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iCubGazeboV2_5: add exportation of FT frames #232

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Jan 19, 2023
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iCubGazeboV2_5: add exportation of FT frames #232

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30 changes: 30 additions & 0 deletions simmechanics/data/icub2_5/ICUB_2-5_BB_simmechanics_options.yaml.in
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Original file line number Diff line number Diff line change
Expand Up @@ -595,41 +595,71 @@ linkFrames:
forceTorqueSensors:
- jointName: l_leg_ft_sensor
directionChildToParent: Yes
exportFrameInURDF: Yes
frame: sensor
linkName: l_hip_3
frameName: SCSYS_L_UPPER_LEG_FT45
sensorName: l_leg_ft
sensorBlobs:
- |
<plugin name="left_leg_ft_plugin" filename="libgazebo_yarp_forcetorque.so">
<yarpConfigurationFile>model://iCub/conf/FT/gazebo_icub_left_leg_ft.ini</yarpConfigurationFile>
</plugin>
- jointName: r_leg_ft_sensor
directionChildToParent: Yes
exportFrameInURDF: Yes
frame: sensor
linkName: r_hip_3
frameName: SCSYS_R_UPPER_LEG_FT45
sensorName: r_leg_ft
sensorBlobs:
- |
<plugin name="right_leg_ft_plugin" filename="libgazebo_yarp_forcetorque.so">
<yarpConfigurationFile>model://iCub/conf/FT/gazebo_icub_right_leg_ft.ini</yarpConfigurationFile>
</plugin>
- jointName: l_foot_ft_sensor
directionChildToParent: Yes
exportFrameInURDF: Yes
frame: sensor
linkName: l_foot
frameName: SCSYS_L_FOOT_FT45
sensorName: l_foot_ft
sensorBlobs:
- |
<plugin name="left_foot_ft_plugin" filename="libgazebo_yarp_forcetorque.so">
<yarpConfigurationFile>model://iCub/conf/FT/gazebo_icub_left_foot_ft.ini</yarpConfigurationFile>
</plugin>
- jointName: r_foot_ft_sensor
directionChildToParent: Yes
exportFrameInURDF: Yes
frame: sensor
linkName: r_foot
frameName: SCSYS_R_FOOT_FT45
sensorName: r_foot_ft
sensorBlobs:
- |
<plugin name="right_foot_ft_plugin" filename="libgazebo_yarp_forcetorque.so">
<yarpConfigurationFile>model://iCub/conf/FT/gazebo_icub_right_foot_ft.ini</yarpConfigurationFile>
</plugin>
- jointName: l_arm_ft_sensor
directionChildToParent: Yes
exportFrameInURDF: Yes
frame: sensor
frameName: SCSYS_L_UPPER_ARM_FT45
linkName: l_shoulder_3
sensorName: l_arm_ft
sensorBlobs:
- |
<plugin name="left_arm_ft_plugin" filename="libgazebo_yarp_forcetorque.so">
<yarpConfigurationFile>model://iCub/conf/FT/gazebo_icub_left_arm_ft.ini</yarpConfigurationFile>
</plugin>
- jointName: r_arm_ft_sensor
directionChildToParent: Yes
exportFrameInURDF: Yes
frame: sensor
frameName: SCSYS_R_UPPER_ARM_FT45
linkName: r_shoulder_3
sensorName: r_arm_ft
sensorBlobs:
- |
<plugin name="right_arm_ft_plugin" filename="libgazebo_yarp_forcetorque.so">
Expand Down