Sensors mounted on iCub 2.7
This page lists all the sensors mounted on iCub 2.7, and how to access their information.
Head
| Type | Sensor Name | Device | YARP Port | Data pattern | Publish rate (Hz) |
|---|---|---|---|---|---|
| ControlBoard | head |
MC4PLUS | /icub/head/state:o |
(joint_encoders) | 100 |
| - | - | - | /icub/head/stateExt:o |
Defined in stateExt.thrift | 100 |
| ControlBoard | face |
MC4PLUS | /icub/face/state:o |
(joint_encoders) | 100 |
| - | - | - | /icub/face/stateExt:o |
Defined in stateExt.thrift | 100 |
| IMU | head/inertials |
RFE, BNO055 | /icub/head/inertials/measures:o |
Defined in multipleAnalogSensorsSerializations.thrift | 100 |
| Eyes cameras | head/cam |
Dragonfly | /icub/head/cam/left |
( (R channel) (G channel) (B channel) ) | 30 |
| - | - | - | /icub/head/cam/right |
( (R channel) (G channel) (B channel) ) | 30 |
Torso
| Type | Sensor name | Device | YARP Port | Data pattern | Publish Rate (Hz) |
|---|---|---|---|---|---|
| ControlBoards | torso |
EMS+2FOC | /icub/torso/state:o |
(joint_encoders) | 100 |
| - | - | - | /icub/torso/stateExt:o |
Defined in stateExt.thrift | 100 |
| IMU | waist/inertials |
MTB, BNO055 | /icub/waist/inertials/measures:o |
Defined in multipleAnalogSensorsSerializations.thrift | 100 |
Left Arm
| Type | Sensor name | Device | YARP Port | Data pattern | Publish Rate (Hz) |
|---|---|---|---|---|---|
| ControlBoards | left_arm |
EMS+2FOC, MC4PLUS | /icub/left_arm/state:o |
(joint_encoders) | 100 |
| - | - | - | /icub/left_arm/stateExt:o |
Defined in stateExt.thrift | 100 |
| Force-Torque Sensor | left_arm/FT |
FT45 | /icub/left_arm/FT/measures:o |
Defined in multipleAnalogSensorsSerializations.thrift | 100 |
| IMU | left_arm/inertials |
STRAIN2, BNO055 | /icub/left_arm/inertials/measures:o |
Defined in multipleAnalogSensorsSerializations.thrift | 100 |
| Skin | left_hand |
MAIS | /icub/left_hand/analog:o |
Defined in multipleAnalogSensorsSerializations.thrift | 100 |
Right Arm
| Type | Sensor name | Device | YARP Port | Data pattern | Publish Rate (Hz) |
|---|---|---|---|---|---|
| ControlBoards | right_arm |
EMS+2FOC, MC4PLUS | /icub/right_arm/state:o |
(joint_encoders) | 100 |
| - | - | - | /icub/right_arm/stateExt:o |
Defined in stateExt.thrift | 100 |
| Force-Torque Sensor | right_arm/FT |
FT45 | /icub/right_arm/FT/measures:o |
Defined in multipleAnalogSensorsSerializations.thrift | 100 |
| IMU | right_arm/inertials |
STRAIN2, BNO055 | /icub/right_arm/inertials/measures:o |
Defined in multipleAnalogSensorsSerializations.thrift | 100 |
| Skin | right_hand |
MAIS | /icub/right_hand/analog:o |
Defined in multipleAnalogSensorsSerializations.thrift | 100 |
Left Leg
| Type | Sensor name | Device | YARP Port | Data pattern | Publish Rate (Hz) |
|---|---|---|---|---|---|
| ControlBoards | left_leg |
EMS+2FOC | /icub/left_leg/state:o |
(joint_encoders) | 100 |
| - | - | - | /icub/left_leg/stateExt:o |
Defined in stateExt.thrift | 100 |
| Force-Torque Sensors | left_leg/FT |
FT45 | /icub/left_leg/FT/measures:o |
Defined in multipleAnalogSensorsSerializations.thrift | 100 |
| IMU | left_leg/imu |
STRAIN2, BNO055 | /icub/left_leg/imu/measures:o |
Defined in multipleAnalogSensorsSerializations.thrift | 100 |
| - | left_foot/imu |
STRAIN2, BNO055 | /icub/left_foot/imu/measures:o |
Defined in multipleAnalogSensorsSerializations.thrift | 100 |
Right Leg
| Type | Sensor name | Device | YARP Port | Data pattern | Publish Rate (Hz) |
|---|---|---|---|---|---|
| ControlBoards | right_leg |
EMS+2FOC | /icub/right_leg/state:o |
(joint_encoders) | 100 |
| - | - | - | /icub/right_leg/stateExt:o |
Defined in stateExt.thrift | 100 |
| Force-Torque Sensors | right_leg/FT |
FT45 | /icub/right_leg/FT/measures:o |
Defined in multipleAnalogSensorsSerializations.thrift | 100 |
| IMU | right_leg/imu |
STRAIN2, BNO055 | /icub/right_leg/imu/measures:o |
Defined in multipleAnalogSensorsSerializations.thrift | 100 |
| - | right_foot/imu |
STRAIN2, BNO055 | /icub/right_foot/imu/measures:o |
Defined in multipleAnalogSensorsSerializations.thrift | 100 |