Automatic update of urdf triggered by GitHub Action (icub-tech-iit#242)

Co-authored-by: Nicogene <[email protected]>
SimoneMic · Apr 18, 2024 · c34edaf · c34edaf
1 parent eda40cd
commit c34edaf
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Showing 5 changed files with 11,260 additions and 16 deletions.
diff --git a/urdf/ergoCub/robots/ergoCubGazeboV1_1/model.urdf b/urdf/ergoCub/robots/ergoCubGazeboV1_1/model.urdf
@@ -1241,8 +1241,8 @@
     </collision>
   </link>
   <joint name="l_index_add" type="revolute">
-    <origin xyz="0.022500000000000034 -0.0015000000000006397 -0.06859999999999966" rpy="-8.126657451512497e-16 -0.2967059722446555 1.7414265967526777e-16"/>
-    <axis xyz="1.3005559878087045e-15 1.0000000000000002 -1.953448495705706e-15"/>
+    <origin xyz="0.022500000000000023 -0.0015000000000006952 -0.0685999999999996" rpy="-8.416895217637947e-16 -0.29670597224465534 5.804755322508926e-17"/>
+    <axis xyz="1.1895336853461886e-15 0.9999999999999999 -1.9812040713213337e-15"/>
     <parent link="l_hand_palm"/>
     <child link="l_hand_index_1"/>
     <limit lower="0" upper="0.2617993877991494" effort="1e+9" velocity="1e+9"/>
@@ -1571,8 +1571,8 @@
     </collision>
   </link>
   <joint name="l_index_prox" type="revolute">
-    <origin xyz="0.009192533346793416 -2.7755575615628914e-17 -0.030713451309624162" rpy="-2.7755575615628914e-16 -7.023611553469422e-10 -7.771561172376094e-16"/>
-    <axis xyz="-1.0000000000000002 2.7755575615627613e-17 7.023654366444809e-10"/>
+    <origin xyz="0.00919253334679343 0 -0.030713451309624218" rpy="-3.0531133177191815e-16 -7.023611484080483e-10 -7.771561172376096e-16"/>
+    <axis xyz="-1 8.326672684688522e-17 7.023654435833748e-10"/>
     <parent link="l_hand_index_1"/>
     <child link="l_hand_index_2"/>
     <limit lower="0" upper="1.5707963267948966" effort="1e+9" velocity="1e+9"/>
@@ -1604,8 +1604,8 @@
     </collision>
   </link>
   <joint name="l_index_dist" type="revolute">
-    <origin xyz="-2.7755575615628914e-17 -0.0014999999999999736 -0.039999999999999925" rpy="-7.482326169760975e-8 1.734723475976807e-16 -6.106226635438361e-16"/>
-    <axis xyz="-1 -1.804112664227406e-16 9.020562801946248e-17"/>
+    <origin xyz="-1.3877787807814457e-17 -0.001500000000000029 -0.03999999999999987" rpy="-7.482326172536535e-8 1.8041124150158794e-16 -6.106226635438361e-16"/>
+    <axis xyz="-1 -2.359224176539984e-16 4.163337069211178e-17"/>
     <parent link="l_hand_index_2"/>
     <child link="l_hand_index_3"/>
     <limit lower="0" upper="1.7994344588061537" effort="1e+9" velocity="1e+9"/>

diff --git a/urdf/ergoCub/robots/ergoCubGazeboV1_1_minContacts/model.urdf b/urdf/ergoCub/robots/ergoCubGazeboV1_1_minContacts/model.urdf
@@ -1127,8 +1127,8 @@
     </collision>
   </link>
   <joint name="l_index_add" type="revolute">
-    <origin xyz="0.022500000000000034 -0.0015000000000006397 -0.06859999999999966" rpy="-8.126657451512497e-16 -0.2967059722446555 1.7414265967526777e-16"/>
-    <axis xyz="1.3005559878087045e-15 1.0000000000000002 -1.953448495705706e-15"/>
+    <origin xyz="0.022500000000000023 -0.0015000000000006952 -0.0685999999999996" rpy="-8.416895217637947e-16 -0.29670597224465534 5.804755322508926e-17"/>
+    <axis xyz="1.1895336853461886e-15 0.9999999999999999 -1.9812040713213337e-15"/>
     <parent link="l_hand_palm"/>
     <child link="l_hand_index_1"/>
     <limit lower="0" upper="0.2617993877991494" effort="1e+9" velocity="1e+9"/>
@@ -1427,8 +1427,8 @@
     </collision>
   </link>
   <joint name="l_index_prox" type="revolute">
-    <origin xyz="0.009192533346793416 -2.7755575615628914e-17 -0.030713451309624162" rpy="-2.7755575615628914e-16 -7.023611553469422e-10 -7.771561172376094e-16"/>
-    <axis xyz="-1.0000000000000002 2.7755575615627613e-17 7.023654366444809e-10"/>
+    <origin xyz="0.00919253334679343 0 -0.030713451309624218" rpy="-3.0531133177191815e-16 -7.023611484080483e-10 -7.771561172376096e-16"/>
+    <axis xyz="-1 8.326672684688522e-17 7.023654435833748e-10"/>
     <parent link="l_hand_index_1"/>
     <child link="l_hand_index_2"/>
     <limit lower="0" upper="1.5707963267948966" effort="1e+9" velocity="1e+9"/>
@@ -1457,8 +1457,8 @@
     </collision>
   </link>
   <joint name="l_index_dist" type="revolute">
-    <origin xyz="-2.7755575615628914e-17 -0.0014999999999999736 -0.039999999999999925" rpy="-7.482326169760975e-8 1.734723475976807e-16 -6.106226635438361e-16"/>
-    <axis xyz="-1 -1.804112664227406e-16 9.020562801946248e-17"/>
+    <origin xyz="-1.3877787807814457e-17 -0.001500000000000029 -0.03999999999999987" rpy="-7.482326172536535e-8 1.8041124150158794e-16 -6.106226635438361e-16"/>
+    <axis xyz="-1 -2.359224176539984e-16 4.163337069211178e-17"/>
     <parent link="l_hand_index_2"/>
     <child link="l_hand_index_3"/>
     <limit lower="0" upper="1.7994344588061537" effort="1e+9" velocity="1e+9"/>
@@ -2786,15 +2786,15 @@
       </plugin>
     </sensor>
   </gazebo>
-  <sensor name="waist_imu_0" type="accelerometer">
-    <parent link="torso_1"/>
-    <origin rpy="1.5708 0 -1.5708" xyz="0.0354497 0.00639688 0.060600"/>
-  </sensor>
   <gazebo>
     <plugin name="gzyarp::Imu" filename="gz-sim-yarp-imu-system">
       <yarpConfigurationFile>model://ergoCub/conf/gazebo_ergocub_waist_inertial.ini</yarpConfigurationFile>
     </plugin>
   </gazebo>
+  <sensor name="waist_imu_0" type="accelerometer">
+    <parent link="torso_1"/>
+    <origin rpy="1.5708 0 -1.5708" xyz="0.0354497 0.00639688 0.060600"/>
+  </sensor>
   <link name="base_link"/>
   <joint name="base_link_fixed_joint" type="fixed">
     <origin xyz="0 0 0" rpy="0 -0 0"/>