diff --git a/urdf/ergoCub/conf/gazebo_ergocub_head.ini b/urdf/ergoCub/conf/gazebo_ergocub_head.ini index 815cf028..a8682e61 100644 --- a/urdf/ergoCub/conf/gazebo_ergocub_head.ini +++ b/urdf/ergoCub/conf/gazebo_ergocub_head.ini @@ -1,13 +1,13 @@ disableImplicitNetworkWrapper yarpDeviceName head_hardware_device -jointNames neck_pitch neck_roll neck_yaw camera_tilt +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 +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: @@ -15,37 +15,37 @@ max_torques 1000000.0 1000000.0 1000000.0 1000000.0 [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 +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 +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 +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 +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/urdf/ergoCub/conf/gazebo_ergocub_left_arm.ini b/urdf/ergoCub/conf/gazebo_ergocub_left_arm.ini index 70bc6917..56275810 100644 --- a/urdf/ergoCub/conf/gazebo_ergocub_left_arm.ini +++ b/urdf/ergoCub/conf/gazebo_ergocub_left_arm.ini @@ -1,13 +1,13 @@ 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 +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 +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 @@ -17,37 +17,37 @@ trajectory_type minimum_jerk [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 +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 +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 +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 +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/urdf/ergoCub/conf/gazebo_ergocub_left_hand_mk5_0.ini b/urdf/ergoCub/conf/gazebo_ergocub_left_hand_mk5_0.ini index e70e6ba5..abc4bf85 100644 --- a/urdf/ergoCub/conf/gazebo_ergocub_left_hand_mk5_0.ini +++ b/urdf/ergoCub/conf/gazebo_ergocub_left_hand_mk5_0.ini @@ -1,61 +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 +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 +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 +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 +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 +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 +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 +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/urdf/ergoCub/conf/gazebo_ergocub_left_hand_mk5_1.ini b/urdf/ergoCub/conf/gazebo_ergocub_left_hand_mk5_1.ini index ba710762..7731b78e 100644 --- a/urdf/ergoCub/conf/gazebo_ergocub_left_hand_mk5_1.ini +++ b/urdf/ergoCub/conf/gazebo_ergocub_left_hand_mk5_1.ini @@ -1,13 +1,13 @@ 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 +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) +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) @@ -30,32 +30,32 @@ jntPosMin (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 +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 +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 +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/urdf/ergoCub/conf/gazebo_ergocub_left_leg.ini b/urdf/ergoCub/conf/gazebo_ergocub_left_leg.ini index 87fe202a..4913d4ba 100644 --- a/urdf/ergoCub/conf/gazebo_ergocub_left_leg.ini +++ b/urdf/ergoCub/conf/gazebo_ergocub_left_leg.ini @@ -1,13 +1,13 @@ 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 +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 +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 @@ -17,37 +17,37 @@ trajectory_type minimum_jerk [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 +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 +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 +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 +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/urdf/ergoCub/conf/gazebo_ergocub_right_arm.ini b/urdf/ergoCub/conf/gazebo_ergocub_right_arm.ini index 80d1c7e0..333b0f98 100644 --- a/urdf/ergoCub/conf/gazebo_ergocub_right_arm.ini +++ b/urdf/ergoCub/conf/gazebo_ergocub_right_arm.ini @@ -1,13 +1,13 @@ 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 +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 +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 @@ -17,37 +17,37 @@ trajectory_type minimum_jerk [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 +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 +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 +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 +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/urdf/ergoCub/conf/gazebo_ergocub_right_hand_mk5_0.ini b/urdf/ergoCub/conf/gazebo_ergocub_right_hand_mk5_0.ini index de40d0cd..14c59891 100644 --- a/urdf/ergoCub/conf/gazebo_ergocub_right_hand_mk5_0.ini +++ b/urdf/ergoCub/conf/gazebo_ergocub_right_hand_mk5_0.ini @@ -1,61 +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 +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 +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 +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 +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 +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 +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 +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/urdf/ergoCub/conf/gazebo_ergocub_right_hand_mk5_1.ini b/urdf/ergoCub/conf/gazebo_ergocub_right_hand_mk5_1.ini index 5c49e762..4d941c19 100644 --- a/urdf/ergoCub/conf/gazebo_ergocub_right_hand_mk5_1.ini +++ b/urdf/ergoCub/conf/gazebo_ergocub_right_hand_mk5_1.ini @@ -1,6 +1,6 @@ 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) +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] @@ -23,39 +23,39 @@ b (0.00640 0.00640 0.00640 0.00640 0.00640) 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 +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 +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 +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 +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/urdf/ergoCub/conf/gazebo_ergocub_right_leg.ini b/urdf/ergoCub/conf/gazebo_ergocub_right_leg.ini index 38490a77..25a4df81 100644 --- a/urdf/ergoCub/conf/gazebo_ergocub_right_leg.ini +++ b/urdf/ergoCub/conf/gazebo_ergocub_right_leg.ini @@ -1,13 +1,13 @@ disableImplicitNetworkWrapper yarpDeviceName right_leg_hardware_device -jointNames r_hip_pitch r_hip_roll r_hip_yaw r_knee r_ankle_pitch r_ankle_roll +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 +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 @@ -17,37 +17,37 @@ trajectory_type minimum_jerk [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 +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 +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 +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 +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/urdf/ergoCub/conf/gazebo_ergocub_torso.ini b/urdf/ergoCub/conf/gazebo_ergocub_torso.ini index 9172db53..e8b37b32 100644 --- a/urdf/ergoCub/conf/gazebo_ergocub_torso.ini +++ b/urdf/ergoCub/conf/gazebo_ergocub_torso.ini @@ -1,12 +1,12 @@ disableImplicitNetworkWrapper yarpDeviceName torso_hardware_device -jointNames torso_roll torso_pitch torso_yaw +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 +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] @@ -17,37 +17,37 @@ trajectory_type minimum_jerk [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 +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 +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 +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 +jntPosMax ( 43.0 45.0 23.0) +jntPosMin (-43.0 -18.0 -23.0) +jntVelMax (100.0 100.0 100.0)