Refactor YAMLs for using the includes creo2urdf parameter

In: - icub-tech-iit/creo2urdf#91 It has been added the possibility to include sub-yamls. I reorganized the yamls in order to avoid duplications
icub-tech-iit · Apr 18, 2024 · 47bd888 · 47bd888
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diff --git a/...gocub1_1/ERGOCUB_joint_all_parameters.csv → ...a/common/ERGOCUB_joint_all_parameters.csv b/...gocub1_1/ERGOCUB_joint_all_parameters.csv → ...a/common/ERGOCUB_joint_all_parameters.csv
@@ -1,58 +1,58 @@
-joint_name,lower_limit,upper_limit,damping,friction,velocity_limit,effort_limit
-torso_yaw,-43,43,2,0,120,
-torso_pitch,-18,45,2,0,120,
-torso_roll,-23,23,2,0,120,
-r_shoulder_pitch,-170,35,2,0,120,
-r_shoulder_roll,-15,150,2,0,120,
-r_shoulder_yaw,-50,80,2,0,120,
-l_shoulder_pitch,-170,35,2,0,120,
-l_shoulder_roll,-15,150,2,0,120,
-l_shoulder_yaw,-50,80,2,0,120,
-l_hip_pitch,-43,103,2,0,120,
-l_hip_roll,-16,109,2,0,120,
-l_hip_yaw,-79,79,2,0,120,
-l_knee,-104,6,2,0,120,
-l_ankle_pitch,-45,45,2,0,120,
-l_ankle_roll,-25,25,2,0,120,
-r_hip_pitch,-43,103,2,0,120,
-r_hip_roll,-16,109,2,0,120,
-r_hip_yaw,-79,79,2,0,120,
-r_knee,-104,6,2,0,120,
-r_ankle_pitch,-45,45,2,0,120,
-r_ankle_roll,-25,25,2,0,120,
-neck_pitch,-30,22,2,0,120,
-neck_roll,-20,20,2,0,120,
-neck_yaw,-45,45,2,0,120,
-camera_tilt,-30,30,2,0,120,
-l_elbow,-3,75,2,0,120,
-l_wrist_roll,-62,52,2,0,120,
-l_wrist_pitch,-32,32,2,0,120,
-l_wrist_yaw,-92,92,2,0,120,
-l_thumb_add,0,100,2,0,100,
-l_thumb_prox,0,90,2,0,100,
-l_thumb_dist,0,101.4,2,0,120,
-l_index_add,0,15,2,0,100,
-l_index_prox,0,90,2,0,100,
-l_index_dist,0,103.1,2,0,100,
-l_middle_prox,0,90,2,0,100,
-l_middle_dist,0,103.1,2,0,100,
-l_ring_prox,0,90,2,0,100,
-l_ring_dist,0,103.1,2,0,100,
-l_pinkie_prox,0,90,2,0,100,
-l_pinkie_dist,0,98.7,2,0,100,
-r_elbow,-3,75,2,0,120,
-r_wrist_roll,-62,52,2,0,120,
-r_wrist_pitch,-32,32,2,0,120,
-r_wrist_yaw,-92,92,2,0,120,
-r_thumb_add,0,100,2,0,100,
-r_thumb_prox,0,90,2,0,100,
-r_thumb_dist,0,101.4,2,0,120,
-r_index_add,0,15,2,0,100,
-r_index_prox,0,90,2,0,100,
-r_index_dist,0,103.1,2,0,100,
-r_middle_prox,0,90,2,0,100,
-r_middle_dist,0,103.1,2,0,100,
-r_ring_prox,0,90,2,0,100,
-r_ring_dist,0,103.1,2,0,100,
-r_pinkie_prox,0,90,2,0,100,
-r_pinkie_dist,0,98.7,2,0,100,
+joint_name,lower_limit,upper_limit,damping,friction,velocity_limit,effort_limit
+torso_yaw,-43,43,2,0,120,
+torso_pitch,-18,45,2,0,120,
+torso_roll,-23,23,2,0,120,
+r_shoulder_pitch,-170,35,2,0,120,
+r_shoulder_roll,-15,150,2,0,120,
+r_shoulder_yaw,-50,80,2,0,120,
+l_shoulder_pitch,-170,35,2,0,120,
+l_shoulder_roll,-15,150,2,0,120,
+l_shoulder_yaw,-50,80,2,0,120,
+l_hip_pitch,-43,103,2,0,120,
+l_hip_roll,-16,109,2,0,120,
+l_hip_yaw,-79,79,2,0,120,
+l_knee,-104,6,2,0,120,
+l_ankle_pitch,-45,45,2,0,120,
+l_ankle_roll,-25,25,2,0,120,
+r_hip_pitch,-43,103,2,0,120,
+r_hip_roll,-16,109,2,0,120,
+r_hip_yaw,-79,79,2,0,120,
+r_knee,-104,6,2,0,120,
+r_ankle_pitch,-45,45,2,0,120,
+r_ankle_roll,-25,25,2,0,120,
+neck_pitch,-30,22,2,0,120,
+neck_roll,-20,20,2,0,120,
+neck_yaw,-45,45,2,0,120,
+camera_tilt,-30,30,2,0,120,
+l_elbow,-3,75,2,0,120,
+l_wrist_roll,-62,52,2,0,120,
+l_wrist_pitch,-32,32,2,0,120,
+l_wrist_yaw,-92,92,2,0,120,
+l_thumb_add,0,100,2,0,100,
+l_thumb_prox,0,90,2,0,100,
+l_thumb_dist,0,101.4,2,0,120,
+l_index_add,0,15,2,0,100,
+l_index_prox,0,90,2,0,100,
+l_index_dist,0,103.1,2,0,100,
+l_middle_prox,0,90,2,0,100,
+l_middle_dist,0,103.1,2,0,100,
+l_ring_prox,0,90,2,0,100,
+l_ring_dist,0,103.1,2,0,100,
+l_pinkie_prox,0,90,2,0,100,
+l_pinkie_dist,0,98.7,2,0,100,
+r_elbow,-3,75,2,0,120,
+r_wrist_roll,-62,52,2,0,120,
+r_wrist_pitch,-32,32,2,0,120,
+r_wrist_yaw,-92,92,2,0,120,
+r_thumb_add,0,100,2,0,100,
+r_thumb_prox,0,90,2,0,100,
+r_thumb_dist,0,101.4,2,0,120,
+r_index_add,0,15,2,0,100,
+r_index_prox,0,90,2,0,100,
+r_index_dist,0,103.1,2,0,100,
+r_middle_prox,0,90,2,0,100,
+r_middle_dist,0,103.1,2,0,100,
+r_ring_prox,0,90,2,0,100,
+r_ring_dist,0,103.1,2,0,100,
+r_pinkie_prox,0,90,2,0,100,
+r_pinkie_dist,0,98.7,2,0,100,
diff --git a/urdf/creo2urdf/data/common/gazebo_addon.yaml b/urdf/creo2urdf/data/common/gazebo_addon.yaml
@@ -0,0 +1,194 @@
+assignedInertias:
+  # This is due to https://github.com/robotology/icub-models/issues/33
+  - linkName: torso_1
+    xx: 0.0074060860
+    yy: 0.0059470733
+    zz: 0.0031780111
+  - linkName: realsense
+    xx: 0.01
+    yy: 0.01
+    zz: 0.01
+  - linkName: r_shoulder_1
+    xx: 0.01
+    yy: 0.01
+    zz: 0.01
+  - linkName: r_shoulder_2
+    xx: 0.01
+    yy: 0.01
+    zz: 0.01
+  - linkName: r_shoulder_3
+    xx: 0.01
+    yy: 0.01
+    zz: 0.01
+  - linkName: r_forearm
+    xx: 0.01
+    yy: 0.01
+    zz: 0.01
+  - linkName: r_wrist_1
+    xx: 0.01
+    yy: 0.01
+    zz: 0.01
+  - linkName: r_wrist_2
+    xx: 0.01
+    yy: 0.01
+    zz: 0.01
+  - linkName: r_hand_palm
+    xx: 0.01
+    yy: 0.01
+    zz: 0.01
+  - linkName: r_hand_thumb_1
+    xx: 0.01
+    yy: 0.01
+    zz: 0.01
+  - linkName: r_hand_thumb_2
+    xx: 0.01
+    yy: 0.01
+    zz: 0.01
+  - linkName: r_hand_thumb_3
+    xx: 0.01
+    yy: 0.01
+    zz: 0.01
+  - linkName: r_hand_index_1
+    xx: 0.01
+    yy: 0.01
+    zz: 0.01
+  - linkName: r_hand_index_2
+    xx: 0.01
+    yy: 0.01
+    zz: 0.01
+  - linkName: r_hand_index_3
+    xx: 0.01
+    yy: 0.01
+    zz: 0.01
+  - linkName: r_hand_middle_1
+    xx: 0.01
+    yy: 0.01
+    zz: 0.01
+  - linkName: r_hand_middle_2
+    xx: 0.01
+    yy: 0.01
+    zz: 0.01
+  - linkName: r_hand_ring_1
+    xx: 0.01
+    yy: 0.01
+    zz: 0.01
+  - linkName: r_hand_ring_2
+    xx: 0.01
+    yy: 0.01
+    zz: 0.01
+  - linkName: r_hand_pinkie_1
+    xx: 0.01
+    yy: 0.01
+    zz: 0.01
+  - linkName: r_hand_pinkie_2
+    xx: 0.01
+    yy: 0.01
+    zz: 0.01
+  - linkName: l_shoulder_1
+    xx: 0.01
+    yy: 0.01
+    zz: 0.01
+  - linkName: l_shoulder_2
+    xx: 0.01
+    yy: 0.01
+    zz: 0.01
+  - linkName: l_shoulder_3
+    xx: 0.01
+    yy: 0.01
+    zz: 0.01
+  - linkName: l_forearm
+    xx: 0.01
+    yy: 0.01
+    zz: 0.01
+  - linkName: l_wrist_1
+    xx: 0.01
+    yy: 0.01
+    zz: 0.01
+  - linkName: l_wrist_2
+    xx: 0.01
+    yy: 0.01
+    zz: 0.01
+  - linkName: l_hand_palm
+    xx: 0.01
+    yy: 0.01
+    zz: 0.01
+  - linkName: l_hand_thumb_1
+    xx: 0.01
+    yy: 0.01
+    zz: 0.01
+  - linkName: l_hand_thumb_2
+    xx: 0.01
+    yy: 0.01
+    zz: 0.01
+  - linkName: l_hand_thumb_3
+    xx: 0.01
+    yy: 0.01
+    zz: 0.01
+  - linkName: l_hand_index_1
+    xx: 0.01
+    yy: 0.01
+    zz: 0.01
+  - linkName: l_hand_index_2
+    xx: 0.01
+    yy: 0.01
+    zz: 0.01
+  - linkName: l_hand_index_3
+    xx: 0.01
+    yy: 0.01
+    zz: 0.01
+  - linkName: l_hand_middle_1
+    xx: 0.01
+    yy: 0.01
+    zz: 0.01
+  - linkName: l_hand_middle_2
+    xx: 0.01
+    yy: 0.01
+    zz: 0.01
+  - linkName: l_hand_ring_1
+    xx: 0.01
+    yy: 0.01
+    zz: 0.01
+  - linkName: l_hand_ring_2
+    xx: 0.01
+    yy: 0.01
+    zz: 0.01
+  - linkName: l_hand_pinkie_1
+    xx: 0.01
+    yy: 0.01
+    zz: 0.01
+  - linkName: l_hand_pinkie_2
+    xx: 0.01
+    yy: 0.01
+    zz: 0.01
+  - linkName: l_ankle_1
+    xx: 0.01
+    yy: 0.01
+    zz: 0.01
+  - linkName: l_ankle_2
+    xx: 0.01
+    yy: 0.01
+    zz: 0.01
+  - linkName: l_foot_front
+    xx: 0.01
+    yy: 0.01
+    zz: 0.01
+  - linkName: l_foot_rear
+    xx: 0.01
+    yy: 0.01
+    zz: 0.01
+  - linkName: r_ankle_1
+    xx: 0.01
+    yy: 0.01
+    zz: 0.01
+  - linkName: r_ankle_2
+    xx: 0.01
+    yy: 0.01
+    zz: 0.01
+  - linkName: r_foot_front
+    xx: 0.01
+    yy: 0.01
+    zz: 0.01
+  - linkName: r_foot_rear
+    xx: 0.01
+    yy: 0.01
+    zz: 0.01