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Automatic build of models via icub-models-generator. #247

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merged 1 commit into from
Dec 2, 2024
Merged

Automatic build of models via icub-models-generator. #247

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2 changes: 2 additions & 0 deletions iCub/conf/FT/gazebo_icub_left_arm_ft.ini
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disableImplicitNetworkWrapper
yarpDeviceName icub_left_arm_ft
jointName l_arm_ft_sensor
sensorName l_arm_ft
2 changes: 2 additions & 0 deletions iCub/conf/FT/gazebo_icub_left_foot_ft.ini
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disableImplicitNetworkWrapper
yarpDeviceName icub_left_foot_ft
jointName l_foot_ft_sensor
sensorName l_foot_ft
2 changes: 2 additions & 0 deletions iCub/conf/FT/gazebo_icub_left_leg_ft.ini
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disableImplicitNetworkWrapper
yarpDeviceName icub_left_leg_ft
jointName l_leg_ft_sensor
sensorName l_leg_ft
2 changes: 2 additions & 0 deletions iCub/conf/FT/gazebo_icub_right_arm_ft.ini
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disableImplicitNetworkWrapper
yarpDeviceName icub_right_arm_ft
jointName r_arm_ft_sensor
sensorName r_arm_ft
2 changes: 2 additions & 0 deletions iCub/conf/FT/gazebo_icub_right_foot_ft.ini
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disableImplicitNetworkWrapper
yarpDeviceName icub_right_foot_ft
jointName r_foot_ft_sensor
sensorName r_foot_ft
3 changes: 2 additions & 1 deletion iCub/conf/FT/gazebo_icub_right_leg_ft.ini
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disableImplicitNetworkWrapper
yarpDeviceName icub_right_leg_ft

jointName r_leg_ft_sensor
sensorName r_leg_ft
2 changes: 2 additions & 0 deletions iCub/conf/gazebo_icub_inertial.ini
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disableImplicitNetworkWrapper
yarpDeviceName head_inertial_hardware_device
parentLinkName head
sensorName head_imu_0
4 changes: 3 additions & 1 deletion iCub/conf/gazebo_icub_left_arm_inertial.ini
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disableImplicitNetworkWrapper
yarpDeviceName left_arm_inertial_hardware_device
yarpDeviceName left_arm_inertial_hardware_device
parentLinkName l_shoulder_3
sensorName l_arm_ft_imu
4 changes: 3 additions & 1 deletion iCub/conf/gazebo_icub_right_arm_inertial.ini
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disableImplicitNetworkWrapper
yarpDeviceName right_arm_inertial_hardware_device
yarpDeviceName right_arm_inertial_hardware_device
parentLinkName r_shoulder_3
sensorName r_arm_ft_imu
3 changes: 3 additions & 0 deletions iCub/conf/gazebo_icub_xsens_inertial.ini
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Expand Up @@ -5,3 +5,6 @@ period 2

device multipleanalogsensorsserver
subdevice gazebo_imu
yarpDeviceName waist_inertial_hardware_device
parentLinkName root_link
sensorName root_link_imu_acc
78 changes: 78 additions & 0 deletions iCub/robots/iCubDarmstadt01/model.urdf
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Expand Up @@ -2424,6 +2424,73 @@
<mu1>1</mu1>
<mu2>1</mu2>
<fdir1>0 0 0</fdir1>
</gazebo>
<gazebo>
<plugin name="gzyarp::ControlBoard" filename="gz-sim-yarp-controlboard-system">
<yarpConfigurationFile>model://iCub/conf/gazebo_icub_torso.ini</yarpConfigurationFile>
</plugin>
<plugin name="gzyarp::ControlBoard" filename="gz-sim-yarp-controlboard-system">
<yarpConfigurationFile>model://iCub/conf/gazebo_icub_head_without_eyes.ini</yarpConfigurationFile>
</plugin>
<plugin name="gzyarp::ControlBoard" filename="gz-sim-yarp-controlboard-system">
<yarpConfigurationFile>model://iCub/conf/gazebo_icub_left_arm_no_hand_for_no_hand_model.ini</yarpConfigurationFile>
<initialConfiguration>-0.52 0.52 0 0.785 0 0 0.0</initialConfiguration>
</plugin>
<plugin name="gzyarp::ControlBoard" filename="gz-sim-yarp-controlboard-system">
<yarpConfigurationFile>model://iCub/conf/gazebo_icub_right_arm_no_hand_for_no_hand_model.ini</yarpConfigurationFile>
<initialConfiguration>-0.52 0.52 0 0.785 0 0 0.0</initialConfiguration>
</plugin>
<plugin name="gzyarp::ControlBoard" filename="gz-sim-yarp-controlboard-system">
<yarpConfigurationFile>model://iCub/conf/gazebo_icub_right_leg.ini</yarpConfigurationFile>
</plugin>
<plugin name="gzyarp::ControlBoard" filename="gz-sim-yarp-controlboard-system">
<yarpConfigurationFile>model://iCub/conf/gazebo_icub_left_leg.ini</yarpConfigurationFile>
</plugin>
</gazebo>
<gazebo>
<plugin name="gzyarp::ForceTorque" filename="gz-sim-yarp-forcetorque-system">
<yarpConfigurationFile>model://iCub/conf/FT/gazebo_icub_right_arm_ft.ini</yarpConfigurationFile>
</plugin>
</gazebo>
<gazebo>
<plugin name="gzyarp::ForceTorque" filename="gz-sim-yarp-forcetorque-system">
<yarpConfigurationFile>model://iCub/conf/FT/gazebo_icub_left_arm_ft.ini</yarpConfigurationFile>
</plugin>
</gazebo>
<gazebo>
<plugin name="gzyarp::ForceTorque" filename="gz-sim-yarp-forcetorque-system">
<yarpConfigurationFile>model://iCub/conf/FT/gazebo_icub_right_leg_ft.ini</yarpConfigurationFile>
</plugin>
</gazebo>
<gazebo>
<plugin name="gzyarp::ForceTorque" filename="gz-sim-yarp-forcetorque-system">
<yarpConfigurationFile>model://iCub/conf/FT/gazebo_icub_left_leg_ft.ini</yarpConfigurationFile>
</plugin>
</gazebo>
<gazebo>
<plugin name="gzyarp::ForceTorque" filename="gz-sim-yarp-forcetorque-system">
<yarpConfigurationFile>model://iCub/conf/FT/gazebo_icub_right_foot_ft.ini</yarpConfigurationFile>
</plugin>
</gazebo>
<gazebo>
<plugin name="gzyarp::ForceTorque" filename="gz-sim-yarp-forcetorque-system">
<yarpConfigurationFile>model://iCub/conf/FT/gazebo_icub_left_foot_ft.ini</yarpConfigurationFile>
</plugin>
</gazebo>
<gazebo>
<plugin name="gzyarp::Imu" filename="gz-sim-yarp-imu-system">
<yarpConfigurationFile>model://iCub/conf/gazebo_icub_right_arm_inertial.ini</yarpConfigurationFile>
</plugin>
</gazebo>
<gazebo>
<plugin name="gzyarp::Imu" filename="gz-sim-yarp-imu-system">
<yarpConfigurationFile>model://iCub/conf/gazebo_icub_left_arm_inertial.ini</yarpConfigurationFile>
</plugin>
</gazebo>
<gazebo>
<plugin name="gzyarp::Imu" filename="gz-sim-yarp-imu-system">
<yarpConfigurationFile>model://iCub/conf/gazebo_icub_inertial.ini</yarpConfigurationFile>
</plugin>
</gazebo>
<gazebo>
<plugin name="iCub_yarp_gazebo_plugin_ACCpart" filename="libgazebo_yarp_distributedinertials.so">
Expand Down Expand Up @@ -2565,6 +2632,17 @@
<plugin name="robotinterface" filename="libgazebo_yarp_robotinterface.so">
<yarpRobotInterfaceConfigurationFile>model://iCub/conf/icub.xml</yarpRobotInterfaceConfigurationFile>
</plugin>
</gazebo>
<gazebo>
<plugin name="gzyarp::RobotInterface" filename="gz-sim-yarp-robotinterface-system">
<yarpRobotInterfaceConfigurationFile>model://iCub/conf/icub.xml</yarpRobotInterfaceConfigurationFile>
</plugin>
</gazebo>
<gazebo>
<plugin filename="gz-sim-forcetorque-system" name="gz::sim::systems::ForceTorque"/>
</gazebo>
<gazebo>
<plugin filename="gz-sim-imu-system" name="gz::sim::systems::Imu"/>
</gazebo>
<gazebo reference="l_leg_ft_sensor">
<sensor name="l_leg_ft" type="force_torque">
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78 changes: 78 additions & 0 deletions iCub/robots/iCubErzelli02/model.urdf
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Expand Up @@ -2424,6 +2424,73 @@
<mu1>1</mu1>
<mu2>1</mu2>
<fdir1>0 0 0</fdir1>
</gazebo>
<gazebo>
<plugin name="gzyarp::ControlBoard" filename="gz-sim-yarp-controlboard-system">
<yarpConfigurationFile>model://iCub/conf/gazebo_icub_torso.ini</yarpConfigurationFile>
</plugin>
<plugin name="gzyarp::ControlBoard" filename="gz-sim-yarp-controlboard-system">
<yarpConfigurationFile>model://iCub/conf/gazebo_icub_head_without_eyes.ini</yarpConfigurationFile>
</plugin>
<plugin name="gzyarp::ControlBoard" filename="gz-sim-yarp-controlboard-system">
<yarpConfigurationFile>model://iCub/conf/gazebo_icub_left_arm_no_hand_for_no_hand_model.ini</yarpConfigurationFile>
<initialConfiguration>-0.52 0.52 0 0.785 0 0 0.0</initialConfiguration>
</plugin>
<plugin name="gzyarp::ControlBoard" filename="gz-sim-yarp-controlboard-system">
<yarpConfigurationFile>model://iCub/conf/gazebo_icub_right_arm_no_hand_for_no_hand_model.ini</yarpConfigurationFile>
<initialConfiguration>-0.52 0.52 0 0.785 0 0 0.0</initialConfiguration>
</plugin>
<plugin name="gzyarp::ControlBoard" filename="gz-sim-yarp-controlboard-system">
<yarpConfigurationFile>model://iCub/conf/gazebo_icub_right_leg.ini</yarpConfigurationFile>
</plugin>
<plugin name="gzyarp::ControlBoard" filename="gz-sim-yarp-controlboard-system">
<yarpConfigurationFile>model://iCub/conf/gazebo_icub_left_leg.ini</yarpConfigurationFile>
</plugin>
</gazebo>
<gazebo>
<plugin name="gzyarp::ForceTorque" filename="gz-sim-yarp-forcetorque-system">
<yarpConfigurationFile>model://iCub/conf/FT/gazebo_icub_right_arm_ft.ini</yarpConfigurationFile>
</plugin>
</gazebo>
<gazebo>
<plugin name="gzyarp::ForceTorque" filename="gz-sim-yarp-forcetorque-system">
<yarpConfigurationFile>model://iCub/conf/FT/gazebo_icub_left_arm_ft.ini</yarpConfigurationFile>
</plugin>
</gazebo>
<gazebo>
<plugin name="gzyarp::ForceTorque" filename="gz-sim-yarp-forcetorque-system">
<yarpConfigurationFile>model://iCub/conf/FT/gazebo_icub_right_leg_ft.ini</yarpConfigurationFile>
</plugin>
</gazebo>
<gazebo>
<plugin name="gzyarp::ForceTorque" filename="gz-sim-yarp-forcetorque-system">
<yarpConfigurationFile>model://iCub/conf/FT/gazebo_icub_left_leg_ft.ini</yarpConfigurationFile>
</plugin>
</gazebo>
<gazebo>
<plugin name="gzyarp::ForceTorque" filename="gz-sim-yarp-forcetorque-system">
<yarpConfigurationFile>model://iCub/conf/FT/gazebo_icub_right_foot_ft.ini</yarpConfigurationFile>
</plugin>
</gazebo>
<gazebo>
<plugin name="gzyarp::ForceTorque" filename="gz-sim-yarp-forcetorque-system">
<yarpConfigurationFile>model://iCub/conf/FT/gazebo_icub_left_foot_ft.ini</yarpConfigurationFile>
</plugin>
</gazebo>
<gazebo>
<plugin name="gzyarp::Imu" filename="gz-sim-yarp-imu-system">
<yarpConfigurationFile>model://iCub/conf/gazebo_icub_right_arm_inertial.ini</yarpConfigurationFile>
</plugin>
</gazebo>
<gazebo>
<plugin name="gzyarp::Imu" filename="gz-sim-yarp-imu-system">
<yarpConfigurationFile>model://iCub/conf/gazebo_icub_left_arm_inertial.ini</yarpConfigurationFile>
</plugin>
</gazebo>
<gazebo>
<plugin name="gzyarp::Imu" filename="gz-sim-yarp-imu-system">
<yarpConfigurationFile>model://iCub/conf/gazebo_icub_inertial.ini</yarpConfigurationFile>
</plugin>
</gazebo>
<gazebo>
<plugin name="iCub_yarp_gazebo_plugin_ACCpart" filename="libgazebo_yarp_distributedinertials.so">
Expand Down Expand Up @@ -2565,6 +2632,17 @@
<plugin name="robotinterface" filename="libgazebo_yarp_robotinterface.so">
<yarpRobotInterfaceConfigurationFile>model://iCub/conf/icub.xml</yarpRobotInterfaceConfigurationFile>
</plugin>
</gazebo>
<gazebo>
<plugin name="gzyarp::RobotInterface" filename="gz-sim-yarp-robotinterface-system">
<yarpRobotInterfaceConfigurationFile>model://iCub/conf/icub.xml</yarpRobotInterfaceConfigurationFile>
</plugin>
</gazebo>
<gazebo>
<plugin filename="gz-sim-forcetorque-system" name="gz::sim::systems::ForceTorque"/>
</gazebo>
<gazebo>
<plugin filename="gz-sim-imu-system" name="gz::sim::systems::Imu"/>
</gazebo>
<gazebo reference="l_leg_ft_sensor">
<sensor name="l_leg_ft" type="force_torque">
Expand Down
78 changes: 78 additions & 0 deletions iCub/robots/iCubGazeboV2_5/model.urdf
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Expand Up @@ -2424,6 +2424,73 @@
<mu1>1</mu1>
<mu2>1</mu2>
<fdir1>0 0 0</fdir1>
</gazebo>
<gazebo>
<plugin name="gzyarp::ControlBoard" filename="gz-sim-yarp-controlboard-system">
<yarpConfigurationFile>model://iCub/conf/gazebo_icub_torso.ini</yarpConfigurationFile>
</plugin>
<plugin name="gzyarp::ControlBoard" filename="gz-sim-yarp-controlboard-system">
<yarpConfigurationFile>model://iCub/conf/gazebo_icub_head_without_eyes.ini</yarpConfigurationFile>
</plugin>
<plugin name="gzyarp::ControlBoard" filename="gz-sim-yarp-controlboard-system">
<yarpConfigurationFile>model://iCub/conf/gazebo_icub_left_arm_no_hand_for_no_hand_model.ini</yarpConfigurationFile>
<initialConfiguration>-0.52 0.52 0 0.785 0 0 0.0</initialConfiguration>
</plugin>
<plugin name="gzyarp::ControlBoard" filename="gz-sim-yarp-controlboard-system">
<yarpConfigurationFile>model://iCub/conf/gazebo_icub_right_arm_no_hand_for_no_hand_model.ini</yarpConfigurationFile>
<initialConfiguration>-0.52 0.52 0 0.785 0 0 0.0</initialConfiguration>
</plugin>
<plugin name="gzyarp::ControlBoard" filename="gz-sim-yarp-controlboard-system">
<yarpConfigurationFile>model://iCub/conf/gazebo_icub_right_leg.ini</yarpConfigurationFile>
</plugin>
<plugin name="gzyarp::ControlBoard" filename="gz-sim-yarp-controlboard-system">
<yarpConfigurationFile>model://iCub/conf/gazebo_icub_left_leg.ini</yarpConfigurationFile>
</plugin>
</gazebo>
<gazebo>
<plugin name="gzyarp::ForceTorque" filename="gz-sim-yarp-forcetorque-system">
<yarpConfigurationFile>model://iCub/conf/FT/gazebo_icub_right_arm_ft.ini</yarpConfigurationFile>
</plugin>
</gazebo>
<gazebo>
<plugin name="gzyarp::ForceTorque" filename="gz-sim-yarp-forcetorque-system">
<yarpConfigurationFile>model://iCub/conf/FT/gazebo_icub_left_arm_ft.ini</yarpConfigurationFile>
</plugin>
</gazebo>
<gazebo>
<plugin name="gzyarp::ForceTorque" filename="gz-sim-yarp-forcetorque-system">
<yarpConfigurationFile>model://iCub/conf/FT/gazebo_icub_right_leg_ft.ini</yarpConfigurationFile>
</plugin>
</gazebo>
<gazebo>
<plugin name="gzyarp::ForceTorque" filename="gz-sim-yarp-forcetorque-system">
<yarpConfigurationFile>model://iCub/conf/FT/gazebo_icub_left_leg_ft.ini</yarpConfigurationFile>
</plugin>
</gazebo>
<gazebo>
<plugin name="gzyarp::ForceTorque" filename="gz-sim-yarp-forcetorque-system">
<yarpConfigurationFile>model://iCub/conf/FT/gazebo_icub_right_foot_ft.ini</yarpConfigurationFile>
</plugin>
</gazebo>
<gazebo>
<plugin name="gzyarp::ForceTorque" filename="gz-sim-yarp-forcetorque-system">
<yarpConfigurationFile>model://iCub/conf/FT/gazebo_icub_left_foot_ft.ini</yarpConfigurationFile>
</plugin>
</gazebo>
<gazebo>
<plugin name="gzyarp::Imu" filename="gz-sim-yarp-imu-system">
<yarpConfigurationFile>model://iCub/conf/gazebo_icub_right_arm_inertial.ini</yarpConfigurationFile>
</plugin>
</gazebo>
<gazebo>
<plugin name="gzyarp::Imu" filename="gz-sim-yarp-imu-system">
<yarpConfigurationFile>model://iCub/conf/gazebo_icub_left_arm_inertial.ini</yarpConfigurationFile>
</plugin>
</gazebo>
<gazebo>
<plugin name="gzyarp::Imu" filename="gz-sim-yarp-imu-system">
<yarpConfigurationFile>model://iCub/conf/gazebo_icub_inertial.ini</yarpConfigurationFile>
</plugin>
</gazebo>
<gazebo>
<plugin name="iCub_yarp_gazebo_plugin_ACCpart" filename="libgazebo_yarp_distributedinertials.so">
Expand Down Expand Up @@ -2565,6 +2632,17 @@
<plugin name="robotinterface" filename="libgazebo_yarp_robotinterface.so">
<yarpRobotInterfaceConfigurationFile>model://iCub/conf/icub.xml</yarpRobotInterfaceConfigurationFile>
</plugin>
</gazebo>
<gazebo>
<plugin name="gzyarp::RobotInterface" filename="gz-sim-yarp-robotinterface-system">
<yarpRobotInterfaceConfigurationFile>model://iCub/conf/icub.xml</yarpRobotInterfaceConfigurationFile>
</plugin>
</gazebo>
<gazebo>
<plugin filename="gz-sim-forcetorque-system" name="gz::sim::systems::ForceTorque"/>
</gazebo>
<gazebo>
<plugin filename="gz-sim-imu-system" name="gz::sim::systems::Imu"/>
</gazebo>
<gazebo reference="l_leg_ft_sensor">
<sensor name="l_leg_ft" type="force_torque">
Expand Down
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