feat: add IMU integration with fall detection and recovery#2436
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Wanbogang wants to merge 3 commits intoOpenMind:mainfrom
Open
feat: add IMU integration with fall detection and recovery#2436Wanbogang wants to merge 3 commits intoOpenMind:mainfrom
Wanbogang wants to merge 3 commits intoOpenMind:mainfrom
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- Add IMUProvider singleton for accelerometer/gyroscope/orientation data - Add IMUInput plugin to read JSON data from serial IMU sensor - Add IMUFallDetector background task for continuous fall monitoring - Add FallRecovery action with serial connector for robot recovery - Add config/imu.json5 for IMU robot configuration - Support MPU6050, BNO055, and generic serial IMU sensors - 51 tests, 100% coverage
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Codecov Report✅ All modified and coverable lines are covered by tests. 📢 Thoughts on this report? Let us know! |
- Remove reset classmethod stub (handled by singleton decorator) - Add type: ignore for IMUProvider.reset() pyright attribute access - Add test_reset_class_method_callable test
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Summary
Adds full IMU (Inertial Measurement Unit) integration to OM1, enabling
robots to detect falls and impacts, then automatically execute recovery actions. #365
Components Added
Provider
IMUProvider— singleton that stores and distributes accelerometer,gyroscope, and orientation data to all OM1 components
Input
IMUInput— reads JSON data from serial IMU sensor (MPU6050, BNO055,or generic Arduino serial bridge)
Background
IMUFallDetector— continuously monitors IMU state and updatesContextProvider when fall or impact is detected
Action
FallRecovery— three supported actions:stand_up— sends stand up command and resets IMU alertsemergency_stop— sends emergency stop commandalert_operator— logs warning and notifies operatorConfig
config/imu.json5— ready-to-use robot config with IMU input,fall detector background, fall recovery + speak actions
Supported Sensors
Expected serial data format
{"ax": 0.1, "ay": 0.2, "az": 9.8, "gx": 0.0, "gy": 0.0, "gz": 0.0, "roll": 1.2, "pitch": 0.5, "yaw": 90.0}