Automatic update of urdf triggered by GitHub Action (#270)

icub-tech-iit · Oct 9, 2024 · 8c9aa0d · 8c9aa0d
2 parents c4a1fb1 + 9c3a877
commit 8c9aa0d
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Showing 6 changed files with 18 additions and 18 deletions.
diff --git a/urdf/ergoCub/robots/ergoCubGazeboV1_1/model.urdf b/urdf/ergoCub/robots/ergoCubGazeboV1_1/model.urdf
@@ -2952,7 +2952,7 @@
  </joint>
  <link name="waist_imu_0"/>
  <joint name="waist_imu_0_fixed_joint" type="fixed">
- <origin xyz="0.0354497 0.00639688 0.060600" rpy="1.5708 0 -1.5708"/>
+ <origin xyz="0.0606 -0.00639428 0.01745" rpy="1.5708 -0.000105208 -1.5708"/>
  <parent link="torso_1"/>
  <child link="waist_imu_0"/>
  <dynamics damping="0.1"/>
@@ -2966,7 +2966,7 @@
  <sensor name="waist_imu_0" type="imu">
  <always_on>1</always_on>
  <update_rate>100</update_rate>
- <pose>0.0354497 0.00639688 0.060600 1.5708 0 -1.5708</pose>
+ <pose>0.0606 -0.00639428 0.01745 1.5708 -0.000105208 -1.5708</pose>
  <plugin name="ergocub_yarp_gazebo_plugin_IMU" filename="libgazebo_yarp_imu.so">
  <yarpConfigurationFile>model://ergoCub/conf/gazebo_ergocub_waist_inertial.ini</yarpConfigurationFile>
  </plugin>
@@ -2979,7 +2979,7 @@
  </gazebo>
  <sensor name="waist_imu_0" type="accelerometer">
  <parent link="torso_1"/>
- <origin rpy="1.5708 0 -1.5708" xyz="0.0354497 0.00639688 0.060600"/>
+ <origin xyz="0.0606 -0.00639428 0.01745" rpy="1.5708 -0.000105208 -1.5708"/>
  </sensor>
  <link name="base_link"/>
  <joint name="base_link_fixed_joint" type="fixed">

diff --git a/urdf/ergoCub/robots/ergoCubGazeboV1_1_minContacts/model.urdf b/urdf/ergoCub/robots/ergoCubGazeboV1_1_minContacts/model.urdf
@@ -2766,7 +2766,7 @@
  </joint>
  <link name="waist_imu_0"/>
  <joint name="waist_imu_0_fixed_joint" type="fixed">
- <origin xyz="0.0354497 0.00639688 0.060600" rpy="1.5708 0 -1.5708"/>
+ <origin xyz="0.0606 -0.00639428 0.01745" rpy="1.5708 -0.000105208 -1.5708"/>
  <parent link="torso_1"/>
  <child link="waist_imu_0"/>
  <dynamics damping="0.1"/>
@@ -2780,7 +2780,7 @@
  <sensor name="waist_imu_0" type="imu">
  <always_on>1</always_on>
  <update_rate>100</update_rate>
- <pose>0.0354497 0.00639688 0.060600 1.5708 0 -1.5708</pose>
+ <pose>0.0606 -0.00639428 0.01745 1.5708 -0.000105208 -1.5708</pose>
  <plugin name="ergocub_yarp_gazebo_plugin_IMU" filename="libgazebo_yarp_imu.so">
  <yarpConfigurationFile>model://ergoCub/conf/gazebo_ergocub_waist_inertial.ini</yarpConfigurationFile>
  </plugin>
@@ -2793,7 +2793,7 @@
  </gazebo>
  <sensor name="waist_imu_0" type="accelerometer">
  <parent link="torso_1"/>
- <origin rpy="1.5708 0 -1.5708" xyz="0.0354497 0.00639688 0.060600"/>
+ <origin xyz="0.0606 -0.00639428 0.01745" rpy="1.5708 -0.000105208 -1.5708"/>
  </sensor>
  <link name="base_link"/>
  <joint name="base_link_fixed_joint" type="fixed">

diff --git a/urdf/ergoCub/robots/ergoCubGazeboV1_2/model.urdf b/urdf/ergoCub/robots/ergoCubGazeboV1_2/model.urdf
@@ -2952,7 +2952,7 @@
  </joint>
  <link name="waist_imu_0"/>
  <joint name="waist_imu_0_fixed_joint" type="fixed">
- <origin xyz="0.0354497 0.00639688 0.060600" rpy="1.5708 0 -1.5708"/>
+ <origin xyz="0.0606 -0.00639428 0.01745" rpy="1.5708 -0.000105208 -1.5708"/>
  <parent link="torso_1"/>
  <child link="waist_imu_0"/>
  <dynamics damping="0.1"/>
@@ -2966,7 +2966,7 @@
  <sensor name="waist_imu_0" type="imu">
  <always_on>1</always_on>
  <update_rate>100</update_rate>
- <pose>0.0354497 0.00639688 0.060600 1.5708 0 -1.5708</pose>
+ <pose>0.0606 -0.00639428 0.01745 1.5708 -0.000105208 -1.5708</pose>
  <plugin name="ergocub_yarp_gazebo_plugin_IMU" filename="libgazebo_yarp_imu.so">
  <yarpConfigurationFile>model://ergoCub/conf/gazebo_ergocub_waist_inertial.ini</yarpConfigurationFile>
  </plugin>
@@ -2979,7 +2979,7 @@
  </gazebo>
  <sensor name="waist_imu_0" type="accelerometer">
  <parent link="torso_1"/>
- <origin rpy="1.5708 0 -1.5708" xyz="0.0354497 0.00639688 0.060600"/>
+ <origin xyz="0.0606 -0.00639428 0.01745" rpy="1.5708 -0.000105208 -1.5708"/>
  </sensor>
  <link name="base_link"/>
  <joint name="base_link_fixed_joint" type="fixed">

diff --git a/urdf/ergoCub/robots/ergoCubGazeboV1_2_minContacts/model.urdf b/urdf/ergoCub/robots/ergoCubGazeboV1_2_minContacts/model.urdf
@@ -2766,7 +2766,7 @@
  </joint>
  <link name="waist_imu_0"/>
  <joint name="waist_imu_0_fixed_joint" type="fixed">
- <origin xyz="0.0354497 0.00639688 0.060600" rpy="1.5708 0 -1.5708"/>
+ <origin xyz="0.0606 -0.00639428 0.01745" rpy="1.5708 -0.000105208 -1.5708"/>
  <parent link="torso_1"/>
  <child link="waist_imu_0"/>
  <dynamics damping="0.1"/>
@@ -2780,7 +2780,7 @@
  <sensor name="waist_imu_0" type="imu">
  <always_on>1</always_on>
  <update_rate>100</update_rate>
- <pose>0.0354497 0.00639688 0.060600 1.5708 0 -1.5708</pose>
+ <pose>0.0606 -0.00639428 0.01745 1.5708 -0.000105208 -1.5708</pose>
  <plugin name="ergocub_yarp_gazebo_plugin_IMU" filename="libgazebo_yarp_imu.so">
  <yarpConfigurationFile>model://ergoCub/conf/gazebo_ergocub_waist_inertial.ini</yarpConfigurationFile>
  </plugin>
@@ -2793,7 +2793,7 @@
  </gazebo>
  <sensor name="waist_imu_0" type="accelerometer">
  <parent link="torso_1"/>
- <origin rpy="1.5708 0 -1.5708" xyz="0.0354497 0.00639688 0.060600"/>
+ <origin xyz="0.0606 -0.00639428 0.01745" rpy="1.5708 -0.000105208 -1.5708"/>
  </sensor>
  <link name="base_link"/>
  <joint name="base_link_fixed_joint" type="fixed">

diff --git a/urdf/ergoCub/robots/ergoCubSN001/model.urdf b/urdf/ergoCub/robots/ergoCubSN001/model.urdf
@@ -2952,7 +2952,7 @@
  </joint>
  <link name="waist_imu_0"/>
  <joint name="waist_imu_0_fixed_joint" type="fixed">
- <origin xyz="0.0354497 0.00639688 0.060600" rpy="1.5708 0 -1.5708"/>
+ <origin xyz="0.0606 -0.00639428 0.01745" rpy="1.5708 -0.000105208 -1.5708"/>
  <parent link="torso_1"/>
  <child link="waist_imu_0"/>
  <dynamics damping="0.1"/>
@@ -2966,7 +2966,7 @@
  <sensor name="waist_imu_0" type="imu">
  <always_on>1</always_on>
  <update_rate>100</update_rate>
- <pose>0.0354497 0.00639688 0.060600 1.5708 0 -1.5708</pose>
+ <pose>0.0606 -0.00639428 0.01745 1.5708 -0.000105208 -1.5708</pose>
  <plugin name="ergocub_yarp_gazebo_plugin_IMU" filename="libgazebo_yarp_imu.so">
  <yarpConfigurationFile>model://ergoCub/conf/gazebo_ergocub_waist_inertial.ini</yarpConfigurationFile>
  </plugin>
@@ -2979,7 +2979,7 @@
  </gazebo>
  <sensor name="waist_imu_0" type="accelerometer">
  <parent link="torso_1"/>
- <origin rpy="1.5708 0 -1.5708" xyz="0.0354497 0.00639688 0.060600"/>
+ <origin xyz="0.0606 -0.00639428 0.01745" rpy="1.5708 -0.000105208 -1.5708"/>
  </sensor>
  <link name="base_link"/>
  <joint name="base_link_fixed_joint" type="fixed">

diff --git a/urdf/ergoCub/robots/ergoCubSN002/model.urdf b/urdf/ergoCub/robots/ergoCubSN002/model.urdf
@@ -2952,7 +2952,7 @@
  </joint>
  <link name="waist_imu_0"/>
  <joint name="waist_imu_0_fixed_joint" type="fixed">
- <origin xyz="0.0354497 0.00639688 0.060600" rpy="1.5708 0 -1.5708"/>
+ <origin xyz="0.0606 -0.00639428 0.01745" rpy="1.5708 -0.000105208 -1.5708"/>
  <parent link="torso_1"/>
  <child link="waist_imu_0"/>
  <dynamics damping="0.1"/>
@@ -2966,7 +2966,7 @@
  <sensor name="waist_imu_0" type="imu">
  <always_on>1</always_on>
  <update_rate>100</update_rate>
- <pose>0.0354497 0.00639688 0.060600 1.5708 0 -1.5708</pose>
+ <pose>0.0606 -0.00639428 0.01745 1.5708 -0.000105208 -1.5708</pose>
  <plugin name="ergocub_yarp_gazebo_plugin_IMU" filename="libgazebo_yarp_imu.so">
  <yarpConfigurationFile>model://ergoCub/conf/gazebo_ergocub_waist_inertial.ini</yarpConfigurationFile>
  </plugin>
@@ -2979,7 +2979,7 @@
  </gazebo>
  <sensor name="waist_imu_0" type="accelerometer">
  <parent link="torso_1"/>
- <origin rpy="1.5708 0 -1.5708" xyz="0.0354497 0.00639688 0.060600"/>
+ <origin xyz="0.0606 -0.00639428 0.01745" rpy="1.5708 -0.000105208 -1.5708"/>
  </sensor>
  <link name="base_link"/>
  <joint name="base_link_fixed_joint" type="fixed">