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IMU sensors: add sensorName tag in FT IMU xml (robotology#637)
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@martinaxgloria @valegagge
martinaxgloria authored and valegagge committed Apr 11, 2024
1 parent 1322ebe commit 3e25281
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Showing 87 changed files with 341 additions and 564 deletions.
13 changes: 5 additions & 8 deletions ergoCubSN000/hardware/inertials/head-inertial.xml
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</group>

<group name="SENSORS">
<param name="id"> rfeimu_acc rfeimu_gyro rfeimu_mag rfeimu_eul rfeimu_status
</param>
<param name="type"> eoas_imu_acc eoas_imu_gyr eoas_imu_mag eoas_imu_eul eoas_imu_status
</param>
<param name="boardType"> rfe rfe rfe rfe rfe
</param>
<param name="location"> CAN1:1 CAN1:1 CAN1:1 CAN1:1 CAN1:1
</param>
<param name="id"> rfeimu_acc rfeimu_gyro rfeimu_mag rfeimu_eul rfeimu_status </param>
<param name="sensorName"> head_imu_0 head_imu_0 head_imu_0 head_imu_0 head_imu_0 </param>
<param name="type"> eoas_imu_acc eoas_imu_gyr eoas_imu_mag eoas_imu_eul eoas_imu_status </param>
<param name="boardType"> rfe rfe rfe rfe rfe </param>
<param name="location"> CAN1:1 CAN1:1 CAN1:1 CAN1:1 CAN1:1 </param>
</group>

</group>
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9 changes: 5 additions & 4 deletions ergoCubSN000/hardware/inertials/left_arm-eb2-j0_1-inertial.xml
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</group>

<group name="SENSORS">
<param name="id"> l_arm_ft_acc l_arm_ft_gyro l_arm_ft_eul l_arm_ft_mag l_arm_ft_stat </param>
<param name="type"> eoas_imu_acc eoas_imu_gyr eoas_imu_eul eoas_imu_mag eoas_imu_status </param>
<param name="boardType"> strain2 strain2 strain2 strain2 strain2 </param>
<param name="location"> CAN2:13 CAN2:13 CAN2:13 CAN2:13 CAN2:13 </param>
<param name="id"> l_arm_ft_acc l_arm_ft_gyro l_arm_ft_eul l_arm_ft_mag l_arm_ft_stat </param>
<param name="sensorName"> l_arm_ft_imu l_arm_ft_imu l_arm_ft_imu l_arm_ft_imu l_arm_ft_imu </param>
<param name="type"> eoas_imu_acc eoas_imu_gyr eoas_imu_eul eoas_imu_mag eoas_imu_status </param>
<param name="boardType"> strain2 strain2 strain2 strain2 strain2 </param>
<param name="location"> CAN2:13 CAN2:13 CAN2:13 CAN2:13 CAN2:13 </param>
</group>

</group>
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9 changes: 5 additions & 4 deletions ergoCubSN000/hardware/inertials/left_leg-eb8-j0_3-inertial.xml
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</group>

<group name="SENSORS">
<param name="id"> l_leg_ft_acc l_leg_ft_gyro l_leg_ft_eul l_leg_ft_mag l_leg_ft_stat</param>
<param name="type"> eoas_imu_acc eoas_imu_gyr eoas_imu_eul eoas_imu_mag eoas_imu_status</param>
<param name="boardType"> strain2 strain2 strain2 strain2 strain2</param>
<param name="location"> CAN2:13 CAN2:13 CAN2:13 CAN2:13 CAN2:13 </param>
<param name="id"> l_leg_ft_acc l_leg_ft_gyro l_leg_ft_eul l_leg_ft_mag l_leg_ft_stat </param>
<param name="sensorName"> l_leg_ft_imu l_leg_ft_imu l_leg_ft_imu l_leg_ft_imu l_leg_ft_imu </param>
<param name="type"> eoas_imu_acc eoas_imu_gyr eoas_imu_eul eoas_imu_mag eoas_imu_status </param>
<param name="boardType"> strain2 strain2 strain2 strain2 strain2 </param>
<param name="location"> CAN2:13 CAN2:13 CAN2:13 CAN2:13 CAN2:13 </param>
</group>

</group>
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9 changes: 5 additions & 4 deletions ergoCubSN000/hardware/inertials/left_leg-eb9-j4_5-inertial.xml
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</group>

<group name="SENSORS">
<param name="id"> l_foot_rear_ft_acc l_foot_rear_ft_gyro l_foot_rear_ft_eul l_foot_rear_ft_mag l_foot_rear_ft_stat l_foot_front_ft_acc l_foot_front_ft_gyro l_foot_front_ft_eul l_foot_front_ft_mag l_foot_front_ft_stat</param>
<param name="type"> eoas_imu_acc eoas_imu_gyr eoas_imu_eul eoas_imu_mag eoas_imu_status eoas_imu_acc eoas_imu_gyr eoas_imu_eul eoas_imu_mag eoas_imu_status</param>
<param name="boardType"> strain2 strain2 strain2 strain2 strain2 strain2 strain2 strain2 strain2 strain2</param>
<param name="location"> CAN2:13 CAN2:13 CAN2:13 CAN2:13 CAN2:13 CAN2:14 CAN2:14 CAN2:14 CAN2:14 CAN2:14</param>
<param name="id"> l_foot_rear_ft_acc l_foot_rear_ft_gyro l_foot_rear_ft_eul l_foot_rear_ft_mag l_foot_rear_ft_stat l_foot_front_ft_acc l_foot_front_ft_gyro l_foot_front_ft_eul l_foot_front_ft_mag l_foot_front_ft_stat </param>
<param name="sensorName"> l_foot_rear_ft_imu l_foot_rear_ft_imu l_foot_rear_ft_imu l_foot_rear_ft_imu l_foot_rear_ft_imu l_foot_front_ft_imu l_foot_front_ft_imu l_foot_front_ft_imu l_foot_front_ft_imu l_foot_front_ft_imu </param>
<param name="type"> eoas_imu_acc eoas_imu_gyr eoas_imu_eul eoas_imu_mag eoas_imu_status eoas_imu_acc eoas_imu_gyr eoas_imu_eul eoas_imu_mag eoas_imu_status </param>
<param name="boardType"> strain2 strain2 strain2 strain2 strain2 strain2 strain2 strain2 strain2 strain2 </param>
<param name="location"> CAN2:13 CAN2:13 CAN2:13 CAN2:13 CAN2:13 CAN2:14 CAN2:14 CAN2:14 CAN2:14 CAN2:14 </param>
</group>

</group>
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9 changes: 5 additions & 4 deletions ergoCubSN000/hardware/inertials/right_arm-eb1-j0_1-inertial.xml
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</group>

<group name="SENSORS">
<param name="id"> r_arm_ft_acc r_arm_ft_gyro r_arm_ft_eul r_arm_ft_mag r_arm_ft_stat </param>
<param name="type"> eoas_imu_acc eoas_imu_gyr eoas_imu_eul eoas_imu_mag eoas_imu_status </param>
<param name="boardType"> strain2 strain2 strain2 strain2 strain2 </param>
<param name="location"> CAN2:13 CAN2:13 CAN2:13 CAN2:13 CAN2:13 </param>
<param name="id"> r_arm_ft_acc r_arm_ft_gyro r_arm_ft_eul r_arm_ft_mag r_arm_ft_stat </param>
<param name="sensorName"> r_arm_ft_imu r_arm_ft_imu r_arm_ft_imu r_arm_ft_imu r_arm_ft_imu </param>
<param name="type"> eoas_imu_acc eoas_imu_gyr eoas_imu_eul eoas_imu_mag eoas_imu_status </param>
<param name="boardType"> strain2 strain2 strain2 strain2 strain2 </param>
<param name="location"> CAN2:13 CAN2:13 CAN2:13 CAN2:13 CAN2:13 </param>
</group>

</group>
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9 changes: 5 additions & 4 deletions ergoCubSN000/hardware/inertials/right_leg-eb6-j0_3-inertial.xml
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</group>

<group name="SENSORS">
<param name="id"> r_leg_ft_acc r_leg_ft_gyro r_leg_ft_eul r_leg_ft_mag r_leg_ft_stat </param>
<param name="type"> eoas_imu_acc eoas_imu_gyr eoas_imu_eul eoas_imu_mag eoas_imu_status</param>
<param name="boardType"> strain2 strain2 strain2 strain2 strain2 </param>
<param name="location"> CAN2:13 CAN2:13 CAN2:13 CAN2:13 CAN2:13 </param>
<param name="id"> r_leg_ft_acc r_leg_ft_gyro r_leg_ft_eul r_leg_ft_mag r_leg_ft_stat </param>
<param name="sensorName"> r_leg_ft_imu r_leg_ft_imu r_leg_ft_imu r_leg_ft_imu r_leg_ft_imu </param>
<param name="type"> eoas_imu_acc eoas_imu_gyr eoas_imu_eul eoas_imu_mag eoas_imu_status </param>
<param name="boardType"> strain2 strain2 strain2 strain2 strain2 </param>
<param name="location"> CAN2:13 CAN2:13 CAN2:13 CAN2:13 CAN2:13 </param>
</group>

</group>
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9 changes: 5 additions & 4 deletions ergoCubSN000/hardware/inertials/right_leg-eb7-j4_5-inertial.xml
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</group>

<group name="SENSORS">
<param name="id"> r_foot_rear_ft_acc r_foot_rear_ft_gyro r_foot_rear_ft_eul r_foot_rear_ft_mag r_foot_rear_ft_stat r_foot_front_ft_acc r_foot_front_ft_gyro r_foot_front_ft_eul r_foot_front_ft_mag r_foot_front_ft_stat</param>
<param name="type"> eoas_imu_acc eoas_imu_gyr eoas_imu_eul eoas_imu_mag eoas_imu_status eoas_imu_acc eoas_imu_gyr eoas_imu_eul eoas_imu_mag eoas_imu_status</param>
<param name="boardType"> strain2 strain2 strain2 strain2 strain2 strain2 strain2 strain2 strain2 strain2</param>
<param name="location"> CAN2:13 CAN2:13 CAN2:13 CAN2:13 CAN2:13 CAN2:14 CAN2:14 CAN2:14 CAN2:14 CAN2:14</param>
<param name="id"> r_foot_rear_ft_acc r_foot_rear_ft_gyro r_foot_rear_ft_eul r_foot_rear_ft_mag r_foot_rear_ft_stat r_foot_front_ft_acc r_foot_front_ft_gyro r_foot_front_ft_eul r_foot_front_ft_mag r_foot_front_ft_stat </param>
<param name="sensorName"> r_foot_rear_ft_imu r_foot_rear_ft_imu r_foot_rear_ft_imu r_foot_rear_ft_imu r_foot_rear_ft_imu r_foot_front_ft_imu r_foot_front_ft_imu r_foot_front_ft_imu r_foot_front_ft_imu r_foot_front_ft_imu </param>
<param name="type"> eoas_imu_acc eoas_imu_gyr eoas_imu_eul eoas_imu_mag eoas_imu_status eoas_imu_acc eoas_imu_gyr eoas_imu_eul eoas_imu_mag eoas_imu_status </param>
<param name="boardType"> strain2 strain2 strain2 strain2 strain2 strain2 strain2 strain2 strain2 strain2 </param>
<param name="location"> CAN2:13 CAN2:13 CAN2:13 CAN2:13 CAN2:13 CAN2:14 CAN2:14 CAN2:14 CAN2:14 CAN2:14 </param>
</group>

</group>
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4 changes: 2 additions & 2 deletions ergoCubSN000/wrappers/inertials/alljoints-inertials_remapper.xml
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<device xmlns:xi="http://www.w3.org/2001/XInclude" name="alljoints-inertials_remapper" type="multipleanalogsensorsremapper">
<param name="OrientationSensorsNames">
(head_imu_0 l_arm_ft l_leg_ft l_foot_rear_ft l_foot_front_ft r_arm_ft r_leg_ft r_foot_rear_ft r_foot_front_ft waist_imu_0)
(head_imu_0 l_arm_ft_imu l_leg_ft_imu l_foot_rear_ft_imu l_foot_front_ft_imu r_arm_ft_imu r_leg_ft_imu r_foot_rear_ft_imu r_foot_front_ft_imu waist_imu_0)
</param>
<action phase="startup" level="5" type="attach">
<paramlist name="networks">
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<elem name="r_arm_imu"> right_arm-eb1-j0_1-inertial </elem>
<elem name="r_leg_imu"> right_leg-eb6-j0_3-inertial </elem>
<elem name="r_foot_imu"> right_leg-eb7-j4_5-inertial </elem>
<elem name="waist_imu"> waist_inertial </elem>
<elem name="waist_imu"> waist-inertial </elem>
</paramlist>
</action>

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2 changes: 1 addition & 1 deletion ergoCubSN000/wrappers/inertials/alljoints-inertials_wrapper.xml
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<param name="period"> 10 </param>
<param name="name"> /${portprefix}/alljoints/inertials </param>

<action phase="startup" level="15" type="attach">
<action phase="startup" level="10" type="attach">
<paramlist name="networks">
<elem name="FirstStrain"> alljoints-inertials_remapper </elem>
</paramlist>
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13 changes: 5 additions & 8 deletions ergoCubSN001/hardware/inertials/head-inertial.xml
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</group>

<group name="SENSORS">
<param name="id"> rfeimu_acc rfeimu_gyro rfeimu_mag rfeimu_eul rfeimu_status
</param>
<param name="type"> eoas_imu_acc eoas_imu_gyr eoas_imu_mag eoas_imu_eul eoas_imu_status
</param>
<param name="boardType"> rfe rfe rfe rfe rfe
</param>
<param name="location"> CAN1:1 CAN1:1 CAN1:1 CAN1:1 CAN1:1
</param>
<param name="id"> rfeimu_acc rfeimu_gyro rfeimu_mag rfeimu_eul rfeimu_status </param>
<param name="sensorName"> head_imu_0 head_imu_0 head_imu_0 head_imu_0 head_imu_0 </param>
<param name="type"> eoas_imu_acc eoas_imu_gyr eoas_imu_mag eoas_imu_eul eoas_imu_status </param>
<param name="boardType"> rfe rfe rfe rfe rfe </param>
<param name="location"> CAN1:1 CAN1:1 CAN1:1 CAN1:1 CAN1:1 </param>
</group>

</group>
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9 changes: 5 additions & 4 deletions ergoCubSN001/hardware/inertials/left_arm-eb2-j0_1-inertial.xml
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</group>

<group name="SENSORS">
<param name="id"> l_arm_ft_acc l_arm_ft_gyro l_arm_ft_eul l_arm_ft_mag l_arm_ft_stat </param>
<param name="type"> eoas_imu_acc eoas_imu_gyr eoas_imu_eul eoas_imu_mag eoas_imu_status </param>
<param name="boardType"> strain2 strain2 strain2 strain2 strain2 </param>
<param name="location"> CAN2:13 CAN2:13 CAN2:13 CAN2:13 CAN2:13 </param>
<param name="id"> l_arm_ft_acc l_arm_ft_gyro l_arm_ft_eul l_arm_ft_mag l_arm_ft_stat </param>
<param name="sensorName"> l_arm_ft_imu l_arm_ft_imu l_arm_ft_imu l_arm_ft_imu l_arm_ft_imu </param>
<param name="type"> eoas_imu_acc eoas_imu_gyr eoas_imu_eul eoas_imu_mag eoas_imu_status </param>
<param name="boardType"> strain2 strain2 strain2 strain2 strain2 </param>
<param name="location"> CAN2:13 CAN2:13 CAN2:13 CAN2:13 CAN2:13 </param>
</group>

</group>
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9 changes: 5 additions & 4 deletions ergoCubSN001/hardware/inertials/left_leg-eb8-j0_3-inertial.xml
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</group>

<group name="SENSORS">
<param name="id"> l_leg_ft_acc l_leg_ft_gyro l_leg_ft_eul l_leg_ft_mag l_leg_ft_stat</param>
<param name="type"> eoas_imu_acc eoas_imu_gyr eoas_imu_eul eoas_imu_mag eoas_imu_status</param>
<param name="boardType"> strain2 strain2 strain2 strain2 strain2</param>
<param name="location"> CAN2:13 CAN2:13 CAN2:13 CAN2:13 CAN2:13 </param>
<param name="id"> l_leg_ft_acc l_leg_ft_gyro l_leg_ft_eul l_leg_ft_mag l_leg_ft_stat </param>
<param name="sensorName"> l_leg_ft_imu l_leg_ft_imu l_leg_ft_imu l_leg_ft_imu l_leg_ft_imu </param>
<param name="type"> eoas_imu_acc eoas_imu_gyr eoas_imu_eul eoas_imu_mag eoas_imu_status </param>
<param name="boardType"> strain2 strain2 strain2 strain2 strain2 </param>
<param name="location"> CAN2:13 CAN2:13 CAN2:13 CAN2:13 CAN2:13 </param>
</group>

</group>
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9 changes: 5 additions & 4 deletions ergoCubSN001/hardware/inertials/left_leg-eb9-j4_5-inertial.xml
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</group>

<group name="SENSORS">
<param name="id"> l_foot_rear_ft_acc l_foot_rear_ft_gyro l_foot_rear_ft_eul l_foot_rear_ft_mag l_foot_rear_ft_stat l_foot_front_ft_acc l_foot_front_ft_gyro l_foot_front_ft_eul l_foot_front_ft_mag l_foot_front_ft_stat</param>
<param name="type"> eoas_imu_acc eoas_imu_gyr eoas_imu_eul eoas_imu_mag eoas_imu_status eoas_imu_acc eoas_imu_gyr eoas_imu_eul eoas_imu_mag eoas_imu_status</param>
<param name="boardType"> strain2 strain2 strain2 strain2 strain2 strain2 strain2 strain2 strain2 strain2</param>
<param name="location"> CAN2:13 CAN2:13 CAN2:13 CAN2:13 CAN2:13 CAN2:14 CAN2:14 CAN2:14 CAN2:14 CAN2:14</param>
<param name="id"> l_foot_rear_ft_acc l_foot_rear_ft_gyro l_foot_rear_ft_eul l_foot_rear_ft_mag l_foot_rear_ft_stat l_foot_front_ft_acc l_foot_front_ft_gyro l_foot_front_ft_eul l_foot_front_ft_mag l_foot_front_ft_stat </param>
<param name="sensorName"> l_foot_rear_ft_imu l_foot_rear_ft_imu l_foot_rear_ft_imu l_foot_rear_ft_imu l_foot_rear_ft_imu l_foot_front_ft_imu l_foot_front_ft_imu l_foot_front_ft_imu l_foot_front_ft_imu l_foot_front_ft_imu </param>
<param name="type"> eoas_imu_acc eoas_imu_gyr eoas_imu_eul eoas_imu_mag eoas_imu_status eoas_imu_acc eoas_imu_gyr eoas_imu_eul eoas_imu_mag eoas_imu_status </param>
<param name="boardType"> strain2 strain2 strain2 strain2 strain2 strain2 strain2 strain2 strain2 strain2 </param>
<param name="location"> CAN2:13 CAN2:13 CAN2:13 CAN2:13 CAN2:13 CAN2:14 CAN2:14 CAN2:14 CAN2:14 CAN2:14 </param>
</group>

</group>
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