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Merge pull request #249 from robotology/feat/visuomanipGzSim
iCubGazeboV2_5_visuomanip: add support for gz-sim
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62 changes: 34 additions & 28 deletions
62
iCub_manual/conf_manual/iCubGazeboV2_5_visuomanip/gazebo_icub_eyes.ini
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,55 +1,61 @@ | ||
| disableImplicitNetworkWrapper | ||
| yarpDeviceName eyes_hardware_device | ||
|
|
||
| jointNames eyes_tilt l_eye_pan_joint r_eye_pan_joint | ||
| jointNames (eyes_tilt l_eye_pan_joint r_eye_pan_joint) | ||
|
|
||
| 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_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) | ||
|
|
||
| [TRAJECTORY_GENERATION] | ||
| trajectory_type minimum_jerk | ||
|
|
||
| [COUPLING] | ||
| # This is used by gazebo classic control board | ||
| eyes_vergence_control (1 2) (eyes_version eyes_vergence) (-30.0 0.0) (30.0 50.0) | ||
| # This is used by gz-sim control board | ||
| device couplingICubEye | ||
| actuatedAxesNames (eyes_tilt eyes_version eyes_vergence) | ||
| actuatedAxesPosMin (-30.0 -30.0 0.0) | ||
| actuatedAxesPosMax (30.0 30.0 50.0) | ||
|
|
||
| #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 0.1 0.1 0.1 | ||
| kd 0.001 0.001 0.001 | ||
| ki 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 | ||
| kp (0.1 0.1 0.1) | ||
| kd (0.001 0.001 0.001) | ||
| ki (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 0.01 0.01 0.01 | ||
| kd 0.0 0.0 0.0 | ||
| ki 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 | ||
| kp (0.01 0.01 0.01) | ||
| kd (0.0 0.0 0.0) | ||
| ki (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 | ||
| 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 30.0 55.0 30.0 | ||
| jntPosMin -30.0 -30.0 -55.0 | ||
| jntVelMax 100.0 100.0 100.0 | ||
| jntPosMax (30.0 55.0 30.0) | ||
| jntPosMin (-30.0 -30.0 -55.0) | ||
| jntVelMax (100.0 100.0 100.0) |
4 changes: 3 additions & 1 deletion
4
iCub_manual/conf_manual/iCubGazeboV2_5_visuomanip/gazebo_icub_left_camera_rgbd.ini
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,8 +1,10 @@ | ||
| disableImplicitNetworkWrapper | ||
| yarpDeviceName icub_left_camera_rgbd | ||
| sensorName left_camera_rgb | ||
| parentLinkName l_eye | ||
|
|
||
| [CAMERA_PARAM] | ||
| focalLengthX 343.12110728152936 | ||
| focalLengthY 343.12110728152936 | ||
| tangentialPointX 0.0 | ||
| tangentialPointY 0.0 | ||
| tangentialPointY 0.0 |
56 changes: 56 additions & 0 deletions
56
iCub_manual/conf_manual/iCubGazeboV2_5_visuomanip/gazebo_icub_left_hand.ini
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,56 @@ | ||
| disableImplicitNetworkWrapper | ||
| yarpDeviceName left_hand_hardware_device | ||
|
|
||
| jointNames (l_hand_thumb_0_joint l_hand_thumb_1_joint l_hand_thumb_2_joint l_hand_thumb_3_joint l_hand_index_0_joint l_hand_index_1_joint l_hand_index_2_joint l_hand_index_3_joint l_hand_middle_0_joint l_hand_middle_1_joint l_hand_middle_2_joint l_hand_middle_3_joint l_hand_ring_0_joint l_hand_ring_1_joint l_hand_ring_2_joint l_hand_ring_3_joint l_hand_little_0_joint l_hand_little_1_joint l_hand_little_2_joint l_hand_little_3_joint) | ||
|
|
||
| min_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 0.0 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 1000.0 1000.0 1000.0 1000.0 1000.0 1000.0 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 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) | ||
| max_damping (100.0 100.0 100.0 100.0 100.0 100.0 100.0 100.0 100.0 100.0 100.0 100.0 100.0 100.0 100.0 100.0 100.0 100.0 100.0 100.0) | ||
|
|
||
| [TRAJECTORY_GENERATION] | ||
| trajectory_type minimum_jerk | ||
|
|
||
| [COUPLING] | ||
| device couplingICubHandMk2 | ||
| actuatedAxesNames (l_hand_finger l_thumb_oppose l_thumb_proximal l_thumb_distal l_index_proximal l_index_distal l_middle_proximal l_middle_distal l_pinky) | ||
| actuatedAxesPosMin (0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0) | ||
| actuatedAxesPosMax (60.0 90.0 90.0 180.0 90.0 180.0 90.0 180.0 270.0) | ||
|
|
||
| [POSITION_CONTROL] | ||
| controlUnits metric_units | ||
| controlLaw joint_pid_gazebo_v1 | ||
| kp (0.1 0.1 0.1 0.1 0.1 0.1 0.1 0.1 0.1 0.1 0.1 0.1 0.1 0.1 0.1 0.1 0.1 0.1 0.1 0.1) | ||
| kd (0.01 0.01 0.01 0.01 0.01 0.01 0.01 0.01 0.01 0.01 0.01 0.01 0.01 0.01 0.01 0.01 0.01 0.01 0.01 0.01) | ||
| 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 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 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) | ||
| 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 5.235 8.726 8.726 8.726 5.235 8.726 8.726 8.726 8.726 8.726 8.726 8.726 8.726 8.726 8.726 8.726 8.726) | ||
| kd (0.035 0.035 0.035 0.002 0.035 0.035 0.035 0.002 0.035 0.035 0.035 0.035 0.035 0.035 0.035 0.035 0.035 0.035 0.035 0.035) | ||
| ki (0.002 0.002 0.002 0.0 0.002 0.002 0.002 0.0 0.002 0.002 0.002 0.002 0.002 0.002 0.002 0.002 0.002 0.002 0.002 0.002) | ||
| 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) | ||
| 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) | ||
|
|
||
| [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 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 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0) | ||
|
|
||
| [LIMITS] | ||
| jntPosMax (0.0 0.0 20.0 20.0 90.0 90.0 90.0 90.0 90.0 90.0 90.0 90.0 90.0 90.0 90.0 90.0 90.0 90.0 90.0 90.0) | ||
| jntPosMin (-20.0 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 90.0 90.0) | ||
| jntVelMax (100.0 100.0 100.0 100.0 100.0 100.0 100.0 100.0 100.0 100.0 100.0 100.0 100.0 100.0 100.0 100.0 100.0 100.0 100.0 100.0) |
4 changes: 3 additions & 1 deletion
4
iCub_manual/conf_manual/iCubGazeboV2_5_visuomanip/gazebo_icub_right_camera_rgb.ini
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,4 +1,6 @@ | ||
| disableImplicitNetworkWrapper | ||
| yarpDeviceName icub_right_camera_rgb | ||
| framerate 30 | ||
| stamp 1 | ||
| stamp 1 | ||
| sensorName right_camera_rgb | ||
| parentLinkName r_eye |
56 changes: 56 additions & 0 deletions
56
iCub_manual/conf_manual/iCubGazeboV2_5_visuomanip/gazebo_icub_right_hand.ini
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,56 @@ | ||
| disableImplicitNetworkWrapper | ||
| yarpDeviceName right_hand_hardware_device | ||
|
|
||
| jointNames (r_hand_thumb_0_joint r_hand_thumb_1_joint r_hand_thumb_2_joint r_hand_thumb_3_joint r_hand_index_0_joint r_hand_index_1_joint r_hand_index_2_joint r_hand_index_3_joint r_hand_middle_0_joint r_hand_middle_1_joint r_hand_middle_2_joint r_hand_middle_3_joint r_hand_ring_0_joint r_hand_ring_1_joint r_hand_ring_2_joint r_hand_ring_3_joint r_hand_little_0_joint r_hand_little_1_joint r_hand_little_2_joint r_hand_little_3_joint) | ||
|
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||
| min_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 0.0 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 1000.0 1000.0 1000.0 1000.0 1000.0 1000.0 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 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) | ||
| max_damping (100.0 100.0 100.0 100.0 100.0 100.0 100.0 100.0 100.0 100.0 100.0 100.0 100.0 100.0 100.0 100.0 100.0 100.0 100.0 100.0) | ||
|
|
||
| [TRAJECTORY_GENERATION] | ||
| trajectory_type minimum_jerk | ||
|
|
||
| [COUPLING] | ||
| device couplingICubHandMk2 | ||
| actuatedAxesNames (r_hand_finger r_thumb_oppose r_thumb_proximal r_thumb_distal r_index_proximal r_index_distal r_middle_proximal r_middle_distal r_pinky) | ||
| actuatedAxesPosMin (0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0) | ||
| actuatedAxesPosMax (60.0 90.0 90.0 180.0 90.0 180.0 90.0 180.0 270.0) | ||
|
|
||
| [POSITION_CONTROL] | ||
| controlUnits metric_units | ||
| controlLaw joint_pid_gazebo_v1 | ||
| kp (0.1 0.1 0.1 0.1 0.1 0.1 0.1 0.1 0.1 0.1 0.1 0.1 0.1 0.1 0.1 0.1 0.1 0.1 0.1 0.1) | ||
| kd (0.01 0.01 0.01 0.01 0.01 0.01 0.01 0.01 0.01 0.01 0.01 0.01 0.01 0.01 0.01 0.01 0.01 0.01 0.01 0.01) | ||
| 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 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 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) | ||
| 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 5.235 8.726 8.726 8.726 5.235 8.726 8.726 8.726 8.726 8.726 8.726 8.726 8.726 8.726 8.726 8.726 8.726) | ||
| kd (0.035 0.035 0.035 0.002 0.035 0.035 0.035 0.002 0.035 0.035 0.035 0.035 0.035 0.035 0.035 0.035 0.035 0.035 0.035 0.035) | ||
| ki (0.002 0.002 0.002 0.0 0.002 0.002 0.002 0.0 0.002 0.002 0.002 0.002 0.002 0.002 0.002 0.002 0.002 0.002 0.002 0.002) | ||
| 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) | ||
| 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) | ||
|
|
||
| [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 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 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0) | ||
|
|
||
| [LIMITS] | ||
| jntPosMax (0.0 0.0 20.0 20.0 90.0 90.0 90.0 90.0 90.0 90.0 90.0 90.0 90.0 90.0 90.0 90.0 90.0 90.0 90.0 90.0) | ||
| jntPosMin (-20.0 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 90.0 90.0) | ||
| jntVelMax (100.0 100.0 100.0 100.0 100.0 100.0 100.0 100.0 100.0 100.0 100.0 100.0 100.0 100.0 100.0 100.0 100.0 100.0 100.0 100.0) |
47 changes: 47 additions & 0 deletions
47
iCub_manual/conf_manual/iCubGazeboV2_5_visuomanip/icub_gz-sim.xml
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,47 @@ | ||
| <?xml version="1.0" encoding="UTF-8" ?> | ||
| <!DOCTYPE robot PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd"> | ||
|
|
||
| <robot name="iCubGazeboV2_5" build="1" portprefix="/icubSim" xmlns:xi="http://www.w3.org/2001/XInclude"> | ||
| <devices> | ||
|
|
||
| <!-- MOTOR CONTROLLERS --> | ||
|
|
||
| <!-- wrapper are all inherited from automatically generated models --> | ||
| <xi:include href="../../../iCub/conf/wrappers/motorControl/torso-mc_wrapper.xml" /> | ||
| <xi:include href="../../../iCub/conf/wrappers/motorControl/head-mc_wrapper.xml" /> | ||
| <xi:include href="../../../iCub/conf/wrappers/motorControl/left_arm-mc_wrapper.xml" /> | ||
| <xi:include href="../../../iCub/conf/wrappers/motorControl/right_arm-mc_wrapper.xml" /> | ||
|
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||
| <!-- only the torso remapper is inherited from automatically generated models --> | ||
| <xi:include href="../../../iCub/conf/wrappers/motorControl/torso-mc_remapper.xml" /> | ||
|
|
||
| <!-- all the other remappers are specific to this model due to eyes and fingers --> | ||
| <xi:include href="wrappers/motorControl/head-mc_remapper.xml" /> | ||
| <xi:include href="wrappers/motorControl/left_arm-mc_remapper_gz-sim.xml" /> | ||
| <xi:include href="wrappers/motorControl/right_arm-mc_remapper_gz-sim.xml" /> | ||
| <!-- --> | ||
|
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| <!-- HEAD SENSORS --> | ||
|
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| <xi:include href="wrappers/camera/left_camera-rgb_wrapper_gz-sim.xml" /> | ||
| <xi:include href="wrappers/camera/right_camera-rgb_wrapper.xml" /> | ||
|
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| <!-- --> | ||
|
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| <!-- INERTIAL SENSORS --> | ||
|
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||
| <!-- this wrapper is inherited from automatically generated models --> | ||
| <xi:include href="../../../iCub/conf/wrappers/inertials/head-inertials_wrapper.xml" /> | ||
|
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||
| <!-- --> | ||
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| <!-- MAIS (i.e. ENCODER ARRAY) SENSORS --> | ||
| <!-- FOR NOW THIS PLUGIN IS MISSING IN GZ-SIM --> | ||
| <!-- <xi:include href="wrappers/MAIS/left_arm-mais_wrapper.xml" /> | ||
| <xi:include href="wrappers/MAIS/right_arm-mais_wrapper.xml" /> --> | ||
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| <!-- --> | ||
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| </devices> | ||
| </robot> |
13 changes: 13 additions & 0 deletions
13
.../conf_manual/iCubGazeboV2_5_visuomanip/wrappers/camera/left_camera-rgb_wrapper_gz-sim.xml
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,13 @@ | ||
| <?xml version="1.0" encoding="UTF-8" ?> | ||
| <!DOCTYPE robot PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd"> | ||
|
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| <device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_camera_rgb_nws_yarp" type="frameGrabber_nws_yarp"> | ||
| <param name="period">0.033</param> | ||
| <param name="name"> ${portprefix}/cam/left/rgbImage:o </param> | ||
| <action phase="startup" level="5" type="attach"> | ||
| <paramlist name="networks"> | ||
| <elem name="the_device"> icub_left_camera_rgbd </elem> | ||
| </paramlist> | ||
| </action> | ||
| <action phase="shutdown" level="5" type="detach" /> | ||
| </device> |
17 changes: 17 additions & 0 deletions
17
...nf_manual/iCubGazeboV2_5_visuomanip/wrappers/motorControl/left_arm-mc_remapper_gz-sim.xml
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,17 @@ | ||
| <?xml version="1.0" encoding="UTF-8"?> | ||
| <!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd"> | ||
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| <device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_arm-mc_remapper" type="controlboardremapper"> | ||
| <paramlist name="networks"> | ||
| <elem name="left_arm_joints1">( 0 6 0 6 )</elem> | ||
| <elem name="left_arm_joints2">( 7 15 0 8 )</elem> | ||
| </paramlist> | ||
| <param name="joints"> 16 </param> | ||
| <action phase="startup" level="5" type="attach"> | ||
| <paramlist name="networks"> | ||
| <elem name="left_arm_joints1"> left_arm_hardware_device </elem> | ||
| <elem name="left_arm_joints2"> left_hand_hardware_device </elem> | ||
| </paramlist> | ||
| </action> | ||
| <action phase="shutdown" level="20" type="detach" /> | ||
| </device> |
17 changes: 17 additions & 0 deletions
17
...f_manual/iCubGazeboV2_5_visuomanip/wrappers/motorControl/right_arm-mc_remapper_gz-sim.xml
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,17 @@ | ||
| <?xml version="1.0" encoding="UTF-8"?> | ||
| <!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd"> | ||
|
|
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| <device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_arm-mc_remapper" type="controlboardremapper"> | ||
| <paramlist name="networks"> | ||
| <elem name="right_arm_joints1">( 0 6 0 6 )</elem> | ||
| <elem name="right_arm_joints2">( 7 15 0 8 )</elem> | ||
| </paramlist> | ||
| <param name="joints"> 16 </param> | ||
| <action phase="startup" level="5" type="attach"> | ||
| <paramlist name="networks"> | ||
| <elem name="right_arm_joints1"> right_arm_hardware_device </elem> | ||
| <elem name="right_arm_joints2"> right_hand_hardware_device </elem> | ||
| </paramlist> | ||
| </action> | ||
| <action phase="shutdown" level="20" type="detach" /> | ||
| </device> |
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