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Enable tests for consistency of FT sensor and "fake link" frames also to iCub v2 models #276

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merged 4 commits into from
Jul 5, 2024
Merged

Enable tests for consistency of FT sensor and "fake link" frames also to iCub v2 models #276

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ff5d3ba
Add cmake to pixi dependencies so that it work fine on system with ol…
traversaro Jul 5, 2024
79dab44
Add missing prints after successful tests
traversaro Jul 5, 2024
f68bf2d
Update dh legacy models to use *_ft for sensor name instead of *_ft_s…
traversaro Jul 5, 2024
b33fbd2
Enable FT sensor and frame consistency also on iCub v2 models
traversaro Jul 5, 2024
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48 changes: 44 additions & 4 deletions dh/data/legacy_models/headV1-armsV1-legsV1-feetV1/model.urdf
View file
Open in desktop
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>
Expand Down
28 changes: 24 additions & 4 deletions dh/data/legacy_models/headV1-armsV1-legsV1-feetV2/model.urdf
View file
Open in desktop
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>
Expand Down
28 changes: 24 additions & 4 deletions dh/data/legacy_models/headV1-armsV1-legsV2-feetV1/model.urdf
View file
Open in desktop
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
28 changes: 24 additions & 4 deletions dh/data/legacy_models/headV1-armsV1-legsV2-feetV2/model.urdf
View file
Open in desktop
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>
Expand Down
28 changes: 24 additions & 4 deletions dh/data/legacy_models/headV1-armsV2-legsV1-feetV1/model.urdf
View file
Open in desktop
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
28 changes: 24 additions & 4 deletions dh/data/legacy_models/headV1-armsV2-legsV1-feetV2/model.urdf
View file
Open in desktop
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>
Expand Down
28 changes: 24 additions & 4 deletions dh/data/legacy_models/headV1-armsV2-legsV2-feetV1/model.urdf
View file
Open in desktop
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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