, Germany

Phone: +49 (0)421 178-454136
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E-Mail: robotik at dfki.de

Weitere Informationen: http://www.dfki.de/robotik
-----------------------------------------------------------------------
Deutsches Forschungszentrum fuer Kuenstliche Intelligenz GmbH
Firmensitz: Trippstadter Stra?e 122, D-67663 Kaiserslautern
Geschaeftsfuehrung: Prof. Dr. Dr. h.c. mult. Wolfgang Wahlster
(Vorsitzender) Dr. Walter Olthoff
Vorsitzender des Aufsichtsrats: Prof. Dr. h.c. Hans A. Aukes
Amtsgericht Kaiserslautern, HRB 2313
Sitz der Gesellschaft: Kaiserslautern (HRB 2313)
USt-Id.Nr.: DE 148646973
Steuernummer: 19/673/0060/3
-----------------------------------------------------------------------

Dennis Mronga

2013-11-22 10:07:20 UTC

Permalink

Post by Sylvain Joyeux

Post by Jakob Schwendner
To use internally, or as an interface type?

As an interface type. Internally I would use the KDL type anyways.
That's why I am asking if it is useful to define an additional Rock type...

Post by Sylvain Joyeux

Post by Jakob Schwendner
As far as I can see, there is only the effort field in the joints.
Defining a wrench in base, equivalent to the kdl type seems to be feasible.

There is a RigidBodyAcceleration type ... However we should probably
rename the type to e.g. Wrench ?

A wrench type would look different than RigidBodyAcceleration. I would
suggest something like

base::Time time;
std::string refFrame;
base::Vector3d force;
base::Vector3d torque;
--
Dipl.-Ing. Dennis Mronga
Researcher

Hauptgesch?ftsstelle Standort Bremen:
DFKI GmbH
Robotics Innovation Center
Robert-Hooke-Stra?e 5
28359 Bremen, Germany

Tel.: +49 421 178 45-6560
Zentrale: +49 421 178 45-4100
Fax: +49 421 178 45-4150 (Faxe bitte namentlich kennzeichnen)
E-Mail: dennis.mronga at dfki.de

Weitere Informationen: http://www.dfki.de/robotik
-----------------------------------------------------------------------
Deutsches Forschungszentrum fuer Kuenstliche Intelligenz GmbH
Firmensitz: Trippstadter Stra?e 122, D-67663 Kaiserslautern
Geschaeftsfuehrung: Prof. Dr. Dr. h.c. mult. Wolfgang Wahlster
(Vorsitzender) Dr. Walter Olthoff
Vorsitzender des Aufsichtsrats: Prof. Dr. h.c. Hans A. Aukes
Amtsgericht Kaiserslautern, HRB 2313
Sitz der Gesellschaft: Kaiserslautern (HRB 2313)
USt-Id.Nr.: DE 148646973
Steuernummer: 19/673/0060/3
-----------------------------------------------------------------------

Jakob Schwendner

2013-11-22 10:51:39 UTC

Permalink

Seems reasonable. The only discussion point would be the refFrame I guess. I
think sylvain took some issue with having the frame names in the types for
the rigidBodyState as well, so the question would be if we should try to
avoid this for future types. The argumentation is that the frame the type is
referenced with is set by the configuration, and each data connection only
holds the values for a single frame.

Cheers,

Jakob

-----Original Message-----
From: Dennis Mronga [mailto:dennis.mronga at dfki.de]
Sent: Freitag, 22. November 2013 11:07
To: Sylvain Joyeux; Jakob Schwendner; rock-dev at dfki.de
Subject: Re: [Rock-dev] Force/Torque data

Post by Sylvain Joyeux

Post by Jakob Schwendner
To use internally, or as an interface type?

As an interface type. Internally I would use the KDL type anyways.
That's why I am asking if it is useful to define an additional Rock type...

Post by Sylvain Joyeux

Post by Jakob Schwendner
As far as I can see, there is only the effort field in the joints.
Defining a wrench in base, equivalent to the kdl type seems to be feasible.

There is a RigidBodyAcceleration type ... However we should probably
rename the type to e.g. Wrench ?

Dennis Mronga

2013-11-22 13:04:03 UTC

Permalink

Would be ok for me to remove it. Actually I just adopted the use of
frame information from the example of the RigidBodyState type.

Post by Jakob Schwendner
Seems reasonable. The only discussion point would be the refFrame I guess. I
think sylvain took some issue with having the frame names in the types for
the rigidBodyState as well, so the question would be if we should try to
avoid this for future types. The argumentation is that the frame the type is
referenced with is set by the configuration, and each data connection only
holds the values for a single frame.
Cheers,
Jakob
-----Original Message-----
From: Dennis Mronga [mailto:dennis.mronga at dfki.de]
Sent: Freitag, 22. November 2013 11:07
To: Sylvain Joyeux; Jakob Schwendner; rock-dev at dfki.de
Subject: Re: [Rock-dev] Force/Torque data

Post by Sylvain Joyeux

Post by Jakob Schwendner
To use internally, or as an interface type?

As an interface type. Internally I would use the KDL type anyways.
That's why I am asking if it is useful to define an additional Rock type...

Post by Sylvain Joyeux

Post by Jakob Schwendner
As far as I can see, there is only the effort field in the joints.
Defining a wrench in base, equivalent to the kdl type seems to be

feasible.

Post by Sylvain Joyeux
There is a RigidBodyAcceleration type ... However we should probably
rename the type to e.g. Wrench ?

A wrench type would look different than RigidBodyAcceleration. I would
suggest something like
base::Time time;
std::string refFrame;
base::Vector3d force;
base::Vector3d torque;
--
Dipl.-Ing. Dennis Mronga
Researcher
DFKI GmbH
Robotics Innovation Center
Robert-Hooke-Stra?e 5
28359 Bremen, Germany
Tel.: +49 421 178 45-6560
Zentrale: +49 421 178 45-4100
Fax: +49 421 178 45-4150 (Faxe bitte namentlich kennzeichnen)
E-Mail: dennis.mronga at dfki.de
Weitere Informationen: http://www.dfki.de/robotik
-----------------------------------------------------------------------
Deutsches Forschungszentrum fuer Kuenstliche Intelligenz GmbH
Firmensitz: Trippstadter Stra?e 122, D-67663 Kaiserslautern
Geschaeftsfuehrung: Prof. Dr. Dr. h.c. mult. Wolfgang Wahlster
(Vorsitzender) Dr. Walter Olthoff
Vorsitzender des Aufsichtsrats: Prof. Dr. h.c. Hans A. Aukes
Amtsgericht Kaiserslautern, HRB 2313
Sitz der Gesellschaft: Kaiserslautern (HRB 2313)
USt-Id.Nr.: DE 148646973
Steuernummer: 19/673/0060/3
-----------------------------------------------------------------------

--
Dipl.-Ing. Dennis Mronga
Researcher

Hauptgesch?ftsstelle Standort Bremen:
DFKI GmbH
Robotics Innovation Center
Robert-Hooke-Stra?e 5
28359 Bremen, Germany

Tel.: +49 421 178 45-6560
Zentrale: +49 421 178 45-4100
Fax: +49 421 178 45-4150 (Faxe bitte namentlich kennzeichnen)
E-Mail: dennis.mronga at dfki.de

Weitere Informationen: http://www.dfki.de/robotik
-----------------------------------------------------------------------
Deutsches Forschungszentrum fuer Kuenstliche Intelligenz GmbH
Firmensitz: Trippstadter Stra?e 122, D-67663 Kaiserslautern
Geschaeftsfuehrung: Prof. Dr. Dr. h.c. mult. Wolfgang Wahlster
(Vorsitzender) Dr. Walter Olthoff
Vorsitzender des Aufsichtsrats: Prof. Dr. h.c. Hans A. Aukes
Amtsgericht Kaiserslautern, HRB 2313
Sitz der Gesellschaft: Kaiserslautern (HRB 2313)
USt-Id.Nr.: DE 148646973
Steuernummer: 19/673/0060/3
-----------------------------------------------------------------------

Steffen Planthaber

2014-07-01 14:03:50 UTC

Permalink

Hi,

This discussion was held some time ago.

I'm currently working on providing 6DOF FT values from the simulation in
rock and would like to use the wrench type for this.

As there were no points agains it left, can we finally push it to
master, or is more discussion needed here?

Best,

Steffen

Post by Dennis Mronga
Would be ok for me to remove it. Actually I just adopted the use of
frame information from the example of the RigidBodyState type.

Post by Sylvain Joyeux

Post by Jakob Schwendner
To use internally, or as an interface type?

As an interface type. Internally I would use the KDL type anyways.
That's why I am asking if it is useful to define an additional Rock type...

Post by Sylvain Joyeux

Post by Jakob Schwendner
As far as I can see, there is only the effort field in the joints.
Defining a wrench in base, equivalent to the kdl type seems to be

feasible.

Post by Sylvain Joyeux
There is a RigidBodyAcceleration type ... However we should probably
rename the type to e.g. Wrench ?

A wrench type would look different than RigidBodyAcceleration. I would
suggest something like
base::Time time;
std::string refFrame;
base::Vector3d force;
base::Vector3d torque;
--
Dipl.-Ing. Dennis Mronga
Researcher
DFKI GmbH
Robotics Innovation Center
Robert-Hooke-Stra?e 5
28359 Bremen, Germany
Tel.: +49 421 178 45-6560
Zentrale: +49 421 178 45-4100
Fax: +49 421 178 45-4150 (Faxe bitte namentlich kennzeichnen)
E-Mail: dennis.mronga at dfki.de
Weitere Informationen: http://www.dfki.de/robotik
-----------------------------------------------------------------------
Deutsches Forschungszentrum fuer Kuenstliche Intelligenz GmbH
Firmensitz: Trippstadter Stra?e 122, D-67663 Kaiserslautern
Geschaeftsfuehrung: Prof. Dr. Dr. h.c. mult. Wolfgang Wahlster
(Vorsitzender) Dr. Walter Olthoff
Vorsitzender des Aufsichtsrats: Prof. Dr. h.c. Hans A. Aukes
Amtsgericht Kaiserslautern, HRB 2313
Sitz der Gesellschaft: Kaiserslautern (HRB 2313)
USt-Id.Nr.: DE 148646973
Steuernummer: 19/673/0060/3
-----------------------------------------------------------------------

--
Steffen Planthaber
Weltraumrobotik

Besuchsadresse der Nebengesch?ftstelle:
DFKI GmbH
Robotics Innovation Center
Robert-Hooke-Stra?e 5
28359 Bremen, Germany

Postadresse der Hauptgesch?ftsstelle Standort Bremen:
DFKI GmbH
Robotics Innovation Center
Robert-Hooke-Stra?e 1
28359 Bremen, Germany

Tel.: +49 421 178 45-4125
Zentrale: +49 421 178 45-0
Fax: +49 421 178 45-4150 (Faxe bitte namentlich kennzeichnen)
E-Mail: Steffen.Planthaber at dfki.de

Weitere Informationen: http://www.dfki.de/robotik
-----------------------------------------------------------------------
Deutsches Forschungszentrum fuer Kuenstliche Intelligenz GmbH
Firmensitz: Trippstadter Stra?e 122, D-67663 Kaiserslautern
Geschaeftsfuehrung: Prof. Dr. Dr. h.c. mult. Wolfgang Wahlster
(Vorsitzender) Dr. Walter Olthoff
Vorsitzender des Aufsichtsrats: Prof. Dr. h.c. Hans A. Aukes
Amtsgericht Kaiserslautern, HRB 2313
Sitz der Gesellschaft: Kaiserslautern (HRB 2313)
USt-Id.Nr.: DE 148646973
Steuernummer: 19/673/0060/3
-----------------------------------------------------------------------