code-iai · LucaKro · Sep 4, 2024
diff --git a/iai_icub_description/CMakeLists.txt 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
@@ -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
@@ -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
@@ -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
@@ -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
@@ -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
@@ -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
@@ -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
@@ -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
@@ -0,0 +1,4 @@
+disableImplicitNetworkWrapper
+yarpDeviceName icub_right_camera_rgb
+framerate 30
+stamp 1