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[ergoCubSN00*/ergoCubGazeboV1*] Add alljoints-inertials to be aligned with real ergoCub #232

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merged 4 commits into from
Apr 5, 2024
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[ergoCubSN00*/ergoCubGazeboV1*] Add alljoints-inertials to be aligned with real ergoCub #232

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4d9846a
Add alljoints-inertials to be aligned with real ergoCub
martinaxgloria Mar 27, 2024
950a51e
Fix
martinaxgloria Mar 27, 2024
fa8acf2
Regenerate V1_1 models
Nicogene Apr 5, 2024
50fe75c
Fix sensor name in alljoints-inertials_remapper.xml
martinaxgloria Apr 5, 2024
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68 changes: 68 additions & 0 deletions urdf/creo2urdf/data/ergocub1_0/ERGOCUB_all_options.yaml
View file
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Original file line number Diff line number Diff line change
Expand Up @@ -1116,6 +1116,74 @@ XMLBlobs:
<parent link="r_ankle_2" />
<origin rpy="0.0 -0.0 -2.0943952105869315" xyz="0.016000000000000004 0 -0.07019999999999993" />
</sensor>
# left arm IMU
- |
<gazebo reference="l_shoulder_2">
<sensor name="l_arm_ft_imu" type="imu">
<always_on>1</always_on>
<update_rate>100</update_rate>
<pose>-0.004350 0.0 -0.05430 3.14159265 -0.0 -1.57079633</pose>
<plugin name="ergocub_yarp_gazebo_plugin_IMU" filename="libgazebo_yarp_imu.so">
<yarpConfigurationFile>model://ergoCub/conf/gazebo_ergocub_l_arm_ft_sensor_inertial.ini</yarpConfigurationFile>
</plugin>
</sensor>
</gazebo>
- |
<sensor name="l_arm_ft_imu" type="accelerometer">
<parent link="l_shoulder_2" />
<origin rpy="3.14159265 -0.0 -1.57079633" xyz="-0.004350 0.0 -0.05430" />
</sensor>
# right arm IMU
- |
<gazebo reference="r_shoulder_2">
<sensor name="r_arm_ft_imu" type="imu">
<always_on>1</always_on>
<update_rate>100</update_rate>
<pose>-0.006850 0.0 -0.05430 3.14159265 -0.0 1.57079633</pose>
<plugin name="ergocub_yarp_gazebo_plugin_IMU" filename="libgazebo_yarp_imu.so">
<yarpConfigurationFile>model://ergoCub/conf/gazebo_ergocub_r_arm_ft_sensor_inertial.ini</yarpConfigurationFile>
</plugin>
</sensor>
</gazebo>
- |
<sensor name="r_arm_ft_imu" type="accelerometer">
<parent link="r_shoulder_2" />
<origin rpy="3.14159265 -0.0 1.57079633" xyz="-0.006850 0.0 -0.05430" />
</sensor>
# left leg IMU
- |
<gazebo reference="l_hip_2">
<sensor name="l_leg_ft_imu" type="imu">
<always_on>1</always_on>
<update_rate>100</update_rate>
<pose>0.03670 0.0 -0.08970 3.14159265 -0.0 2.61799368</pose>
<plugin name="ergocub_yarp_gazebo_plugin_IMU" filename="libgazebo_yarp_imu.so">
<yarpConfigurationFile>model://ergoCub/conf/gazebo_ergocub_l_leg_ft_sensor_inertial.ini</yarpConfigurationFile>
</plugin>
</sensor>
</gazebo>
- |
<sensor name="l_leg_ft_imu" type="accelerometer">
<parent link="l_hip_2" />
<origin rpy="3.14159265 -0.0 2.61799368" xyz="0.03670 0.0 -0.08970" />
</sensor>
# right leg IMU
- |
<gazebo reference="r_hip_2">
<sensor name="r_leg_ft_imu" type="imu">
<always_on>1</always_on>
<update_rate>100</update_rate>
<pose>0.03670 0.0 -0.08970 3.14159265 -0.0 -2.61799368</pose>
<plugin name="ergocub_yarp_gazebo_plugin_IMU" filename="libgazebo_yarp_imu.so">
<yarpConfigurationFile>model://ergoCub/conf/gazebo_ergocub_r_leg_ft_sensor_inertial.ini</yarpConfigurationFile>
</plugin>
</sensor>
</gazebo>
- |
<sensor name="r_leg_ft_imu" type="accelerometer">
<parent link="r_hip_2" />
<origin rpy="3.14159265 -0.0 -2.61799368" xyz="0.03670 0.0 -0.08970" />
</sensor>
# imu waist (workaround since simmechanics was not updated)
- |
<link name="waist_imu_0"/>
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68 changes: 68 additions & 0 deletions urdf/creo2urdf/data/ergocub1_0/ERGOCUB_all_options_gazebo.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -1301,6 +1301,74 @@ XMLBlobs:
<parent link="r_ankle_2" />
<origin rpy="0.0 -0.0 -2.0943952105869315" xyz="0.016000000000000004 0 -0.07019999999999993" />
</sensor>
# left arm IMU
- |
<gazebo reference="l_shoulder_2">
<sensor name="l_arm_ft_imu" type="imu">
<always_on>1</always_on>
<update_rate>100</update_rate>
<pose>-0.004350 0.0 -0.05430 3.14159265 -0.0 -1.57079633</pose>
<plugin name="ergocub_yarp_gazebo_plugin_IMU" filename="libgazebo_yarp_imu.so">
<yarpConfigurationFile>model://ergoCub/conf/gazebo_ergocub_l_arm_ft_sensor_inertial.ini</yarpConfigurationFile>
</plugin>
</sensor>
</gazebo>
- |
<sensor name="l_arm_ft_imu" type="accelerometer">
<parent link="l_shoulder_2" />
<origin rpy="3.14159265 -0.0 -1.57079633" xyz="-0.004350 0.0 -0.05430" />
</sensor>
# right arm IMU
- |
<gazebo reference="r_shoulder_2">
<sensor name="r_arm_ft_imu" type="imu">
<always_on>1</always_on>
<update_rate>100</update_rate>
<pose>-0.006850 0.0 -0.05430 3.14159265 -0.0 1.57079633</pose>
<plugin name="ergocub_yarp_gazebo_plugin_IMU" filename="libgazebo_yarp_imu.so">
<yarpConfigurationFile>model://ergoCub/conf/gazebo_ergocub_r_arm_ft_sensor_inertial.ini</yarpConfigurationFile>
</plugin>
</sensor>
</gazebo>
- |
<sensor name="r_arm_ft_imu" type="accelerometer">
<parent link="r_shoulder_2" />
<origin rpy="3.14159265 -0.0 1.57079633" xyz="-0.006850 0.0 -0.05430" />
</sensor>
# left leg IMU
- |
<gazebo reference="l_hip_2">
<sensor name="l_leg_ft_imu" type="imu">
<always_on>1</always_on>
<update_rate>100</update_rate>
<pose>0.03670 0.0 -0.08970 3.14159265 -0.0 2.61799368</pose>
<plugin name="ergocub_yarp_gazebo_plugin_IMU" filename="libgazebo_yarp_imu.so">
<yarpConfigurationFile>model://ergoCub/conf/gazebo_ergocub_l_leg_ft_sensor_inertial.ini</yarpConfigurationFile>
</plugin>
</sensor>
</gazebo>
- |
<sensor name="l_leg_ft_imu" type="accelerometer">
<parent link="l_hip_2" />
<origin rpy="3.14159265 -0.0 2.61799368" xyz="0.03670 0.0 -0.08970" />
</sensor>
# right leg IMU
- |
<gazebo reference="r_hip_2">
<sensor name="r_leg_ft_imu" type="imu">
<always_on>1</always_on>
<update_rate>100</update_rate>
<pose>0.03670 0.0 -0.08970 3.14159265 -0.0 -2.61799368</pose>
<plugin name="ergocub_yarp_gazebo_plugin_IMU" filename="libgazebo_yarp_imu.so">
<yarpConfigurationFile>model://ergoCub/conf/gazebo_ergocub_r_leg_ft_sensor_inertial.ini</yarpConfigurationFile>
</plugin>
</sensor>
</gazebo>
- |
<sensor name="r_leg_ft_imu" type="accelerometer">
<parent link="r_hip_2" />
<origin rpy="3.14159265 -0.0 -2.61799368" xyz="0.03670 0.0 -0.08970" />
</sensor>
# imu waist (workaround since simmechanics was not updated)
- |
<link name="waist_imu_0"/>
Expand Down
68 changes: 68 additions & 0 deletions urdf/creo2urdf/data/ergocub1_0/ERGOCUB_all_options_minContacts.yaml
View file
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Original file line number Diff line number Diff line change
Expand Up @@ -1610,6 +1610,74 @@ XMLBlobs:
<parent link="r_ankle_2" />
<origin rpy="0.0 -0.0 -2.0943952105869315" xyz="0.016000000000000004 0 -0.07019999999999993" />
</sensor>
# left arm IMU
- |
<gazebo reference="l_shoulder_2">
<sensor name="l_arm_ft_imu" type="imu">
<always_on>1</always_on>
<update_rate>100</update_rate>
<pose>-0.004350 0.0 -0.05430 3.14159265 -0.0 -1.57079633</pose>
<plugin name="ergocub_yarp_gazebo_plugin_IMU" filename="libgazebo_yarp_imu.so">
<yarpConfigurationFile>model://ergoCub/conf/gazebo_ergocub_l_arm_ft_sensor_inertial.ini</yarpConfigurationFile>
</plugin>
</sensor>
</gazebo>
- |
<sensor name="l_arm_ft_imu" type="accelerometer">
<parent link="l_shoulder_2" />
<origin rpy="3.14159265 -0.0 -1.57079633" xyz="-0.004350 0.0 -0.05430" />
</sensor>
# right arm IMU
- |
<gazebo reference="r_shoulder_2">
<sensor name="r_arm_ft_imu" type="imu">
<always_on>1</always_on>
<update_rate>100</update_rate>
<pose>-0.006850 0.0 -0.05430 3.14159265 -0.0 1.57079633</pose>
<plugin name="ergocub_yarp_gazebo_plugin_IMU" filename="libgazebo_yarp_imu.so">
<yarpConfigurationFile>model://ergoCub/conf/gazebo_ergocub_r_arm_ft_sensor_inertial.ini</yarpConfigurationFile>
</plugin>
</sensor>
</gazebo>
- |
<sensor name="r_arm_ft_imu" type="accelerometer">
<parent link="r_shoulder_2" />
<origin rpy="3.14159265 -0.0 1.57079633" xyz="-0.00685 0.0 -0.05430" />
</sensor>
# left leg IMU
- |
<gazebo reference="l_hip_2">
<sensor name="l_leg_ft_imu" type="imu">
<always_on>1</always_on>
<update_rate>100</update_rate>
<pose>0.03670 0.0 -0.08970 3.14159265 -0.0 2.61799368</pose>
<plugin name="ergocub_yarp_gazebo_plugin_IMU" filename="libgazebo_yarp_imu.so">
<yarpConfigurationFile>model://ergoCub/conf/gazebo_ergocub_l_leg_ft_sensor_inertial.ini</yarpConfigurationFile>
</plugin>
</sensor>
</gazebo>
- |
<sensor name="l_leg_ft_imu" type="accelerometer">
<parent link="l_hip_2" />
<origin rpy="3.14159265 -0.0 2.61799368" xyz="0.03670 0.0 -0.08970" />
</sensor>
# right leg IMU
- |
<gazebo reference="r_hip_2">
<sensor name="r_leg_ft_imu" type="imu">
<always_on>1</always_on>
<update_rate>100</update_rate>
<pose>0.03670 0.0 -0.08970 3.14159265 -0.0 -2.61799368</pose>
<plugin name="ergocub_yarp_gazebo_plugin_IMU" filename="libgazebo_yarp_imu.so">
<yarpConfigurationFile>model://ergoCub/conf/gazebo_ergocub_r_leg_ft_sensor_inertial.ini</yarpConfigurationFile>
</plugin>
</sensor>
</gazebo>
- |
<sensor name="r_leg_ft_imu" type="accelerometer">
<parent link="r_hip_2" />
<origin rpy="3.14159265 -0.0 -2.61799368" xyz="0.03670 0.0 -0.08970" />
</sensor>
# imu waist (workaround since simmechanics was not updated)
- |
<link name="waist_imu_0"/>
Expand Down
44 changes: 44 additions & 0 deletions urdf/creo2urdf/data/ergocub1_1/ERGOCUB_all_options.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -977,6 +977,50 @@ sensors:
<plugin name="ergocub_yarp_gazebo_plugin_IMU" filename="libgazebo_yarp_imu.so">
<yarpConfigurationFile>model://ergoCub/conf/gazebo_ergocub_r_foot_rear_ft_sensor_inertial.ini</yarpConfigurationFile>
</plugin>
- frameName: SCSYS_L_SHOULDER_2_FT
linkName: l_shoulder_3
sensorName: l_arm_ft_imu
exportFrameInURDF: No
sensorType: "accelerometer"
updateRate: "100"
sensorBlobs:
- |
<plugin name="ergocub_yarp_gazebo_plugin_IMU" filename="libgazebo_yarp_imu.so">
<yarpConfigurationFile>model://ergoCub/conf/gazebo_ergocub_l_arm_ft_sensor_inertial.ini</yarpConfigurationFile>
</plugin>
- frameName: SCSYS_R_SHOULDER_2_FT
linkName: r_shoulder_3
sensorName: r_arm_ft_imu
exportFrameInURDF: No
sensorType: "accelerometer"
updateRate: "100"
sensorBlobs:
- |
<plugin name="ergocub_yarp_gazebo_plugin_IMU" filename="libgazebo_yarp_imu.so">
<yarpConfigurationFile>model://ergoCub/conf/gazebo_ergocub_r_arm_ft_sensor_inertial.ini</yarpConfigurationFile>
</plugin>
- frameName: SCSYS_L_HIP_2_FT
linkName: l_hip_3
sensorName: l_leg_ft_imu
exportFrameInURDF: No
sensorType: "accelerometer"
updateRate: "100"
sensorBlobs:
- |
<plugin name="ergocub_yarp_gazebo_plugin_IMU" filename="libgazebo_yarp_imu.so">
<yarpConfigurationFile>model://ergoCub/conf/gazebo_ergocub_l_leg_ft_sensor_inertial.ini</yarpConfigurationFile>
</plugin>
- frameName: SCSYS_R_HIP_2_FT
linkName: r_hip_3
sensorName: r_leg_ft_imu
exportFrameInURDF: No
sensorType: "accelerometer"
updateRate: "100"
sensorBlobs:
- |
<plugin name="ergocub_yarp_gazebo_plugin_IMU" filename="libgazebo_yarp_imu.so">
<yarpConfigurationFile>model://ergoCub/conf/gazebo_ergocub_r_leg_ft_sensor_inertial.ini</yarpConfigurationFile>
</plugin>
assignedCollisionGeometry:
- linkName: r_foot_front
geometricShape:
Expand Down
44 changes: 44 additions & 0 deletions urdf/creo2urdf/data/ergocub1_1/ERGOCUB_all_options_gazebo.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -1193,6 +1193,50 @@ sensors:
<plugin name="ergocub_yarp_gazebo_plugin_IMU" filename="libgazebo_yarp_imu.so">
<yarpConfigurationFile>model://ergoCub/conf/gazebo_ergocub_r_foot_rear_ft_sensor_inertial.ini</yarpConfigurationFile>
</plugin>
- frameName: SCSYS_L_SHOULDER_2_FT
linkName: l_shoulder_3
sensorName: l_arm_ft_imu
exportFrameInURDF: No
sensorType: "accelerometer"
updateRate: "100"
sensorBlobs:
- |
<plugin name="ergocub_yarp_gazebo_plugin_IMU" filename="libgazebo_yarp_imu.so">
<yarpConfigurationFile>model://ergoCub/conf/gazebo_ergocub_l_arm_ft_sensor_inertial.ini</yarpConfigurationFile>
</plugin>
- frameName: SCSYS_R_SHOULDER_2_FT
linkName: r_shoulder_3
sensorName: r_arm_ft_imu
exportFrameInURDF: No
sensorType: "accelerometer"
updateRate: "100"
sensorBlobs:
- |
<plugin name="ergocub_yarp_gazebo_plugin_IMU" filename="libgazebo_yarp_imu.so">
<yarpConfigurationFile>model://ergoCub/conf/gazebo_ergocub_r_arm_ft_sensor_inertial.ini</yarpConfigurationFile>
</plugin>
- frameName: SCSYS_L_HIP_2_FT
linkName: l_hip_3
sensorName: l_leg_ft_imu
exportFrameInURDF: No
sensorType: "accelerometer"
updateRate: "100"
sensorBlobs:
- |
<plugin name="ergocub_yarp_gazebo_plugin_IMU" filename="libgazebo_yarp_imu.so">
<yarpConfigurationFile>model://ergoCub/conf/gazebo_ergocub_l_leg_ft_sensor_inertial.ini</yarpConfigurationFile>
</plugin>
- frameName: SCSYS_R_HIP_2_FT
linkName: r_hip_3
sensorName: r_leg_ft_imu
exportFrameInURDF: No
sensorType: "accelerometer"
updateRate: "100"
sensorBlobs:
- |
<plugin name="ergocub_yarp_gazebo_plugin_IMU" filename="libgazebo_yarp_imu.so">
<yarpConfigurationFile>model://ergoCub/conf/gazebo_ergocub_r_leg_ft_sensor_inertial.ini</yarpConfigurationFile>
</plugin>
assignedMasses:
torso_1 : 2.0645667

Expand Down
45 changes: 44 additions & 1 deletion urdf/creo2urdf/data/ergocub1_1/ERGOCUB_all_options_minContacts.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -1307,7 +1307,50 @@ sensors:
<plugin name="ergocub_yarp_gazebo_plugin_IMU" filename="libgazebo_yarp_imu.so">
<yarpConfigurationFile>model://ergoCub/conf/gazebo_ergocub_r_foot_rear_ft_sensor_inertial.ini</yarpConfigurationFile>
</plugin>

- frameName: SCSYS_L_SHOULDER_2_FT
linkName: l_shoulder_3
sensorName: l_arm_ft_imu
exportFrameInURDF: No
sensorType: "accelerometer"
updateRate: "100"
sensorBlobs:
- |
<plugin name="ergocub_yarp_gazebo_plugin_IMU" filename="libgazebo_yarp_imu.so">
<yarpConfigurationFile>model://ergoCub/conf/gazebo_ergocub_l_arm_ft_sensor_inertial.ini</yarpConfigurationFile>
</plugin>
- frameName: SCSYS_R_SHOULDER_2_FT
linkName: r_shoulder_3
sensorName: r_arm_ft_imu
exportFrameInURDF: No
sensorType: "accelerometer"
updateRate: "100"
sensorBlobs:
- |
<plugin name="ergocub_yarp_gazebo_plugin_IMU" filename="libgazebo_yarp_imu.so">
<yarpConfigurationFile>model://ergoCub/conf/gazebo_ergocub_r_arm_ft_sensor_inertial.ini</yarpConfigurationFile>
</plugin>
- frameName: SCSYS_L_HIP_2_FT
linkName: l_hip_3
sensorName: l_leg_ft_imu
exportFrameInURDF: No
sensorType: "accelerometer"
updateRate: "100"
sensorBlobs:
- |
<plugin name="ergocub_yarp_gazebo_plugin_IMU" filename="libgazebo_yarp_imu.so">
<yarpConfigurationFile>model://ergoCub/conf/gazebo_ergocub_l_leg_ft_sensor_inertial.ini</yarpConfigurationFile>
</plugin>
- frameName: SCSYS_R_HIP_2_FT
linkName: r_hip_3
sensorName: r_leg_ft_imu
exportFrameInURDF: No
sensorType: "accelerometer"
updateRate: "100"
sensorBlobs:
- |
<plugin name="ergocub_yarp_gazebo_plugin_IMU" filename="libgazebo_yarp_imu.so">
<yarpConfigurationFile>model://ergoCub/conf/gazebo_ergocub_r_leg_ft_sensor_inertial.ini</yarpConfigurationFile>
</plugin>
assignedMasses:
torso_1 : 2.0645667

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2 changes: 2 additions & 0 deletions urdf/ergoCub/conf/gazebo_ergocub_l_arm_ft_sensor_inertial.ini
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@@ -0,0 +1,2 @@
disableImplicitNetworkWrapper
yarpDeviceName l_arm_ft_sensor_inertial_hardware_device
2 changes: 2 additions & 0 deletions urdf/ergoCub/conf/gazebo_ergocub_l_leg_ft_sensor_inertial.ini
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@@ -0,0 +1,2 @@
disableImplicitNetworkWrapper
yarpDeviceName l_leg_ft_sensor_inertial_hardware_device
2 changes: 2 additions & 0 deletions urdf/ergoCub/conf/gazebo_ergocub_r_arm_ft_sensor_inertial.ini
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@@ -0,0 +1,2 @@
disableImplicitNetworkWrapper
yarpDeviceName r_arm_ft_sensor_inertial_hardware_device
2 changes: 2 additions & 0 deletions urdf/ergoCub/conf/gazebo_ergocub_r_leg_ft_sensor_inertial.ini
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@@ -0,0 +1,2 @@
disableImplicitNetworkWrapper
yarpDeviceName r_leg_ft_sensor_inertial_hardware_device
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