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

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merged 3 commits into from
Aug 7, 2024
Merged

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

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b293702
Update arm and leg imu ini files
xela-95 Aug 6, 2024
c6050dc
Add missing IMU `gz-sim-yarp-plugins` for `ergocub1_1`
xela-95 Aug 6, 2024
716da7c
Add missing IMU `gz-sim-yarp-plugin` for `ergocub1_0`
xela-95 Aug 7, 2024
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24 changes: 24 additions & 0 deletions urdf/creo2urdf/data/ergocub1_0/base_1_0.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -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">
Expand Down Expand Up @@ -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">
Expand Down Expand Up @@ -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>
Expand Down Expand Up @@ -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>
Expand Down
26 changes: 25 additions & 1 deletion urdf/creo2urdf/data/ergocub1_1/base_1_1.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -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"/>
Expand Down Expand Up @@ -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">
Expand Down Expand Up @@ -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">
Expand Down Expand Up @@ -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">
Expand Down
4 changes: 3 additions & 1 deletion urdf/ergoCub/conf/gazebo_ergocub_l_arm_ft_sensor_inertial.ini
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Original file line number Diff line number Diff line change
@@ -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
2 changes: 2 additions & 0 deletions urdf/ergoCub/conf/gazebo_ergocub_l_leg_ft_sensor_inertial.ini
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Original file line number Diff line number Diff line change
@@ -1,2 +1,4 @@
disableImplicitNetworkWrapper
yarpDeviceName l_leg_ft_sensor_inertial_hardware_device
parentLinkName l_leg
sensorName l_leg_ft_imu
2 changes: 2 additions & 0 deletions urdf/ergoCub/conf/gazebo_ergocub_r_arm_ft_sensor_inertial.ini
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Original file line number Diff line number Diff line change
@@ -1,2 +1,4 @@
disableImplicitNetworkWrapper
yarpDeviceName r_arm_ft_sensor_inertial_hardware_device
parentLinkName r_arm
sensorName r_arm_ft_imu
2 changes: 2 additions & 0 deletions urdf/ergoCub/conf/gazebo_ergocub_r_leg_ft_sensor_inertial.ini
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Original file line number Diff line number Diff line change
@@ -1,2 +1,4 @@
disableImplicitNetworkWrapper
yarpDeviceName r_leg_ft_sensor_inertial_hardware_device
parentLinkName r_leg
sensorName r_leg_ft_imu
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