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icub-model-generator commit: robotology/icub-models-generator@a42368e
urdf_parser_py commit: ros/urdf_parser_py@31474b9
simmechanics-to-urdf commit: robotology/simmechanics-to-urdf@22caa23
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@martinaxgloria
martinaxgloria authored Feb 12, 2024
1 parent eaa1238 commit e9d33b6
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2 changes: 2 additions & 0 deletions iCub/conf/gazebo_icub_left_arm_inertial.ini
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disableImplicitNetworkWrapper
yarpDeviceName left_arm_inertial_hardware_device
2 changes: 2 additions & 0 deletions iCub/conf/gazebo_icub_right_arm_inertial.ini
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disableImplicitNetworkWrapper
yarpDeviceName right_arm_inertial_hardware_device
4 changes: 3 additions & 1 deletion iCub/conf/icub.xml
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Expand Up @@ -29,7 +29,9 @@

<!-- INERTIAL SENSOR-->
<xi:include href="wrappers/inertials/head-inertials_wrapper.xml" />
<!-- NOT USED RIGHT NOW
<xi:include href="wrappers/inertials/left_arm-inertials_wrapper.xml" />
<xi:include href="wrappers/inertials/right_arm-inertials_wrapper.xml" />
<!-- NOT USED RIGHT NOW
<xi:include href="wrappers/inertials/waist-inertials_wrapper.xml" /> -->
</devices>
</robot>
14 changes: 14 additions & 0 deletions iCub/conf/wrappers/inertials/left_arm-inertials_wrapper.xml
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<?xml version="1.0" encoding="UTF-8" ?>
<!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">

<device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_arm-inertials_wrapper" type="multipleanalogsensorsserver">
<param name="period"> 10 </param>
<param name="name"> ${portprefix}/left_arm/imu </param>

<action phase="startup" level="10" type="attach">
<paramlist name="networks">
<elem name="SetOfIMUs">left_arm_inertial_hardware_device</elem>
</paramlist>
</action>
<action phase="shutdown" level="15" type="detach" />
</device>
14 changes: 14 additions & 0 deletions iCub/conf/wrappers/inertials/right_arm-inertials_wrapper.xml
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<?xml version="1.0" encoding="UTF-8" ?>
<!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">

<device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_arm-inertials_wrapper" type="multipleanalogsensorsserver">
<param name="period"> 10 </param>
<param name="name"> ${portprefix}/right_arm/imu </param>

<action phase="startup" level="10" type="attach">
<paramlist name="networks">
<elem name="SetOfIMUs">right_arm_inertial_hardware_device</elem>
</paramlist>
</action>
<action phase="shutdown" level="15" type="detach" />
</device>
28 changes: 28 additions & 0 deletions iCub/robots/iCubDarmstadt01/model.urdf
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Expand Up @@ -2691,6 +2691,34 @@
<parent link="head"/>
<origin rpy="-1.5707963267948963 1.5707963267948963 0.0" xyz="0.009500000190735 0.133444 0.009299999999999996"/>
</sensor>
<gazebo reference="l_shoulder_3">
<sensor name="l_arm_ft" type="imu">
<always_on>1</always_on>
<update_rate>100</update_rate>
<pose>0.05093014324520106 1.3877787807814457e-17 0.029175829465900395 -4.3625653762663687e-16 -1.3089970069677406 -3.1415926535897922</pose>
<plugin name="iCub_yarp_gazebo_plugin_IMU" filename="libgazebo_yarp_imu.so">
<yarpConfigurationFile>model://iCub/conf/gazebo_icub_left_arm_inertial.ini</yarpConfigurationFile>
</plugin>
</sensor>
</gazebo>
<sensor name="l_arm_ft" type="accelerometer">
<parent link="l_shoulder_3"/>
<origin rpy="-4.3625653762663687e-16 -1.3089970069677406 -3.1415926535897922" xyz="0.05093014324520106 1.3877787807814457e-17 0.029175829465900395"/>
</sensor>
<gazebo reference="r_shoulder_3">
<sensor name="r_arm_ft" type="imu">
<always_on>1</always_on>
<update_rate>100</update_rate>
<pose>-0.05089730176650909 1.3877787807814457e-17 0.029167029620599215 -6.358700866473837e-16 -1.3089970069677404 6.58301142551668e-16</pose>
<plugin name="iCub_yarp_gazebo_plugin_IMU" filename="libgazebo_yarp_imu.so">
<yarpConfigurationFile>model://iCub/conf/gazebo_icub_right_arm_inertial.ini</yarpConfigurationFile>
</plugin>
</sensor>
</gazebo>
<sensor name="r_arm_ft" type="accelerometer">
<parent link="r_shoulder_3"/>
<origin rpy="-6.358700866473837e-16 -1.3089970069677404 6.58301142551668e-16" xyz="-0.05089730176650909 1.3877787807814457e-17 0.029167029620599215"/>
</sensor>
<gazebo reference="root_link">
<sensor name="root_link_ems_acc_eb5" type="imu">
<always_on>1</always_on>
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28 changes: 28 additions & 0 deletions iCub/robots/iCubErzelli02/model.urdf
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<parent link="head"/>
<origin rpy="-1.5707963267948963 1.5707963267948963 0.0" xyz="0.009500000190735 0.133444 0.009299999999999996"/>
</sensor>
<gazebo reference="l_shoulder_3">
<sensor name="l_arm_ft" type="imu">
<always_on>1</always_on>
<update_rate>100</update_rate>
<pose>0.05093014324520106 1.3877787807814457e-17 0.029175829465900395 -4.3625653762663687e-16 -1.3089970069677406 -3.1415926535897922</pose>
<plugin name="iCub_yarp_gazebo_plugin_IMU" filename="libgazebo_yarp_imu.so">
<yarpConfigurationFile>model://iCub/conf/gazebo_icub_left_arm_inertial.ini</yarpConfigurationFile>
</plugin>
</sensor>
</gazebo>
<sensor name="l_arm_ft" type="accelerometer">
<parent link="l_shoulder_3"/>
<origin rpy="-4.3625653762663687e-16 -1.3089970069677406 -3.1415926535897922" xyz="0.05093014324520106 1.3877787807814457e-17 0.029175829465900395"/>
</sensor>
<gazebo reference="r_shoulder_3">
<sensor name="r_arm_ft" type="imu">
<always_on>1</always_on>
<update_rate>100</update_rate>
<pose>-0.05089730176650909 1.3877787807814457e-17 0.029167029620599215 -6.358700866473837e-16 -1.3089970069677404 6.58301142551668e-16</pose>
<plugin name="iCub_yarp_gazebo_plugin_IMU" filename="libgazebo_yarp_imu.so">
<yarpConfigurationFile>model://iCub/conf/gazebo_icub_right_arm_inertial.ini</yarpConfigurationFile>
</plugin>
</sensor>
</gazebo>
<sensor name="r_arm_ft" type="accelerometer">
<parent link="r_shoulder_3"/>
<origin rpy="-6.358700866473837e-16 -1.3089970069677404 6.58301142551668e-16" xyz="-0.05089730176650909 1.3877787807814457e-17 0.029167029620599215"/>
</sensor>
<gazebo reference="root_link">
<sensor name="root_link_ems_acc_eb5" type="imu">
<always_on>1</always_on>
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28 changes: 28 additions & 0 deletions iCub/robots/iCubGazeboV2_5/model.urdf
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Expand Up @@ -2691,6 +2691,34 @@
<parent link="head"/>
<origin rpy="-1.5707963267948963 1.5707963267948963 0.0" xyz="0.009500000190735 0.133444 0.009299999999999996"/>
</sensor>
<gazebo reference="l_shoulder_3">
<sensor name="l_arm_ft" type="imu">
<always_on>1</always_on>
<update_rate>100</update_rate>
<pose>0.05093014324520106 1.3877787807814457e-17 0.029175829465900395 -4.3625653762663687e-16 -1.3089970069677406 -3.1415926535897922</pose>
<plugin name="iCub_yarp_gazebo_plugin_IMU" filename="libgazebo_yarp_imu.so">
<yarpConfigurationFile>model://iCub/conf/gazebo_icub_left_arm_inertial.ini</yarpConfigurationFile>
</plugin>
</sensor>
</gazebo>
<sensor name="l_arm_ft" type="accelerometer">
<parent link="l_shoulder_3"/>
<origin rpy="-4.3625653762663687e-16 -1.3089970069677406 -3.1415926535897922" xyz="0.05093014324520106 1.3877787807814457e-17 0.029175829465900395"/>
</sensor>
<gazebo reference="r_shoulder_3">
<sensor name="r_arm_ft" type="imu">
<always_on>1</always_on>
<update_rate>100</update_rate>
<pose>-0.05089730176650909 1.3877787807814457e-17 0.029167029620599215 -6.358700866473837e-16 -1.3089970069677404 6.58301142551668e-16</pose>
<plugin name="iCub_yarp_gazebo_plugin_IMU" filename="libgazebo_yarp_imu.so">
<yarpConfigurationFile>model://iCub/conf/gazebo_icub_right_arm_inertial.ini</yarpConfigurationFile>
</plugin>
</sensor>
</gazebo>
<sensor name="r_arm_ft" type="accelerometer">
<parent link="r_shoulder_3"/>
<origin rpy="-6.358700866473837e-16 -1.3089970069677404 6.58301142551668e-16" xyz="-0.05089730176650909 1.3877787807814457e-17 0.029167029620599215"/>
</sensor>
<gazebo reference="root_link">
<sensor name="root_link_ems_acc_eb5" type="imu">
<always_on>1</always_on>
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28 changes: 28 additions & 0 deletions iCub/robots/iCubGazeboV2_5_KIT_007/model.urdf
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Expand Up @@ -2320,6 +2320,34 @@
<parent link="head"/>
<origin rpy="-1.5707963267948963 1.5707963267948963 0.0" xyz="0.009500000190735 0.133444 0.009299999999999996"/>
</sensor>
<gazebo reference="l_shoulder_3">
<sensor name="l_arm_ft" type="imu">
<always_on>1</always_on>
<update_rate>100</update_rate>
<pose>0.05093014324520106 1.3877787807814457e-17 0.029175829465900395 -4.3625653762663687e-16 -1.3089970069677406 -3.1415926535897922</pose>
<plugin name="iCub_yarp_gazebo_plugin_IMU" filename="libgazebo_yarp_imu.so">
<yarpConfigurationFile>model://iCub/conf/gazebo_icub_left_arm_inertial.ini</yarpConfigurationFile>
</plugin>
</sensor>
</gazebo>
<sensor name="l_arm_ft" type="accelerometer">
<parent link="l_shoulder_3"/>
<origin rpy="-4.3625653762663687e-16 -1.3089970069677406 -3.1415926535897922" xyz="0.05093014324520106 1.3877787807814457e-17 0.029175829465900395"/>
</sensor>
<gazebo reference="r_shoulder_3">
<sensor name="r_arm_ft" type="imu">
<always_on>1</always_on>
<update_rate>100</update_rate>
<pose>-0.05089730176650909 1.3877787807814457e-17 0.029167029620599215 -6.358700866473837e-16 -1.3089970069677404 6.58301142551668e-16</pose>
<plugin name="iCub_yarp_gazebo_plugin_IMU" filename="libgazebo_yarp_imu.so">
<yarpConfigurationFile>model://iCub/conf/gazebo_icub_right_arm_inertial.ini</yarpConfigurationFile>
</plugin>
</sensor>
</gazebo>
<sensor name="r_arm_ft" type="accelerometer">
<parent link="r_shoulder_3"/>
<origin rpy="-6.358700866473837e-16 -1.3089970069677404 6.58301142551668e-16" xyz="-0.05089730176650909 1.3877787807814457e-17 0.029167029620599215"/>
</sensor>
<gazebo reference="root_link">
<sensor name="root_link_ems_acc_eb5" type="imu">
<always_on>1</always_on>
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28 changes: 28 additions & 0 deletions iCub/robots/iCubGazeboV2_6/model.urdf
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Expand Up @@ -2691,6 +2691,34 @@
<parent link="head"/>
<origin rpy="-1.5707963267948997 -3.713525943768165e-15 -3.141592653589793" xyz="0.023453700190734995 0.20544400000000002 -0.023077900000000023"/>
</sensor>
<gazebo reference="l_shoulder_3">
<sensor name="l_arm_ft" type="imu">
<always_on>1</always_on>
<update_rate>100</update_rate>
<pose>0.05093014324520106 1.3877787807814457e-17 0.029175829465900395 -4.3625653762663687e-16 -1.3089970069677406 -3.1415926535897922</pose>
<plugin name="iCub_yarp_gazebo_plugin_IMU" filename="libgazebo_yarp_imu.so">
<yarpConfigurationFile>model://iCub/conf/gazebo_icub_left_arm_inertial.ini</yarpConfigurationFile>
</plugin>
</sensor>
</gazebo>
<sensor name="l_arm_ft" type="accelerometer">
<parent link="l_shoulder_3"/>
<origin rpy="-4.3625653762663687e-16 -1.3089970069677406 -3.1415926535897922" xyz="0.05093014324520106 1.3877787807814457e-17 0.029175829465900395"/>
</sensor>
<gazebo reference="r_shoulder_3">
<sensor name="r_arm_ft" type="imu">
<always_on>1</always_on>
<update_rate>100</update_rate>
<pose>-0.05089730176650909 1.3877787807814457e-17 0.029167029620599215 -6.358700866473837e-16 -1.3089970069677404 6.58301142551668e-16</pose>
<plugin name="iCub_yarp_gazebo_plugin_IMU" filename="libgazebo_yarp_imu.so">
<yarpConfigurationFile>model://iCub/conf/gazebo_icub_right_arm_inertial.ini</yarpConfigurationFile>
</plugin>
</sensor>
</gazebo>
<sensor name="r_arm_ft" type="accelerometer">
<parent link="r_shoulder_3"/>
<origin rpy="-6.358700866473837e-16 -1.3089970069677404 6.58301142551668e-16" xyz="-0.05089730176650909 1.3877787807814457e-17 0.029167029620599215"/>
</sensor>
<gazebo reference="root_link">
<sensor name="root_link_ems_acc_eb5" type="imu">
<always_on>1</always_on>
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28 changes: 28 additions & 0 deletions iCub/robots/iCubGazeboV2_7/model.urdf
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Expand Up @@ -2707,6 +2707,34 @@
<parent link="head"/>
<origin rpy="-1.5707963267948997 -3.713525943768165e-15 -3.141592653589793" xyz="0.023453700190734995 0.20544400000000002 -0.023077900000000023"/>
</sensor>
<gazebo reference="l_shoulder_3">
<sensor name="l_arm_ft" type="imu">
<always_on>1</always_on>
<update_rate>100</update_rate>
<pose>0.05093014324520106 1.3877787807814457e-17 0.029175829465900395 -4.3625653762663687e-16 -1.3089970069677406 -3.1415926535897922</pose>
<plugin name="iCub_yarp_gazebo_plugin_IMU" filename="libgazebo_yarp_imu.so">
<yarpConfigurationFile>model://iCub/conf/gazebo_icub_left_arm_inertial.ini</yarpConfigurationFile>
</plugin>
</sensor>
</gazebo>
<sensor name="l_arm_ft" type="accelerometer">
<parent link="l_shoulder_3"/>
<origin rpy="-4.3625653762663687e-16 -1.3089970069677406 -3.1415926535897922" xyz="0.05093014324520106 1.3877787807814457e-17 0.029175829465900395"/>
</sensor>
<gazebo reference="r_shoulder_3">
<sensor name="r_arm_ft" type="imu">

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@Nicogene

Nicogene Feb 12, 2024

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I just noticed that the imu and ft sensors have the same names. this can be a problem @traversaro ?

cc @martinaxgloria

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@traversaro

traversaro Feb 12, 2024

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This is a good point, I do not know to be honest. At this point I think we can start testing and see if there are problems.

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@martinaxgloria

martinaxgloria Feb 12, 2024 •
edited
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Currently, I'm using the iCubGazeboV2_7 model with these changes to acquire rpy data from the IMU on the FTs and I haven't retrieved any error from gazebo so far

cc @Nicogene @traversaro
<always_on>1</always_on>
<update_rate>100</update_rate>
<pose>-0.05089730176650909 1.3877787807814457e-17 0.029167029620599215 -6.358700866473837e-16 -1.3089970069677404 6.58301142551668e-16</pose>
<plugin name="iCub_yarp_gazebo_plugin_IMU" filename="libgazebo_yarp_imu.so">
<yarpConfigurationFile>model://iCub/conf/gazebo_icub_right_arm_inertial.ini</yarpConfigurationFile>
</plugin>
</sensor>
</gazebo>
<sensor name="r_arm_ft" type="accelerometer">
<parent link="r_shoulder_3"/>
<origin rpy="-6.358700866473837e-16 -1.3089970069677404 6.58301142551668e-16" xyz="-0.05089730176650909 1.3877787807814457e-17 0.029167029620599215"/>
</sensor>
<gazebo reference="root_link">
<sensor name="root_link_ems_acc_eb5" type="imu">
<always_on>1</always_on>
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28 changes: 28 additions & 0 deletions iCub/robots/iCubGenova01/model.urdf
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Expand Up @@ -2691,6 +2691,34 @@
<parent link="head"/>
<origin rpy="-1.5707963267948963 1.5707963267948963 0.0" xyz="0.009500000190735 0.133444 0.009299999999999996"/>
</sensor>
<gazebo reference="l_shoulder_3">
<sensor name="l_arm_ft" type="imu">
<always_on>1</always_on>
<update_rate>100</update_rate>
<pose>0.05093014324520106 1.3877787807814457e-17 0.029175829465900395 -4.3625653762663687e-16 -1.3089970069677406 -3.1415926535897922</pose>
<plugin name="iCub_yarp_gazebo_plugin_IMU" filename="libgazebo_yarp_imu.so">
<yarpConfigurationFile>model://iCub/conf/gazebo_icub_left_arm_inertial.ini</yarpConfigurationFile>
</plugin>
</sensor>
</gazebo>
<sensor name="l_arm_ft" type="accelerometer">
<parent link="l_shoulder_3"/>
<origin rpy="-4.3625653762663687e-16 -1.3089970069677406 -3.1415926535897922" xyz="0.05093014324520106 1.3877787807814457e-17 0.029175829465900395"/>
</sensor>
<gazebo reference="r_shoulder_3">
<sensor name="r_arm_ft" type="imu">
<always_on>1</always_on>
<update_rate>100</update_rate>
<pose>-0.05089730176650909 1.3877787807814457e-17 0.029167029620599215 -6.358700866473837e-16 -1.3089970069677404 6.58301142551668e-16</pose>
<plugin name="iCub_yarp_gazebo_plugin_IMU" filename="libgazebo_yarp_imu.so">
<yarpConfigurationFile>model://iCub/conf/gazebo_icub_right_arm_inertial.ini</yarpConfigurationFile>
</plugin>
</sensor>
</gazebo>
<sensor name="r_arm_ft" type="accelerometer">
<parent link="r_shoulder_3"/>
<origin rpy="-6.358700866473837e-16 -1.3089970069677404 6.58301142551668e-16" xyz="-0.05089730176650909 1.3877787807814457e-17 0.029167029620599215"/>
</sensor>
<gazebo reference="root_link">
<sensor name="root_link_ems_acc_eb5" type="imu">
<always_on>1</always_on>
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28 changes: 28 additions & 0 deletions iCub/robots/iCubGenova02/model.urdf
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Expand Up @@ -2320,6 +2320,34 @@
<parent link="head"/>
<origin rpy="-1.5707963267948963 1.5707963267948963 0.0" xyz="0.009500000190735 0.133444 0.009299999999999996"/>
</sensor>
<gazebo reference="l_shoulder_3">
<sensor name="l_arm_ft" type="imu">
<always_on>1</always_on>
<update_rate>100</update_rate>
<pose>0.05093014324520106 1.3877787807814457e-17 0.029175829465900395 -4.3625653762663687e-16 -1.3089970069677406 -3.1415926535897922</pose>
<plugin name="iCub_yarp_gazebo_plugin_IMU" filename="libgazebo_yarp_imu.so">
<yarpConfigurationFile>model://iCub/conf/gazebo_icub_left_arm_inertial.ini</yarpConfigurationFile>
</plugin>
</sensor>
</gazebo>
<sensor name="l_arm_ft" type="accelerometer">
<parent link="l_shoulder_3"/>
<origin rpy="-4.3625653762663687e-16 -1.3089970069677406 -3.1415926535897922" xyz="0.05093014324520106 1.3877787807814457e-17 0.029175829465900395"/>
</sensor>
<gazebo reference="r_shoulder_3">
<sensor name="r_arm_ft" type="imu">
<always_on>1</always_on>
<update_rate>100</update_rate>
<pose>-0.05089730176650909 1.3877787807814457e-17 0.029167029620599215 -6.358700866473837e-16 -1.3089970069677404 6.58301142551668e-16</pose>
<plugin name="iCub_yarp_gazebo_plugin_IMU" filename="libgazebo_yarp_imu.so">
<yarpConfigurationFile>model://iCub/conf/gazebo_icub_right_arm_inertial.ini</yarpConfigurationFile>
</plugin>
</sensor>
</gazebo>
<sensor name="r_arm_ft" type="accelerometer">
<parent link="r_shoulder_3"/>
<origin rpy="-6.358700866473837e-16 -1.3089970069677404 6.58301142551668e-16" xyz="-0.05089730176650909 1.3877787807814457e-17 0.029167029620599215"/>
</sensor>
<gazebo reference="root_link">
<sensor name="root_link_ems_acc_eb5" type="imu">
<always_on>1</always_on>
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28 changes: 28 additions & 0 deletions iCub/robots/iCubGenova04/model.urdf
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<parent link="head"/>
<origin rpy="-1.5707963267948963 1.5707963267948963 0.0" xyz="0.009500000190735 0.133444 0.009299999999999996"/>
</sensor>
<gazebo reference="l_shoulder_3">
<sensor name="l_arm_ft" type="imu">
<always_on>1</always_on>
<update_rate>100</update_rate>
<pose>0.05093014324520106 1.3877787807814457e-17 0.029175829465900395 -4.3625653762663687e-16 -1.3089970069677406 -3.1415926535897922</pose>
<plugin name="iCub_yarp_gazebo_plugin_IMU" filename="libgazebo_yarp_imu.so">
<yarpConfigurationFile>model://iCub/conf/gazebo_icub_left_arm_inertial.ini</yarpConfigurationFile>
</plugin>
</sensor>
</gazebo>
<sensor name="l_arm_ft" type="accelerometer">
<parent link="l_shoulder_3"/>
<origin rpy="-4.3625653762663687e-16 -1.3089970069677406 -3.1415926535897922" xyz="0.05093014324520106 1.3877787807814457e-17 0.029175829465900395"/>
</sensor>
<gazebo reference="r_shoulder_3">
<sensor name="r_arm_ft" type="imu">
<always_on>1</always_on>
<update_rate>100</update_rate>
<pose>-0.05089730176650909 1.3877787807814457e-17 0.029167029620599215 -6.358700866473837e-16 -1.3089970069677404 6.58301142551668e-16</pose>
<plugin name="iCub_yarp_gazebo_plugin_IMU" filename="libgazebo_yarp_imu.so">
<yarpConfigurationFile>model://iCub/conf/gazebo_icub_right_arm_inertial.ini</yarpConfigurationFile>
</plugin>
</sensor>
</gazebo>
<sensor name="r_arm_ft" type="accelerometer">
<parent link="r_shoulder_3"/>
<origin rpy="-6.358700866473837e-16 -1.3089970069677404 6.58301142551668e-16" xyz="-0.05089730176650909 1.3877787807814457e-17 0.029167029620599215"/>
</sensor>
<gazebo reference="root_link">
<sensor name="root_link_ems_acc_eb5" type="imu">
<always_on>1</always_on>
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