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Export frames in urdf for the sensors (imu and Ft sensors) #227

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merged 4 commits into from
Dec 7, 2022
Merged

Export frames in urdf for the sensors (imu and Ft sensors) #227

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3a121b7
icub25: export frames in urdf for the sensors
Nicogene Nov 15, 2022
54b6353
Update CMakeLists.txt
Nicogene Nov 15, 2022
91b705d
icub3: export urdf sensor frames
Nicogene Nov 15, 2022
f08e896
Update ICUB_3_all_options_gazebo.yaml.in
Nicogene Nov 15, 2022
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2 changes: 1 addition & 1 deletion simmechanics/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -177,7 +177,7 @@ macro(generate_icub_simmechanics)
set(XSENS_IMU_SENSOR
" - frameName: SCSYS_ROOT_LINK_XSENS_IMU
linkName: root_link
exportFrameInURDF: No
exportFrameInURDF: Yes
sensorName: root_link_imu_acc
sensorType: \"accelerometer\"
updateRate: \"400\"
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8 changes: 7 additions & 1 deletion simmechanics/data/icub2_5/ICUB_2-5_BB_simmechanics_options.yaml.in
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Original file line number Diff line number Diff line change
Expand Up @@ -595,41 +595,47 @@ linkFrames:
forceTorqueSensors:
- jointName: l_leg_ft_sensor
directionChildToParent: Yes
exportFrameInURDF: Yes
sensorBlobs:
- |
<plugin name="left_leg_ft_plugin" filename="libgazebo_yarp_forcetorque.so">
<yarpConfigurationFile>model://iCub/conf/FT/gazebo_icub_left_leg_ft.ini</yarpConfigurationFile>
</plugin>
- jointName: r_leg_ft_sensor
directionChildToParent: Yes
exportFrameInURDF: Yes
sensorBlobs:
- |
<plugin name="right_leg_ft_plugin" filename="libgazebo_yarp_forcetorque.so">
<yarpConfigurationFile>model://iCub/conf/FT/gazebo_icub_right_leg_ft.ini</yarpConfigurationFile>
</plugin>
- jointName: l_foot_ft_sensor
directionChildToParent: Yes
exportFrameInURDF: Yes
sensorBlobs:
- |
<plugin name="left_foot_ft_plugin" filename="libgazebo_yarp_forcetorque.so">
<yarpConfigurationFile>model://iCub/conf/FT/gazebo_icub_left_foot_ft.ini</yarpConfigurationFile>
</plugin>
- jointName: r_foot_ft_sensor
directionChildToParent: Yes
exportFrameInURDF: Yes
sensorBlobs:
- |
<plugin name="right_foot_ft_plugin" filename="libgazebo_yarp_forcetorque.so">
<yarpConfigurationFile>model://iCub/conf/FT/gazebo_icub_right_foot_ft.ini</yarpConfigurationFile>
</plugin>
- jointName: l_arm_ft_sensor
directionChildToParent: Yes
exportFrameInURDF: Yes
sensorBlobs:
- |
<plugin name="left_arm_ft_plugin" filename="libgazebo_yarp_forcetorque.so">
<yarpConfigurationFile>model://iCub/conf/FT/gazebo_icub_left_arm_ft.ini</yarpConfigurationFile>
</plugin>
- jointName: r_arm_ft_sensor
directionChildToParent: Yes
exportFrameInURDF: Yes
sensorBlobs:
- |
<plugin name="right_arm_ft_plugin" filename="libgazebo_yarp_forcetorque.so">
Expand All @@ -645,7 +651,7 @@ sensors:
- |
<plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so" />
- sensorName: default
exportFrameInURDF: No
exportFrameInURDF: Yes
sensorType: "gyroscope"
updateRate: "100"
- frameName: SCSYS_HEAD_MTX_IMU
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13 changes: 11 additions & 2 deletions simmechanics/data/icub3/ICUB_3_all_options.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -222,6 +222,7 @@ forceTorqueSensors:
# upperbody
- jointName: l_arm_ft_sensor
directionChildToParent: Yes
exportFrameInURDF: Yes
frame: sensor
frameName: SCSYS_L_SHOULDER_2_FT
sensorBlobs:
Expand All @@ -231,6 +232,7 @@ forceTorqueSensors:
</plugin>
- jointName: r_arm_ft_sensor
directionChildToParent: Yes
exportFrameInURDF: Yes
frame: sensor
frameName: SCSYS_R_SHOULDER_2_FT
sensorBlobs:
Expand All @@ -241,6 +243,7 @@ forceTorqueSensors:
# left leg
- jointName: l_leg_ft_sensor
directionChildToParent: Yes
exportFrameInURDF: Yes
frame: sensor
frameName: SCSYS_L_HIP_2_FT
sensorBlobs:
Expand All @@ -250,6 +253,7 @@ forceTorqueSensors:
</plugin>
- jointName: l_foot_front_ft_sensor
directionChildToParent: No
exportFrameInURDF: Yes
frame: sensor
frameName: SCSYS_L_ANKLE_2_FT_FRONT
sensorBlobs:
Expand All @@ -259,6 +263,7 @@ forceTorqueSensors:
</plugin>
- jointName: l_foot_rear_ft_sensor
directionChildToParent: No
exportFrameInURDF: Yes
frame: sensor
frameName: SCSYS_L_ANKLE_2_FT_REAR
sensorBlobs:
Expand All @@ -269,6 +274,7 @@ forceTorqueSensors:
# right leg
- jointName: r_leg_ft_sensor
directionChildToParent: Yes
exportFrameInURDF: Yes
frame: sensor
frameName: SCSYS_R_HIP_2_FT
sensorBlobs:
Expand All @@ -278,6 +284,7 @@ forceTorqueSensors:
</plugin>
- jointName: r_foot_front_ft_sensor
directionChildToParent: No
exportFrameInURDF: Yes
frame: sensor
frameName: SCSYS_R_ANKLE_2_FT_FRONT
sensorBlobs:
Expand All @@ -287,6 +294,7 @@ forceTorqueSensors:
</plugin>
- jointName: r_foot_rear_ft_sensor
directionChildToParent: No
exportFrameInURDF: Yes
frame: sensor
frameName: SCSYS_R_ANKLE_2_FT_REAR
sensorBlobs:
Expand All @@ -298,14 +306,14 @@ forceTorqueSensors:

sensors:
- sensorName: default
exportFrameInURDF: No
exportFrameInURDF: Yes
sensorType: "accelerometer"
updateRate: "100"
sensorBlobs:
- |
<plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so" />
- sensorName: default
exportFrameInURDF: No
exportFrameInURDF: Yes
sensorType: "gyroscope"
updateRate: "100"
- frameName: SCSYS_HEAD_IMU
Expand Down Expand Up @@ -402,6 +410,7 @@ sensors:
linkName: chest
sensorName: chest_imu_acc_1x1
sensorType: "accelerometer"
exportFrameInURDF: Yes
sensorBlobs:
- |
<plugin name="iCub_yarp_gazebo_plugin_IMU" filename="libgazebo_yarp_imu.so">
Expand Down
11 changes: 10 additions & 1 deletion simmechanics/data/icub3/ICUB_3_all_options_gazebo.yaml.in
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Original file line number Diff line number Diff line change
Expand Up @@ -221,6 +221,7 @@ forceTorqueSensors:
directionChildToParent: Yes
frame: sensor
frameName: SCSYS_L_SHOULDER_2_FT
exportFrameInURDF: Yes
sensorBlobs:
- |
<plugin name="left_arm_ft_plugin" filename="libgazebo_yarp_forcetorque.so">
Expand All @@ -230,6 +231,7 @@ forceTorqueSensors:
directionChildToParent: Yes
frame: sensor
frameName: SCSYS_R_SHOULDER_2_FT
exportFrameInURDF: Yes
sensorBlobs:
- |
<plugin name="right_arm_ft_plugin" filename="libgazebo_yarp_forcetorque.so">
Expand All @@ -240,6 +242,7 @@ forceTorqueSensors:
directionChildToParent: Yes
frame: sensor
frameName: SCSYS_L_HIP_2_FT
exportFrameInURDF: Yes
sensorBlobs:
- |
<plugin name="left_leg_ft_plugin" filename="libgazebo_yarp_forcetorque.so">
Expand All @@ -249,6 +252,7 @@ forceTorqueSensors:
directionChildToParent: No
frame: sensor
frameName: SCSYS_L_ANKLE_2_FT_FRONT
exportFrameInURDF: Yes
sensorBlobs:
- |
<plugin name="left_foot_front_ft_plugin" filename="libgazebo_yarp_forcetorque.so">
Expand All @@ -258,6 +262,7 @@ forceTorqueSensors:
directionChildToParent: No
frame: sensor
frameName: SCSYS_L_ANKLE_2_FT_REAR
exportFrameInURDF: Yes
sensorBlobs:
- |
<plugin name="left_foot_rear_ft_plugin" filename="libgazebo_yarp_forcetorque.so">
Expand All @@ -268,6 +273,7 @@ forceTorqueSensors:
directionChildToParent: Yes
frame: sensor
frameName: SCSYS_R_HIP_2_FT
exportFrameInURDF: Yes
sensorBlobs:
- |
<plugin name="right_leg_ft_plugin" filename="libgazebo_yarp_forcetorque.so">
Expand All @@ -277,6 +283,7 @@ forceTorqueSensors:
directionChildToParent: No
frame: sensor
frameName: SCSYS_R_ANKLE_2_FT_FRONT
exportFrameInURDF: Yes
sensorBlobs:
- |
<plugin name="right_foot_front_ft_plugin" filename="libgazebo_yarp_forcetorque.so">
Expand All @@ -286,6 +293,7 @@ forceTorqueSensors:
directionChildToParent: No
frame: sensor
frameName: SCSYS_R_ANKLE_2_FT_REAR
exportFrameInURDF: Yes
sensorBlobs:
- |
<plugin name="right_foot_rear_ft_plugin" filename="libgazebo_yarp_forcetorque.so">
Expand All @@ -297,11 +305,12 @@ sensors:
exportFrameInURDF: No
sensorType: "accelerometer"
updateRate: "100"
exportFrameInURDF: Yes
sensorBlobs:
- |
<plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so" />
- sensorName: default
exportFrameInURDF: No
exportFrameInURDF: Yes
sensorType: "gyroscope"
updateRate: "100"
- frameName: SCSYS_HEAD_IMU
Expand Down