Merge pull request #188 from xEnVrE/update/iCubGazeboV2_5_visuomanip_nws

Make iCubGazeboV2_5_visuomanip yarp_nws compatible
robotology · Feb 15, 2023 · f90f0d6 · f90f0d6
2 parents d397ddf + 2a87aad
commit f90f0d6
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Showing 26 changed files with 270 additions and 515 deletions.
diff --git a/...zeboV2_5_visuomanip/gazebo_icub_torso.ini → ...azeboV2_5_visuomanip/gazebo_icub_eyes.ini b/...zeboV2_5_visuomanip/gazebo_icub_torso.ini → ...azeboV2_5_visuomanip/gazebo_icub_eyes.ini
@@ -1,45 +1,27 @@
-[include "gazebo_icub_robotname.ini"]
+disableImplicitNetworkWrapper
+yarpDeviceName eyes_hardware_device
 
-[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}/torso
-# Total number of joints
-joints 3
-# list of MotorControl device to use
-networks ( torso )
-# for each network specify the joint map
-torso 0 2 0 2
-# Verbose output (on if present, off if commented out)
-#verbose
-
-[TRAJECTORY_GENERATION]
-trajectory_type minimum_jerk
-
-# Specify configuration of MotorControl devices
-[torso]
-# name of the device to be instatiated by the factory
-device gazebo_controlboard
-#jointNames list
-jointNames torso_yaw torso_roll torso_pitch
-name torso
+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            1.745 20.0 20.0
-kd            1.0   0.174 0.174
-ki            0.174 0.174 0.174
+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
@@ -51,9 +33,9 @@ stictionDwn   0.0   0.0   0.0
 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
+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
@@ -68,6 +50,6 @@ stiffness     0.0   0.0   0.0
 damping       0.0   0.0   0.0
 
 [LIMITS]
-jntPosMax 50.0 30.0 70.0
-jntPosMin -50.0 -30.0 -20.0
+jntPosMax 30.0 55.0 30.0
+jntPosMin -30.0 -30.0 -55.0
 jntVelMax 100.0 100.0 100.0
diff --git a/iCub_manual/conf_manual/iCubGazeboV2_5_visuomanip/gazebo_icub_head.ini b/iCub_manual/conf_manual/iCubGazeboV2_5_visuomanip/gazebo_icub_head.ini
diff --git a/...uomanip/gazebo_icub_left_depth_camera.ini → ...suomanip/gazebo_icub_left_camera_rgbd.ini b/...uomanip/gazebo_icub_left_depth_camera.ini → ...suomanip/gazebo_icub_left_camera_rgbd.ini
@@ -1,8 +1,5 @@
-[include "gazebo_icub_robotname.ini"]
-
-device RGBDSensorWrapper
-period 30
-name /${gazeboYarpPluginsRobotName}/cam/left
+disableImplicitNetworkWrapper
+yarpDeviceName icub_left_camera_rgbd
 
 [CAMERA_PARAM]
 focalLengthX 343.12110728152936

diff --git a/iCub_manual/conf_manual/iCubGazeboV2_5_visuomanip/gazebo_icub_left_hand.ini b/iCub_manual/conf_manual/iCubGazeboV2_5_visuomanip/gazebo_icub_left_hand.ini
diff --git a/iCub_manual/conf_manual/iCubGazeboV2_5_visuomanip/gazebo_icub_left_hand_finger.ini b/iCub_manual/conf_manual/iCubGazeboV2_5_visuomanip/gazebo_icub_left_hand_finger.ini
@@ -1,35 +1,19 @@
-[include "gazebo_icub_robotname.ini"]
+disableImplicitNetworkWrapper
+yarpDeviceName left_hand_finger_hardware_device
 
-# Verbose output (on if present, off if commented out)
-#verbose
+jointNames l_hand_index_0_joint l_hand_middle_0_joint l_hand_ring_0_joint l_hand_little_0_joint
 
-[WRAPPER]
-device controlboardwrapper2
-period 10
-name /${gazeboYarpPluginsRobotName}/left_hand_finger
-joints 4
-networks ( left_hand_finger )
-left_hand_finger 0 3 0 3
+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_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]

diff --git a/iCub_manual/conf_manual/iCubGazeboV2_5_visuomanip/gazebo_icub_left_hand_index.ini b/iCub_manual/conf_manual/iCubGazeboV2_5_visuomanip/gazebo_icub_left_hand_index.ini
@@ -1,35 +1,19 @@
-[include "gazebo_icub_robotname.ini"]
+disableImplicitNetworkWrapper
+yarpDeviceName left_hand_index_hardware_device
 
-# Verbose output (on if present, off if commented out)
-#verbose
+jointNames l_hand_index_1_joint l_hand_index_2_joint l_hand_index_3_joint
 
-[WRAPPER]
-device controlboardwrapper2
-period 10
-name /${gazeboYarpPluginsRobotName}/left_hand_index
-joints 3
-networks ( left_hand_index)
-left_hand_index 0 2 0 2
+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)
 
-# 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]

diff --git a/iCub_manual/conf_manual/iCubGazeboV2_5_visuomanip/gazebo_icub_left_hand_middle.ini b/iCub_manual/conf_manual/iCubGazeboV2_5_visuomanip/gazebo_icub_left_hand_middle.ini
@@ -1,35 +1,19 @@
-[include "gazebo_icub_robotname.ini"]
+disableImplicitNetworkWrapper
+yarpDeviceName left_hand_middle_hardware_device
 
-# Verbose output (on if present, off if commented out)
-#verbose
+jointNames l_hand_middle_1_joint l_hand_middle_2_joint l_hand_middle_3_joint
 
-[WRAPPER]
-device controlboardwrapper2
-period 10
-name /${gazeboYarpPluginsRobotName}/left_hand_middle
-joints 3
-networks ( left_hand_middle)
-left_hand_middle 0 2 0 2
+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)
 
-# 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]

diff --git a/iCub_manual/conf_manual/iCubGazeboV2_5_visuomanip/gazebo_icub_left_hand_pinky.ini b/iCub_manual/conf_manual/iCubGazeboV2_5_visuomanip/gazebo_icub_left_hand_pinky.ini
@@ -1,35 +1,19 @@
-[include "gazebo_icub_robotname.ini"]
+disableImplicitNetworkWrapper
+yarpDeviceName left_hand_pinky_hardware_device
 
-# Verbose output (on if present, off if commented out)
-#verbose
+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
 
-[WRAPPER]
-device controlboardwrapper2
-period 10
-name /${gazeboYarpPluginsRobotName}/left_hand_pinky
-joints 6
-networks ( left_hand_pinky)
-left_hand_pinky 0 5 0 5
+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)
 
-# 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]