From d3405c29519ace2a1732d783079225c1007d348e Mon Sep 17 00:00:00 2001 From: Nicogene Date: Thu, 5 Oct 2023 11:15:12 +0200 Subject: [PATCH] ergoCubV1: fix axis orientation after generating w/ creo2urdf --- .../data/ergocub1_0/ERGOCUB_all_options.yaml | 66 +++++++++---------- .../ERGOCUB_all_options_gazebo.yaml | 66 +++++++++---------- .../ERGOCUB_all_options_minContacts.yaml | 66 +++++++++---------- 3 files changed, 96 insertions(+), 102 deletions(-) diff --git a/urdf/creo2urdf/data/ergocub1_0/ERGOCUB_all_options.yaml b/urdf/creo2urdf/data/ergocub1_0/ERGOCUB_all_options.yaml index 2578ec4d..2972defb 100644 --- a/urdf/creo2urdf/data/ergocub1_0/ERGOCUB_all_options.yaml +++ b/urdf/creo2urdf/data/ergocub1_0/ERGOCUB_all_options.yaml @@ -1014,40 +1014,38 @@ assignedColors: head : [0.70, 0.70, 0.70, 1] reverseRotationAxis: - l_shoulder_pitch - l_shoulder_roll - l_shoulder_yaw - r_elbow - l_wrist_pitch - r_wrist_yaw - r_wrist_pitch - r_wrist_roll - torso_roll - r_hip_roll - r_hip_yaw - r_ankle_roll - l_knee - l_ankle_pitch - torso_pitch - torso_yaw - neck_yaw - camera_tilt - l_thumb_prox - l_thumb_dist - l_index_add - l_ring_prox - r_thumb_prox - r_thumb_dist -# r_hip_roll -# r_knee -# r_ankle_roll -# l_ankle_pitch -# l_wrist_roll -# l_wrist_pitch -# l_wrist_yaw -# torso_yaw -# torso_pitch -# neck_yaw + l_elbow + r_shoulder_pitch + r_shoulder_yaw + r_shoulder_roll + l_wrist_roll + l_wrist_yaw + r_hip_pitch + r_knee + r_ankle_pitch + l_hip_pitch + l_hip_roll + l_hip_yaw + l_ankle_roll + neck_pitch + neck_roll + l_thumb_add + l_index_prox + l_index_dist + l_middle_prox + l_middle_dist + l_ring_dist + l_pinkie_prox + l_pinkie_dist + r_thumb_add + r_index_add + r_index_prox + r_middle_prox + r_middle_dist + r_ring_prox + r_ring_dist + r_pinkie_prox + r_pinkie_dist XMLBlobs: # imu waist (workaround since simmechanics was not updated) diff --git a/urdf/creo2urdf/data/ergocub1_0/ERGOCUB_all_options_gazebo.yaml b/urdf/creo2urdf/data/ergocub1_0/ERGOCUB_all_options_gazebo.yaml index 5eb2186c..2e43c75d 100644 --- a/urdf/creo2urdf/data/ergocub1_0/ERGOCUB_all_options_gazebo.yaml +++ b/urdf/creo2urdf/data/ergocub1_0/ERGOCUB_all_options_gazebo.yaml @@ -1199,40 +1199,38 @@ assignedColors: head : [0.9, 0.9, 0.9, 1] reverseRotationAxis: - l_shoulder_pitch - l_shoulder_roll - l_shoulder_yaw - r_elbow - l_wrist_pitch - r_wrist_yaw - r_wrist_pitch - r_wrist_roll - torso_roll - r_hip_roll - r_hip_yaw - r_ankle_roll - l_knee - l_ankle_pitch - torso_pitch - torso_yaw - neck_yaw - camera_tilt - l_thumb_prox - l_thumb_dist - l_index_add - l_ring_prox - r_thumb_prox - r_thumb_dist -# -# r_knee -# r_ankle_roll -# l_ankle_pitch -# l_shoulder_yaw -# l_wrist_roll -# l_wrist_pitch -# l_wrist_yaw -# torso_yaw -# neck_yaw + l_elbow + r_shoulder_pitch + r_shoulder_yaw + r_shoulder_roll + l_wrist_roll + l_wrist_yaw + r_hip_pitch + r_knee + r_ankle_pitch + l_hip_pitch + l_hip_roll + l_hip_yaw + l_ankle_roll + neck_pitch + neck_roll + l_thumb_add + l_index_prox + l_index_dist + l_middle_prox + l_middle_dist + l_ring_dist + l_pinkie_prox + l_pinkie_dist + r_thumb_add + r_index_add + r_index_prox + r_middle_prox + r_middle_dist + r_ring_prox + r_ring_dist + r_pinkie_prox + r_pinkie_dist XMLBlobs: # imu waist (workaround since simmechanics was not updated) diff --git a/urdf/creo2urdf/data/ergocub1_0/ERGOCUB_all_options_minContacts.yaml b/urdf/creo2urdf/data/ergocub1_0/ERGOCUB_all_options_minContacts.yaml index 16603380..ce73b775 100644 --- a/urdf/creo2urdf/data/ergocub1_0/ERGOCUB_all_options_minContacts.yaml +++ b/urdf/creo2urdf/data/ergocub1_0/ERGOCUB_all_options_minContacts.yaml @@ -1508,40 +1508,38 @@ assignedColors: head : [0.9, 0.9, 0.9, 1] reverseRotationAxis: - l_shoulder_pitch - l_shoulder_roll - l_shoulder_yaw - r_elbow - l_wrist_pitch - r_wrist_yaw - r_wrist_pitch - r_wrist_roll - torso_roll - r_hip_roll - r_hip_yaw - r_ankle_roll - l_knee - l_ankle_pitch - torso_pitch - torso_yaw - neck_yaw - camera_tilt - l_thumb_prox - l_thumb_dist - l_index_add - l_ring_prox - r_thumb_prox - r_thumb_dist -# -# r_knee -# r_ankle_roll -# l_ankle_pitch -# l_shoulder_yaw -# l_wrist_roll -# l_wrist_pitch -# l_wrist_yaw -# torso_yaw -# neck_yaw + l_elbow + r_shoulder_pitch + r_shoulder_yaw + r_shoulder_roll + l_wrist_roll + l_wrist_yaw + r_hip_pitch + r_knee + r_ankle_pitch + l_hip_pitch + l_hip_roll + l_hip_yaw + l_ankle_roll + neck_pitch + neck_roll + l_thumb_add + l_index_prox + l_index_dist + l_middle_prox + l_middle_dist + l_ring_dist + l_pinkie_prox + l_pinkie_dist + r_thumb_add + r_index_add + r_index_prox + r_middle_prox + r_middle_dist + r_ring_prox + r_ring_dist + r_pinkie_prox + r_pinkie_dist XMLBlobs: # imu waist (workaround since simmechanics was not updated)