From f256ce8ba185eedd05392d8c5d4e2a1c96d19480 Mon Sep 17 00:00:00 2001 From: Lorenzo Date: Mon, 18 Nov 2024 13:54:45 +0100 Subject: [PATCH 1/3] update config files of logger device --- .../blf-yarp-robot-logger-interfaces/mas-remapper.xml | 8 ++++---- .../app/robots/ergoCubSN000/yarp-robot-logger.xml | 8 ++++---- 2 files changed, 8 insertions(+), 8 deletions(-) diff --git a/devices/YarpRobotLoggerDevice/app/robots/ergoCubSN000/blf-yarp-robot-logger-interfaces/mas-remapper.xml b/devices/YarpRobotLoggerDevice/app/robots/ergoCubSN000/blf-yarp-robot-logger-interfaces/mas-remapper.xml index b1d4e11e44..f100868055 100644 --- a/devices/YarpRobotLoggerDevice/app/robots/ergoCubSN000/blf-yarp-robot-logger-interfaces/mas-remapper.xml +++ b/devices/YarpRobotLoggerDevice/app/robots/ergoCubSN000/blf-yarp-robot-logger-interfaces/mas-remapper.xml @@ -6,16 +6,16 @@ 10 - (sensor_imu_xsensmt, rfeimu_gyro, l_arm_ft_gyro, r_arm_ft_gyro, l_foot_front_ft_gyro, l_foot_rear_ft_gyro, r_foot_front_ft_gyro, r_foot_rear_ft_gyro, l_leg_ft_gyro, r_leg_ft_gyro) + (l_arm_ft_imu, r_arm_ft_imu, l_foot_front_ft_imu, l_foot_rear_ft_imu, r_foot_front_ft_imu, r_foot_rear_ft_imu, l_leg_ft_imu, r_leg_ft_imu) - (sensor_imu_xsensmt, rfeimu_acc, l_arm_ft_acc, r_arm_ft_acc, l_foot_front_ft_acc, l_foot_rear_ft_acc, r_foot_front_ft_acc, r_foot_rear_ft_acc, l_leg_ft_acc, r_leg_ft_acc) + (l_arm_ft_imu, r_arm_ft_imu, l_foot_front_ft_imu, l_foot_rear_ft_imu, r_foot_front_ft_imu, r_foot_rear_ft_imu, l_leg_ft_imu, r_leg_ft_imu) - (sensor_imu_xsensmt, rfeimu_mag, l_arm_ft_mag, r_arm_ft_mag, l_foot_front_ft_mag, l_foot_rear_ft_mag, r_foot_front_ft_mag, r_foot_rear_ft_mag, l_leg_ft_mag, r_leg_ft_mag) + (l_arm_ft_imu, r_arm_ft_imu, l_foot_front_ft_imu, l_foot_rear_ft_imu, r_foot_front_ft_imu, r_foot_rear_ft_imu, l_leg_ft_imu, r_leg_ft_imu) - (sensor_imu_xsensmt, rfeimu_eul, l_arm_ft_eul, r_arm_ft_eul, l_foot_front_ft_eul, l_foot_rear_ft_eul, r_foot_front_ft_eul, r_foot_rear_ft_eul, l_leg_ft_eul, r_leg_ft_eul) + (l_arm_ft_imu, r_arm_ft_imu, l_foot_front_ft_imu, l_foot_rear_ft_imu, r_foot_front_ft_imu, r_foot_rear_ft_imu, l_leg_ft_imu, r_leg_ft_imu) (l_arm_ft, r_arm_ft, l_foot_front_ft, l_foot_rear_ft, r_foot_front_ft, r_foot_rear_ft, l_leg_ft, r_leg_ft) diff --git a/devices/YarpRobotLoggerDevice/app/robots/ergoCubSN000/yarp-robot-logger.xml b/devices/YarpRobotLoggerDevice/app/robots/ergoCubSN000/yarp-robot-logger.xml index b7f282478c..a9211388c3 100644 --- a/devices/YarpRobotLoggerDevice/app/robots/ergoCubSN000/yarp-robot-logger.xml +++ b/devices/YarpRobotLoggerDevice/app/robots/ergoCubSN000/yarp-robot-logger.xml @@ -72,10 +72,10 @@ BSD-3-Clause license. --> - (sensor_imu_xsensmt, rfeimu_acc, l_arm_ft_acc, r_arm_ft_acc, l_foot_front_ft_acc, l_foot_rear_ft_acc, r_foot_front_ft_acc, r_foot_rear_ft_acc, l_leg_ft_acc, r_leg_ft_acc) - (sensor_imu_xsensmt, rfeimu_gyro, l_arm_ft_gyro, r_arm_ft_gyro, l_foot_front_ft_gyro, l_foot_rear_ft_gyro, r_foot_front_ft_gyro, r_foot_rear_ft_gyro, l_leg_ft_gyro, r_leg_ft_gyro) - (sensor_imu_xsensmt, rfeimu_mag, l_arm_ft_mag, r_arm_ft_mag, l_foot_front_ft_mag, l_foot_rear_ft_mag, r_foot_front_ft_mag, r_foot_rear_ft_mag, l_leg_ft_mag, r_leg_ft_mag) - (sensor_imu_xsensmt, rfeimu_eul, l_arm_ft_eul, r_arm_ft_eul, l_foot_front_ft_eul, l_foot_rear_ft_eul, r_foot_front_ft_eul, r_foot_rear_ft_eul, l_leg_ft_eul, r_leg_ft_eul) + (l_arm_ft_imu, r_arm_ft_imu, l_foot_front_ft_imu, l_foot_rear_ft_imu, r_foot_front_ft_imu, r_foot_rear_ft_imu, l_leg_ft_imu, r_leg_ft_imu) + (l_arm_ft_imu, r_arm_ft_imu, l_foot_front_ft_imu, l_foot_rear_ft_imu, r_foot_front_ft_imu, r_foot_rear_ft_imu, l_leg_ft_imu, r_leg_ft_imu) + (l_arm_ft_imu, r_arm_ft_imu, l_foot_front_ft_imu, l_foot_rear_ft_imu, r_foot_front_ft_imu, r_foot_rear_ft_imu, l_leg_ft_imu, r_leg_ft_imu) + (l_arm_ft_imu, r_arm_ft_imu, l_foot_front_ft_imu, l_foot_rear_ft_imu, r_foot_front_ft_imu, r_foot_rear_ft_imu, l_leg_ft_imu, r_leg_ft_imu) From 8d72a10eabb6b4b76d364d08d53148474d43f635 Mon Sep 17 00:00:00 2001 From: Lorenzo Moretti <107630048+LoreMoretti@users.noreply.github.com> Date: Mon, 18 Nov 2024 14:05:13 +0100 Subject: [PATCH 2/3] Update CHANGELOG.md --- CHANGELOG.md | 1 + 1 file changed, 1 insertion(+) diff --git a/CHANGELOG.md b/CHANGELOG.md index 8153aea1e2..6cf8b201e7 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -15,6 +15,7 @@ All notable changes to this project are documented in this file. ### Changed - Change device jtcvc to use motor velocity and joint velocity in input to PINN models (https://github.com/ami-iit/bipedal-locomotion-framework/pull/903) - Set the system timer resolution to the minimum value for higher precision on `Windows` (https://github.com/ami-iit/bipedal-locomotion-framework/pull/907) +- Update the `mas-remapper` configuration file for `ergoCubSN000` (https://github.com/ami-iit/bipedal-locomotion-framework/pull/913) ### Fixed - Bug fix of `JointTorqueControlDevice` device (https://github.com/ami-iit/bipedal-locomotion-framework/pull/890) From 4b72a4d8698148bf1672a24e1350c21e93246e48 Mon Sep 17 00:00:00 2001 From: Lorenzo Date: Tue, 19 Nov 2024 10:19:04 +0100 Subject: [PATCH 3/3] add waist imu --- .../blf-yarp-robot-logger-interfaces/imu_clients.xml | 6 +++--- .../mas-remapper.xml | 12 ++++++------ .../app/robots/ergoCubSN000/yarp-robot-logger.xml | 8 ++++---- 3 files changed, 13 insertions(+), 13 deletions(-) diff --git a/devices/YarpRobotLoggerDevice/app/robots/ergoCubSN000/blf-yarp-robot-logger-interfaces/imu_clients.xml b/devices/YarpRobotLoggerDevice/app/robots/ergoCubSN000/blf-yarp-robot-logger-interfaces/imu_clients.xml index 0c346b24ae..9fcbbedcf4 100644 --- a/devices/YarpRobotLoggerDevice/app/robots/ergoCubSN000/blf-yarp-robot-logger-interfaces/imu_clients.xml +++ b/devices/YarpRobotLoggerDevice/app/robots/ergoCubSN000/blf-yarp-robot-logger-interfaces/imu_clients.xml @@ -5,12 +5,12 @@ - + /ergocub/left_arm/imu @@ -54,7 +54,7 @@ fast_tcp - + /ergocub/waist/inertials /yarp_robot_logger/waist/imu 0.5 diff --git a/devices/YarpRobotLoggerDevice/app/robots/ergoCubSN000/blf-yarp-robot-logger-interfaces/mas-remapper.xml b/devices/YarpRobotLoggerDevice/app/robots/ergoCubSN000/blf-yarp-robot-logger-interfaces/mas-remapper.xml index f100868055..cc15516878 100644 --- a/devices/YarpRobotLoggerDevice/app/robots/ergoCubSN000/blf-yarp-robot-logger-interfaces/mas-remapper.xml +++ b/devices/YarpRobotLoggerDevice/app/robots/ergoCubSN000/blf-yarp-robot-logger-interfaces/mas-remapper.xml @@ -6,16 +6,16 @@ 10 - (l_arm_ft_imu, r_arm_ft_imu, l_foot_front_ft_imu, l_foot_rear_ft_imu, r_foot_front_ft_imu, r_foot_rear_ft_imu, l_leg_ft_imu, r_leg_ft_imu) + (waist_imu_0, l_arm_ft_imu, r_arm_ft_imu, l_foot_front_ft_imu, l_foot_rear_ft_imu, r_foot_front_ft_imu, r_foot_rear_ft_imu, l_leg_ft_imu, r_leg_ft_imu) - (l_arm_ft_imu, r_arm_ft_imu, l_foot_front_ft_imu, l_foot_rear_ft_imu, r_foot_front_ft_imu, r_foot_rear_ft_imu, l_leg_ft_imu, r_leg_ft_imu) + (waist_imu_0, l_arm_ft_imu, r_arm_ft_imu, l_foot_front_ft_imu, l_foot_rear_ft_imu, r_foot_front_ft_imu, r_foot_rear_ft_imu, l_leg_ft_imu, r_leg_ft_imu) - (l_arm_ft_imu, r_arm_ft_imu, l_foot_front_ft_imu, l_foot_rear_ft_imu, r_foot_front_ft_imu, r_foot_rear_ft_imu, l_leg_ft_imu, r_leg_ft_imu) + (waist_imu_0, l_arm_ft_imu, r_arm_ft_imu, l_foot_front_ft_imu, l_foot_rear_ft_imu, r_foot_front_ft_imu, r_foot_rear_ft_imu, l_leg_ft_imu, r_leg_ft_imu) - (l_arm_ft_imu, r_arm_ft_imu, l_foot_front_ft_imu, l_foot_rear_ft_imu, r_foot_front_ft_imu, r_foot_rear_ft_imu, l_leg_ft_imu, r_leg_ft_imu) + (waist_imu_0, l_arm_ft_imu, r_arm_ft_imu, l_foot_front_ft_imu, l_foot_rear_ft_imu, r_foot_front_ft_imu, r_foot_rear_ft_imu, l_leg_ft_imu, r_leg_ft_imu) (l_arm_ft, r_arm_ft, l_foot_front_ft, l_foot_rear_ft, r_foot_front_ft, r_foot_rear_ft, l_leg_ft, r_leg_ft) @@ -30,14 +30,14 @@ right_arm_ft_client left_leg_ft_client right_leg_ft_client - head_imu_acc + + waist_imu_client left_arm_imu_client right_arm_imu_client left_foot_imu_client right_foot_imu_client left_leg_imu_client right_leg_imu_client - waist_client diff --git a/devices/YarpRobotLoggerDevice/app/robots/ergoCubSN000/yarp-robot-logger.xml b/devices/YarpRobotLoggerDevice/app/robots/ergoCubSN000/yarp-robot-logger.xml index a9211388c3..02e1137531 100644 --- a/devices/YarpRobotLoggerDevice/app/robots/ergoCubSN000/yarp-robot-logger.xml +++ b/devices/YarpRobotLoggerDevice/app/robots/ergoCubSN000/yarp-robot-logger.xml @@ -72,10 +72,10 @@ BSD-3-Clause license. --> - (l_arm_ft_imu, r_arm_ft_imu, l_foot_front_ft_imu, l_foot_rear_ft_imu, r_foot_front_ft_imu, r_foot_rear_ft_imu, l_leg_ft_imu, r_leg_ft_imu) - (l_arm_ft_imu, r_arm_ft_imu, l_foot_front_ft_imu, l_foot_rear_ft_imu, r_foot_front_ft_imu, r_foot_rear_ft_imu, l_leg_ft_imu, r_leg_ft_imu) - (l_arm_ft_imu, r_arm_ft_imu, l_foot_front_ft_imu, l_foot_rear_ft_imu, r_foot_front_ft_imu, r_foot_rear_ft_imu, l_leg_ft_imu, r_leg_ft_imu) - (l_arm_ft_imu, r_arm_ft_imu, l_foot_front_ft_imu, l_foot_rear_ft_imu, r_foot_front_ft_imu, r_foot_rear_ft_imu, l_leg_ft_imu, r_leg_ft_imu) + (waist_imu_0, l_arm_ft_imu, r_arm_ft_imu, l_foot_front_ft_imu, l_foot_rear_ft_imu, r_foot_front_ft_imu, r_foot_rear_ft_imu, l_leg_ft_imu, r_leg_ft_imu) + (waist_imu_0, l_arm_ft_imu, r_arm_ft_imu, l_foot_front_ft_imu, l_foot_rear_ft_imu, r_foot_front_ft_imu, r_foot_rear_ft_imu, l_leg_ft_imu, r_leg_ft_imu) + (waist_imu_0, l_arm_ft_imu, r_arm_ft_imu, l_foot_front_ft_imu, l_foot_rear_ft_imu, r_foot_front_ft_imu, r_foot_rear_ft_imu, l_leg_ft_imu, r_leg_ft_imu) + (waist_imu_0, l_arm_ft_imu, r_arm_ft_imu, l_foot_front_ft_imu, l_foot_rear_ft_imu, r_foot_front_ft_imu, r_foot_rear_ft_imu, l_leg_ft_imu, r_leg_ft_imu)