Skip to content

Commit

Permalink
ergoCubGazeboV1: fix imu waist by hand
Browse files Browse the repository at this point in the history
  • Loading branch information
@Nicogene
Nicogene committed Oct 9, 2024
1 parent 8c9aa0d commit 4d47c62
Show file tree
Hide file tree
Showing 3 changed files with 63 additions and 63 deletions.
42 changes: 21 additions & 21 deletions urdf/ergoCub/robots/ergoCubGazeboV1/model.urdf
View file
Original file line number Diff line number Diff line change
Expand Up @@ -3007,30 +3007,30 @@
</sensor>
<link name="waist_imu_0"/>
<joint name="waist_imu_0_fixed_joint" type="fixed">
<origin xyz="0.0354497 0.00639688 0.060600" rpy="1.5708 0 -1.5708"/>
<parent link="torso_1"/>
<child link="waist_imu_0"/>
<dynamics damping="0.1"/>
</joint>
<origin xyz="0.0606 -0.00639428 0.01745" rpy="1.5708 -0.000105208 -1.5708"/>
<parent link="torso_1"/>
<child link="waist_imu_0"/>
<dynamics damping="0.1"/>
</joint>
<gazebo>
<plugin name="ergocub_yarp_gazebo_plugin_IMU" filename="libgazebo_yarp_imu.so">
<yarpConfigurationFile>model://ergoCub/conf/gazebo_ergocub_waist_inertial.ini</yarpConfigurationFile>
</plugin>
</gazebo>
<plugin name="ergocub_yarp_gazebo_plugin_IMU" filename="libgazebo_yarp_imu.so">
<yarpConfigurationFile>model://ergoCub/conf/gazebo_ergocub_waist_inertial.ini</yarpConfigurationFile>
</plugin>
</gazebo>
<gazebo reference="torso_1">
<sensor name="waist_imu_0" type="imu">
<always_on>1</always_on>
<update_rate>100</update_rate>
<pose>0.0354497 0.00639688 0.060600 1.5708 0 -1.5708</pose>
<plugin name="ergocub_yarp_gazebo_plugin_IMU" filename="libgazebo_yarp_imu.so">
<yarpConfigurationFile>model://ergoCub/conf/gazebo_ergocub_waist_inertial.ini</yarpConfigurationFile>
</plugin>
</sensor>
</gazebo>
<sensor name="waist_imu_0" type="imu">
<always_on>1</always_on>
<update_rate>100</update_rate>
<pose>0.0606 -0.00639428 0.01745 1.5708 -0.000105208 -1.5708</pose>
<plugin name="ergocub_yarp_gazebo_plugin_IMU" filename="libgazebo_yarp_imu.so">
<yarpConfigurationFile>model://ergoCub/conf/gazebo_ergocub_waist_inertial.ini</yarpConfigurationFile>
</plugin>
</sensor>
</gazebo>
<sensor name="waist_imu_0" type="accelerometer">
<parent link="torso_1"/>
<origin rpy="1.5708 0 -1.5708" xyz="0.0354497 0.00639688 0.060600"/>
</sensor>
<parent link="torso_1"/>
<origin xyz="0.0606 -0.00639428 0.01745" rpy="1.5708 -0.000105208 -1.5708"/>
</sensor>
<link name="base_link"/>
<joint name="base_link_fixed_joint" type="fixed">
<origin xyz="0 0 0" rpy="0 -0 0"/>
Expand Down
42 changes: 21 additions & 21 deletions urdf/ergoCub/robots/ergoCubGazeboV1_minContacts/model.urdf
View file
Original file line number Diff line number Diff line change
Expand Up @@ -3007,30 +3007,30 @@
</sensor>
<link name="waist_imu_0"/>
<joint name="waist_imu_0_fixed_joint" type="fixed">
<origin xyz="0.0354497 0.00639688 0.060600" rpy="1.5708 0 -1.5708"/>
<parent link="torso_1"/>
<child link="waist_imu_0"/>
<dynamics damping="0.1"/>
</joint>
<origin xyz="0.0606 -0.00639428 0.01745" rpy="1.5708 -0.000105208 -1.5708"/>
<parent link="torso_1"/>
<child link="waist_imu_0"/>
<dynamics damping="0.1"/>
</joint>
<gazebo>
<plugin name="ergocub_yarp_gazebo_plugin_IMU" filename="libgazebo_yarp_imu.so">
<yarpConfigurationFile>model://ergoCub/conf/gazebo_ergocub_waist_inertial.ini</yarpConfigurationFile>
</plugin>
</gazebo>
<plugin name="ergocub_yarp_gazebo_plugin_IMU" filename="libgazebo_yarp_imu.so">
<yarpConfigurationFile>model://ergoCub/conf/gazebo_ergocub_waist_inertial.ini</yarpConfigurationFile>
</plugin>
</gazebo>
<gazebo reference="torso_1">
<sensor name="waist_imu_0" type="imu">
<always_on>1</always_on>
<update_rate>100</update_rate>
<pose>0.0354497 0.00639688 0.060600 1.5708 0 -1.5708</pose>
<plugin name="ergocub_yarp_gazebo_plugin_IMU" filename="libgazebo_yarp_imu.so">
<yarpConfigurationFile>model://ergoCub/conf/gazebo_ergocub_waist_inertial.ini</yarpConfigurationFile>
</plugin>
</sensor>
</gazebo>
<sensor name="waist_imu_0" type="imu">
<always_on>1</always_on>
<update_rate>100</update_rate>
<pose>0.0606 -0.00639428 0.01745 1.5708 -0.000105208 -1.5708</pose>
<plugin name="ergocub_yarp_gazebo_plugin_IMU" filename="libgazebo_yarp_imu.so">
<yarpConfigurationFile>model://ergoCub/conf/gazebo_ergocub_waist_inertial.ini</yarpConfigurationFile>
</plugin>
</sensor>
</gazebo>
<sensor name="waist_imu_0" type="accelerometer">
<parent link="torso_1"/>
<origin rpy="1.5708 0 -1.5708" xyz="0.0354497 0.00639688 0.060600"/>
</sensor>
<parent link="torso_1"/>
<origin xyz="0.0606 -0.00639428 0.01745" rpy="1.5708 -0.000105208 -1.5708"/>
</sensor>
<link name="base_link"/>
<joint name="base_link_fixed_joint" type="fixed">
<origin xyz="0 0 0" rpy="0 -0 0"/>
Expand Down
42 changes: 21 additions & 21 deletions urdf/ergoCub/robots/ergoCubSN000/model.urdf
View file
Original file line number Diff line number Diff line change
Expand Up @@ -3007,30 +3007,30 @@
</sensor>
<link name="waist_imu_0"/>
<joint name="waist_imu_0_fixed_joint" type="fixed">
<origin xyz="0.0354497 0.00639688 0.060600" rpy="1.5708 0 -1.5708"/>
<parent link="torso_1"/>
<child link="waist_imu_0"/>
<dynamics damping="0.1"/>
</joint>
<origin xyz="0.0606 -0.00639428 0.01745" rpy="1.5708 -0.000105208 -1.5708"/>
<parent link="torso_1"/>
<child link="waist_imu_0"/>
<dynamics damping="0.1"/>
</joint>
<gazebo>
<plugin name="ergocub_yarp_gazebo_plugin_IMU" filename="libgazebo_yarp_imu.so">
<yarpConfigurationFile>model://ergoCub/conf/gazebo_ergocub_waist_inertial.ini</yarpConfigurationFile>
</plugin>
</gazebo>
<plugin name="ergocub_yarp_gazebo_plugin_IMU" filename="libgazebo_yarp_imu.so">
<yarpConfigurationFile>model://ergoCub/conf/gazebo_ergocub_waist_inertial.ini</yarpConfigurationFile>
</plugin>
</gazebo>
<gazebo reference="torso_1">
<sensor name="waist_imu_0" type="imu">
<always_on>1</always_on>
<update_rate>100</update_rate>
<pose>0.0354497 0.00639688 0.060600 1.5708 0 -1.5708</pose>
<plugin name="ergocub_yarp_gazebo_plugin_IMU" filename="libgazebo_yarp_imu.so">
<yarpConfigurationFile>model://ergoCub/conf/gazebo_ergocub_waist_inertial.ini</yarpConfigurationFile>
</plugin>
</sensor>
</gazebo>
<sensor name="waist_imu_0" type="imu">
<always_on>1</always_on>
<update_rate>100</update_rate>
<pose>0.0606 -0.00639428 0.01745 1.5708 -0.000105208 -1.5708</pose>
<plugin name="ergocub_yarp_gazebo_plugin_IMU" filename="libgazebo_yarp_imu.so">
<yarpConfigurationFile>model://ergoCub/conf/gazebo_ergocub_waist_inertial.ini</yarpConfigurationFile>
</plugin>
</sensor>
</gazebo>
<sensor name="waist_imu_0" type="accelerometer">
<parent link="torso_1"/>
<origin rpy="1.5708 0 -1.5708" xyz="0.0354497 0.00639688 0.060600"/>
</sensor>
<parent link="torso_1"/>
<origin xyz="0.0606 -0.00639428 0.01745" rpy="1.5708 -0.000105208 -1.5708"/>
</sensor>
<link name="base_link"/>
<joint name="base_link_fixed_joint" type="fixed">
<origin xyz="0 0 0" rpy="0 -0 0"/>
Expand Down

0 comments on commit 4d47c62

Please sign in to comment.