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NicogeneNicogene
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Regenerate all the ergocub models
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‎urdf/creo2urdf/data/ergocub1_0/ERGOCUB_all_options_gazebo.yaml

+44
Original file line numberDiff line numberDiff line change
@@ -801,6 +801,50 @@ forceTorqueSensors:
801801
802802
803803
sensors:
804+
- frameName: SCSYS_L_ANKLE_2_FT_FRONT
805+
linkName: l_ankle_2
806+
exportFrameInURDF: No # This is not since the frame is already exported in the forceTorqueSensors
807+
sensorName: l_foot_front_ft_imu
808+
sensorType: "accelerometer"
809+
updateRate: "100"
810+
sensorBlobs:
811+
- |
812+
<plugin name="ergocub_yarp_gazebo_plugin_IMU" filename="libgazebo_yarp_imu.so">
813+
<yarpConfigurationFile>model://ergoCub/conf/gazebo_ergocub_l_foot_front_ft_sensor_inertial.ini</yarpConfigurationFile>
814+
</plugin>
815+
- frameName: SCSYS_L_ANKLE_2_FT_REAR
816+
linkName: l_ankle_2
817+
exportFrameInURDF: No # This is not since the frame is already exported in the forceTorqueSensors
818+
sensorName: l_foot_rear_ft_imu
819+
sensorType: "accelerometer"
820+
updateRate: "100"
821+
sensorBlobs:
822+
- |
823+
<plugin name="ergocub_yarp_gazebo_plugin_IMU" filename="libgazebo_yarp_imu.so">
824+
<yarpConfigurationFile>model://ergoCub/conf/gazebo_ergocub_l_foot_rear_ft_sensor_inertial.ini</yarpConfigurationFile>
825+
</plugin>
826+
- frameName: SCSYS_R_ANKLE_2_FT_FRONT
827+
linkName: r_ankle_2
828+
exportFrameInURDF: No # This is not since the frame is already exported in the forceTorqueSensors
829+
sensorName: r_foot_front_ft_imu
830+
sensorType: "accelerometer"
831+
updateRate: "100"
832+
sensorBlobs:
833+
- |
834+
<plugin name="ergocub_yarp_gazebo_plugin_IMU" filename="libgazebo_yarp_imu.so">
835+
<yarpConfigurationFile>model://ergoCub/conf/gazebo_ergocub_r_foot_front_ft_sensor_inertial.ini</yarpConfigurationFile>
836+
</plugin>
837+
- frameName: SCSYS_R_ANKLE_2_FT_REAR
838+
linkName: r_ankle_2
839+
exportFrameInURDF: No # This is not since the frame is already exported in the forceTorqueSensors
840+
sensorName: r_foot_rear_ft_imu
841+
sensorType: "accelerometer"
842+
updateRate: "100"
843+
sensorBlobs:
844+
- |
845+
<plugin name="ergocub_yarp_gazebo_plugin_IMU" filename="libgazebo_yarp_imu.so">
846+
<yarpConfigurationFile>model://ergoCub/conf/gazebo_ergocub_r_foot_rear_ft_sensor_inertial.ini</yarpConfigurationFile>
847+
</plugin>
804848
- frameName: SCSYS_HEAD_IMU
805849
linkName: head
806850
sensorName: head_imu_0

‎urdf/creo2urdf/data/ergocub1_0/ERGOCUB_all_options_minContacts.yaml

+44
Original file line numberDiff line numberDiff line change
@@ -801,6 +801,50 @@ forceTorqueSensors:
801801
802802
803803
sensors:
804+
- frameName: SCSYS_L_ANKLE_2_FT_FRONT
805+
linkName: l_ankle_2
806+
exportFrameInURDF: No # This is not since the frame is already exported in the forceTorqueSensors
807+
sensorName: l_foot_front_ft_imu
808+
sensorType: "accelerometer"
809+
updateRate: "100"
810+
sensorBlobs:
811+
- |
812+
<plugin name="ergocub_yarp_gazebo_plugin_IMU" filename="libgazebo_yarp_imu.so">
813+
<yarpConfigurationFile>model://ergoCub/conf/gazebo_ergocub_l_foot_front_ft_sensor_inertial.ini</yarpConfigurationFile>
814+
</plugin>
815+
- frameName: SCSYS_L_ANKLE_2_FT_REAR
816+
linkName: l_ankle_2
817+
exportFrameInURDF: No # This is not since the frame is already exported in the forceTorqueSensors
818+
sensorName: l_foot_rear_ft_imu
819+
sensorType: "accelerometer"
820+
updateRate: "100"
821+
sensorBlobs:
822+
- |
823+
<plugin name="ergocub_yarp_gazebo_plugin_IMU" filename="libgazebo_yarp_imu.so">
824+
<yarpConfigurationFile>model://ergoCub/conf/gazebo_ergocub_l_foot_rear_ft_sensor_inertial.ini</yarpConfigurationFile>
825+
</plugin>
826+
- frameName: SCSYS_R_ANKLE_2_FT_FRONT
827+
linkName: r_ankle_2
828+
exportFrameInURDF: No # This is not since the frame is already exported in the forceTorqueSensors
829+
sensorName: r_foot_front_ft_imu
830+
sensorType: "accelerometer"
831+
updateRate: "100"
832+
sensorBlobs:
833+
- |
834+
<plugin name="ergocub_yarp_gazebo_plugin_IMU" filename="libgazebo_yarp_imu.so">
835+
<yarpConfigurationFile>model://ergoCub/conf/gazebo_ergocub_r_foot_front_ft_sensor_inertial.ini</yarpConfigurationFile>
836+
</plugin>
837+
- frameName: SCSYS_R_ANKLE_2_FT_REAR
838+
linkName: r_ankle_2
839+
exportFrameInURDF: No # This is not since the frame is already exported in the forceTorqueSensors
840+
sensorName: r_foot_rear_ft_imu
841+
sensorType: "accelerometer"
842+
updateRate: "100"
843+
sensorBlobs:
844+
- |
845+
<plugin name="ergocub_yarp_gazebo_plugin_IMU" filename="libgazebo_yarp_imu.so">
846+
<yarpConfigurationFile>model://ergoCub/conf/gazebo_ergocub_r_foot_rear_ft_sensor_inertial.ini</yarpConfigurationFile>
847+
</plugin>
804848
- frameName: SCSYS_HEAD_IMU
805849
linkName: head
806850
sensorName: head_imu_0

‎urdf/creo2urdf/data/ergocub1_1/ERGOCUB_all_options_gazebo.yaml

+44
Original file line numberDiff line numberDiff line change
@@ -1020,6 +1020,50 @@ forceTorqueSensors:
10201020
10211021
10221022
sensors:
1023+
- frameName: SCSYS_L_ANKLE_2_FT_FRONT
1024+
linkName: l_ankle_2
1025+
exportFrameInURDF: No # This is not since the frame is already exported in the forceTorqueSensors
1026+
sensorName: l_foot_front_ft_imu
1027+
sensorType: "accelerometer"
1028+
updateRate: "100"
1029+
sensorBlobs:
1030+
- |
1031+
<plugin name="ergocub_yarp_gazebo_plugin_IMU" filename="libgazebo_yarp_imu.so">
1032+
<yarpConfigurationFile>model://ergoCub/conf/gazebo_ergocub_l_foot_front_ft_sensor_inertial.ini</yarpConfigurationFile>
1033+
</plugin>
1034+
- frameName: SCSYS_L_ANKLE_2_FT_REAR
1035+
linkName: l_ankle_2
1036+
exportFrameInURDF: No # This is not since the frame is already exported in the forceTorqueSensors
1037+
sensorName: l_foot_rear_ft_imu
1038+
sensorType: "accelerometer"
1039+
updateRate: "100"
1040+
sensorBlobs:
1041+
- |
1042+
<plugin name="ergocub_yarp_gazebo_plugin_IMU" filename="libgazebo_yarp_imu.so">
1043+
<yarpConfigurationFile>model://ergoCub/conf/gazebo_ergocub_l_foot_rear_ft_sensor_inertial.ini</yarpConfigurationFile>
1044+
</plugin>
1045+
- frameName: SCSYS_R_ANKLE_2_FT_FRONT
1046+
linkName: r_ankle_2
1047+
exportFrameInURDF: No # This is not since the frame is already exported in the forceTorqueSensors
1048+
sensorName: r_foot_front_ft_imu
1049+
sensorType: "accelerometer"
1050+
updateRate: "100"
1051+
sensorBlobs:
1052+
- |
1053+
<plugin name="ergocub_yarp_gazebo_plugin_IMU" filename="libgazebo_yarp_imu.so">
1054+
<yarpConfigurationFile>model://ergoCub/conf/gazebo_ergocub_r_foot_front_ft_sensor_inertial.ini</yarpConfigurationFile>
1055+
</plugin>
1056+
- frameName: SCSYS_R_ANKLE_2_FT_REAR
1057+
linkName: r_ankle_2
1058+
exportFrameInURDF: No # This is not since the frame is already exported in the forceTorqueSensors
1059+
sensorName: r_foot_rear_ft_imu
1060+
sensorType: "accelerometer"
1061+
updateRate: "100"
1062+
sensorBlobs:
1063+
- |
1064+
<plugin name="ergocub_yarp_gazebo_plugin_IMU" filename="libgazebo_yarp_imu.so">
1065+
<yarpConfigurationFile>model://ergoCub/conf/gazebo_ergocub_r_foot_rear_ft_sensor_inertial.ini</yarpConfigurationFile>
1066+
</plugin>
10231067
- frameName: SCSYS_HEAD_IMU
10241068
linkName: head
10251069
sensorName: head_imu_0

‎urdf/creo2urdf/data/ergocub1_1/ERGOCUB_all_options_minContacts.yaml

+44
Original file line numberDiff line numberDiff line change
@@ -1133,6 +1133,50 @@ forceTorqueSensors:
11331133
11341134
11351135
sensors:
1136+
- frameName: SCSYS_L_ANKLE_2_FT_FRONT
1137+
linkName: l_ankle_2
1138+
exportFrameInURDF: No # This is not since the frame is already exported in the forceTorqueSensors
1139+
sensorName: l_foot_front_ft_imu
1140+
sensorType: "accelerometer"
1141+
updateRate: "100"
1142+
sensorBlobs:
1143+
- |
1144+
<plugin name="ergocub_yarp_gazebo_plugin_IMU" filename="libgazebo_yarp_imu.so">
1145+
<yarpConfigurationFile>model://ergoCub/conf/gazebo_ergocub_l_foot_front_ft_sensor_inertial.ini</yarpConfigurationFile>
1146+
</plugin>
1147+
- frameName: SCSYS_L_ANKLE_2_FT_REAR
1148+
linkName: l_ankle_2
1149+
exportFrameInURDF: No # This is not since the frame is already exported in the forceTorqueSensors
1150+
sensorName: l_foot_rear_ft_imu
1151+
sensorType: "accelerometer"
1152+
updateRate: "100"
1153+
sensorBlobs:
1154+
- |
1155+
<plugin name="ergocub_yarp_gazebo_plugin_IMU" filename="libgazebo_yarp_imu.so">
1156+
<yarpConfigurationFile>model://ergoCub/conf/gazebo_ergocub_l_foot_rear_ft_sensor_inertial.ini</yarpConfigurationFile>
1157+
</plugin>
1158+
- frameName: SCSYS_R_ANKLE_2_FT_FRONT
1159+
linkName: r_ankle_2
1160+
exportFrameInURDF: No # This is not since the frame is already exported in the forceTorqueSensors
1161+
sensorName: r_foot_front_ft_imu
1162+
sensorType: "accelerometer"
1163+
updateRate: "100"
1164+
sensorBlobs:
1165+
- |
1166+
<plugin name="ergocub_yarp_gazebo_plugin_IMU" filename="libgazebo_yarp_imu.so">
1167+
<yarpConfigurationFile>model://ergoCub/conf/gazebo_ergocub_r_foot_front_ft_sensor_inertial.ini</yarpConfigurationFile>
1168+
</plugin>
1169+
- frameName: SCSYS_R_ANKLE_2_FT_REAR
1170+
linkName: r_ankle_2
1171+
exportFrameInURDF: No # This is not since the frame is already exported in the forceTorqueSensors
1172+
sensorName: r_foot_rear_ft_imu
1173+
sensorType: "accelerometer"
1174+
updateRate: "100"
1175+
sensorBlobs:
1176+
- |
1177+
<plugin name="ergocub_yarp_gazebo_plugin_IMU" filename="libgazebo_yarp_imu.so">
1178+
<yarpConfigurationFile>model://ergoCub/conf/gazebo_ergocub_r_foot_rear_ft_sensor_inertial.ini</yarpConfigurationFile>
1179+
</plugin>
11361180
- frameName: SCSYS_HEAD_IMU
11371181
linkName: head
11381182
sensorName: head_imu_0

‎urdf/ergoCub/meshes/simmechanics/sim_ecub_1-0_chest.stl

20.3 KB

‎urdf/ergoCub/meshes/simmechanics/sim_ecub_1-0_head.stl

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‎urdf/ergoCub/meshes/simmechanics/sim_ecub_1-0_head_neck_2.stl

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‎urdf/ergoCub/meshes/simmechanics/sim_ecub_1-0_head_neck_3.stl

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‎urdf/ergoCub/meshes/simmechanics/sim_ecub_1-0_l_ankle_1.stl

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‎urdf/ergoCub/meshes/simmechanics/sim_ecub_1-0_l_ankle_2.stl

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‎urdf/ergoCub/meshes/simmechanics/sim_ecub_1-0_l_foot_front.stl

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‎urdf/ergoCub/meshes/simmechanics/sim_ecub_1-0_l_foot_rear.stl

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‎urdf/ergoCub/meshes/simmechanics/sim_ecub_1-0_l_forearm.stl

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‎urdf/ergoCub/meshes/simmechanics/sim_ecub_1-0_l_hand_index_1.stl

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‎urdf/ergoCub/meshes/simmechanics/sim_ecub_1-0_l_hand_index_2.stl

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‎urdf/ergoCub/meshes/simmechanics/sim_ecub_1-0_l_hand_index_3.stl

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‎urdf/ergoCub/meshes/simmechanics/sim_ecub_1-0_l_hand_middle_1.stl

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‎urdf/ergoCub/meshes/simmechanics/sim_ecub_1-0_l_hand_middle_2.stl

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‎urdf/ergoCub/meshes/simmechanics/sim_ecub_1-0_l_hand_palm.stl

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‎urdf/ergoCub/meshes/simmechanics/sim_ecub_1-0_l_hand_pinkie_1.stl

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‎urdf/ergoCub/meshes/simmechanics/sim_ecub_1-0_l_hand_pinkie_2.stl

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‎urdf/ergoCub/meshes/simmechanics/sim_ecub_1-0_l_hand_ring_1.stl

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‎urdf/ergoCub/meshes/simmechanics/sim_ecub_1-0_l_hand_ring_2.stl

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‎urdf/ergoCub/meshes/simmechanics/sim_ecub_1-0_l_hand_thumb_1.stl

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‎urdf/ergoCub/meshes/simmechanics/sim_ecub_1-0_l_hand_thumb_2.stl

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‎urdf/ergoCub/meshes/simmechanics/sim_ecub_1-0_l_hand_thumb_3.stl

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‎urdf/ergoCub/meshes/simmechanics/sim_ecub_1-0_l_hip_1.stl

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‎urdf/ergoCub/meshes/simmechanics/sim_ecub_1-0_l_hip_2.stl

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‎urdf/ergoCub/meshes/simmechanics/sim_ecub_1-0_l_hip_3.stl

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‎urdf/ergoCub/meshes/simmechanics/sim_ecub_1-0_l_lower_leg.stl

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‎urdf/ergoCub/meshes/simmechanics/sim_ecub_1-0_l_shoulder_1.stl

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‎urdf/ergoCub/meshes/simmechanics/sim_ecub_1-0_l_shoulder_2.stl

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‎urdf/ergoCub/meshes/simmechanics/sim_ecub_1-0_l_shoulder_3.stl

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‎urdf/ergoCub/meshes/simmechanics/sim_ecub_1-0_l_upper_leg.stl

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‎urdf/ergoCub/meshes/simmechanics/sim_ecub_1-0_l_upperarm.stl

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‎urdf/ergoCub/meshes/simmechanics/sim_ecub_1-0_l_wrist_1.stl

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‎urdf/ergoCub/meshes/simmechanics/sim_ecub_1-0_l_wrist_2.stl

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‎urdf/ergoCub/meshes/simmechanics/sim_ecub_1-0_r_ankle_1.stl

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‎urdf/ergoCub/meshes/simmechanics/sim_ecub_1-0_r_ankle_2.stl

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‎urdf/ergoCub/meshes/simmechanics/sim_ecub_1-0_r_foot_front.stl

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‎urdf/ergoCub/meshes/simmechanics/sim_ecub_1-0_r_foot_rear.stl

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‎urdf/ergoCub/meshes/simmechanics/sim_ecub_1-0_r_forearm.stl

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‎urdf/ergoCub/meshes/simmechanics/sim_ecub_1-0_r_hand_index_1.stl

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‎urdf/ergoCub/meshes/simmechanics/sim_ecub_1-0_r_hand_index_2.stl

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‎urdf/ergoCub/meshes/simmechanics/sim_ecub_1-0_r_hand_index_3.stl

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‎urdf/ergoCub/meshes/simmechanics/sim_ecub_1-0_r_hand_middle_1.stl

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‎urdf/ergoCub/meshes/simmechanics/sim_ecub_1-0_r_hand_middle_2.stl

39.7 KB

‎urdf/ergoCub/meshes/simmechanics/sim_ecub_1-0_r_hand_palm.stl

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‎urdf/ergoCub/meshes/simmechanics/sim_ecub_1-0_r_hand_pinkie_1.stl

48.3 KB

‎urdf/ergoCub/meshes/simmechanics/sim_ecub_1-0_r_hand_pinkie_2.stl

37.4 KB

‎urdf/ergoCub/meshes/simmechanics/sim_ecub_1-0_r_hand_ring_1.stl

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‎urdf/ergoCub/meshes/simmechanics/sim_ecub_1-0_r_hand_ring_2.stl

39.6 KB

‎urdf/ergoCub/meshes/simmechanics/sim_ecub_1-0_r_hand_thumb_1.stl

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‎urdf/ergoCub/meshes/simmechanics/sim_ecub_1-0_r_hand_thumb_2.stl

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‎urdf/ergoCub/meshes/simmechanics/sim_ecub_1-0_r_hand_thumb_3.stl

68.8 KB

‎urdf/ergoCub/meshes/simmechanics/sim_ecub_1-0_r_hip_1.stl

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‎urdf/ergoCub/meshes/simmechanics/sim_ecub_1-0_r_hip_2.stl

64.5 KB

‎urdf/ergoCub/meshes/simmechanics/sim_ecub_1-0_r_hip_3.stl

128 KB

‎urdf/ergoCub/meshes/simmechanics/sim_ecub_1-0_r_lower_leg.stl

31.8 KB

‎urdf/ergoCub/meshes/simmechanics/sim_ecub_1-0_r_shoulder_1.stl

4.87 KB

‎urdf/ergoCub/meshes/simmechanics/sim_ecub_1-0_r_shoulder_2.stl

3.21 KB

‎urdf/ergoCub/meshes/simmechanics/sim_ecub_1-0_r_shoulder_3.stl

3.21 KB

‎urdf/ergoCub/meshes/simmechanics/sim_ecub_1-0_r_upper_leg.stl

15.6 KB

‎urdf/ergoCub/meshes/simmechanics/sim_ecub_1-0_r_upperarm.stl

6.92 KB

‎urdf/ergoCub/meshes/simmechanics/sim_ecub_1-0_r_wrist_1.stl

241 KB

‎urdf/ergoCub/meshes/simmechanics/sim_ecub_1-0_r_wrist_2.stl

22.4 KB

‎urdf/ergoCub/meshes/simmechanics/sim_ecub_1-0_realsense.stl

6.72 KB

‎urdf/ergoCub/meshes/simmechanics/sim_ecub_1-0_root_link.stl

71.4 KB

‎urdf/ergoCub/meshes/simmechanics/sim_ecub_1-0_torso_1.stl

10.9 KB

‎urdf/ergoCub/meshes/simmechanics/sim_ecub_1-0_torso_2.stl

4.87 KB

‎urdf/ergoCub/meshes/simmechanics/sim_ecub_chest_prt.stl

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‎urdf/ergoCub/meshes/simmechanics/sim_ecub_head_neck_2_prt.stl

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‎urdf/ergoCub/meshes/simmechanics/sim_ecub_head_neck_3_prt.stl

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‎urdf/ergoCub/meshes/simmechanics/sim_ecub_head_prt.stl

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‎urdf/ergoCub/meshes/simmechanics/sim_ecub_l_ankle_1_prt.stl

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‎urdf/ergoCub/meshes/simmechanics/sim_ecub_l_ankle_2_prt.stl

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‎urdf/ergoCub/meshes/simmechanics/sim_ecub_l_foot_front_prt.stl

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‎urdf/ergoCub/meshes/simmechanics/sim_ecub_l_foot_rear_prt.stl

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‎urdf/ergoCub/meshes/simmechanics/sim_ecub_l_forearm_prt.stl

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‎urdf/ergoCub/meshes/simmechanics/sim_ecub_l_hand_index_1_prt.stl

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‎urdf/ergoCub/meshes/simmechanics/sim_ecub_l_hand_index_2_prt.stl

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‎urdf/ergoCub/meshes/simmechanics/sim_ecub_l_hand_index_3_prt.stl

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‎urdf/ergoCub/meshes/simmechanics/sim_ecub_l_hand_middle_1_prt.stl

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‎urdf/ergoCub/meshes/simmechanics/sim_ecub_l_hand_middle_2_prt.stl

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