iCubGazeboV2_5: add exportation of FT frames (#232)

robotology · Jan 19, 2023 · 1a5d6b4 · 1a5d6b4
1 parent c9e5e08
commit 1a5d6b4
Showing 1 changed file with 30 additions and 0 deletions.
diff --git a/simmechanics/data/icub2_5/ICUB_2-5_BB_simmechanics_options.yaml.in b/simmechanics/data/icub2_5/ICUB_2-5_BB_simmechanics_options.yaml.in
@@ -595,41 +595,71 @@ linkFrames:
 forceTorqueSensors:
   - jointName: l_leg_ft_sensor
     directionChildToParent: Yes
+    exportFrameInURDF: Yes
+    frame: sensor
+    linkName: l_hip_3
+    frameName: SCSYS_L_UPPER_LEG_FT45
+    sensorName: l_leg_ft
     sensorBlobs:
     - |
         <plugin name="left_leg_ft_plugin" filename="libgazebo_yarp_forcetorque.so">
           <yarpConfigurationFile>model://iCub/conf/FT/gazebo_icub_left_leg_ft.ini</yarpConfigurationFile>
         </plugin>
   - jointName: r_leg_ft_sensor
     directionChildToParent: Yes
+    exportFrameInURDF: Yes
+    frame: sensor
+    linkName: r_hip_3
+    frameName: SCSYS_R_UPPER_LEG_FT45
+    sensorName: r_leg_ft
     sensorBlobs:
     - |
         <plugin name="right_leg_ft_plugin" filename="libgazebo_yarp_forcetorque.so">
           <yarpConfigurationFile>model://iCub/conf/FT/gazebo_icub_right_leg_ft.ini</yarpConfigurationFile>
         </plugin>
   - jointName: l_foot_ft_sensor
     directionChildToParent: Yes
+    exportFrameInURDF: Yes
+    frame: sensor
+    linkName: l_foot
+    frameName: SCSYS_L_FOOT_FT45
+    sensorName: l_foot_ft
     sensorBlobs:
     - |
         <plugin name="left_foot_ft_plugin" filename="libgazebo_yarp_forcetorque.so">
           <yarpConfigurationFile>model://iCub/conf/FT/gazebo_icub_left_foot_ft.ini</yarpConfigurationFile>
         </plugin>
   - jointName: r_foot_ft_sensor
     directionChildToParent: Yes
+    exportFrameInURDF: Yes
+    frame: sensor
+    linkName: r_foot
+    frameName: SCSYS_R_FOOT_FT45
+    sensorName: r_foot_ft
     sensorBlobs:
     - |
         <plugin name="right_foot_ft_plugin" filename="libgazebo_yarp_forcetorque.so">
           <yarpConfigurationFile>model://iCub/conf/FT/gazebo_icub_right_foot_ft.ini</yarpConfigurationFile>
         </plugin>
   - jointName: l_arm_ft_sensor
     directionChildToParent: Yes
+    exportFrameInURDF: Yes
+    frame: sensor
+    frameName: SCSYS_L_UPPER_ARM_FT45
+    linkName: l_shoulder_3
+    sensorName: l_arm_ft
     sensorBlobs:
     - |
         <plugin name="left_arm_ft_plugin" filename="libgazebo_yarp_forcetorque.so">
           <yarpConfigurationFile>model://iCub/conf/FT/gazebo_icub_left_arm_ft.ini</yarpConfigurationFile>
         </plugin>
   - jointName: r_arm_ft_sensor
     directionChildToParent: Yes
+    exportFrameInURDF: Yes
+    frame: sensor
+    frameName: SCSYS_R_UPPER_ARM_FT45
+    linkName: r_shoulder_3
+    sensorName: r_arm_ft
     sensorBlobs:
     - |
         <plugin name="right_arm_ft_plugin" filename="libgazebo_yarp_forcetorque.so">