diff --git a/iai_icub_description/CMakeLists.txt b/iai_icub_description/CMakeLists.txt new file mode 100644 index 0000000..9bdf25d --- /dev/null +++ b/iai_icub_description/CMakeLists.txt @@ -0,0 +1,5 @@ +cmake_minimum_required(VERSION 2.8.3) +project(iai_icub_description) + +find_package(catkin REQUIRED) +catkin_package() diff --git a/iai_icub_description/conf_manual/iCubGazeboV2_5_visuomanip/gazebo_icub_eyes.ini b/iai_icub_description/conf_manual/iCubGazeboV2_5_visuomanip/gazebo_icub_eyes.ini new file mode 100644 index 0000000..5c61499 --- /dev/null +++ b/iai_icub_description/conf_manual/iCubGazeboV2_5_visuomanip/gazebo_icub_eyes.ini @@ -0,0 +1,55 @@ +disableImplicitNetworkWrapper +yarpDeviceName eyes_hardware_device + +jointNames eyes_tilt l_eye_pan_joint r_eye_pan_joint + +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 + +[TRAJECTORY_GENERATION] +trajectory_type minimum_jerk + +[COUPLING] +eyes_vergence_control (1 2) (eyes_version eyes_vergence) (-30.0 0.0) (30.0 50.0) + +#PIDs: +# this information is used to set the PID values in simulation for GAZEBO, we need only the first three values +[POSITION_CONTROL] +controlUnits metric_units +controlLaw joint_pid_gazebo_v1 +kp 0.1 0.1 0.1 +kd 0.001 0.001 0.001 +ki 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 0.01 0.01 0.01 +kd 0.0 0.0 0.0 +ki 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 +controlLaw joint_pid_gazebo_v1 +stiffness 0.0 0.0 0.0 +damping 0.0 0.0 0.0 + +[LIMITS] +jntPosMax 30.0 55.0 30.0 +jntPosMin -30.0 -30.0 -55.0 +jntVelMax 100.0 100.0 100.0 diff --git a/iai_icub_description/conf_manual/iCubGazeboV2_5_visuomanip/gazebo_icub_left_camera_rgbd.ini b/iai_icub_description/conf_manual/iCubGazeboV2_5_visuomanip/gazebo_icub_left_camera_rgbd.ini new file mode 100644 index 0000000..f7016ff --- /dev/null +++ b/iai_icub_description/conf_manual/iCubGazeboV2_5_visuomanip/gazebo_icub_left_camera_rgbd.ini @@ -0,0 +1,8 @@ +disableImplicitNetworkWrapper +yarpDeviceName icub_left_camera_rgbd + +[CAMERA_PARAM] +focalLengthX 343.12110728152936 +focalLengthY 343.12110728152936 +tangentialPointX 0.0 +tangentialPointY 0.0 diff --git a/iai_icub_description/conf_manual/iCubGazeboV2_5_visuomanip/gazebo_icub_left_hand_finger.ini b/iai_icub_description/conf_manual/iCubGazeboV2_5_visuomanip/gazebo_icub_left_hand_finger.ini new file mode 100644 index 0000000..4e0c665 --- /dev/null +++ b/iai_icub_description/conf_manual/iCubGazeboV2_5_visuomanip/gazebo_icub_left_hand_finger.ini @@ -0,0 +1,55 @@ +disableImplicitNetworkWrapper +yarpDeviceName left_hand_finger_hardware_device + +jointNames l_hand_index_0_joint l_hand_middle_0_joint l_hand_ring_0_joint l_hand_little_0_joint + +min_stiffness 0.0 0.0 0.0 0.0 +max_stiffness 1000.0 1000.0 1000.0 1000.0 +min_damping 0.0 0.0 0.0 0.0 +max_damping 100.0 100.0 100.0 100.0 + +[TRAJECTORY_GENERATION] +trajectory_type minimum_jerk + +[COUPLING] +fingers_abduction_control (0 1 2 3) (l_hand_finger reserved reserved reserved reserved) (0.0) (60.0) + +#PIDs: +# this information is used to set the PID values in simulation for GAZEBO, we need only the first three values +[POSITION_CONTROL] +controlUnits metric_units +controlLaw joint_pid_gazebo_v1 +kp 0.1 0.1 0.1 0.1 +kd 0.01 0.01 0.01 0.01 +ki 0.0 0.0 0.0 0.0 +maxInt 9999 9999 9999 9999 +maxOutput 9999 9999 9999 9999 +shift 0.0 0.0 0.0 0.0 +ko 0.0 0.0 0.0 0.0 +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 +kd 0.035 0.035 0.035 0.002 +ki 0.002 0.002 0.002 0.0 +maxInt 9999 9999 9999 9999 +maxOutput 9999 9999 9999 9999 +shift 0.0 0.0 0.0 0.0 +ko 0.0 0.0 0.0 0.0 +stictionUp 0.0 0.0 0.0 0.0 +stictionDwn 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 +damping 0.0 0.0 0.0 0.0 + +[LIMITS] +jntPosMax 0.0 0.0 20.0 20.0 +jntPosMin -20.0 0.0 0.0 0.0 +jntVelMax 100.0 100.0 100.0 100.0 diff --git a/iai_icub_description/conf_manual/iCubGazeboV2_5_visuomanip/gazebo_icub_left_hand_index.ini b/iai_icub_description/conf_manual/iCubGazeboV2_5_visuomanip/gazebo_icub_left_hand_index.ini new file mode 100644 index 0000000..a04c41c --- /dev/null +++ b/iai_icub_description/conf_manual/iCubGazeboV2_5_visuomanip/gazebo_icub_left_hand_index.ini @@ -0,0 +1,55 @@ +disableImplicitNetworkWrapper +yarpDeviceName left_hand_index_hardware_device + +jointNames l_hand_index_1_joint l_hand_index_2_joint l_hand_index_3_joint + +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 + +[TRAJECTORY_GENERATION] +trajectory_type minimum_jerk + +[COUPLING] +index_control (0 1 2) (l_index_proximal l_index_distal reserved) (0.0 0.0) (90.0 180.0) + +#PIDs: +# this information is used to set the PID values in simulation for GAZEBO, we need only the first three values +[POSITION_CONTROL] +controlUnits metric_units +controlLaw joint_pid_gazebo_v1 +kp 0.1 0.1 0.1 +kd 0.001 0.001 0.001 +ki 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 0.002 0.002 0.002 +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 +controlLaw joint_pid_gazebo_v1 +stiffness 0.0 0.0 0.0 +damping 0.0 0.0 0.0 + +[LIMITS] +jntPosMax 90.0 90.0 90.0 +jntPosMin 0.0 0.0 0.0 +jntVelMax 100.0 100.0 100.0 diff --git a/iai_icub_description/conf_manual/iCubGazeboV2_5_visuomanip/gazebo_icub_left_hand_mais.ini b/iai_icub_description/conf_manual/iCubGazeboV2_5_visuomanip/gazebo_icub_left_hand_mais.ini new file mode 100644 index 0000000..e5157a0 --- /dev/null +++ b/iai_icub_description/conf_manual/iCubGazeboV2_5_visuomanip/gazebo_icub_left_hand_mais.ini @@ -0,0 +1,8 @@ +[WRAPPER] +name /icubSim/left_hand/analog:o +period 10 +networks (left_mais) +device analogServer + +[left_mais] +jointNames l_hand_thumb_1_joint l_hand_thumb_2_joint l_hand_thumb_3_joint l_hand_index_1_joint l_hand_index_2_joint l_hand_index_3_joint l_hand_middle_1_joint l_hand_middle_2_joint l_hand_middle_3_joint l_hand_ring_1_joint l_hand_ring_2_joint l_hand_ring_3_joint l_hand_little_1_joint l_hand_little_2_joint l_hand_little_3_joint diff --git a/iai_icub_description/conf_manual/iCubGazeboV2_5_visuomanip/gazebo_icub_left_hand_middle.ini b/iai_icub_description/conf_manual/iCubGazeboV2_5_visuomanip/gazebo_icub_left_hand_middle.ini new file mode 100644 index 0000000..b133291 --- /dev/null +++ b/iai_icub_description/conf_manual/iCubGazeboV2_5_visuomanip/gazebo_icub_left_hand_middle.ini @@ -0,0 +1,55 @@ +disableImplicitNetworkWrapper +yarpDeviceName left_hand_middle_hardware_device + +jointNames l_hand_middle_1_joint l_hand_middle_2_joint l_hand_middle_3_joint + +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 + +[TRAJECTORY_GENERATION] +trajectory_type minimum_jerk + +[COUPLING] +middle_control (0 1 2) (l_middle_proximal l_middle_distal reserved) (0.0 0.0) (90.0 180.0) + +#PIDs: +# this information is used to set the PID values in simulation for GAZEBO, we need only the first three values +[POSITION_CONTROL] +controlUnits metric_units +controlLaw joint_pid_gazebo_v1 +kp 0.1 0.1 0.1 +kd 0.001 0.001 0.001 +ki 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 0.002 0.002 0.002 +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 +controlLaw joint_pid_gazebo_v1 +stiffness 0.0 0.0 0.0 +damping 0.0 0.0 0.0 + +[LIMITS] +jntPosMax 90.0 90.0 90.0 +jntPosMin 0.0 0.0 0.0 +jntVelMax 100.0 100.0 100.0 diff --git a/iai_icub_description/conf_manual/iCubGazeboV2_5_visuomanip/gazebo_icub_left_hand_pinky.ini b/iai_icub_description/conf_manual/iCubGazeboV2_5_visuomanip/gazebo_icub_left_hand_pinky.ini new file mode 100644 index 0000000..9ab4470 --- /dev/null +++ b/iai_icub_description/conf_manual/iCubGazeboV2_5_visuomanip/gazebo_icub_left_hand_pinky.ini @@ -0,0 +1,55 @@ +disableImplicitNetworkWrapper +yarpDeviceName left_hand_pinky_hardware_device + +jointNames l_hand_ring_1_joint l_hand_ring_2_joint l_hand_ring_3_joint l_hand_little_1_joint l_hand_little_2_joint l_hand_little_3_joint + +min_stiffness 0.0 0.0 0.0 0.0 0.0 0.0 +max_stiffness 1000.0 1000.0 1000.0 1000.0 1000.0 1000.0 +min_damping 0.0 0.0 0.0 0.0 0.0 0.0 +max_damping 100.0 100.0 100.0 100.0 100.0 100.0 + +[TRAJECTORY_GENERATION] +trajectory_type minimum_jerk + +[COUPLING] +pinky_control (0 1 2 3 4 5) (l_pinky reserved reserved reserved reserved reserved) (0.0) (270.0) + +#PIDs: +# this information is used to set the PID values in simulation for GAZEBO, we need only the first three values +[POSITION_CONTROL] +controlUnits metric_units +controlLaw joint_pid_gazebo_v1 +kp 0.1 0.1 0.1 0.1 0.1 0.1 +kd 0.001 0.001 0.001 0.001 0.001 0.001 +ki 0.0 0.0 0.0 0.0 0.0 0.0 +maxInt 9999 9999 9999 9999 9999 9999 +maxOutput 9999 9999 9999 9999 9999 9999 +shift 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 +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 +kd 0.035 0.035 0.035 0.035 0.035 0.035 +ki 0.002 0.002 0.002 0.002 0.002 0.002 +maxInt 9999 9999 9999 9999 9999 9999 +maxOutput 9999 9999 9999 9999 9999 9999 +shift 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 +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 + +[IMPEDANCE_CONTROL] +controlUnits metric_units +controlLaw joint_pid_gazebo_v1 +stiffness 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 + +[LIMITS] +jntPosMax 90.0 90.0 90.0 90.0 90.0 90.0 +jntPosMin 0.0 0.0 0.0 0.0 0.0 0.0 +jntVelMax 100.0 100.0 100.0 100.0 100.0 100.0 diff --git a/iai_icub_description/conf_manual/iCubGazeboV2_5_visuomanip/gazebo_icub_left_hand_thumb.ini b/iai_icub_description/conf_manual/iCubGazeboV2_5_visuomanip/gazebo_icub_left_hand_thumb.ini new file mode 100644 index 0000000..8a59532 --- /dev/null +++ b/iai_icub_description/conf_manual/iCubGazeboV2_5_visuomanip/gazebo_icub_left_hand_thumb.ini @@ -0,0 +1,55 @@ +disableImplicitNetworkWrapper +yarpDeviceName left_hand_thumb_hardware_device + +jointNames l_hand_thumb_0_joint l_hand_thumb_1_joint l_hand_thumb_2_joint l_hand_thumb_3_joint + +min_stiffness 0.0 0.0 0.0 0.0 +max_stiffness 1000.0 1000.0 1000.0 1000.0 +min_damping 0.0 0.0 0.0 0.0 +max_damping 100.0 100.0 100.0 100.0 + +[TRAJECTORY_GENERATION] +trajectory_type minimum_jerk + +[COUPLING] +thumb_control (0 1 2 3) (l_thumb_oppose l_thumb_proximal l_thumb_distal reserved) (0.0 0.0 0.0) (90.0 90.0 180.0) + +#PIDs: +# this information is used to set the PID values in simulation for GAZEBO, we need only the first three values +[POSITION_CONTROL] +controlUnits metric_units +controlLaw joint_pid_gazebo_v1 +kp 0.1 0.1 0.1 0.1 +kd 0.001 0.001 0.001 0.001 +ki 0.0 0.0 0.0 0.0 +maxInt 9999 9999 9999 9999 +maxOutput 9999 9999 9999 9999 +shift 0.0 0.0 0.0 0.0 +ko 0.0 0.0 0.0 0.0 +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 +kd 0.035 0.035 0.035 0.002 +ki 0.002 0.002 0.002 0.0 +maxInt 9999 9999 9999 9999 +maxOutput 9999 9999 9999 9999 +shift 0.0 0.0 0.0 0.0 +ko 0.0 0.0 0.0 0.0 +stictionUp 0.0 0.0 0.0 0.0 +stictionDwn 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 +damping 0.0 0.0 0.0 0.0 + +[LIMITS] +jntPosMax 90.0 90.0 90.0 90.0 +jntPosMin 0.0 0.0 0.0 0.0 +jntVelMax 100.0 100.0 100.0 100.0 diff --git a/iai_icub_description/conf_manual/iCubGazeboV2_5_visuomanip/gazebo_icub_right_camera_rgb.ini b/iai_icub_description/conf_manual/iCubGazeboV2_5_visuomanip/gazebo_icub_right_camera_rgb.ini new file mode 100644 index 0000000..747805f --- /dev/null +++ b/iai_icub_description/conf_manual/iCubGazeboV2_5_visuomanip/gazebo_icub_right_camera_rgb.ini @@ -0,0 +1,4 @@ +disableImplicitNetworkWrapper +yarpDeviceName icub_right_camera_rgb +framerate 30 +stamp 1 \ No newline at end of file diff --git a/iai_icub_description/conf_manual/iCubGazeboV2_5_visuomanip/gazebo_icub_right_hand_finger.ini b/iai_icub_description/conf_manual/iCubGazeboV2_5_visuomanip/gazebo_icub_right_hand_finger.ini new file mode 100644 index 0000000..2152465 --- /dev/null +++ b/iai_icub_description/conf_manual/iCubGazeboV2_5_visuomanip/gazebo_icub_right_hand_finger.ini @@ -0,0 +1,56 @@ +disableImplicitNetworkWrapper +yarpDeviceName right_hand_finger_hardware_device + +jointNames r_hand_index_0_joint r_hand_middle_0_joint r_hand_ring_0_joint r_hand_little_0_joint + +min_stiffness 0.0 0.0 0.0 0.0 +max_stiffness 1000.0 1000.0 1000.0 1000.0 +min_damping 0.0 0.0 0.0 0.0 +max_damping 100.0 100.0 100.0 100.0 + +[TRAJECTORY_GENERATION] +trajectory_type minimum_jerk + +[COUPLING] +fingers_abduction_control (0 1 2 3) (r_hand_finger reserved reserved reserved reserved) (0.0) (60.0) + +#PIDs: +# this information is used to set the PID values in simulation for GAZEBO, we need only the first three values +[POSITION_CONTROL] +controlUnits metric_units +controlLaw joint_pid_gazebo_v1 +kp 0.1 0.1 0.1 0.1 +kd 0.01 0.01 0.01 0.01 +ki 0.0 0.0 0.0 0.0 +maxInt 9999 9999 9999 9999 +maxOutput 9999 9999 9999 9999 +shift 0.0 0.0 0.0 0.0 +ko 0.0 0.0 0.0 0.0 +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 +kd 0.035 0.035 0.035 0.002 +ki 0.002 0.002 0.002 0.0 +maxInt 9999 9999 9999 9999 +maxOutput 9999 9999 9999 9999 +shift 0.0 0.0 0.0 0.0 +ko 0.0 0.0 0.0 0.0 +stictionUp 0.0 0.0 0.0 0.0 +stictionDwn 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 +damping 0.0 0.0 0.0 0.0 + + +[LIMITS] +jntPosMax 0.0 0.0 20.0 20.0 +jntPosMin -20.0 0.0 0.0 0.0 +jntVelMax 100.0 100.0 100.0 100.0 diff --git a/iai_icub_description/conf_manual/iCubGazeboV2_5_visuomanip/gazebo_icub_right_hand_index.ini b/iai_icub_description/conf_manual/iCubGazeboV2_5_visuomanip/gazebo_icub_right_hand_index.ini new file mode 100644 index 0000000..454ba00 --- /dev/null +++ b/iai_icub_description/conf_manual/iCubGazeboV2_5_visuomanip/gazebo_icub_right_hand_index.ini @@ -0,0 +1,55 @@ +disableImplicitNetworkWrapper +yarpDeviceName right_hand_index_hardware_device + +jointNames r_hand_index_1_joint r_hand_index_2_joint r_hand_index_3_joint + +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 + +[TRAJECTORY_GENERATION] +trajectory_type minimum_jerk + +[COUPLING] +index_control (0 1 2) (r_index_proximal r_index_distal reserved) (0.0 0.0) (90.0 180.0) + +#PIDs: +# this information is used to set the PID values in simulation for GAZEBO, we need only the first three values +[POSITION_CONTROL] +controlUnits metric_units +controlLaw joint_pid_gazebo_v1 +kp 0.1 0.1 0.1 +kd 0.001 0.001 0.001 +ki 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 0.002 0.002 0.002 +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 +controlLaw joint_pid_gazebo_v1 +stiffness 0.0 0.0 0.0 +damping 0.0 0.0 0.0 + +[LIMITS] +jntPosMax 90.0 90.0 90.0 +jntPosMin 0.0 0.0 0.0 +jntVelMax 100.0 100.0 100.0 diff --git a/iai_icub_description/conf_manual/iCubGazeboV2_5_visuomanip/gazebo_icub_right_hand_mais.ini b/iai_icub_description/conf_manual/iCubGazeboV2_5_visuomanip/gazebo_icub_right_hand_mais.ini new file mode 100644 index 0000000..fe5bae0 --- /dev/null +++ b/iai_icub_description/conf_manual/iCubGazeboV2_5_visuomanip/gazebo_icub_right_hand_mais.ini @@ -0,0 +1,8 @@ +[WRAPPER] +name /icubSim/right_hand/analog:o +period 10 +networks (right_mais) +device analogServer + +[right_mais] +jointNames r_hand_thumb_1_joint r_hand_thumb_2_joint r_hand_thumb_3_joint r_hand_index_1_joint r_hand_index_2_joint r_hand_index_3_joint r_hand_middle_1_joint r_hand_middle_2_joint r_hand_middle_3_joint r_hand_ring_1_joint r_hand_ring_2_joint r_hand_ring_3_joint r_hand_little_1_joint r_hand_little_2_joint r_hand_little_3_joint diff --git a/iai_icub_description/conf_manual/iCubGazeboV2_5_visuomanip/gazebo_icub_right_hand_middle.ini b/iai_icub_description/conf_manual/iCubGazeboV2_5_visuomanip/gazebo_icub_right_hand_middle.ini new file mode 100644 index 0000000..9a84c72 --- /dev/null +++ b/iai_icub_description/conf_manual/iCubGazeboV2_5_visuomanip/gazebo_icub_right_hand_middle.ini @@ -0,0 +1,55 @@ +disableImplicitNetworkWrapper +yarpDeviceName right_hand_middle_hardware_device + +jointNames r_hand_middle_1_joint r_hand_middle_2_joint r_hand_middle_3_joint + +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 + +[TRAJECTORY_GENERATION] +trajectory_type minimum_jerk + +[COUPLING] +middle_control (0 1 2) (r_middle_proximal r_middle_distal reserved) (0.0 0.0) (90.0 180.0) + +#PIDs: +# this information is used to set the PID values in simulation for GAZEBO, we need only the first three values +[POSITION_CONTROL] +controlUnits metric_units +controlLaw joint_pid_gazebo_v1 +kp 0.1 0.1 0.1 +kd 0.001 0.001 0.001 +ki 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 0.002 0.002 0.002 +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 +controlLaw joint_pid_gazebo_v1 +stiffness 0.0 0.0 0.0 +damping 0.0 0.0 0.0 + +[LIMITS] +jntPosMax 90.0 90.0 90.0 +jntPosMin 0.0 0.0 0.0 +jntVelMax 100.0 100.0 100.0 diff --git a/iai_icub_description/conf_manual/iCubGazeboV2_5_visuomanip/gazebo_icub_right_hand_pinky.ini b/iai_icub_description/conf_manual/iCubGazeboV2_5_visuomanip/gazebo_icub_right_hand_pinky.ini new file mode 100644 index 0000000..86d4370 --- /dev/null +++ b/iai_icub_description/conf_manual/iCubGazeboV2_5_visuomanip/gazebo_icub_right_hand_pinky.ini @@ -0,0 +1,55 @@ +disableImplicitNetworkWrapper +yarpDeviceName right_hand_pinky_hardware_device + +jointNames r_hand_ring_1_joint r_hand_ring_2_joint r_hand_ring_3_joint r_hand_little_1_joint r_hand_little_2_joint r_hand_little_3_joint + +min_stiffness 0.0 0.0 0.0 0.0 0.0 0.0 +max_stiffness 1000.0 1000.0 1000.0 1000.0 1000.0 1000.0 +min_damping 0.0 0.0 0.0 0.0 0.0 0.0 +max_damping 100.0 100.0 100.0 100.0 100.0 100.0 + +[TRAJECTORY_GENERATION] +trajectory_type minimum_jerk + +[COUPLING] +pinky_control (0 1 2 3 4 5) (r_pinky reserved reserved reserved reserved reserved) (0.0) (270.0) + +#PIDs: +# this information is used to set the PID values in simulation for GAZEBO, we need only the first three values +[POSITION_CONTROL] +controlUnits metric_units +controlLaw joint_pid_gazebo_v1 +kp 0.1 0.1 0.1 0.1 0.1 0.1 +kd 0.001 0.001 0.001 0.001 0.001 0.001 +ki 0.0 0.0 0.0 0.0 0.0 0.0 +maxInt 9999 9999 9999 9999 9999 9999 +maxOutput 9999 9999 9999 9999 9999 9999 +shift 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 +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 +kd 0.035 0.035 0.035 0.035 0.035 0.035 +ki 0.002 0.002 0.002 0.002 0.002 0.002 +maxInt 9999 9999 9999 9999 9999 9999 +maxOutput 9999 9999 9999 9999 9999 9999 +shift 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 +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 + +[IMPEDANCE_CONTROL] +controlUnits metric_units +controlLaw joint_pid_gazebo_v1 +stiffness 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 + +[LIMITS] +jntPosMax 90.0 90.0 90.0 90.0 90.0 90.0 +jntPosMin 0.0 0.0 0.0 0.0 0.0 0.0 +jntVelMax 100.0 100.0 100.0 100.0 100.0 100.0 diff --git a/iai_icub_description/conf_manual/iCubGazeboV2_5_visuomanip/gazebo_icub_right_hand_thumb.ini b/iai_icub_description/conf_manual/iCubGazeboV2_5_visuomanip/gazebo_icub_right_hand_thumb.ini new file mode 100644 index 0000000..660e049 --- /dev/null +++ b/iai_icub_description/conf_manual/iCubGazeboV2_5_visuomanip/gazebo_icub_right_hand_thumb.ini @@ -0,0 +1,55 @@ +disableImplicitNetworkWrapper +yarpDeviceName right_hand_thumb_hardware_device + +jointNames r_hand_thumb_0_joint r_hand_thumb_1_joint r_hand_thumb_2_joint r_hand_thumb_3_joint + +min_stiffness 0.0 0.0 0.0 0.0 +max_stiffness 1000.0 1000.0 1000.0 1000.0 +min_damping 0.0 0.0 0.0 0.0 +max_damping 100.0 100.0 100.0 100.0 + +[TRAJECTORY_GENERATION] +trajectory_type minimum_jerk + +[COUPLING] +thumb_control (0 1 2 3) (r_thumb_oppose r_thumb_proximal r_thumb_distal reserved) (0.0 0.0 0.0) (90.0 90.0 180.0) + +#PIDs: +# this information is used to set the PID values in simulation for GAZEBO, we need only the first three values +[POSITION_CONTROL] +controlUnits metric_units +controlLaw joint_pid_gazebo_v1 +kp 0.1 0.1 0.1 0.1 +kd 0.001 0.001 0.001 0.001 +ki 0.0 0.0 0.0 0.0 +maxInt 9999 9999 9999 9999 +maxOutput 9999 9999 9999 9999 +shift 0.0 0.0 0.0 0.0 +ko 0.0 0.0 0.0 0.0 +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 +kd 0.035 0.035 0.035 0.002 +ki 0.002 0.002 0.002 0.0 +maxInt 9999 9999 9999 9999 +maxOutput 9999 9999 9999 9999 +shift 0.0 0.0 0.0 0.0 +ko 0.0 0.0 0.0 0.0 +stictionUp 0.0 0.0 0.0 0.0 +stictionDwn 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 +damping 0.0 0.0 0.0 0.0 + +[LIMITS] +jntPosMax 90.0 90.0 90.0 90.0 +jntPosMin 0.0 0.0 0.0 0.0 +jntVelMax 100.0 100.0 100.0 100.0 diff --git a/iai_icub_description/conf_manual/iCubGazeboV2_5_visuomanip/icub.xml b/iai_icub_description/conf_manual/iCubGazeboV2_5_visuomanip/icub.xml new file mode 100644 index 0000000..13d29d5 --- /dev/null +++ b/iai_icub_description/conf_manual/iCubGazeboV2_5_visuomanip/icub.xml @@ -0,0 +1,39 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/iai_icub_description/conf_manual/iCubGazeboV2_5_visuomanip/icub_ros2.xml b/iai_icub_description/conf_manual/iCubGazeboV2_5_visuomanip/icub_ros2.xml new file mode 100644 index 0000000..6c06d0b --- /dev/null +++ b/iai_icub_description/conf_manual/iCubGazeboV2_5_visuomanip/icub_ros2.xml @@ -0,0 +1,43 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/iai_icub_description/conf_manual/iCubGazeboV2_5_visuomanip/wrappers/camera/left_camera-rgbd_wrapper.xml b/iai_icub_description/conf_manual/iCubGazeboV2_5_visuomanip/wrappers/camera/left_camera-rgbd_wrapper.xml new file mode 100644 index 0000000..bc26d91 --- /dev/null +++ b/iai_icub_description/conf_manual/iCubGazeboV2_5_visuomanip/wrappers/camera/left_camera-rgbd_wrapper.xml @@ -0,0 +1,13 @@ + + + + + 0.033 + ${portprefix}/cam/left + + + icub_left_camera_rgbd + + + + diff --git a/iai_icub_description/conf_manual/iCubGazeboV2_5_visuomanip/wrappers/camera/right_camera-rgb_wrapper.xml b/iai_icub_description/conf_manual/iCubGazeboV2_5_visuomanip/wrappers/camera/right_camera-rgb_wrapper.xml new file mode 100644 index 0000000..003a094 --- /dev/null +++ b/iai_icub_description/conf_manual/iCubGazeboV2_5_visuomanip/wrappers/camera/right_camera-rgb_wrapper.xml @@ -0,0 +1,13 @@ + + + + + 0.033 + ${portprefix}/cam/right/rgbImage:o + + + icub_right_camera_rgb + + + + diff --git a/iai_icub_description/conf_manual/iCubGazeboV2_5_visuomanip/wrappers/motorControl/alljoints-mc_nws_ros2.xml b/iai_icub_description/conf_manual/iCubGazeboV2_5_visuomanip/wrappers/motorControl/alljoints-mc_nws_ros2.xml new file mode 100644 index 0000000..58e54a4 --- /dev/null +++ b/iai_icub_description/conf_manual/iCubGazeboV2_5_visuomanip/wrappers/motorControl/alljoints-mc_nws_ros2.xml @@ -0,0 +1,11 @@ + + + + + icub_cb_node + /joint_states + + alljoints-mc_remapper + + + diff --git a/iai_icub_description/conf_manual/iCubGazeboV2_5_visuomanip/wrappers/motorControl/alljoints-mc_remapper.xml b/iai_icub_description/conf_manual/iCubGazeboV2_5_visuomanip/wrappers/motorControl/alljoints-mc_remapper.xml new file mode 100644 index 0000000..6f9a1df --- /dev/null +++ b/iai_icub_description/conf_manual/iCubGazeboV2_5_visuomanip/wrappers/motorControl/alljoints-mc_remapper.xml @@ -0,0 +1,15 @@ + + + + + (neck_pitch neck_roll neck_yaw l_shoulder_pitch l_shoulder_roll l_shoulder_yaw l_elbow l_wrist_prosup l_wrist_pitch l_wrist_yaw r_shoulder_pitch r_shoulder_roll r_shoulder_yaw r_elbow r_wrist_prosup r_wrist_pitch r_wrist_yaw torso_yaw torso_roll torso_pitch) + + + head_hardware_device + left_arm_hardware_device + right_arm_hardware_device + torso_hardware_device + + + + diff --git a/iai_icub_description/conf_manual/iCubGazeboV2_5_visuomanip/wrappers/motorControl/head-mc_remapper.xml b/iai_icub_description/conf_manual/iCubGazeboV2_5_visuomanip/wrappers/motorControl/head-mc_remapper.xml new file mode 100644 index 0000000..28e3f89 --- /dev/null +++ b/iai_icub_description/conf_manual/iCubGazeboV2_5_visuomanip/wrappers/motorControl/head-mc_remapper.xml @@ -0,0 +1,17 @@ + + + + + + ( 0 2 0 2 ) + ( 3 5 0 2 ) + + 6 + + + head_hardware_device + eyes_hardware_device + + + + diff --git a/iai_icub_description/conf_manual/iCubGazeboV2_5_visuomanip/wrappers/motorControl/left_arm-mc_remapper.xml b/iai_icub_description/conf_manual/iCubGazeboV2_5_visuomanip/wrappers/motorControl/left_arm-mc_remapper.xml new file mode 100644 index 0000000..c151808 --- /dev/null +++ b/iai_icub_description/conf_manual/iCubGazeboV2_5_visuomanip/wrappers/motorControl/left_arm-mc_remapper.xml @@ -0,0 +1,25 @@ + + + + + + ( 0 6 0 6 ) + ( 7 7 0 0 ) + ( 8 10 0 2 ) + ( 11 12 0 1 ) + ( 13 14 0 1 ) + ( 15 15 0 0 ) + + 16 + + + left_arm_hardware_device + left_hand_finger_hardware_device + left_hand_thumb_hardware_device + left_hand_index_hardware_device + left_hand_middle_hardware_device + left_hand_pinky_hardware_device + + + + diff --git a/iai_icub_description/conf_manual/iCubGazeboV2_5_visuomanip/wrappers/motorControl/right_arm-mc_remapper.xml b/iai_icub_description/conf_manual/iCubGazeboV2_5_visuomanip/wrappers/motorControl/right_arm-mc_remapper.xml new file mode 100644 index 0000000..568e934 --- /dev/null +++ b/iai_icub_description/conf_manual/iCubGazeboV2_5_visuomanip/wrappers/motorControl/right_arm-mc_remapper.xml @@ -0,0 +1,25 @@ + + + + + + ( 0 6 0 6 ) + ( 7 7 0 0 ) + ( 8 10 0 2 ) + ( 11 12 0 1 ) + ( 13 14 0 1 ) + ( 15 15 0 0 ) + + 16 + + + right_arm_hardware_device + right_hand_finger_hardware_device + right_hand_thumb_hardware_device + right_hand_index_hardware_device + right_hand_middle_hardware_device + right_hand_pinky_hardware_device + + + + diff --git a/iai_icub_description/conf_manual/iCubGazeboV3_visuomanip/gazebo_icub_head.ini b/iai_icub_description/conf_manual/iCubGazeboV3_visuomanip/gazebo_icub_head.ini new file mode 100644 index 0000000..135d491 --- /dev/null +++ b/iai_icub_description/conf_manual/iCubGazeboV3_visuomanip/gazebo_icub_head.ini @@ -0,0 +1,76 @@ +[include "gazebo_icub_robotname.ini"] + +[WRAPPER] +# name of the wrapper device to be instatiated by the factory +device controlboardwrapper2 +# rate of output streaming from ports in ms +period 10 +# output port name (a leading '/' will be added by code) +name /${gazeboYarpPluginsRobotName}/head +# Total number of joints +joints 6 +# list of MotorControl device to use +networks ( head ) +# for each network specify the joint map +head 0 5 0 5 +# Verbose output (on if present, off if commented out) +#verbose + +[TRAJECTORY_GENERATION] +trajectory_type minimum_jerk + +# Specify configuration of MotorControl devices +[head] +# name of the device to be instatiated by the factory +device gazebo_controlboard +#jointNames list +jointNames neck_pitch neck_roll neck_yaw eyes_tilt l_eye_pan_joint r_eye_pan_joint +name head + +min_stiffness 0.0 0.0 0.0 0.0 0.0 0.0 +max_stiffness 1000.0 1000.0 1000.0 1000.0 1000.0 1000.0 +min_damping 0.0 0.0 0.0 0.0 0.0 0.0 +max_damping 100.0 100.0 100.0 100.0 100.0 100.0 + +[COUPLING] +eyes_vergence_control (4 5) (eyes_version eyes_vergence) (-30.0 0.0) (30.0 50.0) + +#PIDs: +# this information is used to set the PID values in simulation for GAZEBO, we need only the first three values +[POSITION_CONTROL] +controlUnits metric_units +controlLaw joint_pid_gazebo_v1 +kp 1.745 1.745 1.745 0.1 0.1 0.1 +kd 0.122 0.122 0.122 0.001 0.001 0.001 +ki 0.003 0.003 0.003 0.0 0.0 0.0 +maxInt 9999 9999 9999 9999 9999 9999 +maxOutput 9999 9999 9999 9999 9999 9999 +shift 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 +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 0.01 0.01 0.01 +kd 0.035 0.035 0.035 0.0 0.0 0.0 +ki 0.003 0.003 0.003 0.0 0.0 0.0 +maxInt 9999 9999 9999 9999 9999 9999 +maxOutput 9999 9999 9999 9999 9999 9999 +shift 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 +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 + +[IMPEDANCE_CONTROL] +controlUnits metric_units +controlLaw joint_pid_gazebo_v1 +stiffness 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 + +[LIMITS] +jntPosMax 17.0 20.0 45.0 30.0 55.0 30.0 +jntPosMin -30.0 -20.0 -45.0 -30.0 -30.0 -55.0 +jntVelMax 100.0 100.0 100.0 100.0 100.0 100.0 diff --git a/iai_icub_description/conf_manual/iCubGazeboV3_visuomanip/gazebo_icub_left_arm_no_hand.ini b/iai_icub_description/conf_manual/iCubGazeboV3_visuomanip/gazebo_icub_left_arm_no_hand.ini new file mode 100644 index 0000000..4c761ba --- /dev/null +++ b/iai_icub_description/conf_manual/iCubGazeboV3_visuomanip/gazebo_icub_left_arm_no_hand.ini @@ -0,0 +1,74 @@ +[include "gazebo_icub_robotname.ini"] + +[WRAPPER] +# name of the wrapper device to be instatiated by the factory +device controlboardwrapper2 +# rate of output streaming from ports in ms +period 10 +# output port name (a leading '/' will be added by code) +name /${gazeboYarpPluginsRobotName}/left_arm_no_hand +# Total number of joints +joints 7 +# list of MotorControl device to use +networks ( left_arm_no_hand ) +# for each network specify the joint map +left_arm_no_hand 0 6 0 6 + +# Verbose output (on if present, off if commented out) +#verbose + +[TRAJECTORY_GENERATION] +trajectory_type minimum_jerk + +# Specify configuration of MotorControl devices +[left_arm_no_hand] +# name of the device to be instatiated by the factory +device gazebo_controlboard +#jointNames list +jointNames l_shoulder_pitch l_shoulder_roll l_shoulder_yaw l_elbow l_wrist_prosup l_wrist_pitch l_wrist_yaw +name left_arm_no_hand + +min_stiffness 0.0 0.0 0.0 0.0 0.0 0.0 0.0 +max_stiffness 1000.0 1000.0 1000.0 1000.0 1000.0 1000.0 1000.0 +min_damping 0.0 0.0 0.0 0.0 0.0 0.0 0.0 +max_damping 100.0 100.0 100.0 100.0 100.0 100.0 100.0 + +#PIDs: +# this information is used to set the PID values in simulation for GAZEBO, we need only the first three values +[POSITION_CONTROL] +controlUnits metric_units +controlLaw joint_pid_gazebo_v1 +kp 1.745 1.745 1.745 1.745 1.745 1.745 1.745 +kd 0.174 0.174 0.174 0.174 0.174 0.0 0.0 +ki 0.174 0.174 0.174 0.174 0.174 0.174 0.0 +maxInt 9999 9999 9999 9999 9999 9999 9999 +maxOutput 9999 9999 9999 9999 9999 9999 9999 +shift 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 +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 +kd 0.035 0.035 0.035 0.002 0.002 0.002 0.0 +ki 0.002 0.002 0.002 0.0 0.0 0.0 0.0 +maxInt 9999 9999 9999 9999 9999 9999 9999 +maxOutput 9999 9999 9999 9999 9999 9999 9999 +shift 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 +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 + +[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 +damping 0.0 0.0 0.0 0.0 0.0 0.0 0.0 + +[LIMITS] +jntPosMax 10.0 160.0 80.0 106.0 60.0 25.0 25.0 +jntPosMin -95.0 0.0 -37.0 15.0 -60.0 -80.0 -20.0 +jntVelMax 100.0 100.0 100.0 100.0 100.0 100.0 100.0 diff --git a/iai_icub_description/conf_manual/iCubGazeboV3_visuomanip/gazebo_icub_left_depth_camera.ini b/iai_icub_description/conf_manual/iCubGazeboV3_visuomanip/gazebo_icub_left_depth_camera.ini new file mode 100644 index 0000000..2c51540 --- /dev/null +++ b/iai_icub_description/conf_manual/iCubGazeboV3_visuomanip/gazebo_icub_left_depth_camera.ini @@ -0,0 +1,11 @@ +[include "gazebo_icub_robotname.ini"] + +device RGBDSensor_nws_yarp +period 30 +name /${gazeboYarpPluginsRobotName}/cam/left + +[CAMERA_PARAM] +focalLengthX 343.12110728152936 +focalLengthY 343.12110728152936 +tangentialPointX 0.0 +tangentialPointY 0.0 diff --git a/iai_icub_description/conf_manual/iCubGazeboV3_visuomanip/gazebo_icub_left_hand_finger.ini b/iai_icub_description/conf_manual/iCubGazeboV3_visuomanip/gazebo_icub_left_hand_finger.ini new file mode 100644 index 0000000..5eae3ae --- /dev/null +++ b/iai_icub_description/conf_manual/iCubGazeboV3_visuomanip/gazebo_icub_left_hand_finger.ini @@ -0,0 +1,71 @@ +[include "gazebo_icub_robotname.ini"] + +# Verbose output (on if present, off if commented out) +#verbose + +[WRAPPER] +device controlboardwrapper2 +period 10 +name /${gazeboYarpPluginsRobotName}/left_hand_finger +joints 4 +networks ( left_hand_finger ) +left_hand_finger 0 3 0 3 + +[TRAJECTORY_GENERATION] +trajectory_type minimum_jerk + +[COUPLING] +fingers_abduction_control (0 1 2 3) (l_hand_fingers reserved reserved reserved reserved) (0.0) (60.0) + +# Specify configuration of MotorControl devices +[left_hand_finger] +# name of the device to be instatiated by the factory +device gazebo_controlboard +#jointNames list +jointNames l_hand_index_0_joint l_hand_middle_0_joint l_hand_ring_0_joint l_hand_little_0_joint +name left_hand_finger + +min_stiffness 0.0 0.0 0.0 0.0 +max_stiffness 1000.0 1000.0 1000.0 1000.0 +min_damping 0.0 0.0 0.0 0.0 +max_damping 100.0 100.0 100.0 100.0 + +#PIDs: +# this information is used to set the PID values in simulation for GAZEBO, we need only the first three values +[POSITION_CONTROL] +controlUnits metric_units +controlLaw joint_pid_gazebo_v1 +kp 0.1 0.1 0.1 0.1 +kd 0.01 0.01 0.01 0.01 +ki 0.0 0.0 0.0 0.0 +maxInt 9999 9999 9999 9999 +maxOutput 9999 9999 9999 9999 +shift 0.0 0.0 0.0 0.0 +ko 0.0 0.0 0.0 0.0 +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 +kd 0.035 0.035 0.035 0.002 +ki 0.002 0.002 0.002 0.0 +maxInt 9999 9999 9999 9999 +maxOutput 9999 9999 9999 9999 +shift 0.0 0.0 0.0 0.0 +ko 0.0 0.0 0.0 0.0 +stictionUp 0.0 0.0 0.0 0.0 +stictionDwn 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 +damping 0.0 0.0 0.0 0.0 + +[LIMITS] +jntPosMax 0.0 0.0 20.0 20.0 +jntPosMin -20.0 0.0 0.0 0.0 +jntVelMax 100.0 100.0 100.0 100.0 diff --git a/iai_icub_description/conf_manual/iCubGazeboV3_visuomanip/gazebo_icub_left_hand_index.ini b/iai_icub_description/conf_manual/iCubGazeboV3_visuomanip/gazebo_icub_left_hand_index.ini new file mode 100644 index 0000000..8f3b700 --- /dev/null +++ b/iai_icub_description/conf_manual/iCubGazeboV3_visuomanip/gazebo_icub_left_hand_index.ini @@ -0,0 +1,71 @@ +[include "gazebo_icub_robotname.ini"] + +# Verbose output (on if present, off if commented out) +#verbose + +[WRAPPER] +device controlboardwrapper2 +period 10 +name /${gazeboYarpPluginsRobotName}/left_hand_index +joints 3 +networks ( left_hand_index) +left_hand_index 0 2 0 2 + +[TRAJECTORY_GENERATION] +trajectory_type minimum_jerk + +[COUPLING] +index_control (0 1 2) (l_index_proximal l_index_distal reserved) (0.0 0.0) (90.0 180.0) + +# Specify configuration of MotorControl devices +[left_hand_index] +# name of the device to be instatiated by the factory +device gazebo_controlboard +#jointNames list +jointNames l_hand_index_1_joint l_hand_index_2_joint l_hand_index_3_joint +name left_hand_index + +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 + +#PIDs: +# this information is used to set the PID values in simulation for GAZEBO, we need only the first three values +[POSITION_CONTROL] +controlUnits metric_units +controlLaw joint_pid_gazebo_v1 +kp 0.1 0.1 0.1 +kd 0.001 0.001 0.001 +ki 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 0.002 0.002 0.002 +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 +controlLaw joint_pid_gazebo_v1 +stiffness 0.0 0.0 0.0 +damping 0.0 0.0 0.0 + +[LIMITS] +jntPosMax 90.0 90.0 90.0 +jntPosMin 0.0 0.0 0.0 +jntVelMax 100.0 100.0 100.0 diff --git a/iai_icub_description/conf_manual/iCubGazeboV3_visuomanip/gazebo_icub_left_hand_mais.ini b/iai_icub_description/conf_manual/iCubGazeboV3_visuomanip/gazebo_icub_left_hand_mais.ini new file mode 100644 index 0000000..70529c8 --- /dev/null +++ b/iai_icub_description/conf_manual/iCubGazeboV3_visuomanip/gazebo_icub_left_hand_mais.ini @@ -0,0 +1,10 @@ +[include "./gazebo_icub_robotname.ini"] + +[WRAPPER] +name /${gazeboYarpPluginsRobotName}/left_hand/analog:o +period 10 +networks (left_mais) +device analogServer + +[left_mais] +jointNames l_hand_thumb_1_joint l_hand_thumb_2_joint l_hand_thumb_3_joint l_hand_index_1_joint l_hand_index_2_joint l_hand_index_3_joint l_hand_middle_1_joint l_hand_middle_2_joint l_hand_middle_3_joint l_hand_ring_1_joint l_hand_ring_2_joint l_hand_ring_3_joint l_hand_little_1_joint l_hand_little_2_joint l_hand_little_3_joint diff --git a/iai_icub_description/conf_manual/iCubGazeboV3_visuomanip/gazebo_icub_left_hand_middle.ini b/iai_icub_description/conf_manual/iCubGazeboV3_visuomanip/gazebo_icub_left_hand_middle.ini new file mode 100644 index 0000000..694b68a --- /dev/null +++ b/iai_icub_description/conf_manual/iCubGazeboV3_visuomanip/gazebo_icub_left_hand_middle.ini @@ -0,0 +1,71 @@ +[include "gazebo_icub_robotname.ini"] + +# Verbose output (on if present, off if commented out) +#verbose + +[WRAPPER] +device controlboardwrapper2 +period 10 +name /${gazeboYarpPluginsRobotName}/left_hand_middle +joints 3 +networks ( left_hand_middle) +left_hand_middle 0 2 0 2 + +[TRAJECTORY_GENERATION] +trajectory_type minimum_jerk + +[COUPLING] +middle_control (0 1 2) (l_middle_proximal l_middle_distal reserved) (0.0 0.0) (90.0 180.0) + +# Specify configuration of MotorControl devices +[left_hand_middle] +# name of the device to be instatiated by the factory +device gazebo_controlboard +#jointNames list +jointNames l_hand_middle_1_joint l_hand_middle_2_joint l_hand_middle_3_joint +name left_hand_middle + +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 + +#PIDs: +# this information is used to set the PID values in simulation for GAZEBO, we need only the first three values +[POSITION_CONTROL] +controlUnits metric_units +controlLaw joint_pid_gazebo_v1 +kp 0.1 0.1 0.1 +kd 0.001 0.001 0.001 +ki 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 0.002 0.002 0.002 +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 +controlLaw joint_pid_gazebo_v1 +stiffness 0.0 0.0 0.0 +damping 0.0 0.0 0.0 + +[LIMITS] +jntPosMax 90.0 90.0 90.0 +jntPosMin 0.0 0.0 0.0 +jntVelMax 100.0 100.0 100.0 diff --git a/iai_icub_description/conf_manual/iCubGazeboV3_visuomanip/gazebo_icub_left_hand_pinky.ini b/iai_icub_description/conf_manual/iCubGazeboV3_visuomanip/gazebo_icub_left_hand_pinky.ini new file mode 100644 index 0000000..841c7de --- /dev/null +++ b/iai_icub_description/conf_manual/iCubGazeboV3_visuomanip/gazebo_icub_left_hand_pinky.ini @@ -0,0 +1,71 @@ +[include "gazebo_icub_robotname.ini"] + +# Verbose output (on if present, off if commented out) +#verbose + +[WRAPPER] +device controlboardwrapper2 +period 10 +name /${gazeboYarpPluginsRobotName}/left_hand_pinky +joints 6 +networks ( left_hand_pinky) +left_hand_pinky 0 5 0 5 + +[TRAJECTORY_GENERATION] +trajectory_type minimum_jerk + +[COUPLING] +pinky_control (0 1 2 3 4 5) (l_pinky reserved reserved reserved reserved reserved) (0.0) (270.0) + +# Specify configuration of MotorControl devices +[left_hand_pinky] +# name of the device to be instatiated by the factory +device gazebo_controlboard +#jointNames list +jointNames l_hand_ring_1_joint l_hand_ring_2_joint l_hand_ring_3_joint l_hand_little_1_joint l_hand_little_2_joint l_hand_little_3_joint +name left_hand_pinky + +min_stiffness 0.0 0.0 0.0 0.0 0.0 0.0 +max_stiffness 1000.0 1000.0 1000.0 1000.0 1000.0 1000.0 +min_damping 0.0 0.0 0.0 0.0 0.0 0.0 +max_damping 100.0 100.0 100.0 100.0 100.0 100.0 + +#PIDs: +# this information is used to set the PID values in simulation for GAZEBO, we need only the first three values +[POSITION_CONTROL] +controlUnits metric_units +controlLaw joint_pid_gazebo_v1 +kp 0.1 0.1 0.1 0.1 0.1 0.1 +kd 0.001 0.001 0.001 0.001 0.001 0.001 +ki 0.0 0.0 0.0 0.0 0.0 0.0 +maxInt 9999 9999 9999 9999 9999 9999 +maxOutput 9999 9999 9999 9999 9999 9999 +shift 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 +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 +kd 0.035 0.035 0.035 0.035 0.035 0.035 +ki 0.002 0.002 0.002 0.002 0.002 0.002 +maxInt 9999 9999 9999 9999 9999 9999 +maxOutput 9999 9999 9999 9999 9999 9999 +shift 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 +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 + +[IMPEDANCE_CONTROL] +controlUnits metric_units +controlLaw joint_pid_gazebo_v1 +stiffness 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 + +[LIMITS] +jntPosMax 90.0 90.0 90.0 90.0 90.0 90.0 +jntPosMin 0.0 0.0 0.0 0.0 0.0 0.0 +jntVelMax 100.0 100.0 100.0 100.0 100.0 100.0 diff --git a/iai_icub_description/conf_manual/iCubGazeboV3_visuomanip/gazebo_icub_left_hand_thumb.ini b/iai_icub_description/conf_manual/iCubGazeboV3_visuomanip/gazebo_icub_left_hand_thumb.ini new file mode 100644 index 0000000..9e56dca --- /dev/null +++ b/iai_icub_description/conf_manual/iCubGazeboV3_visuomanip/gazebo_icub_left_hand_thumb.ini @@ -0,0 +1,71 @@ +[include "gazebo_icub_robotname.ini"] + +# Verbose output (on if present, off if commented out) +#verbose + +[WRAPPER] +device controlboardwrapper2 +period 10 +name /${gazeboYarpPluginsRobotName}/left_hand_thumb +joints 4 +networks ( left_hand_thumb) +left_hand_thumb 0 3 0 3 + +[TRAJECTORY_GENERATION] +trajectory_type minimum_jerk + +[COUPLING] +thumb_control (0 1 2 3) (l_thumb_oppose l_thumb_proximal l_thumb_distal reserved) (0.0 0.0 0.0) (90.0 90.0 180.0) + +# Specify configuration of MotorControl devices +[left_hand_thumb] +# name of the device to be instatiated by the factory +device gazebo_controlboard +#jointNames list +jointNames l_hand_thumb_0_joint l_hand_thumb_1_joint l_hand_thumb_2_joint l_hand_thumb_3_joint +name left_hand_thumb + +min_stiffness 0.0 0.0 0.0 0.0 +max_stiffness 1000.0 1000.0 1000.0 1000.0 +min_damping 0.0 0.0 0.0 0.0 +max_damping 100.0 100.0 100.0 100.0 + +#PIDs: +# this information is used to set the PID values in simulation for GAZEBO, we need only the first three values +[POSITION_CONTROL] +controlUnits metric_units +controlLaw joint_pid_gazebo_v1 +kp 0.1 0.1 0.1 0.1 +kd 0.001 0.001 0.001 0.001 +ki 0.0 0.0 0.0 0.0 +maxInt 9999 9999 9999 9999 +maxOutput 9999 9999 9999 9999 +shift 0.0 0.0 0.0 0.0 +ko 0.0 0.0 0.0 0.0 +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 +kd 0.035 0.035 0.035 0.002 +ki 0.002 0.002 0.002 0.0 +maxInt 9999 9999 9999 9999 +maxOutput 9999 9999 9999 9999 +shift 0.0 0.0 0.0 0.0 +ko 0.0 0.0 0.0 0.0 +stictionUp 0.0 0.0 0.0 0.0 +stictionDwn 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 +damping 0.0 0.0 0.0 0.0 + +[LIMITS] +jntPosMax 90.0 90.0 90.0 90.0 +jntPosMin 0.0 0.0 0.0 0.0 +jntVelMax 100.0 100.0 100.0 100.0 diff --git a/iai_icub_description/conf_manual/iCubGazeboV3_visuomanip/gazebo_icub_left_rgb_camera.ini b/iai_icub_description/conf_manual/iCubGazeboV3_visuomanip/gazebo_icub_left_rgb_camera.ini new file mode 100644 index 0000000..2d0f7f3 --- /dev/null +++ b/iai_icub_description/conf_manual/iCubGazeboV3_visuomanip/gazebo_icub_left_rgb_camera.ini @@ -0,0 +1,7 @@ +[include "gazebo_icub_robotname.ini"] + +device frameGrabber_nws_yarp +subdevice gazebo_camera +name /${gazeboYarpPluginsRobotName}/cam/left/rgbImage:o +freq 30 +stamp 1 diff --git a/iai_icub_description/conf_manual/iCubGazeboV3_visuomanip/gazebo_icub_right_arm_no_hand.ini b/iai_icub_description/conf_manual/iCubGazeboV3_visuomanip/gazebo_icub_right_arm_no_hand.ini new file mode 100644 index 0000000..d32eb16 --- /dev/null +++ b/iai_icub_description/conf_manual/iCubGazeboV3_visuomanip/gazebo_icub_right_arm_no_hand.ini @@ -0,0 +1,74 @@ +[include "gazebo_icub_robotname.ini"] + +[WRAPPER] +# name of the wrapper device to be instatiated by the factory +device controlboardwrapper2 +# rate of output streaming from ports in ms +period 10 +# output port name (a leading '/' will be added by code) +name /${gazeboYarpPluginsRobotName}/right_arm_no_hand +# Total number of joints +joints 7 +# list of MotorControl device to use +networks ( right_arm_no_hand ) +# for each network specify the joint map +right_arm_no_hand 0 6 0 6 + +# Verbose output (on if present, off if commented out) +#verbose + +[TRAJECTORY_GENERATION] +trajectory_type minimum_jerk + +# Specify configuration of MotorControl devices +[right_arm_no_hand] +# name of the device to be instatiated by the factory +device gazebo_controlboard +#jointNames list +jointNames r_shoulder_pitch r_shoulder_roll r_shoulder_yaw r_elbow r_wrist_prosup r_wrist_pitch r_wrist_yaw +name right_arm_no_hand + +min_stiffness 0.0 0.0 0.0 0.0 0.0 0.0 0.0 +max_stiffness 1000.0 1000.0 1000.0 1000.0 1000.0 1000.0 1000.0 +min_damping 0.0 0.0 0.0 0.0 0.0 0.0 0.0 +max_damping 100.0 100.0 100.0 100.0 100.0 100.0 100.0 + +#PIDs: +# this information is used to set the PID values in simulation for GAZEBO, we need only the first three values +[POSITION_CONTROL] +controlUnits metric_units +controlLaw joint_pid_gazebo_v1 +kp 1.745 1.745 1.745 1.745 1.745 1.745 1.745 +kd 0.174 0.174 0.174 0.174 0.174 0.0 0.0 +ki 0.174 0.174 0.174 0.174 0.174 0.174 0.0 +maxInt 9999 9999 9999 9999 9999 9999 9999 +maxOutput 9999 9999 9999 9999 9999 9999 9999 +shift 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 +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 +kd 0.035 0.035 0.035 0.002 0.002 0.002 0.0 +ki 0.002 0.002 0.002 0.0 0.0 0.0 0.0 +maxInt 9999 9999 9999 9999 9999 9999 9999 +maxOutput 9999 9999 9999 9999 9999 9999 9999 +shift 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 +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 + +[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 +damping 0.0 0.0 0.0 0.0 0.0 0.0 0.0 + +[LIMITS] +jntPosMax 10.0 160.0 80.0 106.0 60.0 25.0 25.0 +jntPosMin -95.0 0.0 -37.0 15.0 -60.0 -80.0 -20.0 +jntVelMax 100.0 100.0 100.0 100.0 100.0 100.0 100.0 diff --git a/iai_icub_description/conf_manual/iCubGazeboV3_visuomanip/gazebo_icub_right_depth_camera.ini b/iai_icub_description/conf_manual/iCubGazeboV3_visuomanip/gazebo_icub_right_depth_camera.ini new file mode 100644 index 0000000..635197d --- /dev/null +++ b/iai_icub_description/conf_manual/iCubGazeboV3_visuomanip/gazebo_icub_right_depth_camera.ini @@ -0,0 +1,11 @@ +[include "gazebo_icub_robotname.ini"] + +device RGBDSensor_nws_yarp +period 30 +name /${gazeboYarpPluginsRobotName}/cam/right + +[CAMERA_PARAM] +focalLengthX 343.12110728152936 +focalLengthY 343.12110728152936 +tangentialPointX 0.0 +tangentialPointY 0.0 diff --git a/iai_icub_description/conf_manual/iCubGazeboV3_visuomanip/gazebo_icub_right_hand_finger.ini b/iai_icub_description/conf_manual/iCubGazeboV3_visuomanip/gazebo_icub_right_hand_finger.ini new file mode 100644 index 0000000..fc8f580 --- /dev/null +++ b/iai_icub_description/conf_manual/iCubGazeboV3_visuomanip/gazebo_icub_right_hand_finger.ini @@ -0,0 +1,72 @@ +[include "gazebo_icub_robotname.ini"] + +# Verbose output (on if present, off if commented out) +#verbose + +[WRAPPER] +device controlboardwrapper2 +period 10 +name /${gazeboYarpPluginsRobotName}/right_hand_finger +joints 4 +networks ( right_hand_finger ) +right_hand_finger 0 3 0 3 + +[TRAJECTORY_GENERATION] +trajectory_type minimum_jerk + +[COUPLING] +fingers_abduction_control (0 1 2 3) (r_hand_fingers reserved reserved reserved reserved) (0.0) (60.0) + +# Specify configuration of MotorControl devices +[right_hand_finger] +# name of the device to be instatiated by the factory +device gazebo_controlboard +#jointNames list +jointNames r_hand_index_0_joint r_hand_middle_0_joint r_hand_ring_0_joint r_hand_little_0_joint +name right_hand_finger + +min_stiffness 0.0 0.0 0.0 0.0 +max_stiffness 1000.0 1000.0 1000.0 1000.0 +min_damping 0.0 0.0 0.0 0.0 +max_damping 100.0 100.0 100.0 100.0 + +#PIDs: +# this information is used to set the PID values in simulation for GAZEBO, we need only the first three values +[POSITION_CONTROL] +controlUnits metric_units +controlLaw joint_pid_gazebo_v1 +kp 0.1 0.1 0.1 0.1 +kd 0.01 0.01 0.01 0.01 +ki 0.0 0.0 0.0 0.0 +maxInt 9999 9999 9999 9999 +maxOutput 9999 9999 9999 9999 +shift 0.0 0.0 0.0 0.0 +ko 0.0 0.0 0.0 0.0 +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 +kd 0.035 0.035 0.035 0.002 +ki 0.002 0.002 0.002 0.0 +maxInt 9999 9999 9999 9999 +maxOutput 9999 9999 9999 9999 +shift 0.0 0.0 0.0 0.0 +ko 0.0 0.0 0.0 0.0 +stictionUp 0.0 0.0 0.0 0.0 +stictionDwn 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 +damping 0.0 0.0 0.0 0.0 + + +[LIMITS] +jntPosMax 0.0 0.0 20.0 20.0 +jntPosMin -20.0 0.0 0.0 0.0 +jntVelMax 100.0 100.0 100.0 100.0 diff --git a/iai_icub_description/conf_manual/iCubGazeboV3_visuomanip/gazebo_icub_right_hand_index.ini b/iai_icub_description/conf_manual/iCubGazeboV3_visuomanip/gazebo_icub_right_hand_index.ini new file mode 100644 index 0000000..0980c0d --- /dev/null +++ b/iai_icub_description/conf_manual/iCubGazeboV3_visuomanip/gazebo_icub_right_hand_index.ini @@ -0,0 +1,71 @@ +[include "gazebo_icub_robotname.ini"] + +# Verbose output (on if present, off if commented out) +#verbose + +[WRAPPER] +device controlboardwrapper2 +period 10 +name /${gazeboYarpPluginsRobotName}/right_hand_index +joints 3 +networks ( right_hand_index) +right_hand_index 0 2 0 2 + +[TRAJECTORY_GENERATION] +trajectory_type minimum_jerk + +[COUPLING] +index_control (0 1 2) (r_index_proximal r_index_distal reserved) (0.0 0.0) (90.0 180.0) + +# Specify configuration of MotorControl devices +[right_hand_index] +# name of the device to be instatiated by the factory +device gazebo_controlboard +#jointNames list +jointNames r_hand_index_1_joint r_hand_index_2_joint r_hand_index_3_joint +name right_hand_index + +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 + +#PIDs: +# this information is used to set the PID values in simulation for GAZEBO, we need only the first three values +[POSITION_CONTROL] +controlUnits metric_units +controlLaw joint_pid_gazebo_v1 +kp 0.1 0.1 0.1 +kd 0.001 0.001 0.001 +ki 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 0.002 0.002 0.002 +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 +controlLaw joint_pid_gazebo_v1 +stiffness 0.0 0.0 0.0 +damping 0.0 0.0 0.0 + +[LIMITS] +jntPosMax 90.0 90.0 90.0 +jntPosMin 0.0 0.0 0.0 +jntVelMax 100.0 100.0 100.0 diff --git a/iai_icub_description/conf_manual/iCubGazeboV3_visuomanip/gazebo_icub_right_hand_mais.ini b/iai_icub_description/conf_manual/iCubGazeboV3_visuomanip/gazebo_icub_right_hand_mais.ini new file mode 100644 index 0000000..0b07369 --- /dev/null +++ b/iai_icub_description/conf_manual/iCubGazeboV3_visuomanip/gazebo_icub_right_hand_mais.ini @@ -0,0 +1,10 @@ +[include "./gazebo_icub_robotname.ini"] + +[WRAPPER] +name /${gazeboYarpPluginsRobotName}/right_hand/analog:o +period 10 +networks (right_mais) +device analogServer + +[right_mais] +jointNames r_hand_thumb_1_joint r_hand_thumb_2_joint r_hand_thumb_3_joint r_hand_index_1_joint r_hand_index_2_joint r_hand_index_3_joint r_hand_middle_1_joint r_hand_middle_2_joint r_hand_middle_3_joint r_hand_ring_1_joint r_hand_ring_2_joint r_hand_ring_3_joint r_hand_little_1_joint r_hand_little_2_joint r_hand_little_3_joint diff --git a/iai_icub_description/conf_manual/iCubGazeboV3_visuomanip/gazebo_icub_right_hand_middle.ini b/iai_icub_description/conf_manual/iCubGazeboV3_visuomanip/gazebo_icub_right_hand_middle.ini new file mode 100644 index 0000000..f25e74e --- /dev/null +++ b/iai_icub_description/conf_manual/iCubGazeboV3_visuomanip/gazebo_icub_right_hand_middle.ini @@ -0,0 +1,71 @@ +[include "gazebo_icub_robotname.ini"] + +# Verbose output (on if present, off if commented out) +#verbose + +[WRAPPER] +device controlboardwrapper2 +period 10 +name /${gazeboYarpPluginsRobotName}/right_hand_middle +joints 3 +networks ( right_hand_middle) +right_hand_middle 0 2 0 2 + +[TRAJECTORY_GENERATION] +trajectory_type minimum_jerk + +[COUPLING] +middle_control (0 1 2) (r_middle_proximal r_middle_distal reserved) (0.0 0.0) (90.0 180.0) + +# Specify configuration of MotorControl devices +[right_hand_middle] +# name of the device to be instatiated by the factory +device gazebo_controlboard +#jointNames list +jointNames r_hand_middle_1_joint r_hand_middle_2_joint r_hand_middle_3_joint +name right_hand_middle + +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 + +#PIDs: +# this information is used to set the PID values in simulation for GAZEBO, we need only the first three values +[POSITION_CONTROL] +controlUnits metric_units +controlLaw joint_pid_gazebo_v1 +kp 0.1 0.1 0.1 +kd 0.001 0.001 0.001 +ki 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 0.002 0.002 0.002 +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 +controlLaw joint_pid_gazebo_v1 +stiffness 0.0 0.0 0.0 +damping 0.0 0.0 0.0 + +[LIMITS] +jntPosMax 90.0 90.0 90.0 +jntPosMin 0.0 0.0 0.0 +jntVelMax 100.0 100.0 100.0 diff --git a/iai_icub_description/conf_manual/iCubGazeboV3_visuomanip/gazebo_icub_right_hand_pinky.ini b/iai_icub_description/conf_manual/iCubGazeboV3_visuomanip/gazebo_icub_right_hand_pinky.ini new file mode 100644 index 0000000..0433ab2 --- /dev/null +++ b/iai_icub_description/conf_manual/iCubGazeboV3_visuomanip/gazebo_icub_right_hand_pinky.ini @@ -0,0 +1,71 @@ +[include "gazebo_icub_robotname.ini"] + +# Verbose output (on if present, off if commented out) +#verbose + +[WRAPPER] +device controlboardwrapper2 +period 10 +name /${gazeboYarpPluginsRobotName}/right_hand_pinky +joints 6 +networks ( right_hand_pinky) +right_hand_pinky 0 5 0 5 + +[TRAJECTORY_GENERATION] +trajectory_type minimum_jerk + +[COUPLING] +pinky_control (0 1 2 3 4 5) (r_pinky reserved reserved reserved reserved reserved) (0.0) (270.0) + +# Specify configuration of MotorControl devices +[right_hand_pinky] +# name of the device to be instatiated by the factory +device gazebo_controlboard +#jointNames list +jointNames r_hand_ring_1_joint r_hand_ring_2_joint r_hand_ring_3_joint r_hand_little_1_joint r_hand_little_2_joint r_hand_little_3_joint +name right_hand_pinky + +min_stiffness 0.0 0.0 0.0 0.0 0.0 0.0 +max_stiffness 1000.0 1000.0 1000.0 1000.0 1000.0 1000.0 +min_damping 0.0 0.0 0.0 0.0 0.0 0.0 +max_damping 100.0 100.0 100.0 100.0 100.0 100.0 + +#PIDs: +# this information is used to set the PID values in simulation for GAZEBO, we need only the first three values +[POSITION_CONTROL] +controlUnits metric_units +controlLaw joint_pid_gazebo_v1 +kp 0.1 0.1 0.1 0.1 0.1 0.1 +kd 0.001 0.001 0.001 0.001 0.001 0.001 +ki 0.0 0.0 0.0 0.0 0.0 0.0 +maxInt 9999 9999 9999 9999 9999 9999 +maxOutput 9999 9999 9999 9999 9999 9999 +shift 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 +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 +kd 0.035 0.035 0.035 0.035 0.035 0.035 +ki 0.002 0.002 0.002 0.002 0.002 0.002 +maxInt 9999 9999 9999 9999 9999 9999 +maxOutput 9999 9999 9999 9999 9999 9999 +shift 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 +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 + +[IMPEDANCE_CONTROL] +controlUnits metric_units +controlLaw joint_pid_gazebo_v1 +stiffness 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 + +[LIMITS] +jntPosMax 90.0 90.0 90.0 90.0 90.0 90.0 +jntPosMin 0.0 0.0 0.0 0.0 0.0 0.0 +jntVelMax 100.0 100.0 100.0 100.0 100.0 100.0 diff --git a/iai_icub_description/conf_manual/iCubGazeboV3_visuomanip/gazebo_icub_right_hand_thumb.ini b/iai_icub_description/conf_manual/iCubGazeboV3_visuomanip/gazebo_icub_right_hand_thumb.ini new file mode 100644 index 0000000..c3f38b9 --- /dev/null +++ b/iai_icub_description/conf_manual/iCubGazeboV3_visuomanip/gazebo_icub_right_hand_thumb.ini @@ -0,0 +1,70 @@ +[include "gazebo_icub_robotname.ini"] + +# Verbose output (on if present, off if commented out) +#verbose + +[WRAPPER] +device controlboardwrapper2 +period 10 +name /${gazeboYarpPluginsRobotName}/right_hand_thumb +joints 4 +networks ( right_hand_thumb) +right_hand_thumb 0 3 0 3 + +[TRAJECTORY_GENERATION] +trajectory_type minimum_jerk + +[COUPLING] +thumb_control (0 1 2 3) (r_thumb_oppose r_thumb_proximal r_thumb_distal reserved) (0.0 0.0 0.0) (90.0 90.0 180.0) + +# Specify configuration of MotorControl devices +[right_hand_thumb] +# name of the device to be instatiated by the factory +device gazebo_controlboard +jointNames r_hand_thumb_0_joint r_hand_thumb_1_joint r_hand_thumb_2_joint r_hand_thumb_3_joint +name right_hand_thumb + +min_stiffness 0.0 0.0 0.0 0.0 +max_stiffness 1000.0 1000.0 1000.0 1000.0 +min_damping 0.0 0.0 0.0 0.0 +max_damping 100.0 100.0 100.0 100.0 + +#PIDs: +# this information is used to set the PID values in simulation for GAZEBO, we need only the first three values +[POSITION_CONTROL] +controlUnits metric_units +controlLaw joint_pid_gazebo_v1 +kp 0.1 0.1 0.1 0.1 +kd 0.001 0.001 0.001 0.001 +ki 0.0 0.0 0.0 0.0 +maxInt 9999 9999 9999 9999 +maxOutput 9999 9999 9999 9999 +shift 0.0 0.0 0.0 0.0 +ko 0.0 0.0 0.0 0.0 +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 +kd 0.035 0.035 0.035 0.002 +ki 0.002 0.002 0.002 0.0 +maxInt 9999 9999 9999 9999 +maxOutput 9999 9999 9999 9999 +shift 0.0 0.0 0.0 0.0 +ko 0.0 0.0 0.0 0.0 +stictionUp 0.0 0.0 0.0 0.0 +stictionDwn 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 +damping 0.0 0.0 0.0 0.0 + +[LIMITS] +jntPosMax 90.0 90.0 90.0 90.0 +jntPosMin 0.0 0.0 0.0 0.0 +jntVelMax 100.0 100.0 100.0 100.0 diff --git a/iai_icub_description/conf_manual/iCubGazeboV3_visuomanip/gazebo_icub_right_rgb_camera.ini b/iai_icub_description/conf_manual/iCubGazeboV3_visuomanip/gazebo_icub_right_rgb_camera.ini new file mode 100644 index 0000000..22284fc --- /dev/null +++ b/iai_icub_description/conf_manual/iCubGazeboV3_visuomanip/gazebo_icub_right_rgb_camera.ini @@ -0,0 +1,7 @@ +[include "gazebo_icub_robotname.ini"] + +device frameGrabber_nws_yarp +subdevice gazebo_camera +name /${gazeboYarpPluginsRobotName}/cam/right/rgbImage:o +freq 30 +stamp 1 diff --git a/iai_icub_description/conf_manual/iCubGazeboV3_visuomanip/gazebo_icub_robotname.ini b/iai_icub_description/conf_manual/iCubGazeboV3_visuomanip/gazebo_icub_robotname.ini new file mode 100644 index 0000000..dc90ac0 --- /dev/null +++ b/iai_icub_description/conf_manual/iCubGazeboV3_visuomanip/gazebo_icub_robotname.ini @@ -0,0 +1 @@ +gazeboYarpPluginsRobotName icubSim diff --git a/iai_icub_description/meshes/col_LeftHandPalm.dae b/iai_icub_description/meshes/col_LeftHandPalm.dae new file mode 100644 index 0000000..df49c71 --- /dev/null +++ b/iai_icub_description/meshes/col_LeftHandPalm.dae @@ -0,0 +1,56 @@ + + + + + VCGLab + VCGLib | MeshLab + + Thu Jul 23 22:17:39 2020 GMT + Thu Jul 23 22:17:39 2020 GMT 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21 0 22 0 7 0 5 1 27 1 9 1 15 2 31 2 24 2 33 3 30 3 21 3 6 4 7 4 22 4 2 5 29 5 27 5 5 6 8 6 2 6 14 7 5 7 9 7 14 8 16 8 5 8 20 9 35 9 4 9 24 10 23 10 0 10 1 11 33 11 21 11 1 12 21 12 28 12 26 13 25 13 33 13 32 14 3 14 22 14 2 15 22 15 3 15 5 16 2 16 27 16 35 17 8 17 16 17 16 18 8 18 5 18 9 19 27 19 17 19 17 20 14 20 9 20 18 21 15 21 24 21 10 22 8 22 35 22 1 23 26 23 33 23 28 24 26 24 1 24 3 25 29 25 2 25 4 26 34 26 31 26 8 27 10 27 6 27 8 28 6 28 22 28 17 29 31 29 13 29 13 30 31 30 34 30 0 31 18 31 24 31 6 32 12 32 7 32 20 33 10 33 35 33 11 34 23 34 36 34 11 35 0 35 23 35 34 36 4 36 35 36 8 37 22 37 2 37 13 38 34 38 35 38 12 39 10 39 20 39 6 40 10 40 12 40 7 41 12 41 28 41 7 42 28 42 21 42 19 43 12 43 20 43 19 44 11 44 36 44 0 45 11 45 18 45 15 46 4 46 31 46 16 47 13 47 35 47 18 48 11 48 19 48 19 49 36 49 12 49 36 50 28 50 12 50 16 51 17 51 13 51 15 52 18 52 20 52 20 53 18 53 19 53 15 54 20 54 4 54 17 55 16 55 14 55 21 56 30 56 32 56 22 57 21 57 32 57 23 58 24 58 25 58 23 59 25 59 26 59 36 60 23 60 26 60 28 61 36 61 26 61 25 62 24 62 29 62 29 63 31 63 27 63 24 64 31 64 29 64 29 65 32 65 30 65 29 66 3 66 32 66 29 67 30 67 33 67 29 68 33 68 25 68 17 69 27 69 31 69

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3 0 4 0 11 0 14 1 13 1 29 1 31 2 17 2 9 2 30 3 17 3 31 3 0 4 7 4 2 4 0 5 2 5 19 5 2 6 7 6 1 6 1 7 7 7 5 7 8 8 4 8 7 8 6 9 1 9 5 9 2 10 1 10 6 10 6 11 19 11 2 11 6 12 7 12 4 12 8 13 7 13 0 13 8 14 0 14 32 14 32 15 23 15 22 15 12 16 14 16 9 16 29 17 27 17 14 17 26 18 11 18 4 18 8 19 26 19 4 19 26 20 8 20 28 20 15 21 16 21 13 21 18 22 23 22 16 22 3 23 6 23 4 23 29 24 6 24 3 24 26 25 29 25 11 25 7 26 6 26 5 26 22 27 8 27 32 27 23 28 32 28 25 28 15 29 13 29 12 29 10 30 15 30 12 30 27 31 9 31 14 31 27 32 28 32 9 32 20 33 10 33 17 33 31 34 28 34 8 34 31 35 9 35 28 35 17 36 12 36 9 36 10 37 12 37 17 37 23 38 18 38 22 38 29 39 3 39 11 39 25 40 16 40 23 40 6 41 25 41 19 41 24 42 29 42 13 42 29 43 24 43 6 43 16 44 24 44 13 44 14 45 12 45 13 45 10 46 20 46 15 46 20 47 21 47 15 47 18 48 21 48 30 48 21 49 18 49 16 49 15 50 21 50 16 50 30 51 22 51 18 51 22 52 30 52 31 52 22 53 31 53 8 53 19 54 32 54 0 54 24 55 25 55 6 55 20 56 30 56 21 56 25 57 24 57 16 57 17 58 30 58 20 58 28 59 27 59 26 59 26 60 27 60 29 60 25 61 32 61 19 61

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2274 1102 1102 2274 1104 1104 2275 981 981 2275 1102 1102 2275 1118 1118 2276 1119 1119 2276 1100 1100 2276 1120 1120 2277 1121 1121 2277 1119 1119 2277 1120 1120 2278 1119 1119 2278 1118 1118 2278 1449 1449 2279 1100 1100 2279 1097 1097 2279 1449 1449 2280 1118 1118 2280 1100 1100 2280 1451 1451 2281 1097 1097 2281 1122 1122 2281 1451 1451 2282 1449 1449 2282 1097 1097 2282 1450 1450 2283 1122 1122 2283 1124 1124 2283 1450 1450 2284 1451 1451 2284 1122 1122 2284 1123 1123 2285 1124 1124 2285 1125 1125 2285 1123 1123 2286 1450 1450 2286 1124 1124 2286 1453 1453 2287 1125 1125 2287 1105 1105 2287 1453 1453 2288 1123 1123 2288 1125 1125 2288 1454 1454 2289 1105 1105 2289 1103 1103 2289 1454 1454 2290 1453 1453 2290 1105 1105 2290 1455 1455 2291 1103 1103 2291 1126 1126 2291 1455 1455 2292 1454 1454 2292 1103 1103 2292 1127 1127 2293 1126 1126 2293 1121 1121 2293 1127 1127 2294 1455 1455 2294 1126 1126 2294 1120 1120 2295 1127 1127 2295 1121 1121 2295 528 528 2296 1110 1110 2296 1130 1130 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37 114 114 38 115 115 38 116 116 38 117 117 39 118 118 39 119 119 39 120 120 40 121 121 40 122 122 40 123 123 41 124 124 41 125 125 41 126 126 42 127 127 42 128 128 42 129 129 43 130 130 43 131 131 43 132 132 44 133 133 44 134 134 44 135 135 45 136 136 45 137 137 45 138 138 46 139 139 46 140 140 46 141 141 47 142 142 47 143 143 47 144 144 48 145 145 48 146 146 48 147 147 49 148 148 49 149 149 49 150 150 50 151 151 50 152 152 50 153 153 51 154 154 51 155 155 51 156 156 52 157 157 52 158 158 52 159 159 53 160 160 53 161 161 53 162 162 54 163 163 54 164 164 54 165 165 55 166 166 55 167 167 55 168 168 56 169 169 56 170 170 56 171 171 57 172 172 57 173 173 57 174 174 58 175 175 58 176 176 58 177 177 59 178 178 59 179 179 59 180 180 60 181 181 60 182 182 60 183 183 61 184 184 61 185 185 61 186 186 62 187 187 62 188 188 62 189 189 63 190 190 63 191 191 63 192 192 64 193 193 64 194 194 64 195 195 65 196 196 65 197 197 65 198 198 66 199 199 66 200 200 66 201 201 67 202 202 67 203 203 67 204 204 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2010 34 34 2010 989 989 2010 124 124 2011 989 989 2011 438 438 2011 440 440 2012 69 69 2012 990 990 2012 441 441 2013 70 70 2013 990 990 2013 442 442 2014 69 69 2014 991 991 2014 73 73 2015 991 991 2015 440 440 2015 443 443 2016 124 124 2016 992 992 2016 992 992 2017 441 441 2017 69 69 2017 444 444 2018 73 73 2018 993 993 2018 14 14 2019 993 993 2019 332 332 2019 445 445 2020 73 73 2020 994 994 2020 99 99 2021 994 994 2021 444 444 2021 446 446 2022 73 73 2022 995 995 2022 72 72 2023 995 995 2023 445 445 2023 447 447 2024 74 74 2024 996 996 2024 996 996 2025 388 388 2025 75 75 2025 448 448 2026 89 89 2026 997 997 2026 997 997 2027 447 447 2027 75 75 2027 449 449 2028 75 75 2028 998 998 2028 54 54 2029 998 998 2029 396 396 2029 450 450 2030 76 76 2030 999 999 2030 451 451 2031 74 74 2031 999 999 2031 452 452 2032 74 74 2032 1000 1000 2032 89 89 2033 1000 1000 2033 447 447 2033 453 453 2034 90 90 2034 1001 1001 2034 1001 1001 2035 450 450 2035 74 74 2035 454 454 2036 83 83 2036 1002 1002 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For more information check icub.org + diff --git a/iai_icub_description/ros/README.md b/iai_icub_description/ros/README.md new file mode 100644 index 0000000..410fe3e --- /dev/null +++ b/iai_icub_description/ros/README.md @@ -0,0 +1,63 @@ +This directory contains the files related to [Rviz](http://wiki.ros.org/rviz) +visualization of icub. The contents of this directory are installed inside `iCub` +ros package. The location of `iCub` ros pacakge is discovered by running `roscd iCub`. +The `launch` directory contains `roslaunch` file `iCubRviz.launch`. The robot model +that will be used for rviz visualization depends `YARP_ROBOT_NAME` set in `.bashrc`. +The default rviz configuration file is `iCubRviz.rviz` located inside `rviz` directory. +The steps to run rviz visualization correctly are: + +- Ensure that the robot is started correctly with ros configuration files for motor control boards. + On the real robot, the [icub_ros_wrapper.xml](https://github.com/robotology/robots-configuration/blob/devel/iCubGenova04/wrappers/motorControl/icub_ros_wrapper.xml) configuration file must be included inside the startup + `xml` [configuration file](https://github.com/robotology/robots-configuration/blob/devel/iCubGenova04/icub_wbd.xml#L107). +- On starting the robot, one should see `//joint_states` ros topic by running `rostopic list`. + Also, ensure that the `//joint_states` streams all the robot joint angles by running + `rostopic echo //joint_states`. The name of topic is set through [ROS_topicName](https://github.com/robotology/robots-configuration/blob/devel/iCubGenova04/wrappers/motorControl/icub_ros_wrapper.xml#L38) + parameter. +- Start `transform server` by running `yarprobotinterface --config transform-server.xml`. + The transform server is a central location for transforms `tfs` and it streams the transforms + to `/tf` ros topic. +- Launch [yarprobotstatepublisher](https://github.com/robotology/idyntree/tree/master/src/tools/yarprobotstatepublisher) that takes a tf-prefix, model, base frame name, joint states topic name as input and +gives all the model transforms to the transform server. An example of running `yarprobotstatepublisher` is + +``` +yarprobotstatepublisher --name-prefix icub --tf-prefix /icub/ --model model.urdf --base-frame root_link --jointstates-topic "/icub04/joint_states" +``` + - Ensure that the transforms are available correctly by running `rostopic echo /tf`. + The transforms of the links are streamed with the prefix give to `--tf-prefix` of `yarprobotstatepublisher`. + +- Rviz visualization of icub is launched by running + +``` + roslaunch iCub iCubRviz.launch +``` + +The following two parameters are important to ensure correct visualization: + +- Under `Global Options`, `Fixed Frame` field is the frame name with respect to + which all the other frames transforms are give. The default value set inside the `iCubRviz.rviz` configuration value is `icub/root_link`. + + ![Selection_001](https://user-images.githubusercontent.com/6505998/62306298-e064e400-b481-11e9-9b5e-c665b5aaa5ff.png) + + +- The next parameter is under `Robot Model`, `TF Prefix`. The default value set inside the `iCubRviz.rviz` configuration value is `icub`. + The value of the parameter should match the `--tf-prefix` of `yarprobotstatepublisher` for rviz to get the correct transforms to visualize the model. + + ![Screenshot from 2019-08-01 11-37-26](https://user-images.githubusercontent.com/6505998/62283354-ab409d80-b451-11e9-9811-bd9158548e3e.png) + +The contents of this directory are tested on: + +##### Linux + +``` +Ubuntu 18.04 LTS +Rosdistro: Melodic +Rosversion: 1.14.3 +``` + +##### MacOS + +``` +MacOs High Sierra 10.13.6 +Rosdistro: Lunar +Rosversion: 1.13.7 +``` diff --git a/iai_icub_description/ros/launch/iCubRviz.launch b/iai_icub_description/ros/launch/iCubRviz.launch new file mode 100644 index 0000000..d34c7bf --- /dev/null +++ b/iai_icub_description/ros/launch/iCubRviz.launch @@ -0,0 +1,14 @@ + + + + + + + + + + + + + + diff --git a/iai_icub_description/ros/rviz/iCubRviz.rviz b/iai_icub_description/ros/rviz/iCubRviz.rviz new file mode 100644 index 0000000..facd3e4 --- /dev/null +++ b/iai_icub_description/ros/rviz/iCubRviz.rviz @@ -0,0 +1,127 @@ +Panels: + - Class: rviz/Displays + Help Height: 84 + Name: Displays + Property Tree Widget: + Expanded: ~ + Splitter Ratio: 0.5 + Tree Height: 1043 + - Class: rviz/Selection + Name: Selection + - Class: rviz/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 + - Class: rviz/Time + Experimental: false + Name: Time + SyncMode: 0 + SyncSource: "" +Preferences: + PromptSaveOnExit: true +Toolbars: + toolButtonStyle: 2 +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz/Grid + Color: 173; 173; 177 + Enabled: true + Line Style: + Line Width: 0.029999999329447746 + Value: Billboards + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 1000 + Reference Frame: + Value: true + - Alpha: 1 + Class: rviz/RobotModel + Collision Enabled: false + Enabled: true + Links: + All Links Enabled: true + Expand Joint Details: false + Expand Link Details: false + Expand Tree: false + Link Tree Style: Links in Alphabetic Order + Name: RobotModel + Robot Description: robot_description + TF Prefix: icub + Update Interval: 0 + Value: true + Visual Enabled: true + Enabled: true + Global Options: + Background Color: 255; 255; 255 + Default Light: true + Fixed Frame: icub/root_link + Frame Rate: 60 + Name: root + Tools: + - Class: rviz/Interact + Hide Inactive Objects: true + - Class: rviz/MoveCamera + - Class: rviz/Select + - Class: rviz/FocusCamera + - Class: rviz/Measure + - Class: rviz/SetInitialPose + Theta std deviation: 0.2617993950843811 + Topic: /initialpose + X std deviation: 0.5 + Y std deviation: 0.5 + - Class: rviz/SetGoal + Topic: /move_base_simple/goal + - Class: rviz/PublishPoint + Single click: true + Topic: /clicked_point + Value: true + Views: + Current: + Class: rviz/Orbit + Distance: 7.744000434875488 + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: -0.16518345475196838 + Y: 0.3169254660606384 + Z: 0.5606259107589722 + Focal Shape Fixed Size: true + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.009999999776482582 + Pitch: 0.3903980255126953 + Target Frame: + Value: Orbit (rviz) + Yaw: 0.770397961139679 + Saved: ~ +Window Geometry: + "&Displays": + collapsed: false + "&Time": + collapsed: false + "&Views": + collapsed: false + Height: 768 + Hide Left Dock: false + Hide Right Dock: false + QMainWindow State: 000000ff00000000fd00000004000000000000016a000004b4fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000007601000003fb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730100000044000004b4000000f701000003fb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c000002610000000100000110000004b4fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730100000044000004b4000000d001000003fb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e1000001970000000300000a000000004cfc0100000002fb0000000800540069006d0065010000000000000a00000002ad01000003fb0000000800540069006d0065010000000000000450000000000000000000000784000004b400000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + Selection: + collapsed: false + Tool Properties: + collapsed: false + Width: 1024 + X: 2880 + Y: 0 diff --git a/iai_icub_description/ros/transform-server.xml b/iai_icub_description/ros/transform-server.xml new file mode 100644 index 0000000..4c22898 --- /dev/null +++ b/iai_icub_description/ros/transform-server.xml @@ -0,0 +1,12 @@ + + + + + 0.2 + + true + false + + + + diff --git a/iai_icub_description/ros2/README.md b/iai_icub_description/ros2/README.md new file mode 100644 index 0000000..e6a4a58 --- /dev/null +++ b/iai_icub_description/ros2/README.md @@ -0,0 +1,47 @@ +:warning: The ROS2 support is in beta :warning: + +This directory contains the files related for using `iCubGazeboV3` with ROS2. The contents of this directory are installed inside `iCub`. +ros2 package. The location of `iCub` ros pacakge is discovered by running `roscd iCub`. +The `launch` directory contains `launch.py` file `robot_state_publisher.launch.py`. The robot model +that will be used depends `YARP_ROBOT_NAME` set in `.bashrc`. + +Right now are published on ROS2 topics: + +- FT sensors measurements +- IMU sensors measurements +- Joint states + +The steps to run rviz visualization correctly are: + +- Edit `iCubGazeboV3/model.urdf` putting [`icub_ROS2.xml`](https://github.com/robotology/robots-configuration/blob/devel/iCub/conf_icub3/wrappers/icub_ROS2.xml) `robotinterface` xml file used at startup. +- Ensure that the robot is started correctly with ros configuration files for motor control boards. +- On starting the robot, one should see `//joint_states` ros topic by running `ros2 topic list`. + Also, ensure that the `//joint_states` streams all the robot joint angles by running + `ros2 topic echo //joint_states`. +- Start `transform server` by running `yarprobotinterface --config transform-server.xml`. + The transform server is a central location for transforms `tfs` and it streams the transforms + to `/tf` ros topic. +- Launch [robot_state_publisher](http://wiki.ros.org/robot_state_publisher) + +``` +ros2 launch robot_state_publisher.launch.py +``` + - Ensure that the transforms are available correctly by running `ros2 topic echo /tf`. + +- At this point you can launch `rviz2` and visualize iCub. There is an issue for visualizing the meshes(https://github.com/robotology/icub-models-generator/issues/229) but the tfs or IMU/FT sensor measurements can be visualized without problems. + +The following two parameters are important to ensure correct visualization: + +- Under `Global Options`, `Fixed Frame` field is the frame name with respect to + which all the other frames transforms are give. The default value set inside the `map`, you have to set it to `root_link`. + +![immagine](https://user-images.githubusercontent.com/19152494/206218846-faf4375f-f1d2-4e24-a05d-234ca2e848a5.png) + +The contents of this directory are tested on: + +##### Linux + +``` +Ubuntu 22.04 LTS +Rosdistro: Humble +``` diff --git a/iai_icub_description/ros2/launch/robot_state_publisher.launch.py b/iai_icub_description/ros2/launch/robot_state_publisher.launch.py new file mode 100644 index 0000000..930e714 --- /dev/null +++ b/iai_icub_description/ros2/launch/robot_state_publisher.launch.py @@ -0,0 +1,27 @@ +import os +from launch import LaunchDescription +from launch.actions import DeclareLaunchArgument +from launch.substitutions import LaunchConfiguration +from launch_ros.actions import Node + +def generate_launch_description(): + + use_sim_time = LaunchConfiguration('use_sim_time', default='false') + + urdf = os.path.abspath("$(find iCub)/robots/$(arg YARP_ROBOT_NAME)/model.urdf") + with open(urdf, 'r') as infp: + robot_desc = infp.read() + + return LaunchDescription([ + DeclareLaunchArgument( + 'use_sim_time', + default_value='false', + description='Use simulation (Gazebo) clock if true'), + Node( + package='robot_state_publisher', + executable='robot_state_publisher', + name='robot_state_publisher', + output='screen', + parameters=[{'use_sim_time': use_sim_time, 'robot_description': robot_desc}], + arguments=[urdf]) + ]) \ No newline at end of file