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Merge pull request #28 from robotology/devel
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Update master branch after Yarp latest release
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@gabrielenava
gabrielenava authored Aug 26, 2019
2 parents b847cce + b3f3386 commit 007aada
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2 changes: 2 additions & 0 deletions .gitignore
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cmake_install.cmake
install_manifest.txt
CTestTestfile.cmake

.DS_Store
2 changes: 1 addition & 1 deletion README.md
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# icub-gazebo-wholebody
Gazebo models and worlds for simulating scenarios related to iCub Whole Body Control.

The world and models in this repository are mantained by the [Dynamic Interaction Control Group](https://www.iit.it/research/lines/dynamic-interaction-controlicub-gazebo-wholebody) and are mostly related to whole body balancing and walking, related to the FP7 European Projects CoDyCo and Koroibot and the H2020 Project AnDy.
The world and models in this repository are mantained by the [Dynamic Interaction Control Group](https://www.iit.it/research/lines/dynamic-interaction-control) and are mostly related to whole body balancing and walking, related to the FP7 European Projects CoDyCo and Koroibot and the H2020 Project AnDy.

# Usage
- `git clone` the repository on your computer.
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374 changes: 374 additions & 0 deletions models/board/board.sdf
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<?xml version='1.0'?>
<sdf version="1.5">
<model name="board">
<pose>0 0 1.0 0.0 0.0 0.0</pose>

<!-- Base Link -->
<link name="base_link">
<inertial>
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<mass>2</mass>
<inertia>
<ixx>0.0416</ixx>
<ixy>0.0</ixy>
<ixz>0.0</ixz>
<iyy>0.0416</iyy>
<iyz>0.0</iyz>
<izz>0.083</izz>
</inertia>
</inertial>
<collision name='base_link_collision'>
<geometry>
<box>
<size>0.5 0.5 0.025</size>
</box>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<contact>
<ode>
<soft_erp>0.2</soft_erp>
<soft_cfm>0</soft_cfm>
<kp>18000000</kp>
<kd>100</kd>
<max_vel>100</max_vel>
<min_depth>0.0001</min_depth>
</ode>
</contact>
<friction>
<ode>
<mu>1</mu>
<mu2>1</mu2>
<fdir1>0 0 0</fdir1>
<slip1>0</slip1>
<slip2>0</slip2>
</ode>
</friction>
<bounce>
<restitution_coefficient>0</restitution_coefficient>
<threshold>100000</threshold>
</bounce>
</surface>
</collision>
<visual name="base_link_visual">
<geometry>
<box>
<size>0.5 0.5 0.025</size>
</box>
</geometry>
</visual>
</link>

<!-- Border Links -->
<link name="border_top_link">
<pose>0.2375 0.0 0.025 0.0 0.0 0.0</pose>
<inertial>
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<mass>0.01</mass>
<inertia>
<ixx>0.000208</ixx>
<ixy>0.0</ixy>
<ixz>0.0</ixz>
<iyy>0.000001037</iyy>
<iyz>0.0</iyz>
<izz>0.000208</izz>
</inertia>
</inertial>
<collision name='border_top_link_collision'>
<geometry>
<box>
<size>0.025 0.5 0.025</size>
</box>
</geometry>
</collision>
<visual name="border_top_link_visual">
<geometry>
<box>
<size>0.025 0.5 0.025</size>
</box>
</geometry>
</visual>
</link>
<link name="border_bottom_link">
<pose>-0.2375 0.0 0.025 0.0 0.0 0.0</pose>
<inertial>
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<mass>0.01</mass>
<inertia>
<ixx>0.000208</ixx>
<ixy>0.0</ixy>
<ixz>0.0</ixz>
<iyy>0.000001037</iyy>
<iyz>0.0</iyz>
<izz>0.000208</izz>
</inertia>
</inertial>
<collision name='border_bottom_link_collision'>
<geometry>
<box>
<size>0.025 0.5 0.025</size>
</box>
</geometry>
</collision>
<visual name="border_bottom_link_visual">
<geometry>
<box>
<size>0.025 0.5 0.025</size>
</box>
</geometry>
</visual>
</link>
<link name="border_left_link">
<pose>0.0 0.2375 0.025 0.0 0.0 0.0</pose>
<inertial>
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<mass>0.01</mass>
<inertia>
<ixx>0.000001037</ixx>
<ixy>0.0</ixy>
<ixz>0.0</ixz>
<iyy>0.000208</iyy>
<iyz>0.0</iyz>
<izz>0.000208</izz>
</inertia>
</inertial>
<collision name='border_left_link_collision'>
<geometry>
<box>
<size>0.5 0.025 0.025</size>
</box>
</geometry>
</collision>
<visual name="border_left_link_visual">
<geometry>
<box>
<size>0.5 0.025 0.025</size>
</box>
</geometry>
</visual>
</link>
<link name="border_right_link">
<pose>0.0 -0.2375 0.025 0.0 0.0 0.0</pose>
<inertial>
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<mass>0.01</mass>
<inertia>
<ixx>0.000001037</ixx>
<ixy>0.0</ixy>
<ixz>0.0</ixz>
<iyy>0.000208</iyy>
<iyz>0.0</iyz>
<izz>0.000208</izz>
</inertia>
</inertial>
<collision name='border_right_link_collision'>
<geometry>
<box>
<size>0.5 0.025 0.025</size>
</box>
</geometry>
</collision>
<visual name="border_right_link_visual">
<geometry>
<box>
<size>0.5 0.025 0.025</size>
</box>
</geometry>
</visual>
</link>

<!-- Handle Dummy Links -->
<link name="side1_left_dummy_link">
<pose>-0.25 0.125 0.025 0.0 0.0 0.0</pose>
<inertial>
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<mass>0.1</mass>
<inertia>
<ixx>0,00000166</ixx>
<ixy>0.0</ixy>
<ixz>0.0</ixz>
<iyy>0,00000166</iyy>
<iyz>0.0</iyz>
<izz>0,00000166</izz>
</inertia>
</inertial>
<collision name='side1_left_dummy_link_collision'>
<geometry>
<box>
<size>0.01 0.01 0.01</size>
</box>
</geometry>
</collision>
<visual name="side1_left_dummy_link_visual">
<geometry>
<box>
<size>0.01 0.01 0.01</size>
</box>
</geometry>
</visual>
</link>

<link name="side1_right_dummy_link">
<pose>-0.25 -0.125 0.025 0.0 0.0 0.0</pose>
<inertial>
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<mass>0.1</mass>
<inertia>
<ixx>0,00000166</ixx>
<ixy>0.0</ixy>
<ixz>0.0</ixz>
<iyy>0,00000166</iyy>
<iyz>0.0</iyz>
<izz>0,00000166</izz>
</inertia>
</inertial>
<collision name='side1_right_dummy_link_collision'>
<geometry>
<box>
<size>0.01 0.01 0.01</size>
</box>
</geometry>
</collision>
<visual name="side1_right_dummy_link_visual">
<geometry>
<box>
<size>0.01 0.01 0.01</size>
</box>
</geometry>
</visual>
</link>

<link name="side2_left_dummy_link">
<pose>0.25 0.125 0.025 0.0 0.0 0.0</pose>
<inertial>
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<mass>0.1</mass>
<inertia>
<ixx>0,00000166</ixx>
<ixy>0.0</ixy>
<ixz>0.0</ixz>
<iyy>0,00000166</iyy>
<iyz>0.0</iyz>
<izz>0,00000166</izz>
</inertia>
</inertial>
<collision name='side2_left_dummy_link_collision'>
<geometry>
<box>
<size>0.01 0.01 0.01</size>
</box>
</geometry>
</collision>
<visual name="side2_left_dummy_link_visual">
<geometry>
<box>
<size>0.01 0.01 0.01</size>
</box>
</geometry>
</visual>
</link>

<link name="side2_right_dummy_link">
<pose>0.25 -0.125 0.025 0.0 0.0 0.0</pose>
<inertial>
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<mass>0.1</mass>
<inertia>
<ixx>0,00000166</ixx>
<ixy>0.0</ixy>
<ixz>0.0</ixz>
<iyy>0,00000166</iyy>
<iyz>0.0</iyz>
<izz>0,00000166</izz>
</inertia>
</inertial>
<collision name='side2_right_dummy_link_collision'>
<geometry>
<box>
<size>0.01 0.01 0.01</size>
</box>
</geometry>
</collision>
<visual name="side2_right_dummy_link_visual">
<geometry>
<box>
<size>0.01 0.01 0.01</size>
</box>
</geometry>
</visual>
</link>

<!-- Joints -->
<joint name="joint1" type="fixed">
<parent>base_link</parent>
<child>border_top_link</child>
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<axis>
<xyz>1.0 0.0 0.0</xyz>
</axis>
</joint>
<joint name="joint2" type="fixed">
<parent>base_link</parent>
<child>border_bottom_link</child>
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<axis>
<xyz>1.0 0.0 0.0</xyz>
</axis>
</joint>
<joint name="joint3" type="fixed">
<parent>base_link</parent>
<child>border_left_link</child>
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<axis>
<xyz>1.0 0.0 0.0</xyz>
</axis>
</joint>
<joint name="joint4" type="fixed">
<parent>base_link</parent>
<child>border_right_link</child>
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<axis>
<xyz>1.0 0.0 0.0</xyz>
</axis>
</joint>

<joint name="joint5" type="fixed">
<parent>base_link</parent>
<child>side1_left_dummy_link</child>
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<axis>
<xyz>1.0 0.0 0.0</xyz>
</axis>
</joint>
<joint name="joint6" type="fixed">
<parent>base_link</parent>
<child>side1_right_dummy_link</child>
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<axis>
<xyz>1.0 0.0 0.0</xyz>
</axis>
</joint>
<joint name="joint7" type="fixed">
<parent>base_link</parent>
<child>side2_left_dummy_link</child>
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<axis>
<xyz>1.0 0.0 0.0</xyz>
</axis>
</joint>
<joint name="joint8" type="fixed">
<parent>base_link</parent>
<child>side2_right_dummy_link</child>
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<axis>
<xyz>1.0 0.0 0.0</xyz>
</axis>
</joint>

<!-- Linkattacher Plugin -->
<plugin name='link_attacher' filename='libgazebo_yarp_linkattacher.so'>
<yarpConfigurationFile>model://board/conf/linkattacher.ini</yarpConfigurationFile>
</plugin>

</model>
</sdf>
1 change: 1 addition & 0 deletions models/board/conf/linkattacher.ini
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name /board/linkattacher/rpc:i
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