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Fix the position of the imu in the waist #267

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merged 4 commits into from
Oct 9, 2024
Merged

Fix the position of the imu in the waist #267

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c4a1fb1
Fix the position of the imu in the waist
Nicogene Oct 7, 2024
9c3a877
Automatic update of urdf triggered by GitHub Action
Nicogene Oct 9, 2024
8c9aa0d
Automatic update of urdf triggered by GitHub Action (#270)
Nicogene Oct 9, 2024
4d47c62
ergoCubGazeboV1: fix imu waist by hand
Nicogene Oct 9, 2024
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6 changes: 3 additions & 3 deletions urdf/creo2urdf/data/ergocub1_0/base_1_0.yaml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -1194,7 +1194,7 @@ XMLBlobs:
<link name="waist_imu_0"/>
- |
<joint name="waist_imu_0_fixed_joint" type="fixed">
<origin xyz="0.0354497 0.00639688 0.060600" rpy="1.5708 0 -1.5708"/>
<origin xyz="0.0606 -0.00639428 0.01745" rpy="1.5708 -0.000105208 -1.5708"/>
<parent link="torso_1"/>
<child link="waist_imu_0"/>
<dynamics damping="0.1"/>
Expand All @@ -1216,7 +1216,7 @@ XMLBlobs:
<sensor name="waist_imu_0" type="imu">
<always_on>1</always_on>
<update_rate>100</update_rate>
<pose>0.0354497 0.00639688 0.060600 1.5708 0 -1.5708</pose>
<pose>0.0606 -0.00639428 0.01745 1.5708 -0.000105208 -1.5708</pose>
<plugin name="ergocub_yarp_gazebo_plugin_IMU" filename="libgazebo_yarp_imu.so">
<yarpConfigurationFile>model://ergoCub/conf/gazebo_ergocub_waist_inertial.ini</yarpConfigurationFile>
</plugin>
Expand All @@ -1225,7 +1225,7 @@ XMLBlobs:
- |
<sensor name="waist_imu_0" type="accelerometer">
<parent link="torso_1"/>
<origin rpy="1.5708 0 -1.5708" xyz="0.0354497 0.00639688 0.060600"/>
<origin xyz="0.0606 -0.00639428 0.01745" rpy="1.5708 -0.000105208 -1.5708"/>
</sensor>
# upperbody
- |
Expand Down
6 changes: 3 additions & 3 deletions urdf/creo2urdf/data/ergocub1_1/base_1_1.yaml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -1143,7 +1143,7 @@ XMLBlobs:
<link name="waist_imu_0"/>
- |
<joint name="waist_imu_0_fixed_joint" type="fixed">
<origin xyz="0.0354497 0.00639688 0.060600" rpy="1.5708 0 -1.5708"/>
<origin xyz="0.0606 -0.00639428 0.01745" rpy="1.5708 -0.000105208 -1.5708"/>
<parent link="torso_1"/>
<child link="waist_imu_0"/>
<dynamics damping="0.1"/>
Expand All @@ -1159,7 +1159,7 @@ XMLBlobs:
<sensor name="waist_imu_0" type="imu">
<always_on>1</always_on>
<update_rate>100</update_rate>
<pose>0.0354497 0.00639688 0.060600 1.5708 0 -1.5708</pose>
<pose>0.0606 -0.00639428 0.01745 1.5708 -0.000105208 -1.5708</pose>
<plugin name="ergocub_yarp_gazebo_plugin_IMU" filename="libgazebo_yarp_imu.so">
<yarpConfigurationFile>model://ergoCub/conf/gazebo_ergocub_waist_inertial.ini</yarpConfigurationFile>
</plugin>
Expand All @@ -1174,7 +1174,7 @@ XMLBlobs:
- |
<sensor name="waist_imu_0" type="accelerometer">
<parent link="torso_1"/>
<origin rpy="1.5708 0 -1.5708" xyz="0.0354497 0.00639688 0.060600"/>
<origin xyz="0.0606 -0.00639428 0.01745" rpy="1.5708 -0.000105208 -1.5708"/>
</sensor>
# upperbody
- |
Expand Down
42 changes: 21 additions & 21 deletions urdf/ergoCub/robots/ergoCubGazeboV1/model.urdf
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -3007,30 +3007,30 @@
</sensor>
<link name="waist_imu_0"/>
<joint name="waist_imu_0_fixed_joint" type="fixed">
<origin xyz="0.0354497 0.00639688 0.060600" rpy="1.5708 0 -1.5708"/>
<parent link="torso_1"/>
<child link="waist_imu_0"/>
<dynamics damping="0.1"/>
</joint>
<origin xyz="0.0606 -0.00639428 0.01745" rpy="1.5708 -0.000105208 -1.5708"/>
<parent link="torso_1"/>
<child link="waist_imu_0"/>
<dynamics damping="0.1"/>
</joint>
<gazebo>
<plugin name="ergocub_yarp_gazebo_plugin_IMU" filename="libgazebo_yarp_imu.so">
<yarpConfigurationFile>model://ergoCub/conf/gazebo_ergocub_waist_inertial.ini</yarpConfigurationFile>
</plugin>
</gazebo>
<plugin name="ergocub_yarp_gazebo_plugin_IMU" filename="libgazebo_yarp_imu.so">
<yarpConfigurationFile>model://ergoCub/conf/gazebo_ergocub_waist_inertial.ini</yarpConfigurationFile>
</plugin>
</gazebo>
<gazebo reference="torso_1">
<sensor name="waist_imu_0" type="imu">
<always_on>1</always_on>
<update_rate>100</update_rate>
<pose>0.0354497 0.00639688 0.060600 1.5708 0 -1.5708</pose>
<plugin name="ergocub_yarp_gazebo_plugin_IMU" filename="libgazebo_yarp_imu.so">
<yarpConfigurationFile>model://ergoCub/conf/gazebo_ergocub_waist_inertial.ini</yarpConfigurationFile>
</plugin>
</sensor>
</gazebo>
<sensor name="waist_imu_0" type="imu">
<always_on>1</always_on>
<update_rate>100</update_rate>
<pose>0.0606 -0.00639428 0.01745 1.5708 -0.000105208 -1.5708</pose>
<plugin name="ergocub_yarp_gazebo_plugin_IMU" filename="libgazebo_yarp_imu.so">
<yarpConfigurationFile>model://ergoCub/conf/gazebo_ergocub_waist_inertial.ini</yarpConfigurationFile>
</plugin>
</sensor>
</gazebo>
<sensor name="waist_imu_0" type="accelerometer">
<parent link="torso_1"/>
<origin rpy="1.5708 0 -1.5708" xyz="0.0354497 0.00639688 0.060600"/>
</sensor>
<parent link="torso_1"/>
<origin xyz="0.0606 -0.00639428 0.01745" rpy="1.5708 -0.000105208 -1.5708"/>
</sensor>
<link name="base_link"/>
<joint name="base_link_fixed_joint" type="fixed">
<origin xyz="0 0 0" rpy="0 -0 0"/>
Expand Down
6 changes: 3 additions & 3 deletions urdf/ergoCub/robots/ergoCubGazeboV1_1/model.urdf
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -2952,7 +2952,7 @@
</joint>
<link name="waist_imu_0"/>
<joint name="waist_imu_0_fixed_joint" type="fixed">
<origin xyz="0.0354497 0.00639688 0.060600" rpy="1.5708 0 -1.5708"/>
<origin xyz="0.0606 -0.00639428 0.01745" rpy="1.5708 -0.000105208 -1.5708"/>
<parent link="torso_1"/>
<child link="waist_imu_0"/>
<dynamics damping="0.1"/>
Expand All @@ -2966,7 +2966,7 @@
<sensor name="waist_imu_0" type="imu">
<always_on>1</always_on>
<update_rate>100</update_rate>
<pose>0.0354497 0.00639688 0.060600 1.5708 0 -1.5708</pose>
<pose>0.0606 -0.00639428 0.01745 1.5708 -0.000105208 -1.5708</pose>
<plugin name="ergocub_yarp_gazebo_plugin_IMU" filename="libgazebo_yarp_imu.so">
<yarpConfigurationFile>model://ergoCub/conf/gazebo_ergocub_waist_inertial.ini</yarpConfigurationFile>
</plugin>
Expand All @@ -2979,7 +2979,7 @@
</gazebo>
<sensor name="waist_imu_0" type="accelerometer">
<parent link="torso_1"/>
<origin rpy="1.5708 0 -1.5708" xyz="0.0354497 0.00639688 0.060600"/>
<origin xyz="0.0606 -0.00639428 0.01745" rpy="1.5708 -0.000105208 -1.5708"/>
</sensor>
<link name="base_link"/>
<joint name="base_link_fixed_joint" type="fixed">
Expand Down
6 changes: 3 additions & 3 deletions urdf/ergoCub/robots/ergoCubGazeboV1_1_minContacts/model.urdf
View file
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Original file line number Diff line number Diff line change
Expand Up @@ -2766,7 +2766,7 @@
</joint>
<link name="waist_imu_0"/>
<joint name="waist_imu_0_fixed_joint" type="fixed">
<origin xyz="0.0354497 0.00639688 0.060600" rpy="1.5708 0 -1.5708"/>
<origin xyz="0.0606 -0.00639428 0.01745" rpy="1.5708 -0.000105208 -1.5708"/>
<parent link="torso_1"/>
<child link="waist_imu_0"/>
<dynamics damping="0.1"/>
Expand All @@ -2780,7 +2780,7 @@
<sensor name="waist_imu_0" type="imu">
<always_on>1</always_on>
<update_rate>100</update_rate>
<pose>0.0354497 0.00639688 0.060600 1.5708 0 -1.5708</pose>
<pose>0.0606 -0.00639428 0.01745 1.5708 -0.000105208 -1.5708</pose>
<plugin name="ergocub_yarp_gazebo_plugin_IMU" filename="libgazebo_yarp_imu.so">
<yarpConfigurationFile>model://ergoCub/conf/gazebo_ergocub_waist_inertial.ini</yarpConfigurationFile>
</plugin>
Expand All @@ -2793,7 +2793,7 @@
</gazebo>
<sensor name="waist_imu_0" type="accelerometer">
<parent link="torso_1"/>
<origin rpy="1.5708 0 -1.5708" xyz="0.0354497 0.00639688 0.060600"/>
<origin xyz="0.0606 -0.00639428 0.01745" rpy="1.5708 -0.000105208 -1.5708"/>
</sensor>
<link name="base_link"/>
<joint name="base_link_fixed_joint" type="fixed">
Expand Down
6 changes: 3 additions & 3 deletions urdf/ergoCub/robots/ergoCubGazeboV1_2/model.urdf
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -2952,7 +2952,7 @@
</joint>
<link name="waist_imu_0"/>
<joint name="waist_imu_0_fixed_joint" type="fixed">
<origin xyz="0.0354497 0.00639688 0.060600" rpy="1.5708 0 -1.5708"/>
<origin xyz="0.0606 -0.00639428 0.01745" rpy="1.5708 -0.000105208 -1.5708"/>
<parent link="torso_1"/>
<child link="waist_imu_0"/>
<dynamics damping="0.1"/>
Expand All @@ -2966,7 +2966,7 @@
<sensor name="waist_imu_0" type="imu">
<always_on>1</always_on>
<update_rate>100</update_rate>
<pose>0.0354497 0.00639688 0.060600 1.5708 0 -1.5708</pose>
<pose>0.0606 -0.00639428 0.01745 1.5708 -0.000105208 -1.5708</pose>
<plugin name="ergocub_yarp_gazebo_plugin_IMU" filename="libgazebo_yarp_imu.so">
<yarpConfigurationFile>model://ergoCub/conf/gazebo_ergocub_waist_inertial.ini</yarpConfigurationFile>
</plugin>
Expand All @@ -2979,7 +2979,7 @@
</gazebo>
<sensor name="waist_imu_0" type="accelerometer">
<parent link="torso_1"/>
<origin rpy="1.5708 0 -1.5708" xyz="0.0354497 0.00639688 0.060600"/>
<origin xyz="0.0606 -0.00639428 0.01745" rpy="1.5708 -0.000105208 -1.5708"/>
</sensor>
<link name="base_link"/>
<joint name="base_link_fixed_joint" type="fixed">
Expand Down
6 changes: 3 additions & 3 deletions urdf/ergoCub/robots/ergoCubGazeboV1_2_minContacts/model.urdf
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -2766,7 +2766,7 @@
</joint>
<link name="waist_imu_0"/>
<joint name="waist_imu_0_fixed_joint" type="fixed">
<origin xyz="0.0354497 0.00639688 0.060600" rpy="1.5708 0 -1.5708"/>
<origin xyz="0.0606 -0.00639428 0.01745" rpy="1.5708 -0.000105208 -1.5708"/>
<parent link="torso_1"/>
<child link="waist_imu_0"/>
<dynamics damping="0.1"/>
Expand All @@ -2780,7 +2780,7 @@
<sensor name="waist_imu_0" type="imu">
<always_on>1</always_on>
<update_rate>100</update_rate>
<pose>0.0354497 0.00639688 0.060600 1.5708 0 -1.5708</pose>
<pose>0.0606 -0.00639428 0.01745 1.5708 -0.000105208 -1.5708</pose>
<plugin name="ergocub_yarp_gazebo_plugin_IMU" filename="libgazebo_yarp_imu.so">
<yarpConfigurationFile>model://ergoCub/conf/gazebo_ergocub_waist_inertial.ini</yarpConfigurationFile>
</plugin>
Expand All @@ -2793,7 +2793,7 @@
</gazebo>
<sensor name="waist_imu_0" type="accelerometer">
<parent link="torso_1"/>
<origin rpy="1.5708 0 -1.5708" xyz="0.0354497 0.00639688 0.060600"/>
<origin xyz="0.0606 -0.00639428 0.01745" rpy="1.5708 -0.000105208 -1.5708"/>
</sensor>
<link name="base_link"/>
<joint name="base_link_fixed_joint" type="fixed">
Expand Down
42 changes: 21 additions & 21 deletions urdf/ergoCub/robots/ergoCubGazeboV1_minContacts/model.urdf
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -3007,30 +3007,30 @@
</sensor>
<link name="waist_imu_0"/>
<joint name="waist_imu_0_fixed_joint" type="fixed">
<origin xyz="0.0354497 0.00639688 0.060600" rpy="1.5708 0 -1.5708"/>
<parent link="torso_1"/>
<child link="waist_imu_0"/>
<dynamics damping="0.1"/>
</joint>
<origin xyz="0.0606 -0.00639428 0.01745" rpy="1.5708 -0.000105208 -1.5708"/>
<parent link="torso_1"/>
<child link="waist_imu_0"/>
<dynamics damping="0.1"/>
</joint>
<gazebo>
<plugin name="ergocub_yarp_gazebo_plugin_IMU" filename="libgazebo_yarp_imu.so">
<yarpConfigurationFile>model://ergoCub/conf/gazebo_ergocub_waist_inertial.ini</yarpConfigurationFile>
</plugin>
</gazebo>
<plugin name="ergocub_yarp_gazebo_plugin_IMU" filename="libgazebo_yarp_imu.so">
<yarpConfigurationFile>model://ergoCub/conf/gazebo_ergocub_waist_inertial.ini</yarpConfigurationFile>
</plugin>
</gazebo>
<gazebo reference="torso_1">
<sensor name="waist_imu_0" type="imu">
<always_on>1</always_on>
<update_rate>100</update_rate>
<pose>0.0354497 0.00639688 0.060600 1.5708 0 -1.5708</pose>
<plugin name="ergocub_yarp_gazebo_plugin_IMU" filename="libgazebo_yarp_imu.so">
<yarpConfigurationFile>model://ergoCub/conf/gazebo_ergocub_waist_inertial.ini</yarpConfigurationFile>
</plugin>
</sensor>
</gazebo>
<sensor name="waist_imu_0" type="imu">
<always_on>1</always_on>
<update_rate>100</update_rate>
<pose>0.0606 -0.00639428 0.01745 1.5708 -0.000105208 -1.5708</pose>
<plugin name="ergocub_yarp_gazebo_plugin_IMU" filename="libgazebo_yarp_imu.so">
<yarpConfigurationFile>model://ergoCub/conf/gazebo_ergocub_waist_inertial.ini</yarpConfigurationFile>
</plugin>
</sensor>
</gazebo>
<sensor name="waist_imu_0" type="accelerometer">
<parent link="torso_1"/>
<origin rpy="1.5708 0 -1.5708" xyz="0.0354497 0.00639688 0.060600"/>
</sensor>
<parent link="torso_1"/>
<origin xyz="0.0606 -0.00639428 0.01745" rpy="1.5708 -0.000105208 -1.5708"/>
</sensor>
<link name="base_link"/>
<joint name="base_link_fixed_joint" type="fixed">
<origin xyz="0 0 0" rpy="0 -0 0"/>
Expand Down
42 changes: 21 additions & 21 deletions urdf/ergoCub/robots/ergoCubSN000/model.urdf
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -3007,30 +3007,30 @@
</sensor>
<link name="waist_imu_0"/>
<joint name="waist_imu_0_fixed_joint" type="fixed">
<origin xyz="0.0354497 0.00639688 0.060600" rpy="1.5708 0 -1.5708"/>
<parent link="torso_1"/>
<child link="waist_imu_0"/>
<dynamics damping="0.1"/>
</joint>
<origin xyz="0.0606 -0.00639428 0.01745" rpy="1.5708 -0.000105208 -1.5708"/>
<parent link="torso_1"/>
<child link="waist_imu_0"/>
<dynamics damping="0.1"/>
</joint>
<gazebo>
<plugin name="ergocub_yarp_gazebo_plugin_IMU" filename="libgazebo_yarp_imu.so">
<yarpConfigurationFile>model://ergoCub/conf/gazebo_ergocub_waist_inertial.ini</yarpConfigurationFile>
</plugin>
</gazebo>
<plugin name="ergocub_yarp_gazebo_plugin_IMU" filename="libgazebo_yarp_imu.so">
<yarpConfigurationFile>model://ergoCub/conf/gazebo_ergocub_waist_inertial.ini</yarpConfigurationFile>
</plugin>
</gazebo>
<gazebo reference="torso_1">
<sensor name="waist_imu_0" type="imu">
<always_on>1</always_on>
<update_rate>100</update_rate>
<pose>0.0354497 0.00639688 0.060600 1.5708 0 -1.5708</pose>
<plugin name="ergocub_yarp_gazebo_plugin_IMU" filename="libgazebo_yarp_imu.so">
<yarpConfigurationFile>model://ergoCub/conf/gazebo_ergocub_waist_inertial.ini</yarpConfigurationFile>
</plugin>
</sensor>
</gazebo>
<sensor name="waist_imu_0" type="imu">
<always_on>1</always_on>
<update_rate>100</update_rate>
<pose>0.0606 -0.00639428 0.01745 1.5708 -0.000105208 -1.5708</pose>
<plugin name="ergocub_yarp_gazebo_plugin_IMU" filename="libgazebo_yarp_imu.so">
<yarpConfigurationFile>model://ergoCub/conf/gazebo_ergocub_waist_inertial.ini</yarpConfigurationFile>
</plugin>
</sensor>
</gazebo>
<sensor name="waist_imu_0" type="accelerometer">
<parent link="torso_1"/>
<origin rpy="1.5708 0 -1.5708" xyz="0.0354497 0.00639688 0.060600"/>
</sensor>
<parent link="torso_1"/>
<origin xyz="0.0606 -0.00639428 0.01745" rpy="1.5708 -0.000105208 -1.5708"/>
</sensor>
<link name="base_link"/>
<joint name="base_link_fixed_joint" type="fixed">
<origin xyz="0 0 0" rpy="0 -0 0"/>
Expand Down
6 changes: 3 additions & 3 deletions urdf/ergoCub/robots/ergoCubSN001/model.urdf
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -2952,7 +2952,7 @@
</joint>
<link name="waist_imu_0"/>
<joint name="waist_imu_0_fixed_joint" type="fixed">
<origin xyz="0.0354497 0.00639688 0.060600" rpy="1.5708 0 -1.5708"/>
<origin xyz="0.0606 -0.00639428 0.01745" rpy="1.5708 -0.000105208 -1.5708"/>
<parent link="torso_1"/>
<child link="waist_imu_0"/>
<dynamics damping="0.1"/>
Expand All @@ -2966,7 +2966,7 @@
<sensor name="waist_imu_0" type="imu">
<always_on>1</always_on>
<update_rate>100</update_rate>
<pose>0.0354497 0.00639688 0.060600 1.5708 0 -1.5708</pose>
<pose>0.0606 -0.00639428 0.01745 1.5708 -0.000105208 -1.5708</pose>
<plugin name="ergocub_yarp_gazebo_plugin_IMU" filename="libgazebo_yarp_imu.so">
<yarpConfigurationFile>model://ergoCub/conf/gazebo_ergocub_waist_inertial.ini</yarpConfigurationFile>
</plugin>
Expand All @@ -2979,7 +2979,7 @@
</gazebo>
<sensor name="waist_imu_0" type="accelerometer">
<parent link="torso_1"/>
<origin rpy="1.5708 0 -1.5708" xyz="0.0354497 0.00639688 0.060600"/>
<origin xyz="0.0606 -0.00639428 0.01745" rpy="1.5708 -0.000105208 -1.5708"/>
</sensor>
<link name="base_link"/>
<joint name="base_link_fixed_joint" type="fixed">
Expand Down
6 changes: 3 additions & 3 deletions urdf/ergoCub/robots/ergoCubSN002/model.urdf
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -2952,7 +2952,7 @@
</joint>
<link name="waist_imu_0"/>
<joint name="waist_imu_0_fixed_joint" type="fixed">
<origin xyz="0.0354497 0.00639688 0.060600" rpy="1.5708 0 -1.5708"/>
<origin xyz="0.0606 -0.00639428 0.01745" rpy="1.5708 -0.000105208 -1.5708"/>
<parent link="torso_1"/>
<child link="waist_imu_0"/>
<dynamics damping="0.1"/>
Expand All @@ -2966,7 +2966,7 @@
<sensor name="waist_imu_0" type="imu">
<always_on>1</always_on>
<update_rate>100</update_rate>
<pose>0.0354497 0.00639688 0.060600 1.5708 0 -1.5708</pose>
<pose>0.0606 -0.00639428 0.01745 1.5708 -0.000105208 -1.5708</pose>
<plugin name="ergocub_yarp_gazebo_plugin_IMU" filename="libgazebo_yarp_imu.so">
<yarpConfigurationFile>model://ergoCub/conf/gazebo_ergocub_waist_inertial.ini</yarpConfigurationFile>
</plugin>
Expand All @@ -2979,7 +2979,7 @@
</gazebo>
<sensor name="waist_imu_0" type="accelerometer">
<parent link="torso_1"/>
<origin rpy="1.5708 0 -1.5708" xyz="0.0354497 0.00639688 0.060600"/>
<origin xyz="0.0606 -0.00639428 0.01745" rpy="1.5708 -0.000105208 -1.5708"/>
</sensor>
<link name="base_link"/>
<joint name="base_link_fixed_joint" type="fixed">
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