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Automatic build. GitHub Actions build: 7798427068
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icub-model-generator commit: robotology/icub-models-generator@9a939e2
urdf_parser_py commit: ros/urdf_parser_py@31474b9
simmechanics-to-urdf commit: robotology/simmechanics-to-urdf@a72ed73
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@traversaro
traversaro authored Feb 6, 2024
1 parent 07e0f16 commit 10f8dad
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Showing 4 changed files with 12 additions and 12 deletions.
6 changes: 3 additions & 3 deletions iCub/robots/iCubGazeboV2_6/model.urdf
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</joint>
<link name="head_imu_0"/>
<joint name="head_imu_0_fixed_joint" type="fixed">
<origin xyz="0.023453700190734995 0.20544400000000002 -0.023077900000000023" rpy="1.5707963267948997 0 0"/>
<origin xyz="0.023453700190734995 0.20544400000000002 -0.023077900000000023" rpy="-1.5707963267948997 0 -3.141592653589793"/>
<parent link="head"/>
<child link="head_imu_0"/>
<dynamics damping="0.1"/>
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<sensor name="head_imu_0" type="imu">
<always_on>1</always_on>
<update_rate>100</update_rate>
<pose>0.023453700190734995 0.20544400000000002 -0.023077900000000023 1.5707963267948997 -3.4914813388431334e-15 0.0</pose>
<pose>0.023453700190734995 0.20544400000000002 -0.023077900000000023 -1.5707963267948997 -3.713525943768165e-15 -3.141592653589793</pose>
<plugin name="iCub_yarp_gazebo_plugin_IMU" filename="libgazebo_yarp_imu.so">
<yarpConfigurationFile>model://iCub/conf/gazebo_icub_inertial.ini</yarpConfigurationFile>
</plugin>
</sensor>
</gazebo>
<sensor name="head_imu_0" type="accelerometer">
<parent link="head"/>
<origin rpy="1.5707963267948997 -3.4914813388431334e-15 0.0" xyz="0.023453700190734995 0.20544400000000002 -0.023077900000000023"/>
<origin rpy="-1.5707963267948997 -3.713525943768165e-15 -3.141592653589793" xyz="0.023453700190734995 0.20544400000000002 -0.023077900000000023"/>
</sensor>
<gazebo reference="root_link">
<sensor name="root_link_ems_acc_eb5" type="imu">
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6 changes: 3 additions & 3 deletions iCub/robots/iCubGazeboV2_7/model.urdf
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</joint>
<link name="head_imu_0"/>
<joint name="head_imu_0_fixed_joint" type="fixed">
<origin xyz="0.023453700190734995 0.20544400000000002 -0.023077900000000023" rpy="1.5707963267948997 0 0"/>
<origin xyz="0.023453700190734995 0.20544400000000002 -0.023077900000000023" rpy="-1.5707963267948997 0 -3.141592653589793"/>
<parent link="head"/>
<child link="head_imu_0"/>
<dynamics damping="0.1"/>
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<sensor name="head_imu_0" type="imu">
<always_on>1</always_on>
<update_rate>100</update_rate>
<pose>0.023453700190734995 0.20544400000000002 -0.023077900000000023 1.5707963267948997 -3.4914813388431334e-15 0.0</pose>
<pose>0.023453700190734995 0.20544400000000002 -0.023077900000000023 -1.5707963267948997 -3.713525943768165e-15 -3.141592653589793</pose>
<plugin name="iCub_yarp_gazebo_plugin_IMU" filename="libgazebo_yarp_imu.so">
<yarpConfigurationFile>model://iCub/conf/gazebo_icub_inertial.ini</yarpConfigurationFile>
</plugin>
</sensor>
</gazebo>
<sensor name="head_imu_0" type="accelerometer">
<parent link="head"/>
<origin rpy="1.5707963267948997 -3.4914813388431334e-15 0.0" xyz="0.023453700190734995 0.20544400000000002 -0.023077900000000023"/>
<origin rpy="-1.5707963267948997 -3.713525943768165e-15 -3.141592653589793" xyz="0.023453700190734995 0.20544400000000002 -0.023077900000000023"/>
</sensor>
<gazebo reference="root_link">
<sensor name="root_link_ems_acc_eb5" type="imu">
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6 changes: 3 additions & 3 deletions iCub/robots/iCubGenova11/model.urdf
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Expand Up @@ -985,7 +985,7 @@
</joint>
<link name="head_imu_0"/>
<joint name="head_imu_0_fixed_joint" type="fixed">
<origin xyz="0.023453700190734995 0.20544400000000002 -0.023077900000000023" rpy="1.5707963267948997 0 0"/>
<origin xyz="0.023453700190734995 0.20544400000000002 -0.023077900000000023" rpy="-1.5707963267948997 0 -3.141592653589793"/>
<parent link="head"/>
<child link="head_imu_0"/>
<dynamics damping="0.1"/>
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<sensor name="head_imu_0" type="imu">
<always_on>1</always_on>
<update_rate>100</update_rate>
<pose>0.023453700190734995 0.20544400000000002 -0.023077900000000023 1.5707963267948997 -3.4914813388431334e-15 0.0</pose>
<pose>0.023453700190734995 0.20544400000000002 -0.023077900000000023 -1.5707963267948997 -3.713525943768165e-15 -3.141592653589793</pose>
<plugin name="iCub_yarp_gazebo_plugin_IMU" filename="libgazebo_yarp_imu.so">
<yarpConfigurationFile>model://iCub/conf/gazebo_icub_inertial.ini</yarpConfigurationFile>
</plugin>
</sensor>
</gazebo>
<sensor name="head_imu_0" type="accelerometer">
<parent link="head"/>
<origin rpy="1.5707963267948997 -3.4914813388431334e-15 0.0" xyz="0.023453700190734995 0.20544400000000002 -0.023077900000000023"/>
<origin rpy="-1.5707963267948997 -3.713525943768165e-15 -3.141592653589793" xyz="0.023453700190734995 0.20544400000000002 -0.023077900000000023"/>
</sensor>
<gazebo reference="root_link">
<sensor name="root_link_ems_acc_eb5" type="imu">
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6 changes: 3 additions & 3 deletions iCub/robots/iCubWaterloo01/model.urdf
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Expand Up @@ -985,7 +985,7 @@
</joint>
<link name="head_imu_0"/>
<joint name="head_imu_0_fixed_joint" type="fixed">
<origin xyz="0.023453700190734995 0.20544400000000002 -0.023077900000000023" rpy="1.5707963267948997 0 0"/>
<origin xyz="0.023453700190734995 0.20544400000000002 -0.023077900000000023" rpy="-1.5707963267948997 0 -3.141592653589793"/>
<parent link="head"/>
<child link="head_imu_0"/>
<dynamics damping="0.1"/>
Expand Down Expand Up @@ -2697,15 +2697,15 @@
<sensor name="head_imu_0" type="imu">
<always_on>1</always_on>
<update_rate>100</update_rate>
<pose>0.023453700190734995 0.20544400000000002 -0.023077900000000023 1.5707963267948997 -3.4914813388431334e-15 0.0</pose>
<pose>0.023453700190734995 0.20544400000000002 -0.023077900000000023 -1.5707963267948997 -3.713525943768165e-15 -3.141592653589793</pose>
<plugin name="iCub_yarp_gazebo_plugin_IMU" filename="libgazebo_yarp_imu.so">
<yarpConfigurationFile>model://iCub/conf/gazebo_icub_inertial.ini</yarpConfigurationFile>
</plugin>
</sensor>
</gazebo>
<sensor name="head_imu_0" type="accelerometer">
<parent link="head"/>
<origin rpy="1.5707963267948997 -3.4914813388431334e-15 0.0" xyz="0.023453700190734995 0.20544400000000002 -0.023077900000000023"/>
<origin rpy="-1.5707963267948997 -3.713525943768165e-15 -3.141592653589793" xyz="0.023453700190734995 0.20544400000000002 -0.023077900000000023"/>
</sensor>
<gazebo reference="root_link">
<sensor name="root_link_ems_acc_eb5" type="imu">
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