From 10be84f275103c4897ccb56ad7f47fc8d6f246c0 Mon Sep 17 00:00:00 2001 From: Alessandro Croci Date: Fri, 22 Mar 2024 17:48:09 +0100 Subject: [PATCH 01/28] Add `gz-sim-yarp-plugins` to ERGOCUB_all_options_gazebo.yaml --- .../ERGOCUB_all_options_gazebo.yaml | 133 +++++++++++++++++- 1 file changed, 131 insertions(+), 2 deletions(-) diff --git a/urdf/creo2urdf/data/ergocub1_1/ERGOCUB_all_options_gazebo.yaml b/urdf/creo2urdf/data/ergocub1_1/ERGOCUB_all_options_gazebo.yaml index 06fedb9e..dc872ee3 100644 --- a/urdf/creo2urdf/data/ergocub1_1/ERGOCUB_all_options_gazebo.yaml +++ b/urdf/creo2urdf/data/ergocub1_1/ERGOCUB_all_options_gazebo.yaml @@ -931,6 +931,10 @@ forceTorqueSensors: model://ergoCub/conf/FT/gazebo_ergocub_left_arm_ft.ini + - | + + model://ergoCub/conf/FT/gazebo_ergocub_left_arm_ft.ini + - jointName: r_arm_ft_sensor directionChildToParent: Yes exportFrameInURDF: Yes @@ -943,6 +947,10 @@ forceTorqueSensors: model://ergoCub/conf/FT/gazebo_ergocub_right_arm_ft.ini + - | + + model://ergoCub/conf/FT/gazebo_ergocub_right_arm_ft.ini + # left leg - jointName: l_leg_ft_sensor directionChildToParent: Yes @@ -956,6 +964,10 @@ forceTorqueSensors: model://ergoCub/conf/FT/gazebo_ergocub_left_leg_ft.ini + - | + + model://ergoCub/conf/FT/gazebo_ergocub_left_leg_ft.ini + - jointName: l_foot_front_ft_sensor directionChildToParent: No exportFrameInURDF: Yes @@ -968,6 +980,10 @@ forceTorqueSensors: model://ergoCub/conf/FT/gazebo_ergocub_left_foot_front_ft.ini + - | + + model://ergoCub/conf/FT/gazebo_ergocub_left_foot_front_ft.ini + - jointName: l_foot_rear_ft_sensor directionChildToParent: No exportFrameInURDF: Yes @@ -980,6 +996,10 @@ forceTorqueSensors: model://ergoCub/conf/FT/gazebo_ergocub_left_foot_rear_ft.ini + - | + + model://ergoCub/conf/FT/gazebo_ergocub_left_foot_rear_ft.ini + # right leg - jointName: r_leg_ft_sensor directionChildToParent: Yes @@ -993,6 +1013,10 @@ forceTorqueSensors: model://ergoCub/conf/FT/gazebo_ergocub_right_leg_ft.ini + - | + + model://ergoCub/conf/FT/gazebo_ergocub_right_leg_ft.ini + - jointName: r_foot_front_ft_sensor directionChildToParent: No exportFrameInURDF: Yes @@ -1005,6 +1029,10 @@ forceTorqueSensors: model://ergoCub/conf/FT/gazebo_ergocub_right_foot_front_ft.ini + - | + + model://ergoCub/conf/FT/gazebo_ergocub_right_foot_front_ft.ini + - jointName: r_foot_rear_ft_sensor directionChildToParent: No exportFrameInURDF: Yes @@ -1017,7 +1045,10 @@ forceTorqueSensors: model://ergoCub/conf/FT/gazebo_ergocub_right_foot_rear_ft.ini - + - | + + model://ergoCub/conf/FT/gazebo_ergocub_right_foot_rear_ft.ini + sensors: - frameName: SCSYS_HEAD_IMU @@ -1031,6 +1062,10 @@ sensors: model://ergoCub/conf/gazebo_ergocub_inertial.ini + - | + + model://ergoCub/conf/gazebo_ergocub_inertial.ini + - frameName: SCSYS_HEAD_RGB linkName: realsense sensorName: realsense_head_depth @@ -1113,6 +1148,10 @@ sensors: model://ergoCub/conf/gazebo_ergocub_realsense_inertial.ini + - | + + model://ergoCub/conf/gazebo_ergocub_realsense_inertial.ini + - frameName: SCSYS_HEAD_S2_LASER linkName: head sensorName: lasersensor_head @@ -1150,6 +1189,10 @@ sensors: model://ergoCub/conf/sensors/gazebo_ergocub_lidar.ini + - | + + model://ergoCub/conf/sensors/gazebo_ergocub_lidar.ini + - frameName: SCSYS_L_ANKLE_2_FT_FRONT linkName: l_foot_front sensorName: l_foot_front_ft_imu @@ -1161,6 +1204,10 @@ sensors: model://ergoCub/conf/gazebo_ergocub_l_foot_front_ft_sensor_inertial.ini + - | + + model://ergoCub/conf/gazebo_ergocub_l_foot_front_ft_sensor_inertial.ini + - frameName: SCSYS_L_ANKLE_2_FT_REAR linkName: l_foot_rear sensorName: l_foot_rear_ft_imu @@ -1172,6 +1219,10 @@ sensors: model://ergoCub/conf/gazebo_ergocub_l_foot_rear_ft_sensor_inertial.ini + - | + + model://ergoCub/conf/gazebo_ergocub_l_foot_rear_ft_sensor_inertial.ini + - frameName: SCSYS_R_ANKLE_2_FT_FRONT linkName: r_foot_front sensorName: r_foot_front_ft_imu @@ -1183,6 +1234,10 @@ sensors: model://ergoCub/conf/gazebo_ergocub_r_foot_front_ft_sensor_inertial.ini + - | + + model://ergoCub/conf/gazebo_ergocub_r_foot_front_ft_sensor_inertial.ini + - frameName: SCSYS_R_ANKLE_2_FT_REAR linkName: r_foot_rear sensorName: r_foot_rear_ft_imu @@ -1194,7 +1249,10 @@ sensors: model://ergoCub/conf/gazebo_ergocub_r_foot_rear_ft_sensor_inertial.ini - + - | + + model://ergoCub/conf/gazebo_ergocub_r_foot_rear_ft_sensor_inertial.ini + assignedMasses: torso_1 : 2.0645667 @@ -1306,6 +1364,12 @@ XMLBlobs: model://ergoCub/conf/gazebo_ergocub_waist_inertial.ini + + - | + + model://ergoCub/conf/gazebo_ergocub_waist_inertial.ini + + - | @@ -1350,6 +1414,12 @@ XMLBlobs: model://ergoCub/conf/gazebo_ergocub_torso.ini + - | + + + model://ergoCub/conf/gazebo_ergocub_torso.ini + + - | 1 @@ -1443,6 +1513,13 @@ XMLBlobs: + - | + + + model://ergoCub/conf/gazebo_ergocub_left_leg.ini + + + - | 1 @@ -1522,6 +1599,14 @@ XMLBlobs: model://ergoCub/conf/gazebo_ergocub_right_leg.ini + + - | + + + model://ergoCub/conf/gazebo_ergocub_left_leg.ini + + + - | 1 @@ -1554,6 +1639,14 @@ XMLBlobs: model://ergoCub/conf/gazebo_ergocub_head.ini + + - | + + + model://ergoCub/conf/gazebo_ergocub_head.ini + + + - | 1 @@ -1575,12 +1668,29 @@ XMLBlobs: -0.52 0.52 0 0.785 0 0 0.0 + + - | + + + model://ergoCub/conf/gazebo_ergocub_left_arm.ini + -0.52 0.52 0 0.785 0 0 0.0 + + + - | model://ergoCub/conf/gazebo_ergocub_left_hand_mk5_1.ini + + - | + + + model://ergoCub/conf/gazebo_ergocub_left_hand_mk5_1.ini + + + - | 1 @@ -1617,12 +1727,31 @@ XMLBlobs: -0.52 0.52 0 0.785 0 0 0.0 + + - | + + + model://ergoCub/conf/gazebo_ergocub_right_arm.ini + -0.52 0.52 0 0.785 0 0 0.0 + + + + - | model://ergoCub/conf/gazebo_ergocub_right_hand_mk5_1.ini + + - | + + + model://ergoCub/conf/gazebo_ergocub_right_hand_mk5_1.ini + + + + - | 1 From 12cb8bbe9130191be858a6de6f01aafe31af81c7 Mon Sep 17 00:00:00 2001 From: Alessandro Croci Date: Fri, 22 Mar 2024 17:49:28 +0100 Subject: [PATCH 02/28] Add generated urdf for `ergoCubGazeboV1_1` --- .../robots/ergoCubGazeboV1_1_gzSim/model.urdf | 3721 +++++++++++++++++ 1 file changed, 3721 insertions(+) create mode 100644 urdf/ergoCub/robots/ergoCubGazeboV1_1_gzSim/model.urdf diff --git a/urdf/ergoCub/robots/ergoCubGazeboV1_1_gzSim/model.urdf b/urdf/ergoCub/robots/ergoCubGazeboV1_1_gzSim/model.urdf new file mode 100644 index 00000000..e666ad73 --- /dev/null +++ b/urdf/ergoCub/robots/ergoCubGazeboV1_1_gzSim/model.urdf @@ -0,0 +1,3721 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 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- - - 640 - 480 - R8G8B8 - - - 0.02 - 3000 - - - false - - model://ergoCub/conf/gazebo_ergocub_rgb_camera.ini - - - - - - - - - - 1 - 100.000000 - 0.00751548 0.01 1.73521e-08 -1.5708 3.75968e-16 -1.5708 - - model://ergoCub/conf/gazebo_ergocub_realsense_inertial.ini - - - model://ergoCub/conf/gazebo_ergocub_realsense_inertial.ini - - - - - - - - - - 1 - 100.000000 - 5e-05 -1.93855e-15 0.134802 9.72195e-15 5.33157e-15 3.16761e-15 - 1 - true - 40 - - - - 360 - 2 - 0 - 6.28 - - - - 0.04 - 5 - 0.01 - - - gaussian - 0 - 0.005 - - - - model://ergoCub/conf/sensors/gazebo_ergocub_lidar.ini - - - model://ergoCub/conf/sensors/gazebo_ergocub_lidar.ini - - - - - - - - - - 1 - 100.000000 - 0 0 0 1.25667e-16 2.20112e-17 -2.0944 - - model://ergoCub/conf/gazebo_ergocub_l_foot_front_ft_sensor_inertial.ini - - - model://ergoCub/conf/gazebo_ergocub_l_foot_front_ft_sensor_inertial.ini - - - - - - - - - - 1 - 100.000000 - 0 0 0 1.25667e-16 2.20112e-17 -2.0944 - - model://ergoCub/conf/gazebo_ergocub_l_foot_rear_ft_sensor_inertial.ini - - - model://ergoCub/conf/gazebo_ergocub_l_foot_rear_ft_sensor_inertial.ini - - - - - - - - - - 1 - 100.000000 - 0 1.38778e-17 1.11022e-16 -1.0903e-16 -1.44222e-16 -2.0944 - - model://ergoCub/conf/gazebo_ergocub_r_foot_front_ft_sensor_inertial.ini - - - model://ergoCub/conf/gazebo_ergocub_r_foot_front_ft_sensor_inertial.ini - - - - - - - - - - 1 - 100.000000 - 3.46945e-18 0 0 -1.0903e-16 -1.44222e-16 -2.0944 - - model://ergoCub/conf/gazebo_ergocub_r_foot_rear_ft_sensor_inertial.ini - - - model://ergoCub/conf/gazebo_ergocub_r_foot_rear_ft_sensor_inertial.ini - - - - - - - - From 1a9cf0818b449db5459635fa656f24465826f5bc Mon Sep 17 00:00:00 2001 From: Alessandro Croci Date: Mon, 25 Mar 2024 12:14:51 +0100 Subject: [PATCH 05/28] Update plugin configuration files Add parameters needed by `gz-sim-yarp-plugins` --- urdf/ergoCub/conf/FT/gazebo_ergocub_left_arm_ft.ini | 2 ++ urdf/ergoCub/conf/FT/gazebo_ergocub_left_foot_front_ft.ini | 2 ++ urdf/ergoCub/conf/FT/gazebo_ergocub_left_foot_rear_ft.ini | 2 ++ urdf/ergoCub/conf/FT/gazebo_ergocub_left_leg_ft.ini | 2 ++ urdf/ergoCub/conf/FT/gazebo_ergocub_right_arm_ft.ini | 2 ++ urdf/ergoCub/conf/FT/gazebo_ergocub_right_foot_front_ft.ini | 2 ++ urdf/ergoCub/conf/FT/gazebo_ergocub_right_foot_rear_ft.ini | 2 ++ urdf/ergoCub/conf/FT/gazebo_ergocub_right_leg_ft.ini | 3 ++- urdf/ergoCub/conf/gazebo_ergocub_inertial.ini | 2 ++ .../conf/gazebo_ergocub_l_foot_front_ft_sensor_inertial.ini | 2 ++ .../conf/gazebo_ergocub_l_foot_rear_ft_sensor_inertial.ini | 2 ++ .../conf/gazebo_ergocub_r_foot_front_ft_sensor_inertial.ini | 2 ++ .../conf/gazebo_ergocub_r_foot_rear_ft_sensor_inertial.ini | 2 ++ urdf/ergoCub/conf/gazebo_ergocub_realsense_inertial.ini | 2 ++ urdf/ergoCub/conf/gazebo_ergocub_waist_inertial.ini | 4 +++- urdf/ergoCub/conf/sensors/gazebo_ergocub_lidar.ini | 2 ++ 16 files changed, 33 insertions(+), 2 deletions(-) diff --git a/urdf/ergoCub/conf/FT/gazebo_ergocub_left_arm_ft.ini b/urdf/ergoCub/conf/FT/gazebo_ergocub_left_arm_ft.ini index 7ed2e1e0..7f240166 100644 --- a/urdf/ergoCub/conf/FT/gazebo_ergocub_left_arm_ft.ini +++ b/urdf/ergoCub/conf/FT/gazebo_ergocub_left_arm_ft.ini @@ -1,2 +1,4 @@ disableImplicitNetworkWrapper yarpDeviceName ergocub_left_arm_ft +jointName l_arm_ft_sensor +sensorName l_arm_ft diff --git a/urdf/ergoCub/conf/FT/gazebo_ergocub_left_foot_front_ft.ini b/urdf/ergoCub/conf/FT/gazebo_ergocub_left_foot_front_ft.ini index 61b6fd1c..0a56e748 100644 --- a/urdf/ergoCub/conf/FT/gazebo_ergocub_left_foot_front_ft.ini +++ b/urdf/ergoCub/conf/FT/gazebo_ergocub_left_foot_front_ft.ini @@ -1,2 +1,4 @@ disableImplicitNetworkWrapper yarpDeviceName ergocub_left_foot_front_ft +jointName l_foot_front_ft_sensor +sensorName l_foot_front_ft diff --git a/urdf/ergoCub/conf/FT/gazebo_ergocub_left_foot_rear_ft.ini b/urdf/ergoCub/conf/FT/gazebo_ergocub_left_foot_rear_ft.ini index 07673c07..d24e7bc6 100644 --- a/urdf/ergoCub/conf/FT/gazebo_ergocub_left_foot_rear_ft.ini +++ b/urdf/ergoCub/conf/FT/gazebo_ergocub_left_foot_rear_ft.ini @@ -1,2 +1,4 @@ disableImplicitNetworkWrapper yarpDeviceName ergocub_left_foot_rear_ft +jointName l_foot_rear_ft_sensor +sensorName l_foot_rear_ft diff --git a/urdf/ergoCub/conf/FT/gazebo_ergocub_left_leg_ft.ini b/urdf/ergoCub/conf/FT/gazebo_ergocub_left_leg_ft.ini index 8de05340..476f2c3b 100644 --- a/urdf/ergoCub/conf/FT/gazebo_ergocub_left_leg_ft.ini +++ b/urdf/ergoCub/conf/FT/gazebo_ergocub_left_leg_ft.ini @@ -1,2 +1,4 @@ disableImplicitNetworkWrapper yarpDeviceName ergocub_left_leg_ft +jointName l_leg_ft_sensor +sensorName l_leg_ft diff --git a/urdf/ergoCub/conf/FT/gazebo_ergocub_right_arm_ft.ini b/urdf/ergoCub/conf/FT/gazebo_ergocub_right_arm_ft.ini index 418412f8..5967c7db 100644 --- a/urdf/ergoCub/conf/FT/gazebo_ergocub_right_arm_ft.ini +++ b/urdf/ergoCub/conf/FT/gazebo_ergocub_right_arm_ft.ini @@ -1,2 +1,4 @@ disableImplicitNetworkWrapper yarpDeviceName ergocub_right_arm_ft +jointName r_arm_ft_sensor +sensorName r_arm_ft diff --git a/urdf/ergoCub/conf/FT/gazebo_ergocub_right_foot_front_ft.ini b/urdf/ergoCub/conf/FT/gazebo_ergocub_right_foot_front_ft.ini index d5ea8a80..e830963b 100644 --- a/urdf/ergoCub/conf/FT/gazebo_ergocub_right_foot_front_ft.ini +++ b/urdf/ergoCub/conf/FT/gazebo_ergocub_right_foot_front_ft.ini @@ -1,2 +1,4 @@ disableImplicitNetworkWrapper yarpDeviceName ergocub_right_foot_front_ft +jointName r_foot_front_ft_sensor +sensorName r_foot_front_ft diff --git a/urdf/ergoCub/conf/FT/gazebo_ergocub_right_foot_rear_ft.ini b/urdf/ergoCub/conf/FT/gazebo_ergocub_right_foot_rear_ft.ini index d1473ff1..e3bc0962 100644 --- a/urdf/ergoCub/conf/FT/gazebo_ergocub_right_foot_rear_ft.ini +++ b/urdf/ergoCub/conf/FT/gazebo_ergocub_right_foot_rear_ft.ini @@ -1,2 +1,4 @@ disableImplicitNetworkWrapper yarpDeviceName ergocub_right_foot_rear_ft +jointName r_foot_rear_ft_sensor +sensorName r_foot_rear_ft diff --git a/urdf/ergoCub/conf/FT/gazebo_ergocub_right_leg_ft.ini b/urdf/ergoCub/conf/FT/gazebo_ergocub_right_leg_ft.ini index 9a4f56e3..2abacaba 100644 --- a/urdf/ergoCub/conf/FT/gazebo_ergocub_right_leg_ft.ini +++ b/urdf/ergoCub/conf/FT/gazebo_ergocub_right_leg_ft.ini @@ -1,3 +1,4 @@ disableImplicitNetworkWrapper yarpDeviceName ergocub_right_leg_ft - +jointName r_leg_ft_sensor +sensorName r_leg_ft diff --git a/urdf/ergoCub/conf/gazebo_ergocub_inertial.ini b/urdf/ergoCub/conf/gazebo_ergocub_inertial.ini index 5202ca3a..0e60e7b5 100644 --- a/urdf/ergoCub/conf/gazebo_ergocub_inertial.ini +++ b/urdf/ergoCub/conf/gazebo_ergocub_inertial.ini @@ -1,2 +1,4 @@ disableImplicitNetworkWrapper yarpDeviceName head_inertial_hardware_device +parentLinkName head +sensorName head_imu_0 diff --git a/urdf/ergoCub/conf/gazebo_ergocub_l_foot_front_ft_sensor_inertial.ini b/urdf/ergoCub/conf/gazebo_ergocub_l_foot_front_ft_sensor_inertial.ini index 03340fc5..dacd682b 100644 --- a/urdf/ergoCub/conf/gazebo_ergocub_l_foot_front_ft_sensor_inertial.ini +++ b/urdf/ergoCub/conf/gazebo_ergocub_l_foot_front_ft_sensor_inertial.ini @@ -1,2 +1,4 @@ disableImplicitNetworkWrapper yarpDeviceName l_foot_front_ft_sensor_inertial_hardware_device +parentLinkName l_foot_front +sensorName l_foot_front_ft_imu diff --git a/urdf/ergoCub/conf/gazebo_ergocub_l_foot_rear_ft_sensor_inertial.ini b/urdf/ergoCub/conf/gazebo_ergocub_l_foot_rear_ft_sensor_inertial.ini index 9b839a47..398b49b9 100644 --- a/urdf/ergoCub/conf/gazebo_ergocub_l_foot_rear_ft_sensor_inertial.ini +++ b/urdf/ergoCub/conf/gazebo_ergocub_l_foot_rear_ft_sensor_inertial.ini @@ -1,2 +1,4 @@ disableImplicitNetworkWrapper yarpDeviceName l_foot_rear_ft_sensor_inertial_hardware_device +parentLinkName l_foot_rear +sensorName l_foot_rear_ft_imu diff --git a/urdf/ergoCub/conf/gazebo_ergocub_r_foot_front_ft_sensor_inertial.ini b/urdf/ergoCub/conf/gazebo_ergocub_r_foot_front_ft_sensor_inertial.ini index 001f24d8..b59777a2 100644 --- a/urdf/ergoCub/conf/gazebo_ergocub_r_foot_front_ft_sensor_inertial.ini +++ b/urdf/ergoCub/conf/gazebo_ergocub_r_foot_front_ft_sensor_inertial.ini @@ -1,2 +1,4 @@ disableImplicitNetworkWrapper yarpDeviceName r_foot_front_ft_sensor_inertial_hardware_device +parentLinkName r_foot_front +sensorName r_foot_front_ft_imu diff --git a/urdf/ergoCub/conf/gazebo_ergocub_r_foot_rear_ft_sensor_inertial.ini b/urdf/ergoCub/conf/gazebo_ergocub_r_foot_rear_ft_sensor_inertial.ini index 005d0a80..060a1544 100644 --- a/urdf/ergoCub/conf/gazebo_ergocub_r_foot_rear_ft_sensor_inertial.ini +++ b/urdf/ergoCub/conf/gazebo_ergocub_r_foot_rear_ft_sensor_inertial.ini @@ -1,2 +1,4 @@ disableImplicitNetworkWrapper yarpDeviceName r_foot_rear_ft_sensor_inertial_hardware_device +parentLinkName r_foot_rear +sensorName r_foot_rear_ft_imu diff --git a/urdf/ergoCub/conf/gazebo_ergocub_realsense_inertial.ini b/urdf/ergoCub/conf/gazebo_ergocub_realsense_inertial.ini index 1210d57a..66f7e956 100644 --- a/urdf/ergoCub/conf/gazebo_ergocub_realsense_inertial.ini +++ b/urdf/ergoCub/conf/gazebo_ergocub_realsense_inertial.ini @@ -1,2 +1,4 @@ disableImplicitNetworkWrapper yarpDeviceName realsense_inertial_hardware_device +parentLinkName realsense +sensorName realsense_imu_0 diff --git a/urdf/ergoCub/conf/gazebo_ergocub_waist_inertial.ini b/urdf/ergoCub/conf/gazebo_ergocub_waist_inertial.ini index 1c03fc88..2077362d 100644 --- a/urdf/ergoCub/conf/gazebo_ergocub_waist_inertial.ini +++ b/urdf/ergoCub/conf/gazebo_ergocub_waist_inertial.ini @@ -1,2 +1,4 @@ disableImplicitNetworkWrapper -yarpDeviceName waist_inertial_hardware_device \ No newline at end of file +yarpDeviceName waist_inertial_hardware_device +parentLinkName torso_1 +sensorName waist_imu_0 diff --git a/urdf/ergoCub/conf/sensors/gazebo_ergocub_lidar.ini b/urdf/ergoCub/conf/sensors/gazebo_ergocub_lidar.ini index d7ce67f6..7b72a7d3 100644 --- a/urdf/ergoCub/conf/sensors/gazebo_ergocub_lidar.ini +++ b/urdf/ergoCub/conf/sensors/gazebo_ergocub_lidar.ini @@ -1,5 +1,7 @@ yarpDeviceName las360 disableImplicitNetworkWrapper +sensorName lasersensor_head +parentLinkName head period 10 [SENSOR] From 18c1d81805339fede08bd2eb179424279c0ae985 Mon Sep 17 00:00:00 2001 From: Alessandro Croci Date: Mon, 25 Mar 2024 12:36:17 +0100 Subject: [PATCH 06/28] Update model.urdf for `ergoCubGazeboV1_1` --- .../robots/ergoCubGazeboV1_1/model.urdf | 112 +++++++++++++++++- 1 file changed, 106 insertions(+), 6 deletions(-) diff --git a/urdf/ergoCub/robots/ergoCubGazeboV1_1/model.urdf b/urdf/ergoCub/robots/ergoCubGazeboV1_1/model.urdf index ffd8141d..20a32338 100644 --- a/urdf/ergoCub/robots/ergoCubGazeboV1_1/model.urdf +++ b/urdf/ergoCub/robots/ergoCubGazeboV1_1/model.urdf @@ -1241,8 +1241,8 @@ - - + + @@ -1571,8 +1571,8 @@ - - + + @@ -1604,8 +1604,8 @@ - - + + @@ -2970,6 +2970,9 @@ model://ergoCub/conf/gazebo_ergocub_waist_inertial.ini + + model://ergoCub/conf/gazebo_ergocub_waist_inertial.ini + @@ -2998,6 +3001,11 @@ model://ergoCub/conf/gazebo_ergocub_torso.ini + + + model://ergoCub/conf/gazebo_ergocub_torso.ini + + 1 @@ -3081,6 +3089,11 @@ model://ergoCub/conf/gazebo_ergocub_left_leg.ini + + + model://ergoCub/conf/gazebo_ergocub_left_leg.ini + + 1 @@ -3155,6 +3168,11 @@ model://ergoCub/conf/gazebo_ergocub_right_leg.ini + + + model://ergoCub/conf/gazebo_ergocub_left_leg.ini + + 1 @@ -3178,6 +3196,11 @@ model://ergoCub/conf/gazebo_ergocub_head.ini + + + model://ergoCub/conf/gazebo_ergocub_head.ini + + 1 @@ -3193,11 +3216,22 @@ -0.52 0.52 0 0.785 0 0 0.0 + + + model://ergoCub/conf/gazebo_ergocub_left_arm.ini + -0.52 0.52 0 0.785 0 0 0.0 + + model://ergoCub/conf/gazebo_ergocub_left_hand_mk5_1.ini + + + model://ergoCub/conf/gazebo_ergocub_left_hand_mk5_1.ini + + 1 @@ -3225,11 +3259,22 @@ -0.52 0.52 0 0.785 0 0 0.0 + + + model://ergoCub/conf/gazebo_ergocub_right_arm.ini + -0.52 0.52 0 0.785 0 0 0.0 + + model://ergoCub/conf/gazebo_ergocub_right_hand_mk5_1.ini + + + model://ergoCub/conf/gazebo_ergocub_right_hand_mk5_1.ini + + 1 @@ -3256,6 +3301,16 @@ model://ergoCub/conf/ergocub.xml + + + model://ergoCub/conf/ergocub.xml + + + + + model://ergoCub/conf/ergocub.xml + + 0.000000 0.000000 0.800000 0.000000 0.000000 0.000000 @@ -3271,6 +3326,9 @@ model://ergoCub/conf/FT/gazebo_ergocub_left_arm_ft.ini + + model://ergoCub/conf/FT/gazebo_ergocub_left_arm_ft.ini + @@ -3293,6 +3351,9 @@ model://ergoCub/conf/FT/gazebo_ergocub_left_foot_front_ft.ini + + model://ergoCub/conf/FT/gazebo_ergocub_left_foot_front_ft.ini + @@ -3315,6 +3376,9 @@ model://ergoCub/conf/FT/gazebo_ergocub_left_foot_rear_ft.ini + + model://ergoCub/conf/FT/gazebo_ergocub_left_foot_rear_ft.ini + @@ -3337,6 +3401,9 @@ model://ergoCub/conf/FT/gazebo_ergocub_left_leg_ft.ini + + model://ergoCub/conf/FT/gazebo_ergocub_left_leg_ft.ini + @@ -3359,6 +3426,9 @@ model://ergoCub/conf/FT/gazebo_ergocub_right_arm_ft.ini + + model://ergoCub/conf/FT/gazebo_ergocub_right_arm_ft.ini + @@ -3381,6 +3451,9 @@ model://ergoCub/conf/FT/gazebo_ergocub_right_foot_front_ft.ini + + model://ergoCub/conf/FT/gazebo_ergocub_right_foot_front_ft.ini + @@ -3403,6 +3476,9 @@ model://ergoCub/conf/FT/gazebo_ergocub_right_foot_rear_ft.ini + + model://ergoCub/conf/FT/gazebo_ergocub_right_foot_rear_ft.ini + @@ -3425,6 +3501,9 @@ model://ergoCub/conf/FT/gazebo_ergocub_right_leg_ft.ini + + model://ergoCub/conf/FT/gazebo_ergocub_right_leg_ft.ini + @@ -3443,6 +3522,9 @@ model://ergoCub/conf/gazebo_ergocub_inertial.ini + + model://ergoCub/conf/gazebo_ergocub_inertial.ini + @@ -3529,6 +3611,9 @@ model://ergoCub/conf/gazebo_ergocub_realsense_inertial.ini + + model://ergoCub/conf/gazebo_ergocub_realsense_inertial.ini + @@ -3566,6 +3651,9 @@ model://ergoCub/conf/sensors/gazebo_ergocub_lidar.ini + + model://ergoCub/conf/sensors/gazebo_ergocub_lidar.ini + @@ -3580,6 +3668,9 @@ model://ergoCub/conf/gazebo_ergocub_l_foot_front_ft_sensor_inertial.ini + + model://ergoCub/conf/gazebo_ergocub_l_foot_front_ft_sensor_inertial.ini + @@ -3594,6 +3685,9 @@ model://ergoCub/conf/gazebo_ergocub_l_foot_rear_ft_sensor_inertial.ini + + model://ergoCub/conf/gazebo_ergocub_l_foot_rear_ft_sensor_inertial.ini + @@ -3608,6 +3702,9 @@ model://ergoCub/conf/gazebo_ergocub_r_foot_front_ft_sensor_inertial.ini + + model://ergoCub/conf/gazebo_ergocub_r_foot_front_ft_sensor_inertial.ini + @@ -3622,6 +3719,9 @@ model://ergoCub/conf/gazebo_ergocub_r_foot_rear_ft_sensor_inertial.ini + + model://ergoCub/conf/gazebo_ergocub_r_foot_rear_ft_sensor_inertial.ini + From 292c93c629d296e63a8aa3c35beba81c49c3543f Mon Sep 17 00:00:00 2001 From: Alessandro Croci Date: Mon, 25 Mar 2024 14:41:25 +0100 Subject: [PATCH 07/28] Update ERGOCUB_all_options_gazebo.yaml --- .../data/ergocub1_1/ERGOCUB_all_options_gazebo.yaml | 12 +++++++++++- 1 file changed, 11 insertions(+), 1 deletion(-) diff --git a/urdf/creo2urdf/data/ergocub1_1/ERGOCUB_all_options_gazebo.yaml b/urdf/creo2urdf/data/ergocub1_1/ERGOCUB_all_options_gazebo.yaml index dc05a617..cf90d814 100644 --- a/urdf/creo2urdf/data/ergocub1_1/ERGOCUB_all_options_gazebo.yaml +++ b/urdf/creo2urdf/data/ergocub1_1/ERGOCUB_all_options_gazebo.yaml @@ -1601,7 +1601,7 @@ XMLBlobs: - | - model://ergoCub/conf/gazebo_ergocub_left_leg.ini + model://ergoCub/conf/gazebo_ergocub_right_leg.ini @@ -1792,6 +1792,16 @@ XMLBlobs: + - | + + + + + - | + + + + - | From 17fae079b2962f78ed092e0a025718829e84efd0 Mon Sep 17 00:00:00 2001 From: Alessandro Croci Date: Mon, 25 Mar 2024 14:44:51 +0100 Subject: [PATCH 08/28] Update model.urdf for `ergoCubGazeboV1_1` --- urdf/ergoCub/robots/ergoCubGazeboV1_1/model.urdf | 8 +++++++- 1 file changed, 7 insertions(+), 1 deletion(-) diff --git a/urdf/ergoCub/robots/ergoCubGazeboV1_1/model.urdf b/urdf/ergoCub/robots/ergoCubGazeboV1_1/model.urdf index 20a32338..b38731f7 100644 --- a/urdf/ergoCub/robots/ergoCubGazeboV1_1/model.urdf +++ b/urdf/ergoCub/robots/ergoCubGazeboV1_1/model.urdf @@ -3170,7 +3170,7 @@ - model://ergoCub/conf/gazebo_ergocub_left_leg.ini + model://ergoCub/conf/gazebo_ergocub_right_leg.ini @@ -3306,6 +3306,12 @@ model://ergoCub/conf/ergocub.xml + + + + + + model://ergoCub/conf/ergocub.xml From 779585b02411034077431109063d0c9d5e4650e6 Mon Sep 17 00:00:00 2001 From: Alessandro Croci Date: Mon, 25 Mar 2024 17:50:34 +0100 Subject: [PATCH 09/28] Use a different yarp robot interface configuration file for gz-sim --- .../ERGOCUB_all_options_gazebo.yaml | 2 +- urdf/ergoCub/conf/ergocub_gz_sim.xml | 43 +++++++++++++++++++ .../robots/ergoCubGazeboV1_1/model.urdf | 2 +- 3 files changed, 45 insertions(+), 2 deletions(-) create mode 100644 urdf/ergoCub/conf/ergocub_gz_sim.xml diff --git a/urdf/creo2urdf/data/ergocub1_1/ERGOCUB_all_options_gazebo.yaml b/urdf/creo2urdf/data/ergocub1_1/ERGOCUB_all_options_gazebo.yaml index cf90d814..795339eb 100644 --- a/urdf/creo2urdf/data/ergocub1_1/ERGOCUB_all_options_gazebo.yaml +++ b/urdf/creo2urdf/data/ergocub1_1/ERGOCUB_all_options_gazebo.yaml @@ -1788,7 +1788,7 @@ XMLBlobs: - | - model://ergoCub/conf/ergocub.xml + model://ergoCub/conf/ergocub_gz_sim.xml diff --git a/urdf/ergoCub/conf/ergocub_gz_sim.xml b/urdf/ergoCub/conf/ergocub_gz_sim.xml new file mode 100644 index 00000000..81739084 --- /dev/null +++ b/urdf/ergoCub/conf/ergocub_gz_sim.xml @@ -0,0 +1,43 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/urdf/ergoCub/robots/ergoCubGazeboV1_1/model.urdf b/urdf/ergoCub/robots/ergoCubGazeboV1_1/model.urdf index b38731f7..4e0f4302 100644 --- a/urdf/ergoCub/robots/ergoCubGazeboV1_1/model.urdf +++ b/urdf/ergoCub/robots/ergoCubGazeboV1_1/model.urdf @@ -3314,7 +3314,7 @@ - model://ergoCub/conf/ergocub.xml + model://ergoCub/conf/ergocub_gz_sim.xml From 8e19ca656b44f93c3228deda1c5fe8cb6378e1a2 Mon Sep 17 00:00:00 2001 From: Alessandro Croci Date: Mon, 25 Mar 2024 18:20:10 +0100 Subject: [PATCH 10/28] Move gz-sim plugins to robot level --- .../ERGOCUB_all_options_gazebo.yaml | 158 ++++++++++-------- .../robots/ergoCubGazeboV1_1/model.urdf | 127 ++++++++------ 2 files changed, 167 insertions(+), 118 deletions(-) diff --git a/urdf/creo2urdf/data/ergocub1_1/ERGOCUB_all_options_gazebo.yaml b/urdf/creo2urdf/data/ergocub1_1/ERGOCUB_all_options_gazebo.yaml index 795339eb..127012a8 100644 --- a/urdf/creo2urdf/data/ergocub1_1/ERGOCUB_all_options_gazebo.yaml +++ b/urdf/creo2urdf/data/ergocub1_1/ERGOCUB_all_options_gazebo.yaml @@ -931,10 +931,6 @@ forceTorqueSensors: model://ergoCub/conf/FT/gazebo_ergocub_left_arm_ft.ini - - | - - model://ergoCub/conf/FT/gazebo_ergocub_left_arm_ft.ini - - jointName: r_arm_ft_sensor directionChildToParent: Yes exportFrameInURDF: Yes @@ -947,10 +943,6 @@ forceTorqueSensors: model://ergoCub/conf/FT/gazebo_ergocub_right_arm_ft.ini - - | - - model://ergoCub/conf/FT/gazebo_ergocub_right_arm_ft.ini - # left leg - jointName: l_leg_ft_sensor directionChildToParent: Yes @@ -964,10 +956,6 @@ forceTorqueSensors: model://ergoCub/conf/FT/gazebo_ergocub_left_leg_ft.ini - - | - - model://ergoCub/conf/FT/gazebo_ergocub_left_leg_ft.ini - - jointName: l_foot_front_ft_sensor directionChildToParent: No exportFrameInURDF: Yes @@ -980,10 +968,6 @@ forceTorqueSensors: model://ergoCub/conf/FT/gazebo_ergocub_left_foot_front_ft.ini - - | - - model://ergoCub/conf/FT/gazebo_ergocub_left_foot_front_ft.ini - - jointName: l_foot_rear_ft_sensor directionChildToParent: No exportFrameInURDF: Yes @@ -996,10 +980,6 @@ forceTorqueSensors: model://ergoCub/conf/FT/gazebo_ergocub_left_foot_rear_ft.ini - - | - - model://ergoCub/conf/FT/gazebo_ergocub_left_foot_rear_ft.ini - # right leg - jointName: r_leg_ft_sensor directionChildToParent: Yes @@ -1013,10 +993,6 @@ forceTorqueSensors: model://ergoCub/conf/FT/gazebo_ergocub_right_leg_ft.ini - - | - - model://ergoCub/conf/FT/gazebo_ergocub_right_leg_ft.ini - - jointName: r_foot_front_ft_sensor directionChildToParent: No exportFrameInURDF: Yes @@ -1029,10 +1005,6 @@ forceTorqueSensors: model://ergoCub/conf/FT/gazebo_ergocub_right_foot_front_ft.ini - - | - - model://ergoCub/conf/FT/gazebo_ergocub_right_foot_front_ft.ini - - jointName: r_foot_rear_ft_sensor directionChildToParent: No exportFrameInURDF: Yes @@ -1045,10 +1017,6 @@ forceTorqueSensors: model://ergoCub/conf/FT/gazebo_ergocub_right_foot_rear_ft.ini - - | - - model://ergoCub/conf/FT/gazebo_ergocub_right_foot_rear_ft.ini - sensors: - frameName: SCSYS_HEAD_IMU @@ -1062,10 +1030,6 @@ sensors: model://ergoCub/conf/gazebo_ergocub_inertial.ini - - | - - model://ergoCub/conf/gazebo_ergocub_inertial.ini - - frameName: SCSYS_HEAD_RGB linkName: realsense sensorName: realsense_head_depth @@ -1148,10 +1112,6 @@ sensors: model://ergoCub/conf/gazebo_ergocub_realsense_inertial.ini - - | - - model://ergoCub/conf/gazebo_ergocub_realsense_inertial.ini - - frameName: SCSYS_HEAD_S2_LASER linkName: head sensorName: lasersensor_head @@ -1189,10 +1149,6 @@ sensors: model://ergoCub/conf/sensors/gazebo_ergocub_lidar.ini - - | - - model://ergoCub/conf/sensors/gazebo_ergocub_lidar.ini - - frameName: SCSYS_L_ANKLE_2_FT_FRONT linkName: l_foot_front sensorName: l_foot_front_ft_imu @@ -1204,10 +1160,6 @@ sensors: model://ergoCub/conf/gazebo_ergocub_l_foot_front_ft_sensor_inertial.ini - - | - - model://ergoCub/conf/gazebo_ergocub_l_foot_front_ft_sensor_inertial.ini - - frameName: SCSYS_L_ANKLE_2_FT_REAR linkName: l_foot_rear sensorName: l_foot_rear_ft_imu @@ -1219,10 +1171,6 @@ sensors: model://ergoCub/conf/gazebo_ergocub_l_foot_rear_ft_sensor_inertial.ini - - | - - model://ergoCub/conf/gazebo_ergocub_l_foot_rear_ft_sensor_inertial.ini - - frameName: SCSYS_R_ANKLE_2_FT_FRONT linkName: r_foot_front sensorName: r_foot_front_ft_imu @@ -1234,10 +1182,6 @@ sensors: model://ergoCub/conf/gazebo_ergocub_r_foot_front_ft_sensor_inertial.ini - - | - - model://ergoCub/conf/gazebo_ergocub_r_foot_front_ft_sensor_inertial.ini - - frameName: SCSYS_R_ANKLE_2_FT_REAR linkName: r_foot_rear sensorName: r_foot_rear_ft_imu @@ -1249,10 +1193,6 @@ sensors: model://ergoCub/conf/gazebo_ergocub_r_foot_rear_ft_sensor_inertial.ini - - | - - model://ergoCub/conf/gazebo_ergocub_r_foot_rear_ft_sensor_inertial.ini - assignedMasses: torso_1 : 2.0645667 @@ -1406,6 +1346,18 @@ XMLBlobs: true + - | + + + model://ergoCub/conf/FT/gazebo_ergocub_left_arm_ft.ini + + + - | + + + model://ergoCub/conf/FT/gazebo_ergocub_right_arm_ft.ini + + - | @@ -1504,6 +1456,37 @@ XMLBlobs: 1 0 0 0 + + - | + + + model://ergoCub/conf/FT/gazebo_ergocub_left_leg_ft.ini + + + - | + + + model://ergoCub/conf/FT/gazebo_ergocub_left_foot_front_ft.ini + + + - | + + + model://ergoCub/conf/FT/gazebo_ergocub_left_foot_rear_ft.ini + + + - | + + + model://ergoCub/conf/gazebo_ergocub_l_foot_front_ft_sensor_inertial.ini + + + - | + + + model://ergoCub/conf/gazebo_ergocub_l_foot_rear_ft_sensor_inertial.ini + + - | @@ -1591,6 +1574,36 @@ XMLBlobs: 1 0 0 0 + - | + + + model://ergoCub/conf/FT/gazebo_ergocub_right_leg_ft.ini + + + - | + + + model://ergoCub/conf/FT/gazebo_ergocub_right_foot_front_ft.ini + + + - | + + + model://ergoCub/conf/FT/gazebo_ergocub_right_foot_rear_ft.ini + + + - | + + + model://ergoCub/conf/gazebo_ergocub_r_foot_front_ft_sensor_inertial.ini + + + - | + + + model://ergoCub/conf/gazebo_ergocub_r_foot_rear_ft_sensor_inertial.ini + + - | @@ -1631,6 +1644,24 @@ XMLBlobs: # head + - | + + + model://ergoCub/conf/gazebo_ergocub_inertial.ini + + + - | + + + model://ergoCub/conf/gazebo_ergocub_realsense_inertial.ini + + + - | + + + model://ergoCub/conf/sensors/gazebo_ergocub_lidar.ini + + - | @@ -1801,10 +1832,3 @@ XMLBlobs: - - - | - - - model://ergoCub/conf/ergocub.xml - - diff --git a/urdf/ergoCub/robots/ergoCubGazeboV1_1/model.urdf b/urdf/ergoCub/robots/ergoCubGazeboV1_1/model.urdf index 4e0f4302..c482d374 100644 --- a/urdf/ergoCub/robots/ergoCubGazeboV1_1/model.urdf +++ b/urdf/ergoCub/robots/ergoCubGazeboV1_1/model.urdf @@ -2996,6 +2996,16 @@ true + + + model://ergoCub/conf/FT/gazebo_ergocub_left_arm_ft.ini + + + + + model://ergoCub/conf/FT/gazebo_ergocub_right_arm_ft.ini + + model://ergoCub/conf/gazebo_ergocub_torso.ini @@ -3084,6 +3094,31 @@ 1 0 0 0 + + + model://ergoCub/conf/FT/gazebo_ergocub_left_leg_ft.ini + + + + + model://ergoCub/conf/FT/gazebo_ergocub_left_foot_front_ft.ini + + + + + model://ergoCub/conf/FT/gazebo_ergocub_left_foot_rear_ft.ini + + + + + model://ergoCub/conf/gazebo_ergocub_l_foot_front_ft_sensor_inertial.ini + + + + + model://ergoCub/conf/gazebo_ergocub_l_foot_rear_ft_sensor_inertial.ini + + model://ergoCub/conf/gazebo_ergocub_left_leg.ini @@ -3163,6 +3198,31 @@ 1 0 0 0 + + + model://ergoCub/conf/FT/gazebo_ergocub_right_leg_ft.ini + + + + + model://ergoCub/conf/FT/gazebo_ergocub_right_foot_front_ft.ini + + + + + model://ergoCub/conf/FT/gazebo_ergocub_right_foot_rear_ft.ini + + + + + model://ergoCub/conf/gazebo_ergocub_r_foot_front_ft_sensor_inertial.ini + + + + + model://ergoCub/conf/gazebo_ergocub_r_foot_rear_ft_sensor_inertial.ini + + model://ergoCub/conf/gazebo_ergocub_right_leg.ini @@ -3191,6 +3251,21 @@ 1 + + + model://ergoCub/conf/gazebo_ergocub_inertial.ini + + + + + model://ergoCub/conf/gazebo_ergocub_realsense_inertial.ini + + + + + model://ergoCub/conf/sensors/gazebo_ergocub_lidar.ini + + model://ergoCub/conf/gazebo_ergocub_head.ini @@ -3303,7 +3378,7 @@ - model://ergoCub/conf/ergocub.xml + model://ergoCub/conf/ergocub_gz_sim.xml @@ -3312,11 +3387,6 @@ - - - model://ergoCub/conf/ergocub_gz_sim.xml - - 0.000000 0.000000 0.800000 0.000000 0.000000 0.000000 @@ -3332,9 +3402,6 @@ model://ergoCub/conf/FT/gazebo_ergocub_left_arm_ft.ini - - model://ergoCub/conf/FT/gazebo_ergocub_left_arm_ft.ini - @@ -3357,9 +3424,6 @@ model://ergoCub/conf/FT/gazebo_ergocub_left_foot_front_ft.ini - - model://ergoCub/conf/FT/gazebo_ergocub_left_foot_front_ft.ini - @@ -3382,9 +3446,6 @@ model://ergoCub/conf/FT/gazebo_ergocub_left_foot_rear_ft.ini - - model://ergoCub/conf/FT/gazebo_ergocub_left_foot_rear_ft.ini - @@ -3407,9 +3468,6 @@ model://ergoCub/conf/FT/gazebo_ergocub_left_leg_ft.ini - - model://ergoCub/conf/FT/gazebo_ergocub_left_leg_ft.ini - @@ -3432,9 +3490,6 @@ model://ergoCub/conf/FT/gazebo_ergocub_right_arm_ft.ini - - model://ergoCub/conf/FT/gazebo_ergocub_right_arm_ft.ini - @@ -3457,9 +3512,6 @@ model://ergoCub/conf/FT/gazebo_ergocub_right_foot_front_ft.ini - - model://ergoCub/conf/FT/gazebo_ergocub_right_foot_front_ft.ini - @@ -3482,9 +3534,6 @@ model://ergoCub/conf/FT/gazebo_ergocub_right_foot_rear_ft.ini - - model://ergoCub/conf/FT/gazebo_ergocub_right_foot_rear_ft.ini - @@ -3507,9 +3556,6 @@ model://ergoCub/conf/FT/gazebo_ergocub_right_leg_ft.ini - - model://ergoCub/conf/FT/gazebo_ergocub_right_leg_ft.ini - @@ -3528,9 +3574,6 @@ model://ergoCub/conf/gazebo_ergocub_inertial.ini - - model://ergoCub/conf/gazebo_ergocub_inertial.ini - @@ -3617,9 +3660,6 @@ model://ergoCub/conf/gazebo_ergocub_realsense_inertial.ini - - model://ergoCub/conf/gazebo_ergocub_realsense_inertial.ini - @@ -3657,9 +3697,6 @@ model://ergoCub/conf/sensors/gazebo_ergocub_lidar.ini - - model://ergoCub/conf/sensors/gazebo_ergocub_lidar.ini - @@ -3674,9 +3711,6 @@ model://ergoCub/conf/gazebo_ergocub_l_foot_front_ft_sensor_inertial.ini - - model://ergoCub/conf/gazebo_ergocub_l_foot_front_ft_sensor_inertial.ini - @@ -3691,9 +3725,6 @@ model://ergoCub/conf/gazebo_ergocub_l_foot_rear_ft_sensor_inertial.ini - - model://ergoCub/conf/gazebo_ergocub_l_foot_rear_ft_sensor_inertial.ini - @@ -3708,9 +3739,6 @@ model://ergoCub/conf/gazebo_ergocub_r_foot_front_ft_sensor_inertial.ini - - model://ergoCub/conf/gazebo_ergocub_r_foot_front_ft_sensor_inertial.ini - @@ -3725,9 +3753,6 @@ model://ergoCub/conf/gazebo_ergocub_r_foot_rear_ft_sensor_inertial.ini - - model://ergoCub/conf/gazebo_ergocub_r_foot_rear_ft_sensor_inertial.ini - From 16757858500d78e79ce0d55256514ae3eb8c7d0c Mon Sep 17 00:00:00 2001 From: Alessandro Croci Date: Mon, 25 Mar 2024 17:51:21 +0100 Subject: [PATCH 11/28] Move also waist Imu plugin to robot level --- .../data/ergocub1_1/ERGOCUB_all_options_gazebo.yaml | 9 ++++++--- urdf/ergoCub/robots/ergoCubGazeboV1_1/model.urdf | 8 +++++--- 2 files changed, 11 insertions(+), 6 deletions(-) diff --git a/urdf/creo2urdf/data/ergocub1_1/ERGOCUB_all_options_gazebo.yaml b/urdf/creo2urdf/data/ergocub1_1/ERGOCUB_all_options_gazebo.yaml index 127012a8..9ea7af96 100644 --- a/urdf/creo2urdf/data/ergocub1_1/ERGOCUB_all_options_gazebo.yaml +++ b/urdf/creo2urdf/data/ergocub1_1/ERGOCUB_all_options_gazebo.yaml @@ -1314,11 +1314,14 @@ XMLBlobs: model://ergoCub/conf/gazebo_ergocub_waist_inertial.ini - - model://ergoCub/conf/gazebo_ergocub_waist_inertial.ini - + - | + + + model://ergoCub/conf/gazebo_ergocub_waist_inertial.ini + + - | diff --git a/urdf/ergoCub/robots/ergoCubGazeboV1_1/model.urdf b/urdf/ergoCub/robots/ergoCubGazeboV1_1/model.urdf index c482d374..c7a0da88 100644 --- a/urdf/ergoCub/robots/ergoCubGazeboV1_1/model.urdf +++ b/urdf/ergoCub/robots/ergoCubGazeboV1_1/model.urdf @@ -2970,11 +2970,13 @@ model://ergoCub/conf/gazebo_ergocub_waist_inertial.ini - - model://ergoCub/conf/gazebo_ergocub_waist_inertial.ini - + + + model://ergoCub/conf/gazebo_ergocub_waist_inertial.ini + + From 6f25b30cfb956937f74ef5f9e022969ea9f7894b Mon Sep 17 00:00:00 2001 From: Alessandro Croci Date: Wed, 27 Mar 2024 15:24:54 +0100 Subject: [PATCH 12/28] Update ERGOCUB_all_options_minContacts.yaml adding gz-sim plugins --- .../ERGOCUB_all_options_minContacts.yaml | 162 ++++++++++++++++++ 1 file changed, 162 insertions(+) diff --git a/urdf/creo2urdf/data/ergocub1_1/ERGOCUB_all_options_minContacts.yaml b/urdf/creo2urdf/data/ergocub1_1/ERGOCUB_all_options_minContacts.yaml index 6ad9a53f..98ce9d4c 100644 --- a/urdf/creo2urdf/data/ergocub1_1/ERGOCUB_all_options_minContacts.yaml +++ b/urdf/creo2urdf/data/ergocub1_1/ERGOCUB_all_options_minContacts.yaml @@ -1622,6 +1622,12 @@ XMLBlobs: + - | + + + model://ergoCub/conf/gazebo_ergocub_waist_inertial.ini + + # upperbody - | @@ -1644,12 +1650,30 @@ XMLBlobs: true + - | + + + model://ergoCub/conf/FT/gazebo_ergocub_left_arm_ft.ini + + + - | + + + model://ergoCub/conf/FT/gazebo_ergocub_right_arm_ft.ini + + - | model://ergoCub/conf/gazebo_ergocub_torso.ini + - | + + + model://ergoCub/conf/gazebo_ergocub_torso.ini + + - | 1 @@ -1736,12 +1760,48 @@ XMLBlobs: 1 0 0 0 + - | + + + model://ergoCub/conf/FT/gazebo_ergocub_left_leg_ft.ini + + + - | + + + model://ergoCub/conf/FT/gazebo_ergocub_left_foot_front_ft.ini + + + - | + + + model://ergoCub/conf/FT/gazebo_ergocub_left_foot_rear_ft.ini + + + - | + + + model://ergoCub/conf/gazebo_ergocub_l_foot_front_ft_sensor_inertial.ini + + + - | + + + model://ergoCub/conf/gazebo_ergocub_l_foot_rear_ft_sensor_inertial.ini + + - | model://ergoCub/conf/gazebo_ergocub_left_leg.ini + - | + + + model://ergoCub/conf/gazebo_ergocub_left_leg.ini + + - | @@ -1816,12 +1876,48 @@ XMLBlobs: 1 0 0 0 + - | + + + model://ergoCub/conf/FT/gazebo_ergocub_right_leg_ft.ini + + + - | + + + model://ergoCub/conf/FT/gazebo_ergocub_right_foot_front_ft.ini + + + - | + + + model://ergoCub/conf/FT/gazebo_ergocub_right_foot_rear_ft.ini + + + - | + + + model://ergoCub/conf/gazebo_ergocub_r_foot_front_ft_sensor_inertial.ini + + + - | + + + model://ergoCub/conf/gazebo_ergocub_r_foot_rear_ft_sensor_inertial.ini + + - | model://ergoCub/conf/gazebo_ergocub_right_leg.ini + - | + + + model://ergoCub/conf/gazebo_ergocub_right_leg.ini + + - | 1 @@ -1848,12 +1944,36 @@ XMLBlobs: # head + - | + + + model://ergoCub/conf/gazebo_ergocub_inertial.ini + + + - | + + + model://ergoCub/conf/gazebo_ergocub_realsense_inertial.ini + + + - | + + + model://ergoCub/conf/sensors/gazebo_ergocub_lidar.ini + + - | model://ergoCub/conf/gazebo_ergocub_head.ini + - | + + + model://ergoCub/conf/gazebo_ergocub_head.ini + + - | 1 @@ -1875,12 +1995,25 @@ XMLBlobs: -0.52 0.52 0 0.785 0 0 0.0 + - | + + + model://ergoCub/conf/gazebo_ergocub_left_arm.ini + -0.52 0.52 0 0.785 0 0 0.0 + + - | model://ergoCub/conf/gazebo_ergocub_left_hand_mk5_1.ini + - | + + + model://ergoCub/conf/gazebo_ergocub_left_hand_mk5_1.ini + + - | 1 @@ -1917,12 +2050,25 @@ XMLBlobs: -0.52 0.52 0 0.785 0 0 0.0 + - | + + + model://ergoCub/conf/gazebo_ergocub_right_arm.ini + -0.52 0.52 0 0.785 0 0 0.0 + + - | model://ergoCub/conf/gazebo_ergocub_right_hand_mk5_1.ini + - | + + + model://ergoCub/conf/gazebo_ergocub_right_hand_mk5_1.ini + + - | 1 @@ -1957,3 +2103,19 @@ XMLBlobs: model://ergoCub/conf/ergocub.xml + - | + + + model://ergoCub/conf/ergocub_gz_sim.xml + + + + - | + + + + + - | + + + From 9a8a0f5895162471591b6c49ea6f50dada9a01d0 Mon Sep 17 00:00:00 2001 From: Alessandro Croci Date: Wed, 27 Mar 2024 15:25:24 +0100 Subject: [PATCH 13/28] Update model.urdf for `ergoCubGazeboV1_1_minContacts` --- .../ergoCubGazeboV1_1_minContacts/model.urdf | 145 +++++++++++++++++- 1 file changed, 139 insertions(+), 6 deletions(-) diff --git a/urdf/ergoCub/robots/ergoCubGazeboV1_1_minContacts/model.urdf b/urdf/ergoCub/robots/ergoCubGazeboV1_1_minContacts/model.urdf index 5288b4a1..2291c4d1 100644 --- a/urdf/ergoCub/robots/ergoCubGazeboV1_1_minContacts/model.urdf +++ b/urdf/ergoCub/robots/ergoCubGazeboV1_1_minContacts/model.urdf @@ -1127,8 +1127,8 @@ - - + + @@ -1427,8 +1427,8 @@ - - + + @@ -1457,8 +1457,8 @@ - - + + @@ -2790,6 +2790,11 @@ + + + model://ergoCub/conf/gazebo_ergocub_waist_inertial.ini + + @@ -2807,11 +2812,26 @@ true + + + model://ergoCub/conf/FT/gazebo_ergocub_left_arm_ft.ini + + + + + model://ergoCub/conf/FT/gazebo_ergocub_right_arm_ft.ini + + model://ergoCub/conf/gazebo_ergocub_torso.ini + + + model://ergoCub/conf/gazebo_ergocub_torso.ini + + 1 @@ -2890,11 +2910,41 @@ 1 0 0 0 + + + model://ergoCub/conf/FT/gazebo_ergocub_left_leg_ft.ini + + + + + model://ergoCub/conf/FT/gazebo_ergocub_left_foot_front_ft.ini + + + + + model://ergoCub/conf/FT/gazebo_ergocub_left_foot_rear_ft.ini + + + + + model://ergoCub/conf/gazebo_ergocub_l_foot_front_ft_sensor_inertial.ini + + + + + model://ergoCub/conf/gazebo_ergocub_l_foot_rear_ft_sensor_inertial.ini + + model://ergoCub/conf/gazebo_ergocub_left_leg.ini + + + model://ergoCub/conf/gazebo_ergocub_left_leg.ini + + 1 @@ -2964,11 +3014,41 @@ 1 0 0 0 + + + model://ergoCub/conf/FT/gazebo_ergocub_right_leg_ft.ini + + + + + model://ergoCub/conf/FT/gazebo_ergocub_right_foot_front_ft.ini + + + + + model://ergoCub/conf/FT/gazebo_ergocub_right_foot_rear_ft.ini + + + + + model://ergoCub/conf/gazebo_ergocub_r_foot_front_ft_sensor_inertial.ini + + + + + model://ergoCub/conf/gazebo_ergocub_r_foot_rear_ft_sensor_inertial.ini + + model://ergoCub/conf/gazebo_ergocub_right_leg.ini + + + model://ergoCub/conf/gazebo_ergocub_right_leg.ini + + 1 @@ -2987,11 +3067,31 @@ 1 + + + model://ergoCub/conf/gazebo_ergocub_inertial.ini + + + + + model://ergoCub/conf/gazebo_ergocub_realsense_inertial.ini + + + + + model://ergoCub/conf/sensors/gazebo_ergocub_lidar.ini + + model://ergoCub/conf/gazebo_ergocub_head.ini + + + model://ergoCub/conf/gazebo_ergocub_head.ini + + 1 @@ -3007,11 +3107,22 @@ -0.52 0.52 0 0.785 0 0 0.0 + + + model://ergoCub/conf/gazebo_ergocub_left_arm.ini + -0.52 0.52 0 0.785 0 0 0.0 + + model://ergoCub/conf/gazebo_ergocub_left_hand_mk5_1.ini + + + model://ergoCub/conf/gazebo_ergocub_left_hand_mk5_1.ini + + 1 @@ -3039,11 +3150,22 @@ -0.52 0.52 0 0.785 0 0 0.0 + + + model://ergoCub/conf/gazebo_ergocub_right_arm.ini + -0.52 0.52 0 0.785 0 0 0.0 + + model://ergoCub/conf/gazebo_ergocub_right_hand_mk5_1.ini + + + model://ergoCub/conf/gazebo_ergocub_right_hand_mk5_1.ini + + 1 @@ -3070,6 +3192,17 @@ model://ergoCub/conf/ergocub.xml + + + model://ergoCub/conf/ergocub_gz_sim.xml + + + + + + + + 0.000000 0.000000 0.800000 0.000000 0.000000 0.000000 From 3796494ce94d8ec7d56c33380fa9db629032a8f3 Mon Sep 17 00:00:00 2001 From: Alessandro Croci Date: Wed, 27 Mar 2024 16:20:03 +0100 Subject: [PATCH 14/28] Update ERGOCUB_all_options.yaml adding gz-sim-yarp-plugins --- .../data/ergocub1_1/ERGOCUB_all_options.yaml | 162 ++++++++++++++++++ 1 file changed, 162 insertions(+) diff --git a/urdf/creo2urdf/data/ergocub1_1/ERGOCUB_all_options.yaml b/urdf/creo2urdf/data/ergocub1_1/ERGOCUB_all_options.yaml index 397a8396..1a06c665 100644 --- a/urdf/creo2urdf/data/ergocub1_1/ERGOCUB_all_options.yaml +++ b/urdf/creo2urdf/data/ergocub1_1/ERGOCUB_all_options.yaml @@ -1121,6 +1121,12 @@ XMLBlobs: + - | + + + model://ergoCub/conf/gazebo_ergocub_waist_inertial.ini + + - | @@ -1148,12 +1154,30 @@ XMLBlobs: true + - | + + + model://ergoCub/conf/FT/gazebo_ergocub_left_arm_ft.ini + + + - | + + + model://ergoCub/conf/FT/gazebo_ergocub_right_arm_ft.ini + + - | model://ergoCub/conf/gazebo_ergocub_torso.ini + - | + + + model://ergoCub/conf/gazebo_ergocub_torso.ini + + - | 1 @@ -1240,12 +1264,48 @@ XMLBlobs: 1 0 0 0 + - | + + + model://ergoCub/conf/FT/gazebo_ergocub_left_leg_ft.ini + + + - | + + + model://ergoCub/conf/FT/gazebo_ergocub_left_foot_front_ft.ini + + + - | + + + model://ergoCub/conf/FT/gazebo_ergocub_left_foot_rear_ft.ini + + + - | + + + model://ergoCub/conf/gazebo_ergocub_l_foot_front_ft_sensor_inertial.ini + + + - | + + + model://ergoCub/conf/gazebo_ergocub_l_foot_rear_ft_sensor_inertial.ini + + - | model://ergoCub/conf/gazebo_ergocub_left_leg.ini + - | + + + model://ergoCub/conf/gazebo_ergocub_left_leg.ini + + - | @@ -1320,12 +1380,48 @@ XMLBlobs: 1 0 0 0 + - | + + + model://ergoCub/conf/FT/gazebo_ergocub_right_leg_ft.ini + + + - | + + + model://ergoCub/conf/FT/gazebo_ergocub_right_foot_front_ft.ini + + + - | + + + model://ergoCub/conf/FT/gazebo_ergocub_right_foot_rear_ft.ini + + + - | + + + model://ergoCub/conf/gazebo_ergocub_r_foot_front_ft_sensor_inertial.ini + + + - | + + + model://ergoCub/conf/gazebo_ergocub_r_foot_rear_ft_sensor_inertial.ini + + - | model://ergoCub/conf/gazebo_ergocub_right_leg.ini + - | + + + model://ergoCub/conf/gazebo_ergocub_right_leg.ini + + - | 1 @@ -1352,12 +1448,36 @@ XMLBlobs: # head + - | + + + model://ergoCub/conf/gazebo_ergocub_inertial.ini + + + - | + + + model://ergoCub/conf/gazebo_ergocub_realsense_inertial.ini + + + - | + + + model://ergoCub/conf/sensors/gazebo_ergocub_lidar.ini + + - | model://ergoCub/conf/gazebo_ergocub_head.ini + - | + + + model://ergoCub/conf/gazebo_ergocub_head.ini + + - | 1 @@ -1379,12 +1499,25 @@ XMLBlobs: -0.52 0.52 0 0.785 0 0 0.0 + - | + + + model://ergoCub/conf/gazebo_ergocub_left_arm.ini + -0.52 0.52 0 0.785 0 0 0.0 + + - | model://ergoCub/conf/gazebo_ergocub_left_hand_mk5_1.ini + - | + + + model://ergoCub/conf/gazebo_ergocub_left_hand_mk5_1.ini + + - | 1 @@ -1421,12 +1554,25 @@ XMLBlobs: -0.52 0.52 0 0.785 0 0 0.0 + - | + + + model://ergoCub/conf/gazebo_ergocub_right_arm.ini + -0.52 0.52 0 0.785 0 0 0.0 + + - | model://ergoCub/conf/gazebo_ergocub_right_hand_mk5_1.ini + - | + + + model://ergoCub/conf/gazebo_ergocub_right_hand_mk5_1.ini + + - | 1 @@ -1461,3 +1607,19 @@ XMLBlobs: model://ergoCub/conf/ergocub.xml + - | + + + model://ergoCub/conf/ergocub_gz_sim.xml + + + + - | + + + + + - | + + + From 45693164572c9ab9c7a92b5dcb040ff08ab88aef Mon Sep 17 00:00:00 2001 From: Alessandro Croci Date: Wed, 27 Mar 2024 16:20:23 +0100 Subject: [PATCH 15/28] Update model.urdf for `ergoCubSN001` --- urdf/ergoCub/robots/ergoCubSN001/model.urdf | 145 +++++++++++++++++++- 1 file changed, 139 insertions(+), 6 deletions(-) diff --git a/urdf/ergoCub/robots/ergoCubSN001/model.urdf b/urdf/ergoCub/robots/ergoCubSN001/model.urdf index 4de41b4c..89c18800 100644 --- a/urdf/ergoCub/robots/ergoCubSN001/model.urdf +++ b/urdf/ergoCub/robots/ergoCubSN001/model.urdf @@ -1241,8 +1241,8 @@ - - + + @@ -1571,8 +1571,8 @@ - - + + @@ -1604,8 +1604,8 @@ - - + + @@ -2972,6 +2972,11 @@ + + + model://ergoCub/conf/gazebo_ergocub_waist_inertial.ini + + @@ -2993,11 +2998,26 @@ true + + + model://ergoCub/conf/FT/gazebo_ergocub_left_arm_ft.ini + + + + + model://ergoCub/conf/FT/gazebo_ergocub_right_arm_ft.ini + + model://ergoCub/conf/gazebo_ergocub_torso.ini + + + model://ergoCub/conf/gazebo_ergocub_torso.ini + + 1 @@ -3076,11 +3096,41 @@ 1 0 0 0 + + + model://ergoCub/conf/FT/gazebo_ergocub_left_leg_ft.ini + + + + + model://ergoCub/conf/FT/gazebo_ergocub_left_foot_front_ft.ini + + + + + model://ergoCub/conf/FT/gazebo_ergocub_left_foot_rear_ft.ini + + + + + model://ergoCub/conf/gazebo_ergocub_l_foot_front_ft_sensor_inertial.ini + + + + + model://ergoCub/conf/gazebo_ergocub_l_foot_rear_ft_sensor_inertial.ini + + model://ergoCub/conf/gazebo_ergocub_left_leg.ini + + + model://ergoCub/conf/gazebo_ergocub_left_leg.ini + + 1 @@ -3150,11 +3200,41 @@ 1 0 0 0 + + + model://ergoCub/conf/FT/gazebo_ergocub_right_leg_ft.ini + + + + + model://ergoCub/conf/FT/gazebo_ergocub_right_foot_front_ft.ini + + + + + model://ergoCub/conf/FT/gazebo_ergocub_right_foot_rear_ft.ini + + + + + model://ergoCub/conf/gazebo_ergocub_r_foot_front_ft_sensor_inertial.ini + + + + + model://ergoCub/conf/gazebo_ergocub_r_foot_rear_ft_sensor_inertial.ini + + model://ergoCub/conf/gazebo_ergocub_right_leg.ini + + + model://ergoCub/conf/gazebo_ergocub_right_leg.ini + + 1 @@ -3173,11 +3253,31 @@ 1 + + + model://ergoCub/conf/gazebo_ergocub_inertial.ini + + + + + model://ergoCub/conf/gazebo_ergocub_realsense_inertial.ini + + + + + model://ergoCub/conf/sensors/gazebo_ergocub_lidar.ini + + model://ergoCub/conf/gazebo_ergocub_head.ini + + + model://ergoCub/conf/gazebo_ergocub_head.ini + + 1 @@ -3193,11 +3293,22 @@ -0.52 0.52 0 0.785 0 0 0.0 + + + model://ergoCub/conf/gazebo_ergocub_left_arm.ini + -0.52 0.52 0 0.785 0 0 0.0 + + model://ergoCub/conf/gazebo_ergocub_left_hand_mk5_1.ini + + + model://ergoCub/conf/gazebo_ergocub_left_hand_mk5_1.ini + + 1 @@ -3225,11 +3336,22 @@ -0.52 0.52 0 0.785 0 0 0.0 + + + model://ergoCub/conf/gazebo_ergocub_right_arm.ini + -0.52 0.52 0 0.785 0 0 0.0 + + model://ergoCub/conf/gazebo_ergocub_right_hand_mk5_1.ini + + + model://ergoCub/conf/gazebo_ergocub_right_hand_mk5_1.ini + + 1 @@ -3256,6 +3378,17 @@ model://ergoCub/conf/ergocub.xml + + + model://ergoCub/conf/ergocub_gz_sim.xml + + + + + + + + 0.000000 0.000000 0.800000 0.000000 0.000000 0.000000 From 81ae712a6527882f05aef4c6a26305c4a8fdaf8c Mon Sep 17 00:00:00 2001 From: Alessandro Croci Date: Wed, 27 Mar 2024 17:19:41 +0100 Subject: [PATCH 16/28] Update ergoCub1_0/ERGOCUB_all_options_gazebo.yaml --- .../ERGOCUB_all_options_gazebo.yaml | 162 ++++++++++++++++++ 1 file changed, 162 insertions(+) diff --git a/urdf/creo2urdf/data/ergocub1_0/ERGOCUB_all_options_gazebo.yaml b/urdf/creo2urdf/data/ergocub1_0/ERGOCUB_all_options_gazebo.yaml index ca0a7d50..caa22993 100644 --- a/urdf/creo2urdf/data/ergocub1_0/ERGOCUB_all_options_gazebo.yaml +++ b/urdf/creo2urdf/data/ergocub1_0/ERGOCUB_all_options_gazebo.yaml @@ -1317,6 +1317,12 @@ XMLBlobs: model://ergoCub/conf/gazebo_ergocub_waist_inertial.ini + - | + + + model://ergoCub/conf/gazebo_ergocub_waist_inertial.ini + + - | @@ -1361,6 +1367,12 @@ XMLBlobs: model://ergoCub/conf/gazebo_ergocub_torso.ini + - | + + + model://ergoCub/conf/gazebo_ergocub_torso.ini + + - | 1 @@ -1447,12 +1459,48 @@ XMLBlobs: 1 0 0 0 + - | + + + model://ergoCub/conf/FT/gazebo_ergocub_left_leg_ft.ini + + + - | + + + model://ergoCub/conf/FT/gazebo_ergocub_left_foot_front_ft.ini + + + - | + + + model://ergoCub/conf/FT/gazebo_ergocub_left_foot_rear_ft.ini + + + - | + + + model://ergoCub/conf/gazebo_ergocub_l_foot_front_ft_sensor_inertial.ini + + + - | + + + model://ergoCub/conf/gazebo_ergocub_l_foot_rear_ft_sensor_inertial.ini + + - | model://ergoCub/conf/gazebo_ergocub_left_leg.ini + - | + + + model://ergoCub/conf/gazebo_ergocub_left_leg.ini + + - | @@ -1527,12 +1575,48 @@ XMLBlobs: 1 0 0 0 + - | + + + model://ergoCub/conf/FT/gazebo_ergocub_right_leg_ft.ini + + + - | + + + model://ergoCub/conf/FT/gazebo_ergocub_right_foot_front_ft.ini + + + - | + + + model://ergoCub/conf/FT/gazebo_ergocub_right_foot_rear_ft.ini + + + - | + + + model://ergoCub/conf/gazebo_ergocub_r_foot_front_ft_sensor_inertial.ini + + + - | + + + model://ergoCub/conf/gazebo_ergocub_r_foot_rear_ft_sensor_inertial.ini + + - | model://ergoCub/conf/gazebo_ergocub_right_leg.ini + - | + + + model://ergoCub/conf/gazebo_ergocub_right_leg.ini + + - | 1 @@ -1559,12 +1643,36 @@ XMLBlobs: # head + - | + + + model://ergoCub/conf/gazebo_ergocub_inertial.ini + + + - | + + + model://ergoCub/conf/gazebo_ergocub_realsense_inertial.ini + + + - | + + + model://ergoCub/conf/sensors/gazebo_ergocub_lidar.ini + + - | model://ergoCub/conf/gazebo_ergocub_head.ini + - | + + + model://ergoCub/conf/gazebo_ergocub_head.ini + + - | 1 @@ -1586,12 +1694,31 @@ XMLBlobs: -0.52 0.52 0 0.785 0 0 0.0 + - | + + + model://ergoCub/conf/gazebo_ergocub_left_arm.ini + -0.52 0.52 0 0.785 0 0 0.0 + + + - | + + + model://ergoCub/conf/FT/gazebo_ergocub_left_arm_ft.ini + + - | model://ergoCub/conf/gazebo_ergocub_left_hand_mk5_0.ini + - | + + + model://ergoCub/conf/gazebo_ergocub_left_hand_mk5_1.ini + + - | 1 @@ -1628,12 +1755,31 @@ XMLBlobs: -0.52 0.52 0 0.785 0 0 0.0 + - | + + + model://ergoCub/conf/gazebo_ergocub_right_arm.ini + -0.52 0.52 0 0.785 0 0 0.0 + + + - | + + + model://ergoCub/conf/FT/gazebo_ergocub_right_arm_ft.ini + + - | model://ergoCub/conf/gazebo_ergocub_right_hand_mk5_0.ini + - | + + + model://ergoCub/conf/gazebo_ergocub_right_hand_mk5_1.ini + + - | 1 @@ -1668,3 +1814,19 @@ XMLBlobs: model://ergoCub/conf/ergocub.xml + - | + + + model://ergoCub/conf/ergocub_gz_sim.xml + + + + - | + + + + + - | + + + From d16bc9f94167800f8186f507d5c19220e016bcd8 Mon Sep 17 00:00:00 2001 From: Alessandro Croci Date: Wed, 27 Mar 2024 17:20:10 +0100 Subject: [PATCH 17/28] Update model.urdf for `ergoCubGazeboV1` --- .../ergoCub/robots/ergoCubGazeboV1/model.urdf | 4852 +++++++++-------- 1 file changed, 2529 insertions(+), 2323 deletions(-) diff --git a/urdf/ergoCub/robots/ergoCubGazeboV1/model.urdf b/urdf/ergoCub/robots/ergoCubGazeboV1/model.urdf index ba776969..03c78e69 100644 --- a/urdf/ergoCub/robots/ergoCubGazeboV1/model.urdf +++ b/urdf/ergoCub/robots/ergoCubGazeboV1/model.urdf @@ -1,2899 +1,2956 @@ + - - - + + + - + - + - + - + - + + + + - + + + + + + + + + - - - + + + - + - + - + - + - + + + + - - + + - - + + - + - - - + + + - + - + - + - + - + + + + - - - - - - - - - - - - - - + + + + + + + - + - - - + + + - + - + - - + + - + - + + + + - - - - - + + + + + + + - + - - - + + + - + - + - + - + - + + + + - - - - - - - + + + + + + + - + - - - + + + - + - + - + - + - + + + + - - - - - - - + + + + + + + - + - - - + + + - + - + - + - + - + + + + - - - - - - - + + + + + + + - + - - - + + + - + - + - - + + - + - + + + + - - - - - - - - - - - - - - - - - - - - - + + + + + + + - + 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0.000000 0.000000 + 1 @@ -3247,10 +3456,10 @@ sensor child_to_parent - 0.0 0.0 0.0 -3.1415923328972943 2.923917580150936e-08 -1.5707962214346844 + -3.46945e-18 0 0 3.14159 1.94289e-16 -1.5708 - model://ergoCub/conf/FT/gazebo_ergocub_left_arm_ft.ini - + model://ergoCub/conf/FT/gazebo_ergocub_left_arm_ft.ini + @@ -3259,51 +3468,7 @@ sensor child_to_parent - - - - - 1 - 100 - - sensor - child_to_parent - - 0.0 0.0 0.0 -3.1415924092528633 -2.2277470853981803e-08 1.5707964070692688 - - model://ergoCub/conf/FT/gazebo_ergocub_right_arm_ft.ini - - - - - - - sensor - child_to_parent - - - - - - 1 - 100 - - sensor - child_to_parent - - 0.0 0.0 0.0 3.141592653589793 -0.0 2.6179934742070086 - - model://ergoCub/conf/FT/gazebo_ergocub_left_leg_ft.ini - - - - - - - sensor - child_to_parent - - + @@ -3313,10 +3478,10 @@ sensor parent_to_child - 0.0 0.0 0.0 0.0 -0.0 -2.0943952105869315 + 1.38778e-17 0 0.0223 1.32957e-16 2.62198e-17 -2.0944 - model://ergoCub/conf/FT/gazebo_ergocub_left_foot_front_ft.ini - + model://ergoCub/conf/FT/gazebo_ergocub_left_foot_front_ft.ini + @@ -3325,7 +3490,7 @@ sensor parent_to_child - + @@ -3335,10 +3500,10 @@ sensor parent_to_child - 0.0 0.0 0.0 0.0 -0.0 -2.0943952105869315 + 0 0 0.0223 1.32957e-16 2.62198e-17 -2.0944 - model://ergoCub/conf/FT/gazebo_ergocub_left_foot_rear_ft.ini - + model://ergoCub/conf/FT/gazebo_ergocub_left_foot_rear_ft.ini + @@ -3347,29 +3512,51 @@ sensor parent_to_child - + - - + + 1 100 sensor child_to_parent - 0.0 0.0 0.0 3.141592653589793 0.0 -2.6179934742070086 - - model://ergoCub/conf/FT/gazebo_ergocub_right_leg_ft.ini - + 5.20417e-18 0 0 3.14159 -2.02132e-15 2.61799 + + model://ergoCub/conf/FT/gazebo_ergocub_left_leg_ft.ini + - - + + + + sensor + child_to_parent + + + + + + 1 + 100 + + sensor + child_to_parent + + 0 0 0 -3.14159 -2.77556e-17 1.5708 + + model://ergoCub/conf/FT/gazebo_ergocub_right_arm_ft.ini + + + + + sensor child_to_parent - + @@ -3379,10 +3566,10 @@ sensor parent_to_child - 0.0 0.0 0.0 0.0 -0.0 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+ + + 640 + 480 + R8G8B8 + + + 0.175 + 3000 + + false - model://ergoCub/conf/sensors/gazebo_ergocub_rgbd_camera.ini - + model://ergoCub/conf/sensors/gazebo_ergocub_rgbd_camera.ini + - + 1 - 30 - 0.00751550026595621 -0.0115 -4.911144457775407e-08 -1.5707962931078618 8.881784197001252e-16 -1.5707963267948954 + 30.000000 + 0.00751548 -0.0115 1.73521e-08 -1.5708 3.75968e-16 -1.5708 - 0 0 0 -1.57079 -1.57079 3.14159 - 1.2217 - - 0 - 0 - 0 - 0 - 0 -
319.5 239.5
- - - 640 - 480 - R8G8B8 - - - 0.02 - 3000 - - + 0 0 0 -1.57079 -1.57079 3.14159 + 1.2217 + + 0 + 0 + 0 + 0 + 0 +
319.5 239.5
+ + + 640 + 480 + R8G8B8 + + + 0.02 + 3000 + + false - model://ergoCub/conf/gazebo_ergocub_rgb_camera.ini - + model://ergoCub/conf/gazebo_ergocub_rgb_camera.ini + - + 1 - 100 - 0.00751550026595621 0.010000000000000005 -4.911144457775407e-08 -1.5707962931078618 8.881784197001252e-16 -1.5707963267948954 + 100.000000 + 0.00751548 0.01 1.73521e-08 -1.5708 3.75968e-16 -1.5708 - model://ergoCub/conf/gazebo_ergocub_realsense_inertial.ini - + model://ergoCub/conf/gazebo_ergocub_realsense_inertial.ini + - + 1 - 100 - 4.99999999999997e-05 0.0 0.13480199999999992 0.0 0.0 -3.6732051038684153e-06 + 100.000000 + 5e-05 -1.93855e-15 0.134802 -5.33161e-15 9.72194e-15 -1.5708 1 true 40 - - - 360 - 2 - 0 - 6.28 - - - - 0.04 - 5 - 0.01 - - - gaussian - 0 - 0.005 - - + + + 360 + 2 + 0 + 6.28 + + + + 0.04 + 5 + 0.01 + + + gaussian + 0 + 0.005 + + - model://ergoCub/conf/sensors/gazebo_ergocub_lidar.ini - + model://ergoCub/conf/sensors/gazebo_ergocub_lidar.ini + - + - - 0.0 0.0 0.8 0.0 0.0 0.0 - From 19b5663548cec12a5651394fff4c611592a85246 Mon Sep 17 00:00:00 2001 From: Alessandro Croci Date: Wed, 27 Mar 2024 17:49:37 +0100 Subject: [PATCH 18/28] Fix remove plugins for the hands Plugins added erroneusly --- .../data/ergocub1_0/ERGOCUB_all_options_gazebo.yaml | 12 ------------ urdf/ergoCub/robots/ergoCubGazeboV1/model.urdf | 10 ---------- 2 files changed, 22 deletions(-) diff --git a/urdf/creo2urdf/data/ergocub1_0/ERGOCUB_all_options_gazebo.yaml b/urdf/creo2urdf/data/ergocub1_0/ERGOCUB_all_options_gazebo.yaml index caa22993..2af6e790 100644 --- a/urdf/creo2urdf/data/ergocub1_0/ERGOCUB_all_options_gazebo.yaml +++ b/urdf/creo2urdf/data/ergocub1_0/ERGOCUB_all_options_gazebo.yaml @@ -1713,12 +1713,6 @@ XMLBlobs: model://ergoCub/conf/gazebo_ergocub_left_hand_mk5_0.ini - - | - - - model://ergoCub/conf/gazebo_ergocub_left_hand_mk5_1.ini - - - | 1 @@ -1774,12 +1768,6 @@ XMLBlobs: model://ergoCub/conf/gazebo_ergocub_right_hand_mk5_0.ini - - | - - - model://ergoCub/conf/gazebo_ergocub_right_hand_mk5_1.ini - - - | 1 diff --git a/urdf/ergoCub/robots/ergoCubGazeboV1/model.urdf b/urdf/ergoCub/robots/ergoCubGazeboV1/model.urdf index 03c78e69..ab4e1a2a 100644 --- a/urdf/ergoCub/robots/ergoCubGazeboV1/model.urdf +++ b/urdf/ergoCub/robots/ergoCubGazeboV1/model.urdf @@ -3355,11 +3355,6 @@ model://ergoCub/conf/gazebo_ergocub_left_hand_mk5_0.ini - - - model://ergoCub/conf/gazebo_ergocub_left_hand_mk5_1.ini - - 1 @@ -3403,11 +3398,6 @@ model://ergoCub/conf/gazebo_ergocub_right_hand_mk5_0.ini - - - model://ergoCub/conf/gazebo_ergocub_right_hand_mk5_1.ini - - 1 From 3c6866755e47fd33125d2a1331590b97c1552d1f Mon Sep 17 00:00:00 2001 From: Alessandro Croci Date: Wed, 27 Mar 2024 18:00:35 +0100 Subject: [PATCH 19/28] Add controlboard plugins for hands mk5_0 --- .../data/ergocub1_0/ERGOCUB_all_options_gazebo.yaml | 12 ++++++++++++ urdf/ergoCub/robots/ergoCubGazeboV1/model.urdf | 10 ++++++++++ 2 files changed, 22 insertions(+) diff --git a/urdf/creo2urdf/data/ergocub1_0/ERGOCUB_all_options_gazebo.yaml b/urdf/creo2urdf/data/ergocub1_0/ERGOCUB_all_options_gazebo.yaml index 2af6e790..45a611a7 100644 --- a/urdf/creo2urdf/data/ergocub1_0/ERGOCUB_all_options_gazebo.yaml +++ b/urdf/creo2urdf/data/ergocub1_0/ERGOCUB_all_options_gazebo.yaml @@ -1713,6 +1713,12 @@ XMLBlobs: model://ergoCub/conf/gazebo_ergocub_left_hand_mk5_0.ini + - | + + + model://ergoCub/conf/gazebo_ergocub_left_hand_mk5_0.ini + + - | 1 @@ -1768,6 +1774,12 @@ XMLBlobs: model://ergoCub/conf/gazebo_ergocub_right_hand_mk5_0.ini + - | + + + model://ergoCub/conf/gazebo_ergocub_right_hand_mk5_0.ini + + - | 1 diff --git a/urdf/ergoCub/robots/ergoCubGazeboV1/model.urdf b/urdf/ergoCub/robots/ergoCubGazeboV1/model.urdf index ab4e1a2a..929ec56a 100644 --- a/urdf/ergoCub/robots/ergoCubGazeboV1/model.urdf +++ b/urdf/ergoCub/robots/ergoCubGazeboV1/model.urdf @@ -3355,6 +3355,11 @@ model://ergoCub/conf/gazebo_ergocub_left_hand_mk5_0.ini + + + model://ergoCub/conf/gazebo_ergocub_left_hand_mk5_0.ini + + 1 @@ -3398,6 +3403,11 @@ model://ergoCub/conf/gazebo_ergocub_right_hand_mk5_0.ini + + + model://ergoCub/conf/gazebo_ergocub_right_hand_mk5_0.ini + + 1 From d60aff42d636280d2ece246f2adad989ab518634 Mon Sep 17 00:00:00 2001 From: Alessandro Croci Date: Wed, 27 Mar 2024 18:17:16 +0100 Subject: [PATCH 20/28] Update ergocub1_0/ERGOCUB_all_options_minContacts.yaml --- .../ERGOCUB_all_options_minContacts.yaml | 163 +++++++++++++++++- 1 file changed, 162 insertions(+), 1 deletion(-) diff --git a/urdf/creo2urdf/data/ergocub1_0/ERGOCUB_all_options_minContacts.yaml b/urdf/creo2urdf/data/ergocub1_0/ERGOCUB_all_options_minContacts.yaml index 8acb4648..5cd97855 100644 --- a/urdf/creo2urdf/data/ergocub1_0/ERGOCUB_all_options_minContacts.yaml +++ b/urdf/creo2urdf/data/ergocub1_0/ERGOCUB_all_options_minContacts.yaml @@ -1626,6 +1626,12 @@ XMLBlobs: model://ergoCub/conf/gazebo_ergocub_waist_inertial.ini + - | + + + model://ergoCub/conf/gazebo_ergocub_waist_inertial.ini + + - | @@ -1670,6 +1676,12 @@ XMLBlobs: model://ergoCub/conf/gazebo_ergocub_torso.ini + - | + + + model://ergoCub/conf/gazebo_ergocub_torso.ini + + - | 1 @@ -1756,13 +1768,48 @@ XMLBlobs: 1 0 0 0 + - | + + + model://ergoCub/conf/FT/gazebo_ergocub_left_leg_ft.ini + + + - | + + + model://ergoCub/conf/FT/gazebo_ergocub_left_foot_front_ft.ini + + + - | + + + model://ergoCub/conf/FT/gazebo_ergocub_left_foot_rear_ft.ini + + + - | + + + model://ergoCub/conf/gazebo_ergocub_l_foot_front_ft_sensor_inertial.ini + + + - | + + + model://ergoCub/conf/gazebo_ergocub_l_foot_rear_ft_sensor_inertial.ini + + - | model://ergoCub/conf/gazebo_ergocub_left_leg.ini - + - | + + + model://ergoCub/conf/gazebo_ergocub_left_leg.ini + + - | 1 @@ -1836,12 +1883,48 @@ XMLBlobs: 1 0 0 0 + - | + + + model://ergoCub/conf/FT/gazebo_ergocub_right_leg_ft.ini + + + - | + + + model://ergoCub/conf/FT/gazebo_ergocub_right_foot_front_ft.ini + + + - | + + + model://ergoCub/conf/FT/gazebo_ergocub_right_foot_rear_ft.ini + + + - | + + + model://ergoCub/conf/gazebo_ergocub_r_foot_front_ft_sensor_inertial.ini + + + - | + + + model://ergoCub/conf/gazebo_ergocub_r_foot_rear_ft_sensor_inertial.ini + + - | model://ergoCub/conf/gazebo_ergocub_right_leg.ini + - | + + + model://ergoCub/conf/gazebo_ergocub_right_leg.ini + + - | 1 @@ -1868,12 +1951,36 @@ XMLBlobs: # head + - | + + + model://ergoCub/conf/gazebo_ergocub_inertial.ini + + + - | + + + model://ergoCub/conf/gazebo_ergocub_realsense_inertial.ini + + + - | + + + model://ergoCub/conf/sensors/gazebo_ergocub_lidar.ini + + - | model://ergoCub/conf/gazebo_ergocub_head.ini + - | + + + model://ergoCub/conf/gazebo_ergocub_head.ini + + - | 1 @@ -1895,12 +2002,31 @@ XMLBlobs: -0.52 0.52 0 0.785 0 0 0.0 + - | + + + model://ergoCub/conf/gazebo_ergocub_left_arm.ini + -0.52 0.52 0 0.785 0 0 0.0 + + - | model://ergoCub/conf/gazebo_ergocub_left_hand_mk5_0.ini + - | + + + model://ergoCub/conf/gazebo_ergocub_left_hand_mk5_0.ini + + + - | + + + model://ergoCub/conf/FT/gazebo_ergocub_left_arm_ft.ini + + - | 1 @@ -1937,12 +2063,31 @@ XMLBlobs: -0.52 0.52 0 0.785 0 0 0.0 + - | + + + model://ergoCub/conf/gazebo_ergocub_right_arm.ini + -0.52 0.52 0 0.785 0 0 0.0 + + - | model://ergoCub/conf/gazebo_ergocub_right_hand_mk5_0.ini + - | + + + model://ergoCub/conf/gazebo_ergocub_right_hand_mk5_0.ini + + + - | + + + model://ergoCub/conf/FT/gazebo_ergocub_right_arm_ft.ini + + - | 1 @@ -1977,3 +2122,19 @@ XMLBlobs: model://ergoCub/conf/ergocub.xml + - | + + + model://ergoCub/conf/ergocub_gz_sim.xml + + + + - | + + + + + - | + + + From 3867c4e0a0bee53bbacc98838749919ffd8c3477 Mon Sep 17 00:00:00 2001 From: Alessandro Croci Date: Wed, 27 Mar 2024 18:17:35 +0100 Subject: [PATCH 21/28] Update model.urdf for `ergoCubGazeboV1_minContacts` --- .../ergoCubGazeboV1_minContacts/model.urdf | 4632 +++++++++-------- 1 file changed, 2326 insertions(+), 2306 deletions(-) diff --git a/urdf/ergoCub/robots/ergoCubGazeboV1_minContacts/model.urdf b/urdf/ergoCub/robots/ergoCubGazeboV1_minContacts/model.urdf index e3c46d24..115077b2 100644 --- a/urdf/ergoCub/robots/ergoCubGazeboV1_minContacts/model.urdf +++ b/urdf/ergoCub/robots/ergoCubGazeboV1_minContacts/model.urdf @@ -1,2899 +1,2770 @@ + - - - + + + - + - + - + - + - + - + + + + + + + + + - - - + + + - + - + - + - + - + - - + + - - + + - + - - - + + + - + - + - + - + - + - - - - - - - - - - - - - - + + + + + + + - + - - - + + + - + - + - - + + - + - + - - - - - + + + + + + + - + - - - + + + - + - + - + - + - + - - - - - - - + + + + + + + - + - - - + + + - + - + - + - + - + - - - - - - - + + + + + + + - + - - - + + + - + - + - + - + - + - - - - - - - + + + + + + + - + - - - + + + - + - + - - + + - + - + - - - - - - - - - - - - - - - - - - - - - + + + + + + + - + - - - + + + - + - + - - + + - + - + - - - - - - - - - - - - + + + + + + + - + - - - + + + - + - + - - + + - + - + - - - - - + + + + - + - - - + + + - + - + - + - + - + - - - - - - - + + + + + + + - + - - - + + + - + - + - - + + - + - + - - - - - - - - - - - - - - + + + + + + + - + - - - + + + - + - + - + - + - + - - - - - + + + + + + + - + - - - + + + - + - + - + - + - + - - - - - - - + + + + + + + - + - - - + + + - + - + - - + + - + - + - - - - - - - + + + + + + + - 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-model://ergoCub/conf/gazebo_ergocub_head.ini - - + + model://ergoCub/conf/gazebo_ergocub_head.ini + + 1 - + 1 - + 1 - + + + + model://ergoCub/conf/gazebo_ergocub_left_arm.ini + -0.52 0.52 0 0.785 0 0 0.0 + + + + + model://ergoCub/conf/gazebo_ergocub_left_arm.ini + -0.52 0.52 0 0.785 0 0 0.0 + + + + + model://ergoCub/conf/gazebo_ergocub_left_hand_mk5_0.ini + + - -model://ergoCub/conf/gazebo_ergocub_left_arm.ini --0.52 0.52 0 0.785 0 0 0.0 - - + + model://ergoCub/conf/gazebo_ergocub_left_hand_mk5_0.ini + + - -model://ergoCub/conf/gazebo_ergocub_left_hand_mk5_0.ini - - + + model://ergoCub/conf/FT/gazebo_ergocub_left_arm_ft.ini + + - 1 - + 1 + - 1 - + 1 + - 1 - + 1 + - 1 - + 1 + - 1 - + 1 + - 1 - + 1 + - 1 - + 1 + + + + model://ergoCub/conf/gazebo_ergocub_right_arm.ini + -0.52 0.52 0 0.785 0 0 0.0 + + + + + model://ergoCub/conf/gazebo_ergocub_right_arm.ini + -0.52 0.52 0 0.785 0 0 0.0 + + + + + model://ergoCub/conf/gazebo_ergocub_right_hand_mk5_0.ini + + - -model://ergoCub/conf/gazebo_ergocub_right_arm.ini --0.52 0.52 0 0.785 0 0 0.0 - - + + model://ergoCub/conf/gazebo_ergocub_right_hand_mk5_0.ini + + - -model://ergoCub/conf/gazebo_ergocub_right_hand_mk5_0.ini - - + + model://ergoCub/conf/FT/gazebo_ergocub_right_arm_ft.ini + + - 1 - + 1 + - 1 - + 1 + - 1 - + 1 + - 1 - + 1 + - 1 - + 1 + - 1 - + 1 + - 1 - + 1 + + + + model://ergoCub/conf/ergocub.xml + + + + + model://ergoCub/conf/ergocub_gz_sim.xml + + + + + + + + - - model://ergoCub/conf/ergocub.xml - - + 0.000000 0.000000 0.800000 0.000000 0.000000 0.000000 + 1 @@ -3247,10 +3270,10 @@ sensor child_to_parent - 0.0 0.0 0.0 -3.1415923328972943 2.923917580150936e-08 -1.5707962214346844 + -3.46945e-18 0 0 3.14159 1.94289e-16 -1.5708 - model://ergoCub/conf/FT/gazebo_ergocub_left_arm_ft.ini - + model://ergoCub/conf/FT/gazebo_ergocub_left_arm_ft.ini + @@ -3259,51 +3282,7 @@ sensor child_to_parent - - - - - 1 - 100 - - sensor - child_to_parent - - 0.0 0.0 0.0 -3.1415924092528633 -2.2277470853981803e-08 1.5707964070692688 - - model://ergoCub/conf/FT/gazebo_ergocub_right_arm_ft.ini - - - - - - - sensor - child_to_parent - - - - - - 1 - 100 - - sensor - child_to_parent - - 0.0 0.0 0.0 3.141592653589793 -0.0 2.6179934742070086 - - model://ergoCub/conf/FT/gazebo_ergocub_left_leg_ft.ini - - - - - - - sensor - child_to_parent - - + @@ -3313,10 +3292,10 @@ sensor parent_to_child - 0.0 0.0 0.0 0.0 -0.0 -2.0943952105869315 + 1.38778e-17 0 0.0223 1.32957e-16 2.62198e-17 -2.0944 - model://ergoCub/conf/FT/gazebo_ergocub_left_foot_front_ft.ini - + model://ergoCub/conf/FT/gazebo_ergocub_left_foot_front_ft.ini + @@ -3325,7 +3304,7 @@ sensor parent_to_child - + @@ -3335,10 +3314,10 @@ sensor parent_to_child - 0.0 0.0 0.0 0.0 -0.0 -2.0943952105869315 + 0 0 0.0223 1.32957e-16 2.62198e-17 -2.0944 - model://ergoCub/conf/FT/gazebo_ergocub_left_foot_rear_ft.ini - + model://ergoCub/conf/FT/gazebo_ergocub_left_foot_rear_ft.ini + @@ -3347,29 +3326,51 @@ sensor parent_to_child - + - - + + 1 100 sensor child_to_parent - 0.0 0.0 0.0 3.141592653589793 0.0 -2.6179934742070086 - - model://ergoCub/conf/FT/gazebo_ergocub_right_leg_ft.ini - + 5.20417e-18 0 0 3.14159 -2.02132e-15 2.61799 + + model://ergoCub/conf/FT/gazebo_ergocub_left_leg_ft.ini + - - + + + + sensor + child_to_parent + + + + + + 1 + 100 + + sensor + child_to_parent + + 0 0 0 -3.14159 -2.77556e-17 1.5708 + + model://ergoCub/conf/FT/gazebo_ergocub_right_arm_ft.ini + + + + + sensor child_to_parent - + @@ -3379,10 +3380,10 @@ sensor parent_to_child - 0.0 0.0 0.0 0.0 -0.0 -2.0943952105869315 + 0 -1.38778e-17 0.0223 3.51927e-17 -1.44222e-16 -2.0944 - model://ergoCub/conf/FT/gazebo_ergocub_right_foot_front_ft.ini - + model://ergoCub/conf/FT/gazebo_ergocub_right_foot_front_ft.ini + @@ -3391,7 +3392,7 @@ sensor parent_to_child - + @@ -3401,10 +3402,10 @@ sensor parent_to_child - 0.0 0.0 0.0 0.0 -0.0 -2.0943952105869315 + 6.93889e-18 1.38778e-17 0.0223 3.51927e-17 -1.44222e-16 -2.0944 - model://ergoCub/conf/FT/gazebo_ergocub_right_foot_rear_ft.ini - + model://ergoCub/conf/FT/gazebo_ergocub_right_foot_rear_ft.ini + @@ -3413,146 +3414,165 @@ sensor parent_to_child - + + + + + 1 + 100 + + sensor + child_to_parent + + 1.21431e-17 2.77556e-17 5.55112e-17 3.14159 2.98881e-16 -2.61799 + + model://ergoCub/conf/FT/gazebo_ergocub_right_leg_ft.ini + + + + + + + sensor + child_to_parent + + 1 - 100 - -0.004299998 -0.0055 0.03823499999999996 3.141592653589793 -0.0 1.5707963267948966 + 100.000000 + -0.0043 -0.0055 0.0382345 -3.14159 -9.68848e-15 1.5708 - model://ergoCub/conf/gazebo_ergocub_inertial.ini - + model://ergoCub/conf/gazebo_ergocub_inertial.ini + - + 1 - 30 - 0.00751550026595621 -0.0115 -4.911144457775407e-08 -1.5707962931078618 8.881784197001252e-16 -1.5707963267948954 + 30.000000 + 0.00751548 -0.0115 1.73521e-08 -1.5708 3.75968e-16 -1.5708 - 0 0 0 -1.57079 -1.57079 3.14159 - 1.2217 - - 0 - 0 - 0 - 0 - 0 -
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319.5 239.5
+ + + 640 + 480 + R8G8B8 + + + 0.175 + 3000 + + false - model://ergoCub/conf/sensors/gazebo_ergocub_rgbd_camera.ini - + model://ergoCub/conf/sensors/gazebo_ergocub_rgbd_camera.ini + - + 1 - 30 - 0.00751550026595621 -0.0115 -4.911144457775407e-08 -1.5707962931078618 8.881784197001252e-16 -1.5707963267948954 + 30.000000 + 0.00751548 -0.0115 1.73521e-08 -1.5708 3.75968e-16 -1.5708 - 0 0 0 -1.57079 -1.57079 3.14159 - 1.2217 - - 0 - 0 - 0 - 0 - 0 -
319.5 239.5
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319.5 239.5
+ + + 640 + 480 + R8G8B8 + + + 0.02 + 3000 + + false - model://ergoCub/conf/gazebo_ergocub_rgb_camera.ini - + model://ergoCub/conf/gazebo_ergocub_rgb_camera.ini + - + 1 - 100 - 0.00751550026595621 0.010000000000000005 -4.911144457775407e-08 -1.5707962931078618 8.881784197001252e-16 -1.5707963267948954 + 100.000000 + 0.00751548 0.01 1.73521e-08 -1.5708 3.75968e-16 -1.5708 - model://ergoCub/conf/gazebo_ergocub_realsense_inertial.ini - + model://ergoCub/conf/gazebo_ergocub_realsense_inertial.ini + - + 1 - 100 - 4.99999999999997e-05 0.0 0.13480199999999992 0.0 0.0 -3.6732051038684153e-06 + 100.000000 + 5e-05 -1.93855e-15 0.134802 -5.33161e-15 9.72194e-15 -1.5708 1 true 40 - - - 360 - 2 - 0 - 6.28 - - - - 0.04 - 5 - 0.01 - - - gaussian - 0 - 0.005 - - + + + 360 + 2 + 0 + 6.28 + + + + 0.04 + 5 + 0.01 + + + gaussian + 0 + 0.005 + + - model://ergoCub/conf/sensors/gazebo_ergocub_lidar.ini - + model://ergoCub/conf/sensors/gazebo_ergocub_lidar.ini + - + - - 0.0 0.0 0.8 0.0 0.0 0.0 - From bcb7e930076075a3df5b0cd295fcd280641ec40e Mon Sep 17 00:00:00 2001 From: Alessandro Croci Date: Wed, 27 Mar 2024 18:26:04 +0100 Subject: [PATCH 22/28] Update ergocub1_0/ERGOCUB_all_options.yaml --- .../data/ergocub1_0/ERGOCUB_all_options.yaml | 163 +++++++++++++++++- 1 file changed, 162 insertions(+), 1 deletion(-) diff --git a/urdf/creo2urdf/data/ergocub1_0/ERGOCUB_all_options.yaml b/urdf/creo2urdf/data/ergocub1_0/ERGOCUB_all_options.yaml index b95f6dc4..7e62adc9 100644 --- a/urdf/creo2urdf/data/ergocub1_0/ERGOCUB_all_options.yaml +++ b/urdf/creo2urdf/data/ergocub1_0/ERGOCUB_all_options.yaml @@ -1132,6 +1132,12 @@ XMLBlobs: model://ergoCub/conf/gazebo_ergocub_waist_inertial.ini + - | + + + model://ergoCub/conf/gazebo_ergocub_waist_inertial.ini + + - | @@ -1176,6 +1182,12 @@ XMLBlobs: model://ergoCub/conf/gazebo_ergocub_torso.ini + - | + + + model://ergoCub/conf/gazebo_ergocub_torso.ini + + - | 1 @@ -1262,13 +1274,48 @@ XMLBlobs: 1 0 0 0 + - | + + + model://ergoCub/conf/FT/gazebo_ergocub_left_leg_ft.ini + + + - | + + + model://ergoCub/conf/FT/gazebo_ergocub_left_foot_front_ft.ini + + + - | + + + model://ergoCub/conf/FT/gazebo_ergocub_left_foot_rear_ft.ini + + + - | + + + model://ergoCub/conf/gazebo_ergocub_l_foot_front_ft_sensor_inertial.ini + + + - | + + + model://ergoCub/conf/gazebo_ergocub_l_foot_rear_ft_sensor_inertial.ini + + - | model://ergoCub/conf/gazebo_ergocub_left_leg.ini - + - | + + + model://ergoCub/conf/gazebo_ergocub_left_leg.ini + + - | 1 @@ -1342,12 +1389,48 @@ XMLBlobs: 1 0 0 0 + - | + + + model://ergoCub/conf/FT/gazebo_ergocub_right_leg_ft.ini + + + - | + + + model://ergoCub/conf/FT/gazebo_ergocub_right_foot_front_ft.ini + + + - | + + + model://ergoCub/conf/FT/gazebo_ergocub_right_foot_rear_ft.ini + + + - | + + + model://ergoCub/conf/gazebo_ergocub_r_foot_front_ft_sensor_inertial.ini + + + - | + + + model://ergoCub/conf/gazebo_ergocub_r_foot_rear_ft_sensor_inertial.ini + + - | model://ergoCub/conf/gazebo_ergocub_right_leg.ini + - | + + + model://ergoCub/conf/gazebo_ergocub_right_leg.ini + + - | 1 @@ -1374,12 +1457,36 @@ XMLBlobs: # head + - | + + + model://ergoCub/conf/gazebo_ergocub_inertial.ini + + + - | + + + model://ergoCub/conf/gazebo_ergocub_realsense_inertial.ini + + + - | + + + model://ergoCub/conf/sensors/gazebo_ergocub_lidar.ini + + - | model://ergoCub/conf/gazebo_ergocub_head.ini + - | + + + model://ergoCub/conf/gazebo_ergocub_head.ini + + - | 1 @@ -1401,12 +1508,31 @@ XMLBlobs: -0.52 0.52 0 0.785 0 0 0.0 + - | + + + model://ergoCub/conf/gazebo_ergocub_left_arm.ini + -0.52 0.52 0 0.785 0 0 0.0 + + - | model://ergoCub/conf/gazebo_ergocub_left_hand_mk5_0.ini + - | + + + model://ergoCub/conf/gazebo_ergocub_left_hand_mk5_0.ini + + + - | + + + model://ergoCub/conf/FT/gazebo_ergocub_left_arm_ft.ini + + - | 1 @@ -1443,12 +1569,31 @@ XMLBlobs: -0.52 0.52 0 0.785 0 0 0.0 + - | + + + model://ergoCub/conf/gazebo_ergocub_right_arm.ini + -0.52 0.52 0 0.785 0 0 0.0 + + - | model://ergoCub/conf/gazebo_ergocub_right_hand_mk5_0.ini + - | + + + model://ergoCub/conf/gazebo_ergocub_right_hand_mk5_0.ini + + + - | + + + model://ergoCub/conf/FT/gazebo_ergocub_right_arm_ft.ini + + - | 1 @@ -1483,3 +1628,19 @@ XMLBlobs: model://ergoCub/conf/ergocub.xml + - | + + + model://ergoCub/conf/ergocub_gz_sim.xml + + + + - | + + + + + - | + + + From d62352f70777d68d11cfc49a29fc1e5a2476ff0e Mon Sep 17 00:00:00 2001 From: Alessandro Croci Date: Wed, 27 Mar 2024 18:26:18 +0100 Subject: [PATCH 23/28] Update model.urdf for `ergoCubSN000` --- urdf/ergoCub/robots/ergoCubSN000/model.urdf | 4960 ++++++++++--------- 1 file changed, 2583 insertions(+), 2377 deletions(-) diff --git a/urdf/ergoCub/robots/ergoCubSN000/model.urdf b/urdf/ergoCub/robots/ergoCubSN000/model.urdf index e43fecb3..9f7923c3 100644 --- a/urdf/ergoCub/robots/ergoCubSN000/model.urdf +++ b/urdf/ergoCub/robots/ergoCubSN000/model.urdf @@ -1,2899 +1,2956 @@ + - 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- + + model://ergoCub/conf/gazebo_ergocub_right_hand_mk5_0.ini + + + + + model://ergoCub/conf/gazebo_ergocub_right_hand_mk5_0.ini + + - -model://ergoCub/conf/gazebo_ergocub_right_hand_mk5_0.ini - - + + model://ergoCub/conf/FT/gazebo_ergocub_right_arm_ft.ini + + - 1 - + 1 + - 1 - + 1 + - 1 - + 1 + - 1 - + 1 + - 1 - + 1 + - 1 - + 1 + - 1 - + 1 + + + + model://ergoCub/conf/ergocub.xml + + + + + model://ergoCub/conf/ergocub_gz_sim.xml + + + + + - - model://ergoCub/conf/ergocub.xml - - + + + + 0.000000 0.000000 0.800000 0.000000 0.000000 0.000000 + 1 @@ -3247,10 +3456,10 @@ sensor child_to_parent - 0.0 0.0 0.0 -3.1415923328972943 2.923917580150936e-08 -1.5707962214346844 + -3.46945e-18 0 0 3.14159 1.94289e-16 -1.5708 - model://ergoCub/conf/FT/gazebo_ergocub_left_arm_ft.ini - + model://ergoCub/conf/FT/gazebo_ergocub_left_arm_ft.ini + @@ -3259,51 +3468,7 @@ sensor child_to_parent - - - - - 1 - 100 - - sensor - child_to_parent - - 0.0 0.0 0.0 -3.1415924092528633 -2.2277470853981803e-08 1.5707964070692688 - - model://ergoCub/conf/FT/gazebo_ergocub_right_arm_ft.ini - - - - - - - sensor - child_to_parent - - - - - - 1 - 100 - - sensor - child_to_parent - - 0.0 0.0 0.0 3.141592653589793 -0.0 2.6179934742070086 - - model://ergoCub/conf/FT/gazebo_ergocub_left_leg_ft.ini - - - - - - - sensor - child_to_parent - - + @@ -3313,10 +3478,10 @@ sensor parent_to_child - 0.0 0.0 0.0 0.0 -0.0 -2.0943952105869315 + 1.38778e-17 0 0.0223 1.32957e-16 2.62198e-17 -2.0944 - model://ergoCub/conf/FT/gazebo_ergocub_left_foot_front_ft.ini - + model://ergoCub/conf/FT/gazebo_ergocub_left_foot_front_ft.ini + @@ -3325,7 +3490,7 @@ sensor parent_to_child - + @@ -3335,10 +3500,10 @@ sensor parent_to_child - 0.0 0.0 0.0 0.0 -0.0 -2.0943952105869315 + 0 0 0.0223 1.32957e-16 2.62198e-17 -2.0944 - model://ergoCub/conf/FT/gazebo_ergocub_left_foot_rear_ft.ini - + model://ergoCub/conf/FT/gazebo_ergocub_left_foot_rear_ft.ini + @@ -3347,29 +3512,51 @@ sensor parent_to_child - + - - + + 1 100 sensor child_to_parent - 0.0 0.0 0.0 3.141592653589793 0.0 -2.6179934742070086 - - model://ergoCub/conf/FT/gazebo_ergocub_right_leg_ft.ini - + 5.20417e-18 0 0 3.14159 -2.02132e-15 2.61799 + + model://ergoCub/conf/FT/gazebo_ergocub_left_leg_ft.ini + - - + + + + sensor + child_to_parent + + + + + + 1 + 100 + + sensor + child_to_parent + + 0 0 0 -3.14159 -2.77556e-17 1.5708 + + model://ergoCub/conf/FT/gazebo_ergocub_right_arm_ft.ini + + + + + sensor child_to_parent - + @@ -3379,10 +3566,10 @@ sensor parent_to_child - 0.0 0.0 0.0 0.0 -0.0 -2.0943952105869315 + 0 -1.38778e-17 0.0223 3.51927e-17 -1.44222e-16 -2.0944 - model://ergoCub/conf/FT/gazebo_ergocub_right_foot_front_ft.ini - + model://ergoCub/conf/FT/gazebo_ergocub_right_foot_front_ft.ini + @@ -3391,7 +3578,7 @@ sensor parent_to_child - + @@ -3401,10 +3588,10 @@ sensor parent_to_child - 0.0 0.0 0.0 0.0 -0.0 -2.0943952105869315 + 6.93889e-18 1.38778e-17 0.0223 3.51927e-17 -1.44222e-16 -2.0944 - model://ergoCub/conf/FT/gazebo_ergocub_right_foot_rear_ft.ini - + model://ergoCub/conf/FT/gazebo_ergocub_right_foot_rear_ft.ini + @@ -3413,146 +3600,165 @@ sensor parent_to_child - 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- model://ergoCub/conf/FT/gazebo_ergocub_right_arm_ft.ini - - + +model://ergoCub/conf/gazebo_ergocub_right_hand_mk5_0.ini + + - 1 - + 1 + - 1 - + 1 + - 1 - + 1 + - 1 - + 1 + - 1 - + 1 + - 1 - + 1 + - 1 - - - - model://ergoCub/conf/ergocub.xml - - - - - model://ergoCub/conf/ergocub_gz_sim.xml - - - - - + 1 + - - - - 0.000000 0.000000 0.800000 0.000000 0.000000 0.000000 - + + model://ergoCub/conf/ergocub.xml + + 1 @@ -3456,10 +3247,10 @@ sensor child_to_parent - -3.46945e-18 0 0 3.14159 1.94289e-16 -1.5708 + 0.0 0.0 0.0 -3.1415923328972943 2.923917580150936e-08 -1.5707962214346844 - model://ergoCub/conf/FT/gazebo_ergocub_left_arm_ft.ini - + model://ergoCub/conf/FT/gazebo_ergocub_left_arm_ft.ini + @@ -3468,7 +3259,51 @@ sensor child_to_parent - + + + + + 1 + 100 + + sensor + child_to_parent + + 0.0 0.0 0.0 -3.1415924092528633 -2.2277470853981803e-08 1.5707964070692688 + + model://ergoCub/conf/FT/gazebo_ergocub_right_arm_ft.ini + + + + + + + sensor + child_to_parent + + + + + + 1 + 100 + + sensor + child_to_parent + + 0.0 0.0 0.0 3.141592653589793 -0.0 2.6179934742070086 + + model://ergoCub/conf/FT/gazebo_ergocub_left_leg_ft.ini + + + + + + + sensor + child_to_parent + + @@ -3478,10 +3313,10 @@ sensor parent_to_child - 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- + + sensor child_to_parent - + @@ -3566,10 +3379,10 @@ sensor parent_to_child - 0 -1.38778e-17 0.0223 3.51927e-17 -1.44222e-16 -2.0944 + 0.0 0.0 0.0 0.0 -0.0 -2.0943952105869315 - model://ergoCub/conf/FT/gazebo_ergocub_right_foot_front_ft.ini - + model://ergoCub/conf/FT/gazebo_ergocub_right_foot_front_ft.ini + @@ -3578,7 +3391,7 @@ sensor parent_to_child - + @@ -3588,10 +3401,10 @@ sensor parent_to_child - 6.93889e-18 1.38778e-17 0.0223 3.51927e-17 -1.44222e-16 -2.0944 + 0.0 0.0 0.0 0.0 -0.0 -2.0943952105869315 - model://ergoCub/conf/FT/gazebo_ergocub_right_foot_rear_ft.ini - + model://ergoCub/conf/FT/gazebo_ergocub_right_foot_rear_ft.ini + @@ -3600,165 +3413,146 @@ sensor parent_to_child - - - - - 1 - 100 - - sensor - child_to_parent - - 1.21431e-17 2.77556e-17 5.55112e-17 3.14159 2.98881e-16 -2.61799 - - model://ergoCub/conf/FT/gazebo_ergocub_right_leg_ft.ini - - - - - - - sensor - child_to_parent - - + 1 - 100.000000 - -0.0043 -0.0055 0.0382345 -3.14159 -9.68848e-15 1.5708 + 100 + -0.004299998 -0.0055 0.03823499999999996 3.141592653589793 -0.0 1.5707963267948966 - 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+ @@ -3314,10 +3335,10 @@ sensor parent_to_child - 0 0 0.0223 1.32957e-16 2.62198e-17 -2.0944 + 0.0 0.0 0.0 0.0 -0.0 -2.0943952105869315 - model://ergoCub/conf/FT/gazebo_ergocub_left_foot_rear_ft.ini - + model://ergoCub/conf/FT/gazebo_ergocub_left_foot_rear_ft.ini + @@ -3326,51 +3347,29 @@ sensor parent_to_child - - - - - 1 - 100 - - sensor - child_to_parent - - 5.20417e-18 0 0 3.14159 -2.02132e-15 2.61799 - - model://ergoCub/conf/FT/gazebo_ergocub_left_leg_ft.ini - - - - - - - sensor - child_to_parent - - + - - + + 1 100 sensor child_to_parent - 0 0 0 -3.14159 -2.77556e-17 1.5708 - - model://ergoCub/conf/FT/gazebo_ergocub_right_arm_ft.ini - + 0.0 0.0 0.0 3.141592653589793 0.0 -2.6179934742070086 + + model://ergoCub/conf/FT/gazebo_ergocub_right_leg_ft.ini + - - + + sensor child_to_parent - + @@ -3380,10 +3379,10 @@ sensor parent_to_child - 0 -1.38778e-17 0.0223 3.51927e-17 -1.44222e-16 -2.0944 + 0.0 0.0 0.0 0.0 -0.0 -2.0943952105869315 - model://ergoCub/conf/FT/gazebo_ergocub_right_foot_front_ft.ini - 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- - - model://ergoCub/conf/FT/gazebo_ergocub_right_leg_ft.ini - - - - - model://ergoCub/conf/FT/gazebo_ergocub_right_foot_front_ft.ini - - - - - model://ergoCub/conf/FT/gazebo_ergocub_right_foot_rear_ft.ini - - - - - model://ergoCub/conf/gazebo_ergocub_r_foot_front_ft_sensor_inertial.ini - - + + 0 + 100000 + + 4 + 18000000 + 100 + 100 + 0.0001 + 1 + 1 + 0 0 0 + - - model://ergoCub/conf/gazebo_ergocub_r_foot_rear_ft_sensor_inertial.ini - - - - - model://ergoCub/conf/gazebo_ergocub_right_leg.ini - - - - - model://ergoCub/conf/gazebo_ergocub_right_leg.ini - - + +model://ergoCub/conf/gazebo_ergocub_right_leg.ini + + 1 - + 1 - + 1 - + 1 - + 1 - + 1 - - - - model://ergoCub/conf/gazebo_ergocub_inertial.ini - - - - - model://ergoCub/conf/gazebo_ergocub_realsense_inertial.ini - - - - - model://ergoCub/conf/sensors/gazebo_ergocub_lidar.ini - - - - - model://ergoCub/conf/gazebo_ergocub_head.ini - - + - - model://ergoCub/conf/gazebo_ergocub_head.ini - - + +model://ergoCub/conf/gazebo_ergocub_head.ini + + 1 - + 1 - + 1 - - - - model://ergoCub/conf/gazebo_ergocub_left_arm.ini - -0.52 0.52 0 0.785 0 0 0.0 - - - - - model://ergoCub/conf/gazebo_ergocub_left_arm.ini - -0.52 0.52 0 0.785 0 0 0.0 - - - - - model://ergoCub/conf/FT/gazebo_ergocub_left_arm_ft.ini - - + - - model://ergoCub/conf/gazebo_ergocub_left_hand_mk5_0.ini - - + +model://ergoCub/conf/gazebo_ergocub_left_arm.ini +-0.52 0.52 0 0.785 0 0 0.0 + + - - model://ergoCub/conf/gazebo_ergocub_left_hand_mk5_0.ini - - + +model://ergoCub/conf/gazebo_ergocub_left_hand_mk5_0.ini + + - 1 - + 1 + - 1 - + 1 + - 1 - + 1 + - 1 - + 1 + - 1 - + 1 + - 1 - + 1 + - 1 - - - - model://ergoCub/conf/gazebo_ergocub_right_arm.ini - -0.52 0.52 0 0.785 0 0 0.0 - - - - - model://ergoCub/conf/gazebo_ergocub_right_arm.ini - -0.52 0.52 0 0.785 0 0 0.0 - - - - - model://ergoCub/conf/FT/gazebo_ergocub_right_arm_ft.ini - - + 1 + - - model://ergoCub/conf/gazebo_ergocub_right_hand_mk5_0.ini - - + +model://ergoCub/conf/gazebo_ergocub_right_arm.ini +-0.52 0.52 0 0.785 0 0 0.0 + + - - model://ergoCub/conf/gazebo_ergocub_right_hand_mk5_0.ini - - + +model://ergoCub/conf/gazebo_ergocub_right_hand_mk5_0.ini + + - 1 - + 1 + - 1 - + 1 + - 1 - + 1 + - 1 - + 1 + - 1 - + 1 + - 1 - + 1 + - 1 - - - - model://ergoCub/conf/ergocub.xml - - - - - model://ergoCub/conf/ergocub_gz_sim.xml - - - - - - - - + 1 + - 0.000000 0.000000 0.800000 0.000000 0.000000 0.000000 - + + model://ergoCub/conf/ergocub.xml + + 1 @@ -3456,10 +3247,10 @@ sensor child_to_parent - -3.46945e-18 0 0 3.14159 1.94289e-16 -1.5708 + 0.0 0.0 0.0 -3.1415923328972943 2.923917580150936e-08 -1.5707962214346844 - model://ergoCub/conf/FT/gazebo_ergocub_left_arm_ft.ini - + model://ergoCub/conf/FT/gazebo_ergocub_left_arm_ft.ini + @@ -3468,7 +3259,51 @@ sensor child_to_parent - + + + + + 1 + 100 + + sensor + child_to_parent + + 0.0 0.0 0.0 -3.1415924092528633 -2.2277470853981803e-08 1.5707964070692688 + + model://ergoCub/conf/FT/gazebo_ergocub_right_arm_ft.ini + + + + + + + sensor + child_to_parent + + + + + + 1 + 100 + + sensor + child_to_parent + + 0.0 0.0 0.0 3.141592653589793 -0.0 2.6179934742070086 + + model://ergoCub/conf/FT/gazebo_ergocub_left_leg_ft.ini + + + + + + + sensor + child_to_parent + + @@ -3478,10 +3313,10 @@ sensor parent_to_child - 1.38778e-17 0 0.0223 1.32957e-16 2.62198e-17 -2.0944 + 0.0 0.0 0.0 0.0 -0.0 -2.0943952105869315 - model://ergoCub/conf/FT/gazebo_ergocub_left_foot_front_ft.ini - + model://ergoCub/conf/FT/gazebo_ergocub_left_foot_front_ft.ini + @@ -3490,7 +3325,7 @@ sensor parent_to_child - + @@ -3500,10 +3335,10 @@ sensor parent_to_child - 0 0 0.0223 1.32957e-16 2.62198e-17 -2.0944 + 0.0 0.0 0.0 0.0 -0.0 -2.0943952105869315 - model://ergoCub/conf/FT/gazebo_ergocub_left_foot_rear_ft.ini - + model://ergoCub/conf/FT/gazebo_ergocub_left_foot_rear_ft.ini + @@ -3512,51 +3347,29 @@ sensor parent_to_child - - - - - 1 - 100 - - sensor - child_to_parent - - 5.20417e-18 0 0 3.14159 -2.02132e-15 2.61799 - - model://ergoCub/conf/FT/gazebo_ergocub_left_leg_ft.ini - - - - - - - sensor - child_to_parent - - + - - + + 1 100 sensor child_to_parent - 0 0 0 -3.14159 -2.77556e-17 1.5708 - - model://ergoCub/conf/FT/gazebo_ergocub_right_arm_ft.ini - + 0.0 0.0 0.0 3.141592653589793 0.0 -2.6179934742070086 + + model://ergoCub/conf/FT/gazebo_ergocub_right_leg_ft.ini + - - + + sensor child_to_parent - + @@ -3566,10 +3379,10 @@ sensor parent_to_child - 0 -1.38778e-17 0.0223 3.51927e-17 -1.44222e-16 -2.0944 + 0.0 0.0 0.0 0.0 -0.0 -2.0943952105869315 - model://ergoCub/conf/FT/gazebo_ergocub_right_foot_front_ft.ini - + model://ergoCub/conf/FT/gazebo_ergocub_right_foot_front_ft.ini + @@ -3578,7 +3391,7 @@ sensor parent_to_child - + @@ -3588,10 +3401,10 @@ sensor parent_to_child - 6.93889e-18 1.38778e-17 0.0223 3.51927e-17 -1.44222e-16 -2.0944 + 0.0 0.0 0.0 0.0 -0.0 -2.0943952105869315 - model://ergoCub/conf/FT/gazebo_ergocub_right_foot_rear_ft.ini - + model://ergoCub/conf/FT/gazebo_ergocub_right_foot_rear_ft.ini + @@ -3600,165 +3413,146 @@ sensor parent_to_child - - - - - 1 - 100 - - sensor - child_to_parent - - 1.21431e-17 2.77556e-17 5.55112e-17 3.14159 2.98881e-16 -2.61799 - - model://ergoCub/conf/FT/gazebo_ergocub_right_leg_ft.ini - - - - - - - sensor - child_to_parent - - + 1 - 100.000000 - -0.0043 -0.0055 0.0382345 -3.14159 -9.68848e-15 1.5708 + 100 + -0.004299998 -0.0055 0.03823499999999996 3.141592653589793 -0.0 1.5707963267948966 - model://ergoCub/conf/gazebo_ergocub_inertial.ini - + model://ergoCub/conf/gazebo_ergocub_inertial.ini + - + 1 - 30.000000 - 0.00751548 -0.0115 1.73521e-08 -1.5708 3.75968e-16 -1.5708 + 30 + 0.00751550026595621 -0.0115 -4.911144457775407e-08 -1.5707962931078618 8.881784197001252e-16 -1.5707963267948954 - 0 0 0 -1.57079 -1.57079 3.14159 - 1.2217 - - 0 - 0 - 0 - 0 - 0 -
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319.5 239.5
+ + + 640 + 480 + R8G8B8 + + + 0.02 + 3000 + + false - model://ergoCub/conf/gazebo_ergocub_rgb_camera.ini - + model://ergoCub/conf/gazebo_ergocub_rgb_camera.ini + - + 1 - 100.000000 - 0.00751548 0.01 1.73521e-08 -1.5708 3.75968e-16 -1.5708 + 100 + 0.00751550026595621 0.010000000000000005 -4.911144457775407e-08 -1.5707962931078618 8.881784197001252e-16 -1.5707963267948954 - model://ergoCub/conf/gazebo_ergocub_realsense_inertial.ini - + model://ergoCub/conf/gazebo_ergocub_realsense_inertial.ini + - + 1 - 100.000000 - 5e-05 -1.93855e-15 0.134802 -5.33161e-15 9.72194e-15 -1.5708 + 100 + 4.99999999999997e-05 0.0 0.13480199999999992 0.0 0.0 -3.6732051038684153e-06 1 true 40 - - - 360 - 2 - 0 - 6.28 - - - - 0.04 - 5 - 0.01 - - - gaussian - 0 - 0.005 - - + + + 360 + 2 + 0 + 6.28 + + + + 0.04 + 5 + 0.01 + + + gaussian + 0 + 0.005 + + - model://ergoCub/conf/sensors/gazebo_ergocub_lidar.ini - + model://ergoCub/conf/sensors/gazebo_ergocub_lidar.ini + - + + + 0.0 0.0 0.8 0.0 0.0 0.0 + From ba6d095140a631eab3fce74a9bfc7bad600bec84 Mon Sep 17 00:00:00 2001 From: Alessandro Croci Date: Thu, 28 Mar 2024 11:02:02 +0100 Subject: [PATCH 27/28] Remove gz-sim-yarp-plugin for hands controlboard in `ergoCubSN001/V1_1*` --- .../data/ergocub1_1/ERGOCUB_all_options.yaml | 12 ------------ .../ergocub1_1/ERGOCUB_all_options_gazebo.yaml | 14 -------------- .../ERGOCUB_all_options_minContacts.yaml | 12 ------------ urdf/ergoCub/robots/ergoCubGazeboV1_1/model.urdf | 10 ---------- .../ergoCubGazeboV1_1_minContacts/model.urdf | 10 ---------- urdf/ergoCub/robots/ergoCubSN001/model.urdf | 10 ---------- 6 files changed, 68 deletions(-) diff --git a/urdf/creo2urdf/data/ergocub1_1/ERGOCUB_all_options.yaml b/urdf/creo2urdf/data/ergocub1_1/ERGOCUB_all_options.yaml index 1a06c665..0606d5b2 100644 --- a/urdf/creo2urdf/data/ergocub1_1/ERGOCUB_all_options.yaml +++ b/urdf/creo2urdf/data/ergocub1_1/ERGOCUB_all_options.yaml @@ -1512,12 +1512,6 @@ XMLBlobs: model://ergoCub/conf/gazebo_ergocub_left_hand_mk5_1.ini - - | - - - model://ergoCub/conf/gazebo_ergocub_left_hand_mk5_1.ini - - - | 1 @@ -1567,12 +1561,6 @@ XMLBlobs: model://ergoCub/conf/gazebo_ergocub_right_hand_mk5_1.ini - - | - - - model://ergoCub/conf/gazebo_ergocub_right_hand_mk5_1.ini - - - | 1 diff --git a/urdf/creo2urdf/data/ergocub1_1/ERGOCUB_all_options_gazebo.yaml b/urdf/creo2urdf/data/ergocub1_1/ERGOCUB_all_options_gazebo.yaml index 9ea7af96..e53e40cf 100644 --- a/urdf/creo2urdf/data/ergocub1_1/ERGOCUB_all_options_gazebo.yaml +++ b/urdf/creo2urdf/data/ergocub1_1/ERGOCUB_all_options_gazebo.yaml @@ -1716,13 +1716,6 @@ XMLBlobs: - - | - - - model://ergoCub/conf/gazebo_ergocub_left_hand_mk5_1.ini - - - - | 1 @@ -1776,13 +1769,6 @@ XMLBlobs: - - | - - - model://ergoCub/conf/gazebo_ergocub_right_hand_mk5_1.ini - - - - | diff --git a/urdf/creo2urdf/data/ergocub1_1/ERGOCUB_all_options_minContacts.yaml b/urdf/creo2urdf/data/ergocub1_1/ERGOCUB_all_options_minContacts.yaml index 98ce9d4c..37538a33 100644 --- a/urdf/creo2urdf/data/ergocub1_1/ERGOCUB_all_options_minContacts.yaml +++ b/urdf/creo2urdf/data/ergocub1_1/ERGOCUB_all_options_minContacts.yaml @@ -2008,12 +2008,6 @@ XMLBlobs: model://ergoCub/conf/gazebo_ergocub_left_hand_mk5_1.ini - - | - - - model://ergoCub/conf/gazebo_ergocub_left_hand_mk5_1.ini - - - | 1 @@ -2063,12 +2057,6 @@ XMLBlobs: model://ergoCub/conf/gazebo_ergocub_right_hand_mk5_1.ini - - | - - - model://ergoCub/conf/gazebo_ergocub_right_hand_mk5_1.ini - - - | 1 diff --git a/urdf/ergoCub/robots/ergoCubGazeboV1_1/model.urdf b/urdf/ergoCub/robots/ergoCubGazeboV1_1/model.urdf index c7a0da88..96d6497d 100644 --- a/urdf/ergoCub/robots/ergoCubGazeboV1_1/model.urdf +++ b/urdf/ergoCub/robots/ergoCubGazeboV1_1/model.urdf @@ -3304,11 +3304,6 @@ model://ergoCub/conf/gazebo_ergocub_left_hand_mk5_1.ini - - - model://ergoCub/conf/gazebo_ergocub_left_hand_mk5_1.ini - - 1 @@ -3347,11 +3342,6 @@ model://ergoCub/conf/gazebo_ergocub_right_hand_mk5_1.ini - - - model://ergoCub/conf/gazebo_ergocub_right_hand_mk5_1.ini - - 1 diff --git a/urdf/ergoCub/robots/ergoCubGazeboV1_1_minContacts/model.urdf b/urdf/ergoCub/robots/ergoCubGazeboV1_1_minContacts/model.urdf index 2291c4d1..c0e94795 100644 --- a/urdf/ergoCub/robots/ergoCubGazeboV1_1_minContacts/model.urdf +++ b/urdf/ergoCub/robots/ergoCubGazeboV1_1_minContacts/model.urdf @@ -3118,11 +3118,6 @@ model://ergoCub/conf/gazebo_ergocub_left_hand_mk5_1.ini - - - model://ergoCub/conf/gazebo_ergocub_left_hand_mk5_1.ini - - 1 @@ -3161,11 +3156,6 @@ model://ergoCub/conf/gazebo_ergocub_right_hand_mk5_1.ini - - - model://ergoCub/conf/gazebo_ergocub_right_hand_mk5_1.ini - - 1 diff --git a/urdf/ergoCub/robots/ergoCubSN001/model.urdf b/urdf/ergoCub/robots/ergoCubSN001/model.urdf index 89c18800..b5287a34 100644 --- a/urdf/ergoCub/robots/ergoCubSN001/model.urdf +++ b/urdf/ergoCub/robots/ergoCubSN001/model.urdf @@ -3304,11 +3304,6 @@ model://ergoCub/conf/gazebo_ergocub_left_hand_mk5_1.ini - - - model://ergoCub/conf/gazebo_ergocub_left_hand_mk5_1.ini - - 1 @@ -3347,11 +3342,6 @@ model://ergoCub/conf/gazebo_ergocub_right_hand_mk5_1.ini - - - model://ergoCub/conf/gazebo_ergocub_right_hand_mk5_1.ini - - 1 From f015ab7de2a38e8a3bcb46ae6c2f30f3a902404d Mon Sep 17 00:00:00 2001 From: Alessandro Croci Date: Thu, 28 Mar 2024 14:15:42 +0100 Subject: [PATCH 28/28] Update ergoxub_gz_sim.xml to disable hands devices --- urdf/ergoCub/conf/ergocub_gz_sim.xml | 4 ++-- .../left_arm-mc_remapper_gz_sim.xml | 18 ++++++++++++++++++ .../right_arm-mc_remapper_gz_sim.xml | 18 ++++++++++++++++++ 3 files changed, 38 insertions(+), 2 deletions(-) create mode 100644 urdf/ergoCub/conf/wrappers/motorControl/left_arm-mc_remapper_gz_sim.xml create mode 100644 urdf/ergoCub/conf/wrappers/motorControl/right_arm-mc_remapper_gz_sim.xml diff --git a/urdf/ergoCub/conf/ergocub_gz_sim.xml b/urdf/ergoCub/conf/ergocub_gz_sim.xml index 81739084..812d7ec2 100644 --- a/urdf/ergoCub/conf/ergocub_gz_sim.xml +++ b/urdf/ergoCub/conf/ergocub_gz_sim.xml @@ -13,8 +13,8 @@ - - + + diff --git a/urdf/ergoCub/conf/wrappers/motorControl/left_arm-mc_remapper_gz_sim.xml b/urdf/ergoCub/conf/wrappers/motorControl/left_arm-mc_remapper_gz_sim.xml new file mode 100644 index 00000000..7a9aee81 --- /dev/null +++ b/urdf/ergoCub/conf/wrappers/motorControl/left_arm-mc_remapper_gz_sim.xml @@ -0,0 +1,18 @@ + + + + + + ( 0 6 0 6 ) + + + 7 + + + left_arm_hardware_device + + + + + diff --git a/urdf/ergoCub/conf/wrappers/motorControl/right_arm-mc_remapper_gz_sim.xml b/urdf/ergoCub/conf/wrappers/motorControl/right_arm-mc_remapper_gz_sim.xml new file mode 100644 index 00000000..d559bd03 --- /dev/null +++ b/urdf/ergoCub/conf/wrappers/motorControl/right_arm-mc_remapper_gz_sim.xml @@ -0,0 +1,18 @@ + + + + + + ( 0 6 0 6 ) + + + 7 + + + right_arm_hardware_device + + + + +