diff --git a/iCub/conf_icub3/FT/gazebo_icub_left_arm_ft.ini b/iCub/conf_icub3/FT/gazebo_icub_left_arm_ft.ini deleted file mode 100644 index bb63101..0000000 --- a/iCub/conf_icub3/FT/gazebo_icub_left_arm_ft.ini +++ /dev/null @@ -1,2 +0,0 @@ -disableImplicitNetworkWrapper -yarpDeviceName icub_left_arm_ft diff --git a/iCub/conf_icub3/FT/gazebo_icub_left_foot_front_ft.ini b/iCub/conf_icub3/FT/gazebo_icub_left_foot_front_ft.ini deleted file mode 100644 index b05a9fc..0000000 --- a/iCub/conf_icub3/FT/gazebo_icub_left_foot_front_ft.ini +++ /dev/null @@ -1,2 +0,0 @@ -disableImplicitNetworkWrapper -yarpDeviceName icub_left_foot_front_ft diff --git a/iCub/conf_icub3/FT/gazebo_icub_left_foot_rear_ft.ini b/iCub/conf_icub3/FT/gazebo_icub_left_foot_rear_ft.ini deleted file mode 100644 index 730a00c..0000000 --- a/iCub/conf_icub3/FT/gazebo_icub_left_foot_rear_ft.ini +++ /dev/null @@ -1,2 +0,0 @@ -disableImplicitNetworkWrapper -yarpDeviceName icub_left_foot_rear_ft diff --git a/iCub/conf_icub3/FT/gazebo_icub_left_leg_ft.ini b/iCub/conf_icub3/FT/gazebo_icub_left_leg_ft.ini deleted file mode 100644 index 71e85df..0000000 --- a/iCub/conf_icub3/FT/gazebo_icub_left_leg_ft.ini +++ /dev/null @@ -1,2 +0,0 @@ -disableImplicitNetworkWrapper -yarpDeviceName icub_left_leg_ft diff --git a/iCub/conf_icub3/FT/gazebo_icub_right_arm_ft.ini b/iCub/conf_icub3/FT/gazebo_icub_right_arm_ft.ini deleted file mode 100644 index c411f9e..0000000 --- a/iCub/conf_icub3/FT/gazebo_icub_right_arm_ft.ini +++ /dev/null @@ -1,2 +0,0 @@ -disableImplicitNetworkWrapper -yarpDeviceName icub_right_arm_ft diff --git a/iCub/conf_icub3/FT/gazebo_icub_right_foot_front_ft.ini b/iCub/conf_icub3/FT/gazebo_icub_right_foot_front_ft.ini deleted file mode 100644 index 14f1281..0000000 --- a/iCub/conf_icub3/FT/gazebo_icub_right_foot_front_ft.ini +++ /dev/null @@ -1,2 +0,0 @@ -disableImplicitNetworkWrapper -yarpDeviceName icub_right_foot_front_ft diff --git a/iCub/conf_icub3/FT/gazebo_icub_right_foot_rear_ft.ini b/iCub/conf_icub3/FT/gazebo_icub_right_foot_rear_ft.ini deleted file mode 100644 index afd36ed..0000000 --- a/iCub/conf_icub3/FT/gazebo_icub_right_foot_rear_ft.ini +++ /dev/null @@ -1,2 +0,0 @@ -disableImplicitNetworkWrapper -yarpDeviceName icub_right_foot_rear_ft diff --git a/iCub/conf_icub3/FT/gazebo_icub_right_leg_ft.ini b/iCub/conf_icub3/FT/gazebo_icub_right_leg_ft.ini deleted file mode 100644 index 9f10c91..0000000 --- a/iCub/conf_icub3/FT/gazebo_icub_right_leg_ft.ini +++ /dev/null @@ -1,3 +0,0 @@ -disableImplicitNetworkWrapper -yarpDeviceName icub_right_leg_ft - diff --git a/iCub/conf_icub3/gazebo_icub_chest_inertial.ini b/iCub/conf_icub3/gazebo_icub_chest_inertial.ini deleted file mode 100644 index 1457c51..0000000 --- a/iCub/conf_icub3/gazebo_icub_chest_inertial.ini +++ /dev/null @@ -1,2 +0,0 @@ -disableImplicitNetworkWrapper -yarpDeviceName chest_inertial_hardware_device diff --git a/iCub/conf_icub3/gazebo_icub_depth_camera.ini b/iCub/conf_icub3/gazebo_icub_depth_camera.ini deleted file mode 100644 index c834e75..0000000 --- a/iCub/conf_icub3/gazebo_icub_depth_camera.ini +++ /dev/null @@ -1,8 +0,0 @@ -disableImplicitNetworkWrapper -yarpDeviceName icub_depth_camera - -[CAMERA_PARAM] -focalLengthX 570.3422241210938 -focalLengthY 570.3422241210938 -tangentialPointX 0.0 -tangentialPointY 0.0 diff --git a/iCub/conf_icub3/gazebo_icub_head_without_eyes_V2_7.ini b/iCub/conf_icub3/gazebo_icub_head_without_eyes_V2_7.ini deleted file mode 100644 index 7d085ce..0000000 --- a/iCub/conf_icub3/gazebo_icub_head_without_eyes_V2_7.ini +++ /dev/null @@ -1,50 +0,0 @@ -disableImplicitNetworkWrapper -yarpDeviceName head_hardware_device - -jointNames neck_pitch neck_roll neck_yaw - -min_stiffness 0.0 0.0 0.0 -max_stiffness 1000.0 1000.0 1000.0 -min_damping 0.0 0.0 0.0 -max_damping 100.0 100.0 100.0 - - -#PIDs: -# this information is used to set the PID values in simulation for GAZEBO, we need only the first three values -[POSITION_CONTROL] -controlUnits metric_units -controlLaw joint_pid_gazebo_v1 -kp 1.745 1.745 1.745 -kd 0.122 0.122 0.122 -ki 0.003 0.003 0.003 -maxInt 9999 9999 9999 -maxOutput 9999 9999 9999 -shift 0.0 0.0 0.0 -ko 0.0 0.0 0.0 -stictionUp 0.0 0.0 0.0 -stictionDwn 0.0 0.0 0.0 - -[VELOCITY_CONTROL] -velocityControlImplementationType integrator_and_position_pid -controlUnits metric_units -controlLaw joint_pid_gazebo_v1 -kp 8.726 8.726 8.726 -kd 0.035 0.035 0.035 -ki 0.003 0.003 0.003 -maxInt 9999 9999 9999 -maxOutput 9999 9999 9999 -shift 0.0 0.0 0.0 -ko 0.0 0.0 0.0 -stictionUp 0.0 0.0 0.0 -stictionDwn 0.0 0.0 0.0 - -[IMPEDANCE_CONTROL] -controlUnits metric_units -controlLaw joint_pid_gazebo_v1 -stiffness 0.0 0.0 0.0 -damping 0.0 0.0 0.0 - -[LIMITS] -jntPosMax 17.0 20.0 45.0 -jntPosMin -30.0 -20.0 -45.0 -jntVelMax 100.0 100.0 100.0 diff --git a/iCub/conf_icub3/gazebo_icub_inertial.ini b/iCub/conf_icub3/gazebo_icub_inertial.ini deleted file mode 100644 index 5202ca3..0000000 --- a/iCub/conf_icub3/gazebo_icub_inertial.ini +++ /dev/null @@ -1,2 +0,0 @@ -disableImplicitNetworkWrapper -yarpDeviceName head_inertial_hardware_device diff --git a/iCub/conf_icub3/gazebo_icub_left_arm_no_hand_for_no_hand_model.ini b/iCub/conf_icub3/gazebo_icub_left_arm_no_hand_for_no_hand_model.ini deleted file mode 100644 index 05bffe9..0000000 --- a/iCub/conf_icub3/gazebo_icub_left_arm_no_hand_for_no_hand_model.ini +++ /dev/null @@ -1,52 +0,0 @@ -disableImplicitNetworkWrapper -yarpDeviceName left_arm_hardware_device - -jointNames l_shoulder_pitch l_shoulder_roll l_shoulder_yaw l_elbow l_wrist_prosup l_wrist_pitch l_wrist_yaw - -min_stiffness 0.0 0.0 0.0 0.0 0.0 0.0 0.0 -max_stiffness 1000.0 1000.0 1000.0 1000.0 1000.0 1000.0 1000.0 -min_damping 0.0 0.0 0.0 0.0 0.0 0.0 0.0 -max_damping 100.0 100.0 100.0 100.0 100.0 100.0 100.0 - -[TRAJECTORY_GENERATION] -trajectory_type minimum_jerk - -#PIDs: -# this information is used to set the PID values in simulation for GAZEBO, we need only the first three values -[POSITION_CONTROL] -controlUnits metric_units -controlLaw joint_pid_gazebo_v1 -kp 5.745 5.745 5.745 1.745 1.745 1.745 1.745 -kd 0.174 0.174 0.174 0.174 0.174 0.174 0.0 -ki 0.174 0.174 0.174 0.174 0.174 0.174 0.0 -maxInt 9999 9999 9999 9999 9999 9999 9999 -maxOutput 9999 9999 9999 9999 9999 9999 9999 -shift 0.0 0.0 0.0 0.0 0.0 0.0 0.0 -ko 0.0 0.0 0.0 0.0 0.0 0.0 0.0 -stictionUp 0.0 0.0 0.0 0.0 0.0 0.0 0.0 -stictionDwn 0.0 0.0 0.0 0.0 0.0 0.0 0.0 - -[VELOCITY_CONTROL] -velocityControlImplementationType integrator_and_position_pid -controlUnits metric_units -controlLaw joint_pid_gazebo_v1 -kp 8.726 8.726 8.726 5.236 5.236 5.236 5.236 -kd 0.035 0.035 0.035 0.002 0.002 0.002 0.0 -ki 0.002 0.002 0.002 0.0 0.0 0.0 0.0 -maxInt 9999 9999 9999 9999 9999 9999 9999 -maxOutput 9999 9999 9999 9999 9999 9999 9999 -shift 0.0 0.0 0.0 0.0 0.0 0.0 0.0 -ko 0.0 0.0 0.0 0.0 0.0 0.0 0.0 -stictionUp 0.0 0.0 0.0 0.0 0.0 0.0 0.0 -stictionDwn 0.0 0.0 0.0 0.0 0.0 0.0 0.0 - -[IMPEDANCE_CONTROL] -controlUnits metric_units -controlLaw joint_pid_gazebo_v1 -stiffness 0.0 0.0 0.0 0.0 0.0 0.0 0.0 -damping 0.0 0.0 0.0 0.0 0.0 0.0 0.0 - -[LIMITS] -jntPosMax 20.0 160.0 80.0 75.0 88.0 25.0 35.0 -jntPosMin -175.0 12.0 -50.0 -3.0 -88.0 -70.0 -15.0 -jntVelMax 100.0 100.0 100.0 100.0 100.0 100.0 100.0 diff --git a/iCub/conf_icub3/gazebo_icub_left_leg.ini b/iCub/conf_icub3/gazebo_icub_left_leg.ini deleted file mode 100644 index 22f858f..0000000 --- a/iCub/conf_icub3/gazebo_icub_left_leg.ini +++ /dev/null @@ -1,52 +0,0 @@ -disableImplicitNetworkWrapper -yarpDeviceName left_leg_hardware_device - -jointNames l_hip_pitch l_hip_roll l_hip_yaw l_knee l_ankle_pitch l_ankle_roll - -min_stiffness 0.0 0.0 0.0 0.0 0.0 0.0 -max_stiffness 1000.0 1000.0 1000.0 1000.0 1000.0 1000.0 -min_damping 0.0 0.0 0.0 0.0 0.0 0.0 -max_damping 100.0 100.0 100.0 100.0 100.0 100.0 - -[TRAJECTORY_GENERATION] -trajectory_type minimum_jerk - -#PIDs: -# this information is used to set the PID values in simulation for GAZEBO, we need only the first three values -[POSITION_CONTROL] -controlUnits metric_units -controlLaw joint_pid_gazebo_v1 -kp 70.0 70.0 40.0 100.0 100.0 100.0 -kd 0.15 0.15 0.35 0.15 0.15 0.15 -ki 0.17 0.17 0.35 0.35 0.35 0.35 -maxInt 9999 9999 9999 9999 9999 9999 -maxOutput 9999 9999 9999 9999 9999 9999 -shift 0.0 0.0 0.0 0.0 0.0 0.0 -ko 0.0 0.0 0.0 0.0 0.0 0.0 -stictionUp 0.0 0.0 0.0 0.0 0.0 0.0 -stictionDwn 0.0 0.0 0.0 0.0 0.0 0.0 - -[VELOCITY_CONTROL] -velocityControlImplementationType integrator_and_position_pid -controlUnits metric_units -controlLaw joint_pid_gazebo_v1 -kp 8.726 8.726 8.726 8.726 8.726 8.726 -kd 0.349 0.349 0.349 0.349 0.349 0.349 -ki 0.176 0.176 0.176 0.176 0.176 0.176 -maxInt 9999 9999 9999 9999 9999 9999 -maxOutput 9999 9999 9999 9999 9999 9999 -shift 0.0 0.0 0.0 0.0 0.0 0.0 -ko 0.0 0.0 0.0 0.0 0.0 0.0 -stictionUp 0.0 0.0 0.0 0.0 0.0 0.0 -stictionDwn 0.0 0.0 0.0 0.0 0.0 0.0 - -[IMPEDANCE_CONTROL] -controlUnits metric_units -controlLaw joint_pid_gazebo_v1 -stiffness 0.0 0.0 0.0 0.0 0.0 0.0 -damping 0.0 0.0 0.0 0.0 0.0 0.0 - -[LIMITS] -jntPosMax 115.0 112.0 80.0 5.0 45.0 25.0 -jntPosMin -45.0 -10.0 -80.0 -70.0 -45.0 -25.0 -jntVelMax 100.0 100.0 100.0 100.0 100.0 100.0 diff --git a/iCub/conf_icub3/gazebo_icub_rgb_camera.ini b/iCub/conf_icub3/gazebo_icub_rgb_camera.ini deleted file mode 100644 index df4d018..0000000 --- a/iCub/conf_icub3/gazebo_icub_rgb_camera.ini +++ /dev/null @@ -1,4 +0,0 @@ -disableImplicitNetworkWrapper -yarpDeviceName icub_rgb_camera -framerate 30 -stamp 1 \ No newline at end of file diff --git a/iCub/conf_icub3/gazebo_icub_right_arm_no_hand_for_no_hand_model.ini b/iCub/conf_icub3/gazebo_icub_right_arm_no_hand_for_no_hand_model.ini deleted file mode 100644 index 74cb297..0000000 --- a/iCub/conf_icub3/gazebo_icub_right_arm_no_hand_for_no_hand_model.ini +++ /dev/null @@ -1,53 +0,0 @@ -disableImplicitNetworkWrapper -yarpDeviceName right_arm_hardware_device - -jointNames r_shoulder_pitch r_shoulder_roll r_shoulder_yaw r_elbow r_wrist_prosup r_wrist_pitch r_wrist_yaw -name right_arm_no_hand - -min_stiffness 0.0 0.0 0.0 0.0 0.0 0.0 0.0 -max_stiffness 1000.0 1000.0 1000.0 1000.0 1000.0 1000.0 1000.0 -min_damping 0.0 0.0 0.0 0.0 0.0 0.0 0.0 -max_damping 100.0 100.0 100.0 100.0 100.0 100.0 100.0 - -[TRAJECTORY_GENERATION] -trajectory_type minimum_jerk - -#PIDs: -# this information is used to set the PID values in simulation for GAZEBO, we need only the first three values -[POSITION_CONTROL] -controlUnits metric_units -controlLaw joint_pid_gazebo_v1 -kp 5.745 5.745 5.745 1.745 1.745 1.745 1.745 -kd 0.174 0.174 0.174 0.174 0.174 0.174 0.0 -ki 0.174 0.174 0.174 0.174 0.174 0.174 0.0 -maxInt 9999 9999 9999 9999 9999 9999 9999 -maxOutput 9999 9999 9999 9999 9999 9999 9999 -shift 0.0 0.0 0.0 0.0 0.0 0.0 0.0 -ko 0.0 0.0 0.0 0.0 0.0 0.0 0.0 -stictionUp 0.0 0.0 0.0 0.0 0.0 0.0 0.0 -stictionDwn 0.0 0.0 0.0 0.0 0.0 0.0 0.0 - -[VELOCITY_CONTROL] -velocityControlImplementationType integrator_and_position_pid -controlUnits metric_units -controlLaw joint_pid_gazebo_v1 -kp 8.726 8.726 8.726 5.236 5.236 5.236 5.236 -kd 0.035 0.035 0.035 0.002 0.002 0.002 0.0 -ki 0.002 0.002 0.002 0.0 0.0 0.0 0.0 -maxInt 9999 9999 9999 9999 9999 9999 9999 -maxOutput 9999 9999 9999 9999 9999 9999 9999 -shift 0.0 0.0 0.0 0.0 0.0 0.0 0.0 -ko 0.0 0.0 0.0 0.0 0.0 0.0 0.0 -stictionUp 0.0 0.0 0.0 0.0 0.0 0.0 0.0 -stictionDwn 0.0 0.0 0.0 0.0 0.0 0.0 0.0 - -[IMPEDANCE_CONTROL] -controlUnits metric_units -controlLaw joint_pid_gazebo_v1 -stiffness 0.0 0.0 0.0 0.0 0.0 0.0 0.0 -damping 0.0 0.0 0.0 0.0 0.0 0.0 0.0 - -[LIMITS] -jntPosMax 20.0 160.0 80.0 75.0 88.0 25.0 35.0 -jntPosMin -175.0 12.0 -50.0 -3.0 -88.0 -70.0 -15.0 -jntVelMax 100.0 100.0 100.0 100.0 100.0 100.0 100.0 diff --git a/iCub/conf_icub3/gazebo_icub_right_leg.ini b/iCub/conf_icub3/gazebo_icub_right_leg.ini deleted file mode 100644 index 426cec4..0000000 --- a/iCub/conf_icub3/gazebo_icub_right_leg.ini +++ /dev/null @@ -1,52 +0,0 @@ -disableImplicitNetworkWrapper -yarpDeviceName right_leg_hardware_device - -jointNames r_hip_pitch r_hip_roll r_hip_yaw r_knee r_ankle_pitch r_ankle_roll - -min_stiffness 0.0 0.0 0.0 0.0 0.0 0.0 -max_stiffness 1000.0 1000.0 1000.0 1000.0 1000.0 1000.0 -min_damping 0.0 0.0 0.0 0.0 0.0 0.0 -max_damping 100.0 100.0 100.0 100.0 100.0 100.0 - -[TRAJECTORY_GENERATION] -trajectory_type minimum_jerk - -#PIDs: -# this information is used to set the PID values in simulation for GAZEBO, we need only the first three values -[POSITION_CONTROL] -controlUnits metric_units -controlLaw joint_pid_gazebo_v1 -kp 70.0 70.0 40.0 100.0 100.0 100.0 -kd 0.15 0.15 0.35 0.15 0.15 0.15 -ki 0.17 0.17 0.35 0.35 0.35 0.35 -maxInt 9999 9999 9999 9999 9999 9999 -maxOutput 9999 9999 9999 9999 9999 9999 -shift 0.0 0.0 0.0 0.0 0.0 0.0 -ko 0.0 0.0 0.0 0.0 0.0 0.0 -stictionUp 0.0 0.0 0.0 0.0 0.0 0.0 -stictionDwn 0.0 0.0 0.0 0.0 0.0 0.0 - -[VELOCITY_CONTROL] -velocityControlImplementationType integrator_and_position_pid -controlUnits metric_units -controlLaw joint_pid_gazebo_v1 -kp 8.726 8.726 8.726 8.726 8.726 8.726 -kd 0.349 0.349 0.349 0.349 0.349 0.349 -ki 0.176 0.176 0.176 0.176 0.176 0.176 -maxInt 9999 9999 9999 9999 9999 9999 -maxOutput 9999 9999 9999 9999 9999 9999 -shift 0.0 0.0 0.0 0.0 0.0 0.0 -ko 0.0 0.0 0.0 0.0 0.0 0.0 -stictionUp 0.0 0.0 0.0 0.0 0.0 0.0 -stictionDwn 0.0 0.0 0.0 0.0 0.0 0.0 - -[IMPEDANCE_CONTROL] -controlUnits metric_units -controlLaw joint_pid_gazebo_v1 -stiffness 0.0 0.0 0.0 0.0 0.0 0.0 -damping 0.0 0.0 0.0 0.0 0.0 0.0 - -[LIMITS] -jntPosMax 115.0 112.0 80.0 5.0 45.0 25.0 -jntPosMin -45.0 -10.0 -80.0 -70.0 -45.0 -25.0 -jntVelMax 100.0 100.0 100.0 100.0 100.0 100.0 diff --git a/iCub/conf_icub3/gazebo_icub_torso.ini b/iCub/conf_icub3/gazebo_icub_torso.ini deleted file mode 100644 index b019b70..0000000 --- a/iCub/conf_icub3/gazebo_icub_torso.ini +++ /dev/null @@ -1,52 +0,0 @@ -disableImplicitNetworkWrapper -yarpDeviceName torso_hardware_device -jointNames torso_yaw torso_pitch torso_roll - -min_stiffness 0.0 0.0 0.0 -max_stiffness 1000.0 1000.0 1000.0 -min_damping 0.0 0.0 0.0 -max_damping 100.0 100.0 100.0 - - -[TRAJECTORY_GENERATION] -trajectory_type minimum_jerk - -#PIDs: -# this information is used to set the PID values in simulation for GAZEBO, we need only the first three values -[POSITION_CONTROL] -controlUnits metric_units -controlLaw joint_pid_gazebo_v1 -kp 70.0 70.0 70.0 -kd 0.15 0.15 0.15 -ki 0.17 0.17 0.17 -maxInt 9999 9999 9999 -maxOutput 9999 9999 9999 -shift 0.0 0.0 0.0 -ko 0.0 0.0 0.0 -stictionUp 0.0 0.0 0.0 -stictionDwn 0.0 0.0 0.0 - -[VELOCITY_CONTROL] -velocityControlImplementationType integrator_and_position_pid -controlUnits metric_units -controlLaw joint_pid_gazebo_v1 -kp 8.726 8.726 8.726 -kd 0.035 0.035 0.035 -ki 0.002 0.002 0.002 -maxInt 9999 9999 9999 -maxOutput 9999 9999 9999 -shift 0.0 0.0 0.0 -ko 0.0 0.0 0.0 -stictionUp 0.0 0.0 0.0 -stictionDwn 0.0 0.0 0.0 - -[IMPEDANCE_CONTROL] -controlUnits metric_units -controlLaw joint_pid_gazebo_v1 -stiffness 0.0 0.0 0.0 -damping 0.0 0.0 0.0 - -[LIMITS] -jntPosMax 43.0 45.0 23.0 -jntPosMin -43.0 -18.0 -23.0 -jntVelMax 100.0 100.0 100.0 diff --git a/iCub/conf_icub3/icub.xml b/iCub/conf_icub3/icub.xml deleted file mode 100644 index dc73585..0000000 --- a/iCub/conf_icub3/icub.xml +++ /dev/null @@ -1,33 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/iCub/conf_icub3/icub_ROS2.xml b/iCub/conf_icub3/icub_ROS2.xml deleted file mode 100644 index d2c677c..0000000 --- a/iCub/conf_icub3/icub_ROS2.xml +++ /dev/null @@ -1,45 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/iCub/conf_icub3/wrappers/FT/left_arm-FT_nws_ros2.xml b/iCub/conf_icub3/wrappers/FT/left_arm-FT_nws_ros2.xml deleted file mode 100644 index 52d6853..0000000 --- a/iCub/conf_icub3/wrappers/FT/left_arm-FT_nws_ros2.xml +++ /dev/null @@ -1,18 +0,0 @@ - - - - - - /left_arm_ft - icub_left_arm_ft - 0.1 - - - - - icub_left_arm_ft - - - - - \ No newline at end of file diff --git a/iCub/conf_icub3/wrappers/FT/left_arm-FT_wrapper.xml b/iCub/conf_icub3/wrappers/FT/left_arm-FT_wrapper.xml deleted file mode 100644 index b9b6320..0000000 --- a/iCub/conf_icub3/wrappers/FT/left_arm-FT_wrapper.xml +++ /dev/null @@ -1,17 +0,0 @@ - - - - - - 10 - ${portprefix}/left_arm/FT - - - - icub_left_arm_ft - - - - - - diff --git a/iCub/conf_icub3/wrappers/FT/left_foot-FT_nws_ros2.xml b/iCub/conf_icub3/wrappers/FT/left_foot-FT_nws_ros2.xml deleted file mode 100644 index 0dfcd71..0000000 --- a/iCub/conf_icub3/wrappers/FT/left_foot-FT_nws_ros2.xml +++ /dev/null @@ -1,18 +0,0 @@ - - - - - - /left_foot_ft - icub_left_foot_ft - 0.1 - - - - - left_foot-FT_remapper - - - - - \ No newline at end of file diff --git a/iCub/conf_icub3/wrappers/FT/left_leg-FT_remapper.xml b/iCub/conf_icub3/wrappers/FT/left_leg-FT_remapper.xml deleted file mode 100644 index 73bc0fe..0000000 --- a/iCub/conf_icub3/wrappers/FT/left_leg-FT_remapper.xml +++ /dev/null @@ -1,18 +0,0 @@ - - - - - - - (l_leg_ft l_foot_rear_ft l_foot_front_ft) - - - - icub_left_leg_ft - icub_left_foot_rear_ft - icub_left_foot_front_ft - - - - - \ No newline at end of file diff --git a/iCub/conf_icub3/wrappers/FT/left_leg-FT_wrapper.xml b/iCub/conf_icub3/wrappers/FT/left_leg-FT_wrapper.xml deleted file mode 100644 index 5521247..0000000 --- a/iCub/conf_icub3/wrappers/FT/left_leg-FT_wrapper.xml +++ /dev/null @@ -1,16 +0,0 @@ - - - - - - 10 - ${portprefix}/left_leg/FT - - - - left_leg-FT_remapper - - - - - diff --git a/iCub/conf_icub3/wrappers/FT/left_leg_hip-FT_nws_ros2.xml b/iCub/conf_icub3/wrappers/FT/left_leg_hip-FT_nws_ros2.xml deleted file mode 100644 index ca2c18e..0000000 --- a/iCub/conf_icub3/wrappers/FT/left_leg_hip-FT_nws_ros2.xml +++ /dev/null @@ -1,18 +0,0 @@ - - - - - - /left_leg_hip_ft - icub_left_leg_hip_ft - 0.1 - - - - - icub_left_leg_ft - - - - - \ No newline at end of file diff --git a/iCub/conf_icub3/wrappers/FT/right_arm-FT_nws_ros2.xml b/iCub/conf_icub3/wrappers/FT/right_arm-FT_nws_ros2.xml deleted file mode 100644 index ae7dbe6..0000000 --- a/iCub/conf_icub3/wrappers/FT/right_arm-FT_nws_ros2.xml +++ /dev/null @@ -1,18 +0,0 @@ - - - - - - /right_arm_ft - icub_right_arm_ft - 0.1 - - - - - icub_right_arm_ft - - - - - \ No newline at end of file diff --git a/iCub/conf_icub3/wrappers/FT/right_arm-FT_wrapper.xml b/iCub/conf_icub3/wrappers/FT/right_arm-FT_wrapper.xml deleted file mode 100644 index 940f08d..0000000 --- a/iCub/conf_icub3/wrappers/FT/right_arm-FT_wrapper.xml +++ /dev/null @@ -1,17 +0,0 @@ - - - - - - 10 - ${portprefix}/right_arm/FT - - - - icub_right_arm_ft - - - - - - diff --git a/iCub/conf_icub3/wrappers/FT/right_foot-FT_nws_ros2.xml b/iCub/conf_icub3/wrappers/FT/right_foot-FT_nws_ros2.xml deleted file mode 100644 index 62edc2e..0000000 --- a/iCub/conf_icub3/wrappers/FT/right_foot-FT_nws_ros2.xml +++ /dev/null @@ -1,18 +0,0 @@ - - - - - - /right_foot_ft - icub_right_foot_ft - 0.1 - - - - - right_foot-FT_remapper - - - - - \ No newline at end of file diff --git a/iCub/conf_icub3/wrappers/FT/right_leg-FT_remapper.xml b/iCub/conf_icub3/wrappers/FT/right_leg-FT_remapper.xml deleted file mode 100644 index b60df29..0000000 --- a/iCub/conf_icub3/wrappers/FT/right_leg-FT_remapper.xml +++ /dev/null @@ -1,18 +0,0 @@ - - - - - - - (r_leg_ft r_foot_rear_ft r_foot_front_ft) - - - - icub_right_leg_ft - icub_right_foot_rear_ft - icub_right_foot_front_ft - - - - - \ No newline at end of file diff --git a/iCub/conf_icub3/wrappers/FT/right_leg-FT_wrapper.xml b/iCub/conf_icub3/wrappers/FT/right_leg-FT_wrapper.xml deleted file mode 100644 index c75fc11..0000000 --- a/iCub/conf_icub3/wrappers/FT/right_leg-FT_wrapper.xml +++ /dev/null @@ -1,16 +0,0 @@ - - - - - - 10 - ${portprefix}/right_leg/FT - - - - right_leg-FT_remapper - - - - - diff --git a/iCub/conf_icub3/wrappers/FT/right_leg_hip-FT_nws_ros2.xml b/iCub/conf_icub3/wrappers/FT/right_leg_hip-FT_nws_ros2.xml deleted file mode 100644 index 26f9287..0000000 --- a/iCub/conf_icub3/wrappers/FT/right_leg_hip-FT_nws_ros2.xml +++ /dev/null @@ -1,18 +0,0 @@ - - - - - - /right_leg_hip_ft - icub_right_leg_hip_ft - 0.1 - - - - - icub_right_leg_ft - - - - - \ No newline at end of file diff --git a/iCub/conf_icub3/wrappers/inertials/head-inertials_wrapper.xml b/iCub/conf_icub3/wrappers/inertials/head-inertials_wrapper.xml deleted file mode 100644 index 874ea5d..0000000 --- a/iCub/conf_icub3/wrappers/inertials/head-inertials_wrapper.xml +++ /dev/null @@ -1,17 +0,0 @@ - - - - - - 10 - ${portprefix}/head/inertials - - - - - head_inertial_hardware_device - - - - - diff --git a/iCub/conf_icub3/wrappers/motorControl/alljoints-mc_nws_ros2.xml b/iCub/conf_icub3/wrappers/motorControl/alljoints-mc_nws_ros2.xml deleted file mode 100644 index be79410..0000000 --- a/iCub/conf_icub3/wrappers/motorControl/alljoints-mc_nws_ros2.xml +++ /dev/null @@ -1,11 +0,0 @@ - - - - - icub_cb_node - /joint_states - - alljoints-mc_remapper - - - diff --git a/iCub/conf_icub3/wrappers/motorControl/alljoints-mc_remapper.xml b/iCub/conf_icub3/wrappers/motorControl/alljoints-mc_remapper.xml deleted file mode 100644 index 9c9e1b9..0000000 --- a/iCub/conf_icub3/wrappers/motorControl/alljoints-mc_remapper.xml +++ /dev/null @@ -1,25 +0,0 @@ - - - - - - ( 0 2 0 2 ) - ( 3 9 0 6 ) - ( 10 16 0 6 ) - ( 17 19 0 2 ) - ( 20 25 0 5 ) - ( 26 31 0 5 ) - - 32 - - - head-mc_remapper - left_arm-mc_remapper - right_arm-mc_remapper - torso-mc_remapper - left_leg-mc_remapper - right_leg-mc_remapper - - - - \ No newline at end of file diff --git a/iCub/conf_icub3/wrappers/motorControl/head-mc_remapper.xml b/iCub/conf_icub3/wrappers/motorControl/head-mc_remapper.xml deleted file mode 100644 index 4264356..0000000 --- a/iCub/conf_icub3/wrappers/motorControl/head-mc_remapper.xml +++ /dev/null @@ -1,15 +0,0 @@ - - - - - - ( 0 2 0 2 ) - - 3 - - - head_hardware_device - - - - diff --git a/iCub/conf_icub3/wrappers/motorControl/head-mc_wrapper.xml b/iCub/conf_icub3/wrappers/motorControl/head-mc_wrapper.xml deleted file mode 100644 index e697235..0000000 --- a/iCub/conf_icub3/wrappers/motorControl/head-mc_wrapper.xml +++ /dev/null @@ -1,10 +0,0 @@ - - - - - ${portprefix}/head - - head-mc_remapper - - - diff --git a/iCub/conf_icub3/wrappers/motorControl/left_arm-mc_remapper.xml b/iCub/conf_icub3/wrappers/motorControl/left_arm-mc_remapper.xml deleted file mode 100644 index 6bcd16a..0000000 --- a/iCub/conf_icub3/wrappers/motorControl/left_arm-mc_remapper.xml +++ /dev/null @@ -1,15 +0,0 @@ - - - - - - ( 0 6 0 6 ) - - 7 - - - left_arm_hardware_device - - - - diff --git a/iCub/conf_icub3/wrappers/motorControl/left_arm-mc_wrapper.xml b/iCub/conf_icub3/wrappers/motorControl/left_arm-mc_wrapper.xml deleted file mode 100644 index 759c37c..0000000 --- a/iCub/conf_icub3/wrappers/motorControl/left_arm-mc_wrapper.xml +++ /dev/null @@ -1,11 +0,0 @@ - - - - - ${portprefix}/left_arm - 0.01 - - left_arm-mc_remapper - - - diff --git a/iCub/conf_icub3/wrappers/motorControl/left_leg-mc_remapper.xml b/iCub/conf_icub3/wrappers/motorControl/left_leg-mc_remapper.xml deleted file mode 100644 index 0545961..0000000 --- a/iCub/conf_icub3/wrappers/motorControl/left_leg-mc_remapper.xml +++ /dev/null @@ -1,14 +0,0 @@ - - - - - ( 0 5 0 5 ) - - 6 - - - left_leg_hardware_device - - - - diff --git a/iCub/conf_icub3/wrappers/motorControl/left_leg-mc_wrapper.xml b/iCub/conf_icub3/wrappers/motorControl/left_leg-mc_wrapper.xml deleted file mode 100644 index d8ac832..0000000 --- a/iCub/conf_icub3/wrappers/motorControl/left_leg-mc_wrapper.xml +++ /dev/null @@ -1,11 +0,0 @@ - - - - - ${portprefix}/left_leg - 0.01 - - left_leg-mc_remapper - - - diff --git a/iCub/conf_icub3/wrappers/motorControl/right_arm-mc_remapper.xml b/iCub/conf_icub3/wrappers/motorControl/right_arm-mc_remapper.xml deleted file mode 100644 index 37cd508..0000000 --- a/iCub/conf_icub3/wrappers/motorControl/right_arm-mc_remapper.xml +++ /dev/null @@ -1,15 +0,0 @@ - - - - - - ( 0 6 0 6 ) - - 7 - - - right_arm_hardware_device - - - - diff --git a/iCub/conf_icub3/wrappers/motorControl/right_arm-mc_wrapper.xml b/iCub/conf_icub3/wrappers/motorControl/right_arm-mc_wrapper.xml deleted file mode 100644 index 8177a14..0000000 --- a/iCub/conf_icub3/wrappers/motorControl/right_arm-mc_wrapper.xml +++ /dev/null @@ -1,11 +0,0 @@ - - - - - ${portprefix}/right_arm - 0.01 - - right_arm-mc_remapper - - - diff --git a/iCub/conf_icub3/wrappers/motorControl/right_leg-mc_remapper.xml b/iCub/conf_icub3/wrappers/motorControl/right_leg-mc_remapper.xml deleted file mode 100644 index d1fd901..0000000 --- a/iCub/conf_icub3/wrappers/motorControl/right_leg-mc_remapper.xml +++ /dev/null @@ -1,14 +0,0 @@ - - - - - ( 0 5 0 5 ) - - 6 - - - right_leg_hardware_device - - - - diff --git a/iCub/conf_icub3/wrappers/motorControl/right_leg-mc_wrapper.xml b/iCub/conf_icub3/wrappers/motorControl/right_leg-mc_wrapper.xml deleted file mode 100644 index b2d952d..0000000 --- a/iCub/conf_icub3/wrappers/motorControl/right_leg-mc_wrapper.xml +++ /dev/null @@ -1,11 +0,0 @@ - - - - - ${portprefix}/right_leg - 0.01 - - right_leg-mc_remapper - - - diff --git a/iCub/conf_icub3/wrappers/motorControl/torso-mc_remapper.xml b/iCub/conf_icub3/wrappers/motorControl/torso-mc_remapper.xml deleted file mode 100644 index d4aabf0..0000000 --- a/iCub/conf_icub3/wrappers/motorControl/torso-mc_remapper.xml +++ /dev/null @@ -1,15 +0,0 @@ - - - - - - ( 0 2 0 2 ) - - 3 - - - torso_hardware_device - - - - diff --git a/iCub/conf_icub3/wrappers/motorControl/torso-mc_wrapper.xml b/iCub/conf_icub3/wrappers/motorControl/torso-mc_wrapper.xml deleted file mode 100644 index 6d1e285..0000000 --- a/iCub/conf_icub3/wrappers/motorControl/torso-mc_wrapper.xml +++ /dev/null @@ -1,11 +0,0 @@ - - - - - ${portprefix}/torso - 0.01 - - torso-mc_remapper - - - diff --git a/iCub/meshes/simmechanics/sim_head_head_prt.stl b/iCub/meshes/simmechanics/sim_head_head_prt.stl deleted file mode 100644 index 7c10eb8..0000000 Binary files a/iCub/meshes/simmechanics/sim_head_head_prt.stl and /dev/null differ diff --git a/iCub/meshes/simmechanics/sim_head_neck_1_prt.stl b/iCub/meshes/simmechanics/sim_head_neck_1_prt.stl deleted file mode 100644 index 2313215..0000000 Binary files a/iCub/meshes/simmechanics/sim_head_neck_1_prt.stl and /dev/null differ diff --git a/iCub/meshes/simmechanics/sim_head_neck_2_prt.stl b/iCub/meshes/simmechanics/sim_head_neck_2_prt.stl deleted file mode 100644 index 3fd89c1..0000000 Binary files a/iCub/meshes/simmechanics/sim_head_neck_2_prt.stl and /dev/null differ diff --git a/iCub/meshes/simmechanics/sim_head_neck_3_prt.stl b/iCub/meshes/simmechanics/sim_head_neck_3_prt.stl deleted file mode 100644 index c03ef0e..0000000 Binary files a/iCub/meshes/simmechanics/sim_head_neck_3_prt.stl and /dev/null differ diff --git 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- 0.0 0.0 0.0 3.141592653589793 -0.0 2.6179934742070086 - - model://iCub/conf_icub3/FT/gazebo_icub_left_leg_ft.ini - - - - - - - sensor - child_to_parent - - - - - - 1 - 100 - - sensor - parent_to_child - - 0.0 0.0 0.0 0.0 -0.0 -2.094395210586932 - - model://iCub/conf_icub3/FT/gazebo_icub_left_foot_front_ft.ini - - - - - - - sensor - parent_to_child - - - - - - 1 - 100 - - sensor - parent_to_child - - 0.0 0.0 0.0 0.0 -0.0 -2.094395210586932 - - model://iCub/conf_icub3/FT/gazebo_icub_left_foot_rear_ft.ini - - - - - - - sensor - parent_to_child - - - - - - 1 - 100 - - sensor - child_to_parent - - 0.0 0.0 0.0 3.141592653589793 0.0 -2.6179934742070086 - - model://iCub/conf_icub3/FT/gazebo_icub_right_leg_ft.ini - - - - - - - sensor - child_to_parent - - - - - - 1 - 100 - - sensor - parent_to_child - - 0.0 0.0 0.0 0.0 -0.0 -2.094395210586932 - - model://iCub/conf_icub3/FT/gazebo_icub_right_foot_front_ft.ini - - - - - - - sensor - parent_to_child - - - - - - 1 - 100 - - sensor - parent_to_child - - 0.0 0.0 0.0 0.0 -0.0 -2.094395210586932 - - model://iCub/conf_icub3/FT/gazebo_icub_right_foot_rear_ft.ini - - - - - - - sensor - parent_to_child - - - - - - 1 - 100 - 0.0035000000000000005 0.0055 0.10133400000000001 3.141592653589793 -0.0 -1.5707963267948966 - - model://iCub/conf_icub3/gazebo_icub_inertial.ini - - - - - - - - - - 1 - 30 - 0.0894115 0.0175 0.09929950000000001 -1.5707963267948968 -0.0 -1.5707963267948968 - - 0 0 0 -1.57079 -1.57079 3.14159 - 1.57079 - - 0 - 0 - 0 - 0 - 0 -
319.5 239.5
- - - 640 - 480 - R8G8B8 - - - 0.175 - 3000 - - - false - - model://iCub/conf_icub3/gazebo_icub_depth_camera.ini - - - - - - - - - - 1 - 30 - 0.0894115 -0.0115 0.09929950000000001 -1.5707963267948968 -0.0 -1.5707963267948968 - - 0 0 0 -1.57079 -1.57079 3.14159 - 1.2217 - - 0 - 0 - 0 - 0 - 0 -
319.5 239.5
- - - 640 - 480 - R8G8B8 - - - 0.02 - 3000 - - - false - - model://iCub/conf_icub3/gazebo_icub_rgb_camera.ini - - - - - - - - - - 1 - 100 - 0.0894115 0.0175 0.09929950000000001 -1.5707963267948968 -0.0 -1.5707963267948968 - - model://iCub/conf_icub3/gazebo_icub_chest_inertial.ini - - - - - - - - - 0.0 0.0 0.64 0.0 0.0 0.0 - - diff --git a/iCub_manual/conf_manual/iCubGazeboV3_visuomanip/gazebo_icub_head.ini b/iCub_manual/conf_manual/iCubGazeboV3_visuomanip/gazebo_icub_head.ini deleted file mode 100644 index 135d491..0000000 --- a/iCub_manual/conf_manual/iCubGazeboV3_visuomanip/gazebo_icub_head.ini +++ /dev/null @@ -1,76 +0,0 @@ -[include "gazebo_icub_robotname.ini"] - -[WRAPPER] -# name of the wrapper device to be instatiated by the factory -device controlboardwrapper2 -# rate of output streaming from ports in ms -period 10 -# output port name (a leading '/' will be added by code) -name /${gazeboYarpPluginsRobotName}/head -# Total number of joints -joints 6 -# list of MotorControl device to use -networks ( head ) -# for each network specify the joint map -head 0 5 0 5 -# Verbose output (on if present, off if commented out) -#verbose - -[TRAJECTORY_GENERATION] -trajectory_type minimum_jerk - -# Specify configuration of MotorControl devices -[head] -# name of the device to be instatiated by the factory -device gazebo_controlboard -#jointNames list -jointNames neck_pitch neck_roll neck_yaw eyes_tilt l_eye_pan_joint r_eye_pan_joint -name head - -min_stiffness 0.0 0.0 0.0 0.0 0.0 0.0 -max_stiffness 1000.0 1000.0 1000.0 1000.0 1000.0 1000.0 -min_damping 0.0 0.0 0.0 0.0 0.0 0.0 -max_damping 100.0 100.0 100.0 100.0 100.0 100.0 - -[COUPLING] -eyes_vergence_control (4 5) (eyes_version eyes_vergence) (-30.0 0.0) (30.0 50.0) - -#PIDs: -# this information is used to set the PID values in simulation for GAZEBO, we need only the first three values -[POSITION_CONTROL] -controlUnits metric_units -controlLaw joint_pid_gazebo_v1 -kp 1.745 1.745 1.745 0.1 0.1 0.1 -kd 0.122 0.122 0.122 0.001 0.001 0.001 -ki 0.003 0.003 0.003 0.0 0.0 0.0 -maxInt 9999 9999 9999 9999 9999 9999 -maxOutput 9999 9999 9999 9999 9999 9999 -shift 0.0 0.0 0.0 0.0 0.0 0.0 -ko 0.0 0.0 0.0 0.0 0.0 0.0 -stictionUp 0.0 0.0 0.0 0.0 0.0 0.0 -stictionDwn 0.0 0.0 0.0 0.0 0.0 0.0 - -[VELOCITY_CONTROL] -velocityControlImplementationType integrator_and_position_pid -controlUnits metric_units -controlLaw joint_pid_gazebo_v1 -kp 8.726 8.726 8.726 0.01 0.01 0.01 -kd 0.035 0.035 0.035 0.0 0.0 0.0 -ki 0.003 0.003 0.003 0.0 0.0 0.0 -maxInt 9999 9999 9999 9999 9999 9999 -maxOutput 9999 9999 9999 9999 9999 9999 -shift 0.0 0.0 0.0 0.0 0.0 0.0 -ko 0.0 0.0 0.0 0.0 0.0 0.0 -stictionUp 0.0 0.0 0.0 0.0 0.0 0.0 -stictionDwn 0.0 0.0 0.0 0.0 0.0 0.0 - -[IMPEDANCE_CONTROL] -controlUnits metric_units -controlLaw joint_pid_gazebo_v1 -stiffness 0.0 0.0 0.0 0.0 0.0 0.0 -damping 0.0 0.0 0.0 0.0 0.0 0.0 - -[LIMITS] -jntPosMax 17.0 20.0 45.0 30.0 55.0 30.0 -jntPosMin -30.0 -20.0 -45.0 -30.0 -30.0 -55.0 -jntVelMax 100.0 100.0 100.0 100.0 100.0 100.0 diff --git a/iCub_manual/conf_manual/iCubGazeboV3_visuomanip/gazebo_icub_left_arm_no_hand.ini b/iCub_manual/conf_manual/iCubGazeboV3_visuomanip/gazebo_icub_left_arm_no_hand.ini deleted file mode 100644 index 4c761ba..0000000 --- a/iCub_manual/conf_manual/iCubGazeboV3_visuomanip/gazebo_icub_left_arm_no_hand.ini +++ /dev/null @@ -1,74 +0,0 @@ -[include "gazebo_icub_robotname.ini"] - -[WRAPPER] -# name of the wrapper device to be instatiated by the factory -device controlboardwrapper2 -# rate of output streaming from ports in ms -period 10 -# output port name (a leading '/' will be added by code) -name /${gazeboYarpPluginsRobotName}/left_arm_no_hand -# Total number of joints -joints 7 -# list of MotorControl device to use -networks ( left_arm_no_hand ) -# for each network specify the joint map -left_arm_no_hand 0 6 0 6 - -# Verbose output (on if present, off if commented out) -#verbose - -[TRAJECTORY_GENERATION] -trajectory_type minimum_jerk - -# Specify configuration of MotorControl devices -[left_arm_no_hand] -# name of the device to be instatiated by the factory -device gazebo_controlboard -#jointNames list -jointNames l_shoulder_pitch l_shoulder_roll l_shoulder_yaw l_elbow l_wrist_prosup l_wrist_pitch l_wrist_yaw -name left_arm_no_hand - -min_stiffness 0.0 0.0 0.0 0.0 0.0 0.0 0.0 -max_stiffness 1000.0 1000.0 1000.0 1000.0 1000.0 1000.0 1000.0 -min_damping 0.0 0.0 0.0 0.0 0.0 0.0 0.0 -max_damping 100.0 100.0 100.0 100.0 100.0 100.0 100.0 - -#PIDs: -# this information is used to set the PID values in simulation for GAZEBO, we need only the first three values -[POSITION_CONTROL] -controlUnits metric_units -controlLaw joint_pid_gazebo_v1 -kp 1.745 1.745 1.745 1.745 1.745 1.745 1.745 -kd 0.174 0.174 0.174 0.174 0.174 0.0 0.0 -ki 0.174 0.174 0.174 0.174 0.174 0.174 0.0 -maxInt 9999 9999 9999 9999 9999 9999 9999 -maxOutput 9999 9999 9999 9999 9999 9999 9999 -shift 0.0 0.0 0.0 0.0 0.0 0.0 0.0 -ko 0.0 0.0 0.0 0.0 0.0 0.0 0.0 -stictionUp 0.0 0.0 0.0 0.0 0.0 0.0 0.0 -stictionDwn 0.0 0.0 0.0 0.0 0.0 0.0 0.0 - -[VELOCITY_CONTROL] -velocityControlImplementationType integrator_and_position_pid -controlUnits metric_units -controlLaw joint_pid_gazebo_v1 -kp 8.726 8.726 8.726 5.236 5.236 5.236 5.236 -kd 0.035 0.035 0.035 0.002 0.002 0.002 0.0 -ki 0.002 0.002 0.002 0.0 0.0 0.0 0.0 -maxInt 9999 9999 9999 9999 9999 9999 9999 -maxOutput 9999 9999 9999 9999 9999 9999 9999 -shift 0.0 0.0 0.0 0.0 0.0 0.0 0.0 -ko 0.0 0.0 0.0 0.0 0.0 0.0 0.0 -stictionUp 0.0 0.0 0.0 0.0 0.0 0.0 0.0 -stictionDwn 0.0 0.0 0.0 0.0 0.0 0.0 0.0 - -[IMPEDANCE_CONTROL] -controlUnits metric_units -controlLaw joint_pid_gazebo_v1 -stiffness 0.0 0.0 0.0 0.0 0.0 0.0 0.0 -damping 0.0 0.0 0.0 0.0 0.0 0.0 0.0 - -[LIMITS] -jntPosMax 10.0 160.0 80.0 106.0 60.0 25.0 25.0 -jntPosMin -95.0 0.0 -37.0 15.0 -60.0 -80.0 -20.0 -jntVelMax 100.0 100.0 100.0 100.0 100.0 100.0 100.0 diff --git a/iCub_manual/conf_manual/iCubGazeboV3_visuomanip/gazebo_icub_left_depth_camera.ini b/iCub_manual/conf_manual/iCubGazeboV3_visuomanip/gazebo_icub_left_depth_camera.ini deleted file mode 100644 index 2c51540..0000000 --- a/iCub_manual/conf_manual/iCubGazeboV3_visuomanip/gazebo_icub_left_depth_camera.ini +++ /dev/null @@ -1,11 +0,0 @@ -[include "gazebo_icub_robotname.ini"] - -device RGBDSensor_nws_yarp -period 30 -name /${gazeboYarpPluginsRobotName}/cam/left - -[CAMERA_PARAM] -focalLengthX 343.12110728152936 -focalLengthY 343.12110728152936 -tangentialPointX 0.0 -tangentialPointY 0.0 diff --git a/iCub_manual/conf_manual/iCubGazeboV3_visuomanip/gazebo_icub_left_hand_finger.ini b/iCub_manual/conf_manual/iCubGazeboV3_visuomanip/gazebo_icub_left_hand_finger.ini deleted file mode 100644 index 5eae3ae..0000000 --- a/iCub_manual/conf_manual/iCubGazeboV3_visuomanip/gazebo_icub_left_hand_finger.ini +++ /dev/null @@ -1,71 +0,0 @@ -[include "gazebo_icub_robotname.ini"] - -# Verbose output (on if present, off if commented out) -#verbose - -[WRAPPER] -device controlboardwrapper2 -period 10 -name /${gazeboYarpPluginsRobotName}/left_hand_finger -joints 4 -networks ( left_hand_finger ) -left_hand_finger 0 3 0 3 - -[TRAJECTORY_GENERATION] -trajectory_type minimum_jerk - -[COUPLING] -fingers_abduction_control (0 1 2 3) (l_hand_fingers reserved reserved reserved reserved) (0.0) (60.0) - -# Specify configuration of MotorControl devices -[left_hand_finger] -# name of the device to be instatiated by the factory -device gazebo_controlboard -#jointNames list -jointNames l_hand_index_0_joint l_hand_middle_0_joint l_hand_ring_0_joint l_hand_little_0_joint -name left_hand_finger - -min_stiffness 0.0 0.0 0.0 0.0 -max_stiffness 1000.0 1000.0 1000.0 1000.0 -min_damping 0.0 0.0 0.0 0.0 -max_damping 100.0 100.0 100.0 100.0 - -#PIDs: -# this information is used to set the PID values in simulation for GAZEBO, we need only the first three values -[POSITION_CONTROL] -controlUnits metric_units -controlLaw joint_pid_gazebo_v1 -kp 0.1 0.1 0.1 0.1 -kd 0.01 0.01 0.01 0.01 -ki 0.0 0.0 0.0 0.0 -maxInt 9999 9999 9999 9999 -maxOutput 9999 9999 9999 9999 -shift 0.0 0.0 0.0 0.0 -ko 0.0 0.0 0.0 0.0 -stictionUp 0.0 0.0 0.0 0.0 -stictionDwn 0.0 0.0 0.0 0.0 - -[VELOCITY_CONTROL] -velocityControlImplementationType integrator_and_position_pid -controlUnits metric_units -controlLaw joint_pid_gazebo_v1 -kp 8.726 8.726 8.726 5.235 -kd 0.035 0.035 0.035 0.002 -ki 0.002 0.002 0.002 0.0 -maxInt 9999 9999 9999 9999 -maxOutput 9999 9999 9999 9999 -shift 0.0 0.0 0.0 0.0 -ko 0.0 0.0 0.0 0.0 -stictionUp 0.0 0.0 0.0 0.0 -stictionDwn 0.0 0.0 0.0 0.0 - -[IMPEDANCE_CONTROL] -controlUnits metric_units -controlLaw joint_pid_gazebo_v1 -stiffness 0.0 0.0 0.0 0.0 -damping 0.0 0.0 0.0 0.0 - -[LIMITS] -jntPosMax 0.0 0.0 20.0 20.0 -jntPosMin -20.0 0.0 0.0 0.0 -jntVelMax 100.0 100.0 100.0 100.0 diff --git a/iCub_manual/conf_manual/iCubGazeboV3_visuomanip/gazebo_icub_left_hand_index.ini b/iCub_manual/conf_manual/iCubGazeboV3_visuomanip/gazebo_icub_left_hand_index.ini deleted file mode 100644 index 8f3b700..0000000 --- a/iCub_manual/conf_manual/iCubGazeboV3_visuomanip/gazebo_icub_left_hand_index.ini +++ /dev/null @@ -1,71 +0,0 @@ -[include "gazebo_icub_robotname.ini"] - -# Verbose output (on if present, off if commented out) -#verbose - -[WRAPPER] -device controlboardwrapper2 -period 10 -name /${gazeboYarpPluginsRobotName}/left_hand_index -joints 3 -networks ( left_hand_index) -left_hand_index 0 2 0 2 - -[TRAJECTORY_GENERATION] -trajectory_type minimum_jerk - -[COUPLING] -index_control (0 1 2) (l_index_proximal l_index_distal reserved) (0.0 0.0) (90.0 180.0) - -# Specify configuration of MotorControl devices -[left_hand_index] -# name of the device to be instatiated by the factory -device gazebo_controlboard -#jointNames list -jointNames l_hand_index_1_joint l_hand_index_2_joint l_hand_index_3_joint -name left_hand_index - -min_stiffness 0.0 0.0 0.0 -max_stiffness 1000.0 1000.0 1000.0 -min_damping 0.0 0.0 0.0 -max_damping 100.0 100.0 100.0 - -#PIDs: -# this information is used to set the PID values in simulation for GAZEBO, we need only the first three values -[POSITION_CONTROL] -controlUnits metric_units -controlLaw joint_pid_gazebo_v1 -kp 0.1 0.1 0.1 -kd 0.001 0.001 0.001 -ki 0.0 0.0 0.0 -maxInt 9999 9999 9999 -maxOutput 9999 9999 9999 -shift 0.0 0.0 0.0 -ko 0.0 0.0 0.0 -stictionUp 0.0 0.0 0.0 -stictionDwn 0.0 0.0 0.0 - -[VELOCITY_CONTROL] -velocityControlImplementationType integrator_and_position_pid -controlUnits metric_units -controlLaw joint_pid_gazebo_v1 -kp 8.726 8.726 8.726 -kd 0.035 0.035 0.035 -ki 0.002 0.002 0.002 -maxInt 9999 9999 9999 -maxOutput 9999 9999 9999 -shift 0.0 0.0 0.0 -ko 0.0 0.0 0.0 -stictionUp 0.0 0.0 0.0 -stictionDwn 0.0 0.0 0.0 - -[IMPEDANCE_CONTROL] -controlUnits metric_units -controlLaw joint_pid_gazebo_v1 -stiffness 0.0 0.0 0.0 -damping 0.0 0.0 0.0 - -[LIMITS] -jntPosMax 90.0 90.0 90.0 -jntPosMin 0.0 0.0 0.0 -jntVelMax 100.0 100.0 100.0 diff --git a/iCub_manual/conf_manual/iCubGazeboV3_visuomanip/gazebo_icub_left_hand_mais.ini b/iCub_manual/conf_manual/iCubGazeboV3_visuomanip/gazebo_icub_left_hand_mais.ini deleted file mode 100644 index 70529c8..0000000 --- a/iCub_manual/conf_manual/iCubGazeboV3_visuomanip/gazebo_icub_left_hand_mais.ini +++ /dev/null @@ -1,10 +0,0 @@ -[include "./gazebo_icub_robotname.ini"] - -[WRAPPER] -name /${gazeboYarpPluginsRobotName}/left_hand/analog:o -period 10 -networks (left_mais) -device analogServer - -[left_mais] -jointNames l_hand_thumb_1_joint l_hand_thumb_2_joint l_hand_thumb_3_joint l_hand_index_1_joint l_hand_index_2_joint l_hand_index_3_joint l_hand_middle_1_joint l_hand_middle_2_joint l_hand_middle_3_joint l_hand_ring_1_joint l_hand_ring_2_joint l_hand_ring_3_joint l_hand_little_1_joint l_hand_little_2_joint l_hand_little_3_joint diff --git a/iCub_manual/conf_manual/iCubGazeboV3_visuomanip/gazebo_icub_left_hand_middle.ini b/iCub_manual/conf_manual/iCubGazeboV3_visuomanip/gazebo_icub_left_hand_middle.ini deleted file mode 100644 index 694b68a..0000000 --- a/iCub_manual/conf_manual/iCubGazeboV3_visuomanip/gazebo_icub_left_hand_middle.ini +++ /dev/null @@ -1,71 +0,0 @@ -[include "gazebo_icub_robotname.ini"] - -# Verbose output (on if present, off if commented out) -#verbose - -[WRAPPER] -device controlboardwrapper2 -period 10 -name /${gazeboYarpPluginsRobotName}/left_hand_middle -joints 3 -networks ( left_hand_middle) -left_hand_middle 0 2 0 2 - -[TRAJECTORY_GENERATION] -trajectory_type minimum_jerk - -[COUPLING] -middle_control (0 1 2) (l_middle_proximal l_middle_distal reserved) (0.0 0.0) (90.0 180.0) - -# Specify configuration of MotorControl devices -[left_hand_middle] -# name of the device to be instatiated by the factory -device gazebo_controlboard -#jointNames list -jointNames l_hand_middle_1_joint l_hand_middle_2_joint l_hand_middle_3_joint -name left_hand_middle - -min_stiffness 0.0 0.0 0.0 -max_stiffness 1000.0 1000.0 1000.0 -min_damping 0.0 0.0 0.0 -max_damping 100.0 100.0 100.0 - -#PIDs: -# this information is used to set the PID values in simulation for GAZEBO, we need only the first three values -[POSITION_CONTROL] -controlUnits metric_units -controlLaw joint_pid_gazebo_v1 -kp 0.1 0.1 0.1 -kd 0.001 0.001 0.001 -ki 0.0 0.0 0.0 -maxInt 9999 9999 9999 -maxOutput 9999 9999 9999 -shift 0.0 0.0 0.0 -ko 0.0 0.0 0.0 -stictionUp 0.0 0.0 0.0 -stictionDwn 0.0 0.0 0.0 - -[VELOCITY_CONTROL] -velocityControlImplementationType integrator_and_position_pid -controlUnits metric_units -controlLaw joint_pid_gazebo_v1 -kp 8.726 8.726 8.726 -kd 0.035 0.035 0.035 -ki 0.002 0.002 0.002 -maxInt 9999 9999 9999 -maxOutput 9999 9999 9999 -shift 0.0 0.0 0.0 -ko 0.0 0.0 0.0 -stictionUp 0.0 0.0 0.0 -stictionDwn 0.0 0.0 0.0 - -[IMPEDANCE_CONTROL] -controlUnits metric_units -controlLaw joint_pid_gazebo_v1 -stiffness 0.0 0.0 0.0 -damping 0.0 0.0 0.0 - -[LIMITS] -jntPosMax 90.0 90.0 90.0 -jntPosMin 0.0 0.0 0.0 -jntVelMax 100.0 100.0 100.0 diff --git a/iCub_manual/conf_manual/iCubGazeboV3_visuomanip/gazebo_icub_left_hand_pinky.ini b/iCub_manual/conf_manual/iCubGazeboV3_visuomanip/gazebo_icub_left_hand_pinky.ini deleted file mode 100644 index 841c7de..0000000 --- a/iCub_manual/conf_manual/iCubGazeboV3_visuomanip/gazebo_icub_left_hand_pinky.ini +++ /dev/null @@ -1,71 +0,0 @@ -[include "gazebo_icub_robotname.ini"] - -# Verbose output (on if present, off if commented out) -#verbose - -[WRAPPER] -device controlboardwrapper2 -period 10 -name /${gazeboYarpPluginsRobotName}/left_hand_pinky -joints 6 -networks ( left_hand_pinky) -left_hand_pinky 0 5 0 5 - -[TRAJECTORY_GENERATION] -trajectory_type minimum_jerk - -[COUPLING] -pinky_control (0 1 2 3 4 5) (l_pinky reserved reserved reserved reserved reserved) (0.0) (270.0) - -# Specify configuration of MotorControl devices -[left_hand_pinky] -# name of the device to be instatiated by the factory -device gazebo_controlboard -#jointNames list -jointNames l_hand_ring_1_joint l_hand_ring_2_joint l_hand_ring_3_joint l_hand_little_1_joint l_hand_little_2_joint l_hand_little_3_joint -name left_hand_pinky - -min_stiffness 0.0 0.0 0.0 0.0 0.0 0.0 -max_stiffness 1000.0 1000.0 1000.0 1000.0 1000.0 1000.0 -min_damping 0.0 0.0 0.0 0.0 0.0 0.0 -max_damping 100.0 100.0 100.0 100.0 100.0 100.0 - -#PIDs: -# this information is used to set the PID values in simulation for GAZEBO, we need only the first three values -[POSITION_CONTROL] -controlUnits metric_units -controlLaw joint_pid_gazebo_v1 -kp 0.1 0.1 0.1 0.1 0.1 0.1 -kd 0.001 0.001 0.001 0.001 0.001 0.001 -ki 0.0 0.0 0.0 0.0 0.0 0.0 -maxInt 9999 9999 9999 9999 9999 9999 -maxOutput 9999 9999 9999 9999 9999 9999 -shift 0.0 0.0 0.0 0.0 0.0 0.0 -ko 0.0 0.0 0.0 0.0 0.0 0.0 -stictionUp 0.0 0.0 0.0 0.0 0.0 0.0 -stictionDwn 0.0 0.0 0.0 0.0 0.0 0.0 - -[VELOCITY_CONTROL] -velocityControlImplementationType integrator_and_position_pid -controlUnits metric_units -controlLaw joint_pid_gazebo_v1 -kp 8.726 8.726 8.726 8.726 8.726 8.726 -kd 0.035 0.035 0.035 0.035 0.035 0.035 -ki 0.002 0.002 0.002 0.002 0.002 0.002 -maxInt 9999 9999 9999 9999 9999 9999 -maxOutput 9999 9999 9999 9999 9999 9999 -shift 0.0 0.0 0.0 0.0 0.0 0.0 -ko 0.0 0.0 0.0 0.0 0.0 0.0 -stictionUp 0.0 0.0 0.0 0.0 0.0 0.0 -stictionDwn 0.0 0.0 0.0 0.0 0.0 0.0 - -[IMPEDANCE_CONTROL] -controlUnits metric_units -controlLaw joint_pid_gazebo_v1 -stiffness 0.0 0.0 0.0 0.0 0.0 0.0 -damping 0.0 0.0 0.0 0.0 0.0 0.0 - -[LIMITS] -jntPosMax 90.0 90.0 90.0 90.0 90.0 90.0 -jntPosMin 0.0 0.0 0.0 0.0 0.0 0.0 -jntVelMax 100.0 100.0 100.0 100.0 100.0 100.0 diff --git a/iCub_manual/conf_manual/iCubGazeboV3_visuomanip/gazebo_icub_left_hand_thumb.ini b/iCub_manual/conf_manual/iCubGazeboV3_visuomanip/gazebo_icub_left_hand_thumb.ini deleted file mode 100644 index 9e56dca..0000000 --- a/iCub_manual/conf_manual/iCubGazeboV3_visuomanip/gazebo_icub_left_hand_thumb.ini +++ /dev/null @@ -1,71 +0,0 @@ -[include "gazebo_icub_robotname.ini"] - -# Verbose output (on if present, off if commented out) -#verbose - -[WRAPPER] -device controlboardwrapper2 -period 10 -name /${gazeboYarpPluginsRobotName}/left_hand_thumb -joints 4 -networks ( left_hand_thumb) -left_hand_thumb 0 3 0 3 - -[TRAJECTORY_GENERATION] -trajectory_type minimum_jerk - -[COUPLING] -thumb_control (0 1 2 3) (l_thumb_oppose l_thumb_proximal l_thumb_distal reserved) (0.0 0.0 0.0) (90.0 90.0 180.0) - -# Specify configuration of MotorControl devices -[left_hand_thumb] -# name of the device to be instatiated by the factory -device gazebo_controlboard -#jointNames list -jointNames l_hand_thumb_0_joint l_hand_thumb_1_joint l_hand_thumb_2_joint l_hand_thumb_3_joint -name left_hand_thumb - -min_stiffness 0.0 0.0 0.0 0.0 -max_stiffness 1000.0 1000.0 1000.0 1000.0 -min_damping 0.0 0.0 0.0 0.0 -max_damping 100.0 100.0 100.0 100.0 - -#PIDs: -# this information is used to set the PID values in simulation for GAZEBO, we need only the first three values -[POSITION_CONTROL] -controlUnits metric_units -controlLaw joint_pid_gazebo_v1 -kp 0.1 0.1 0.1 0.1 -kd 0.001 0.001 0.001 0.001 -ki 0.0 0.0 0.0 0.0 -maxInt 9999 9999 9999 9999 -maxOutput 9999 9999 9999 9999 -shift 0.0 0.0 0.0 0.0 -ko 0.0 0.0 0.0 0.0 -stictionUp 0.0 0.0 0.0 0.0 -stictionDwn 0.0 0.0 0.0 0.0 - -[VELOCITY_CONTROL] -velocityControlImplementationType integrator_and_position_pid -controlUnits metric_units -controlLaw joint_pid_gazebo_v1 -kp 8.726 8.726 8.726 5.236 -kd 0.035 0.035 0.035 0.002 -ki 0.002 0.002 0.002 0.0 -maxInt 9999 9999 9999 9999 -maxOutput 9999 9999 9999 9999 -shift 0.0 0.0 0.0 0.0 -ko 0.0 0.0 0.0 0.0 -stictionUp 0.0 0.0 0.0 0.0 -stictionDwn 0.0 0.0 0.0 0.0 - -[IMPEDANCE_CONTROL] -controlUnits metric_units -controlLaw joint_pid_gazebo_v1 -stiffness 0.0 0.0 0.0 0.0 -damping 0.0 0.0 0.0 0.0 - -[LIMITS] -jntPosMax 90.0 90.0 90.0 90.0 -jntPosMin 0.0 0.0 0.0 0.0 -jntVelMax 100.0 100.0 100.0 100.0 diff --git a/iCub_manual/conf_manual/iCubGazeboV3_visuomanip/gazebo_icub_left_rgb_camera.ini b/iCub_manual/conf_manual/iCubGazeboV3_visuomanip/gazebo_icub_left_rgb_camera.ini deleted file mode 100644 index 2d0f7f3..0000000 --- a/iCub_manual/conf_manual/iCubGazeboV3_visuomanip/gazebo_icub_left_rgb_camera.ini +++ /dev/null @@ -1,7 +0,0 @@ -[include "gazebo_icub_robotname.ini"] - -device frameGrabber_nws_yarp -subdevice gazebo_camera -name /${gazeboYarpPluginsRobotName}/cam/left/rgbImage:o -freq 30 -stamp 1 diff --git a/iCub_manual/conf_manual/iCubGazeboV3_visuomanip/gazebo_icub_right_arm_no_hand.ini b/iCub_manual/conf_manual/iCubGazeboV3_visuomanip/gazebo_icub_right_arm_no_hand.ini deleted file mode 100644 index d32eb16..0000000 --- a/iCub_manual/conf_manual/iCubGazeboV3_visuomanip/gazebo_icub_right_arm_no_hand.ini +++ /dev/null @@ -1,74 +0,0 @@ -[include "gazebo_icub_robotname.ini"] - -[WRAPPER] -# name of the wrapper device to be instatiated by the factory -device controlboardwrapper2 -# rate of output streaming from ports in ms -period 10 -# output port name (a leading '/' will be added by code) -name /${gazeboYarpPluginsRobotName}/right_arm_no_hand -# Total number of joints -joints 7 -# list of MotorControl device to use -networks ( right_arm_no_hand ) -# for each network specify the joint map -right_arm_no_hand 0 6 0 6 - -# Verbose output (on if present, off if commented out) -#verbose - -[TRAJECTORY_GENERATION] -trajectory_type minimum_jerk - -# Specify configuration of MotorControl devices -[right_arm_no_hand] -# name of the device to be instatiated by the factory -device gazebo_controlboard -#jointNames list -jointNames r_shoulder_pitch r_shoulder_roll r_shoulder_yaw r_elbow r_wrist_prosup r_wrist_pitch r_wrist_yaw -name right_arm_no_hand - -min_stiffness 0.0 0.0 0.0 0.0 0.0 0.0 0.0 -max_stiffness 1000.0 1000.0 1000.0 1000.0 1000.0 1000.0 1000.0 -min_damping 0.0 0.0 0.0 0.0 0.0 0.0 0.0 -max_damping 100.0 100.0 100.0 100.0 100.0 100.0 100.0 - -#PIDs: -# this information is used to set the PID values in simulation for GAZEBO, we need only the first three values -[POSITION_CONTROL] -controlUnits metric_units -controlLaw joint_pid_gazebo_v1 -kp 1.745 1.745 1.745 1.745 1.745 1.745 1.745 -kd 0.174 0.174 0.174 0.174 0.174 0.0 0.0 -ki 0.174 0.174 0.174 0.174 0.174 0.174 0.0 -maxInt 9999 9999 9999 9999 9999 9999 9999 -maxOutput 9999 9999 9999 9999 9999 9999 9999 -shift 0.0 0.0 0.0 0.0 0.0 0.0 0.0 -ko 0.0 0.0 0.0 0.0 0.0 0.0 0.0 -stictionUp 0.0 0.0 0.0 0.0 0.0 0.0 0.0 -stictionDwn 0.0 0.0 0.0 0.0 0.0 0.0 0.0 - -[VELOCITY_CONTROL] -velocityControlImplementationType integrator_and_position_pid -controlUnits metric_units -controlLaw joint_pid_gazebo_v1 -kp 8.726 8.726 8.726 5.236 5.236 5.236 5.236 -kd 0.035 0.035 0.035 0.002 0.002 0.002 0.0 -ki 0.002 0.002 0.002 0.0 0.0 0.0 0.0 -maxInt 9999 9999 9999 9999 9999 9999 9999 -maxOutput 9999 9999 9999 9999 9999 9999 9999 -shift 0.0 0.0 0.0 0.0 0.0 0.0 0.0 -ko 0.0 0.0 0.0 0.0 0.0 0.0 0.0 -stictionUp 0.0 0.0 0.0 0.0 0.0 0.0 0.0 -stictionDwn 0.0 0.0 0.0 0.0 0.0 0.0 0.0 - -[IMPEDANCE_CONTROL] -controlUnits metric_units -controlLaw joint_pid_gazebo_v1 -stiffness 0.0 0.0 0.0 0.0 0.0 0.0 0.0 -damping 0.0 0.0 0.0 0.0 0.0 0.0 0.0 - -[LIMITS] -jntPosMax 10.0 160.0 80.0 106.0 60.0 25.0 25.0 -jntPosMin -95.0 0.0 -37.0 15.0 -60.0 -80.0 -20.0 -jntVelMax 100.0 100.0 100.0 100.0 100.0 100.0 100.0 diff --git a/iCub_manual/conf_manual/iCubGazeboV3_visuomanip/gazebo_icub_right_depth_camera.ini b/iCub_manual/conf_manual/iCubGazeboV3_visuomanip/gazebo_icub_right_depth_camera.ini deleted file mode 100644 index 635197d..0000000 --- a/iCub_manual/conf_manual/iCubGazeboV3_visuomanip/gazebo_icub_right_depth_camera.ini +++ /dev/null @@ -1,11 +0,0 @@ -[include "gazebo_icub_robotname.ini"] - -device RGBDSensor_nws_yarp -period 30 -name /${gazeboYarpPluginsRobotName}/cam/right - -[CAMERA_PARAM] -focalLengthX 343.12110728152936 -focalLengthY 343.12110728152936 -tangentialPointX 0.0 -tangentialPointY 0.0 diff --git a/iCub_manual/conf_manual/iCubGazeboV3_visuomanip/gazebo_icub_right_hand_finger.ini b/iCub_manual/conf_manual/iCubGazeboV3_visuomanip/gazebo_icub_right_hand_finger.ini deleted file mode 100644 index fc8f580..0000000 --- a/iCub_manual/conf_manual/iCubGazeboV3_visuomanip/gazebo_icub_right_hand_finger.ini +++ /dev/null @@ -1,72 +0,0 @@ -[include "gazebo_icub_robotname.ini"] - -# Verbose output (on if present, off if commented out) -#verbose - -[WRAPPER] -device controlboardwrapper2 -period 10 -name /${gazeboYarpPluginsRobotName}/right_hand_finger -joints 4 -networks ( right_hand_finger ) -right_hand_finger 0 3 0 3 - -[TRAJECTORY_GENERATION] -trajectory_type minimum_jerk - -[COUPLING] -fingers_abduction_control (0 1 2 3) (r_hand_fingers reserved reserved reserved reserved) (0.0) (60.0) - -# Specify configuration of MotorControl devices -[right_hand_finger] -# name of the device to be instatiated by the factory -device gazebo_controlboard -#jointNames list -jointNames r_hand_index_0_joint r_hand_middle_0_joint r_hand_ring_0_joint r_hand_little_0_joint -name right_hand_finger - -min_stiffness 0.0 0.0 0.0 0.0 -max_stiffness 1000.0 1000.0 1000.0 1000.0 -min_damping 0.0 0.0 0.0 0.0 -max_damping 100.0 100.0 100.0 100.0 - -#PIDs: -# this information is used to set the PID values in simulation for GAZEBO, we need only the first three values -[POSITION_CONTROL] -controlUnits metric_units -controlLaw joint_pid_gazebo_v1 -kp 0.1 0.1 0.1 0.1 -kd 0.01 0.01 0.01 0.01 -ki 0.0 0.0 0.0 0.0 -maxInt 9999 9999 9999 9999 -maxOutput 9999 9999 9999 9999 -shift 0.0 0.0 0.0 0.0 -ko 0.0 0.0 0.0 0.0 -stictionUp 0.0 0.0 0.0 0.0 -stictionDwn 0.0 0.0 0.0 0.0 - -[VELOCITY_CONTROL] -velocityControlImplementationType integrator_and_position_pid -controlUnits metric_units -controlLaw joint_pid_gazebo_v1 -kp 8.726 8.726 8.726 5.236 -kd 0.035 0.035 0.035 0.002 -ki 0.002 0.002 0.002 0.0 -maxInt 9999 9999 9999 9999 -maxOutput 9999 9999 9999 9999 -shift 0.0 0.0 0.0 0.0 -ko 0.0 0.0 0.0 0.0 -stictionUp 0.0 0.0 0.0 0.0 -stictionDwn 0.0 0.0 0.0 0.0 - -[IMPEDANCE_CONTROL] -controlUnits metric_units -controlLaw joint_pid_gazebo_v1 -stiffness 0.0 0.0 0.0 0.0 -damping 0.0 0.0 0.0 0.0 - - -[LIMITS] -jntPosMax 0.0 0.0 20.0 20.0 -jntPosMin -20.0 0.0 0.0 0.0 -jntVelMax 100.0 100.0 100.0 100.0 diff --git a/iCub_manual/conf_manual/iCubGazeboV3_visuomanip/gazebo_icub_right_hand_index.ini b/iCub_manual/conf_manual/iCubGazeboV3_visuomanip/gazebo_icub_right_hand_index.ini deleted file mode 100644 index 0980c0d..0000000 --- a/iCub_manual/conf_manual/iCubGazeboV3_visuomanip/gazebo_icub_right_hand_index.ini +++ /dev/null @@ -1,71 +0,0 @@ -[include "gazebo_icub_robotname.ini"] - -# Verbose output (on if present, off if commented out) -#verbose - -[WRAPPER] -device controlboardwrapper2 -period 10 -name /${gazeboYarpPluginsRobotName}/right_hand_index -joints 3 -networks ( right_hand_index) -right_hand_index 0 2 0 2 - -[TRAJECTORY_GENERATION] -trajectory_type minimum_jerk - -[COUPLING] -index_control (0 1 2) (r_index_proximal r_index_distal reserved) (0.0 0.0) (90.0 180.0) - -# Specify configuration of MotorControl devices -[right_hand_index] -# name of the device to be instatiated by the factory -device gazebo_controlboard -#jointNames list -jointNames r_hand_index_1_joint r_hand_index_2_joint r_hand_index_3_joint -name right_hand_index - -min_stiffness 0.0 0.0 0.0 -max_stiffness 1000.0 1000.0 1000.0 -min_damping 0.0 0.0 0.0 -max_damping 100.0 100.0 100.0 - -#PIDs: -# this information is used to set the PID values in simulation for GAZEBO, we need only the first three values -[POSITION_CONTROL] -controlUnits metric_units -controlLaw joint_pid_gazebo_v1 -kp 0.1 0.1 0.1 -kd 0.001 0.001 0.001 -ki 0.0 0.0 0.0 -maxInt 9999 9999 9999 -maxOutput 9999 9999 9999 -shift 0.0 0.0 0.0 -ko 0.0 0.0 0.0 -stictionUp 0.0 0.0 0.0 -stictionDwn 0.0 0.0 0.0 - -[VELOCITY_CONTROL] -velocityControlImplementationType integrator_and_position_pid -controlUnits metric_units -controlLaw joint_pid_gazebo_v1 -kp 8.726 8.726 8.726 -kd 0.035 0.035 0.035 -ki 0.002 0.002 0.002 -maxInt 9999 9999 9999 -maxOutput 9999 9999 9999 -shift 0.0 0.0 0.0 -ko 0.0 0.0 0.0 -stictionUp 0.0 0.0 0.0 -stictionDwn 0.0 0.0 0.0 - -[IMPEDANCE_CONTROL] -controlUnits metric_units -controlLaw joint_pid_gazebo_v1 -stiffness 0.0 0.0 0.0 -damping 0.0 0.0 0.0 - -[LIMITS] -jntPosMax 90.0 90.0 90.0 -jntPosMin 0.0 0.0 0.0 -jntVelMax 100.0 100.0 100.0 diff --git a/iCub_manual/conf_manual/iCubGazeboV3_visuomanip/gazebo_icub_right_hand_mais.ini b/iCub_manual/conf_manual/iCubGazeboV3_visuomanip/gazebo_icub_right_hand_mais.ini deleted file mode 100644 index 0b07369..0000000 --- a/iCub_manual/conf_manual/iCubGazeboV3_visuomanip/gazebo_icub_right_hand_mais.ini +++ /dev/null @@ -1,10 +0,0 @@ -[include "./gazebo_icub_robotname.ini"] - -[WRAPPER] -name /${gazeboYarpPluginsRobotName}/right_hand/analog:o -period 10 -networks (right_mais) -device analogServer - -[right_mais] -jointNames r_hand_thumb_1_joint r_hand_thumb_2_joint r_hand_thumb_3_joint r_hand_index_1_joint r_hand_index_2_joint r_hand_index_3_joint r_hand_middle_1_joint r_hand_middle_2_joint r_hand_middle_3_joint r_hand_ring_1_joint r_hand_ring_2_joint r_hand_ring_3_joint r_hand_little_1_joint r_hand_little_2_joint r_hand_little_3_joint diff --git a/iCub_manual/conf_manual/iCubGazeboV3_visuomanip/gazebo_icub_right_hand_middle.ini b/iCub_manual/conf_manual/iCubGazeboV3_visuomanip/gazebo_icub_right_hand_middle.ini deleted file mode 100644 index f25e74e..0000000 --- a/iCub_manual/conf_manual/iCubGazeboV3_visuomanip/gazebo_icub_right_hand_middle.ini +++ /dev/null @@ -1,71 +0,0 @@ -[include "gazebo_icub_robotname.ini"] - -# Verbose output (on if present, off if commented out) -#verbose - -[WRAPPER] -device controlboardwrapper2 -period 10 -name /${gazeboYarpPluginsRobotName}/right_hand_middle -joints 3 -networks ( right_hand_middle) -right_hand_middle 0 2 0 2 - -[TRAJECTORY_GENERATION] -trajectory_type minimum_jerk - -[COUPLING] -middle_control (0 1 2) (r_middle_proximal r_middle_distal reserved) (0.0 0.0) (90.0 180.0) - -# Specify configuration of MotorControl devices -[right_hand_middle] -# name of the device to be instatiated by the factory -device gazebo_controlboard -#jointNames list -jointNames r_hand_middle_1_joint r_hand_middle_2_joint r_hand_middle_3_joint -name right_hand_middle - -min_stiffness 0.0 0.0 0.0 -max_stiffness 1000.0 1000.0 1000.0 -min_damping 0.0 0.0 0.0 -max_damping 100.0 100.0 100.0 - -#PIDs: -# this information is used to set the PID values in simulation for GAZEBO, we need only the first three values -[POSITION_CONTROL] -controlUnits metric_units -controlLaw joint_pid_gazebo_v1 -kp 0.1 0.1 0.1 -kd 0.001 0.001 0.001 -ki 0.0 0.0 0.0 -maxInt 9999 9999 9999 -maxOutput 9999 9999 9999 -shift 0.0 0.0 0.0 -ko 0.0 0.0 0.0 -stictionUp 0.0 0.0 0.0 -stictionDwn 0.0 0.0 0.0 - -[VELOCITY_CONTROL] -velocityControlImplementationType integrator_and_position_pid -controlUnits metric_units -controlLaw joint_pid_gazebo_v1 -kp 8.726 8.726 8.726 -kd 0.035 0.035 0.035 -ki 0.002 0.002 0.002 -maxInt 9999 9999 9999 -maxOutput 9999 9999 9999 -shift 0.0 0.0 0.0 -ko 0.0 0.0 0.0 -stictionUp 0.0 0.0 0.0 -stictionDwn 0.0 0.0 0.0 - -[IMPEDANCE_CONTROL] -controlUnits metric_units -controlLaw joint_pid_gazebo_v1 -stiffness 0.0 0.0 0.0 -damping 0.0 0.0 0.0 - -[LIMITS] -jntPosMax 90.0 90.0 90.0 -jntPosMin 0.0 0.0 0.0 -jntVelMax 100.0 100.0 100.0 diff --git a/iCub_manual/conf_manual/iCubGazeboV3_visuomanip/gazebo_icub_right_hand_pinky.ini b/iCub_manual/conf_manual/iCubGazeboV3_visuomanip/gazebo_icub_right_hand_pinky.ini deleted file mode 100644 index 0433ab2..0000000 --- a/iCub_manual/conf_manual/iCubGazeboV3_visuomanip/gazebo_icub_right_hand_pinky.ini +++ /dev/null @@ -1,71 +0,0 @@ -[include "gazebo_icub_robotname.ini"] - -# Verbose output (on if present, off if commented out) -#verbose - -[WRAPPER] -device controlboardwrapper2 -period 10 -name /${gazeboYarpPluginsRobotName}/right_hand_pinky -joints 6 -networks ( right_hand_pinky) -right_hand_pinky 0 5 0 5 - -[TRAJECTORY_GENERATION] -trajectory_type minimum_jerk - -[COUPLING] -pinky_control (0 1 2 3 4 5) (r_pinky reserved reserved reserved reserved reserved) (0.0) (270.0) - -# Specify configuration of MotorControl devices -[right_hand_pinky] -# name of the device to be instatiated by the factory -device gazebo_controlboard -#jointNames list -jointNames r_hand_ring_1_joint r_hand_ring_2_joint r_hand_ring_3_joint r_hand_little_1_joint r_hand_little_2_joint r_hand_little_3_joint -name right_hand_pinky - -min_stiffness 0.0 0.0 0.0 0.0 0.0 0.0 -max_stiffness 1000.0 1000.0 1000.0 1000.0 1000.0 1000.0 -min_damping 0.0 0.0 0.0 0.0 0.0 0.0 -max_damping 100.0 100.0 100.0 100.0 100.0 100.0 - -#PIDs: -# this information is used to set the PID values in simulation for GAZEBO, we need only the first three values -[POSITION_CONTROL] -controlUnits metric_units -controlLaw joint_pid_gazebo_v1 -kp 0.1 0.1 0.1 0.1 0.1 0.1 -kd 0.001 0.001 0.001 0.001 0.001 0.001 -ki 0.0 0.0 0.0 0.0 0.0 0.0 -maxInt 9999 9999 9999 9999 9999 9999 -maxOutput 9999 9999 9999 9999 9999 9999 -shift 0.0 0.0 0.0 0.0 0.0 0.0 -ko 0.0 0.0 0.0 0.0 0.0 0.0 -stictionUp 0.0 0.0 0.0 0.0 0.0 0.0 -stictionDwn 0.0 0.0 0.0 0.0 0.0 0.0 - -[VELOCITY_CONTROL] -velocityControlImplementationType integrator_and_position_pid -controlUnits metric_units -controlLaw joint_pid_gazebo_v1 -kp 8.726 8.726 8.726 8.726 8.726 8.726 -kd 0.035 0.035 0.035 0.035 0.035 0.035 -ki 0.002 0.002 0.002 0.002 0.002 0.002 -maxInt 9999 9999 9999 9999 9999 9999 -maxOutput 9999 9999 9999 9999 9999 9999 -shift 0.0 0.0 0.0 0.0 0.0 0.0 -ko 0.0 0.0 0.0 0.0 0.0 0.0 -stictionUp 0.0 0.0 0.0 0.0 0.0 0.0 -stictionDwn 0.0 0.0 0.0 0.0 0.0 0.0 - -[IMPEDANCE_CONTROL] -controlUnits metric_units -controlLaw joint_pid_gazebo_v1 -stiffness 0.0 0.0 0.0 0.0 0.0 0.0 -damping 0.0 0.0 0.0 0.0 0.0 0.0 - -[LIMITS] -jntPosMax 90.0 90.0 90.0 90.0 90.0 90.0 -jntPosMin 0.0 0.0 0.0 0.0 0.0 0.0 -jntVelMax 100.0 100.0 100.0 100.0 100.0 100.0 diff --git a/iCub_manual/conf_manual/iCubGazeboV3_visuomanip/gazebo_icub_right_hand_thumb.ini b/iCub_manual/conf_manual/iCubGazeboV3_visuomanip/gazebo_icub_right_hand_thumb.ini deleted file mode 100644 index c3f38b9..0000000 --- a/iCub_manual/conf_manual/iCubGazeboV3_visuomanip/gazebo_icub_right_hand_thumb.ini +++ /dev/null @@ -1,70 +0,0 @@ -[include "gazebo_icub_robotname.ini"] - -# Verbose output (on if present, off if commented out) -#verbose - -[WRAPPER] -device controlboardwrapper2 -period 10 -name /${gazeboYarpPluginsRobotName}/right_hand_thumb -joints 4 -networks ( right_hand_thumb) -right_hand_thumb 0 3 0 3 - -[TRAJECTORY_GENERATION] -trajectory_type minimum_jerk - -[COUPLING] -thumb_control (0 1 2 3) (r_thumb_oppose r_thumb_proximal r_thumb_distal reserved) (0.0 0.0 0.0) (90.0 90.0 180.0) - -# Specify configuration of MotorControl devices -[right_hand_thumb] -# name of the device to be instatiated by the factory -device gazebo_controlboard -jointNames r_hand_thumb_0_joint r_hand_thumb_1_joint r_hand_thumb_2_joint r_hand_thumb_3_joint -name right_hand_thumb - -min_stiffness 0.0 0.0 0.0 0.0 -max_stiffness 1000.0 1000.0 1000.0 1000.0 -min_damping 0.0 0.0 0.0 0.0 -max_damping 100.0 100.0 100.0 100.0 - -#PIDs: -# this information is used to set the PID values in simulation for GAZEBO, we need only the first three values -[POSITION_CONTROL] -controlUnits metric_units -controlLaw joint_pid_gazebo_v1 -kp 0.1 0.1 0.1 0.1 -kd 0.001 0.001 0.001 0.001 -ki 0.0 0.0 0.0 0.0 -maxInt 9999 9999 9999 9999 -maxOutput 9999 9999 9999 9999 -shift 0.0 0.0 0.0 0.0 -ko 0.0 0.0 0.0 0.0 -stictionUp 0.0 0.0 0.0 0.0 -stictionDwn 0.0 0.0 0.0 0.0 - -[VELOCITY_CONTROL] -velocityControlImplementationType integrator_and_position_pid -controlUnits metric_units -controlLaw joint_pid_gazebo_v1 -kp 8.726 8.726 8.726 5.236 -kd 0.035 0.035 0.035 0.002 -ki 0.002 0.002 0.002 0.0 -maxInt 9999 9999 9999 9999 -maxOutput 9999 9999 9999 9999 -shift 0.0 0.0 0.0 0.0 -ko 0.0 0.0 0.0 0.0 -stictionUp 0.0 0.0 0.0 0.0 -stictionDwn 0.0 0.0 0.0 0.0 - -[IMPEDANCE_CONTROL] -controlUnits metric_units -controlLaw joint_pid_gazebo_v1 -stiffness 0.0 0.0 0.0 0.0 -damping 0.0 0.0 0.0 0.0 - -[LIMITS] -jntPosMax 90.0 90.0 90.0 90.0 -jntPosMin 0.0 0.0 0.0 0.0 -jntVelMax 100.0 100.0 100.0 100.0 diff --git a/iCub_manual/conf_manual/iCubGazeboV3_visuomanip/gazebo_icub_right_rgb_camera.ini b/iCub_manual/conf_manual/iCubGazeboV3_visuomanip/gazebo_icub_right_rgb_camera.ini deleted file mode 100644 index 22284fc..0000000 --- a/iCub_manual/conf_manual/iCubGazeboV3_visuomanip/gazebo_icub_right_rgb_camera.ini +++ /dev/null @@ -1,7 +0,0 @@ -[include "gazebo_icub_robotname.ini"] - -device frameGrabber_nws_yarp -subdevice gazebo_camera -name /${gazeboYarpPluginsRobotName}/cam/right/rgbImage:o -freq 30 -stamp 1 diff --git a/iCub_manual/conf_manual/iCubGazeboV3_visuomanip/gazebo_icub_robotname.ini b/iCub_manual/conf_manual/iCubGazeboV3_visuomanip/gazebo_icub_robotname.ini deleted file mode 100644 index dc90ac0..0000000 --- a/iCub_manual/conf_manual/iCubGazeboV3_visuomanip/gazebo_icub_robotname.ini +++ /dev/null @@ -1 +0,0 @@ -gazeboYarpPluginsRobotName icubSim diff --git a/iCub_manual/robots/iCubGazeboV3_visuomanip/model.config b/iCub_manual/robots/iCubGazeboV3_visuomanip/model.config deleted file mode 100644 index 2b02fef..0000000 --- a/iCub_manual/robots/iCubGazeboV3_visuomanip/model.config +++ /dev/null @@ -1,7 +0,0 @@ - - - iCubGazeboV3_visuomanip - 1.0 - model.urdf - Model for the iCub humanoid robot. For more information check icub.org - diff --git a/iCub_manual/robots/iCubGazeboV3_visuomanip/model.urdf b/iCub_manual/robots/iCubGazeboV3_visuomanip/model.urdf deleted file mode 100644 index 9e32baf..0000000 --- a/iCub_manual/robots/iCubGazeboV3_visuomanip/model.urdf +++ /dev/null @@ -1,3394 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 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- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -true - -true - - -true - -true - - - - model://iCub/conf_icub3/gazebo_icub_torso.ini - - - - 1 - - - 1 - - - 1 - - - 1 - - - 1 - - - 1 - - - 1 - - - 1 - - - 1 - - -true - -true - - -true - -true - - -true - -true - - - - 0 - 100000 - - 4 - 18000000 - 100 - 100 - 0.0001 - 1 - 1 - 0 0 0 - - - - 0 - 100000 - - 4 - 18000000 - 100 - 100 - 0.0001 - 1 - 1 - 0 0 0 - - - -model://iCub/conf_icub3/gazebo_icub_left_leg.ini - - - - 1 - - - 1 - - - 1 - - - 1 - - - 1 - - - 1 - - -true - -true - - -true - -true - - -true - -true - - - - 0 - 100000 - - 4 - 18000000 - 100 - 100 - 0.0001 - 1 - 1 - 0 0 0 - - - - 0 - 100000 - - 4 - 18000000 - 100 - 100 - 0.0001 - 1 - 1 - 0 0 0 - - - -model://iCub/conf_icub3/gazebo_icub_right_leg.ini - - - - 1 - - - 1 - - - 1 - - - 1 - - - 1 - - - 1 - - - - model://iCub/conf_manual/iCubGazeboV3_visuomanip/gazebo_icub_head.ini - - - - 1 - - - 1 - - - 1 - - - - model://iCub/conf_manual/iCubGazeboV3_visuomanip/gazebo_icub_left_hand_thumb.ini - - - model://iCub/conf_manual/iCubGazeboV3_visuomanip/gazebo_icub_left_hand_index.ini - - - model://iCub/conf_manual/iCubGazeboV3_visuomanip/gazebo_icub_left_hand_middle.ini - - - model://iCub/conf_manual/iCubGazeboV3_visuomanip/gazebo_icub_left_hand_pinky.ini - - - model://iCub/conf_manual/iCubGazeboV3_visuomanip/gazebo_icub_left_hand_finger.ini - 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