# Revision history [back]

### <sensor> elements in .urdf disappearing when converting to .sdf

Hello everyone, I am working on the URDF description of the IIT COMAN robot, and I'm having some difficulties in inserting the gazebo force_torque sensor in my robot description. Inserting the <sensor> element directly into the sdf file solves the problem, but at the moment we are working on the urdf description (which gets converted to sdf using gzsdf). Putting the <sensor> element inside the .gazebo or inside the .urdf doesn't seem to make a difference. The description of the robot we are using is https://github.com/EnricoMingo/iit-coman-ros-pkg Could someone give me instructions on how to correctly insert the sensor in the urdf or gazebo files? So far I tried the following syntax:

In the .gazebo file

<gazebo reference="LElbj">
<cfmDamping>1</cfmDamping>
<provideFeedback>true</provideFeedback>
<sensor type="force_torque" name="LElbj_FT">
<always_on>true</always_on>
<visualize>true</visualize>
<update_rate>1000</update_rate>
</sensor>
</gazebo>


In the .gazebo, after including the right xmlns:sensor in the <robot> element

<gazebo reference="LElbj">
<cfmDamping>1</cfmDamping>
<provideFeedback>true</provideFeedback>
<sensor:force_torque name="LElbj_FT">
<always_on>true</always_on>
<visualize>true</visualize>
<update_rate>1000</update_rate>
</sensor:force_torque>


</gazebo>

In the .urdf

<joint name="RElbj" type="revolute">
<origin xyz="0.0 0.0 -0.13519152999999998" rpy="0 0 0" />
<axis xyz="0 1 0" />
<limit velocity="4.0" effort="50" lower="-2.3562" upper="0.0" />
<sensor type="force_torque" name="Relbj_FT">
<always_on>true</always_on>
<visualize>true</visualize>
<update_rate>1000</update_rate>
</sensor>


</joint>

Obviously doing the same thing in the .sdf file works correctly (as shown in the force_torque_demo.world example). Any help would be greatly appreciated.

### <sensor> elements in .urdf disappearing when converting to .sdf

Hello everyone, I am working on the URDF description of the IIT COMAN robot, and I'm having some difficulties in inserting the gazebo force_torque sensor in my robot description. Inserting the <sensor> element directly into the sdf file solves the problem, but at the moment we are working on the urdf description (which gets converted to sdf using gzsdf). Putting the <sensor> element inside the .gazebo or inside the .urdf doesn't seem to make a difference. The description of the robot we are using is https://github.com/EnricoMingo/iit-coman-ros-pkg Could someone give me instructions on how to correctly insert the sensor in the urdf or gazebo files? So far I tried the following syntax:

In the .gazebo file

<gazebo reference="LElbj">
<cfmDamping>1</cfmDamping>
<provideFeedback>true</provideFeedback>
<sensor type="force_torque" name="LElbj_FT">
<always_on>true</always_on>
<visualize>true</visualize>
<update_rate>1000</update_rate>
</sensor>
</gazebo>


In the .gazebo, after including the right xmlns:sensor in the <robot> element

<gazebo reference="LElbj">
<cfmDamping>1</cfmDamping>
<provideFeedback>true</provideFeedback>
<sensor:force_torque name="LElbj_FT">
<always_on>true</always_on>
<visualize>true</visualize>
<update_rate>1000</update_rate>
</sensor:force_torque>


</gazebo>

In the .urdf

<joint name="RElbj" type="revolute">
<origin xyz="0.0 0.0 -0.13519152999999998" rpy="0 0 0" />
<axis xyz="0 1 0" />
<limit velocity="4.0" effort="50" lower="-2.3562" upper="0.0" />
<sensor type="force_torque" name="Relbj_FT">
<always_on>true</always_on>
<visualize>true</visualize>
<update_rate>1000</update_rate>
</sensor>


</joint>

Obviously doing the same thing in the .sdf file works correctly (as shown in the force_torque_demo.world example). Any help would be greatly appreciated.

### <sensor> elements in .urdf disappearing when converting to .sdf

Hello everyone, I am working on the URDF description of the IIT COMAN robot, and I'm having some difficulties in inserting the gazebo force_torque sensor in my robot description. Inserting the <sensor> element directly into the sdf file solves the problem, but at the moment we are working on the urdf description (which gets converted to sdf using gzsdf). Putting the <sensor> element inside the .gazebo or inside the .urdf doesn't seem to make a difference. The description of the robot we are using is https://github.com/EnricoMingo/iit-coman-ros-pkg Could someone give me instructions on how to correctly insert the sensor in the urdf or gazebo files? So far I tried the following syntax:

In the .gazebo file

<gazebo reference="LElbj">
<cfmDamping>1</cfmDamping>
<provideFeedback>true</provideFeedback>
<sensor type="force_torque" name="LElbj_FT">
<always_on>true</always_on>
<visualize>true</visualize>
<update_rate>1000</update_rate>
</sensor>
</gazebo>


In the .gazebo, after including the right xmlns:sensor in the <robot> element

<gazebo reference="LElbj">
<cfmDamping>1</cfmDamping>
<provideFeedback>true</provideFeedback>
<sensor:force_torque name="LElbj_FT">
<always_on>true</always_on>
<visualize>true</visualize>
<update_rate>1000</update_rate>
</sensor:force_torque>


</gazebo>

In the .urdf

<joint name="RElbj" type="revolute">
<origin xyz="0.0 0.0 -0.13519152999999998" rpy="0 0 0" />
<axis xyz="0 1 0" />
<limit velocity="4.0" effort="50" lower="-2.3562" upper="0.0" />
<sensor type="force_torque" name="Relbj_FT">
<always_on>true</always_on>
<visualize>true</visualize>
<update_rate>1000</update_rate>
</sensor>


</joint>

Obviously doing the same thing in the .sdf file works correctly (as shown in the force_torque_demo.world example). Any help would be greatly appreciated.

### <sensor> elements in .urdf disappearing when converting to .sdf

Hello everyone, I am working on the URDF description of the IIT COMAN robot, and I'm having some difficulties in inserting the gazebo force_torque sensor in my robot description. Inserting the <sensor> element directly into the sdf file solves the problem, but at the moment we are working on the urdf description (which gets converted to sdf using gzsdf). Putting the <sensor> element inside the .gazebo or inside the .urdf doesn't seem to make a difference. The description of the robot we are using is https://github.com/EnricoMingo/iit-coman-ros-pkg Could someone give me instructions on how to correctly insert the sensor in the urdf or gazebo files? So far I tried the following syntax:

In the .gazebo file

<gazebo reference="LElbj">
<cfmDamping>1</cfmDamping>
<provideFeedback>true</provideFeedback>
<sensor type="force_torque" name="LElbj_FT">
<always_on>true</always_on>
<visualize>true</visualize>
<update_rate>1000</update_rate>
</sensor>
</gazebo>


In the .gazebo, after including the right xmlns:sensor in the <robot> element

<gazebo reference="LElbj">
<cfmDamping>1</cfmDamping>
<provideFeedback>true</provideFeedback>
<sensor:force_torque name="LElbj_FT">
<always_on>true</always_on>
<visualize>true</visualize>
<update_rate>1000</update_rate>
</sensor:force_torque>


</gazebo>

In the .urdf

<joint name="RElbj" type="revolute">

Obviously doing the same thing in the .sdf file works correctly (as shown in the force_torque_demo.world force_torque_demo.world example). Any help would be greatly appreciated.