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Automatic update of urdf triggered by GitHub Action #253

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merged 3 commits into from
Aug 7, 2024
Merged

Automatic update of urdf triggered by GitHub Action #253

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179e096
Automatic update of urdf triggered by GitHub Action
Nicogene Aug 7, 2024
e5500c0
Fix IMU parent link names for `gz-sim-yarp-plugins`
xela-95 Aug 7, 2024
0aae999
Fix IMU parent link names for `gz-sim-yarp-plugins` (#254)
Nicogene Aug 7, 2024
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2 changes: 1 addition & 1 deletion urdf/ergoCub/conf/gazebo_ergocub_l_arm_ft_sensor_inertial.ini
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Original file line number Diff line number Diff line change
@@ -1,4 +1,4 @@
disableImplicitNetworkWrapper
yarpDeviceName l_arm_ft_sensor_inertial_hardware_device
parentLinkName l_arm
parentLinkName l_shoulder_3
sensorName l_arm_ft_imu
2 changes: 1 addition & 1 deletion urdf/ergoCub/conf/gazebo_ergocub_l_leg_ft_sensor_inertial.ini
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Original file line number Diff line number Diff line change
@@ -1,4 +1,4 @@
disableImplicitNetworkWrapper
yarpDeviceName l_leg_ft_sensor_inertial_hardware_device
parentLinkName l_leg
parentLinkName l_hip_3
sensorName l_leg_ft_imu
2 changes: 1 addition & 1 deletion urdf/ergoCub/conf/gazebo_ergocub_r_arm_ft_sensor_inertial.ini
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Original file line number Diff line number Diff line change
@@ -1,4 +1,4 @@
disableImplicitNetworkWrapper
yarpDeviceName r_arm_ft_sensor_inertial_hardware_device
parentLinkName r_arm
parentLinkName r_shoulder_3
sensorName r_arm_ft_imu
2 changes: 1 addition & 1 deletion urdf/ergoCub/conf/gazebo_ergocub_r_leg_ft_sensor_inertial.ini
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Original file line number Diff line number Diff line change
@@ -1,4 +1,4 @@
disableImplicitNetworkWrapper
yarpDeviceName r_leg_ft_sensor_inertial_hardware_device
parentLinkName r_leg
parentLinkName r_hip_3
sensorName r_leg_ft_imu
262 changes: 141 additions & 121 deletions urdf/ergoCub/robots/ergoCubGazeboV1_1/model.urdf
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240 changes: 130 additions & 110 deletions urdf/ergoCub/robots/ergoCubGazeboV1_1_minContacts/model.urdf
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Original file line number Diff line number Diff line change
Expand Up @@ -172,24 +172,24 @@
</geometry>
</collision>
</link>
<joint name="l_shoulder_pitch" type="revolute">
<origin xyz="-0.013518676842610159 0.06704761117227499 0.12351981080941767" rpy="0.2536123238732541 -0.05203160550449479 -0.27527873241387235"/>
<axis xyz="-3.452099717193846e-16 1.0000000000000002 3.0531133177191805e-16"/>
<joint name="neck_pitch" type="revolute">
<origin xyz="0.004861512347971912 4.1253975310307907e-16 0.22529999999999994" rpy="-1.541978321110266e-15 -2.0480667158215426e-15 -1.389802281096855e-15"/>
<axis xyz="2.6472211157644926e-18 -1 -7.807858529815144e-16"/>
<parent link="chest"/>
<child link="l_shoulder_1"/>
<limit lower="-2.9670597283903604" upper="0.6108652381980153" effort="1e+9" velocity="1e+9"/>
<child link="neck_2"/>
<limit lower="-0.5235987755982988" upper="0.3839724354387525" effort="1e+9" velocity="1e+9"/>
<dynamics damping="2" friction="0"/>
</joint>
<link name="l_shoulder_1">
<link name="neck_2">
<inertial>
<mass value="0.7913756606310043"/>
<origin xyz="1.4824275422014796e-4 0.06782971819041986 5.036196460999898e-4" rpy="0 -0 0"/>
<inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01"/>
<mass value="0.12100314943032965"/>
<origin xyz="-0.006305773955890982 3.0141314376407138e-5 0.006373188453183354" rpy="0 -0 0"/>
<inertia ixx="4.5383766592166864e-5" ixy="-9.375752008423039e-8" ixz="8.622664755132213e-6" iyy="3.848306673536227e-5" iyz="4.870043501244136e-8" izz="3.7535538604448367e-5"/>
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 -0 0"/>
<geometry>
<mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_l_shoulder_1.stl" scale="0.001 0.001 0.001"/>
<mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_head_neck_2.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="">
<color rgba="0.6 0.6 0.6 1"/>
Expand All @@ -202,24 +202,24 @@
</geometry>
</collision>
</link>
<joint name="neck_pitch" type="revolute">
<origin xyz="0.004861512347971912 4.1253975310307907e-16 0.22529999999999994" rpy="-1.541978321110266e-15 -2.0480667158215426e-15 -1.389802281096855e-15"/>
<axis xyz="2.6472211157644926e-18 -1 -7.807858529815144e-16"/>
<joint name="l_shoulder_pitch" type="revolute">
<origin xyz="-0.013518676842610159 0.06704761117227499 0.12351981080941767" rpy="0.2536123238732541 -0.05203160550449479 -0.27527873241387235"/>
<axis xyz="-3.452099717193846e-16 1.0000000000000002 3.0531133177191805e-16"/>
<parent link="chest"/>
<child link="neck_2"/>
<limit lower="-0.5235987755982988" upper="0.3839724354387525" effort="1e+9" velocity="1e+9"/>
<child link="l_shoulder_1"/>
<limit lower="-2.9670597283903604" upper="0.6108652381980153" effort="1e+9" velocity="1e+9"/>
<dynamics damping="2" friction="0"/>
</joint>
<link name="neck_2">
<link name="l_shoulder_1">
<inertial>
<mass value="0.12100314943032965"/>
<origin xyz="-0.006305773955890982 3.0141314376407138e-5 0.006373188453183354" rpy="0 -0 0"/>
<inertia ixx="4.5383766592166864e-5" ixy="-9.375752008423039e-8" ixz="8.622664755132213e-6" iyy="3.848306673536227e-5" iyz="4.870043501244136e-8" izz="3.7535538604448367e-5"/>
<mass value="0.7913756606310043"/>
<origin xyz="1.4824275422014796e-4 0.06782971819041986 5.036196460999898e-4" rpy="0 -0 0"/>
<inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01"/>
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 -0 0"/>
<geometry>
<mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_head_neck_2.stl" scale="0.001 0.001 0.001"/>
<mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_l_shoulder_1.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="">
<color rgba="0.6 0.6 0.6 1"/>
Expand Down Expand Up @@ -829,96 +829,6 @@
</geometry>
</collision>
</link>
<joint name="neck_roll" type="revolute">
<origin xyz="8.673617379884035e-19 6.416192023745373e-17 0.009499999999999786" rpy="-1.7364294099408703e-15 -2.980403162017727e-16 1.580860396783509e-15"/>
<axis xyz="1 -1.6820355477448088e-15 -3.806893332301044e-15"/>
<parent link="neck_2"/>
<child link="neck_3"/>
<limit lower="-0.3490658503988659" upper="0.3490658503988659" effort="1e+9" velocity="1e+9"/>
<dynamics damping="2" friction="0"/>
</joint>
<link name="neck_3">
<inertial>
<mass value="0.17811376821431446"/>
<origin xyz="7.590511663558711e-4 -4.0916906938460536e-5 0.036035516549226765" rpy="0 -0 0"/>
<inertia ixx="9.70548692219775e-5" ixy="1.7629468835177367e-7" ixz="6.130672988864901e-6" iyy="1.0759851740143377e-4" iyz="-2.503969674072287e-7" izz="3.626415440724103e-5"/>
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 -0 0"/>
<geometry>
<mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_head_neck_3.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="">
<color rgba="0.6 0.6 0.6 1"/>
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 -0 0"/>
<geometry>
<box size="0 0 0"/>
</geometry>
</collision>
</link>
<joint name="neck_yaw" type="revolute">
<origin xyz="-1.43982048506075e-16 -4.1419339784385294e-17 0.06914999999999999" rpy="1.2720090288173385e-15 -3.1687776687987536e-15 3.715432083235576e-16"/>
<axis xyz="3.1628618281392715e-15 1.6479574685948862e-15 0.9999999999999998"/>
<parent link="neck_3"/>
<child link="head"/>
<limit lower="-0.7853981633974483" upper="0.7853981633974483" effort="1e+9" velocity="1e+9"/>
<dynamics damping="2" friction="0"/>
</joint>
<link name="head">
<inertial>
<mass value="1.972127893184972"/>
<origin xyz="-0.01620091412622722 -0.002268813231724542 0.03500744217497026" rpy="0 -0 0"/>
<inertia ixx="0.007991907355842523" ixy="1.8186740348760937e-4" ixz="-1.9244538977657914e-4" iyy="0.009883124315185845" iyz="-3.994074771344834e-5" izz="0.00786000669468763"/>
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 -0 0"/>
<geometry>
<mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_head.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="">
<color rgba="1 1 1 1"/>
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 -0 0"/>
<geometry>
<box size="0 0 0"/>
</geometry>
</collision>
</link>
<joint name="camera_tilt" type="revolute">
<origin xyz="0.06250999999999993 -3.0000000001105853e-5 0.07639250000000064" rpy="9.166950960511526e-15 2.595819949100105e-4 1.9343583275079285e-15"/>
<axis xyz="-3.1332662159460226e-17 -1 -1.3036401662462866e-15"/>
<parent link="head"/>
<child link="realsense"/>
<limit lower="-0.5235987755982988" upper="0.5235987755982988" effort="1e+9" velocity="1e+9"/>
<dynamics damping="2" friction="0"/>
</joint>
<link name="realsense">
<inertial>
<mass value="0.0973042045264468"/>
<origin xyz="-0.01566548310600667 0.004519995218644514 0.002745610154123612" rpy="0 -0 0"/>
<inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01"/>
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 -0 0"/>
<geometry>
<mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_realsense.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="">
<color rgba="0.6 0.6 0.6 1"/>
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 -0 0"/>
<geometry>
<box size="0 0 0"/>
</geometry>
</collision>
</link>
<joint name="l_shoulder_roll" type="revolute">
<origin xyz="0.005000000000000011 0.09329999999999987 -3.0531133177191805e-16" rpy="2.6895152771544417e-14 1.790234627208065e-15 -2.3314683517128287e-15"/>
<axis xyz="1 4.891920202255013e-16 3.3029134982598896e-15"/>
Expand Down Expand Up @@ -1486,6 +1396,96 @@
</geometry>
</collision>
</link>
<joint name="neck_roll" type="revolute">
<origin xyz="8.673617379884035e-19 6.416192023745373e-17 0.009499999999999786" rpy="-1.7364294099408703e-15 -2.980403162017727e-16 1.580860396783509e-15"/>
<axis xyz="1 -1.6820355477448088e-15 -3.806893332301044e-15"/>
<parent link="neck_2"/>
<child link="neck_3"/>
<limit lower="-0.3490658503988659" upper="0.3490658503988659" effort="1e+9" velocity="1e+9"/>
<dynamics damping="2" friction="0"/>
</joint>
<link name="neck_3">
<inertial>
<mass value="0.17811376821431446"/>
<origin xyz="7.590511663558711e-4 -4.0916906938460536e-5 0.036035516549226765" rpy="0 -0 0"/>
<inertia ixx="9.70548692219775e-5" ixy="1.7629468835177367e-7" ixz="6.130672988864901e-6" iyy="1.0759851740143377e-4" iyz="-2.503969674072287e-7" izz="3.626415440724103e-5"/>
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 -0 0"/>
<geometry>
<mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_head_neck_3.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="">
<color rgba="0.6 0.6 0.6 1"/>
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 -0 0"/>
<geometry>
<box size="0 0 0"/>
</geometry>
</collision>
</link>
<joint name="neck_yaw" type="revolute">
<origin xyz="-1.43982048506075e-16 -4.1419339784385294e-17 0.06914999999999999" rpy="1.2720090288173385e-15 -3.1687776687987536e-15 3.715432083235576e-16"/>
<axis xyz="3.1628618281392715e-15 1.6479574685948862e-15 0.9999999999999998"/>
<parent link="neck_3"/>
<child link="head"/>
<limit lower="-0.7853981633974483" upper="0.7853981633974483" effort="1e+9" velocity="1e+9"/>
<dynamics damping="2" friction="0"/>
</joint>
<link name="head">
<inertial>
<mass value="1.972127893184972"/>
<origin xyz="-0.01620091412622722 -0.002268813231724542 0.03500744217497026" rpy="0 -0 0"/>
<inertia ixx="0.007991907355842523" ixy="1.8186740348760937e-4" ixz="-1.9244538977657914e-4" iyy="0.009883124315185845" iyz="-3.994074771344834e-5" izz="0.00786000669468763"/>
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 -0 0"/>
<geometry>
<mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_head.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="">
<color rgba="1 1 1 1"/>
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 -0 0"/>
<geometry>
<box size="0 0 0"/>
</geometry>
</collision>
</link>
<joint name="camera_tilt" type="revolute">
<origin xyz="0.06250999999999993 -3.0000000001105853e-5 0.07639250000000064" rpy="9.166950960511526e-15 2.595819949100105e-4 1.9343583275079285e-15"/>
<axis xyz="-3.1332662159460226e-17 -1 -1.3036401662462866e-15"/>
<parent link="head"/>
<child link="realsense"/>
<limit lower="-0.5235987755982988" upper="0.5235987755982988" effort="1e+9" velocity="1e+9"/>
<dynamics damping="2" friction="0"/>
</joint>
<link name="realsense">
<inertial>
<mass value="0.0973042045264468"/>
<origin xyz="-0.01566548310600667 0.004519995218644514 0.002745610154123612" rpy="0 -0 0"/>
<inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01"/>
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 -0 0"/>
<geometry>
<mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_realsense.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="">
<color rgba="0.6 0.6 0.6 1"/>
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 -0 0"/>
<geometry>
<box size="0 0 0"/>
</geometry>
</collision>
</link>
<joint name="r_hip_roll" type="revolute">
<origin xyz="-0.047250000000000625 -0.033099999999999824 -0.009000000000000091" rpy="-2.73316156054826e-16 2.504641391024977e-16 -3.1036377681447894e-15"/>
<axis xyz="-1 -3.3813287685016297e-16 -7.120227705451219e-17"/>
Expand Down Expand Up @@ -2822,6 +2822,16 @@
<yarpConfigurationFile>model://ergoCub/conf/FT/gazebo_ergocub_right_arm_ft.ini</yarpConfigurationFile>
</plugin>
</gazebo>
<gazebo>
<plugin name="gzyarp::Imu" filename="gz-sim-yarp-imu-system">
<yarpConfigurationFile>model://ergoCub/conf/gazebo_ergocub_l_arm_ft_sensor_inertial.ini</yarpConfigurationFile>
</plugin>
</gazebo>
<gazebo>
<plugin name="gzyarp::Imu" filename="gz-sim-yarp-imu-system">
<yarpConfigurationFile>model://ergoCub/conf/gazebo_ergocub_r_arm_ft_sensor_inertial.ini</yarpConfigurationFile>
</plugin>
</gazebo>
<gazebo>
<plugin name="controlboard_torso" filename="libgazebo_yarp_controlboard.so">
<yarpConfigurationFile>model://ergoCub/conf/gazebo_ergocub_torso.ini</yarpConfigurationFile>
Expand Down Expand Up @@ -2935,6 +2945,11 @@
<yarpConfigurationFile>model://ergoCub/conf/gazebo_ergocub_l_foot_rear_ft_sensor_inertial.ini</yarpConfigurationFile>
</plugin>
</gazebo>
<gazebo>
<plugin name="gzyarp::Imu" filename="gz-sim-yarp-imu-system">
<yarpConfigurationFile>model://ergoCub/conf/gazebo_ergocub_l_leg_ft_sensor_inertial.ini</yarpConfigurationFile>
</plugin>
</gazebo>
<gazebo>
<plugin name="controlboard_left_leg" filename="libgazebo_yarp_controlboard.so">
<yarpConfigurationFile>model://ergoCub/conf/gazebo_ergocub_left_leg.ini</yarpConfigurationFile>
Expand Down Expand Up @@ -3039,6 +3054,11 @@
<yarpConfigurationFile>model://ergoCub/conf/gazebo_ergocub_r_foot_rear_ft_sensor_inertial.ini</yarpConfigurationFile>
</plugin>
</gazebo>
<gazebo>
<plugin name="gzyarp::Imu" filename="gz-sim-yarp-imu-system">
<yarpConfigurationFile>model://ergoCub/conf/gazebo_ergocub_r_leg_ft_sensor_inertial.ini</yarpConfigurationFile>
</plugin>
</gazebo>
<gazebo>
<plugin name="controlboard_right_leg" filename="libgazebo_yarp_controlboard.so">
<yarpConfigurationFile>model://ergoCub/conf/gazebo_ergocub_right_leg.ini</yarpConfigurationFile>
Expand Down
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