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Make iCubGazeboV2_5_visuomanip yarp_nws compatible #188

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merged 2 commits into from
Feb 15, 2023
Merged

Make iCubGazeboV2_5_visuomanip yarp_nws compatible #188

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e1410ef
Remove unused files from /iCub_manual/conf_manual/iCubGazeboV2_5_visu…
xEnVrE Feb 14, 2023
2a87aad
Make iCubGazeboV2_5_visuomanip yarp_nws_compatible
xEnVrE Feb 14, 2023
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52 changes: 17 additions & 35 deletions ...zeboV2_5_visuomanip/gazebo_icub_torso.ini → ...azeboV2_5_visuomanip/gazebo_icub_eyes.ini
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Original file line number Diff line number Diff line change
@@ -1,45 +1,27 @@
[include "gazebo_icub_robotname.ini"]
disableImplicitNetworkWrapper
yarpDeviceName eyes_hardware_device

[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}/torso
# Total number of joints
joints 3
# list of MotorControl device to use
networks ( torso )
# for each network specify the joint map
torso 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
[torso]
# name of the device to be instatiated by the factory
device gazebo_controlboard
#jointNames list
jointNames torso_yaw torso_roll torso_pitch
name torso
jointNames eyes_tilt l_eye_pan_joint r_eye_pan_joint

min_stiffness 0.0 0.0 0.0
max_stiffness 1000.0 1000.0 1000.0
min_damping 0.0 0.0 0.0
max_damping 100.0 100.0 100.0

[TRAJECTORY_GENERATION]
trajectory_type minimum_jerk

[COUPLING]
eyes_vergence_control (1 2) (eyes_version eyes_vergence) (-30.0 0.0) (30.0 50.0)

#PIDs:
# this information is used to set the PID values in simulation for GAZEBO, we need only the first three values
[POSITION_CONTROL]
controlUnits metric_units
controlLaw joint_pid_gazebo_v1
kp 1.745 20.0 20.0
kd 1.0 0.174 0.174
ki 0.174 0.174 0.174
kp 0.1 0.1 0.1
kd 0.001 0.001 0.001
ki 0.0 0.0 0.0
maxInt 9999 9999 9999
maxOutput 9999 9999 9999
shift 0.0 0.0 0.0
Expand All @@ -51,9 +33,9 @@ stictionDwn 0.0 0.0 0.0
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
kp 0.01 0.01 0.01
kd 0.0 0.0 0.0
ki 0.0 0.0 0.0
maxInt 9999 9999 9999
maxOutput 9999 9999 9999
shift 0.0 0.0 0.0
Expand All @@ -68,6 +50,6 @@ stiffness 0.0 0.0 0.0
damping 0.0 0.0 0.0

[LIMITS]
jntPosMax 50.0 30.0 70.0
jntPosMin -50.0 -30.0 -20.0
jntPosMax 30.0 55.0 30.0
jntPosMin -30.0 -30.0 -55.0
jntVelMax 100.0 100.0 100.0
76 changes: 0 additions & 76 deletions iCub_manual/conf_manual/iCubGazeboV2_5_visuomanip/gazebo_icub_head.ini
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This file was deleted.

7 changes: 2 additions & 5 deletions ...uomanip/gazebo_icub_left_depth_camera.ini → ...suomanip/gazebo_icub_left_camera_rgbd.ini
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Original file line number Diff line number Diff line change
@@ -1,8 +1,5 @@
[include "gazebo_icub_robotname.ini"]

device RGBDSensorWrapper
period 30
name /${gazeboYarpPluginsRobotName}/cam/left
disableImplicitNetworkWrapper
yarpDeviceName icub_left_camera_rgbd

[CAMERA_PARAM]
focalLengthX 343.12110728152936
Expand Down
23 changes: 0 additions & 23 deletions iCub_manual/conf_manual/iCubGazeboV2_5_visuomanip/gazebo_icub_left_hand.ini
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30 changes: 7 additions & 23 deletions iCub_manual/conf_manual/iCubGazeboV2_5_visuomanip/gazebo_icub_left_hand_finger.ini
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Original file line number Diff line number Diff line change
@@ -1,35 +1,19 @@
[include "gazebo_icub_robotname.ini"]
disableImplicitNetworkWrapper
yarpDeviceName left_hand_finger_hardware_device

# Verbose output (on if present, off if commented out)
#verbose
jointNames l_hand_index_0_joint l_hand_middle_0_joint l_hand_ring_0_joint l_hand_little_0_joint

[WRAPPER]
device controlboardwrapper2
period 10
name /${gazeboYarpPluginsRobotName}/left_hand_finger
joints 4
networks ( left_hand_finger )
left_hand_finger 0 3 0 3
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

[TRAJECTORY_GENERATION]
trajectory_type minimum_jerk

[COUPLING]
fingers_abduction_control (0 1 2 3) (l_hand_fingers reserved reserved reserved reserved) (0.0) (60.0)

# Specify configuration of MotorControl devices
[left_hand_finger]
# name of the device to be instatiated by the factory
device gazebo_controlboard
#jointNames list
jointNames l_hand_index_0_joint l_hand_middle_0_joint l_hand_ring_0_joint l_hand_little_0_joint
name left_hand_finger

min_stiffness 0.0 0.0 0.0 0.0
max_stiffness 1000.0 1000.0 1000.0 1000.0
min_damping 0.0 0.0 0.0 0.0
max_damping 100.0 100.0 100.0 100.0

#PIDs:
# this information is used to set the PID values in simulation for GAZEBO, we need only the first three values
[POSITION_CONTROL]
Expand Down
30 changes: 7 additions & 23 deletions iCub_manual/conf_manual/iCubGazeboV2_5_visuomanip/gazebo_icub_left_hand_index.ini
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Original file line number Diff line number Diff line change
@@ -1,35 +1,19 @@
[include "gazebo_icub_robotname.ini"]
disableImplicitNetworkWrapper
yarpDeviceName left_hand_index_hardware_device

# Verbose output (on if present, off if commented out)
#verbose
jointNames l_hand_index_1_joint l_hand_index_2_joint l_hand_index_3_joint

[WRAPPER]
device controlboardwrapper2
period 10
name /${gazeboYarpPluginsRobotName}/left_hand_index
joints 3
networks ( left_hand_index)
left_hand_index 0 2 0 2
min_stiffness 0.0 0.0 0.0
max_stiffness 1000.0 1000.0 1000.0
min_damping 0.0 0.0 0.0
max_damping 100.0 100.0 100.0

[TRAJECTORY_GENERATION]
trajectory_type minimum_jerk

[COUPLING]
index_control (0 1 2) (l_index_proximal l_index_distal reserved) (0.0 0.0) (90.0 180.0)

# Specify configuration of MotorControl devices
[left_hand_index]
# name of the device to be instatiated by the factory
device gazebo_controlboard
#jointNames list
jointNames l_hand_index_1_joint l_hand_index_2_joint l_hand_index_3_joint
name left_hand_index

min_stiffness 0.0 0.0 0.0
max_stiffness 1000.0 1000.0 1000.0
min_damping 0.0 0.0 0.0
max_damping 100.0 100.0 100.0

#PIDs:
# this information is used to set the PID values in simulation for GAZEBO, we need only the first three values
[POSITION_CONTROL]
Expand Down
30 changes: 7 additions & 23 deletions iCub_manual/conf_manual/iCubGazeboV2_5_visuomanip/gazebo_icub_left_hand_middle.ini
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Original file line number Diff line number Diff line change
@@ -1,35 +1,19 @@
[include "gazebo_icub_robotname.ini"]
disableImplicitNetworkWrapper
yarpDeviceName left_hand_middle_hardware_device

# Verbose output (on if present, off if commented out)
#verbose
jointNames l_hand_middle_1_joint l_hand_middle_2_joint l_hand_middle_3_joint

[WRAPPER]
device controlboardwrapper2
period 10
name /${gazeboYarpPluginsRobotName}/left_hand_middle
joints 3
networks ( left_hand_middle)
left_hand_middle 0 2 0 2
min_stiffness 0.0 0.0 0.0
max_stiffness 1000.0 1000.0 1000.0
min_damping 0.0 0.0 0.0
max_damping 100.0 100.0 100.0

[TRAJECTORY_GENERATION]
trajectory_type minimum_jerk

[COUPLING]
middle_control (0 1 2) (l_middle_proximal l_middle_distal reserved) (0.0 0.0) (90.0 180.0)

# Specify configuration of MotorControl devices
[left_hand_middle]
# name of the device to be instatiated by the factory
device gazebo_controlboard
#jointNames list
jointNames l_hand_middle_1_joint l_hand_middle_2_joint l_hand_middle_3_joint
name left_hand_middle

min_stiffness 0.0 0.0 0.0
max_stiffness 1000.0 1000.0 1000.0
min_damping 0.0 0.0 0.0
max_damping 100.0 100.0 100.0

#PIDs:
# this information is used to set the PID values in simulation for GAZEBO, we need only the first three values
[POSITION_CONTROL]
Expand Down
30 changes: 7 additions & 23 deletions iCub_manual/conf_manual/iCubGazeboV2_5_visuomanip/gazebo_icub_left_hand_pinky.ini
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Original file line number Diff line number Diff line change
@@ -1,35 +1,19 @@
[include "gazebo_icub_robotname.ini"]
disableImplicitNetworkWrapper
yarpDeviceName left_hand_pinky_hardware_device

# Verbose output (on if present, off if commented out)
#verbose
jointNames l_hand_ring_1_joint l_hand_ring_2_joint l_hand_ring_3_joint l_hand_little_1_joint l_hand_little_2_joint l_hand_little_3_joint

[WRAPPER]
device controlboardwrapper2
period 10
name /${gazeboYarpPluginsRobotName}/left_hand_pinky
joints 6
networks ( left_hand_pinky)
left_hand_pinky 0 5 0 5
min_stiffness 0.0 0.0 0.0 0.0 0.0 0.0
max_stiffness 1000.0 1000.0 1000.0 1000.0 1000.0 1000.0
min_damping 0.0 0.0 0.0 0.0 0.0 0.0
max_damping 100.0 100.0 100.0 100.0 100.0 100.0

[TRAJECTORY_GENERATION]
trajectory_type minimum_jerk

[COUPLING]
pinky_control (0 1 2 3 4 5) (l_pinky reserved reserved reserved reserved reserved) (0.0) (270.0)

# Specify configuration of MotorControl devices
[left_hand_pinky]
# name of the device to be instatiated by the factory
device gazebo_controlboard
#jointNames list
jointNames l_hand_ring_1_joint l_hand_ring_2_joint l_hand_ring_3_joint l_hand_little_1_joint l_hand_little_2_joint l_hand_little_3_joint
name left_hand_pinky

min_stiffness 0.0 0.0 0.0 0.0 0.0 0.0
max_stiffness 1000.0 1000.0 1000.0 1000.0 1000.0 1000.0
min_damping 0.0 0.0 0.0 0.0 0.0 0.0
max_damping 100.0 100.0 100.0 100.0 100.0 100.0

#PIDs:
# this information is used to set the PID values in simulation for GAZEBO, we need only the first three values
[POSITION_CONTROL]
Expand Down
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