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ergoCubSN001/GazeboV1_1*: add ft imu via sensor
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@Nicogene
Nicogene committed Feb 21, 2024
1 parent 10670ac commit 8e102bd
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Showing 6 changed files with 309 additions and 258 deletions.
113 changes: 44 additions & 69 deletions urdf/creo2urdf/data/ergocub1_1/ERGOCUB_all_options.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -933,7 +933,50 @@ sensors:
<plugin name="ergocub_yarp_gazebo_plugin_laser" filename="libgazebo_yarp_lasersensor.so">
<yarpConfigurationFile>model://ergoCub/conf/sensors/gazebo_ergocub_lidar.ini</yarpConfigurationFile>
</plugin>
- frameName: SCSYS_L_ANKLE_2_FT_FRONT
linkName: l_foot_front
sensorName: l_foot_front_ft_imu
exportFrameInURDF: No
sensorType: "accelerometer"
updateRate: "100"
sensorBlobs:
- |
<plugin name="ergocub_yarp_gazebo_plugin_IMU" filename="libgazebo_yarp_imu.so">
<yarpConfigurationFile>model://ergoCub/conf/gazebo_ergocub_l_foot_front_ft_sensor_inertial.ini</yarpConfigurationFile>
</plugin>
- frameName: SCSYS_L_ANKLE_2_FT_REAR
linkName: l_foot_rear
sensorName: l_foot_rear_ft_imu
exportFrameInURDF: No
sensorType: "accelerometer"
updateRate: "100"
sensorBlobs:
- |
<plugin name="ergocub_yarp_gazebo_plugin_IMU" filename="libgazebo_yarp_imu.so">
<yarpConfigurationFile>model://ergoCub/conf/gazebo_ergocub_l_foot_rear_ft_sensor_inertial.ini</yarpConfigurationFile>
</plugin>
- frameName: SCSYS_R_ANKLE_2_FT_FRONT
linkName: r_foot_front
sensorName: r_foot_front_ft_imu
exportFrameInURDF: No
sensorType: "accelerometer"
updateRate: "100"
sensorBlobs:
- |
<plugin name="ergocub_yarp_gazebo_plugin_IMU" filename="libgazebo_yarp_imu.so">
<yarpConfigurationFile>model://ergoCub/conf/gazebo_ergocub_r_foot_front_ft_sensor_inertial.ini</yarpConfigurationFile>
</plugin>
- frameName: SCSYS_R_ANKLE_2_FT_REAR
linkName: r_foot_rear
sensorName: r_foot_rear_ft_imu
exportFrameInURDF: No
sensorType: "accelerometer"
updateRate: "100"
sensorBlobs:
- |
<plugin name="ergocub_yarp_gazebo_plugin_IMU" filename="libgazebo_yarp_imu.so">
<yarpConfigurationFile>model://ergoCub/conf/gazebo_ergocub_r_foot_rear_ft_sensor_inertial.ini</yarpConfigurationFile>
</plugin>
assignedCollisionGeometry:
- linkName: r_foot_front
geometricShape:
Expand Down Expand Up @@ -1051,74 +1094,6 @@ reverseRotationAxis:
r_pinkie_prox

XMLBlobs:
# left foot IMU (front)
- |
<gazebo reference="l_ankle_2">
<sensor name="l_foot_front_ft_imu" type="imu">
<always_on>1</always_on>
<update_rate>100</update_rate>
<pose>0.13525 0 -0.07019999999999993 0.0 -0.0 -2.0943952105869315</pose>
<plugin name="ergocub_yarp_gazebo_plugin_IMU" filename="libgazebo_yarp_imu.so">
<yarpConfigurationFile>model://ergoCub/conf/gazebo_ergocub_l_foot_front_ft_sensor_inertial.ini</yarpConfigurationFile>
</plugin>
</sensor>
</gazebo>
- |
<sensor name="l_foot_front_ft_imu" type="accelerometer">
<parent link="l_ankle_2" />
<origin rpy="0.0 -0.0 -2.0943952105869315" xyz="0.13525 0 -0.07019999999999993" />
</sensor>
# left foot IMU (rear)
- |
<gazebo reference="l_ankle_2">
<sensor name="l_foot_rear_ft_imu" type="imu">
<always_on>1</always_on>
<update_rate>100</update_rate>
<pose>0.016000000000000004 0 -0.07019999999999993 0.0 -0.0 -2.0943952105869315</pose>
<plugin name="ergocub_yarp_gazebo_plugin_IMU" filename="libgazebo_yarp_imu.so">
<yarpConfigurationFile>model://ergoCub/conf/gazebo_ergocub_l_foot_rear_ft_sensor_inertial.ini</yarpConfigurationFile>
</plugin>
</sensor>
</gazebo>
- |
<sensor name="l_foot_rear_ft_imu" type="accelerometer">
<parent link="l_ankle_2" />
<origin rpy="0.0 -0.0 -2.0943952105869315" xyz="0.016000000000000004 0 -0.07019999999999993" />
</sensor>
# right foot IMU (front)
- |
<gazebo reference="r_ankle_2">
<sensor name="r_foot_front_ft_imu" type="imu">
<always_on>1</always_on>
<update_rate>100</update_rate>
<pose>0.13525 0 -0.07019999999999993 0.0 -0.0 -2.0943952105869315</pose>
<plugin name="ergocub_yarp_gazebo_plugin_IMU" filename="libgazebo_yarp_imu.so">
<yarpConfigurationFile>model://ergoCub/conf/gazebo_ergocub_r_foot_front_ft_sensor_inertial.ini</yarpConfigurationFile>
</plugin>
</sensor>
</gazebo>
- |
<sensor name="r_foot_front_ft_imu" type="accelerometer">
<parent link="r_ankle_2" />
<origin rpy="0.0 -0.0 -2.0943952105869315" xyz="0.13525 0 -0.07019999999999993" />
</sensor>
# right foot IMU (rear)
- |
<gazebo reference="r_ankle_2">
<sensor name="r_foot_rear_ft_imu" type="imu">
<always_on>1</always_on>
<update_rate>100</update_rate>
<pose>0.016000000000000004 0 -0.07019999999999993 0.0 -0.0 -2.0943952105869315</pose>
<plugin name="ergocub_yarp_gazebo_plugin_IMU" filename="libgazebo_yarp_imu.so">
<yarpConfigurationFile>model://ergoCub/conf/gazebo_ergocub_r_foot_rear_ft_sensor_inertial.ini</yarpConfigurationFile>
</plugin>
</sensor>
</gazebo>
- |
<sensor name="r_foot_rear_ft_imu" type="accelerometer">
<parent link="r_ankle_2" />
<origin rpy="0.0 -0.0 -2.0943952105869315" xyz="0.016000000000000004 0 -0.07019999999999993" />
</sensor>
# imu waist (workaround since simmechanics was not updated)
- |
<link name="waist_imu_0"/>
Expand Down
112 changes: 44 additions & 68 deletions urdf/creo2urdf/data/ergocub1_1/ERGOCUB_all_options_gazebo.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -1150,6 +1150,50 @@ sensors:
<plugin name="ergocub_yarp_gazebo_plugin_laser" filename="libgazebo_yarp_lasersensor.so">
<yarpConfigurationFile>model://ergoCub/conf/sensors/gazebo_ergocub_lidar.ini</yarpConfigurationFile>
</plugin>
- frameName: SCSYS_L_ANKLE_2_FT_FRONT
linkName: l_foot_front
sensorName: l_foot_front_ft_imu
exportFrameInURDF: No
sensorType: "accelerometer"
updateRate: "100"
sensorBlobs:
- |
<plugin name="ergocub_yarp_gazebo_plugin_IMU" filename="libgazebo_yarp_imu.so">
<yarpConfigurationFile>model://ergoCub/conf/gazebo_ergocub_l_foot_front_ft_sensor_inertial.ini</yarpConfigurationFile>
</plugin>
- frameName: SCSYS_L_ANKLE_2_FT_REAR
linkName: l_foot_rear
sensorName: l_foot_rear_ft_imu
exportFrameInURDF: No
sensorType: "accelerometer"
updateRate: "100"
sensorBlobs:
- |
<plugin name="ergocub_yarp_gazebo_plugin_IMU" filename="libgazebo_yarp_imu.so">
<yarpConfigurationFile>model://ergoCub/conf/gazebo_ergocub_l_foot_rear_ft_sensor_inertial.ini</yarpConfigurationFile>
</plugin>
- frameName: SCSYS_R_ANKLE_2_FT_FRONT
linkName: r_foot_front
sensorName: r_foot_front_ft_imu
exportFrameInURDF: No
sensorType: "accelerometer"
updateRate: "100"
sensorBlobs:
- |
<plugin name="ergocub_yarp_gazebo_plugin_IMU" filename="libgazebo_yarp_imu.so">
<yarpConfigurationFile>model://ergoCub/conf/gazebo_ergocub_r_foot_front_ft_sensor_inertial.ini</yarpConfigurationFile>
</plugin>
- frameName: SCSYS_R_ANKLE_2_FT_REAR
linkName: r_foot_rear
sensorName: r_foot_rear_ft_imu
exportFrameInURDF: No
sensorType: "accelerometer"
updateRate: "100"
sensorBlobs:
- |
<plugin name="ergocub_yarp_gazebo_plugin_IMU" filename="libgazebo_yarp_imu.so">
<yarpConfigurationFile>model://ergoCub/conf/gazebo_ergocub_r_foot_rear_ft_sensor_inertial.ini</yarpConfigurationFile>
</plugin>
assignedMasses:
torso_1 : 2.0645667
Expand Down Expand Up @@ -1246,74 +1290,6 @@ reverseRotationAxis:
r_pinkie_prox

XMLBlobs:
# left foot IMU (front)
- |
<gazebo reference="l_ankle_2">
<sensor name="l_foot_front_ft_imu" type="imu">
<always_on>1</always_on>
<update_rate>100</update_rate>
<pose>0.13525 0 -0.07019999999999993 0.0 -0.0 -2.0943952105869315</pose>
<plugin name="ergocub_yarp_gazebo_plugin_IMU" filename="libgazebo_yarp_imu.so">
<yarpConfigurationFile>model://ergoCub/conf/gazebo_ergocub_l_foot_front_ft_sensor_inertial.ini</yarpConfigurationFile>
</plugin>
</sensor>
</gazebo>
- |
<sensor name="l_foot_front_ft_imu" type="accelerometer">
<parent link="l_ankle_2" />
<origin rpy="0.0 -0.0 -2.0943952105869315" xyz="0.13525 0 -0.07019999999999993" />
</sensor>
# left foot IMU (rear)
- |
<gazebo reference="l_ankle_2">
<sensor name="l_foot_rear_ft_imu" type="imu">
<always_on>1</always_on>
<update_rate>100</update_rate>
<pose>0.016000000000000004 0 -0.07019999999999993 0.0 -0.0 -2.0943952105869315</pose>
<plugin name="ergocub_yarp_gazebo_plugin_IMU" filename="libgazebo_yarp_imu.so">
<yarpConfigurationFile>model://ergoCub/conf/gazebo_ergocub_l_foot_rear_ft_sensor_inertial.ini</yarpConfigurationFile>
</plugin>
</sensor>
</gazebo>
- |
<sensor name="l_foot_rear_ft_imu" type="accelerometer">
<parent link="l_ankle_2" />
<origin rpy="0.0 -0.0 -2.0943952105869315" xyz="0.016000000000000004 0 -0.07019999999999993" />
</sensor>
# right foot IMU (front)
- |
<gazebo reference="r_ankle_2">
<sensor name="r_foot_front_ft_imu" type="imu">
<always_on>1</always_on>
<update_rate>100</update_rate>
<pose>0.13525 0 -0.07019999999999993 0.0 -0.0 -2.0943952105869315</pose>
<plugin name="ergocub_yarp_gazebo_plugin_IMU" filename="libgazebo_yarp_imu.so">
<yarpConfigurationFile>model://ergoCub/conf/gazebo_ergocub_r_foot_front_ft_sensor_inertial.ini</yarpConfigurationFile>
</plugin>
</sensor>
</gazebo>
- |
<sensor name="r_foot_front_ft_imu" type="accelerometer">
<parent link="r_ankle_2" />
<origin rpy="0.0 -0.0 -2.0943952105869315" xyz="0.13525 0 -0.07019999999999993" />
</sensor>
# right foot IMU (rear)
- |
<gazebo reference="r_ankle_2">
<sensor name="r_foot_rear_ft_imu" type="imu">
<always_on>1</always_on>
<update_rate>100</update_rate>
<pose>0.016000000000000004 0 -0.07019999999999993 0.0 -0.0 -2.0943952105869315</pose>
<plugin name="ergocub_yarp_gazebo_plugin_IMU" filename="libgazebo_yarp_imu.so">
<yarpConfigurationFile>model://ergoCub/conf/gazebo_ergocub_r_foot_rear_ft_sensor_inertial.ini</yarpConfigurationFile>
</plugin>
</sensor>
</gazebo>
- |
<sensor name="r_foot_rear_ft_imu" type="accelerometer">
<parent link="r_ankle_2" />
<origin rpy="0.0 -0.0 -2.0943952105869315" xyz="0.016000000000000004 0 -0.07019999999999993" />
</sensor>
# imu waist (workaround since simmechanics was not updated)
- |
<link name="waist_imu_0"/>
Expand Down
44 changes: 44 additions & 0 deletions urdf/creo2urdf/data/ergocub1_1/ERGOCUB_all_options_minContacts.yaml
View file
Original file line number Diff line number Diff line change
Expand Up @@ -1263,6 +1263,50 @@ sensors:
<plugin name="ergocub_yarp_gazebo_plugin_laser" filename="libgazebo_yarp_lasersensor.so">
<yarpConfigurationFile>model://ergoCub/conf/sensors/gazebo_ergocub_lidar.ini</yarpConfigurationFile>
</plugin>
- frameName: SCSYS_L_ANKLE_2_FT_FRONT
linkName: l_foot_front
sensorName: l_foot_front_ft_imu
exportFrameInURDF: No
sensorType: "accelerometer"
updateRate: "100"
sensorBlobs:
- |
<plugin name="ergocub_yarp_gazebo_plugin_IMU" filename="libgazebo_yarp_imu.so">
<yarpConfigurationFile>model://ergoCub/conf/gazebo_ergocub_l_foot_front_ft_sensor_inertial.ini</yarpConfigurationFile>
</plugin>
- frameName: SCSYS_L_ANKLE_2_FT_REAR
linkName: l_foot_rear
sensorName: l_foot_rear_ft_imu
exportFrameInURDF: No
sensorType: "accelerometer"
updateRate: "100"
sensorBlobs:
- |
<plugin name="ergocub_yarp_gazebo_plugin_IMU" filename="libgazebo_yarp_imu.so">
<yarpConfigurationFile>model://ergoCub/conf/gazebo_ergocub_l_foot_rear_ft_sensor_inertial.ini</yarpConfigurationFile>
</plugin>
- frameName: SCSYS_R_ANKLE_2_FT_FRONT
linkName: r_foot_front
sensorName: r_foot_front_ft_imu
exportFrameInURDF: No
sensorType: "accelerometer"
updateRate: "100"
sensorBlobs:
- |
<plugin name="ergocub_yarp_gazebo_plugin_IMU" filename="libgazebo_yarp_imu.so">
<yarpConfigurationFile>model://ergoCub/conf/gazebo_ergocub_r_foot_front_ft_sensor_inertial.ini</yarpConfigurationFile>
</plugin>
- frameName: SCSYS_R_ANKLE_2_FT_REAR
linkName: r_foot_rear
sensorName: r_foot_rear_ft_imu
exportFrameInURDF: No
sensorType: "accelerometer"
updateRate: "100"
sensorBlobs:
- |
<plugin name="ergocub_yarp_gazebo_plugin_IMU" filename="libgazebo_yarp_imu.so">
<yarpConfigurationFile>model://ergoCub/conf/gazebo_ergocub_r_foot_rear_ft_sensor_inertial.ini</yarpConfigurationFile>
</plugin>
assignedMasses:
torso_1 : 2.0645667
Expand Down
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