diff --git a/CHANGELOG.md b/CHANGELOG.md new file mode 100644 index 0000000..c65ca56 --- /dev/null +++ b/CHANGELOG.md @@ -0,0 +1,25 @@ +# Changelog + +All notable changes to this project will be documented in this file. + +The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/). +and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0.html). + +## [Unreleased Major] + +#### Added + +#### Changed + +- changed models folder name to avoid conflicts with component - by @gabrielenava https://github.com/ami-iit/ironcub_mk1_software/pull/5 + +#### Removed + +#### Fixed + +- fix naming after rename of the repo - by @FabioBergonti https://github.com/ami-iit/ironcub_mk1_software/pull/4 +- fix simulated IMU config files for Gazebo - by @gabrielenava https://github.com/ami-iit/ironcub_mk1_software/pull/5 + +## [[v1.0](https://github.com/ami-iit/ironcub_mk1_software/releases/tag/v1.0)] - 2022-02-20 + +- first release of iRonCub Software. diff --git a/CMakeLists.txt b/CMakeLists.txt index cfb36f3..8f90211 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -46,12 +46,12 @@ file(TO_NATIVE_PATH "${PROJECT_SOURCE_DIR}" IRONCUB_SOURCE_DIR) # Set paths for using the iRonCub models in Gazebo set(SETUP_PATH_GAZEBO_MODELS " ${EXPORT_VAR} GAZEBO_MODEL_PATH=${VARIABLE_START}GAZEBO_MODEL_PATH${VARIABLE_END}${PATH_LIST_SEPARATOR}${VARIABLE_START}IRONCUB_SOFTWARE_SOURCE_DIR${VARIABLE_END}${PATH_SEPARATOR}models${PATH_SEPARATOR} -${EXPORT_VAR} GAZEBO_MODEL_PATH=${VARIABLE_START}GAZEBO_MODEL_PATH${VARIABLE_END}${PATH_LIST_SEPARATOR}${VARIABLE_START}IRONCUB_SOFTWARE_SOURCE_DIR${VARIABLE_END}${PATH_SEPARATOR}models${PATH_SEPARATOR}iRonCub-Mk1${PATH_SEPARATOR}iRonCub${PATH_SEPARATOR}robots -${EXPORT_VAR} GAZEBO_MODEL_PATH=${VARIABLE_START}GAZEBO_MODEL_PATH${VARIABLE_END}${PATH_LIST_SEPARATOR}${VARIABLE_START}IRONCUB_SOFTWARE_SOURCE_DIR${VARIABLE_END}${PATH_SEPARATOR}models${PATH_SEPARATOR}iRonCub-Mk1_1${PATH_SEPARATOR}iRonCub${PATH_SEPARATOR}robots +${EXPORT_VAR} GAZEBO_MODEL_PATH=${VARIABLE_START}GAZEBO_MODEL_PATH${VARIABLE_END}${PATH_LIST_SEPARATOR}${VARIABLE_START}IRONCUB_SOFTWARE_SOURCE_DIR${VARIABLE_END}${PATH_SEPARATOR}models${PATH_SEPARATOR}iRonCub-Mk1_v1${PATH_SEPARATOR}iRonCub${PATH_SEPARATOR}robots +${EXPORT_VAR} GAZEBO_MODEL_PATH=${VARIABLE_START}GAZEBO_MODEL_PATH${VARIABLE_END}${PATH_LIST_SEPARATOR}${VARIABLE_START}IRONCUB_SOFTWARE_SOURCE_DIR${VARIABLE_END}${PATH_SEPARATOR}models${PATH_SEPARATOR}iRonCub-Mk1_1_v1${PATH_SEPARATOR}iRonCub${PATH_SEPARATOR}robots ${EXPORT_VAR} GAZEBO_RESOURCE_PATH=${VARIABLE_START}GAZEBO_RESOURCE_PATH${VARIABLE_END}${PATH_LIST_SEPARATOR}${VARIABLE_START}IRONCUB_SOFTWARE_SOURCE_DIR${VARIABLE_END}${PATH_SEPARATOR}models${PATH_SEPARATOR}worlds${PATH_SEPARATOR}iRonCub-Mk1_world ${EXPORT_VAR} GAZEBO_RESOURCE_PATH=${VARIABLE_START}GAZEBO_RESOURCE_PATH${VARIABLE_END}${PATH_LIST_SEPARATOR}${VARIABLE_START}IRONCUB_SOFTWARE_SOURCE_DIR${VARIABLE_END}${PATH_SEPARATOR}models${PATH_SEPARATOR}worlds${PATH_SEPARATOR}iRonCub-Mk1_1_world -${EXPORT_VAR} YARP_DATA_DIRS=${VARIABLE_START}YARP_DATA_DIRS${VARIABLE_END}${PATH_LIST_SEPARATOR}${VARIABLE_START}IRONCUB_SOFTWARE_SOURCE_DIR${VARIABLE_END}${PATH_SEPARATOR}models${PATH_SEPARATOR}iRonCub-Mk1${PATH_SEPARATOR}iRonCub${PATH_SEPARATOR} -${EXPORT_VAR} YARP_DATA_DIRS=${VARIABLE_START}YARP_DATA_DIRS${VARIABLE_END}${PATH_LIST_SEPARATOR}${VARIABLE_START}IRONCUB_SOFTWARE_SOURCE_DIR${VARIABLE_END}${PATH_SEPARATOR}models${PATH_SEPARATOR}iRonCub-Mk1_1${PATH_SEPARATOR}iRonCub${PATH_SEPARATOR}") +${EXPORT_VAR} YARP_DATA_DIRS=${VARIABLE_START}YARP_DATA_DIRS${VARIABLE_END}${PATH_LIST_SEPARATOR}${VARIABLE_START}IRONCUB_SOFTWARE_SOURCE_DIR${VARIABLE_END}${PATH_SEPARATOR}models${PATH_SEPARATOR}iRonCub-Mk1_v1${PATH_SEPARATOR}iRonCub${PATH_SEPARATOR} +${EXPORT_VAR} YARP_DATA_DIRS=${VARIABLE_START}YARP_DATA_DIRS${VARIABLE_END}${PATH_LIST_SEPARATOR}${VARIABLE_START}IRONCUB_SOFTWARE_SOURCE_DIR${VARIABLE_END}${PATH_SEPARATOR}models${PATH_SEPARATOR}iRonCub-Mk1_1_v1${PATH_SEPARATOR}iRonCub${PATH_SEPARATOR}") # Add jets-plugin to Gazebo plugin path set(SETUP_PATH_GAZEBO_PLUGINS "${EXPORT_VAR} GAZEBO_PLUGIN_PATH=${VARIABLE_START}GAZEBO_PLUGIN_PATH${VARIABLE_END}${PATH_LIST_SEPARATOR}${VARIABLE_START}IRONCUB_SOFTWARE_INSTALL_PREFIX${VARIABLE_END}${PATH_SEPARATOR}${PLUGIN_FOLDER_NAME}") diff --git a/flight-controllers-stable/momentum-based-flight-sim-gazebo/momentumBasedFlight.mdl b/flight-controllers-stable/momentum-based-flight-sim-gazebo/momentumBasedFlight.mdl index 47938ed..eaea282 100644 --- a/flight-controllers-stable/momentum-based-flight-sim-gazebo/momentumBasedFlight.mdl +++ b/flight-controllers-stable/momentum-based-flight-sim-gazebo/momentumBasedFlight.mdl @@ -1,7 +1,7 @@ # MathWorks OPC Text Package Model { - Version 10.4 - Description "Simulink model exported from R2022a to R2021b format" + Version 10.5 + Description "Simulink model saved in R2022a" } __MWOPC_PACKAGE_BEGIN__ R2022a __MWOPC_PART_BEGIN__ /[Content_Types].xml @@ -12,6 +12,7 @@ __MWOPC_PART_BEGIN__ /[Content_Types].xml + @@ -40,7 +41,8 @@ __MWOPC_PART_BEGIN__ /_rels/.rels - + + __MWOPC_PART_BEGIN__ /metadata/coreProperties.xml @@ -50,9 +52,9 @@ __MWOPC_PART_BEGIN__ /metadata/coreProperties.xml 2018-05-25T12:35:31Z gnava gnava - 2023-02-20T12:33:37Z - 5.1 - R2021b + 2023-10-17T17:44:35Z + 5.0 + R2022a __MWOPC_PART_BEGIN__ /metadata/mwcoreProperties.xml @@ -60,7 +62,7 @@ __MWOPC_PART_BEGIN__ /metadata/mwcoreProperties.xml application/vnd.mathworks.simulink.model Simulink Model - R2021b + R2022a __MWOPC_PART_BEGIN__ /metadata/mwcorePropertiesExtension.xml @@ -69,6 +71,17 @@ __MWOPC_PART_BEGIN__ /metadata/mwcorePropertiesExtension.xml 9f7c6cb4-1a72-407b-b9ae-938dea20db5e +__MWOPC_PART_BEGIN__ /metadata/mwcorePropertiesReleaseInfo.xml + + + + 9.12.0.1927505 + R2022a + Update 1 + Apr 06 2022 + 1655851947 + + __MWOPC_PART_BEGIN__ /simulink/_rels/blockdiagram.xml.rels @@ -97,230 +110,6 @@ __MWOPC_PART_BEGIN__ /simulink/bddefaults.xml - - -

none

-

Inherit: auto

-

off

- - -

off

- - -

off

-

10

- - -

1

-

on

-

Sample based

-

[]

-

[]

-

Inherit: Inherit from 'Constant value'

-

off

-

inf

-

inf

-

off

- - -

4

-

bar

-

off

- - -

held

-

Only when enabling

-

off

-

on

-

off

-

1

-

-1

-

[]

-

[]

-

double

-

on

- - -

A

-

Tag

-

local

- - -

1

-

Element-wise(K.*u)

-

[]

-

[]

-

Inherit: Inherit via internal rule

-

[]

-

[]

-

Inherit: Inherit via internal rule

-

off

-

Floor

-

off

-

-1

- - -

A

-

Tag

-

local

- - -

1

-

off

-

Port number

-

off

-

[]

-

[]

-

Inherit: auto

-

off

-

off

-

inherit

-

-1

-

Inherit

-

-1

-

auto

-

auto

-

off

-

off

-

on

- - -

AND

-

2

-

rectangular

-

on

-

Inherit: Logical (see Configuration Parameters: Optimization)

-

-1

- - -

1

-

off

-

-1

- - -

4

-

none

-

off

-

BusObject

-

off

- - -

1

-

off

-

Port number

-

off

-

[]

-

[]

-

Inherit: auto

-

off

-

off

-

inherit

-

-1

-

Inherit

-

-1

-

auto

-

auto

-

off

-

Dialog

-

held

-

[]

-

off

-

off

-

0

-

on

- - -

system

-

''

-

[]

-

auto

- - -

Simulink.scopes.TimeScopeBlockCfg

- - -

1

-

One-based

-

-1

-

-1

- - -

FromPortIcon

-

ReadWrite

-

All

-

off

-

off

-

Sample time

-

-1

-

Auto

-

Auto

-

Auto

-

void_void

-

off

-

off

-

Inherit from model

-

Inherit from model

-

Inherit from model

-

Inherit from model

-

Inherit from model

-

off

-

UseLocalSettings

-

AllNumericTypes

-

UseLocalSettings

-

off

-

off

-

NONE

-

off

-

expression

-

update diagram

-

off

-

off

-

on

-

off

-

off

-

off

-

0

-

off

-

off

- - -

round

-

++

-

All dimensions

-

1

-

off

-

Inherit: Inherit via internal rule

-

[]

-

[]

-

Inherit: Inherit via internal rule

-

off

-

Floor

-

off

-

-1

- - -

u2 >= Threshold

-

0

-

on

-

[]

-

[]

-

Inherit: Inherit via internal rule

-

off

-

Floor

-

on

-

on

-

-1

-

off

- - - -

0

-

Elements as channels (sample based)

-

1

-

off

-

off

- - __MWOPC_PART_BEGIN__ /simulink/blockdiagram.xml @@ -337,7 +126,7 @@ stopMomentumBasedFlight;

%<Auto>

%<Auto>

598800817

-

%<AutoIncrement:4.0>

+

%<AutoIncrement:5.0>

on

@@ -377,11 +166,11 @@ stopMomentumBasedFlight;

__MWOPC_PART_BEGIN__ /simulink/configSet0.xml - +

[]

- +

[]

[]

@@ -422,8 +211,11 @@ __MWOPC_PART_BEGIN__ /simulink/configSet0.xml

off

off

ode3

+

off

+

2

+

10

 - +

[]

[]

@@ -443,6 +235,7 @@ __MWOPC_PART_BEGIN__ /simulink/configSet0.xml

off

on

on

+

on

off

on

off

@@ -463,7 +256,7 @@ __MWOPC_PART_BEGIN__ /simulink/configSet0.xml

out.mat

[-inf, inf]

 - + BooleansAsBitfields PassReuseOutputArgsAs @@ -533,7 +326,7 @@ __MWOPC_PART_BEGIN__ /simulink/configSet0.xml

GradualUnderflow

off

 - + UseOnlyExistingSharedCode @@ -650,7 +443,7 @@ __MWOPC_PART_BEGIN__ /simulink/configSet0.xml

warning

none

 - +

[]

[]

@@ -698,7 +491,7 @@ __MWOPC_PART_BEGIN__ /simulink/configSet0.xml

on

EmbeddedCoderHSP

 - +

[]

[]

@@ -715,8 +508,9 @@ __MWOPC_PART_BEGIN__ /simulink/configSet0.xml

off

on

off

+

off

 - +

[]

[]

@@ -763,7 +557,7 @@ __MWOPC_PART_BEGIN__ /simulink/configSet0.xml

mkl-dnn

on

 - + IncludeHyperlinkInReport GenerateTraceInfo @@ -828,6 +622,8 @@ __MWOPC_PART_BEGIN__ /simulink/configSet0.xml

executionProfile

SummaryOnly

off

+

off

+

stackProfile

off

C

None

@@ -865,7 +661,7 @@ __MWOPC_PART_BEGIN__ /simulink/configSet0.xml

19.05

unspecified

- + IgnoreCustomStorageClasses IgnoreTestpoints @@ -949,7 +745,7 @@ __MWOPC_PART_BEGIN__ /simulink/configSet0.xml

[]

error

 - + IncludeMdlTerminateFcn SuppressErrorStatus @@ -1035,6 +831,7 @@ __MWOPC_PART_BEGIN__ /simulink/configSet0.xml None +

off

off

off

off

@@ -1053,7 +850,7 @@ __MWOPC_PART_BEGIN__ /simulink/configSet0.xml - +

[]

Simulink Coverage Configuration Component

[]

@@ -1089,6 +886,7 @@ __MWOPC_PART_BEGIN__ /simulink/configSet0.xml

0

0

Masking

+

off

Configuration

@@ -1118,6 +916,8 @@ __MWOPC_PART_BEGIN__ /simulink/graphicalInterface.xml

0

0

Unset

+

0

+

FixedStepDiscrete

0

Simulink

0

@@ -1282,13 +1082,12 @@ __MWOPC_PART_BEGIN__ /simulink/graphicalInterface.xml __MWOPC_PART_BEGIN__ /simulink/modelDictionary.xml - + - - + + - __MWOPC_PART_BEGIN__ /simulink/plugins/SimscapeModelParametersPlugin.xml @@ -1296,39 +1095,102 @@ __MWOPC_PART_BEGIN__ /simulink/plugins/SimscapeModelParametersPlugin.xml __MWOPC_PART_BEGIN__ /simulink/ScheduleCore.xml - + - + + HighNumberLast + true - - + + false Default -2147483648 - + + + true + + false + 1 + true + Cont + 40 + + Cont + 255 + true + Continuous00 + + 0.0 + + 0 + + + D1 + -436207361 + true + + .01 + + 1 + + + - __MWOPC_PART_BEGIN__ /simulink/ScheduleEditor.xml - - - - - Default - graph.Graph - + + - HighNumberFirst + + 40 + + #000000 + true + 0 + Cont + + + #e60000 + true + 0.01 + D1 + + Cont + base + + + Cont + + + Default + + + 0,0 + 0,0,0,0 + + Cont + base + + 0,0 + + Cont + graph.Graph + + + + Default + graph.Graph + - __MWOPC_PART_BEGIN__ /simulink/stateflow/_rels/machine.xml.rels @@ -2157,7 +2019,7 @@ __MWOPC_PART_BEGIN__ /simulink/stateflow/machine.xml -

80000046

+

80000049

Default Simulink S-Function Target.

@@ -2970,47 +2832,47 @@ __MWOPC_PART_BEGIN__ /simulink/systems/system_2478.xml

[0.000000, 0.000000, 0.000000, 0.000000]

off

Deduce

-

114

+

117

Simulink

[20, 101, 40, 119]

-1

 - +

[1, 1]

[270, 100, 320, 140]

-

104

+

107

1

 - +

Stateflow S-Function 22

[1, 1]

[180, 100, 230, 140]

-

103

+

106

sf_sfun

[1 1]

off

-

off

+

on

off

 - +

[460, 111, 480, 129]

-

105

+

108

 -

91

+

94

2478::1#out:1

-

2478::112#in:1

+

2478::115#in:1

 -

92

-

2478::113#out:1

-

2478::114#in:1

+

95

+

2478::116#out:1

+

2478::117#in:1

 -

93

-

2478::112#out:1

-

2478::113#in:1

+

96

+

2478::115#out:1

+

2478::116#in:1

 @@ -3039,7 +2901,7 @@ __MWOPC_PART_BEGIN__ /simulink/systems/system_2504.xml

[2, 1]

[200, 33, 290, 202]

2181

-

3.0

+

4.0

jets_control_v1/Feedback linearization 4-jets control

iRonCub Library v1

@@ -3700,36 +3562,36 @@ __MWOPC_PART_BEGIN__ /simulink/systems/system_2779.xml

[0.000000, 0.000000, 0.000000, 0.000000]

off

Deduce

-

132

+

135

Simulink

[20, 101, 40, 119]

-1

 - +

[1, 1]

[270, 230, 320, 270]

-

122

+

125

1

 - +

Stateflow S-Function 5

[1, 2]

[180, 100, 230, 160]

-

121

+

124

sf_sfun

[1 2]

off

-

off

+

on

off

2

w_H_b

 - +

[460, 241, 480, 259]

-

123

+

126

[460, 101, 480, 119]

@@ -3737,26 +3599,26 @@ __MWOPC_PART_BEGIN__ /simulink/systems/system_2779.xml

off

 -

101

+

105

2779::1#out:1

-

2779::130#in:1

+

2779::133#in:1

w_H_b

-

102

+

106

[0, 0]

-

2779::130#out:2

+

2779::133#out:2

2779::5#in:1

 -

103

-

2779::131#out:1

-

2779::132#in:1

+

107

+

2779::134#out:1

+

2779::135#in:1

 -

104

-

2779::130#out:1

-

2779::131#in:1

+

108

+

2779::133#out:1

+

2779::134#in:1

 @@ -6924,36 +6786,36 @@ __MWOPC_PART_BEGIN__ /simulink/systems/system_529.xml

[0.000000, 0.000000, 0.000000, 0.000000]

off

Deduce

-

123

+

126

Simulink

[20, 101, 40, 119]

-1

 - +

[1, 1]

[270, 230, 320, 270]

-

113

+

116

1

 - +

Stateflow S-Function 4

[1, 2]

[180, 100, 230, 160]

-

112

+

115

sf_sfun

[1 2]

off

-

off

+

on

off

2

rollPitchYaw

 - +

[460, 241, 480, 259]

-

114

+

117

[460, 101, 480, 119]

@@ -6961,26 +6823,26 @@ __MWOPC_PART_BEGIN__ /simulink/systems/system_529.xml

off

 -

137

+

141

529::1#out:1

-

529::121#in:1

+

529::124#in:1

rollPitchYaw

-

138

+

142

[0, 0]

-

529::121#out:2

+

529::124#out:2

529::5#in:1

 -

139

-

529::122#out:1

-

529::123#in:1

+

143

+

529::125#out:1

+

529::126#in:1

 -

140

-

529::121#out:1

-

529::122#in:1

+

144

+

529::124#out:1

+

529::125#in:1

 @@ -6991,36 +6853,36 @@ __MWOPC_PART_BEGIN__ /simulink/systems/system_800.xml

[0.000000, 0.000000, 0.000000, 0.000000]

off

Deduce

-

123

+

126

Simulink

[20, 101, 40, 119]

-1

 - +

[1, 1]

[270, 230, 320, 270]

-

113

+

116

1

 - +

Stateflow S-Function 6

[1, 2]

[180, 100, 230, 160]

-

112

+

115

sf_sfun

[1 2]

off

-

off

+

on

off

2

rollPitchYaw

 - +

[460, 241, 480, 259]

-

114

+

117

[460, 101, 480, 119]

@@ -7028,26 +6890,26 @@ __MWOPC_PART_BEGIN__ /simulink/systems/system_800.xml

off

 -

137

+

141

800::1#out:1

-

800::121#in:1

+

800::124#in:1

rollPitchYaw

-

138

+

142

[0, 0]

-

800::121#out:2

+

800::124#out:2

800::5#in:1

 -

139

-

800::122#out:1

-

800::123#in:1

+

143

+

800::125#out:1

+

800::126#in:1

 -

140

-

800::121#out:1

-

800::122#in:1

+

144

+

800::124#out:1

+

800::125#in:1

 @@ -7058,36 +6920,36 @@ __MWOPC_PART_BEGIN__ /simulink/systems/system_816.xml

[0.000000, 0.000000, 0.000000, 0.000000]

off

Deduce

-

123

+

126

Simulink

[20, 101, 40, 119]

-1

 - +

[1, 1]

[270, 230, 320, 270]

-

113

+

116

1

 - +

Stateflow S-Function 7

[1, 2]

[180, 100, 230, 160]

-

112

+

115

sf_sfun

[1 2]

off

-

off

+

on

off

2

rotErr_norm

 - +

[460, 241, 480, 259]

-

114

+

117

[460, 101, 480, 119]

@@ -7095,26 +6957,26 @@ __MWOPC_PART_BEGIN__ /simulink/systems/system_816.xml

off

 -

137

+

141

816::1#out:1

-

816::121#in:1

+

816::124#in:1

rotErr_norm

-

138

+

142

[0, 0]

-

816::121#out:2

+

816::124#out:2

816::5#in:1

 -

139

-

816::122#out:1

-

816::123#in:1

+

143

+

816::125#out:1

+

816::126#in:1

 -

140

-

816::121#out:1

-

816::122#in:1

+

144

+

816::124#out:1

+

816::125#in:1

 @@ -7125,36 +6987,36 @@ __MWOPC_PART_BEGIN__ /simulink/systems/system_820.xml

[0.000000, 0.000000, 0.000000, 0.000000]

off

Deduce

-

125

+

128

Simulink

[20, 101, 40, 119]

14

 - +

[1, 1]

[270, 230, 320, 270]

-

115

+

118

1

 - +

Stateflow S-Function 10

[1, 2]

[180, 100, 230, 160]

-

114

+

117

sf_sfun

[1 2]

off

-

off

+

on

off

2

RPY_Corr

 - +

[460, 241, 480, 259]

-

116

+

119

[460, 101, 480, 119]

@@ -7162,26 +7024,26 @@ __MWOPC_PART_BEGIN__ /simulink/systems/system_820.xml

off

 -

137

+

141

820::23#out:1

-

820::123#in:1

+

820::126#in:1

RPY_Corr

-

138

+

142

[0, 0]

-

820::123#out:2

+

820::126#out:2

820::5#in:1

 -

139

-

820::124#out:1

-

820::125#in:1

+

143

+

820::127#out:1

+

820::128#in:1

 -

140

-

820::123#out:1

-

820::124#in:1

+

144

+

820::126#out:1

+

820::127#in:1

 @@ -7869,36 +7731,36 @@ __MWOPC_PART_BEGIN__ /simulink/systems/system_912.xml

[0.000000, 0.000000, 0.000000, 0.000000]

off

Deduce

-

125

+

128

Simulink

[20, 101, 40, 119]

14

 - +

[1, 1]

[270, 230, 320, 270]

-

115

+

118

1

 - +

Stateflow S-Function 1

[1, 2]

[180, 100, 230, 160]

-

114

+

117

sf_sfun

[1 2]

off

-

off

+

on

off

2

RPY_Corr

 - +

[460, 241, 480, 259]

-

116

+

119

[460, 101, 480, 119]

@@ -7906,26 +7768,26 @@ __MWOPC_PART_BEGIN__ /simulink/systems/system_912.xml

off

 -

133

+

137

912::23#out:1

-

912::123#in:1

+

912::126#in:1

RPY_Corr

-

134

+

138

[0, 0]

-

912::123#out:2

+

912::126#out:2

912::5#in:1

 -

135

-

912::124#out:1

-

912::125#in:1

+

139

+

912::127#out:1

+

912::128#in:1

 -

136

-

912::123#out:1

-

912::124#in:1

+

140

+

912::126#out:1

+

912::127#in:1

 @@ -7936,36 +7798,36 @@ __MWOPC_PART_BEGIN__ /simulink/systems/system_913.xml

[0.000000, 0.000000, 0.000000, 0.000000]

off

Deduce

-

125

+

128

Simulink

[20, 101, 40, 119]

14

 - +

[1, 1]

[270, 230, 320, 270]

-

115

+

118

1

 - +

Stateflow S-Function 3

[1, 2]

[180, 100, 230, 160]

-

114

+

117

sf_sfun

[1 2]

off

-

off

+

on

off

2

RPY_Corr

 - +

[460, 241, 480, 259]

-

116

+

119

[460, 101, 480, 119]

@@ -7973,26 +7835,26 @@ __MWOPC_PART_BEGIN__ /simulink/systems/system_913.xml

off

 -

133

+

137

913::23#out:1

-

913::123#in:1

+

913::126#in:1

RPY_Corr

-

134

+

138

[0, 0]

-

913::123#out:2

+

913::126#out:2

913::5#in:1

 -

135

-

913::124#out:1

-

913::125#in:1

+

139

+

913::127#out:1

+

913::128#in:1

 -

136

-

913::123#out:1

-

913::124#in:1

+

140

+

913::126#out:1

+

913::127#in:1

 @@ -8292,6 +8154,7 @@ __MWOPC_PART_BEGIN__ /simulink/systems/system_root.xml

[2160, 228, 4026, 1287]

[0.000000, 0.000000, 0.000000, 0.000000]

+

on

off

Deduce

250

@@ -8316,12 +8179,6 @@ __MWOPC_PART_BEGIN__ /simulink/systems/system_root.xml

off

Workspace

'WBTConfigRobot'

-

'icubSim'

-

'model.urdf'

-

{'l_elbow','l_shoulder_pitch','torso_roll'}

-

{'left_arm','right_arm','torso'}

-

'WBT'

-

[0,0,-9.81]

 @@ -8656,10 +8513,10 @@ __MWOPC_PART_BEGIN__ /simulink/windowsInfo.xml

1

SimulinkTopLevel

0

-

[1828.0, 818.0]

+

[1828.0, 789.0]

2.5030010591973637

[-830.29837005712807, -239.90384615384616]

-

[-830.29837005712807, -239.90384615384616, 730.32330261425614, 326.80769230769232]

+

[-830.29837005712807, -239.90384615384616, 730.32330261425614, 315.22160052661275]

0

@@ -9576,18 +9433,6 @@ __MWOPC_PART_BEGIN__ /simulink/windowsInfo.xml

Off

 -

GLUE2:SpreadSheet

-

ModelData

-

0

-

DataView.createSpreadSheetComponent

-

-

0

-

Bottom

-

640

-

480

-

Off

- -

Simulink:Editor:ReferencedFiles

Referenced Files

0

@@ -9600,8 +9445,20 @@ __MWOPC_PART_BEGIN__ /simulink/windowsInfo.xml

480

Unset

 + +

GLUE2:SpreadSheet

+

ModelData

+

0

+

DataView.createSpreadSheetComponent

+

+

0

+

Bottom

+

640

+

480

+

Off

+ -

AAAA/wAAAAD9AAAAAwAAAAAAAAC9AAAB+PwCAAAABPsAAAAWAEQAbwBjAGsAVwBpAGQAZwBlAHQAMwEAAAAxAAAB+AAAAAAAAAAA+wAAABYARABvAGMAawBXAGkAZABnAGUAdAA0AAAAAAD/////AAAAAAAAAAD8AAAAAP////8AAAAAAP////r/////AgAAAAH7AAAAUgBHAEwAVQBFADIAIAB0AHIAZQBlACAAYwBvAG0AcABvAG4AZQBuAHQALwBHAEwAVQBFADIAIAB0AHIAZQBlACAAYwBvAG0AcABvAG4AZQBuAHQAAAAAAP////8AAABiAP////sAAABgAFMAaQBtAHUAbABpAG4AawA6AEUAZABpAHQAbwByADoAUgBlAGYAZQByAGUAbgBjAGUAZABGAGkAbABlAHMALwBSAGUAZgBlAHIAZQBuAGMAZQBkACAARgBpAGwAZQBzAAAAAAD/////AAAAiQD///8AAAABAAABMAAAA0z8AgAAAAH7AAAAVABHAEwAVQBFADIAOgBQAHIAbwBwAGUAcgB0AHkASQBuAHMAcABlAGMAdABvAHIALwBQAHIAbwBwAGUAcgB0AHkAIABJAG4AcwBwAGUAYwB0AG8AcgAAAAB5AAADTAAAAawA////AAAAAwAAB0oAAADQ/AEAAAAB/AAAAAAAAAdKAAAAAAD////6/////wEAAAAC+wAAADYARwBMAFUARQAyADoAUwBwAHIAZQBhAGQAUwBoAGUAZQB0AC8ATQBvAGQAZQBsAEQAYQB0AGEAAAAAAP////8AAAEWAP////v/////AAAAAAD/////AAABWQD///8AAAdKAAADbwAAAAEAAAACAAAAAQAAAAL8AAAABAAAAAAAAAAAAAAAAQAAAAAAAAACAAAAAAAAAAMAAAAA

+

AAAA/wAAAAD9AAAAAwAAAAAAAAC9AAAB+PwCAAAABPsAAAAWAEQAbwBjAGsAVwBpAGQAZwBlAHQAMwEAAAAxAAAB+AAAAAAAAAAA+wAAABYARABvAGMAawBXAGkAZABnAGUAdAA0AAAAAAD/////AAAAAAAAAAD8AAAAAP////8AAAAAAP////r/////AgAAAAH7AAAAUgBHAEwAVQBFADIAIAB0AHIAZQBlACAAYwBvAG0AcABvAG4AZQBuAHQALwBHAEwAVQBFADIAIAB0AHIAZQBlACAAYwBvAG0AcABvAG4AZQBuAHQAAAAAAP////8AAABiAP////sAAABgAFMAaQBtAHUAbABpAG4AawA6AEUAZABpAHQAbwByADoAUgBlAGYAZQByAGUAbgBjAGUAZABGAGkAbABlAHMALwBSAGUAZgBlAHIAZQBuAGMAZQBkACAARgBpAGwAZQBzAAAAAAD/////AAAAiQD///8AAAABAAABMAAAA0z8AgAAAAH7AAAAVABHAEwAVQBFADIAOgBQAHIAbwBwAGUAcgB0AHkASQBuAHMAcABlAGMAdABvAHIALwBQAHIAbwBwAGUAcgB0AHkAIABJAG4AcwBwAGUAYwB0AG8AcgAAAAB5AAADTAAAAawA////AAAAAwAAB0oAAADQ/AEAAAAB/AAAAAAAAAdKAAAAAAD////6/////wEAAAAC+wAAADYARwBMAFUARQAyADoAUwBwAHIAZQBhAGQAUwBoAGUAZQB0AC8ATQBvAGQAZQBsAEQAYQB0AGEAAAAAAP////8AAAEWAP////v/////AAAAAAD/////AAABWQD///8AAAdKAAADUgAAAAEAAAACAAAAAQAAAAL8AAAABAAAAAAAAAABAAAANgBjAG8AbABsAGEAcABzAGkAYgBsAGUAUABhAG4AZQBsAFQAbwBvAGwAQgBhAHIATABlAGYAdAIAAAAA/////wAAAAAAAAAAAAAAAQAAAAEAAAA4AGMAbwBsAGwAYQBwAHMAaQBiAGwAZQBQAGEAbgBlAGwAVABvAG8AbABCAGEAcgBSAGkAZwBoAHQCAAAAAP////8AAAAAAAAAAAAAAAIAAAAAAAAAAwAAAAEAAAA6AGMAbwBsAGwAYQBwAHMAaQBiAGwAZQBQAGEAbgBlAGwAVABvAG8AbABCAGEAcgBCAG8AdAB0AG8AbQEAAAAA/////wAAAAAAAAAA

2e98894b-59cd-4f97-8083-e75632a3cba5

 diff --git a/models/CMakeLists.txt b/models/CMakeLists.txt index d3b7d41..79aa872 100644 --- a/models/CMakeLists.txt +++ b/models/CMakeLists.txt @@ -1,6 +1,6 @@ # Copyright: (C) 2018 iCub Facility - Fondazione Istituto Italiano di Tecnologia # Authors: Luca Fiorio -add_subdirectory(iRonCub-Mk1) -add_subdirectory(iRonCub-Mk1_1) +add_subdirectory(iRonCub-Mk1_v1) +add_subdirectory(iRonCub-Mk1_1_v1) diff --git a/models/README.md b/models/README.md index 2c24f70..989f876 100644 --- a/models/README.md +++ b/models/README.md @@ -18,8 +18,8 @@ You should add these lines in your `.bashrc` (**warning**! not needed if you sou ``` bash export IRONCUB_SOFTWARE_SOURCE_DIR=[path where this repository is stored] export GAZEBO_MODEL_PATH=${GAZEBO_MODEL_PATH}:${IRONCUB_SOFTWARE_SOURCE_DIR}/models/ -export GAZEBO_MODEL_PATH=${GAZEBO_MODEL_PATH}:${IRONCUB_SOFTWARE_SOURCE_DIR}/models/iRonCub-Mk1/iRonCub/robots -export GAZEBO_MODEL_PATH=${GAZEBO_MODEL_PATH}:${IRONCUB_SOFTWARE_SOURCE_DIR}/models/iRonCub-Mk1_1/iRonCub/robots +export GAZEBO_MODEL_PATH=${GAZEBO_MODEL_PATH}:${IRONCUB_SOFTWARE_SOURCE_DIR}/models/iRonCub-Mk1_v1/iRonCub/robots +export GAZEBO_MODEL_PATH=${GAZEBO_MODEL_PATH}:${IRONCUB_SOFTWARE_SOURCE_DIR}/models/iRonCub-Mk1_1_v1/iRonCub/robots ``` #### How to use models in Gazebo (on Windows) @@ -29,8 +29,8 @@ You should add these lines in your custom `.bat` file to be called from terminal ``` cmd set IRONCUB_SOFTWARE_SOURCE_DIR=[path where this repository is stored] set GAZEBO_MODEL_PATH=%GAZEBO_MODEL_PATH%;%IRONCUB_SOFTWARE_SOURCE_DIR%\models\ -set GAZEBO_MODEL_PATH=%GAZEBO_MODEL_PATH%;%IRONCUB_SOFTWARE_SOURCE_DIR%\models\iRonCub-Mk1\iRonCub\robots -set GAZEBO_MODEL_PATH=%GAZEBO_MODEL_PATH%;%IRONCUB_SOFTWARE_SOURCE_DIR%\models\iRonCub-Mk1_1\iRonCub\robots +set GAZEBO_MODEL_PATH=%GAZEBO_MODEL_PATH%;%IRONCUB_SOFTWARE_SOURCE_DIR%\models\iRonCub-Mk1_v1\iRonCub\robots +set GAZEBO_MODEL_PATH=%GAZEBO_MODEL_PATH%;%IRONCUB_SOFTWARE_SOURCE_DIR%\models\iRonCub-Mk1_1_v1\iRonCub\robots ``` #### How to use the .urdf model with WBToolbox and Simulink (on Linux) @@ -39,8 +39,8 @@ You should add these lines in your `.bashrc` (**warning**! not needed if you sou ``` bash export IRONCUB_SOFTWARE_SOURCE_DIR=[path where this repository is stored] -export YARP_DATA_DIRS=${YARP_DATA_DIRS}:${IRONCUB_SOFTWARE_SOURCE_DIR}/models/iRonCub-Mk1/iRonCub/ -export YARP_DATA_DIRS=${YARP_DATA_DIRS}:${IRONCUB_SOFTWARE_SOURCE_DIR}/models/iRonCub-Mk1_1/iRonCub/ +export YARP_DATA_DIRS=${YARP_DATA_DIRS}:${IRONCUB_SOFTWARE_SOURCE_DIR}/models/iRonCub-Mk1_v1/iRonCub/ +export YARP_DATA_DIRS=${YARP_DATA_DIRS}:${IRONCUB_SOFTWARE_SOURCE_DIR}/models/iRonCub-Mk1_1_v1/iRonCub/ ``` Set the `YARP_ROBOT_NAME` variable as the name of the folder where the `model.urdf` is stored. @@ -52,8 +52,8 @@ You should add these lines in your custom `.bat` file to be called from terminal ``` cmd set IRONCUB_SOFTWARE_SOURCE_DIR=[path where this repository is stored] -set YARP_DATA_DIRS=%YARP_DATA_DIRS%;%IRONCUB_SOFTWARE_SOURCE_DIR%\models\iRonCub-Mk1\iRonCub\ -set YARP_DATA_DIRS=%YARP_DATA_DIRS%;%IRONCUB_SOFTWARE_SOURCE_DIR%\models\iRonCub-Mk1_1\iRonCub\ +set YARP_DATA_DIRS=%YARP_DATA_DIRS%;%IRONCUB_SOFTWARE_SOURCE_DIR%\models\iRonCub-Mk1_v1\iRonCub\ +set YARP_DATA_DIRS=%YARP_DATA_DIRS%;%IRONCUB_SOFTWARE_SOURCE_DIR%\models\iRonCub-Mk1_1_v1\iRonCub\ ``` Set the `YARP_ROBOT_NAME` variable as the name of the folder where the `model.urdf` is stored. @@ -80,4 +80,4 @@ You can use the following command: ``` bash yarprobotinterface --config launch-wholebodydynamics-iRonCub.xml ``` -(**warning:** by default the FT sensors offsets are set to zero by ```true``` [here](./iRonCub-Mk1/iRonCub/robots/iRonCub-Mk1_Gazebo_v1/estimators/wholebodydynamics-external-iRonCub.xml#L18) for `iRonCub-Mk1_Gazebo_v1` model and [here](./iRonCub-Mk1_1/iRonCub/robots/iRonCub-Mk1_1_Gazebo_v1/estimators/wholebodydynamics-external-iRonCub.xml#L18) for `iRonCub-Mk1_1_Gazebo_v1` model). +(**warning:** by default the FT sensors offsets are set to zero by ```true``` [here](./iRonCub-Mk1_v1/iRonCub/robots/iRonCub-Mk1_Gazebo_v1/estimators/wholebodydynamics-external-iRonCub.xml#L18) for `iRonCub-Mk1_Gazebo_v1` model and [here](./iRonCub-Mk1_1_v1/iRonCub/robots/iRonCub-Mk1_1_Gazebo_v1/estimators/wholebodydynamics-external-iRonCub.xml#L18) for `iRonCub-Mk1_1_Gazebo_v1` model). diff --git a/models/iRonCub-Mk1/iRonCub/conf/gazebo_icub_inertial.ini b/models/iRonCub-Mk1/iRonCub/conf/gazebo_icub_inertial.ini deleted file mode 100644 index 755d886..0000000 --- a/models/iRonCub-Mk1/iRonCub/conf/gazebo_icub_inertial.ini +++ /dev/null @@ -1,15 +0,0 @@ -[include "gazebo_icub_robotname.ini"] - -[WRAPPER] -device multipleanalogsensorsserver -name /${gazeboYarpPluginsRobotName}/head/inertials -period 10 - -[ADDITIONAL_WRAPPER] -device inertial -name /${gazeboYarpPluginsRobotName}/inertial -period 0.01 - -[IMU_DRIVER] -device gazebo_imu - diff --git a/models/iRonCub-Mk1_1/iRonCub/conf/gazebo_icub_inertial.ini b/models/iRonCub-Mk1_1/iRonCub/conf/gazebo_icub_inertial.ini deleted file mode 100644 index 755d886..0000000 --- a/models/iRonCub-Mk1_1/iRonCub/conf/gazebo_icub_inertial.ini +++ /dev/null @@ -1,15 +0,0 @@ -[include "gazebo_icub_robotname.ini"] - -[WRAPPER] -device multipleanalogsensorsserver -name /${gazeboYarpPluginsRobotName}/head/inertials -period 10 - -[ADDITIONAL_WRAPPER] -device inertial -name /${gazeboYarpPluginsRobotName}/inertial -period 0.01 - -[IMU_DRIVER] -device gazebo_imu - diff --git a/models/iRonCub-Mk1/CMakeLists.txt b/models/iRonCub-Mk1_1_v1/CMakeLists.txt similarity index 100% rename from models/iRonCub-Mk1/CMakeLists.txt rename to models/iRonCub-Mk1_1_v1/CMakeLists.txt diff --git a/models/iRonCub-Mk1_1/README.md b/models/iRonCub-Mk1_1_v1/README.md similarity index 100% rename from models/iRonCub-Mk1_1/README.md rename to models/iRonCub-Mk1_1_v1/README.md diff --git a/models/iRonCub-Mk1_1/iRonCub/CMakeLists.txt b/models/iRonCub-Mk1_1_v1/iRonCub/CMakeLists.txt similarity index 100% rename from models/iRonCub-Mk1_1/iRonCub/CMakeLists.txt rename to models/iRonCub-Mk1_1_v1/iRonCub/CMakeLists.txt diff --git a/models/iRonCub-Mk1_1/iRonCub/README.md b/models/iRonCub-Mk1_1_v1/iRonCub/README.md similarity index 100% rename from models/iRonCub-Mk1_1/iRonCub/README.md rename to models/iRonCub-Mk1_1_v1/iRonCub/README.md diff --git a/models/iRonCub-Mk1/iRonCub/conf/FT/gazebo_icub_left_arm_ft.ini b/models/iRonCub-Mk1_1_v1/iRonCub/conf/FT/gazebo_icub_left_arm_ft.ini similarity index 100% rename from models/iRonCub-Mk1/iRonCub/conf/FT/gazebo_icub_left_arm_ft.ini rename to models/iRonCub-Mk1_1_v1/iRonCub/conf/FT/gazebo_icub_left_arm_ft.ini diff --git a/models/iRonCub-Mk1/iRonCub/conf/FT/gazebo_icub_left_foot_ft.ini b/models/iRonCub-Mk1_1_v1/iRonCub/conf/FT/gazebo_icub_left_foot_ft.ini similarity index 100% rename from models/iRonCub-Mk1/iRonCub/conf/FT/gazebo_icub_left_foot_ft.ini rename to models/iRonCub-Mk1_1_v1/iRonCub/conf/FT/gazebo_icub_left_foot_ft.ini diff --git a/models/iRonCub-Mk1/iRonCub/conf/FT/gazebo_icub_left_leg_ft.ini b/models/iRonCub-Mk1_1_v1/iRonCub/conf/FT/gazebo_icub_left_leg_ft.ini similarity index 100% rename from models/iRonCub-Mk1/iRonCub/conf/FT/gazebo_icub_left_leg_ft.ini rename to models/iRonCub-Mk1_1_v1/iRonCub/conf/FT/gazebo_icub_left_leg_ft.ini diff --git a/models/iRonCub-Mk1/iRonCub/conf/FT/gazebo_icub_right_arm_ft.ini b/models/iRonCub-Mk1_1_v1/iRonCub/conf/FT/gazebo_icub_right_arm_ft.ini similarity index 100% rename from models/iRonCub-Mk1/iRonCub/conf/FT/gazebo_icub_right_arm_ft.ini rename to models/iRonCub-Mk1_1_v1/iRonCub/conf/FT/gazebo_icub_right_arm_ft.ini diff --git a/models/iRonCub-Mk1/iRonCub/conf/FT/gazebo_icub_right_foot_ft.ini b/models/iRonCub-Mk1_1_v1/iRonCub/conf/FT/gazebo_icub_right_foot_ft.ini similarity index 100% rename from models/iRonCub-Mk1/iRonCub/conf/FT/gazebo_icub_right_foot_ft.ini rename to models/iRonCub-Mk1_1_v1/iRonCub/conf/FT/gazebo_icub_right_foot_ft.ini diff --git a/models/iRonCub-Mk1/iRonCub/conf/FT/gazebo_icub_right_leg_ft.ini b/models/iRonCub-Mk1_1_v1/iRonCub/conf/FT/gazebo_icub_right_leg_ft.ini similarity index 100% rename from models/iRonCub-Mk1/iRonCub/conf/FT/gazebo_icub_right_leg_ft.ini rename to models/iRonCub-Mk1_1_v1/iRonCub/conf/FT/gazebo_icub_right_leg_ft.ini diff --git a/models/iRonCub-Mk1/iRonCub/conf/MTB/gazebo_icub_left_arm_mtb.ini b/models/iRonCub-Mk1_1_v1/iRonCub/conf/MTB/gazebo_icub_left_arm_mtb.ini similarity index 100% rename from models/iRonCub-Mk1/iRonCub/conf/MTB/gazebo_icub_left_arm_mtb.ini rename to models/iRonCub-Mk1_1_v1/iRonCub/conf/MTB/gazebo_icub_left_arm_mtb.ini diff --git a/models/iRonCub-Mk1/iRonCub/conf/MTB/gazebo_icub_left_leg_mtb.ini b/models/iRonCub-Mk1_1_v1/iRonCub/conf/MTB/gazebo_icub_left_leg_mtb.ini similarity index 100% rename from models/iRonCub-Mk1/iRonCub/conf/MTB/gazebo_icub_left_leg_mtb.ini rename to models/iRonCub-Mk1_1_v1/iRonCub/conf/MTB/gazebo_icub_left_leg_mtb.ini diff --git a/models/iRonCub-Mk1/iRonCub/conf/MTB/gazebo_icub_right_arm_mtb.ini b/models/iRonCub-Mk1_1_v1/iRonCub/conf/MTB/gazebo_icub_right_arm_mtb.ini similarity index 100% rename from models/iRonCub-Mk1/iRonCub/conf/MTB/gazebo_icub_right_arm_mtb.ini rename to models/iRonCub-Mk1_1_v1/iRonCub/conf/MTB/gazebo_icub_right_arm_mtb.ini diff --git a/models/iRonCub-Mk1/iRonCub/conf/MTB/gazebo_icub_right_leg_mtb.ini b/models/iRonCub-Mk1_1_v1/iRonCub/conf/MTB/gazebo_icub_right_leg_mtb.ini similarity index 100% rename from models/iRonCub-Mk1/iRonCub/conf/MTB/gazebo_icub_right_leg_mtb.ini rename to models/iRonCub-Mk1_1_v1/iRonCub/conf/MTB/gazebo_icub_right_leg_mtb.ini diff --git a/models/iRonCub-Mk1/iRonCub/conf/MTB/gazebo_icub_torso_mtb.ini b/models/iRonCub-Mk1_1_v1/iRonCub/conf/MTB/gazebo_icub_torso_mtb.ini similarity index 100% rename from models/iRonCub-Mk1/iRonCub/conf/MTB/gazebo_icub_torso_mtb.ini rename to models/iRonCub-Mk1_1_v1/iRonCub/conf/MTB/gazebo_icub_torso_mtb.ini diff --git a/models/iRonCub-Mk1_1/iRonCub/conf/README.md b/models/iRonCub-Mk1_1_v1/iRonCub/conf/README.md similarity index 100% rename from models/iRonCub-Mk1_1/iRonCub/conf/README.md rename to models/iRonCub-Mk1_1_v1/iRonCub/conf/README.md diff --git a/models/iRonCub-Mk1/iRonCub/conf/base.ini b/models/iRonCub-Mk1_1_v1/iRonCub/conf/base.ini similarity index 100% rename from models/iRonCub-Mk1/iRonCub/conf/base.ini rename to models/iRonCub-Mk1_1_v1/iRonCub/conf/base.ini diff --git a/models/iRonCub-Mk1/iRonCub/conf/common.ini b/models/iRonCub-Mk1_1_v1/iRonCub/conf/common.ini similarity index 100% rename from models/iRonCub-Mk1/iRonCub/conf/common.ini rename to models/iRonCub-Mk1_1_v1/iRonCub/conf/common.ini diff --git a/models/iRonCub-Mk1/iRonCub/conf/gazebo_icub_head_without_eyes.ini b/models/iRonCub-Mk1_1_v1/iRonCub/conf/gazebo_icub_head_without_eyes.ini similarity index 100% rename from models/iRonCub-Mk1/iRonCub/conf/gazebo_icub_head_without_eyes.ini rename to models/iRonCub-Mk1_1_v1/iRonCub/conf/gazebo_icub_head_without_eyes.ini diff --git a/models/iRonCub-Mk1_1_v1/iRonCub/conf/gazebo_icub_inertial.ini b/models/iRonCub-Mk1_1_v1/iRonCub/conf/gazebo_icub_inertial.ini new file mode 100644 index 0000000..444cdb5 --- /dev/null +++ b/models/iRonCub-Mk1_1_v1/iRonCub/conf/gazebo_icub_inertial.ini @@ -0,0 +1,6 @@ +[include "gazebo_icub_robotname.ini"] +name /${gazeboYarpPluginsRobotName}/head/inertials +period 10 +device multipleanalogsensorsserver +subdevice gazebo_imu + diff --git a/models/iRonCub-Mk1/iRonCub/conf/gazebo_icub_left_arm.ini b/models/iRonCub-Mk1_1_v1/iRonCub/conf/gazebo_icub_left_arm.ini similarity index 100% rename from models/iRonCub-Mk1/iRonCub/conf/gazebo_icub_left_arm.ini rename to models/iRonCub-Mk1_1_v1/iRonCub/conf/gazebo_icub_left_arm.ini diff --git a/models/iRonCub-Mk1/iRonCub/conf/gazebo_icub_left_leg.ini b/models/iRonCub-Mk1_1_v1/iRonCub/conf/gazebo_icub_left_leg.ini similarity index 100% rename from models/iRonCub-Mk1/iRonCub/conf/gazebo_icub_left_leg.ini rename to models/iRonCub-Mk1_1_v1/iRonCub/conf/gazebo_icub_left_leg.ini diff --git a/models/iRonCub-Mk1/iRonCub/conf/gazebo_icub_right_arm.ini b/models/iRonCub-Mk1_1_v1/iRonCub/conf/gazebo_icub_right_arm.ini similarity index 100% rename from models/iRonCub-Mk1/iRonCub/conf/gazebo_icub_right_arm.ini rename to models/iRonCub-Mk1_1_v1/iRonCub/conf/gazebo_icub_right_arm.ini diff --git a/models/iRonCub-Mk1/iRonCub/conf/gazebo_icub_right_leg.ini b/models/iRonCub-Mk1_1_v1/iRonCub/conf/gazebo_icub_right_leg.ini similarity index 100% rename from models/iRonCub-Mk1/iRonCub/conf/gazebo_icub_right_leg.ini rename to models/iRonCub-Mk1_1_v1/iRonCub/conf/gazebo_icub_right_leg.ini diff --git a/models/iRonCub-Mk1/iRonCub/conf/gazebo_icub_robotname.ini b/models/iRonCub-Mk1_1_v1/iRonCub/conf/gazebo_icub_robotname.ini similarity index 100% rename from models/iRonCub-Mk1/iRonCub/conf/gazebo_icub_robotname.ini rename to models/iRonCub-Mk1_1_v1/iRonCub/conf/gazebo_icub_robotname.ini diff --git a/models/iRonCub-Mk1/iRonCub/conf/gazebo_icub_torso.ini b/models/iRonCub-Mk1_1_v1/iRonCub/conf/gazebo_icub_torso.ini similarity index 100% rename from models/iRonCub-Mk1/iRonCub/conf/gazebo_icub_torso.ini rename to models/iRonCub-Mk1_1_v1/iRonCub/conf/gazebo_icub_torso.ini diff --git a/models/iRonCub-Mk1/iRonCub/conf/gazebo_icub_xsens_inertial.ini b/models/iRonCub-Mk1_1_v1/iRonCub/conf/gazebo_icub_xsens_inertial.ini similarity index 71% rename from models/iRonCub-Mk1/iRonCub/conf/gazebo_icub_xsens_inertial.ini rename to models/iRonCub-Mk1_1_v1/iRonCub/conf/gazebo_icub_xsens_inertial.ini index 2bfc67a..fce3717 100644 --- a/models/iRonCub-Mk1/iRonCub/conf/gazebo_icub_xsens_inertial.ini +++ b/models/iRonCub-Mk1_1_v1/iRonCub/conf/gazebo_icub_xsens_inertial.ini @@ -1,7 +1,6 @@ [include "gazebo_icub_robotname.ini"] - name /${gazeboYarpPluginsRobotName}/xsens_inertial -period 0.0025 - -device inertial +period 10 +device multipleanalogsensorsserver subdevice gazebo_imu + diff --git a/models/iRonCub-Mk1_1/iRonCub/conf/jets.ini b/models/iRonCub-Mk1_1_v1/iRonCub/conf/jets.ini similarity index 100% rename from models/iRonCub-Mk1_1/iRonCub/conf/jets.ini rename to models/iRonCub-Mk1_1_v1/iRonCub/conf/jets.ini diff --git a/models/iRonCub-Mk1/iRonCub/conf/left_camera.ini b/models/iRonCub-Mk1_1_v1/iRonCub/conf/left_camera.ini similarity index 100% rename from models/iRonCub-Mk1/iRonCub/conf/left_camera.ini rename to models/iRonCub-Mk1_1_v1/iRonCub/conf/left_camera.ini diff --git a/models/iRonCub-Mk1/iRonCub/conf/right_camera.ini b/models/iRonCub-Mk1_1_v1/iRonCub/conf/right_camera.ini similarity index 100% rename from models/iRonCub-Mk1/iRonCub/conf/right_camera.ini rename to models/iRonCub-Mk1_1_v1/iRonCub/conf/right_camera.ini diff --git a/models/iRonCub-Mk1_1/iRonCub/meshes/README.md b/models/iRonCub-Mk1_1_v1/iRonCub/meshes/README.md similarity index 100% rename from models/iRonCub-Mk1_1/iRonCub/meshes/README.md rename to models/iRonCub-Mk1_1_v1/iRonCub/meshes/README.md diff --git a/models/iRonCub-Mk1_1/iRonCub/meshes/obj/sim_sea_2-5_chest_aruco_prt.mtl b/models/iRonCub-Mk1_1_v1/iRonCub/meshes/obj/sim_sea_2-5_chest_aruco_prt.mtl similarity index 100% rename from models/iRonCub-Mk1_1/iRonCub/meshes/obj/sim_sea_2-5_chest_aruco_prt.mtl rename to models/iRonCub-Mk1_1_v1/iRonCub/meshes/obj/sim_sea_2-5_chest_aruco_prt.mtl diff --git a/models/iRonCub-Mk1_1/iRonCub/meshes/obj/sim_sea_2-5_chest_aruco_prt.obj b/models/iRonCub-Mk1_1_v1/iRonCub/meshes/obj/sim_sea_2-5_chest_aruco_prt.obj similarity index 100% rename from models/iRonCub-Mk1_1/iRonCub/meshes/obj/sim_sea_2-5_chest_aruco_prt.obj rename to models/iRonCub-Mk1_1_v1/iRonCub/meshes/obj/sim_sea_2-5_chest_aruco_prt.obj diff --git a/models/iRonCub-Mk1_1/iRonCub/meshes/obj/sim_sea_2-5_chest_bb_prt.mtl b/models/iRonCub-Mk1_1_v1/iRonCub/meshes/obj/sim_sea_2-5_chest_bb_prt.mtl similarity index 100% rename from models/iRonCub-Mk1_1/iRonCub/meshes/obj/sim_sea_2-5_chest_bb_prt.mtl rename to models/iRonCub-Mk1_1_v1/iRonCub/meshes/obj/sim_sea_2-5_chest_bb_prt.mtl diff --git a/models/iRonCub-Mk1_1/iRonCub/meshes/obj/sim_sea_2-5_chest_bb_prt.obj b/models/iRonCub-Mk1_1_v1/iRonCub/meshes/obj/sim_sea_2-5_chest_bb_prt.obj similarity index 100% rename from models/iRonCub-Mk1_1/iRonCub/meshes/obj/sim_sea_2-5_chest_bb_prt.obj rename to models/iRonCub-Mk1_1_v1/iRonCub/meshes/obj/sim_sea_2-5_chest_bb_prt.obj diff --git a/models/iRonCub-Mk1/iRonCub/meshes/obj/sim_sea_2-5_head_prt.mtl b/models/iRonCub-Mk1_1_v1/iRonCub/meshes/obj/sim_sea_2-5_head_prt.mtl similarity index 100% rename from models/iRonCub-Mk1/iRonCub/meshes/obj/sim_sea_2-5_head_prt.mtl rename to models/iRonCub-Mk1_1_v1/iRonCub/meshes/obj/sim_sea_2-5_head_prt.mtl diff --git a/models/iRonCub-Mk1/iRonCub/meshes/obj/sim_sea_2-5_head_prt.obj b/models/iRonCub-Mk1_1_v1/iRonCub/meshes/obj/sim_sea_2-5_head_prt.obj similarity index 100% rename from models/iRonCub-Mk1/iRonCub/meshes/obj/sim_sea_2-5_head_prt.obj rename to models/iRonCub-Mk1_1_v1/iRonCub/meshes/obj/sim_sea_2-5_head_prt.obj diff --git a/models/iRonCub-Mk1/iRonCub/meshes/obj/sim_sea_2-5_l_ankle_prt.mtl b/models/iRonCub-Mk1_1_v1/iRonCub/meshes/obj/sim_sea_2-5_l_ankle_prt.mtl similarity index 100% rename from models/iRonCub-Mk1/iRonCub/meshes/obj/sim_sea_2-5_l_ankle_prt.mtl rename to models/iRonCub-Mk1_1_v1/iRonCub/meshes/obj/sim_sea_2-5_l_ankle_prt.mtl diff --git a/models/iRonCub-Mk1/iRonCub/meshes/obj/sim_sea_2-5_l_ankle_prt.obj b/models/iRonCub-Mk1_1_v1/iRonCub/meshes/obj/sim_sea_2-5_l_ankle_prt.obj similarity index 100% rename from models/iRonCub-Mk1/iRonCub/meshes/obj/sim_sea_2-5_l_ankle_prt.obj rename to models/iRonCub-Mk1_1_v1/iRonCub/meshes/obj/sim_sea_2-5_l_ankle_prt.obj diff --git a/models/iRonCub-Mk1_1/iRonCub/meshes/obj/sim_sea_2-5_l_elbow_p160_prt.mtl b/models/iRonCub-Mk1_1_v1/iRonCub/meshes/obj/sim_sea_2-5_l_elbow_p160_prt.mtl similarity index 100% rename from models/iRonCub-Mk1_1/iRonCub/meshes/obj/sim_sea_2-5_l_elbow_p160_prt.mtl rename to models/iRonCub-Mk1_1_v1/iRonCub/meshes/obj/sim_sea_2-5_l_elbow_p160_prt.mtl diff --git a/models/iRonCub-Mk1_1/iRonCub/meshes/obj/sim_sea_2-5_l_elbow_p160_prt.obj b/models/iRonCub-Mk1_1_v1/iRonCub/meshes/obj/sim_sea_2-5_l_elbow_p160_prt.obj similarity index 100% rename from models/iRonCub-Mk1_1/iRonCub/meshes/obj/sim_sea_2-5_l_elbow_p160_prt.obj rename to models/iRonCub-Mk1_1_v1/iRonCub/meshes/obj/sim_sea_2-5_l_elbow_p160_prt.obj diff --git a/models/iRonCub-Mk1_1/iRonCub/meshes/obj/sim_sea_2-5_l_elbow_prosup_prt.mtl b/models/iRonCub-Mk1_1_v1/iRonCub/meshes/obj/sim_sea_2-5_l_elbow_prosup_prt.mtl similarity index 100% rename from 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b/models/iRonCub-Mk1_1_v1/iRonCub/meshes/obj/sim_sea_2-5_l_elbow_prt.obj similarity index 100% rename from models/iRonCub-Mk1/iRonCub/meshes/obj/sim_sea_2-5_l_elbow_prt.obj rename to models/iRonCub-Mk1_1_v1/iRonCub/meshes/obj/sim_sea_2-5_l_elbow_prt.obj diff --git a/models/iRonCub-Mk1/iRonCub/meshes/obj/sim_sea_2-5_l_foot_prt.mtl b/models/iRonCub-Mk1_1_v1/iRonCub/meshes/obj/sim_sea_2-5_l_foot_prt.mtl similarity index 100% rename from models/iRonCub-Mk1/iRonCub/meshes/obj/sim_sea_2-5_l_foot_prt.mtl rename to models/iRonCub-Mk1_1_v1/iRonCub/meshes/obj/sim_sea_2-5_l_foot_prt.mtl diff --git a/models/iRonCub-Mk1/iRonCub/meshes/obj/sim_sea_2-5_l_foot_prt.obj b/models/iRonCub-Mk1_1_v1/iRonCub/meshes/obj/sim_sea_2-5_l_foot_prt.obj similarity index 100% rename from models/iRonCub-Mk1/iRonCub/meshes/obj/sim_sea_2-5_l_foot_prt.obj rename to models/iRonCub-Mk1_1_v1/iRonCub/meshes/obj/sim_sea_2-5_l_foot_prt.obj diff --git a/models/iRonCub-Mk1/iRonCub/meshes/obj/sim_sea_2-5_l_hip_1_prt.mtl b/models/iRonCub-Mk1_1_v1/iRonCub/meshes/obj/sim_sea_2-5_l_hip_1_prt.mtl similarity index 100% rename from models/iRonCub-Mk1/iRonCub/meshes/obj/sim_sea_2-5_l_hip_1_prt.mtl rename to models/iRonCub-Mk1_1_v1/iRonCub/meshes/obj/sim_sea_2-5_l_hip_1_prt.mtl diff --git a/models/iRonCub-Mk1/iRonCub/meshes/obj/sim_sea_2-5_l_hip_1_prt.obj b/models/iRonCub-Mk1_1_v1/iRonCub/meshes/obj/sim_sea_2-5_l_hip_1_prt.obj similarity index 100% rename from models/iRonCub-Mk1/iRonCub/meshes/obj/sim_sea_2-5_l_hip_1_prt.obj rename to models/iRonCub-Mk1_1_v1/iRonCub/meshes/obj/sim_sea_2-5_l_hip_1_prt.obj diff --git a/models/iRonCub-Mk1/iRonCub/meshes/obj/sim_sea_2-5_l_hip_2_prt.mtl b/models/iRonCub-Mk1_1_v1/iRonCub/meshes/obj/sim_sea_2-5_l_hip_2_prt.mtl similarity index 100% rename from models/iRonCub-Mk1/iRonCub/meshes/obj/sim_sea_2-5_l_hip_2_prt.mtl rename to models/iRonCub-Mk1_1_v1/iRonCub/meshes/obj/sim_sea_2-5_l_hip_2_prt.mtl diff --git a/models/iRonCub-Mk1/iRonCub/meshes/obj/sim_sea_2-5_l_hip_2_prt.obj b/models/iRonCub-Mk1_1_v1/iRonCub/meshes/obj/sim_sea_2-5_l_hip_2_prt.obj similarity index 100% rename from models/iRonCub-Mk1/iRonCub/meshes/obj/sim_sea_2-5_l_hip_2_prt.obj rename to models/iRonCub-Mk1_1_v1/iRonCub/meshes/obj/sim_sea_2-5_l_hip_2_prt.obj diff --git a/models/iRonCub-Mk1_1/iRonCub/meshes/obj/sim_sea_2-5_l_p220_prt.mtl b/models/iRonCub-Mk1_1_v1/iRonCub/meshes/obj/sim_sea_2-5_l_p220_prt.mtl similarity index 100% rename from models/iRonCub-Mk1_1/iRonCub/meshes/obj/sim_sea_2-5_l_p220_prt.mtl rename to models/iRonCub-Mk1_1_v1/iRonCub/meshes/obj/sim_sea_2-5_l_p220_prt.mtl diff --git a/models/iRonCub-Mk1_1/iRonCub/meshes/obj/sim_sea_2-5_l_p220_prt.obj b/models/iRonCub-Mk1_1_v1/iRonCub/meshes/obj/sim_sea_2-5_l_p220_prt.obj similarity index 100% rename from models/iRonCub-Mk1_1/iRonCub/meshes/obj/sim_sea_2-5_l_p220_prt.obj rename to models/iRonCub-Mk1_1_v1/iRonCub/meshes/obj/sim_sea_2-5_l_p220_prt.obj diff --git a/models/iRonCub-Mk1/iRonCub/meshes/obj/sim_sea_2-5_l_shank_prt.mtl 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a/models/iRonCub-Mk1/iRonCub/meshes/obj/sim_sea_2-5_l_shoulder_1_prt.obj b/models/iRonCub-Mk1_1_v1/iRonCub/meshes/obj/sim_sea_2-5_l_shoulder_1_prt.obj similarity index 100% rename from models/iRonCub-Mk1/iRonCub/meshes/obj/sim_sea_2-5_l_shoulder_1_prt.obj rename to models/iRonCub-Mk1_1_v1/iRonCub/meshes/obj/sim_sea_2-5_l_shoulder_1_prt.obj diff --git a/models/iRonCub-Mk1/iRonCub/meshes/obj/sim_sea_2-5_l_shoulder_2_prt.mtl b/models/iRonCub-Mk1_1_v1/iRonCub/meshes/obj/sim_sea_2-5_l_shoulder_2_prt.mtl similarity index 100% rename from models/iRonCub-Mk1/iRonCub/meshes/obj/sim_sea_2-5_l_shoulder_2_prt.mtl rename to models/iRonCub-Mk1_1_v1/iRonCub/meshes/obj/sim_sea_2-5_l_shoulder_2_prt.mtl diff --git a/models/iRonCub-Mk1/iRonCub/meshes/obj/sim_sea_2-5_l_shoulder_2_prt.obj b/models/iRonCub-Mk1_1_v1/iRonCub/meshes/obj/sim_sea_2-5_l_shoulder_2_prt.obj similarity index 100% rename from models/iRonCub-Mk1/iRonCub/meshes/obj/sim_sea_2-5_l_shoulder_2_prt.obj rename to 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rename from models/iRonCub-Mk1/iRonCub/meshes/obj/sim_sea_2-5_r_shoulder_1_prt.mtl rename to models/iRonCub-Mk1_1_v1/iRonCub/meshes/obj/sim_sea_2-5_r_shoulder_1_prt.mtl diff --git a/models/iRonCub-Mk1/iRonCub/meshes/obj/sim_sea_2-5_r_shoulder_1_prt.obj b/models/iRonCub-Mk1_1_v1/iRonCub/meshes/obj/sim_sea_2-5_r_shoulder_1_prt.obj similarity index 100% rename from models/iRonCub-Mk1/iRonCub/meshes/obj/sim_sea_2-5_r_shoulder_1_prt.obj rename to models/iRonCub-Mk1_1_v1/iRonCub/meshes/obj/sim_sea_2-5_r_shoulder_1_prt.obj diff --git a/models/iRonCub-Mk1/iRonCub/meshes/obj/sim_sea_2-5_r_shoulder_2_prt.mtl b/models/iRonCub-Mk1_1_v1/iRonCub/meshes/obj/sim_sea_2-5_r_shoulder_2_prt.mtl similarity index 100% rename from models/iRonCub-Mk1/iRonCub/meshes/obj/sim_sea_2-5_r_shoulder_2_prt.mtl rename to models/iRonCub-Mk1_1_v1/iRonCub/meshes/obj/sim_sea_2-5_r_shoulder_2_prt.mtl diff --git a/models/iRonCub-Mk1/iRonCub/meshes/obj/sim_sea_2-5_r_shoulder_2_prt.obj 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a/models/iRonCub-Mk1/iRonCub/meshes/obj/sim_sea_2-5_r_thigh_prt.mtl b/models/iRonCub-Mk1_1_v1/iRonCub/meshes/obj/sim_sea_2-5_r_thigh_prt.mtl similarity index 100% rename from models/iRonCub-Mk1/iRonCub/meshes/obj/sim_sea_2-5_r_thigh_prt.mtl rename to models/iRonCub-Mk1_1_v1/iRonCub/meshes/obj/sim_sea_2-5_r_thigh_prt.mtl diff --git a/models/iRonCub-Mk1/iRonCub/meshes/obj/sim_sea_2-5_r_thigh_prt.obj b/models/iRonCub-Mk1_1_v1/iRonCub/meshes/obj/sim_sea_2-5_r_thigh_prt.obj similarity index 100% rename from models/iRonCub-Mk1/iRonCub/meshes/obj/sim_sea_2-5_r_thigh_prt.obj rename to models/iRonCub-Mk1_1_v1/iRonCub/meshes/obj/sim_sea_2-5_r_thigh_prt.obj diff --git a/models/iRonCub-Mk1/iRonCub/meshes/obj/sim_sea_2-5_r_upper_arm_prt.mtl b/models/iRonCub-Mk1_1_v1/iRonCub/meshes/obj/sim_sea_2-5_r_upper_arm_prt.mtl similarity index 100% rename from models/iRonCub-Mk1/iRonCub/meshes/obj/sim_sea_2-5_r_upper_arm_prt.mtl rename to 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a/models/iRonCub-Mk1/iRonCub/meshes/stl/sim_sea_2-5_l_ankle_prt.stl b/models/iRonCub-Mk1_1_v1/iRonCub/meshes/stl/sim_sea_2-5_l_ankle_prt.stl similarity index 100% rename from models/iRonCub-Mk1/iRonCub/meshes/stl/sim_sea_2-5_l_ankle_prt.stl rename to models/iRonCub-Mk1_1_v1/iRonCub/meshes/stl/sim_sea_2-5_l_ankle_prt.stl diff --git a/models/iRonCub-Mk1_1/iRonCub/meshes/stl/sim_sea_2-5_l_elbow_p160_prt.stl b/models/iRonCub-Mk1_1_v1/iRonCub/meshes/stl/sim_sea_2-5_l_elbow_p160_prt.stl similarity index 100% rename from models/iRonCub-Mk1_1/iRonCub/meshes/stl/sim_sea_2-5_l_elbow_p160_prt.stl rename to models/iRonCub-Mk1_1_v1/iRonCub/meshes/stl/sim_sea_2-5_l_elbow_p160_prt.stl diff --git a/models/iRonCub-Mk1_1/iRonCub/meshes/stl/sim_sea_2-5_l_elbow_prosup_prt.stl b/models/iRonCub-Mk1_1_v1/iRonCub/meshes/stl/sim_sea_2-5_l_elbow_prosup_prt.stl similarity index 100% rename from models/iRonCub-Mk1_1/iRonCub/meshes/stl/sim_sea_2-5_l_elbow_prosup_prt.stl rename to 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to models/iRonCub-Mk1_1_v1/iRonCub/meshes/stl/sim_sea_2-5_l_hip_1_prt.stl diff --git a/models/iRonCub-Mk1/iRonCub/meshes/stl/sim_sea_2-5_l_hip_2_prt.stl b/models/iRonCub-Mk1_1_v1/iRonCub/meshes/stl/sim_sea_2-5_l_hip_2_prt.stl similarity index 100% rename from models/iRonCub-Mk1/iRonCub/meshes/stl/sim_sea_2-5_l_hip_2_prt.stl rename to models/iRonCub-Mk1_1_v1/iRonCub/meshes/stl/sim_sea_2-5_l_hip_2_prt.stl diff --git a/models/iRonCub-Mk1/iRonCub/meshes/stl/sim_sea_2-5_l_p220_prt.stl b/models/iRonCub-Mk1_1_v1/iRonCub/meshes/stl/sim_sea_2-5_l_p220_prt.stl similarity index 100% rename from models/iRonCub-Mk1/iRonCub/meshes/stl/sim_sea_2-5_l_p220_prt.stl rename to models/iRonCub-Mk1_1_v1/iRonCub/meshes/stl/sim_sea_2-5_l_p220_prt.stl diff --git a/models/iRonCub-Mk1/iRonCub/meshes/stl/sim_sea_2-5_l_shank_prt.stl b/models/iRonCub-Mk1_1_v1/iRonCub/meshes/stl/sim_sea_2-5_l_shank_prt.stl similarity index 100% rename from models/iRonCub-Mk1/iRonCub/meshes/stl/sim_sea_2-5_l_shank_prt.stl rename to 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similarity index 100% rename from models/iRonCub-Mk1/iRonCub/meshes/stl/sim_sea_2-5_l_upper_thigh_prt.stl rename to models/iRonCub-Mk1_1_v1/iRonCub/meshes/stl/sim_sea_2-5_l_upper_thigh_prt.stl diff --git a/models/iRonCub-Mk1/iRonCub/meshes/stl/sim_sea_2-5_lap_belt_1_prt.stl b/models/iRonCub-Mk1_1_v1/iRonCub/meshes/stl/sim_sea_2-5_lap_belt_1_prt.stl similarity index 100% rename from models/iRonCub-Mk1/iRonCub/meshes/stl/sim_sea_2-5_lap_belt_1_prt.stl rename to models/iRonCub-Mk1_1_v1/iRonCub/meshes/stl/sim_sea_2-5_lap_belt_1_prt.stl diff --git a/models/iRonCub-Mk1/iRonCub/meshes/stl/sim_sea_2-5_lap_belt_2_prt.stl b/models/iRonCub-Mk1_1_v1/iRonCub/meshes/stl/sim_sea_2-5_lap_belt_2_prt.stl similarity index 100% rename from models/iRonCub-Mk1/iRonCub/meshes/stl/sim_sea_2-5_lap_belt_2_prt.stl rename to models/iRonCub-Mk1_1_v1/iRonCub/meshes/stl/sim_sea_2-5_lap_belt_2_prt.stl diff --git a/models/iRonCub-Mk1/iRonCub/meshes/stl/sim_sea_2-5_neck_1_prt.stl b/models/iRonCub-Mk1_1_v1/iRonCub/meshes/stl/sim_sea_2-5_neck_1_prt.stl similarity index 100% rename from models/iRonCub-Mk1/iRonCub/meshes/stl/sim_sea_2-5_neck_1_prt.stl rename to models/iRonCub-Mk1_1_v1/iRonCub/meshes/stl/sim_sea_2-5_neck_1_prt.stl diff --git a/models/iRonCub-Mk1/iRonCub/meshes/stl/sim_sea_2-5_neck_2_prt.stl b/models/iRonCub-Mk1_1_v1/iRonCub/meshes/stl/sim_sea_2-5_neck_2_prt.stl similarity index 100% rename from models/iRonCub-Mk1/iRonCub/meshes/stl/sim_sea_2-5_neck_2_prt.stl rename to models/iRonCub-Mk1_1_v1/iRonCub/meshes/stl/sim_sea_2-5_neck_2_prt.stl diff --git a/models/iRonCub-Mk1/iRonCub/meshes/stl/sim_sea_2-5_r_ankle_prt.stl b/models/iRonCub-Mk1_1_v1/iRonCub/meshes/stl/sim_sea_2-5_r_ankle_prt.stl similarity index 100% rename from models/iRonCub-Mk1/iRonCub/meshes/stl/sim_sea_2-5_r_ankle_prt.stl rename to models/iRonCub-Mk1_1_v1/iRonCub/meshes/stl/sim_sea_2-5_r_ankle_prt.stl diff --git a/models/iRonCub-Mk1_1/iRonCub/meshes/stl/sim_sea_2-5_r_elbow_p160_prt.stl b/models/iRonCub-Mk1_1_v1/iRonCub/meshes/stl/sim_sea_2-5_r_elbow_p160_prt.stl similarity index 100% rename from models/iRonCub-Mk1_1/iRonCub/meshes/stl/sim_sea_2-5_r_elbow_p160_prt.stl rename to models/iRonCub-Mk1_1_v1/iRonCub/meshes/stl/sim_sea_2-5_r_elbow_p160_prt.stl diff --git a/models/iRonCub-Mk1_1/iRonCub/meshes/stl/sim_sea_2-5_r_elbow_prosup_prt.stl b/models/iRonCub-Mk1_1_v1/iRonCub/meshes/stl/sim_sea_2-5_r_elbow_prosup_prt.stl similarity index 100% rename from models/iRonCub-Mk1_1/iRonCub/meshes/stl/sim_sea_2-5_r_elbow_prosup_prt.stl rename to models/iRonCub-Mk1_1_v1/iRonCub/meshes/stl/sim_sea_2-5_r_elbow_prosup_prt.stl diff --git a/models/iRonCub-Mk1/iRonCub/meshes/stl/sim_sea_2-5_r_elbow_prt.stl b/models/iRonCub-Mk1_1_v1/iRonCub/meshes/stl/sim_sea_2-5_r_elbow_prt.stl similarity index 100% rename from models/iRonCub-Mk1/iRonCub/meshes/stl/sim_sea_2-5_r_elbow_prt.stl rename to models/iRonCub-Mk1_1_v1/iRonCub/meshes/stl/sim_sea_2-5_r_elbow_prt.stl diff --git a/models/iRonCub-Mk1/iRonCub/meshes/stl/sim_sea_2-5_r_foot_prt.stl b/models/iRonCub-Mk1_1_v1/iRonCub/meshes/stl/sim_sea_2-5_r_foot_prt.stl similarity index 100% rename from models/iRonCub-Mk1/iRonCub/meshes/stl/sim_sea_2-5_r_foot_prt.stl rename to models/iRonCub-Mk1_1_v1/iRonCub/meshes/stl/sim_sea_2-5_r_foot_prt.stl diff --git a/models/iRonCub-Mk1/iRonCub/meshes/stl/sim_sea_2-5_r_hip_1_prt.stl b/models/iRonCub-Mk1_1_v1/iRonCub/meshes/stl/sim_sea_2-5_r_hip_1_prt.stl similarity index 100% rename from models/iRonCub-Mk1/iRonCub/meshes/stl/sim_sea_2-5_r_hip_1_prt.stl rename to models/iRonCub-Mk1_1_v1/iRonCub/meshes/stl/sim_sea_2-5_r_hip_1_prt.stl diff --git a/models/iRonCub-Mk1/iRonCub/meshes/stl/sim_sea_2-5_r_hip_2_prt.stl b/models/iRonCub-Mk1_1_v1/iRonCub/meshes/stl/sim_sea_2-5_r_hip_2_prt.stl similarity index 100% rename from models/iRonCub-Mk1/iRonCub/meshes/stl/sim_sea_2-5_r_hip_2_prt.stl rename to models/iRonCub-Mk1_1_v1/iRonCub/meshes/stl/sim_sea_2-5_r_hip_2_prt.stl diff --git a/models/iRonCub-Mk1/iRonCub/meshes/stl/sim_sea_2-5_r_p220_prt.stl b/models/iRonCub-Mk1_1_v1/iRonCub/meshes/stl/sim_sea_2-5_r_p220_prt.stl similarity index 100% rename from models/iRonCub-Mk1/iRonCub/meshes/stl/sim_sea_2-5_r_p220_prt.stl rename to models/iRonCub-Mk1_1_v1/iRonCub/meshes/stl/sim_sea_2-5_r_p220_prt.stl diff --git a/models/iRonCub-Mk1/iRonCub/meshes/stl/sim_sea_2-5_r_shank_prt.stl b/models/iRonCub-Mk1_1_v1/iRonCub/meshes/stl/sim_sea_2-5_r_shank_prt.stl similarity index 100% rename from models/iRonCub-Mk1/iRonCub/meshes/stl/sim_sea_2-5_r_shank_prt.stl rename to models/iRonCub-Mk1_1_v1/iRonCub/meshes/stl/sim_sea_2-5_r_shank_prt.stl diff --git a/models/iRonCub-Mk1/iRonCub/meshes/stl/sim_sea_2-5_r_shoulder_1_prt.stl b/models/iRonCub-Mk1_1_v1/iRonCub/meshes/stl/sim_sea_2-5_r_shoulder_1_prt.stl similarity index 100% rename from models/iRonCub-Mk1/iRonCub/meshes/stl/sim_sea_2-5_r_shoulder_1_prt.stl rename to models/iRonCub-Mk1_1_v1/iRonCub/meshes/stl/sim_sea_2-5_r_shoulder_1_prt.stl diff --git a/models/iRonCub-Mk1/iRonCub/meshes/stl/sim_sea_2-5_r_shoulder_2_prt.stl b/models/iRonCub-Mk1_1_v1/iRonCub/meshes/stl/sim_sea_2-5_r_shoulder_2_prt.stl similarity index 100% rename from models/iRonCub-Mk1/iRonCub/meshes/stl/sim_sea_2-5_r_shoulder_2_prt.stl rename to models/iRonCub-Mk1_1_v1/iRonCub/meshes/stl/sim_sea_2-5_r_shoulder_2_prt.stl diff --git a/models/iRonCub-Mk1_1/iRonCub/meshes/stl/sim_sea_2-5_r_sole_prt.stl b/models/iRonCub-Mk1_1_v1/iRonCub/meshes/stl/sim_sea_2-5_r_sole_prt.stl similarity index 100% rename from models/iRonCub-Mk1_1/iRonCub/meshes/stl/sim_sea_2-5_r_sole_prt.stl rename to models/iRonCub-Mk1_1_v1/iRonCub/meshes/stl/sim_sea_2-5_r_sole_prt.stl diff --git a/models/iRonCub-Mk1/iRonCub/meshes/stl/sim_sea_2-5_r_thigh_prt.stl b/models/iRonCub-Mk1_1_v1/iRonCub/meshes/stl/sim_sea_2-5_r_thigh_prt.stl similarity index 100% rename from models/iRonCub-Mk1/iRonCub/meshes/stl/sim_sea_2-5_r_thigh_prt.stl rename to models/iRonCub-Mk1_1_v1/iRonCub/meshes/stl/sim_sea_2-5_r_thigh_prt.stl diff --git a/models/iRonCub-Mk1/iRonCub/meshes/stl/sim_sea_2-5_r_upper_arm_prt.stl b/models/iRonCub-Mk1_1_v1/iRonCub/meshes/stl/sim_sea_2-5_r_upper_arm_prt.stl similarity index 100% rename from models/iRonCub-Mk1/iRonCub/meshes/stl/sim_sea_2-5_r_upper_arm_prt.stl rename to models/iRonCub-Mk1_1_v1/iRonCub/meshes/stl/sim_sea_2-5_r_upper_arm_prt.stl diff --git a/models/iRonCub-Mk1/iRonCub/meshes/stl/sim_sea_2-5_r_upper_thigh_prt.stl b/models/iRonCub-Mk1_1_v1/iRonCub/meshes/stl/sim_sea_2-5_r_upper_thigh_prt.stl similarity index 100% rename from models/iRonCub-Mk1/iRonCub/meshes/stl/sim_sea_2-5_r_upper_thigh_prt.stl rename to models/iRonCub-Mk1_1_v1/iRonCub/meshes/stl/sim_sea_2-5_r_upper_thigh_prt.stl diff --git a/models/iRonCub-Mk1/iRonCub/meshes/stl/sim_sea_2-5_root_link_prt.stl b/models/iRonCub-Mk1_1_v1/iRonCub/meshes/stl/sim_sea_2-5_root_link_prt.stl similarity index 100% rename from models/iRonCub-Mk1/iRonCub/meshes/stl/sim_sea_2-5_root_link_prt.stl rename to models/iRonCub-Mk1_1_v1/iRonCub/meshes/stl/sim_sea_2-5_root_link_prt.stl diff --git a/models/iRonCub-Mk1/iRonCub/robots/iRonCub-Mk1_Gazebo_v1/estimators/wholebodydynamics-external-iRonCub.xml b/models/iRonCub-Mk1_1_v1/iRonCub/robots/iRonCub-Mk1_1_Gazebo_v1/estimators/wholebodydynamics-external-iRonCub.xml similarity index 100% rename from models/iRonCub-Mk1/iRonCub/robots/iRonCub-Mk1_Gazebo_v1/estimators/wholebodydynamics-external-iRonCub.xml rename to models/iRonCub-Mk1_1_v1/iRonCub/robots/iRonCub-Mk1_1_Gazebo_v1/estimators/wholebodydynamics-external-iRonCub.xml diff --git a/models/iRonCub-Mk1/iRonCub/robots/iRonCub-Mk1_Gazebo_v1/launch-wholebodydynamics-iRonCub.xml b/models/iRonCub-Mk1_1_v1/iRonCub/robots/iRonCub-Mk1_1_Gazebo_v1/launch-wholebodydynamics-iRonCub.xml similarity index 100% rename from models/iRonCub-Mk1/iRonCub/robots/iRonCub-Mk1_Gazebo_v1/launch-wholebodydynamics-iRonCub.xml rename to models/iRonCub-Mk1_1_v1/iRonCub/robots/iRonCub-Mk1_1_Gazebo_v1/launch-wholebodydynamics-iRonCub.xml diff --git a/models/iRonCub-Mk1_1/iRonCub/robots/iRonCub-Mk1_1_Gazebo_v1/model.config b/models/iRonCub-Mk1_1_v1/iRonCub/robots/iRonCub-Mk1_1_Gazebo_v1/model.config similarity index 100% rename from models/iRonCub-Mk1_1/iRonCub/robots/iRonCub-Mk1_1_Gazebo_v1/model.config rename to models/iRonCub-Mk1_1_v1/iRonCub/robots/iRonCub-Mk1_1_Gazebo_v1/model.config diff --git a/models/iRonCub-Mk1_1/iRonCub/robots/iRonCub-Mk1_1_Gazebo_v1/model.urdf b/models/iRonCub-Mk1_1_v1/iRonCub/robots/iRonCub-Mk1_1_Gazebo_v1/model.urdf similarity index 90% rename from models/iRonCub-Mk1_1/iRonCub/robots/iRonCub-Mk1_1_Gazebo_v1/model.urdf rename to models/iRonCub-Mk1_1_v1/iRonCub/robots/iRonCub-Mk1_1_Gazebo_v1/model.urdf index 0c3fdd4..3b6a909 100644 --- a/models/iRonCub-Mk1_1/iRonCub/robots/iRonCub-Mk1_1_Gazebo_v1/model.urdf +++ b/models/iRonCub-Mk1_1_v1/iRonCub/robots/iRonCub-Mk1_1_Gazebo_v1/model.urdf @@ -8,7 +8,7 @@ - + @@ -17,7 +17,7 @@ - + @@ -30,7 +30,7 @@ - + @@ -39,7 +39,7 @@ - + @@ -60,7 +60,7 @@ - + @@ -69,7 +69,7 @@ - + @@ -90,7 +90,7 @@ - + @@ -99,7 +99,7 @@ - + @@ -127,7 +127,7 @@ - + @@ -136,7 +136,7 @@ - + @@ -157,7 +157,7 @@ - + @@ -166,7 +166,7 @@ - + @@ -187,7 +187,7 @@ - + @@ -196,7 +196,7 @@ - + @@ -224,7 +224,7 @@ - + @@ -233,7 +233,7 @@ - + @@ -252,7 +252,7 @@ - + @@ -261,7 +261,7 @@ - + @@ -280,7 +280,7 @@ - + @@ -289,7 +289,7 @@ - + @@ -310,7 +310,7 @@ - + @@ -319,7 +319,7 @@ - + @@ -340,7 +340,7 @@ - + @@ -349,7 +349,7 @@ - + @@ -370,7 +370,7 @@ - + @@ -379,7 +379,7 @@ - + @@ -398,7 +398,7 @@ - + @@ -407,7 +407,7 @@ - + @@ -428,7 +428,7 @@ - + @@ -437,7 +437,7 @@ - + @@ -456,7 +456,7 @@ - + @@ -465,7 +465,7 @@ - + @@ -484,7 +484,7 @@ - + @@ -493,7 +493,7 @@ - + @@ -514,7 +514,7 @@ - + @@ -523,7 +523,7 @@ - + @@ -544,7 +544,7 @@ - + @@ -553,7 +553,7 @@ - + @@ -574,7 +574,7 @@ - + @@ -583,7 +583,7 @@ - + @@ -602,7 +602,7 @@ - + @@ -611,7 +611,7 @@ - + @@ -632,7 +632,7 @@ - + @@ -641,7 +641,7 @@ - + @@ -660,7 +660,7 @@ - + @@ -669,7 +669,7 @@ - + @@ -690,7 +690,7 @@ - + @@ -699,7 +699,7 @@ - + @@ -720,7 +720,7 @@ - + @@ -729,7 +729,7 @@ - + @@ -748,7 +748,7 @@ - + @@ -757,7 +757,7 @@ - + @@ -792,7 +792,7 @@ - + @@ -801,7 +801,7 @@ - + @@ -822,7 +822,7 @@ - + @@ -831,7 +831,7 @@ - + @@ -852,7 +852,7 @@ - + @@ -861,7 +861,7 @@ - + @@ -882,7 +882,7 @@ - + @@ -945,7 +945,7 @@ - + @@ -954,7 +954,7 @@ - + @@ -975,7 +975,7 @@ - + @@ -984,7 +984,7 @@ - + @@ -1005,7 +1005,7 @@ - + @@ -1014,7 +1014,7 @@ - + @@ -1033,7 +1033,7 @@ - + @@ -1042,7 +1042,7 @@ - + @@ -1077,7 +1077,7 @@ - + @@ -1086,7 +1086,7 @@ - + @@ -1373,7 +1373,7 @@ - + @@ -1382,7 +1382,7 @@ - + @@ -1403,7 +1403,7 @@ - + @@ -1412,7 +1412,7 @@ - + @@ -1433,7 +1433,7 @@ - + @@ -1520,7 +1520,7 @@ 400 0.08515499999999998 -0.011000000000000022 -0.11230899999999999 -2.0943952105869323 -3.885780586188048e-16 -1.5707963267948963 - model://iRonCub-Mk1_1/iRonCub/conf/gazebo_icub_xsens_inertial.ini + model://iRonCub-Mk1_1_v1/iRonCub/conf/gazebo_icub_xsens_inertial.ini @@ -1591,48 +1591,48 @@ - model://iRonCub-Mk1_1/iRonCub/conf/MTB/gazebo_icub_left_leg_mtb.ini + model://iRonCub-Mk1_1_v1/iRonCub/conf/MTB/gazebo_icub_left_leg_mtb.ini - model://iRonCub-Mk1_1/iRonCub/conf/MTB/gazebo_icub_right_leg_mtb.ini + model://iRonCub-Mk1_1_v1/iRonCub/conf/MTB/gazebo_icub_right_leg_mtb.ini - model://iRonCub-Mk1_1/iRonCub/conf/MTB/gazebo_icub_left_arm_mtb.ini + model://iRonCub-Mk1_1_v1/iRonCub/conf/MTB/gazebo_icub_left_arm_mtb.ini - model://iRonCub-Mk1_1/iRonCub/conf/MTB/gazebo_icub_right_arm_mtb.ini + model://iRonCub-Mk1_1_v1/iRonCub/conf/MTB/gazebo_icub_right_arm_mtb.ini - model://iRonCub-Mk1_1/iRonCub/conf/MTB/gazebo_icub_torso_mtb.ini + model://iRonCub-Mk1_1_v1/iRonCub/conf/MTB/gazebo_icub_torso_mtb.ini - model://iRonCub-Mk1_1/iRonCub/conf/gazebo_icub_torso.ini + model://iRonCub-Mk1_1_v1/iRonCub/conf/gazebo_icub_torso.ini - model://iRonCub-Mk1_1/iRonCub/conf/gazebo_icub_head_without_eyes.ini + model://iRonCub-Mk1_1_v1/iRonCub/conf/gazebo_icub_head_without_eyes.ini - model://iRonCub-Mk1_1/iRonCub/conf/gazebo_icub_left_arm.ini + model://iRonCub-Mk1_1_v1/iRonCub/conf/gazebo_icub_left_arm.ini -0.52 0.52 0 0.785 - model://iRonCub-Mk1_1/iRonCub/conf/gazebo_icub_right_arm.ini + model://iRonCub-Mk1_1_v1/iRonCub/conf/gazebo_icub_right_arm.ini -0.52 0.52 0 0.785 - model://iRonCub-Mk1_1/iRonCub/conf/gazebo_icub_right_leg.ini + model://iRonCub-Mk1_1_v1/iRonCub/conf/gazebo_icub_right_leg.ini - model://iRonCub-Mk1_1/iRonCub/conf/gazebo_icub_left_leg.ini + model://iRonCub-Mk1_1_v1/iRonCub/conf/gazebo_icub_left_leg.ini - model://iRonCub-Mk1_1/iRonCub/conf/gazebo_icub_robotname.ini + model://iRonCub-Mk1_1_v1/iRonCub/conf/gazebo_icub_robotname.ini - model://iRonCub-Mk1_1/iRonCub/conf/base.ini + model://iRonCub-Mk1_1_v1/iRonCub/conf/base.ini - model://iRonCub-Mk1_1/iRonCub/conf/jets.ini + model://iRonCub-Mk1_1_v1/iRonCub/conf/jets.ini @@ -1722,7 +1722,7 @@ child_to_parent - model://iRonCub-Mk1_1/iRonCub/conf/FT/gazebo_icub_left_leg_ft.ini + model://iRonCub-Mk1_1_v1/iRonCub/conf/FT/gazebo_icub_left_leg_ft.ini @@ -1742,7 +1742,7 @@ child_to_parent - model://iRonCub-Mk1_1/iRonCub/conf/FT/gazebo_icub_right_leg_ft.ini + model://iRonCub-Mk1_1_v1/iRonCub/conf/FT/gazebo_icub_right_leg_ft.ini @@ -1762,7 +1762,7 @@ child_to_parent - model://iRonCub-Mk1_1/iRonCub/conf/FT/gazebo_icub_left_foot_ft.ini + model://iRonCub-Mk1_1_v1/iRonCub/conf/FT/gazebo_icub_left_foot_ft.ini @@ -1782,7 +1782,7 @@ child_to_parent - model://iRonCub-Mk1_1/iRonCub/conf/FT/gazebo_icub_right_foot_ft.ini + model://iRonCub-Mk1_1_v1/iRonCub/conf/FT/gazebo_icub_right_foot_ft.ini @@ -1802,7 +1802,7 @@ child_to_parent - model://iRonCub-Mk1_1/iRonCub/conf/FT/gazebo_icub_left_arm_ft.ini + model://iRonCub-Mk1_1_v1/iRonCub/conf/FT/gazebo_icub_left_arm_ft.ini @@ -1822,7 +1822,7 @@ child_to_parent - model://iRonCub-Mk1_1/iRonCub/conf/FT/gazebo_icub_right_arm_ft.ini + model://iRonCub-Mk1_1_v1/iRonCub/conf/FT/gazebo_icub_right_arm_ft.ini @@ -1839,7 +1839,7 @@ 100 0.009500000190735 0.13344313685842288 0.00929998892871537 3.141592653589793 1.5707962897917267 -1.5707963267948966 - model://iRonCub-Mk1_1/iRonCub/conf/gazebo_icub_inertial.ini + model://iRonCub-Mk1_1_v1/iRonCub/conf/gazebo_icub_inertial.ini diff --git a/models/iRonCub-Mk1_1/iRonCub/robots/iRonCub-Mk1_1_Gazebo_v1/model_stl.urdf b/models/iRonCub-Mk1_1_v1/iRonCub/robots/iRonCub-Mk1_1_Gazebo_v1/model_stl.urdf similarity index 90% rename from models/iRonCub-Mk1_1/iRonCub/robots/iRonCub-Mk1_1_Gazebo_v1/model_stl.urdf rename to models/iRonCub-Mk1_1_v1/iRonCub/robots/iRonCub-Mk1_1_Gazebo_v1/model_stl.urdf index 5012450..ed7f7d5 100644 --- a/models/iRonCub-Mk1_1/iRonCub/robots/iRonCub-Mk1_1_Gazebo_v1/model_stl.urdf +++ b/models/iRonCub-Mk1_1_v1/iRonCub/robots/iRonCub-Mk1_1_Gazebo_v1/model_stl.urdf @@ -8,7 +8,7 @@ - + @@ -17,7 +17,7 @@ - + @@ -30,7 +30,7 @@ - + @@ -39,7 +39,7 @@ - + @@ -60,7 +60,7 @@ - + @@ -69,7 +69,7 @@ - + @@ -90,7 +90,7 @@ - + @@ -99,7 +99,7 @@ - + @@ -127,7 +127,7 @@ - + @@ -136,7 +136,7 @@ - + @@ -157,7 +157,7 @@ - + @@ -166,7 +166,7 @@ - + @@ -187,7 +187,7 @@ - + @@ -196,7 +196,7 @@ - + @@ -224,7 +224,7 @@ - + @@ -233,7 +233,7 @@ - + @@ -252,7 +252,7 @@ - + @@ -261,7 +261,7 @@ - + @@ -280,7 +280,7 @@ - + @@ -289,7 +289,7 @@ - + @@ -310,7 +310,7 @@ - + @@ -319,7 +319,7 @@ - + @@ -340,7 +340,7 @@ - + @@ -349,7 +349,7 @@ - + @@ -370,7 +370,7 @@ - + @@ -379,7 +379,7 @@ - + @@ -398,7 +398,7 @@ - + @@ -407,7 +407,7 @@ - + @@ -428,7 +428,7 @@ - + @@ -437,7 +437,7 @@ - + @@ -456,7 +456,7 @@ - + @@ -465,7 +465,7 @@ - + @@ -484,7 +484,7 @@ - + @@ -493,7 +493,7 @@ - + @@ -514,7 +514,7 @@ - + @@ -523,7 +523,7 @@ - + @@ -544,7 +544,7 @@ - + @@ -553,7 +553,7 @@ - + @@ -574,7 +574,7 @@ - + @@ -583,7 +583,7 @@ - + @@ -602,7 +602,7 @@ - + @@ -611,7 +611,7 @@ - + @@ -632,7 +632,7 @@ - + @@ -641,7 +641,7 @@ - + @@ -660,7 +660,7 @@ - + @@ -669,7 +669,7 @@ - + @@ -690,7 +690,7 @@ - + @@ -699,7 +699,7 @@ - + @@ -720,7 +720,7 @@ - + @@ -729,7 +729,7 @@ - + @@ -748,7 +748,7 @@ - + @@ -757,7 +757,7 @@ - + @@ -792,7 +792,7 @@ - + @@ -801,7 +801,7 @@ - + @@ -822,7 +822,7 @@ - + @@ -831,7 +831,7 @@ - + @@ -852,7 +852,7 @@ - + @@ -861,7 +861,7 @@ - + @@ -882,7 +882,7 @@ - + @@ -945,7 +945,7 @@ - + @@ -954,7 +954,7 @@ - + @@ -975,7 +975,7 @@ - + @@ -984,7 +984,7 @@ - + @@ -1005,7 +1005,7 @@ - + @@ -1014,7 +1014,7 @@ - + @@ -1033,7 +1033,7 @@ - + @@ -1042,7 +1042,7 @@ - + @@ -1077,7 +1077,7 @@ - + @@ -1086,7 +1086,7 @@ - + @@ -1373,7 +1373,7 @@ - + @@ -1382,7 +1382,7 @@ - + @@ -1403,7 +1403,7 @@ - + @@ -1412,7 +1412,7 @@ - + @@ -1433,7 +1433,7 @@ - + @@ -1520,7 +1520,7 @@ 400 0.08515499999999998 -0.011000000000000022 -0.11230899999999999 -2.0943952105869323 -3.885780586188048e-16 -1.5707963267948963 - model://iRonCub-Mk1_1/iRonCub/conf/gazebo_icub_xsens_inertial.ini + model://iRonCub-Mk1_1_v1/iRonCub/conf/gazebo_icub_xsens_inertial.ini @@ -1591,48 +1591,48 @@ - model://iRonCub-Mk1_1/iRonCub/conf/MTB/gazebo_icub_left_leg_mtb.ini + model://iRonCub-Mk1_1_v1/iRonCub/conf/MTB/gazebo_icub_left_leg_mtb.ini - model://iRonCub-Mk1_1/iRonCub/conf/MTB/gazebo_icub_right_leg_mtb.ini + model://iRonCub-Mk1_1_v1/iRonCub/conf/MTB/gazebo_icub_right_leg_mtb.ini - model://iRonCub-Mk1_1/iRonCub/conf/MTB/gazebo_icub_left_arm_mtb.ini + model://iRonCub-Mk1_1_v1/iRonCub/conf/MTB/gazebo_icub_left_arm_mtb.ini - model://iRonCub-Mk1_1/iRonCub/conf/MTB/gazebo_icub_right_arm_mtb.ini + model://iRonCub-Mk1_1_v1/iRonCub/conf/MTB/gazebo_icub_right_arm_mtb.ini - model://iRonCub-Mk1_1/iRonCub/conf/MTB/gazebo_icub_torso_mtb.ini + model://iRonCub-Mk1_1_v1/iRonCub/conf/MTB/gazebo_icub_torso_mtb.ini - model://iRonCub-Mk1_1/iRonCub/conf/gazebo_icub_torso.ini + model://iRonCub-Mk1_1_v1/iRonCub/conf/gazebo_icub_torso.ini - model://iRonCub-Mk1_1/iRonCub/conf/gazebo_icub_head_without_eyes.ini + model://iRonCub-Mk1_1_v1/iRonCub/conf/gazebo_icub_head_without_eyes.ini - model://iRonCub-Mk1_1/iRonCub/conf/gazebo_icub_left_arm.ini + model://iRonCub-Mk1_1_v1/iRonCub/conf/gazebo_icub_left_arm.ini -0.52 0.52 0 0.785 - model://iRonCub-Mk1_1/iRonCub/conf/gazebo_icub_right_arm.ini + model://iRonCub-Mk1_1_v1/iRonCub/conf/gazebo_icub_right_arm.ini -0.52 0.52 0 0.785 - model://iRonCub-Mk1_1/iRonCub/conf/gazebo_icub_right_leg.ini + model://iRonCub-Mk1_1_v1/iRonCub/conf/gazebo_icub_right_leg.ini - model://iRonCub-Mk1_1/iRonCub/conf/gazebo_icub_left_leg.ini + model://iRonCub-Mk1_1_v1/iRonCub/conf/gazebo_icub_left_leg.ini - model://iRonCub-Mk1_1/iRonCub/conf/gazebo_icub_robotname.ini + model://iRonCub-Mk1_1_v1/iRonCub/conf/gazebo_icub_robotname.ini - model://iRonCub-Mk1_1/iRonCub/conf/base.ini + model://iRonCub-Mk1_1_v1/iRonCub/conf/base.ini - model://iRonCub-Mk1_1/iRonCub/conf/jets.ini + model://iRonCub-Mk1_1_v1/iRonCub/conf/jets.ini @@ -1722,7 +1722,7 @@ child_to_parent - model://iRonCub-Mk1_1/iRonCub/conf/FT/gazebo_icub_left_leg_ft.ini + model://iRonCub-Mk1_1_v1/iRonCub/conf/FT/gazebo_icub_left_leg_ft.ini @@ -1742,7 +1742,7 @@ child_to_parent - model://iRonCub-Mk1_1/iRonCub/conf/FT/gazebo_icub_right_leg_ft.ini + model://iRonCub-Mk1_1_v1/iRonCub/conf/FT/gazebo_icub_right_leg_ft.ini @@ -1762,7 +1762,7 @@ child_to_parent - model://iRonCub-Mk1_1/iRonCub/conf/FT/gazebo_icub_left_foot_ft.ini + model://iRonCub-Mk1_1_v1/iRonCub/conf/FT/gazebo_icub_left_foot_ft.ini @@ -1782,7 +1782,7 @@ child_to_parent - model://iRonCub-Mk1_1/iRonCub/conf/FT/gazebo_icub_right_foot_ft.ini + model://iRonCub-Mk1_1_v1/iRonCub/conf/FT/gazebo_icub_right_foot_ft.ini @@ -1802,7 +1802,7 @@ child_to_parent - model://iRonCub-Mk1_1/iRonCub/conf/FT/gazebo_icub_left_arm_ft.ini + model://iRonCub-Mk1_1_v1/iRonCub/conf/FT/gazebo_icub_left_arm_ft.ini @@ -1822,7 +1822,7 @@ child_to_parent - model://iRonCub-Mk1_1/iRonCub/conf/FT/gazebo_icub_right_arm_ft.ini + model://iRonCub-Mk1_1_v1/iRonCub/conf/FT/gazebo_icub_right_arm_ft.ini @@ -1839,7 +1839,7 @@ 100 0.009500000190735 0.13344313685842288 0.00929998892871537 3.141592653589793 1.5707962897917267 -1.5707963267948966 - model://iRonCub-Mk1_1/iRonCub/conf/gazebo_icub_inertial.ini + model://iRonCub-Mk1_1_v1/iRonCub/conf/gazebo_icub_inertial.ini diff --git a/models/iRonCub-Mk1_1/iRonCub/robots/iRonCub-Mk1_1_v1/model.urdf b/models/iRonCub-Mk1_1_v1/iRonCub/robots/iRonCub-Mk1_1_v1/model.urdf similarity index 90% rename from models/iRonCub-Mk1_1/iRonCub/robots/iRonCub-Mk1_1_v1/model.urdf rename to models/iRonCub-Mk1_1_v1/iRonCub/robots/iRonCub-Mk1_1_v1/model.urdf index 12839f2..c07a07f 100644 --- a/models/iRonCub-Mk1_1/iRonCub/robots/iRonCub-Mk1_1_v1/model.urdf +++ b/models/iRonCub-Mk1_1_v1/iRonCub/robots/iRonCub-Mk1_1_v1/model.urdf @@ -8,7 +8,7 @@ - + @@ -17,7 +17,7 @@ - + @@ -30,7 +30,7 @@ - + @@ -39,7 +39,7 @@ - + @@ -60,7 +60,7 @@ - + @@ -69,7 +69,7 @@ - + @@ -90,7 +90,7 @@ - + @@ -99,7 +99,7 @@ - + @@ -127,7 +127,7 @@ - + @@ -136,7 +136,7 @@ - + @@ -157,7 +157,7 @@ - + @@ -166,7 +166,7 @@ - + @@ -187,7 +187,7 @@ - + @@ -196,7 +196,7 @@ - + @@ -224,7 +224,7 @@ - + @@ -233,7 +233,7 @@ - + @@ -252,7 +252,7 @@ - + @@ -261,7 +261,7 @@ - + @@ -280,7 +280,7 @@ - + @@ -289,7 +289,7 @@ - + @@ -310,7 +310,7 @@ - + @@ -319,7 +319,7 @@ - + @@ -340,7 +340,7 @@ - + @@ -349,7 +349,7 @@ - + @@ -370,7 +370,7 @@ - + @@ -379,7 +379,7 @@ - + @@ -398,7 +398,7 @@ - + @@ -407,7 +407,7 @@ - + @@ -428,7 +428,7 @@ - + @@ -437,7 +437,7 @@ - + @@ -456,7 +456,7 @@ - + @@ -465,7 +465,7 @@ - + @@ -484,7 +484,7 @@ - + @@ -493,7 +493,7 @@ - + @@ -514,7 +514,7 @@ - + @@ -523,7 +523,7 @@ - + @@ -544,7 +544,7 @@ - + @@ -553,7 +553,7 @@ - + @@ -574,7 +574,7 @@ - + @@ -583,7 +583,7 @@ - + @@ -602,7 +602,7 @@ - + @@ -611,7 +611,7 @@ - + @@ -632,7 +632,7 @@ - + @@ -641,7 +641,7 @@ - + @@ -660,7 +660,7 @@ - + @@ -669,7 +669,7 @@ - + @@ -690,7 +690,7 @@ - + @@ -699,7 +699,7 @@ - + @@ -720,7 +720,7 @@ - + @@ -729,7 +729,7 @@ - + @@ -748,7 +748,7 @@ - + @@ -757,7 +757,7 @@ - + @@ -792,7 +792,7 @@ - + @@ -801,7 +801,7 @@ - + @@ -822,7 +822,7 @@ - + @@ -831,7 +831,7 @@ - + @@ -852,7 +852,7 @@ - + @@ -861,7 +861,7 @@ - + @@ -882,7 +882,7 @@ - + @@ -891,7 +891,7 @@ - + @@ -945,7 +945,7 @@ - + @@ -954,7 +954,7 @@ - + @@ -975,7 +975,7 @@ - + @@ -984,7 +984,7 @@ - + @@ -1005,7 +1005,7 @@ - + @@ -1014,7 +1014,7 @@ - + @@ -1033,7 +1033,7 @@ - + @@ -1042,7 +1042,7 @@ - + @@ -1077,7 +1077,7 @@ - + @@ -1086,7 +1086,7 @@ - + @@ -1373,7 +1373,7 @@ - + @@ -1382,7 +1382,7 @@ - + @@ -1403,7 +1403,7 @@ - + @@ -1412,7 +1412,7 @@ - + @@ -1433,7 +1433,7 @@ - + @@ -1442,7 +1442,7 @@ - + @@ -1520,7 +1520,7 @@ 400 0.08515499999999998 -0.011000000000000022 -0.11230899999999999 -2.0943952105869323 -3.885780586188048e-16 -1.5707963267948963 - model://iRonCub-Mk1_1/iRonCub/conf/gazebo_icub_xsens_inertial.ini + model://iRonCub-Mk1_1_v1/iRonCub/conf/gazebo_icub_xsens_inertial.ini @@ -1591,48 +1591,48 @@ - model://iRonCub-Mk1_1/iRonCub/conf/MTB/gazebo_icub_left_leg_mtb.ini + model://iRonCub-Mk1_1_v1/iRonCub/conf/MTB/gazebo_icub_left_leg_mtb.ini - model://iRonCub-Mk1_1/iRonCub/conf/MTB/gazebo_icub_right_leg_mtb.ini + model://iRonCub-Mk1_1_v1/iRonCub/conf/MTB/gazebo_icub_right_leg_mtb.ini - model://iRonCub-Mk1_1/iRonCub/conf/MTB/gazebo_icub_left_arm_mtb.ini + model://iRonCub-Mk1_1_v1/iRonCub/conf/MTB/gazebo_icub_left_arm_mtb.ini - model://iRonCub-Mk1_1/iRonCub/conf/MTB/gazebo_icub_right_arm_mtb.ini + model://iRonCub-Mk1_1_v1/iRonCub/conf/MTB/gazebo_icub_right_arm_mtb.ini - model://iRonCub-Mk1_1/iRonCub/conf/MTB/gazebo_icub_torso_mtb.ini + model://iRonCub-Mk1_1_v1/iRonCub/conf/MTB/gazebo_icub_torso_mtb.ini - model://iRonCub-Mk1_1/iRonCub/conf/gazebo_icub_torso.ini + model://iRonCub-Mk1_1_v1/iRonCub/conf/gazebo_icub_torso.ini - model://iRonCub-Mk1_1/iRonCub/conf/gazebo_icub_head_without_eyes.ini + model://iRonCub-Mk1_1_v1/iRonCub/conf/gazebo_icub_head_without_eyes.ini - model://iRonCub-Mk1_1/iRonCub/conf/gazebo_icub_left_arm.ini + model://iRonCub-Mk1_1_v1/iRonCub/conf/gazebo_icub_left_arm.ini -0.52 0.52 0 0.785 - model://iRonCub-Mk1_1/iRonCub/conf/gazebo_icub_right_arm.ini + model://iRonCub-Mk1_1_v1/iRonCub/conf/gazebo_icub_right_arm.ini -0.52 0.52 0 0.785 - model://iRonCub-Mk1_1/iRonCub/conf/gazebo_icub_right_leg.ini + model://iRonCub-Mk1_1_v1/iRonCub/conf/gazebo_icub_right_leg.ini - model://iRonCub-Mk1_1/iRonCub/conf/gazebo_icub_left_leg.ini + model://iRonCub-Mk1_1_v1/iRonCub/conf/gazebo_icub_left_leg.ini - model://iRonCub-Mk1_1/iRonCub/conf/gazebo_icub_robotname.ini + model://iRonCub-Mk1_1_v1/iRonCub/conf/gazebo_icub_robotname.ini - model://iRonCub-Mk1_1/iRonCub/conf/base.ini + model://iRonCub-Mk1_1_v1/iRonCub/conf/base.ini - model://iRonCub-Mk1_1/iRonCub/conf/jets.ini + model://iRonCub-Mk1_1_v1/iRonCub/conf/jets.ini @@ -1722,7 +1722,7 @@ child_to_parent - model://iRonCub-Mk1_1/iRonCub/conf/FT/gazebo_icub_left_leg_ft.ini + model://iRonCub-Mk1_1_v1/iRonCub/conf/FT/gazebo_icub_left_leg_ft.ini @@ -1742,7 +1742,7 @@ child_to_parent - model://iRonCub-Mk1_1/iRonCub/conf/FT/gazebo_icub_right_leg_ft.ini + model://iRonCub-Mk1_1_v1/iRonCub/conf/FT/gazebo_icub_right_leg_ft.ini @@ -1762,7 +1762,7 @@ child_to_parent - model://iRonCub-Mk1_1/iRonCub/conf/FT/gazebo_icub_left_foot_ft.ini + model://iRonCub-Mk1_1_v1/iRonCub/conf/FT/gazebo_icub_left_foot_ft.ini @@ -1782,7 +1782,7 @@ child_to_parent - model://iRonCub-Mk1_1/iRonCub/conf/FT/gazebo_icub_right_foot_ft.ini + model://iRonCub-Mk1_1_v1/iRonCub/conf/FT/gazebo_icub_right_foot_ft.ini @@ -1802,7 +1802,7 @@ child_to_parent - model://iRonCub-Mk1_1/iRonCub/conf/FT/gazebo_icub_left_arm_ft.ini + model://iRonCub-Mk1_1_v1/iRonCub/conf/FT/gazebo_icub_left_arm_ft.ini @@ -1822,7 +1822,7 @@ child_to_parent - model://iRonCub-Mk1_1/iRonCub/conf/FT/gazebo_icub_right_arm_ft.ini + model://iRonCub-Mk1_1_v1/iRonCub/conf/FT/gazebo_icub_right_arm_ft.ini @@ -1839,7 +1839,7 @@ 100 0.009500000190735 0.13344313685842288 0.00929998892871537 3.141592653589793 1.5707962897917267 -1.5707963267948966 - model://iRonCub-Mk1_1/iRonCub/conf/gazebo_icub_inertial.ini + model://iRonCub-Mk1_1_v1/iRonCub/conf/gazebo_icub_inertial.ini diff --git a/models/iRonCub-Mk1_1/iRonCub/robots/iRonCub-Mk1_1_v1/model_stl.urdf b/models/iRonCub-Mk1_1_v1/iRonCub/robots/iRonCub-Mk1_1_v1/model_stl.urdf similarity index 90% rename from models/iRonCub-Mk1_1/iRonCub/robots/iRonCub-Mk1_1_v1/model_stl.urdf rename to models/iRonCub-Mk1_1_v1/iRonCub/robots/iRonCub-Mk1_1_v1/model_stl.urdf index e93219a..dc992dc 100644 --- a/models/iRonCub-Mk1_1/iRonCub/robots/iRonCub-Mk1_1_v1/model_stl.urdf +++ b/models/iRonCub-Mk1_1_v1/iRonCub/robots/iRonCub-Mk1_1_v1/model_stl.urdf @@ -8,7 +8,7 @@ - + @@ -17,7 +17,7 @@ - + @@ -30,7 +30,7 @@ - + @@ -39,7 +39,7 @@ - + @@ -60,7 +60,7 @@ - + @@ -69,7 +69,7 @@ - + @@ -90,7 +90,7 @@ - + @@ -99,7 +99,7 @@ - + @@ -127,7 +127,7 @@ - + @@ -136,7 +136,7 @@ - + @@ -157,7 +157,7 @@ - + @@ -166,7 +166,7 @@ - + @@ -187,7 +187,7 @@ - + @@ -196,7 +196,7 @@ - + @@ -224,7 +224,7 @@ - + @@ -233,7 +233,7 @@ - + @@ -252,7 +252,7 @@ - + @@ -261,7 +261,7 @@ - + @@ -280,7 +280,7 @@ - + @@ -289,7 +289,7 @@ - + @@ -310,7 +310,7 @@ - + @@ -319,7 +319,7 @@ - + @@ -340,7 +340,7 @@ - + @@ -349,7 +349,7 @@ - + @@ -370,7 +370,7 @@ - + @@ -379,7 +379,7 @@ - + @@ -398,7 +398,7 @@ - + @@ -407,7 +407,7 @@ - + @@ -428,7 +428,7 @@ - + @@ -437,7 +437,7 @@ - + @@ -456,7 +456,7 @@ - + @@ -465,7 +465,7 @@ - + @@ -484,7 +484,7 @@ - + @@ -493,7 +493,7 @@ - + @@ -514,7 +514,7 @@ - + @@ -523,7 +523,7 @@ - + @@ -544,7 +544,7 @@ - + @@ -553,7 +553,7 @@ - + @@ -574,7 +574,7 @@ - + @@ -583,7 +583,7 @@ - + @@ -602,7 +602,7 @@ - + @@ -611,7 +611,7 @@ - + @@ -632,7 +632,7 @@ - + @@ -641,7 +641,7 @@ - + @@ -660,7 +660,7 @@ - + @@ -669,7 +669,7 @@ - + @@ -690,7 +690,7 @@ - + @@ -699,7 +699,7 @@ - + @@ -720,7 +720,7 @@ - + @@ -729,7 +729,7 @@ - + @@ -748,7 +748,7 @@ - + @@ -757,7 +757,7 @@ - + @@ -792,7 +792,7 @@ - + @@ -801,7 +801,7 @@ - + @@ -822,7 +822,7 @@ - + @@ -831,7 +831,7 @@ - + @@ -852,7 +852,7 @@ - + @@ -861,7 +861,7 @@ - + @@ -882,7 +882,7 @@ - + @@ -891,7 +891,7 @@ - + @@ -945,7 +945,7 @@ - + @@ -954,7 +954,7 @@ - + @@ -975,7 +975,7 @@ - + @@ -984,7 +984,7 @@ - + @@ -1005,7 +1005,7 @@ - + @@ -1014,7 +1014,7 @@ - + @@ -1033,7 +1033,7 @@ - + @@ -1042,7 +1042,7 @@ - + @@ -1077,7 +1077,7 @@ - + @@ -1086,7 +1086,7 @@ - + @@ -1373,7 +1373,7 @@ - + @@ -1382,7 +1382,7 @@ - + @@ -1403,7 +1403,7 @@ - + @@ -1412,7 +1412,7 @@ - + @@ -1433,7 +1433,7 @@ - + @@ -1442,7 +1442,7 @@ - + @@ -1520,7 +1520,7 @@ 400 0.08515499999999998 -0.011000000000000022 -0.11230899999999999 -2.0943952105869323 -3.885780586188048e-16 -1.5707963267948963 - model://iRonCub-Mk1_1/iRonCub/conf/gazebo_icub_xsens_inertial.ini + model://iRonCub-Mk1_1_v1/iRonCub/conf/gazebo_icub_xsens_inertial.ini @@ -1591,48 +1591,48 @@ - model://iRonCub-Mk1_1/iRonCub/conf/MTB/gazebo_icub_left_leg_mtb.ini + model://iRonCub-Mk1_1_v1/iRonCub/conf/MTB/gazebo_icub_left_leg_mtb.ini - model://iRonCub-Mk1_1/iRonCub/conf/MTB/gazebo_icub_right_leg_mtb.ini + model://iRonCub-Mk1_1_v1/iRonCub/conf/MTB/gazebo_icub_right_leg_mtb.ini - model://iRonCub-Mk1_1/iRonCub/conf/MTB/gazebo_icub_left_arm_mtb.ini + model://iRonCub-Mk1_1_v1/iRonCub/conf/MTB/gazebo_icub_left_arm_mtb.ini - model://iRonCub-Mk1_1/iRonCub/conf/MTB/gazebo_icub_right_arm_mtb.ini + model://iRonCub-Mk1_1_v1/iRonCub/conf/MTB/gazebo_icub_right_arm_mtb.ini - model://iRonCub-Mk1_1/iRonCub/conf/MTB/gazebo_icub_torso_mtb.ini + model://iRonCub-Mk1_1_v1/iRonCub/conf/MTB/gazebo_icub_torso_mtb.ini - model://iRonCub-Mk1_1/iRonCub/conf/gazebo_icub_torso.ini + model://iRonCub-Mk1_1_v1/iRonCub/conf/gazebo_icub_torso.ini - model://iRonCub-Mk1_1/iRonCub/conf/gazebo_icub_head_without_eyes.ini + model://iRonCub-Mk1_1_v1/iRonCub/conf/gazebo_icub_head_without_eyes.ini - model://iRonCub-Mk1_1/iRonCub/conf/gazebo_icub_left_arm.ini + model://iRonCub-Mk1_1_v1/iRonCub/conf/gazebo_icub_left_arm.ini -0.52 0.52 0 0.785 - model://iRonCub-Mk1_1/iRonCub/conf/gazebo_icub_right_arm.ini + model://iRonCub-Mk1_1_v1/iRonCub/conf/gazebo_icub_right_arm.ini -0.52 0.52 0 0.785 - model://iRonCub-Mk1_1/iRonCub/conf/gazebo_icub_right_leg.ini + model://iRonCub-Mk1_1_v1/iRonCub/conf/gazebo_icub_right_leg.ini - model://iRonCub-Mk1_1/iRonCub/conf/gazebo_icub_left_leg.ini + model://iRonCub-Mk1_1_v1/iRonCub/conf/gazebo_icub_left_leg.ini - model://iRonCub-Mk1_1/iRonCub/conf/gazebo_icub_robotname.ini + model://iRonCub-Mk1_1_v1/iRonCub/conf/gazebo_icub_robotname.ini - model://iRonCub-Mk1_1/iRonCub/conf/base.ini + model://iRonCub-Mk1_1_v1/iRonCub/conf/base.ini - model://iRonCub-Mk1_1/iRonCub/conf/jets.ini + model://iRonCub-Mk1_1_v1/iRonCub/conf/jets.ini @@ -1722,7 +1722,7 @@ child_to_parent - model://iRonCub-Mk1_1/iRonCub/conf/FT/gazebo_icub_left_leg_ft.ini + model://iRonCub-Mk1_1_v1/iRonCub/conf/FT/gazebo_icub_left_leg_ft.ini @@ -1742,7 +1742,7 @@ child_to_parent - model://iRonCub-Mk1_1/iRonCub/conf/FT/gazebo_icub_right_leg_ft.ini + model://iRonCub-Mk1_1_v1/iRonCub/conf/FT/gazebo_icub_right_leg_ft.ini @@ -1762,7 +1762,7 @@ child_to_parent - model://iRonCub-Mk1_1/iRonCub/conf/FT/gazebo_icub_left_foot_ft.ini + model://iRonCub-Mk1_1_v1/iRonCub/conf/FT/gazebo_icub_left_foot_ft.ini @@ -1782,7 +1782,7 @@ child_to_parent - model://iRonCub-Mk1_1/iRonCub/conf/FT/gazebo_icub_right_foot_ft.ini + model://iRonCub-Mk1_1_v1/iRonCub/conf/FT/gazebo_icub_right_foot_ft.ini @@ -1802,7 +1802,7 @@ child_to_parent - model://iRonCub-Mk1_1/iRonCub/conf/FT/gazebo_icub_left_arm_ft.ini + model://iRonCub-Mk1_1_v1/iRonCub/conf/FT/gazebo_icub_left_arm_ft.ini @@ -1822,7 +1822,7 @@ child_to_parent - model://iRonCub-Mk1_1/iRonCub/conf/FT/gazebo_icub_right_arm_ft.ini + model://iRonCub-Mk1_1_v1/iRonCub/conf/FT/gazebo_icub_right_arm_ft.ini @@ -1839,7 +1839,7 @@ 100 0.009500000190735 0.13344313685842288 0.00929998892871537 3.141592653589793 1.5707962897917267 -1.5707963267948966 - model://iRonCub-Mk1_1/iRonCub/conf/gazebo_icub_inertial.ini + model://iRonCub-Mk1_1_v1/iRonCub/conf/gazebo_icub_inertial.ini diff --git a/models/iRonCub-Mk1_1/CMakeLists.txt b/models/iRonCub-Mk1_v1/CMakeLists.txt similarity index 100% rename from models/iRonCub-Mk1_1/CMakeLists.txt rename to models/iRonCub-Mk1_v1/CMakeLists.txt diff --git a/models/iRonCub-Mk1/README.md b/models/iRonCub-Mk1_v1/README.md similarity index 100% rename from models/iRonCub-Mk1/README.md rename to models/iRonCub-Mk1_v1/README.md diff --git a/models/iRonCub-Mk1/iRonCub/CMakeLists.txt b/models/iRonCub-Mk1_v1/iRonCub/CMakeLists.txt similarity index 100% rename from models/iRonCub-Mk1/iRonCub/CMakeLists.txt rename to models/iRonCub-Mk1_v1/iRonCub/CMakeLists.txt diff --git a/models/iRonCub-Mk1/iRonCub/README.md b/models/iRonCub-Mk1_v1/iRonCub/README.md similarity index 100% rename from models/iRonCub-Mk1/iRonCub/README.md rename to models/iRonCub-Mk1_v1/iRonCub/README.md diff --git a/models/iRonCub-Mk1_1/iRonCub/conf/FT/gazebo_icub_left_arm_ft.ini b/models/iRonCub-Mk1_v1/iRonCub/conf/FT/gazebo_icub_left_arm_ft.ini similarity index 100% rename from models/iRonCub-Mk1_1/iRonCub/conf/FT/gazebo_icub_left_arm_ft.ini rename to models/iRonCub-Mk1_v1/iRonCub/conf/FT/gazebo_icub_left_arm_ft.ini diff --git a/models/iRonCub-Mk1_1/iRonCub/conf/FT/gazebo_icub_left_foot_ft.ini b/models/iRonCub-Mk1_v1/iRonCub/conf/FT/gazebo_icub_left_foot_ft.ini similarity index 100% rename from models/iRonCub-Mk1_1/iRonCub/conf/FT/gazebo_icub_left_foot_ft.ini rename to models/iRonCub-Mk1_v1/iRonCub/conf/FT/gazebo_icub_left_foot_ft.ini diff --git a/models/iRonCub-Mk1_1/iRonCub/conf/FT/gazebo_icub_left_leg_ft.ini b/models/iRonCub-Mk1_v1/iRonCub/conf/FT/gazebo_icub_left_leg_ft.ini similarity index 100% rename from models/iRonCub-Mk1_1/iRonCub/conf/FT/gazebo_icub_left_leg_ft.ini rename to models/iRonCub-Mk1_v1/iRonCub/conf/FT/gazebo_icub_left_leg_ft.ini diff --git a/models/iRonCub-Mk1_1/iRonCub/conf/FT/gazebo_icub_right_arm_ft.ini b/models/iRonCub-Mk1_v1/iRonCub/conf/FT/gazebo_icub_right_arm_ft.ini similarity index 100% rename from models/iRonCub-Mk1_1/iRonCub/conf/FT/gazebo_icub_right_arm_ft.ini rename to models/iRonCub-Mk1_v1/iRonCub/conf/FT/gazebo_icub_right_arm_ft.ini diff --git a/models/iRonCub-Mk1_1/iRonCub/conf/FT/gazebo_icub_right_foot_ft.ini b/models/iRonCub-Mk1_v1/iRonCub/conf/FT/gazebo_icub_right_foot_ft.ini similarity index 100% rename from models/iRonCub-Mk1_1/iRonCub/conf/FT/gazebo_icub_right_foot_ft.ini rename to models/iRonCub-Mk1_v1/iRonCub/conf/FT/gazebo_icub_right_foot_ft.ini diff --git a/models/iRonCub-Mk1_1/iRonCub/conf/FT/gazebo_icub_right_leg_ft.ini b/models/iRonCub-Mk1_v1/iRonCub/conf/FT/gazebo_icub_right_leg_ft.ini similarity index 100% rename from models/iRonCub-Mk1_1/iRonCub/conf/FT/gazebo_icub_right_leg_ft.ini rename to models/iRonCub-Mk1_v1/iRonCub/conf/FT/gazebo_icub_right_leg_ft.ini diff --git a/models/iRonCub-Mk1_1/iRonCub/conf/MTB/gazebo_icub_left_arm_mtb.ini b/models/iRonCub-Mk1_v1/iRonCub/conf/MTB/gazebo_icub_left_arm_mtb.ini similarity index 100% rename from models/iRonCub-Mk1_1/iRonCub/conf/MTB/gazebo_icub_left_arm_mtb.ini rename to models/iRonCub-Mk1_v1/iRonCub/conf/MTB/gazebo_icub_left_arm_mtb.ini diff --git a/models/iRonCub-Mk1_1/iRonCub/conf/MTB/gazebo_icub_left_leg_mtb.ini b/models/iRonCub-Mk1_v1/iRonCub/conf/MTB/gazebo_icub_left_leg_mtb.ini similarity index 100% rename from models/iRonCub-Mk1_1/iRonCub/conf/MTB/gazebo_icub_left_leg_mtb.ini rename to models/iRonCub-Mk1_v1/iRonCub/conf/MTB/gazebo_icub_left_leg_mtb.ini diff --git a/models/iRonCub-Mk1_1/iRonCub/conf/MTB/gazebo_icub_right_arm_mtb.ini b/models/iRonCub-Mk1_v1/iRonCub/conf/MTB/gazebo_icub_right_arm_mtb.ini similarity index 100% rename from models/iRonCub-Mk1_1/iRonCub/conf/MTB/gazebo_icub_right_arm_mtb.ini rename to models/iRonCub-Mk1_v1/iRonCub/conf/MTB/gazebo_icub_right_arm_mtb.ini diff --git a/models/iRonCub-Mk1_1/iRonCub/conf/MTB/gazebo_icub_right_leg_mtb.ini b/models/iRonCub-Mk1_v1/iRonCub/conf/MTB/gazebo_icub_right_leg_mtb.ini similarity index 100% rename from models/iRonCub-Mk1_1/iRonCub/conf/MTB/gazebo_icub_right_leg_mtb.ini rename to models/iRonCub-Mk1_v1/iRonCub/conf/MTB/gazebo_icub_right_leg_mtb.ini diff --git a/models/iRonCub-Mk1_1/iRonCub/conf/MTB/gazebo_icub_torso_mtb.ini b/models/iRonCub-Mk1_v1/iRonCub/conf/MTB/gazebo_icub_torso_mtb.ini similarity index 100% rename from models/iRonCub-Mk1_1/iRonCub/conf/MTB/gazebo_icub_torso_mtb.ini rename to models/iRonCub-Mk1_v1/iRonCub/conf/MTB/gazebo_icub_torso_mtb.ini diff --git a/models/iRonCub-Mk1/iRonCub/conf/README.md b/models/iRonCub-Mk1_v1/iRonCub/conf/README.md similarity index 100% rename from models/iRonCub-Mk1/iRonCub/conf/README.md rename to models/iRonCub-Mk1_v1/iRonCub/conf/README.md diff --git a/models/iRonCub-Mk1_1/iRonCub/conf/base.ini b/models/iRonCub-Mk1_v1/iRonCub/conf/base.ini similarity index 100% rename from models/iRonCub-Mk1_1/iRonCub/conf/base.ini rename to models/iRonCub-Mk1_v1/iRonCub/conf/base.ini diff --git a/models/iRonCub-Mk1_1/iRonCub/conf/common.ini b/models/iRonCub-Mk1_v1/iRonCub/conf/common.ini similarity index 100% rename from models/iRonCub-Mk1_1/iRonCub/conf/common.ini rename to models/iRonCub-Mk1_v1/iRonCub/conf/common.ini diff --git a/models/iRonCub-Mk1_1/iRonCub/conf/gazebo_icub_head_without_eyes.ini b/models/iRonCub-Mk1_v1/iRonCub/conf/gazebo_icub_head_without_eyes.ini similarity index 100% rename from models/iRonCub-Mk1_1/iRonCub/conf/gazebo_icub_head_without_eyes.ini rename to models/iRonCub-Mk1_v1/iRonCub/conf/gazebo_icub_head_without_eyes.ini diff --git a/models/iRonCub-Mk1_v1/iRonCub/conf/gazebo_icub_inertial.ini b/models/iRonCub-Mk1_v1/iRonCub/conf/gazebo_icub_inertial.ini new file mode 100644 index 0000000..444cdb5 --- /dev/null +++ b/models/iRonCub-Mk1_v1/iRonCub/conf/gazebo_icub_inertial.ini @@ -0,0 +1,6 @@ +[include "gazebo_icub_robotname.ini"] +name /${gazeboYarpPluginsRobotName}/head/inertials +period 10 +device multipleanalogsensorsserver +subdevice gazebo_imu + diff --git a/models/iRonCub-Mk1_1/iRonCub/conf/gazebo_icub_left_arm.ini b/models/iRonCub-Mk1_v1/iRonCub/conf/gazebo_icub_left_arm.ini similarity index 100% rename from models/iRonCub-Mk1_1/iRonCub/conf/gazebo_icub_left_arm.ini rename to models/iRonCub-Mk1_v1/iRonCub/conf/gazebo_icub_left_arm.ini diff --git a/models/iRonCub-Mk1_1/iRonCub/conf/gazebo_icub_left_leg.ini b/models/iRonCub-Mk1_v1/iRonCub/conf/gazebo_icub_left_leg.ini similarity index 100% rename from models/iRonCub-Mk1_1/iRonCub/conf/gazebo_icub_left_leg.ini rename to models/iRonCub-Mk1_v1/iRonCub/conf/gazebo_icub_left_leg.ini diff --git a/models/iRonCub-Mk1_1/iRonCub/conf/gazebo_icub_right_arm.ini b/models/iRonCub-Mk1_v1/iRonCub/conf/gazebo_icub_right_arm.ini similarity index 100% rename from models/iRonCub-Mk1_1/iRonCub/conf/gazebo_icub_right_arm.ini rename to models/iRonCub-Mk1_v1/iRonCub/conf/gazebo_icub_right_arm.ini diff --git a/models/iRonCub-Mk1_1/iRonCub/conf/gazebo_icub_right_leg.ini b/models/iRonCub-Mk1_v1/iRonCub/conf/gazebo_icub_right_leg.ini similarity index 100% rename from models/iRonCub-Mk1_1/iRonCub/conf/gazebo_icub_right_leg.ini rename to models/iRonCub-Mk1_v1/iRonCub/conf/gazebo_icub_right_leg.ini diff --git a/models/iRonCub-Mk1_1/iRonCub/conf/gazebo_icub_robotname.ini b/models/iRonCub-Mk1_v1/iRonCub/conf/gazebo_icub_robotname.ini similarity index 100% rename from models/iRonCub-Mk1_1/iRonCub/conf/gazebo_icub_robotname.ini rename to models/iRonCub-Mk1_v1/iRonCub/conf/gazebo_icub_robotname.ini diff --git a/models/iRonCub-Mk1_1/iRonCub/conf/gazebo_icub_torso.ini b/models/iRonCub-Mk1_v1/iRonCub/conf/gazebo_icub_torso.ini similarity index 100% rename from models/iRonCub-Mk1_1/iRonCub/conf/gazebo_icub_torso.ini rename to models/iRonCub-Mk1_v1/iRonCub/conf/gazebo_icub_torso.ini diff --git a/models/iRonCub-Mk1_1/iRonCub/conf/gazebo_icub_xsens_inertial.ini b/models/iRonCub-Mk1_v1/iRonCub/conf/gazebo_icub_xsens_inertial.ini similarity index 71% rename from models/iRonCub-Mk1_1/iRonCub/conf/gazebo_icub_xsens_inertial.ini rename to models/iRonCub-Mk1_v1/iRonCub/conf/gazebo_icub_xsens_inertial.ini index 2bfc67a..fce3717 100644 --- a/models/iRonCub-Mk1_1/iRonCub/conf/gazebo_icub_xsens_inertial.ini +++ b/models/iRonCub-Mk1_v1/iRonCub/conf/gazebo_icub_xsens_inertial.ini @@ -1,7 +1,6 @@ [include "gazebo_icub_robotname.ini"] - name /${gazeboYarpPluginsRobotName}/xsens_inertial -period 0.0025 - -device inertial +period 10 +device multipleanalogsensorsserver subdevice gazebo_imu + diff --git a/models/iRonCub-Mk1/iRonCub/conf/jets.ini b/models/iRonCub-Mk1_v1/iRonCub/conf/jets.ini similarity index 100% rename from models/iRonCub-Mk1/iRonCub/conf/jets.ini rename to models/iRonCub-Mk1_v1/iRonCub/conf/jets.ini diff --git a/models/iRonCub-Mk1_1/iRonCub/conf/left_camera.ini b/models/iRonCub-Mk1_v1/iRonCub/conf/left_camera.ini similarity index 100% rename from models/iRonCub-Mk1_1/iRonCub/conf/left_camera.ini rename to models/iRonCub-Mk1_v1/iRonCub/conf/left_camera.ini diff --git a/models/iRonCub-Mk1_1/iRonCub/conf/right_camera.ini b/models/iRonCub-Mk1_v1/iRonCub/conf/right_camera.ini similarity index 100% rename from models/iRonCub-Mk1_1/iRonCub/conf/right_camera.ini rename to models/iRonCub-Mk1_v1/iRonCub/conf/right_camera.ini diff --git a/models/iRonCub-Mk1/iRonCub/meshes/README.md b/models/iRonCub-Mk1_v1/iRonCub/meshes/README.md similarity index 100% rename from models/iRonCub-Mk1/iRonCub/meshes/README.md rename to models/iRonCub-Mk1_v1/iRonCub/meshes/README.md diff --git a/models/iRonCub-Mk1/iRonCub/meshes/obj/sim_sea_2-5_chest_bb_prt.mtl b/models/iRonCub-Mk1_v1/iRonCub/meshes/obj/sim_sea_2-5_chest_bb_prt.mtl similarity index 100% rename from models/iRonCub-Mk1/iRonCub/meshes/obj/sim_sea_2-5_chest_bb_prt.mtl rename to models/iRonCub-Mk1_v1/iRonCub/meshes/obj/sim_sea_2-5_chest_bb_prt.mtl diff --git a/models/iRonCub-Mk1/iRonCub/meshes/obj/sim_sea_2-5_chest_bb_prt.obj b/models/iRonCub-Mk1_v1/iRonCub/meshes/obj/sim_sea_2-5_chest_bb_prt.obj similarity index 100% rename from models/iRonCub-Mk1/iRonCub/meshes/obj/sim_sea_2-5_chest_bb_prt.obj rename to models/iRonCub-Mk1_v1/iRonCub/meshes/obj/sim_sea_2-5_chest_bb_prt.obj diff --git a/models/iRonCub-Mk1_1/iRonCub/meshes/obj/sim_sea_2-5_head_prt.mtl b/models/iRonCub-Mk1_v1/iRonCub/meshes/obj/sim_sea_2-5_head_prt.mtl similarity index 100% rename from models/iRonCub-Mk1_1/iRonCub/meshes/obj/sim_sea_2-5_head_prt.mtl rename to models/iRonCub-Mk1_v1/iRonCub/meshes/obj/sim_sea_2-5_head_prt.mtl diff --git a/models/iRonCub-Mk1_1/iRonCub/meshes/obj/sim_sea_2-5_head_prt.obj b/models/iRonCub-Mk1_v1/iRonCub/meshes/obj/sim_sea_2-5_head_prt.obj similarity index 100% rename from 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from models/iRonCub-Mk1_1/iRonCub/meshes/stl/sim_sea_2-5_head_prt.stl rename to models/iRonCub-Mk1_v1/iRonCub/meshes/stl/sim_sea_2-5_head_prt.stl diff --git a/models/iRonCub-Mk1_1/iRonCub/meshes/stl/sim_sea_2-5_l_ankle_prt.stl b/models/iRonCub-Mk1_v1/iRonCub/meshes/stl/sim_sea_2-5_l_ankle_prt.stl similarity index 100% rename from models/iRonCub-Mk1_1/iRonCub/meshes/stl/sim_sea_2-5_l_ankle_prt.stl rename to models/iRonCub-Mk1_v1/iRonCub/meshes/stl/sim_sea_2-5_l_ankle_prt.stl diff --git a/models/iRonCub-Mk1/iRonCub/meshes/stl/sim_sea_2-5_l_elbow_p100_prt.stl b/models/iRonCub-Mk1_v1/iRonCub/meshes/stl/sim_sea_2-5_l_elbow_p100_prt.stl similarity index 100% rename from models/iRonCub-Mk1/iRonCub/meshes/stl/sim_sea_2-5_l_elbow_p100_prt.stl rename to models/iRonCub-Mk1_v1/iRonCub/meshes/stl/sim_sea_2-5_l_elbow_p100_prt.stl diff --git a/models/iRonCub-Mk1/iRonCub/meshes/stl/sim_sea_2-5_l_elbow_prosup_prt.stl b/models/iRonCub-Mk1_v1/iRonCub/meshes/stl/sim_sea_2-5_l_elbow_prosup_prt.stl similarity index 100% rename from models/iRonCub-Mk1/iRonCub/meshes/stl/sim_sea_2-5_l_elbow_prosup_prt.stl rename to models/iRonCub-Mk1_v1/iRonCub/meshes/stl/sim_sea_2-5_l_elbow_prosup_prt.stl diff --git a/models/iRonCub-Mk1_1/iRonCub/meshes/stl/sim_sea_2-5_l_elbow_prt.stl b/models/iRonCub-Mk1_v1/iRonCub/meshes/stl/sim_sea_2-5_l_elbow_prt.stl similarity index 100% rename from models/iRonCub-Mk1_1/iRonCub/meshes/stl/sim_sea_2-5_l_elbow_prt.stl rename to models/iRonCub-Mk1_v1/iRonCub/meshes/stl/sim_sea_2-5_l_elbow_prt.stl diff --git a/models/iRonCub-Mk1_1/iRonCub/meshes/stl/sim_sea_2-5_l_foot_prt.stl b/models/iRonCub-Mk1_v1/iRonCub/meshes/stl/sim_sea_2-5_l_foot_prt.stl similarity index 100% rename from models/iRonCub-Mk1_1/iRonCub/meshes/stl/sim_sea_2-5_l_foot_prt.stl rename to models/iRonCub-Mk1_v1/iRonCub/meshes/stl/sim_sea_2-5_l_foot_prt.stl diff --git a/models/iRonCub-Mk1_1/iRonCub/meshes/stl/sim_sea_2-5_l_hip_1_prt.stl b/models/iRonCub-Mk1_v1/iRonCub/meshes/stl/sim_sea_2-5_l_hip_1_prt.stl similarity index 100% rename from models/iRonCub-Mk1_1/iRonCub/meshes/stl/sim_sea_2-5_l_hip_1_prt.stl rename to models/iRonCub-Mk1_v1/iRonCub/meshes/stl/sim_sea_2-5_l_hip_1_prt.stl diff --git a/models/iRonCub-Mk1_1/iRonCub/meshes/stl/sim_sea_2-5_l_hip_2_prt.stl b/models/iRonCub-Mk1_v1/iRonCub/meshes/stl/sim_sea_2-5_l_hip_2_prt.stl similarity index 100% rename from models/iRonCub-Mk1_1/iRonCub/meshes/stl/sim_sea_2-5_l_hip_2_prt.stl rename to models/iRonCub-Mk1_v1/iRonCub/meshes/stl/sim_sea_2-5_l_hip_2_prt.stl diff --git a/models/iRonCub-Mk1_1/iRonCub/meshes/stl/sim_sea_2-5_l_p220_prt.stl b/models/iRonCub-Mk1_v1/iRonCub/meshes/stl/sim_sea_2-5_l_p220_prt.stl similarity index 100% rename from models/iRonCub-Mk1_1/iRonCub/meshes/stl/sim_sea_2-5_l_p220_prt.stl rename to models/iRonCub-Mk1_v1/iRonCub/meshes/stl/sim_sea_2-5_l_p220_prt.stl diff --git a/models/iRonCub-Mk1_1/iRonCub/meshes/stl/sim_sea_2-5_l_shank_prt.stl b/models/iRonCub-Mk1_v1/iRonCub/meshes/stl/sim_sea_2-5_l_shank_prt.stl similarity index 100% rename from models/iRonCub-Mk1_1/iRonCub/meshes/stl/sim_sea_2-5_l_shank_prt.stl rename to models/iRonCub-Mk1_v1/iRonCub/meshes/stl/sim_sea_2-5_l_shank_prt.stl diff --git a/models/iRonCub-Mk1_1/iRonCub/meshes/stl/sim_sea_2-5_l_shoulder_1_prt.stl b/models/iRonCub-Mk1_v1/iRonCub/meshes/stl/sim_sea_2-5_l_shoulder_1_prt.stl similarity index 100% rename from models/iRonCub-Mk1_1/iRonCub/meshes/stl/sim_sea_2-5_l_shoulder_1_prt.stl rename to models/iRonCub-Mk1_v1/iRonCub/meshes/stl/sim_sea_2-5_l_shoulder_1_prt.stl diff --git a/models/iRonCub-Mk1_1/iRonCub/meshes/stl/sim_sea_2-5_l_shoulder_2_prt.stl b/models/iRonCub-Mk1_v1/iRonCub/meshes/stl/sim_sea_2-5_l_shoulder_2_prt.stl similarity index 100% rename from models/iRonCub-Mk1_1/iRonCub/meshes/stl/sim_sea_2-5_l_shoulder_2_prt.stl rename to models/iRonCub-Mk1_v1/iRonCub/meshes/stl/sim_sea_2-5_l_shoulder_2_prt.stl diff --git a/models/iRonCub-Mk1/iRonCub/meshes/stl/sim_sea_2-5_l_sole_prt.stl b/models/iRonCub-Mk1_v1/iRonCub/meshes/stl/sim_sea_2-5_l_sole_prt.stl similarity index 100% rename from models/iRonCub-Mk1/iRonCub/meshes/stl/sim_sea_2-5_l_sole_prt.stl rename to models/iRonCub-Mk1_v1/iRonCub/meshes/stl/sim_sea_2-5_l_sole_prt.stl diff --git a/models/iRonCub-Mk1_1/iRonCub/meshes/stl/sim_sea_2-5_l_thigh_prt.stl b/models/iRonCub-Mk1_v1/iRonCub/meshes/stl/sim_sea_2-5_l_thigh_prt.stl similarity index 100% rename from models/iRonCub-Mk1_1/iRonCub/meshes/stl/sim_sea_2-5_l_thigh_prt.stl rename to models/iRonCub-Mk1_v1/iRonCub/meshes/stl/sim_sea_2-5_l_thigh_prt.stl diff --git a/models/iRonCub-Mk1_1/iRonCub/meshes/stl/sim_sea_2-5_l_upper_arm_prt.stl b/models/iRonCub-Mk1_v1/iRonCub/meshes/stl/sim_sea_2-5_l_upper_arm_prt.stl similarity index 100% rename from models/iRonCub-Mk1_1/iRonCub/meshes/stl/sim_sea_2-5_l_upper_arm_prt.stl rename to models/iRonCub-Mk1_v1/iRonCub/meshes/stl/sim_sea_2-5_l_upper_arm_prt.stl diff --git a/models/iRonCub-Mk1_1/iRonCub/meshes/stl/sim_sea_2-5_l_upper_thigh_prt.stl b/models/iRonCub-Mk1_v1/iRonCub/meshes/stl/sim_sea_2-5_l_upper_thigh_prt.stl similarity index 100% rename from models/iRonCub-Mk1_1/iRonCub/meshes/stl/sim_sea_2-5_l_upper_thigh_prt.stl rename to models/iRonCub-Mk1_v1/iRonCub/meshes/stl/sim_sea_2-5_l_upper_thigh_prt.stl diff --git a/models/iRonCub-Mk1_1/iRonCub/meshes/stl/sim_sea_2-5_lap_belt_1_prt.stl b/models/iRonCub-Mk1_v1/iRonCub/meshes/stl/sim_sea_2-5_lap_belt_1_prt.stl similarity index 100% rename from models/iRonCub-Mk1_1/iRonCub/meshes/stl/sim_sea_2-5_lap_belt_1_prt.stl rename to models/iRonCub-Mk1_v1/iRonCub/meshes/stl/sim_sea_2-5_lap_belt_1_prt.stl diff --git a/models/iRonCub-Mk1_1/iRonCub/meshes/stl/sim_sea_2-5_lap_belt_2_prt.stl b/models/iRonCub-Mk1_v1/iRonCub/meshes/stl/sim_sea_2-5_lap_belt_2_prt.stl similarity index 100% rename from models/iRonCub-Mk1_1/iRonCub/meshes/stl/sim_sea_2-5_lap_belt_2_prt.stl rename to models/iRonCub-Mk1_v1/iRonCub/meshes/stl/sim_sea_2-5_lap_belt_2_prt.stl diff --git a/models/iRonCub-Mk1_1/iRonCub/meshes/stl/sim_sea_2-5_neck_1_prt.stl b/models/iRonCub-Mk1_v1/iRonCub/meshes/stl/sim_sea_2-5_neck_1_prt.stl similarity index 100% rename from models/iRonCub-Mk1_1/iRonCub/meshes/stl/sim_sea_2-5_neck_1_prt.stl rename to models/iRonCub-Mk1_v1/iRonCub/meshes/stl/sim_sea_2-5_neck_1_prt.stl diff --git a/models/iRonCub-Mk1_1/iRonCub/meshes/stl/sim_sea_2-5_neck_2_prt.stl b/models/iRonCub-Mk1_v1/iRonCub/meshes/stl/sim_sea_2-5_neck_2_prt.stl similarity index 100% rename from models/iRonCub-Mk1_1/iRonCub/meshes/stl/sim_sea_2-5_neck_2_prt.stl rename to models/iRonCub-Mk1_v1/iRonCub/meshes/stl/sim_sea_2-5_neck_2_prt.stl diff --git a/models/iRonCub-Mk1_1/iRonCub/meshes/stl/sim_sea_2-5_r_ankle_prt.stl b/models/iRonCub-Mk1_v1/iRonCub/meshes/stl/sim_sea_2-5_r_ankle_prt.stl similarity index 100% rename from models/iRonCub-Mk1_1/iRonCub/meshes/stl/sim_sea_2-5_r_ankle_prt.stl rename to models/iRonCub-Mk1_v1/iRonCub/meshes/stl/sim_sea_2-5_r_ankle_prt.stl diff --git a/models/iRonCub-Mk1/iRonCub/meshes/stl/sim_sea_2-5_r_elbow_p100_prt.stl b/models/iRonCub-Mk1_v1/iRonCub/meshes/stl/sim_sea_2-5_r_elbow_p100_prt.stl similarity index 100% rename from models/iRonCub-Mk1/iRonCub/meshes/stl/sim_sea_2-5_r_elbow_p100_prt.stl rename to models/iRonCub-Mk1_v1/iRonCub/meshes/stl/sim_sea_2-5_r_elbow_p100_prt.stl diff --git a/models/iRonCub-Mk1/iRonCub/meshes/stl/sim_sea_2-5_r_elbow_prosup_prt.stl b/models/iRonCub-Mk1_v1/iRonCub/meshes/stl/sim_sea_2-5_r_elbow_prosup_prt.stl similarity index 100% rename from models/iRonCub-Mk1/iRonCub/meshes/stl/sim_sea_2-5_r_elbow_prosup_prt.stl rename to models/iRonCub-Mk1_v1/iRonCub/meshes/stl/sim_sea_2-5_r_elbow_prosup_prt.stl diff --git a/models/iRonCub-Mk1_1/iRonCub/meshes/stl/sim_sea_2-5_r_elbow_prt.stl b/models/iRonCub-Mk1_v1/iRonCub/meshes/stl/sim_sea_2-5_r_elbow_prt.stl similarity index 100% rename from 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models/iRonCub-Mk1_1/iRonCub/meshes/stl/sim_sea_2-5_r_hip_2_prt.stl rename to models/iRonCub-Mk1_v1/iRonCub/meshes/stl/sim_sea_2-5_r_hip_2_prt.stl diff --git a/models/iRonCub-Mk1_1/iRonCub/meshes/stl/sim_sea_2-5_r_p220_prt.stl b/models/iRonCub-Mk1_v1/iRonCub/meshes/stl/sim_sea_2-5_r_p220_prt.stl similarity index 100% rename from models/iRonCub-Mk1_1/iRonCub/meshes/stl/sim_sea_2-5_r_p220_prt.stl rename to models/iRonCub-Mk1_v1/iRonCub/meshes/stl/sim_sea_2-5_r_p220_prt.stl diff --git a/models/iRonCub-Mk1_1/iRonCub/meshes/stl/sim_sea_2-5_r_shank_prt.stl b/models/iRonCub-Mk1_v1/iRonCub/meshes/stl/sim_sea_2-5_r_shank_prt.stl similarity index 100% rename from models/iRonCub-Mk1_1/iRonCub/meshes/stl/sim_sea_2-5_r_shank_prt.stl rename to models/iRonCub-Mk1_v1/iRonCub/meshes/stl/sim_sea_2-5_r_shank_prt.stl diff --git a/models/iRonCub-Mk1_1/iRonCub/meshes/stl/sim_sea_2-5_r_shoulder_1_prt.stl b/models/iRonCub-Mk1_v1/iRonCub/meshes/stl/sim_sea_2-5_r_shoulder_1_prt.stl similarity index 100% rename from models/iRonCub-Mk1_1/iRonCub/meshes/stl/sim_sea_2-5_r_shoulder_1_prt.stl rename to models/iRonCub-Mk1_v1/iRonCub/meshes/stl/sim_sea_2-5_r_shoulder_1_prt.stl diff --git a/models/iRonCub-Mk1_1/iRonCub/meshes/stl/sim_sea_2-5_r_shoulder_2_prt.stl b/models/iRonCub-Mk1_v1/iRonCub/meshes/stl/sim_sea_2-5_r_shoulder_2_prt.stl similarity index 100% rename from models/iRonCub-Mk1_1/iRonCub/meshes/stl/sim_sea_2-5_r_shoulder_2_prt.stl rename to models/iRonCub-Mk1_v1/iRonCub/meshes/stl/sim_sea_2-5_r_shoulder_2_prt.stl diff --git a/models/iRonCub-Mk1/iRonCub/meshes/stl/sim_sea_2-5_r_sole_prt.stl b/models/iRonCub-Mk1_v1/iRonCub/meshes/stl/sim_sea_2-5_r_sole_prt.stl similarity index 100% rename from models/iRonCub-Mk1/iRonCub/meshes/stl/sim_sea_2-5_r_sole_prt.stl rename to models/iRonCub-Mk1_v1/iRonCub/meshes/stl/sim_sea_2-5_r_sole_prt.stl diff --git a/models/iRonCub-Mk1_1/iRonCub/meshes/stl/sim_sea_2-5_r_thigh_prt.stl b/models/iRonCub-Mk1_v1/iRonCub/meshes/stl/sim_sea_2-5_r_thigh_prt.stl similarity index 100% rename from models/iRonCub-Mk1_1/iRonCub/meshes/stl/sim_sea_2-5_r_thigh_prt.stl rename to models/iRonCub-Mk1_v1/iRonCub/meshes/stl/sim_sea_2-5_r_thigh_prt.stl diff --git a/models/iRonCub-Mk1_1/iRonCub/meshes/stl/sim_sea_2-5_r_upper_arm_prt.stl b/models/iRonCub-Mk1_v1/iRonCub/meshes/stl/sim_sea_2-5_r_upper_arm_prt.stl similarity index 100% rename from models/iRonCub-Mk1_1/iRonCub/meshes/stl/sim_sea_2-5_r_upper_arm_prt.stl rename to models/iRonCub-Mk1_v1/iRonCub/meshes/stl/sim_sea_2-5_r_upper_arm_prt.stl diff --git a/models/iRonCub-Mk1_1/iRonCub/meshes/stl/sim_sea_2-5_r_upper_thigh_prt.stl b/models/iRonCub-Mk1_v1/iRonCub/meshes/stl/sim_sea_2-5_r_upper_thigh_prt.stl similarity index 100% rename from models/iRonCub-Mk1_1/iRonCub/meshes/stl/sim_sea_2-5_r_upper_thigh_prt.stl rename to models/iRonCub-Mk1_v1/iRonCub/meshes/stl/sim_sea_2-5_r_upper_thigh_prt.stl diff --git a/models/iRonCub-Mk1_1/iRonCub/meshes/stl/sim_sea_2-5_root_link_prt.stl b/models/iRonCub-Mk1_v1/iRonCub/meshes/stl/sim_sea_2-5_root_link_prt.stl similarity index 100% rename from models/iRonCub-Mk1_1/iRonCub/meshes/stl/sim_sea_2-5_root_link_prt.stl rename to models/iRonCub-Mk1_v1/iRonCub/meshes/stl/sim_sea_2-5_root_link_prt.stl diff --git a/models/iRonCub-Mk1_1/iRonCub/robots/iRonCub-Mk1_1_Gazebo_v1/estimators/wholebodydynamics-external-iRonCub.xml b/models/iRonCub-Mk1_v1/iRonCub/robots/iRonCub-Mk1_Gazebo_v1/estimators/wholebodydynamics-external-iRonCub.xml similarity index 100% rename from models/iRonCub-Mk1_1/iRonCub/robots/iRonCub-Mk1_1_Gazebo_v1/estimators/wholebodydynamics-external-iRonCub.xml rename to models/iRonCub-Mk1_v1/iRonCub/robots/iRonCub-Mk1_Gazebo_v1/estimators/wholebodydynamics-external-iRonCub.xml diff --git a/models/iRonCub-Mk1_1/iRonCub/robots/iRonCub-Mk1_1_Gazebo_v1/launch-wholebodydynamics-iRonCub.xml b/models/iRonCub-Mk1_v1/iRonCub/robots/iRonCub-Mk1_Gazebo_v1/launch-wholebodydynamics-iRonCub.xml similarity index 100% rename from models/iRonCub-Mk1_1/iRonCub/robots/iRonCub-Mk1_1_Gazebo_v1/launch-wholebodydynamics-iRonCub.xml rename to models/iRonCub-Mk1_v1/iRonCub/robots/iRonCub-Mk1_Gazebo_v1/launch-wholebodydynamics-iRonCub.xml diff --git a/models/iRonCub-Mk1/iRonCub/robots/iRonCub-Mk1_Gazebo_v1/model.config b/models/iRonCub-Mk1_v1/iRonCub/robots/iRonCub-Mk1_Gazebo_v1/model.config similarity index 100% rename from models/iRonCub-Mk1/iRonCub/robots/iRonCub-Mk1_Gazebo_v1/model.config rename to models/iRonCub-Mk1_v1/iRonCub/robots/iRonCub-Mk1_Gazebo_v1/model.config diff --git a/models/iRonCub-Mk1/iRonCub/robots/iRonCub-Mk1_Gazebo_v1/model.urdf b/models/iRonCub-Mk1_v1/iRonCub/robots/iRonCub-Mk1_Gazebo_v1/model.urdf similarity index 90% rename from models/iRonCub-Mk1/iRonCub/robots/iRonCub-Mk1_Gazebo_v1/model.urdf rename to models/iRonCub-Mk1_v1/iRonCub/robots/iRonCub-Mk1_Gazebo_v1/model.urdf index 035f6a0..1785ef6 100644 --- a/models/iRonCub-Mk1/iRonCub/robots/iRonCub-Mk1_Gazebo_v1/model.urdf +++ b/models/iRonCub-Mk1_v1/iRonCub/robots/iRonCub-Mk1_Gazebo_v1/model.urdf @@ -8,7 +8,7 @@ - + @@ -17,7 +17,7 @@ - + @@ -30,7 +30,7 @@ - + @@ -39,7 +39,7 @@ - + @@ -60,7 +60,7 @@ - + @@ -69,7 +69,7 @@ - + @@ -90,7 +90,7 @@ - + @@ -99,7 +99,7 @@ - + @@ -127,7 +127,7 @@ - + @@ -136,7 +136,7 @@ - + @@ -157,7 +157,7 @@ - + @@ -166,7 +166,7 @@ - + @@ -187,7 +187,7 @@ - + @@ -196,7 +196,7 @@ - + @@ -224,7 +224,7 @@ - + @@ -233,7 +233,7 @@ - + @@ -252,7 +252,7 @@ - + @@ -261,7 +261,7 @@ - + @@ -280,7 +280,7 @@ - + @@ -289,7 +289,7 @@ - + @@ -310,7 +310,7 @@ - + @@ -319,7 +319,7 @@ - + @@ -340,7 +340,7 @@ - + @@ -349,7 +349,7 @@ - + @@ -370,7 +370,7 @@ - + @@ -379,7 +379,7 @@ - + @@ -398,7 +398,7 @@ - + @@ -407,7 +407,7 @@ - + @@ -428,7 +428,7 @@ - + @@ -437,7 +437,7 @@ - + @@ -456,7 +456,7 @@ - + @@ -465,7 +465,7 @@ - + @@ -486,7 +486,7 @@ - + @@ -495,7 +495,7 @@ - + @@ -516,7 +516,7 @@ - + @@ -525,7 +525,7 @@ - + @@ -546,7 +546,7 @@ - + @@ -555,7 +555,7 @@ - + @@ -574,7 +574,7 @@ - + @@ -583,7 +583,7 @@ - + @@ -604,7 +604,7 @@ - + @@ -613,7 +613,7 @@ - + @@ -632,7 +632,7 @@ - + @@ -641,7 +641,7 @@ - + @@ -662,7 +662,7 @@ - + @@ -671,7 +671,7 @@ - + @@ -692,7 +692,7 @@ - + @@ -701,7 +701,7 @@ - + @@ -720,7 +720,7 @@ - + @@ -729,7 +729,7 @@ - + @@ -764,7 +764,7 @@ - + @@ -773,7 +773,7 @@ - + @@ -794,7 +794,7 @@ - + @@ -803,7 +803,7 @@ - + @@ -824,7 +824,7 @@ - + @@ -833,7 +833,7 @@ - + @@ -854,7 +854,7 @@ - + @@ -889,7 +889,7 @@ - + @@ -898,7 +898,7 @@ - + @@ -919,7 +919,7 @@ - + @@ -928,7 +928,7 @@ - + @@ -949,7 +949,7 @@ - + @@ -958,7 +958,7 @@ - + @@ -977,7 +977,7 @@ - + @@ -986,7 +986,7 @@ - + @@ -1021,7 +1021,7 @@ - + @@ -1030,7 +1030,7 @@ - + @@ -1317,7 +1317,7 @@ - + @@ -1326,7 +1326,7 @@ - + @@ -1347,7 +1347,7 @@ - + @@ -1356,7 +1356,7 @@ - + @@ -1377,7 +1377,7 @@ - + @@ -1436,7 +1436,7 @@ 400 0.08515499999999998 -0.011000000000000022 -0.11230899999999999 -2.0943952105869323 -3.885780586188048e-16 -1.5707963267948963 - model://iRonCub-Mk1/iRonCub/conf/gazebo_icub_xsens_inertial.ini + model://iRonCub-Mk1_v1/iRonCub/conf/gazebo_icub_xsens_inertial.ini @@ -1504,48 +1504,48 @@ - model://iRonCub-Mk1/iRonCub/conf/MTB/gazebo_icub_left_leg_mtb.ini + model://iRonCub-Mk1_v1/iRonCub/conf/MTB/gazebo_icub_left_leg_mtb.ini - model://iRonCub-Mk1/iRonCub/conf/MTB/gazebo_icub_right_leg_mtb.ini + model://iRonCub-Mk1_v1/iRonCub/conf/MTB/gazebo_icub_right_leg_mtb.ini - model://iRonCub-Mk1/iRonCub/conf/MTB/gazebo_icub_left_arm_mtb.ini + model://iRonCub-Mk1_v1/iRonCub/conf/MTB/gazebo_icub_left_arm_mtb.ini - model://iRonCub-Mk1/iRonCub/conf/MTB/gazebo_icub_right_arm_mtb.ini + model://iRonCub-Mk1_v1/iRonCub/conf/MTB/gazebo_icub_right_arm_mtb.ini - model://iRonCub-Mk1/iRonCub/conf/MTB/gazebo_icub_torso_mtb.ini + model://iRonCub-Mk1_v1/iRonCub/conf/MTB/gazebo_icub_torso_mtb.ini - model://iRonCub-Mk1/iRonCub/conf/gazebo_icub_torso.ini + model://iRonCub-Mk1_v1/iRonCub/conf/gazebo_icub_torso.ini - model://iRonCub-Mk1/iRonCub/conf/gazebo_icub_head_without_eyes.ini + model://iRonCub-Mk1_v1/iRonCub/conf/gazebo_icub_head_without_eyes.ini - model://iRonCub-Mk1/iRonCub/conf/gazebo_icub_left_arm.ini + model://iRonCub-Mk1_v1/iRonCub/conf/gazebo_icub_left_arm.ini -0.52 0.52 0 0.785 - model://iRonCub-Mk1/iRonCub/conf/gazebo_icub_right_arm.ini + model://iRonCub-Mk1_v1/iRonCub/conf/gazebo_icub_right_arm.ini -0.52 0.52 0 0.785 - model://iRonCub-Mk1/iRonCub/conf/gazebo_icub_right_leg.ini + model://iRonCub-Mk1_v1/iRonCub/conf/gazebo_icub_right_leg.ini - model://iRonCub-Mk1/iRonCub/conf/gazebo_icub_left_leg.ini + model://iRonCub-Mk1_v1/iRonCub/conf/gazebo_icub_left_leg.ini - model://iRonCub-Mk1/iRonCub/conf/gazebo_icub_robotname.ini + model://iRonCub-Mk1_v1/iRonCub/conf/gazebo_icub_robotname.ini - model://iRonCub-Mk1/iRonCub/conf/base.ini + model://iRonCub-Mk1_v1/iRonCub/conf/base.ini - model://iRonCub-Mk1/iRonCub/conf/jets.ini + model://iRonCub-Mk1_v1/iRonCub/conf/jets.ini @@ -1635,7 +1635,7 @@ child_to_parent - model://iRonCub-Mk1/iRonCub/conf/FT/gazebo_icub_left_leg_ft.ini + model://iRonCub-Mk1_v1/iRonCub/conf/FT/gazebo_icub_left_leg_ft.ini @@ -1655,7 +1655,7 @@ child_to_parent - model://iRonCub-Mk1/iRonCub/conf/FT/gazebo_icub_right_leg_ft.ini + model://iRonCub-Mk1_v1/iRonCub/conf/FT/gazebo_icub_right_leg_ft.ini @@ -1675,7 +1675,7 @@ child_to_parent - model://iRonCub-Mk1/iRonCub/conf/FT/gazebo_icub_left_foot_ft.ini + model://iRonCub-Mk1_v1/iRonCub/conf/FT/gazebo_icub_left_foot_ft.ini @@ -1695,7 +1695,7 @@ child_to_parent - model://iRonCub-Mk1/iRonCub/conf/FT/gazebo_icub_right_foot_ft.ini + model://iRonCub-Mk1_v1/iRonCub/conf/FT/gazebo_icub_right_foot_ft.ini @@ -1715,7 +1715,7 @@ child_to_parent - model://iRonCub-Mk1/iRonCub/conf/FT/gazebo_icub_left_arm_ft.ini + model://iRonCub-Mk1_v1/iRonCub/conf/FT/gazebo_icub_left_arm_ft.ini @@ -1735,7 +1735,7 @@ child_to_parent - model://iRonCub-Mk1/iRonCub/conf/FT/gazebo_icub_right_arm_ft.ini + model://iRonCub-Mk1_v1/iRonCub/conf/FT/gazebo_icub_right_arm_ft.ini @@ -1752,7 +1752,7 @@ 100 0.009500000190735 0.1334431763902131 0.009300024348917928 3.141592653589793 1.5707962417722503 -1.5707963281006934 - model://iRonCub-Mk1/iRonCub/conf/gazebo_icub_inertial.ini + model://iRonCub-Mk1_v1/iRonCub/conf/gazebo_icub_inertial.ini diff --git a/models/iRonCub-Mk1/iRonCub/robots/iRonCub-Mk1_Gazebo_v1/model_stl.urdf b/models/iRonCub-Mk1_v1/iRonCub/robots/iRonCub-Mk1_Gazebo_v1/model_stl.urdf similarity index 90% rename from models/iRonCub-Mk1/iRonCub/robots/iRonCub-Mk1_Gazebo_v1/model_stl.urdf rename to models/iRonCub-Mk1_v1/iRonCub/robots/iRonCub-Mk1_Gazebo_v1/model_stl.urdf index 275b264..14d4a88 100644 --- a/models/iRonCub-Mk1/iRonCub/robots/iRonCub-Mk1_Gazebo_v1/model_stl.urdf +++ b/models/iRonCub-Mk1_v1/iRonCub/robots/iRonCub-Mk1_Gazebo_v1/model_stl.urdf @@ -8,7 +8,7 @@ - + @@ -17,7 +17,7 @@ - + @@ -30,7 +30,7 @@ - + @@ -39,7 +39,7 @@ - + @@ -60,7 +60,7 @@ - + @@ -69,7 +69,7 @@ - + @@ -90,7 +90,7 @@ - + @@ -99,7 +99,7 @@ - + @@ -127,7 +127,7 @@ - + @@ -136,7 +136,7 @@ - + @@ -157,7 +157,7 @@ - + @@ -166,7 +166,7 @@ - + @@ -187,7 +187,7 @@ - + @@ -196,7 +196,7 @@ - + @@ -224,7 +224,7 @@ - + @@ -233,7 +233,7 @@ - + @@ -252,7 +252,7 @@ - + @@ -261,7 +261,7 @@ - + @@ -280,7 +280,7 @@ - + @@ -289,7 +289,7 @@ - + @@ -310,7 +310,7 @@ - + @@ -319,7 +319,7 @@ - + @@ -340,7 +340,7 @@ - + @@ -349,7 +349,7 @@ - + @@ -370,7 +370,7 @@ - + @@ -379,7 +379,7 @@ - + @@ -398,7 +398,7 @@ - + @@ -407,7 +407,7 @@ - + @@ -428,7 +428,7 @@ - + @@ -437,7 +437,7 @@ - + @@ -456,7 +456,7 @@ - + @@ -465,7 +465,7 @@ - + @@ -486,7 +486,7 @@ - + @@ -495,7 +495,7 @@ - + @@ -516,7 +516,7 @@ - + @@ -525,7 +525,7 @@ - + @@ -546,7 +546,7 @@ - + @@ -555,7 +555,7 @@ - + @@ -574,7 +574,7 @@ - + @@ -583,7 +583,7 @@ - + @@ -604,7 +604,7 @@ - + @@ -613,7 +613,7 @@ - + @@ -632,7 +632,7 @@ - + @@ -641,7 +641,7 @@ - + @@ -662,7 +662,7 @@ - + @@ -671,7 +671,7 @@ - + @@ -692,7 +692,7 @@ - + @@ -701,7 +701,7 @@ - + @@ -720,7 +720,7 @@ - + @@ -729,7 +729,7 @@ - + @@ -764,7 +764,7 @@ - + @@ -773,7 +773,7 @@ - + @@ -794,7 +794,7 @@ - + @@ -803,7 +803,7 @@ - + @@ -824,7 +824,7 @@ - + @@ -833,7 +833,7 @@ - + @@ -854,7 +854,7 @@ - + @@ -889,7 +889,7 @@ - + @@ -898,7 +898,7 @@ - + @@ -919,7 +919,7 @@ - + @@ -928,7 +928,7 @@ - + @@ -949,7 +949,7 @@ - + @@ -958,7 +958,7 @@ - + @@ -977,7 +977,7 @@ - + @@ -986,7 +986,7 @@ - + @@ -1021,7 +1021,7 @@ - + @@ -1030,7 +1030,7 @@ - + @@ -1317,7 +1317,7 @@ - + @@ -1326,7 +1326,7 @@ - + @@ -1347,7 +1347,7 @@ - + @@ -1356,7 +1356,7 @@ - + @@ -1377,7 +1377,7 @@ - + @@ -1436,7 +1436,7 @@ 400 0.08515499999999998 -0.011000000000000022 -0.11230899999999999 -2.0943952105869323 -3.885780586188048e-16 -1.5707963267948963 - model://iRonCub-Mk1/iRonCub/conf/gazebo_icub_xsens_inertial.ini + model://iRonCub-Mk1_v1/iRonCub/conf/gazebo_icub_xsens_inertial.ini @@ -1504,48 +1504,48 @@ - model://iRonCub-Mk1/iRonCub/conf/MTB/gazebo_icub_left_leg_mtb.ini + model://iRonCub-Mk1_v1/iRonCub/conf/MTB/gazebo_icub_left_leg_mtb.ini - model://iRonCub-Mk1/iRonCub/conf/MTB/gazebo_icub_right_leg_mtb.ini + model://iRonCub-Mk1_v1/iRonCub/conf/MTB/gazebo_icub_right_leg_mtb.ini - model://iRonCub-Mk1/iRonCub/conf/MTB/gazebo_icub_left_arm_mtb.ini + model://iRonCub-Mk1_v1/iRonCub/conf/MTB/gazebo_icub_left_arm_mtb.ini - model://iRonCub-Mk1/iRonCub/conf/MTB/gazebo_icub_right_arm_mtb.ini + model://iRonCub-Mk1_v1/iRonCub/conf/MTB/gazebo_icub_right_arm_mtb.ini - model://iRonCub-Mk1/iRonCub/conf/MTB/gazebo_icub_torso_mtb.ini + model://iRonCub-Mk1_v1/iRonCub/conf/MTB/gazebo_icub_torso_mtb.ini - model://iRonCub-Mk1/iRonCub/conf/gazebo_icub_torso.ini + model://iRonCub-Mk1_v1/iRonCub/conf/gazebo_icub_torso.ini - model://iRonCub-Mk1/iRonCub/conf/gazebo_icub_head_without_eyes.ini + model://iRonCub-Mk1_v1/iRonCub/conf/gazebo_icub_head_without_eyes.ini - model://iRonCub-Mk1/iRonCub/conf/gazebo_icub_left_arm.ini + model://iRonCub-Mk1_v1/iRonCub/conf/gazebo_icub_left_arm.ini -0.52 0.52 0 0.785 - model://iRonCub-Mk1/iRonCub/conf/gazebo_icub_right_arm.ini + model://iRonCub-Mk1_v1/iRonCub/conf/gazebo_icub_right_arm.ini -0.52 0.52 0 0.785 - model://iRonCub-Mk1/iRonCub/conf/gazebo_icub_right_leg.ini + model://iRonCub-Mk1_v1/iRonCub/conf/gazebo_icub_right_leg.ini - model://iRonCub-Mk1/iRonCub/conf/gazebo_icub_left_leg.ini + model://iRonCub-Mk1_v1/iRonCub/conf/gazebo_icub_left_leg.ini - model://iRonCub-Mk1/iRonCub/conf/gazebo_icub_robotname.ini + model://iRonCub-Mk1_v1/iRonCub/conf/gazebo_icub_robotname.ini - model://iRonCub-Mk1/iRonCub/conf/base.ini + model://iRonCub-Mk1_v1/iRonCub/conf/base.ini - model://iRonCub-Mk1/iRonCub/conf/jets.ini + model://iRonCub-Mk1_v1/iRonCub/conf/jets.ini @@ -1635,7 +1635,7 @@ child_to_parent - model://iRonCub-Mk1/iRonCub/conf/FT/gazebo_icub_left_leg_ft.ini + model://iRonCub-Mk1_v1/iRonCub/conf/FT/gazebo_icub_left_leg_ft.ini @@ -1655,7 +1655,7 @@ child_to_parent - model://iRonCub-Mk1/iRonCub/conf/FT/gazebo_icub_right_leg_ft.ini + model://iRonCub-Mk1_v1/iRonCub/conf/FT/gazebo_icub_right_leg_ft.ini @@ -1675,7 +1675,7 @@ child_to_parent - model://iRonCub-Mk1/iRonCub/conf/FT/gazebo_icub_left_foot_ft.ini + model://iRonCub-Mk1_v1/iRonCub/conf/FT/gazebo_icub_left_foot_ft.ini @@ -1695,7 +1695,7 @@ child_to_parent - model://iRonCub-Mk1/iRonCub/conf/FT/gazebo_icub_right_foot_ft.ini + model://iRonCub-Mk1_v1/iRonCub/conf/FT/gazebo_icub_right_foot_ft.ini @@ -1715,7 +1715,7 @@ child_to_parent - model://iRonCub-Mk1/iRonCub/conf/FT/gazebo_icub_left_arm_ft.ini + model://iRonCub-Mk1_v1/iRonCub/conf/FT/gazebo_icub_left_arm_ft.ini @@ -1735,7 +1735,7 @@ child_to_parent - model://iRonCub-Mk1/iRonCub/conf/FT/gazebo_icub_right_arm_ft.ini + model://iRonCub-Mk1_v1/iRonCub/conf/FT/gazebo_icub_right_arm_ft.ini @@ -1752,7 +1752,7 @@ 100 0.009500000190735 0.1334431763902131 0.009300024348917928 3.141592653589793 1.5707962417722503 -1.5707963281006934 - model://iRonCub-Mk1/iRonCub/conf/gazebo_icub_inertial.ini + model://iRonCub-Mk1_v1/iRonCub/conf/gazebo_icub_inertial.ini diff --git a/models/iRonCub-Mk1/iRonCub/robots/iRonCub-Mk1_v1/model.urdf b/models/iRonCub-Mk1_v1/iRonCub/robots/iRonCub-Mk1_v1/model.urdf similarity index 90% rename from models/iRonCub-Mk1/iRonCub/robots/iRonCub-Mk1_v1/model.urdf rename to models/iRonCub-Mk1_v1/iRonCub/robots/iRonCub-Mk1_v1/model.urdf index fe3edf1..a2435df 100644 --- a/models/iRonCub-Mk1/iRonCub/robots/iRonCub-Mk1_v1/model.urdf +++ b/models/iRonCub-Mk1_v1/iRonCub/robots/iRonCub-Mk1_v1/model.urdf @@ -8,7 +8,7 @@ - + @@ -17,7 +17,7 @@ - + @@ -30,7 +30,7 @@ - + @@ -39,7 +39,7 @@ - + @@ -60,7 +60,7 @@ - + @@ -69,7 +69,7 @@ - + @@ -90,7 +90,7 @@ - + @@ -99,7 +99,7 @@ - + @@ -127,7 +127,7 @@ - + @@ -136,7 +136,7 @@ - + @@ -157,7 +157,7 @@ - + @@ -166,7 +166,7 @@ - + @@ -187,7 +187,7 @@ - + @@ -196,7 +196,7 @@ - + @@ -224,7 +224,7 @@ - + @@ -233,7 +233,7 @@ - + @@ -252,7 +252,7 @@ - + @@ -261,7 +261,7 @@ - + @@ -280,7 +280,7 @@ - + @@ -289,7 +289,7 @@ - + @@ -310,7 +310,7 @@ - + @@ -319,7 +319,7 @@ - + @@ -340,7 +340,7 @@ - + @@ -349,7 +349,7 @@ - + @@ -370,7 +370,7 @@ - + @@ -379,7 +379,7 @@ - + @@ -398,7 +398,7 @@ - + @@ -407,7 +407,7 @@ - + @@ -428,7 +428,7 @@ - + @@ -437,7 +437,7 @@ - + @@ -456,7 +456,7 @@ - + @@ -465,7 +465,7 @@ - + @@ -486,7 +486,7 @@ - + @@ -495,7 +495,7 @@ - + @@ -516,7 +516,7 @@ - + @@ -525,7 +525,7 @@ - + @@ -546,7 +546,7 @@ - + @@ -555,7 +555,7 @@ - + @@ -574,7 +574,7 @@ - + @@ -583,7 +583,7 @@ - + @@ -604,7 +604,7 @@ - + @@ -613,7 +613,7 @@ - + @@ -632,7 +632,7 @@ - + @@ -641,7 +641,7 @@ - + @@ -662,7 +662,7 @@ - + @@ -671,7 +671,7 @@ - + @@ -692,7 +692,7 @@ - + @@ -701,7 +701,7 @@ - + @@ -720,7 +720,7 @@ - + @@ -729,7 +729,7 @@ - + @@ -764,7 +764,7 @@ - + @@ -773,7 +773,7 @@ - + @@ -794,7 +794,7 @@ - + @@ -803,7 +803,7 @@ - + @@ -824,7 +824,7 @@ - + @@ -833,7 +833,7 @@ - + @@ -854,7 +854,7 @@ - + @@ -863,7 +863,7 @@ - + @@ -889,7 +889,7 @@ - + @@ -898,7 +898,7 @@ - + @@ -919,7 +919,7 @@ - + @@ -928,7 +928,7 @@ - + @@ -949,7 +949,7 @@ - + @@ -958,7 +958,7 @@ - + @@ -977,7 +977,7 @@ - + @@ -986,7 +986,7 @@ - + @@ -1021,7 +1021,7 @@ - + @@ -1030,7 +1030,7 @@ - + @@ -1317,7 +1317,7 @@ - + @@ -1326,7 +1326,7 @@ - + @@ -1347,7 +1347,7 @@ - + @@ -1356,7 +1356,7 @@ - + @@ -1377,7 +1377,7 @@ - + @@ -1386,7 +1386,7 @@ - + @@ -1436,7 +1436,7 @@ 400 0.08515499999999998 -0.011000000000000022 -0.11230899999999999 -2.0943952105869323 -3.885780586188048e-16 -1.5707963267948963 - model://iRonCub-Mk1/iRonCub/conf/gazebo_icub_xsens_inertial.ini + model://iRonCub-Mk1_v1/iRonCub/conf/gazebo_icub_xsens_inertial.ini @@ -1504,48 +1504,48 @@ - model://iRonCub-Mk1/iRonCub/conf/MTB/gazebo_icub_left_leg_mtb.ini + model://iRonCub-Mk1_v1/iRonCub/conf/MTB/gazebo_icub_left_leg_mtb.ini - model://iRonCub-Mk1/iRonCub/conf/MTB/gazebo_icub_right_leg_mtb.ini + model://iRonCub-Mk1_v1/iRonCub/conf/MTB/gazebo_icub_right_leg_mtb.ini - model://iRonCub-Mk1/iRonCub/conf/MTB/gazebo_icub_left_arm_mtb.ini + model://iRonCub-Mk1_v1/iRonCub/conf/MTB/gazebo_icub_left_arm_mtb.ini - model://iRonCub-Mk1/iRonCub/conf/MTB/gazebo_icub_right_arm_mtb.ini + model://iRonCub-Mk1_v1/iRonCub/conf/MTB/gazebo_icub_right_arm_mtb.ini - model://iRonCub-Mk1/iRonCub/conf/MTB/gazebo_icub_torso_mtb.ini + model://iRonCub-Mk1_v1/iRonCub/conf/MTB/gazebo_icub_torso_mtb.ini - model://iRonCub-Mk1/iRonCub/conf/gazebo_icub_torso.ini + model://iRonCub-Mk1_v1/iRonCub/conf/gazebo_icub_torso.ini - model://iRonCub-Mk1/iRonCub/conf/gazebo_icub_head_without_eyes.ini + model://iRonCub-Mk1_v1/iRonCub/conf/gazebo_icub_head_without_eyes.ini - model://iRonCub-Mk1/iRonCub/conf/gazebo_icub_left_arm.ini + model://iRonCub-Mk1_v1/iRonCub/conf/gazebo_icub_left_arm.ini -0.52 0.52 0 0.785 - model://iRonCub-Mk1/iRonCub/conf/gazebo_icub_right_arm.ini + model://iRonCub-Mk1_v1/iRonCub/conf/gazebo_icub_right_arm.ini -0.52 0.52 0 0.785 - model://iRonCub-Mk1/iRonCub/conf/gazebo_icub_right_leg.ini + model://iRonCub-Mk1_v1/iRonCub/conf/gazebo_icub_right_leg.ini - model://iRonCub-Mk1/iRonCub/conf/gazebo_icub_left_leg.ini + model://iRonCub-Mk1_v1/iRonCub/conf/gazebo_icub_left_leg.ini - model://iRonCub-Mk1/iRonCub/conf/gazebo_icub_robotname.ini + model://iRonCub-Mk1_v1/iRonCub/conf/gazebo_icub_robotname.ini - model://iRonCub-Mk1/iRonCub/conf/base.ini + model://iRonCub-Mk1_v1/iRonCub/conf/base.ini - model://iRonCub-Mk1/iRonCub/conf/jets.ini + model://iRonCub-Mk1_v1/iRonCub/conf/jets.ini @@ -1635,7 +1635,7 @@ child_to_parent - model://iRonCub-Mk1/iRonCub/conf/FT/gazebo_icub_left_leg_ft.ini + model://iRonCub-Mk1_v1/iRonCub/conf/FT/gazebo_icub_left_leg_ft.ini @@ -1655,7 +1655,7 @@ child_to_parent - model://iRonCub-Mk1/iRonCub/conf/FT/gazebo_icub_right_leg_ft.ini + model://iRonCub-Mk1_v1/iRonCub/conf/FT/gazebo_icub_right_leg_ft.ini @@ -1675,7 +1675,7 @@ child_to_parent - model://iRonCub-Mk1/iRonCub/conf/FT/gazebo_icub_left_foot_ft.ini + model://iRonCub-Mk1_v1/iRonCub/conf/FT/gazebo_icub_left_foot_ft.ini @@ -1695,7 +1695,7 @@ child_to_parent - model://iRonCub-Mk1/iRonCub/conf/FT/gazebo_icub_right_foot_ft.ini + model://iRonCub-Mk1_v1/iRonCub/conf/FT/gazebo_icub_right_foot_ft.ini @@ -1715,7 +1715,7 @@ child_to_parent - model://iRonCub-Mk1/iRonCub/conf/FT/gazebo_icub_left_arm_ft.ini + model://iRonCub-Mk1_v1/iRonCub/conf/FT/gazebo_icub_left_arm_ft.ini @@ -1735,7 +1735,7 @@ child_to_parent - model://iRonCub-Mk1/iRonCub/conf/FT/gazebo_icub_right_arm_ft.ini + model://iRonCub-Mk1_v1/iRonCub/conf/FT/gazebo_icub_right_arm_ft.ini @@ -1752,7 +1752,7 @@ 100 0.009500000190735 0.1334431763902131 0.009300024348917928 3.141592653589793 1.5707962417722503 -1.5707963281006934 - model://iRonCub-Mk1/iRonCub/conf/gazebo_icub_inertial.ini + model://iRonCub-Mk1_v1/iRonCub/conf/gazebo_icub_inertial.ini diff --git a/models/iRonCub-Mk1/iRonCub/robots/iRonCub-Mk1_v1/model_stl.urdf b/models/iRonCub-Mk1_v1/iRonCub/robots/iRonCub-Mk1_v1/model_stl.urdf similarity index 90% rename from models/iRonCub-Mk1/iRonCub/robots/iRonCub-Mk1_v1/model_stl.urdf rename to models/iRonCub-Mk1_v1/iRonCub/robots/iRonCub-Mk1_v1/model_stl.urdf index e5beb32..bb8ba80 100644 --- a/models/iRonCub-Mk1/iRonCub/robots/iRonCub-Mk1_v1/model_stl.urdf +++ b/models/iRonCub-Mk1_v1/iRonCub/robots/iRonCub-Mk1_v1/model_stl.urdf @@ -8,7 +8,7 @@ - + @@ -17,7 +17,7 @@ - + @@ -30,7 +30,7 @@ - + @@ -39,7 +39,7 @@ - + @@ -60,7 +60,7 @@ - + @@ -69,7 +69,7 @@ - + @@ -90,7 +90,7 @@ - + @@ -99,7 +99,7 @@ - + @@ -127,7 +127,7 @@ - + @@ -136,7 +136,7 @@ - + @@ -157,7 +157,7 @@ - + @@ -166,7 +166,7 @@ - + @@ -187,7 +187,7 @@ - + @@ -196,7 +196,7 @@ - + @@ -224,7 +224,7 @@ - + @@ -233,7 +233,7 @@ - + @@ -252,7 +252,7 @@ - + @@ -261,7 +261,7 @@ - + @@ -280,7 +280,7 @@ - + @@ -289,7 +289,7 @@ - + @@ -310,7 +310,7 @@ - + @@ -319,7 +319,7 @@ - + @@ -340,7 +340,7 @@ - + @@ -349,7 +349,7 @@ - + @@ -370,7 +370,7 @@ - + @@ -379,7 +379,7 @@ - + @@ -398,7 +398,7 @@ - + @@ -407,7 +407,7 @@ - + @@ -428,7 +428,7 @@ - + @@ -437,7 +437,7 @@ - + @@ -456,7 +456,7 @@ - + @@ -465,7 +465,7 @@ - + @@ -486,7 +486,7 @@ - + @@ -495,7 +495,7 @@ - + @@ -516,7 +516,7 @@ - + @@ -525,7 +525,7 @@ - + @@ -546,7 +546,7 @@ - + @@ -555,7 +555,7 @@ - + @@ -574,7 +574,7 @@ - + @@ -583,7 +583,7 @@ - + @@ -604,7 +604,7 @@ - + @@ -613,7 +613,7 @@ - + @@ -632,7 +632,7 @@ - + @@ -641,7 +641,7 @@ - + @@ -662,7 +662,7 @@ - + @@ -671,7 +671,7 @@ - + @@ -692,7 +692,7 @@ - + @@ -701,7 +701,7 @@ - + @@ -720,7 +720,7 @@ - + @@ -729,7 +729,7 @@ - + @@ -764,7 +764,7 @@ - + @@ -773,7 +773,7 @@ - + @@ -794,7 +794,7 @@ - + @@ -803,7 +803,7 @@ - + @@ -824,7 +824,7 @@ - + @@ -833,7 +833,7 @@ - + @@ -854,7 +854,7 @@ - + @@ -863,7 +863,7 @@ - + @@ -889,7 +889,7 @@ - + @@ -898,7 +898,7 @@ - + @@ -919,7 +919,7 @@ - + @@ -928,7 +928,7 @@ - + @@ -949,7 +949,7 @@ - + @@ -958,7 +958,7 @@ - + @@ -977,7 +977,7 @@ - + @@ -986,7 +986,7 @@ - + @@ -1021,7 +1021,7 @@ - + @@ -1030,7 +1030,7 @@ - + @@ -1317,7 +1317,7 @@ - + @@ -1326,7 +1326,7 @@ - + @@ -1347,7 +1347,7 @@ - + @@ -1356,7 +1356,7 @@ - + @@ -1377,7 +1377,7 @@ - + @@ -1386,7 +1386,7 @@ - + @@ -1436,7 +1436,7 @@ 400 0.08515499999999998 -0.011000000000000022 -0.11230899999999999 -2.0943952105869323 -3.885780586188048e-16 -1.5707963267948963 - model://iRonCub-Mk1/iRonCub/conf/gazebo_icub_xsens_inertial.ini + model://iRonCub-Mk1_v1/iRonCub/conf/gazebo_icub_xsens_inertial.ini @@ -1504,48 +1504,48 @@ - model://iRonCub-Mk1/iRonCub/conf/MTB/gazebo_icub_left_leg_mtb.ini + model://iRonCub-Mk1_v1/iRonCub/conf/MTB/gazebo_icub_left_leg_mtb.ini - model://iRonCub-Mk1/iRonCub/conf/MTB/gazebo_icub_right_leg_mtb.ini + model://iRonCub-Mk1_v1/iRonCub/conf/MTB/gazebo_icub_right_leg_mtb.ini - model://iRonCub-Mk1/iRonCub/conf/MTB/gazebo_icub_left_arm_mtb.ini + model://iRonCub-Mk1_v1/iRonCub/conf/MTB/gazebo_icub_left_arm_mtb.ini - model://iRonCub-Mk1/iRonCub/conf/MTB/gazebo_icub_right_arm_mtb.ini + model://iRonCub-Mk1_v1/iRonCub/conf/MTB/gazebo_icub_right_arm_mtb.ini - model://iRonCub-Mk1/iRonCub/conf/MTB/gazebo_icub_torso_mtb.ini + model://iRonCub-Mk1_v1/iRonCub/conf/MTB/gazebo_icub_torso_mtb.ini - model://iRonCub-Mk1/iRonCub/conf/gazebo_icub_torso.ini + model://iRonCub-Mk1_v1/iRonCub/conf/gazebo_icub_torso.ini - model://iRonCub-Mk1/iRonCub/conf/gazebo_icub_head_without_eyes.ini + model://iRonCub-Mk1_v1/iRonCub/conf/gazebo_icub_head_without_eyes.ini - model://iRonCub-Mk1/iRonCub/conf/gazebo_icub_left_arm.ini + model://iRonCub-Mk1_v1/iRonCub/conf/gazebo_icub_left_arm.ini -0.52 0.52 0 0.785 - model://iRonCub-Mk1/iRonCub/conf/gazebo_icub_right_arm.ini + model://iRonCub-Mk1_v1/iRonCub/conf/gazebo_icub_right_arm.ini -0.52 0.52 0 0.785 - model://iRonCub-Mk1/iRonCub/conf/gazebo_icub_right_leg.ini + model://iRonCub-Mk1_v1/iRonCub/conf/gazebo_icub_right_leg.ini - model://iRonCub-Mk1/iRonCub/conf/gazebo_icub_left_leg.ini + model://iRonCub-Mk1_v1/iRonCub/conf/gazebo_icub_left_leg.ini - model://iRonCub-Mk1/iRonCub/conf/gazebo_icub_robotname.ini + model://iRonCub-Mk1_v1/iRonCub/conf/gazebo_icub_robotname.ini - model://iRonCub-Mk1/iRonCub/conf/base.ini + model://iRonCub-Mk1_v1/iRonCub/conf/base.ini - model://iRonCub-Mk1/iRonCub/conf/jets.ini + model://iRonCub-Mk1_v1/iRonCub/conf/jets.ini @@ -1635,7 +1635,7 @@ child_to_parent - model://iRonCub-Mk1/iRonCub/conf/FT/gazebo_icub_left_leg_ft.ini + model://iRonCub-Mk1_v1/iRonCub/conf/FT/gazebo_icub_left_leg_ft.ini @@ -1655,7 +1655,7 @@ child_to_parent - model://iRonCub-Mk1/iRonCub/conf/FT/gazebo_icub_right_leg_ft.ini + model://iRonCub-Mk1_v1/iRonCub/conf/FT/gazebo_icub_right_leg_ft.ini @@ -1675,7 +1675,7 @@ child_to_parent - model://iRonCub-Mk1/iRonCub/conf/FT/gazebo_icub_left_foot_ft.ini + model://iRonCub-Mk1_v1/iRonCub/conf/FT/gazebo_icub_left_foot_ft.ini @@ -1695,7 +1695,7 @@ child_to_parent - model://iRonCub-Mk1/iRonCub/conf/FT/gazebo_icub_right_foot_ft.ini + model://iRonCub-Mk1_v1/iRonCub/conf/FT/gazebo_icub_right_foot_ft.ini @@ -1715,7 +1715,7 @@ child_to_parent - model://iRonCub-Mk1/iRonCub/conf/FT/gazebo_icub_left_arm_ft.ini + model://iRonCub-Mk1_v1/iRonCub/conf/FT/gazebo_icub_left_arm_ft.ini @@ -1735,7 +1735,7 @@ child_to_parent - model://iRonCub-Mk1/iRonCub/conf/FT/gazebo_icub_right_arm_ft.ini + model://iRonCub-Mk1_v1/iRonCub/conf/FT/gazebo_icub_right_arm_ft.ini @@ -1752,7 +1752,7 @@ 100 0.009500000190735 0.1334431763902131 0.009300024348917928 3.141592653589793 1.5707962417722503 -1.5707963281006934 - model://iRonCub-Mk1/iRonCub/conf/gazebo_icub_inertial.ini + model://iRonCub-Mk1_v1/iRonCub/conf/gazebo_icub_inertial.ini