Feet imu

[G-Cervettini]

Manually edited the urdf model to include ft sensor IMUs in simulation on ergoCubGazeboV1
@GiulioRomualdi @traversaro

[Nicogene]

Hi @G-Cervettini, thanks for submitting the PR!

The part of xml files is fine, on the other hand we should avoid change the urdf manually but we should add these sensors using the simmechanics_to_urdf functionalities.

Here some links that could help you:

• https://github.com/robotology/simmechanics-to-urdf#generic-sensors-parameters-keys-of-elements-of-sensors

• ergocub-software/urdf/simmechanics/data/ergocub/ERGOCUB_all_options.yaml

  Lines 803 to 812 in 6b02ba5

  	- frameName: SCSYS_HEAD_IMU
  	linkName: head
  	sensorName: head_imu_0
  	exportFrameInURDF: Yes
  	sensorType: "accelerometer"
  	sensorBlobs:
  	- |
  	<plugin name="ergocub_yarp_gazebo_plugin_IMU" filename="libgazebo_yarp_imu.so">
  	<yarpConfigurationFile>model://ergoCub/conf/gazebo_ergocub_inertial.ini</yarpConfigurationFile>
  	</plugin>

[G-Cervettini]

Thanks @Nicogene so I'm gonna close this for now.
Another PR will be opened with urdf file modified through

the simmechanics_to_urdf functionalities.

@GiulioRomualdi @traversaro