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Update README.md #674

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Jan 12, 2024
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Update README.md #674

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13 changes: 10 additions & 3 deletions tutorial/model/forcetorque/README.md
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Original file line number Diff line number Diff line change
Expand Up @@ -5,8 +5,11 @@ This directory contains the example of a model using the `gazebo_yarp_forcetorqu
For more information on simulation of Force/Torque sensors in Gazebo Classic, see [https://classic.gazebosim.org/tutorials?tut=force_torque_sensor&cat=sensors](https://classic.gazebosim.org/tutorials?tut=force_torque_sensor&cat=sensors).


To run this example, first of all run `yarpserver` in a terminal, then make sure to have added `gazebo-yarp-plugins/tutorial/model` directory to `GAZEBO_MODEL_PATH` as documented in the "Example models" section of the `doc/embed_plugins.md` documentation and then run the world:
To run this example, first of all run `yarpserver` in a terminal, then make sure to have added `gazebo-yarp-plugins/tutorial/model` directory to `GAZEBO_MODEL_PATH` as documented in the "Example models" section of the `doc/embed_plugins.md` documentation and then run the world.

Then:
~~~
cd <gazebo-yarp-plugins-path>/tutorial/model/forcetorque
gazebo --verbose forcetorque_world.world
~~~

Expand All @@ -19,7 +22,11 @@ To list all the YARP ports open. You should see the port `/forcetorque/measures:

You can then read the measures from the the `/forcetorque/measures:o` with the command:
~~~
traversaro@IITICUBLAP257:~$ yarp read ... /forcetorque/measures:o
yarp read ... /forcetorque/measures:o
~~~

As output you should see:
~~~
[INFO] |yarp.os.Port|/tmp/port/1| Port /tmp/port/1 active at tcp://172.22.196.221:10004/
[INFO] |yarp.os.impl.PortCoreInputUnit|/tmp/port/1| Receiving input from /forcetorque/measures:o to /tmp/port/1 using tcp
() () () () () (((0.0 0.0 -98.0000000000000568434 0.0 0.0 0.0) 59.0670000000000001705)) () () () ()
Expand All @@ -33,4 +40,4 @@ traversaro@IITICUBLAP257:~$ yarp read ... /forcetorque/measures:o

There is a parenthesis with six numbers, the first three are force and the last three are torques. In this case, it is possible
to see that the force measure make sense as the weight of the link is 10 Kg, and the acceleration of gravity is 9.8, so the measure
norm on the Z axis is correctly approximately 9.8*10 = 98.0 .
norm on the Z axis is correctly approximately 9.8*10 = 98.0 .
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