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Merge devel in master #232

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merged 7 commits into from
Feb 6, 2024
Merged

Merge devel in master #232

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b2391b9
Automatic build. GitHub Actions build: 6695395395
traversaro Oct 30, 2023
d90fe58
Merge branch 'master' into devel
traversaro Jan 9, 2024
e5c6b93
Automatic build. GitHub Actions build: 7466981360
traversaro Jan 9, 2024
d95ccf3
Automatic build. GitHub Actions build: 7486591013
traversaro Jan 11, 2024
5ea2467
Automatic build. GitHub Actions build: 7486768111
traversaro Jan 11, 2024
07e0f16
Automatic build. GitHub Actions build: 7652322350
traversaro Jan 25, 2024
10f8dad
Automatic build. GitHub Actions build: 7798427068
traversaro Feb 6, 2024
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188 changes: 94 additions & 94 deletions iCub/robots/iCubDarmstadt01/model.urdf
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188 changes: 94 additions & 94 deletions iCub/robots/iCubErzelli02/model.urdf
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188 changes: 94 additions & 94 deletions iCub/robots/iCubGazeboV2_5/model.urdf
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156 changes: 78 additions & 78 deletions iCub/robots/iCubGazeboV2_5_KIT_007/model.urdf
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194 changes: 97 additions & 97 deletions iCub/robots/iCubGazeboV2_6/model.urdf
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194 changes: 97 additions & 97 deletions iCub/robots/iCubGazeboV2_7/model.urdf
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74 changes: 37 additions & 37 deletions iCub/robots/iCubGazeboV3/model.urdf
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188 changes: 94 additions & 94 deletions iCub/robots/iCubGenova01/model.urdf
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158 changes: 79 additions & 79 deletions iCub/robots/iCubGenova02/model.urdf
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188 changes: 94 additions & 94 deletions iCub/robots/iCubGenova04/model.urdf
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74 changes: 37 additions & 37 deletions iCub/robots/iCubGenova09/model.urdf
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3,582 changes: 3,582 additions & 0 deletions iCub/robots/iCubGenova11/model.urdf
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3,582 changes: 3,582 additions & 0 deletions iCub/robots/iCubWaterloo01/model.urdf
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18 changes: 9 additions & 9 deletions iCub/robots/left_hand_mk3/model.urdf
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Original file line number Diff line number Diff line change
Expand Up @@ -203,7 +203,7 @@
</joint>
<link name="l_hand_thumb_proximal_link">
<inertial>
<origin xyz="0.007942237973736329 -5.9058138708734456e-05 -0.001045447354816556" rpy="0 0 0"/>
<origin xyz="0.007942237973736326 -5.9058138708734456e-05 -0.001045447354816556" rpy="0 0 0"/>
<mass value="0.00972892"/>
<inertia ixx="7.30894e-07" ixy="-1.72738e-09" ixz="-2.79201e-07" iyy="1.01435e-06" iyz="6.0045e-10" izz="8.85583e-07"/>
</inertial>
Expand All @@ -224,8 +224,8 @@
</collision>
</link>
<joint name="l_hand_thumb_rotation_joint" type="revolute">
<origin xyz="0.04079150000000001 -0.048141699999999996 -4.558000000000036e-05" rpy="-1.919861924123965 0.17453290528622997 -1.4311699319115785"/>
<axis xyz="1.000000323780413 -2.554693535849738e-07 6.571824263261195e-08"/>
<origin xyz="0.04079150000000001 -0.048141699999999996 -4.558000000000036e-05" rpy="-1.9198619241239645 0.17453290528623008 -1.4311699319115785"/>
<axis xyz="1.0000003237804127 -2.554693537237517e-07 6.571824259405435e-08"/>
<parent link="l_hand_metacarpus_link"/>
<child link="l_hand_thumb_proximal_link"/>
<limit effort="50000" lower="-1.2217304763960306" upper="0.0" velocity="50000"/>
Expand Down Expand Up @@ -255,20 +255,20 @@
</link>
<joint name="l_hand_thumb_proximal_joint" type="revolute">
<origin xyz="0.021999958515447667 0 0.003500025233931968" rpy="0 0 0"/>
<axis xyz="2.628557918787494e-08 -1.0000002854169352 -2.183550824779987e-07"/>
<axis xyz="2.6285579160119366e-08 -1.0000002854169352 -2.1835508227251483e-07"/>
<parent link="l_hand_thumb_proximal_link"/>
<child link="l_hand_thumb_medial_link"/>
<limit effort="50000" lower="0.0" upper="1.4835298641951802" velocity="50000"/>
<dynamics damping="1.0"/>
</joint>
<link name="l_hand_thumb_fingertip_link">
<inertial>
<origin xyz="0.010517869126825619 8.912381595140711e-06 -0.003989284736807208" rpy="0 0 0"/>
<origin xyz="0.010517869126825605 8.912381595133773e-06 -0.003989284736807201" rpy="0 0 0"/>
<mass value="0.0169365"/>
<inertia ixx="0.01" ixy="1.68813e-09" ixz="-2.86966e-08" iyy="0.01" iyz="-1.92473e-09" izz="0.01"/>
</inertial>
<visual>
<origin xyz="-0.0029999461796957755 0 0.0030000193982093123" rpy="0 0 0"/>
<origin xyz="-0.0029999461796957824 0 0.0030000193982093193" rpy="0 0 0"/>
<geometry>
<mesh filename="package://iCub/meshes/simmechanics/sim_l_hand_distal_thumb_prt.stl" scale="0.001 0.001 0.001"/>
</geometry>
Expand All @@ -277,15 +277,15 @@
</material>
</visual>
<collision>
<origin xyz="-0.0029999461796957755 0 0.0030000193982093123" rpy="0 0 0"/>
<origin xyz="-0.0029999461796957824 0 0.0030000193982093193" rpy="0 0 0"/>
<geometry>
<mesh filename="package://iCub/meshes/simmechanics/sim_l_hand_distal_thumb_prt.stl" scale="0.001 0.001 0.001"/>
</geometry>
</collision>
</link>
<joint name="l_hand_thumb_distal_joint" type="revolute">
<origin xyz="0.020000016253208935 0 0.0014999980937911578" rpy="0 0 0"/>
<axis xyz="2.628557918787494e-08 -1.0000002854169352 -2.183550824779987e-07"/>
<origin xyz="0.020000016253208942 0 0.0014999980937911508" rpy="0 0 0"/>
<axis xyz="2.6285579160119366e-08 -1.0000002854169352 -2.1835508227251483e-07"/>
<parent link="l_hand_thumb_medial_link"/>
<child link="l_hand_thumb_fingertip_link"/>
<limit effort="50000" lower="0.0" upper="0.9599310885968813" velocity="50000"/>
Expand Down
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