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Add waist_imu in urdf file #99

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merged 7 commits into from
May 5, 2023
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Merged

Add waist_imu in urdf file #99

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3bf5873
Add waist_imu in urdf file
martinaxgloria Apr 27, 2023
7928e39
fix
martinaxgloria Apr 27, 2023
72a2fda
fix after review
martinaxgloria Apr 28, 2023
47900b1
Add the XMLBlobs, the assigned mass and inertia for waist_imu
martinaxgloria May 5, 2023
7e867c0
Remove changes made by hand from model.urdf
martinaxgloria May 5, 2023
069039e
Fix yaml and remove added file under ../urdf/ergoCub folder
martinaxgloria May 5, 2023
f88b50e
Fix
martinaxgloria May 5, 2023
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1 change: 1 addition & 0 deletions urdf/ergoCub/conf/estimators/wbd_ecub_sim.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -57,6 +57,7 @@
<elem name="left_lower_arm">left_arm-mc_wrapper</elem-->
<!-- imu -->
<elem name="imu">head_inertial_hardware_device</elem>
<elem name="waist_imu">waist_inertial_hardware_device</elem>
<!-- ft -->
<elem name="l_arm_ft_sensor">ergocub_left_arm_ft</elem>
<elem name="r_arm_ft_sensor">ergocub_right_arm_ft</elem>
Expand Down
8 changes: 6 additions & 2 deletions urdf/ergoCub/conf/launch_wholebodydynamics_ecub.xml
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Expand Up @@ -39,8 +39,12 @@
<param name="remote"> /ergocubSim/head/inertials </param>
<param name="local"> /wholeBodyDynamics/imu </param>
</device>



<device name="waist_inertial_hardware_device" type="multipleanalogsensorsclient">
<param name="remote"> /ergocubSim/waist/inertials </param>
<param name="local"> /wholeBodyDynamics/waist_imu </param>
</device>

<!-- six axis force torque sensors -->
<device name="ergocub_left_arm_ft" type="multipleanalogsensorsclient">
<param name="remote"> /ergocubSim/left_arm </param>
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45 changes: 43 additions & 2 deletions urdf/simmechanics/data/ergocub/ERGOCUB_all_options.yaml
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Expand Up @@ -808,8 +808,7 @@ sensors:
- |
<plugin name="ergocub_yarp_gazebo_plugin_IMU" filename="libgazebo_yarp_imu.so">
<yarpConfigurationFile>model://ergoCub/conf/gazebo_ergocub_inertial.ini</yarpConfigurationFile>
</plugin>

</plugin>
- sensorName: default
exportFrameInURDF: No
sensorType: "depth"
Expand Down Expand Up @@ -937,6 +936,16 @@ sensors:
<yarpConfigurationFile>model://ergoCub/conf/sensors/gazebo_ergocub_lidar.ini</yarpConfigurationFile>
</plugin>

assignedMasses:
torso_1 : 2.0645667

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

assignedColors:
root_link : [0.70, 0.70, 0.70, 1]
torso_1 : [0.70, 0.70, 0.70, 1]
Expand Down Expand Up @@ -1018,6 +1027,38 @@ reverseRotationAxis:
# neck_yaw

XMLBlobs:
# imu waist (workaround since simmechanics was not updated)
- |
<link name="waist_imu_0"/>
- |
<joint name="waist_imu_0_fixed_joint" type="fixed">
<origin xyz="0.0354497 0.00639688 0.060600" rpy="-1.5707322 1.5707963 0"/>
<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>
- |
<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 -1.5707322 1.5707963 0</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="-1.5707322 1.5707963 0" xyz="0.0354497 0.00639688 0.060600"/>
</sensor>
# upperbody
- |
<link name="base_link" />
Expand Down
38 changes: 38 additions & 0 deletions urdf/simmechanics/data/ergocub/ERGOCUB_all_options_gazebo.yaml.in
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Expand Up @@ -936,9 +936,15 @@ sensors:


@ASSIGNED_COLLISION_GEOMETRIES@
assignedMasses:
torso_1 : 2.0645667

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
Expand Down Expand Up @@ -1216,6 +1222,38 @@ reverseRotationAxis:
# neck_yaw

XMLBlobs:
# imu waist (workaround since simmechanics was not updated)
- |
<link name="waist_imu_0"/>
- |
<joint name="waist_imu_0_fixed_joint" type="fixed">
<origin xyz="0.0354497 0.00639688 0.060600" rpy="-1.5707322 1.5707963 0"/>
<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>
- |
<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 -1.5707322 1.5707963 0</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="-1.5707322 1.5707963 0" xyz="0.0354497 0.00639688 0.060600"/>
</sensor>
# upperbody
- |
<link name="base_link" />
Expand Down
1 change: 1 addition & 0 deletions urdf/simmechanics/data/ergocub/conf/ergocub.xml
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Expand Up @@ -31,6 +31,7 @@

<!-- INERTIAL SENSOR-->
<xi:include href="wrappers/inertials/head-inertials_wrapper.xml" />
<xi:include href="wrappers/inertials/waist-inertials_wrapper.xml" />

<!-- HEAD SENSORS -->
<xi:include href="sensors/rgbd_camera_wrapper.xml" />
Expand Down
2 changes: 2 additions & 0 deletions urdf/simmechanics/data/ergocub/conf/gazebo_ergocub_waist_inertial.ini
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@@ -0,0 +1,2 @@
disableImplicitNetworkWrapper
yarpDeviceName waist_inertial_hardware_device
17 changes: 17 additions & 0 deletions urdf/simmechanics/data/ergocub/conf/wrappers/inertials/waist-inertials_wrapper.xml
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@@ -0,0 +1,17 @@
<?xml version="1.0" encoding="UTF-8" ?>
<!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">


<device xmlns:xi="http://www.w3.org/2001/XInclude" name="waist-inertials_wrapper" type="multipleanalogsensorsserver">
<param name="period"> 10 </param>
<param name="name"> ${portprefix}/waist/inertials </param>


<action phase="startup" level="10" type="attach">
<paramlist name="networks">
<elem name="SetOfIMUs"> waist_inertial_hardware_device </elem>
</paramlist>
</action>

<action phase="shutdown" level="15" type="detach" />
</device>