From 207e749bc623271a55366000b69e2451ec31f8e4 Mon Sep 17 00:00:00 2001 From: Nicogene Date: Tue, 28 Feb 2023 09:58:11 +0100 Subject: [PATCH] urdf: fix small inertia issues on left arm --- CHANGELOG.md | 1 + urdf/simmechanics/CMakeLists.txt | 2 +- .../data/ergocub/ERGOCUB_all_options.yaml | 46 +----------------- .../ERGOCUB_all_options_gazebo.yaml.in | 48 +------------------ 4 files changed, 5 insertions(+), 92 deletions(-) diff --git a/CHANGELOG.md b/CHANGELOG.md index 2a92ee66..ab253158 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -10,6 +10,7 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0 ## urdf - Removed hip ft sensors from `ergoCubSN000` model. - Aligned joint names of the hands with the real robot. +- Fixed left arm small inertia problems (https://github.com/icub-tech-iit/ergocub-software/issues/60) ## [0.1.0] - 2023-01-24 diff --git a/urdf/simmechanics/CMakeLists.txt b/urdf/simmechanics/CMakeLists.txt index b8d8121d..0bfe1194 100644 --- a/urdf/simmechanics/CMakeLists.txt +++ b/urdf/simmechanics/CMakeLists.txt @@ -74,7 +74,7 @@ macro(generate_ergocub_simmechanics) xx: 0.01 yy: 0.01 zz: 0.01 - - linkName: l_elbow_1 + - linkName: l_forearm xx: 0.01 yy: 0.01 zz: 0.01 diff --git a/urdf/simmechanics/data/ergocub/ERGOCUB_all_options.yaml b/urdf/simmechanics/data/ergocub/ERGOCUB_all_options.yaml index 367b487b..be4a4c36 100644 --- a/urdf/simmechanics/data/ergocub/ERGOCUB_all_options.yaml +++ b/urdf/simmechanics/data/ergocub/ERGOCUB_all_options.yaml @@ -937,50 +937,6 @@ sensors: model://ergoCub/conf/sensors/gazebo_ergocub_lidar.ini -#assignedMasses: - # root_link : 2.5751 - # torso_1 : 1.6998 - # torso_2 : 0.77098 - # chest : 7.5231 - # l_shoulder_1: 0.78644 - # r_shoulder_1: 0.78697 - # l_shoulder_2: 0.42492 - # r_shoulder_2: 0.42492 - # l_shoulder_3: 0.2625 - # r_shoulder_3: 0.2625 - # l_upper_arm : 1.6203 - # r_upper_arm : 1.6219 - # r_hip_1 : 2.1623 - # r_hip_2 : 1.7731 - # r_hip_3 : 2.1635 - # r_upper_leg : 0.90926 - # r_lower_leg : 5.0761 - # r_ankle_1 : 0.36569 - # r_ankle_2 : 1.3771 - # r_foot_front: 0.17964 - # r_foot_rear : 0.17874 - # l_hip_1 : 2.1611 - # l_hip_2 : 1.7731 - # l_hip_3 : 2.1622 - # l_upper_leg : 0.90926 - # l_lower_leg : 5.0486 - # l_ankle_1 : 0.36569 - # l_ankle_2 : 1.377 - # l_foot_front: 0.17896 - # l_foot_rear : 0.17851 - # l_elbow_1 : 0.22161 - # r_elbow_1 : 0.22157 - # l_forearm : 0.87311 - # r_forearm : 0.8686 - # l_wrist_1 : 0.033183 - # r_wrist_1 : 0.033183 - # l_hand : 0.25639 - # r_hand : 0.25705 - # neck_1 : 0.36804 - # neck_2 : 0.1214 - # neck_3 : 0.18386 - # head : 1.8728 - assignedColors: root_link : [0.70, 0.70, 0.70, 1] torso_1 : [0.70, 0.70, 0.70, 1] @@ -1012,7 +968,7 @@ assignedColors: l_ankle_2 : [0.3, 0.3, 0.3, 1] l_foot_front: [1, 0.51, 0.0, 1] l_foot_rear : [1, 0.51, 0.0, 1] - l_elbow_1 : [0.3, 0.3, 0.3, 1] + l_forearm : [0.3, 0.3, 0.3, 1] r_elbow_1 : [0.3, 0.3, 0.3, 1] l_forearm : [0.3, 0.3, 0.3, 1] r_forearm : [0.3, 0.3, 0.3, 1] diff --git a/urdf/simmechanics/data/ergocub/ERGOCUB_all_options_gazebo.yaml.in b/urdf/simmechanics/data/ergocub/ERGOCUB_all_options_gazebo.yaml.in index 39294beb..9155e989 100644 --- a/urdf/simmechanics/data/ergocub/ERGOCUB_all_options_gazebo.yaml.in +++ b/urdf/simmechanics/data/ergocub/ERGOCUB_all_options_gazebo.yaml.in @@ -937,50 +937,6 @@ sensors: @ASSIGNED_COLLISION_GEOMETRIES@ -#assignedMasses: - # root_link : 2.5751 - # torso_1 : 1.6998 - # torso_2 : 0.77098 - # chest : 7.5231 - # l_shoulder_1: 0.78644 - # r_shoulder_1: 0.78697 - # l_shoulder_2: 0.42492 - # r_shoulder_2: 0.42492 - # l_shoulder_3: 0.2625 - # r_shoulder_3: 0.2625 - # l_upper_arm : 1.6203 - # r_upper_arm : 1.6219 - # r_hip_1 : 2.1623 - # r_hip_2 : 1.7731 - # r_hip_3 : 2.1635 - # r_upper_leg : 0.90926 - # r_lower_leg : 5.0761 - # r_ankle_1 : 0.36569 - # r_ankle_2 : 1.3771 - # r_foot_front: 0.17964 - # r_foot_rear : 0.17874 - # l_hip_1 : 2.1611 - # l_hip_2 : 1.7731 - # l_hip_3 : 2.1622 - # l_upper_leg : 0.90926 - # l_lower_leg : 5.0486 - # l_ankle_1 : 0.36569 - # l_ankle_2 : 1.377 - # l_foot_front: 0.17896 - # l_foot_rear : 0.17851 - # l_elbow_1 : 0.22161 - # r_elbow_1 : 0.22157 - # l_forearm : 0.87311 - # r_forearm : 0.8686 - # l_wrist_1 : 0.033183 - # r_wrist_1 : 0.033183 - # l_hand : 0.25639 - # r_hand : 0.25705 - # neck_1 : 0.36804 - # neck_2 : 0.1214 - # neck_3 : 0.18386 - # head : 1.8728 - assignedInertias: # This is due to https://github.com/robotology/icub-models/issues/33 - linkName: realsense @@ -1075,7 +1031,7 @@ assignedInertias: xx: 0.01 yy: 0.01 zz: 0.01 - - linkName: l_elbow_1 + - linkName: l_forearm xx: 0.01 yy: 0.01 zz: 0.01 @@ -1209,7 +1165,7 @@ assignedColors: l_ankle_2 : [0.3, 0.3, 0.3, 1] l_foot_front: [1, 0.51, 0.0, 1] l_foot_rear : [1, 0.51, 0.0, 1] - l_elbow_1 : [0.3, 0.3, 0.3, 1] + l_forearm : [0.3, 0.3, 0.3, 1] r_elbow_1 : [0.3, 0.3, 0.3, 1] l_forearm : [0.3, 0.3, 0.3, 1] r_forearm : [0.3, 0.3, 0.3, 1]