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traversarotraversaro
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Merge pull request #98 from robotology/devel
Merge devel in master for release v1.21.0
2 parents 955de8f + 3ca131a commit c73aa1d

34 files changed

+993324
-2592
lines changed

‎CMakeLists.txt

+23-1
Original file line numberDiff line numberDiff line change
@@ -50,6 +50,14 @@ list(APPEND GAZEBO_SUPPORTED_MODELS "iCubGazeboV2_5")
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list(APPEND GAZEBO_SUPPORTED_MODELS "iCubGazeboV2_5_plus")
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list(APPEND GAZEBO_SUPPORTED_MODELS "iCubGazeboV3")
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# Note: these models don't need further configuration apart from
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# model version in model.config. Only one configuration is generated for
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# these models, and no helper models (fixed, no_hans, and so on) are
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# generated.
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set(CONFIGURED_MODELS "")
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list(APPEND CONFIGURED_MODELS "left_hand_mk3")
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list(APPEND CONFIGURED_MODELS "left_wrist_mk2")
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SUBDIRLIST(ROBOTS_NAMES ${CMAKE_CURRENT_SOURCE_DIR}/iCub/robots)
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foreach(ROBOT_DIRNAME ${ROBOTS_NAMES})
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set(ROBOT_NAME ${ROBOT_DIRNAME})
@@ -63,7 +71,11 @@ foreach(ROBOT_DIRNAME ${ROBOTS_NAMES})
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set(ROBOT_FEET_FIXED_MODEL_CONFIG_FILE "${ROBOT_FEET_FIXED_MODEL_FOLDER}/model.config")
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set(ROBOT_FEET_FIXED_MODEL_SDF_FILE "${ROBOT_FEET_FIXED_MODEL_FOLDER}/${ROBOT_NAME}_feet_fixed.sdf")
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if(ROBOT_NAME IN_LIST GAZEBO_SUPPORTED_MODELS OR ICUB_MODELS_INSTALL_ALL_GAZEBO_MODELS)
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if(ROBOT_NAME IN_LIST CONFIGURED_MODELS)
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configure_file(${CMAKE_CURRENT_SOURCE_DIR}/iCub/robots/${ROBOT_NAME}/model.config
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${CMAKE_CURRENT_BINARY_DIR}/iCub/robots/${ROBOT_NAME}/model.config
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@ONLY)
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elseif(ROBOT_NAME IN_LIST GAZEBO_SUPPORTED_MODELS OR ICUB_MODELS_INSTALL_ALL_GAZEBO_MODELS)
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set(ROBOT_NAME_CONFIG "${ROBOT_NAME} (no hands)")
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set(ROBOT_MODEL_CONFIG "model.urdf")
@@ -105,6 +117,16 @@ endforeach()
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set(GAZEBO_SUPPORTED_MODELS "")
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list(APPEND GAZEBO_SUPPORTED_MODELS "iCubGazeboV2_5_visuomanip")
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SUBDIRLIST(ROBOTS_NAMES ${CMAKE_CURRENT_SOURCE_DIR}/iCub_manual/robots)
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foreach(ROBOT_NAME ${ROBOTS_NAMES})
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if(ROBOT_NAME IN_LIST GAZEBO_SUPPORTED_MODELS)
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configure_file(${CMAKE_CURRENT_SOURCE_DIR}/iCub_manual/robots/${ROBOT_NAME}/model.config
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${CMAKE_CURRENT_BINARY_DIR}/iCub/robots/${ROBOT_NAME}/model.config
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@ONLY)
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endif()
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endforeach()
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SUBDIRLIST(ROBOTS_NAMES ${CMAKE_CURRENT_SOURCE_DIR}/iCub_manual/robots)
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foreach(ROBOT_NAME ${ROBOTS_NAMES})
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if(ROBOT_NAME IN_LIST GAZEBO_SUPPORTED_MODELS)

‎iCub/conf_left_hand_mk3/gazebo_hand_robotname.ini

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

‎iCub/conf_left_hand_mk3/left_hand.ini

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

‎iCub/conf_left_hand_mk3/left_hand_phys.ini

+59
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[include "gazebo_left_hand_robotname.ini"]
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[WRAPPER]
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device controlboardwrapper2
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period 10
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name /${gazeboYarpPluginsRobotName}/left_hand_phys
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joints 11
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networks ( left_hand_phys )
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left_hand_phys 0 10 0 10
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# Verbose output (on if present, off if commented out)
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#verbose
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[COUPLING]
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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)
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# Specify configuration of MotorControl devices
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[left_hand_phys]
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device gazebo_controlboard
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name left_hand_pyhs
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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
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[LIMITS]
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jntVelMax 180.0 180.0 180.0 180.0 180.0 180.0 180.0 0 0 0 0
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jntPosMax 62.0 0.0 140.0 10.0 200.3 200.3 200.3 0 0 0 0
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jntPosMin 0.0 -70.0 0.0 0.0 0.0 0.0 0.0 0 0 0 0
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[POSITION_CONTROL]
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controlUnits metric_units
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controlLaw joint_pid_gazebo_v1
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kp 5.0 5.0 5.0 5.0 5.0 5.0 5.0 5.0 5.0 5.0 5.0
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kd 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0
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ki 0.00 0.00 0.00 0.00 0.00 0.00 0.00 0.00 0.00 0.00 0.00
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maxInt 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999
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maxOutput 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999
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shift 0 0 0 0 0 0 0 0 0 0 0
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ko 0 0 0 0 0 0 0 0 0 0 0
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stictionUp 0 0 0 0 0 0 0 0 0 0 0
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stictionDwn 0 0 0 0 0 0 0 0 0 0 0
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[VELOCITY_CONTROL]
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controlUnits metric_units
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controlLaw joint_pid_gazebo_v1
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kp 20.0 20.0 20.0 20.0 20.0 20.0 20.0 20.0 20.0 20.0 20.0
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kd 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0
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ki 0.01 0.01 0.01 0.01 0.01 0.01 0.01 0.01 0.01 0.01 0.01
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maxInt 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999
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maxOutput 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999
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shift 0 0 0 0 0 0 0 0 0 0 0
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ko 0 0 0 0 0 0 0 0 0 0 0
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stictionUp 0 0 0 0 0 0 0 0 0 0 0
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stictionDwn 0 0 0 0 0 0 0 0 0 0 0
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[IMPEDANCE_CONTROL]
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controlUnits metric_units
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controlLaw joint_pid_gazebo_v1
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stiffness 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0
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damping 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0
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‎iCub/conf_left_hand_mk3/worldInterface.ini

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

‎iCub/conf_left_hand_mk3/yarpmotorgui.ini

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

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

‎iCub/conf_left_wrist_mk2/left_wrist.ini

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[include "gazebo_left_wrist_robotname.ini"]
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[WRAPPER]
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device controlboardwrapper2
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period 10
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name /${gazeboYarpPluginsRobotName}/left_wrist
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joints 3
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networks ( left_wrist )
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left_wrist 0 2 0 2
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# Verbose output (on if present, off if commented out)
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#verbose
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[TRAJECTORY_GENERATION]
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trajectory_type minimum_jerk
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# Specify configuration of MotorControl devices
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[left_wrist]
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device gazebo_controlboard
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name left_wrist
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jointNames l_wrist_prosup l_wrist_pitch l_wrist_yaw
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[LIMITS]
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jntVelMax 180.0 180.0 180.0
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jntPosMax 90.0 50.0 30.0
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jntPosMin -90.0 -60.0 -30.0
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[POSITION_CONTROL]
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controlUnits metric_units
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controlLaw joint_pid_gazebo_v1
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kp 5.0 5.0 5.0
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kd 0.0 0.0 0.0
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ki 0.00 0.00 0.00
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maxInt 9999 9999 9999
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maxOutput 9999 9999 9999
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shift 0 0 0
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ko 0 0 0
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stictionUp 0 0 0
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stictionDwn 0 0 0
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[VELOCITY_CONTROL]
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controlUnits metric_units
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controlLaw joint_pid_gazebo_v1
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kp 20.0 20.0 20.0
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kd 0.0 0.0 0.0
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ki 0.01 0.01 0.01
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maxInt 9999 9999 9999
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maxOutput 9999 9999 9999
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shift 0 0 0
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ko 0 0 0
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stictionUp 0 0 0
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stictionDwn 0 0 0
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[IMPEDANCE_CONTROL]
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controlUnits metric_units
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controlLaw joint_pid_gazebo_v1
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stiffness 0.0 0.0 0.0
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damping 0.0 0.0 0.0
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‎iCub/conf_left_wrist_mk2/worldInterface.ini

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name /world_input_port
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synchro 0

‎iCub/conf_left_wrist_mk2/yarpmotorgui.ini

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

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