Fix alljoints inertials to work also on gz-sim (#250)

icub-tech-iit · Aug 7, 2024 · 9531ed8 · 9531ed8
2 parents e4b567e + 716da7c
commit 9531ed8
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Showing 6 changed files with 58 additions and 2 deletions.
diff --git a/urdf/creo2urdf/data/ergocub1_0/base_1_0.yaml b/urdf/creo2urdf/data/ergocub1_0/base_1_0.yaml
@@ -1377,6 +1377,12 @@ XMLBlobs:
               <yarpConfigurationFile>model://ergoCub/conf/gazebo_ergocub_l_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_l_leg_ft_sensor_inertial.ini</yarpConfigurationFile>
+            </plugin>
+            </gazebo>
     - |
             <gazebo>
             <plugin name="controlboard_left_leg" filename="libgazebo_yarp_controlboard.so">
@@ -1492,6 +1498,12 @@ 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">
@@ -1606,6 +1618,12 @@ XMLBlobs:
               <yarpConfigurationFile>model://ergoCub/conf/FT/gazebo_ergocub_left_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 reference="l_shoulder_pitch">
               <implicitSpringDamper>1</implicitSpringDamper>
@@ -1667,6 +1685,12 @@ 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_r_arm_ft_sensor_inertial.ini</yarpConfigurationFile>
+            </plugin>
+            </gazebo>
     - |
             <gazebo reference="r_shoulder_pitch">
               <implicitSpringDamper>1</implicitSpringDamper>

diff --git 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">
@@ -1338,6 +1350,12 @@ XMLBlobs:
               <yarpConfigurationFile>model://ergoCub/conf/gazebo_ergocub_l_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_l_leg_ft_sensor_inertial.ini</yarpConfigurationFile>
+            </plugin>
+            </gazebo>
     - |
             <gazebo>
             <plugin name="controlboard_left_leg" filename="libgazebo_yarp_controlboard.so">
@@ -1454,6 +1472,12 @@ 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">

diff --git a/urdf/ergoCub/conf/gazebo_ergocub_l_arm_ft_sensor_inertial.ini b/urdf/ergoCub/conf/gazebo_ergocub_l_arm_ft_sensor_inertial.ini
@@ -1,2 +1,4 @@
 disableImplicitNetworkWrapper
-yarpDeviceName l_arm_ft_sensor_inertial_hardware_device
+yarpDeviceName l_arm_ft_sensor_inertial_hardware_device
+parentLinkName l_arm
+sensorName l_arm_ft_imu
diff --git a/urdf/ergoCub/conf/gazebo_ergocub_l_leg_ft_sensor_inertial.ini b/urdf/ergoCub/conf/gazebo_ergocub_l_leg_ft_sensor_inertial.ini
@@ -1,2 +1,4 @@
 disableImplicitNetworkWrapper
 yarpDeviceName l_leg_ft_sensor_inertial_hardware_device
+parentLinkName l_leg
+sensorName l_leg_ft_imu
diff --git a/urdf/ergoCub/conf/gazebo_ergocub_r_arm_ft_sensor_inertial.ini b/urdf/ergoCub/conf/gazebo_ergocub_r_arm_ft_sensor_inertial.ini
@@ -1,2 +1,4 @@
 disableImplicitNetworkWrapper
 yarpDeviceName r_arm_ft_sensor_inertial_hardware_device
+parentLinkName r_arm
+sensorName r_arm_ft_imu
diff --git a/urdf/ergoCub/conf/gazebo_ergocub_r_leg_ft_sensor_inertial.ini b/urdf/ergoCub/conf/gazebo_ergocub_r_leg_ft_sensor_inertial.ini
@@ -1,2 +1,4 @@
 disableImplicitNetworkWrapper
 yarpDeviceName r_leg_ft_sensor_inertial_hardware_device
+parentLinkName r_leg
+sensorName r_leg_ft_imu