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Harmonize ergocub FT sensor names with the one used in ergocub URDF #561

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merged 1 commit into from
Sep 4, 2023
Merged

Harmonize ergocub FT sensor names with the one used in ergocub URDF #561

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2 changes: 1 addition & 1 deletion ergoCubSN000/estimators/wholebodydynamics.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -27,7 +27,7 @@
</group>

<group name="multipleAnalogSensorsNames">
<param name="SixAxisForceTorqueSensorsNames">(l_arm_ft_sensor, r_arm_ft_sensor, l_leg_ft_sensor, l_foot_front_ft_sensor, l_foot_rear_ft_sensor, r_leg_ft_sensor, r_foot_front_ft_sensor, r_foot_rear_ft_sensor)</param>
<param name="SixAxisForceTorqueSensorsNames">(l_arm_ft, r_arm_ft, l_leg_ft, l_foot_front_ft, l_foot_rear_ft, r_leg_ft, r_foot_front_ft, r_foot_rear_ft)</param>
</group>


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4 changes: 2 additions & 2 deletions ergoCubSN000/hardware/FT/left_arm-eb2-j0_1-strain.xml
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Expand Up @@ -31,15 +31,15 @@
</group>

<group name="SENSORS">
<param name="id"> l_arm_ft_sensor </param>
<param name="id"> l_arm_ft </param>
<param name="board"> strain2 </param>
<param name="location"> CAN2:13 </param>
</group>

</group>

<group name="SETTINGS">
<param name="enabledSensors"> l_arm_ft_sensor </param>
<param name="enabledSensors"> l_arm_ft </param>
<param name="ftPeriod"> 2 </param>
<param name="temperaturePeriod"> 1000 </param>
<param name="useCalibration"> true </param>
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4 changes: 2 additions & 2 deletions ergoCubSN000/hardware/FT/left_leg-eb8-j0_3-strain.xml
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Expand Up @@ -30,15 +30,15 @@
</group>

<group name="SENSORS">
<param name="id"> l_leg_ft_sensor </param>
<param name="id"> l_leg_ft </param>
<param name="board"> strain2 </param>
<param name="location"> CAN2:13 </param>
</group>

</group>

<group name="SETTINGS">
<param name="enabledSensors"> l_leg_ft_sensor </param>
<param name="enabledSensors"> l_leg_ft </param>
<param name="ftPeriod"> 2 </param>
<param name="temperaturePeriod"> 1000 </param>
<param name="useCalibration"> true </param>
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4 changes: 2 additions & 2 deletions ergoCubSN000/hardware/FT/left_leg-eb9-j4_5-strain.xml
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Expand Up @@ -30,15 +30,15 @@
</group>

<group name="SENSORS">
<param name="id"> l_foot_rear_ft_sensor l_foot_front_ft_sensor </param>
<param name="id"> l_foot_rear_ft l_foot_front_ft </param>
<param name="board"> strain2 strain2 </param>
<param name="location"> CAN2:13 CAN2:14 </param>
</group>

</group>

<group name="SETTINGS">
<param name="enabledSensors"> l_foot_rear_ft_sensor l_foot_front_ft_sensor </param>
<param name="enabledSensors"> l_foot_rear_ft l_foot_front_ft </param>
<param name="ftPeriod"> 2 10 </param>
<param name="temperaturePeriod"> 1000 1000 </param>
<param name="useCalibration"> true true </param>
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4 changes: 2 additions & 2 deletions ergoCubSN000/hardware/FT/right_arm-eb1-j0_1-strain.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -31,15 +31,15 @@
</group>

<group name="SENSORS">
<param name="id"> r_arm_ft_sensor </param>
<param name="id"> r_arm_ft </param>
<param name="board"> strain2 </param>
<param name="location"> CAN2:13 </param>
</group>

</group>

<group name="SETTINGS">
<param name="enabledSensors"> r_arm_ft_sensor </param>
<param name="enabledSensors"> r_arm_ft </param>
<param name="ftPeriod"> 2 </param>
<param name="temperaturePeriod"> 1000 </param>
<param name="useCalibration"> true </param>
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4 changes: 2 additions & 2 deletions ergoCubSN000/hardware/FT/right_leg-eb6-j0_3-strain.xml
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Expand Up @@ -30,15 +30,15 @@
</group>

<group name="SENSORS">
<param name="id"> r_leg_ft_sensor </param>
<param name="id"> r_leg_ft </param>
<param name="board"> strain2 </param>
<param name="location"> CAN2:13 </param>
</group>

</group>

<group name="SETTINGS">
<param name="enabledSensors"> r_leg_ft_sensor </param>
<param name="enabledSensors"> r_leg_ft </param>
<param name="ftPeriod"> 2 </param>
<param name="temperaturePeriod"> 1000 </param>
<param name="useCalibration"> true </param>
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4 changes: 2 additions & 2 deletions ergoCubSN000/hardware/FT/right_leg-eb7-j4_5-strain.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -30,15 +30,15 @@
</group>

<group name="SENSORS">
<param name="id"> r_foot_rear_ft_sensor r_foot_front_ft_sensor </param>
<param name="id"> r_foot_rear_ft r_foot_front_ft </param>
<param name="board"> strain2 strain2 </param>
<param name="location"> CAN2:13 CAN2:14 </param>
</group>

</group>

<group name="SETTINGS">
<param name="enabledSensors"> r_foot_rear_ft_sensor r_foot_front_ft_sensor </param>
<param name="enabledSensors"> r_foot_rear_ft r_foot_front_ft </param>
<param name="ftPeriod"> 2 10 </param>
<param name="temperaturePeriod"> 1000 1000 </param>
<param name="useCalibration"> true true </param>
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4 changes: 2 additions & 2 deletions ergoCubSN000/wrappers/FT/left_leg-FT_remapper.xml
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Expand Up @@ -6,10 +6,10 @@
<!-- The below parameter names are set from the macro MAS_getTagFromEnum(enum MAS_SensorType) + "Names"
defined in <yarp/dev/MultipleAnalogSensorsInterfaces.h> and respective device source file -->
<param name="SixAxisForceTorqueSensorsNames">
(l_leg_ft_sensor l_foot_rear_ft_sensor l_foot_front_ft_sensor)
(l_leg_ft l_foot_rear_ft l_foot_front_ft)
</param>
<param name="TemperatureSensorsNames">
(l_leg_ft_sensor l_foot_rear_ft_sensor l_foot_front_ft_sensor)
(l_leg_ft l_foot_rear_ft l_foot_front_ft)
</param>
<action phase="startup" level="5" type="attach">
<paramlist name="networks">
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4 changes: 2 additions & 2 deletions ergoCubSN000/wrappers/FT/right_leg-FT_remapper.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -6,10 +6,10 @@
<!-- The below parameter names are set from the macro MAS_getTagFromEnum(enum MAS_SensorType) + "Names"
defined in <yarp/dev/MultipleAnalogSensorsInterfaces.h> and respective device source file -->
<param name="SixAxisForceTorqueSensorsNames">
(r_leg_ft_sensor r_foot_rear_ft_sensor r_foot_front_ft_sensor)
(r_leg_ft r_foot_rear_ft r_foot_front_ft)
</param>
<param name="TemperatureSensorsNames">
(r_leg_ft_sensor r_foot_rear_ft_sensor r_foot_front_ft_sensor)
(r_leg_ft r_foot_rear_ft r_foot_front_ft)
</param>
<action phase="startup" level="5" type="attach">
<paramlist name="networks">
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2 changes: 1 addition & 1 deletion ergoCubSN001/estimators/wholebodydynamics.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -27,7 +27,7 @@
</group>

<group name="multipleAnalogSensorsNames">
<param name="SixAxisForceTorqueSensorsNames">(l_arm_ft_sensor, r_arm_ft_sensor, r_leg_ft_sensor, l_foot_front_ft_sensor, l_foot_rear_ft_sensor, r_leg_ft_sensor, r_foot_front_ft_sensor, r_foot_rear_ft_sensor)</param>
<param name="SixAxisForceTorqueSensorsNames">(l_arm_ft, r_arm_ft, l_leg_ft, l_foot_front_ft, l_foot_rear_ft, r_leg_ft, r_foot_front_ft, r_foot_rear_ft)</param>
</group>


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4 changes: 2 additions & 2 deletions ergoCubSN001/hardware/FT/left_arm-eb2-j0_1-strain.xml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -31,15 +31,15 @@
</group>

<group name="SENSORS">
<param name="id"> l_arm_ft_sensor </param>
<param name="id"> l_arm_ft </param>
<param name="board"> strain2 </param>
<param name="location"> CAN2:13 </param>
</group>

</group>

<group name="SETTINGS">
<param name="enabledSensors"> l_arm_ft_sensor </param>
<param name="enabledSensors"> l_arm_ft </param>
<param name="ftPeriod"> 2 </param>
<param name="temperaturePeriod"> 1000 </param>
<param name="useCalibration"> true </param>
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4 changes: 2 additions & 2 deletions ergoCubSN001/hardware/FT/left_leg-eb8-j0_3-strain.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -30,15 +30,15 @@
</group>

<group name="SENSORS">
<param name="id"> l_leg_ft_sensor </param>
<param name="id"> l_leg_ft </param>
<param name="board"> strain2 </param>
<param name="location"> CAN2:13 </param>
</group>

</group>

<group name="SETTINGS">
<param name="enabledSensors"> l_leg_ft_sensor </param>
<param name="enabledSensors"> l_leg_ft </param>
<param name="ftPeriod"> 2 </param>
<param name="temperaturePeriod"> 1000 </param>
<param name="useCalibration"> true </param>
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4 changes: 2 additions & 2 deletions ergoCubSN001/hardware/FT/left_leg-eb9-j4_5-strain.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -30,15 +30,15 @@
</group>

<group name="SENSORS">
<param name="id"> l_foot_rear_ft_sensor l_foot_front_ft_sensor </param>
<param name="id"> l_foot_rear_ft l_foot_front_ft </param>
<param name="board"> strain2 strain2 </param>
<param name="location"> CAN2:13 CAN2:14 </param>
</group>

</group>

<group name="SETTINGS">
<param name="enabledSensors"> l_foot_rear_ft_sensor l_foot_front_ft_sensor </param>
<param name="enabledSensors"> l_foot_rear_ft l_foot_front_ft </param>
<param name="ftPeriod"> 2 10 </param>
<param name="temperaturePeriod"> 1000 1000 </param>
<param name="useCalibration"> true true </param>
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4 changes: 2 additions & 2 deletions ergoCubSN001/hardware/FT/right_arm-eb1-j0_1-strain.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -31,15 +31,15 @@
</group>

<group name="SENSORS">
<param name="id"> r_arm_ft_sensor </param>
<param name="id"> r_arm_ft </param>
<param name="board"> strain2 </param>
<param name="location"> CAN2:13 </param>
</group>

</group>

<group name="SETTINGS">
<param name="enabledSensors"> r_arm_ft_sensor </param>
<param name="enabledSensors"> r_arm_ft </param>
<param name="ftPeriod"> 2 </param>
<param name="temperaturePeriod"> 1000 </param>
<param name="useCalibration"> true </param>
Expand Down
4 changes: 2 additions & 2 deletions ergoCubSN001/hardware/FT/right_leg-eb6-j0_3-strain.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -30,15 +30,15 @@
</group>

<group name="SENSORS">
<param name="id"> r_leg_ft_sensor </param>
<param name="id"> r_leg_ft </param>
<param name="board"> strain2 </param>
<param name="location"> CAN2:13 </param>
</group>

</group>

<group name="SETTINGS">
<param name="enabledSensors"> r_leg_ft_sensor </param>
<param name="enabledSensors"> r_leg_ft </param>
<param name="ftPeriod"> 2 </param>
<param name="temperaturePeriod"> 1000 </param>
<param name="useCalibration"> true </param>
Expand Down
4 changes: 2 additions & 2 deletions ergoCubSN001/hardware/FT/right_leg-eb7-j4_5-strain.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -30,15 +30,15 @@
</group>

<group name="SENSORS">
<param name="id"> r_foot_rear_ft_sensor r_foot_front_ft_sensor </param>
<param name="id"> r_foot_rear_ft r_foot_front_ft </param>
<param name="board"> strain2 strain2 </param>
<param name="location"> CAN2:13 CAN2:14 </param>
</group>

</group>

<group name="SETTINGS">
<param name="enabledSensors"> r_foot_rear_ft_sensor r_foot_front_ft_sensor </param>
<param name="enabledSensors"> r_foot_rear_ft r_foot_front_ft </param>
<param name="ftPeriod"> 2 10 </param>
<param name="temperaturePeriod"> 1000 1000 </param>
<param name="useCalibration"> true true </param>
Expand Down
4 changes: 2 additions & 2 deletions ergoCubSN001/wrappers/FT/left_leg-FT_remapper.xml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -6,10 +6,10 @@
<!-- The below parameter names are set from the macro MAS_getTagFromEnum(enum MAS_SensorType) + "Names"
defined in <yarp/dev/MultipleAnalogSensorsInterfaces.h> and respective device source file -->
<param name="SixAxisForceTorqueSensorsNames">
(l_leg_ft_sensor l_foot_rear_ft_sensor l_foot_front_ft_sensor)
(l_leg_ft l_foot_rear_ft l_foot_front_ft)
</param>
<param name="TemperatureSensorsNames">
(l_leg_ft_sensor l_foot_rear_ft_sensor l_foot_front_ft_sensor)
(l_leg_ft l_foot_rear_ft l_foot_front_ft)
</param>
<action phase="startup" level="5" type="attach">
<paramlist name="networks">
Expand Down
4 changes: 2 additions & 2 deletions ergoCubSN001/wrappers/FT/right_leg-FT_remapper.xml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -6,10 +6,10 @@
<!-- The below parameter names are set from the macro MAS_getTagFromEnum(enum MAS_SensorType) + "Names"
defined in <yarp/dev/MultipleAnalogSensorsInterfaces.h> and respective device source file -->
<param name="SixAxisForceTorqueSensorsNames">
(r_leg_ft_sensor r_foot_rear_ft_sensor r_foot_front_ft_sensor)
(r_leg_ft r_foot_rear_ft r_foot_front_ft)
</param>
<param name="TemperatureSensorsNames">
(r_leg_ft_sensor r_foot_rear_ft_sensor r_foot_front_ft_sensor)
(r_leg_ft r_foot_rear_ft r_foot_front_ft)
</param>
<action phase="startup" level="5" type="attach">
<paramlist name="networks">
Expand Down