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icub3: fix ft frame exportation #176

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merged 1 commit into from
Nov 24, 2020
Merged

icub3: fix ft frame exportation #176

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41 changes: 18 additions & 23 deletions simmechanics/data/icub3/ICUB_3_all_options.yaml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -102,20 +102,6 @@ rename:
SIM_ICUB3_R_FOREARM--SIM_ICUB3_R_WRIST_1: r_wrist_pitch
SIM_ICUB3_R_WRIST_1--SIM_ICUB3_R_HAND: r_wrist_yaw

# Sensors options
forceTorqueSensors:
- jointName: l_leg_ft_sensor
directionChildToParent: Yes
- jointName: r_leg_ft_sensor
directionChildToParent: Yes
- jointName: l_foot_front_ft_sensor
directionChildToParent: Yes
- jointName: l_foot_rear_ft_sensor
directionChildToParent: Yes
- jointName: r_foot_front_ft_sensor
directionChildToParent: Yes
- jointName: r_foot_rear_ft_sensor
directionChildToParent: Yes

# Frames options
exportAllUseradded: No
Expand All @@ -124,8 +110,6 @@ linkFrames:
# upperbody
- linkName: root_link
frameName: SCSYS_ROOT
- linkName: l_shoulder_2
frameName: SCSYS_L_SHOULDER_2_FT
- linkName: chest
frameName: SCSYS_CHEST
- linkName: l_shoulder_1
Expand All @@ -151,12 +135,6 @@ linkFrames:
- linkName: torso_2
frameName: SCSYS_TORSO_2
# left leg
- linkName: l_hip_2
frameName: SCSYS_L_HIP_2_FT
- linkName: l_ankle_2
frameName: SCSYS_L_ANKLE_2_FT_FRONT
- linkName: l_ankle_2
frameName: SCSYS_L_ANKLE_2_FT_REAR
- linkName: l_hip_1
frameName: SCSYS_L_HIP_1
- linkName: l_hip_2
Expand Down Expand Up @@ -244,13 +222,17 @@ forceTorqueSensors:
# upperbody
- jointName: l_arm_ft_sensor
directionChildToParent: Yes
frame: sensor
frameName: SCSYS_L_SHOULDER_2_FT
sensorBlobs:
- |
<plugin name="left_arm_ft_plugin" filename="libgazebo_yarp_forcetorque.so">
<yarpConfigurationFile>model://iCub/conf_icub3/FT/gazebo_icub_left_arm_ft.ini</yarpConfigurationFile>
</plugin>
- jointName: r_arm_ft_sensor
directionChildToParent: Yes
frame: sensor
frameName: SCSYS_R_SHOULDER_2_FT
sensorBlobs:
- |
<plugin name="right_arm_ft_plugin" filename="libgazebo_yarp_forcetorque.so">
Expand All @@ -259,20 +241,26 @@ forceTorqueSensors:
# left leg
- jointName: l_leg_ft_sensor
directionChildToParent: Yes
frame: sensor
frameName: SCSYS_L_HIP_2_FT
sensorBlobs:
- |
<plugin name="left_leg_ft_plugin" filename="libgazebo_yarp_forcetorque.so">
<yarpConfigurationFile>model://iCub/conf_icub3/FT/gazebo_icub_left_leg_ft.ini</yarpConfigurationFile>
</plugin>
- jointName: l_foot_front_ft_sensor
directionChildToParent: Yes
frame: sensor
frameName: SCSYS_L_ANKLE_2_FT_FRONT
sensorBlobs:
- |
<plugin name="left_foot_front_ft_plugin" filename="libgazebo_yarp_forcetorque.so">
<yarpConfigurationFile>model://iCub/conf_icub3/FT/gazebo_icub_left_foot_front_ft.ini</yarpConfigurationFile>
</plugin>
- jointName: l_foot_rear_ft_sensor
directionChildToParent: Yes
frame: sensor
frameName: SCSYS_L_ANKLE_2_FT_REAR
sensorBlobs:
- |
<plugin name="left_foot_rear_ft_plugin" filename="libgazebo_yarp_forcetorque.so">
Expand All @@ -281,26 +269,33 @@ forceTorqueSensors:
# right leg
- jointName: r_leg_ft_sensor
directionChildToParent: Yes
frame: sensor
frameName: SCSYS_R_HIP_2_FT
sensorBlobs:
- |
<plugin name="right_leg_ft_plugin" filename="libgazebo_yarp_forcetorque.so">
<yarpConfigurationFile>model://iCub/conf_icub3/FT/gazebo_icub_right_leg_ft.ini</yarpConfigurationFile>
</plugin>
- jointName: r_foot_front_ft_sensor
directionChildToParent: Yes
frame: sensor
frameName: SCSYS_R_ANKLE_2_FT_FRONT
sensorBlobs:
- |
<plugin name="right_foot_front_ft_plugin" filename="libgazebo_yarp_forcetorque.so">
<yarpConfigurationFile>model://iCub/conf_icub3/FT/gazebo_icub_right_foot_front_ft.ini</yarpConfigurationFile>
</plugin>
- jointName: r_foot_rear_ft_sensor
directionChildToParent: Yes
frame: sensor
frameName: SCSYS_R_ANKLE_2_FT_REAR
sensorBlobs:
- |
<plugin name="right_foot_rear_ft_plugin" filename="libgazebo_yarp_forcetorque.so">
<yarpConfigurationFile>model://iCub/conf_icub3/FT/gazebo_icub_right_foot_rear_ft.ini</yarpConfigurationFile>
</plugin>


sensors:
- sensorName: default
exportFrameInURDF: No
Expand Down Expand Up @@ -344,7 +339,7 @@ sensors:
<yarpConfigurationFile>model://iCub/conf_icub3/gazebo_icub_depth_camera.ini</yarpConfigurationFile>
</plugin>

- frameName: SCSYS_CHEST_RGB
- frameName: SCSYS_CHEST_RGB
linkName: chest
sensorName: realsense_chest_rgb
sensorType: "camera"
Expand Down
49 changes: 17 additions & 32 deletions simmechanics/data/icub3/ICUB_3_all_options_gazebo.yaml.in
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -102,30 +102,13 @@ rename:
SIM_ICUB3_R_FOREARM--SIM_ICUB3_R_WRIST_1: r_wrist_pitch
SIM_ICUB3_R_WRIST_1--SIM_ICUB3_R_HAND: r_wrist_yaw

# Sensors options
forceTorqueSensors:
- jointName: l_leg_ft_sensor
directionChildToParent: Yes
- jointName: r_leg_ft_sensor
directionChildToParent: Yes
- jointName: l_foot_front_ft_sensor
directionChildToParent: Yes
- jointName: l_foot_rear_ft_sensor
directionChildToParent: Yes
- jointName: r_foot_front_ft_sensor
directionChildToParent: Yes
- jointName: r_foot_rear_ft_sensor
directionChildToParent: Yes

# Frames options
exportAllUseradded: No

linkFrames:
# upperbody
- linkName: root_link
frameName: SCSYS_ROOT
- linkName: l_shoulder_2
frameName: SCSYS_L_SHOULDER_2_FT
- linkName: chest
frameName: SCSYS_CHEST
- linkName: l_shoulder_1
Expand All @@ -136,8 +119,6 @@ linkFrames:
frameName: SCSYS_L_SHOULDER_3
- linkName: l_upper_arm
frameName: SCSYS_L_UPPERARM
- linkName: r_shoulder_2
frameName: SCSYS_R_SHOULDER_2_FT
- linkName: r_shoulder_1
frameName: SCSYS_R_SHOULDER_1
- linkName: r_shoulder_2
Expand All @@ -151,12 +132,6 @@ linkFrames:
- linkName: torso_2
frameName: SCSYS_TORSO_2
# left leg
- linkName: l_hip_2
frameName: SCSYS_L_HIP_2_FT
- linkName: l_ankle_2
frameName: SCSYS_L_ANKLE_2_FT_FRONT
- linkName: l_ankle_2
frameName: SCSYS_L_ANKLE_2_FT_REAR
- linkName: l_hip_1
frameName: SCSYS_L_HIP_1
- linkName: l_hip_2
Expand All @@ -176,12 +151,6 @@ linkFrames:
- linkName: l_foot_rear
frameName: SCSYS_L_FOOT_REAR
# right leg
- linkName: r_hip_2
frameName: SCSYS_R_HIP_2_FT
- linkName: r_ankle_2
frameName: SCSYS_R_ANKLE_2_FT_FRONT
- linkName: r_ankle_2
frameName: SCSYS_R_ANKLE_2_FT_REAR
- linkName: r_hip_1
frameName: SCSYS_R_HIP_1
- linkName: r_hip_2
Expand Down Expand Up @@ -250,13 +219,17 @@ forceTorqueSensors:
# upperbody
- jointName: l_arm_ft_sensor
directionChildToParent: Yes
frame: sensor
frameName: SCSYS_L_SHOULDER_2_FT
sensorBlobs:
- |
<plugin name="left_arm_ft_plugin" filename="libgazebo_yarp_forcetorque.so">
<yarpConfigurationFile>model://iCub/conf_icub3/FT/gazebo_icub_left_arm_ft.ini</yarpConfigurationFile>
</plugin>
- jointName: r_arm_ft_sensor
directionChildToParent: Yes
frame: sensor
frameName: SCSYS_R_SHOULDER_2_FT
sensorBlobs:
- |
<plugin name="right_arm_ft_plugin" filename="libgazebo_yarp_forcetorque.so">
Expand All @@ -265,20 +238,26 @@ forceTorqueSensors:
# left leg
- jointName: l_leg_ft_sensor
directionChildToParent: Yes
frame: sensor
frameName: SCSYS_L_HIP_2_FT
sensorBlobs:
- |
<plugin name="left_leg_ft_plugin" filename="libgazebo_yarp_forcetorque.so">
<yarpConfigurationFile>model://iCub/conf_icub3/FT/gazebo_icub_left_leg_ft.ini</yarpConfigurationFile>
</plugin>
- jointName: l_foot_front_ft_sensor
directionChildToParent: Yes
frame: sensor
frameName: SCSYS_L_ANKLE_2_FT_FRONT
sensorBlobs:
- |
<plugin name="left_foot_front_ft_plugin" filename="libgazebo_yarp_forcetorque.so">
<yarpConfigurationFile>model://iCub/conf_icub3/FT/gazebo_icub_left_foot_front_ft.ini</yarpConfigurationFile>
</plugin>
- jointName: l_foot_rear_ft_sensor
directionChildToParent: Yes
frame: sensor
frameName: SCSYS_L_ANKLE_2_FT_REAR
sensorBlobs:
- |
<plugin name="left_foot_rear_ft_plugin" filename="libgazebo_yarp_forcetorque.so">
Expand All @@ -287,20 +266,26 @@ forceTorqueSensors:
# right leg
- jointName: r_leg_ft_sensor
directionChildToParent: Yes
frame: sensor
frameName: SCSYS_R_HIP_2_FT
sensorBlobs:
- |
<plugin name="right_leg_ft_plugin" filename="libgazebo_yarp_forcetorque.so">
<yarpConfigurationFile>model://iCub/conf_icub3/FT/gazebo_icub_right_leg_ft.ini</yarpConfigurationFile>
</plugin>
- jointName: r_foot_front_ft_sensor
directionChildToParent: Yes
frame: sensor
frameName: SCSYS_R_ANKLE_2_FT_FRONT
sensorBlobs:
- |
<plugin name="right_foot_front_ft_plugin" filename="libgazebo_yarp_forcetorque.so">
<yarpConfigurationFile>model://iCub/conf_icub3/FT/gazebo_icub_right_foot_front_ft.ini</yarpConfigurationFile>
</plugin>
- jointName: r_foot_rear_ft_sensor
directionChildToParent: Yes
frame: sensor
frameName: SCSYS_R_ANKLE_2_FT_REAR
sensorBlobs:
- |
<plugin name="right_foot_rear_ft_plugin" filename="libgazebo_yarp_forcetorque.so">
Expand Down Expand Up @@ -349,7 +334,7 @@ sensors:
<yarpConfigurationFile>model://iCub/conf_icub3/gazebo_icub_depth_camera.ini</yarpConfigurationFile>
</plugin>

- frameName: SCSYS_CHEST_RGB
- frameName: SCSYS_CHEST_RGB
linkName: chest
sensorName: realsense_chest_rgb
sensorType: "camera"
Expand Down