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Add Gazebo Sim support #230

Merged
merged 28 commits into from
Mar 28, 2024
Merged

Add Gazebo Sim support #230

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10be84f
Add `gz-sim-yarp-plugins` to ERGOCUB_all_options_gazebo.yaml
xela-95 Mar 22, 2024
12cb8bb
Add generated urdf for `ergoCubGazeboV1_1`
xela-95 Mar 22, 2024
babdf3b
Update ERGOCUB_all_options_gazebo.yaml
xela-95 Mar 25, 2024
19c18f8
Remove temporary model.urdf
xela-95 Mar 25, 2024
1a9cf08
Update plugin configuration files
xela-95 Mar 25, 2024
18c1d81
Update model.urdf for `ergoCubGazeboV1_1`
xela-95 Mar 25, 2024
292c93c
Update ERGOCUB_all_options_gazebo.yaml
xela-95 Mar 25, 2024
17fae07
Update model.urdf for `ergoCubGazeboV1_1`
xela-95 Mar 25, 2024
779585b
Use a different yarp robot interface configuration file for gz-sim
xela-95 Mar 25, 2024
8e19ca6
Move gz-sim plugins to robot level
xela-95 Mar 25, 2024
1675785
Move also waist Imu plugin to robot level
xela-95 Mar 25, 2024
6f25b30
Update ERGOCUB_all_options_minContacts.yaml adding gz-sim plugins
xela-95 Mar 27, 2024
9a8a0f5
Update model.urdf for `ergoCubGazeboV1_1_minContacts`
xela-95 Mar 27, 2024
3796494
Update ERGOCUB_all_options.yaml adding gz-sim-yarp-plugins
xela-95 Mar 27, 2024
4569316
Update model.urdf for `ergoCubSN001`
xela-95 Mar 27, 2024
81ae712
Update ergoCub1_0/ERGOCUB_all_options_gazebo.yaml
xela-95 Mar 27, 2024
d16bc9f
Update model.urdf for `ergoCubGazeboV1`
xela-95 Mar 27, 2024
19b5663
Fix remove plugins for the hands
xela-95 Mar 27, 2024
3c68667
Add controlboard plugins for hands mk5_0
xela-95 Mar 27, 2024
d60aff4
Update ergocub1_0/ERGOCUB_all_options_minContacts.yaml
xela-95 Mar 27, 2024
3867c4e
Update model.urdf for `ergoCubGazeboV1_minContacts`
xela-95 Mar 27, 2024
bcb7e93
Update ergocub1_0/ERGOCUB_all_options.yaml
xela-95 Mar 27, 2024
d62352f
Update model.urdf for `ergoCubSN000`
xela-95 Mar 27, 2024
2df7ccb
Revert "Update model.urdf for `ergoCubSN000`"
xela-95 Mar 28, 2024
bb69efa
Revert "Update model.urdf for `ergoCubGazeboV1_minContacts`"
xela-95 Mar 28, 2024
d254e7d
Revert changes to `ergoCubGazeboV1`
xela-95 Mar 28, 2024
ba6d095
Remove gz-sim-yarp-plugin for hands controlboard in `ergoCubSN001/V1_1*`
xela-95 Mar 28, 2024
f015ab7
Update ergoxub_gz_sim.xml to disable hands devices
xela-95 Mar 28, 2024
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163 changes: 162 additions & 1 deletion urdf/creo2urdf/data/ergocub1_0/ERGOCUB_all_options.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -1132,6 +1132,12 @@ XMLBlobs:
<yarpConfigurationFile>model://ergoCub/conf/gazebo_ergocub_waist_inertial.ini</yarpConfigurationFile>
</plugin>
</gazebo>
- |
<gazebo>
<plugin name="gzyarp::Imu" filename="gz-sim-yarp-imu-system">
<yarpConfigurationFile>model://ergoCub/conf/gazebo_ergocub_waist_inertial.ini</yarpConfigurationFile>
</plugin>
</gazebo>
- |
<gazebo reference="torso_1">
<sensor name="waist_imu_0" type="imu">
Expand Down Expand Up @@ -1176,6 +1182,12 @@ XMLBlobs:
<yarpConfigurationFile>model://ergoCub/conf/gazebo_ergocub_torso.ini</yarpConfigurationFile>
</plugin>
</gazebo>
- |
<gazebo>
<plugin name="gzyarp::ControlBoard" filename="gz-sim-yarp-controlboard-system">
<yarpConfigurationFile>model://ergoCub/conf/gazebo_ergocub_torso.ini</yarpConfigurationFile>
</plugin>
</gazebo>
- |
<gazebo reference="torso_pitch">
<implicitSpringDamper>1</implicitSpringDamper>
Expand Down Expand Up @@ -1262,13 +1274,48 @@ XMLBlobs:
<mu2>1</mu2>
<fdir1>0 0 0</fdir1>
</gazebo>
- |
<gazebo>
<plugin name="gzyarp::ForceTorque" filename="gz-sim-yarp-forcetorque-system">
<yarpConfigurationFile>model://ergoCub/conf/FT/gazebo_ergocub_left_leg_ft.ini</yarpConfigurationFile>
</plugin>
</gazebo>
- |
<gazebo>
<plugin name="gzyarp::ForceTorque" filename="gz-sim-yarp-forcetorque-system">
<yarpConfigurationFile>model://ergoCub/conf/FT/gazebo_ergocub_left_foot_front_ft.ini</yarpConfigurationFile>
</plugin>
</gazebo>
- |
<gazebo>
<plugin name="gzyarp::ForceTorque" filename="gz-sim-yarp-forcetorque-system">
<yarpConfigurationFile>model://ergoCub/conf/FT/gazebo_ergocub_left_foot_rear_ft.ini</yarpConfigurationFile>
</plugin>
</gazebo>
- |
<gazebo>
<plugin name="gzyarp::Imu" filename="gz-sim-yarp-imu-system">
<yarpConfigurationFile>model://ergoCub/conf/gazebo_ergocub_l_foot_front_ft_sensor_inertial.ini</yarpConfigurationFile>
</plugin>
</gazebo>
- |
<gazebo>
<plugin name="gzyarp::Imu" filename="gz-sim-yarp-imu-system">
<yarpConfigurationFile>model://ergoCub/conf/gazebo_ergocub_l_foot_rear_ft_sensor_inertial.ini</yarpConfigurationFile>
</plugin>
</gazebo>
- |
<gazebo>
<plugin name="controlboard_left_leg" filename="libgazebo_yarp_controlboard.so">
<yarpConfigurationFile>model://ergoCub/conf/gazebo_ergocub_left_leg.ini</yarpConfigurationFile>
</plugin>
</gazebo>

- |
<gazebo>
<plugin name="gzyarp::ControlBoard" filename="gz-sim-yarp-controlboard-system">
<yarpConfigurationFile>model://ergoCub/conf/gazebo_ergocub_left_leg.ini</yarpConfigurationFile>
</plugin>
</gazebo>
- |
<gazebo reference="l_hip_pitch">
<implicitSpringDamper>1</implicitSpringDamper>
Expand Down Expand Up @@ -1342,12 +1389,48 @@ XMLBlobs:
<mu2>1</mu2>
<fdir1>0 0 0</fdir1>
</gazebo>
- |
<gazebo>
<plugin name="gzyarp::ForceTorque" filename="gz-sim-yarp-forcetorque-system">
<yarpConfigurationFile>model://ergoCub/conf/FT/gazebo_ergocub_right_leg_ft.ini</yarpConfigurationFile>
</plugin>
</gazebo>
- |
<gazebo>
<plugin name="gzyarp::ForceTorque" filename="gz-sim-yarp-forcetorque-system">
<yarpConfigurationFile>model://ergoCub/conf/FT/gazebo_ergocub_right_foot_front_ft.ini</yarpConfigurationFile>
</plugin>
</gazebo>
- |
<gazebo>
<plugin name="gzyarp::ForceTorque" filename="gz-sim-yarp-forcetorque-system">
<yarpConfigurationFile>model://ergoCub/conf/FT/gazebo_ergocub_right_foot_rear_ft.ini</yarpConfigurationFile>
</plugin>
</gazebo>
- |
<gazebo>
<plugin name="gzyarp::Imu" filename="gz-sim-yarp-imu-system">
<yarpConfigurationFile>model://ergoCub/conf/gazebo_ergocub_r_foot_front_ft_sensor_inertial.ini</yarpConfigurationFile>
</plugin>
</gazebo>
- |
<gazebo>
<plugin name="gzyarp::Imu" filename="gz-sim-yarp-imu-system">
<yarpConfigurationFile>model://ergoCub/conf/gazebo_ergocub_r_foot_rear_ft_sensor_inertial.ini</yarpConfigurationFile>
</plugin>
</gazebo>
- |
<gazebo>
<plugin name="controlboard_right_leg" filename="libgazebo_yarp_controlboard.so">
<yarpConfigurationFile>model://ergoCub/conf/gazebo_ergocub_right_leg.ini</yarpConfigurationFile>
</plugin>
</gazebo>
- |
<gazebo>
<plugin name="gzyarp::ControlBoard" filename="gz-sim-yarp-controlboard-system">
<yarpConfigurationFile>model://ergoCub/conf/gazebo_ergocub_right_leg.ini</yarpConfigurationFile>
</plugin>
</gazebo>
- |
<gazebo reference="r_hip_pitch">
<implicitSpringDamper>1</implicitSpringDamper>
Expand All @@ -1374,12 +1457,36 @@ XMLBlobs:
</gazebo>

# head
- |
<gazebo>
<plugin name="gzyarp::Imu" filename="gz-sim-yarp-imu-system">
<yarpConfigurationFile>model://ergoCub/conf/gazebo_ergocub_inertial.ini</yarpConfigurationFile>
</plugin>
</gazebo>
- |
<gazebo>
<plugin name="gzyarp::Imu" filename="gz-sim-yarp-imu-system">
<yarpConfigurationFile>model://ergoCub/conf/gazebo_ergocub_realsense_inertial.ini</yarpConfigurationFile>
</plugin>
</gazebo>
- |
<gazebo>
<plugin name="gzyarp::Laser" filename="gz-sim-yarp-laser-system">
<yarpConfigurationFile>model://ergoCub/conf/sensors/gazebo_ergocub_lidar.ini</yarpConfigurationFile>
</plugin>
</gazebo>
- |
<gazebo>
<plugin name="controlboard_head" filename="libgazebo_yarp_controlboard.so">
<yarpConfigurationFile>model://ergoCub/conf/gazebo_ergocub_head.ini</yarpConfigurationFile>
</plugin>
</gazebo>
- |
<gazebo>
<plugin name="gzyarp::ControlBoard" filename="gz-sim-yarp-controlboard-system">
<yarpConfigurationFile>model://ergoCub/conf/gazebo_ergocub_head.ini</yarpConfigurationFile>
</plugin>
</gazebo>
- |
<gazebo reference="neck_pitch">
<implicitSpringDamper>1</implicitSpringDamper>
Expand All @@ -1401,12 +1508,31 @@ XMLBlobs:
<initialConfiguration>-0.52 0.52 0 0.785 0 0 0.0</initialConfiguration>
</plugin>
</gazebo>
- |
<gazebo>
<plugin name="gzyarp::ControlBoard" filename="gz-sim-yarp-controlboard-system">
<yarpConfigurationFile>model://ergoCub/conf/gazebo_ergocub_left_arm.ini</yarpConfigurationFile>
<initialConfiguration>-0.52 0.52 0 0.785 0 0 0.0</initialConfiguration>
</plugin>
</gazebo>
- |
<gazebo>
<plugin name="controlboard_left_hand" filename="libgazebo_yarp_controlboard.so">
<yarpConfigurationFile>model://ergoCub/conf/gazebo_ergocub_left_hand_mk5_0.ini</yarpConfigurationFile>
</plugin>
</gazebo>
- |
<gazebo>
<plugin name="gzyarp::ControlBoard" filename="gz-sim-yarp-controlboard-system">
<yarpConfigurationFile>model://ergoCub/conf/gazebo_ergocub_left_hand_mk5_0.ini</yarpConfigurationFile>
</plugin>
</gazebo>
- |
<gazebo>
<plugin name="gzyarp::ForceTorque" filename="gz-sim-yarp-forcetorque-system">
<yarpConfigurationFile>model://ergoCub/conf/FT/gazebo_ergocub_left_arm_ft.ini</yarpConfigurationFile>
</plugin>
</gazebo>
- |
<gazebo reference="l_shoulder_pitch">
<implicitSpringDamper>1</implicitSpringDamper>
Expand Down Expand Up @@ -1443,12 +1569,31 @@ XMLBlobs:
<initialConfiguration>-0.52 0.52 0 0.785 0 0 0.0</initialConfiguration>
</plugin>
</gazebo>
- |
<gazebo>
<plugin name="gzyarp::ControlBoard" filename="gz-sim-yarp-controlboard-system">
<yarpConfigurationFile>model://ergoCub/conf/gazebo_ergocub_right_arm.ini</yarpConfigurationFile>
<initialConfiguration>-0.52 0.52 0 0.785 0 0 0.0</initialConfiguration>
</plugin>
</gazebo>
- |
<gazebo>
<plugin name="controlboard_right_hand" filename="libgazebo_yarp_controlboard.so">
<yarpConfigurationFile>model://ergoCub/conf/gazebo_ergocub_right_hand_mk5_0.ini</yarpConfigurationFile>
</plugin>
</gazebo>
- |
<gazebo>
<plugin name="gzyarp::ControlBoard" filename="gz-sim-yarp-controlboard-system">
<yarpConfigurationFile>model://ergoCub/conf/gazebo_ergocub_right_hand_mk5_0.ini</yarpConfigurationFile>
</plugin>
</gazebo>
- |
<gazebo>
<plugin name="gzyarp::ForceTorque" filename="gz-sim-yarp-forcetorque-system">
<yarpConfigurationFile>model://ergoCub/conf/FT/gazebo_ergocub_right_arm_ft.ini</yarpConfigurationFile>
</plugin>
</gazebo>
- |
<gazebo reference="r_shoulder_pitch">
<implicitSpringDamper>1</implicitSpringDamper>
Expand Down Expand Up @@ -1483,3 +1628,19 @@ XMLBlobs:
<yarpRobotInterfaceConfigurationFile>model://ergoCub/conf/ergocub.xml</yarpRobotInterfaceConfigurationFile>
</plugin>
</gazebo>
- |
<gazebo>
<plugin name="gzyarp::RobotInterface" filename="gz-sim-yarp-robotinterface-system">
<yarpRobotInterfaceConfigurationFile>model://ergoCub/conf/ergocub_gz_sim.xml</yarpRobotInterfaceConfigurationFile>
</plugin>
</gazebo>

- |
<gazebo>
<plugin filename="gz-sim-forcetorque-system" name="gz::sim::systems::ForceTorque"></plugin>
</gazebo>

- |
<gazebo>
<plugin filename="gz-sim-imu-system" name="gz::sim::systems::Imu"></plugin>
</gazebo>
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