Fix

icub-tech-iit · Mar 27, 2024 · 69e2a3d · 69e2a3d
1 parent c9c4259
commit 69e2a3d
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Showing 6 changed files with 24 additions and 24 deletions.
diff --git a/urdf/creo2urdf/data/ergocub1_0/ERGOCUB_all_options.yaml b/urdf/creo2urdf/data/ergocub1_0/ERGOCUB_all_options.yaml
@@ -1122,7 +1122,7 @@ XMLBlobs:
               <sensor name="l_arm_ft_imu" type="imu">
                 <always_on>1</always_on>
                 <update_rate>100</update_rate>
-                <pose>0.0 -0.004350 -0.05430 3.14159265 -0.0 -1.57079633</pose>
+                <pose>-0.004350 0.0 -0.05430 3.14159265 -0.0 -1.57079633</pose>
                 <plugin name="ergocub_yarp_gazebo_plugin_IMU" filename="libgazebo_yarp_imu.so">
                   <yarpConfigurationFile>model://ergoCub/conf/gazebo_ergocub_l_arm_ft_sensor_inertial.ini</yarpConfigurationFile>
                 </plugin>
@@ -1131,15 +1131,15 @@ XMLBlobs:
     - |
             <sensor name="l_arm_ft_imu" type="accelerometer">
               <parent link="l_shoulder_2" />
-              <origin rpy="3.14159265 -0.0 -1.57079633" xyz="0.0 -0.004350 -0.05430" />
+              <origin rpy="3.14159265 -0.0 -1.57079633" xyz="-0.004350 0.0 -0.05430" />
             </sensor>
       # right arm IMU 
     - |
             <gazebo reference="r_shoulder_2">
               <sensor name="r_arm_ft_imu" type="imu">
                 <always_on>1</always_on>
                 <update_rate>100</update_rate>
-                <pose>0.0 0.006850 -0.05430 3.14159265 -0.0 1.57079633</pose>
+                <pose>-0.006850 0.0 -0.05430 3.14159265 -0.0 1.57079633</pose>
                 <plugin name="ergocub_yarp_gazebo_plugin_IMU" filename="libgazebo_yarp_imu.so">
                   <yarpConfigurationFile>model://ergoCub/conf/gazebo_ergocub_r_arm_ft_sensor_inertial.ini</yarpConfigurationFile>
                 </plugin>
@@ -1148,7 +1148,7 @@ XMLBlobs:
     - |
             <sensor name="r_arm_ft_imu" type="accelerometer">
               <parent link="r_shoulder_2" />
-              <origin rpy="3.14159265 -0.0 1.57079633" xyz="0.0 0.006850 -0.05430" />
+              <origin rpy="3.14159265 -0.0 1.57079633" xyz="-0.006850 0.0 -0.05430" />
             </sensor>
     # left leg IMU 
     - |

diff --git a/urdf/creo2urdf/data/ergocub1_0/ERGOCUB_all_options_gazebo.yaml b/urdf/creo2urdf/data/ergocub1_0/ERGOCUB_all_options_gazebo.yaml
@@ -1307,7 +1307,7 @@ XMLBlobs:
               <sensor name="l_arm_ft_imu" type="imu">
                 <always_on>1</always_on>
                 <update_rate>100</update_rate>
-                <pose>0.0 -0.004350 -0.05430 3.14159265 -0.0 -1.57079633</pose>
+                <pose>-0.004350 0.0 -0.05430 3.14159265 -0.0 -1.57079633</pose>
                 <plugin name="ergocub_yarp_gazebo_plugin_IMU" filename="libgazebo_yarp_imu.so">
                   <yarpConfigurationFile>model://ergoCub/conf/gazebo_ergocub_l_arm_ft_sensor_inertial.ini</yarpConfigurationFile>
                 </plugin>
@@ -1316,15 +1316,15 @@ XMLBlobs:
     - |
             <sensor name="l_arm_ft_imu" type="accelerometer">
               <parent link="l_shoulder_2" />
-              <origin rpy="3.14159265 -0.0 -1.57079633" xyz="0.0 -0.004350 -0.05430" />
+              <origin rpy="3.14159265 -0.0 -1.57079633" xyz="-0.004350 0.0 -0.05430" />
             </sensor>
       # right arm IMU 
     - |
             <gazebo reference="r_shoulder_2">
               <sensor name="r_arm_ft_imu" type="imu">
                 <always_on>1</always_on>
                 <update_rate>100</update_rate>
-                <pose>0.0 0.006850 -0.05430 3.14159265 -0.0 1.57079633</pose>
+                <pose>-0.006850 0.0 -0.05430 3.14159265 -0.0 1.57079633</pose>
                 <plugin name="ergocub_yarp_gazebo_plugin_IMU" filename="libgazebo_yarp_imu.so">
                   <yarpConfigurationFile>model://ergoCub/conf/gazebo_ergocub_r_arm_ft_sensor_inertial.ini</yarpConfigurationFile>
                 </plugin>
@@ -1333,7 +1333,7 @@ XMLBlobs:
     - |
             <sensor name="r_arm_ft_imu" type="accelerometer">
               <parent link="r_shoulder_2" />
-              <origin rpy="3.14159265 -0.0 1.57079633" xyz="0.0 0.006850 -0.05430" />
+              <origin rpy="3.14159265 -0.0 1.57079633" xyz="-0.006850 0.0 -0.05430" />
             </sensor>
     # left leg IMU 
     - |

diff --git a/urdf/creo2urdf/data/ergocub1_0/ERGOCUB_all_options_minContacts.yaml b/urdf/creo2urdf/data/ergocub1_0/ERGOCUB_all_options_minContacts.yaml
@@ -1616,7 +1616,7 @@ XMLBlobs:
               <sensor name="l_arm_ft_imu" type="imu">
                 <always_on>1</always_on>
                 <update_rate>100</update_rate>
-                <pose>0.0 -0.004350 -0.05430 3.14159265 -0.0 -1.57079633</pose>
+                <pose>-0.004350 0.0 -0.05430 3.14159265 -0.0 -1.57079633</pose>
                 <plugin name="ergocub_yarp_gazebo_plugin_IMU" filename="libgazebo_yarp_imu.so">
                   <yarpConfigurationFile>model://ergoCub/conf/gazebo_ergocub_l_arm_ft_sensor_inertial.ini</yarpConfigurationFile>
                 </plugin>
@@ -1625,15 +1625,15 @@ XMLBlobs:
     - |
             <sensor name="l_arm_ft_imu" type="accelerometer">
               <parent link="l_shoulder_2" />
-              <origin rpy="3.14159265 -0.0 -1.57079633" xyz="0.0 -0.004350 -0.05430" />
+              <origin rpy="3.14159265 -0.0 -1.57079633" xyz="-0.004350 0.0 -0.05430" />
             </sensor>
       # right arm IMU 
     - |
             <gazebo reference="r_shoulder_2">
               <sensor name="r_arm_ft_imu" type="imu">
                 <always_on>1</always_on>
                 <update_rate>100</update_rate>
-                <pose>0.0 0.006850 -0.05430 3.14159265 -0.0 1.57079633</pose>
+                <pose>-0.006850 0.0 -0.05430 3.14159265 -0.0 1.57079633</pose>
                 <plugin name="ergocub_yarp_gazebo_plugin_IMU" filename="libgazebo_yarp_imu.so">
                   <yarpConfigurationFile>model://ergoCub/conf/gazebo_ergocub_r_arm_ft_sensor_inertial.ini</yarpConfigurationFile>
                 </plugin>
@@ -1642,7 +1642,7 @@ XMLBlobs:
     - |
             <sensor name="r_arm_ft_imu" type="accelerometer">
               <parent link="r_shoulder_2" />
-              <origin rpy="3.14159265 -0.0 1.57079633" xyz="0.0 0.006850 -0.05430" />
+              <origin rpy="3.14159265 -0.0 1.57079633" xyz="-0.00685 0.0 -0.05430" />
             </sensor>
     # left leg IMU 
     - |

diff --git a/urdf/ergoCub/robots/ergoCubGazeboV1/model.urdf b/urdf/ergoCub/robots/ergoCubGazeboV1/model.urdf
@@ -2953,29 +2953,29 @@
     <sensor name="l_arm_ft_imu" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.0 -0.004350 -0.05430 3.14159265 -0.0 -1.57079633</pose>
+      <pose>-0.004350 0.0 -0.05430 3.14159265 -0.0 -1.57079633</pose>
       <plugin name="ergocub_yarp_gazebo_plugin_IMU" filename="libgazebo_yarp_imu.so">
         <yarpConfigurationFile>model://ergoCub/conf/gazebo_ergocub_l_arm_ft_sensor_inertial.ini</yarpConfigurationFile>
       </plugin>
     </sensor>
   </gazebo>
   <sensor name="l_arm_ft_imu" type="accelerometer">
     <parent link="l_shoulder_2" />
-    <origin rpy="3.14159265 -0.0 -1.57079633" xyz="0.0 -0.004350 -0.05430" />
+    <origin rpy="3.14159265 -0.0 -1.57079633" xyz="-0.004350 0.0 -0.05430" />
   </sensor>
   <gazebo reference="r_shoulder_2">
     <sensor name="r_arm_ft_imu" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.0 0.006850 -0.05430 3.14159265 -0.0 1.57079633</pose>
+      <pose>-0.006850 0.0 -0.05430 3.14159265 -0.0 1.57079633</pose>
       <plugin name="ergocub_yarp_gazebo_plugin_IMU" filename="libgazebo_yarp_imu.so">
         <yarpConfigurationFile>model://ergoCub/conf/gazebo_ergocub_r_arm_ft_sensor_inertial.ini</yarpConfigurationFile>
       </plugin>
     </sensor>
   </gazebo>
   <sensor name="r_arm_ft_imu" type="accelerometer">
     <parent link="r_shoulder_2" />
-    <origin rpy="3.14159265 -0.0 1.57079633" xyz="0.0 0.006850 -0.05430" />
+    <origin rpy="3.14159265 -0.0 1.57079633" xyz="-0.006850 0.0 -0.05430" />
   </sensor>
   <gazebo reference="l_hip_2">
     <sensor name="l_leg_ft_imu" type="imu">

diff --git a/urdf/ergoCub/robots/ergoCubGazeboV1_minContacts/model.urdf b/urdf/ergoCub/robots/ergoCubGazeboV1_minContacts/model.urdf
@@ -2953,29 +2953,29 @@
     <sensor name="l_arm_ft_imu" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.0 -0.004350 -0.05430 3.14159265 -0.0 -1.57079633</pose>
+      <pose>-0.004350 0.0 -0.05430 3.14159265 -0.0 -1.57079633</pose>
       <plugin name="ergocub_yarp_gazebo_plugin_IMU" filename="libgazebo_yarp_imu.so">
         <yarpConfigurationFile>model://ergoCub/conf/gazebo_ergocub_l_arm_ft_sensor_inertial.ini</yarpConfigurationFile>
       </plugin>
     </sensor>
   </gazebo>
   <sensor name="l_arm_ft_imu" type="accelerometer">
     <parent link="l_shoulder_2" />
-    <origin rpy="3.14159265 -0.0 -1.57079633" xyz="0.0 -0.004350 -0.05430" />
+    <origin rpy="3.14159265 -0.0 -1.57079633" xyz="-0.004350 0.0 -0.05430" />
   </sensor>
   <gazebo reference="r_shoulder_2">
     <sensor name="r_arm_ft_imu" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.0 0.006850 -0.05430 3.14159265 -0.0 1.57079633</pose>
+      <pose>-0.006850 0.0 -0.05430 3.14159265 -0.0 1.57079633</pose>
       <plugin name="ergocub_yarp_gazebo_plugin_IMU" filename="libgazebo_yarp_imu.so">
         <yarpConfigurationFile>model://ergoCub/conf/gazebo_ergocub_r_arm_ft_sensor_inertial.ini</yarpConfigurationFile>
       </plugin>
     </sensor>
   </gazebo>
   <sensor name="r_arm_ft_imu" type="accelerometer">
     <parent link="r_shoulder_2" />
-    <origin rpy="3.14159265 -0.0 1.57079633" xyz="0.0 0.006850 -0.05430" />
+    <origin rpy="3.14159265 -0.0 1.57079633" xyz="-0.006850 0.0 -0.05430" />
   </sensor>
   <gazebo reference="l_hip_2">
     <sensor name="l_leg_ft_imu" type="imu">

diff --git a/urdf/ergoCub/robots/ergoCubSN000/model.urdf b/urdf/ergoCub/robots/ergoCubSN000/model.urdf
@@ -2953,29 +2953,29 @@
     <sensor name="l_arm_ft_imu" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.0 -0.004350 -0.05430 3.14159265 -0.0 -1.57079633</pose>
+      <pose>-0.004350 0.0 -0.05430 3.14159265 -0.0 -1.57079633</pose>
       <plugin name="ergocub_yarp_gazebo_plugin_IMU" filename="libgazebo_yarp_imu.so">
         <yarpConfigurationFile>model://ergoCub/conf/gazebo_ergocub_l_arm_ft_sensor_inertial.ini</yarpConfigurationFile>
       </plugin>
     </sensor>
   </gazebo>
   <sensor name="l_arm_ft_imu" type="accelerometer">
     <parent link="l_shoulder_2" />
-    <origin rpy="3.14159265 -0.0 -1.57079633" xyz="0.0 -0.004350 -0.05430" />
+    <origin rpy="3.14159265 -0.0 -1.57079633" xyz="-0.004350 0.0 -0.05430" />
   </sensor>
   <gazebo reference="r_shoulder_2">
     <sensor name="r_arm_ft_imu" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.0 0.006850 -0.05430 3.14159265 -0.0 1.57079633</pose>
+      <pose>-0.006850 0.0 -0.05430 3.14159265 -0.0 1.57079633</pose>
       <plugin name="ergocub_yarp_gazebo_plugin_IMU" filename="libgazebo_yarp_imu.so">
         <yarpConfigurationFile>model://ergoCub/conf/gazebo_ergocub_r_arm_ft_sensor_inertial.ini</yarpConfigurationFile>
       </plugin>
     </sensor>
   </gazebo>
   <sensor name="r_arm_ft_imu" type="accelerometer">
     <parent link="r_shoulder_2" />
-    <origin rpy="3.14159265 -0.0 1.57079633" xyz="0.0 0.006850 -0.05430" />
+    <origin rpy="3.14159265 -0.0 1.57079633" xyz="-0.006850 0.0 -0.05430" />
   </sensor>
   <gazebo reference="l_hip_2">
     <sensor name="l_leg_ft_imu" type="imu">