Closed GiulioRomualdi closed 6 months ago
I tested the model generated by @Nicogene in https://github.com/icub-tech-iit/ergocub-software/pull/217/commits/3c77a9af1c4bba6d424170b44a726075d57cb515. It's working as expected! Thank you @Nicogene!
I checked the IMU data with https://github.com/ami-iit/xcub-sensors-check and all of the readouts are correct. I added the gazebo model with the root fixed and I moved the robot from the motorgui
๐งช Running 12 tests...
โโโ Running test L_FOOT_FRONT_ORIENTATION...
โโโ Running test L_FOOT_REAR_ORIENTATION...
โโโ Running test L_FOOT_FRONT_GYRO...
โโโ Running test L_FOOT_REAR_GYRO...
โโโ Running test L_FOOT_REAR_ACC...
โโโ Running test L_FOOT_FRONT_ACC...
โโโ Running test R_FOOT_FRONT_ORIENTATION...
โโโ Running test R_FOOT_REAR_ORIENTATION...
โโโ Running test R_FOOT_FRONT_GYRO...
โโโ Running test R_FOOT_REAR_GYRO...
โโโ Running test R_FOOT_REAR_ACC...
โโโ Running test R_FOOT_FRONT_ACC...
๐ Test outcomes:
โโโ ๐ข Test L_FOOT_FRONT_ORIENTATION: Passed
โโโ ๐ข Test L_FOOT_REAR_ORIENTATION: Passed
โโโ ๐ข Test L_FOOT_FRONT_GYRO: Passed
โโโ ๐ข Test L_FOOT_REAR_GYRO: Passed
โโโ ๐ข Test L_FOOT_REAR_ACC: Passed
โโโ ๐ข Test L_FOOT_FRONT_ACC: Passed
โโโ ๐ข Test R_FOOT_FRONT_ORIENTATION: Passed
โโโ ๐ข Test R_FOOT_REAR_ORIENTATION: Passed
โโโ ๐ข Test R_FOOT_FRONT_GYRO: Passed
โโโ ๐ข Test R_FOOT_REAR_GYRO: Passed
โโโ ๐ข Test R_FOOT_REAR_ACC: Passed
โโโ ๐ข Test R_FOOT_FRONT_ACC: Passed
Signal | Acc | Gyro | Orientation |
---|---|---|---|
r_foot_front |
|||
r_foot_rear |
|||
l_foot_front |
|||
l_foot_front |
Here the dataset and the config file to run the tests ergoCubGazeboV1_1_imu.zip
cc @martinaxgloria
Hi @Nicogene! I added the feet IMU on the urdf model. Unfortunately, I don't have creo on my PC so I cannot test the modification.