From 401534a0b620a94151f0db96da3fb94deb30519a Mon Sep 17 00:00:00 2001
From: Alessandro Croci <alessandro.croci@iit.it>
Date: Tue, 6 Aug 2024 18:07:36 +0200
Subject: [PATCH] Add alljoint inertials `gz-sim-yarp-plugins`

---
 urdf/creo2urdf/data/ergocub1_1/base_1_1.yaml | 22 ++++++++++++++++++--
 1 file changed, 20 insertions(+), 2 deletions(-)

diff --git a/urdf/creo2urdf/data/ergocub1_1/base_1_1.yaml b/urdf/creo2urdf/data/ergocub1_1/base_1_1.yaml
index 715e435a..b1b9cf45 100644
--- a/urdf/creo2urdf/data/ergocub1_1/base_1_1.yaml
+++ b/urdf/creo2urdf/data/ergocub1_1/base_1_1.yaml
@@ -1170,7 +1170,7 @@ XMLBlobs:
             <plugin name="gzyarp::Imu" filename="gz-sim-yarp-imu-system">
               <yarpConfigurationFile>model://ergoCub/conf/gazebo_ergocub_waist_inertial.ini</yarpConfigurationFile>
             </plugin>
-            </gazebo>            
+            </gazebo>
     - |
             <sensor name="waist_imu_0" type="accelerometer">
             <parent link="torso_1"/>
@@ -1210,6 +1210,18 @@ XMLBlobs:
               <yarpConfigurationFile>model://ergoCub/conf/FT/gazebo_ergocub_right_arm_ft.ini</yarpConfigurationFile>
             </plugin>
             </gazebo>
+    - |
+            <gazebo>
+            <plugin name="gzyarp::Imu" filename="gz-sim-yarp-imu-system">
+              <yarpConfigurationFile>model://ergoCub/conf/gazebo_ergocub_l_arm_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_arm_ft_sensor_inertial.ini</yarpConfigurationFile>
+            </plugin>
+            </gazebo>
     - |
             <gazebo>
             <plugin name="controlboard_torso" filename="libgazebo_yarp_controlboard.so">
@@ -1335,7 +1347,7 @@ XMLBlobs:
     - |
             <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>
+              <yarpConfigurationFile>model://ergoCub/conf/gazebo_ergocub_l_leg_ft_sensor_inertial.ini</yarpConfigurationFile>
             </plugin>
             </gazebo>
     - |
@@ -1454,6 +1466,12 @@ XMLBlobs:
               <yarpConfigurationFile>model://ergoCub/conf/gazebo_ergocub_r_foot_rear_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_leg_ft_sensor_inertial.ini</yarpConfigurationFile>
+            </plugin>
+            </gazebo>
     - |
             <gazebo>
             <plugin name="controlboard_right_leg" filename="libgazebo_yarp_controlboard.so">