Stream and visualize human effort data in HumanStateVisualizer (#385)

* Setup iHumanDynamics to print joint torques * Fix and print effort data * Update gitignore * Cleaned comments * Add spheres objects visualization * Add maxEffort list reading from init file * Cleaned config checks * Add sphere color mapping from joint effort * Add possibility to set background color from init file * Set model and spheres tranparency * Update changelog * Add iDynTree version dependency * Update iDynTree version dep * Update iDynTree version tag for CI * Link IHumanDynamics lib * Skip macos and Windows CI build for now --------- Co-authored-by: Silvio Traversaro <[email protected]>
robotology · Mar 27, 2024 · c618c30 · c618c30
1 parent cdf9c94
commit c618c30
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diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
@@ -15,7 +15,7 @@ on:
 env:
     YCM_TAG: v0.15.3
     YARP_TAG: v3.8.1
-    iDynTree_TAG: v9.0.0 
+    iDynTree_TAG: v12.0.0 
     wearables_TAG: v1.7.1 
     icub_main_TAG: v2.2.1    
     osqp_TAG: v0.6.3
@@ -30,7 +30,10 @@ jobs:
         strategy:
             matrix:
                 build_type: [Release]
-                os: [ubuntu-latest, windows-latest, macOS-latest]  
+                # Windows and macOS disabled until we have idyntree==12 wearables packages on macos and Windows
+                # See https://github.com/robotology/human-dynamics-estimation/pull/385#issuecomment-2019827813
+                os: [ubuntu-latest]
+                # os: [ubuntu-latest, windows-latest, macOS-latest]  
             fail-fast: false
 
         steps:

diff --git a/.gitignore b/.gitignore
@@ -4,3 +4,5 @@ build*
 *~
 *.txt.user*
 *.vscode*
+.vs/
+CMakeSettings.json
diff --git a/CHANGELOG.md b/CHANGELOG.md
@@ -9,6 +9,7 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 ## [3.0.0] - 2023-11-09
 
 ### Changed
+- Stream and visualize human effort data in HumanStateVisualizer (https://github.com/robotology/human-dynamics-estimation/pull/385).
 - Naming convention from `wrapper`\ `server` to `nws`\ `nwc` (https://github.com/robotology/human-dynamics-estimation/pull/367).
 
 | Previous devices name | New devices name |

diff --git a/modules/HumanStateVisualizer/CMakeLists.txt b/modules/HumanStateVisualizer/CMakeLists.txt
@@ -15,7 +15,7 @@ add_install_rpath_support(BIN_DIRS "${CMAKE_INSTALL_PREFIX}/${CMAKE_INSTALL_BIND
 
 # Find required package
 find_package(YARP REQUIRED)
-find_package(iDynTree REQUIRED)
+find_package(iDynTree 12.0.0 REQUIRED)
 find_package(OsqpEigen 0.4.0 REQUIRED)
 
 # set cpp files
@@ -40,6 +40,7 @@ target_link_libraries(${EXE_TARGET_NAME} LINK_PUBLIC
   iDynTree::idyntree-visualization
   IHumanState
   IWearableTargets
-  IHumanWrench)
+  IHumanWrench
+  IHumanDynamics)
 
 install(TARGETS ${EXE_TARGET_NAME} DESTINATION bin)