From 411a84b94f4eba98de60a69ff8bed6e67c7855af Mon Sep 17 00:00:00 2001 From: Giulio Romualdi Date: Fri, 16 Feb 2024 12:52:32 +0100 Subject: [PATCH 1/2] =?UTF-8?q?=F0=9F=A4=96=20[ergoCubSN001]=20Add=20loggi?= =?UTF-8?q?ng=20of=20the=20wrist=20and=20fix=20the=20name=20of=20the=20wai?= =?UTF-8?q?st=20imu?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../blf-yarp-robot-logger-interfaces/all_joints_mc.xml | 2 +- .../blf-yarp-robot-logger-interfaces/mas-remapper.xml | 8 ++++---- .../app/robots/ergoCubSN001/yarp-robot-logger.xml | 10 +++++----- 3 files changed, 10 insertions(+), 10 deletions(-) diff --git a/devices/YarpRobotLoggerDevice/app/robots/ergoCubSN001/blf-yarp-robot-logger-interfaces/all_joints_mc.xml b/devices/YarpRobotLoggerDevice/app/robots/ergoCubSN001/blf-yarp-robot-logger-interfaces/all_joints_mc.xml index 7dfeedd0df..2a0e3bad60 100644 --- a/devices/YarpRobotLoggerDevice/app/robots/ergoCubSN001/blf-yarp-robot-logger-interfaces/all_joints_mc.xml +++ b/devices/YarpRobotLoggerDevice/app/robots/ergoCubSN001/blf-yarp-robot-logger-interfaces/all_joints_mc.xml @@ -4,7 +4,7 @@ BSD-3-Clause license. --> ("/ergocub/head", "/ergocub/torso", "/ergocub/left_arm", "/ergocub/right_arm", "/ergocub/left_leg", "/ergocub/right_leg") - ("neck_pitch", "neck_roll", "neck_yaw", "camera_tilt", "torso_pitch", "torso_roll", "torso_yaw", "l_shoulder_pitch", "l_shoulder_roll", "l_shoulder_yaw", "l_elbow", "r_shoulder_pitch", "r_shoulder_roll", "r_shoulder_yaw", "r_elbow", "l_hip_pitch", "l_hip_roll", "l_hip_yaw", "l_knee", "l_ankle_pitch", "l_ankle_roll", "r_hip_pitch", "r_hip_roll", "r_hip_yaw", "r_knee", "r_ankle_pitch", "r_ankle_roll") + ("neck_pitch", "neck_roll", "neck_yaw", "camera_tilt", "torso_pitch", "torso_roll", "torso_yaw", "l_shoulder_pitch", "l_shoulder_roll", "l_shoulder_yaw", "l_elbow", "l_wrist_pitch", "l_wrist_roll", "l_wrist_yaw", "r_shoulder_pitch", "r_shoulder_roll", "r_shoulder_yaw", "r_elbow", "r_wrist_pitch", "r_wrist_roll", "r_wrist_yaw", "l_hip_pitch", "l_hip_roll", "l_hip_yaw", "l_knee", "l_ankle_pitch", "l_ankle_roll", "r_hip_pitch", "r_hip_roll", "r_hip_yaw", "r_knee", "r_ankle_pitch", "r_ankle_roll") /yarp_robot_logger/joints diff --git a/devices/YarpRobotLoggerDevice/app/robots/ergoCubSN001/blf-yarp-robot-logger-interfaces/mas-remapper.xml b/devices/YarpRobotLoggerDevice/app/robots/ergoCubSN001/blf-yarp-robot-logger-interfaces/mas-remapper.xml index 293308eff9..23eb17b494 100644 --- a/devices/YarpRobotLoggerDevice/app/robots/ergoCubSN001/blf-yarp-robot-logger-interfaces/mas-remapper.xml +++ b/devices/YarpRobotLoggerDevice/app/robots/ergoCubSN001/blf-yarp-robot-logger-interfaces/mas-remapper.xml @@ -6,16 +6,16 @@ 10 - (sensor_imu_xsensmt, 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_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, 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_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, 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_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, 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_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_foot_front_ft, l_foot_rear_ft, r_foot_front_ft, r_foot_rear_ft, l_leg_ft, r_leg_ft, r_arm_ft, l_arm_ft) diff --git a/devices/YarpRobotLoggerDevice/app/robots/ergoCubSN001/yarp-robot-logger.xml b/devices/YarpRobotLoggerDevice/app/robots/ergoCubSN001/yarp-robot-logger.xml index 7b7077e73b..75c846eaa8 100644 --- a/devices/YarpRobotLoggerDevice/app/robots/ergoCubSN001/yarp-robot-logger.xml +++ b/devices/YarpRobotLoggerDevice/app/robots/ergoCubSN001/yarp-robot-logger.xml @@ -84,7 +84,7 @@ BSD-3-Clause license. --> true - ("neck_pitch", "neck_roll", "neck_yaw", "camera_tilt", "torso_pitch", "torso_roll", "torso_yaw", "l_shoulder_pitch", "l_shoulder_roll", "l_shoulder_yaw", "l_elbow", "r_shoulder_pitch", "r_shoulder_roll", "r_shoulder_yaw", "r_elbow", "l_hip_pitch", "l_hip_roll", "l_hip_yaw", "l_knee", "l_ankle_pitch", "l_ankle_roll", "r_hip_pitch", "r_hip_roll", "r_hip_yaw", "r_knee", "r_ankle_pitch", "r_ankle_roll") + ("neck_pitch", "neck_roll", "neck_yaw", "camera_tilt", "torso_pitch", "torso_roll", "torso_yaw", "l_shoulder_pitch", "l_shoulder_roll", "l_shoulder_yaw", "l_elbow", "l_wrist_pitch", "l_wrist_roll", "l_wrist_yaw", "r_shoulder_pitch", "r_shoulder_roll", "r_shoulder_yaw", "r_elbow", "r_wrist_pitch", "r_wrist_roll", "r_wrist_yaw", "l_hip_pitch", "l_hip_roll", "l_hip_yaw", "l_knee", "l_ankle_pitch", "l_ankle_roll", "r_hip_pitch", "r_hip_roll", "r_hip_yaw", "r_knee", "r_ankle_pitch", "r_ankle_roll") @@ -101,10 +101,10 @@ BSD-3-Clause license. --> - (sensor_imu_xsensmt, 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, 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, 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, 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_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_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_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_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) From cb7bd10f7ab80229fe118b2f4c7ad8e7c232de0f Mon Sep 17 00:00:00 2001 From: Giulio Romualdi Date: Sat, 17 Feb 2024 08:51:52 +0100 Subject: [PATCH 2/2] Update CHANGELOG.md --- CHANGELOG.md | 2 ++ 1 file changed, 2 insertions(+) diff --git a/CHANGELOG.md b/CHANGELOG.md index 3c1bc3358a..ff5ec2a77f 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -8,6 +8,8 @@ All notable changes to this project are documented in this file. - 🤖 [ `ergoCubGazeboV1_1`] Add configuration files to log data with the `YarpRobotLoggerDevice` (https://github.com/ami-iit/bipedal-locomotion-framework/pull/806, https://github.com/ami-iit/bipedal-locomotion-framework/pull/808) ### Changed +- 🤖 [ergoCubSN001] Add logging of the wrist and fix the name of the waist imu (https://github.com/ami-iit/bipedal-locomotion-framework/pull/810) + ### Fixed ### Removed