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[ergoCubSN000] update config files of the logger device #913

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merged 3 commits into from
Nov 19, 2024
Merged

[ergoCubSN000] update config files of the logger device #913

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f256ce8
update config files of logger device
LoreMoretti Nov 18, 2024
8d72a10
Update CHANGELOG.md
LoreMoretti Nov 18, 2024
4b72a4d
add waist imu
LoreMoretti Nov 19, 2024
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1 change: 1 addition & 0 deletions CHANGELOG.md
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Expand Up @@ -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)
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6 changes: 3 additions & 3 deletions ...obotLoggerDevice/app/robots/ergoCubSN000/blf-yarp-robot-logger-interfaces/imu_clients.xml
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Expand Up @@ -5,12 +5,12 @@

<devices>

<device xmlns:xi="http://www.w3.org/2001/XInclude" name="head_imu_acc" type="multipleanalogsensorsclient">
<!-- <device xmlns:xi="http://www.w3.org/2001/XInclude" name="head_imu_acc" type="multipleanalogsensorsclient">
<param name="remote">/ergocub/head/inertials</param>
<param name="local">/yarp_robot_logger/head/inertials</param>
<param name="timeout">0.5</param>
<param name="carrier">fast_tcp</param>
</device>
</device> -->

<device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_arm_imu_client" type="multipleanalogsensorsclient">
<param name="remote">/ergocub/left_arm/imu</param>
Expand Down Expand Up @@ -54,7 +54,7 @@
<param name="carrier">fast_tcp</param>
</device>

<device xmlns:xi="http://www.w3.org/2001/XInclude" name="waist_client" type="multipleanalogsensorsclient">
<device xmlns:xi="http://www.w3.org/2001/XInclude" name="waist_imu_client" type="multipleanalogsensorsclient">
<param name="remote">/ergocub/waist/inertials</param>
<param name="local">/yarp_robot_logger/waist/imu</param>
<param name="timeout">0.5</param>
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12 changes: 6 additions & 6 deletions ...botLoggerDevice/app/robots/ergoCubSN000/blf-yarp-robot-logger-interfaces/mas-remapper.xml
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Expand Up @@ -6,16 +6,16 @@
<device xmlns:xi="http://www.w3.org/2001/XInclude" name="mas-remapper" type="multipleanalogsensorsremapper">
<param name="period">10</param>
<param name="ThreeAxisGyroscopesNames">
(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)
(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)
</param>
<param name="ThreeAxisLinearAccelerometersNames">
(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)
(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)
</param>
<param name="ThreeAxisMagnetometersNames">
(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)
(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)
</param>
<param name="OrientationSensorsNames">
(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)
(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)
</param>
<param name="SixAxisForceTorqueSensorsNames">
(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)
Expand All @@ -30,14 +30,14 @@
<elem name="right_arm_ft_client">right_arm_ft_client</elem>
<elem name="left_leg_ft_client">left_leg_ft_client</elem>
<elem name="right_leg_ft_client">right_leg_ft_client</elem>
<elem name="head_imu_acc">head_imu_acc</elem>
<!--elem name="head_imu_acc">head_imu_acc</elem-->
<elem name="waist_imu_client">waist_imu_client</elem>
<elem name="left_arm_imu_client">left_arm_imu_client</elem>
<elem name="right_arm_imu_client">right_arm_imu_client</elem>
<elem name="left_foot_imu_client">left_foot_imu_client</elem>
<elem name="right_foot_imu_client">right_foot_imu_client</elem>
<elem name="left_leg_imu_client">left_leg_imu_client</elem>
<elem name="right_leg_imu_client">right_leg_imu_client</elem>
<elem name="waist_client">waist_client</elem>
</paramlist>
</action>

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8 changes: 4 additions & 4 deletions devices/YarpRobotLoggerDevice/app/robots/ergoCubSN000/yarp-robot-logger.xml
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Expand Up @@ -72,10 +72,10 @@ BSD-3-Clause license. -->
</group>

<group name="InertialSensors">
<param name="accelerometers_list">(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)</param>
<param name="gyroscopes_list">(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)</param>
<param name="magnetometers_list">(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)</param>
<param name="orientation_sensors_list">(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)</param>
<param name="accelerometers_list">(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)</param>
<param name="gyroscopes_list">(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)</param>
<param name="magnetometers_list">(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)</param>
<param name="orientation_sensors_list">(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)</param>
</group>

</group>
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