Automatic build of models via icub-models-generator.

icub-models-generator commit: robotology/icub-models-generator@e002021 ### Dependencies information of dependencies installed manually: urdf_parser_py commit: ros/urdf_parser_py@31474b9 simmechanics-to-urdf commit: robotology/simmechanics-to-urdf@143fd8f ### Dependencies information via pixi list: Package Version Build Size Kind Source _libgcc_mutex 0.1 conda_forge 2.5 KiB conda _libgcc_mutex-0.1-conda_forge.tar.bz2 _openmp_mutex 4.5 2_gnu 23.1 KiB conda _openmp_mutex-4.5-2_gnu.tar.bz2 ace 7.1.3 h59595ed_2 5.2 MiB conda ace-7.1.3-h59595ed_2.conda alsa-lib 1.2.11 hd590300_1 541.7 KiB conda alsa-lib-1.2.11-hd590300_1.conda ampl-mp 3.1.0 h2cc385e_1006 1.1 MiB conda ampl-mp-3.1.0-h2cc385e_1006.tar.bz2 aom 3.8.2 h59595ed_0 2.6 MiB conda aom-3.8.2-h59595ed_0.conda assimp 5.4.1 h8343317_0 3.3 MiB conda assimp-5.4.1-h8343317_0.conda attr 2.5.1 h166bdaf_1 69.4 KiB conda attr-2.5.1-h166bdaf_1.tar.bz2 binutils 2.40 hdd6e379_0 29.8 KiB conda binutils-2.40-hdd6e379_0.conda binutils_impl_linux-64 2.40 hf600244_0 5.2 MiB conda binutils_impl_linux-64-2.40-hf600244_0.conda binutils_linux-64 2.40 hdade7a5_3 28.2 KiB conda binutils_linux-64-2.40-hdade7a5_3.conda bzip2 1.0.8 hd590300_5 248.3 KiB conda bzip2-1.0.8-hd590300_5.conda c-ares 1.28.1 hd590300_0 164.9 KiB conda c-ares-1.28.1-hd590300_0.conda c-compiler 1.7.0 hd590300_0 6.1 KiB conda c-compiler-1.7.0-hd590300_0.conda ca-certificates 2024.2.2 hbcca054_0 151.8 KiB conda ca-certificates-2024.2.2-hbcca054_0.conda cairo 1.18.0 h3faef2a_0 959.3 KiB conda cairo-1.18.0-h3faef2a_0.conda catkin_pkg 1.0.0 pyhd8ed1ab_0 52.2 KiB conda catkin_pkg-1.0.0-pyhd8ed1ab_0.conda cmake 3.29.2 hcfe8598_0 18.1 MiB conda cmake-3.29.2-hcfe8598_0.conda cxx-compiler 1.7.0 h00ab1b0_0 6.1 KiB conda cxx-compiler-1.7.0-h00ab1b0_0.conda dav1d 1.2.1 hd590300_0 742.4 KiB conda dav1d-1.2.1-hd590300_0.conda dbus 1.13.6 h5008d03_3 604.1 KiB conda dbus-1.13.6-h5008d03_3.tar.bz2 docutils 0.20.1 py311h38be061_3 896.8 KiB conda docutils-0.20.1-py311h38be061_3.conda double-conversion 3.3.0 h59595ed_0 76.8 KiB conda double-conversion-3.3.0-h59595ed_0.conda eigen 3.4.0 h00ab1b0_0 1 MiB conda eigen-3.4.0-h00ab1b0_0.conda expat 2.6.2 h59595ed_0 134.4 KiB conda expat-2.6.2-h59595ed_0.conda ffmpeg 6.1.1 gpl_h38e077a_106 9.3 MiB conda ffmpeg-6.1.1-gpl_h38e077a_106.conda font-ttf-dejavu-sans-mono 2.37 hab24e00_0 388.1 KiB conda font-ttf-dejavu-sans-mono-2.37-hab24e00_0.tar.bz2 font-ttf-inconsolata 3.000 h77eed37_0 94.3 KiB conda font-ttf-inconsolata-3.000-h77eed37_0.tar.bz2 font-ttf-source-code-pro 2.038 h77eed37_0 684.4 KiB conda font-ttf-source-code-pro-2.038-h77eed37_0.tar.bz2 font-ttf-ubuntu 0.83 h77eed37_1 1.5 MiB conda font-ttf-ubuntu-0.83-h77eed37_1.conda fontconfig 2.14.2 h14ed4e7_0 265.6 KiB conda fontconfig-2.14.2-h14ed4e7_0.conda fonts-conda-ecosystem 1 0 3.6 KiB conda fonts-conda-ecosystem-1-0.tar.bz2 fonts-conda-forge 1 0 4 KiB conda fonts-conda-forge-1-0.tar.bz2 freeglut 3.2.2 hac7e632_2 139.6 KiB conda freeglut-3.2.2-hac7e632_2.conda freetype 2.12.1 h267a509_2 620.1 KiB conda freetype-2.12.1-h267a509_2.conda fribidi 1.0.10 h36c2ea0_0 111.7 KiB conda fribidi-1.0.10-h36c2ea0_0.tar.bz2 gcc 12.3.0 h95e488c_3 27.1 KiB conda gcc-12.3.0-h95e488c_3.conda gcc_impl_linux-64 12.3.0 he2b93b0_5 49.5 MiB conda gcc_impl_linux-64-12.3.0-he2b93b0_5.conda gcc_linux-64 12.3.0 h6477408_3 30.3 KiB conda gcc_linux-64-12.3.0-h6477408_3.conda gdbm 1.18 h0a1914f_2 190.2 KiB conda gdbm-1.18-h0a1914f_2.tar.bz2 gettext 0.21.1 h27087fc_0 4.1 MiB conda gettext-0.21.1-h27087fc_0.tar.bz2 glfw 3.4 hd590300_0 163.5 KiB conda glfw-3.4-hd590300_0.conda glib 2.80.0 hf2295e7_1 492 KiB conda glib-2.80.0-hf2295e7_1.conda glib-tools 2.80.0 hde27a5a_1 110.2 KiB conda glib-tools-2.80.0-hde27a5a_1.conda gmp 6.3.0 h59595ed_1 556.5 KiB conda gmp-6.3.0-h59595ed_1.conda gnutls 3.7.9 hb077bed_0 1.9 MiB conda gnutls-3.7.9-hb077bed_0.conda graphite2 1.3.13 h59595ed_1003 94.6 KiB conda graphite2-1.3.13-h59595ed_1003.conda gst-plugins-base 1.22.9 hfa15dee_1 2.6 MiB conda gst-plugins-base-1.22.9-hfa15dee_1.conda gstreamer 1.22.9 h98fc4e7_1 1.9 MiB conda gstreamer-1.22.9-h98fc4e7_1.conda gxx 12.3.0 h95e488c_3 26.6 KiB conda gxx-12.3.0-h95e488c_3.conda gxx_impl_linux-64 12.3.0 he2b93b0_5 12.2 MiB conda gxx_impl_linux-64-12.3.0-he2b93b0_5.conda gxx_linux-64 12.3.0 h4a1b8e8_3 28.6 KiB conda gxx_linux-64-12.3.0-h4a1b8e8_3.conda harfbuzz 8.3.0 h3d44ed6_0 1.5 MiB conda harfbuzz-8.3.0-h3d44ed6_0.conda hdf5 1.14.3 nompi_h4f84152_100 3.7 MiB conda hdf5-1.14.3-nompi_h4f84152_100.conda icu 73.2 h59595ed_0 11.5 MiB conda icu-73.2-h59595ed_0.conda idyntree 12.3.3 py311ha0a6677_0 2.4 MiB conda idyntree-12.3.3-py311ha0a6677_0.conda imath 3.1.11 hfc55251_0 158.7 KiB conda imath-3.1.11-hfc55251_0.conda ipopt 3.14.16 h3696c94_4 998 KiB conda ipopt-3.14.16-h3696c94_4.conda irrlicht 1.8.5 h2a6caf8_4 1.9 MiB conda irrlicht-1.8.5-h2a6caf8_4.conda jasper 4.2.3 he6dfbbe_0 659.3 KiB conda jasper-4.2.3-he6dfbbe_0.conda kernel-headers_linux-64 2.6.32 he073ed8_17 694 KiB conda kernel-headers_linux-64-2.6.32-he073ed8_17.conda keyutils 1.6.1 h166bdaf_0 115.1 KiB conda keyutils-1.6.1-h166bdaf_0.tar.bz2 krb5 1.21.2 h659d440_0 1.3 MiB conda krb5-1.21.2-h659d440_0.conda lame 3.100 h166bdaf_1003 496.3 KiB conda lame-3.100-h166bdaf_1003.tar.bz2 ld_impl_linux-64 2.40 h41732ed_0 688.2 KiB conda ld_impl_linux-64-2.40-h41732ed_0.conda lerc 4.0.0 h27087fc_0 275.2 KiB conda lerc-4.0.0-h27087fc_0.tar.bz2 libabseil 20240116.1 cxx17_h59595ed_2 1.2 MiB conda libabseil-20240116.1-cxx17_h59595ed_2.conda libaec 1.1.3 h59595ed_0 34.6 KiB conda libaec-1.1.3-h59595ed_0.conda libass 0.17.1 h8fe9dca_1 123.9 KiB conda libass-0.17.1-h8fe9dca_1.conda libblas 3.9.0 21_linux64_openblas 14.3 KiB conda libblas-3.9.0-21_linux64_openblas.conda libboost 1.84.0 h8013b2b_2 2.7 MiB conda libboost-1.84.0-h8013b2b_2.conda libcap 2.69 h0f662aa_0 98.2 KiB conda libcap-2.69-h0f662aa_0.conda libcblas 3.9.0 21_linux64_openblas 14.3 KiB conda libcblas-3.9.0-21_linux64_openblas.conda libclang-cpp15 15.0.7 default_h127d8a8_5 16.4 MiB conda libclang-cpp15-15.0.7-default_h127d8a8_5.conda libclang-cpp18.1 18.1.2 default_h127d8a8_1 18.4 MiB conda libclang-cpp18.1-18.1.2-default_h127d8a8_1.conda libclang13 18.1.2 default_h5d6823c_1 10.6 MiB conda libclang13-18.1.2-default_h5d6823c_1.conda libcups 2.3.3 h4637d8d_4 4.3 MiB conda libcups-2.3.3-h4637d8d_4.conda libcurl 8.7.1 hca28451_0 389 KiB conda libcurl-8.7.1-hca28451_0.conda libdeflate 1.20 hd590300_0 69.8 KiB conda libdeflate-1.20-hd590300_0.conda libdrm 2.4.120 hd590300_0 296 KiB conda libdrm-2.4.120-hd590300_0.conda libedit 3.1.20191231 he28a2e2_2 121 KiB conda libedit-3.1.20191231-he28a2e2_2.tar.bz2 libev 4.33 hd590300_2 110.1 KiB conda libev-4.33-hd590300_2.conda libevent 2.1.12 hf998b51_1 417.4 KiB conda libevent-2.1.12-hf998b51_1.conda libexpat 2.6.2 h59595ed_0 72 KiB conda libexpat-2.6.2-h59595ed_0.conda libffi 3.4.2 h7f98852_5 56.9 KiB conda libffi-3.4.2-h7f98852_5.tar.bz2 libflac 1.4.3 h59595ed_0 385.1 KiB conda libflac-1.4.3-h59595ed_0.conda libgcc-devel_linux-64 12.3.0 h8bca6fd_105 2.4 MiB conda libgcc-devel_linux-64-12.3.0-h8bca6fd_105.conda libgcc-ng 13.2.0 h807b86a_5 752.4 KiB conda libgcc-ng-13.2.0-h807b86a_5.conda libgcrypt 1.10.3 hd590300_0 620 KiB conda libgcrypt-1.10.3-hd590300_0.conda libgfortran-ng 13.2.0 h69a702a_5 23.3 KiB conda libgfortran-ng-13.2.0-h69a702a_5.conda libgfortran5 13.2.0 ha4646dd_5 1.4 MiB conda libgfortran5-13.2.0-ha4646dd_5.conda libglib 2.80.0 hf2295e7_1 2.8 MiB conda libglib-2.80.0-hf2295e7_1.conda libglu 9.0.0 hac7e632_1003 323.5 KiB conda libglu-9.0.0-hac7e632_1003.conda libgomp 13.2.0 h807b86a_5 409.9 KiB conda libgomp-13.2.0-h807b86a_5.conda libgpg-error 1.48 h71f35ed_0 260.2 KiB conda libgpg-error-1.48-h71f35ed_0.conda libhwloc 2.10.0 default_h5622ce7_1001 2.3 MiB conda libhwloc-2.10.0-default_h5622ce7_1001.conda libi2c 4.3 hcb278e6_2 18.2 KiB conda libi2c-4.3-hcb278e6_2.conda libiconv 1.17 hd590300_2 689.2 KiB conda libiconv-1.17-hd590300_2.conda libidn2 2.3.7 hd590300_0 123.5 KiB conda libidn2-2.3.7-hd590300_0.conda libjpeg-turbo 3.0.0 hd590300_1 604.1 KiB conda libjpeg-turbo-3.0.0-hd590300_1.conda liblapack 3.9.0 21_linux64_openblas 14.3 KiB conda liblapack-3.9.0-21_linux64_openblas.conda liblapacke 3.9.0 21_linux64_openblas 14.3 KiB conda liblapacke-3.9.0-21_linux64_openblas.conda libllvm15 15.0.7 hb3ce162_4 31.8 MiB conda libllvm15-15.0.7-hb3ce162_4.conda libllvm18 18.1.2 h2448989_0 36.6 MiB conda libllvm18-18.1.2-h2448989_0.conda libnghttp2 1.58.0 h47da74e_1 617.1 KiB conda libnghttp2-1.58.0-h47da74e_1.conda libnsl 2.0.1 hd590300_0 32.6 KiB conda libnsl-2.0.1-hd590300_0.conda libogg 1.3.4 h7f98852_1 205.6 KiB conda libogg-1.3.4-h7f98852_1.tar.bz2 libopenblas 0.3.26 pthreads_h413a1c8_0 5.3 MiB conda libopenblas-0.3.26-pthreads_h413a1c8_0.conda libopencv 4.9.0 qt6_py39h8add8c0_612 28.8 MiB conda libopencv-4.9.0-qt6_py39h8add8c0_612.conda libopenvino 2024.0.0 h2e90f83_4 4.9 MiB conda libopenvino-2024.0.0-h2e90f83_4.conda libopenvino-auto-batch-plugin 2024.0.0 hd5fc58b_4 107.6 KiB conda libopenvino-auto-batch-plugin-2024.0.0-hd5fc58b_4.conda libopenvino-auto-plugin 2024.0.0 hd5fc58b_4 224.1 KiB conda libopenvino-auto-plugin-2024.0.0-hd5fc58b_4.conda libopenvino-hetero-plugin 2024.0.0 h3ecfda7_4 176 KiB conda libopenvino-hetero-plugin-2024.0.0-h3ecfda7_4.conda libopenvino-intel-cpu-plugin 2024.0.0 h2e90f83_4 10.1 MiB conda libopenvino-intel-cpu-plugin-2024.0.0-h2e90f83_4.conda libopenvino-intel-gpu-plugin 2024.0.0 h2e90f83_4 8 MiB conda libopenvino-intel-gpu-plugin-2024.0.0-h2e90f83_4.conda libopenvino-ir-frontend 2024.0.0 h3ecfda7_4 196.5 KiB conda libopenvino-ir-frontend-2024.0.0-h3ecfda7_4.conda libopenvino-onnx-frontend 2024.0.0 h757c851_4 1.5 MiB conda libopenvino-onnx-frontend-2024.0.0-h757c851_4.conda libopenvino-paddle-frontend 2024.0.0 h757c851_4 679.3 KiB conda libopenvino-paddle-frontend-2024.0.0-h757c851_4.conda libopenvino-pytorch-frontend 2024.0.0 h59595ed_4 1 MiB conda libopenvino-pytorch-frontend-2024.0.0-h59595ed_4.conda libopenvino-tensorflow-frontend 2024.0.0 hca94c1a_4 1.2 MiB conda libopenvino-tensorflow-frontend-2024.0.0-hca94c1a_4.conda libopenvino-tensorflow-lite-frontend 2024.0.0 h59595ed_4 466.2 KiB conda libopenvino-tensorflow-lite-frontend-2024.0.0-h59595ed_4.conda libopus 1.3.1 h7f98852_1 254.5 KiB conda libopus-1.3.1-h7f98852_1.tar.bz2 libosqp 0.6.3 h59595ed_0 70.4 KiB conda libosqp-0.6.3-h59595ed_0.conda libpciaccess 0.18 hd590300_0 27.7 KiB conda libpciaccess-0.18-hd590300_0.conda libpng 1.6.43 h2797004_0 281.5 KiB conda libpng-1.6.43-h2797004_0.conda libpq 16.2 h33b98f1_1 2.5 MiB conda libpq-16.2-h33b98f1_1.conda libprotobuf 4.25.3 h08a7969_0 2.7 MiB conda libprotobuf-4.25.3-h08a7969_0.conda libqdldl 0.1.5 h27087fc_1 16.5 KiB conda libqdldl-0.1.5-h27087fc_1.tar.bz2 libsanitizer 12.3.0 h0f45ef3_5 3.7 MiB conda libsanitizer-12.3.0-h0f45ef3_5.conda libscotch 7.0.4 h91e35bf_1 331.7 KiB conda libscotch-7.0.4-h91e35bf_1.conda libsndfile 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libva-2.21.0-hd590300_0.conda libvorbis 1.3.7 h9c3ff4c_0 279.6 KiB conda libvorbis-1.3.7-h9c3ff4c_0.tar.bz2 libvpx 1.14.0 h59595ed_0 995.7 KiB conda libvpx-1.14.0-h59595ed_0.conda libwebp-base 1.3.2 hd590300_0 392.4 KiB conda libwebp-base-1.3.2-hd590300_0.conda libxcb 1.15 h0b41bf4_0 375.2 KiB conda libxcb-1.15-h0b41bf4_0.conda libxcrypt 4.4.36 hd590300_1 98 KiB conda libxcrypt-4.4.36-hd590300_1.conda libxkbcommon 1.7.0 h662e7e4_0 579.6 KiB conda libxkbcommon-1.7.0-h662e7e4_0.conda libxml2 2.12.7 hc051c1a_1 688.5 KiB conda libxml2-2.12.7-hc051c1a_1.conda libxslt 1.1.39 h76b75d6_0 248.3 KiB conda libxslt-1.1.39-h76b75d6_0.conda libyarp 3.9.0 ha614a09_2 9.6 MiB conda libyarp-3.9.0-ha614a09_2.conda libzlib 1.2.13 hd590300_5 60.1 KiB conda libzlib-1.2.13-hd590300_5.conda lxml 4.9.4 py311h9691dec_0 1.4 MiB conda lxml-4.9.4-py311h9691dec_0.conda lz4-c 1.9.4 hcb278e6_0 140 KiB conda lz4-c-1.9.4-hcb278e6_0.conda metis 5.1.0 h59595ed_1007 3.7 MiB conda metis-5.1.0-h59595ed_1007.conda mpg123 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robotology · Jul 9, 2024 · 3faa952 · 3faa952
1 parent 07fea8b
commit 3faa952
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diff --git a/iCub/robots/iCubDarmstadt01/model.urdf b/iCub/robots/iCubDarmstadt01/model.urdf
@@ -983,6 +983,13 @@
     <limit effort="50000" lower="-0.8726646259971648" upper="0.8726646259971648" velocity="50000"/>
     <dynamics damping="0.06" friction="0.0"/>
   </joint>
+  <link name="imu_frame"/>
+  <joint name="imu_frame_fixed_joint" type="fixed">
+    <origin xyz="0.009500000190735 0.133444 0.009299999999999996" rpy="-1.5707963267948961 1.570796326794896 0"/>
+    <parent link="head"/>
+    <child link="imu_frame"/>
+    <dynamics damping="0.1"/>
+  </joint>
   <link name="head_imu_0"/>
   <joint name="head_imu_0_fixed_joint" type="fixed">
     <origin xyz="0.009500000190735 0.133444 0.009299999999999996" rpy="-1.5707963267948961 1.570796326794896 0"/>
@@ -1080,6 +1087,13 @@
     <limit effort="50000" lower="-0.6457718232379019" upper="1.3962634015954636" velocity="50000"/>
     <dynamics damping="0.06" friction="0.0"/>
   </joint>
+  <link name="r_arm_ft"/>
+  <joint name="r_arm_ft_fixed_joint" type="fixed">
+    <origin xyz="-0.05089730176650909 0 0.029167029620599215" rpy="0 -1.3089970069677397 0"/>
+    <parent link="r_shoulder_3"/>
+    <child link="r_arm_ft"/>
+    <dynamics damping="0.1"/>
+  </joint>
   <link name="r_arm_ft_imu"/>
   <joint name="r_arm_ft_imu_fixed_joint" type="fixed">
     <origin xyz="-0.05089730176650909 0 0.029167029620599215" rpy="0 -1.3089970069677397 0"/>
@@ -1507,6 +1521,13 @@
     <limit effort="50000" lower="-0.6457718232379019" upper="1.3962634015954636" velocity="50000"/>
     <dynamics damping="0.06" friction="0.0"/>
   </joint>
+  <link name="l_arm_ft"/>
+  <joint name="l_arm_ft_fixed_joint" type="fixed">
+    <origin xyz="0.05093014324520106 0 0.029175829465900395" rpy="0 -1.3089970069677395 3.1415926535897927"/>
+    <parent link="l_shoulder_3"/>
+    <child link="l_arm_ft"/>
+    <dynamics damping="0.1"/>
+  </joint>
   <link name="l_arm_ft_imu"/>
   <joint name="l_arm_ft_imu_fixed_joint" type="fixed">
     <origin xyz="0.05093014324520106 0 0.029175829465900395" rpy="0 -1.3089970069677395 3.1415926535897927"/>

diff --git a/iCub/robots/iCubErzelli02/model.urdf b/iCub/robots/iCubErzelli02/model.urdf
@@ -983,6 +983,13 @@
     <limit effort="50000" lower="-0.8726646259971648" upper="0.8726646259971648" velocity="50000"/>
     <dynamics damping="0.06" friction="0.0"/>
   </joint>
+  <link name="imu_frame"/>
+  <joint name="imu_frame_fixed_joint" type="fixed">
+    <origin xyz="0.009500000190735 0.133444 0.009299999999999996" rpy="-1.5707963267948961 1.570796326794896 0"/>
+    <parent link="head"/>
+    <child link="imu_frame"/>
+    <dynamics damping="0.1"/>
+  </joint>
   <link name="head_imu_0"/>
   <joint name="head_imu_0_fixed_joint" type="fixed">
     <origin xyz="0.009500000190735 0.133444 0.009299999999999996" rpy="-1.5707963267948961 1.570796326794896 0"/>
@@ -1080,6 +1087,13 @@
     <limit effort="50000" lower="-0.6457718232379019" upper="1.3962634015954636" velocity="50000"/>
     <dynamics damping="0.06" friction="0.0"/>
   </joint>
+  <link name="r_arm_ft"/>
+  <joint name="r_arm_ft_fixed_joint" type="fixed">
+    <origin xyz="-0.05089730176650909 0 0.029167029620599215" rpy="0 -1.3089970069677397 0"/>
+    <parent link="r_shoulder_3"/>
+    <child link="r_arm_ft"/>
+    <dynamics damping="0.1"/>
+  </joint>
   <link name="r_arm_ft_imu"/>
   <joint name="r_arm_ft_imu_fixed_joint" type="fixed">
     <origin xyz="-0.05089730176650909 0 0.029167029620599215" rpy="0 -1.3089970069677397 0"/>
@@ -1507,6 +1521,13 @@
     <limit effort="50000" lower="-0.6457718232379019" upper="1.3962634015954636" velocity="50000"/>
     <dynamics damping="0.06" friction="0.0"/>
   </joint>
+  <link name="l_arm_ft"/>
+  <joint name="l_arm_ft_fixed_joint" type="fixed">
+    <origin xyz="0.05093014324520106 0 0.029175829465900395" rpy="0 -1.3089970069677395 3.1415926535897927"/>
+    <parent link="l_shoulder_3"/>
+    <child link="l_arm_ft"/>
+    <dynamics damping="0.1"/>
+  </joint>
   <link name="l_arm_ft_imu"/>
   <joint name="l_arm_ft_imu_fixed_joint" type="fixed">
     <origin xyz="0.05093014324520106 0 0.029175829465900395" rpy="0 -1.3089970069677395 3.1415926535897927"/>

diff --git a/iCub/robots/iCubGazeboV2_5/model.urdf b/iCub/robots/iCubGazeboV2_5/model.urdf
@@ -983,6 +983,13 @@
     <limit effort="50000" lower="-0.8726646259971648" upper="0.8726646259971648" velocity="50000"/>
     <dynamics damping="1.0" friction="0.0"/>
   </joint>
+  <link name="imu_frame"/>
+  <joint name="imu_frame_fixed_joint" type="fixed">
+    <origin xyz="0.009500000190735 0.133444 0.009299999999999996" rpy="-1.5707963267948961 1.570796326794896 0"/>
+    <parent link="head"/>
+    <child link="imu_frame"/>
+    <dynamics damping="0.1"/>
+  </joint>
   <link name="head_imu_0"/>
   <joint name="head_imu_0_fixed_joint" type="fixed">
     <origin xyz="0.009500000190735 0.133444 0.009299999999999996" rpy="-1.5707963267948961 1.570796326794896 0"/>
@@ -1080,6 +1087,13 @@
     <limit effort="50000" lower="-0.6457718232379019" upper="1.3962634015954636" velocity="50000"/>
     <dynamics damping="1.0" friction="0.0"/>
   </joint>
+  <link name="r_arm_ft"/>
+  <joint name="r_arm_ft_fixed_joint" type="fixed">
+    <origin xyz="-0.05089730176650909 0 0.029167029620599215" rpy="0 -1.3089970069677397 0"/>
+    <parent link="r_shoulder_3"/>
+    <child link="r_arm_ft"/>
+    <dynamics damping="0.1"/>
+  </joint>
   <link name="r_arm_ft_imu"/>
   <joint name="r_arm_ft_imu_fixed_joint" type="fixed">
     <origin xyz="-0.05089730176650909 0 0.029167029620599215" rpy="0 -1.3089970069677397 0"/>
@@ -1507,6 +1521,13 @@
     <limit effort="50000" lower="-0.6457718232379019" upper="1.3962634015954636" velocity="50000"/>
     <dynamics damping="1.0" friction="0.0"/>
   </joint>
+  <link name="l_arm_ft"/>
+  <joint name="l_arm_ft_fixed_joint" type="fixed">
+    <origin xyz="0.05093014324520106 0 0.029175829465900395" rpy="0 -1.3089970069677395 3.1415926535897927"/>
+    <parent link="l_shoulder_3"/>
+    <child link="l_arm_ft"/>
+    <dynamics damping="0.1"/>
+  </joint>
   <link name="l_arm_ft_imu"/>
   <joint name="l_arm_ft_imu_fixed_joint" type="fixed">
     <origin xyz="0.05093014324520106 0 0.029175829465900395" rpy="0 -1.3089970069677395 3.1415926535897927"/>

diff --git a/iCub/robots/iCubGazeboV2_5_KIT_007/model.urdf b/iCub/robots/iCubGazeboV2_5_KIT_007/model.urdf
@@ -28,6 +28,13 @@
     <child link="root_link_ems_gyro_eb5"/>
     <dynamics damping="0.1"/>
   </joint>
+  <link name="root_link_imu_frame"/>
+  <joint name="root_link_imu_frame_fixed_joint" type="fixed">
+    <origin xyz="0.08515499999999998 -0.011000000000000022 -0.11230899999999999" rpy="-2.0943952105869323 0 -1.5707963267948963"/>
+    <parent link="root_link"/>
+    <child link="root_link_imu_frame"/>
+    <dynamics damping="0.1"/>
+  </joint>
   <link name="root_link_imu_acc"/>
   <joint name="root_link_imu_acc_fixed_joint" type="fixed">
     <origin xyz="0.08515499999999998 -0.011000000000000022 -0.11230899999999999" rpy="-2.0943952105869323 0 -1.5707963267948963"/>
@@ -243,6 +250,13 @@
     <limit effort="50000" lower="-0.8726646259971648" upper="0.8726646259971648" velocity="50000"/>
     <dynamics damping="1.0" friction="0.0"/>
   </joint>
+  <link name="imu_frame"/>
+  <joint name="imu_frame_fixed_joint" type="fixed">
+    <origin xyz="0.009500000190735 0.133444 0.009299999999999996" rpy="-1.5707963267948961 1.570796326794896 0"/>
+    <parent link="head"/>
+    <child link="imu_frame"/>
+    <dynamics damping="0.1"/>
+  </joint>
   <link name="head_imu_0"/>
   <joint name="head_imu_0_fixed_joint" type="fixed">
     <origin xyz="0.009500000190735 0.133444 0.009299999999999996" rpy="-1.5707963267948961 1.570796326794896 0"/>
@@ -340,6 +354,13 @@
     <limit effort="50000" lower="-0.6457718232379019" upper="1.3962634015954636" velocity="50000"/>
     <dynamics damping="1.0" friction="0.0"/>
   </joint>
+  <link name="r_arm_ft"/>
+  <joint name="r_arm_ft_fixed_joint" type="fixed">
+    <origin xyz="-0.05089730176650909 0 0.029167029620599215" rpy="0 -1.3089970069677397 0"/>
+    <parent link="r_shoulder_3"/>
+    <child link="r_arm_ft"/>
+    <dynamics damping="0.1"/>
+  </joint>
   <link name="r_arm_ft_imu"/>
   <joint name="r_arm_ft_imu_fixed_joint" type="fixed">
     <origin xyz="-0.05089730176650909 0 0.029167029620599215" rpy="0 -1.3089970069677397 0"/>
@@ -767,6 +788,13 @@
     <limit effort="50000" lower="-0.6457718232379019" upper="1.3962634015954636" velocity="50000"/>
     <dynamics damping="1.0" friction="0.0"/>
   </joint>
+  <link name="l_arm_ft"/>
+  <joint name="l_arm_ft_fixed_joint" type="fixed">
+    <origin xyz="0.05093014324520106 0 0.029175829465900395" rpy="0 -1.3089970069677395 3.1415926535897927"/>
+    <parent link="l_shoulder_3"/>
+    <child link="l_arm_ft"/>
+    <dynamics damping="0.1"/>
+  </joint>
   <link name="l_arm_ft_imu"/>
   <joint name="l_arm_ft_imu_fixed_joint" type="fixed">
     <origin xyz="0.05093014324520106 0 0.029175829465900395" rpy="0 -1.3089970069677395 3.1415926535897927"/>

diff --git a/iCub/robots/iCubGazeboV2_6/model.urdf b/iCub/robots/iCubGazeboV2_6/model.urdf
@@ -983,6 +983,13 @@
     <limit effort="50000" lower="-0.8726646259971648" upper="0.8726646259971648" velocity="50000"/>
     <dynamics damping="1.0" friction="0.0"/>
   </joint>
+  <link name="imu_frame"/>
+  <joint name="imu_frame_fixed_joint" type="fixed">
+    <origin xyz="0.023453700190734995 0.20544400000000002 -0.023077900000000023" rpy="-1.5707963267948997 0 -3.141592653589793"/>
+    <parent link="head"/>
+    <child link="imu_frame"/>
+    <dynamics damping="0.1"/>
+  </joint>
   <link name="head_imu_0"/>
   <joint name="head_imu_0_fixed_joint" type="fixed">
     <origin xyz="0.023453700190734995 0.20544400000000002 -0.023077900000000023" rpy="-1.5707963267948997 0 -3.141592653589793"/>
@@ -1080,6 +1087,13 @@
     <limit effort="50000" lower="-0.6457718232379019" upper="1.3962634015954636" velocity="50000"/>
     <dynamics damping="1.0" friction="0.0"/>
   </joint>
+  <link name="r_arm_ft"/>
+  <joint name="r_arm_ft_fixed_joint" type="fixed">
+    <origin xyz="-0.05089730176650909 0 0.029167029620599215" rpy="0 -1.3089970069677397 0"/>
+    <parent link="r_shoulder_3"/>
+    <child link="r_arm_ft"/>
+    <dynamics damping="0.1"/>
+  </joint>
   <link name="r_arm_ft_imu"/>
   <joint name="r_arm_ft_imu_fixed_joint" type="fixed">
     <origin xyz="-0.05089730176650909 0 0.029167029620599215" rpy="0 -1.3089970069677397 0"/>
@@ -1507,6 +1521,13 @@
     <limit effort="50000" lower="-0.6457718232379019" upper="1.3962634015954636" velocity="50000"/>
     <dynamics damping="1.0" friction="0.0"/>
   </joint>
+  <link name="l_arm_ft"/>
+  <joint name="l_arm_ft_fixed_joint" type="fixed">
+    <origin xyz="0.05093014324520106 0 0.029175829465900395" rpy="0 -1.3089970069677395 3.1415926535897927"/>
+    <parent link="l_shoulder_3"/>
+    <child link="l_arm_ft"/>
+    <dynamics damping="0.1"/>
+  </joint>
   <link name="l_arm_ft_imu"/>
   <joint name="l_arm_ft_imu_fixed_joint" type="fixed">
     <origin xyz="0.05093014324520106 0 0.029175829465900395" rpy="0 -1.3089970069677395 3.1415926535897927"/>

diff --git a/iCub/robots/iCubGazeboV2_7/model.urdf b/iCub/robots/iCubGazeboV2_7/model.urdf
@@ -983,6 +983,13 @@
     <limit effort="50000" lower="-0.8726646259971648" upper="0.8726646259971648" velocity="50000"/>
     <dynamics damping="1.0" friction="0.0"/>
   </joint>
+  <link name="imu_frame"/>
+  <joint name="imu_frame_fixed_joint" type="fixed">
+    <origin xyz="0.023453700190734995 0.20544400000000002 -0.023077900000000023" rpy="-1.5707963267948997 0 -3.141592653589793"/>
+    <parent link="head"/>
+    <child link="imu_frame"/>
+    <dynamics damping="0.1"/>
+  </joint>
   <link name="head_imu_0"/>
   <joint name="head_imu_0_fixed_joint" type="fixed">
     <origin xyz="0.023453700190734995 0.20544400000000002 -0.023077900000000023" rpy="-1.5707963267948997 0 -3.141592653589793"/>
@@ -1080,6 +1087,13 @@
     <limit effort="50000" lower="-0.6457718232379019" upper="1.3962634015954636" velocity="50000"/>
     <dynamics damping="1.0" friction="0.0"/>
   </joint>
+  <link name="r_arm_ft"/>
+  <joint name="r_arm_ft_fixed_joint" type="fixed">
+    <origin xyz="-0.05089730176650909 0 0.029167029620599215" rpy="0 -1.3089970069677397 0"/>
+    <parent link="r_shoulder_3"/>
+    <child link="r_arm_ft"/>
+    <dynamics damping="0.1"/>
+  </joint>
   <link name="r_arm_ft_imu"/>
   <joint name="r_arm_ft_imu_fixed_joint" type="fixed">
     <origin xyz="-0.05089730176650909 0 0.029167029620599215" rpy="0 -1.3089970069677397 0"/>
@@ -1507,6 +1521,13 @@
     <limit effort="50000" lower="-0.6457718232379019" upper="1.3962634015954636" velocity="50000"/>
     <dynamics damping="1.0" friction="0.0"/>
   </joint>
+  <link name="l_arm_ft"/>
+  <joint name="l_arm_ft_fixed_joint" type="fixed">
+    <origin xyz="0.05093014324520106 0 0.029175829465900395" rpy="0 -1.3089970069677395 3.1415926535897927"/>
+    <parent link="l_shoulder_3"/>
+    <child link="l_arm_ft"/>
+    <dynamics damping="0.1"/>
+  </joint>
   <link name="l_arm_ft_imu"/>
   <joint name="l_arm_ft_imu_fixed_joint" type="fixed">
     <origin xyz="0.05093014324520106 0 0.029175829465900395" rpy="0 -1.3089970069677395 3.1415926535897927"/>

diff --git a/iCub/robots/iCubGazeboV3/model.urdf b/iCub/robots/iCubGazeboV3/model.urdf
@@ -403,6 +403,13 @@
     <limit effort="50000" lower="-0.7504915783575618" upper="0.7504915783575618" velocity="120.0"/>
     <dynamics damping="2.0" friction="0.0"/>
   </joint>
+  <link name="chest_depth_frame"/>
+  <joint name="chest_depth_frame_fixed_joint" type="fixed">
+    <origin xyz="0.0894115 0.0175 0.09929950000000001" rpy="-1.5707963267948968 0 -1.5707963267948968"/>
+    <parent link="chest"/>
+    <child link="chest_depth_frame"/>
+    <dynamics damping="0.1"/>
+  </joint>
   <link name="chest_imu_0"/>
   <joint name="chest_imu_0_fixed_joint" type="fixed">
     <origin xyz="0.0894115 0.0175 0.09929950000000001" rpy="-1.5707963267948968 0 -1.5707963267948968"/>
@@ -535,6 +542,13 @@
     <limit effort="50000" lower="-0.7853981633974483" upper="0.7853981633974483" velocity="120.0"/>
     <dynamics damping="2.0" friction="0.0"/>
   </joint>
+  <link name="imu_frame"/>
+  <joint name="imu_frame_fixed_joint" type="fixed">
+    <origin xyz="0.0035000000000000005 0.0055 0.10133400000000001" rpy="3.141592653589793 0 -1.5707963267948966"/>
+    <parent link="head"/>
+    <child link="imu_frame"/>
+    <dynamics damping="0.1"/>
+  </joint>
   <link name="head_imu_0"/>
   <joint name="head_imu_0_fixed_joint" type="fixed">
     <origin xyz="0.0035000000000000005 0.0055 0.10133400000000001" rpy="3.141592653589793 0 -1.5707963267948966"/>

diff --git a/iCub/robots/iCubGenova01/model.urdf b/iCub/robots/iCubGenova01/model.urdf
@@ -983,6 +983,13 @@
     <limit effort="50000" lower="-0.8726646259971648" upper="0.8726646259971648" velocity="50000"/>
     <dynamics damping="0.06" friction="0.0"/>
   </joint>
+  <link name="imu_frame"/>
+  <joint name="imu_frame_fixed_joint" type="fixed">
+    <origin xyz="0.009500000190735 0.133444 0.009299999999999996" rpy="-1.5707963267948961 1.570796326794896 0"/>
+    <parent link="head"/>
+    <child link="imu_frame"/>
+    <dynamics damping="0.1"/>
+  </joint>
   <link name="head_imu_0"/>
   <joint name="head_imu_0_fixed_joint" type="fixed">
     <origin xyz="0.009500000190735 0.133444 0.009299999999999996" rpy="-1.5707963267948961 1.570796326794896 0"/>
@@ -1080,6 +1087,13 @@
     <limit effort="50000" lower="-0.6457718232379019" upper="1.3962634015954636" velocity="50000"/>
     <dynamics damping="0.06" friction="0.0"/>
   </joint>
+  <link name="r_arm_ft"/>
+  <joint name="r_arm_ft_fixed_joint" type="fixed">
+    <origin xyz="-0.05089730176650909 0 0.029167029620599215" rpy="0 -1.3089970069677397 0"/>
+    <parent link="r_shoulder_3"/>
+    <child link="r_arm_ft"/>
+    <dynamics damping="0.1"/>
+  </joint>
   <link name="r_arm_ft_imu"/>
   <joint name="r_arm_ft_imu_fixed_joint" type="fixed">
     <origin xyz="-0.05089730176650909 0 0.029167029620599215" rpy="0 -1.3089970069677397 0"/>
@@ -1507,6 +1521,13 @@
     <limit effort="50000" lower="-0.6457718232379019" upper="1.3962634015954636" velocity="50000"/>
     <dynamics damping="0.06" friction="0.0"/>
   </joint>
+  <link name="l_arm_ft"/>
+  <joint name="l_arm_ft_fixed_joint" type="fixed">
+    <origin xyz="0.05093014324520106 0 0.029175829465900395" rpy="0 -1.3089970069677395 3.1415926535897927"/>
+    <parent link="l_shoulder_3"/>
+    <child link="l_arm_ft"/>
+    <dynamics damping="0.1"/>
+  </joint>
   <link name="l_arm_ft_imu"/>
   <joint name="l_arm_ft_imu_fixed_joint" type="fixed">
     <origin xyz="0.05093014324520106 0 0.029175829465900395" rpy="0 -1.3089970069677395 3.1415926535897927"/>

diff --git a/iCub/robots/iCubGenova02/model.urdf b/iCub/robots/iCubGenova02/model.urdf
@@ -28,6 +28,13 @@
     <child link="root_link_ems_gyro_eb5"/>
     <dynamics damping="0.1"/>
   </joint>
+  <link name="root_link_imu_frame"/>
+  <joint name="root_link_imu_frame_fixed_joint" type="fixed">
+    <origin xyz="0.08515499999999998 -0.011000000000000022 -0.11230899999999999" rpy="-2.0943952105869323 0 -1.5707963267948963"/>
+    <parent link="root_link"/>
+    <child link="root_link_imu_frame"/>
+    <dynamics damping="0.1"/>
+  </joint>
   <link name="root_link_imu_acc"/>
   <joint name="root_link_imu_acc_fixed_joint" type="fixed">
     <origin xyz="0.08515499999999998 -0.011000000000000022 -0.11230899999999999" rpy="-2.0943952105869323 0 -1.5707963267948963"/>
@@ -243,6 +250,13 @@
     <limit effort="50000" lower="-0.8726646259971648" upper="0.8726646259971648" velocity="50000"/>
     <dynamics damping="0.06" friction="0.0"/>
   </joint>
+  <link name="imu_frame"/>
+  <joint name="imu_frame_fixed_joint" type="fixed">
+    <origin xyz="0.009500000190735 0.133444 0.009299999999999996" rpy="-1.5707963267948961 1.570796326794896 0"/>
+    <parent link="head"/>
+    <child link="imu_frame"/>
+    <dynamics damping="0.1"/>
+  </joint>
   <link name="head_imu_0"/>
   <joint name="head_imu_0_fixed_joint" type="fixed">
     <origin xyz="0.009500000190735 0.133444 0.009299999999999996" rpy="-1.5707963267948961 1.570796326794896 0"/>
@@ -340,6 +354,13 @@
     <limit effort="50000" lower="-0.6457718232379019" upper="1.3962634015954636" velocity="50000"/>
     <dynamics damping="0.06" friction="0.0"/>
   </joint>
+  <link name="r_arm_ft"/>
+  <joint name="r_arm_ft_fixed_joint" type="fixed">
+    <origin xyz="-0.05089730176650909 0 0.029167029620599215" rpy="0 -1.3089970069677397 0"/>
+    <parent link="r_shoulder_3"/>
+    <child link="r_arm_ft"/>
+    <dynamics damping="0.1"/>
+  </joint>
   <link name="r_arm_ft_imu"/>
   <joint name="r_arm_ft_imu_fixed_joint" type="fixed">
     <origin xyz="-0.05089730176650909 0 0.029167029620599215" rpy="0 -1.3089970069677397 0"/>
@@ -767,6 +788,13 @@
     <limit effort="50000" lower="-0.6457718232379019" upper="1.3962634015954636" velocity="50000"/>
     <dynamics damping="0.06" friction="0.0"/>
   </joint>
+  <link name="l_arm_ft"/>
+  <joint name="l_arm_ft_fixed_joint" type="fixed">
+    <origin xyz="0.05093014324520106 0 0.029175829465900395" rpy="0 -1.3089970069677395 3.1415926535897927"/>
+    <parent link="l_shoulder_3"/>
+    <child link="l_arm_ft"/>
+    <dynamics damping="0.1"/>
+  </joint>
   <link name="l_arm_ft_imu"/>
   <joint name="l_arm_ft_imu_fixed_joint" type="fixed">
     <origin xyz="0.05093014324520106 0 0.029175829465900395" rpy="0 -1.3089970069677395 3.1415926535897927"/>