From 9b39899de84a9cd609ff6cacfe25dad3bb511925 Mon Sep 17 00:00:00 2001 From: Silvio Traversaro Date: Fri, 15 Sep 2023 15:10:05 +0000 Subject: [PATCH] Automatic build. GitHub Actions build: 6199619470 icub-model-generator commit: robotology/icub-models-generator@c0fe4a0bac669a2b1ab9a065074056e0ca7586d3 urdf_parser_py commit: ros/urdf_parser_py@31474b9baaf7c3845b40e5a9aa87d5900a2282c3 simmechanics-to-urdf commit: robotology/simmechanics-to-urdf@9431d99570921d20002461a02d4974020e97f22a --- .../FT/gazebo_icub_left_foot_front_ft.ini | 7 - .../conf/FT/gazebo_icub_left_foot_rear_ft.ini | 7 - .../FT/gazebo_icub_right_foot_front_ft.ini | 6 - .../FT/gazebo_icub_right_foot_rear_ft.ini | 6 - iCub/conf/gazebo_icub_head.ini | 76 - iCub/conf/gazebo_icub_left_arm.ini | 26 - iCub/conf/gazebo_icub_left_arm_no_forearm.ini | 74 - iCub/conf/gazebo_icub_left_arm_no_hand.ini | 74 - iCub/conf/gazebo_icub_left_hand.ini | 23 - iCub/conf/gazebo_icub_left_hand_finger.ini | 71 - iCub/conf/gazebo_icub_left_hand_fingers.ini | 84 - iCub/conf/gazebo_icub_left_hand_index.ini | 71 - iCub/conf/gazebo_icub_left_hand_mais.ini | 12 - iCub/conf/gazebo_icub_left_hand_middle.ini | 71 - iCub/conf/gazebo_icub_left_hand_pinky.ini | 71 - iCub/conf/gazebo_icub_left_hand_thumb.ini | 71 - iCub/conf/gazebo_icub_right_arm.ini | 26 - .../conf/gazebo_icub_right_arm_no_forearm.ini | 73 - iCub/conf/gazebo_icub_right_arm_no_hand.ini | 74 - iCub/conf/gazebo_icub_right_hand.ini | 23 - iCub/conf/gazebo_icub_right_hand_finger.ini | 72 - iCub/conf/gazebo_icub_right_hand_fingers.ini | 85 - iCub/conf/gazebo_icub_right_hand_index.ini | 71 - iCub/conf/gazebo_icub_right_hand_mais.ini | 12 - iCub/conf/gazebo_icub_right_hand_middle.ini | 71 - iCub/conf/gazebo_icub_right_hand_pinky.ini | 71 - iCub/conf/gazebo_icub_right_hand_thumb.ini | 71 - .../conf/wrappers/FT/left_foot-FT_wrapper.xml | 17 - .../wrappers/FT/left_leg_hip-FT_wrapper.xml | 17 - .../wrappers/FT/right_foot-FT_wrapper.xml | 17 - .../wrappers/FT/right_leg_hip-FT_wrapper.xml | 17 - .../MTB/gazebo_icub_left_arm_mtb.ini | 24 - .../MTB/gazebo_icub_left_leg_mtb.ini | 30 - .../MTB/gazebo_icub_right_arm_mtb.ini | 24 - .../MTB/gazebo_icub_right_leg_mtb.ini | 30 - iCub/conf_icub3/MTB/gazebo_icub_torso_mtb.ini | 21 - iCub/conf_icub3/gazebo_icub_head.ini | 76 - .../gazebo_icub_head_without_eyes.ini | 73 - iCub/conf_icub3/gazebo_icub_left_arm.ini | 26 - .../gazebo_icub_left_arm_no_forearm.ini | 74 - .../gazebo_icub_left_arm_no_hand.ini | 74 - iCub/conf_icub3/gazebo_icub_left_hand.ini | 23 - .../gazebo_icub_left_hand_finger.ini | 71 - .../gazebo_icub_left_hand_fingers.ini | 84 - .../gazebo_icub_left_hand_index.ini | 71 - .../conf_icub3/gazebo_icub_left_hand_mais.ini | 12 - .../gazebo_icub_left_hand_middle.ini | 71 - .../gazebo_icub_left_hand_pinky.ini | 71 - .../gazebo_icub_left_hand_thumb.ini | 71 - iCub/conf_icub3/gazebo_icub_right_arm.ini | 26 - .../gazebo_icub_right_arm_no_forearm.ini | 73 - .../gazebo_icub_right_arm_no_hand.ini | 74 - iCub/conf_icub3/gazebo_icub_right_hand.ini | 23 - .../gazebo_icub_right_hand_finger.ini | 72 - .../gazebo_icub_right_hand_fingers.ini | 85 - .../gazebo_icub_right_hand_index.ini | 71 - .../gazebo_icub_right_hand_mais.ini | 12 - .../gazebo_icub_right_hand_middle.ini | 71 - .../gazebo_icub_right_hand_pinky.ini | 71 - .../gazebo_icub_right_hand_thumb.ini | 71 - iCub/conf_icub3/gazebo_icub_robotname.ini | 1 - .../conf_icub3/gazebo_icub_xsens_inertial.ini | 7 - iCub/conf_icub3/left_camera.ini | 7 - iCub/conf_icub3/right_camera.ini | 7 - .../wrappers/FT/left_foot-FT_remapper.xml | 16 - .../wrappers/FT/left_foot-FT_wrapper.xml | 17 - .../wrappers/FT/left_leg_hip-FT_wrapper.xml | 17 - .../wrappers/FT/right_foot-FT_remapper.xml | 16 - .../wrappers/FT/right_foot-FT_wrapper.xml | 17 - .../wrappers/FT/right_leg_hip-FT_wrapper.xml | 17 - iCub/conf_icub3/yarpmotorgui.ini | 38 - .../simmechanics/sim_icub3_head_prt.stl | 2858 - .../simmechanics/sim_icub3_neck_1_prt.stl | 786 - .../simmechanics/sim_icub3_neck_2_prt.stl | 99514 ---------------- .../simmechanics/sim_icub3_neck_3_prt.stl | 44354 ------- iCub/robots/iCubDarmstadt01/model.urdf | 140 +- iCub/robots/iCubErzelli02/model.urdf | 140 +- iCub/robots/iCubGazeboV2_5/model.urdf | 140 +- iCub/robots/iCubGazeboV2_5_plus/model.urdf | 156 +- iCub/robots/iCubGazeboV2_6/model.urdf | 140 +- iCub/robots/iCubGazeboV2_7/model.urdf | 140 +- iCub/robots/iCubGazeboV3/model.urdf | 74 +- iCub/robots/iCubGenova01/model.urdf | 140 +- iCub/robots/iCubGenova02/model.urdf | 158 +- iCub/robots/iCubGenova04/model.urdf | 140 +- iCub/robots/iCubGenova04_plus/model.urdf | 158 +- iCub/robots/iCubGenova09/model.urdf | 74 +- iCub/robots/left_hand_mk3/model.urdf | 18 +- 88 files changed, 809 insertions(+), 151523 deletions(-) delete mode 100644 iCub/conf/FT/gazebo_icub_left_foot_front_ft.ini delete mode 100644 iCub/conf/FT/gazebo_icub_left_foot_rear_ft.ini delete mode 100644 iCub/conf/FT/gazebo_icub_right_foot_front_ft.ini delete mode 100644 iCub/conf/FT/gazebo_icub_right_foot_rear_ft.ini delete mode 100644 iCub/conf/gazebo_icub_head.ini delete mode 100644 iCub/conf/gazebo_icub_left_arm.ini delete mode 100644 iCub/conf/gazebo_icub_left_arm_no_forearm.ini delete mode 100644 iCub/conf/gazebo_icub_left_arm_no_hand.ini delete mode 100644 iCub/conf/gazebo_icub_left_hand.ini delete mode 100644 iCub/conf/gazebo_icub_left_hand_finger.ini delete mode 100644 iCub/conf/gazebo_icub_left_hand_fingers.ini delete mode 100644 iCub/conf/gazebo_icub_left_hand_index.ini delete mode 100644 iCub/conf/gazebo_icub_left_hand_mais.ini delete mode 100644 iCub/conf/gazebo_icub_left_hand_middle.ini delete mode 100644 iCub/conf/gazebo_icub_left_hand_pinky.ini delete mode 100644 iCub/conf/gazebo_icub_left_hand_thumb.ini delete mode 100644 iCub/conf/gazebo_icub_right_arm.ini delete mode 100644 iCub/conf/gazebo_icub_right_arm_no_forearm.ini delete mode 100644 iCub/conf/gazebo_icub_right_arm_no_hand.ini delete mode 100644 iCub/conf/gazebo_icub_right_hand.ini delete mode 100644 iCub/conf/gazebo_icub_right_hand_finger.ini delete mode 100644 iCub/conf/gazebo_icub_right_hand_fingers.ini delete mode 100644 iCub/conf/gazebo_icub_right_hand_index.ini delete mode 100644 iCub/conf/gazebo_icub_right_hand_mais.ini delete mode 100644 iCub/conf/gazebo_icub_right_hand_middle.ini delete mode 100644 iCub/conf/gazebo_icub_right_hand_pinky.ini delete mode 100644 iCub/conf/gazebo_icub_right_hand_thumb.ini delete mode 100644 iCub/conf/wrappers/FT/left_foot-FT_wrapper.xml delete mode 100644 iCub/conf/wrappers/FT/left_leg_hip-FT_wrapper.xml delete mode 100644 iCub/conf/wrappers/FT/right_foot-FT_wrapper.xml delete mode 100644 iCub/conf/wrappers/FT/right_leg_hip-FT_wrapper.xml delete mode 100644 iCub/conf_icub3/MTB/gazebo_icub_left_arm_mtb.ini delete mode 100644 iCub/conf_icub3/MTB/gazebo_icub_left_leg_mtb.ini delete mode 100644 iCub/conf_icub3/MTB/gazebo_icub_right_arm_mtb.ini delete mode 100644 iCub/conf_icub3/MTB/gazebo_icub_right_leg_mtb.ini delete mode 100644 iCub/conf_icub3/MTB/gazebo_icub_torso_mtb.ini delete mode 100644 iCub/conf_icub3/gazebo_icub_head.ini delete mode 100644 iCub/conf_icub3/gazebo_icub_head_without_eyes.ini delete mode 100644 iCub/conf_icub3/gazebo_icub_left_arm.ini delete mode 100644 iCub/conf_icub3/gazebo_icub_left_arm_no_forearm.ini delete mode 100644 iCub/conf_icub3/gazebo_icub_left_arm_no_hand.ini delete mode 100644 iCub/conf_icub3/gazebo_icub_left_hand.ini delete mode 100644 iCub/conf_icub3/gazebo_icub_left_hand_finger.ini delete mode 100644 iCub/conf_icub3/gazebo_icub_left_hand_fingers.ini delete mode 100644 iCub/conf_icub3/gazebo_icub_left_hand_index.ini delete mode 100644 iCub/conf_icub3/gazebo_icub_left_hand_mais.ini delete mode 100644 iCub/conf_icub3/gazebo_icub_left_hand_middle.ini delete mode 100644 iCub/conf_icub3/gazebo_icub_left_hand_pinky.ini delete mode 100644 iCub/conf_icub3/gazebo_icub_left_hand_thumb.ini delete mode 100644 iCub/conf_icub3/gazebo_icub_right_arm.ini delete mode 100644 iCub/conf_icub3/gazebo_icub_right_arm_no_forearm.ini delete mode 100644 iCub/conf_icub3/gazebo_icub_right_arm_no_hand.ini delete mode 100644 iCub/conf_icub3/gazebo_icub_right_hand.ini delete mode 100644 iCub/conf_icub3/gazebo_icub_right_hand_finger.ini delete mode 100644 iCub/conf_icub3/gazebo_icub_right_hand_fingers.ini delete mode 100644 iCub/conf_icub3/gazebo_icub_right_hand_index.ini delete mode 100644 iCub/conf_icub3/gazebo_icub_right_hand_mais.ini delete mode 100644 iCub/conf_icub3/gazebo_icub_right_hand_middle.ini delete mode 100644 iCub/conf_icub3/gazebo_icub_right_hand_pinky.ini delete mode 100644 iCub/conf_icub3/gazebo_icub_right_hand_thumb.ini delete mode 100644 iCub/conf_icub3/gazebo_icub_robotname.ini delete mode 100644 iCub/conf_icub3/gazebo_icub_xsens_inertial.ini delete mode 100644 iCub/conf_icub3/left_camera.ini delete mode 100644 iCub/conf_icub3/right_camera.ini delete mode 100644 iCub/conf_icub3/wrappers/FT/left_foot-FT_remapper.xml delete mode 100644 iCub/conf_icub3/wrappers/FT/left_foot-FT_wrapper.xml delete mode 100644 iCub/conf_icub3/wrappers/FT/left_leg_hip-FT_wrapper.xml delete mode 100644 iCub/conf_icub3/wrappers/FT/right_foot-FT_remapper.xml delete mode 100644 iCub/conf_icub3/wrappers/FT/right_foot-FT_wrapper.xml delete mode 100644 iCub/conf_icub3/wrappers/FT/right_leg_hip-FT_wrapper.xml delete mode 100644 iCub/conf_icub3/yarpmotorgui.ini delete mode 100644 iCub/meshes/simmechanics/sim_icub3_head_prt.stl delete mode 100644 iCub/meshes/simmechanics/sim_icub3_neck_1_prt.stl delete mode 100644 iCub/meshes/simmechanics/sim_icub3_neck_2_prt.stl delete mode 100644 iCub/meshes/simmechanics/sim_icub3_neck_3_prt.stl diff --git a/iCub/conf/FT/gazebo_icub_left_foot_front_ft.ini b/iCub/conf/FT/gazebo_icub_left_foot_front_ft.ini deleted file mode 100644 index 0bc77ba..0000000 --- a/iCub/conf/FT/gazebo_icub_left_foot_front_ft.ini +++ /dev/null @@ -1,7 +0,0 @@ -[include "../gazebo_icub_robotname.ini"] - -name /${gazeboYarpPluginsRobotName}/left_foot_front/analog:o -period 10 - -device analogServer - diff --git a/iCub/conf/FT/gazebo_icub_left_foot_rear_ft.ini b/iCub/conf/FT/gazebo_icub_left_foot_rear_ft.ini deleted file mode 100644 index 390ca54..0000000 --- a/iCub/conf/FT/gazebo_icub_left_foot_rear_ft.ini +++ /dev/null @@ -1,7 +0,0 @@ -[include "../gazebo_icub_robotname.ini"] - -name /${gazeboYarpPluginsRobotName}/left_foot_rear/analog:o -period 10 - -device analogServer - diff --git a/iCub/conf/FT/gazebo_icub_right_foot_front_ft.ini b/iCub/conf/FT/gazebo_icub_right_foot_front_ft.ini deleted file mode 100644 index 9040869..0000000 --- a/iCub/conf/FT/gazebo_icub_right_foot_front_ft.ini +++ /dev/null @@ -1,6 +0,0 @@ -[include "../gazebo_icub_robotname.ini"] - -name /${gazeboYarpPluginsRobotName}/right_foot_front/analog:o -period 10 - -device analogServer diff --git a/iCub/conf/FT/gazebo_icub_right_foot_rear_ft.ini b/iCub/conf/FT/gazebo_icub_right_foot_rear_ft.ini deleted file mode 100644 index acecca8..0000000 --- a/iCub/conf/FT/gazebo_icub_right_foot_rear_ft.ini +++ /dev/null @@ -1,6 +0,0 @@ -[include "../gazebo_icub_robotname.ini"] - -name /${gazeboYarpPluginsRobotName}/right_foot_rear/analog:o -period 10 - -device analogServer diff --git a/iCub/conf/gazebo_icub_head.ini b/iCub/conf/gazebo_icub_head.ini deleted file mode 100644 index a5272dc..0000000 --- a/iCub/conf/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 left_eye right_eye -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) - -#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 4.363 4.363 4.363 -kd 0.122 0.122 0.122 0.0 0.0 0.0 -ki 0.003 0.003 0.003 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 - -[VELOCITY_CONTROL] -velocityControlImplementationType integrator_and_position_pid -controlUnits metric_units -controlLaw joint_pid_gazebo_v1 -kp 8.726 8.726 8.726 4.363 4.363 4.363 -kd 0.035 0.035 0.035 0.0 0.0 0.0 -ki 0.003 0.003 0.003 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 17.0 20.0 45.0 30.0 30.0 50.0 -jntPosMin -30.0 -20.0 -45.0 -30.0 -30.0 0.0 -jntVelMax 100.0 100.0 100.0 100.0 100.0 100.0 diff --git a/iCub/conf/gazebo_icub_left_arm.ini b/iCub/conf/gazebo_icub_left_arm.ini deleted file mode 100644 index 26781b2..0000000 --- a/iCub/conf/gazebo_icub_left_arm.ini +++ /dev/null @@ -1,26 +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 -# Total number of joints -joints 16 - -# list of MotorControl device to use -networks ( left_arm_no_hand left_hand_thumb left_hand_index left_hand_middle left_hand_pinky left_hand_finger ) -# for each network specify the joint map -left_arm_no_hand 0 6 0 6 -left_hand_finger 7 7 0 0 -left_hand_thumb 8 10 0 2 -left_hand_index 11 12 0 1 -left_hand_middle 13 14 0 1 -left_hand_pinky 15 15 0 0 - -# Verbose output (on if present, off if commented out) -#verbose - - diff --git a/iCub/conf/gazebo_icub_left_arm_no_forearm.ini b/iCub/conf/gazebo_icub_left_arm_no_forearm.ini deleted file mode 100644 index 14dd577..0000000 --- a/iCub/conf/gazebo_icub_left_arm_no_forearm.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 -name /${gazeboYarpPluginsRobotName}/left_arm -# Total number of joints -joints 3 -# list of MotorControl device to use -networks ( left_arm_no_forarm ) -# for each network specify the joint map -left_arm_no_hand 0 2 0 2 - -# 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 -name left_arm_no_forarm - -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 0.174 0.174 0.174 -ki 0.174 0.174 0.174 -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] -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 13.0 160.0 80.0 -jntPosMin -88.0 12.0 -50.0 -jntVelMax 100.0 100.0 100.0 - diff --git a/iCub/conf/gazebo_icub_left_arm_no_hand.ini b/iCub/conf/gazebo_icub_left_arm_no_hand.ini deleted file mode 100644 index 4c761ba..0000000 --- a/iCub/conf/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/conf/gazebo_icub_left_hand.ini b/iCub/conf/gazebo_icub_left_hand.ini deleted file mode 100644 index 7a22916..0000000 --- a/iCub/conf/gazebo_icub_left_hand.ini +++ /dev/null @@ -1,23 +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 /${gazeboYarpPluginsRobotName}/left_hand -# Total number of joints -joints 9 - -# list of MotorControl device to use -networks ( left_hand_thumb left_hand_index left_hand_middle left_hand_pinky left_hand_finger) -# for each network specify the joint map -left_hand_thumb 0 2 0 2 -left_hand_index 3 4 0 1 -left_hand_middle 5 6 0 1 -left_hand_pinky 7 7 0 0 -left_hand_finger 8 8 0 0 - -# Verbose output (on if present, off if commented out) -#verbose diff --git a/iCub/conf/gazebo_icub_left_hand_finger.ini b/iCub/conf/gazebo_icub_left_hand_finger.ini deleted file mode 100644 index e7844b9..0000000 --- a/iCub/conf/gazebo_icub_left_hand_finger.ini +++ /dev/null @@ -1,71 +0,0 @@ -[include "gazebo_icub_robotname.ini"] - -# Verbose output (on if present, off if commented out) -#verbose - -[WRAPPER] -device controlboardwrapper2 -period 10 -name /${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) - -# 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_aij6 l_mj6 l_rij6 l_lij6 -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 1.745 1.745 1.745 1.745 -kd 0.0 0.0 0.0 0.0 -ki 0.174 0.174 0.174 0.174 -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 90.0 90.0 90.0 90.0 -jntPosMin -90.0 -90.0 -90.0 -90.0 -jntVelMax 100.0 100.0 100.0 100.0 diff --git a/iCub/conf/gazebo_icub_left_hand_fingers.ini b/iCub/conf/gazebo_icub_left_hand_fingers.ini deleted file mode 100644 index 52a3478..0000000 --- a/iCub/conf/gazebo_icub_left_hand_fingers.ini +++ /dev/null @@ -1,84 +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_hand_fingers -# Total number of joints -//joints 16 -joints 8 - -# list of MotorControl device to use -networks ( left_hand_fingers) -# for each network specify the joint map -left_hand_fingers 0 15 0 15 - -# Verbose output (on if present, off if commented out) -#verbose - -[TRAJECTORY_GENERATION] -trajectory_type minimum_jerk - -[COUPLING] -fingers_control (0 1 2 3) (l_hand_fingers reserved reserved reserved reserved) -thumb_control (4 5 6 7) (l_thumb_oppose l_thumb_proximal l_thumb_distal reserved) -index_control (8 9 10) (l_index_proximal l_index_distal reserved) -middle_control (11 12 13) (l_middle_proximal l_middle_distal reserved) -pinky_control (14 15 16 17 18 19) (l_pinky reserved reserved reserved reserved reserved) - - -# Specify configuration of MotorControl devices -[left_hand] -# name of the device to be instatiated by the factory -device gazebo_controlboard -#jointNames list -jointNames l_aij6 l_mj6 l_rij6 l_lij6 ltj2 ltj4 ltj5 ltj6 laij3 laij4 laij5 lmj3 lmj4 lmj5 llij3 llij4 llij5 lrij3 lrij4 lrij5 -name left_hand - -min_stiffness 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 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 1000.0 1000.0 1000.0 1000.0 1000.0 1000.0 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 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 -max_damping 100.0 100.0 100.0 100.0 100.0 100.0 100.0 100.0 100.0 100.0 100.0 100.0 100.0 100.0 100.0 100.0 100.0 100.0 100.0 100.0 - -#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 1.745 1.745 1.745 1.745 1.745 1.745 1.745 1.745 1.745 1.745 1.745 1.745 1.745 -kd 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 -ki 0.174 0.174 0.174 0.174 0.174 0.174 0.174 0.174 0.174 0.174 0.174 0.174 0.174 0.174 0.174 0.174 0.174 0.174 0.174 0.174 -maxInt 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 -maxOutput 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 -shift 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 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 0.0 0.0 0.0 0.0 0.0 0.0 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 0.0 0.0 0.0 0.0 0.0 0.0 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 0.0 0.0 0.0 0.0 0.0 0.0 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 5.236 5.236 5.236 5.236 5.236 5.236 5.236 5.236 5.236 5.236 5.236 5.236 5.236 -kd 0.035 0.035 0.035 0.002 0.002 0.002 0.002 0.002 0.002 0.002 0.002 0.002 0.002 0.002 0.002 0.002 0.002 0.002 0.002 0.002 -ki 0.002 0.002 0.002 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 -maxInt 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 -maxOutput 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 -shift 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 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 0.0 0.0 0.0 0.0 0.0 0.0 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 0.0 0.0 0.0 0.0 0.0 0.0 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 0.0 0.0 0.0 0.0 0.0 0.0 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 0.0 0.0 0.0 0.0 0.0 0.0 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 0.0 0.0 0.0 0.0 0.0 0.0 0.0 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 90.0 90.0 90.0 90.0 90.0 90.0 90.0 90.0 90.0 90.0 90.0 90.0 90.0 90.0 -jntPosMin -90.0 -90.0 -90.0 -90.0 -90.0 -90.0 -90.0 -90.0 -90.0 -90.0 -90.0 -90.0 -90.0 -90.0 -90.0 -90.0 -90.0 -90.0 -90.0 -90.0 -jntVelMax 100.0 100.0 100.0 100.0 100.0 100.0 100.0 100.0 100.0 100.0 100.0 100.0 100.0 100.0 100.0 100.0 100.0 100.0 100.0 100.0 diff --git a/iCub/conf/gazebo_icub_left_hand_index.ini b/iCub/conf/gazebo_icub_left_hand_index.ini deleted file mode 100644 index 2f12791..0000000 --- a/iCub/conf/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) - -# 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_aij3 l_aij4 l_aij5 -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 1.745 1.745 1.745 -kd 0.0 0.0 0.0 -ki 0.174 0.174 0.174 -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 -90.0 -90.0 -90.0 -jntVelMax 100.0 100.0 100.0 diff --git a/iCub/conf/gazebo_icub_left_hand_mais.ini b/iCub/conf/gazebo_icub_left_hand_mais.ini deleted file mode 100644 index 63df205..0000000 --- a/iCub/conf/gazebo_icub_left_hand_mais.ini +++ /dev/null @@ -1,12 +0,0 @@ -[include "./gazebo_icub_robotname.ini"] - -[WRAPPER] -name /${gazeboYarpPluginsRobotName}/left_hand/analog:o -period 10 -networks (left_mais) -device analogServer - -[left_mais] -jointNames l_tj2 l_tj4 l_tj5 l_tj6 l_aij3 l_aij4 l_aij5 l_mj3 l_mj4 l_mj5 l_lij3 l_lij4 l_lij5 l_rij3 l_rij4 l_rij5 - - diff --git a/iCub/conf/gazebo_icub_left_hand_middle.ini b/iCub/conf/gazebo_icub_left_hand_middle.ini deleted file mode 100644 index 81f628c..0000000 --- a/iCub/conf/gazebo_icub_left_hand_middle.ini +++ /dev/null @@ -1,71 +0,0 @@ -[include "gazebo_icub_robotname.ini"] - -# Verbose output (on if present, off if commented out) -#verbose - -[WRAPPER] -device controlboardwrapper2 -period 10 -name /${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) - -# 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_mj3 l_mj4 l_mj5 -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 1.745 1.745 1.745 -kd 0.0 0.0 0.0 -ki 0.174 0.174 0.174 -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 -90.0 -90.0 -90.0 -jntVelMax 100.0 100.0 100.0 diff --git a/iCub/conf/gazebo_icub_left_hand_pinky.ini b/iCub/conf/gazebo_icub_left_hand_pinky.ini deleted file mode 100644 index bf3258f..0000000 --- a/iCub/conf/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) - -# 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_lij3 l_lij4 l_lij5 l_rij3 l_rij4 l_rij5 -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 1.745 1.745 1.745 1.745 1.745 1.745 -kd 0.0 0.0 0.0 0.0 0.0 0.0 -ki 0.174 0.174 0.174 0.174 0.174 0.174 -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 -90.0 -90.0 -90.0 90.0 90.0 90.0 -jntVelMax 100.0 100.0 100.0 100.0 100.0 100.0 diff --git a/iCub/conf/gazebo_icub_left_hand_thumb.ini b/iCub/conf/gazebo_icub_left_hand_thumb.ini deleted file mode 100644 index fb22964..0000000 --- a/iCub/conf/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) - -# 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_tj2 l_tj4 l_tj5 l_tj6 -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 1.745 1.745 1.745 1.745 -kd 0.0 0.0 0.0 0.0 -ki 0.174 0.174 0.174 0.174 -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 -90.0 -90.0 -90.0 -90.0 -jntVelMax 100.0 100.0 100.0 100.0 diff --git a/iCub/conf/gazebo_icub_right_arm.ini b/iCub/conf/gazebo_icub_right_arm.ini deleted file mode 100644 index 88e6d64..0000000 --- a/iCub/conf/gazebo_icub_right_arm.ini +++ /dev/null @@ -1,26 +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 /${gazeboYarpPluginsRobotName}/right_arm -# Total number of joints -joints 16 - -# list of MotorControl device to use -networks ( right_arm_no_hand right_hand_thumb right_hand_index right_hand_middle right_hand_pinky right_hand_finger ) -# for each network specify the joint map -right_arm_no_hand 0 6 0 6 -right_hand_finger 7 7 0 0 -right_hand_thumb 8 10 0 2 -right_hand_index 11 12 0 1 -right_hand_middle 13 14 0 1 -right_hand_pinky 15 15 0 0 - -# Verbose output (on if present, off if commented out) -#verbose - - diff --git a/iCub/conf/gazebo_icub_right_arm_no_forearm.ini b/iCub/conf/gazebo_icub_right_arm_no_forearm.ini deleted file mode 100644 index 0442527..0000000 --- a/iCub/conf/gazebo_icub_right_arm_no_forearm.ini +++ /dev/null @@ -1,73 +0,0 @@ -[include "gazebo_icub_robotname.ini"] - -[WRAPPER] -# name of the wrapper device to be instatiated by the factory -device controlboardwrapper2 -# rate of output streaming from ports in ms -period 10 -# output port name (a leading '/' will be added by code) -name /${gazeboYarpPluginsRobotName}/right_arm -# Total number of joints -joints 3 -# list of MotorControl device to use -networks ( right_arm_no_forearm ) -# for each network specify the joint map -right_arm_no_hand 0 2 0 2 - -# 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 -name right_arm_no_forearm - -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 0.174 0.174 0.174 -ki 0.174 0.174 0.174 -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] -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 13.0 160.0 80.0 -jntPosMin -88.0 12.0 -50.0 -jntVelMax 100.0 100.0 100.0 diff --git a/iCub/conf/gazebo_icub_right_arm_no_hand.ini b/iCub/conf/gazebo_icub_right_arm_no_hand.ini deleted file mode 100644 index d32eb16..0000000 --- a/iCub/conf/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/conf/gazebo_icub_right_hand.ini b/iCub/conf/gazebo_icub_right_hand.ini deleted file mode 100644 index 47f1e8a..0000000 --- a/iCub/conf/gazebo_icub_right_hand.ini +++ /dev/null @@ -1,23 +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_hand -# Total number of joints -joints 9 - -# list of MotorControl device to use -networks ( right_hand_thumb right_hand_index right_hand_middle right_hand_pinky right_hand_finger) -# for each network specify the joint map -right_hand_finger 0 0 0 0 -right_hand_thumb 1 3 0 2 -right_hand_index 4 5 0 1 -right_hand_middle 6 7 0 1 -right_hand_pinky 8 8 0 0 - -# Verbose output (on if present, off if commented out) -#verbose diff --git a/iCub/conf/gazebo_icub_right_hand_finger.ini b/iCub/conf/gazebo_icub_right_hand_finger.ini deleted file mode 100644 index 628a774..0000000 --- a/iCub/conf/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) - -# 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_aij6 r_mj6 r_rij6 r_lij6 -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 1.745 1.745 1.745 1.745 -kd 0.0 0.0 0.0 0.0 -ki 0.174 0.174 0.174 0.174 -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 -90.0 -90.0 -90.0 -90.0 -jntVelMax 100.0 100.0 100.0 100.0 diff --git a/iCub/conf/gazebo_icub_right_hand_fingers.ini b/iCub/conf/gazebo_icub_right_hand_fingers.ini deleted file mode 100644 index 7d51ba4..0000000 --- a/iCub/conf/gazebo_icub_right_hand_fingers.ini +++ /dev/null @@ -1,85 +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_hand_fingers -# Total number of joints -//joints 16 -joints 8 - -# list of MotorControl device to use -networks ( right_hand_fingers) -# for each network specify the joint map -right_hand_fingers 0 15 0 15 - -# Verbose output (on if present, off if commented out) -#verbose - -[TRAJECTORY_GENERATION] -trajectory_type minimum_jerk - -[COUPLING] -fingers_control (0 1 2 3) (r_hand_fingers reserved reserved reserved reserved) -thumb_control (4 5 6 7) (r_thumb_oppose r_thumb_proximal r_thumb_distal reserved) -index_control (8 9 10) (r_index_proximal r_index_distal reserved) -middle_control (11 12 13) (r_middle_proximal r_middle_distal reserved) -pinky_control (14 15 16 17 18 19) (r_pinky reserved reserved reserved reserved reserved) - - -# Specify configuration of MotorControl devices -[right_hand] -# name of the device to be instatiated by the factory -device gazebo_controlboard -#jointNames list -jointNames l_aij6 l_mj6 l_rij6 l_lij6 ltj2 ltj4 ltj5 ltj6 laij3 laij4 laij5 lmj3 lmj4 lmj5 llij3 llij4 llij5 lrij3 lrij4 lrij5 -name right_hand - -min_stiffness 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 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 1000.0 1000.0 1000.0 1000.0 1000.0 1000.0 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 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 -max_damping 100.0 100.0 100.0 100.0 100.0 100.0 100.0 100.0 100.0 100.0 100.0 100.0 100.0 100.0 100.0 100.0 100.0 100.0 100.0 100.0 - -#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 1.745 1.745 1.745 1.745 1.745 1.745 1.745 1.745 1.745 1.745 1.745 1.745 1.745 -kd 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 -ki 0.174 0.174 0.174 0.174 0.174 0.174 0.174 0.174 0.174 0.174 0.174 0.174 0.174 0.174 0.174 0.174 0.174 0.174 0.174 0.174 -maxInt 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 -maxOutput 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 -shift 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 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 0.0 0.0 0.0 0.0 0.0 0.0 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 0.0 0.0 0.0 0.0 0.0 0.0 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 0.0 0.0 0.0 0.0 0.0 0.0 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 5.236 5.236 5.236 5.236 5.236 5.236 5.236 5.236 5.236 5.236 5.236 5.236 5.236 -kd 0.035 0.035 0.035 0.002 0.002 0.002 0.002 0.002 0.002 0.002 0.002 0.002 0.002 0.002 0.002 0.002 0.002 0.002 0.002 0.002 -ki 0.002 0.002 0.002 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 -maxInt 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 -maxOutput 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 -shift 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 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 0.0 0.0 0.0 0.0 0.0 0.0 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 0.0 0.0 0.0 0.0 0.0 0.0 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 0.0 0.0 0.0 0.0 0.0 0.0 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 0.0 0.0 0.0 0.0 0.0 0.0 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 0.0 0.0 0.0 0.0 0.0 0.0 0.0 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 90.0 90.0 90.0 90.0 90.0 90.0 90.0 90.0 90.0 90.0 90.0 90.0 90.0 90.0 -jntPosMin -90.0 -90.0 -90.0 -90.0 -90.0 -90.0 -90.0 -90.0 -90.0 -90.0 -90.0 -90.0 -90.0 -90.0 -90.0 -90.0 -90.0 -90.0 -90.0 -90.0 -jntVelMax 100.0 100.0 100.0 100.0 100.0 100.0 100.0 100.0 100.0 100.0 100.0 100.0 100.0 100.0 100.0 100.0 100.0 100.0 100.0 100.0 diff --git a/iCub/conf/gazebo_icub_right_hand_index.ini b/iCub/conf/gazebo_icub_right_hand_index.ini deleted file mode 100644 index 5d60b69..0000000 --- a/iCub/conf/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 /${gazeboYarpPluginsRobotName}/right_hand_index -joints 3 -networks ( right_hand_index) -right_hand_index 0 2 0 2 - -[TRAJECTORY_GENERATION] -trajectory_type minimum_jerk - -[COUPLING] -index_control (0 1 2) (r_index_proximal r_index_distal reserved) - -# Specify configuration of MotorControl devices -[right_hand_index] -# name of the device to be instatiated by the factory -device gazebo_controlboard -#jointNames list -jointNames r_aij3 r_aij4 r_aij5 -name right_hand_index - -min_stiffness 0.0 0.0 0.0 -max_stiffness 1000.0 1000.0 1000.0 -min_damping 0.0 0.0 0.0 -max_damping 100.0 100.0 100.0 - -#PIDs: -# this information is used to set the PID values in simulation for GAZEBO, we need only the first three values -[POSITION_CONTROL] -controlUnits metric_units -controlLaw joint_pid_gazebo_v1 -kp 1.745 1.745 1.745 -kd 0.0 0.0 0.0 -ki 0.174 0.174 0.174 -maxInt 9999 9999 9999 -maxOutput 9999 9999 9999 -shift 0.0 0.0 0.0 -ko 0.0 0.0 0.0 -stictionUp 0.0 0.0 0.0 -stictionDwn 0.0 0.0 0.0 - -[VELOCITY_CONTROL] -velocityControlImplementationType integrator_and_position_pid -controlUnits metric_units -controlLaw joint_pid_gazebo_v1 -kp 8.726 8.726 8.726 -kd 0.035 0.035 0.035 -ki 0.002 0.002 0.002 -maxInt 9999 9999 9999 -maxOutput 9999 9999 9999 -shift 0.0 0.0 0.0 -ko 0.0 0.0 0.0 -stictionUp 0.0 0.0 0.0 -stictionDwn 0.0 0.0 0.0 - -[IMPEDANCE_CONTROL] -controlUnits metric_units -controlLaw joint_pid_gazebo_v1 -stiffness 0.0 0.0 0.0 -damping 0.0 0.0 0.0 - -[LIMITS] -jntPosMax 90.0 90.0 90.0 -jntPosMin -90.0 -90.0 -90.0 -jntVelMax 100.0 100.0 100.0 diff --git a/iCub/conf/gazebo_icub_right_hand_mais.ini b/iCub/conf/gazebo_icub_right_hand_mais.ini deleted file mode 100644 index 6ea4cdc..0000000 --- a/iCub/conf/gazebo_icub_right_hand_mais.ini +++ /dev/null @@ -1,12 +0,0 @@ -[include "./gazebo_icub_robotname.ini"] - -[WRAPPER] -name /${gazeboYarpPluginsRobotName}/right_hand/analog:o -period 10 -networks (right_mais) -device analogServer - -[right_mais] -jointNames r_tj2 r_tj4 r_tj5 r_tj6 r_aij3 r_aij4 r_aij5 r_mj3 r_mj4 r_mj5 r_lij3 r_lij4 r_lij5 r_rij3 r_rij4 r_rij5 - - diff --git a/iCub/conf/gazebo_icub_right_hand_middle.ini b/iCub/conf/gazebo_icub_right_hand_middle.ini deleted file mode 100644 index 00c1294..0000000 --- a/iCub/conf/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 /${gazeboYarpPluginsRobotName}/right_hand_middle -joints 3 -networks ( right_hand_middle) -right_hand_middle 0 2 0 2 - -[TRAJECTORY_GENERATION] -trajectory_type minimum_jerk - -[COUPLING] -middle_control (0 1 2) (r_middle_proximal r_middle_distal reserved) - -# Specify configuration of MotorControl devices -[right_hand_middle] -# name of the device to be instatiated by the factory -device gazebo_controlboard -#jointNames list -jointNames r_mj3 r_mj4 r_mj5 -name right_hand_middle - -min_stiffness 0.0 0.0 0.0 -max_stiffness 1000.0 1000.0 1000.0 -min_damping 0.0 0.0 0.0 -max_damping 100.0 100.0 100.0 - -#PIDs: -# this information is used to set the PID values in simulation for GAZEBO, we need only the first three values -[POSITION_CONTROL] -controlUnits metric_units -controlLaw joint_pid_gazebo_v1 -kp 1.745 1.745 1.745 -kd 0.0 0.0 0.0 -ki 0.174 0.174 0.174 -maxInt 9999 9999 9999 -maxOutput 9999 9999 9999 -shift 0.0 0.0 0.0 -ko 0.0 0.0 0.0 -stictionUp 0.0 0.0 0.0 -stictionDwn 0.0 0.0 0.0 - -[VELOCITY_CONTROL] -velocityControlImplementationType integrator_and_position_pid -controlUnits metric_units -controlLaw joint_pid_gazebo_v1 -kp 8.726 8.726 8.726 -kd 0.035 0.035 0.035 -ki 0.002 0.002 0.002 -maxInt 9999 9999 9999 -maxOutput 9999 9999 9999 -shift 0.0 0.0 0.0 -ko 0.0 0.0 0.0 -stictionUp 0.0 0.0 0.0 -stictionDwn 0.0 0.0 0.0 - -[IMPEDANCE_CONTROL] -controlUnits metric_units -controlLaw joint_pid_gazebo_v1 -stiffness 0.0 0.0 0.0 -damping 0.0 0.0 0.0 - -[LIMITS] -jntPosMax 90.0 90.0 90.0 -jntPosMin -90.0 -90.0 -90.0 -jntVelMax 100.0 100.0 100.0 diff --git a/iCub/conf/gazebo_icub_right_hand_pinky.ini b/iCub/conf/gazebo_icub_right_hand_pinky.ini deleted file mode 100644 index c1367ac..0000000 --- a/iCub/conf/gazebo_icub_right_hand_pinky.ini +++ /dev/null @@ -1,71 +0,0 @@ -[include "gazebo_icub_robotname.ini"] - -# Verbose output (on if present, off if commented out) -#verbose - -[WRAPPER] -device controlboardwrapper2 -period 10 -name /${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) - -# 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_lij3 r_lij4 r_lij5 r_rij3 r_rij4 r_rij5 -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 1.745 1.745 1.745 1.745 1.745 1.745 -kd 0.0 0.0 0.0 0.0 0.0 0.0 -ki 0.174 0.174 0.174 0.174 0.174 0.174 -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 -90.0 -90.0 -90.0 90.0 90.0 90.0 -jntVelMax 100.0 100.0 100.0 100.0 100.0 100.0 diff --git a/iCub/conf/gazebo_icub_right_hand_thumb.ini b/iCub/conf/gazebo_icub_right_hand_thumb.ini deleted file mode 100644 index e4885c0..0000000 --- a/iCub/conf/gazebo_icub_right_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}/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) - -# Specify configuration of MotorControl devices -[right_hand_thumb] -# name of the device to be instatiated by the factory -device gazebo_controlboard -#jointNames list -jointNames r_tj2 r_tj4 r_tj5 r_tj6 -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 1.745 1.745 1.745 1.745 -kd 0.0 0.0 0.0 0.0 -ki 0.174 0.174 0.174 0.174 -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 -90.0 -90.0 -90.0 -90.0 -jntVelMax 100.0 100.0 100.0 100.0 diff --git a/iCub/conf/wrappers/FT/left_foot-FT_wrapper.xml b/iCub/conf/wrappers/FT/left_foot-FT_wrapper.xml deleted file mode 100644 index 0b57236..0000000 --- a/iCub/conf/wrappers/FT/left_foot-FT_wrapper.xml +++ /dev/null @@ -1,17 +0,0 @@ - - - - - - 10 - ${portprefix}/left_foot - - - - icub_left_foot_ft - - - - - - diff --git a/iCub/conf/wrappers/FT/left_leg_hip-FT_wrapper.xml b/iCub/conf/wrappers/FT/left_leg_hip-FT_wrapper.xml deleted file mode 100644 index 07edf7b..0000000 --- a/iCub/conf/wrappers/FT/left_leg_hip-FT_wrapper.xml +++ /dev/null @@ -1,17 +0,0 @@ - - - - - - 10 - ${portprefix}/left_leg_hip - - - - icub_left_leg_ft - - - - - - diff --git a/iCub/conf/wrappers/FT/right_foot-FT_wrapper.xml b/iCub/conf/wrappers/FT/right_foot-FT_wrapper.xml deleted file mode 100644 index ffe4037..0000000 --- a/iCub/conf/wrappers/FT/right_foot-FT_wrapper.xml +++ /dev/null @@ -1,17 +0,0 @@ - - - - - - 10 - ${portprefix}/right_foot - - - - icub_right_foot_ft - - - - - - diff --git a/iCub/conf/wrappers/FT/right_leg_hip-FT_wrapper.xml b/iCub/conf/wrappers/FT/right_leg_hip-FT_wrapper.xml deleted file mode 100644 index 820e527..0000000 --- a/iCub/conf/wrappers/FT/right_leg_hip-FT_wrapper.xml +++ /dev/null @@ -1,17 +0,0 @@ - - - - - - 10 - ${portprefix}/right_leg_hip - - - - icub_right_leg_ft - - - - - - diff --git a/iCub/conf_icub3/MTB/gazebo_icub_left_arm_mtb.ini b/iCub/conf_icub3/MTB/gazebo_icub_left_arm_mtb.ini deleted file mode 100644 index 1ae1485..0000000 --- a/iCub/conf_icub3/MTB/gazebo_icub_left_arm_mtb.ini +++ /dev/null @@ -1,24 +0,0 @@ -[include "../gazebo_icub_robotname.ini"] - -[WRAPPER] -# name of the wrapper device to be instatiated by the factory -device analogServer -# rate of output streaming from ports as a ms period -period 10 -# output port name -name /${gazeboYarpPluginsRobotName}/left_hand/inertialMTB - -[PART_DRIVER] -# name of the part driver device to be instatiated by the factory -device gazebo_inertialMTB -# part to which the sensors are attached -# (the predefined number of sensors depends on this parameter) -robotPart left_arm -# ordered list of enabled sensors -enabledSensors (iCub::l_upper_arm::l_upper_arm_mtb_acc_1b10 - iCub::l_upper_arm::l_upper_arm_mtb_acc_1b11 - iCub::l_upper_arm::l_upper_arm_mtb_acc_1b12 - iCub::l_upper_arm::l_upper_arm_mtb_acc_1b13 - iCub::l_forearm::l_forearm_mtb_acc_1b8 - iCub::l_forearm::l_forearm_mtb_acc_1b9 - iCub::l_forearm::l_forearm_mtb_acc_1b7) diff --git a/iCub/conf_icub3/MTB/gazebo_icub_left_leg_mtb.ini b/iCub/conf_icub3/MTB/gazebo_icub_left_leg_mtb.ini deleted file mode 100644 index 3612149..0000000 --- a/iCub/conf_icub3/MTB/gazebo_icub_left_leg_mtb.ini +++ /dev/null @@ -1,30 +0,0 @@ -[include "../gazebo_icub_robotname.ini"] - -[WRAPPER] -# name of the wrapper device to be instatiated by the factory -device analogServer -# rate of output streaming from ports as a ms period -period 10 -# output port name -name /${gazeboYarpPluginsRobotName}/left_leg/inertialMTB - -[PART_DRIVER] -# name of the part driver device to be instatiated by the factory -device gazebo_inertialMTB -# part to which the sensors are attached -# (the predefined number of sensors depends on this parameter) -robotPart left_leg -# ordered list of enabled sensors -enabledSensors (iCub::l_upper_leg::l_upper_leg_mtb_acc_10b1 - iCub::l_upper_leg::l_upper_leg_mtb_acc_10b2 - iCub::l_upper_leg::l_upper_leg_mtb_acc_10b3 - iCub::l_upper_leg::l_upper_leg_mtb_acc_10b4 - iCub::l_upper_leg::l_upper_leg_mtb_acc_10b5 - iCub::l_upper_leg::l_upper_leg_mtb_acc_10b6 - iCub::l_upper_leg::l_upper_leg_mtb_acc_10b7 - iCub::l_lower_leg::l_lower_leg_mtb_acc_10b8 - iCub::l_lower_leg::l_lower_leg_mtb_acc_10b9 - iCub::l_lower_leg::l_lower_leg_mtb_acc_10b10 - iCub::l_lower_leg::l_lower_leg_mtb_acc_10b11 - iCub::l_foot::l_foot_mtb_acc_10b12 - iCub::l_foot::l_foot_mtb_acc_10b13) diff --git a/iCub/conf_icub3/MTB/gazebo_icub_right_arm_mtb.ini b/iCub/conf_icub3/MTB/gazebo_icub_right_arm_mtb.ini deleted file mode 100644 index ca89acb..0000000 --- a/iCub/conf_icub3/MTB/gazebo_icub_right_arm_mtb.ini +++ /dev/null @@ -1,24 +0,0 @@ -[include "../gazebo_icub_robotname.ini"] - -[WRAPPER] -# name of the wrapper device to be instatiated by the factory -device analogServer -# rate of output streaming from ports as a ms period -period 10 -# output port name -name /${gazeboYarpPluginsRobotName}/right_hand/inertialMTB - -[PART_DRIVER] -# name of the part driver device to be instatiated by the factory -device gazebo_inertialMTB -# part to which the sensors are attached -# (the predefined number of sensors depends on this parameter) -robotPart right_arm -# ordered list of enabled sensors -enabledSensors (iCub::r_upper_arm::r_upper_arm_mtb_acc_2b10 - iCub::r_upper_arm::r_upper_arm_mtb_acc_2b11 - iCub::r_upper_arm::r_upper_arm_mtb_acc_2b12 - iCub::r_upper_arm::r_upper_arm_mtb_acc_2b13 - iCub::r_forearm::r_forearm_mtb_acc_2b8 - iCub::r_forearm::r_forearm_mtb_acc_2b9 - iCub::r_forearm::r_forearm_mtb_acc_2b7) diff --git a/iCub/conf_icub3/MTB/gazebo_icub_right_leg_mtb.ini b/iCub/conf_icub3/MTB/gazebo_icub_right_leg_mtb.ini deleted file mode 100644 index bcc3b7d..0000000 --- a/iCub/conf_icub3/MTB/gazebo_icub_right_leg_mtb.ini +++ /dev/null @@ -1,30 +0,0 @@ -[include "../gazebo_icub_robotname.ini"] - -[WRAPPER] -# name of the wrapper device to be instatiated by the factory -device analogServer -# rate of output streaming from ports as a ms period -period 10 -# output port name -name /${gazeboYarpPluginsRobotName}/right_leg/inertialMTB - -[PART_DRIVER] -# name of the part driver device to be instatiated by the factory -device gazebo_inertialMTB -# part to which the sensors are attached -# (the predefined number of sensors depends on this parameter) -robotPart right_leg -# ordered list of enabled sensors -enabledSensors (iCub::r_upper_leg::r_upper_leg_mtb_acc_11b1 - iCub::r_upper_leg::r_upper_leg_mtb_acc_11b2 - iCub::r_upper_leg::r_upper_leg_mtb_acc_11b3 - iCub::r_upper_leg::r_upper_leg_mtb_acc_11b4 - iCub::r_upper_leg::r_upper_leg_mtb_acc_11b5 - iCub::r_upper_leg::r_upper_leg_mtb_acc_11b6 - iCub::r_upper_leg::r_upper_leg_mtb_acc_11b7 - iCub::r_lower_leg::r_lower_leg_mtb_acc_11b8 - iCub::r_lower_leg::r_lower_leg_mtb_acc_11b9 - iCub::r_lower_leg::r_lower_leg_mtb_acc_11b10 - iCub::r_lower_leg::r_lower_leg_mtb_acc_11b11 - iCub::r_foot::r_foot_mtb_acc_11b12 - iCub::r_foot::r_foot_mtb_acc_11b13) diff --git a/iCub/conf_icub3/MTB/gazebo_icub_torso_mtb.ini b/iCub/conf_icub3/MTB/gazebo_icub_torso_mtb.ini deleted file mode 100644 index f6e4023..0000000 --- a/iCub/conf_icub3/MTB/gazebo_icub_torso_mtb.ini +++ /dev/null @@ -1,21 +0,0 @@ -[include "../gazebo_icub_robotname.ini"] - -[WRAPPER] -# name of the wrapper device to be instatiated by the factory -device analogServer -# rate of output streaming from ports as a ms period -period 10 -# output port name -name /${gazeboYarpPluginsRobotName}/torso/inertialMTB - -[PART_DRIVER] -# name of the part driver device to be instatiated by the factory -device gazebo_inertialMTB -# part to which the sensors are attached -# (the predefined number of sensors depends on this parameter) -robotPart torso -# ordered list of enabled sensors -enabledSensors (iCub::chest::chest_mtb_acc_0b7 - iCub::chest::chest_mtb_acc_0b8 - iCub::chest::chest_mtb_acc_0b9 - iCub::chest::chest_mtb_acc_0b10) diff --git a/iCub/conf_icub3/gazebo_icub_head.ini b/iCub/conf_icub3/gazebo_icub_head.ini deleted file mode 100644 index b12c4eb..0000000 --- a/iCub/conf_icub3/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 left_eye right_eye -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) - -#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 4.363 4.363 4.363 -kd 0.122 0.122 0.122 0.0 0.0 0.0 -ki 0.003 0.003 0.003 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 - -[VELOCITY_CONTROL] -velocityControlImplementationType integrator_and_position_pid -controlUnits metric_units -controlLaw joint_pid_gazebo_v1 -kp 8.726 8.726 8.726 4.363 4.363 4.363 -kd 0.035 0.035 0.035 0.0 0.0 0.0 -ki 0.003 0.003 0.003 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 22.0 20.0 45.0 30.0 30.0 45.0 -jntPosMin -30.0 -20.0 -45.0 -30.0 -30.0 0.0 -jntVelMax 100.0 100.0 100.0 100.0 100.0 100.0 diff --git a/iCub/conf_icub3/gazebo_icub_head_without_eyes.ini b/iCub/conf_icub3/gazebo_icub_head_without_eyes.ini deleted file mode 100644 index a76edd9..0000000 --- a/iCub/conf_icub3/gazebo_icub_head_without_eyes.ini +++ /dev/null @@ -1,73 +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 3 -# list of MotorControl device to use -networks ( head ) -# for each network specify the joint map -head 0 2 0 2 -# 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 -name head - -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 22.0 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_left_arm.ini b/iCub/conf_icub3/gazebo_icub_left_arm.ini deleted file mode 100644 index 26781b2..0000000 --- a/iCub/conf_icub3/gazebo_icub_left_arm.ini +++ /dev/null @@ -1,26 +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 /${gazeboYarpPluginsRobotName}/left_arm -# Total number of joints -joints 16 - -# list of MotorControl device to use -networks ( left_arm_no_hand left_hand_thumb left_hand_index left_hand_middle left_hand_pinky left_hand_finger ) -# for each network specify the joint map -left_arm_no_hand 0 6 0 6 -left_hand_finger 7 7 0 0 -left_hand_thumb 8 10 0 2 -left_hand_index 11 12 0 1 -left_hand_middle 13 14 0 1 -left_hand_pinky 15 15 0 0 - -# Verbose output (on if present, off if commented out) -#verbose - - diff --git a/iCub/conf_icub3/gazebo_icub_left_arm_no_forearm.ini b/iCub/conf_icub3/gazebo_icub_left_arm_no_forearm.ini deleted file mode 100644 index 14dd577..0000000 --- a/iCub/conf_icub3/gazebo_icub_left_arm_no_forearm.ini +++ /dev/null @@ -1,74 +0,0 @@ -[include "gazebo_icub_robotname.ini"] - -[WRAPPER] -# name of the wrapper device to be instatiated by the factory -device controlboardwrapper2 -# rate of output streaming from ports in ms -period 10 -# output port name -name /${gazeboYarpPluginsRobotName}/left_arm -# Total number of joints -joints 3 -# list of MotorControl device to use -networks ( left_arm_no_forarm ) -# for each network specify the joint map -left_arm_no_hand 0 2 0 2 - -# 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 -name left_arm_no_forarm - -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 0.174 0.174 0.174 -ki 0.174 0.174 0.174 -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] -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 13.0 160.0 80.0 -jntPosMin -88.0 12.0 -50.0 -jntVelMax 100.0 100.0 100.0 - diff --git a/iCub/conf_icub3/gazebo_icub_left_arm_no_hand.ini b/iCub/conf_icub3/gazebo_icub_left_arm_no_hand.ini deleted file mode 100644 index 4c761ba..0000000 --- a/iCub/conf_icub3/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/conf_icub3/gazebo_icub_left_hand.ini b/iCub/conf_icub3/gazebo_icub_left_hand.ini deleted file mode 100644 index 7a22916..0000000 --- a/iCub/conf_icub3/gazebo_icub_left_hand.ini +++ /dev/null @@ -1,23 +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_hand -# Total number of joints -joints 9 - -# list of MotorControl device to use -networks ( left_hand_thumb left_hand_index left_hand_middle left_hand_pinky left_hand_finger) -# for each network specify the joint map -left_hand_thumb 0 2 0 2 -left_hand_index 3 4 0 1 -left_hand_middle 5 6 0 1 -left_hand_pinky 7 7 0 0 -left_hand_finger 8 8 0 0 - -# Verbose output (on if present, off if commented out) -#verbose diff --git a/iCub/conf_icub3/gazebo_icub_left_hand_finger.ini b/iCub/conf_icub3/gazebo_icub_left_hand_finger.ini deleted file mode 100644 index e7844b9..0000000 --- a/iCub/conf_icub3/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) - -# 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_aij6 l_mj6 l_rij6 l_lij6 -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 1.745 1.745 1.745 1.745 -kd 0.0 0.0 0.0 0.0 -ki 0.174 0.174 0.174 0.174 -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 90.0 90.0 90.0 90.0 -jntPosMin -90.0 -90.0 -90.0 -90.0 -jntVelMax 100.0 100.0 100.0 100.0 diff --git a/iCub/conf_icub3/gazebo_icub_left_hand_fingers.ini b/iCub/conf_icub3/gazebo_icub_left_hand_fingers.ini deleted file mode 100644 index e433182..0000000 --- a/iCub/conf_icub3/gazebo_icub_left_hand_fingers.ini +++ /dev/null @@ -1,84 +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_hand_fingers -# Total number of joints -//joints 16 -joints 8 - -# list of MotorControl device to use -networks ( left_hand_fingers) -# for each network specify the joint map -left_hand_fingers 0 15 0 15 - -# Verbose output (on if present, off if commented out) -#verbose - -[TRAJECTORY_GENERATION] -trajectory_type minimum_jerk - -[COUPLING] -fingers_control (0 1 2 3) (l_hand_fingers reserved reserved reserved reserved) -thumb_control (4 5 6 7) (l_thumb_oppose l_thumb_proximal l_thumb_distal reserved) -index_control (8 9 10) (l_index_proximal l_index_distal reserved) -middle_control (11 12 13) (l_middle_proximal l_middle_distal reserved) -pinky_control (14 15 16 17 18 19) (l_pinky reserved reserved reserved reserved reserved) - - -# Specify configuration of MotorControl devices -[left_hand] -# name of the device to be instatiated by the factory -device gazebo_controlboard -#jointNames list -jointNames l_aij6 l_mj6 l_rij6 l_lij6 ltj2 ltj4 ltj5 ltj6 laij3 laij4 laij5 lmj3 lmj4 lmj5 llij3 llij4 llij5 lrij3 lrij4 lrij5 -name left_hand - -min_stiffness 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 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 1000.0 1000.0 1000.0 1000.0 1000.0 1000.0 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 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 -max_damping 100.0 100.0 100.0 100.0 100.0 100.0 100.0 100.0 100.0 100.0 100.0 100.0 100.0 100.0 100.0 100.0 100.0 100.0 100.0 100.0 - -#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 1.745 1.745 1.745 1.745 1.745 1.745 1.745 1.745 1.745 1.745 1.745 1.745 1.745 -kd 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 -ki 0.174 0.174 0.174 0.174 0.174 0.174 0.174 0.174 0.174 0.174 0.174 0.174 0.174 0.174 0.174 0.174 0.174 0.174 0.174 0.174 -maxInt 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 -maxOutput 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 -shift 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 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 0.0 0.0 0.0 0.0 0.0 0.0 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 0.0 0.0 0.0 0.0 0.0 0.0 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 0.0 0.0 0.0 0.0 0.0 0.0 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 5.236 5.236 5.236 5.236 5.236 5.236 5.236 5.236 5.236 5.236 5.236 5.236 5.236 -kd 0.035 0.035 0.035 0.002 0.002 0.002 0.002 0.002 0.002 0.002 0.002 0.002 0.002 0.002 0.002 0.002 0.002 0.002 0.002 0.002 -ki 0.002 0.002 0.002 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 -maxInt 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 -maxOutput 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 -shift 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 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 0.0 0.0 0.0 0.0 0.0 0.0 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 0.0 0.0 0.0 0.0 0.0 0.0 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 0.0 0.0 0.0 0.0 0.0 0.0 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 0.0 0.0 0.0 0.0 0.0 0.0 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 0.0 0.0 0.0 0.0 0.0 0.0 0.0 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 90.0 90.0 90.0 90.0 90.0 90.0 90.0 90.0 90.0 90.0 90.0 90.0 90.0 90.0 -jntPosMin -90.0 -90.0 -90.0 -90.0 -90.0 -90.0 -90.0 -90.0 -90.0 -90.0 -90.0 -90.0 -90.0 -90.0 -90.0 -90.0 -90.0 -90.0 -90.0 -90.0 -jntVelMax 100.0 100.0 100.0 100.0 100.0 100.0 100.0 100.0 100.0 100.0 100.0 100.0 100.0 100.0 100.0 100.0 100.0 100.0 100.0 100.0 diff --git a/iCub/conf_icub3/gazebo_icub_left_hand_index.ini b/iCub/conf_icub3/gazebo_icub_left_hand_index.ini deleted file mode 100644 index 2f12791..0000000 --- a/iCub/conf_icub3/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 /${gazeboYarpPluginsRobotName}/left_hand_index -joints 3 -networks ( left_hand_index) -left_hand_index 0 2 0 2 - -[TRAJECTORY_GENERATION] -trajectory_type minimum_jerk - -[COUPLING] -index_control (0 1 2) (l_index_proximal l_index_distal reserved) - -# Specify configuration of MotorControl devices -[left_hand_index] -# name of the device to be instatiated by the factory -device gazebo_controlboard -#jointNames list -jointNames l_aij3 l_aij4 l_aij5 -name left_hand_index - -min_stiffness 0.0 0.0 0.0 -max_stiffness 1000.0 1000.0 1000.0 -min_damping 0.0 0.0 0.0 -max_damping 100.0 100.0 100.0 - -#PIDs: -# this information is used to set the PID values in simulation for GAZEBO, we need only the first three values -[POSITION_CONTROL] -controlUnits metric_units -controlLaw joint_pid_gazebo_v1 -kp 1.745 1.745 1.745 -kd 0.0 0.0 0.0 -ki 0.174 0.174 0.174 -maxInt 9999 9999 9999 -maxOutput 9999 9999 9999 -shift 0.0 0.0 0.0 -ko 0.0 0.0 0.0 -stictionUp 0.0 0.0 0.0 -stictionDwn 0.0 0.0 0.0 - -[VELOCITY_CONTROL] -velocityControlImplementationType integrator_and_position_pid -controlUnits metric_units -controlLaw joint_pid_gazebo_v1 -kp 8.726 8.726 8.726 -kd 0.035 0.035 0.035 -ki 0.002 0.002 0.002 -maxInt 9999 9999 9999 -maxOutput 9999 9999 9999 -shift 0.0 0.0 0.0 -ko 0.0 0.0 0.0 -stictionUp 0.0 0.0 0.0 -stictionDwn 0.0 0.0 0.0 - -[IMPEDANCE_CONTROL] -controlUnits metric_units -controlLaw joint_pid_gazebo_v1 -stiffness 0.0 0.0 0.0 -damping 0.0 0.0 0.0 - -[LIMITS] -jntPosMax 90.0 90.0 90.0 -jntPosMin -90.0 -90.0 -90.0 -jntVelMax 100.0 100.0 100.0 diff --git a/iCub/conf_icub3/gazebo_icub_left_hand_mais.ini b/iCub/conf_icub3/gazebo_icub_left_hand_mais.ini deleted file mode 100644 index 63df205..0000000 --- a/iCub/conf_icub3/gazebo_icub_left_hand_mais.ini +++ /dev/null @@ -1,12 +0,0 @@ -[include "./gazebo_icub_robotname.ini"] - -[WRAPPER] -name /${gazeboYarpPluginsRobotName}/left_hand/analog:o -period 10 -networks (left_mais) -device analogServer - -[left_mais] -jointNames l_tj2 l_tj4 l_tj5 l_tj6 l_aij3 l_aij4 l_aij5 l_mj3 l_mj4 l_mj5 l_lij3 l_lij4 l_lij5 l_rij3 l_rij4 l_rij5 - - diff --git a/iCub/conf_icub3/gazebo_icub_left_hand_middle.ini b/iCub/conf_icub3/gazebo_icub_left_hand_middle.ini deleted file mode 100644 index 81f628c..0000000 --- a/iCub/conf_icub3/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 /${gazeboYarpPluginsRobotName}/left_hand_middle -joints 3 -networks ( left_hand_middle) -left_hand_middle 0 2 0 2 - -[TRAJECTORY_GENERATION] -trajectory_type minimum_jerk - -[COUPLING] -middle_control (0 1 2) (l_middle_proximal l_middle_distal reserved) - -# Specify configuration of MotorControl devices -[left_hand_middle] -# name of the device to be instatiated by the factory -device gazebo_controlboard -#jointNames list -jointNames l_mj3 l_mj4 l_mj5 -name left_hand_middle - -min_stiffness 0.0 0.0 0.0 -max_stiffness 1000.0 1000.0 1000.0 -min_damping 0.0 0.0 0.0 -max_damping 100.0 100.0 100.0 - -#PIDs: -# this information is used to set the PID values in simulation for GAZEBO, we need only the first three values -[POSITION_CONTROL] -controlUnits metric_units -controlLaw joint_pid_gazebo_v1 -kp 1.745 1.745 1.745 -kd 0.0 0.0 0.0 -ki 0.174 0.174 0.174 -maxInt 9999 9999 9999 -maxOutput 9999 9999 9999 -shift 0.0 0.0 0.0 -ko 0.0 0.0 0.0 -stictionUp 0.0 0.0 0.0 -stictionDwn 0.0 0.0 0.0 - -[VELOCITY_CONTROL] -velocityControlImplementationType integrator_and_position_pid -controlUnits metric_units -controlLaw joint_pid_gazebo_v1 -kp 8.726 8.726 8.726 -kd 0.035 0.035 0.035 -ki 0.002 0.002 0.002 -maxInt 9999 9999 9999 -maxOutput 9999 9999 9999 -shift 0.0 0.0 0.0 -ko 0.0 0.0 0.0 -stictionUp 0.0 0.0 0.0 -stictionDwn 0.0 0.0 0.0 - -[IMPEDANCE_CONTROL] -controlUnits metric_units -controlLaw joint_pid_gazebo_v1 -stiffness 0.0 0.0 0.0 -damping 0.0 0.0 0.0 - -[LIMITS] -jntPosMax 90.0 90.0 90.0 -jntPosMin -90.0 -90.0 -90.0 -jntVelMax 100.0 100.0 100.0 diff --git a/iCub/conf_icub3/gazebo_icub_left_hand_pinky.ini b/iCub/conf_icub3/gazebo_icub_left_hand_pinky.ini deleted file mode 100644 index bf3258f..0000000 --- a/iCub/conf_icub3/gazebo_icub_left_hand_pinky.ini +++ /dev/null @@ -1,71 +0,0 @@ -[include "gazebo_icub_robotname.ini"] - -# Verbose output (on if present, off if commented out) -#verbose - -[WRAPPER] -device controlboardwrapper2 -period 10 -name /${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) - -# 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_lij3 l_lij4 l_lij5 l_rij3 l_rij4 l_rij5 -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 1.745 1.745 1.745 1.745 1.745 1.745 -kd 0.0 0.0 0.0 0.0 0.0 0.0 -ki 0.174 0.174 0.174 0.174 0.174 0.174 -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 -90.0 -90.0 -90.0 90.0 90.0 90.0 -jntVelMax 100.0 100.0 100.0 100.0 100.0 100.0 diff --git a/iCub/conf_icub3/gazebo_icub_left_hand_thumb.ini b/iCub/conf_icub3/gazebo_icub_left_hand_thumb.ini deleted file mode 100644 index fb22964..0000000 --- a/iCub/conf_icub3/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) - -# 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_tj2 l_tj4 l_tj5 l_tj6 -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 1.745 1.745 1.745 1.745 -kd 0.0 0.0 0.0 0.0 -ki 0.174 0.174 0.174 0.174 -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 -90.0 -90.0 -90.0 -90.0 -jntVelMax 100.0 100.0 100.0 100.0 diff --git a/iCub/conf_icub3/gazebo_icub_right_arm.ini b/iCub/conf_icub3/gazebo_icub_right_arm.ini deleted file mode 100644 index 88e6d64..0000000 --- a/iCub/conf_icub3/gazebo_icub_right_arm.ini +++ /dev/null @@ -1,26 +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 -# Total number of joints -joints 16 - -# list of MotorControl device to use -networks ( right_arm_no_hand right_hand_thumb right_hand_index right_hand_middle right_hand_pinky right_hand_finger ) -# for each network specify the joint map -right_arm_no_hand 0 6 0 6 -right_hand_finger 7 7 0 0 -right_hand_thumb 8 10 0 2 -right_hand_index 11 12 0 1 -right_hand_middle 13 14 0 1 -right_hand_pinky 15 15 0 0 - -# Verbose output (on if present, off if commented out) -#verbose - - diff --git a/iCub/conf_icub3/gazebo_icub_right_arm_no_forearm.ini b/iCub/conf_icub3/gazebo_icub_right_arm_no_forearm.ini deleted file mode 100644 index 0442527..0000000 --- a/iCub/conf_icub3/gazebo_icub_right_arm_no_forearm.ini +++ /dev/null @@ -1,73 +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 -# Total number of joints -joints 3 -# list of MotorControl device to use -networks ( right_arm_no_forearm ) -# for each network specify the joint map -right_arm_no_hand 0 2 0 2 - -# 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 -name right_arm_no_forearm - -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 0.174 0.174 0.174 -ki 0.174 0.174 0.174 -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] -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 13.0 160.0 80.0 -jntPosMin -88.0 12.0 -50.0 -jntVelMax 100.0 100.0 100.0 diff --git a/iCub/conf_icub3/gazebo_icub_right_arm_no_hand.ini b/iCub/conf_icub3/gazebo_icub_right_arm_no_hand.ini deleted file mode 100644 index d32eb16..0000000 --- a/iCub/conf_icub3/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/conf_icub3/gazebo_icub_right_hand.ini b/iCub/conf_icub3/gazebo_icub_right_hand.ini deleted file mode 100644 index 47f1e8a..0000000 --- a/iCub/conf_icub3/gazebo_icub_right_hand.ini +++ /dev/null @@ -1,23 +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 /${gazeboYarpPluginsRobotName}/right_hand -# Total number of joints -joints 9 - -# list of MotorControl device to use -networks ( right_hand_thumb right_hand_index right_hand_middle right_hand_pinky right_hand_finger) -# for each network specify the joint map -right_hand_finger 0 0 0 0 -right_hand_thumb 1 3 0 2 -right_hand_index 4 5 0 1 -right_hand_middle 6 7 0 1 -right_hand_pinky 8 8 0 0 - -# Verbose output (on if present, off if commented out) -#verbose diff --git a/iCub/conf_icub3/gazebo_icub_right_hand_finger.ini b/iCub/conf_icub3/gazebo_icub_right_hand_finger.ini deleted file mode 100644 index 628a774..0000000 --- a/iCub/conf_icub3/gazebo_icub_right_hand_finger.ini +++ /dev/null @@ -1,72 +0,0 @@ -[include "gazebo_icub_robotname.ini"] - -# Verbose output (on if present, off if commented out) -#verbose - -[WRAPPER] -device controlboardwrapper2 -period 10 -name /${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) - -# 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_aij6 r_mj6 r_rij6 r_lij6 -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 1.745 1.745 1.745 1.745 -kd 0.0 0.0 0.0 0.0 -ki 0.174 0.174 0.174 0.174 -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 -90.0 -90.0 -90.0 -90.0 -jntVelMax 100.0 100.0 100.0 100.0 diff --git a/iCub/conf_icub3/gazebo_icub_right_hand_fingers.ini b/iCub/conf_icub3/gazebo_icub_right_hand_fingers.ini deleted file mode 100644 index 7d51ba4..0000000 --- a/iCub/conf_icub3/gazebo_icub_right_hand_fingers.ini +++ /dev/null @@ -1,85 +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_hand_fingers -# Total number of joints -//joints 16 -joints 8 - -# list of MotorControl device to use -networks ( right_hand_fingers) -# for each network specify the joint map -right_hand_fingers 0 15 0 15 - -# Verbose output (on if present, off if commented out) -#verbose - -[TRAJECTORY_GENERATION] -trajectory_type minimum_jerk - -[COUPLING] -fingers_control (0 1 2 3) (r_hand_fingers reserved reserved reserved reserved) -thumb_control (4 5 6 7) (r_thumb_oppose r_thumb_proximal r_thumb_distal reserved) -index_control (8 9 10) (r_index_proximal r_index_distal reserved) -middle_control (11 12 13) (r_middle_proximal r_middle_distal reserved) -pinky_control (14 15 16 17 18 19) (r_pinky reserved reserved reserved reserved reserved) - - -# Specify configuration of MotorControl devices -[right_hand] -# name of the device to be instatiated by the factory -device gazebo_controlboard -#jointNames list -jointNames l_aij6 l_mj6 l_rij6 l_lij6 ltj2 ltj4 ltj5 ltj6 laij3 laij4 laij5 lmj3 lmj4 lmj5 llij3 llij4 llij5 lrij3 lrij4 lrij5 -name right_hand - -min_stiffness 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 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 1000.0 1000.0 1000.0 1000.0 1000.0 1000.0 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 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 -max_damping 100.0 100.0 100.0 100.0 100.0 100.0 100.0 100.0 100.0 100.0 100.0 100.0 100.0 100.0 100.0 100.0 100.0 100.0 100.0 100.0 - -#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 1.745 1.745 1.745 1.745 1.745 1.745 1.745 1.745 1.745 1.745 1.745 1.745 1.745 -kd 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 -ki 0.174 0.174 0.174 0.174 0.174 0.174 0.174 0.174 0.174 0.174 0.174 0.174 0.174 0.174 0.174 0.174 0.174 0.174 0.174 0.174 -maxInt 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 -maxOutput 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 -shift 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 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 0.0 0.0 0.0 0.0 0.0 0.0 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 0.0 0.0 0.0 0.0 0.0 0.0 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 0.0 0.0 0.0 0.0 0.0 0.0 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 5.236 5.236 5.236 5.236 5.236 5.236 5.236 5.236 5.236 5.236 5.236 5.236 5.236 -kd 0.035 0.035 0.035 0.002 0.002 0.002 0.002 0.002 0.002 0.002 0.002 0.002 0.002 0.002 0.002 0.002 0.002 0.002 0.002 0.002 -ki 0.002 0.002 0.002 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 -maxInt 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 -maxOutput 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 -shift 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 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 0.0 0.0 0.0 0.0 0.0 0.0 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 0.0 0.0 0.0 0.0 0.0 0.0 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 0.0 0.0 0.0 0.0 0.0 0.0 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 0.0 0.0 0.0 0.0 0.0 0.0 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 0.0 0.0 0.0 0.0 0.0 0.0 0.0 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 90.0 90.0 90.0 90.0 90.0 90.0 90.0 90.0 90.0 90.0 90.0 90.0 90.0 90.0 -jntPosMin -90.0 -90.0 -90.0 -90.0 -90.0 -90.0 -90.0 -90.0 -90.0 -90.0 -90.0 -90.0 -90.0 -90.0 -90.0 -90.0 -90.0 -90.0 -90.0 -90.0 -jntVelMax 100.0 100.0 100.0 100.0 100.0 100.0 100.0 100.0 100.0 100.0 100.0 100.0 100.0 100.0 100.0 100.0 100.0 100.0 100.0 100.0 diff --git a/iCub/conf_icub3/gazebo_icub_right_hand_index.ini b/iCub/conf_icub3/gazebo_icub_right_hand_index.ini deleted file mode 100644 index 5d60b69..0000000 --- a/iCub/conf_icub3/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) - -# 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_aij3 r_aij4 r_aij5 -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 1.745 1.745 1.745 -kd 0.0 0.0 0.0 -ki 0.174 0.174 0.174 -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 -90.0 -90.0 -90.0 -jntVelMax 100.0 100.0 100.0 diff --git a/iCub/conf_icub3/gazebo_icub_right_hand_mais.ini b/iCub/conf_icub3/gazebo_icub_right_hand_mais.ini deleted file mode 100644 index 6ea4cdc..0000000 --- a/iCub/conf_icub3/gazebo_icub_right_hand_mais.ini +++ /dev/null @@ -1,12 +0,0 @@ -[include "./gazebo_icub_robotname.ini"] - -[WRAPPER] -name /${gazeboYarpPluginsRobotName}/right_hand/analog:o -period 10 -networks (right_mais) -device analogServer - -[right_mais] -jointNames r_tj2 r_tj4 r_tj5 r_tj6 r_aij3 r_aij4 r_aij5 r_mj3 r_mj4 r_mj5 r_lij3 r_lij4 r_lij5 r_rij3 r_rij4 r_rij5 - - diff --git a/iCub/conf_icub3/gazebo_icub_right_hand_middle.ini b/iCub/conf_icub3/gazebo_icub_right_hand_middle.ini deleted file mode 100644 index 00c1294..0000000 --- a/iCub/conf_icub3/gazebo_icub_right_hand_middle.ini +++ /dev/null @@ -1,71 +0,0 @@ -[include "gazebo_icub_robotname.ini"] - -# Verbose output (on if present, off if commented out) -#verbose - -[WRAPPER] -device controlboardwrapper2 -period 10 -name /${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) - -# 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_mj3 r_mj4 r_mj5 -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 1.745 1.745 1.745 -kd 0.0 0.0 0.0 -ki 0.174 0.174 0.174 -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 -90.0 -90.0 -90.0 -jntVelMax 100.0 100.0 100.0 diff --git a/iCub/conf_icub3/gazebo_icub_right_hand_pinky.ini b/iCub/conf_icub3/gazebo_icub_right_hand_pinky.ini deleted file mode 100644 index c1367ac..0000000 --- a/iCub/conf_icub3/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) - -# 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_lij3 r_lij4 r_lij5 r_rij3 r_rij4 r_rij5 -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 1.745 1.745 1.745 1.745 1.745 1.745 -kd 0.0 0.0 0.0 0.0 0.0 0.0 -ki 0.174 0.174 0.174 0.174 0.174 0.174 -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 -90.0 -90.0 -90.0 90.0 90.0 90.0 -jntVelMax 100.0 100.0 100.0 100.0 100.0 100.0 diff --git a/iCub/conf_icub3/gazebo_icub_right_hand_thumb.ini b/iCub/conf_icub3/gazebo_icub_right_hand_thumb.ini deleted file mode 100644 index e4885c0..0000000 --- a/iCub/conf_icub3/gazebo_icub_right_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}/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) - -# Specify configuration of MotorControl devices -[right_hand_thumb] -# name of the device to be instatiated by the factory -device gazebo_controlboard -#jointNames list -jointNames r_tj2 r_tj4 r_tj5 r_tj6 -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 1.745 1.745 1.745 1.745 -kd 0.0 0.0 0.0 0.0 -ki 0.174 0.174 0.174 0.174 -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 -90.0 -90.0 -90.0 -90.0 -jntVelMax 100.0 100.0 100.0 100.0 diff --git a/iCub/conf_icub3/gazebo_icub_robotname.ini b/iCub/conf_icub3/gazebo_icub_robotname.ini deleted file mode 100644 index dc90ac0..0000000 --- a/iCub/conf_icub3/gazebo_icub_robotname.ini +++ /dev/null @@ -1 +0,0 @@ -gazeboYarpPluginsRobotName icubSim diff --git a/iCub/conf_icub3/gazebo_icub_xsens_inertial.ini b/iCub/conf_icub3/gazebo_icub_xsens_inertial.ini deleted file mode 100644 index 2bfc67a..0000000 --- a/iCub/conf_icub3/gazebo_icub_xsens_inertial.ini +++ /dev/null @@ -1,7 +0,0 @@ -[include "gazebo_icub_robotname.ini"] - -name /${gazeboYarpPluginsRobotName}/xsens_inertial -period 0.0025 - -device inertial -subdevice gazebo_imu diff --git a/iCub/conf_icub3/left_camera.ini b/iCub/conf_icub3/left_camera.ini deleted file mode 100644 index 501b2ff..0000000 --- a/iCub/conf_icub3/left_camera.ini +++ /dev/null @@ -1,7 +0,0 @@ -[include "gazebo_icub_robotname.ini"] - -device grabberDual -subdevice gazebo_camera -name /${gazeboYarpPluginsRobotName}/cam/left -freq 30 -stamp 1 diff --git a/iCub/conf_icub3/right_camera.ini b/iCub/conf_icub3/right_camera.ini deleted file mode 100644 index 290cd5a..0000000 --- a/iCub/conf_icub3/right_camera.ini +++ /dev/null @@ -1,7 +0,0 @@ -[include "gazebo_icub_robotname.ini"] - -device grabberDual -subdevice gazebo_camera -name /${gazeboYarpPluginsRobotName}/cam/right -freq 30 -stamp 1 diff --git a/iCub/conf_icub3/wrappers/FT/left_foot-FT_remapper.xml b/iCub/conf_icub3/wrappers/FT/left_foot-FT_remapper.xml deleted file mode 100644 index 4e17d1c..0000000 --- a/iCub/conf_icub3/wrappers/FT/left_foot-FT_remapper.xml +++ /dev/null @@ -1,16 +0,0 @@ - - - - - - (l_foot_rear_ft - l_foot_front_ft) - - - - icub_left_foot_rear_ft - icub_left_foot_front_ft - - - - diff --git a/iCub/conf_icub3/wrappers/FT/left_foot-FT_wrapper.xml b/iCub/conf_icub3/wrappers/FT/left_foot-FT_wrapper.xml deleted file mode 100644 index ded716b..0000000 --- a/iCub/conf_icub3/wrappers/FT/left_foot-FT_wrapper.xml +++ /dev/null @@ -1,17 +0,0 @@ - - - - - - 10 - ${portprefix}/left_foot_heel_tiptoe - - - - left_foot-FT_remapper - - - - - - diff --git a/iCub/conf_icub3/wrappers/FT/left_leg_hip-FT_wrapper.xml b/iCub/conf_icub3/wrappers/FT/left_leg_hip-FT_wrapper.xml deleted file mode 100644 index 07edf7b..0000000 --- a/iCub/conf_icub3/wrappers/FT/left_leg_hip-FT_wrapper.xml +++ /dev/null @@ -1,17 +0,0 @@ - - - - - - 10 - ${portprefix}/left_leg_hip - - - - icub_left_leg_ft - - - - - - diff --git a/iCub/conf_icub3/wrappers/FT/right_foot-FT_remapper.xml b/iCub/conf_icub3/wrappers/FT/right_foot-FT_remapper.xml deleted file mode 100644 index 6958837..0000000 --- a/iCub/conf_icub3/wrappers/FT/right_foot-FT_remapper.xml +++ /dev/null @@ -1,16 +0,0 @@ - - - - - - (r_foot_rear_ft - r_foot_front_ft) - - - - icub_right_foot_rear_ft - icub_right_foot_front_ft - - - - diff --git a/iCub/conf_icub3/wrappers/FT/right_foot-FT_wrapper.xml b/iCub/conf_icub3/wrappers/FT/right_foot-FT_wrapper.xml deleted file mode 100644 index aa68ba4..0000000 --- a/iCub/conf_icub3/wrappers/FT/right_foot-FT_wrapper.xml +++ /dev/null @@ -1,17 +0,0 @@ - - - - - - 10 - ${portprefix}/right_foot_heel_tiptoe - - - - right_foot-FT_remapper - - - - - - diff --git a/iCub/conf_icub3/wrappers/FT/right_leg_hip-FT_wrapper.xml b/iCub/conf_icub3/wrappers/FT/right_leg_hip-FT_wrapper.xml deleted file mode 100644 index 820e527..0000000 --- a/iCub/conf_icub3/wrappers/FT/right_leg_hip-FT_wrapper.xml +++ /dev/null @@ -1,17 +0,0 @@ - - - - - - 10 - ${portprefix}/right_leg_hip - - - - icub_right_leg_ft - - - - - - diff --git a/iCub/conf_icub3/yarpmotorgui.ini b/iCub/conf_icub3/yarpmotorgui.ini deleted file mode 100644 index 3fb1987..0000000 --- a/iCub/conf_icub3/yarpmotorgui.ini +++ /dev/null @@ -1,38 +0,0 @@ -//name of the robot -name icubSim -//parts to be opened by the GUI -parts (head torso left_arm right_arm left_leg right_leg) -//parts (head) - -[head_zero] -// 0 1 2 3 4 5 -PositionZero 0.0 0.0 0.0 0.0 0.0 0.0 -VelocityZero 10.0 10.0 10.0 10.0 10.0 10.0 - -[torso_zero] -// 0 1 2 -PositionZero 0.0 0.0 30.0 -VelocityZero 10.0 10.0 30.0 - -[left_arm_zero] -//Joint 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 -PositionZero -25.8 20.0 0.0 50 0.0 0.0 0.0 -VelocityZero 5.0 5.0 5.0 5.0 30.0 30.0 30.0 - -[right_arm_zero] -//Joint 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 -PositionZero -25.8 20.0 0.0 50 0.0 0.0 0.0 -VelocityZero 5.0 5.0 5.0 5.0 30.0 30.0 30.0 - -[left_leg_zero] -//Joint 0 1 2 3 4 5 -PositionZero 0.0 0.0 0.0 -40.0 -20.0 0.0 -VelocityZero 4.0 4.0 4.0 60.0 30.0 4.0 - -[right_leg_zero] -//Joint 0 1 2 3 4 5 -PositionZero 0.0 0.0 0.0 -40.0 -20.0 0.0 -VelocityZero 4.0 4.0 4.0 60.0 30.0 4.0 - -//parts (right_leg torso right_arm) -//DO NOT REMOVE THIS LINE diff --git a/iCub/meshes/simmechanics/sim_icub3_head_prt.stl b/iCub/meshes/simmechanics/sim_icub3_head_prt.stl deleted file mode 100644 index 5ef473e..0000000 --- a/iCub/meshes/simmechanics/sim_icub3_head_prt.stl +++ /dev/null @@ -1,2858 +0,0 @@ -solid SIM_ICUB3_HEAD - facet normal -8.260032e-01 -5.068927e-01 -2.465330e-01 - outer loop - vertex -5.802314e+01 -8.078733e+01 1.730173e+02 - vertex -6.972264e+01 -5.955555e+01 1.685619e+02 - vertex -5.522764e+01 -7.304507e+01 1.477323e+02 - endloop - endfacet - facet normal -8.374530e-01 -4.704650e-01 -2.780920e-01 - outer loop - vertex -6.421110e+01 -5.583883e+01 1.456765e+02 - vertex -5.522764e+01 -7.304507e+01 1.477323e+02 - vertex -6.972264e+01 -5.955555e+01 1.685619e+02 - endloop - endfacet - facet normal -6.889153e-01 -6.682486e-01 -2.807838e-01 - outer loop - vertex -4.528225e+01 -9.253925e+01 1.697259e+02 - vertex -5.802314e+01 -8.078733e+01 1.730173e+02 - vertex -5.522764e+01 -7.304507e+01 1.477323e+02 - endloop - endfacet - facet normal 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1.714290e+02 - vertex -6.993220e+01 -2.519209e+01 1.392930e+02 - vertex -6.421110e+01 -5.583883e+01 1.456765e+02 - endloop - endfacet - facet normal -5.265727e-01 -7.775922e-01 -3.436155e-01 - outer loop - vertex -3.005555e+01 -9.530134e+01 1.526423e+02 - vertex -4.528225e+01 -9.253925e+01 1.697259e+02 - vertex -3.998929e+01 -8.444908e+01 1.433069e+02 - endloop - endfacet - facet normal -5.705348e-01 -8.182411e-01 -7.050899e-02 - outer loop - vertex -3.355959e+01 -1.012622e+02 1.760974e+02 - vertex -4.629761e+01 -9.479270e+01 2.040925e+02 - vertex -4.528225e+01 -9.253925e+01 1.697259e+02 - endloop - endfacet - facet normal -4.689690e-01 -8.367460e-01 -2.827089e-01 - outer loop - vertex -3.355959e+01 -1.012622e+02 1.760974e+02 - vertex -4.528225e+01 -9.253925e+01 1.697259e+02 - vertex -3.005555e+01 -9.530134e+01 1.526423e+02 - endloop - endfacet - facet normal -4.983603e-01 -5.375808e-01 -6.801793e-01 - outer loop - vertex -3.183758e+01 -7.592855e+01 1.306000e+02 - vertex -3.998929e+01 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-4.043222e+01 -5.370826e+01 1.204418e+02 - endloop - endfacet - facet normal -8.785037e-01 -4.652142e-01 1.086602e-01 - outer loop - vertex -6.769695e+01 -5.772480e+01 2.370649e+02 - vertex -7.066772e+01 -5.988077e+01 2.038161e+02 - vertex -5.962220e+01 -8.107221e+01 2.023894e+02 - endloop - endfacet - facet normal -9.699091e-01 -2.215182e-01 1.010251e-01 - outer loop - vertex -7.439058e+01 -2.730408e+01 2.395052e+02 - vertex -7.066772e+01 -5.988077e+01 2.038161e+02 - vertex -6.769695e+01 -5.772480e+01 2.370649e+02 - endloop - endfacet - facet normal -8.767251e-01 -3.972672e-01 2.711676e-01 - outer loop - vertex -7.439058e+01 -2.730408e+01 2.395052e+02 - vertex -8.433461e+01 -2.921941e+01 2.045486e+02 - vertex -7.066772e+01 -5.988077e+01 2.038161e+02 - endloop - endfacet - facet normal -7.190191e-01 -6.811259e-01 1.381268e-01 - outer loop - vertex -4.413356e+01 -9.039062e+01 2.370649e+02 - vertex -5.962220e+01 -8.107221e+01 2.023894e+02 - vertex -4.629761e+01 -9.479270e+01 2.040925e+02 - endloop - endfacet - facet normal -8.706189e-01 -4.774198e-01 1.187145e-01 - outer loop - vertex -5.724794e+01 -7.724967e+01 2.351742e+02 - vertex -6.769695e+01 -5.772480e+01 2.370649e+02 - vertex -5.962220e+01 -8.107221e+01 2.023894e+02 - endloop - endfacet - facet normal -7.110593e-01 -6.906272e-01 1.320181e-01 - outer loop - vertex -4.413356e+01 -9.039062e+01 2.370649e+02 - vertex -5.724794e+01 -7.724967e+01 2.351742e+02 - vertex -5.962220e+01 -8.107221e+01 2.023894e+02 - endloop - endfacet - facet normal -5.331691e-01 -8.332731e-01 1.462419e-01 - outer loop - vertex -3.431491e+01 -1.027975e+02 2.021682e+02 - vertex -4.413356e+01 -9.039062e+01 2.370649e+02 - vertex -4.629761e+01 -9.479270e+01 2.040925e+02 - endloop - endfacet - facet normal -5.614979e-01 -8.249331e-01 -6.485066e-02 - outer loop - vertex -3.431491e+01 -1.027975e+02 2.021682e+02 - vertex -4.629761e+01 -9.479270e+01 2.040925e+02 - vertex -3.355959e+01 -1.012622e+02 1.760974e+02 - endloop - endfacet - facet normal 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1.813354e-01 - outer loop - vertex 3.076059e+01 1.435431e+01 1.015291e+02 - vertex 3.100000e+01 1.419457e+01 1.004055e+02 - vertex 3.098600e+01 1.454139e+01 1.001456e+02 - endloop - endfacet - facet normal -6.086073e-01 -7.067858e-01 3.606257e-01 - outer loop - vertex -1.924190e+01 -1.683849e+01 1.194899e+02 - vertex -1.992144e+01 -1.683850e+01 1.183430e+02 - vertex -1.926379e+01 -1.713710e+01 1.188677e+02 - endloop - endfacet - facet normal 3.943982e-04 9.999999e-01 -2.430055e-04 - outer loop - vertex -1.924190e+01 -1.683849e+01 1.194899e+02 - vertex -1.883667e+01 -1.683849e+01 1.201738e+02 - vertex -1.924156e+01 -1.683849e+01 1.194897e+02 - endloop - endfacet -endsolid SIM_ICUB3_NECK_2 diff --git a/iCub/meshes/simmechanics/sim_icub3_neck_3_prt.stl b/iCub/meshes/simmechanics/sim_icub3_neck_3_prt.stl deleted file mode 100644 index 5f71129..0000000 --- a/iCub/meshes/simmechanics/sim_icub3_neck_3_prt.stl +++ /dev/null @@ -1,44354 +0,0 @@ -solid SIM_ICUB3_NECK_3 - facet normal 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b/iCub/robots/iCubGazeboV2_5_plus/model.urdf index 8d7b7f9..0f071a3 100644 --- a/iCub/robots/iCubGazeboV2_5_plus/model.urdf +++ b/iCub/robots/iCubGazeboV2_5_plus/model.urdf @@ -282,12 +282,12 @@ - + - + @@ -296,15 +296,15 @@ - + - - + + @@ -333,7 +333,7 @@ - + @@ -444,7 +444,7 @@ - + @@ -458,14 +458,14 @@ - + - + @@ -486,14 +486,14 @@ - + - + @@ -521,7 +521,7 @@ - + @@ -549,21 +549,21 @@ - + - + - + @@ -584,7 +584,7 @@ - + @@ -605,7 +605,7 @@ - + @@ -709,12 +709,12 @@ - + - + @@ -723,15 +723,15 @@ - + - - + + @@ -760,7 +760,7 @@ - + @@ -871,7 +871,7 @@ - + @@ -885,7 +885,7 @@ - + @@ -913,7 +913,7 @@ - + @@ -934,7 +934,7 @@ - + @@ -976,21 +976,21 @@ - + - + - + @@ -1011,7 +1011,7 @@ - + @@ -1289,7 +1289,7 @@ - + @@ -1310,7 +1310,7 @@ - + @@ -1324,7 +1324,7 @@ - + @@ -1352,7 +1352,7 @@ - + @@ -1380,21 +1380,21 @@ - + - + - + @@ -1429,14 +1429,14 @@ - + - + @@ -1450,21 +1450,21 @@ - + - + - + @@ -1485,14 +1485,14 @@ - + - + @@ -1513,7 +1513,7 @@ - + @@ -1527,7 +1527,7 @@ - + @@ -1622,12 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a/iCub/robots/iCubGazeboV2_6/model.urdf +++ b/iCub/robots/iCubGazeboV2_6/model.urdf @@ -220,7 +220,7 @@ - + @@ -241,7 +241,7 @@ - + @@ -255,7 +255,7 @@ - + @@ -283,7 +283,7 @@ - + @@ -311,21 +311,21 @@ - + - + - + @@ -360,14 +360,14 @@ - + - + @@ -381,21 +381,21 @@ - + - + - + @@ -416,14 +416,14 @@ - + - + @@ -444,7 +444,7 @@ - + @@ -458,7 +458,7 @@ - + @@ -1022,12 +1022,12 @@ - + - + @@ -1036,15 +1036,15 @@ - + - - + + @@ -1073,7 +1073,7 @@ - + @@ -1184,7 +1184,7 @@ - + @@ -1198,14 +1198,14 @@ - + - + @@ -1226,14 +1226,14 @@ - + - + @@ -1261,7 +1261,7 @@ - + @@ -1289,21 +1289,21 @@ - + - + - + @@ -1324,7 +1324,7 @@ - + @@ -1345,7 +1345,7 @@ - + @@ -1449,12 +1449,12 @@ - + - + @@ -1463,15 +1463,15 @@ - + - - + + @@ -1500,7 +1500,7 @@ - + @@ -1611,7 +1611,7 @@ - + @@ -1625,7 +1625,7 @@ - + @@ -1653,7 +1653,7 @@ - + @@ -1674,7 +1674,7 @@ - + @@ -1716,21 +1716,21 @@ - + - + - + @@ -1751,7 +1751,7 @@ - + @@ -2036,7 +2036,7 @@ - + @@ -2810,13 +2810,13 @@ 1 100 - -0.060753999809265005 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a/iCub/robots/iCubGazeboV2_7/model.urdf b/iCub/robots/iCubGazeboV2_7/model.urdf index c872eb9..07b2690 100644 --- a/iCub/robots/iCubGazeboV2_7/model.urdf +++ b/iCub/robots/iCubGazeboV2_7/model.urdf @@ -220,7 +220,7 @@ - + @@ -241,7 +241,7 @@ - + @@ -255,7 +255,7 @@ - + @@ -283,7 +283,7 @@ - + @@ -311,21 +311,21 @@ - + - + - + @@ -360,14 +360,14 @@ - + - + @@ -381,21 +381,21 @@ - + - + - + @@ -416,14 +416,14 @@ - + - + @@ -444,7 +444,7 @@ - + @@ -458,7 +458,7 @@ - + @@ -1022,12 +1022,12 @@ - + - + @@ -1036,15 +1036,15 @@ - + - - + + @@ -1073,7 +1073,7 @@ - + @@ -1184,7 +1184,7 @@ - + @@ -1198,14 +1198,14 @@ - + - + @@ -1226,14 +1226,14 @@ - + - + @@ -1261,7 +1261,7 @@ - + @@ -1289,21 +1289,21 @@ - + - + - + @@ -1324,7 +1324,7 @@ - + @@ -1345,7 +1345,7 @@ - + @@ -1449,12 +1449,12 @@ - + - + @@ -1463,15 +1463,15 @@ - + - - + + @@ -1500,7 +1500,7 @@ - + @@ -1611,7 +1611,7 @@ - + @@ -1625,7 +1625,7 @@ - + @@ -1653,7 +1653,7 @@ - + @@ -1674,7 +1674,7 @@ - + @@ -1716,21 +1716,21 @@ - + - + - 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-0.09295800000000004 1.570795319271908 -1.5707699978643241 0.2618001870286602 - + diff --git a/iCub/robots/iCubGazeboV3/model.urdf b/iCub/robots/iCubGazeboV3/model.urdf index 3e83ff4..ad020d3 100644 --- a/iCub/robots/iCubGazeboV3/model.urdf +++ b/iCub/robots/iCubGazeboV3/model.urdf @@ -595,7 +595,7 @@ - + @@ -819,12 +819,12 @@ - + - + @@ -833,15 +833,15 @@ - + - - + + @@ -849,19 +849,19 @@ - + - + - + @@ -870,26 +870,26 @@ - + - + - + - + @@ -898,15 +898,15 @@ - + - - + + @@ -914,12 +914,12 @@ - + - + @@ -928,7 +928,7 @@ - + @@ -936,7 +936,7 @@ - + @@ -944,12 +944,12 @@ - + - + @@ -958,15 +958,15 @@ - + - - + + @@ -974,12 +974,12 @@ - + - + @@ -988,15 +988,15 @@ - + - - + + @@ -1004,12 +1004,12 @@ - + - + @@ -1018,15 +1018,15 @@ - + - - + + @@ -1586,7 +1586,7 @@ sensor child_to_parent - 0.0 2.7755575615628914e-17 0.0 3.141592646862139 -3.104683320142575e-08 -1.5707962571980942 + 3.469446951953614e-18 0.0 0.0 3.141592646862139 -3.10468332187885e-08 -1.5707962571980942 model://iCub/conf_icub3/FT/gazebo_icub_left_arm_ft.ini @@ -1598,7 +1598,7 @@ sensor child_to_parent - + diff --git a/iCub/robots/iCubGenova01/model.urdf b/iCub/robots/iCubGenova01/model.urdf index 914c582..9630b0a 100644 --- a/iCub/robots/iCubGenova01/model.urdf +++ b/iCub/robots/iCubGenova01/model.urdf @@ -220,7 +220,7 @@ - + @@ -241,7 +241,7 @@ - + @@ -255,7 +255,7 @@ - + @@ -283,7 +283,7 @@ - + @@ -311,21 +311,21 @@ - + - + - + @@ -360,14 +360,14 @@ - + - + @@ -381,21 +381,21 @@ - + - + - + @@ -416,14 +416,14 @@ - + - + @@ -444,7 +444,7 @@ - + @@ -458,7 +458,7 @@ - + @@ -1022,12 +1022,12 @@ - + - + @@ -1036,15 +1036,15 @@ - + - - + + @@ -1073,7 +1073,7 @@ - + @@ -1184,7 +1184,7 @@ - + @@ -1198,14 +1198,14 @@ - + - + @@ -1226,14 +1226,14 @@ - + - + @@ -1261,7 +1261,7 @@ - + @@ -1289,21 +1289,21 @@ - + - + - + @@ -1324,7 +1324,7 @@ - + @@ -1345,7 +1345,7 @@ - + @@ -1449,12 +1449,12 @@ - + - + @@ -1463,15 +1463,15 @@ - + - - + + @@ -1500,7 +1500,7 @@ - + @@ -1611,7 +1611,7 @@ - + @@ 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-0.04171870000000001 -0.09295800000000004 1.570795319271908 -1.5707699978643241 0.2618001870286602 - + diff --git a/iCub/robots/iCubGenova04/model.urdf b/iCub/robots/iCubGenova04/model.urdf index e672384..1ad6b57 100644 --- a/iCub/robots/iCubGenova04/model.urdf +++ b/iCub/robots/iCubGenova04/model.urdf @@ -220,7 +220,7 @@ - + @@ -241,7 +241,7 @@ - + @@ -255,7 +255,7 @@ - + @@ -283,7 +283,7 @@ - + @@ -311,21 +311,21 @@ - + - + - + @@ -360,14 +360,14 @@ - + - + @@ -381,21 +381,21 @@ - + - + - + @@ -416,14 +416,14 @@ - + - + @@ -444,7 +444,7 @@ - + @@ -458,7 +458,7 @@ - + @@ -1022,12 +1022,12 @@ - + - + @@ -1036,15 +1036,15 @@ - + - - + + @@ -1073,7 +1073,7 @@ - + @@ -1184,7 +1184,7 @@ - + @@ -1198,14 +1198,14 @@ - + - + @@ -1226,14 +1226,14 @@ - + - + @@ -1261,7 +1261,7 @@ - + @@ -1289,21 +1289,21 @@ - + - + - + @@ -1324,7 +1324,7 @@ - + @@ -1345,7 +1345,7 @@ - + @@ -1449,12 +1449,12 @@ - + - + @@ -1463,15 +1463,15 @@ - + - - + + @@ -1500,7 +1500,7 @@ - + @@ -1611,7 +1611,7 @@ - + @@ 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0.018459299999999988 -0.04171870000000001 -0.09295800000000004 1.570795319271908 -1.5707699978643241 0.2618001870286602 - + diff --git a/iCub/robots/iCubGenova09/model.urdf b/iCub/robots/iCubGenova09/model.urdf index 4cff3ff..ae8f36a 100644 --- a/iCub/robots/iCubGenova09/model.urdf +++ b/iCub/robots/iCubGenova09/model.urdf @@ -595,7 +595,7 @@ - + @@ -819,12 +819,12 @@ - + - + @@ -833,15 +833,15 @@ - + - - + + @@ -849,19 +849,19 @@ - + - + - + @@ -870,26 +870,26 @@ - + - + - + - + @@ -898,15 +898,15 @@ - + - - + + @@ -914,12 +914,12 @@ - + - + @@ -928,7 +928,7 @@ - + @@ -936,7 +936,7 @@ - + @@ -944,12 +944,12 @@ - + - + @@ -958,15 +958,15 @@ - + - - + + @@ -974,12 +974,12 @@ - + - + @@ -988,15 +988,15 @@ - + - - + + @@ -1004,12 +1004,12 @@ - + - + @@ -1018,15 +1018,15 @@ - + - - + + @@ -1586,7 +1586,7 @@ sensor child_to_parent - 0.0 2.7755575615628914e-17 0.0 3.141592646862139 -3.104683320142575e-08 -1.5707962571980942 + 3.469446951953614e-18 0.0 0.0 3.141592646862139 -3.10468332187885e-08 -1.5707962571980942 model://iCub/conf_icub3/FT/gazebo_icub_left_arm_ft.ini @@ -1598,7 +1598,7 @@ sensor child_to_parent - + diff --git a/iCub/robots/left_hand_mk3/model.urdf b/iCub/robots/left_hand_mk3/model.urdf index 1310afa..c60aa07 100644 --- a/iCub/robots/left_hand_mk3/model.urdf +++ b/iCub/robots/left_hand_mk3/model.urdf @@ -203,7 +203,7 @@ - + @@ -224,8 +224,8 @@ - - + + @@ -255,7 +255,7 @@ - + @@ -263,12 +263,12 @@ - + - + @@ -277,15 +277,15 @@ - + - - + +