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Merge pull request #85 from robotology/devel
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@traversaro
traversaro authored Feb 24, 2021
2 parents 4bf86ba + 192c4a1 commit a83139e
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Showing 35 changed files with 112,164 additions and 97,407 deletions.
14 changes: 14 additions & 0 deletions iCub/conf_icub3/gazebo_icub_chest_inertial.ini
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[include "gazebo_icub_robotname.ini"]

[WRAPPER]
device multipleanalogsensorsserver
name /${gazeboYarpPluginsRobotName}/chest/inertials
period 10

[ADDITIONAL_WRAPPER]
device inertial
name /${gazeboYarpPluginsRobotName}/chest/inertial
period 0.01

[IMU_DRIVER]
device gazebo_imu
73 changes: 73 additions & 0 deletions iCub/conf_icub3/gazebo_icub_head_without_eyes_V2_7.ini
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[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 17.0 20.0 45.0
jntPosMin -30.0 -20.0 -45.0
jntVelMax 100.0 100.0 100.0
2 changes: 1 addition & 1 deletion iCub/conf_icub3/gazebo_icub_left_arm_no_hand_for_no_hand_model.ini
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Expand Up @@ -38,7 +38,7 @@ max_damping 100.0 100.0 100.0 100.0 100.0 100.0 100.0
[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
kp 5.745 5.745 5.745 1.745 1.745 1.745 1.745
kd 0.174 0.174 0.174 0.174 0.174 0.174 0.0
ki 0.174 0.174 0.174 0.174 0.174 0.174 0.0
maxInt 9999 9999 9999 9999 9999 9999 9999
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4 changes: 2 additions & 2 deletions iCub/conf_icub3/gazebo_icub_left_leg.ini
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Expand Up @@ -37,9 +37,9 @@ max_damping 100.0 100.0 100.0 100.0 100.0 100.0
[POSITION_CONTROL]
controlUnits metric_units
controlLaw joint_pid_gazebo_v1
kp 17.453 17.453 17.453 17.453 17.453 17.453
kp 15.453 22.453 17.453 30.00 25.453 25.453
kd 0.174 0.174 0.174 0.174 0.174 0.174
ki 0.174 0.174 0.174 0.174 0.174 0.174
ki 0.174 0.174 0.174 0.174 0.174 5.174
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
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2 changes: 1 addition & 1 deletion iCub/conf_icub3/gazebo_icub_right_arm_no_hand_for_no_hand_model.ini
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Expand Up @@ -38,7 +38,7 @@ max_damping 100.0 100.0 100.0 100.0 100.0 100.0 100.0
[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
kp 5.745 5.745 5.745 1.745 1.745 1.745 1.745
kd 0.174 0.174 0.174 0.174 0.174 0.174 0.0
ki 0.174 0.174 0.174 0.174 0.174 0.174 0.0
maxInt 9999 9999 9999 9999 9999 9999 9999
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4 changes: 2 additions & 2 deletions iCub/conf_icub3/gazebo_icub_right_leg.ini
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Expand Up @@ -37,9 +37,9 @@ max_damping 100.0 100.0 100.0 100.0 100.0 100.0
[POSITION_CONTROL]
controlUnits metric_units
controlLaw joint_pid_gazebo_v1
kp 17.453 17.453 17.453 17.453 17.453 17.453
kp 15.453 22.453 17.453 30.00 25.453 25.453
kd 0.174 0.174 0.174 0.174 0.174 0.174
ki 0.174 0.174 0.174 0.174 0.174 0.174
ki 0.174 0.174 0.174 0.174 0.174 5.174
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
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2 changes: 1 addition & 1 deletion iCub/conf_icub3/left_camera.ini
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@@ -1,6 +1,6 @@
[include "gazebo_icub_robotname.ini"]

device grabber
device grabberDual
subdevice gazebo_camera
name /${gazeboYarpPluginsRobotName}/cam/left
freq 30
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2 changes: 1 addition & 1 deletion iCub/conf_icub3/right_camera.ini
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@@ -1,6 +1,6 @@
[include "gazebo_icub_robotname.ini"]

device grabber
device grabberDual
subdevice gazebo_camera
name /${gazeboYarpPluginsRobotName}/cam/right
freq 30
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58 changes: 29 additions & 29 deletions iCub/meshes/simmechanics/sim_head_head_prt.stl
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Expand Up @@ -75270,14 +75270,14 @@ solid SIM_HEAD_HEAD
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Expand Down Expand Up @@ -75312,7 +75312,7 @@ solid SIM_HEAD_HEAD
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Expand All @@ -75333,7 +75333,7 @@ solid SIM_HEAD_HEAD
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Expand Down Expand Up @@ -75564,28 +75564,28 @@ solid SIM_HEAD_HEAD
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Expand All @@ -75599,7 +75599,7 @@ solid SIM_HEAD_HEAD
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Expand Down Expand Up @@ -75746,7 +75746,7 @@ solid SIM_HEAD_HEAD
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Expand Down Expand Up @@ -75774,7 +75774,7 @@ solid SIM_HEAD_HEAD
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Expand All @@ -75788,7 +75788,7 @@ solid SIM_HEAD_HEAD
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Expand Down Expand Up @@ -75858,7 +75858,7 @@ solid SIM_HEAD_HEAD
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Expand Down Expand Up @@ -80338,21 +80338,21 @@ solid SIM_HEAD_HEAD
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Expand All @@ -80366,7 +80366,7 @@ solid SIM_HEAD_HEAD
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Expand All @@ -80380,7 +80380,7 @@ solid SIM_HEAD_HEAD
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Expand Down Expand Up @@ -80415,7 +80415,7 @@ solid SIM_HEAD_HEAD
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Expand Down Expand Up @@ -84531,14 +84531,14 @@ solid SIM_HEAD_HEAD
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Expand Down
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