From 0b8e15d686dbd0f011eec7692969b6bff2e11c81 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Nicol=C3=B2=20Genesio=20=28=E4=BA=8C=E3=82=B3=E3=82=B2?= =?UTF-8?q?=E3=83=8D=29?= Date: Thu, 18 Apr 2024 14:33:21 +0200 Subject: [PATCH] Add YAMLs for SN002/V1_2 (#241) --- .../data/ergocub1_2/ERGOCUB_all_options.yaml | 1 + .../ergocub1_2/ERGOCUB_all_options_gazebo.yaml | 1 + .../ERGOCUB_all_options_minContacts.yaml | 1 + urdf/creo2urdf/data/ergocub1_2/README.md | 7 +++++++ urdf/creo2urdf/data/ergocub1_2/base_1_2.yaml | 11 +++++++++++ urdf/creo2urdf/data/ergocub1_2/model.config | 18 ++++++++++++++++++ .../ergoCubGazeboV1_2/.gitignoreTOBEDELETED | 0 .../.gitignoreTOBEDELETED | 0 .../robots/ergoCubSN002/.gitignoreTOBEDELETED | 0 9 files changed, 39 insertions(+) create mode 100644 urdf/creo2urdf/data/ergocub1_2/ERGOCUB_all_options.yaml create mode 100644 urdf/creo2urdf/data/ergocub1_2/ERGOCUB_all_options_gazebo.yaml create mode 100644 urdf/creo2urdf/data/ergocub1_2/ERGOCUB_all_options_minContacts.yaml create mode 100644 urdf/creo2urdf/data/ergocub1_2/README.md create mode 100644 urdf/creo2urdf/data/ergocub1_2/base_1_2.yaml create mode 100644 urdf/creo2urdf/data/ergocub1_2/model.config create mode 100644 urdf/ergoCub/robots/ergoCubGazeboV1_2/.gitignoreTOBEDELETED create mode 100644 urdf/ergoCub/robots/ergoCubGazeboV1_2_minContacts/.gitignoreTOBEDELETED create mode 100644 urdf/ergoCub/robots/ergoCubSN002/.gitignoreTOBEDELETED diff --git a/urdf/creo2urdf/data/ergocub1_2/ERGOCUB_all_options.yaml b/urdf/creo2urdf/data/ergocub1_2/ERGOCUB_all_options.yaml new file mode 100644 index 00000000..a7f20d9a --- /dev/null +++ b/urdf/creo2urdf/data/ergocub1_2/ERGOCUB_all_options.yaml @@ -0,0 +1 @@ +includes: [base_1_2.yaml] diff --git a/urdf/creo2urdf/data/ergocub1_2/ERGOCUB_all_options_gazebo.yaml b/urdf/creo2urdf/data/ergocub1_2/ERGOCUB_all_options_gazebo.yaml new file mode 100644 index 00000000..64569ef4 --- /dev/null +++ b/urdf/creo2urdf/data/ergocub1_2/ERGOCUB_all_options_gazebo.yaml @@ -0,0 +1 @@ +includes: [base_1_2.yaml, ..\common\gazebo_addon.yaml] diff --git a/urdf/creo2urdf/data/ergocub1_2/ERGOCUB_all_options_minContacts.yaml b/urdf/creo2urdf/data/ergocub1_2/ERGOCUB_all_options_minContacts.yaml new file mode 100644 index 00000000..f8d5228e --- /dev/null +++ b/urdf/creo2urdf/data/ergocub1_2/ERGOCUB_all_options_minContacts.yaml @@ -0,0 +1 @@ +includes: [base_1_2.yaml, ..\common\gazebo_addon.yaml, ..\common\minContacts_addon.yaml] diff --git a/urdf/creo2urdf/data/ergocub1_2/README.md b/urdf/creo2urdf/data/ergocub1_2/README.md new file mode 100644 index 00000000..80374fd4 --- /dev/null +++ b/urdf/creo2urdf/data/ergocub1_2/README.md @@ -0,0 +1,7 @@ +This is the mapping between the CAD files, the files contained in this folder and the files contained in `ergocub-software/urdf/ergoCub/robots`: + +| CAD model in `cad-mechanics` | yaml file | csv file | YARP_ROBOT_NAME | +|:----------:|:---------:|:----------:|:--------------:| +| `cad-mechanics/projects/simulation_model/ergocub_1-1/sim_ergocub_1-1.asm.1` | `ergocub-software/urdf/creo2urdf/data/ergocub1_2/ERGOCUB_all_options.yaml` | `ergocub-software/urdf/creo2urdf/data/common/ERGOCUB_joint_all_parameters.csv` | `ergoCubSN002` | +| `cad-mechanics/projects/simulation_model/ergocub_1-1/sim_ergocub_1-1.asm.1` | `ergocub-software/urdf/creo2urdf/data/ergocub1_2/ERGOCUB_all_options_gazebo.yaml` | `ergocub-software/urdf/creo2urdf/data/common/ERGOCUB_joint_all_parameters.csv` | `ergoCubGazeboV1_2` | +| `cad-mechanics/projects/simulation_model/ergocub_1-1/sim_ergocub_1-1.asm.1` | `ergocub-software/urdf/creo2urdf/data/ergocub1_2/ERGOCUB_all_options_minContacts.yaml` | `ergocub-software/urdf/creo2urdf/data/common/ERGOCUB_joint_all_parameters.csv` | `ergoCubGazeboV1_2_minContacts` | diff --git a/urdf/creo2urdf/data/ergocub1_2/base_1_2.yaml b/urdf/creo2urdf/data/ergocub1_2/base_1_2.yaml new file mode 100644 index 00000000..2ded8af5 --- /dev/null +++ b/urdf/creo2urdf/data/ergocub1_2/base_1_2.yaml @@ -0,0 +1,11 @@ +includes: [../ergocub1_1/base_1_1.yaml] + +assignedMasses: + head : 1.6902682 + +assignedInertias: + + - linkName: head + xx: 0.0097840569 + yy: 0.010869342 + zz: 0.0070099259 diff --git a/urdf/creo2urdf/data/ergocub1_2/model.config b/urdf/creo2urdf/data/ergocub1_2/model.config new file mode 100644 index 00000000..cd219e3e --- /dev/null +++ b/urdf/creo2urdf/data/ergocub1_2/model.config @@ -0,0 +1,18 @@ + + + ergoCub + + 1.2 + ergocub.sdf + + + Nicolò Genesio + nicolo.genesio@iit.it + Mattia Fussi + mattia.fussi@iit.it + + + + Model for the ergoCub 1.1 humanoid robot. + + diff --git a/urdf/ergoCub/robots/ergoCubGazeboV1_2/.gitignoreTOBEDELETED b/urdf/ergoCub/robots/ergoCubGazeboV1_2/.gitignoreTOBEDELETED new file mode 100644 index 00000000..e69de29b diff --git a/urdf/ergoCub/robots/ergoCubGazeboV1_2_minContacts/.gitignoreTOBEDELETED b/urdf/ergoCub/robots/ergoCubGazeboV1_2_minContacts/.gitignoreTOBEDELETED new file mode 100644 index 00000000..e69de29b diff --git a/urdf/ergoCub/robots/ergoCubSN002/.gitignoreTOBEDELETED b/urdf/ergoCub/robots/ergoCubSN002/.gitignoreTOBEDELETED new file mode 100644 index 00000000..e69de29b