[ergoCubSN001] Disable FT sensors in URDF

[pattacini]

Task description

Following up on robotology/robots-configuration#598 (comment), we're requested to update the URDF of ergoCubSN001 to disable the FT sensors.

Definition of Done

• URDF modified accordingly
• URDF tested in simulation

cc @Nicogene @GiulioRomualdi

[Nicogene]

The arms FTs seems already there:

ergocub-software/urdf/ergoCub/robots/ergoCubSN001/model.urdf

Lines 3262 to 3275 in 54e0909

	<gazebo reference="l_arm_ft_sensor">
	<sensor name="l_arm_ft" type="force_torque">
	<always_on>1</always_on>
	<update_rate>100</update_rate>
	<force_torque>
	<frame>sensor</frame>
	<measure_direction>child_to_parent</measure_direction>
	</force_torque>
	<pose>-3.46945e-18 0 0 3.14159 1.94289e-16 -1.5708 </pose>
	<plugin name="left_arm_ft_plugin" filename="libgazebo_yarp_forcetorque.so">
	<yarpConfigurationFile>model://ergoCub/conf/FT/gazebo_ergocub_left_arm_ft.ini</yarpConfigurationFile>
	</plugin>
	</sensor>
	</gazebo>

ergocub-software/urdf/ergoCub/robots/ergoCubSN001/model.urdf

Lines 3350 to 3363 in 54e0909

	<gazebo reference="r_arm_ft_sensor">
	<sensor name="r_arm_ft" type="force_torque">
	<always_on>1</always_on>
	<update_rate>100</update_rate>
	<force_torque>
	<frame>sensor</frame>
	<measure_direction>child_to_parent</measure_direction>
	</force_torque>
	<pose>0 0 0 -3.14159 -2.77556e-17 1.5708 </pose>
	<plugin name="right_arm_ft_plugin" filename="libgazebo_yarp_forcetorque.so">
	<yarpConfigurationFile>model://ergoCub/conf/FT/gazebo_ergocub_right_arm_ft.ini</yarpConfigurationFile>
	</plugin>
	</sensor>
	</gazebo>

@GiulioRomualdi which ones are missing?

[AntonioConsilvio]

Hi @Nicogene @pattacini, I think there was a little misunderstanding. The FTs on the shoulders have been disabled from configuration files due to malfunctioning, so the sensors should be disabled from the URDF to be compatible with the configuration files.

[pattacini]

Ok thanks @AntonioConsilvio for the heads-up 👍🏻
My bad!
I've updated the OP and the title accordingly.

[Nicogene]

@GiulioRomualdi do you need this change in ergoCubSN001 or/and ergoCubGazeboV1_1 urdf?

[Nicogene]

PR:

• ergoCubV1_1: remove ft sensors of the arms #206

[GiulioRomualdi]

@GiulioRomualdi do you need this change in ergoCubSN001 or/and ergoCubGazeboV1_1 urdf?

Sorry, I completely missed the message :(
We need to remove them from ergoCubSN001 no need from ergoCubGazeboV1_1

[Nicogene]

@GiulioRomualdi do you need this change in ergoCubSN001 or/and ergoCubGazeboV1_1 urdf?

Sorry, I completely missed the message :( We need to remove them from ergoCubSN001 no need from ergoCubGazeboV1_1

I am afraid that I have to remove it also from ergoCubGazeboV1_1 since I have to remove the nws for those ft from the xml that is common between all the models.

But if the model ergoCubSN001 is used without launghing the yarprobotinterface plugin I can remove them only from that urdf and keep the ergocub.xml unchanged.

cc @traversaro

[GiulioRomualdi]

In this case i think we should update wbd xml file. Are there 2 separate files for gazebov1 and gazebov1_1?

[traversaro]

Related to robotology/whole-body-estimators#32, that should simplify doing this.

[Nicogene]

In this case i think we should update wbd xml file. Are there 2 separate files for gazebov1 and gazebov1_1?

Unfortunately not, it was not needed until now, but I would avoid adding an xml file for this temporary situation

[Nicogene]

They have been re-enabled:

• Revert "ergoCubV1_1: remove ft sensors of the arms" #208