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ICUB_2-5_BB_simmechanics_options.yaml.in
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# Robot name
robotName: iCub
# Model base origin
originXYZ: [0.0,0.0,0.63]
originRPY: [0.0,0.0,3.14]
# Meshes options
scale: "0.001 0.001 0.001"
forcelowercase: Yes
@MESH_FILE_FORMAT@
# Custom epsilon for testing whether a number is close to zero
@CUSTOM_EPSILON@
# Rename options (map Creo names to URDF names)
rename:
RootPart: base_link
SIM_SEA_2-5_ROOT_LINK: root_link
SIM_SEA_2-5_LAP_BELT_1: torso_1
SIM_SEA_2-5_LAP_BELT_2: torso_2
SIM_SEA_2-5_R_HIP_1: r_hip_1
SIM_SEA_2-5_R_HIP_2: r_hip_2
SIM_SEA_2-5_R_UPPER_THIGH: r_hip_3
SIM_SEA_2-5_R_THIGH: r_upper_leg
SIM_SEA_2-5_R_SHANK: r_lower_leg
SIM_SEA_2-5_R_ANKLE: r_ankle_1
SIM_SEA_2-5_R_FOOT: r_ankle_2
SIM_SEA_2-5_R_SOLE: r_foot
SIM_SEA_2-5_L_HIP_1: l_hip_1
SIM_SEA_2-5_L_HIP_2: l_hip_2
SIM_SEA_2-5_L_UPPER_THIGH: l_hip_3
SIM_SEA_2-5_L_THIGH: l_upper_leg
SIM_SEA_2-5_L_SHANK: l_lower_leg
SIM_SEA_2-5_L_ANKLE: l_ankle_1
SIM_SEA_2-5_L_FOOT: l_ankle_2
SIM_SEA_2-5_L_SOLE: l_foot
SIM_SEA_2-5_CHEST_BB: chest
SIM_SEA_2-5_R_SHOULDER_1: r_shoulder_1
SIM_SEA_2-5_R_SHOULDER_2: r_shoulder_2
SIM_SEA_2-5_R_UPPER_ARM: r_shoulder_3
SIM_SEA_2-5_R_ELBOW: r_upper_arm
SIM_SEA_2-5_R_ELBOW_PROSUP: r_elbow_1
SIM_SEA_2-5_R_FOREARM: r_forearm
SIM_SEA_2-5_R_WRIST_PITCH: r_wrist_1
SIM_SEA_2-5_R_HAND: r_hand
SIM_SEA_2-5_L_SHOULDER_1: l_shoulder_1
SIM_SEA_2-5_L_SHOULDER_2: l_shoulder_2
SIM_SEA_2-5_L_UPPER_ARM: l_shoulder_3
SIM_SEA_2-5_L_ELBOW: l_upper_arm
SIM_SEA_2-5_L_ELBOW_PROSUP: l_elbow_1
SIM_SEA_2-5_L_FOREARM: l_forearm
SIM_SEA_2-5_L_WRIST_PITCH: l_wrist_1
SIM_SEA_2-5_L_HAND: l_hand
SIM_SEA_2-5_NECK_1: neck_1
SIM_SEA_2-5_NECK_2: neck_2
SIM_SEA_2-5_HEAD: head
RootGround--RootPart: root_joint_unknown
RootPart--RootPart: base_joint_unknown
RootPart--SIM_SEA_2-5_ROOT_LINK: base_fixed_joint
RootPart--SIM_SEA_2-5_R_HIP_1: r_hip_unknown
RootPart--SIM_SEA_2-5_L_HIP_1: l_hip_unknown
RootPart--SIM_SEA_2-5_CHEST_BB: torso_yaw_unknown
RootPart--SIM_SEA_2-5_NECK_1: neck_pitch_unknown
SIM_SEA_2-5_ROOT_LINK--SIM_SEA_2-5_LAP_BELT_1: torso_pitch
SIM_SEA_2-5_LAP_BELT_1--SIM_SEA_2-5_LAP_BELT_2: torso_roll
SIM_SEA_2-5_LAP_BELT_2--SIM_SEA_2-5_CHEST_BB: torso_yaw
SIM_SEA_2-5_ROOT_LINK--SIM_SEA_2-5_R_HIP_1: r_hip_pitch
SIM_SEA_2-5_R_HIP_1--SIM_SEA_2-5_R_HIP_2: r_hip_roll
SIM_SEA_2-5_R_HIP_2--SIM_SEA_2-5_R_UPPER_THIGH: r_leg_ft_sensor
SIM_SEA_2-5_R_UPPER_THIGH--SIM_SEA_2-5_R_THIGH: r_hip_yaw
SIM_SEA_2-5_R_THIGH--SIM_SEA_2-5_R_SHANK: r_knee
SIM_SEA_2-5_R_SHANK--SIM_SEA_2-5_R_ANKLE: r_ankle_pitch
SIM_SEA_2-5_R_ANKLE--SIM_SEA_2-5_R_FOOT: r_ankle_roll
SIM_SEA_2-5_R_FOOT--SIM_SEA_2-5_R_SOLE: r_foot_ft_sensor
SIM_SEA_2-5_ROOT_LINK--SIM_SEA_2-5_L_HIP_1: l_hip_pitch
SIM_SEA_2-5_L_HIP_1--SIM_SEA_2-5_L_HIP_2: l_hip_roll
SIM_SEA_2-5_L_HIP_2--SIM_SEA_2-5_L_UPPER_THIGH: l_leg_ft_sensor
SIM_SEA_2-5_L_UPPER_THIGH--SIM_SEA_2-5_L_THIGH: l_hip_yaw
SIM_SEA_2-5_L_THIGH--SIM_SEA_2-5_L_SHANK: l_knee
SIM_SEA_2-5_L_SHANK--SIM_SEA_2-5_L_ANKLE: l_ankle_pitch
SIM_SEA_2-5_L_ANKLE--SIM_SEA_2-5_L_FOOT: l_ankle_roll
SIM_SEA_2-5_L_FOOT--SIM_SEA_2-5_L_SOLE: l_foot_ft_sensor
SIM_SEA_2-5_CHEST_BB--SIM_SEA_2-5_R_SHOULDER_1: r_shoulder_pitch
SIM_SEA_2-5_R_SHOULDER_1--SIM_SEA_2-5_R_SHOULDER_2: r_shoulder_roll
SIM_SEA_2-5_R_SHOULDER_2--SIM_SEA_2-5_R_UPPER_ARM: r_shoulder_yaw
SIM_SEA_2-5_R_UPPER_ARM--SIM_SEA_2-5_R_ELBOW: r_arm_ft_sensor
SIM_SEA_2-5_R_ELBOW--SIM_SEA_2-5_R_ELBOW_PROSUP: r_elbow
SIM_SEA_2-5_R_ELBOW_PROSUP--SIM_SEA_2-5_R_FOREARM: r_wrist_prosup
SIM_SEA_2-5_R_FOREARM--SIM_SEA_2-5_R_WRIST_PITCH: r_wrist_pitch
SIM_SEA_2-5_R_WRIST_PITCH--SIM_SEA_2-5_R_HAND: r_wrist_yaw
SIM_SEA_2-5_CHEST_BB--SIM_SEA_2-5_L_SHOULDER_1: l_shoulder_pitch
SIM_SEA_2-5_L_SHOULDER_1--SIM_SEA_2-5_L_SHOULDER_2: l_shoulder_roll
SIM_SEA_2-5_L_SHOULDER_2--SIM_SEA_2-5_L_UPPER_ARM: l_shoulder_yaw
SIM_SEA_2-5_L_UPPER_ARM--SIM_SEA_2-5_L_ELBOW: l_arm_ft_sensor
SIM_SEA_2-5_L_ELBOW--SIM_SEA_2-5_L_ELBOW_PROSUP: l_elbow
SIM_SEA_2-5_L_ELBOW_PROSUP--SIM_SEA_2-5_L_FOREARM: l_wrist_prosup
SIM_SEA_2-5_L_FOREARM--SIM_SEA_2-5_L_WRIST_PITCH: l_wrist_pitch
SIM_SEA_2-5_L_WRIST_PITCH--SIM_SEA_2-5_L_HAND: l_wrist_yaw
SIM_SEA_2-5_CHEST_BB--SIM_SEA_2-5_NECK_1: neck_pitch
SIM_SEA_2-5_NECK_1--SIM_SEA_2-5_NECK_2: neck_roll
SIM_SEA_2-5_NECK_2--SIM_SEA_2-5_HEAD: neck_yaw
# Frames options
exportAllUseradded: No
exportedFrames:
- frameName: SCSYS_L_SOLE
frameReferenceLink: l_foot
exportedFrameName: l_sole
- frameName: SCSYS_R_SOLE
frameReferenceLink: r_foot
exportedFrameName: r_sole
- frameName: SCSYS_L_HAND_DH_FRAME
frameReferenceLink: l_hand
exportedFrameName: l_hand_dh_frame
- frameName: SCSYS_R_HAND_DH_FRAME
frameReferenceLink: r_hand
exportedFrameName: r_hand_dh_frame
- frameName: SCSYS_L_FOREARM_DH_FRAME
frameReferenceLink: l_forearm
exportedFrameName: l_forearm_dh_frame
- frameName: SCSYS_R_FOREARM_DH_FRAME
frameReferenceLink: r_forearm
exportedFrameName: r_forearm_dh_frame
- frameName: SCSYS_R_UPPER_LEG_DH_FRAME
frameReferenceLink: r_upper_leg
exportedFrameName: r_upper_leg_dh_frame
- frameName: SCSYS_L_UPPER_LEG_DH_FRAME
frameReferenceLink: l_upper_leg
exportedFrameName: l_upper_leg_dh_frame
- frameName: SCSYS_L_UPPER_LEG_BACK_CONTACT
frameReferenceLink: l_upper_leg
exportedFrameName: l_upper_leg_back_contact
- frameName: SCSYS_R_UPPER_LEG_BACK_CONTACT
frameReferenceLink: r_upper_leg
exportedFrameName: r_upper_leg_back_contact
- frameName: SCSYS_HEAD_MTX_IMU
frameReferenceLink: head
exportedFrameName: imu_frame
@RFE_ADDITIONAL_TRANSFORMATION@
- frameName: SCSYS_R_FOREARM_SKIN_17
frameReferenceLink: r_forearm
exportedFrameName: r_forearm_skin_17
- frameName: SCSYS_R_FOREARM_SKIN_16
frameReferenceLink: r_forearm
exportedFrameName: r_forearm_skin_16
- frameName: SCSYS_R_FOREARM_SKIN_24
frameReferenceLink: r_forearm
exportedFrameName: r_forearm_skin_24
- frameName: SCSYS_R_FOREARM_SKIN_25
frameReferenceLink: r_forearm
exportedFrameName: r_forearm_skin_25
- frameName: SCSYS_R_FOREARM_SKIN_29
frameReferenceLink: r_forearm
exportedFrameName: r_forearm_skin_29
- frameName: SCSYS_R_FOREARM_SKIN_28
frameReferenceLink: r_forearm
exportedFrameName: r_forearm_skin_28
- frameName: SCSYS_R_FOREARM_SKIN_22
frameReferenceLink: r_forearm
exportedFrameName: r_forearm_skin_22
- frameName: SCSYS_R_FOREARM_SKIN_19
frameReferenceLink: r_forearm
exportedFrameName: r_forearm_skin_19
- frameName: SCSYS_R_FOREARM_SKIN_4
frameReferenceLink: r_forearm
exportedFrameName: r_forearm_skin_4
- frameName: SCSYS_R_FOREARM_SKIN_3
frameReferenceLink: r_forearm
exportedFrameName: r_forearm_skin_3
- frameName: SCSYS_R_FOREARM_SKIN_6
frameReferenceLink: r_forearm
exportedFrameName: r_forearm_skin_6
- frameName: SCSYS_R_FOREARM_SKIN_7
frameReferenceLink: r_forearm
exportedFrameName: r_forearm_skin_7
- frameName: SCSYS_R_FOREARM_SKIN_5
frameReferenceLink: r_forearm
exportedFrameName: r_forearm_skin_5
- frameName: SCSYS_R_FOREARM_SKIN_10
frameReferenceLink: r_forearm
exportedFrameName: r_forearm_skin_10
- frameName: SCSYS_R_FOREARM_SKIN_9
frameReferenceLink: r_forearm
exportedFrameName: r_forearm_skin_9
- frameName: SCSYS_R_FOREARM_SKIN_8
frameReferenceLink: r_forearm
exportedFrameName: r_forearm_skin_8
- frameName: SCSYS_R_FOREARM_SKIN_14
frameReferenceLink: r_forearm
exportedFrameName: r_forearm_skin_14
- frameName: SCSYS_R_FOREARM_SKIN_11
frameReferenceLink: r_forearm
exportedFrameName: r_forearm_skin_11
- frameName: SCSYS_R_FOREARM_SKIN_12
frameReferenceLink: r_forearm
exportedFrameName: r_forearm_skin_12
- frameName: SCSYS_R_FOREARM_SKIN_13
frameReferenceLink: r_forearm
exportedFrameName: r_forearm_skin_13
- frameName: SCSYS_R_FOREARM_SKIN_15
frameReferenceLink: r_forearm
exportedFrameName: r_forearm_skin_15
- frameName: SCSYS_R_FOREARM_SKIN_0
frameReferenceLink: r_forearm
exportedFrameName: r_forearm_skin_0
- frameName: SCSYS_R_FOREARM_SKIN_1
frameReferenceLink: r_forearm
exportedFrameName: r_forearm_skin_1
- frameName: SCSYS_R_FOREARM_SKIN_2
frameReferenceLink: r_forearm
exportedFrameName: r_forearm_skin_2
- frameName: SCSYS_L_FOREARM_SKIN_17
frameReferenceLink: l_forearm
exportedFrameName: l_forearm_skin_17
- frameName: SCSYS_L_FOREARM_SKIN_16
frameReferenceLink: l_forearm
exportedFrameName: l_forearm_skin_16
- frameName: SCSYS_L_FOREARM_SKIN_24
frameReferenceLink: l_forearm
exportedFrameName: l_forearm_skin_24
- frameName: SCSYS_L_FOREARM_SKIN_25
frameReferenceLink: l_forearm
exportedFrameName: l_forearm_skin_25
- frameName: SCSYS_L_FOREARM_SKIN_29
frameReferenceLink: l_forearm
exportedFrameName: l_forearm_skin_29
- frameName: SCSYS_L_FOREARM_SKIN_28
frameReferenceLink: l_forearm
exportedFrameName: l_forearm_skin_28
- frameName: SCSYS_L_FOREARM_SKIN_22
frameReferenceLink: l_forearm
exportedFrameName: l_forearm_skin_22
- frameName: SCSYS_L_FOREARM_SKIN_19
frameReferenceLink: l_forearm
exportedFrameName: l_forearm_skin_19
- frameName: SCSYS_L_FOREARM_SKIN_4
frameReferenceLink: l_forearm
exportedFrameName: l_forearm_skin_4
- frameName: SCSYS_L_FOREARM_SKIN_3
frameReferenceLink: l_forearm
exportedFrameName: l_forearm_skin_3
- frameName: SCSYS_L_FOREARM_SKIN_6
frameReferenceLink: l_forearm
exportedFrameName: l_forearm_skin_6
- frameName: SCSYS_L_FOREARM_SKIN_7
frameReferenceLink: l_forearm
exportedFrameName: l_forearm_skin_7
- frameName: SCSYS_L_FOREARM_SKIN_5
frameReferenceLink: l_forearm
exportedFrameName: l_forearm_skin_5
- frameName: SCSYS_L_FOREARM_SKIN_10
frameReferenceLink: l_forearm
exportedFrameName: l_forearm_skin_10
- frameName: SCSYS_L_FOREARM_SKIN_9
frameReferenceLink: l_forearm
exportedFrameName: l_forearm_skin_9
- frameName: SCSYS_L_FOREARM_SKIN_8
frameReferenceLink: l_forearm
exportedFrameName: l_forearm_skin_8
- frameName: SCSYS_L_FOREARM_SKIN_14
frameReferenceLink: l_forearm
exportedFrameName: l_forearm_skin_14
- frameName: SCSYS_L_FOREARM_SKIN_11
frameReferenceLink: l_forearm
exportedFrameName: l_forearm_skin_11
- frameName: SCSYS_L_FOREARM_SKIN_12
frameReferenceLink: l_forearm
exportedFrameName: l_forearm_skin_12
- frameName: SCSYS_L_FOREARM_SKIN_13
frameReferenceLink: l_forearm
exportedFrameName: l_forearm_skin_13
- frameName: SCSYS_L_FOREARM_SKIN_15
frameReferenceLink: l_forearm
exportedFrameName: l_forearm_skin_15
- frameName: SCSYS_L_FOREARM_SKIN_0
frameReferenceLink: l_forearm
exportedFrameName: l_forearm_skin_0
- frameName: SCSYS_L_FOREARM_SKIN_1
frameReferenceLink: l_forearm
exportedFrameName: l_forearm_skin_1
- frameName: SCSYS_L_FOREARM_SKIN_2
frameReferenceLink: l_forearm
exportedFrameName: l_forearm_skin_2
- frameName: SCSYS_R_LOWER_LEG_SKIN_15
frameReferenceLink: r_lower_leg
exportedFrameName: r_lower_leg_skin_15
- frameName: SCSYS_R_LOWER_LEG_SKIN_9
frameReferenceLink: r_lower_leg
exportedFrameName: r_lower_leg_skin_9
- frameName: SCSYS_R_LOWER_LEG_SKIN_6
frameReferenceLink: r_lower_leg
exportedFrameName: r_lower_leg_skin_6
- frameName: SCSYS_R_LOWER_LEG_SKIN_3
frameReferenceLink: r_lower_leg
exportedFrameName: r_lower_leg_skin_3
- frameName: SCSYS_R_LOWER_LEG_SKIN_4
frameReferenceLink: r_lower_leg
exportedFrameName: r_lower_leg_skin_4
- frameName: SCSYS_R_LOWER_LEG_SKIN_10
frameReferenceLink: r_lower_leg
exportedFrameName: r_lower_leg_skin_10
- frameName: SCSYS_R_LOWER_LEG_SKIN_5
frameReferenceLink: r_lower_leg
exportedFrameName: r_lower_leg_skin_5
- frameName: SCSYS_R_LOWER_LEG_SKIN_0
frameReferenceLink: r_lower_leg
exportedFrameName: r_lower_leg_skin_0
- frameName: SCSYS_R_LOWER_LEG_SKIN_11
frameReferenceLink: r_lower_leg
exportedFrameName: r_lower_leg_skin_11
- frameName: SCSYS_R_LOWER_LEG_SKIN_14
frameReferenceLink: r_lower_leg
exportedFrameName: r_lower_leg_skin_14
- frameName: SCSYS_R_LOWER_LEG_SKIN_16
frameReferenceLink: r_lower_leg
exportedFrameName: r_lower_leg_skin_16
- frameName: SCSYS_R_LOWER_LEG_SKIN_17
frameReferenceLink: r_lower_leg
exportedFrameName: r_lower_leg_skin_17
- frameName: SCSYS_R_LOWER_LEG_SKIN_28
frameReferenceLink: r_lower_leg
exportedFrameName: r_lower_leg_skin_28
- frameName: SCSYS_R_LOWER_LEG_SKIN_29
frameReferenceLink: r_lower_leg
exportedFrameName: r_lower_leg_skin_29
- frameName: SCSYS_R_LOWER_LEG_SKIN_31
frameReferenceLink: r_lower_leg
exportedFrameName: r_lower_leg_skin_31
- frameName: SCSYS_R_LOWER_LEG_SKIN_41
frameReferenceLink: r_lower_leg
exportedFrameName: r_lower_leg_skin_41
- frameName: SCSYS_R_LOWER_LEG_SKIN_38
frameReferenceLink: r_lower_leg
exportedFrameName: r_lower_leg_skin_38
- frameName: SCSYS_R_LOWER_LEG_SKIN_35
frameReferenceLink: r_lower_leg
exportedFrameName: r_lower_leg_skin_35
- frameName: SCSYS_R_LOWER_LEG_SKIN_36
frameReferenceLink: r_lower_leg
exportedFrameName: r_lower_leg_skin_36
- frameName: SCSYS_R_LOWER_LEG_SKIN_42
frameReferenceLink: r_lower_leg
exportedFrameName: r_lower_leg_skin_42
- frameName: SCSYS_R_LOWER_LEG_SKIN_37
frameReferenceLink: r_lower_leg
exportedFrameName: r_lower_leg_skin_37
- frameName: SCSYS_R_LOWER_LEG_SKIN_47
frameReferenceLink: r_lower_leg
exportedFrameName: r_lower_leg_skin_47
- frameName: SCSYS_R_LOWER_LEG_SKIN_32
frameReferenceLink: r_lower_leg
exportedFrameName: r_lower_leg_skin_32
- frameName: SCSYS_R_LOWER_LEG_SKIN_43
frameReferenceLink: r_lower_leg
exportedFrameName: r_lower_leg_skin_43
- frameName: SCSYS_R_LOWER_LEG_SKIN_46
frameReferenceLink: r_lower_leg
exportedFrameName: r_lower_leg_skin_46
- frameName: SCSYS_R_LOWER_LEG_SKIN_49
frameReferenceLink: r_lower_leg
exportedFrameName: r_lower_leg_skin_49
- frameName: SCSYS_R_LOWER_LEG_SKIN_50
frameReferenceLink: r_lower_leg
exportedFrameName: r_lower_leg_skin_50
- frameName: SCSYS_R_LOWER_LEG_SKIN_51
frameReferenceLink: r_lower_leg
exportedFrameName: r_lower_leg_skin_51
- frameName: SCSYS_R_LOWER_LEG_SKIN_52
frameReferenceLink: r_lower_leg
exportedFrameName: r_lower_leg_skin_52
- frameName: SCSYS_R_LOWER_LEG_SKIN_53
frameReferenceLink: r_lower_leg
exportedFrameName: r_lower_leg_skin_53
- frameName: SCSYS_R_LOWER_LEG_SKIN_54
frameReferenceLink: r_lower_leg
exportedFrameName: r_lower_leg_skin_54
- frameName: SCSYS_R_LOWER_LEG_SKIN_55
frameReferenceLink: r_lower_leg
exportedFrameName: r_lower_leg_skin_55
- frameName: SCSYS_R_LOWER_LEG_SKIN_60
frameReferenceLink: r_lower_leg
exportedFrameName: r_lower_leg_skin_60
- frameName: SCSYS_R_LOWER_LEG_SKIN_61
frameReferenceLink: r_lower_leg
exportedFrameName: r_lower_leg_skin_61
- frameName: SCSYS_R_LOWER_LEG_SKIN_56
frameReferenceLink: r_lower_leg
exportedFrameName: r_lower_leg_skin_56
- frameName: SCSYS_R_LOWER_LEG_SKIN_19
frameReferenceLink: r_lower_leg
exportedFrameName: r_lower_leg_skin_19
- frameName: SCSYS_R_LOWER_LEG_SKIN_20
frameReferenceLink: r_lower_leg
exportedFrameName: r_lower_leg_skin_20
- frameName: SCSYS_R_LOWER_LEG_SKIN_21
frameReferenceLink: r_lower_leg
exportedFrameName: r_lower_leg_skin_21
- frameName: SCSYS_R_FOOT_SKIN_9
frameReferenceLink: r_foot
exportedFrameName: r_sole_skin_9
- frameName: SCSYS_R_FOOT_SKIN_8
frameReferenceLink: r_foot
exportedFrameName: r_sole_skin_8
- frameName: SCSYS_R_FOOT_SKIN_10
frameReferenceLink: r_foot
exportedFrameName: r_sole_skin_10
- frameName: SCSYS_R_FOOT_SKIN_11
frameReferenceLink: r_foot
exportedFrameName: r_sole_skin_11
- frameName: SCSYS_R_FOOT_SKIN_12
frameReferenceLink: r_foot
exportedFrameName: r_sole_skin_12
- frameName: SCSYS_R_FOOT_SKIN_13
frameReferenceLink: r_foot
exportedFrameName: r_sole_skin_13
- frameName: SCSYS_R_FOOT_SKIN_1
frameReferenceLink: r_foot
exportedFrameName: r_sole_skin_1
- frameName: SCSYS_R_FOOT_SKIN_2
frameReferenceLink: r_foot
exportedFrameName: r_sole_skin_2
- frameName: SCSYS_R_FOOT_SKIN_3
frameReferenceLink: r_foot
exportedFrameName: r_sole_skin_3
- frameName: SCSYS_R_FOOT_SKIN_4
frameReferenceLink: r_foot
exportedFrameName: r_sole_skin_4
- frameName: SCSYS_R_FOOT_SKIN_0
frameReferenceLink: r_foot
exportedFrameName: r_sole_skin_0
- frameName: SCSYS_R_FOOT_SKIN_15
frameReferenceLink: r_foot
exportedFrameName: r_sole_skin_15
- frameName: SCSYS_R_FOOT_SKIN_14
frameReferenceLink: r_foot
exportedFrameName: r_sole_skin_14
- frameName: SCSYS_R_FOOT_SKIN_21
frameReferenceLink: r_foot
exportedFrameName: r_sole_skin_21
- frameName: SCSYS_R_FOOT_SKIN_26
frameReferenceLink: r_foot
exportedFrameName: r_sole_skin_26
- frameName: SCSYS_R_FOOT_SKIN_27
frameReferenceLink: r_foot
exportedFrameName: r_sole_skin_27
- frameName: SCSYS_R_FOOT_SKIN_28
frameReferenceLink: r_foot
exportedFrameName: r_sole_skin_28
- frameName: SCSYS_R_FOOT_SKIN_17
frameReferenceLink: r_foot
exportedFrameName: r_sole_skin_17
- frameName: SCSYS_R_FOOT_SKIN_18
frameReferenceLink: r_foot
exportedFrameName: r_sole_skin_18
- frameName: SCSYS_R_FOOT_SKIN_19
frameReferenceLink: r_foot
exportedFrameName: r_sole_skin_19
- frameName: SCSYS_R_FOOT_SKIN_20
frameReferenceLink: r_foot
exportedFrameName: r_sole_skin_20
- frameName: SCSYS_R_FOOT_SKIN_29
frameReferenceLink: r_foot
exportedFrameName: r_sole_skin_29
- frameName: SCSYS_R_FOOT_SKIN_24
frameReferenceLink: r_foot
exportedFrameName: r_sole_skin_24
- frameName: SCSYS_R_FOOT_SKIN_25
frameReferenceLink: r_foot
exportedFrameName: r_sole_skin_25
- frameName: SCSYS_R_FOOT_SKIN_22
frameReferenceLink: r_foot
exportedFrameName: r_sole_skin_22
- frameName: SCSYS_L_FOOT_SKIN_9
frameReferenceLink: l_foot
exportedFrameName: l_sole_skin_9
- frameName: SCSYS_L_FOOT_SKIN_10
frameReferenceLink: l_foot
exportedFrameName: l_sole_skin_10
- frameName: SCSYS_L_FOOT_SKIN_11
frameReferenceLink: l_foot
exportedFrameName: l_sole_skin_11
- frameName: SCSYS_L_FOOT_SKIN_12
frameReferenceLink: l_foot
exportedFrameName: l_sole_skin_12
- frameName: SCSYS_L_FOOT_SKIN_13
frameReferenceLink: l_foot
exportedFrameName: l_sole_skin_13
- frameName: SCSYS_L_FOOT_SKIN_8
frameReferenceLink: l_foot
exportedFrameName: l_sole_skin_8
- frameName: SCSYS_L_FOOT_SKIN_1
frameReferenceLink: l_foot
exportedFrameName: l_sole_skin_1
- frameName: SCSYS_L_FOOT_SKIN_0
frameReferenceLink: l_foot
exportedFrameName: l_sole_skin_0
- frameName: SCSYS_L_FOOT_SKIN_15
frameReferenceLink: l_foot
exportedFrameName: l_sole_skin_15
- frameName: SCSYS_L_FOOT_SKIN_14
frameReferenceLink: l_foot
exportedFrameName: l_sole_skin_14
- frameName: SCSYS_L_FOOT_SKIN_2
frameReferenceLink: l_foot
exportedFrameName: l_sole_skin_2
- frameName: SCSYS_L_FOOT_SKIN_3
frameReferenceLink: l_foot
exportedFrameName: l_sole_skin_3
- frameName: SCSYS_L_FOOT_SKIN_4
frameReferenceLink: l_foot
exportedFrameName: l_sole_skin_4
- frameName: SCSYS_L_FOOT_SKIN_21
frameReferenceLink: l_foot
exportedFrameName: l_sole_skin_21
- frameName: SCSYS_L_FOOT_SKIN_26
frameReferenceLink: l_foot
exportedFrameName: l_sole_skin_26
- frameName: SCSYS_L_FOOT_SKIN_27
frameReferenceLink: l_foot
exportedFrameName: l_sole_skin_27
- frameName: SCSYS_L_FOOT_SKIN_28
frameReferenceLink: l_foot
exportedFrameName: l_sole_skin_28
- frameName: SCSYS_L_FOOT_SKIN_17
frameReferenceLink: l_foot
exportedFrameName: l_sole_skin_17
- frameName: SCSYS_L_FOOT_SKIN_18
frameReferenceLink: l_foot
exportedFrameName: l_sole_skin_18
- frameName: SCSYS_L_FOOT_SKIN_19
frameReferenceLink: l_foot
exportedFrameName: l_sole_skin_19
- frameName: SCSYS_L_FOOT_SKIN_20
frameReferenceLink: l_foot
exportedFrameName: l_sole_skin_20
- frameName: SCSYS_L_FOOT_SKIN_29
frameReferenceLink: l_foot
exportedFrameName: l_sole_skin_29
- frameName: SCSYS_L_FOOT_SKIN_24
frameReferenceLink: l_foot
exportedFrameName: l_sole_skin_24
- frameName: SCSYS_L_FOOT_SKIN_25
frameReferenceLink: l_foot
exportedFrameName: l_sole_skin_25
- frameName: SCSYS_L_FOOT_SKIN_22
frameReferenceLink: l_foot
exportedFrameName: l_sole_skin_22
@XSENS_IMU_FRAME@
linkFrames:
- linkName: root_link
frameName: SCSYS_SIM_LAP_BELT_2_ALT_ORIG_1
- linkName: l_hip_3
frameName: SCSYS_L_UPPER_LEG_FT45
- linkName: l_foot
frameName: SCSYS_L_FOOT_FT45
- linkName: r_hip_3
frameName: SCSYS_R_UPPER_LEG_FT45
- linkName: r_foot
frameName: SCSYS_R_FOOT_FT45
- linkName: l_upper_arm
frameName: SCSYS_L_UPPER_ARM_FT45
frameReferenceLink: l_shoulder_3
- linkName: r_upper_arm
frameName: SCSYS_R_UPPER_ARM_FT45
frameReferenceLink: r_shoulder_3
- linkName: r_hip_1
frameName: SCSYS_R_HIP_PITCH_FRAME
- linkName: r_hip_2
frameName: SCSYS_R_HIP_ROLL_FRAME
- linkName: r_upper_leg
frameName: SCSYS_R_HIP_YAW_FRAME
- linkName: r_lower_leg
frameName: SCSYS_R_KNEE_FRAME
- linkName: r_ankle_1
frameName: SCSYS_R_ANKLE_PITCH_FRAME
- linkName: r_ankle_2
frameName: SCSYS_R_ANKLE_ROLL_FRAME
- linkName: l_hip_1
frameName: SCSYS_L_HIP_PITCH_FRAME
- linkName: l_hip_2
frameName: SCSYS_L_HIP_ROLL_FRAME
- linkName: l_upper_leg
frameName: SCSYS_L_HIP_YAW_FRAME
- linkName: l_lower_leg
frameName: SCSYS_L_KNEE_FRAME
- linkName: l_ankle_1
frameName: SCSYS_L_ANKLE_PITCH_FRAME
- linkName: l_ankle_2
frameName: SCSYS_L_ANKLE_ROLL_FRAME
# Sensors options
forceTorqueSensors:
- jointName: l_leg_ft_sensor
directionChildToParent: Yes
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
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
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
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
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
sensorBlobs:
- |
<plugin name="right_arm_ft_plugin" filename="libgazebo_yarp_forcetorque.so">
<yarpConfigurationFile>model://iCub/conf/FT/gazebo_icub_right_arm_ft.ini</yarpConfigurationFile>
</plugin>
sensors:
- sensorName: default
exportFrameInURDF: No
sensorType: "accelerometer"
updateRate: "100"
sensorBlobs:
- |
<plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so" />
- sensorName: default
exportFrameInURDF: No
sensorType: "gyroscope"
updateRate: "100"
- frameName: SCSYS_HEAD_MTX_IMU
linkName: head
sensorName: head_imu_acc_1x1
sensorType: "accelerometer"
sensorBlobs:
- |
<plugin name="iCub_yarp_gazebo_plugin_IMU" filename="libgazebo_yarp_imu.so">
<yarpConfigurationFile>model://iCub/conf/gazebo_icub_inertial.ini</yarpConfigurationFile>
</plugin>
- frameName: SCSYS_ROOT_LINK_EMS_ACC_EB5
linkName: root_link
sensorName: root_link_ems_acc_eb5
sensorType: "accelerometer"
- frameName: SCSYS_ROOT_LINK_EMS_GYRO_EB5
linkName: root_link
sensorName: root_link_ems_gyro_eb5
sensorType: "gyroscope"
- frameName: SCSYS_CHEST_EMS_ACC_EB1
linkName: chest
sensorName: chest_ems_acc_eb1
sensorType: "accelerometer"
- frameName: SCSYS_CHEST_EMS_GYRO_EB1
linkName: chest
sensorName: chest_ems_gyro_eb1
sensorType: "gyroscope"
- frameName: SCSYS_CHEST_EMS_ACC_EB2
linkName: chest
sensorName: chest_ems_acc_eb2
sensorType: "accelerometer"
- frameName: SCSYS_CHEST_EMS_GYRO_EB2
linkName: chest
sensorName: chest_ems_gyro_eb2
sensorType: "gyroscope"
- frameName: SCSYS_CHEST_EMS_ACC_EB3
linkName: chest
sensorName: chest_ems_acc_eb3
sensorType: "accelerometer"
- frameName: SCSYS_CHEST_EMS_GYRO_EB3
linkName: chest
sensorName: chest_ems_gyro_eb3
sensorType: "gyroscope"
- frameName: SCSYS_CHEST_EMS_ACC_EB4
linkName: chest
sensorName: chest_ems_acc_eb4
sensorType: "accelerometer"
- frameName: SCSYS_CHEST_EMS_GYRO_EB4
linkName: chest
sensorName: chest_ems_gyro_eb4
sensorType: "gyroscope"
- frameName: SCSYS_CHEST_MTB_ACC_0B7
linkName: chest
sensorName: chest_mtb_acc_0b7
sensorType: "accelerometer"
- frameName: SCSYS_CHEST_MTB_ACC_0B8
linkName: chest
sensorName: chest_mtb_acc_0b8
sensorType: "accelerometer"
- frameName: SCSYS_CHEST_MTB_ACC_0B9
linkName: chest
sensorName: chest_mtb_acc_0b9
sensorType: "accelerometer"
- frameName: SCSYS_CHEST_MTB_ACC_0B10
linkName: chest
sensorName: chest_mtb_acc_0b10
sensorType: "accelerometer"
- frameName: SCSYS_R_UPPER_ARM_MTB_ACC_2B10
linkName: r_upper_arm
sensorName: r_upper_arm_mtb_acc_2b10
sensorType: "accelerometer"
- frameName: SCSYS_R_UPPER_ARM_MTB_ACC_2B11
linkName: r_upper_arm
sensorName: r_upper_arm_mtb_acc_2b11
sensorType: "accelerometer"
- frameName: SCSYS_R_UPPER_ARM_MTB_ACC_2B12
linkName: r_upper_arm
sensorName: r_upper_arm_mtb_acc_2b12
sensorType: "accelerometer"
- frameName: SCSYS_R_UPPER_ARM_MTB_ACC_2B13
linkName: r_upper_arm
sensorName: r_upper_arm_mtb_acc_2b13
sensorType: "accelerometer"
- frameName: SCSYS_R_FOREARM_MTB_ACC_2B7
linkName: r_forearm
sensorName: r_forearm_mtb_acc_2b7
sensorType: "accelerometer"
- frameName: SCSYS_R_FOREARM_MTB_ACC_2B8
linkName: r_forearm
sensorName: r_forearm_mtb_acc_2b8
sensorType: "accelerometer"
- frameName: SCSYS_R_FOREARM_MTB_ACC_2B9
linkName: r_forearm
sensorName: r_forearm_mtb_acc_2b9
sensorType: "accelerometer"
- frameName: SCSYS_L_UPPER_ARM_MTB_ACC_1B10
linkName: l_upper_arm
sensorName: l_upper_arm_mtb_acc_1b10
sensorType: "accelerometer"
- frameName: SCSYS_L_UPPER_ARM_MTB_ACC_1B11
linkName: l_upper_arm
sensorName: l_upper_arm_mtb_acc_1b11
sensorType: "accelerometer"
- frameName: SCSYS_L_UPPER_ARM_MTB_ACC_1B12
linkName: l_upper_arm
sensorName: l_upper_arm_mtb_acc_1b12
sensorType: "accelerometer"
- frameName: SCSYS_L_UPPER_ARM_MTB_ACC_1B13
linkName: l_upper_arm
sensorName: l_upper_arm_mtb_acc_1b13
sensorType: "accelerometer"
- frameName: SCSYS_L_FOREARM_MTB_ACC_1B7
linkName: l_forearm
sensorName: l_forearm_mtb_acc_1b7
sensorType: "accelerometer"
- frameName: SCSYS_L_FOREARM_MTB_ACC_1B8
linkName: l_forearm
sensorName: l_forearm_mtb_acc_1b8
sensorType: "accelerometer"
- frameName: SCSYS_L_FOREARM_MTB_ACC_1B9
linkName: l_forearm
sensorName: l_forearm_mtb_acc_1b9
sensorType: "accelerometer"
- frameName: SCSYS_R_UPPER_LEG_EMS_ACC_EB8
linkName: r_upper_leg
sensorName: r_upper_leg_ems_acc_eb8
sensorType: "accelerometer"
- frameName: SCSYS_R_UPPER_LEG_EMS_ACC_EB11
linkName: r_upper_leg
sensorName: r_upper_leg_ems_acc_eb11
sensorType: "accelerometer"
- frameName: SCSYS_R_UPPER_LEG_EMS_GYRO_EB8
linkName: r_upper_leg
sensorName: r_upper_leg_ems_gyro_eb8
sensorType: "gyroscope"
- frameName: SCSYS_R_UPPER_LEG_EMS_GYRO_EB11
linkName: r_upper_leg
sensorName: r_upper_leg_ems_gyro_eb11
sensorType: "gyroscope"
- frameName: SCSYS_R_UPPER_LEG_MTB_ACC_11B1
linkName: r_upper_leg
sensorName: r_upper_leg_mtb_acc_11b1
sensorType: "accelerometer"
- frameName: SCSYS_R_UPPER_LEG_MTB_ACC_11B2
linkName: r_upper_leg
sensorName: r_upper_leg_mtb_acc_11b2
sensorType: "accelerometer"
- frameName: SCSYS_R_UPPER_LEG_MTB_ACC_11B3
linkName: r_upper_leg
sensorName: r_upper_leg_mtb_acc_11b3
sensorType: "accelerometer"
- frameName: SCSYS_R_UPPER_LEG_MTB_ACC_11B4
linkName: r_upper_leg
sensorName: r_upper_leg_mtb_acc_11b4
sensorType: "accelerometer"
- frameName: SCSYS_R_UPPER_LEG_MTB_ACC_11B5
linkName: r_upper_leg
sensorName: r_upper_leg_mtb_acc_11b5
sensorType: "accelerometer"
- frameName: SCSYS_R_UPPER_LEG_MTB_ACC_11B6
linkName: r_upper_leg
sensorName: r_upper_leg_mtb_acc_11b6
sensorType: "accelerometer"
- frameName: SCSYS_R_UPPER_LEG_MTB_ACC_11B7
linkName: r_upper_leg
sensorName: r_upper_leg_mtb_acc_11b7
sensorType: "accelerometer"
- frameName: SCSYS_R_LOWER_LEG_EMS_ACC_EB9
linkName: r_lower_leg
sensorName: r_lower_leg_ems_acc_eb9
sensorType: "accelerometer"
- frameName: SCSYS_R_LOWER_LEG_EMS_GYRO_EB9
linkName: r_lower_leg
sensorName: r_lower_leg_ems_gyro_eb9
sensorType: "gyroscope"
- frameName: SCSYS_R_LOWER_LEG_MTB_ACC_11B8
linkName: r_lower_leg
sensorName: r_lower_leg_mtb_acc_11b8
sensorType: "accelerometer"
- frameName: SCSYS_R_LOWER_LEG_MTB_ACC_11B9
linkName: r_lower_leg
sensorName: r_lower_leg_mtb_acc_11b9
sensorType: "accelerometer"
- frameName: SCSYS_R_LOWER_LEG_MTB_ACC_11B10
linkName: r_lower_leg
sensorName: r_lower_leg_mtb_acc_11b10
sensorType: "accelerometer"
- frameName: SCSYS_R_LOWER_LEG_MTB_ACC_11B11
linkName: r_lower_leg
sensorName: r_lower_leg_mtb_acc_11b11
sensorType: "accelerometer"
- frameName: SCSYS_R_FOOT_MTB_ACC_11B12
linkName: r_foot
sensorName: r_foot_mtb_acc_11b12
sensorType: "accelerometer"
- frameName: SCSYS_R_FOOT_MTB_ACC_11B13
linkName: r_foot
sensorName: r_foot_mtb_acc_11b13
sensorType: "accelerometer"
- frameName: SCSYS_L_UPPER_LEG_EMS_ACC_EB6
linkName: l_upper_leg
sensorName: l_upper_leg_ems_acc_eb6
sensorType: "accelerometer"
- frameName: SCSYS_L_UPPER_LEG_EMS_ACC_EB10
linkName: l_upper_leg
sensorName: l_upper_leg_ems_acc_eb10
sensorType: "accelerometer"
- frameName: SCSYS_L_UPPER_LEG_EMS_GYRO_EB6
linkName: l_upper_leg
sensorName: l_upper_leg_ems_gyro_eb6
sensorType: "gyroscope"
- frameName: SCSYS_L_UPPER_LEG_EMS_GYRO_EB10
linkName: l_upper_leg
sensorName: l_upper_leg_ems_gyro_eb10
sensorType: "gyroscope"
- frameName: SCSYS_L_UPPER_LEG_MTB_ACC_10B1
linkName: l_upper_leg
sensorName: l_upper_leg_mtb_acc_10b1
sensorType: "accelerometer"
- frameName: SCSYS_L_UPPER_LEG_MTB_ACC_10B2
linkName: l_upper_leg
sensorName: l_upper_leg_mtb_acc_10b2
sensorType: "accelerometer"
- frameName: SCSYS_L_UPPER_LEG_MTB_ACC_10B3
linkName: l_upper_leg
sensorName: l_upper_leg_mtb_acc_10b3
sensorType: "accelerometer"
- frameName: SCSYS_L_UPPER_LEG_MTB_ACC_10B4
linkName: l_upper_leg
sensorName: l_upper_leg_mtb_acc_10b4
sensorType: "accelerometer"
- frameName: SCSYS_L_UPPER_LEG_MTB_ACC_10B5
linkName: l_upper_leg
sensorName: l_upper_leg_mtb_acc_10b5
sensorType: "accelerometer"
- frameName: SCSYS_L_UPPER_LEG_MTB_ACC_10B6
linkName: l_upper_leg
sensorName: l_upper_leg_mtb_acc_10b6
sensorType: "accelerometer"
- frameName: SCSYS_L_UPPER_LEG_MTB_ACC_10B7
linkName: l_upper_leg
sensorName: l_upper_leg_mtb_acc_10b7
sensorType: "accelerometer"
- frameName: SCSYS_L_LOWER_LEG_EMS_ACC_EB7
linkName: l_lower_leg
sensorName: l_lower_leg_ems_acc_eb7
sensorType: "accelerometer"
- frameName: SCSYS_L_LOWER_LEG_EMS_GYRO_EB7
linkName: l_lower_leg
sensorName: l_lower_leg_ems_gyro_eb7
sensorType: "gyroscope"
- frameName: SCSYS_L_LOWER_LEG_MTB_ACC_10B8
linkName: l_lower_leg
sensorName: l_lower_leg_mtb_acc_10b8
sensorType: "accelerometer"
- frameName: SCSYS_L_LOWER_LEG_MTB_ACC_10B9
linkName: l_lower_leg
sensorName: l_lower_leg_mtb_acc_10b9
sensorType: "accelerometer"
- frameName: SCSYS_L_LOWER_LEG_MTB_ACC_10B10
linkName: l_lower_leg
sensorName: l_lower_leg_mtb_acc_10b10
sensorType: "accelerometer"
- frameName: SCSYS_L_LOWER_LEG_MTB_ACC_10B11
linkName: l_lower_leg
sensorName: l_lower_leg_mtb_acc_10b11
sensorType: "accelerometer"
- frameName: SCSYS_L_FOOT_MTB_ACC_10B12
linkName: l_foot
sensorName: l_foot_mtb_acc_10b12
sensorType: "accelerometer"
- frameName: SCSYS_L_FOOT_MTB_ACC_10B13
linkName: l_foot
sensorName: l_foot_mtb_acc_10b13
sensorType: "accelerometer"
@FT_IMU_SENSORS@
@XSENS_IMU_SENSOR@
# Workaround options
@REVERSE_ROTATION_AXIS@
@ASSIGNED_COLLISION_GEOMETRIES@
assignedMasses:
chest: @CHEST_ASSIGNED_MASS@
l_upper_leg: 1.8084
l_lower_leg: 1.4724
l_ankle_1 : 0.6798
r_upper_leg: 1.8035
r_lower_leg: 1.4720
r_ankle_1 : 0.6803
@GAZEBO_ASSIGNED_INERTIAS@
XMLBlobs:
- |
<link name="base_link" />
- |
<joint name="base_link_fixed_joint" type="fixed">
<origin xyz="0 0 0" rpy="0 -0 0" />
<axis xyz="0 0 0" />
<parent link="root_link" />
<child link="base_link" />
</joint>
- |
<link name="l_foot_dh_frame"/>
- |
<joint name="l_foot_dh_frame_fixed_joint" type="fixed">
<origin xyz="0.0 0 0.004" rpy="0 1.5708 0" />
<axis xyz="0 0 0" />
<parent link="l_foot" />
<child link="l_foot_dh_frame" />
</joint>
- |
<link name="r_foot_dh_frame"/>
- |
<joint name="r_foot_dh_frame_fixed_joint" type="fixed">
<origin xyz="0.0 0 0.004" rpy="0 1.5708 0" />
<axis xyz="0 0 0" />
<parent link="r_foot" />
<child link="r_foot_dh_frame" />
</joint>
- |
<gazebo reference="r_arm_ft_sensor">
<preserveFixedJoint>true</preserveFixedJoint>
<!-- For compatibility with SDFormat < 4.4 -->
<disableFixedJointLumping>true</disableFixedJointLumping>
</gazebo>
- |
<gazebo reference="l_arm_ft_sensor">
<preserveFixedJoint>true</preserveFixedJoint>
<!-- For compatibility with SDFormat < 4.4 -->
<disableFixedJointLumping>true</disableFixedJointLumping>
</gazebo>
- |
<gazebo reference="r_leg_ft_sensor">
<preserveFixedJoint>true</preserveFixedJoint>
<!-- For compatibility with SDFormat < 4.4 -->
<disableFixedJointLumping>true</disableFixedJointLumping>
</gazebo>
- |
<gazebo reference="l_leg_ft_sensor">
<preserveFixedJoint>true</preserveFixedJoint>
<!-- For compatibility with SDFormat < 4.4 -->
<disableFixedJointLumping>true</disableFixedJointLumping>
</gazebo>
- |
<gazebo reference="r_foot_ft_sensor">
<preserveFixedJoint>true</preserveFixedJoint>
<!-- For compatibility with SDFormat < 4.4 -->
<disableFixedJointLumping>true</disableFixedJointLumping>