added new executable yarpActionsPlayer

robotology · Jan 20, 2025 · 11efac5 · 11efac5
1 parent f7f5a68
commit 11efac5
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diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
@@ -55,6 +55,7 @@ if(YARP_COMPILE_EXECUTABLES)
     add_subdirectory(yarplogger-console)
     add_subdirectory(yarpdataplayer-console)
     add_subdirectory(yarpdatadumper)
+    add_subdirectory(yarpActionsPlayer)
 
     # GUIs
     add_subdirectory(guis)

diff --git a/src/yarpActionsPlayer/CMakeLists.txt b/src/yarpActionsPlayer/CMakeLists.txt
@@ -0,0 +1,23 @@
+# SPDX-FileCopyrightText: 2024-2024 Istituto Italiano di Tecnologia (IIT)
+# SPDX-License-Identifier: BSD-3-Clause
+
+project(yarpActionsPlayer)
+
+file(GLOB folder_source *.cpp)
+file(GLOB folder_header *.h)
+source_group("Source Files" FILES ${folder_source})
+source_group("Header Files" FILES ${folder_header})
+
+add_executable(yarpActionsPlayer ${folder_source} ${folder_header})
+
+target_link_libraries(yarpActionsPlayer
+  PRIVATE
+    YARP::YARP_init
+    YARP::YARP_os
+    YARP::YARP_sig
+    YARP::YARP_dev
+)
+
+install(TARGETS yarpActionsPlayer COMPONENT utilities DESTINATION ${CMAKE_INSTALL_BINDIR})
+
+set_property(TARGET yarpActionsPlayer PROPERTY FOLDER "Command Line Tools")
diff --git a/src/yarpActionsPlayer/configuration_example.ini b/src/yarpActionsPlayer/configuration_example.ini
@@ -0,0 +1,9 @@
+[CONTROLLERS]
+controller1_robot (/cer/all_joints) (torso_heave_eq_joint torso_roll_eq_joint torso_pitch_eq_joint torso_yaw_joint l_shoulder_pitch r_shoulder_pitch r_shoulder_roll r_shoulder_yaw r_elbow r_wrist_yaw r_wrist_roll r_wrist_pitch l_shoulder_roll l_shoulder_yaw l_elbow l_wrist_yaw l_wrist_roll l_wrist_pitch )
+controller2_sim   (/SIM_CER_ROBOT/torso /SIM_CER_ROBOT/left_arm /SIM_CER_ROBOT/right_arm) (torso_heave_eq_joint torso_roll_eq_joint torso_pitch_eq_joint torso_yaw_joint l_shoulder_pitch_joint r_shoulder_pitch_joint r_shoulder_roll_joint r_shoulder_yaw_joint r_elbow_joint r_wrist_pronosupination_joint r_wrist_roll_eq_joint r_wrist_pitch_eq_joint l_shoulder_roll_joint l_shoulder_yaw_joint l_elbow_joint l_wrist_pronosupination_joint l_wrist_roll_eq_joint l_wrist_pitch_eq_joint )
+
+[ACTIONS]
+wave_hand        controller1_robot   trajectory_file1.txt
+rise_hand        controller1_robot   trajectory_file2.txt
+turn_head_left   controller2_sim     trajectory_file3.txt
+turn_head_right  controller2_sim     trajectory_file4.txt