Align IMU sensorName with the real robot

robotology · Apr 5, 2024 · 5df5585 · 5df5585
1 parent 5c6e49c
commit 5df5585
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Showing 2 changed files with 3 additions and 3 deletions.
diff --git a/simmechanics/data/icub2_5/ICUB_2-5_BB_simmechanics_options.yaml.in b/simmechanics/data/icub2_5/ICUB_2-5_BB_simmechanics_options.yaml.in
@@ -690,7 +690,7 @@ sensors:
         </plugin>
   - frameName: SCSYS_L_UPPER_ARM_FT45
     linkName: l_shoulder_3
-    sensorName: l_arm_ft
+    sensorName: l_arm_ft_imu
     exportFrameInURDF: Yes
     sensorType: "accelerometer"
     sensorBlobs:
@@ -700,7 +700,7 @@ sensors:
         </plugin>
   - frameName: SCSYS_R_UPPER_ARM_FT45
     linkName: r_shoulder_3
-    sensorName: r_arm_ft
+    sensorName: r_arm_ft_imu
     exportFrameInURDF: Yes
     sensorType: "accelerometer"
     sensorBlobs:

diff --git a/simmechanics/data/icub2_5/conf/wrappers/inertials/alljoints-inertials_remapper.xml b/simmechanics/data/icub2_5/conf/wrappers/inertials/alljoints-inertials_remapper.xml
@@ -3,7 +3,7 @@
 
 <device xmlns:xi="http://www.w3.org/2001/XInclude" name="alljoints-inertials_remapper" type="multipleanalogsensorsremapper">
     <param name="OrientationSensorsNames">
-        (l_arm_ft r_arm_ft head_imu_0)
+        (head_imu_0 l_arm_ft_imu r_arm_ft_imu)
     </param>
     <action phase="startup" level="5" type="attach">
         <paramlist name="networks">