From 5fe7e0e8b230d13bc05d69a696b4ce6b7ad48d9f Mon Sep 17 00:00:00 2001 From: Silvio Traversaro Date: Mon, 2 Dec 2024 23:20:48 +0100 Subject: [PATCH] Automatic build of models via icub-models-generator. (#246) icub-models-generator commit: robotology/icub-models-generator@87d1222322b9e0d80836d362ded8c20d9775145f ### Dependencies information of dependencies installed manually: urdf_parser_py commit: ros/urdf_parser_py@31474b9baaf7c3845b40e5a9aa87d5900a2282c3 simmechanics-to-urdf commit: robotology/simmechanics-to-urdf@143fd8f5450d0f84611d35ea1611869e530b0623 ### 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 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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 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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 1.32.4 h59595ed_0 479.6 KiB conda mpg123-1.32.4-h59595ed_0.conda mumps-include 5.7.2 ha770c72_0 21.2 KiB conda mumps-include-5.7.2-ha770c72_0.conda mumps-seq 5.7.2 h6e8dedb_0 1.9 MiB conda mumps-seq-5.7.2-h6e8dedb_0.conda mysql-common 8.3.0 hf1915f5_4 766.4 KiB conda mysql-common-8.3.0-hf1915f5_4.conda mysql-libs 8.3.0 hca2cd23_4 1.5 MiB conda mysql-libs-8.3.0-hca2cd23_4.conda ncurses 6.4.20240210 h59595ed_0 874.7 KiB conda ncurses-6.4.20240210-h59595ed_0.conda nettle 3.9.1 h7ab15ed_0 987.9 KiB conda nettle-3.9.1-h7ab15ed_0.conda ninja 1.11.1 h924138e_0 2.1 MiB conda ninja-1.11.1-h924138e_0.conda nspr 4.35 h27087fc_0 221.5 KiB conda nspr-4.35-h27087fc_0.conda nss 3.98 h1d7d5a4_0 1.9 MiB conda nss-3.98-h1d7d5a4_0.conda numpy 1.26.4 py311h64a7726_0 7.7 MiB conda numpy-1.26.4-py311h64a7726_0.conda ocl-icd 2.3.2 hd590300_1 132.5 KiB conda ocl-icd-2.3.2-hd590300_1.conda openexr 3.2.2 haf962dd_1 1.4 MiB conda openexr-3.2.2-haf962dd_1.conda openh264 2.4.1 h59595ed_0 718 KiB conda openh264-2.4.1-h59595ed_0.conda openssl 3.2.1 hd590300_1 2.7 MiB conda openssl-3.2.1-hd590300_1.conda osqp-eigen 0.8.1 hdd734ac_1 34.5 KiB conda osqp-eigen-0.8.1-hdd734ac_1.conda p11-kit 0.24.1 hc5aa10d_0 4.5 MiB conda p11-kit-0.24.1-hc5aa10d_0.tar.bz2 pcre2 10.43 hcad00b1_0 928.6 KiB conda pcre2-10.43-hcad00b1_0.conda pip 24.0 pyhd8ed1ab_0 1.3 MiB conda pip-24.0-pyhd8ed1ab_0.conda pixman 0.43.2 h59595ed_0 377.8 KiB conda pixman-0.43.2-h59595ed_0.conda portaudio 19.6.0 h7c63dc7_9 112.8 KiB conda portaudio-19.6.0-h7c63dc7_9.conda pthread-stubs 0.4 h36c2ea0_1001 5.5 KiB conda pthread-stubs-0.4-h36c2ea0_1001.tar.bz2 pugixml 1.14 h59595ed_0 112.2 KiB conda pugixml-1.14-h59595ed_0.conda pulseaudio-client 17.0 hb77b528_0 739.9 KiB conda pulseaudio-client-17.0-hb77b528_0.conda pyparsing 3.1.2 pyhd8ed1ab_0 87.4 KiB conda pyparsing-3.1.2-pyhd8ed1ab_0.conda python 3.11.8 hab00c5b_0_cpython 29.3 MiB conda python-3.11.8-hab00c5b_0_cpython.conda python-dateutil 2.9.0 pyhd8ed1ab_0 217.5 KiB conda python-dateutil-2.9.0-pyhd8ed1ab_0.conda python_abi 3.11 4_cp311 6.2 KiB conda python_abi-3.11-4_cp311.conda pyyaml 5.4.1 py311hd4cff14_4 207.5 KiB conda pyyaml-5.4.1-py311hd4cff14_4.tar.bz2 qt-main 5.15.8 h112747c_20 58 MiB conda qt-main-5.15.8-h112747c_20.conda qt6-main 6.6.3 hd0aab4e_0 50.5 MiB conda qt6-main-6.6.3-hd0aab4e_0.conda readline 8.2 h8228510_1 274.9 KiB conda readline-8.2-h8228510_1.conda rhash 1.4.4 hd590300_0 180.8 KiB conda rhash-1.4.4-hd590300_0.conda robot-testing-framework 2.0.1 hcb278e6_1 181.1 KiB conda robot-testing-framework-2.0.1-hcb278e6_1.conda ruby 3.2.2 h983345b_1 7.7 MiB conda ruby-3.2.2-h983345b_1.conda sdl 1.2.68 h293081c_0 152.5 KiB conda sdl-1.2.68-h293081c_0.conda sdl2 2.28.5 hdbcbe63_1 1.3 MiB conda sdl2-2.28.5-hdbcbe63_1.conda setuptools 69.2.0 pyhd8ed1ab_0 460.1 KiB conda setuptools-69.2.0-pyhd8ed1ab_0.conda six 1.16.0 pyh6c4a22f_0 13.9 KiB conda six-1.16.0-pyh6c4a22f_0.tar.bz2 snappy 1.1.10 h9fff704_0 38 KiB conda snappy-1.1.10-h9fff704_0.conda soxr 0.1.3 h0b41bf4_3 128.3 KiB conda soxr-0.1.3-h0b41bf4_3.conda svt-av1 1.8.0 h59595ed_0 2.5 MiB conda svt-av1-1.8.0-h59595ed_0.conda sysroot_linux-64 2.12 he073ed8_17 14.4 MiB conda sysroot_linux-64-2.12-he073ed8_17.conda tbb 2021.12.0 h297d8ca_1 189.6 KiB conda tbb-2021.12.0-h297d8ca_1.conda tinyxml 2.6.2 h4bd325d_2 55.2 KiB conda tinyxml-2.6.2-h4bd325d_2.tar.bz2 tk 8.6.13 noxft_h4845f30_101 3.2 MiB conda tk-8.6.13-noxft_h4845f30_101.conda tzdata 2024a h0c530f3_0 117 KiB conda tzdata-2024a-h0c530f3_0.conda unixodbc 2.3.12 h661eb56_0 275.2 KiB conda unixodbc-2.3.12-h661eb56_0.conda wayland 1.22.0 h8c25dac_1 299.3 KiB conda wayland-1.22.0-h8c25dac_1.conda wheel 0.43.0 pyhd8ed1ab_1 56.6 KiB conda wheel-0.43.0-pyhd8ed1ab_1.conda x264 1!164.3095 h166bdaf_2 876.5 KiB conda x264-1!164.3095-h166bdaf_2.tar.bz2 x265 3.5 h924138e_3 3.2 MiB conda x265-3.5-h924138e_3.tar.bz2 xcb-util 0.4.0 hd590300_1 19.3 KiB conda xcb-util-0.4.0-hd590300_1.conda xcb-util-cursor 0.1.4 hd590300_1 19.7 KiB conda xcb-util-cursor-0.1.4-hd590300_1.conda xcb-util-image 0.4.0 h8ee46fc_1 23.9 KiB conda xcb-util-image-0.4.0-h8ee46fc_1.conda xcb-util-keysyms 0.4.0 h8ee46fc_1 13.9 KiB conda xcb-util-keysyms-0.4.0-h8ee46fc_1.conda xcb-util-renderutil 0.3.9 hd590300_1 16.6 KiB conda xcb-util-renderutil-0.3.9-hd590300_1.conda xcb-util-wm 0.4.1 h8ee46fc_1 50.9 KiB conda xcb-util-wm-0.4.1-h8ee46fc_1.conda xkeyboard-config 2.41 hd590300_0 877 KiB conda xkeyboard-config-2.41-hd590300_0.conda xorg-fixesproto 5.0 h7f98852_1002 8.9 KiB conda xorg-fixesproto-5.0-h7f98852_1002.tar.bz2 xorg-inputproto 2.3.2 h7f98852_1002 19.1 KiB conda xorg-inputproto-2.3.2-h7f98852_1002.tar.bz2 xorg-kbproto 1.0.7 h7f98852_1002 26.7 KiB conda xorg-kbproto-1.0.7-h7f98852_1002.tar.bz2 xorg-libice 1.1.1 hd590300_0 57.1 KiB conda xorg-libice-1.1.1-hd590300_0.conda xorg-libsm 1.2.4 h7391055_0 26.8 KiB conda xorg-libsm-1.2.4-h7391055_0.conda xorg-libx11 1.8.9 h8ee46fc_0 808.7 KiB conda xorg-libx11-1.8.9-h8ee46fc_0.conda xorg-libxau 1.0.11 hd590300_0 14.1 KiB conda xorg-libxau-1.0.11-hd590300_0.conda xorg-libxdmcp 1.1.3 h7f98852_0 18.7 KiB conda xorg-libxdmcp-1.1.3-h7f98852_0.tar.bz2 xorg-libxext 1.3.4 h0b41bf4_2 49 KiB conda xorg-libxext-1.3.4-h0b41bf4_2.conda xorg-libxfixes 5.0.3 h7f98852_1004 17.7 KiB conda xorg-libxfixes-5.0.3-h7f98852_1004.tar.bz2 xorg-libxi 1.7.10 h7f98852_0 46.2 KiB conda xorg-libxi-1.7.10-h7f98852_0.tar.bz2 xorg-libxinerama 1.1.5 h27087fc_0 13 KiB conda xorg-libxinerama-1.1.5-h27087fc_0.tar.bz2 xorg-libxrender 0.9.11 hd590300_0 36.9 KiB conda xorg-libxrender-0.9.11-hd590300_0.conda xorg-renderproto 0.11.1 h7f98852_1002 9.4 KiB conda xorg-renderproto-0.11.1-h7f98852_1002.tar.bz2 xorg-xextproto 7.3.0 h0b41bf4_1003 29.6 KiB conda xorg-xextproto-7.3.0-h0b41bf4_1003.conda xorg-xf86vidmodeproto 2.3.1 h7f98852_1002 23.3 KiB conda xorg-xf86vidmodeproto-2.3.1-h7f98852_1002.tar.bz2 xorg-xproto 7.0.31 h7f98852_1007 73.2 KiB conda xorg-xproto-7.0.31-h7f98852_1007.tar.bz2 xz 5.2.6 h166bdaf_0 408.6 KiB conda xz-5.2.6-h166bdaf_0.tar.bz2 yaml 0.2.5 h7f98852_2 87.1 KiB conda yaml-0.2.5-h7f98852_2.tar.bz2 yarp 3.9.0 ha770c72_2 22.8 KiB conda yarp-3.9.0-ha770c72_2.conda yarp-python 3.9.0 py311h0e2f32c_2 1.1 MiB conda yarp-python-3.9.0-py311h0e2f32c_2.conda ycm-cmake-modules 0.16.2 h59595ed_0 138 KiB conda ycm-cmake-modules-0.16.2-h59595ed_0.conda zlib 1.2.13 hd590300_5 90.6 KiB conda zlib-1.2.13-hd590300_5.conda zstd 1.5.5 hfc55251_0 532.4 KiB conda zstd-1.5.5-hfc55251_0.conda --- iCub/conf/FT/gazebo_icub_left_arm_ft.ini | 2 + iCub/conf/FT/gazebo_icub_left_foot_ft.ini | 2 + iCub/conf/FT/gazebo_icub_left_leg_ft.ini | 2 + iCub/conf/FT/gazebo_icub_right_arm_ft.ini | 2 + iCub/conf/FT/gazebo_icub_right_foot_ft.ini | 2 + iCub/conf/FT/gazebo_icub_right_leg_ft.ini | 3 +- iCub/conf/gazebo_icub_inertial.ini | 2 + iCub/conf/gazebo_icub_left_arm_inertial.ini | 4 +- iCub/conf/gazebo_icub_right_arm_inertial.ini | 4 +- iCub/conf/gazebo_icub_xsens_inertial.ini | 3 + iCub/robots/iCubDarmstadt01/model.urdf | 78 +++++++++++++++++ iCub/robots/iCubErzelli02/model.urdf | 78 +++++++++++++++++ iCub/robots/iCubGazeboV2_5/model.urdf | 78 +++++++++++++++++ iCub/robots/iCubGazeboV2_5_KIT_007/model.urdf | 78 +++++++++++++++++ iCub/robots/iCubGazeboV2_6/model.urdf | 78 +++++++++++++++++ iCub/robots/iCubGazeboV2_7/model.urdf | 83 +++++++++++++++++++ iCub/robots/iCubGenova01/model.urdf | 78 +++++++++++++++++ iCub/robots/iCubGenova02/model.urdf | 78 +++++++++++++++++ iCub/robots/iCubGenova04/model.urdf | 78 +++++++++++++++++ iCub/robots/iCubGenova11/model.urdf | 83 +++++++++++++++++++ iCub/robots/iCubWaterloo01/model.urdf | 83 +++++++++++++++++++ 21 files changed, 896 insertions(+), 3 deletions(-) diff --git a/iCub/conf/FT/gazebo_icub_left_arm_ft.ini b/iCub/conf/FT/gazebo_icub_left_arm_ft.ini index bb63101..1f6d6ec 100644 --- a/iCub/conf/FT/gazebo_icub_left_arm_ft.ini +++ b/iCub/conf/FT/gazebo_icub_left_arm_ft.ini @@ -1,2 +1,4 @@ disableImplicitNetworkWrapper yarpDeviceName icub_left_arm_ft +jointName l_arm_ft_sensor +sensorName l_arm_ft \ No newline at end of file diff --git a/iCub/conf/FT/gazebo_icub_left_foot_ft.ini b/iCub/conf/FT/gazebo_icub_left_foot_ft.ini index 073d7be..ce08cae 100644 --- a/iCub/conf/FT/gazebo_icub_left_foot_ft.ini +++ b/iCub/conf/FT/gazebo_icub_left_foot_ft.ini @@ -1,2 +1,4 @@ disableImplicitNetworkWrapper yarpDeviceName icub_left_foot_ft +jointName l_foot_ft_sensor +sensorName l_foot_ft \ No newline at end of file diff --git a/iCub/conf/FT/gazebo_icub_left_leg_ft.ini b/iCub/conf/FT/gazebo_icub_left_leg_ft.ini index 71e85df..83bb895 100644 --- a/iCub/conf/FT/gazebo_icub_left_leg_ft.ini +++ b/iCub/conf/FT/gazebo_icub_left_leg_ft.ini @@ -1,2 +1,4 @@ disableImplicitNetworkWrapper yarpDeviceName icub_left_leg_ft +jointName l_leg_ft_sensor +sensorName l_leg_ft \ No newline at end of file diff --git a/iCub/conf/FT/gazebo_icub_right_arm_ft.ini b/iCub/conf/FT/gazebo_icub_right_arm_ft.ini index c411f9e..a3618db 100644 --- a/iCub/conf/FT/gazebo_icub_right_arm_ft.ini +++ b/iCub/conf/FT/gazebo_icub_right_arm_ft.ini @@ -1,2 +1,4 @@ disableImplicitNetworkWrapper yarpDeviceName icub_right_arm_ft +jointName r_arm_ft_sensor +sensorName r_arm_ft \ No newline at end of file diff --git a/iCub/conf/FT/gazebo_icub_right_foot_ft.ini b/iCub/conf/FT/gazebo_icub_right_foot_ft.ini index 60b2976..f8ff773 100644 --- a/iCub/conf/FT/gazebo_icub_right_foot_ft.ini +++ b/iCub/conf/FT/gazebo_icub_right_foot_ft.ini @@ -1,2 +1,4 @@ disableImplicitNetworkWrapper yarpDeviceName icub_right_foot_ft +jointName r_foot_ft_sensor +sensorName r_foot_ft \ No newline at end of file diff --git a/iCub/conf/FT/gazebo_icub_right_leg_ft.ini b/iCub/conf/FT/gazebo_icub_right_leg_ft.ini index 9f10c91..3c89aa0 100644 --- a/iCub/conf/FT/gazebo_icub_right_leg_ft.ini +++ b/iCub/conf/FT/gazebo_icub_right_leg_ft.ini @@ -1,3 +1,4 @@ disableImplicitNetworkWrapper yarpDeviceName icub_right_leg_ft - +jointName r_leg_ft_sensor +sensorName r_leg_ft diff --git a/iCub/conf/gazebo_icub_inertial.ini b/iCub/conf/gazebo_icub_inertial.ini index 5202ca3..0e60e7b 100644 --- a/iCub/conf/gazebo_icub_inertial.ini +++ b/iCub/conf/gazebo_icub_inertial.ini @@ -1,2 +1,4 @@ disableImplicitNetworkWrapper yarpDeviceName head_inertial_hardware_device +parentLinkName head +sensorName head_imu_0 diff --git a/iCub/conf/gazebo_icub_left_arm_inertial.ini b/iCub/conf/gazebo_icub_left_arm_inertial.ini index b2db6e3..10867f5 100644 --- a/iCub/conf/gazebo_icub_left_arm_inertial.ini +++ b/iCub/conf/gazebo_icub_left_arm_inertial.ini @@ -1,2 +1,4 @@ disableImplicitNetworkWrapper -yarpDeviceName left_arm_inertial_hardware_device \ No newline at end of file +yarpDeviceName left_arm_inertial_hardware_device +parentLinkName l_shoulder_3 +sensorName l_arm_ft_imu \ No newline at end of file diff --git a/iCub/conf/gazebo_icub_right_arm_inertial.ini b/iCub/conf/gazebo_icub_right_arm_inertial.ini index b676f9c..1d9ce75 100644 --- a/iCub/conf/gazebo_icub_right_arm_inertial.ini +++ b/iCub/conf/gazebo_icub_right_arm_inertial.ini @@ -1,2 +1,4 @@ disableImplicitNetworkWrapper -yarpDeviceName right_arm_inertial_hardware_device \ No newline at end of file +yarpDeviceName right_arm_inertial_hardware_device +parentLinkName r_shoulder_3 +sensorName r_arm_ft_imu \ No newline at end of file diff --git a/iCub/conf/gazebo_icub_xsens_inertial.ini b/iCub/conf/gazebo_icub_xsens_inertial.ini index b164f02..84b5c24 100644 --- a/iCub/conf/gazebo_icub_xsens_inertial.ini +++ b/iCub/conf/gazebo_icub_xsens_inertial.ini @@ -5,3 +5,6 @@ period 2 device multipleanalogsensorsserver subdevice gazebo_imu +yarpDeviceName waist_inertial_hardware_device +parentLinkName root_link +sensorName root_link_imu_acc \ No newline at end of file diff --git a/iCub/robots/iCubDarmstadt01/model.urdf b/iCub/robots/iCubDarmstadt01/model.urdf index 59a373d..9492d13 100644 --- a/iCub/robots/iCubDarmstadt01/model.urdf +++ b/iCub/robots/iCubDarmstadt01/model.urdf @@ -2424,6 +2424,73 @@ 1 1 0 0 0 + + + + model://iCub/conf/gazebo_icub_torso.ini + + + model://iCub/conf/gazebo_icub_head_without_eyes.ini + + + model://iCub/conf/gazebo_icub_left_arm_no_hand_for_no_hand_model.ini + -0.52 0.52 0 0.785 0 0 0.0 + + + model://iCub/conf/gazebo_icub_right_arm_no_hand_for_no_hand_model.ini + -0.52 0.52 0 0.785 0 0 0.0 + + + model://iCub/conf/gazebo_icub_right_leg.ini + + + model://iCub/conf/gazebo_icub_left_leg.ini + + + + + model://iCub/conf/FT/gazebo_icub_right_arm_ft.ini + + + + + model://iCub/conf/FT/gazebo_icub_left_arm_ft.ini + + + + + model://iCub/conf/FT/gazebo_icub_right_leg_ft.ini + + + + + model://iCub/conf/FT/gazebo_icub_left_leg_ft.ini + + + + + model://iCub/conf/FT/gazebo_icub_right_foot_ft.ini + + + + + model://iCub/conf/FT/gazebo_icub_left_foot_ft.ini + + + + + model://iCub/conf/gazebo_icub_right_arm_inertial.ini + + + + + model://iCub/conf/gazebo_icub_left_arm_inertial.ini + + + + + model://iCub/conf/gazebo_icub_inertial.ini + @@ -2565,6 +2632,17 @@ model://iCub/conf/icub.xml + + + + model://iCub/conf/icub.xml + + + + + + + diff --git a/iCub/robots/iCubErzelli02/model.urdf b/iCub/robots/iCubErzelli02/model.urdf index 667753b..44bcf71 100644 --- a/iCub/robots/iCubErzelli02/model.urdf +++ b/iCub/robots/iCubErzelli02/model.urdf @@ -2424,6 +2424,73 @@ 1 1 0 0 0 + + + + model://iCub/conf/gazebo_icub_torso.ini + + + model://iCub/conf/gazebo_icub_head_without_eyes.ini + + + model://iCub/conf/gazebo_icub_left_arm_no_hand_for_no_hand_model.ini + -0.52 0.52 0 0.785 0 0 0.0 + + + model://iCub/conf/gazebo_icub_right_arm_no_hand_for_no_hand_model.ini + -0.52 0.52 0 0.785 0 0 0.0 + + + model://iCub/conf/gazebo_icub_right_leg.ini + + + model://iCub/conf/gazebo_icub_left_leg.ini + + + + + model://iCub/conf/FT/gazebo_icub_right_arm_ft.ini + + + + + model://iCub/conf/FT/gazebo_icub_left_arm_ft.ini + + + + + model://iCub/conf/FT/gazebo_icub_right_leg_ft.ini + + + + + model://iCub/conf/FT/gazebo_icub_left_leg_ft.ini + + + + + model://iCub/conf/FT/gazebo_icub_right_foot_ft.ini + + + + + model://iCub/conf/FT/gazebo_icub_left_foot_ft.ini + + + + + model://iCub/conf/gazebo_icub_right_arm_inertial.ini + + + + + model://iCub/conf/gazebo_icub_left_arm_inertial.ini + + + + + model://iCub/conf/gazebo_icub_inertial.ini + @@ -2565,6 +2632,17 @@ model://iCub/conf/icub.xml + + + + model://iCub/conf/icub.xml + + + + + + + diff --git a/iCub/robots/iCubGazeboV2_5/model.urdf b/iCub/robots/iCubGazeboV2_5/model.urdf index 4420e85..aeabf97 100644 --- a/iCub/robots/iCubGazeboV2_5/model.urdf +++ b/iCub/robots/iCubGazeboV2_5/model.urdf @@ -2424,6 +2424,73 @@ 1 1 0 0 0 + + + + model://iCub/conf/gazebo_icub_torso.ini + + + model://iCub/conf/gazebo_icub_head_without_eyes.ini + + + model://iCub/conf/gazebo_icub_left_arm_no_hand_for_no_hand_model.ini + -0.52 0.52 0 0.785 0 0 0.0 + + + model://iCub/conf/gazebo_icub_right_arm_no_hand_for_no_hand_model.ini + -0.52 0.52 0 0.785 0 0 0.0 + + + model://iCub/conf/gazebo_icub_right_leg.ini + + + model://iCub/conf/gazebo_icub_left_leg.ini + + + + + model://iCub/conf/FT/gazebo_icub_right_arm_ft.ini + + + + + model://iCub/conf/FT/gazebo_icub_left_arm_ft.ini + + + + + model://iCub/conf/FT/gazebo_icub_right_leg_ft.ini + + + + + model://iCub/conf/FT/gazebo_icub_left_leg_ft.ini + + + + + model://iCub/conf/FT/gazebo_icub_right_foot_ft.ini + + + + + model://iCub/conf/FT/gazebo_icub_left_foot_ft.ini + + + + + model://iCub/conf/gazebo_icub_right_arm_inertial.ini + + + + + model://iCub/conf/gazebo_icub_left_arm_inertial.ini + + + + + model://iCub/conf/gazebo_icub_inertial.ini + @@ -2565,6 +2632,17 @@ model://iCub/conf/icub.xml + + + + model://iCub/conf/icub.xml + + + + + + + diff --git a/iCub/robots/iCubGazeboV2_5_KIT_007/model.urdf b/iCub/robots/iCubGazeboV2_5_KIT_007/model.urdf index 84da6da..7c0ad46 100644 --- a/iCub/robots/iCubGazeboV2_5_KIT_007/model.urdf +++ b/iCub/robots/iCubGazeboV2_5_KIT_007/model.urdf @@ -2060,6 +2060,73 @@ 1 1 0 0 0 + + + + model://iCub/conf/gazebo_icub_torso.ini + + + model://iCub/conf/gazebo_icub_head_without_eyes.ini + + + model://iCub/conf/gazebo_icub_left_arm_no_hand_for_no_hand_model.ini + -0.52 0.52 0 0.785 0 0 0.0 + + + model://iCub/conf/gazebo_icub_right_arm_no_hand_for_no_hand_model.ini + -0.52 0.52 0 0.785 0 0 0.0 + + + model://iCub/conf/gazebo_icub_right_leg.ini + + + model://iCub/conf/gazebo_icub_left_leg.ini + + + + + model://iCub/conf/FT/gazebo_icub_right_arm_ft.ini + + + + + model://iCub/conf/FT/gazebo_icub_left_arm_ft.ini + + + + + model://iCub/conf/FT/gazebo_icub_right_leg_ft.ini + + + + + model://iCub/conf/FT/gazebo_icub_left_leg_ft.ini + + + + + model://iCub/conf/FT/gazebo_icub_right_foot_ft.ini + + + + + model://iCub/conf/FT/gazebo_icub_left_foot_ft.ini + + + + + model://iCub/conf/gazebo_icub_right_arm_inertial.ini + + + + + model://iCub/conf/gazebo_icub_left_arm_inertial.ini + + + + + model://iCub/conf/gazebo_icub_inertial.ini + @@ -2201,6 +2268,17 @@ model://iCub/conf/icub.xml + + + + model://iCub/conf/icub.xml + + + + + + + diff --git a/iCub/robots/iCubGazeboV2_6/model.urdf b/iCub/robots/iCubGazeboV2_6/model.urdf index 72c1106..0e226e0 100644 --- a/iCub/robots/iCubGazeboV2_6/model.urdf +++ b/iCub/robots/iCubGazeboV2_6/model.urdf @@ -2424,6 +2424,73 @@ 1 1 0 0 0 + + + + model://iCub/conf/gazebo_icub_torso.ini + + + model://iCub/conf/gazebo_icub_head_without_eyes.ini + + + model://iCub/conf/gazebo_icub_left_arm_no_hand_for_no_hand_model.ini + -0.52 0.52 0 0.785 0 0 0.0 + + + model://iCub/conf/gazebo_icub_right_arm_no_hand_for_no_hand_model.ini + -0.52 0.52 0 0.785 0 0 0.0 + + + model://iCub/conf/gazebo_icub_right_leg.ini + + + model://iCub/conf/gazebo_icub_left_leg.ini + + + + + model://iCub/conf/FT/gazebo_icub_right_arm_ft.ini + + + + + model://iCub/conf/FT/gazebo_icub_left_arm_ft.ini + + + + + model://iCub/conf/FT/gazebo_icub_right_leg_ft.ini + + + + + model://iCub/conf/FT/gazebo_icub_left_leg_ft.ini + + + + + model://iCub/conf/FT/gazebo_icub_right_foot_ft.ini + + + + + model://iCub/conf/FT/gazebo_icub_left_foot_ft.ini + + + + + model://iCub/conf/gazebo_icub_right_arm_inertial.ini + + + + + model://iCub/conf/gazebo_icub_left_arm_inertial.ini + + + + + model://iCub/conf/gazebo_icub_inertial.ini + @@ -2565,6 +2632,17 @@ model://iCub/conf/icub.xml + + + + model://iCub/conf/icub.xml + + + + + + + diff --git a/iCub/robots/iCubGazeboV2_7/model.urdf b/iCub/robots/iCubGazeboV2_7/model.urdf index 759dad3..e9b8365 100644 --- a/iCub/robots/iCubGazeboV2_7/model.urdf +++ b/iCub/robots/iCubGazeboV2_7/model.urdf @@ -2424,6 +2424,73 @@ 1 1 0 0 0 + + + + model://iCub/conf/gazebo_icub_torso.ini + + + model://iCub/conf/gazebo_icub_head_without_eyes.ini + + + model://iCub/conf/gazebo_icub_left_arm_no_hand_for_no_hand_model.ini + -0.52 0.52 0 0.785 0 0 0.0 + + + model://iCub/conf/gazebo_icub_right_arm_no_hand_for_no_hand_model.ini + -0.52 0.52 0 0.785 0 0 0.0 + + + model://iCub/conf/gazebo_icub_right_leg.ini + + + model://iCub/conf/gazebo_icub_left_leg.ini + + + + + model://iCub/conf/FT/gazebo_icub_right_arm_ft.ini + + + + + model://iCub/conf/FT/gazebo_icub_left_arm_ft.ini + + + + + model://iCub/conf/FT/gazebo_icub_right_leg_ft.ini + + + + + model://iCub/conf/FT/gazebo_icub_left_leg_ft.ini + + + + + model://iCub/conf/FT/gazebo_icub_right_foot_ft.ini + + + + + model://iCub/conf/FT/gazebo_icub_left_foot_ft.ini + + + + + model://iCub/conf/gazebo_icub_right_arm_inertial.ini + + + + + model://iCub/conf/gazebo_icub_left_arm_inertial.ini + + + + + model://iCub/conf/gazebo_icub_inertial.ini + @@ -2565,6 +2632,17 @@ model://iCub/conf/icub.xml + + + + model://iCub/conf/icub.xml + + + + + + + @@ -2582,6 +2660,11 @@ + + + model://iCub/conf/gazebo_icub_xsens_inertial.ini + + 1 diff --git a/iCub/robots/iCubGenova01/model.urdf b/iCub/robots/iCubGenova01/model.urdf index 59a373d..9492d13 100644 --- a/iCub/robots/iCubGenova01/model.urdf +++ b/iCub/robots/iCubGenova01/model.urdf @@ -2424,6 +2424,73 @@ 1 1 0 0 0 + + + + model://iCub/conf/gazebo_icub_torso.ini + + + model://iCub/conf/gazebo_icub_head_without_eyes.ini + + + model://iCub/conf/gazebo_icub_left_arm_no_hand_for_no_hand_model.ini + -0.52 0.52 0 0.785 0 0 0.0 + + + model://iCub/conf/gazebo_icub_right_arm_no_hand_for_no_hand_model.ini + -0.52 0.52 0 0.785 0 0 0.0 + + + model://iCub/conf/gazebo_icub_right_leg.ini + + + model://iCub/conf/gazebo_icub_left_leg.ini + + + + + model://iCub/conf/FT/gazebo_icub_right_arm_ft.ini + + + + + model://iCub/conf/FT/gazebo_icub_left_arm_ft.ini + + + + + model://iCub/conf/FT/gazebo_icub_right_leg_ft.ini + + + + + model://iCub/conf/FT/gazebo_icub_left_leg_ft.ini + + + + + model://iCub/conf/FT/gazebo_icub_right_foot_ft.ini + + + + + model://iCub/conf/FT/gazebo_icub_left_foot_ft.ini + + + + + model://iCub/conf/gazebo_icub_right_arm_inertial.ini + + + + + model://iCub/conf/gazebo_icub_left_arm_inertial.ini + + + + + model://iCub/conf/gazebo_icub_inertial.ini + @@ -2565,6 +2632,17 @@ model://iCub/conf/icub.xml + + + + model://iCub/conf/icub.xml + + + + + + + diff --git a/iCub/robots/iCubGenova02/model.urdf b/iCub/robots/iCubGenova02/model.urdf index d65d5c5..79ba8fa 100644 --- a/iCub/robots/iCubGenova02/model.urdf +++ b/iCub/robots/iCubGenova02/model.urdf @@ -2060,6 +2060,73 @@ 1 1 0 0 0 + + + + model://iCub/conf/gazebo_icub_torso.ini + + + model://iCub/conf/gazebo_icub_head_without_eyes.ini + + + model://iCub/conf/gazebo_icub_left_arm_no_hand_for_no_hand_model.ini + -0.52 0.52 0 0.785 0 0 0.0 + + + model://iCub/conf/gazebo_icub_right_arm_no_hand_for_no_hand_model.ini + -0.52 0.52 0 0.785 0 0 0.0 + + + model://iCub/conf/gazebo_icub_right_leg.ini + + + model://iCub/conf/gazebo_icub_left_leg.ini + + + + + model://iCub/conf/FT/gazebo_icub_right_arm_ft.ini + + + + + model://iCub/conf/FT/gazebo_icub_left_arm_ft.ini + + + + + model://iCub/conf/FT/gazebo_icub_right_leg_ft.ini + + + + + model://iCub/conf/FT/gazebo_icub_left_leg_ft.ini + + + + + model://iCub/conf/FT/gazebo_icub_right_foot_ft.ini + + + + + model://iCub/conf/FT/gazebo_icub_left_foot_ft.ini + + + + + model://iCub/conf/gazebo_icub_right_arm_inertial.ini + + + + + model://iCub/conf/gazebo_icub_left_arm_inertial.ini + + + + + model://iCub/conf/gazebo_icub_inertial.ini + @@ -2201,6 +2268,17 @@ model://iCub/conf/icub.xml + + + + model://iCub/conf/icub.xml + + + + + + + diff --git a/iCub/robots/iCubGenova04/model.urdf b/iCub/robots/iCubGenova04/model.urdf index 667753b..44bcf71 100644 --- a/iCub/robots/iCubGenova04/model.urdf +++ b/iCub/robots/iCubGenova04/model.urdf @@ -2424,6 +2424,73 @@ 1 1 0 0 0 + + + + model://iCub/conf/gazebo_icub_torso.ini + + + model://iCub/conf/gazebo_icub_head_without_eyes.ini + + + model://iCub/conf/gazebo_icub_left_arm_no_hand_for_no_hand_model.ini + -0.52 0.52 0 0.785 0 0 0.0 + + + model://iCub/conf/gazebo_icub_right_arm_no_hand_for_no_hand_model.ini + -0.52 0.52 0 0.785 0 0 0.0 + + + model://iCub/conf/gazebo_icub_right_leg.ini + + + model://iCub/conf/gazebo_icub_left_leg.ini + + + + + model://iCub/conf/FT/gazebo_icub_right_arm_ft.ini + + + + + model://iCub/conf/FT/gazebo_icub_left_arm_ft.ini + + + + + model://iCub/conf/FT/gazebo_icub_right_leg_ft.ini + + + + + model://iCub/conf/FT/gazebo_icub_left_leg_ft.ini + + + + + model://iCub/conf/FT/gazebo_icub_right_foot_ft.ini + + + + + model://iCub/conf/FT/gazebo_icub_left_foot_ft.ini + + + + + model://iCub/conf/gazebo_icub_right_arm_inertial.ini + + + + + model://iCub/conf/gazebo_icub_left_arm_inertial.ini + + + + + model://iCub/conf/gazebo_icub_inertial.ini + @@ -2565,6 +2632,17 @@ model://iCub/conf/icub.xml + + + + model://iCub/conf/icub.xml + + + + + + + diff --git a/iCub/robots/iCubGenova11/model.urdf b/iCub/robots/iCubGenova11/model.urdf index c29eb7e..8a51ebf 100644 --- a/iCub/robots/iCubGenova11/model.urdf +++ b/iCub/robots/iCubGenova11/model.urdf @@ -2424,6 +2424,73 @@ 1 1 0 0 0 + + + + model://iCub/conf/gazebo_icub_torso.ini + + + model://iCub/conf/gazebo_icub_head_without_eyes.ini + + + model://iCub/conf/gazebo_icub_left_arm_no_hand_for_no_hand_model.ini + -0.52 0.52 0 0.785 0 0 0.0 + + + model://iCub/conf/gazebo_icub_right_arm_no_hand_for_no_hand_model.ini + -0.52 0.52 0 0.785 0 0 0.0 + + + model://iCub/conf/gazebo_icub_right_leg.ini + + + model://iCub/conf/gazebo_icub_left_leg.ini + + + + + model://iCub/conf/FT/gazebo_icub_right_arm_ft.ini + + + + + model://iCub/conf/FT/gazebo_icub_left_arm_ft.ini + + + + + model://iCub/conf/FT/gazebo_icub_right_leg_ft.ini + + + + + model://iCub/conf/FT/gazebo_icub_left_leg_ft.ini + + + + + model://iCub/conf/FT/gazebo_icub_right_foot_ft.ini + + + + + model://iCub/conf/FT/gazebo_icub_left_foot_ft.ini + + + + + model://iCub/conf/gazebo_icub_right_arm_inertial.ini + + + + + model://iCub/conf/gazebo_icub_left_arm_inertial.ini + + + + + model://iCub/conf/gazebo_icub_inertial.ini + @@ -2565,6 +2632,17 @@ model://iCub/conf/icub.xml + + + + model://iCub/conf/icub.xml + + + + + + + @@ -2582,6 +2660,11 @@ + + + model://iCub/conf/gazebo_icub_xsens_inertial.ini + + 1 diff --git a/iCub/robots/iCubWaterloo01/model.urdf b/iCub/robots/iCubWaterloo01/model.urdf index c29eb7e..8a51ebf 100644 --- a/iCub/robots/iCubWaterloo01/model.urdf +++ b/iCub/robots/iCubWaterloo01/model.urdf @@ -2424,6 +2424,73 @@ 1 1 0 0 0 + + + + model://iCub/conf/gazebo_icub_torso.ini + + + model://iCub/conf/gazebo_icub_head_without_eyes.ini + + + model://iCub/conf/gazebo_icub_left_arm_no_hand_for_no_hand_model.ini + -0.52 0.52 0 0.785 0 0 0.0 + + + model://iCub/conf/gazebo_icub_right_arm_no_hand_for_no_hand_model.ini + -0.52 0.52 0 0.785 0 0 0.0 + + + model://iCub/conf/gazebo_icub_right_leg.ini + + + model://iCub/conf/gazebo_icub_left_leg.ini + + + + + model://iCub/conf/FT/gazebo_icub_right_arm_ft.ini + + + + + model://iCub/conf/FT/gazebo_icub_left_arm_ft.ini + + + + + model://iCub/conf/FT/gazebo_icub_right_leg_ft.ini + + + + + model://iCub/conf/FT/gazebo_icub_left_leg_ft.ini + + + + + model://iCub/conf/FT/gazebo_icub_right_foot_ft.ini + + + + + model://iCub/conf/FT/gazebo_icub_left_foot_ft.ini + + + + + model://iCub/conf/gazebo_icub_right_arm_inertial.ini + + + + + model://iCub/conf/gazebo_icub_left_arm_inertial.ini + + + + + model://iCub/conf/gazebo_icub_inertial.ini + @@ -2565,6 +2632,17 @@ model://iCub/conf/icub.xml + + + + model://iCub/conf/icub.xml + + + + + + + @@ -2582,6 +2660,11 @@ + + + model://iCub/conf/gazebo_icub_xsens_inertial.ini + + 1