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ergoCubSN00*: Fix name of waist_imu_0 sensor in real robots and imuFrameName in wbd files #614

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merged 2 commits into from
Feb 14, 2024
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ergoCubSN00*: Fix name of waist_imu_0 sensor in real robots and imuFrameName in wbd files #614

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87ceb5a
ergoCubSN00*: Fix name of waist_imu_0 sensor and imuFrameName in wbd …
traversaro Feb 13, 2024
d2f159b
Fix missing empty line at the end of file
traversaro Feb 14, 2024
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4 changes: 2 additions & 2 deletions ergoCubSN000/estimators/wholebodydynamics.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -22,8 +22,8 @@
<param name="publishNetExternalWrenches">true</param>
<!--<param name="assume_fixed">root_link</param>-->
<group name="HW_USE_MAS_IMU">
<param name="accelerometer">sensor_imu_xsensmt</param>
<param name="gyroscope">sensor_imu_xsensmt</param>
<param name="accelerometer">waist_imu_0</param>
<param name="gyroscope">waist_imu_0</param>
</group>

<group name="multipleAnalogSensorsNames">
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4 changes: 2 additions & 2 deletions ergoCubSN000/estimators/wholebodydynamics_no_right_forearm.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -22,8 +22,8 @@
<param name="publishNetExternalWrenches">true</param>
<!--<param name="assume_fixed">root_link</param>-->
<group name="HW_USE_MAS_IMU">
<param name="accelerometer">sensor_imu_xsensmt</param>
<param name="gyroscope">sensor_imu_xsensmt</param>
<param name="accelerometer">waist_imu_0</param>
<param name="gyroscope">waist_imu_0</param>
</group>

<group name="multipleAnalogSensorsNames">
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3 changes: 2 additions & 1 deletion ergoCubSN000/hardware/inertials/waist-inertial.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -7,4 +7,5 @@
<param name="xsensmt_gyro_period">0.005</param>
<param name="xsensmt_acc_period">0.005</param>
<param name="xsensmt_mag_period">0.01</param>
</device>
<param name="sensor_name">waist_imu_0</param>
</device>
6 changes: 3 additions & 3 deletions ergoCubSN001/estimators/wholebodydynamics.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -7,7 +7,7 @@
<param name="modelFile">model.urdf</param>
<param name="fixedFrameGravity">(0,0,-9.81)</param>
<param name="defaultContactFrames">(l_hand_palm,r_hand_palm,root_link,l_foot_front,l_foot_rear,r_foot_front,r_foot_rear,l_upper_leg,r_upper_leg)</param>
<param name="imuFrameName">head_imu_0</param>
<param name="imuFrameName">waist_imu_0</param>
<param name="publishOnROS">true</param>
<param name="forceTorqueEstimateConfidence">2</param>
<param name="useJointVelocity">true</param>
Expand All @@ -22,8 +22,8 @@
<param name="publishNetExternalWrenches">true</param>
<!--<param name="assume_fixed">root_link</param>-->
<group name="HW_USE_MAS_IMU">
<param name="accelerometer">sensor_imu_xsensmt</param>
<param name="gyroscope">sensor_imu_xsensmt</param>
<param name="accelerometer">waist_imu_0</param>
<param name="gyroscope">waist_imu_0</param>
</group>

<group name="multipleAnalogSensorsNames">
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3 changes: 2 additions & 1 deletion ergoCubSN001/hardware/inertials/waist-inertial.xml
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Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -7,4 +7,5 @@
<param name="xsensmt_gyro_period">0.005</param>
<param name="xsensmt_acc_period">0.005</param>
<param name="xsensmt_mag_period">0.01</param>
</device>
<param name="sensor_name">waist_imu_0</param>
</device>