From f53fabf204a5b8baf4fde7214e3d0ca608d962a3 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Nicol=C3=B2?= Date: Mon, 25 Oct 2021 15:17:27 +0200 Subject: [PATCH 1/2] icub3: add gazebo-yarp-plugins 4 compatibility --- simmechanics/data/icub3/conf/gazebo_icub_head.ini | 1 + simmechanics/data/icub3/conf/gazebo_icub_head_without_eyes.ini | 1 + .../conf/gazebo_icub_left_arm_no_hand_for_no_hand_model.ini | 1 + simmechanics/data/icub3/conf/gazebo_icub_left_hand_finger.ini | 1 + simmechanics/data/icub3/conf/gazebo_icub_left_hand_fingers.ini | 1 + simmechanics/data/icub3/conf/gazebo_icub_left_hand_index.ini | 1 + simmechanics/data/icub3/conf/gazebo_icub_left_hand_middle.ini | 1 + simmechanics/data/icub3/conf/gazebo_icub_left_hand_pinky.ini | 1 + simmechanics/data/icub3/conf/gazebo_icub_left_hand_thumb.ini | 1 + simmechanics/data/icub3/conf/gazebo_icub_left_leg.ini | 1 + .../conf/gazebo_icub_right_arm_no_hand_for_no_hand_model.ini | 1 + simmechanics/data/icub3/conf/gazebo_icub_right_hand_finger.ini | 1 + simmechanics/data/icub3/conf/gazebo_icub_right_hand_fingers.ini | 1 + simmechanics/data/icub3/conf/gazebo_icub_right_hand_index.ini | 1 + simmechanics/data/icub3/conf/gazebo_icub_right_hand_middle.ini | 1 + simmechanics/data/icub3/conf/gazebo_icub_right_hand_pinky.ini | 1 + simmechanics/data/icub3/conf/gazebo_icub_right_hand_thumb.ini | 1 + simmechanics/data/icub3/conf/gazebo_icub_right_leg.ini | 1 + simmechanics/data/icub3/conf/gazebo_icub_torso.ini | 1 + 19 files changed, 19 insertions(+) diff --git a/simmechanics/data/icub3/conf/gazebo_icub_head.ini b/simmechanics/data/icub3/conf/gazebo_icub_head.ini index 9939c14b..b12c4eba 100644 --- a/simmechanics/data/icub3/conf/gazebo_icub_head.ini +++ b/simmechanics/data/icub3/conf/gazebo_icub_head.ini @@ -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 diff --git a/simmechanics/data/icub3/conf/gazebo_icub_head_without_eyes.ini b/simmechanics/data/icub3/conf/gazebo_icub_head_without_eyes.ini index c670dd29..21be87a6 100644 --- a/simmechanics/data/icub3/conf/gazebo_icub_head_without_eyes.ini +++ b/simmechanics/data/icub3/conf/gazebo_icub_head_without_eyes.ini @@ -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 diff --git a/simmechanics/data/icub3/conf/gazebo_icub_left_arm_no_hand_for_no_hand_model.ini b/simmechanics/data/icub3/conf/gazebo_icub_left_arm_no_hand_for_no_hand_model.ini index 4e049cd2..53892886 100644 --- a/simmechanics/data/icub3/conf/gazebo_icub_left_arm_no_hand_for_no_hand_model.ini +++ b/simmechanics/data/icub3/conf/gazebo_icub_left_arm_no_hand_for_no_hand_model.ini @@ -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 diff --git a/simmechanics/data/icub3/conf/gazebo_icub_left_hand_finger.ini b/simmechanics/data/icub3/conf/gazebo_icub_left_hand_finger.ini index 2e8b870c..e7844b9d 100644 --- a/simmechanics/data/icub3/conf/gazebo_icub_left_hand_finger.ini +++ b/simmechanics/data/icub3/conf/gazebo_icub_left_hand_finger.ini @@ -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 diff --git a/simmechanics/data/icub3/conf/gazebo_icub_left_hand_fingers.ini b/simmechanics/data/icub3/conf/gazebo_icub_left_hand_fingers.ini index 4ed88807..52a34787 100644 --- a/simmechanics/data/icub3/conf/gazebo_icub_left_hand_fingers.ini +++ b/simmechanics/data/icub3/conf/gazebo_icub_left_hand_fingers.ini @@ -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 diff --git a/simmechanics/data/icub3/conf/gazebo_icub_left_hand_index.ini b/simmechanics/data/icub3/conf/gazebo_icub_left_hand_index.ini index c36ea473..2f127918 100644 --- a/simmechanics/data/icub3/conf/gazebo_icub_left_hand_index.ini +++ b/simmechanics/data/icub3/conf/gazebo_icub_left_hand_index.ini @@ -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 diff --git a/simmechanics/data/icub3/conf/gazebo_icub_left_hand_middle.ini b/simmechanics/data/icub3/conf/gazebo_icub_left_hand_middle.ini index 1ab6c0ce..81f628c1 100644 --- a/simmechanics/data/icub3/conf/gazebo_icub_left_hand_middle.ini +++ b/simmechanics/data/icub3/conf/gazebo_icub_left_hand_middle.ini @@ -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 diff --git a/simmechanics/data/icub3/conf/gazebo_icub_left_hand_pinky.ini b/simmechanics/data/icub3/conf/gazebo_icub_left_hand_pinky.ini index 754b25f4..bf3258fb 100644 --- a/simmechanics/data/icub3/conf/gazebo_icub_left_hand_pinky.ini +++ b/simmechanics/data/icub3/conf/gazebo_icub_left_hand_pinky.ini @@ -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 diff --git a/simmechanics/data/icub3/conf/gazebo_icub_left_hand_thumb.ini b/simmechanics/data/icub3/conf/gazebo_icub_left_hand_thumb.ini index 86cc73cc..fb229649 100644 --- a/simmechanics/data/icub3/conf/gazebo_icub_left_hand_thumb.ini +++ b/simmechanics/data/icub3/conf/gazebo_icub_left_hand_thumb.ini @@ -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 diff --git a/simmechanics/data/icub3/conf/gazebo_icub_left_leg.ini b/simmechanics/data/icub3/conf/gazebo_icub_left_leg.ini index 0a149e9e..246b8797 100644 --- a/simmechanics/data/icub3/conf/gazebo_icub_left_leg.ini +++ b/simmechanics/data/icub3/conf/gazebo_icub_left_leg.ini @@ -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 diff --git a/simmechanics/data/icub3/conf/gazebo_icub_right_arm_no_hand_for_no_hand_model.ini b/simmechanics/data/icub3/conf/gazebo_icub_right_arm_no_hand_for_no_hand_model.ini index 37187a56..73ced134 100644 --- a/simmechanics/data/icub3/conf/gazebo_icub_right_arm_no_hand_for_no_hand_model.ini +++ b/simmechanics/data/icub3/conf/gazebo_icub_right_arm_no_hand_for_no_hand_model.ini @@ -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 diff --git a/simmechanics/data/icub3/conf/gazebo_icub_right_hand_finger.ini b/simmechanics/data/icub3/conf/gazebo_icub_right_hand_finger.ini index a2869d09..628a7747 100644 --- a/simmechanics/data/icub3/conf/gazebo_icub_right_hand_finger.ini +++ b/simmechanics/data/icub3/conf/gazebo_icub_right_hand_finger.ini @@ -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 diff --git a/simmechanics/data/icub3/conf/gazebo_icub_right_hand_fingers.ini b/simmechanics/data/icub3/conf/gazebo_icub_right_hand_fingers.ini index 31f500db..7d51ba46 100644 --- a/simmechanics/data/icub3/conf/gazebo_icub_right_hand_fingers.ini +++ b/simmechanics/data/icub3/conf/gazebo_icub_right_hand_fingers.ini @@ -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 diff --git a/simmechanics/data/icub3/conf/gazebo_icub_right_hand_index.ini b/simmechanics/data/icub3/conf/gazebo_icub_right_hand_index.ini index 1c244a20..5d60b690 100644 --- a/simmechanics/data/icub3/conf/gazebo_icub_right_hand_index.ini +++ b/simmechanics/data/icub3/conf/gazebo_icub_right_hand_index.ini @@ -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 diff --git a/simmechanics/data/icub3/conf/gazebo_icub_right_hand_middle.ini b/simmechanics/data/icub3/conf/gazebo_icub_right_hand_middle.ini index a473953e..00c12946 100644 --- a/simmechanics/data/icub3/conf/gazebo_icub_right_hand_middle.ini +++ b/simmechanics/data/icub3/conf/gazebo_icub_right_hand_middle.ini @@ -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 diff --git a/simmechanics/data/icub3/conf/gazebo_icub_right_hand_pinky.ini b/simmechanics/data/icub3/conf/gazebo_icub_right_hand_pinky.ini index 81b5d3f4..c1367ace 100644 --- a/simmechanics/data/icub3/conf/gazebo_icub_right_hand_pinky.ini +++ b/simmechanics/data/icub3/conf/gazebo_icub_right_hand_pinky.ini @@ -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 diff --git a/simmechanics/data/icub3/conf/gazebo_icub_right_hand_thumb.ini b/simmechanics/data/icub3/conf/gazebo_icub_right_hand_thumb.ini index 733f35a9..e4885c08 100644 --- a/simmechanics/data/icub3/conf/gazebo_icub_right_hand_thumb.ini +++ b/simmechanics/data/icub3/conf/gazebo_icub_right_hand_thumb.ini @@ -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 diff --git a/simmechanics/data/icub3/conf/gazebo_icub_right_leg.ini b/simmechanics/data/icub3/conf/gazebo_icub_right_leg.ini index be926259..c91f2dd9 100644 --- a/simmechanics/data/icub3/conf/gazebo_icub_right_leg.ini +++ b/simmechanics/data/icub3/conf/gazebo_icub_right_leg.ini @@ -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 diff --git a/simmechanics/data/icub3/conf/gazebo_icub_torso.ini b/simmechanics/data/icub3/conf/gazebo_icub_torso.ini index cab5cf3f..2b7ef440 100644 --- a/simmechanics/data/icub3/conf/gazebo_icub_torso.ini +++ b/simmechanics/data/icub3/conf/gazebo_icub_torso.ini @@ -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 From f9bebc2742374155543206a4a003e010da85b6ed Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Nicol=C3=B2?= Date: Mon, 25 Oct 2021 15:17:41 +0200 Subject: [PATCH 2/2] Cleanup spaces --- .../conf/gazebo_icub_head_without_eyes.ini | 32 +++++++++---------- .../conf/gazebo_icub_left_hand_fingers.ini | 2 +- 2 files changed, 17 insertions(+), 17 deletions(-) diff --git a/simmechanics/data/icub3/conf/gazebo_icub_head_without_eyes.ini b/simmechanics/data/icub3/conf/gazebo_icub_head_without_eyes.ini index 21be87a6..a76edd9e 100644 --- a/simmechanics/data/icub3/conf/gazebo_icub_head_without_eyes.ini +++ b/simmechanics/data/icub3/conf/gazebo_icub_head_without_eyes.ini @@ -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 @@ -40,12 +40,12 @@ 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 @@ -54,12 +54,12 @@ 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 @@ -68,6 +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 diff --git a/simmechanics/data/icub3/conf/gazebo_icub_left_hand_fingers.ini b/simmechanics/data/icub3/conf/gazebo_icub_left_hand_fingers.ini index 52a34787..e433182a 100644 --- a/simmechanics/data/icub3/conf/gazebo_icub_left_hand_fingers.ini +++ b/simmechanics/data/icub3/conf/gazebo_icub_left_hand_fingers.ini @@ -53,7 +53,7 @@ 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