Fusion effectuée NRRPLT-7805-develop-gazebo-plugin-for-robo-ant (pull request #45)

NRRPLT-7805 develop gazebo plugin for robo ant

* [NRRPLT-7805] Activated pybullet_ant_plugin, added damping to joints, corrected initial z value for the ant.

* [NRRPLT-7805] Added a contact sensor to the large capsule which acts as a way to detect if the feet of the ant touch the ground.

Approuvé par : Stefano Nardo
Approuvé par : Manos Angelidis

pybullet_ant/large_capsule/model.sdf

@@ -36,6 +36,15 @@
           </sphere>
         </geometry>
       </collision>
+      <sensor name="foot_contact_sensor" type="contact">
+        <contact>
+          <collision>top_collision</collision>
+          <topic>contact_sensor_topic</topic>
+        </contact>
+        <always_on>1</always_on>
+        <update_rate>20</update_rate>
+    </sensor>
+
     </link>
 
     <link name="base">

pybullet_ant/model.sdf

@@ -44,7 +44,7 @@
 
 <sdf version="1.6">
   <model name="pybullet_ant">
-    <pose>0 0 2 0 0 0</pose>
+    <pose>0 0 0.75 0 0 0</pose>
     <!-- Torso of the Ant-->
     <link name="torso">
       <frame name="torso_frame"/>
@@ -98,6 +98,9 @@
           <lower>-0.69813170079</lower>
           <upper>0.69813170079</upper>
         </limit>
+        <dynamics>
+          <damping>1.0</damping>
+        </dynamics>
       </axis>
     </joint>
 
@@ -121,6 +124,9 @@
           <lower>0.52359877559</lower>
           <upper>1.74532925199</upper>
         </limit>
+        <dynamics>
+          <damping>1.0</damping>
+        </dynamics>
       </axis>
     </joint>
 
@@ -153,6 +159,9 @@
           <lower>-0.69813170079</lower>
           <upper>0.69813170079</upper>
         </limit>
+        <dynamics>
+          <damping>1.0</damping>
+        </dynamics>
       </axis>
     </joint>
 
@@ -172,6 +181,9 @@
           <lower>-1.74532925199</lower>
           <upper>-0.52359877559</upper>
         </limit>
+        <dynamics>
+          <damping>1.0</damping>
+        </dynamics>
       </axis>
     </joint>
 
@@ -204,6 +216,9 @@
           <lower>-0.69813170079</lower>
           <upper>0.69813170079</upper>
         </limit>
+        <dynamics>
+          <damping>1.0</damping>
+        </dynamics>
       </axis>
     </joint>
 
@@ -223,6 +238,9 @@
           <lower>-1.74532925199</lower>
           <upper>-0.52359877559</upper>
         </limit>
+        <dynamics>
+          <damping>1.0</damping>
+        </dynamics>
       </axis>
     </joint>
 
@@ -255,6 +273,9 @@
           <lower>-0.69813170079</lower>
           <upper>0.69813170079</upper>
         </limit>
+        <dynamics>
+          <damping>1.0</damping>
+        </dynamics>
       </axis>
     </joint>
 
@@ -274,33 +295,13 @@
           <lower>0.52359877559</lower>
           <upper>1.74532925199</upper>
         </limit>
+        <dynamics>
+          <damping>1.0</damping>
+        </dynamics>
       </axis>
     </joint>
-<!--    <plugin name="pybullet_ant_controller" filename="libpybullet_ant_plugin.so">-->
-<!--      <controller joint_name="hip_1">-->
-<!--        <type>force</type>-->
-<!--      </controller>-->
-<!--      <controller joint_name="ankle_1">-->
-<!--        <type>force</type>-->
-<!--      </controller>-->
-<!--      <controller joint_name="hip_2">-->
-<!--        <type>force</type>-->
-<!--      </controller>-->
-<!--      <controller joint_name="ankle_2">-->
-<!--        <type>force</type>-->
-<!--      </controller>-->
-<!--      <controller joint_name="hip_3">-->
-<!--        <type>force</type>-->
-<!--      </controller>-->
-<!--      <controller joint_name="ankle_3">-->
-<!--        <type>force</type>-->
-<!--      </controller>-->
-<!--      <controller joint_name="hip_4">-->
-<!--        <type>force</type>-->
-<!--      </controller>-->
-<!--      <controller joint_name="ankle_4">-->
-<!--        <type>force</type>-->
-<!--      </controller>-->
-<!--     </plugin>-->
+
+    <plugin name="pybullet_ant_controller" filename="libpybullet_ant_plugin.so">
+    </plugin>
   </model>
 </sdf>
\ No newline at end of file