Merge pull request #98 from robotology/devel

Merge devel in master for release v1.21.0

CMakeLists.txt

@@ -50,6 +50,14 @@ list(APPEND GAZEBO_SUPPORTED_MODELS "iCubGazeboV2_5")
 list(APPEND GAZEBO_SUPPORTED_MODELS "iCubGazeboV2_5_plus")
 list(APPEND GAZEBO_SUPPORTED_MODELS "iCubGazeboV3")
 
+# Note: these models don't need further configuration apart from 
+# model version in model.config. Only one configuration is generated for
+# these models, and no helper models (fixed, no_hans, and so on) are
+# generated.
+set(CONFIGURED_MODELS "")
+list(APPEND CONFIGURED_MODELS "left_hand_mk3")
+list(APPEND CONFIGURED_MODELS "left_wrist_mk2")
+
 SUBDIRLIST(ROBOTS_NAMES ${CMAKE_CURRENT_SOURCE_DIR}/iCub/robots)
 foreach(ROBOT_DIRNAME ${ROBOTS_NAMES})
   set(ROBOT_NAME ${ROBOT_DIRNAME})
@@ -63,7 +71,11 @@ foreach(ROBOT_DIRNAME ${ROBOTS_NAMES})
   set(ROBOT_FEET_FIXED_MODEL_CONFIG_FILE "${ROBOT_FEET_FIXED_MODEL_FOLDER}/model.config")
   set(ROBOT_FEET_FIXED_MODEL_SDF_FILE "${ROBOT_FEET_FIXED_MODEL_FOLDER}/${ROBOT_NAME}_feet_fixed.sdf")
 
-  if(ROBOT_NAME IN_LIST GAZEBO_SUPPORTED_MODELS OR ICUB_MODELS_INSTALL_ALL_GAZEBO_MODELS)
+  if(ROBOT_NAME IN_LIST CONFIGURED_MODELS)
+    configure_file(${CMAKE_CURRENT_SOURCE_DIR}/iCub/robots/${ROBOT_NAME}/model.config
+                   ${CMAKE_CURRENT_BINARY_DIR}/iCub/robots/${ROBOT_NAME}/model.config
+                   @ONLY)
+  elseif(ROBOT_NAME IN_LIST GAZEBO_SUPPORTED_MODELS OR ICUB_MODELS_INSTALL_ALL_GAZEBO_MODELS)
 
     set(ROBOT_NAME_CONFIG "${ROBOT_NAME} (no hands)")
     set(ROBOT_MODEL_CONFIG "model.urdf")
@@ -105,6 +117,16 @@ endforeach()
 set(GAZEBO_SUPPORTED_MODELS "")
 list(APPEND GAZEBO_SUPPORTED_MODELS "iCubGazeboV2_5_visuomanip")
 
+SUBDIRLIST(ROBOTS_NAMES ${CMAKE_CURRENT_SOURCE_DIR}/iCub_manual/robots)
+foreach(ROBOT_NAME ${ROBOTS_NAMES})
+  if(ROBOT_NAME IN_LIST GAZEBO_SUPPORTED_MODELS)
+    configure_file(${CMAKE_CURRENT_SOURCE_DIR}/iCub_manual/robots/${ROBOT_NAME}/model.config
+                   ${CMAKE_CURRENT_BINARY_DIR}/iCub/robots/${ROBOT_NAME}/model.config
+                   @ONLY)
+  endif()
+endforeach()
+
+
 SUBDIRLIST(ROBOTS_NAMES ${CMAKE_CURRENT_SOURCE_DIR}/iCub_manual/robots)
 foreach(ROBOT_NAME ${ROBOTS_NAMES})
   if(ROBOT_NAME IN_LIST GAZEBO_SUPPORTED_MODELS)

iCub/conf_left_hand_mk3/gazebo_hand_robotname.ini

@@ -0,0 +1 @@
+gazeboYarpPluginsRobotName handMk3Sim

iCub/conf_left_hand_mk3/left_hand.ini

@@ -0,0 +1,15 @@
+[include "gazebo_left_hand_robotname.ini"]
+
+[WRAPPER]
+device controlboardwrapper2
+period 10
+name /${gazeboYarpPluginsRobotName}/left_hand
+
+joints 7
+networks (left_hand_phys)
+
+# for each network specify the joint map
+left_hand_phys 0 6 0 6
+
+# Verbose output (on if present, off if commented out)
+#verbose

iCub/conf_left_hand_mk3/left_hand_phys.ini

@@ -0,0 +1,59 @@
+[include "gazebo_left_hand_robotname.ini"]
+
+[WRAPPER]
+device controlboardwrapper2
+period 10
+name /${gazeboYarpPluginsRobotName}/left_hand_phys
+
+joints 11
+networks ( left_hand_phys )
+left_hand_phys  0 10 0 10
+# Verbose output (on if present, off if commented out)
+#verbose
+
+[COUPLING]
+icub_hand_mk3 (0 1 2 3 4 5 6 7 8 9 10) (l_thumb_oppose l_thumb_rotate l_thumb l_hand_finger l_index l_middle l_pinky reserved reserved reserved reserved)
+
+# Specify configuration of MotorControl devices
+[left_hand_phys]
+device gazebo_controlboard
+name left_hand_pyhs
+jointNames l_hand_metacarpus_joint l_hand_thumb_rotation_joint l_hand_thumb_proximal_joint l_hand_thumb_distal_joint l_hand_index_adduction_joint l_hand_index_proximal_joint l_hand_index_distal_joint l_hand_medium_proximal_joint l_hand_medium_distal_joint l_hand_pinky_proximal_joint l_hand_pinky_distal_joint
+
+[LIMITS]
+jntVelMax   180.0   180.0   180.0   180.0   180.0   180.0   180.0    0 0 0 0 
+jntPosMax    62.0     0.0   140.0    10.0   200.3   200.3   200.3    0 0 0 0  
+jntPosMin     0.0   -70.0     0.0     0.0     0.0     0.0     0.0    0 0 0 0
+
+[POSITION_CONTROL]
+controlUnits  metric_units
+controlLaw    joint_pid_gazebo_v1
+kp           5.0   5.0   5.0   5.0   5.0   5.0   5.0   5.0   5.0   5.0   5.0 
+kd           0.0   0.0   0.0   0.0   0.0   0.0   0.0   0.0   0.0   0.0   0.0 
+ki           0.00  0.00  0.00  0.00  0.00  0.00  0.00  0.00  0.00  0.00  0.00
+maxInt       9999  9999  9999  9999  9999  9999  9999  9999  9999  9999  9999
+maxOutput    9999  9999  9999  9999  9999  9999  9999  9999  9999  9999  9999
+shift        0     0     0     0     0     0     0     0     0     0     0   
+ko           0     0     0     0     0     0     0     0     0     0     0   
+stictionUp   0     0     0     0     0     0     0     0     0     0     0   
+stictionDwn  0     0     0     0     0     0     0     0     0     0     0   
+
+[VELOCITY_CONTROL]
+controlUnits  metric_units
+controlLaw    joint_pid_gazebo_v1
+kp           20.0  20.0  20.0  20.0  20.0  20.0  20.0  20.0  20.0  20.0  20.0  
+kd           0.0   0.0   0.0   0.0   0.0   0.0   0.0   0.0   0.0   0.0   0.0   
+ki           0.01  0.01  0.01   0.01 0.01  0.01  0.01  0.01  0.01  0.01  0.01  
+maxInt       9999  9999  9999  9999  9999  9999  9999  9999  9999  9999  9999  
+maxOutput    9999  9999  9999  9999  9999  9999  9999  9999  9999  9999  9999  
+shift        0     0     0     0     0     0     0     0     0     0     0     
+ko           0     0     0     0     0     0     0     0     0     0     0     
+stictionUp   0     0     0     0     0     0     0     0     0     0     0     
+stictionDwn  0     0     0     0     0     0     0     0     0     0     0     
+
+[IMPEDANCE_CONTROL]
+controlUnits  metric_units
+controlLaw    joint_pid_gazebo_v1
+stiffness    0.0   0.0   0.0   0.0   0.0   0.0   0.0   0.0   0.0   0.0   0.0
+damping      0.0   0.0   0.0   0.0   0.0   0.0   0.0   0.0   0.0   0.0   0.0
+

iCub/conf_left_hand_mk3/worldInterface.ini

@@ -0,0 +1,2 @@
+name /world_input_port
+synchro 0

iCub/conf_left_hand_mk3/yarpmotorgui.ini

@@ -0,0 +1,10 @@
+# Name of the robot
+name SIM_LEFT_HAND
+
+# Parts to be opened by the GUI
+parts (left_hand)
+
+[left_hand_zero]
+//                  0     1     2     3     4     5     6
+PositionZero      0.0 -70.0   0.0   0.0   0.0   0.0   0.0
+VelocityZero     30.0  30.0  30.0  30.0  30.0  30.0  30.0

iCub/conf_left_wrist_mk2/gazebo_left_wrist_robotname.ini

@@ -0,0 +1 @@
+gazeboYarpPluginsRobotName wristMk2Sim

iCub/conf_left_wrist_mk2/left_wrist.ini

@@ -0,0 +1,58 @@
+[include "gazebo_left_wrist_robotname.ini"]
+
+[WRAPPER]
+device controlboardwrapper2
+period 10
+name /${gazeboYarpPluginsRobotName}/left_wrist
+joints 3
+networks ( left_wrist )
+left_wrist  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
+[left_wrist]
+device gazebo_controlboard
+name left_wrist
+jointNames l_wrist_prosup l_wrist_pitch l_wrist_yaw 
+
+[LIMITS]
+jntVelMax   180.0   180.0   180.0
+jntPosMax    90.0    50.0    30.0 
+jntPosMin   -90.0   -60.0   -30.0
+
+[POSITION_CONTROL]
+controlUnits  metric_units
+controlLaw    joint_pid_gazebo_v1
+kp           5.0   5.0   5.0   
+kd           0.0   0.0   0.0   
+ki           0.00  0.00  0.00  
+maxInt       9999  9999  9999  
+maxOutput    9999  9999  9999  
+shift        0     0     0     
+ko           0     0     0     
+stictionUp   0     0     0     
+stictionDwn  0     0     0     
+
+[VELOCITY_CONTROL]
+controlUnits  metric_units
+controlLaw    joint_pid_gazebo_v1
+kp           20.0  20.0  20.0  
+kd           0.0   0.0   0.0   
+ki           0.01  0.01  0.01  
+maxInt       9999  9999  9999  
+maxOutput    9999  9999  9999  
+shift        0     0     0     
+ko           0     0     0     
+stictionUp   0     0     0     
+stictionDwn  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   
+

iCub/conf_left_wrist_mk2/worldInterface.ini

@@ -0,0 +1,2 @@
+name /world_input_port
+synchro 0

iCub/conf_left_wrist_mk2/yarpmotorgui.ini

@@ -0,0 +1,10 @@
+# Name of the robot
+name SIM_L_WRIST
+
+# Parts to be opened by the GUI
+parts (left_wrist)
+
+[left_wrist_zero]
+//                  0     1     2
+PositionZero      0.0   0.0   0.0
+VelocityZero      0.0   0.0   0.0