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Merge pull request #276 from robotology/fix275
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Enable tests for consistency of FT sensor and "fake link" frames also to iCub v2 models
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@traversaro
traversaro authored Jul 5, 2024
2 parents 5f1654a + b33fbd2 commit d8eb6b6
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Showing 19 changed files with 718 additions and 88 deletions.
48 changes: 44 additions & 4 deletions dh/data/legacy_models/headV1-armsV1-legsV1-feetV1/model.urdf
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Original file line number Diff line number Diff line change
Expand Up @@ -1201,6 +1201,46 @@
<dynamics damping="1" friction="0" />
<limit effort="80" velocity="100" lower="-0.680678" upper="0.680678" />
</joint>
<link name="l_arm_ft"/>
<joint name="l_arm_ft_fixed_joint" type="fixed">
<parent link="l_upper_arm"/>
<child link="l_arm_ft"/>
</joint>
<link name="l_arm_ft"/>
<joint name="l_arm_ft_fixed_joint" type="fixed">
<parent link="l_upper_arm"/>
<child link="l_arm_ft"/>
</joint>
<link name="r_arm_ft"/>
<joint name="r_arm_ft_fixed_joint" type="fixed">
<parent link="r_upper_arm"/>
<child link="r_arm_ft"/>
</joint>
<link name="l_arm_ft"/>
<joint name="l_arm_ft_fixed_joint" type="fixed">
<parent link="l_upper_arm"/>
<child link="l_arm_ft"/>
</joint>
<link name="l_arm_ft"/>
<joint name="l_arm_ft_fixed_joint" type="fixed">
<parent link="l_upper_arm"/>
<child link="l_arm_ft"/>
</joint>
<link name="r_arm_ft"/>
<joint name="r_arm_ft_fixed_joint" type="fixed">
<parent link="r_upper_arm"/>
<child link="r_arm_ft"/>
</joint>
<link name="l_leg_ft"/>
<joint name="l_leg_ft_fixed_joint" type="fixed">
<parent link="l_hip_3"/>
<child link="l_leg_ft"/>
</joint>
<link name="r_leg_ft"/>
<joint name="r_leg_ft_fixed_joint" type="fixed">
<parent link="r_hip_3"/>
<child link="r_leg_ft"/>
</joint>
<gazebo reference="l_arm_ft_sensor">
<sensor name="left_arm_ft" type="force_torque">
<force_torque>
Expand Down Expand Up @@ -1241,28 +1281,28 @@
<always_on>1</always_on>
</sensor>
</gazebo>
<sensor type="force_torque" name="l_arm_ft_sensor">
<sensor type="force_torque" name="l_arm_ft">
<parent joint="l_arm_ft_sensor" />
<force_torque>
<frame>child</frame>
<measure_direction>child_to_parent</measure_direction>
</force_torque>
</sensor>
<sensor type="force_torque" name="r_arm_ft_sensor">
<sensor type="force_torque" name="r_arm_ft">
<parent joint="r_arm_ft_sensor" />
<force_torque>
<frame>child</frame>
<measure_direction>child_to_parent</measure_direction>
</force_torque>
</sensor>
<sensor type="force_torque" name="l_leg_ft_sensor">
<sensor type="force_torque" name="l_leg_ft">
<parent joint="l_leg_ft_sensor" />
<force_torque>
<frame>child</frame>
<measure_direction>child_to_parent</measure_direction>
</force_torque>
</sensor>
<sensor type="force_torque" name="r_leg_ft_sensor">
<sensor type="force_torque" name="r_leg_ft">
<parent joint="r_leg_ft_sensor" />
<force_torque>
<frame>child</frame>
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28 changes: 24 additions & 4 deletions dh/data/legacy_models/headV1-armsV1-legsV1-feetV2/model.urdf
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Original file line number Diff line number Diff line change
Expand Up @@ -1287,28 +1287,48 @@
<always_on>1</always_on>
</sensor>
</gazebo>
<sensor type="force_torque" name="l_arm_ft_sensor">
<link name="l_arm_ft"/>
<joint name="l_arm_ft_fixed_joint" type="fixed">
<parent link="l_upper_arm"/>
<child link="l_arm_ft"/>
</joint>
<link name="r_arm_ft"/>
<joint name="r_arm_ft_fixed_joint" type="fixed">
<parent link="r_upper_arm"/>
<child link="r_arm_ft"/>
</joint>
<link name="l_leg_ft"/>
<joint name="l_leg_ft_fixed_joint" type="fixed">
<parent link="l_hip_3"/>
<child link="l_leg_ft"/>
</joint>
<link name="r_leg_ft"/>
<joint name="r_leg_ft_fixed_joint" type="fixed">
<parent link="r_hip_3"/>
<child link="r_leg_ft"/>
</joint>
<sensor type="force_torque" name="l_arm_ft">
<parent joint="l_arm_ft_sensor" />
<force_torque>
<frame>child</frame>
<measure_direction>child_to_parent</measure_direction>
</force_torque>
</sensor>
<sensor type="force_torque" name="r_arm_ft_sensor">
<sensor type="force_torque" name="r_arm_ft">
<parent joint="r_arm_ft_sensor" />
<force_torque>
<frame>child</frame>
<measure_direction>child_to_parent</measure_direction>
</force_torque>
</sensor>
<sensor type="force_torque" name="l_leg_ft_sensor">
<sensor type="force_torque" name="l_leg_ft">
<parent joint="l_leg_ft_sensor" />
<force_torque>
<frame>child</frame>
<measure_direction>child_to_parent</measure_direction>
</force_torque>
</sensor>
<sensor type="force_torque" name="r_leg_ft_sensor">
<sensor type="force_torque" name="r_leg_ft">
<parent joint="r_leg_ft_sensor" />
<force_torque>
<frame>child</frame>
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28 changes: 24 additions & 4 deletions dh/data/legacy_models/headV1-armsV1-legsV2-feetV1/model.urdf
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Original file line number Diff line number Diff line change
Expand Up @@ -1241,28 +1241,48 @@
<always_on>1</always_on>
</sensor>
</gazebo>
<sensor type="force_torque" name="l_arm_ft_sensor">
<link name="l_arm_ft"/>
<joint name="l_arm_ft_fixed_joint" type="fixed">
<parent link="l_upper_arm"/>
<child link="l_arm_ft"/>
</joint>
<link name="r_arm_ft"/>
<joint name="r_arm_ft_fixed_joint" type="fixed">
<parent link="r_upper_arm"/>
<child link="r_arm_ft"/>
</joint>
<link name="l_leg_ft"/>
<joint name="l_leg_ft_fixed_joint" type="fixed">
<parent link="l_hip_3"/>
<child link="l_leg_ft"/>
</joint>
<link name="r_leg_ft"/>
<joint name="r_leg_ft_fixed_joint" type="fixed">
<parent link="r_hip_3"/>
<child link="r_leg_ft"/>
</joint>
<sensor type="force_torque" name="l_arm_ft">
<parent joint="l_arm_ft_sensor" />
<force_torque>
<frame>child</frame>
<measure_direction>child_to_parent</measure_direction>
</force_torque>
</sensor>
<sensor type="force_torque" name="r_arm_ft_sensor">
<sensor type="force_torque" name="r_arm_ft">
<parent joint="r_arm_ft_sensor" />
<force_torque>
<frame>child</frame>
<measure_direction>child_to_parent</measure_direction>
</force_torque>
</sensor>
<sensor type="force_torque" name="l_leg_ft_sensor">
<sensor type="force_torque" name="l_leg_ft">
<parent joint="l_leg_ft_sensor" />
<force_torque>
<frame>child</frame>
<measure_direction>child_to_parent</measure_direction>
</force_torque>
</sensor>
<sensor type="force_torque" name="r_leg_ft_sensor">
<sensor type="force_torque" name="r_leg_ft">
<parent joint="r_leg_ft_sensor" />
<force_torque>
<frame>child</frame>
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28 changes: 24 additions & 4 deletions dh/data/legacy_models/headV1-armsV1-legsV2-feetV2/model.urdf
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Original file line number Diff line number Diff line change
Expand Up @@ -1287,28 +1287,48 @@
<always_on>1</always_on>
</sensor>
</gazebo>
<sensor type="force_torque" name="l_arm_ft_sensor">
<link name="l_arm_ft"/>
<joint name="l_arm_ft_fixed_joint" type="fixed">
<parent link="l_upper_arm"/>
<child link="l_arm_ft"/>
</joint>
<link name="r_arm_ft"/>
<joint name="r_arm_ft_fixed_joint" type="fixed">
<parent link="r_upper_arm"/>
<child link="r_arm_ft"/>
</joint>
<link name="l_leg_ft"/>
<joint name="l_leg_ft_fixed_joint" type="fixed">
<parent link="l_hip_3"/>
<child link="l_leg_ft"/>
</joint>
<link name="r_leg_ft"/>
<joint name="r_leg_ft_fixed_joint" type="fixed">
<parent link="r_hip_3"/>
<child link="r_leg_ft"/>
</joint>
<sensor type="force_torque" name="l_arm_ft">
<parent joint="l_arm_ft_sensor" />
<force_torque>
<frame>child</frame>
<measure_direction>child_to_parent</measure_direction>
</force_torque>
</sensor>
<sensor type="force_torque" name="r_arm_ft_sensor">
<sensor type="force_torque" name="r_arm_ft">
<parent joint="r_arm_ft_sensor" />
<force_torque>
<frame>child</frame>
<measure_direction>child_to_parent</measure_direction>
</force_torque>
</sensor>
<sensor type="force_torque" name="l_leg_ft_sensor">
<sensor type="force_torque" name="l_leg_ft">
<parent joint="l_leg_ft_sensor" />
<force_torque>
<frame>child</frame>
<measure_direction>child_to_parent</measure_direction>
</force_torque>
</sensor>
<sensor type="force_torque" name="r_leg_ft_sensor">
<sensor type="force_torque" name="r_leg_ft">
<parent joint="r_leg_ft_sensor" />
<force_torque>
<frame>child</frame>
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28 changes: 24 additions & 4 deletions dh/data/legacy_models/headV1-armsV2-legsV1-feetV1/model.urdf
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Original file line number Diff line number Diff line change
Expand Up @@ -1241,28 +1241,48 @@
<always_on>1</always_on>
</sensor>
</gazebo>
<sensor type="force_torque" name="l_arm_ft_sensor">
<link name="l_arm_ft"/>
<joint name="l_arm_ft_fixed_joint" type="fixed">
<parent link="l_upper_arm"/>
<child link="l_arm_ft"/>
</joint>
<link name="r_arm_ft"/>
<joint name="r_arm_ft_fixed_joint" type="fixed">
<parent link="r_upper_arm"/>
<child link="r_arm_ft"/>
</joint>
<link name="l_leg_ft"/>
<joint name="l_leg_ft_fixed_joint" type="fixed">
<parent link="l_hip_3"/>
<child link="l_leg_ft"/>
</joint>
<link name="r_leg_ft"/>
<joint name="r_leg_ft_fixed_joint" type="fixed">
<parent link="r_hip_3"/>
<child link="r_leg_ft"/>
</joint>
<sensor type="force_torque" name="l_arm_ft">
<parent joint="l_arm_ft_sensor" />
<force_torque>
<frame>child</frame>
<measure_direction>child_to_parent</measure_direction>
</force_torque>
</sensor>
<sensor type="force_torque" name="r_arm_ft_sensor">
<sensor type="force_torque" name="r_arm_ft">
<parent joint="r_arm_ft_sensor" />
<force_torque>
<frame>child</frame>
<measure_direction>child_to_parent</measure_direction>
</force_torque>
</sensor>
<sensor type="force_torque" name="l_leg_ft_sensor">
<sensor type="force_torque" name="l_leg_ft">
<parent joint="l_leg_ft_sensor" />
<force_torque>
<frame>child</frame>
<measure_direction>child_to_parent</measure_direction>
</force_torque>
</sensor>
<sensor type="force_torque" name="r_leg_ft_sensor">
<sensor type="force_torque" name="r_leg_ft">
<parent joint="r_leg_ft_sensor" />
<force_torque>
<frame>child</frame>
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28 changes: 24 additions & 4 deletions dh/data/legacy_models/headV1-armsV2-legsV1-feetV2/model.urdf
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Original file line number Diff line number Diff line change
Expand Up @@ -1287,28 +1287,48 @@
<always_on>1</always_on>
</sensor>
</gazebo>
<sensor type="force_torque" name="l_arm_ft_sensor">
<link name="l_arm_ft"/>
<joint name="l_arm_ft_fixed_joint" type="fixed">
<parent link="l_upper_arm"/>
<child link="l_arm_ft"/>
</joint>
<link name="r_arm_ft"/>
<joint name="r_arm_ft_fixed_joint" type="fixed">
<parent link="r_upper_arm"/>
<child link="r_arm_ft"/>
</joint>
<link name="l_leg_ft"/>
<joint name="l_leg_ft_fixed_joint" type="fixed">
<parent link="l_hip_3"/>
<child link="l_leg_ft"/>
</joint>
<link name="r_leg_ft"/>
<joint name="r_leg_ft_fixed_joint" type="fixed">
<parent link="r_hip_3"/>
<child link="r_leg_ft"/>
</joint>
<sensor type="force_torque" name="l_arm_ft">
<parent joint="l_arm_ft_sensor" />
<force_torque>
<frame>child</frame>
<measure_direction>child_to_parent</measure_direction>
</force_torque>
</sensor>
<sensor type="force_torque" name="r_arm_ft_sensor">
<sensor type="force_torque" name="r_arm_ft">
<parent joint="r_arm_ft_sensor" />
<force_torque>
<frame>child</frame>
<measure_direction>child_to_parent</measure_direction>
</force_torque>
</sensor>
<sensor type="force_torque" name="l_leg_ft_sensor">
<sensor type="force_torque" name="l_leg_ft">
<parent joint="l_leg_ft_sensor" />
<force_torque>
<frame>child</frame>
<measure_direction>child_to_parent</measure_direction>
</force_torque>
</sensor>
<sensor type="force_torque" name="r_leg_ft_sensor">
<sensor type="force_torque" name="r_leg_ft">
<parent joint="r_leg_ft_sensor" />
<force_torque>
<frame>child</frame>
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28 changes: 24 additions & 4 deletions dh/data/legacy_models/headV1-armsV2-legsV2-feetV1/model.urdf
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Original file line number Diff line number Diff line change
Expand Up @@ -1241,28 +1241,48 @@
<always_on>1</always_on>
</sensor>
</gazebo>
<sensor type="force_torque" name="l_arm_ft_sensor">
<link name="l_arm_ft"/>
<joint name="l_arm_ft_fixed_joint" type="fixed">
<parent link="l_upper_arm"/>
<child link="l_arm_ft"/>
</joint>
<link name="r_arm_ft"/>
<joint name="r_arm_ft_fixed_joint" type="fixed">
<parent link="r_upper_arm"/>
<child link="r_arm_ft"/>
</joint>
<link name="l_leg_ft"/>
<joint name="l_leg_ft_fixed_joint" type="fixed">
<parent link="l_hip_3"/>
<child link="l_leg_ft"/>
</joint>
<link name="r_leg_ft"/>
<joint name="r_leg_ft_fixed_joint" type="fixed">
<parent link="r_hip_3"/>
<child link="r_leg_ft"/>
</joint>
<sensor type="force_torque" name="l_arm_ft">
<parent joint="l_arm_ft_sensor" />
<force_torque>
<frame>child</frame>
<measure_direction>child_to_parent</measure_direction>
</force_torque>
</sensor>
<sensor type="force_torque" name="r_arm_ft_sensor">
<sensor type="force_torque" name="r_arm_ft">
<parent joint="r_arm_ft_sensor" />
<force_torque>
<frame>child</frame>
<measure_direction>child_to_parent</measure_direction>
</force_torque>
</sensor>
<sensor type="force_torque" name="l_leg_ft_sensor">
<sensor type="force_torque" name="l_leg_ft">
<parent joint="l_leg_ft_sensor" />
<force_torque>
<frame>child</frame>
<measure_direction>child_to_parent</measure_direction>
</force_torque>
</sensor>
<sensor type="force_torque" name="r_leg_ft_sensor">
<sensor type="force_torque" name="r_leg_ft">
<parent joint="r_leg_ft_sensor" />
<force_torque>
<frame>child</frame>
Expand Down
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