Merge pull request #110 from robotology/devel

Merge devel in master
robotology · Nov 12, 2021 · 102edcb · 102edcb
2 parents 9e91a7d + 155f74a
commit 102edcb
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diff --git a/CHANGELOG.md b/CHANGELOG.md
@@ -3,9 +3,17 @@ All notable changes to this project will be documented in this file.
 
 The format of this document is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/).
 
-
 ## [Unreleased]
 
+## [1.22.0] - 2021-11-12
+
+### Changed
+* Update iCub3 with feet covers (https://github.com/robotology/icub-models-generator/pull/210).
+* Increase metacarpus joint limit of MK3 left hand's thumb (https://github.com/robotology/icub-models-generator/pull/211).
+
+### Fixed
+* Fixed compatibility of all iCub3 models with gazebo-yarp-plugins 4 (https://github.com/robotology/icub-models-generator/pull/21).
+
 ## [1.21.1] - 2021-09-03
 
 ### Fixed

diff --git a/iCub/conf_icub3/gazebo_icub_head.ini b/iCub/conf_icub3/gazebo_icub_head.ini
@@ -51,6 +51,7 @@ 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 4.363 4.363 4.363

diff --git a/iCub/conf_icub3/gazebo_icub_head_without_eyes.ini b/iCub/conf_icub3/gazebo_icub_head_without_eyes.ini
@@ -27,10 +27,10 @@ device gazebo_controlboard
 jointNames neck_pitch neck_roll neck_yaw
 name head
 
-min_stiffness 0.0    0.0    0.0   
+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 
+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
@@ -40,25 +40,26 @@ controlLaw    joint_pid_gazebo_v1
 kp            1.745 1.745 1.745
 kd            0.122 0.122 0.122
 ki            0.003 0.003 0.003
-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  
+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            0.003 0.003 0.003
-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  
+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
@@ -67,6 +68,6 @@ stiffness     0.0   0.0   0.0
 damping       0.0   0.0   0.0
 
 [LIMITS]
-jntPosMax 22.0 20.0 45.0 
+jntPosMax 22.0 20.0 45.0
 jntPosMin -30.0 -20.0 -45.0
 jntVelMax 100.0 100.0 100.0
diff --git a/iCub/conf_icub3/gazebo_icub_left_arm_no_hand_for_no_hand_model.ini b/iCub/conf_icub3/gazebo_icub_left_arm_no_hand_for_no_hand_model.ini
@@ -49,6 +49,7 @@ 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

diff --git a/iCub/conf_icub3/gazebo_icub_left_hand_finger.ini b/iCub/conf_icub3/gazebo_icub_left_hand_finger.ini
@@ -46,6 +46,7 @@ stictionUp    0.0   0.0   0.0   0.0
 stictionDwn   0.0   0.0   0.0   0.0
 
 [VELOCITY_CONTROL]
+velocityControlImplementationType integrator_and_position_pid
 controlUnits  metric_units
 controlLaw    joint_pid_gazebo_v1
 kp            8.726 8.726 8.726 5.235

diff --git a/iCub/conf_icub3/gazebo_icub_left_hand_fingers.ini b/iCub/conf_icub3/gazebo_icub_left_hand_fingers.ini
@@ -53,12 +53,13 @@ kd            0.0   0.0   0.0   0.0   0.0   0.0   0.0   0.0   0.0   0.0   0.0
 ki            0.174 0.174 0.174 0.174 0.174 0.174 0.174 0.174 0.174 0.174 0.174 0.174 0.174 0.174 0.174 0.174 0.174 0.174 0.174 0.174
 maxInt        9999  9999  9999  9999  9999  9999  9999  9999  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  9999  9999  9999  9999  9999  9999  9999  9999
-shift         0.0   0.0   0.0   0.0   0.0   0.0   0.0   0.0   0.0   0.0   0.0   0.0   0.0   0.0   0.0   0.0   0.0   0.0   0.0   0.0  
+shift         0.0   0.0   0.0   0.0   0.0   0.0   0.0   0.0   0.0   0.0   0.0   0.0   0.0   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   0.0   0.0   0.0   0.0   0.0   0.0   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   0.0   0.0   0.0   0.0   0.0   0.0   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   0.0   0.0   0.0   0.0   0.0   0.0   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 5.236 5.236 5.236 5.236 5.236 5.236 5.236 5.236 5.236 5.236 5.236 5.236 5.236

diff --git a/iCub/conf_icub3/gazebo_icub_left_hand_index.ini b/iCub/conf_icub3/gazebo_icub_left_hand_index.ini
@@ -46,6 +46,7 @@ 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

diff --git a/iCub/conf_icub3/gazebo_icub_left_hand_middle.ini b/iCub/conf_icub3/gazebo_icub_left_hand_middle.ini
@@ -46,6 +46,7 @@ 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

diff --git a/iCub/conf_icub3/gazebo_icub_left_hand_pinky.ini b/iCub/conf_icub3/gazebo_icub_left_hand_pinky.ini
@@ -46,6 +46,7 @@ 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

diff --git a/iCub/conf_icub3/gazebo_icub_left_hand_thumb.ini b/iCub/conf_icub3/gazebo_icub_left_hand_thumb.ini
@@ -46,6 +46,7 @@ stictionUp    0.0   0.0   0.0   0.0
 stictionDwn   0.0   0.0   0.0   0.0
 
 [VELOCITY_CONTROL]
+velocityControlImplementationType integrator_and_position_pid
 controlUnits  metric_units
 controlLaw    joint_pid_gazebo_v1
 kp            8.726 8.726 8.726 5.236

diff --git a/iCub/conf_icub3/gazebo_icub_left_leg.ini b/iCub/conf_icub3/gazebo_icub_left_leg.ini
@@ -48,6 +48,7 @@ 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

diff --git a/iCub/conf_icub3/gazebo_icub_right_arm_no_hand_for_no_hand_model.ini b/iCub/conf_icub3/gazebo_icub_right_arm_no_hand_for_no_hand_model.ini
@@ -49,6 +49,7 @@ 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

diff --git a/iCub/conf_icub3/gazebo_icub_right_hand_finger.ini b/iCub/conf_icub3/gazebo_icub_right_hand_finger.ini
@@ -46,6 +46,7 @@ stictionUp    0.0   0.0   0.0   0.0
 stictionDwn   0.0   0.0   0.0   0.0
 
 [VELOCITY_CONTROL]
+velocityControlImplementationType integrator_and_position_pid
 controlUnits  metric_units
 controlLaw    joint_pid_gazebo_v1
 kp            8.726 8.726 8.726 5.236

diff --git a/iCub/conf_icub3/gazebo_icub_right_hand_fingers.ini b/iCub/conf_icub3/gazebo_icub_right_hand_fingers.ini
@@ -59,6 +59,7 @@ stictionUp    0.0   0.0   0.0   0.0   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   0.0   0.0   0.0   0.0   0.0   0.0   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 5.236 5.236 5.236 5.236 5.236 5.236 5.236 5.236 5.236 5.236 5.236 5.236 5.236

diff --git a/iCub/conf_icub3/gazebo_icub_right_hand_index.ini b/iCub/conf_icub3/gazebo_icub_right_hand_index.ini
@@ -46,6 +46,7 @@ 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

diff --git a/iCub/conf_icub3/gazebo_icub_right_hand_middle.ini b/iCub/conf_icub3/gazebo_icub_right_hand_middle.ini
@@ -46,6 +46,7 @@ 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

diff --git a/iCub/conf_icub3/gazebo_icub_right_hand_pinky.ini b/iCub/conf_icub3/gazebo_icub_right_hand_pinky.ini
@@ -46,6 +46,7 @@ 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

diff --git a/iCub/conf_icub3/gazebo_icub_right_hand_thumb.ini b/iCub/conf_icub3/gazebo_icub_right_hand_thumb.ini
@@ -46,6 +46,7 @@ stictionUp    0.0   0.0   0.0   0.0
 stictionDwn   0.0   0.0   0.0   0.0
 
 [VELOCITY_CONTROL]
+velocityControlImplementationType integrator_and_position_pid
 controlUnits  metric_units
 controlLaw    joint_pid_gazebo_v1
 kp            8.726 8.726 8.726 5.236

diff --git a/iCub/conf_icub3/gazebo_icub_right_leg.ini b/iCub/conf_icub3/gazebo_icub_right_leg.ini
@@ -48,6 +48,7 @@ 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

diff --git a/iCub/conf_icub3/gazebo_icub_torso.ini b/iCub/conf_icub3/gazebo_icub_torso.ini
@@ -48,6 +48,7 @@ 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

diff --git a/iCub/conf_left_hand_mk3/left_hand_phys.ini b/iCub/conf_left_hand_mk3/left_hand_phys.ini
@@ -22,7 +22,7 @@ jointNames l_hand_metacarpus_joint l_hand_thumb_rotation_joint l_hand_thumb_prox
 
 [LIMITS]
 jntVelMax   180.0   180.0   180.0   180.0   180.0   180.0   180.0    0 0 0 0 
-jntPosMax    62.0     0.0   140.0    10.0   200.3   200.3   200.3    0 0 0 0  
+jntPosMax    80.0     0.0   140.0    10.0   200.3   200.3   200.3    0 0 0 0  
 jntPosMin     0.0   -70.0     0.0     0.0     0.0     0.0     0.0    0 0 0 0
 
 [POSITION_CONTROL]