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ICUB_3_all_options.yaml
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# Robot name
robotName: iCub
# Model base origin
originXYZ: [0.0,0.0,0.64]
originRPY: [0.0,0.0,0.0]
# Meshes options
scale: "0.001 0.001 0.001"
filenameformatchangeext: "package://iCub/meshes/simmechanics/%s.stl"
epsilon: 2e-4
forcelowercase: Yes
rename:
# upperbody
SIM_ICUB3_CHEST: chest
SIM_ICUB3_L_SHOULDER_1: l_shoulder_1
SIM_ICUB3_CHEST--SIM_ICUB3_L_SHOULDER_1: l_shoulder_pitch
SIM_ICUB3_L_SHOULDER_2: l_shoulder_2
SIM_ICUB3_L_SHOULDER_1--SIM_ICUB3_L_SHOULDER_2: l_shoulder_roll
SIM_ICUB3_L_SHOULDER_3: l_shoulder_3
SIM_ICUB3_L_SHOULDER_2--SIM_ICUB3_L_SHOULDER_3: l_arm_ft_sensor
SIM_ICUB3_L_UPPERARM: l_upper_arm
SIM_ICUB3_L_SHOULDER_3--SIM_ICUB3_L_UPPERARM: l_shoulder_yaw
SIM_ICUB3_R_SHOULDER_1: r_shoulder_1
SIM_ICUB3_CHEST--SIM_ICUB3_R_SHOULDER_1: r_shoulder_pitch
SIM_ICUB3_R_SHOULDER_2: r_shoulder_2
SIM_ICUB3_R_SHOULDER_1--SIM_ICUB3_R_SHOULDER_2: r_shoulder_roll
SIM_ICUB3_R_SHOULDER_3: r_shoulder_3
SIM_ICUB3_R_SHOULDER_2--SIM_ICUB3_R_SHOULDER_3: r_arm_ft_sensor
SIM_ICUB3_R_UPPERARM: r_upper_arm
SIM_ICUB3_R_SHOULDER_3--SIM_ICUB3_R_UPPERARM: r_shoulder_yaw
SIM_ICUB3_TORSO_2: torso_2
SIM_ICUB3_TORSO_2--SIM_ICUB3_CHEST: torso_yaw
SIM_ICUB3_TORSO_1: torso_1
SIM_ICUB3_TORSO_1--SIM_ICUB3_TORSO_2: torso_pitch
SIM_ICUB3_ROOT_LINK: root_link
SIM_ICUB3_ROOT_LINK--SIM_ICUB3_TORSO_1: torso_roll
SIM_ICUB3_CHEST--SIM_HEAD_NECK_1: neck_fixed_joint
# left leg
SIM_ICUB3_L_HIP_1: l_hip_1
SIM_ICUB3_L_HIP_2: l_hip_2
SIM_ICUB3_L_HIP_3: l_hip_3
SIM_ICUB3_L_UPPER_LEG: l_upper_leg
SIM_ICUB3_L_LOWER_LEG: l_lower_leg
SIM_ICUB3_L_ANKLE_1: l_ankle_1
SIM_ICUB3_L_ANKLE_2: l_ankle_2
SIM_ICUB3_L_FOOT_FRONT: l_foot_front
SIM_ICUB3_L_FOOT_REAR: l_foot_rear
SIM_ICUB3_ROOT_LINK--SIM_ICUB3_L_HIP_1: l_hip_pitch
SIM_ICUB3_L_HIP_1--SIM_ICUB3_L_HIP_2: l_hip_roll
SIM_ICUB3_L_HIP_2--SIM_ICUB3_L_HIP_3: l_leg_ft_sensor
SIM_ICUB3_L_HIP_3--SIM_ICUB3_L_UPPER_LEG: l_hip_yaw
SIM_ICUB3_L_UPPER_LEG--SIM_ICUB3_L_LOWER_LEG: l_knee
SIM_ICUB3_L_LOWER_LEG--SIM_ICUB3_L_ANKLE_1: l_ankle_pitch
SIM_ICUB3_L_ANKLE_1--SIM_ICUB3_L_ANKLE_2: l_ankle_roll
SIM_ICUB3_L_ANKLE_2--SIM_ICUB3_L_FOOT_FRONT: l_foot_front_ft_sensor
SIM_ICUB3_L_ANKLE_2--SIM_ICUB3_L_FOOT_REAR: l_foot_rear_ft_sensor
# right leg
SIM_ICUB3_R_HIP_1: r_hip_1
SIM_ICUB3_R_HIP_2: r_hip_2
SIM_ICUB3_R_HIP_3: r_hip_3
SIM_ICUB3_R_UPPER_LEG: r_upper_leg
SIM_ICUB3_R_LOWER_LEG: r_lower_leg
SIM_ICUB3_R_ANKLE_1: r_ankle_1
SIM_ICUB3_R_ANKLE_2: r_ankle_2
SIM_ICUB3_R_FOOT_FRONT: r_foot_front
SIM_ICUB3_R_FOOT_REAR: r_foot_rear
SIM_ICUB3_ROOT_LINK--SIM_ICUB3_R_HIP_1: r_hip_pitch
SIM_ICUB3_R_HIP_1--SIM_ICUB3_R_HIP_2: r_hip_roll
SIM_ICUB3_R_HIP_2--SIM_ICUB3_R_HIP_3: r_leg_ft_sensor
SIM_ICUB3_R_HIP_3--SIM_ICUB3_R_UPPER_LEG: r_hip_yaw
SIM_ICUB3_R_UPPER_LEG--SIM_ICUB3_R_LOWER_LEG: r_knee
SIM_ICUB3_R_LOWER_LEG--SIM_ICUB3_R_ANKLE_1: r_ankle_pitch
SIM_ICUB3_R_ANKLE_1--SIM_ICUB3_R_ANKLE_2: r_ankle_roll
SIM_ICUB3_R_ANKLE_2--SIM_ICUB3_R_FOOT_FRONT: r_foot_front_ft_sensor
SIM_ICUB3_R_ANKLE_2--SIM_ICUB3_R_FOOT_REAR: r_foot_rear_ft_sensor
# head
SIM_HEAD_NECK_1: neck_1
SIM_HEAD_NECK_2: neck_2
SIM_HEAD_NECK_3: neck_3
SIM_HEAD_HEAD: head
SIM_HEAD_NECK_1--SIM_HEAD_NECK_2: neck_pitch
SIM_HEAD_NECK_2--SIM_HEAD_NECK_3: neck_roll
SIM_HEAD_NECK_3--SIM_HEAD_HEAD: neck_yaw
# left forearm
SIM_ICUB3_L_ELBOW_1: l_elbow_1
SIM_ICUB3_L_FOREARM: l_forearm
SIM_ICUB3_L_WRIST_1: l_wrist_1
SIM_ICUB3_L_HAND: l_hand
SIM_ICUB3_L_UPPERARM--SIM_ICUB3_L_ELBOW_1: l_elbow
SIM_ICUB3_L_ELBOW_1--SIM_ICUB3_L_FOREARM: l_wrist_prosup
SIM_ICUB3_L_FOREARM--SIM_ICUB3_L_WRIST_1: l_wrist_pitch
SIM_ICUB3_L_WRIST_1--SIM_ICUB3_L_HAND: l_wrist_yaw
# right forearm
SIM_ICUB3_R_ELBOW_1: r_elbow_1
SIM_ICUB3_R_FOREARM: r_forearm
SIM_ICUB3_R_WRIST_1: r_wrist_1
SIM_ICUB3_R_HAND: r_hand
SIM_ICUB3_R_UPPERARM--SIM_ICUB3_R_ELBOW_1: r_elbow
SIM_ICUB3_R_ELBOW_1--SIM_ICUB3_R_FOREARM: r_wrist_prosup
SIM_ICUB3_R_FOREARM--SIM_ICUB3_R_WRIST_1: r_wrist_pitch
SIM_ICUB3_R_WRIST_1--SIM_ICUB3_R_HAND: r_wrist_yaw
# Frames options
exportAllUseradded: No
linkFrames:
# upperbody
- linkName: root_link
frameName: SCSYS_ROOT
- linkName: chest
frameName: SCSYS_CHEST
- linkName: l_shoulder_1
frameName: SCSYS_L_SHOULDER_1
- linkName: l_shoulder_2
frameName: SCSYS_L_SHOULDER_2
- linkName: l_shoulder_3
frameName: SCSYS_L_SHOULDER_3
- linkName: l_upper_arm
frameName: SCSYS_L_UPPERARM
- linkName: r_shoulder_1
frameName: SCSYS_R_SHOULDER_1
- linkName: r_shoulder_2
frameName: SCSYS_R_SHOULDER_2
- linkName: r_shoulder_3
frameName: SCSYS_R_SHOULDER_3
- linkName: r_upper_arm
frameName: SCSYS_R_UPPERARM
- linkName: torso_1
frameName: SCSYS_TORSO_1
- linkName: torso_2
frameName: SCSYS_TORSO_2
# left leg
- linkName: l_hip_1
frameName: SCSYS_L_HIP_1
- linkName: l_hip_2
frameName: SCSYS_L_HIP_2
- linkName: l_hip_3
frameName: SCSYS_L_HIP_3
- linkName: l_upper_leg
frameName: SCSYS_L_UPPER_LEG
- linkName: l_lower_leg
frameName: SCSYS_L_LOWER_LEG
- linkName: l_ankle_1
frameName: SCSYS_L_ANKLE_1
- linkName: l_ankle_2
frameName: SCSYS_L_ANKLE_2
- linkName: l_foot_front
frameName: SCSYS_L_FOOT_FRONT
- linkName: l_foot_rear
frameName: SCSYS_L_FOOT_REAR
# right leg
- linkName: r_hip_1
frameName: SCSYS_R_HIP_1
- linkName: r_hip_2
frameName: SCSYS_R_HIP_2
- linkName: r_hip_3
frameName: SCSYS_R_HIP_3
- linkName: r_upper_leg
frameName: SCSYS_R_UPPER_LEG
- linkName: r_lower_leg
frameName: SCSYS_R_LOWER_LEG
- linkName: r_ankle_1
frameName: SCSYS_R_ANKLE_1
- linkName: r_ankle_2
frameName: SCSYS_R_ANKLE_2
- linkName: r_foot_front
frameName: SCSYS_R_FOOT_FRONT
- linkName: r_foot_rear
frameName: SCSYS_R_FOOT_REAR
# head
- linkName: neck_1
frameName: SCSYS_NECK_1
- linkName: neck_2
frameName: SCSYS_NECK_2
- linkName: neck_3
frameName: SCSYS_NECK_3
- linkName: head
frameName: SCSYS_HEAD
# left forearm
- linkName: l_elbow_1
frameName: SCSYS_L_ELBOW_1
- linkName: l_forearm
frameName: SCSYS_L_FOREARM
- linkName: l_wrist_1
frameName: SCSYS_L_WRIST_1
- linkName: l_hand
frameName: SCSYS_L_HAND
# right forearm
- linkName: r_elbow_1
frameName: SCSYS_R_ELBOW_1
- linkName: r_forearm
frameName: SCSYS_R_FOREARM
- linkName: r_wrist_1
frameName: SCSYS_R_WRIST_1
- linkName: r_hand
frameName: SCSYS_R_HAND
exportedFrames:
- frameName: SCSYS_HEAD_IMU
frameReferenceLink: head
exportedFrameName: imu_frame
- frameName: SCSYS_CHEST_DEPTH
frameReferenceLink: chest
exportedFrameName: chest_depth_frame
- frameName: SCSYS_CHEST_RGB
frameReferenceLink: chest
exportedFrameName: chest_rgb_frame
- frameName: SCSYS_L_SOLE
frameReferenceLink: l_foot_rear
exportedFrameName: l_sole
- frameName: SCSYS_R_SOLE
frameReferenceLink: r_foot_rear
exportedFrameName: r_sole
# Sensors options
forceTorqueSensors:
# upperbody
- jointName: l_arm_ft_sensor
directionChildToParent: Yes
exportFrameInURDF: Yes
frame: sensor
frameName: SCSYS_L_SHOULDER_2_FT
linkName: l_shoulder_2
sensorName: l_arm_ft
sensorBlobs:
- |
<plugin name="left_arm_ft_plugin" filename="libgazebo_yarp_forcetorque.so">
<yarpConfigurationFile>model://iCub/conf_icub3/FT/gazebo_icub_left_arm_ft.ini</yarpConfigurationFile>
</plugin>
- jointName: r_arm_ft_sensor
directionChildToParent: Yes
exportFrameInURDF: Yes
frame: sensor
frameName: SCSYS_R_SHOULDER_2_FT
linkName: r_shoulder_2
sensorName: r_arm_ft
sensorBlobs:
- |
<plugin name="right_arm_ft_plugin" filename="libgazebo_yarp_forcetorque.so">
<yarpConfigurationFile>model://iCub/conf_icub3/FT/gazebo_icub_right_arm_ft.ini</yarpConfigurationFile>
</plugin>
# left leg
- jointName: l_leg_ft_sensor
directionChildToParent: Yes
exportFrameInURDF: Yes
frame: sensor
linkName: l_hip_2
frameName: SCSYS_L_HIP_2_FT
sensorName: l_leg_ft
sensorBlobs:
- |
<plugin name="left_leg_ft_plugin" filename="libgazebo_yarp_forcetorque.so">
<yarpConfigurationFile>model://iCub/conf_icub3/FT/gazebo_icub_left_leg_ft.ini</yarpConfigurationFile>
</plugin>
- jointName: l_foot_front_ft_sensor
directionChildToParent: No
exportFrameInURDF: Yes
frame: sensor
linkName: l_ankle_2
frameName: SCSYS_L_ANKLE_2_FT_FRONT
sensorName: l_foot_front_ft
sensorBlobs:
- |
<plugin name="left_foot_front_ft_plugin" filename="libgazebo_yarp_forcetorque.so">
<yarpConfigurationFile>model://iCub/conf_icub3/FT/gazebo_icub_left_foot_front_ft.ini</yarpConfigurationFile>
</plugin>
- jointName: l_foot_rear_ft_sensor
directionChildToParent: No
exportFrameInURDF: Yes
frame: sensor
linkName: l_ankle_2
frameName: SCSYS_L_ANKLE_2_FT_REAR
sensorName: l_foot_rear_ft
sensorBlobs:
- |
<plugin name="left_foot_rear_ft_plugin" filename="libgazebo_yarp_forcetorque.so">
<yarpConfigurationFile>model://iCub/conf_icub3/FT/gazebo_icub_left_foot_rear_ft.ini</yarpConfigurationFile>
</plugin>
# right leg
- jointName: r_leg_ft_sensor
directionChildToParent: Yes
exportFrameInURDF: Yes
frame: sensor
linkName: r_hip_2
frameName: SCSYS_R_HIP_2_FT
sensorName: r_leg_ft
sensorBlobs:
- |
<plugin name="right_leg_ft_plugin" filename="libgazebo_yarp_forcetorque.so">
<yarpConfigurationFile>model://iCub/conf_icub3/FT/gazebo_icub_right_leg_ft.ini</yarpConfigurationFile>
</plugin>
- jointName: r_foot_front_ft_sensor
directionChildToParent: No
exportFrameInURDF: Yes
frame: sensor
linkName: r_ankle_2
frameName: SCSYS_R_ANKLE_2_FT_FRONT
sensorName: r_foot_front_ft
sensorBlobs:
- |
<plugin name="right_foot_front_ft_plugin" filename="libgazebo_yarp_forcetorque.so">
<yarpConfigurationFile>model://iCub/conf_icub3/FT/gazebo_icub_right_foot_front_ft.ini</yarpConfigurationFile>
</plugin>
- jointName: r_foot_rear_ft_sensor
directionChildToParent: No
exportFrameInURDF: Yes
frame: sensor
linkName: r_ankle_2
frameName: SCSYS_R_ANKLE_2_FT_REAR
sensorName: r_foot_rear_ft
sensorBlobs:
- |
<plugin name="right_foot_rear_ft_plugin" filename="libgazebo_yarp_forcetorque.so">
<yarpConfigurationFile>model://iCub/conf_icub3/FT/gazebo_icub_right_foot_rear_ft.ini</yarpConfigurationFile>
</plugin>
sensors:
- sensorName: default
exportFrameInURDF: Yes
sensorType: "accelerometer"
updateRate: "100"
sensorBlobs:
- |
<plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so" />
- sensorName: default
exportFrameInURDF: Yes
sensorType: "gyroscope"
updateRate: "100"
- frameName: SCSYS_HEAD_IMU
linkName: head
sensorName: head_imu_0
exportFrameInURDF: Yes
sensorType: "accelerometer"
sensorBlobs:
- |
<plugin name="iCub_yarp_gazebo_plugin_IMU" filename="libgazebo_yarp_imu.so">
<yarpConfigurationFile>model://iCub/conf_icub3/gazebo_icub_inertial.ini</yarpConfigurationFile>
</plugin>
- sensorName: default
exportFrameInURDF: No
sensorType: "depth"
updateRate: "30"
- sensorName: default
exportFrameInURDF: No
sensorType: "camera"
updateRate: "30"
sensorBlobs:
- |
<plugin name="iCub_yarp_gazebo_plugin_camera" filename="libgazebo_yarp_camera.so" />
- frameName: SCSYS_CHEST_DEPTH
linkName: chest
sensorName: realsense_chest_depth
sensorType: "depth"
sensorBlobs:
- |
<camera name="intel_realsense_depth_camera">
<pose>0 0 0 -1.57079 -1.57079 3.14159</pose>
<horizontal_fov>1.57079</horizontal_fov>
<distortion>
<k1>0</k1>
<k2>0</k2>
<k3>0</k3>
<p1>0</p1>
<p2>0</p2>
<center>319.5 239.5</center>
</distortion>
<image>
<width>640</width>
<height>480</height>
<format>R8G8B8</format>
</image>
<clip>
<near>0.175</near>
<far>3000</far>
</clip>
</camera>
- |
<visualize>false</visualize>
- |
<plugin name="iCub_yarp_gazebo_plugin_depthCamera" filename="libgazebo_yarp_depthCamera.so">
<yarpConfigurationFile>model://iCub/conf_icub3/gazebo_icub_depth_camera.ini</yarpConfigurationFile>
</plugin>
- frameName: SCSYS_CHEST_RGB
linkName: chest
sensorName: realsense_chest_rgb
sensorType: "camera"
sensorBlobs:
- |
<camera name="intel_realsense_rgb_camera">
<pose>0 0 0 -1.57079 -1.57079 3.14159</pose>
<horizontal_fov>1.2217</horizontal_fov>
<distortion>
<k1>0</k1>
<k2>0</k2>
<k3>0</k3>
<p1>0</p1>
<p2>0</p2>
<center>319.5 239.5</center>
</distortion>
<image>
<width>640</width>
<height>480</height>
<format>R8G8B8</format>
</image>
<clip>
<near>0.02</near>
<far>3000</far>
</clip>
</camera>
- |
<visualize>false</visualize>
- |
<plugin name="iCub_yarp_gazebo_plugin_camera" filename="libgazebo_yarp_camera.so">
<yarpConfigurationFile>model://iCub/conf_icub3/gazebo_icub_rgb_camera.ini</yarpConfigurationFile>
</plugin>
# According to https://github.com/IntelRealSense/realsense-ros/issues/927 in the realsense
# the imu measurements are referred to the depth frame.
- frameName: SCSYS_CHEST_DEPTH
linkName: chest
sensorName: chest_imu_0
exportFrameInURDF: Yes
sensorType: "accelerometer"
exportFrameInURDF: Yes
sensorBlobs:
- |
<plugin name="iCub_yarp_gazebo_plugin_IMU" filename="libgazebo_yarp_imu.so">
<yarpConfigurationFile>model://iCub/conf_icub3/gazebo_icub_chest_inertial.ini</yarpConfigurationFile>
</plugin>
assignedMasses:
root_link : 2.5751
torso_1 : 1.6998
torso_2 : 0.77098
chest : 7.5231
l_shoulder_1: 0.78644
r_shoulder_1: 0.78697
l_shoulder_2: 0.42492
r_shoulder_2: 0.42492
l_shoulder_3: 0.2625
r_shoulder_3: 0.2625
l_upper_arm : 1.6203
r_upper_arm : 1.6219
r_hip_1 : 2.1623
r_hip_2 : 1.7731
r_hip_3 : 2.1635
r_upper_leg : 0.90926
r_lower_leg : 5.0761
r_ankle_1 : 0.36569
r_ankle_2 : 1.3771
r_foot_front: 0.17964
r_foot_rear : 0.17874
l_hip_1 : 2.1611
l_hip_2 : 1.7731
l_hip_3 : 2.1622
l_upper_leg : 0.90926
l_lower_leg : 5.0486
l_ankle_1 : 0.36569
l_ankle_2 : 1.377
l_foot_front: 0.17896
l_foot_rear : 0.17851
l_elbow_1 : 0.22161
r_elbow_1 : 0.22157
l_forearm : 0.87311
r_forearm : 0.8686
l_wrist_1 : 0.033183
r_wrist_1 : 0.033183
l_hand : 0.25639
r_hand : 0.25705
neck_1 : 0.36804
neck_2 : 0.1214
neck_3 : 0.18386
head : 1.8728
assignedColors:
root_link : [0.70, 0.70, 0.70, 1]
torso_1 : [0.70, 0.70, 0.70, 1]
torso_2 : [0.70, 0.70, 0.70, 1]
chest : [0.3, 0.3, 0.3, 1]
l_shoulder_1: [0.70, 0.70, 0.70, 1]
r_shoulder_1: [0.70, 0.70, 0.70, 1]
l_shoulder_2: [0.70, 0.70, 0.70, 1]
r_shoulder_2: [0.70, 0.70, 0.70, 1]
r_shoulder_3: [0.70, 0.70, 0.70, 1]
l_shoulder_3: [0.70, 0.70, 0.70, 1]
l_upper_arm : [0.3, 0.3, 0.3, 1]
r_upper_arm : [0.3, 0.3, 0.3, 1]
r_hip_1 : [0.70, 0.70, 0.70, 1]
r_hip_2 : [0.70, 0.70, 0.70, 1]
r_hip_3 : [0.3, 0.3, 0.3, 1]
r_upper_leg : [0.70, 0.70, 0.70, 1]
r_lower_leg : [0.3, 0.3, 0.3, 1]
r_ankle_1 : [0.70, 0.70, 0.70, 1]
r_ankle_2 : [0.3, 0.3, 0.3, 1]
r_foot_front: [1, 0.51, 0.0, 1]
r_foot_rear : [1, 0.51, 0.0, 1]
l_hip_1 : [0.70, 0.70, 0.70, 1]
l_hip_2 : [0.70, 0.70, 0.70, 1]
l_hip_3 : [0.3, 0.3, 0.3, 1]
l_upper_leg : [0.70, 0.70, 0.70, 1]
l_lower_leg : [0.3, 0.3, 0.3, 1]
l_ankle_1 : [0.70, 0.70, 0.70, 1]
l_ankle_2 : [0.3, 0.3, 0.3, 1]
l_foot_front: [1, 0.51, 0.0, 1]
l_foot_rear : [1, 0.51, 0.0, 1]
l_elbow_1 : [0.3, 0.3, 0.3, 1]
r_elbow_1 : [0.3, 0.3, 0.3, 1]
l_forearm : [0.3, 0.3, 0.3, 1]
r_forearm : [0.3, 0.3, 0.3, 1]
l_wrist_1 : [0.70, 0.70, 0.70, 1]
r_wrist_1 : [0.70, 0.70, 0.70, 1]
l_hand : [0.70, 0.70, 0.70, 1]
r_hand : [0.70, 0.70, 0.70, 1]
neck_1 : [0.70, 0.70, 0.70, 1]
neck_2 : [0.70, 0.70, 0.70, 1]
neck_3 : [0.70, 0.70, 0.70, 1]
head : [0.70, 0.70, 0.70, 1]
reverseRotationAxis:
r_hip_yaw
r_hip_roll
r_knee
r_ankle_roll
l_ankle_pitch
r_elbow
l_shoulder_yaw
l_shoulder_pitch
l_shoulder_roll
l_wrist_prosup
l_wrist_pitch
l_wrist_yaw
torso_yaw
torso_pitch
torso_roll
neck_yaw
XMLBlobs:
# upperbody
- |
<link name="base_link" />
- |
<joint name="base_link_fixed_joint" type="fixed">
<origin xyz="0 0 0" rpy="0 -0 0" />
<axis xyz="0 0 0" />
<parent link="root_link" />
<child link="base_link" />
</joint>
- |
<gazebo reference="r_arm_ft_sensor">
<preserveFixedJoint>true</preserveFixedJoint>
<!-- For compatibility with SDFormat < 4.4 -->
<disableFixedJointLumping>true</disableFixedJointLumping>
</gazebo>
- |
<gazebo reference="l_arm_ft_sensor">
<preserveFixedJoint>true</preserveFixedJoint>
<!-- For compatibility with SDFormat < 4.4 -->
<disableFixedJointLumping>true</disableFixedJointLumping>
</gazebo>
- |
<gazebo>
<plugin name="controlboard_torso" filename="libgazebo_yarp_controlboard.so">
<yarpConfigurationFile>model://iCub/conf_icub3/gazebo_icub_torso.ini</yarpConfigurationFile>
</plugin>
</gazebo>
- |
<gazebo reference="torso_pitch">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
- |
<gazebo reference="torso_roll">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
- |
<gazebo reference="torso_yaw">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
- |
<gazebo reference="r_shoulder_pitch">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
- |
<gazebo reference="r_shoulder_roll">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
- |
<gazebo reference="r_shoulder_yaw">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
- |
<gazebo reference="l_shoulder_pitch">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
- |
<gazebo reference="l_shoulder_roll">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
- |
<gazebo reference="l_shoulder_yaw">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
# left leg
- |
<gazebo reference="l_leg_ft_sensor">
<preserveFixedJoint>true</preserveFixedJoint>
<!-- For compatibility with SDFormat < 4.4 -->
<disableFixedJointLumping>true</disableFixedJointLumping>
</gazebo>
- |
<gazebo reference="l_foot_front_ft_sensor">
<preserveFixedJoint>true</preserveFixedJoint>
<!-- For compatibility with SDFormat < 4.4 -->
<disableFixedJointLumping>true</disableFixedJointLumping>
</gazebo>
- |
<gazebo reference="l_foot_rear_ft_sensor">
<preserveFixedJoint>true</preserveFixedJoint>
<!-- For compatibility with SDFormat < 4.4 -->
<disableFixedJointLumping>true</disableFixedJointLumping>
</gazebo>
- |
<gazebo reference="l_foot_front">
<collision> <surface> <bounce>
<restitution_coefficient>0</restitution_coefficient>
<threshold>100000</threshold>
</bounce> </surface> </collision>
<maxContacts>4</maxContacts>
<kp>18000000</kp>
<kd>100</kd>
<maxVel>100</maxVel>
<minDepth>0.0001</minDepth>
<mu1>1</mu1>
<mu2>1</mu2>
<fdir1>0 0 0</fdir1>
</gazebo>
- |
<gazebo reference="l_foot_rear">
<collision> <surface> <bounce>
<restitution_coefficient>0</restitution_coefficient>
<threshold>100000</threshold>
</bounce> </surface> </collision>
<maxContacts>4</maxContacts>
<kp>18000000</kp>
<kd>100</kd>
<maxVel>100</maxVel>
<minDepth>0.0001</minDepth>
<mu1>1</mu1>
<mu2>1</mu2>
<fdir1>0 0 0</fdir1>
</gazebo>
- |
<gazebo>
<plugin name="controlboard_left_leg" filename="libgazebo_yarp_controlboard.so">
<yarpConfigurationFile>model://iCub/conf_icub3/gazebo_icub_left_leg.ini</yarpConfigurationFile>
</plugin>
</gazebo>
- |
<gazebo reference="l_hip_pitch">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
- |
<gazebo reference="l_hip_roll">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
- |
<gazebo reference="l_hip_yaw">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
- |
<gazebo reference="l_knee">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
- |
<gazebo reference="l_ankle_pitch">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
- |
<gazebo reference="l_ankle_roll">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
# right leg
- |
<gazebo reference="r_leg_ft_sensor">
<preserveFixedJoint>true</preserveFixedJoint>
<!-- For compatibility with SDFormat < 4.4 -->
<disableFixedJointLumping>true</disableFixedJointLumping>
</gazebo>
- |
<gazebo reference="r_foot_front_ft_sensor">
<preserveFixedJoint>true</preserveFixedJoint>
<!-- For compatibility with SDFormat < 4.4 -->
<disableFixedJointLumping>true</disableFixedJointLumping>
</gazebo>
- |
<gazebo reference="r_foot_rear_ft_sensor">
<preserveFixedJoint>true</preserveFixedJoint>
<!-- For compatibility with SDFormat < 4.4 -->
<disableFixedJointLumping>true</disableFixedJointLumping>
</gazebo>
- |
<gazebo reference="r_foot_front">
<collision> <surface> <bounce>
<restitution_coefficient>0</restitution_coefficient>
<threshold>100000</threshold>
</bounce> </surface> </collision>
<maxContacts>4</maxContacts>
<kp>18000000</kp>
<kd>100</kd>
<maxVel>100</maxVel>
<minDepth>0.0001</minDepth>
<mu1>1</mu1>
<mu2>1</mu2>
<fdir1>0 0 0</fdir1>
</gazebo>
- |
<gazebo reference="r_foot_rear">
<collision> <surface> <bounce>
<restitution_coefficient>0</restitution_coefficient>
<threshold>100000</threshold>
</bounce> </surface> </collision>
<maxContacts>4</maxContacts>
<kp>18000000</kp>
<kd>100</kd>
<maxVel>100</maxVel>
<minDepth>0.0001</minDepth>
<mu1>1</mu1>
<mu2>1</mu2>
<fdir1>0 0 0</fdir1>
</gazebo>
- |
<gazebo>
<plugin name="controlboard_right_leg" filename="libgazebo_yarp_controlboard.so">
<yarpConfigurationFile>model://iCub/conf_icub3/gazebo_icub_right_leg.ini</yarpConfigurationFile>
</plugin>
</gazebo>
- |
<gazebo reference="r_hip_pitch">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
- |
<gazebo reference="r_hip_roll">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
- |
<gazebo reference="r_hip_yaw">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
- |
<gazebo reference="r_knee">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
- |
<gazebo reference="r_ankle_pitch">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
- |
<gazebo reference="r_ankle_roll">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
# head
- |
<gazebo>
<plugin name="controlboard_head_without_eyes" filename="libgazebo_yarp_controlboard.so">
<yarpConfigurationFile>model://iCub/conf_icub3/gazebo_icub_head_without_eyes_V2_7.ini</yarpConfigurationFile>
</plugin>
</gazebo>
- |
<gazebo reference="neck_pitch">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
- |
<gazebo reference="neck_roll">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
- |
<gazebo reference="neck_yaw">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
# left arm
- |
<gazebo>
<plugin name="controlboard_left_arm_no_hand" filename="libgazebo_yarp_controlboard.so">
<yarpConfigurationFile>model://iCub/conf_icub3/gazebo_icub_left_arm_no_hand_for_no_hand_model.ini</yarpConfigurationFile>
<initialConfiguration>-0.52 0.52 0 0.785 0 0 0.0</initialConfiguration>
</plugin>
</gazebo>
- |
<gazebo reference="l_shoulder_pitch">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
- |
<gazebo reference="l_shoulder_roll">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
- |
<gazebo reference="l_shoulder_yaw">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
- |
<gazebo reference="l_elbow">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
- |
<gazebo reference="l_wrist_prosup">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
- |
<gazebo reference="l_wrist_pitch">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
- |
<gazebo reference="l_wrist_yaw">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
# right arm
- |
<gazebo>
<plugin name="controlboard_right_arm_no_hand" filename="libgazebo_yarp_controlboard.so">
<yarpConfigurationFile>model://iCub/conf_icub3/gazebo_icub_right_arm_no_hand_for_no_hand_model.ini</yarpConfigurationFile>
<initialConfiguration>-0.52 0.52 0 0.785 0 0 0.0</initialConfiguration>
</plugin>
</gazebo>
- |
<gazebo reference="r_shoulder_pitch">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
- |
<gazebo reference="r_shoulder_roll">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
- |
<gazebo reference="r_shoulder_yaw">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
- |
<gazebo reference="r_elbow">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
- |
<gazebo reference="r_wrist_prosup">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
- |
<gazebo reference="r_wrist_pitch">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
- |
<gazebo reference="r_wrist_yaw">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
- |
<gazebo>
<plugin name="robotinterface" filename="libgazebo_yarp_robotinterface.so">
<yarpRobotInterfaceConfigurationFile>model://iCub/conf_icub3/icub.xml</yarpRobotInterfaceConfigurationFile>
</plugin>
</gazebo>