Sensors mounted on iCub 3
This page lists all the sensors mounted on iCub 3, 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 |
| IMU | head/imu |
RFE, BNO055 | /icub/head/imu/measures:o |
Defined in multipleAnalogSensorsSerializations.thrift | 100 |
| Eyes cameras | head/cam |
Basler daA4200-30mci | /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 |
| Battery | batttery |
BMS | /icub/battery |
1 |
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/imu |
STRAIN2, BNO055 | /icub/left_arm/imu/measures:o |
Defined in multipleAnalogSensorsSerializations.thrift | 100 |
| - | left_arm/inertialMTB |
MTB4, BNO055 | /icub/left_arm/inertialMTB/measures: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/imu |
STRAIN2, BNO055 | /icub/right_arm/imu/measures:o |
Defined in multipleAnalogSensorsSerializations.thrift | 100 |
| - | right_arm/inertialMTB |
MTB4, BNO055 | /icub/right_arm/inertialMTB/measures: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, FT58 | /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_heel_tiptoe/imu |
STRAIN2, BNO055 | /icub/left_foot_heel_tiptoe/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, FT58 | /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_heel_tiptoe/imu |
STRAIN2, BNO055 | /icub/right_foot_heel_tiptoe/imu/measures:o |
Defined in multipleAnalogSensorsSerializations.thrift | 100 |