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martinaxgloriamartinaxgloria
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Fix
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-24
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6 files changed

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-24
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‎urdf/creo2urdf/data/ergocub1_0/ERGOCUB_all_options.yaml

+4-4
Original file line numberDiff line numberDiff line change
@@ -1122,7 +1122,7 @@ XMLBlobs:
11221122
<sensor name="l_arm_ft_imu" type="imu">
11231123
<always_on>1</always_on>
11241124
<update_rate>100</update_rate>
1125-
<pose>0.0 -0.004350 -0.05430 3.14159265 -0.0 -1.57079633</pose>
1125+
<pose>-0.004350 0.0 -0.05430 3.14159265 -0.0 -1.57079633</pose>
11261126
<plugin name="ergocub_yarp_gazebo_plugin_IMU" filename="libgazebo_yarp_imu.so">
11271127
<yarpConfigurationFile>model://ergoCub/conf/gazebo_ergocub_l_arm_ft_sensor_inertial.ini</yarpConfigurationFile>
11281128
</plugin>
@@ -1131,15 +1131,15 @@ XMLBlobs:
11311131
- |
11321132
<sensor name="l_arm_ft_imu" type="accelerometer">
11331133
<parent link="l_shoulder_2" />
1134-
<origin rpy="3.14159265 -0.0 -1.57079633" xyz="0.0 -0.004350 -0.05430" />
1134+
<origin rpy="3.14159265 -0.0 -1.57079633" xyz="-0.004350 0.0 -0.05430" />
11351135
</sensor>
11361136
# right arm IMU
11371137
- |
11381138
<gazebo reference="r_shoulder_2">
11391139
<sensor name="r_arm_ft_imu" type="imu">
11401140
<always_on>1</always_on>
11411141
<update_rate>100</update_rate>
1142-
<pose>0.0 0.006850 -0.05430 3.14159265 -0.0 1.57079633</pose>
1142+
<pose>-0.006850 0.0 -0.05430 3.14159265 -0.0 1.57079633</pose>
11431143
<plugin name="ergocub_yarp_gazebo_plugin_IMU" filename="libgazebo_yarp_imu.so">
11441144
<yarpConfigurationFile>model://ergoCub/conf/gazebo_ergocub_r_arm_ft_sensor_inertial.ini</yarpConfigurationFile>
11451145
</plugin>
@@ -1148,7 +1148,7 @@ XMLBlobs:
11481148
- |
11491149
<sensor name="r_arm_ft_imu" type="accelerometer">
11501150
<parent link="r_shoulder_2" />
1151-
<origin rpy="3.14159265 -0.0 1.57079633" xyz="0.0 0.006850 -0.05430" />
1151+
<origin rpy="3.14159265 -0.0 1.57079633" xyz="-0.006850 0.0 -0.05430" />
11521152
</sensor>
11531153
# left leg IMU
11541154
- |

‎urdf/creo2urdf/data/ergocub1_0/ERGOCUB_all_options_gazebo.yaml

+4-4
Original file line numberDiff line numberDiff line change
@@ -1307,7 +1307,7 @@ XMLBlobs:
13071307
<sensor name="l_arm_ft_imu" type="imu">
13081308
<always_on>1</always_on>
13091309
<update_rate>100</update_rate>
1310-
<pose>0.0 -0.004350 -0.05430 3.14159265 -0.0 -1.57079633</pose>
1310+
<pose>-0.004350 0.0 -0.05430 3.14159265 -0.0 -1.57079633</pose>
13111311
<plugin name="ergocub_yarp_gazebo_plugin_IMU" filename="libgazebo_yarp_imu.so">
13121312
<yarpConfigurationFile>model://ergoCub/conf/gazebo_ergocub_l_arm_ft_sensor_inertial.ini</yarpConfigurationFile>
13131313
</plugin>
@@ -1316,15 +1316,15 @@ XMLBlobs:
13161316
- |
13171317
<sensor name="l_arm_ft_imu" type="accelerometer">
13181318
<parent link="l_shoulder_2" />
1319-
<origin rpy="3.14159265 -0.0 -1.57079633" xyz="0.0 -0.004350 -0.05430" />
1319+
<origin rpy="3.14159265 -0.0 -1.57079633" xyz="-0.004350 0.0 -0.05430" />
13201320
</sensor>
13211321
# right arm IMU
13221322
- |
13231323
<gazebo reference="r_shoulder_2">
13241324
<sensor name="r_arm_ft_imu" type="imu">
13251325
<always_on>1</always_on>
13261326
<update_rate>100</update_rate>
1327-
<pose>0.0 0.006850 -0.05430 3.14159265 -0.0 1.57079633</pose>
1327+
<pose>-0.006850 0.0 -0.05430 3.14159265 -0.0 1.57079633</pose>
13281328
<plugin name="ergocub_yarp_gazebo_plugin_IMU" filename="libgazebo_yarp_imu.so">
13291329
<yarpConfigurationFile>model://ergoCub/conf/gazebo_ergocub_r_arm_ft_sensor_inertial.ini</yarpConfigurationFile>
13301330
</plugin>
@@ -1333,7 +1333,7 @@ XMLBlobs:
13331333
- |
13341334
<sensor name="r_arm_ft_imu" type="accelerometer">
13351335
<parent link="r_shoulder_2" />
1336-
<origin rpy="3.14159265 -0.0 1.57079633" xyz="0.0 0.006850 -0.05430" />
1336+
<origin rpy="3.14159265 -0.0 1.57079633" xyz="-0.006850 0.0 -0.05430" />
13371337
</sensor>
13381338
# left leg IMU
13391339
- |

‎urdf/creo2urdf/data/ergocub1_0/ERGOCUB_all_options_minContacts.yaml

+4-4
Original file line numberDiff line numberDiff line change
@@ -1616,7 +1616,7 @@ XMLBlobs:
16161616
<sensor name="l_arm_ft_imu" type="imu">
16171617
<always_on>1</always_on>
16181618
<update_rate>100</update_rate>
1619-
<pose>0.0 -0.004350 -0.05430 3.14159265 -0.0 -1.57079633</pose>
1619+
<pose>-0.004350 0.0 -0.05430 3.14159265 -0.0 -1.57079633</pose>
16201620
<plugin name="ergocub_yarp_gazebo_plugin_IMU" filename="libgazebo_yarp_imu.so">
16211621
<yarpConfigurationFile>model://ergoCub/conf/gazebo_ergocub_l_arm_ft_sensor_inertial.ini</yarpConfigurationFile>
16221622
</plugin>
@@ -1625,15 +1625,15 @@ XMLBlobs:
16251625
- |
16261626
<sensor name="l_arm_ft_imu" type="accelerometer">
16271627
<parent link="l_shoulder_2" />
1628-
<origin rpy="3.14159265 -0.0 -1.57079633" xyz="0.0 -0.004350 -0.05430" />
1628+
<origin rpy="3.14159265 -0.0 -1.57079633" xyz="-0.004350 0.0 -0.05430" />
16291629
</sensor>
16301630
# right arm IMU
16311631
- |
16321632
<gazebo reference="r_shoulder_2">
16331633
<sensor name="r_arm_ft_imu" type="imu">
16341634
<always_on>1</always_on>
16351635
<update_rate>100</update_rate>
1636-
<pose>0.0 0.006850 -0.05430 3.14159265 -0.0 1.57079633</pose>
1636+
<pose>-0.006850 0.0 -0.05430 3.14159265 -0.0 1.57079633</pose>
16371637
<plugin name="ergocub_yarp_gazebo_plugin_IMU" filename="libgazebo_yarp_imu.so">
16381638
<yarpConfigurationFile>model://ergoCub/conf/gazebo_ergocub_r_arm_ft_sensor_inertial.ini</yarpConfigurationFile>
16391639
</plugin>
@@ -1642,7 +1642,7 @@ XMLBlobs:
16421642
- |
16431643
<sensor name="r_arm_ft_imu" type="accelerometer">
16441644
<parent link="r_shoulder_2" />
1645-
<origin rpy="3.14159265 -0.0 1.57079633" xyz="0.0 0.006850 -0.05430" />
1645+
<origin rpy="3.14159265 -0.0 1.57079633" xyz="-0.00685 0.0 -0.05430" />
16461646
</sensor>
16471647
# left leg IMU
16481648
- |

‎urdf/ergoCub/robots/ergoCubGazeboV1/model.urdf

+4-4
Original file line numberDiff line numberDiff line change
@@ -2953,29 +2953,29 @@
29532953
<sensor name="l_arm_ft_imu" type="imu">
29542954
<always_on>1</always_on>
29552955
<update_rate>100</update_rate>
2956-
<pose>0.0 -0.004350 -0.05430 3.14159265 -0.0 -1.57079633</pose>
2956+
<pose>-0.004350 0.0 -0.05430 3.14159265 -0.0 -1.57079633</pose>
29572957
<plugin name="ergocub_yarp_gazebo_plugin_IMU" filename="libgazebo_yarp_imu.so">
29582958
<yarpConfigurationFile>model://ergoCub/conf/gazebo_ergocub_l_arm_ft_sensor_inertial.ini</yarpConfigurationFile>
29592959
</plugin>
29602960
</sensor>
29612961
</gazebo>
29622962
<sensor name="l_arm_ft_imu" type="accelerometer">
29632963
<parent link="l_shoulder_2" />
2964-
<origin rpy="3.14159265 -0.0 -1.57079633" xyz="0.0 -0.004350 -0.05430" />
2964+
<origin rpy="3.14159265 -0.0 -1.57079633" xyz="-0.004350 0.0 -0.05430" />
29652965
</sensor>
29662966
<gazebo reference="r_shoulder_2">
29672967
<sensor name="r_arm_ft_imu" type="imu">
29682968
<always_on>1</always_on>
29692969
<update_rate>100</update_rate>
2970-
<pose>0.0 0.006850 -0.05430 3.14159265 -0.0 1.57079633</pose>
2970+
<pose>-0.006850 0.0 -0.05430 3.14159265 -0.0 1.57079633</pose>
29712971
<plugin name="ergocub_yarp_gazebo_plugin_IMU" filename="libgazebo_yarp_imu.so">
29722972
<yarpConfigurationFile>model://ergoCub/conf/gazebo_ergocub_r_arm_ft_sensor_inertial.ini</yarpConfigurationFile>
29732973
</plugin>
29742974
</sensor>
29752975
</gazebo>
29762976
<sensor name="r_arm_ft_imu" type="accelerometer">
29772977
<parent link="r_shoulder_2" />
2978-
<origin rpy="3.14159265 -0.0 1.57079633" xyz="0.0 0.006850 -0.05430" />
2978+
<origin rpy="3.14159265 -0.0 1.57079633" xyz="-0.006850 0.0 -0.05430" />
29792979
</sensor>
29802980
<gazebo reference="l_hip_2">
29812981
<sensor name="l_leg_ft_imu" type="imu">

‎urdf/ergoCub/robots/ergoCubGazeboV1_minContacts/model.urdf

+4-4
Original file line numberDiff line numberDiff line change
@@ -2953,29 +2953,29 @@
29532953
<sensor name="l_arm_ft_imu" type="imu">
29542954
<always_on>1</always_on>
29552955
<update_rate>100</update_rate>
2956-
<pose>0.0 -0.004350 -0.05430 3.14159265 -0.0 -1.57079633</pose>
2956+
<pose>-0.004350 0.0 -0.05430 3.14159265 -0.0 -1.57079633</pose>
29572957
<plugin name="ergocub_yarp_gazebo_plugin_IMU" filename="libgazebo_yarp_imu.so">
29582958
<yarpConfigurationFile>model://ergoCub/conf/gazebo_ergocub_l_arm_ft_sensor_inertial.ini</yarpConfigurationFile>
29592959
</plugin>
29602960
</sensor>
29612961
</gazebo>
29622962
<sensor name="l_arm_ft_imu" type="accelerometer">
29632963
<parent link="l_shoulder_2" />
2964-
<origin rpy="3.14159265 -0.0 -1.57079633" xyz="0.0 -0.004350 -0.05430" />
2964+
<origin rpy="3.14159265 -0.0 -1.57079633" xyz="-0.004350 0.0 -0.05430" />
29652965
</sensor>
29662966
<gazebo reference="r_shoulder_2">
29672967
<sensor name="r_arm_ft_imu" type="imu">
29682968
<always_on>1</always_on>
29692969
<update_rate>100</update_rate>
2970-
<pose>0.0 0.006850 -0.05430 3.14159265 -0.0 1.57079633</pose>
2970+
<pose>-0.006850 0.0 -0.05430 3.14159265 -0.0 1.57079633</pose>
29712971
<plugin name="ergocub_yarp_gazebo_plugin_IMU" filename="libgazebo_yarp_imu.so">
29722972
<yarpConfigurationFile>model://ergoCub/conf/gazebo_ergocub_r_arm_ft_sensor_inertial.ini</yarpConfigurationFile>
29732973
</plugin>
29742974
</sensor>
29752975
</gazebo>
29762976
<sensor name="r_arm_ft_imu" type="accelerometer">
29772977
<parent link="r_shoulder_2" />
2978-
<origin rpy="3.14159265 -0.0 1.57079633" xyz="0.0 0.006850 -0.05430" />
2978+
<origin rpy="3.14159265 -0.0 1.57079633" xyz="-0.006850 0.0 -0.05430" />
29792979
</sensor>
29802980
<gazebo reference="l_hip_2">
29812981
<sensor name="l_leg_ft_imu" type="imu">

‎urdf/ergoCub/robots/ergoCubSN000/model.urdf

+4-4
Original file line numberDiff line numberDiff line change
@@ -2953,29 +2953,29 @@
29532953
<sensor name="l_arm_ft_imu" type="imu">
29542954
<always_on>1</always_on>
29552955
<update_rate>100</update_rate>
2956-
<pose>0.0 -0.004350 -0.05430 3.14159265 -0.0 -1.57079633</pose>
2956+
<pose>-0.004350 0.0 -0.05430 3.14159265 -0.0 -1.57079633</pose>
29572957
<plugin name="ergocub_yarp_gazebo_plugin_IMU" filename="libgazebo_yarp_imu.so">
29582958
<yarpConfigurationFile>model://ergoCub/conf/gazebo_ergocub_l_arm_ft_sensor_inertial.ini</yarpConfigurationFile>
29592959
</plugin>
29602960
</sensor>
29612961
</gazebo>
29622962
<sensor name="l_arm_ft_imu" type="accelerometer">
29632963
<parent link="l_shoulder_2" />
2964-
<origin rpy="3.14159265 -0.0 -1.57079633" xyz="0.0 -0.004350 -0.05430" />
2964+
<origin rpy="3.14159265 -0.0 -1.57079633" xyz="-0.004350 0.0 -0.05430" />
29652965
</sensor>
29662966
<gazebo reference="r_shoulder_2">
29672967
<sensor name="r_arm_ft_imu" type="imu">
29682968
<always_on>1</always_on>
29692969
<update_rate>100</update_rate>
2970-
<pose>0.0 0.006850 -0.05430 3.14159265 -0.0 1.57079633</pose>
2970+
<pose>-0.006850 0.0 -0.05430 3.14159265 -0.0 1.57079633</pose>
29712971
<plugin name="ergocub_yarp_gazebo_plugin_IMU" filename="libgazebo_yarp_imu.so">
29722972
<yarpConfigurationFile>model://ergoCub/conf/gazebo_ergocub_r_arm_ft_sensor_inertial.ini</yarpConfigurationFile>
29732973
</plugin>
29742974
</sensor>
29752975
</gazebo>
29762976
<sensor name="r_arm_ft_imu" type="accelerometer">
29772977
<parent link="r_shoulder_2" />
2978-
<origin rpy="3.14159265 -0.0 1.57079633" xyz="0.0 0.006850 -0.05430" />
2978+
<origin rpy="3.14159265 -0.0 1.57079633" xyz="-0.006850 0.0 -0.05430" />
29792979
</sensor>
29802980
<gazebo reference="l_hip_2">
29812981
<sensor name="l_leg_ft_imu" type="imu">

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