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iCub3: Fix GYP 4 compatibility #212

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merged 2 commits into from
Oct 25, 2021
Merged

iCub3: Fix GYP 4 compatibility #212

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f53fabf
icub3: add gazebo-yarp-plugins 4 compatibility
Nicogene Oct 25, 2021
f9bebc2
Cleanup spaces
Nicogene Oct 25, 2021
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1 change: 1 addition & 0 deletions simmechanics/data/icub3/conf/gazebo_icub_head.ini
View file
Open in desktop
Original file line number Diff line number Diff line change
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
Expand Down
33 changes: 17 additions & 16 deletions simmechanics/data/icub3/conf/gazebo_icub_head_without_eyes.ini
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Original file line number Diff line number Diff line change
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
View file
Open in desktop
Original file line number Diff line number Diff line change
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
Expand Down
1 change: 1 addition & 0 deletions simmechanics/data/icub3/conf/gazebo_icub_left_hand_finger.ini
View file
Open in desktop
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 5.235
Expand Down
3 changes: 2 additions & 1 deletion simmechanics/data/icub3/conf/gazebo_icub_left_hand_fingers.ini
View file
Open in desktop
Original file line number Diff line number Diff line change
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
Expand Down
1 change: 1 addition & 0 deletions simmechanics/data/icub3/conf/gazebo_icub_left_hand_index.ini
View file
Open in desktop
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_left_hand_middle.ini
View file
Open in desktop
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_left_hand_pinky.ini
View file
Open in desktop
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 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
Expand Down
1 change: 1 addition & 0 deletions simmechanics/data/icub3/conf/gazebo_icub_left_hand_thumb.ini
View file
Open in desktop
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_left_leg.ini
View file
Open in desktop
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
Expand Down
1 change: 1 addition & 0 deletions simmechanics/data/icub3/conf/gazebo_icub_right_arm_no_hand_for_no_hand_model.ini
View file
Open in desktop
Original file line number Diff line number Diff line change
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
Expand Down
1 change: 1 addition & 0 deletions simmechanics/data/icub3/conf/gazebo_icub_right_hand_finger.ini
View file
Open in desktop
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_hand_fingers.ini
View file
Open in desktop
Original file line number Diff line number Diff line change
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
Expand Down
1 change: 1 addition & 0 deletions simmechanics/data/icub3/conf/gazebo_icub_right_hand_index.ini
View file
Open in desktop
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_middle.ini
View file
Open in desktop
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
View file
Open in desktop
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 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
Expand Down
1 change: 1 addition & 0 deletions simmechanics/data/icub3/conf/gazebo_icub_right_hand_thumb.ini
View file
Open in desktop
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
View file
Open in desktop
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
Expand Down
1 change: 1 addition & 0 deletions simmechanics/data/icub3/conf/gazebo_icub_torso.ini
View file
Open in desktop
Original file line number Diff line number Diff line change
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