ergoCubSN001/GazeboV1_1*: add ft imu via sensor

[Nicogene]

They have been added by @GiulioRomualdi in;

• [ergoCubGazeboV1_*] Add feet IMU in the urdf model generation #217

Using xmlBlob due to a bug in creo2urdf that has been fixed:

• Fix the way we retrieve the transform for the sensors creo2urdf#79
• CREO2URDF – Wrong transform when exporting a sensors that uses a csys not present in exportedFrames list creo2urdf#77

Moreover seems that the ones adde in #217 were wrong:

• CREO2URDF – Wrong transform when exporting a sensors that uses a csys not present in exportedFrames list creo2urdf#77 (comment)

[GiulioRomualdi]

Hi @Nicogene I visualized the frames and they are placed where expected as you can notice the in following picture

Now I will do a check similarly to #217 (comment)

[GiulioRomualdi]

I checked the IMU data with https://github.com/ami-iit/xcub-sensors-check and all of the readouts are correct. I added the gazebo model with the root fixed and I moved the robot from the motorgui

🧪 Running 12 tests...
├── Running test L_FOOT_FRONT_ORIENTATION...
├── Running test L_FOOT_REAR_ORIENTATION...
├── Running test L_FOOT_FRONT_GYRO...
├── Running test L_FOOT_REAR_GYRO...
├── Running test L_FOOT_REAR_ACC...
├── Running test L_FOOT_FRONT_ACC...
├── Running test R_FOOT_FRONT_ORIENTATION...
├── Running test R_FOOT_REAR_ORIENTATION...
├── Running test R_FOOT_FRONT_GYRO...
├── Running test R_FOOT_REAR_GYRO...
├── Running test R_FOOT_REAR_ACC...
└── Running test R_FOOT_FRONT_ACC...

📊 Test outcomes:
├── 🟢 Test L_FOOT_FRONT_ORIENTATION: Passed
├── 🟢 Test L_FOOT_REAR_ORIENTATION: Passed
├── 🟢 Test L_FOOT_FRONT_GYRO: Passed
├── 🟢 Test L_FOOT_REAR_GYRO: Passed
├── 🟢 Test L_FOOT_REAR_ACC: Passed
├── 🟢 Test L_FOOT_FRONT_ACC: Passed
├── 🟢 Test R_FOOT_FRONT_ORIENTATION: Passed
├── 🟢 Test R_FOOT_REAR_ORIENTATION: Passed
├── 🟢 Test R_FOOT_FRONT_GYRO: Passed
├── 🟢 Test R_FOOT_REAR_GYRO: Passed
├── 🟢 Test R_FOOT_REAR_ACC: Passed
└── 🟢 Test R_FOOT_FRONT_ACC: Passed

Signal	Acc	Gyro	Orientation
r_foot_front
r_foot_rear
l_foot_front
l_foot_rear

Here you can find the dataset and the config file to run the tests
config_dataset_test_imu.zip

[GiulioRomualdi]

I conducted a test on the model using an updated version of the walking controller, which aims to utilize the IMUs to enhance the system's overall robustness. The test yielded the expected results.

walking_with_imu.mp4

The only adjustment I made was increasing the frequency of the wrappers to match that of the robot (from 100Hz to 500Hz). However, this adjustment may warrant further discussion in a separate issue.

🟢 flag! @Nicogene you can merge it. Thank you very much for handling this 🚀