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icub-model-generator commit: robotology/icub-models-generator@82d5c7a
urdf_parser_py commit: ros/urdf_parser_py@31474b9
simmechanics-to-urdf commit: robotology/simmechanics-to-urdf@1eb31b4
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@Nicogene
Nicogene authored Oct 25, 2021
1 parent 339a6d7 commit 6239efe
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Showing 32 changed files with 2,023 additions and 2,004 deletions.
1 change: 1 addition & 0 deletions iCub/conf_icub3/gazebo_icub_head.ini
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Expand Up @@ -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
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33 changes: 17 additions & 16 deletions iCub/conf_icub3/gazebo_icub_head_without_eyes.ini
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Expand Up @@ -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
Expand All @@ -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
Expand All @@ -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
1 change: 1 addition & 0 deletions iCub/conf_icub3/gazebo_icub_left_arm_no_hand_for_no_hand_model.ini
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Expand Up @@ -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
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1 change: 1 addition & 0 deletions iCub/conf_icub3/gazebo_icub_left_hand_finger.ini
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Expand Up @@ -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
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3 changes: 2 additions & 1 deletion iCub/conf_icub3/gazebo_icub_left_hand_fingers.ini
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Expand Up @@ -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
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1 change: 1 addition & 0 deletions iCub/conf_icub3/gazebo_icub_left_hand_index.ini
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Expand Up @@ -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
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1 change: 1 addition & 0 deletions iCub/conf_icub3/gazebo_icub_left_hand_middle.ini
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Expand Up @@ -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
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1 change: 1 addition & 0 deletions iCub/conf_icub3/gazebo_icub_left_hand_pinky.ini
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Expand Up @@ -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
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1 change: 1 addition & 0 deletions iCub/conf_icub3/gazebo_icub_left_hand_thumb.ini
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Expand Up @@ -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
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1 change: 1 addition & 0 deletions iCub/conf_icub3/gazebo_icub_left_leg.ini
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Expand Up @@ -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
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1 change: 1 addition & 0 deletions iCub/conf_icub3/gazebo_icub_right_arm_no_hand_for_no_hand_model.ini
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Expand Up @@ -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
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1 change: 1 addition & 0 deletions iCub/conf_icub3/gazebo_icub_right_hand_finger.ini
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Expand Up @@ -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
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1 change: 1 addition & 0 deletions iCub/conf_icub3/gazebo_icub_right_hand_fingers.ini
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Expand Up @@ -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
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1 change: 1 addition & 0 deletions iCub/conf_icub3/gazebo_icub_right_hand_index.ini
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Expand Up @@ -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
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1 change: 1 addition & 0 deletions iCub/conf_icub3/gazebo_icub_right_hand_middle.ini
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Original file line number Diff line number Diff line change
Expand Up @@ -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
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1 change: 1 addition & 0 deletions iCub/conf_icub3/gazebo_icub_right_hand_pinky.ini
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Expand Up @@ -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
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1 change: 1 addition & 0 deletions iCub/conf_icub3/gazebo_icub_right_hand_thumb.ini
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Original file line number Diff line number Diff line change
Expand Up @@ -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
Expand Down
1 change: 1 addition & 0 deletions iCub/conf_icub3/gazebo_icub_right_leg.ini
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Expand Up @@ -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
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1 change: 1 addition & 0 deletions iCub/conf_icub3/gazebo_icub_torso.ini
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Expand Up @@ -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
Expand Down
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