Skip to content

Automatic update of urdf triggered by GitHub Action #381

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Open
mesh-iit-bot wants to merge 1 commit into
base: master
Choose a base branch
from
Open

Automatic update of urdf triggered by GitHub Action #381

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
Binary file modified urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_realsense.stl
View file
Open in desktop
Binary file not shown.
53 changes: 31 additions & 22 deletions urdf/ergoCub/robots/ergoCubGazeboSN000/model.urdf
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -1472,8 +1472,8 @@
</collision>
</link>
<joint name="l_index_prox" type="revolute">
<origin xyz="0.009192533317427712 -2.7755575615628914e-17 -0.030713451316238316" rpy="6.383782391594655e-16 -1.942890293094024e-16 1.110223024625157e-16"/>
<axis xyz="-0.9999999999999996 -2.0816681711721439e-16 3.99680288865056e-15"/>
<origin xyz="0.00919253331742774 0 -0.030713451316238427" rpy="6.106226635438364e-16 -2.636779683484747e-16 5.551115123125784e-17"/>
<axis xyz="-0.9999999999999998 -2.0816681711721453e-16 3.996802888650561e-15"/>
<parent link="l_hand_index_1"/>
<child link="l_hand_index_2"/>
<limit lower="0" upper="1.5707963267948966" effort="1e+9" velocity="1e+9"/>
Expand Down Expand Up @@ -1505,8 +1505,8 @@
</collision>
</link>
<joint name="l_index_dist" type="revolute">
<origin xyz="4.163336342344337e-17 -0.0015000000000000013 -0.030000000000000082" rpy="-1.6320278461989814e-14 -1.1102230246251565e-16 1.110223024625157e-16"/>
<axis xyz="-0.9999999999999997 1.2698175844150033e-15 1.3045120539345794e-15"/>
<origin xyz="2.7755575615628914e-17 -0.0015000000000000568 -0.02999999999999997" rpy="-1.6320278461989807e-14 -5.551115123125783e-17 5.551115123125784e-17"/>
<axis xyz="-0.9999999999999999 1.3253287356462613e-15 1.2351231148955076e-15"/>
<parent link="l_hand_index_2"/>
<child link="l_hand_index_3"/>
<limit lower="0" upper="1.7313666179783749" effort="1e+9" velocity="1e+9"/>
Expand Down Expand Up @@ -1571,8 +1571,8 @@
</collision>
</link>
<joint name="neck_yaw" type="revolute">
<origin xyz="-1.3010426069826053e-17 3.765597982987134e-17 0.0691500000000001" rpy="1.9500353504997633e-16 -1.4141248935670295e-15 3.767470613092508e-16"/>
<axis xyz="1.4082090529075477e-15 5.709519748275242e-16 0.9999999999999998"/>
<origin xyz="-4.0766001685454967e-17 3.151498988337666e-17 0.0691500000000001" rpy="2.2275926002387476e-16 -1.6650786597892902e-15 3.2676263100504264e-16"/>
<axis xyz="1.6591628191298083e-15 5.987076998014226e-16 0.9999999999999998"/>
<parent link="neck_3"/>
<child link="head"/>
<limit lower="-0.7853981633974483" upper="0.7853981633974483" effort="1e+9" velocity="1e+9"/>
Expand Down Expand Up @@ -1604,17 +1604,17 @@
</collision>
</link>
<joint name="camera_tilt" type="revolute">
<origin xyz="0.06251 -3.0000000001127547e-5 0.0763925000000007" rpy="9.055928654249867e-15 2.5958199361703294e-4 1.7122849027886369e-15"/>
<axis xyz="1.9074075506529947e-16 -1 -1.4146048262463281e-15"/>
<origin xyz="0.06250999999999989 -3.0000000001138484e-5 0.07639250000000042" rpy="9.528820759122059e-15 2.595819932592144e-4 2.6559516676797224e-15"/>
<axis xyz="-7.529259780358045e-16 -1 -5.660091301660127e-16"/>
<parent link="head"/>
<child link="realsense"/>
<limit lower="-0.5235987755982988" upper="0.5235987755982988" effort="1e+9" velocity="1e+9"/>
<dynamics damping="2" friction="0"/>
</joint>
<link name="realsense">
<inertial>
<mass value="0.0973042045264468"/>
<origin xyz="-0.01566548310600667 0.004519995218644514 0.002745610154123612" rpy="0 -0 0"/>
<mass value="0.08233251527028056"/>
<origin xyz="0.002757312110436068 -4.942831990157318e-4 3.199624651573085e-5" rpy="0 -0 0"/>
<inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01"/>
</inertial>
<visual>
Expand Down Expand Up @@ -2142,7 +2142,7 @@
</joint>
<link name="realsense_imu_0"/>
<joint name="realsense_imu_0_fixed_joint" type="fixed">
<origin xyz="0.007515481871156526 0.010000000000000002 1.7352099479506222e-8" rpy="-1.5707963267948966 3.7596758519972983e-16 -1.5707963267948966"/>
<origin xyz="0.007415481871156544 0.047499999999999994 1.735209986808428e-8" rpy="-1.5707963267948966 1.439727114483606e-19 -1.570796326794897"/>
<parent link="realsense"/>
<child link="realsense_imu_0"/>
</joint>
Expand Down Expand Up @@ -2196,7 +2196,7 @@
</joint>
<link name="realsense_depth_frame"/>
<joint name="realsense_depth_frame_fixed_joint" type="fixed">
<origin xyz="0.007515481871156526 0.010000000000000002 1.7352099479506222e-8" rpy="-1.5707963267948966 3.7596758519972983e-16 -1.5707963267948966"/>
<origin xyz="0.007415481871156544 0.047499999999999994 1.735209986808428e-8" rpy="-1.5707963267948966 1.439727114483606e-19 -1.570796326794897"/>
<parent link="realsense"/>
<child link="realsense_depth_frame"/>
</joint>
Expand All @@ -2208,7 +2208,7 @@
</joint>
<link name="realsense_rgb_frame"/>
<joint name="realsense_rgb_frame_fixed_joint" type="fixed">
<origin xyz="0.007515481871156526 -0.011499999999999996 1.7352099701550827e-8" rpy="-1.5707963267948966 3.7596758519972983e-16 -1.5707963267948966"/>
<origin xyz="0.007415481871156544 -0.011499999999999993 1.735209981257313e-8" rpy="-1.5707963267948966 1.439727114483606e-19 -1.570796326794897"/>
<parent link="realsense"/>
<child link="realsense_rgb_frame"/>
</joint>
Expand Down Expand Up @@ -3144,7 +3144,7 @@
<sensor name="realsense_head_depth" type="depth">
<always_on>1</always_on>
<update_rate>30.000000</update_rate>
<pose>0.00751548 -0.0115 1.73521e-08 -1.5708 3.75968e-16 -1.5708 </pose>
<pose>0.00741548 -0.0115 1.73521e-08 -1.5708 1.43973e-19 -1.5708 </pose>
<camera name="intel_realsense_depth_camera">
<pose>0 0 0 -1.57079 -1.57079 3.14159</pose>
<horizontal_fov>1.2217</horizontal_fov>
Expand Down Expand Up @@ -3174,13 +3174,13 @@
</gazebo>
<sensor name="realsense_head_depth" type="depth">
<parent link="realsense"/>
<origin rpy="-1.5708 3.75968e-16 -1.5708 " xyz="0.00751548 -0.0115 1.73521e-08"/>
<origin rpy="-1.5708 1.43973e-19 -1.5708 " xyz="0.00741548 -0.0115 1.73521e-08"/>
</sensor>
<gazebo reference="realsense">
<sensor name="realsense_head_rgb" type="camera">
<always_on>1</always_on>
<update_rate>30.000000</update_rate>
<pose>0.00751548 -0.0115 1.73521e-08 -1.5708 3.75968e-16 -1.5708 </pose>
<pose>0.00741548 -0.0115 1.73521e-08 -1.5708 1.43973e-19 -1.5708 </pose>
<camera name="intel_realsense_rgb_camera">
<pose>0 0 0 -1.57079 -1.57079 3.14159</pose>
<horizontal_fov>1.2217</horizontal_fov>
Expand Down Expand Up @@ -3210,21 +3210,21 @@
</gazebo>
<sensor name="realsense_head_rgb" type="camera">
<parent link="realsense"/>
<origin rpy="-1.5708 3.75968e-16 -1.5708 " xyz="0.00751548 -0.0115 1.73521e-08"/>
<origin rpy="-1.5708 1.43973e-19 -1.5708 " xyz="0.00741548 -0.0115 1.73521e-08"/>
</sensor>
<gazebo reference="realsense">
<sensor name="realsense_imu_0" type="imu">
<always_on>1</always_on>
<update_rate>100.000000</update_rate>
<pose>0.00751548 0.01 1.73521e-08 -1.5708 3.75968e-16 -1.5708 </pose>
<pose>0.00741548 0.0475 1.73521e-08 -1.5708 1.43973e-19 -1.5708 </pose>
<plugin name="ergocub_yarp_gazebo_plugin_IMU" filename="libgazebo_yarp_imu.so">
<yarpConfigurationFile>model://ergoCub/conf/gazebo_ergocub_realsense_inertial.ini</yarpConfigurationFile>
</plugin>
</sensor>
</gazebo>
<sensor name="realsense_imu_0" type="accelerometer">
<parent link="realsense"/>
<origin rpy="-1.5708 3.75968e-16 -1.5708 " xyz="0.00751548 0.01 1.73521e-08"/>
<origin rpy="-1.5708 1.43973e-19 -1.5708 " xyz="0.00741548 0.0475 1.73521e-08"/>
</sensor>
<gazebo reference="head">
<sensor name="lasersensor_head" type="gpu_lidar">
Expand All @@ -3237,15 +3237,15 @@
<ray>
<scan>
<horizontal>
<samples>720</samples>
<resolution>0.5</resolution>
<samples>360</samples>
<resolution>1</resolution>
<min_angle>0</min_angle>
<max_angle>6.28</max_angle>
</horizontal>
</scan>
<range>
<min>0.2</min>
<max>5</max>
<max>25</max>
<resolution>0.01</resolution>
</range>
<noise>
Expand Down Expand Up @@ -3516,6 +3516,15 @@
<p2>0</p2>
<center>319.5 239.5</center>
</distortion>
<lens>
<intrinsics>
<fx>457.022184</fx>
<fy>457.022184</fy>
<cx>319.5</cx>
<cy>239.5</cy>
<s>0</s>
</intrinsics>
</lens>
<image>
<width>640</width>
<height>480</height>
Expand Down
53 changes: 31 additions & 22 deletions urdf/ergoCub/robots/ergoCubGazeboSN000_minContacts/model.urdf
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -1067,8 +1067,8 @@
</visual>
</link>
<joint name="l_index_prox" type="revolute">
<origin xyz="0.009192533317427712 -2.7755575615628914e-17 -0.030713451316238316" rpy="6.383782391594655e-16 -1.942890293094024e-16 1.110223024625157e-16"/>
<axis xyz="-0.9999999999999996 -2.0816681711721439e-16 3.99680288865056e-15"/>
<origin xyz="0.00919253331742774 0 -0.030713451316238427" rpy="6.106226635438364e-16 -2.636779683484747e-16 5.551115123125784e-17"/>
<axis xyz="-0.9999999999999998 -2.0816681711721453e-16 3.996802888650561e-15"/>
<parent link="l_hand_index_1"/>
<child link="l_hand_index_2"/>
<limit lower="0" upper="1.5707963267948966" effort="1e+9" velocity="1e+9"/>
Expand All @@ -1091,8 +1091,8 @@
</visual>
</link>
<joint name="l_index_dist" type="revolute">
<origin xyz="4.163336342344337e-17 -0.0015000000000000013 -0.030000000000000082" rpy="-1.6320278461989814e-14 -1.1102230246251565e-16 1.110223024625157e-16"/>
<axis xyz="-0.9999999999999997 1.2698175844150033e-15 1.3045120539345794e-15"/>
<origin xyz="2.7755575615628914e-17 -0.0015000000000000568 -0.02999999999999997" rpy="-1.6320278461989807e-14 -5.551115123125783e-17 5.551115123125784e-17"/>
<axis xyz="-0.9999999999999999 1.3253287356462613e-15 1.2351231148955076e-15"/>
<parent link="l_hand_index_2"/>
<child link="l_hand_index_3"/>
<limit lower="0" upper="1.7313666179783749" effort="1e+9" velocity="1e+9"/>
Expand Down Expand Up @@ -1139,8 +1139,8 @@
</visual>
</link>
<joint name="neck_yaw" type="revolute">
<origin xyz="-1.3010426069826053e-17 3.765597982987134e-17 0.0691500000000001" rpy="1.9500353504997633e-16 -1.4141248935670295e-15 3.767470613092508e-16"/>
<axis xyz="1.4082090529075477e-15 5.709519748275242e-16 0.9999999999999998"/>
<origin xyz="-4.0766001685454967e-17 3.151498988337666e-17 0.0691500000000001" rpy="2.2275926002387476e-16 -1.6650786597892902e-15 3.2676263100504264e-16"/>
<axis xyz="1.6591628191298083e-15 5.987076998014226e-16 0.9999999999999998"/>
<parent link="neck_3"/>
<child link="head"/>
<limit lower="-0.7853981633974483" upper="0.7853981633974483" effort="1e+9" velocity="1e+9"/>
Expand All @@ -1163,17 +1163,17 @@
</visual>
</link>
<joint name="camera_tilt" type="revolute">
<origin xyz="0.06251 -3.0000000001127547e-5 0.0763925000000007" rpy="9.055928654249867e-15 2.5958199361703294e-4 1.7122849027886369e-15"/>
<axis xyz="1.9074075506529947e-16 -1 -1.4146048262463281e-15"/>
<origin xyz="0.06250999999999989 -3.0000000001138484e-5 0.07639250000000042" rpy="9.528820759122059e-15 2.595819932592144e-4 2.6559516676797224e-15"/>
<axis xyz="-7.529259780358045e-16 -1 -5.660091301660127e-16"/>
<parent link="head"/>
<child link="realsense"/>
<limit lower="-0.5235987755982988" upper="0.5235987755982988" effort="1e+9" velocity="1e+9"/>
<dynamics damping="2" friction="0"/>
</joint>
<link name="realsense">
<inertial>
<mass value="0.0973042045264468"/>
<origin xyz="-0.01566548310600667 0.004519995218644514 0.002745610154123612" rpy="0 -0 0"/>
<mass value="0.08233251527028056"/>
<origin xyz="0.002757312110436068 -4.942831990157318e-4 3.199624651573085e-5" rpy="0 -0 0"/>
<inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01"/>
</inertial>
<visual>
Expand Down Expand Up @@ -1584,7 +1584,7 @@
</joint>
<link name="realsense_imu_0"/>
<joint name="realsense_imu_0_fixed_joint" type="fixed">
<origin xyz="0.007515481871156526 0.010000000000000002 1.7352099479506222e-8" rpy="-1.5707963267948966 3.7596758519972983e-16 -1.5707963267948966"/>
<origin xyz="0.007415481871156544 0.047499999999999994 1.735209986808428e-8" rpy="-1.5707963267948966 1.439727114483606e-19 -1.570796326794897"/>
<parent link="realsense"/>
<child link="realsense_imu_0"/>
</joint>
Expand Down Expand Up @@ -1638,7 +1638,7 @@
</joint>
<link name="realsense_depth_frame"/>
<joint name="realsense_depth_frame_fixed_joint" type="fixed">
<origin xyz="0.007515481871156526 0.010000000000000002 1.7352099479506222e-8" rpy="-1.5707963267948966 3.7596758519972983e-16 -1.5707963267948966"/>
<origin xyz="0.007415481871156544 0.047499999999999994 1.735209986808428e-8" rpy="-1.5707963267948966 1.439727114483606e-19 -1.570796326794897"/>
<parent link="realsense"/>
<child link="realsense_depth_frame"/>
</joint>
Expand All @@ -1650,7 +1650,7 @@
</joint>
<link name="realsense_rgb_frame"/>
<joint name="realsense_rgb_frame_fixed_joint" type="fixed">
<origin xyz="0.007515481871156526 -0.011499999999999996 1.7352099701550827e-8" rpy="-1.5707963267948966 3.7596758519972983e-16 -1.5707963267948966"/>
<origin xyz="0.007415481871156544 -0.011499999999999993 1.735209981257313e-8" rpy="-1.5707963267948966 1.439727114483606e-19 -1.570796326794897"/>
<parent link="realsense"/>
<child link="realsense_rgb_frame"/>
</joint>
Expand Down Expand Up @@ -2586,7 +2586,7 @@
<sensor name="realsense_head_depth" type="depth">
<always_on>1</always_on>
<update_rate>30.000000</update_rate>
<pose>0.00751548 -0.0115 1.73521e-08 -1.5708 3.75968e-16 -1.5708 </pose>
<pose>0.00741548 -0.0115 1.73521e-08 -1.5708 1.43973e-19 -1.5708 </pose>
<camera name="intel_realsense_depth_camera">
<pose>0 0 0 -1.57079 -1.57079 3.14159</pose>
<horizontal_fov>1.2217</horizontal_fov>
Expand Down Expand Up @@ -2616,13 +2616,13 @@
</gazebo>
<sensor name="realsense_head_depth" type="depth">
<parent link="realsense"/>
<origin rpy="-1.5708 3.75968e-16 -1.5708 " xyz="0.00751548 -0.0115 1.73521e-08"/>
<origin rpy="-1.5708 1.43973e-19 -1.5708 " xyz="0.00741548 -0.0115 1.73521e-08"/>
</sensor>
<gazebo reference="realsense">
<sensor name="realsense_head_rgb" type="camera">
<always_on>1</always_on>
<update_rate>30.000000</update_rate>
<pose>0.00751548 -0.0115 1.73521e-08 -1.5708 3.75968e-16 -1.5708 </pose>
<pose>0.00741548 -0.0115 1.73521e-08 -1.5708 1.43973e-19 -1.5708 </pose>
<camera name="intel_realsense_rgb_camera">
<pose>0 0 0 -1.57079 -1.57079 3.14159</pose>
<horizontal_fov>1.2217</horizontal_fov>
Expand Down Expand Up @@ -2652,21 +2652,21 @@
</gazebo>
<sensor name="realsense_head_rgb" type="camera">
<parent link="realsense"/>
<origin rpy="-1.5708 3.75968e-16 -1.5708 " xyz="0.00751548 -0.0115 1.73521e-08"/>
<origin rpy="-1.5708 1.43973e-19 -1.5708 " xyz="0.00741548 -0.0115 1.73521e-08"/>
</sensor>
<gazebo reference="realsense">
<sensor name="realsense_imu_0" type="imu">
<always_on>1</always_on>
<update_rate>100.000000</update_rate>
<pose>0.00751548 0.01 1.73521e-08 -1.5708 3.75968e-16 -1.5708 </pose>
<pose>0.00741548 0.0475 1.73521e-08 -1.5708 1.43973e-19 -1.5708 </pose>
<plugin name="ergocub_yarp_gazebo_plugin_IMU" filename="libgazebo_yarp_imu.so">
<yarpConfigurationFile>model://ergoCub/conf/gazebo_ergocub_realsense_inertial.ini</yarpConfigurationFile>
</plugin>
</sensor>
</gazebo>
<sensor name="realsense_imu_0" type="accelerometer">
<parent link="realsense"/>
<origin rpy="-1.5708 3.75968e-16 -1.5708 " xyz="0.00751548 0.01 1.73521e-08"/>
<origin rpy="-1.5708 1.43973e-19 -1.5708 " xyz="0.00741548 0.0475 1.73521e-08"/>
</sensor>
<gazebo reference="head">
<sensor name="lasersensor_head" type="gpu_lidar">
Expand All @@ -2679,15 +2679,15 @@
<ray>
<scan>
<horizontal>
<samples>720</samples>
<resolution>0.5</resolution>
<samples>360</samples>
<resolution>1</resolution>
<min_angle>0</min_angle>
<max_angle>6.28</max_angle>
</horizontal>
</scan>
<range>
<min>0.2</min>
<max>5</max>
<max>25</max>
<resolution>0.01</resolution>
</range>
<noise>
Expand Down Expand Up @@ -2958,6 +2958,15 @@
<p2>0</p2>
<center>319.5 239.5</center>
</distortion>
<lens>
<intrinsics>
<fx>457.022184</fx>
<fy>457.022184</fy>
<cx>319.5</cx>
<cy>239.5</cy>
<s>0</s>
</intrinsics>
</lens>
<image>
<width>640</width>
<height>480</height>
Expand Down
Loading
Loading