Add Gazebo Sim support (#230)

icub-tech-iit · Mar 28, 2024 · 4940220 · 4940220
1 parent eb0ef96
commit 4940220
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Showing 28 changed files with 1,458 additions and 31 deletions.
diff --git a/urdf/creo2urdf/data/ergocub1_0/ERGOCUB_all_options.yaml b/urdf/creo2urdf/data/ergocub1_0/ERGOCUB_all_options.yaml
@@ -1132,6 +1132,12 @@ XMLBlobs:
               <yarpConfigurationFile>model://ergoCub/conf/gazebo_ergocub_waist_inertial.ini</yarpConfigurationFile>
             </plugin>
             </gazebo>
+    - |
+            <gazebo>
+            <plugin name="gzyarp::Imu" filename="gz-sim-yarp-imu-system">
+              <yarpConfigurationFile>model://ergoCub/conf/gazebo_ergocub_waist_inertial.ini</yarpConfigurationFile>
+            </plugin>
+            </gazebo>
     - |
             <gazebo reference="torso_1">
             <sensor name="waist_imu_0" type="imu">
@@ -1176,6 +1182,12 @@ XMLBlobs:
               <yarpConfigurationFile>model://ergoCub/conf/gazebo_ergocub_torso.ini</yarpConfigurationFile>
             </plugin>
             </gazebo>
+    - |
+            <gazebo>
+            <plugin name="gzyarp::ControlBoard" filename="gz-sim-yarp-controlboard-system">
+              <yarpConfigurationFile>model://ergoCub/conf/gazebo_ergocub_torso.ini</yarpConfigurationFile>
+            </plugin>
+            </gazebo>
     - |
             <gazebo reference="torso_pitch">
                 <implicitSpringDamper>1</implicitSpringDamper>
@@ -1262,13 +1274,48 @@ XMLBlobs:
               <mu2>1</mu2>
               <fdir1>0 0 0</fdir1>
             </gazebo>
+    - |
+            <gazebo>
+            <plugin name="gzyarp::ForceTorque" filename="gz-sim-yarp-forcetorque-system">
+              <yarpConfigurationFile>model://ergoCub/conf/FT/gazebo_ergocub_left_leg_ft.ini</yarpConfigurationFile>
+            </plugin>
+            </gazebo>
+    - |
+            <gazebo>
+            <plugin name="gzyarp::ForceTorque" filename="gz-sim-yarp-forcetorque-system">
+              <yarpConfigurationFile>model://ergoCub/conf/FT/gazebo_ergocub_left_foot_front_ft.ini</yarpConfigurationFile>
+            </plugin>
+            </gazebo>
+    - |
+            <gazebo>
+            <plugin name="gzyarp::ForceTorque" filename="gz-sim-yarp-forcetorque-system">
+              <yarpConfigurationFile>model://ergoCub/conf/FT/gazebo_ergocub_left_foot_rear_ft.ini</yarpConfigurationFile>
+            </plugin>
+            </gazebo>
+    - |
+            <gazebo>
+            <plugin name="gzyarp::Imu" filename="gz-sim-yarp-imu-system">
+              <yarpConfigurationFile>model://ergoCub/conf/gazebo_ergocub_l_foot_front_ft_sensor_inertial.ini</yarpConfigurationFile>
+            </plugin>
+            </gazebo>
+    - |
+            <gazebo>
+            <plugin name="gzyarp::Imu" filename="gz-sim-yarp-imu-system">
+              <yarpConfigurationFile>model://ergoCub/conf/gazebo_ergocub_l_foot_rear_ft_sensor_inertial.ini</yarpConfigurationFile>
+            </plugin>
+            </gazebo>
     - |
             <gazebo>
             <plugin name="controlboard_left_leg" filename="libgazebo_yarp_controlboard.so">
             <yarpConfigurationFile>model://ergoCub/conf/gazebo_ergocub_left_leg.ini</yarpConfigurationFile>
             </plugin>
             </gazebo>
-
+    - |
+            <gazebo>
+            <plugin name="gzyarp::ControlBoard" filename="gz-sim-yarp-controlboard-system">
+              <yarpConfigurationFile>model://ergoCub/conf/gazebo_ergocub_left_leg.ini</yarpConfigurationFile>
+            </plugin>
+            </gazebo>
     - |
             <gazebo reference="l_hip_pitch">
                 <implicitSpringDamper>1</implicitSpringDamper>
@@ -1342,12 +1389,48 @@ XMLBlobs:
               <mu2>1</mu2>
               <fdir1>0 0 0</fdir1>
             </gazebo>
+    - |
+            <gazebo>
+            <plugin name="gzyarp::ForceTorque" filename="gz-sim-yarp-forcetorque-system">
+              <yarpConfigurationFile>model://ergoCub/conf/FT/gazebo_ergocub_right_leg_ft.ini</yarpConfigurationFile>
+            </plugin>
+            </gazebo>
+    - |
+            <gazebo>
+            <plugin name="gzyarp::ForceTorque" filename="gz-sim-yarp-forcetorque-system">
+              <yarpConfigurationFile>model://ergoCub/conf/FT/gazebo_ergocub_right_foot_front_ft.ini</yarpConfigurationFile>
+            </plugin>
+            </gazebo>
+    - |
+            <gazebo>
+            <plugin name="gzyarp::ForceTorque" filename="gz-sim-yarp-forcetorque-system">
+              <yarpConfigurationFile>model://ergoCub/conf/FT/gazebo_ergocub_right_foot_rear_ft.ini</yarpConfigurationFile>
+            </plugin>
+            </gazebo>
+    - |
+            <gazebo>
+            <plugin name="gzyarp::Imu" filename="gz-sim-yarp-imu-system">
+              <yarpConfigurationFile>model://ergoCub/conf/gazebo_ergocub_r_foot_front_ft_sensor_inertial.ini</yarpConfigurationFile>
+            </plugin>
+            </gazebo>
+    - |
+            <gazebo>
+            <plugin name="gzyarp::Imu" filename="gz-sim-yarp-imu-system">
+              <yarpConfigurationFile>model://ergoCub/conf/gazebo_ergocub_r_foot_rear_ft_sensor_inertial.ini</yarpConfigurationFile>
+            </plugin>
+            </gazebo>
     - |
             <gazebo>
             <plugin name="controlboard_right_leg" filename="libgazebo_yarp_controlboard.so">
             <yarpConfigurationFile>model://ergoCub/conf/gazebo_ergocub_right_leg.ini</yarpConfigurationFile>
             </plugin>
             </gazebo>
+    - |
+            <gazebo>
+            <plugin name="gzyarp::ControlBoard" filename="gz-sim-yarp-controlboard-system">
+              <yarpConfigurationFile>model://ergoCub/conf/gazebo_ergocub_right_leg.ini</yarpConfigurationFile>
+            </plugin>
+            </gazebo>
     - |
             <gazebo reference="r_hip_pitch">
                 <implicitSpringDamper>1</implicitSpringDamper>
@@ -1374,12 +1457,36 @@ XMLBlobs:
             </gazebo>
 
     # head
+    - |
+            <gazebo>
+            <plugin name="gzyarp::Imu" filename="gz-sim-yarp-imu-system">
+              <yarpConfigurationFile>model://ergoCub/conf/gazebo_ergocub_inertial.ini</yarpConfigurationFile>
+            </plugin>
+            </gazebo>
+    - |
+            <gazebo>
+            <plugin name="gzyarp::Imu" filename="gz-sim-yarp-imu-system">
+              <yarpConfigurationFile>model://ergoCub/conf/gazebo_ergocub_realsense_inertial.ini</yarpConfigurationFile>
+            </plugin>
+            </gazebo>
+    - |
+            <gazebo>
+            <plugin name="gzyarp::Laser" filename="gz-sim-yarp-laser-system">
+              <yarpConfigurationFile>model://ergoCub/conf/sensors/gazebo_ergocub_lidar.ini</yarpConfigurationFile>
+            </plugin>
+            </gazebo>
     - |
             <gazebo>
             <plugin name="controlboard_head" filename="libgazebo_yarp_controlboard.so">
             <yarpConfigurationFile>model://ergoCub/conf/gazebo_ergocub_head.ini</yarpConfigurationFile>
             </plugin>
             </gazebo>
+    - |
+            <gazebo>
+            <plugin name="gzyarp::ControlBoard" filename="gz-sim-yarp-controlboard-system">
+              <yarpConfigurationFile>model://ergoCub/conf/gazebo_ergocub_head.ini</yarpConfigurationFile>
+            </plugin>
+            </gazebo>
     - |
             <gazebo reference="neck_pitch">
                 <implicitSpringDamper>1</implicitSpringDamper>
@@ -1401,12 +1508,31 @@ XMLBlobs:
             <initialConfiguration>-0.52 0.52 0 0.785 0 0 0.0</initialConfiguration>
             </plugin>
             </gazebo>
+    - |
+            <gazebo>
+            <plugin name="gzyarp::ControlBoard" filename="gz-sim-yarp-controlboard-system">
+              <yarpConfigurationFile>model://ergoCub/conf/gazebo_ergocub_left_arm.ini</yarpConfigurationFile>
+              <initialConfiguration>-0.52 0.52 0 0.785 0 0 0.0</initialConfiguration>
+            </plugin>
+            </gazebo>
     - |
             <gazebo>
             <plugin name="controlboard_left_hand" filename="libgazebo_yarp_controlboard.so">
             <yarpConfigurationFile>model://ergoCub/conf/gazebo_ergocub_left_hand_mk5_0.ini</yarpConfigurationFile>
             </plugin>
             </gazebo>
+    - |
+            <gazebo>
+            <plugin name="gzyarp::ControlBoard" filename="gz-sim-yarp-controlboard-system">
+              <yarpConfigurationFile>model://ergoCub/conf/gazebo_ergocub_left_hand_mk5_0.ini</yarpConfigurationFile>
+            </plugin>
+            </gazebo>
+    - |
+            <gazebo>
+            <plugin name="gzyarp::ForceTorque" filename="gz-sim-yarp-forcetorque-system">
+              <yarpConfigurationFile>model://ergoCub/conf/FT/gazebo_ergocub_left_arm_ft.ini</yarpConfigurationFile>
+            </plugin>
+            </gazebo>
     - |
             <gazebo reference="l_shoulder_pitch">
               <implicitSpringDamper>1</implicitSpringDamper>
@@ -1443,12 +1569,31 @@ XMLBlobs:
             <initialConfiguration>-0.52 0.52 0 0.785 0 0 0.0</initialConfiguration>
             </plugin>
             </gazebo>
+    - |
+            <gazebo>
+            <plugin name="gzyarp::ControlBoard" filename="gz-sim-yarp-controlboard-system">
+              <yarpConfigurationFile>model://ergoCub/conf/gazebo_ergocub_right_arm.ini</yarpConfigurationFile>
+              <initialConfiguration>-0.52 0.52 0 0.785 0 0 0.0</initialConfiguration>
+            </plugin>
+            </gazebo>
     - |
             <gazebo>
             <plugin name="controlboard_right_hand" filename="libgazebo_yarp_controlboard.so">
             <yarpConfigurationFile>model://ergoCub/conf/gazebo_ergocub_right_hand_mk5_0.ini</yarpConfigurationFile>
             </plugin>
             </gazebo>
+    - |
+            <gazebo>
+            <plugin name="gzyarp::ControlBoard" filename="gz-sim-yarp-controlboard-system">
+              <yarpConfigurationFile>model://ergoCub/conf/gazebo_ergocub_right_hand_mk5_0.ini</yarpConfigurationFile>
+            </plugin>
+            </gazebo>
+    - |
+            <gazebo>
+            <plugin name="gzyarp::ForceTorque" filename="gz-sim-yarp-forcetorque-system">
+              <yarpConfigurationFile>model://ergoCub/conf/FT/gazebo_ergocub_right_arm_ft.ini</yarpConfigurationFile>
+            </plugin>
+            </gazebo>
     - |
             <gazebo reference="r_shoulder_pitch">
               <implicitSpringDamper>1</implicitSpringDamper>
@@ -1483,3 +1628,19 @@ XMLBlobs:
                 <yarpRobotInterfaceConfigurationFile>model://ergoCub/conf/ergocub.xml</yarpRobotInterfaceConfigurationFile>
               </plugin>
             </gazebo>
+    - |
+            <gazebo>
+              <plugin name="gzyarp::RobotInterface" filename="gz-sim-yarp-robotinterface-system">
+                <yarpRobotInterfaceConfigurationFile>model://ergoCub/conf/ergocub_gz_sim.xml</yarpRobotInterfaceConfigurationFile>
+              </plugin>
+            </gazebo>
+
+    - |
+            <gazebo>
+              <plugin filename="gz-sim-forcetorque-system" name="gz::sim::systems::ForceTorque"></plugin>
+            </gazebo>
+
+    - |
+            <gazebo>
+              <plugin filename="gz-sim-imu-system" name="gz::sim::systems::Imu"></plugin>
+            </gazebo>