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base_1_0.yaml
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# Robot name
robotName: ergoCub
# Model base origin
originXYZ: [0.0,0.0,0.80]
originRPY: [0.0,0.0,0.0]
# Meshes options
scale: [0.001,0.001,0.001]
filenameformat: "package://ergoCub/meshes/simmechanics/%s.obj"
epsilon: 2e-4
forcelowercase: Yes
rename:
# upperbody
SIM_ECUB_1-0_CHEST: chest
SIM_ECUB_1-0_L_SHOULDER_1: l_shoulder_1
SIM_ECUB_1-0_CHEST--SIM_ECUB_1-0_L_SHOULDER_1: l_shoulder_pitch
SIM_ECUB_1-0_L_SHOULDER_2: l_shoulder_2
SIM_ECUB_1-0_L_SHOULDER_1--SIM_ECUB_1-0_L_SHOULDER_2: l_shoulder_roll
SIM_ECUB_1-0_L_SHOULDER_3: l_shoulder_3
SIM_ECUB_1-0_L_SHOULDER_2--SIM_ECUB_1-0_L_SHOULDER_3: l_arm_ft_sensor
SIM_ECUB_1-0_L_UPPERARM: l_upper_arm
SIM_ECUB_1-0_L_SHOULDER_3--SIM_ECUB_1-0_L_UPPERARM: l_shoulder_yaw
SIM_ECUB_1-0_R_SHOULDER_1: r_shoulder_1
SIM_ECUB_1-0_CHEST--SIM_ECUB_1-0_R_SHOULDER_1: r_shoulder_pitch
SIM_ECUB_1-0_R_SHOULDER_2: r_shoulder_2
SIM_ECUB_1-0_R_SHOULDER_1--SIM_ECUB_1-0_R_SHOULDER_2: r_shoulder_roll
SIM_ECUB_1-0_R_SHOULDER_3: r_shoulder_3
SIM_ECUB_1-0_R_SHOULDER_2--SIM_ECUB_1-0_R_SHOULDER_3: r_arm_ft_sensor
SIM_ECUB_1-0_R_UPPERARM: r_upper_arm
SIM_ECUB_1-0_R_SHOULDER_3--SIM_ECUB_1-0_R_UPPERARM: r_shoulder_yaw
SIM_ECUB_1-0_TORSO_2: torso_2
SIM_ECUB_1-0_TORSO_2--SIM_ECUB_1-0_CHEST: torso_yaw
SIM_ECUB_1-0_TORSO_1: torso_1
SIM_ECUB_1-0_TORSO_1--SIM_ECUB_1-0_TORSO_2: torso_pitch
SIM_ECUB_1-0_ROOT_LINK: root_link
SIM_ECUB_1-0_ROOT_LINK--SIM_ECUB_1-0_TORSO_1: torso_roll
SIM_ECUB_1-0_CHEST--SIM_HEAD_NECK_1: neck_fixed_joint
# left leg
SIM_ECUB_1-0_L_HIP_1: l_hip_1
SIM_ECUB_1-0_L_HIP_2: l_hip_2
SIM_ECUB_1-0_L_HIP_3: l_hip_3
SIM_ECUB_1-0_L_UPPER_LEG: l_upper_leg
SIM_ECUB_1-0_L_LOWER_LEG: l_lower_leg
SIM_ECUB_1-0_L_ANKLE_1: l_ankle_1
SIM_ECUB_1-0_L_ANKLE_2: l_ankle_2
SIM_ECUB_1-0_L_FOOT_FRONT: l_foot_front
SIM_ECUB_1-0_L_FOOT_REAR: l_foot_rear
SIM_ECUB_1-0_ROOT_LINK--SIM_ECUB_1-0_L_HIP_1: l_hip_pitch
SIM_ECUB_1-0_L_HIP_1--SIM_ECUB_1-0_L_HIP_2: l_hip_roll
SIM_ECUB_1-0_L_HIP_2--SIM_ECUB_1-0_L_HIP_3: l_leg_ft_sensor
SIM_ECUB_1-0_L_HIP_3--SIM_ECUB_1-0_L_UPPER_LEG: l_hip_yaw
SIM_ECUB_1-0_L_UPPER_LEG--SIM_ECUB_1-0_L_LOWER_LEG: l_knee
SIM_ECUB_1-0_L_LOWER_LEG--SIM_ECUB_1-0_L_ANKLE_1: l_ankle_pitch
SIM_ECUB_1-0_L_ANKLE_1--SIM_ECUB_1-0_L_ANKLE_2: l_ankle_roll
SIM_ECUB_1-0_L_ANKLE_2--SIM_ECUB_1-0_L_FOOT_FRONT: l_foot_front_ft_sensor
SIM_ECUB_1-0_L_ANKLE_2--SIM_ECUB_1-0_L_FOOT_REAR: l_foot_rear_ft_sensor
# right leg
SIM_ECUB_1-0_R_HIP_1: r_hip_1
SIM_ECUB_1-0_R_HIP_2: r_hip_2
SIM_ECUB_1-0_R_HIP_3: r_hip_3
SIM_ECUB_1-0_R_UPPER_LEG: r_upper_leg
SIM_ECUB_1-0_R_LOWER_LEG: r_lower_leg
SIM_ECUB_1-0_R_ANKLE_1: r_ankle_1
SIM_ECUB_1-0_R_ANKLE_2: r_ankle_2
SIM_ECUB_1-0_R_FOOT_FRONT: r_foot_front
SIM_ECUB_1-0_R_FOOT_REAR: r_foot_rear
SIM_ECUB_1-0_ROOT_LINK--SIM_ECUB_1-0_R_HIP_1: r_hip_pitch
SIM_ECUB_1-0_R_HIP_1--SIM_ECUB_1-0_R_HIP_2: r_hip_roll
SIM_ECUB_1-0_R_HIP_2--SIM_ECUB_1-0_R_HIP_3: r_leg_ft_sensor
SIM_ECUB_1-0_R_HIP_3--SIM_ECUB_1-0_R_UPPER_LEG: r_hip_yaw
SIM_ECUB_1-0_R_UPPER_LEG--SIM_ECUB_1-0_R_LOWER_LEG: r_knee
SIM_ECUB_1-0_R_LOWER_LEG--SIM_ECUB_1-0_R_ANKLE_1: r_ankle_pitch
SIM_ECUB_1-0_R_ANKLE_1--SIM_ECUB_1-0_R_ANKLE_2: r_ankle_roll
SIM_ECUB_1-0_R_ANKLE_2--SIM_ECUB_1-0_R_FOOT_FRONT: r_foot_front_ft_sensor
SIM_ECUB_1-0_R_ANKLE_2--SIM_ECUB_1-0_R_FOOT_REAR: r_foot_rear_ft_sensor
# head
SIM_ECUB_1-0_HEAD_NECK_1: neck_1
SIM_ECUB_1-0_HEAD_NECK_2: neck_2
SIM_ECUB_1-0_HEAD_NECK_3: neck_3
SIM_ECUB_1-0_HEAD: head
SIM_ECUB_1-0_REALSENSE: realsense
SIM_ECUB_1-0_CHEST--SIM_ECUB_1-0_HEAD_NECK_2: neck_pitch # It will be fixed
SIM_ECUB_1-0_HEAD_NECK_2--SIM_ECUB_1-0_HEAD_NECK_3: neck_roll
SIM_ECUB_1-0_HEAD_NECK_3--SIM_ECUB_1-0_HEAD: neck_yaw
SIM_ECUB_1-0_HEAD--SIM_ECUB_1-0_REALSENSE: camera_tilt
# left forearm
SIM_ECUB_1-0_L_UPPERARM: l_upper_arm
SIM_ECUB_1-0_L_FOREARM: l_forearm
SIM_ECUB_1-0_L_WRIST_1: l_wrist_1
SIM_ECUB_1-0_L_WRIST_2: l_wrist_2
SIM_ECUB_1-0_L_HAND_PALM: l_hand_palm
SIM_ECUB_1-0_L_HAND_THUMB_1: l_hand_thumb_1
SIM_ECUB_1-0_L_HAND_THUMB_2: l_hand_thumb_2
SIM_ECUB_1-0_L_HAND_THUMB_3: l_hand_thumb_3
SIM_ECUB_1-0_L_HAND_INDEX_1: l_hand_index_1
SIM_ECUB_1-0_L_HAND_INDEX_2: l_hand_index_2
SIM_ECUB_1-0_L_HAND_INDEX_3: l_hand_index_3
SIM_ECUB_1-0_L_HAND_MIDDLE_1: l_hand_middle_1
SIM_ECUB_1-0_L_HAND_MIDDLE_2: l_hand_middle_2
SIM_ECUB_1-0_L_HAND_RING_1: l_hand_ring_1
SIM_ECUB_1-0_L_HAND_RING_2: l_hand_ring_2
SIM_ECUB_1-0_L_HAND_PINKIE_1: l_hand_pinkie_1
SIM_ECUB_1-0_L_HAND_PINKIE_2: l_hand_pinkie_2
SIM_ECUB_1-0_L_UPPERARM--SIM_ECUB_1-0_L_FOREARM: l_elbow
SIM_ECUB_1-0_L_FOREARM--SIM_ECUB_1-0_L_WRIST_1: l_wrist_yaw
SIM_ECUB_1-0_L_WRIST_1--SIM_ECUB_1-0_L_WRIST_2: l_wrist_roll
SIM_ECUB_1-0_L_WRIST_2--SIM_ECUB_1-0_L_HAND_PALM: l_wrist_pitch
SIM_ECUB_1-0_L_HAND_PALM--SIM_ECUB_1-0_L_HAND_THUMB_1: l_thumb_add
SIM_ECUB_1-0_L_HAND_THUMB_1--SIM_ECUB_1-0_L_HAND_THUMB_2: l_thumb_prox
SIM_ECUB_1-0_L_HAND_THUMB_2--SIM_ECUB_1-0_L_HAND_THUMB_3: l_thumb_dist
SIM_ECUB_1-0_L_HAND_PALM--SIM_ECUB_1-0_L_HAND_INDEX_1: l_index_add
SIM_ECUB_1-0_L_HAND_INDEX_1--SIM_ECUB_1-0_L_HAND_INDEX_2: l_index_prox
SIM_ECUB_1-0_L_HAND_INDEX_2--SIM_ECUB_1-0_L_HAND_INDEX_3: l_index_dist
SIM_ECUB_1-0_L_HAND_PALM--SIM_ECUB_1-0_L_HAND_MIDDLE_1: l_middle_prox
SIM_ECUB_1-0_L_HAND_MIDDLE_1--SIM_ECUB_1-0_L_HAND_MIDDLE_2: l_middle_dist
SIM_ECUB_1-0_L_HAND_PALM--SIM_ECUB_1-0_L_HAND_RING_1: l_ring_prox
SIM_ECUB_1-0_L_HAND_RING_1--SIM_ECUB_1-0_L_HAND_RING_2: l_ring_dist
SIM_ECUB_1-0_L_HAND_PALM--SIM_ECUB_1-0_L_HAND_PINKIE_1: l_pinkie_prox
SIM_ECUB_1-0_L_HAND_PINKIE_1--SIM_ECUB_1-0_L_HAND_PINKIE_2: l_pinkie_dist
# right forearm
SIM_ECUB_1-0_R_UPPERARM: r_upper_arm
SIM_ECUB_1-0_R_FOREARM: r_forearm
SIM_ECUB_1-0_R_WRIST_1: r_wrist_1
SIM_ECUB_1-0_R_WRIST_2: r_wrist_2
SIM_ECUB_1-0_R_HAND_PALM: r_hand_palm
SIM_ECUB_1-0_R_HAND_THUMB_1: r_hand_thumb_1
SIM_ECUB_1-0_R_HAND_THUMB_2: r_hand_thumb_2
SIM_ECUB_1-0_R_HAND_THUMB_3: r_hand_thumb_3
SIM_ECUB_1-0_R_HAND_INDEX_1: r_hand_index_1
SIM_ECUB_1-0_R_HAND_INDEX_2: r_hand_index_2
SIM_ECUB_1-0_R_HAND_INDEX_3: r_hand_index_3
SIM_ECUB_1-0_R_HAND_MIDDLE_1: r_hand_middle_1
SIM_ECUB_1-0_R_HAND_MIDDLE_2: r_hand_middle_2
SIM_ECUB_1-0_R_HAND_RING_1: r_hand_ring_1
SIM_ECUB_1-0_R_HAND_RING_2: r_hand_ring_2
SIM_ECUB_1-0_R_HAND_PINKIE_1: r_hand_pinkie_1
SIM_ECUB_1-0_R_HAND_PINKIE_2: r_hand_pinkie_2
SIM_ECUB_1-0_R_UPPERARM--SIM_ECUB_1-0_R_FOREARM: r_elbow
SIM_ECUB_1-0_R_FOREARM--SIM_ECUB_1-0_R_WRIST_1: r_wrist_yaw
SIM_ECUB_1-0_R_WRIST_1--SIM_ECUB_1-0_R_WRIST_2: r_wrist_roll
SIM_ECUB_1-0_R_WRIST_2--SIM_ECUB_1-0_R_HAND_PALM: r_wrist_pitch
SIM_ECUB_1-0_R_HAND_PALM--SIM_ECUB_1-0_R_HAND_THUMB_1: r_thumb_add
SIM_ECUB_1-0_R_HAND_THUMB_1--SIM_ECUB_1-0_R_HAND_THUMB_2: r_thumb_prox
SIM_ECUB_1-0_R_HAND_THUMB_2--SIM_ECUB_1-0_R_HAND_THUMB_3: r_thumb_dist
SIM_ECUB_1-0_R_HAND_PALM--SIM_ECUB_1-0_R_HAND_INDEX_1: r_index_add
SIM_ECUB_1-0_R_HAND_INDEX_1--SIM_ECUB_1-0_R_HAND_INDEX_2: r_index_prox
SIM_ECUB_1-0_R_HAND_INDEX_2--SIM_ECUB_1-0_R_HAND_INDEX_3: r_index_dist
SIM_ECUB_1-0_R_HAND_PALM--SIM_ECUB_1-0_R_HAND_MIDDLE_1: r_middle_prox
SIM_ECUB_1-0_R_HAND_MIDDLE_1--SIM_ECUB_1-0_R_HAND_MIDDLE_2: r_middle_dist
SIM_ECUB_1-0_R_HAND_PALM--SIM_ECUB_1-0_R_HAND_RING_1: r_ring_prox
SIM_ECUB_1-0_R_HAND_RING_1--SIM_ECUB_1-0_R_HAND_RING_2: r_ring_dist
SIM_ECUB_1-0_R_HAND_PALM--SIM_ECUB_1-0_R_HAND_PINKIE_1: r_pinkie_prox
SIM_ECUB_1-0_R_HAND_PINKIE_1--SIM_ECUB_1-0_R_HAND_PINKIE_2: r_pinkie_dist
# Frames options
exportAllUseradded: No
linkFrames:
# upperbody
- linkName: root_link
frameName: SCSYS_ROOT
- linkName: chest
frameName: SCSYS_CHEST
- linkName: l_shoulder_1
frameName: SCSYS_L_SHOULDER_1
- linkName: l_shoulder_2
frameName: SCSYS_L_SHOULDER_2
- linkName: l_shoulder_3
frameName: SCSYS_L_SHOULDER_3
- linkName: l_upper_arm
frameName: SCSYS_L_UPPERARM
- linkName: r_shoulder_2
frameName: SCSYS_R_SHOULDER_2_FT
- linkName: r_shoulder_1
frameName: SCSYS_R_SHOULDER_1
- linkName: r_shoulder_2
frameName: SCSYS_R_SHOULDER_2
- linkName: r_shoulder_3
frameName: SCSYS_R_SHOULDER_3
- linkName: r_upper_arm
frameName: SCSYS_R_UPPERARM
- linkName: torso_1
frameName: SCSYS_TORSO_1
- linkName: torso_2
frameName: SCSYS_TORSO_2
# left leg
- linkName: l_hip_1
frameName: SCSYS_L_HIP_1
- linkName: l_hip_2
frameName: SCSYS_L_HIP_2
- linkName: l_hip_3
frameName: SCSYS_L_HIP_3
- linkName: l_upper_leg
frameName: SCSYS_L_UPPER_LEG
- linkName: l_lower_leg
frameName: SCSYS_L_LOWER_LEG
- linkName: l_ankle_1
frameName: SCSYS_L_ANKLE_1
- linkName: l_ankle_2
frameName: SCSYS_L_ANKLE_2
- linkName: l_foot_front
frameName: SCSYS_L_FOOT_FRONT
- linkName: l_foot_rear
frameName: SCSYS_L_FOOT_REAR
# right leg
- linkName: r_hip_1
frameName: SCSYS_R_HIP_1
- linkName: r_hip_2
frameName: SCSYS_R_HIP_2
- linkName: r_hip_3
frameName: SCSYS_R_HIP_3
- linkName: r_upper_leg
frameName: SCSYS_R_UPPER_LEG
- linkName: r_lower_leg
frameName: SCSYS_R_LOWER_LEG
- linkName: r_ankle_1
frameName: SCSYS_R_ANKLE_1
- linkName: r_ankle_2
frameName: SCSYS_R_ANKLE_2
- linkName: r_foot_front
frameName: SCSYS_R_FOOT_FRONT
- linkName: r_foot_rear
frameName: SCSYS_R_FOOT_REAR
# head
- linkName: neck_1
frameName: SCSYS_NECK_1
- linkName: neck_2
frameName: SCSYS_NECK_2
- linkName: neck_3
frameName: SCSYS_NECK_3
- linkName: head
frameName: SCSYS_HEAD
- linkName: realsense
frameName: SCSYS_REALSENSE
# left forearm
- linkName: l_upper_arm
frameName: SCSYS_L_UPPERARM
- linkName: l_forearm
frameName: SCSYS_L_FOREARM
- linkName: l_wrist_1
frameName: SCSYS_L_WRIST_1
- linkName: l_wrist_2
frameName: SCSYS_L_WRIST_ROLL # WRONG NAME
- linkName: l_hand_palm
frameName: SCSYS_L_HAND_PALM
- linkName: l_hand_thumb_1
frameName: SCSYS_L_HAND_THUMB_MCARP # WRONG NAME
- linkName: l_hand_thumb_2
frameName: SCSYS_L_HAND_THUMB_MED # WRONG NAME
- linkName: l_hand_thumb_3
frameName: SCSYS_L_HAND_THUMB_DIST # WRONG NAME
- linkName: l_hand_index_1
frameName: SCSYS_L_HAND_INDEX_PROX # WRONG NAME
- linkName: l_hand_index_2
frameName: SCSYS_L_HAND_INDEX_MED # WRONG NAME
- linkName: l_hand_index_3
frameName: SCSYS_L_HAND_INDEX_DIST # WRONG NAME
- linkName: l_hand_middle_1
frameName: SCSYS_L_HAND_MIDDLE_MED # WRONG NAME
- linkName: l_hand_middle_2
frameName: SCSYS_L_HAND_MIDDLE_DIST # WRONG NAME
- linkName: l_hand_ring_1
frameName: SCSYS_L_HAND_RING_1
- linkName: l_hand_ring_2
frameName: SCSYS_L_HAND_RING_DIST # WRONG NAME
- linkName: l_hand_pinkie_1
frameName: SCSYS_L_HAND_PINKIE_MED # WRONG NAME
- linkName: l_hand_pinkie_2
frameName: SCSYS_L_HAND_PINKIE_DIST # WRONG NAME
# right forearm
- linkName: r_upper_arm
frameName: SCSYS_R_UPPERARM
- linkName: r_forearm
frameName: SCSYS_R_FOREARM
- linkName: r_wrist_1
frameName: SCSYS_R_WRIST_YAW # WRONG NAME
- linkName: r_wrist_2
frameName: SCSYS_R_WRIST_ROLL # WRONG NAME
- linkName: r_hand_palm
frameName: SCSYS_R_HAND_PALM
- linkName: r_hand_thumb_1
frameName: SCSYS_R_HAND_THUMB_MCARP # WRONG NAME
- linkName: r_hand_thumb_2
frameName: SCSYS_R_HAND_THUMB_MED # WRONG NAME
- linkName: r_hand_thumb_3
frameName: SCSYS_R_HAND_THUMB_DIST # WRONG NAME
- linkName: r_hand_index_1
frameName: SCSYS_R_HAND_INDEX_PROX # WRONG NAME
- linkName: r_hand_index_2
frameName: SCSYS_R_HAND_INDEX_MED # WRONG NAME
- linkName: r_hand_index_3
frameName: SCSYS_R_HAND_INDEX_DIST # WRONG NAME
- linkName: r_hand_middle_1
frameName: SCSYS_R_HAND_MIDDLE_MED # WRONG NAME
- linkName: r_hand_middle_2
frameName: SCSYS_R_HAND_MIDDLE_DIST # WRONG NAME
- linkName: r_hand_ring_1
frameName: SCSYS_R_HAND_RING_MED # WRONG NAME
- linkName: r_hand_ring_2
frameName: SCSYS_R_HAND_RING_DIST # WRONG NAME
- linkName: r_hand_pinkie_1
frameName: SCSYS_R_HAND_PINKIE_MED # WRONG NAME
- linkName: r_hand_pinkie_2
frameName: SCSYS_R_HAND_PINKIE_DIST # WRONG NAME
exportedFrames:
- frameName: SCSYS_HEAD_IMU
frameReferenceLink: head
exportedFrameName: imu_frame
- frameName: SCSYS_HEAD_DEPTH
frameReferenceLink: realsense
exportedFrameName: realsense_depth_frame
- frameName: SCSYS_HEAD_RGB
frameReferenceLink: realsense
exportedFrameName: realsense_rgb_frame
- frameName: SCSYS_HEAD_S2_LASER
frameReferenceLink: head
exportedFrameName: head_laser_frame
additionalTransformation: [0,0,0,0,0,-1.5708]
- frameName: SCSYS_L_SOLE
frameReferenceLink: l_foot_rear
exportedFrameName: l_sole
- frameName: SCSYS_R_SOLE
frameReferenceLink: r_foot_rear
exportedFrameName: r_sole
# Fingertip scsys
# l_thumb
- frameName: SCSYS_L_THUMB_SKIN_TAXEL_0
frameReferenceLink: l_hand_thumb_3
exportedFrameName: l_hand_thumb_skin_0
- frameName: SCSYS_L_THUMB_SKIN_TAXEL_1
frameReferenceLink: l_hand_thumb_3
exportedFrameName: l_hand_thumb_skin_1
- frameName: SCSYS_L_THUMB_SKIN_TAXEL_2
frameReferenceLink: l_hand_thumb_3
exportedFrameName: l_hand_thumb_skin_2
- frameName: SCSYS_L_THUMB_SKIN_TAXEL_3
frameReferenceLink: l_hand_thumb_3
exportedFrameName: l_hand_thumb_skin_3
- frameName: SCSYS_L_THUMB_SKIN_TAXEL_4
frameReferenceLink: l_hand_thumb_3
exportedFrameName: l_hand_thumb_skin_4
- frameName: SCSYS_L_THUMB_SKIN_TAXEL_5
frameReferenceLink: l_hand_thumb_3
exportedFrameName: l_hand_thumb_skin_5
- frameName: SCSYS_L_THUMB_SKIN_TAXEL_6
frameReferenceLink: l_hand_thumb_3
exportedFrameName: l_hand_thumb_skin_6
- frameName: SCSYS_L_THUMB_SKIN_TAXEL_7
frameReferenceLink: l_hand_thumb_3
exportedFrameName: l_hand_thumb_skin_7
- frameName: SCSYS_L_THUMB_SKIN_TAXEL_8
frameReferenceLink: l_hand_thumb_3
exportedFrameName: l_hand_thumb_skin_8
- frameName: SCSYS_L_THUMB_SKIN_TAXEL_9
frameReferenceLink: l_hand_thumb_3
exportedFrameName: l_hand_thumb_skin_9
- frameName: SCSYS_L_THUMB_SKIN_TAXEL_10
frameReferenceLink: l_hand_thumb_3
exportedFrameName: l_hand_thumb_skin_10
- frameName: SCSYS_L_THUMB_SKIN_TAXEL_11
frameReferenceLink: l_hand_thumb_3
exportedFrameName: l_hand_thumb_skin_11
# l_index
- frameName: SCSYS_L_INDEX_SKIN_TAXEL_0
frameReferenceLink: l_hand_index_3
exportedFrameName: l_hand_index_skin_0
- frameName: SCSYS_L_INDEX_SKIN_TAXEL_1
frameReferenceLink: l_hand_index_3
exportedFrameName: l_hand_index_skin_1
- frameName: SCSYS_L_INDEX_SKIN_TAXEL_2
frameReferenceLink: l_hand_index_3
exportedFrameName: l_hand_index_skin_2
- frameName: SCSYS_L_INDEX_SKIN_TAXEL_3
frameReferenceLink: l_hand_index_3
exportedFrameName: l_hand_index_skin_3
- frameName: SCSYS_L_INDEX_SKIN_TAXEL_4
frameReferenceLink: l_hand_index_3
exportedFrameName: l_hand_index_skin_4
- frameName: SCSYS_L_INDEX_SKIN_TAXEL_5
frameReferenceLink: l_hand_index_3
exportedFrameName: l_hand_index_skin_5
- frameName: SCSYS_L_INDEX_SKIN_TAXEL_6
frameReferenceLink: l_hand_index_3
exportedFrameName: l_hand_index_skin_6
- frameName: SCSYS_L_INDEX_SKIN_TAXEL_7
frameReferenceLink: l_hand_index_3
exportedFrameName: l_hand_index_skin_7
- frameName: SCSYS_L_INDEX_SKIN_TAXEL_8
frameReferenceLink: l_hand_index_3
exportedFrameName: l_hand_index_skin_8
- frameName: SCSYS_L_INDEX_SKIN_TAXEL_9
frameReferenceLink: l_hand_index_3
exportedFrameName: l_hand_index_skin_9
- frameName: SCSYS_L_INDEX_SKIN_TAXEL_10
frameReferenceLink: l_hand_index_3
exportedFrameName: l_hand_index_skin_10
- frameName: SCSYS_L_INDEX_SKIN_TAXEL_11
frameReferenceLink: l_hand_index_3
exportedFrameName: l_hand_index_skin_11
# l_middle
- frameName: SCSYS_L_MIDDLE_SKIN_TAXEL_0
frameReferenceLink: l_hand_middle_2
exportedFrameName: l_hand_middle_skin_0
- frameName: SCSYS_L_MIDDLE_SKIN_TAXEL_1
frameReferenceLink: l_hand_middle_2
exportedFrameName: l_hand_middle_skin_1
- frameName: SCSYS_L_MIDDLE_SKIN_TAXEL_2
frameReferenceLink: l_hand_middle_2
exportedFrameName: l_hand_middle_skin_2
- frameName: SCSYS_L_MIDDLE_SKIN_TAXEL_3
frameReferenceLink: l_hand_middle_2
exportedFrameName: l_hand_middle_skin_3
- frameName: SCSYS_L_MIDDLE_SKIN_TAXEL_4
frameReferenceLink: l_hand_middle_2
exportedFrameName: l_hand_middle_skin_4
- frameName: SCSYS_L_MIDDLE_SKIN_TAXEL_5
frameReferenceLink: l_hand_middle_2
exportedFrameName: l_hand_middle_skin_5
- frameName: SCSYS_L_MIDDLE_SKIN_TAXEL_6
frameReferenceLink: l_hand_middle_2
exportedFrameName: l_hand_middle_skin_6
- frameName: SCSYS_L_MIDDLE_SKIN_TAXEL_7
frameReferenceLink: l_hand_middle_2
exportedFrameName: l_hand_middle_skin_7
- frameName: SCSYS_L_MIDDLE_SKIN_TAXEL_8
frameReferenceLink: l_hand_middle_2
exportedFrameName: l_hand_middle_skin_8
- frameName: SCSYS_L_MIDDLE_SKIN_TAXEL_9
frameReferenceLink: l_hand_middle_2
exportedFrameName: l_hand_middle_skin_9
- frameName: SCSYS_L_MIDDLE_SKIN_TAXEL_10
frameReferenceLink: l_hand_middle_2
exportedFrameName: l_hand_middle_skin_10
- frameName: SCSYS_L_MIDDLE_SKIN_TAXEL_11
frameReferenceLink: l_hand_middle_2
exportedFrameName: l_hand_middle_skin_11
# l_ring
- frameName: SCSYS_L_RING_SKIN_TAXEL_0
frameReferenceLink: l_hand_ring_2
exportedFrameName: l_hand_ring_skin_0
- frameName: SCSYS_L_RING_SKIN_TAXEL_1
frameReferenceLink: l_hand_ring_2
exportedFrameName: l_hand_ring_skin_1
- frameName: SCSYS_L_RING_SKIN_TAXEL_2
frameReferenceLink: l_hand_ring_2
exportedFrameName: l_hand_ring_skin_2
- frameName: SCSYS_L_RING_SKIN_TAXEL_3
frameReferenceLink: l_hand_ring_2
exportedFrameName: l_hand_ring_skin_3
- frameName: SCSYS_L_RING_SKIN_TAXEL_4
frameReferenceLink: l_hand_ring_2
exportedFrameName: l_hand_ring_skin_4
- frameName: SCSYS_L_RING_SKIN_TAXEL_5
frameReferenceLink: l_hand_ring_2
exportedFrameName: l_hand_ring_skin_5
- frameName: SCSYS_L_RING_SKIN_TAXEL_6
frameReferenceLink: l_hand_ring_2
exportedFrameName: l_hand_ring_skin_6
- frameName: SCSYS_L_RING_SKIN_TAXEL_7
frameReferenceLink: l_hand_ring_2
exportedFrameName: l_hand_ring_skin_7
- frameName: SCSYS_L_RING_SKIN_TAXEL_8
frameReferenceLink: l_hand_ring_2
exportedFrameName: l_hand_ring_skin_8
- frameName: SCSYS_L_RING_SKIN_TAXEL_9
frameReferenceLink: l_hand_ring_2
exportedFrameName: l_hand_ring_skin_9
- frameName: SCSYS_L_RING_SKIN_TAXEL_10
frameReferenceLink: l_hand_ring_2
exportedFrameName: l_hand_ring_skin_10
- frameName: SCSYS_L_RING_SKIN_TAXEL_11
frameReferenceLink: l_hand_ring_2
exportedFrameName: l_hand_ring_skin_11
# l_pinkie
- frameName: SCSYS_L_PINKY_SKIN_TAXEL_0
frameReferenceLink: l_hand_pinkie_2
exportedFrameName: l_hand_pinkie_skin_0
- frameName: SCSYS_L_PINKY_SKIN_TAXEL_1
frameReferenceLink: l_hand_pinkie_2
exportedFrameName: l_hand_pinkie_skin_1
- frameName: SCSYS_L_PINKY_SKIN_TAXEL_2
frameReferenceLink: l_hand_pinkie_2
exportedFrameName: l_hand_pinkie_skin_2
- frameName: SCSYS_L_PINKY_SKIN_TAXEL_3
frameReferenceLink: l_hand_pinkie_2
exportedFrameName: l_hand_pinkie_skin_3
- frameName: SCSYS_L_PINKY_SKIN_TAXEL_4
frameReferenceLink: l_hand_pinkie_2
exportedFrameName: l_hand_pinkie_skin_4
- frameName: SCSYS_L_PINKY_SKIN_TAXEL_5
frameReferenceLink: l_hand_pinkie_2
exportedFrameName: l_hand_pinkie_skin_5
- frameName: SCSYS_L_PINKY_SKIN_TAXEL_6
frameReferenceLink: l_hand_pinkie_2
exportedFrameName: l_hand_pinkie_skin_6
- frameName: SCSYS_L_PINKY_SKIN_TAXEL_7
frameReferenceLink: l_hand_pinkie_2
exportedFrameName: l_hand_pinkie_skin_7
- frameName: SCSYS_L_PINKY_SKIN_TAXEL_8
frameReferenceLink: l_hand_pinkie_2
exportedFrameName: l_hand_pinkie_skin_8
- frameName: SCSYS_L_PINKY_SKIN_TAXEL_9
frameReferenceLink: l_hand_pinkie_2
exportedFrameName: l_hand_pinkie_skin_9
- frameName: SCSYS_L_PINKY_SKIN_TAXEL_10
frameReferenceLink: l_hand_pinkie_2
exportedFrameName: l_hand_pinkie_skin_10
- frameName: SCSYS_L_PINKY_SKIN_TAXEL_11
frameReferenceLink: l_hand_pinkie_2
exportedFrameName: l_hand_pinkie_skin_11
# r_thumb
- frameName: SCSYS_R_THUMB_SKIN_TAXEL_0
frameReferenceLink: r_hand_thumb_3
exportedFrameName: r_hand_thumb_skin_0
- frameName: SCSYS_R_THUMB_SKIN_TAXEL_1
frameReferenceLink: r_hand_thumb_3
exportedFrameName: r_hand_thumb_skin_1
- frameName: SCSYS_R_THUMB_SKIN_TAXEL_2
frameReferenceLink: r_hand_thumb_3
exportedFrameName: r_hand_thumb_skin_2
- frameName: SCSYS_R_THUMB_SKIN_TAXEL_3
frameReferenceLink: r_hand_thumb_3
exportedFrameName: r_hand_thumb_skin_3
- frameName: SCSYS_R_THUMB_SKIN_TAXEL_4
frameReferenceLink: r_hand_thumb_3
exportedFrameName: r_hand_thumb_skin_4
- frameName: SCSYS_R_THUMB_SKIN_TAXEL_5
frameReferenceLink: r_hand_thumb_3
exportedFrameName: r_hand_thumb_skin_5
- frameName: SCSYS_R_THUMB_SKIN_TAXEL_6
frameReferenceLink: r_hand_thumb_3
exportedFrameName: r_hand_thumb_skin_6
- frameName: SCSYS_R_THUMB_SKIN_TAXEL_7
frameReferenceLink: r_hand_thumb_3
exportedFrameName: r_hand_thumb_skin_7
- frameName: SCSYS_R_THUMB_SKIN_TAXEL_8
frameReferenceLink: r_hand_thumb_3
exportedFrameName: r_hand_thumb_skin_8
- frameName: SCSYS_R_THUMB_SKIN_TAXEL_9
frameReferenceLink: r_hand_thumb_3
exportedFrameName: r_hand_thumb_skin_9
- frameName: SCSYS_R_THUMB_SKIN_TAXEL_10
frameReferenceLink: r_hand_thumb_3
exportedFrameName: r_hand_thumb_skin_10
- frameName: SCSYS_R_THUMB_SKIN_TAXEL_11
frameReferenceLink: r_hand_thumb_3
exportedFrameName: r_hand_thumb_skin_11
# r_index
- frameName: SCSYS_R_INDEX_SKIN_TAXEL_0
frameReferenceLink: r_hand_index_3
exportedFrameName: r_hand_index_skin_0
- frameName: SCSYS_R_INDEX_SKIN_TAXEL_1
frameReferenceLink: r_hand_index_3
exportedFrameName: r_hand_index_skin_1
- frameName: SCSYS_R_INDEX_SKIN_TAXEL_2
frameReferenceLink: r_hand_index_3
exportedFrameName: r_hand_index_skin_2
- frameName: SCSYS_R_INDEX_SKIN_TAXEL_3
frameReferenceLink: r_hand_index_3
exportedFrameName: r_hand_index_skin_3
- frameName: SCSYS_R_INDEX_SKIN_TAXEL_4
frameReferenceLink: r_hand_index_3
exportedFrameName: r_hand_index_skin_4
- frameName: SCSYS_R_INDEX_SKIN_TAXEL_5
frameReferenceLink: r_hand_index_3
exportedFrameName: r_hand_index_skin_5
- frameName: SCSYS_R_INDEX_SKIN_TAXEL_6
frameReferenceLink: r_hand_index_3
exportedFrameName: r_hand_index_skin_6
- frameName: SCSYS_R_INDEX_SKIN_TAXEL_7
frameReferenceLink: r_hand_index_3
exportedFrameName: r_hand_index_skin_7
- frameName: SCSYS_R_INDEX_SKIN_TAXEL_8
frameReferenceLink: r_hand_index_3
exportedFrameName: r_hand_index_skin_8
- frameName: SCSYS_R_INDEX_SKIN_TAXEL_9
frameReferenceLink: r_hand_index_3
exportedFrameName: r_hand_index_skin_9
- frameName: SCSYS_R_INDEX_SKIN_TAXEL_10
frameReferenceLink: r_hand_index_3
exportedFrameName: r_hand_index_skin_10
- frameName: SCSYS_R_INDEX_SKIN_TAXEL_11
frameReferenceLink: r_hand_index_3
exportedFrameName: r_hand_index_skin_11
# r_middle
- frameName: SCSYS_R_MIDDLE_SKIN_TAXEL_0
frameReferenceLink: r_hand_middle_2
exportedFrameName: r_hand_middle_skin_0
- frameName: SCSYS_R_MIDDLE_SKIN_TAXEL_1
frameReferenceLink: r_hand_middle_2
exportedFrameName: r_hand_middle_skin_1
- frameName: SCSYS_R_MIDDLE_SKIN_TAXEL_2
frameReferenceLink: r_hand_middle_2
exportedFrameName: r_hand_middle_skin_2
- frameName: SCSYS_R_MIDDLE_SKIN_TAXEL_3
frameReferenceLink: r_hand_middle_2
exportedFrameName: r_hand_middle_skin_3
- frameName: SCSYS_R_MIDDLE_SKIN_TAXEL_4
frameReferenceLink: r_hand_middle_2
exportedFrameName: r_hand_middle_skin_4
- frameName: SCSYS_R_MIDDLE_SKIN_TAXEL_5
frameReferenceLink: r_hand_middle_2
exportedFrameName: r_hand_middle_skin_5
- frameName: SCSYS_R_MIDDLE_SKIN_TAXEL_6
frameReferenceLink: r_hand_middle_2
exportedFrameName: r_hand_middle_skin_6
- frameName: SCSYS_R_MIDDLE_SKIN_TAXEL_7
frameReferenceLink: r_hand_middle_2
exportedFrameName: r_hand_middle_skin_7
- frameName: SCSYS_R_MIDDLE_SKIN_TAXEL_8
frameReferenceLink: r_hand_middle_2
exportedFrameName: r_hand_middle_skin_8
- frameName: SCSYS_R_MIDDLE_SKIN_TAXEL_9
frameReferenceLink: r_hand_middle_2
exportedFrameName: r_hand_middle_skin_9
- frameName: SCSYS_R_MIDDLE_SKIN_TAXEL_10
frameReferenceLink: r_hand_middle_2
exportedFrameName: r_hand_middle_skin_10
- frameName: SCSYS_R_MIDDLE_SKIN_TAXEL_11
frameReferenceLink: r_hand_middle_2
exportedFrameName: r_hand_middle_skin_11
# r_ring
- frameName: SCSYS_R_RING_SKIN_TAXEL_0
frameReferenceLink: r_hand_ring_2
exportedFrameName: r_hand_ring_skin_0
- frameName: SCSYS_R_RING_SKIN_TAXEL_1
frameReferenceLink: r_hand_ring_2
exportedFrameName: r_hand_ring_skin_1
- frameName: SCSYS_R_RING_SKIN_TAXEL_2
frameReferenceLink: r_hand_ring_2
exportedFrameName: r_hand_ring_skin_2
- frameName: SCSYS_R_RING_SKIN_TAXEL_3
frameReferenceLink: r_hand_ring_2
exportedFrameName: r_hand_ring_skin_3
- frameName: SCSYS_R_RING_SKIN_TAXEL_4
frameReferenceLink: r_hand_ring_2
exportedFrameName: r_hand_ring_skin_4
- frameName: SCSYS_R_RING_SKIN_TAXEL_5
frameReferenceLink: r_hand_ring_2
exportedFrameName: r_hand_ring_skin_5
- frameName: SCSYS_R_RING_SKIN_TAXEL_6
frameReferenceLink: r_hand_ring_2
exportedFrameName: r_hand_ring_skin_6
- frameName: SCSYS_R_RING_SKIN_TAXEL_7
frameReferenceLink: r_hand_ring_2
exportedFrameName: r_hand_ring_skin_7
- frameName: SCSYS_R_RING_SKIN_TAXEL_8
frameReferenceLink: r_hand_ring_2
exportedFrameName: r_hand_ring_skin_8
- frameName: SCSYS_R_RING_SKIN_TAXEL_9
frameReferenceLink: r_hand_ring_2
exportedFrameName: r_hand_ring_skin_9
- frameName: SCSYS_R_RING_SKIN_TAXEL_10
frameReferenceLink: r_hand_ring_2
exportedFrameName: r_hand_ring_skin_10
- frameName: SCSYS_R_RING_SKIN_TAXEL_11
frameReferenceLink: r_hand_ring_2
exportedFrameName: r_hand_ring_skin_11
# r_pinkie
- frameName: SCSYS_R_PINKY_SKIN_TAXEL_0
frameReferenceLink: r_hand_pinkie_2
exportedFrameName: r_hand_pinkie_skin_0
- frameName: SCSYS_R_PINKY_SKIN_TAXEL_1
frameReferenceLink: r_hand_pinkie_2
exportedFrameName: r_hand_pinkie_skin_1
- frameName: SCSYS_R_PINKY_SKIN_TAXEL_2
frameReferenceLink: r_hand_pinkie_2
exportedFrameName: r_hand_pinkie_skin_2
- frameName: SCSYS_R_PINKY_SKIN_TAXEL_3
frameReferenceLink: r_hand_pinkie_2
exportedFrameName: r_hand_pinkie_skin_3
- frameName: SCSYS_R_PINKY_SKIN_TAXEL_4
frameReferenceLink: r_hand_pinkie_2
exportedFrameName: r_hand_pinkie_skin_4
- frameName: SCSYS_R_PINKY_SKIN_TAXEL_5
frameReferenceLink: r_hand_pinkie_2
exportedFrameName: r_hand_pinkie_skin_5
- frameName: SCSYS_R_PINKY_SKIN_TAXEL_6
frameReferenceLink: r_hand_pinkie_2
exportedFrameName: r_hand_pinkie_skin_6
- frameName: SCSYS_R_PINKY_SKIN_TAXEL_7
frameReferenceLink: r_hand_pinkie_2
exportedFrameName: r_hand_pinkie_skin_7
- frameName: SCSYS_R_PINKY_SKIN_TAXEL_8
frameReferenceLink: r_hand_pinkie_2
exportedFrameName: r_hand_pinkie_skin_8
- frameName: SCSYS_R_PINKY_SKIN_TAXEL_9
frameReferenceLink: r_hand_pinkie_2
exportedFrameName: r_hand_pinkie_skin_9
- frameName: SCSYS_R_PINKY_SKIN_TAXEL_10
frameReferenceLink: r_hand_pinkie_2
exportedFrameName: r_hand_pinkie_skin_10
- frameName: SCSYS_R_PINKY_SKIN_TAXEL_11
frameReferenceLink: r_hand_pinkie_2
exportedFrameName: r_hand_pinkie_skin_11
# Sensors options
forceTorqueSensors:
- jointName: l_arm_ft_sensor
directionChildToParent: Yes
exportFrameInURDF: Yes
frame: sensor
frameName: SCSYS_L_SHOULDER_2_FT
linkName: l_shoulder_2
sensorName: l_arm_ft
sensorBlobs:
- |
<plugin name="left_arm_ft_plugin" filename="libgazebo_yarp_forcetorque.so">
<yarpConfigurationFile>model://ergoCub/conf/FT/gazebo_ergocub_left_arm_ft.ini</yarpConfigurationFile>
</plugin>
- jointName: r_arm_ft_sensor
directionChildToParent: Yes
exportFrameInURDF: Yes
frame: sensor
frameName: SCSYS_R_SHOULDER_2_FT
linkName: r_shoulder_2
sensorName: r_arm_ft
sensorBlobs:
- |
<plugin name="right_arm_ft_plugin" filename="libgazebo_yarp_forcetorque.so">
<yarpConfigurationFile>model://ergoCub/conf/FT/gazebo_ergocub_right_arm_ft.ini</yarpConfigurationFile>
</plugin>
# left leg
- jointName: l_leg_ft_sensor
directionChildToParent: Yes
exportFrameInURDF: Yes
frame: sensor
linkName: l_hip_2
frameName: SCSYS_L_HIP_2_FT
sensorName: l_leg_ft
sensorBlobs:
- |
<plugin name="left_leg_ft_plugin" filename="libgazebo_yarp_forcetorque.so">
<yarpConfigurationFile>model://ergoCub/conf/FT/gazebo_ergocub_left_leg_ft.ini</yarpConfigurationFile>
</plugin>
- jointName: l_foot_front_ft_sensor
directionChildToParent: No
exportFrameInURDF: Yes
frame: sensor
linkName: l_ankle_2
frameName: SCSYS_L_ANKLE_2_FT_FRONT
sensorName: l_foot_front_ft
sensorBlobs:
- |
<plugin name="left_foot_front_ft_plugin" filename="libgazebo_yarp_forcetorque.so">
<yarpConfigurationFile>model://ergoCub/conf/FT/gazebo_ergocub_left_foot_front_ft.ini</yarpConfigurationFile>
</plugin>
- jointName: l_foot_rear_ft_sensor
directionChildToParent: No
exportFrameInURDF: Yes
frame: sensor
linkName: l_ankle_2
frameName: SCSYS_L_ANKLE_2_FT_REAR
sensorName: l_foot_rear_ft
sensorBlobs:
- |
<plugin name="left_foot_rear_ft_plugin" filename="libgazebo_yarp_forcetorque.so">
<yarpConfigurationFile>model://ergoCub/conf/FT/gazebo_ergocub_left_foot_rear_ft.ini</yarpConfigurationFile>
</plugin>
# right leg
- jointName: r_leg_ft_sensor
directionChildToParent: Yes
exportFrameInURDF: Yes
frame: sensor
linkName: r_hip_2
frameName: SCSYS_R_HIP_2_FT
sensorName: r_leg_ft
sensorBlobs:
- |
<plugin name="right_leg_ft_plugin" filename="libgazebo_yarp_forcetorque.so">
<yarpConfigurationFile>model://ergoCub/conf/FT/gazebo_ergocub_right_leg_ft.ini</yarpConfigurationFile>
</plugin>
- jointName: r_foot_front_ft_sensor
directionChildToParent: No
exportFrameInURDF: Yes
frame: sensor
linkName: r_ankle_2
frameName: SCSYS_R_ANKLE_2_FT_FRONT
sensorName: r_foot_front_ft
sensorBlobs:
- |
<plugin name="right_foot_front_ft_plugin" filename="libgazebo_yarp_forcetorque.so">
<yarpConfigurationFile>model://ergoCub/conf/FT/gazebo_ergocub_right_foot_front_ft.ini</yarpConfigurationFile>
</plugin>
- jointName: r_foot_rear_ft_sensor
directionChildToParent: No
exportFrameInURDF: Yes
frame: sensor
linkName: r_ankle_2
frameName: SCSYS_R_ANKLE_2_FT_REAR
sensorName: r_foot_rear_ft
sensorBlobs:
- |
<plugin name="right_foot_rear_ft_plugin" filename="libgazebo_yarp_forcetorque.so">
<yarpConfigurationFile>model://ergoCub/conf/FT/gazebo_ergocub_right_foot_rear_ft.ini</yarpConfigurationFile>
</plugin>
sensors:
- frameName: SCSYS_HEAD_IMU
linkName: head
sensorName: head_imu_0
exportFrameInURDF: Yes
sensorType: "accelerometer"
updateRate: "100"
sensorBlobs:
- |
<plugin name="ergocub_yarp_gazebo_plugin_IMU" filename="libgazebo_yarp_imu.so">
<yarpConfigurationFile>model://ergoCub/conf/gazebo_ergocub_inertial.ini</yarpConfigurationFile>
</plugin>
- frameName: SCSYS_HEAD_RGB
linkName: realsense
sensorName: realsense_head_depth
sensorType: "depth"
updateRate: "30"
sensorBlobs:
- |
<camera name="intel_realsense_depth_camera">
<pose>0 0 0 -1.57079 -1.57079 3.14159</pose>
<horizontal_fov>1.2217</horizontal_fov>
<distortion>
<k1>0</k1>
<k2>0</k2>
<k3>0</k3>
<p1>0</p1>
<p2>0</p2>
<center>319.5 239.5</center>
</distortion>
<image>
<width>640</width>
<height>480</height>
<format>R8G8B8</format>
</image>
<clip>
<near>0.175</near>
<far>3000</far>
</clip>
</camera>
- |
<visualize>false</visualize>
- |
<plugin name="ergocub_yarp_gazebo_plugin_depthCamera" filename="libgazebo_yarp_depthCamera.so">
<yarpConfigurationFile>model://ergoCub/conf/sensors/gazebo_ergocub_rgbd_camera.ini</yarpConfigurationFile>
</plugin>
- frameName: SCSYS_HEAD_RGB
linkName: realsense
sensorName: realsense_head_rgb
sensorType: "camera"
updateRate: "30"
sensorBlobs:
- |
<camera name="intel_realsense_rgb_camera">
<pose>0 0 0 -1.57079 -1.57079 3.14159</pose>
<horizontal_fov>1.2217</horizontal_fov>
<distortion>
<k1>0</k1>
<k2>0</k2>
<k3>0</k3>
<p1>0</p1>
<p2>0</p2>
<center>319.5 239.5</center>
</distortion>
<image>
<width>640</width>
<height>480</height>
<format>R8G8B8</format>
</image>
<clip>
<near>0.02</near>
<far>3000</far>
</clip>
</camera>
- |
<visualize>false</visualize>
- |
<plugin name="ergocub_yarp_gazebo_plugin_camera" filename="libgazebo_yarp_camera.so">
<yarpConfigurationFile>model://ergoCub/conf/gazebo_ergocub_rgb_camera.ini</yarpConfigurationFile>
</plugin>
# According to https://github.com/IntelRealSense/realsense-ros/issues/927 in the realsense
# the imu measurements are referred to the depth frame.
- frameName: SCSYS_HEAD_DEPTH
linkName: realsense
sensorName: realsense_imu_0
exportFrameInURDF: Yes
sensorType: "accelerometer"
updateRate: "100"
sensorBlobs:
- |
<plugin name="ergocub_yarp_gazebo_plugin_IMU" filename="libgazebo_yarp_imu.so">
<yarpConfigurationFile>model://ergoCub/conf/gazebo_ergocub_realsense_inertial.ini</yarpConfigurationFile>
</plugin>
- frameName: SCSYS_HEAD_S2_LASER
linkName: head
sensorName: lasersensor_head
sensorType: "ray"
updateRate: "100"
sensorBlobs:
- |
<always_on>1</always_on>
- |
<visualize>true</visualize>
- |
<update_rate>40</update_rate>
- |
<ray>
<scan>
<horizontal>
<samples>360</samples>
<resolution>2</resolution>
<min_angle>0</min_angle>
<max_angle>6.28</max_angle>
</horizontal>
</scan>
<range>
<min>0.04</min>
<max>5</max>
<resolution>0.01</resolution>
</range>
<noise>
<type>gaussian</type>
<mean>0</mean>
<stddev>0.005</stddev>
</noise>
</ray>
- |
<plugin name="ergocub_yarp_gazebo_plugin_laser" filename="libgazebo_yarp_lasersensor.so">
<yarpConfigurationFile>model://ergoCub/conf/sensors/gazebo_ergocub_lidar.ini</yarpConfigurationFile>
</plugin>
assignedCollisionGeometry:
- linkName: r_foot_front
geometricShape:
shape: box
size: [0.117, 0.100, 0.006]
origin: [0.0,0.0,-0.0193,0.0,0.0,0.0]
- linkName: r_foot_rear
geometricShape:
shape: box
size: [0.117, 0.100, 0.006]
origin: [0.0,0.0,-0.0193,0.0,0.0,0.0]
- linkName: l_foot_front
geometricShape:
shape: box
size: [0.117, 0.100, 0.006]
origin: [0.0,0.0,-0.0193,0.0,0.0,0.0]
- linkName: l_foot_rear
geometricShape:
shape: box
size: [0.117, 0.100, 0.006]
origin: [0.0,0.0,-0.0193,0.0,0.0,0.0]
assignedMasses:
torso_1 : 2.0645667
head: 1.972127893184972
assignedInertias:
# This is due to https://github.com/robotology/icub-models/issues/33
- linkName: torso_1
xx: 0.0074060860
yy: 0.0059470733
zz: 0.0031780111
- linkName: head
xx: 0.007991907355842523
yy: 0.009883124315185845
zz: 0.00786000669468763
assignedColors:
root_link : [0.70, 0.70, 0.70, 1]
torso_1 : [0.70, 0.70, 0.70, 1]
torso_2 : [0.70, 0.70, 0.70, 1]
chest : [0.3, 0.3, 0.3, 1]
l_shoulder_1: [0.70, 0.70, 0.70, 1]
r_shoulder_1: [0.70, 0.70, 0.70, 1]
l_shoulder_2: [0.70, 0.70, 0.70, 1]
r_shoulder_2: [0.70, 0.70, 0.70, 1]
r_shoulder_3: [0.70, 0.70, 0.70, 1]
l_shoulder_3: [0.70, 0.70, 0.70, 1]
l_upper_arm : [0.3, 0.3, 0.3, 1]
r_upper_arm : [0.3, 0.3, 0.3, 1]
r_hip_1 : [0.70, 0.70, 0.70, 1]
r_hip_2 : [0.70, 0.70, 0.70, 1]
r_hip_3 : [0.3, 0.3, 0.3, 1]
r_upper_leg : [0.70, 0.70, 0.70, 1]
r_lower_leg : [0.3, 0.3, 0.3, 1]
r_ankle_1 : [0.70, 0.70, 0.70, 1]
r_ankle_2 : [0.3, 0.3, 0.3, 1]
r_foot_front: [1, 0.51, 0.0, 1]
r_foot_rear : [1, 0.51, 0.0, 1]
l_hip_1 : [0.70, 0.70, 0.70, 1]
l_hip_2 : [0.70, 0.70, 0.70, 1]