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iCub3: Fix GYP 4 compatibility (#212)
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* icub3: add gazebo-yarp-plugins 4 compatibility

* Cleanup spaces
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@Nicogene
Nicogene authored Oct 25, 2021
1 parent bbe9fd9 commit 82d5c7a
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Showing 19 changed files with 36 additions and 17 deletions.
1 change: 1 addition & 0 deletions simmechanics/data/icub3/conf/gazebo_icub_head.ini
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Expand Up @@ -51,6 +51,7 @@ 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
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33 changes: 17 additions & 16 deletions simmechanics/data/icub3/conf/gazebo_icub_head_without_eyes.ini
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Expand Up @@ -27,10 +27,10 @@ device gazebo_controlboard
jointNames neck_pitch neck_roll neck_yaw
name head

min_stiffness 0.0 0.0 0.0
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
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
Expand All @@ -40,25 +40,26 @@ 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
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
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
Expand All @@ -67,6 +68,6 @@ stiffness 0.0 0.0 0.0
damping 0.0 0.0 0.0

[LIMITS]
jntPosMax 22.0 20.0 45.0
jntPosMax 22.0 20.0 45.0
jntPosMin -30.0 -20.0 -45.0
jntVelMax 100.0 100.0 100.0
1 change: 1 addition & 0 deletions simmechanics/data/icub3/conf/gazebo_icub_left_arm_no_hand_for_no_hand_model.ini
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Expand Up @@ -49,6 +49,7 @@ 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
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1 change: 1 addition & 0 deletions simmechanics/data/icub3/conf/gazebo_icub_left_hand_finger.ini
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Expand Up @@ -46,6 +46,7 @@ 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
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3 changes: 2 additions & 1 deletion simmechanics/data/icub3/conf/gazebo_icub_left_hand_fingers.ini
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Expand Up @@ -53,12 +53,13 @@ kd 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
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
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1 change: 1 addition & 0 deletions simmechanics/data/icub3/conf/gazebo_icub_left_hand_index.ini
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Expand Up @@ -46,6 +46,7 @@ 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
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1 change: 1 addition & 0 deletions simmechanics/data/icub3/conf/gazebo_icub_left_hand_middle.ini
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Expand Up @@ -46,6 +46,7 @@ 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
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1 change: 1 addition & 0 deletions simmechanics/data/icub3/conf/gazebo_icub_left_hand_pinky.ini
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Expand Up @@ -46,6 +46,7 @@ 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
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1 change: 1 addition & 0 deletions simmechanics/data/icub3/conf/gazebo_icub_left_hand_thumb.ini
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Expand Up @@ -46,6 +46,7 @@ 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
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1 change: 1 addition & 0 deletions simmechanics/data/icub3/conf/gazebo_icub_left_leg.ini
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Expand Up @@ -48,6 +48,7 @@ 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
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1 change: 1 addition & 0 deletions simmechanics/data/icub3/conf/gazebo_icub_right_arm_no_hand_for_no_hand_model.ini
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Expand Up @@ -49,6 +49,7 @@ 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
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1 change: 1 addition & 0 deletions simmechanics/data/icub3/conf/gazebo_icub_right_hand_finger.ini
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Original file line number Diff line number Diff line change
Expand Up @@ -46,6 +46,7 @@ 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
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1 change: 1 addition & 0 deletions simmechanics/data/icub3/conf/gazebo_icub_right_hand_fingers.ini
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Expand Up @@ -59,6 +59,7 @@ stictionUp 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
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1 change: 1 addition & 0 deletions simmechanics/data/icub3/conf/gazebo_icub_right_hand_index.ini
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Expand Up @@ -46,6 +46,7 @@ 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
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1 change: 1 addition & 0 deletions simmechanics/data/icub3/conf/gazebo_icub_right_hand_middle.ini
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Original file line number Diff line number Diff line change
Expand Up @@ -46,6 +46,7 @@ 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
Expand Down
1 change: 1 addition & 0 deletions simmechanics/data/icub3/conf/gazebo_icub_right_hand_pinky.ini
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Expand Up @@ -46,6 +46,7 @@ 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
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1 change: 1 addition & 0 deletions simmechanics/data/icub3/conf/gazebo_icub_right_hand_thumb.ini
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Original file line number Diff line number Diff line change
Expand Up @@ -46,6 +46,7 @@ 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
Expand Down
1 change: 1 addition & 0 deletions simmechanics/data/icub3/conf/gazebo_icub_right_leg.ini
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Original file line number Diff line number Diff line change
Expand Up @@ -48,6 +48,7 @@ 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
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1 change: 1 addition & 0 deletions simmechanics/data/icub3/conf/gazebo_icub_torso.ini
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Expand Up @@ -48,6 +48,7 @@ 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
Expand Down

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