From 5c51248e062dc14853c682aa906219d065c06792 Mon Sep 17 00:00:00 2001 From: Alessandro Croci Date: Tue, 5 Mar 2024 09:47:26 +0100 Subject: [PATCH] First commit Status as reported in https://github.com/robotology/gz-sim-yarp-plugins/issues/103#issuecomment-1976878435 --- .vscode/settings.json | 3 + example.world | 74 + install/lib/yarp/yarp_couplingXCubHandMk5.so | Bin 0 -> 90208 bytes .../resource_index/packages/ergoCub | 0 .../conf/FT/gazebo_ergocub_left_arm_ft.ini | 2 + .../FT/gazebo_ergocub_left_foot_front_ft.ini | 2 + .../FT/gazebo_ergocub_left_foot_rear_ft.ini | 2 + .../conf/FT/gazebo_ergocub_left_leg_ft.ini | 2 + .../conf/FT/gazebo_ergocub_right_arm_ft.ini | 2 + .../FT/gazebo_ergocub_right_foot_front_ft.ini | 2 + .../FT/gazebo_ergocub_right_foot_rear_ft.ini | 2 + .../conf/FT/gazebo_ergocub_right_leg_ft.ini | 3 + install/share/ergoCub/conf/ergocub.xml | 43 + install/share/ergoCub/conf/ergocub_ros2.xml | 43 + .../ergoCub/conf/estimators/wbd_ecub_sim.xml | 74 + .../ergoCub/conf/gazebo_ergocub_head.ini | 51 + .../ergoCub/conf/gazebo_ergocub_inertial.ini | 2 + ...rgocub_l_foot_front_ft_sensor_inertial.ini | 2 + ...ergocub_l_foot_rear_ft_sensor_inertial.ini | 2 + .../ergoCub/conf/gazebo_ergocub_left_arm.ini | 53 + .../conf/gazebo_ergocub_left_hand_mk5_0.ini | 61 + .../conf/gazebo_ergocub_left_hand_mk5_1.ini | 61 + .../ergoCub/conf/gazebo_ergocub_left_leg.ini | 53 + ...rgocub_r_foot_front_ft_sensor_inertial.ini | 2 + ...ergocub_r_foot_rear_ft_sensor_inertial.ini | 2 + .../gazebo_ergocub_realsense_inertial.ini | 2 + .../conf/gazebo_ergocub_rgb_camera.ini | 4 + .../ergoCub/conf/gazebo_ergocub_right_arm.ini | 53 + .../conf/gazebo_ergocub_right_hand_mk5_0.ini | 61 + .../conf/gazebo_ergocub_right_hand_mk5_1.ini | 61 + .../ergoCub/conf/gazebo_ergocub_right_leg.ini | 53 + .../ergoCub/conf/gazebo_ergocub_robotname.ini | 1 + .../ergoCub/conf/gazebo_ergocub_torso.ini | 53 + .../conf/gazebo_ergocub_waist_inertial.ini | 2 + .../conf/launch_wholebodydynamics_ecub.xml | 72 + install/share/ergoCub/conf/rgbd_camera.ini | 4 + .../conf/sensors/gazebo_ergocub_lidar.ini | 11 + .../sensors/gazebo_ergocub_rgbd_camera.ini | 8 + .../ergoCub/conf/sensors/lidar_wrapper.xml | 13 + .../conf/sensors/lidar_wrapper_ros2.xml | 15 + .../conf/sensors/rgbd_camera_wrapper.xml | 14 + .../conf/sensors/rgbd_camera_wrapper_ros2.xml | 17 + .../conf/wrappers/FT/left_arm-FT_wrapper.xml | 17 + .../wrappers/FT/left_foot-FT_remapper.xml | 20 + .../conf/wrappers/FT/left_foot-FT_wrapper.xml | 17 + .../conf/wrappers/FT/left_leg-FT_remapper.xml | 21 + .../conf/wrappers/FT/left_leg-FT_wrapper.xml | 17 + .../wrappers/FT/left_leg_hip-FT_wrapper.xml | 17 + .../conf/wrappers/FT/right_arm-FT_wrapper.xml | 17 + .../wrappers/FT/right_foot-FT_remapper.xml | 20 + .../wrappers/FT/right_foot-FT_wrapper.xml | 17 + .../wrappers/FT/right_leg-FT_remapper.xml | 21 + .../conf/wrappers/FT/right_leg-FT_wrapper.xml | 17 + .../wrappers/FT/right_leg_hip-FT_wrapper.xml | 17 + .../inertials/head-inertials_wrapper.xml | 17 + .../inertials/left_foot-IMU_remapper.xml | 26 + .../inertials/left_foot-IMU_wrapper.xml | 17 + .../inertials/right_foot-IMU_remapper.xml | 26 + .../inertials/right_foot-IMU_wrapper.xml | 17 + .../inertials/waist-inertials_wrapper.xml | 17 + .../wrappers/motorControl/all-mc_remapper.xml | 20 + .../motorControl/all-mc_remapper_ros2.xml | 12 + .../motorControl/head-mc_remapper.xml | 15 + .../wrappers/motorControl/head-mc_wrapper.xml | 10 + .../motorControl/left_arm-mc_remapper.xml | 17 + .../motorControl/left_arm-mc_wrapper.xml | 11 + .../motorControl/left_leg-mc_remapper.xml | 14 + .../motorControl/left_leg-mc_wrapper.xml | 11 + .../motorControl/right_arm-mc_remapper.xml | 17 + .../motorControl/right_arm-mc_wrapper.xml | 11 + .../motorControl/right_leg-mc_remapper.xml | 14 + .../motorControl/right_leg-mc_wrapper.xml | 11 + .../motorControl/torso-mc_remapper.xml | 15 + .../motorControl/torso-mc_wrapper.xml | 11 + install/share/ergoCub/conf/yarpmotorgui.ini | 38 + .../share/ergoCub/ecub_yarprobotinterface.ini | 1 + .../simmechanics/sim_ecub_1-1_chest.stl | Bin 0 -> 20784 bytes .../meshes/simmechanics/sim_ecub_1-1_head.stl | Bin 0 -> 207184 bytes .../simmechanics/sim_ecub_1-1_head_neck_2.stl | Bin 0 -> 42884 bytes .../simmechanics/sim_ecub_1-1_head_neck_3.stl | Bin 0 -> 58284 bytes .../simmechanics/sim_ecub_1-1_l_ankle_1.stl | Bin 0 -> 10484 bytes .../simmechanics/sim_ecub_1-1_l_ankle_2.stl | Bin 0 -> 21884 bytes .../sim_ecub_1-1_l_foot_front.stl | Bin 0 -> 4284 bytes .../simmechanics/sim_ecub_1-1_l_foot_rear.stl | Bin 0 -> 4384 bytes .../simmechanics/sim_ecub_1-1_l_forearm.stl | Bin 0 -> 34884 bytes .../sim_ecub_1-1_l_hand_index_1.stl | Bin 0 -> 22284 bytes .../sim_ecub_1-1_l_hand_index_2.stl | Bin 0 -> 16884 bytes .../sim_ecub_1-1_l_hand_index_3.stl | Bin 0 -> 14284 bytes .../sim_ecub_1-1_l_hand_middle_1.stl | Bin 0 -> 15684 bytes 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Xm9J2=r`jrge2Jj^qau{hoc_N7hEsS^ literal 0 HcmV?d00001 diff --git a/install/share/ament_index/resource_index/packages/ergoCub b/install/share/ament_index/resource_index/packages/ergoCub new file mode 100644 index 0000000..e69de29 diff --git a/install/share/ergoCub/conf/FT/gazebo_ergocub_left_arm_ft.ini b/install/share/ergoCub/conf/FT/gazebo_ergocub_left_arm_ft.ini new file mode 100644 index 0000000..7ed2e1e --- /dev/null +++ b/install/share/ergoCub/conf/FT/gazebo_ergocub_left_arm_ft.ini @@ -0,0 +1,2 @@ +disableImplicitNetworkWrapper +yarpDeviceName ergocub_left_arm_ft diff --git a/install/share/ergoCub/conf/FT/gazebo_ergocub_left_foot_front_ft.ini b/install/share/ergoCub/conf/FT/gazebo_ergocub_left_foot_front_ft.ini new file mode 100644 index 0000000..61b6fd1 --- /dev/null +++ b/install/share/ergoCub/conf/FT/gazebo_ergocub_left_foot_front_ft.ini @@ -0,0 +1,2 @@ +disableImplicitNetworkWrapper +yarpDeviceName ergocub_left_foot_front_ft diff --git a/install/share/ergoCub/conf/FT/gazebo_ergocub_left_foot_rear_ft.ini b/install/share/ergoCub/conf/FT/gazebo_ergocub_left_foot_rear_ft.ini new file mode 100644 index 0000000..07673c0 --- /dev/null +++ b/install/share/ergoCub/conf/FT/gazebo_ergocub_left_foot_rear_ft.ini @@ -0,0 +1,2 @@ +disableImplicitNetworkWrapper +yarpDeviceName ergocub_left_foot_rear_ft diff --git a/install/share/ergoCub/conf/FT/gazebo_ergocub_left_leg_ft.ini b/install/share/ergoCub/conf/FT/gazebo_ergocub_left_leg_ft.ini new file mode 100644 index 0000000..8de0534 --- /dev/null +++ b/install/share/ergoCub/conf/FT/gazebo_ergocub_left_leg_ft.ini @@ -0,0 +1,2 @@ +disableImplicitNetworkWrapper +yarpDeviceName ergocub_left_leg_ft diff --git a/install/share/ergoCub/conf/FT/gazebo_ergocub_right_arm_ft.ini b/install/share/ergoCub/conf/FT/gazebo_ergocub_right_arm_ft.ini new file mode 100644 index 0000000..418412f --- /dev/null +++ b/install/share/ergoCub/conf/FT/gazebo_ergocub_right_arm_ft.ini @@ -0,0 +1,2 @@ +disableImplicitNetworkWrapper +yarpDeviceName ergocub_right_arm_ft diff --git a/install/share/ergoCub/conf/FT/gazebo_ergocub_right_foot_front_ft.ini b/install/share/ergoCub/conf/FT/gazebo_ergocub_right_foot_front_ft.ini new file mode 100644 index 0000000..d5ea8a8 --- /dev/null +++ b/install/share/ergoCub/conf/FT/gazebo_ergocub_right_foot_front_ft.ini @@ -0,0 +1,2 @@ +disableImplicitNetworkWrapper +yarpDeviceName ergocub_right_foot_front_ft diff --git a/install/share/ergoCub/conf/FT/gazebo_ergocub_right_foot_rear_ft.ini b/install/share/ergoCub/conf/FT/gazebo_ergocub_right_foot_rear_ft.ini new file mode 100644 index 0000000..d1473ff --- /dev/null +++ b/install/share/ergoCub/conf/FT/gazebo_ergocub_right_foot_rear_ft.ini @@ -0,0 +1,2 @@ +disableImplicitNetworkWrapper +yarpDeviceName ergocub_right_foot_rear_ft diff --git a/install/share/ergoCub/conf/FT/gazebo_ergocub_right_leg_ft.ini b/install/share/ergoCub/conf/FT/gazebo_ergocub_right_leg_ft.ini new file mode 100644 index 0000000..9a4f56e --- /dev/null +++ b/install/share/ergoCub/conf/FT/gazebo_ergocub_right_leg_ft.ini @@ -0,0 +1,3 @@ +disableImplicitNetworkWrapper +yarpDeviceName ergocub_right_leg_ft + diff --git a/install/share/ergoCub/conf/ergocub.xml b/install/share/ergoCub/conf/ergocub.xml new file mode 100644 index 0000000..e730a87 --- /dev/null +++ b/install/share/ergoCub/conf/ergocub.xml @@ -0,0 +1,43 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/install/share/ergoCub/conf/ergocub_ros2.xml b/install/share/ergoCub/conf/ergocub_ros2.xml new file mode 100644 index 0000000..aa4a7d3 --- /dev/null +++ b/install/share/ergoCub/conf/ergocub_ros2.xml @@ -0,0 +1,43 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/install/share/ergoCub/conf/estimators/wbd_ecub_sim.xml b/install/share/ergoCub/conf/estimators/wbd_ecub_sim.xml new file mode 100644 index 0000000..bae0349 --- /dev/null +++ b/install/share/ergoCub/conf/estimators/wbd_ecub_sim.xml @@ -0,0 +1,74 @@ + + + + + + (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) + model.urdf + (0,0,-9.81) + (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) + head_imu_0 + true + true + 3.0 + 3.0 + 3.0 + 3.0 + true + false + true + true + + + true + root_link + (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) + + + + head_imu_0 + head_imu_0 + + + + (l_foot_front,l_sole,l_sole) + (l_foot_rear,l_sole,l_sole) + (r_foot_front,r_sole,r_sole) + (r_foot_rear,r_sole,r_sole) + (l_hand_palm,l_hand_palm,root_link) + (r_hand_palm,r_hand_palm,root_link) + + + + + + ("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") + + + + + + + + left_leg_mc + right_leg_mc + torso_mc + right_arm_mc + left_arm_mc + + + head_inertial_hardware_device + waist_inertial_hardware_device + + ergocub_left_arm_ft + ergocub_right_arm_ft + ergocub_left_leg_ft + ergocub_right_leg_ft + + + + + + + diff --git a/install/share/ergoCub/conf/gazebo_ergocub_head.ini b/install/share/ergoCub/conf/gazebo_ergocub_head.ini new file mode 100644 index 0000000..815cf02 --- /dev/null +++ b/install/share/ergoCub/conf/gazebo_ergocub_head.ini @@ -0,0 +1,51 @@ +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 \ No newline at end of file diff --git a/install/share/ergoCub/conf/gazebo_ergocub_inertial.ini b/install/share/ergoCub/conf/gazebo_ergocub_inertial.ini new file mode 100644 index 0000000..5202ca3 --- /dev/null +++ b/install/share/ergoCub/conf/gazebo_ergocub_inertial.ini @@ -0,0 +1,2 @@ +disableImplicitNetworkWrapper +yarpDeviceName head_inertial_hardware_device diff --git a/install/share/ergoCub/conf/gazebo_ergocub_l_foot_front_ft_sensor_inertial.ini b/install/share/ergoCub/conf/gazebo_ergocub_l_foot_front_ft_sensor_inertial.ini new file mode 100644 index 0000000..03340fc --- /dev/null +++ b/install/share/ergoCub/conf/gazebo_ergocub_l_foot_front_ft_sensor_inertial.ini @@ -0,0 +1,2 @@ +disableImplicitNetworkWrapper +yarpDeviceName l_foot_front_ft_sensor_inertial_hardware_device diff --git a/install/share/ergoCub/conf/gazebo_ergocub_l_foot_rear_ft_sensor_inertial.ini b/install/share/ergoCub/conf/gazebo_ergocub_l_foot_rear_ft_sensor_inertial.ini new file mode 100644 index 0000000..9b839a4 --- /dev/null +++ b/install/share/ergoCub/conf/gazebo_ergocub_l_foot_rear_ft_sensor_inertial.ini @@ -0,0 +1,2 @@ +disableImplicitNetworkWrapper +yarpDeviceName l_foot_rear_ft_sensor_inertial_hardware_device diff --git a/install/share/ergoCub/conf/gazebo_ergocub_left_arm.ini b/install/share/ergoCub/conf/gazebo_ergocub_left_arm.ini new file mode 100644 index 0000000..70bc691 --- /dev/null +++ b/install/share/ergoCub/conf/gazebo_ergocub_left_arm.ini @@ -0,0 +1,53 @@ +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 \ No newline at end of file diff --git a/install/share/ergoCub/conf/gazebo_ergocub_left_hand_mk5_0.ini b/install/share/ergoCub/conf/gazebo_ergocub_left_hand_mk5_0.ini new file mode 100644 index 0000000..e70e6ba --- /dev/null +++ b/install/share/ergoCub/conf/gazebo_ergocub_left_hand_mk5_0.ini @@ -0,0 +1,61 @@ +disableImplicitNetworkWrapper +yarpDeviceName left_hand_hardware_device +jointNames l_thumb_add l_thumb_prox l_thumb_dist l_index_add l_index_prox l_index_dist l_middle_prox l_middle_dist l_ring_prox l_ring_dist l_pinkie_prox l_pinkie_dist +max_torques 1000000.0 1000000.0 1000000.0 1000000.0 1000000.0 1000000.0 1000000.0 1000000.0 1000000.0 1000000.0 1000000.0 1000000.0 + +[COUPLING] +device couplingXCubHandMk5 +actuatedAxesNames l_thumb_add l_thumb_oc l_index_add l_index_oc l_middle_oc l_ring_pinky_oc +actuatedAxesPosMin 0.0 0.0 0.0 0.0 0.0 0.0 +actuatedAxesPosMax 90.0 82.1 15.0 90.0 90.0 90.0 + +[COUPLING_PARAMS] +L0x -0.00555 -0.0050 -0.0050 -0.0050 -0.0050 +L0y 0.00285 0.0040 0.0040 0.0040 0.0040 +q2bias -180.0 -173.35 -173.35 -173.35 -170.54 +q1off 4.29 2.86 2.86 2.86 3.43 +k 0.0171 0.02918 0.02918 0.02918 0.02425 +d 0.02006 0.03004 0.03004 0.03004 0.02504 +l 0.0085 0.00604 0.00604 0.00604 0.00608 +b 0.00624 0.0064 0.0064 0.0064 0.0064 + +[TRAJECTORY_GENERATION] +trajectory_type minimum_jerk + +[LIMITS] +jntVelMax 100.0 100.0 100.0 100.0 100.0 100.0 100.0 100.0 100.0 100.0 100.0 100.0 +jntPosMax 90.0 82.1 53.6 15.0 90.0 99.2 90.0 99.2 90.0 99.2 90.0 93.3 +jntPosMin 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 + +[POSITION_CONTROL] +controlUnits metric_units +controlLaw joint_pid_gazebo_v1 +kp 5.0 5.0 5.0 5.0 5.0 5.0 5.0 5.0 5.0 5.0 5.0 5.0 +kd 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 +ki 0.00 0.00 0.00 0.00 0.00 0.00 0.00 0.00 0.00 0.00 0.00 0.00 +maxInt 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 +maxOutput 9999 9999 9999 9999 9999 9999 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] +controlUnits metric_units +controlLaw joint_pid_gazebo_v1 +velocityControlImplementationType integrator_and_position_pid +kp 0.01 0.01 0.01 0.01 0.01 0.01 0.01 0.01 0.01 0.01 0.01 0.01 +kd 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 +ki 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 +maxInt 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 +maxOutput 9999 9999 9999 9999 9999 9999 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 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 0.0 0.0 0.0 0.0 0.0 \ No newline at end of file diff --git a/install/share/ergoCub/conf/gazebo_ergocub_left_hand_mk5_1.ini b/install/share/ergoCub/conf/gazebo_ergocub_left_hand_mk5_1.ini new file mode 100644 index 0000000..15b86b3 --- /dev/null +++ b/install/share/ergoCub/conf/gazebo_ergocub_left_hand_mk5_1.ini @@ -0,0 +1,61 @@ +disableImplicitNetworkWrapper +yarpDeviceName left_hand_hardware_device +jointNames l_thumb_add l_thumb_prox l_thumb_dist l_index_add l_index_prox l_index_dist l_middle_prox l_middle_dist l_ring_prox l_ring_dist l_pinkie_prox l_pinkie_dist +max_torques 1000000.0 1000000.0 1000000.0 1000000.0 1000000.0 1000000.0 1000000.0 1000000.0 1000000.0 1000000.0 1000000.0 1000000.0 + +[COUPLING] +device couplingXCubHandMk5 +actuatedAxesNames l_thumb_add l_thumb_oc l_index_add l_index_oc l_middle_oc l_ring_pinky_oc +actuatedAxesPosMin 0.0 0.0 0.0 0.0 0.0 0.0 +actuatedAxesPosMax 100.0 90.0 15.0 90.0 90.0 90.0 + +[COUPLING_PARAMS] +L0x -0.0050 -0.0050 -0.0050 -0.0050 -0.0050 +L0y 0.0040 0.0040 0.0040 0.0040 0.0040 +q2bias -173.35 -173.35 -173.35 -173.35 -170.53 +q1off 2.45 2.15 2.15 2.15 2.46 +k 0.03415 0.03913 0.03913 0.03913 0.03418 +d 0.03503 0.04003 0.04003 0.04003 0.03503 +l 0.00604 0.00604 0.00604 0.00604 0.00608 +b 0.00640 0.00640 0.00640 0.00640 0.00640 + +[TRAJECTORY_GENERATION] +trajectory_type minimum_jerk + +[LIMITS] +jntVelMax 100.0 100.0 100.0 100.0 100.0 100.0 100.0 100.0 100.0 100.0 100.0 100.0 +jntPosMax 100.0 90.0 101.4 15.0 90.0 103.1 90.0 103.1 90.0 103.1 90.0 98.7 +jntPosMin 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 + +[POSITION_CONTROL] +controlUnits metric_units +controlLaw joint_pid_gazebo_v1 +kp 5.0 5.0 5.0 5.0 5.0 5.0 5.0 5.0 5.0 5.0 5.0 5.0 +kd 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 +ki 0.00 0.00 0.00 0.00 0.00 0.00 0.00 0.00 0.00 0.00 0.00 0.00 +maxInt 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 +maxOutput 9999 9999 9999 9999 9999 9999 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] +controlUnits metric_units +controlLaw joint_pid_gazebo_v1 +velocityControlImplementationType integrator_and_position_pid +kp 0.01 0.01 0.01 0.01 0.01 0.01 0.01 0.01 0.01 0.01 0.01 0.01 +kd 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 +ki 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 +maxInt 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 +maxOutput 9999 9999 9999 9999 9999 9999 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 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 0.0 0.0 0.0 0.0 0.0 diff --git a/install/share/ergoCub/conf/gazebo_ergocub_left_leg.ini b/install/share/ergoCub/conf/gazebo_ergocub_left_leg.ini new file mode 100644 index 0000000..87fe202 --- /dev/null +++ b/install/share/ergoCub/conf/gazebo_ergocub_left_leg.ini @@ -0,0 +1,53 @@ +disableImplicitNetworkWrapper +yarpDeviceName left_leg_hardware_device + +jointNames l_hip_pitch l_hip_roll l_hip_yaw l_knee l_ankle_pitch l_ankle_roll +max_torques 1000000.0 1000000.0 1000000.0 1000000.0 1000000.0 1000000.0 + +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 + +#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 70.0 70.0 40.0 100.0 100.0 100.0 +kd 0.15 0.15 0.35 0.15 0.15 0.15 +ki 0.17 0.17 0.35 0.35 0.35 0.35 +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 0.349 0.349 0.349 0.349 0.349 0.349 +ki 0.176 0.176 0.176 0.176 0.176 0.176 +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 102.0 108.0 78.0 5.0 43.0 23.0 +jntPosMin -42.0 -15.0 -78.0 -103.0 -43.0 -23.0 +jntVelMax 100.0 100.0 100.0 100.0 100.0 100.0 diff --git a/install/share/ergoCub/conf/gazebo_ergocub_r_foot_front_ft_sensor_inertial.ini b/install/share/ergoCub/conf/gazebo_ergocub_r_foot_front_ft_sensor_inertial.ini new file mode 100644 index 0000000..001f24d --- /dev/null +++ b/install/share/ergoCub/conf/gazebo_ergocub_r_foot_front_ft_sensor_inertial.ini @@ -0,0 +1,2 @@ +disableImplicitNetworkWrapper +yarpDeviceName r_foot_front_ft_sensor_inertial_hardware_device diff --git a/install/share/ergoCub/conf/gazebo_ergocub_r_foot_rear_ft_sensor_inertial.ini b/install/share/ergoCub/conf/gazebo_ergocub_r_foot_rear_ft_sensor_inertial.ini new file mode 100644 index 0000000..005d0a8 --- /dev/null +++ b/install/share/ergoCub/conf/gazebo_ergocub_r_foot_rear_ft_sensor_inertial.ini @@ -0,0 +1,2 @@ +disableImplicitNetworkWrapper +yarpDeviceName r_foot_rear_ft_sensor_inertial_hardware_device diff --git a/install/share/ergoCub/conf/gazebo_ergocub_realsense_inertial.ini b/install/share/ergoCub/conf/gazebo_ergocub_realsense_inertial.ini new file mode 100644 index 0000000..1210d57 --- /dev/null +++ b/install/share/ergoCub/conf/gazebo_ergocub_realsense_inertial.ini @@ -0,0 +1,2 @@ +disableImplicitNetworkWrapper +yarpDeviceName realsense_inertial_hardware_device diff --git a/install/share/ergoCub/conf/gazebo_ergocub_rgb_camera.ini b/install/share/ergoCub/conf/gazebo_ergocub_rgb_camera.ini new file mode 100644 index 0000000..6b36c7f --- /dev/null +++ b/install/share/ergoCub/conf/gazebo_ergocub_rgb_camera.ini @@ -0,0 +1,4 @@ +disableImplicitNetworkWrapper +yarpDeviceName ergocub_rgb_camera +framerate 30 +stamp 1 \ No newline at end of file diff --git a/install/share/ergoCub/conf/gazebo_ergocub_right_arm.ini b/install/share/ergoCub/conf/gazebo_ergocub_right_arm.ini new file mode 100644 index 0000000..80d1c7e --- /dev/null +++ b/install/share/ergoCub/conf/gazebo_ergocub_right_arm.ini @@ -0,0 +1,53 @@ +disableImplicitNetworkWrapper +yarpDeviceName right_arm_hardware_device + +jointNames r_shoulder_pitch r_shoulder_roll r_shoulder_yaw r_elbow r_wrist_yaw r_wrist_roll r_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 \ No newline at end of file diff --git a/install/share/ergoCub/conf/gazebo_ergocub_right_hand_mk5_0.ini b/install/share/ergoCub/conf/gazebo_ergocub_right_hand_mk5_0.ini new file mode 100644 index 0000000..de40d0c --- /dev/null +++ b/install/share/ergoCub/conf/gazebo_ergocub_right_hand_mk5_0.ini @@ -0,0 +1,61 @@ +disableImplicitNetworkWrapper +yarpDeviceName right_hand_hardware_device +jointNames r_thumb_add r_thumb_prox r_thumb_dist r_index_add r_index_prox r_index_dist r_middle_prox r_middle_dist r_ring_prox r_ring_dist r_pinkie_prox r_pinkie_dist +max_torques 1000000.0 1000000.0 1000000.0 1000000.0 1000000.0 1000000.0 1000000.0 1000000.0 1000000.0 1000000.0 1000000.0 1000000.0 + +[COUPLING] +device couplingXCubHandMk5 +actuatedAxesNames r_thumb_add r_thumb_oc r_index_add r_index_oc r_middle_oc r_ring_pinky_oc +actuatedAxesPosMin 0.0 0.0 0.0 0.0 0.0 0.0 +actuatedAxesPosMax 90.0 82.1 15.0 90.0 90.0 90.0 + +[COUPLING_PARAMS] +L0x -0.00555 -0.0050 -0.0050 -0.0050 -0.0050 +L0y 0.00285 0.0040 0.0040 0.0040 0.0040 +q2bias -180.0 -173.35 -173.35 -173.35 -170.54 +q1off 4.29 2.86 2.86 2.86 3.43 +k 0.0171 0.02918 0.02918 0.02918 0.02425 +d 0.02006 0.03004 0.03004 0.03004 0.02504 +l 0.0085 0.00604 0.00604 0.00604 0.00608 +b 0.00624 0.0064 0.0064 0.0064 0.0064 + +[TRAJECTORY_GENERATION] +trajectory_type minimum_jerk + +[LIMITS] +jntVelMax 100.0 100.0 100.0 100.0 100.0 100.0 100.0 100.0 100.0 100.0 100.0 100.0 +jntPosMax 90.0 82.1 53.6 15.0 90.0 99.2 90.0 99.2 90.0 99.2 90.0 93.3 +jntPosMin 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 + +[POSITION_CONTROL] +controlUnits metric_units +controlLaw joint_pid_gazebo_v1 +kp 5.0 5.0 5.0 5.0 5.0 5.0 5.0 5.0 5.0 5.0 5.0 5.0 +kd 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 +ki 0.00 0.00 0.00 0.00 0.00 0.00 0.00 0.00 0.00 0.00 0.00 0.00 +maxInt 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 +maxOutput 9999 9999 9999 9999 9999 9999 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] +controlUnits metric_units +controlLaw joint_pid_gazebo_v1 +velocityControlImplementationType integrator_and_position_pid +kp 0.01 0.01 0.01 0.01 0.01 0.01 0.01 0.01 0.01 0.01 0.01 0.01 +kd 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 +ki 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 +maxInt 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 +maxOutput 9999 9999 9999 9999 9999 9999 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 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 0.0 0.0 0.0 0.0 0.0 \ No newline at end of file diff --git a/install/share/ergoCub/conf/gazebo_ergocub_right_hand_mk5_1.ini b/install/share/ergoCub/conf/gazebo_ergocub_right_hand_mk5_1.ini new file mode 100644 index 0000000..90a786b --- /dev/null +++ b/install/share/ergoCub/conf/gazebo_ergocub_right_hand_mk5_1.ini @@ -0,0 +1,61 @@ +disableImplicitNetworkWrapper +yarpDeviceName right_hand_hardware_device +jointNames r_thumb_add r_thumb_prox r_thumb_dist r_index_add r_index_prox r_index_dist r_middle_prox r_middle_dist r_ring_prox r_ring_dist r_pinkie_prox r_pinkie_dist +max_torques 1000000.0 1000000.0 1000000.0 1000000.0 1000000.0 1000000.0 1000000.0 1000000.0 1000000.0 1000000.0 1000000.0 1000000.0 + +[COUPLING] +device couplingXCubHandMk5 +actuatedAxesNames r_thumb_add r_thumb_oc r_index_add r_index_oc r_middle_oc r_ring_pinky_oc +actuatedAxesPosMin 0.0 0.0 0.0 0.0 0.0 0.0 +actuatedAxesPosMax 100.0 90.0 15.0 90.0 90.0 90.0 + +[COUPLING_PARAMS] +L0x -0.0050 -0.0050 -0.0050 -0.0050 -0.0050 +L0y 0.0040 0.0040 0.0040 0.0040 0.0040 +q2bias -173.35 -173.35 -173.35 -173.35 -170.53 +q1off 2.45 2.15 2.15 2.15 2.46 +k 0.03415 0.03913 0.03913 0.03913 0.03418 +d 0.03503 0.04003 0.04003 0.04003 0.03503 +l 0.00604 0.00604 0.00604 0.00604 0.00608 +b 0.00640 0.00640 0.00640 0.00640 0.00640 + +[TRAJECTORY_GENERATION] +trajectory_type minimum_jerk + +[LIMITS] +jntVelMax 100.0 100.0 100.0 100.0 100.0 100.0 100.0 100.0 100.0 100.0 100.0 100.0 +jntPosMax 100.0 90.0 101.4 15.0 90.0 103.1 90.0 103.1 90.0 103.1 90.0 98.7 +jntPosMin 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 + +[POSITION_CONTROL] +controlUnits metric_units +controlLaw joint_pid_gazebo_v1 +kp 5.0 5.0 5.0 5.0 5.0 5.0 5.0 5.0 5.0 5.0 5.0 5.0 +kd 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 +ki 0.00 0.00 0.00 0.00 0.00 0.00 0.00 0.00 0.00 0.00 0.00 0.00 +maxInt 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 +maxOutput 9999 9999 9999 9999 9999 9999 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] +controlUnits metric_units +controlLaw joint_pid_gazebo_v1 +velocityControlImplementationType integrator_and_position_pid +kp 0.01 0.01 0.01 0.01 0.01 0.01 0.01 0.01 0.01 0.01 0.01 0.01 +kd 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 +ki 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 +maxInt 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 +maxOutput 9999 9999 9999 9999 9999 9999 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 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 0.0 0.0 0.0 0.0 0.0 diff --git a/install/share/ergoCub/conf/gazebo_ergocub_right_leg.ini b/install/share/ergoCub/conf/gazebo_ergocub_right_leg.ini new file mode 100644 index 0000000..38490a7 --- /dev/null +++ b/install/share/ergoCub/conf/gazebo_ergocub_right_leg.ini @@ -0,0 +1,53 @@ +disableImplicitNetworkWrapper +yarpDeviceName right_leg_hardware_device + +jointNames r_hip_pitch r_hip_roll r_hip_yaw r_knee r_ankle_pitch r_ankle_roll + +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 +max_torques 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 70.0 70.0 40.0 100.0 100.0 100.0 +kd 0.15 0.15 0.35 0.15 0.15 0.15 +ki 0.17 0.17 0.35 0.35 0.35 0.35 +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 0.349 0.349 0.349 0.349 0.349 0.349 +ki 0.176 0.176 0.176 0.176 0.176 0.176 +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 102.0 108.0 78.0 5.0 43.0 23.0 +jntPosMin -42.0 -15.0 -78.0 -103.0 -43.0 -23.0 +jntVelMax 100.0 100.0 100.0 100.0 100.0 100.0 diff --git a/install/share/ergoCub/conf/gazebo_ergocub_robotname.ini b/install/share/ergoCub/conf/gazebo_ergocub_robotname.ini new file mode 100644 index 0000000..2db27a0 --- /dev/null +++ b/install/share/ergoCub/conf/gazebo_ergocub_robotname.ini @@ -0,0 +1 @@ +gazeboYarpPluginsRobotName ergocubSim diff --git a/install/share/ergoCub/conf/gazebo_ergocub_torso.ini b/install/share/ergoCub/conf/gazebo_ergocub_torso.ini new file mode 100644 index 0000000..9172db5 --- /dev/null +++ b/install/share/ergoCub/conf/gazebo_ergocub_torso.ini @@ -0,0 +1,53 @@ +disableImplicitNetworkWrapper +yarpDeviceName torso_hardware_device +jointNames torso_roll torso_pitch torso_yaw + +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 +max_torques 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 70.0 70.0 70.0 +kd 0.15 0.15 0.15 +ki 0.17 0.17 0.17 +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 43.0 45.0 23.0 +jntPosMin -43.0 -18.0 -23.0 +jntVelMax 100.0 100.0 100.0 diff --git a/install/share/ergoCub/conf/gazebo_ergocub_waist_inertial.ini b/install/share/ergoCub/conf/gazebo_ergocub_waist_inertial.ini new file mode 100644 index 0000000..1c03fc8 --- /dev/null +++ b/install/share/ergoCub/conf/gazebo_ergocub_waist_inertial.ini @@ -0,0 +1,2 @@ +disableImplicitNetworkWrapper +yarpDeviceName waist_inertial_hardware_device \ No newline at end of file diff --git a/install/share/ergoCub/conf/launch_wholebodydynamics_ecub.xml b/install/share/ergoCub/conf/launch_wholebodydynamics_ecub.xml new file mode 100644 index 0000000..ba185d5 --- /dev/null +++ b/install/share/ergoCub/conf/launch_wholebodydynamics_ecub.xml @@ -0,0 +1,72 @@ + + + + + + + /ergocubSim/torso + /wholeBodyDynamics/torso + + + + /ergocubSim/left_arm + /wholeBodyDynamics/left_arm + + + + /ergocubSim/right_arm + /wholeBodyDynamics/right_arm + + + + /ergocubSim/left_leg + /wholeBodyDynamics/left_leg + + + + /ergocubSim/right_leg + /wholeBodyDynamics/right_leg + + + + /ergocubSim/head + /wholeBodyDynamics/head + + + + + + /ergocubSim/head/inertials + /wholeBodyDynamics/imu + + + + /ergocubSim/waist/inertials + /wholeBodyDynamics/waist_imu + + + + + /ergocubSim/left_arm/FT + /wholeBodyDynamics/left_arm_ft_sensor + + + + /ergocubSim/right_arm/FT + /wholeBodyDynamics/right_arm_ft_sensor + + + + /ergocubSim/left_leg/FT + /wholeBodyDynamics/left_leg_ft_sensor + + + + /ergocubSim/right_leg/FT + /wholeBodyDynamics/right_leg_ft_sensor + + + + + + diff --git a/install/share/ergoCub/conf/rgbd_camera.ini b/install/share/ergoCub/conf/rgbd_camera.ini new file mode 100644 index 0000000..ff00372 --- /dev/null +++ b/install/share/ergoCub/conf/rgbd_camera.ini @@ -0,0 +1,4 @@ +disableImplicitNetworkWrapper +yarpDeviceName ergocub_rgbd_camera +framerate 30 +stamp 1 diff --git a/install/share/ergoCub/conf/sensors/gazebo_ergocub_lidar.ini b/install/share/ergoCub/conf/sensors/gazebo_ergocub_lidar.ini new file mode 100644 index 0000000..d7ce67f --- /dev/null +++ b/install/share/ergoCub/conf/sensors/gazebo_ergocub_lidar.ini @@ -0,0 +1,11 @@ +yarpDeviceName las360 +disableImplicitNetworkWrapper +period 10 + +[SENSOR] +max_distance 5.0 +min_distance 0.2 +max_angle 360 +min_angle 0 +resolution 0.5 +allow_infinity 1 diff --git a/install/share/ergoCub/conf/sensors/gazebo_ergocub_rgbd_camera.ini b/install/share/ergoCub/conf/sensors/gazebo_ergocub_rgbd_camera.ini new file mode 100644 index 0000000..dce0eee --- /dev/null +++ b/install/share/ergoCub/conf/sensors/gazebo_ergocub_rgbd_camera.ini @@ -0,0 +1,8 @@ +yarpDeviceName rgbdCamera +disableImplicitNetworkWrapper + +[CAMERA_PARAM] +focalLengthX 389.453 +focalLengthY 389.453 +tangentialPointX 0.0 +tangentialPointY 0.0 diff --git a/install/share/ergoCub/conf/sensors/lidar_wrapper.xml b/install/share/ergoCub/conf/sensors/lidar_wrapper.xml new file mode 100644 index 0000000..3961003 --- /dev/null +++ b/install/share/ergoCub/conf/sensors/lidar_wrapper.xml @@ -0,0 +1,13 @@ + + + + + 0.01 + ${portprefix}/laser:o + + + las360 + + + + diff --git a/install/share/ergoCub/conf/sensors/lidar_wrapper_ros2.xml b/install/share/ergoCub/conf/sensors/lidar_wrapper_ros2.xml new file mode 100644 index 0000000..b38d7f8 --- /dev/null +++ b/install/share/ergoCub/conf/sensors/lidar_wrapper_ros2.xml @@ -0,0 +1,15 @@ + + + + + 0.1 + rangefinder_ros2_node + /scan + head_laser_frame + + + las360 + + + + \ No newline at end of file diff --git a/install/share/ergoCub/conf/sensors/rgbd_camera_wrapper.xml b/install/share/ergoCub/conf/sensors/rgbd_camera_wrapper.xml new file mode 100644 index 0000000..2acdbda --- /dev/null +++ b/install/share/ergoCub/conf/sensors/rgbd_camera_wrapper.xml @@ -0,0 +1,14 @@ + + + + + + 0.033 + ${portprefix}/depthCamera + + + rgbdCamera + + + + diff --git a/install/share/ergoCub/conf/sensors/rgbd_camera_wrapper_ros2.xml b/install/share/ergoCub/conf/sensors/rgbd_camera_wrapper_ros2.xml new file mode 100644 index 0000000..6919577 --- /dev/null +++ b/install/share/ergoCub/conf/sensors/rgbd_camera_wrapper_ros2.xml @@ -0,0 +1,17 @@ + + + + + 0.033 + rgbdsensor_ros2_node + /camera_rgbd/color/image_rect_color + /camera_rgbd/depth/image_rect + realsense_rgb_frame + realsense_rgb_frame + + + rgbdCamera + + + + \ No newline at end of file diff --git a/install/share/ergoCub/conf/wrappers/FT/left_arm-FT_wrapper.xml b/install/share/ergoCub/conf/wrappers/FT/left_arm-FT_wrapper.xml new file mode 100644 index 0000000..a8defab --- /dev/null +++ b/install/share/ergoCub/conf/wrappers/FT/left_arm-FT_wrapper.xml @@ -0,0 +1,17 @@ + + + + + + 10 + ${portprefix}/left_arm/FT + + + + ergocub_left_arm_ft + + + + + + diff --git a/install/share/ergoCub/conf/wrappers/FT/left_foot-FT_remapper.xml b/install/share/ergoCub/conf/wrappers/FT/left_foot-FT_remapper.xml new file mode 100644 index 0000000..033f491 --- /dev/null +++ b/install/share/ergoCub/conf/wrappers/FT/left_foot-FT_remapper.xml @@ -0,0 +1,20 @@ + + + + + + (l_foot_rear_ft + l_foot_front_ft) + + + (l_foot_rear_ft + l_foot_front_ft) + + + + ergocub_left_foot_rear_ft + ergocub_left_foot_front_ft + + + + diff --git a/install/share/ergoCub/conf/wrappers/FT/left_foot-FT_wrapper.xml b/install/share/ergoCub/conf/wrappers/FT/left_foot-FT_wrapper.xml new file mode 100644 index 0000000..ded716b --- /dev/null +++ b/install/share/ergoCub/conf/wrappers/FT/left_foot-FT_wrapper.xml @@ -0,0 +1,17 @@ + + + + + + 10 + ${portprefix}/left_foot_heel_tiptoe + + + + left_foot-FT_remapper + + + + + + diff --git a/install/share/ergoCub/conf/wrappers/FT/left_leg-FT_remapper.xml b/install/share/ergoCub/conf/wrappers/FT/left_leg-FT_remapper.xml new file mode 100644 index 0000000..2ba8493 --- /dev/null +++ b/install/share/ergoCub/conf/wrappers/FT/left_leg-FT_remapper.xml @@ -0,0 +1,21 @@ + + + + + + + (l_leg_ft l_foot_rear_ft l_foot_front_ft) + + + (l_leg_ft l_foot_rear_ft l_foot_front_ft) + + + + ergocub_left_leg_ft + ergocub_left_foot_rear_ft + ergocub_left_foot_front_ft + + + + + diff --git a/install/share/ergoCub/conf/wrappers/FT/left_leg-FT_wrapper.xml b/install/share/ergoCub/conf/wrappers/FT/left_leg-FT_wrapper.xml new file mode 100644 index 0000000..5a121fa --- /dev/null +++ b/install/share/ergoCub/conf/wrappers/FT/left_leg-FT_wrapper.xml @@ -0,0 +1,17 @@ + + + + + + 10 + ${portprefix}/left_leg/FT + + + + left_leg-FT_remapper + + + + + + diff --git a/install/share/ergoCub/conf/wrappers/FT/left_leg_hip-FT_wrapper.xml b/install/share/ergoCub/conf/wrappers/FT/left_leg_hip-FT_wrapper.xml new file mode 100644 index 0000000..3367d7b --- /dev/null +++ b/install/share/ergoCub/conf/wrappers/FT/left_leg_hip-FT_wrapper.xml @@ -0,0 +1,17 @@ + + + + + + 10 + ${portprefix}/left_leg_hip + + + + ergocub_left_leg_ft + + + + + + diff --git a/install/share/ergoCub/conf/wrappers/FT/right_arm-FT_wrapper.xml b/install/share/ergoCub/conf/wrappers/FT/right_arm-FT_wrapper.xml new file mode 100644 index 0000000..f68126e --- /dev/null +++ b/install/share/ergoCub/conf/wrappers/FT/right_arm-FT_wrapper.xml @@ -0,0 +1,17 @@ + + + + + + 10 + ${portprefix}/right_arm/FT + + + + ergocub_right_arm_ft + + + + + + diff --git a/install/share/ergoCub/conf/wrappers/FT/right_foot-FT_remapper.xml b/install/share/ergoCub/conf/wrappers/FT/right_foot-FT_remapper.xml new file mode 100644 index 0000000..eebea02 --- /dev/null +++ b/install/share/ergoCub/conf/wrappers/FT/right_foot-FT_remapper.xml @@ -0,0 +1,20 @@ + + + + + + (r_foot_rear_ft + r_foot_front_ft) + + + (r_foot_rear_ft + r_foot_front_ft) + + + + ergocub_right_foot_rear_ft + ergocub_right_foot_front_ft + + + + diff --git a/install/share/ergoCub/conf/wrappers/FT/right_foot-FT_wrapper.xml b/install/share/ergoCub/conf/wrappers/FT/right_foot-FT_wrapper.xml new file mode 100644 index 0000000..2f46b83 --- /dev/null +++ b/install/share/ergoCub/conf/wrappers/FT/right_foot-FT_wrapper.xml @@ -0,0 +1,17 @@ + + + + + + 10 + ${portprefix}/right_foot_heel_tiptoe + + + + right_foot-FT_remapper + + + + + + diff --git a/install/share/ergoCub/conf/wrappers/FT/right_leg-FT_remapper.xml b/install/share/ergoCub/conf/wrappers/FT/right_leg-FT_remapper.xml new file mode 100644 index 0000000..624fbcd --- /dev/null +++ b/install/share/ergoCub/conf/wrappers/FT/right_leg-FT_remapper.xml @@ -0,0 +1,21 @@ + + + + + + + (r_leg_ft r_foot_rear_ft r_foot_front_ft) + + + (r_leg_ft r_foot_rear_ft r_foot_front_ft) + + + + ergocub_right_leg_ft + ergocub_right_foot_rear_ft + ergocub_right_foot_front_ft + + + + + diff --git a/install/share/ergoCub/conf/wrappers/FT/right_leg-FT_wrapper.xml b/install/share/ergoCub/conf/wrappers/FT/right_leg-FT_wrapper.xml new file mode 100644 index 0000000..24e5878 --- /dev/null +++ b/install/share/ergoCub/conf/wrappers/FT/right_leg-FT_wrapper.xml @@ -0,0 +1,17 @@ + + + + + + 10 + ${portprefix}/right_leg/FT + + + + right_leg-FT_remapper + + + + + + diff --git a/install/share/ergoCub/conf/wrappers/FT/right_leg_hip-FT_wrapper.xml b/install/share/ergoCub/conf/wrappers/FT/right_leg_hip-FT_wrapper.xml new file mode 100644 index 0000000..61cf38e --- /dev/null +++ b/install/share/ergoCub/conf/wrappers/FT/right_leg_hip-FT_wrapper.xml @@ -0,0 +1,17 @@ + + + + + + 10 + ${portprefix}/right_leg_hip + + + + ergocub_right_leg_ft + + + + + + diff --git a/install/share/ergoCub/conf/wrappers/inertials/head-inertials_wrapper.xml b/install/share/ergoCub/conf/wrappers/inertials/head-inertials_wrapper.xml new file mode 100644 index 0000000..874ea5d --- /dev/null +++ b/install/share/ergoCub/conf/wrappers/inertials/head-inertials_wrapper.xml @@ -0,0 +1,17 @@ + + + + + + 10 + ${portprefix}/head/inertials + + + + + head_inertial_hardware_device + + + + + diff --git a/install/share/ergoCub/conf/wrappers/inertials/left_foot-IMU_remapper.xml b/install/share/ergoCub/conf/wrappers/inertials/left_foot-IMU_remapper.xml new file mode 100644 index 0000000..fc0eb0c --- /dev/null +++ b/install/share/ergoCub/conf/wrappers/inertials/left_foot-IMU_remapper.xml @@ -0,0 +1,26 @@ + + + + + + + (l_foot_front_ft_imu, l_foot_rear_ft_imu) + + + (l_foot_front_ft_imu, l_foot_rear_ft_imu) + + + (l_foot_front_ft_imu, l_foot_rear_ft_imu) + + + (l_foot_front_ft_imu, l_foot_rear_ft_imu) + + + + + l_foot_front_ft_sensor_inertial_hardware_device + l_foot_rear_ft_sensor_inertial_hardware_device + + + + diff --git a/install/share/ergoCub/conf/wrappers/inertials/left_foot-IMU_wrapper.xml b/install/share/ergoCub/conf/wrappers/inertials/left_foot-IMU_wrapper.xml new file mode 100644 index 0000000..7f66df0 --- /dev/null +++ b/install/share/ergoCub/conf/wrappers/inertials/left_foot-IMU_wrapper.xml @@ -0,0 +1,17 @@ + + + + + + 10 + ${portprefix}/left_foot_heel_tiptoe/imu + + + + + left_foot-IMU_remapper + + + + + diff --git a/install/share/ergoCub/conf/wrappers/inertials/right_foot-IMU_remapper.xml b/install/share/ergoCub/conf/wrappers/inertials/right_foot-IMU_remapper.xml new file mode 100644 index 0000000..ec11436 --- /dev/null +++ b/install/share/ergoCub/conf/wrappers/inertials/right_foot-IMU_remapper.xml @@ -0,0 +1,26 @@ + + + + + + + (r_foot_front_ft_imu, r_foot_rear_ft_imu) + + + (r_foot_front_ft_imu, r_foot_rear_ft_imu) + + + (r_foot_front_ft_imu, r_foot_rear_ft_imu) + + + (r_foot_front_ft_imu, r_foot_rear_ft_imu) + + + + + r_foot_front_ft_sensor_inertial_hardware_device + r_foot_rear_ft_sensor_inertial_hardware_device + + + + diff --git a/install/share/ergoCub/conf/wrappers/inertials/right_foot-IMU_wrapper.xml b/install/share/ergoCub/conf/wrappers/inertials/right_foot-IMU_wrapper.xml new file mode 100644 index 0000000..cca089c --- /dev/null +++ b/install/share/ergoCub/conf/wrappers/inertials/right_foot-IMU_wrapper.xml @@ -0,0 +1,17 @@ + + + + + + 10 + ${portprefix}/right_foot_heel_tiptoe/imu + + + + + right_foot-IMU_remapper + + + + + diff --git a/install/share/ergoCub/conf/wrappers/inertials/waist-inertials_wrapper.xml b/install/share/ergoCub/conf/wrappers/inertials/waist-inertials_wrapper.xml new file mode 100644 index 0000000..38101a1 --- /dev/null +++ b/install/share/ergoCub/conf/wrappers/inertials/waist-inertials_wrapper.xml @@ -0,0 +1,17 @@ + + + + + + 10 + ${portprefix}/waist/inertials + + + + + waist_inertial_hardware_device + + + + + \ No newline at end of file diff --git a/install/share/ergoCub/conf/wrappers/motorControl/all-mc_remapper.xml b/install/share/ergoCub/conf/wrappers/motorControl/all-mc_remapper.xml new file mode 100644 index 0000000..c529ff3 --- /dev/null +++ b/install/share/ergoCub/conf/wrappers/motorControl/all-mc_remapper.xml @@ -0,0 +1,20 @@ + + + + + + (neck_pitch,neck_roll,neck_yaw,camera_tilt,l_shoulder_pitch,l_shoulder_roll,l_shoulder_yaw,l_elbow,l_wrist_yaw,l_wrist_roll,l_wrist_pitch,l_thumb_add,l_thumb_oc,l_index_add,l_index_oc,l_middle_oc,l_ring_pinky_oc,r_shoulder_pitch,r_shoulder_roll,r_shoulder_yaw,r_elbow,r_wrist_yaw,r_wrist_roll,r_wrist_pitch,r_thumb_add,r_thumb_oc,r_index_add,r_index_oc,r_middle_oc,r_ring_pinky_oc,torso_roll,torso_pitch,torso_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) + 0.010 + 45 + + + head-mc_remapper + left_arm-mc_remapper + right_arm-mc_remapper + torso-mc_remapper + left_leg-mc_remapper + right_leg-mc_remapper + + + + \ No newline at end of file diff --git a/install/share/ergoCub/conf/wrappers/motorControl/all-mc_remapper_ros2.xml b/install/share/ergoCub/conf/wrappers/motorControl/all-mc_remapper_ros2.xml new file mode 100644 index 0000000..759872f --- /dev/null +++ b/install/share/ergoCub/conf/wrappers/motorControl/all-mc_remapper_ros2.xml @@ -0,0 +1,12 @@ + + + + + ros2_cb_node + /joint_states + 0.010 + + alljoints_mc + + + diff --git a/install/share/ergoCub/conf/wrappers/motorControl/head-mc_remapper.xml b/install/share/ergoCub/conf/wrappers/motorControl/head-mc_remapper.xml new file mode 100644 index 0000000..4adaa72 --- /dev/null +++ b/install/share/ergoCub/conf/wrappers/motorControl/head-mc_remapper.xml @@ -0,0 +1,15 @@ + + + + + + ( 0 3 0 3 ) + + 4 + + + head_hardware_device + + + + diff --git a/install/share/ergoCub/conf/wrappers/motorControl/head-mc_wrapper.xml b/install/share/ergoCub/conf/wrappers/motorControl/head-mc_wrapper.xml new file mode 100644 index 0000000..e697235 --- /dev/null +++ b/install/share/ergoCub/conf/wrappers/motorControl/head-mc_wrapper.xml @@ -0,0 +1,10 @@ + + + + + ${portprefix}/head + + head-mc_remapper + + + diff --git a/install/share/ergoCub/conf/wrappers/motorControl/left_arm-mc_remapper.xml b/install/share/ergoCub/conf/wrappers/motorControl/left_arm-mc_remapper.xml new file mode 100644 index 0000000..5738322 --- /dev/null +++ b/install/share/ergoCub/conf/wrappers/motorControl/left_arm-mc_remapper.xml @@ -0,0 +1,17 @@ + + + + + + ( 0 6 0 6 ) + ( 7 12 0 5 ) + + 13 + + + left_arm_hardware_device + left_hand_hardware_device + + + + diff --git a/install/share/ergoCub/conf/wrappers/motorControl/left_arm-mc_wrapper.xml b/install/share/ergoCub/conf/wrappers/motorControl/left_arm-mc_wrapper.xml new file mode 100644 index 0000000..759c37c --- /dev/null +++ b/install/share/ergoCub/conf/wrappers/motorControl/left_arm-mc_wrapper.xml @@ -0,0 +1,11 @@ + + + + + ${portprefix}/left_arm + 0.01 + + left_arm-mc_remapper + + + diff --git a/install/share/ergoCub/conf/wrappers/motorControl/left_leg-mc_remapper.xml b/install/share/ergoCub/conf/wrappers/motorControl/left_leg-mc_remapper.xml new file mode 100644 index 0000000..0545961 --- /dev/null +++ b/install/share/ergoCub/conf/wrappers/motorControl/left_leg-mc_remapper.xml @@ -0,0 +1,14 @@ + + + + + ( 0 5 0 5 ) + + 6 + + + left_leg_hardware_device + + + + diff --git a/install/share/ergoCub/conf/wrappers/motorControl/left_leg-mc_wrapper.xml b/install/share/ergoCub/conf/wrappers/motorControl/left_leg-mc_wrapper.xml new file mode 100644 index 0000000..d8ac832 --- /dev/null +++ b/install/share/ergoCub/conf/wrappers/motorControl/left_leg-mc_wrapper.xml @@ -0,0 +1,11 @@ + + + + + ${portprefix}/left_leg + 0.01 + + left_leg-mc_remapper + + + diff --git a/install/share/ergoCub/conf/wrappers/motorControl/right_arm-mc_remapper.xml b/install/share/ergoCub/conf/wrappers/motorControl/right_arm-mc_remapper.xml new file mode 100644 index 0000000..06f761c --- /dev/null +++ b/install/share/ergoCub/conf/wrappers/motorControl/right_arm-mc_remapper.xml @@ -0,0 +1,17 @@ + + + + + + ( 0 6 0 6 ) + ( 7 12 0 5 ) + + 13 + + + right_arm_hardware_device + right_hand_hardware_device + + + + diff --git a/install/share/ergoCub/conf/wrappers/motorControl/right_arm-mc_wrapper.xml b/install/share/ergoCub/conf/wrappers/motorControl/right_arm-mc_wrapper.xml new file mode 100644 index 0000000..8177a14 --- /dev/null +++ b/install/share/ergoCub/conf/wrappers/motorControl/right_arm-mc_wrapper.xml @@ -0,0 +1,11 @@ + + + + + ${portprefix}/right_arm + 0.01 + + right_arm-mc_remapper + + + diff --git a/install/share/ergoCub/conf/wrappers/motorControl/right_leg-mc_remapper.xml b/install/share/ergoCub/conf/wrappers/motorControl/right_leg-mc_remapper.xml new file mode 100644 index 0000000..d1fd901 --- /dev/null +++ b/install/share/ergoCub/conf/wrappers/motorControl/right_leg-mc_remapper.xml @@ -0,0 +1,14 @@ + + + + + ( 0 5 0 5 ) + + 6 + + + right_leg_hardware_device + + + + diff --git a/install/share/ergoCub/conf/wrappers/motorControl/right_leg-mc_wrapper.xml b/install/share/ergoCub/conf/wrappers/motorControl/right_leg-mc_wrapper.xml new file mode 100644 index 0000000..b2d952d --- /dev/null +++ b/install/share/ergoCub/conf/wrappers/motorControl/right_leg-mc_wrapper.xml @@ -0,0 +1,11 @@ + + + + + ${portprefix}/right_leg + 0.01 + + right_leg-mc_remapper + + + diff --git a/install/share/ergoCub/conf/wrappers/motorControl/torso-mc_remapper.xml b/install/share/ergoCub/conf/wrappers/motorControl/torso-mc_remapper.xml new file mode 100644 index 0000000..f62ab0a --- /dev/null +++ b/install/share/ergoCub/conf/wrappers/motorControl/torso-mc_remapper.xml @@ -0,0 +1,15 @@ + + + + + + ( 0 2 0 2 ) + + 3 + + + torso_hardware_device + + + + diff --git a/install/share/ergoCub/conf/wrappers/motorControl/torso-mc_wrapper.xml b/install/share/ergoCub/conf/wrappers/motorControl/torso-mc_wrapper.xml new file mode 100644 index 0000000..6d1e285 --- /dev/null +++ b/install/share/ergoCub/conf/wrappers/motorControl/torso-mc_wrapper.xml @@ -0,0 +1,11 @@ + + + + + ${portprefix}/torso + 0.01 + + torso-mc_remapper + + + diff --git a/install/share/ergoCub/conf/yarpmotorgui.ini b/install/share/ergoCub/conf/yarpmotorgui.ini new file mode 100644 index 0000000..3fb1987 --- /dev/null +++ b/install/share/ergoCub/conf/yarpmotorgui.ini @@ -0,0 +1,38 @@ +//name of the robot +name icubSim +//parts to be opened by the GUI +parts (head torso left_arm right_arm left_leg right_leg) +//parts (head) + +[head_zero] +// 0 1 2 3 4 5 +PositionZero 0.0 0.0 0.0 0.0 0.0 0.0 +VelocityZero 10.0 10.0 10.0 10.0 10.0 10.0 + +[torso_zero] +// 0 1 2 +PositionZero 0.0 0.0 30.0 +VelocityZero 10.0 10.0 30.0 + +[left_arm_zero] +//Joint 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 +PositionZero -25.8 20.0 0.0 50 0.0 0.0 0.0 +VelocityZero 5.0 5.0 5.0 5.0 30.0 30.0 30.0 + +[right_arm_zero] +//Joint 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 +PositionZero -25.8 20.0 0.0 50 0.0 0.0 0.0 +VelocityZero 5.0 5.0 5.0 5.0 30.0 30.0 30.0 + +[left_leg_zero] +//Joint 0 1 2 3 4 5 +PositionZero 0.0 0.0 0.0 -40.0 -20.0 0.0 +VelocityZero 4.0 4.0 4.0 60.0 30.0 4.0 + +[right_leg_zero] +//Joint 0 1 2 3 4 5 +PositionZero 0.0 0.0 0.0 -40.0 -20.0 0.0 +VelocityZero 4.0 4.0 4.0 60.0 30.0 4.0 + +//parts (right_leg torso right_arm) +//DO NOT REMOVE THIS LINE diff --git a/install/share/ergoCub/ecub_yarprobotinterface.ini b/install/share/ergoCub/ecub_yarprobotinterface.ini new file mode 100644 index 0000000..73b03c8 --- /dev/null +++ b/install/share/ergoCub/ecub_yarprobotinterface.ini @@ -0,0 +1 @@ +config conf/launch_wholebodydynamics_ecub.xml \ No newline at end of file diff --git a/install/share/ergoCub/meshes/simmechanics/sim_ecub_1-1_chest.stl b/install/share/ergoCub/meshes/simmechanics/sim_ecub_1-1_chest.stl new file mode 100644 index 0000000000000000000000000000000000000000..a623aecdb65a1bcfa2585ab9d38dc99122e87fd2 GIT binary patch literal 20784 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model://ergoCub/conf/gazebo_ergocub_r_foot_rear_ft_sensor_inertial.ini + + + + + + + + diff --git a/install/share/ergoCub/robots/ergoCubGazeboV1_1_minContacts_feet_fixed/ergoCubGazeboV1_1_minContacts_feet_fixed.sdf b/install/share/ergoCub/robots/ergoCubGazeboV1_1_minContacts_feet_fixed/ergoCubGazeboV1_1_minContacts_feet_fixed.sdf new file mode 100644 index 0000000..ab9fb5d --- /dev/null +++ b/install/share/ergoCub/robots/ergoCubGazeboV1_1_minContacts_feet_fixed/ergoCubGazeboV1_1_minContacts_feet_fixed.sdf @@ -0,0 +1,18 @@ + + + + + model://ergoCubGazeboV1_1_minContacts + + + + world + iCub::l_foot + + + + world + iCub::r_foot + + + diff --git a/install/share/ergoCub/robots/ergoCubGazeboV1_1_minContacts_feet_fixed/model.config b/install/share/ergoCub/robots/ergoCubGazeboV1_1_minContacts_feet_fixed/model.config new file mode 100644 index 0000000..e1c643e --- /dev/null +++ b/install/share/ergoCub/robots/ergoCubGazeboV1_1_minContacts_feet_fixed/model.config @@ -0,0 +1,11 @@ + + + ergoCubGazeboV1_1_minContacts_feet_fixed + 1.0 + ergoCubGazeboV1_1_minContacts_feet_fixed.sdf + + Nicolo' Genesio + nicolo.genesio@iit.it + + Model for the ergoCub humanoid robot, with the feet fixed on the ground. + diff --git a/install/share/ergoCub/robots/ergoCubGazeboV1_1_minContacts_fixed/ergoCubGazeboV1_1_minContacts_fixed.sdf b/install/share/ergoCub/robots/ergoCubGazeboV1_1_minContacts_fixed/ergoCubGazeboV1_1_minContacts_fixed.sdf new file mode 100644 index 0000000..dd9d32f --- /dev/null +++ b/install/share/ergoCub/robots/ergoCubGazeboV1_1_minContacts_fixed/ergoCubGazeboV1_1_minContacts_fixed.sdf @@ -0,0 +1,14 @@ + + + + + model://ergoCubGazeboV1_1_minContacts + 0.0 0 1.0 0 0 3.14 + + + + world + ergoCub::root_link + + + diff --git a/install/share/ergoCub/robots/ergoCubGazeboV1_1_minContacts_fixed/model.config b/install/share/ergoCub/robots/ergoCubGazeboV1_1_minContacts_fixed/model.config new file mode 100644 index 0000000..880b916 --- /dev/null +++ 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b/install/share/ergoCub/robots/ergoCubGazeboV1_feet_fixed/model.config @@ -0,0 +1,11 @@ + + + ergoCubGazeboV1_feet_fixed + 1.0 + ergoCubGazeboV1_feet_fixed.sdf + + Nicolo' Genesio + nicolo.genesio@iit.it + + Model for the ergoCub humanoid robot, with the feet fixed on the ground. + diff --git a/install/share/ergoCub/robots/ergoCubGazeboV1_fixed/ergoCubGazeboV1_fixed.sdf b/install/share/ergoCub/robots/ergoCubGazeboV1_fixed/ergoCubGazeboV1_fixed.sdf new file mode 100644 index 0000000..182d99e --- /dev/null +++ b/install/share/ergoCub/robots/ergoCubGazeboV1_fixed/ergoCubGazeboV1_fixed.sdf @@ -0,0 +1,14 @@ + + + + + model://ergoCub/robots/ergoCubGazeboV1 + 0.0 0 1.0 0 0 3.14 + + + + world + ergoCub::root_link + + + diff --git a/install/share/ergoCub/robots/ergoCubGazeboV1_fixed/model.config b/install/share/ergoCub/robots/ergoCubGazeboV1_fixed/model.config new file mode 100644 index 0000000..2be6082 --- /dev/null +++ b/install/share/ergoCub/robots/ergoCubGazeboV1_fixed/model.config @@ -0,0 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      diff --git a/install/share/ergoCub/robots/ergoCubGazeboV1_minContacts_feet_fixed/ergoCubGazeboV1_minContacts_feet_fixed.sdf b/install/share/ergoCub/robots/ergoCubGazeboV1_minContacts_feet_fixed/ergoCubGazeboV1_minContacts_feet_fixed.sdf new file mode 100644 index 0000000..3019904 --- /dev/null +++ b/install/share/ergoCub/robots/ergoCubGazeboV1_minContacts_feet_fixed/ergoCubGazeboV1_minContacts_feet_fixed.sdf @@ -0,0 +1,18 @@ + + + + + model://ergoCubGazeboV1_minContacts + + + + world + iCub::l_foot + + + + world + iCub::r_foot + + + diff --git a/install/share/ergoCub/robots/ergoCubGazeboV1_minContacts_feet_fixed/model.config b/install/share/ergoCub/robots/ergoCubGazeboV1_minContacts_feet_fixed/model.config new file mode 100644 index 0000000..2e14051 --- /dev/null +++ b/install/share/ergoCub/robots/ergoCubGazeboV1_minContacts_feet_fixed/model.config @@ -0,0 +1,11 @@ + + + ergoCubGazeboV1_minContacts_feet_fixed + 1.0 + ergoCubGazeboV1_minContacts_feet_fixed.sdf + + Nicolo' Genesio + nicolo.genesio@iit.it + + Model for the ergoCub humanoid robot, with the feet fixed on the ground. + diff --git a/install/share/ergoCub/robots/ergoCubGazeboV1_minContacts_fixed/ergoCubGazeboV1_minContacts_fixed.sdf b/install/share/ergoCub/robots/ergoCubGazeboV1_minContacts_fixed/ergoCubGazeboV1_minContacts_fixed.sdf new file mode 100644 index 0000000..dc3e0cf --- /dev/null +++ b/install/share/ergoCub/robots/ergoCubGazeboV1_minContacts_fixed/ergoCubGazeboV1_minContacts_fixed.sdf @@ -0,0 +1,14 @@ + + + + + model://ergoCubGazeboV1_minContacts + 0.0 0 1.0 0 0 3.14 + + + + world + ergoCub::root_link + + + diff --git a/install/share/ergoCub/robots/ergoCubGazeboV1_minContacts_fixed/model.config b/install/share/ergoCub/robots/ergoCubGazeboV1_minContacts_fixed/model.config new file mode 100644 index 0000000..bba84b7 --- /dev/null +++ b/install/share/ergoCub/robots/ergoCubGazeboV1_minContacts_fixed/model.config @@ -0,0 +1,11 @@ + + + ergoCubGazeboV1_minContacts_fixed + 1.0 + ergoCubGazeboV1_minContacts_fixed.sdf + + Nicolo' Genesio + nicolo.genesio@iit.it + + Model for the ergoCub humanoid robot, fixed on the air + diff --git a/install/share/ergoCub/robots/ergoCubSN000/model.urdf b/install/share/ergoCub/robots/ergoCubSN000/model.urdf new file mode 100644 index 0000000..e43fecb --- /dev/null +++ b/install/share/ergoCub/robots/ergoCubSN000/model.urdf @@ -0,0 +1,3558 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 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      diff --git a/install/share/ergoCub/robots/ergoCubSN001/model.config b/install/share/ergoCub/robots/ergoCubSN001/model.config new file mode 100644 index 0000000..c163aea --- /dev/null +++ b/install/share/ergoCub/robots/ergoCubSN001/model.config @@ -0,0 +1,11 @@ + + + ergoCubSN001 + 1.0 + model.urdf + + Nicolo' Genesio + nicolo.genesio@iit.it + + Model for the ergoCub humanoid robot. + diff --git a/install/share/ergoCub/robots/ergoCubSN001/model.urdf b/install/share/ergoCub/robots/ergoCubSN001/model.urdf new file mode 100644 index 0000000..266dcda --- /dev/null +++ b/install/share/ergoCub/robots/ergoCubSN001/model.urdf @@ -0,0 +1,3578 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 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      diff --git a/install/share/ergoCub/robots/ergoCubSN001_fixed/ergoCubSN001_fixed.sdf b/install/share/ergoCub/robots/ergoCubSN001_fixed/ergoCubSN001_fixed.sdf new file mode 100644 index 0000000..069591e --- /dev/null +++ b/install/share/ergoCub/robots/ergoCubSN001_fixed/ergoCubSN001_fixed.sdf @@ -0,0 +1,14 @@ + + + + + model://ergoCub/robots/ergoCubSN001 + 0.0 0 1.0 0 0 3.14 + + + + world + ergoCub::root_link + + + diff --git a/install/share/ergoCub/robots/ergoCubSN001_fixed/model.config b/install/share/ergoCub/robots/ergoCubSN001_fixed/model.config new file mode 100644 index 0000000..70523a3 --- /dev/null +++ b/install/share/ergoCub/robots/ergoCubSN001_fixed/model.config @@ -0,0 +1,11 @@ + + + ergoCubSN001_fixed + 1.0 + ergoCubSN001_fixed.sdf + + Nicolo' Genesio + nicolo.genesio@iit.it + + Model for the ergoCub humanoid robot, fixed on the air + diff --git a/install/share/yarp/applications/ergoCubEmotions/emotionHandler.xml b/install/share/yarp/applications/ergoCubEmotions/emotionHandler.xml new file mode 100644 index 0000000..2f947bc --- /dev/null +++ b/install/share/yarp/applications/ergoCubEmotions/emotionHandler.xml @@ -0,0 +1,11 @@ + +ergoCubEmotions + + + + + ergoCubEmotions + --context ergoCubEmotions --from config.ini + ergocub-head + + \ No newline at end of file diff --git a/install/share/yarp/contexts/ergoCubEmotions/config.ini b/install/share/yarp/contexts/ergoCubEmotions/config.ini new file mode 100644 index 0000000..92edb3f --- /dev/null +++ b/install/share/yarp/contexts/ergoCubEmotions/config.ini @@ -0,0 +1,105 @@ +[general] +num_expressions 4 +num_transitions 12 + +#[expression_0] +#name neutral +#type image +#file expressions/images/exp_img_0.png +# +#[expression_1] +#name happy +#type image +#file expressions/images/exp_img_1.png +# +#[expression_2] +#name alert +#type image +#file expressions/images/exp_img_2.png +# +#[expression_3] +#name shy +#type image +#file expressions/images/exp_img_3.png + +[expression_0] +name neutral +type video +file expressions/videos/neutral.mp4 + +[expression_1] +name happy +type video +file expressions/videos/happy.mp4 + +[expression_2] +name alert +type video +file expressions/videos/alert.mp4 + +[expression_3] +name shy +type video +file expressions/videos/shy.mp4 + +[transition_0] +source neutral +destination happy +file expressions/videos/neutral-happy.mp4 + +[transition_1] +source neutral +destination alert +file expressions/videos/neutral-alert.mp4 + +[transition_2] +source neutral +destination shy +file expressions/videos/neutral-shy.mp4 + +[transition_3] +source happy +destination neutral +file expressions/videos/happy-neutral.mp4 + +[transition_4] +source happy +destination alert +file expressions/videos/happy-alert.mp4 + +[transition_5] +source happy +destination shy +file expressions/videos/happy-shy.mp4 + +[transition_6] +source alert +destination neutral +file expressions/videos/alert-neutral.mp4 + +[transition_7] +source alert +destination happy +file expressions/videos/alert-happy.mp4 + +[transition_8] +source alert +destination shy +file expressions/videos/alert-shy.mp4 + +[transition_9] +source shy +destination neutral +file expressions/videos/shy-neutral.mp4 + +[transition_10] +source shy +destination alert +file expressions/videos/shy-alert.mp4 + +[transition_11] +source shy +destination happy +file expressions/videos/shy-happy.mp4 + + diff --git a/install/share/yarp/plugins/couplingXCubHandMk5.ini b/install/share/yarp/plugins/couplingXCubHandMk5.ini new file mode 100644 index 0000000..498459d --- /dev/null +++ b/install/share/yarp/plugins/couplingXCubHandMk5.ini @@ -0,0 +1,5 @@ +###### This file is automatically generated by CMake. +[plugin couplingXCubHandMk5] +type device +name couplingXCubHandMk5 +library yarp_couplingXCubHandMk5 diff --git a/install/share/yarp/plugins/ergocub-software.ini b/install/share/yarp/plugins/ergocub-software.ini new file mode 100644 index 0000000..f007050 --- /dev/null +++ b/install/share/yarp/plugins/ergocub-software.ini @@ -0,0 +1,5 @@ +###### This file is automatically generated by CMake. +[search ergocub-software] +path "/home/acroci/repos/ergocub-software/build/install/lib/yarp" +extension ".so" +type "shared" diff --git a/model.sdf b/model.sdf new file mode 100644 index 0000000..808649d --- /dev/null +++ b/model.sdf @@ -0,0 +1,40 @@ + + + + + 0.0024748962432214398 -0.0001050794470993344 0.023450368787955641 0 0 0 + 2.8237514828246408 + + 0.0043800336692586869 + -1.436903968838589e-06 + 1.4098441290530499e-05 + 0.0056306062852994661 + -2.329934099458888e-05 + 0.003616681010808376 + + + + 0 0 0 0 0 0 + + + 0.001 0.001 0.001 + model://ergoCub/meshes/simmechanics/sim_ecub_1-1_root_link.stl + + + + + 0 0 0 0 0 0 + + + 0.001 0.001 0.001 + model://ergoCub/meshes/simmechanics/sim_ecub_1-1_root_link.stl + + + + 0.75000006 0.75000006 0.75000006 1 + 0.75000006 0.75000006 0.75000006 1 + + + + + diff --git a/setup.sh 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