Uniform sensor name for IMU

It follows the convention <link>_imu_<nr> where starts from 0. Now the names have been unifrmed with the real robot(robotology/robots-configuration#422)
robotology · Jan 31, 2023 · 820be1b · 820be1b
1 parent 1a5d6b4
commit 820be1b
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Showing 3 changed files with 10 additions and 5 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
@@ -680,7 +680,8 @@ sensors:
     updateRate: "100"
   - frameName: SCSYS_HEAD_MTX_IMU
     linkName: head
-    sensorName: head_imu_acc_1x1
+    sensorName: head_imu_0
+    exportFrameInURDF: Yes
     sensorType: "accelerometer"
     sensorBlobs:
     - |

diff --git a/simmechanics/data/icub3/ICUB_3_all_options.yaml b/simmechanics/data/icub3/ICUB_3_all_options.yaml
@@ -332,7 +332,8 @@ sensors:
     updateRate: "100"
   - frameName: SCSYS_HEAD_IMU
     linkName: head
-    sensorName: head_imu_acc_1x1
+    sensorName: head_imu_0
+    exportFrameInURDF: Yes
     sensorType: "accelerometer"
     sensorBlobs:
     - |
@@ -422,7 +423,8 @@ sensors:
   # the imu measurements are referred to the depth frame.
   - frameName: SCSYS_CHEST_DEPTH
     linkName: chest
-    sensorName: chest_imu_acc_1x1
+    sensorName: chest_imu_0
+    exportFrameInURDF: Yes
     sensorType: "accelerometer"
     exportFrameInURDF: Yes
     sensorBlobs:

diff --git a/simmechanics/data/icub3/ICUB_3_all_options_gazebo.yaml.in b/simmechanics/data/icub3/ICUB_3_all_options_gazebo.yaml.in
@@ -331,7 +331,8 @@ sensors:
     updateRate: "100"
   - frameName: SCSYS_HEAD_IMU
     linkName: head
-    sensorName: head_imu_acc_1x1
+    sensorName: head_imu_0
+    exportFrameInURDF: Yes
     sensorType: "accelerometer"
     sensorBlobs:
     - |
@@ -420,7 +421,8 @@ sensors:
   # the imu measurements are referred to the depth frame.
   - frameName: SCSYS_CHEST_DEPTH
     linkName: chest
-    sensorName: chest_imu_acc_1x1
+    sensorName: chest_imu_0
+    exportFrameInURDF: Yes
     sensorType: "accelerometer"
     sensorBlobs:
     - |