Task description
This is not a problem, but I noticed that the waist imu is added as xml blob, because when we didn't have creo2urdf we made some workarounds:
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# imu waist (workaround since simmechanics was not updated) |
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<link name="waist_imu_0"/> |
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<joint name="waist_imu_0_fixed_joint" type="fixed"> |
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<origin xyz="0.0354497 0.00639688 0.060600" rpy="1.5708 0 -1.5708"/> |
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<parent link="torso_1"/> |
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<child link="waist_imu_0"/> |
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<dynamics damping="0.1"/> |
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</joint> |
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<gazebo> |
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<plugin name="ergocub_yarp_gazebo_plugin_IMU" filename="libgazebo_yarp_imu.so"> |
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<yarpConfigurationFile>model://ergoCub/conf/gazebo_ergocub_waist_inertial.ini</yarpConfigurationFile> |
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</plugin> |
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</gazebo> |
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<gazebo reference="torso_1"> |
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<sensor name="waist_imu_0" type="imu"> |
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<always_on>1</always_on> |
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<update_rate>100</update_rate> |
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<pose>0.0354497 0.00639688 0.060600 1.5708 0 -1.5708</pose> |
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<plugin name="ergocub_yarp_gazebo_plugin_IMU" filename="libgazebo_yarp_imu.so"> |
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<yarpConfigurationFile>model://ergoCub/conf/gazebo_ergocub_waist_inertial.ini</yarpConfigurationFile> |
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</plugin> |
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</sensor> |
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</gazebo> |
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<sensor name="waist_imu_0" type="accelerometer"> |
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<parent link="torso_1"/> |
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<origin rpy="1.5708 0 -1.5708" xyz="0.0354497 0.00639688 0.060600"/> |
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</sensor> |
But I don't see the waist imu csys in the simulation model cad.
Definition of Done
We export the waist imu as sensor not as xmlBlob
cc @Mick3Lozzo @pattacini
