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Status as reported in robotology/gz-sim-yarp-plugins#103 (comment)
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@xela-95
xela-95 committed Mar 5, 2024
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3 changes: 3 additions & 0 deletions .vscode/settings.json
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{
"xml.downloadExternalResources.enabled": true
}
74 changes: 74 additions & 0 deletions example.world
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<?xml version="1.0"?>

<sdf version="1.7">
<world name="turorial_controlboard">
<physics name="1ms" type="ignored">
<max_step_size>0.001</max_step_size>
<real_time_factor>1.0</real_time_factor>
</physics>
<plugin
filename="gz-sim-physics-system"
name="gz::sim::systems::Physics">
</plugin>
<plugin
filename="gz-sim-user-commands-system"
name="gz::sim::systems::UserCommands">
</plugin>
<plugin
filename="gz-sim-sensors-system"
name="gz::sim::systems::Sensors">
</plugin>
<plugin
filename="gz-sim-scene-broadcaster-system"
name="gz::sim::systems::SceneBroadcaster">
</plugin>

<light type="directional" name="sun">
<cast_shadows>true</cast_shadows>
<pose>0 0 10 0 0 0</pose>
<diffuse>0.8 0.8 0.8 1</diffuse>
<specular>0.2 0.2 0.2 1</specular>
<attenuation>
<range>1000</range>
<constant>0.9</constant>
<linear>0.01</linear>
<quadratic>0.001</quadratic>
</attenuation>
<direction>-0.5 0.1 -0.9</direction>
</light>

<model name="ground_plane">
<static>true</static>
<link name="link">
<collision name="collision">
<geometry>
<plane>
<normal>0 0 1</normal>
<size>100 100</size>
</plane>
</geometry>
</collision>
<visual name="visual">
<geometry>
<plane>
<normal>0 0 1</normal>
<size>100 100</size>
</plane>
</geometry>
<material>
<ambient>0.8 0.8 0.8 1</ambient>
<diffuse>0.8 0.8 0.8 1</diffuse>
<specular>0.8 0.8 0.8 1</specular>
</material>
</visual>
</link>
</model>

<include>
<pose>0 0 0.5 0 -0.1 3.14</pose>
<!-- <uri>model://ergoCubSN001_fixed</uri> -->
<uri>model://ergoCub/robots/ergoCubGazeboV1_1_fixed</uri>
</include>

</world>
</sdf>
Binary file added install/lib/yarp/yarp_couplingXCubHandMk5.so
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Empty file added install/share/ament_index/resource_index/packages/ergoCub
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2 changes: 2 additions & 0 deletions install/share/ergoCub/conf/FT/gazebo_ergocub_left_arm_ft.ini
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disableImplicitNetworkWrapper
yarpDeviceName ergocub_left_arm_ft
2 changes: 2 additions & 0 deletions install/share/ergoCub/conf/FT/gazebo_ergocub_left_foot_front_ft.ini
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disableImplicitNetworkWrapper
yarpDeviceName ergocub_left_foot_front_ft
2 changes: 2 additions & 0 deletions install/share/ergoCub/conf/FT/gazebo_ergocub_left_foot_rear_ft.ini
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disableImplicitNetworkWrapper
yarpDeviceName ergocub_left_foot_rear_ft
2 changes: 2 additions & 0 deletions install/share/ergoCub/conf/FT/gazebo_ergocub_left_leg_ft.ini
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disableImplicitNetworkWrapper
yarpDeviceName ergocub_left_leg_ft
2 changes: 2 additions & 0 deletions install/share/ergoCub/conf/FT/gazebo_ergocub_right_arm_ft.ini
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disableImplicitNetworkWrapper
yarpDeviceName ergocub_right_arm_ft
2 changes: 2 additions & 0 deletions install/share/ergoCub/conf/FT/gazebo_ergocub_right_foot_front_ft.ini
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disableImplicitNetworkWrapper
yarpDeviceName ergocub_right_foot_front_ft
2 changes: 2 additions & 0 deletions install/share/ergoCub/conf/FT/gazebo_ergocub_right_foot_rear_ft.ini
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disableImplicitNetworkWrapper
yarpDeviceName ergocub_right_foot_rear_ft
3 changes: 3 additions & 0 deletions install/share/ergoCub/conf/FT/gazebo_ergocub_right_leg_ft.ini
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disableImplicitNetworkWrapper
yarpDeviceName ergocub_right_leg_ft

43 changes: 43 additions & 0 deletions install/share/ergoCub/conf/ergocub.xml
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<?xml version="1.0" encoding="UTF-8" ?>
<!DOCTYPE robot PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">

<robot name="ergocubGazebo" build="1" portprefix="/ergocubSim" xmlns:xi="http://www.w3.org/2001/XInclude">

<devices>

<!-- MOTOR CONTROLLERS -->
<xi:include href="wrappers/motorControl/left_arm-mc_wrapper.xml" />
<xi:include href="wrappers/motorControl/right_arm-mc_wrapper.xml" />
<xi:include href="wrappers/motorControl/left_leg-mc_wrapper.xml" />
<xi:include href="wrappers/motorControl/right_leg-mc_wrapper.xml" />
<xi:include href="wrappers/motorControl/head-mc_wrapper.xml" />
<xi:include href="wrappers/motorControl/torso-mc_wrapper.xml" />

<xi:include href="wrappers/motorControl/left_arm-mc_remapper.xml" />
<xi:include href="wrappers/motorControl/right_arm-mc_remapper.xml" />
<xi:include href="wrappers/motorControl/left_leg-mc_remapper.xml" />
<xi:include href="wrappers/motorControl/right_leg-mc_remapper.xml" />
<xi:include href="wrappers/motorControl/head-mc_remapper.xml" />
<xi:include href="wrappers/motorControl/torso-mc_remapper.xml" />
<!-- ANALOG SENSORS FT -->
<xi:include href="wrappers/FT/left_leg-FT_remapper.xml" />
<xi:include href="wrappers/FT/right_leg-FT_remapper.xml" />
<xi:include href="wrappers/FT/left_leg-FT_wrapper.xml" />
<xi:include href="wrappers/FT/right_leg-FT_wrapper.xml" />
<xi:include href="wrappers/FT/left_arm-FT_wrapper.xml" />
<xi:include href="wrappers/FT/right_arm-FT_wrapper.xml" />

<!-- INERTIAL SENSOR-->
<xi:include href="wrappers/inertials/head-inertials_wrapper.xml" />
<xi:include href="wrappers/inertials/waist-inertials_wrapper.xml" />
<xi:include href="wrappers/inertials/left_foot-IMU_remapper.xml" />
<xi:include href="wrappers/inertials/left_foot-IMU_wrapper.xml" />
<xi:include href="wrappers/inertials/right_foot-IMU_remapper.xml" />
<xi:include href="wrappers/inertials/right_foot-IMU_wrapper.xml" />

<!-- HEAD SENSORS -->
<xi:include href="sensors/rgbd_camera_wrapper.xml" />
<xi:include href="sensors/lidar_wrapper.xml" />

</devices>
</robot>
43 changes: 43 additions & 0 deletions install/share/ergoCub/conf/ergocub_ros2.xml
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<?xml version="1.0" encoding="UTF-8" ?>
<!DOCTYPE robot PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">

<robot name="ergocubGazebo" build="1" portprefix="/ergocubSim" xmlns:xi="http://www.w3.org/2001/XInclude">

<devices>

<!-- MOTOR CONTROLLERS -->
<xi:include href="wrappers/motorControl/left_arm-mc_wrapper.xml" />
<xi:include href="wrappers/motorControl/right_arm-mc_wrapper.xml" />
<xi:include href="wrappers/motorControl/left_leg-mc_wrapper.xml" />
<xi:include href="wrappers/motorControl/right_leg-mc_wrapper.xml" />
<xi:include href="wrappers/motorControl/head-mc_wrapper.xml" />
<xi:include href="wrappers/motorControl/torso-mc_wrapper.xml" />

<xi:include href="wrappers/motorControl/left_arm-mc_remapper.xml" />
<xi:include href="wrappers/motorControl/right_arm-mc_remapper.xml" />
<xi:include href="wrappers/motorControl/left_leg-mc_remapper.xml" />
<xi:include href="wrappers/motorControl/right_leg-mc_remapper.xml" />
<xi:include href="wrappers/motorControl/head-mc_remapper.xml" />
<xi:include href="wrappers/motorControl/torso-mc_remapper.xml" />

<xi:include href="wrappers/motorControl/all-mc_remapper.xml" />
<xi:include href="wrappers/motorControl/all-mc_remapper_ros2.xml" />
<!-- ANALOG SENSORS FT -->
<xi:include href="wrappers/FT/left_leg-FT_remapper.xml" />
<xi:include href="wrappers/FT/right_leg-FT_remapper.xml" />
<xi:include href="wrappers/FT/left_leg-FT_wrapper.xml" />
<xi:include href="wrappers/FT/right_leg-FT_wrapper.xml" />
<xi:include href="wrappers/FT/left_arm-FT_wrapper.xml" />
<xi:include href="wrappers/FT/right_arm-FT_wrapper.xml" />

<!-- INERTIAL SENSOR-->
<xi:include href="wrappers/inertials/head-inertials_wrapper.xml" />

<!-- HEAD SENSORS -->
<xi:include href="sensors/rgbd_camera_wrapper.xml" />
<xi:include href="sensors/rgbd_camera_wrapper_ros2.xml" />
<xi:include href="sensors/lidar_wrapper.xml" />
<xi:include href="sensors/lidar_wrapper_ros2.xml" />

</devices>
</robot>
74 changes: 74 additions & 0 deletions install/share/ergoCub/conf/estimators/wbd_ecub_sim.xml
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<?xml version="1.0" encoding="UTF-8" ?>
<!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">

<devices robot="ergoCubGazeboV1" build="1">
<device name="wholebodydynamics" type="wholebodydynamics">
<param name="axesNames">(torso_roll,torso_pitch,torso_yaw,l_shoulder_pitch,l_shoulder_roll,l_shoulder_yaw,l_elbow,l_wrist_pitch,l_wrist_yaw,r_shoulder_pitch,r_shoulder_roll,r_shoulder_yaw,r_elbow,r_wrist_pitch,r_wrist_yaw,l_hip_pitch,l_hip_roll,l_hip_yaw,l_knee,l_ankle_pitch,l_ankle_roll,r_hip_pitch,r_hip_roll,r_hip_yaw,r_knee,r_ankle_pitch,r_ankle_roll)</param>
<param name="modelFile">model.urdf</param>
<param name="fixedFrameGravity">(0,0,-9.81)</param>
<param name="defaultContactFrames">(l_hand_palm,r_hand_palm,root_link,l_foot_front,l_foot_rear,r_foot_front,r_foot_rear,l_upper_leg,r_upper_leg)</param>
<param name="imuFrameName">head_imu_0</param>
<param name="useJointVelocity">true</param>
<param name="useJointAcceleration">true</param>
<param name="imuFilterCutoffInHz">3.0</param>
<param name="forceTorqueFilterCutoffInHz">3.0</param>
<param name="jointVelFilterCutoffInHz">3.0</param> <!-- used if useJointVelocity is set to true -->
<param name="jointAccFilterCutoffInHz">3.0</param> <!-- used if useJointAcceleration is set to true -->
<param name="startWithZeroFTSensorOffsets">true</param> <!-- bypass using resetOffset of FT sensors in simulation -->
<param name="useSkinForContacts">false</param>
<param name="publishNetExternalWrenches">true</param>
<param name="disableSensorReadCheckAtStartup">true</param>

<group name="GRAVITY_COMPENSATION">
<param name="enableGravityCompensation">true</param>
<param name="gravityCompensationBaseLink">root_link</param>
<param name="gravityCompensationAxesNames">(torso_roll,torso_pitch,torso_yaw,l_shoulder_pitch,l_shoulder_roll,l_shoulder_yaw,l_elbow,r_shoulder_pitch,r_shoulder_roll,r_shoulder_yaw,r_elbow)</param>
</group>

<group name="HW_USE_MAS_IMU">
<param name="accelerometer">head_imu_0</param>
<param name="gyroscope">head_imu_0</param>
</group>

<group name="WBD_OUTPUT_EXTERNAL_WRENCH_PORTS">
<param name="/wholeBodyDynamics/left_foot_front/cartesianEndEffectorWrench:o">(l_foot_front,l_sole,l_sole)</param>
<param name="/wholeBodyDynamics/left_foot_rear/cartesianEndEffectorWrench:o">(l_foot_rear,l_sole,l_sole)</param>
<param name="/wholeBodyDynamics/right_foot_front/cartesianEndEffectorWrench:o">(r_foot_front,r_sole,r_sole)</param>
<param name="/wholeBodyDynamics/right_foot_rear/cartesianEndEffectorWrench:o">(r_foot_rear,r_sole,r_sole)</param>
<param name="/wholeBodyDynamics/left_arm/cartesianEndEffectorWrench:o">(l_hand_palm,l_hand_palm,root_link)</param>
<param name="/wholeBodyDynamics/right_arm/cartesianEndEffectorWrench:o">(r_hand_palm,r_hand_palm,root_link)</param>
</group>



<group name="multipleAnalogSensorsNames">
<param name="SixAxisForceTorqueSensorsNames">("l_arm_ft", "r_arm_ft", "l_leg_ft", "r_leg_ft", "l_foot_front_ft", "r_foot_front_ft", "l_foot_rear_ft", "r_foot_rear_ft")</param>
<!-- <param name="TemperatureSensorsNames">("l_arm_ft", "r_arm_ft", "l_leg_ft", "r_leg_ft")</param> -->
</group>


<action phase="startup" level="15" type="attach">
<paramlist name="networks">
<!-- motorcontrol -->
<elem name="left_leg">left_leg_mc</elem>
<elem name="right_leg">right_leg_mc</elem>
<elem name="torso">torso_mc</elem>
<elem name="right_arm">right_arm_mc</elem>
<elem name="left_arm">left_arm_mc</elem>
<!--elem name="right_lower_arm">right_arm-mc_wrapper</elem>
<elem name="left_lower_arm">left_arm-mc_wrapper</elem-->
<!-- imu -->
<elem name="imu">head_inertial_hardware_device</elem>
<elem name="waist_imu">waist_inertial_hardware_device</elem>
<!-- ft -->
<elem name="left_arm_ft_sensor">ergocub_left_arm_ft</elem>
<elem name="right_arm_ft_sensor">ergocub_right_arm_ft</elem>
<elem name="left_leg_ft_sensor">ergocub_left_leg_ft</elem>
<elem name="right_leg_ft_sensor">ergocub_right_leg_ft</elem>
</paramlist>
</action>

<action phase="shutdown" level="2" type="detach" />

</device>
</devices>
51 changes: 51 additions & 0 deletions install/share/ergoCub/conf/gazebo_ergocub_head.ini
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disableImplicitNetworkWrapper
yarpDeviceName head_hardware_device

jointNames neck_pitch neck_roll neck_yaw camera_tilt

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
max_torques 1000000.0 1000000.0 1000000.0 1000000.0


#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
kd 0.122 0.122 0.122 0.122
ki 0.003 0.003 0.003 0.003
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 8.726
kd 0.035 0.035 0.035 0.035
ki 0.003 0.003 0.003 0.003
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 17.0 20.0 45.0 30.0
jntPosMin -30.0 -20.0 -45.0 -30
jntVelMax 100.0 100.0 100.0 100
2 changes: 2 additions & 0 deletions install/share/ergoCub/conf/gazebo_ergocub_inertial.ini
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disableImplicitNetworkWrapper
yarpDeviceName head_inertial_hardware_device
2 changes: 2 additions & 0 deletions install/share/ergoCub/conf/gazebo_ergocub_l_foot_front_ft_sensor_inertial.ini
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disableImplicitNetworkWrapper
yarpDeviceName l_foot_front_ft_sensor_inertial_hardware_device
2 changes: 2 additions & 0 deletions install/share/ergoCub/conf/gazebo_ergocub_l_foot_rear_ft_sensor_inertial.ini
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disableImplicitNetworkWrapper
yarpDeviceName l_foot_rear_ft_sensor_inertial_hardware_device
53 changes: 53 additions & 0 deletions install/share/ergoCub/conf/gazebo_ergocub_left_arm.ini
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disableImplicitNetworkWrapper
yarpDeviceName left_arm_hardware_device

jointNames l_shoulder_pitch l_shoulder_roll l_shoulder_yaw l_elbow l_wrist_yaw l_wrist_roll l_wrist_pitch

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
max_torques 1000000.0 1000000.0 1000000.0 1000000.0 1000000.0 1000000.0 1000000.0

[TRAJECTORY_GENERATION]
trajectory_type minimum_jerk

#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 5.745 5.745 5.745 1.745 1.745 1.745 1.745
kd 0.174 0.174 0.174 0.174 0.174 0.174 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 20.0 160.0 80.0 75.0 90.0 50.0 30.0
jntPosMin -175.0 12.0 -50.0 -3.0 -90.0 -60.0 -30.0
jntVelMax 100.0 100.0 100.0 100.0 100.0 100.0 100.0
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