From e9d33b61f36955a8da238c2c06389816c3c1ec85 Mon Sep 17 00:00:00 2001
From: Martina Gloria <114698424+martinaxgloria@users.noreply.github.com>
Date: Mon, 12 Feb 2024 13:44:15 +0000
Subject: [PATCH] Automatic build. GitHub Actions build: 7872580410
icub-model-generator commit:
robotology/icub-models-generator@a42368e1a2ef2b7640a6c517b9b525735e852488
urdf_parser_py commit:
ros/urdf_parser_py@31474b9baaf7c3845b40e5a9aa87d5900a2282c3
simmechanics-to-urdf commit:
robotology/simmechanics-to-urdf@22caa23cfe7063299c5746304850b8afd74f4e1f
---
iCub/conf/gazebo_icub_left_arm_inertial.ini | 2 ++
iCub/conf/gazebo_icub_right_arm_inertial.ini | 2 ++
iCub/conf/icub.xml | 4 ++-
.../inertials/left_arm-inertials_wrapper.xml | 14 ++++++++++
.../inertials/right_arm-inertials_wrapper.xml | 14 ++++++++++
iCub/robots/iCubDarmstadt01/model.urdf | 28 +++++++++++++++++++
iCub/robots/iCubErzelli02/model.urdf | 28 +++++++++++++++++++
iCub/robots/iCubGazeboV2_5/model.urdf | 28 +++++++++++++++++++
iCub/robots/iCubGazeboV2_5_KIT_007/model.urdf | 28 +++++++++++++++++++
iCub/robots/iCubGazeboV2_6/model.urdf | 28 +++++++++++++++++++
iCub/robots/iCubGazeboV2_7/model.urdf | 28 +++++++++++++++++++
iCub/robots/iCubGenova01/model.urdf | 28 +++++++++++++++++++
iCub/robots/iCubGenova02/model.urdf | 28 +++++++++++++++++++
iCub/robots/iCubGenova04/model.urdf | 28 +++++++++++++++++++
iCub/robots/iCubGenova11/model.urdf | 28 +++++++++++++++++++
iCub/robots/iCubWaterloo01/model.urdf | 28 +++++++++++++++++++
16 files changed, 343 insertions(+), 1 deletion(-)
create mode 100644 iCub/conf/gazebo_icub_left_arm_inertial.ini
create mode 100644 iCub/conf/gazebo_icub_right_arm_inertial.ini
create mode 100644 iCub/conf/wrappers/inertials/left_arm-inertials_wrapper.xml
create mode 100644 iCub/conf/wrappers/inertials/right_arm-inertials_wrapper.xml
diff --git a/iCub/conf/gazebo_icub_left_arm_inertial.ini b/iCub/conf/gazebo_icub_left_arm_inertial.ini
new file mode 100644
index 0000000..b2db6e3
--- /dev/null
+++ b/iCub/conf/gazebo_icub_left_arm_inertial.ini
@@ -0,0 +1,2 @@
+disableImplicitNetworkWrapper
+yarpDeviceName left_arm_inertial_hardware_device
\ 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
new file mode 100644
index 0000000..b676f9c
--- /dev/null
+++ b/iCub/conf/gazebo_icub_right_arm_inertial.ini
@@ -0,0 +1,2 @@
+disableImplicitNetworkWrapper
+yarpDeviceName right_arm_inertial_hardware_device
\ No newline at end of file
diff --git a/iCub/conf/icub.xml b/iCub/conf/icub.xml
index 71ca941..3dce396 100644
--- a/iCub/conf/icub.xml
+++ b/iCub/conf/icub.xml
@@ -29,7 +29,9 @@
-
diff --git a/iCub/conf/wrappers/inertials/left_arm-inertials_wrapper.xml b/iCub/conf/wrappers/inertials/left_arm-inertials_wrapper.xml
new file mode 100644
index 0000000..cb80f7a
--- /dev/null
+++ b/iCub/conf/wrappers/inertials/left_arm-inertials_wrapper.xml
@@ -0,0 +1,14 @@
+
+
+
+
+ 10
+ ${portprefix}/left_arm/imu
+
+
+
+ left_arm_inertial_hardware_device
+
+
+
+
\ No newline at end of file
diff --git a/iCub/conf/wrappers/inertials/right_arm-inertials_wrapper.xml b/iCub/conf/wrappers/inertials/right_arm-inertials_wrapper.xml
new file mode 100644
index 0000000..3a59576
--- /dev/null
+++ b/iCub/conf/wrappers/inertials/right_arm-inertials_wrapper.xml
@@ -0,0 +1,14 @@
+
+
+
+
+ 10
+ ${portprefix}/right_arm/imu
+
+
+
+ right_arm_inertial_hardware_device
+
+
+
+
\ No newline at end of file
diff --git a/iCub/robots/iCubDarmstadt01/model.urdf b/iCub/robots/iCubDarmstadt01/model.urdf
index 7761da1..cc58019 100644
--- a/iCub/robots/iCubDarmstadt01/model.urdf
+++ b/iCub/robots/iCubDarmstadt01/model.urdf
@@ -2691,6 +2691,34 @@
+
+
+ 1
+ 100
+ 0.05093014324520106 1.3877787807814457e-17 0.029175829465900395 -4.3625653762663687e-16 -1.3089970069677406 -3.1415926535897922
+
+ model://iCub/conf/gazebo_icub_left_arm_inertial.ini
+
+
+
+
+
+
+
+
+
+ 1
+ 100
+ -0.05089730176650909 1.3877787807814457e-17 0.029167029620599215 -6.358700866473837e-16 -1.3089970069677404 6.58301142551668e-16
+
+ model://iCub/conf/gazebo_icub_right_arm_inertial.ini
+
+
+
+
+
+
+
1
diff --git a/iCub/robots/iCubErzelli02/model.urdf b/iCub/robots/iCubErzelli02/model.urdf
index 3bd7b1d..0fc0bf0 100644
--- a/iCub/robots/iCubErzelli02/model.urdf
+++ b/iCub/robots/iCubErzelli02/model.urdf
@@ -2691,6 +2691,34 @@
+
+
+ 1
+ 100
+ 0.05093014324520106 1.3877787807814457e-17 0.029175829465900395 -4.3625653762663687e-16 -1.3089970069677406 -3.1415926535897922
+
+ model://iCub/conf/gazebo_icub_left_arm_inertial.ini
+
+
+
+
+
+
+
+
+
+ 1
+ 100
+ -0.05089730176650909 1.3877787807814457e-17 0.029167029620599215 -6.358700866473837e-16 -1.3089970069677404 6.58301142551668e-16
+
+ model://iCub/conf/gazebo_icub_right_arm_inertial.ini
+
+
+
+
+
+
+
1
diff --git a/iCub/robots/iCubGazeboV2_5/model.urdf b/iCub/robots/iCubGazeboV2_5/model.urdf
index 9f1d8be..8ded202 100644
--- a/iCub/robots/iCubGazeboV2_5/model.urdf
+++ b/iCub/robots/iCubGazeboV2_5/model.urdf
@@ -2691,6 +2691,34 @@
+
+
+ 1
+ 100
+ 0.05093014324520106 1.3877787807814457e-17 0.029175829465900395 -4.3625653762663687e-16 -1.3089970069677406 -3.1415926535897922
+
+ model://iCub/conf/gazebo_icub_left_arm_inertial.ini
+
+
+
+
+
+
+
+
+
+ 1
+ 100
+ -0.05089730176650909 1.3877787807814457e-17 0.029167029620599215 -6.358700866473837e-16 -1.3089970069677404 6.58301142551668e-16
+
+ model://iCub/conf/gazebo_icub_right_arm_inertial.ini
+
+
+
+
+
+
+
1
diff --git a/iCub/robots/iCubGazeboV2_5_KIT_007/model.urdf b/iCub/robots/iCubGazeboV2_5_KIT_007/model.urdf
index 8d7b7f9..176fed6 100644
--- a/iCub/robots/iCubGazeboV2_5_KIT_007/model.urdf
+++ b/iCub/robots/iCubGazeboV2_5_KIT_007/model.urdf
@@ -2320,6 +2320,34 @@
+
+
+ 1
+ 100
+ 0.05093014324520106 1.3877787807814457e-17 0.029175829465900395 -4.3625653762663687e-16 -1.3089970069677406 -3.1415926535897922
+
+ model://iCub/conf/gazebo_icub_left_arm_inertial.ini
+
+
+
+
+
+
+
+
+
+ 1
+ 100
+ -0.05089730176650909 1.3877787807814457e-17 0.029167029620599215 -6.358700866473837e-16 -1.3089970069677404 6.58301142551668e-16
+
+ model://iCub/conf/gazebo_icub_right_arm_inertial.ini
+
+
+
+
+
+
+
1
diff --git a/iCub/robots/iCubGazeboV2_6/model.urdf b/iCub/robots/iCubGazeboV2_6/model.urdf
index b48ec9d..90e87a9 100644
--- a/iCub/robots/iCubGazeboV2_6/model.urdf
+++ b/iCub/robots/iCubGazeboV2_6/model.urdf
@@ -2691,6 +2691,34 @@
+
+
+ 1
+ 100
+ 0.05093014324520106 1.3877787807814457e-17 0.029175829465900395 -4.3625653762663687e-16 -1.3089970069677406 -3.1415926535897922
+
+ model://iCub/conf/gazebo_icub_left_arm_inertial.ini
+
+
+
+
+
+
+
+
+
+ 1
+ 100
+ -0.05089730176650909 1.3877787807814457e-17 0.029167029620599215 -6.358700866473837e-16 -1.3089970069677404 6.58301142551668e-16
+
+ model://iCub/conf/gazebo_icub_right_arm_inertial.ini
+
+
+
+
+
+
+
1
diff --git a/iCub/robots/iCubGazeboV2_7/model.urdf b/iCub/robots/iCubGazeboV2_7/model.urdf
index 8bb5a4d..3992313 100644
--- a/iCub/robots/iCubGazeboV2_7/model.urdf
+++ b/iCub/robots/iCubGazeboV2_7/model.urdf
@@ -2707,6 +2707,34 @@
+
+
+ 1
+ 100
+ 0.05093014324520106 1.3877787807814457e-17 0.029175829465900395 -4.3625653762663687e-16 -1.3089970069677406 -3.1415926535897922
+
+ model://iCub/conf/gazebo_icub_left_arm_inertial.ini
+
+
+
+
+
+
+
+
+
+ 1
+ 100
+ -0.05089730176650909 1.3877787807814457e-17 0.029167029620599215 -6.358700866473837e-16 -1.3089970069677404 6.58301142551668e-16
+
+ model://iCub/conf/gazebo_icub_right_arm_inertial.ini
+
+
+
+
+
+
+
1
diff --git a/iCub/robots/iCubGenova01/model.urdf b/iCub/robots/iCubGenova01/model.urdf
index 7761da1..cc58019 100644
--- a/iCub/robots/iCubGenova01/model.urdf
+++ b/iCub/robots/iCubGenova01/model.urdf
@@ -2691,6 +2691,34 @@
+
+
+ 1
+ 100
+ 0.05093014324520106 1.3877787807814457e-17 0.029175829465900395 -4.3625653762663687e-16 -1.3089970069677406 -3.1415926535897922
+
+ model://iCub/conf/gazebo_icub_left_arm_inertial.ini
+
+
+
+
+
+
+
+
+
+ 1
+ 100
+ -0.05089730176650909 1.3877787807814457e-17 0.029167029620599215 -6.358700866473837e-16 -1.3089970069677404 6.58301142551668e-16
+
+ model://iCub/conf/gazebo_icub_right_arm_inertial.ini
+
+
+
+
+
+
+
1
diff --git a/iCub/robots/iCubGenova02/model.urdf b/iCub/robots/iCubGenova02/model.urdf
index 6f8ffdc..24e9334 100644
--- a/iCub/robots/iCubGenova02/model.urdf
+++ b/iCub/robots/iCubGenova02/model.urdf
@@ -2320,6 +2320,34 @@
+
+
+ 1
+ 100
+ 0.05093014324520106 1.3877787807814457e-17 0.029175829465900395 -4.3625653762663687e-16 -1.3089970069677406 -3.1415926535897922
+
+ model://iCub/conf/gazebo_icub_left_arm_inertial.ini
+
+
+
+
+
+
+
+
+
+ 1
+ 100
+ -0.05089730176650909 1.3877787807814457e-17 0.029167029620599215 -6.358700866473837e-16 -1.3089970069677404 6.58301142551668e-16
+
+ model://iCub/conf/gazebo_icub_right_arm_inertial.ini
+
+
+
+
+
+
+
1
diff --git a/iCub/robots/iCubGenova04/model.urdf b/iCub/robots/iCubGenova04/model.urdf
index 3bd7b1d..0fc0bf0 100644
--- a/iCub/robots/iCubGenova04/model.urdf
+++ b/iCub/robots/iCubGenova04/model.urdf
@@ -2691,6 +2691,34 @@
+
+
+ 1
+ 100
+ 0.05093014324520106 1.3877787807814457e-17 0.029175829465900395 -4.3625653762663687e-16 -1.3089970069677406 -3.1415926535897922
+
+ model://iCub/conf/gazebo_icub_left_arm_inertial.ini
+
+
+
+
+
+
+
+
+
+ 1
+ 100
+ -0.05089730176650909 1.3877787807814457e-17 0.029167029620599215 -6.358700866473837e-16 -1.3089970069677404 6.58301142551668e-16
+
+ model://iCub/conf/gazebo_icub_right_arm_inertial.ini
+
+
+
+
+
+
+
1
diff --git a/iCub/robots/iCubGenova11/model.urdf b/iCub/robots/iCubGenova11/model.urdf
index d33784d..1b08e0c 100644
--- a/iCub/robots/iCubGenova11/model.urdf
+++ b/iCub/robots/iCubGenova11/model.urdf
@@ -2707,6 +2707,34 @@
+
+
+ 1
+ 100
+ 0.05093014324520106 1.3877787807814457e-17 0.029175829465900395 -4.3625653762663687e-16 -1.3089970069677406 -3.1415926535897922
+
+ model://iCub/conf/gazebo_icub_left_arm_inertial.ini
+
+
+
+
+
+
+
+
+
+ 1
+ 100
+ -0.05089730176650909 1.3877787807814457e-17 0.029167029620599215 -6.358700866473837e-16 -1.3089970069677404 6.58301142551668e-16
+
+ model://iCub/conf/gazebo_icub_right_arm_inertial.ini
+
+
+
+
+
+
+
1
diff --git a/iCub/robots/iCubWaterloo01/model.urdf b/iCub/robots/iCubWaterloo01/model.urdf
index d33784d..1b08e0c 100644
--- a/iCub/robots/iCubWaterloo01/model.urdf
+++ b/iCub/robots/iCubWaterloo01/model.urdf
@@ -2707,6 +2707,34 @@
+
+
+ 1
+ 100
+ 0.05093014324520106 1.3877787807814457e-17 0.029175829465900395 -4.3625653762663687e-16 -1.3089970069677406 -3.1415926535897922
+
+ model://iCub/conf/gazebo_icub_left_arm_inertial.ini
+
+
+
+
+
+
+
+
+
+ 1
+ 100
+ -0.05089730176650909 1.3877787807814457e-17 0.029167029620599215 -6.358700866473837e-16 -1.3089970069677404 6.58301142551668e-16
+
+ model://iCub/conf/gazebo_icub_right_arm_inertial.ini
+
+
+
+
+
+
+
1