ergoCubV1*: increase the max_torques to 1000000 (#192)

icub-tech-iit · Dec 4, 2023 · 0945da4 · 0945da4
2 parents 4a1ad6b + 790d44e
commit 0945da4
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diff --git a/CHANGELOG.md b/CHANGELOG.md
@@ -6,12 +6,13 @@ The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/),
 and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0.html).
 
 ## [Unreleased]
+- Fixed HF when resetting the world when using DART as PE(https://github.com/icub-tech-iit/ergocub-software/issues/190)
 
 ## [0.6.0] - 2023-11-15
 
 ### urdf
-- Fix location of `l/r_sole` frames(https://github.com/icub-tech-iit/ergocub-software/issues/186)
-- Fix alignment of depth to the RGB frame(https://github.com/icub-tech-iit/ergocub-software/issues/183)
+- Fixed location of `l/r_sole` frames(https://github.com/icub-tech-iit/ergocub-software/issues/186)
+- Fixed alignment of depth to the RGB frame(https://github.com/icub-tech-iit/ergocub-software/issues/183)
 
 ## [0.5.0] - 2023-10-26
 

diff --git a/urdf/creo2urdf/data/ergocub1_0/ERGOCUB_all_options.yaml b/urdf/creo2urdf/data/ergocub1_0/ERGOCUB_all_options.yaml
@@ -2,7 +2,7 @@
 robotName: ergoCub
 
 # Model base origin
-originXYZ: [0.0,0.0,0.90]
+originXYZ: [0.0,0.0,0.80]
 originRPY: [0.0,0.0,0.0]
 # Meshes options
 scale: [0.001,0.001,0.001]

diff --git a/urdf/creo2urdf/data/ergocub1_0/ERGOCUB_all_options_gazebo.yaml b/urdf/creo2urdf/data/ergocub1_0/ERGOCUB_all_options_gazebo.yaml
@@ -2,7 +2,7 @@
 robotName: ergoCub
 
 # Model base origin
-originXYZ: [0.0,0.0,0.90]
+originXYZ: [0.0,0.0,0.80]
 originRPY: [0.0,0.0,0.0]
 # Meshes options
 scale: [0.001,0.001,0.001]

diff --git a/urdf/creo2urdf/data/ergocub1_0/ERGOCUB_all_options_minContacts.yaml b/urdf/creo2urdf/data/ergocub1_0/ERGOCUB_all_options_minContacts.yaml
@@ -2,7 +2,7 @@
 robotName: ergoCub
 
 # Model base origin
-originXYZ: [0.0,0.0,0.90]
+originXYZ: [0.0,0.0,0.80]
 originRPY: [0.0,0.0,0.0]
 # Meshes options
 scale: [0.001,0.001,0.001]

diff --git a/urdf/creo2urdf/data/ergocub1_1/ERGOCUB_all_options.yaml b/urdf/creo2urdf/data/ergocub1_1/ERGOCUB_all_options.yaml
@@ -2,7 +2,7 @@
 robotName: ergoCub
 
 # Model base origin
-originXYZ: [0.0,0.0,0.90]
+originXYZ: [0.0,0.0,0.80]
 originRPY: [0.0,0.0,0.0]
 # Meshes options
 scale: [0.001,0.001,0.001]

diff --git a/urdf/creo2urdf/data/ergocub1_1/ERGOCUB_all_options_gazebo.yaml b/urdf/creo2urdf/data/ergocub1_1/ERGOCUB_all_options_gazebo.yaml
@@ -2,7 +2,7 @@
 robotName: ergoCub
 
 # Model base origin
-originXYZ: [0.0,0.0,0.90]
+originXYZ: [0.0,0.0,0.80]
 originRPY: [0.0,0.0,0.0]
 # Meshes options
 scale: [0.001,0.001,0.001]

diff --git a/urdf/creo2urdf/data/ergocub1_1/ERGOCUB_all_options_minContacts.yaml b/urdf/creo2urdf/data/ergocub1_1/ERGOCUB_all_options_minContacts.yaml
@@ -2,7 +2,7 @@
 robotName: ergoCub
 
 # Model base origin
-originXYZ: [0.0,0.0,0.90]
+originXYZ: [0.0,0.0,0.80]
 originRPY: [0.0,0.0,0.0]
 # Meshes options
 scale: [0.001,0.001,0.001]

diff --git a/urdf/ergoCub/conf/gazebo_ergocub_head.ini b/urdf/ergoCub/conf/gazebo_ergocub_head.ini
@@ -7,6 +7,7 @@ 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:

diff --git a/urdf/ergoCub/conf/gazebo_ergocub_left_arm.ini b/urdf/ergoCub/conf/gazebo_ergocub_left_arm.ini
@@ -7,6 +7,7 @@ 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

diff --git a/urdf/ergoCub/conf/gazebo_ergocub_left_hand_mk5_0.ini b/urdf/ergoCub/conf/gazebo_ergocub_left_hand_mk5_0.ini
@@ -1,6 +1,7 @@
 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
 
 [COUPLING]
 icub_hand_mk5 (0 1 2 3 4 5 6 7 8 9 10 11) (l_thumb_add l_thumb_oc l_index_add l_index_oc l_middle_oc l_ring_pinky_oc reserved reserved reserved reserved reserved reserved) (0.0 0.0 0.0 0.0 0.0 0.0) (90.0 82.1 15.0 90.0 90.0 90.0)

diff --git a/urdf/ergoCub/conf/gazebo_ergocub_left_hand_mk5_1.ini b/urdf/ergoCub/conf/gazebo_ergocub_left_hand_mk5_1.ini
@@ -1,6 +1,7 @@
 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
 
 [COUPLING]
 icub_hand_mk5 (0 1 2 3 4 5 6 7 8 9 10 11) (l_thumb_add l_thumb_oc l_index_add l_index_oc l_middle_oc l_ring_pinky_oc reserved reserved reserved reserved reserved reserved) (0.0 0.0 0.0 0.0 0.0 0.0) (100.0 90.0 15.0 90.0 90.0 90.0)

diff --git a/urdf/ergoCub/conf/gazebo_ergocub_left_leg.ini b/urdf/ergoCub/conf/gazebo_ergocub_left_leg.ini
@@ -2,6 +2,7 @@ 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
 
 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

diff --git a/urdf/ergoCub/conf/gazebo_ergocub_right_arm.ini b/urdf/ergoCub/conf/gazebo_ergocub_right_arm.ini
@@ -7,6 +7,7 @@ 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

diff --git a/urdf/ergoCub/conf/gazebo_ergocub_right_hand_mk5_0.ini b/urdf/ergoCub/conf/gazebo_ergocub_right_hand_mk5_0.ini
@@ -1,6 +1,7 @@
 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
 
 [COUPLING]
 icub_hand_mk5 (0 1 2 3 4 5 6 7 8 9 10 11) (r_thumb_add r_thumb_oc r_index_add r_index_oc r_middle_oc r_ring_pinky_oc reserved reserved reserved reserved reserved reserved) (0.0 0.0 0.0 0.0 0.0 0.0) (90.0 82.1 15.0 90.0 90.0 90.0)

diff --git a/urdf/ergoCub/conf/gazebo_ergocub_right_hand_mk5_1.ini b/urdf/ergoCub/conf/gazebo_ergocub_right_hand_mk5_1.ini
@@ -1,6 +1,7 @@
 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
 
 [COUPLING]
 icub_hand_mk5 (0 1 2 3 4 5 6 7 8 9 10 11) (r_thumb_add r_thumb_oc r_index_add r_index_oc r_middle_oc r_ring_pinky_oc reserved reserved reserved reserved reserved reserved) (0.0 0.0 0.0 0.0 0.0 0.0) (100.0 90.0 15.0 90.0 90.0 90.0)

diff --git a/urdf/ergoCub/conf/gazebo_ergocub_right_leg.ini b/urdf/ergoCub/conf/gazebo_ergocub_right_leg.ini
@@ -7,6 +7,7 @@ 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

diff --git a/urdf/ergoCub/conf/gazebo_ergocub_torso.ini b/urdf/ergoCub/conf/gazebo_ergocub_torso.ini
@@ -6,6 +6,7 @@ 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]

diff --git a/urdf/ergoCub/robots/ergoCubGazeboV1/model.urdf b/urdf/ergoCub/robots/ergoCubGazeboV1/model.urdf
@@ -3497,6 +3497,6 @@
     <origin rpy="0.0 0.0 -3.6732051038684153e-06" xyz="4.99999999999997e-05 0.0 0.13480199999999992"/>
   </sensor>
   <gazebo>
-    <pose>0.0 0.0 0.9 0.0 0.0 0.0</pose>
+    <pose>0.0 0.0 0.8 0.0 0.0 0.0</pose>
   </gazebo>
 </robot>
diff --git a/urdf/ergoCub/robots/ergoCubGazeboV1_1/model.urdf b/urdf/ergoCub/robots/ergoCubGazeboV1_1/model.urdf
@@ -3257,7 +3257,7 @@
     </plugin>
   </gazebo>
   <gazebo>
-    <pose>0.000000 0.000000 0.900000 0.000000 0.000000 0.000000</pose>
+    <pose>0.000000 0.000000 0.800000 0.000000 0.000000 0.000000</pose>
   </gazebo>
   <gazebo reference="l_arm_ft_sensor">
     <sensor name="l_arm_ft" type="force_torque">

diff --git a/urdf/ergoCub/robots/ergoCubGazeboV1_1_minContacts/model.urdf b/urdf/ergoCub/robots/ergoCubGazeboV1_1_minContacts/model.urdf
@@ -3077,7 +3077,7 @@
     </plugin>
   </gazebo>
   <gazebo>
-    <pose>0.000000 0.000000 0.900000 0.000000 0.000000 0.000000</pose>
+    <pose>0.000000 0.000000 0.800000 0.000000 0.000000 0.000000</pose>
   </gazebo>
   <gazebo reference="l_arm_ft_sensor">
     <sensor name="l_arm_ft" type="force_torque">

diff --git a/urdf/ergoCub/robots/ergoCubGazeboV1_minContacts/model.urdf b/urdf/ergoCub/robots/ergoCubGazeboV1_minContacts/model.urdf
@@ -3497,6 +3497,6 @@
     <origin rpy="0.0 0.0 -3.6732051038684153e-06" xyz="4.99999999999997e-05 0.0 0.13480199999999992"/>
   </sensor>
   <gazebo>
-    <pose>0.0 0.0 0.9 0.0 0.0 0.0</pose>
+    <pose>0.0 0.0 0.8 0.0 0.0 0.0</pose>
   </gazebo>
 </robot>
diff --git a/urdf/ergoCub/robots/ergoCubSN000/model.urdf b/urdf/ergoCub/robots/ergoCubSN000/model.urdf
@@ -3497,6 +3497,6 @@
     <origin rpy="0.0 0.0 -3.6732051038684153e-06" xyz="4.99999999999997e-05 0.0 0.13480199999999992"/>
   </sensor>
   <gazebo>
-    <pose>0.0 0.0 0.9 0.0 0.0 0.0</pose>
+    <pose>0.0 0.0 0.8 0.0 0.0 0.0</pose>
   </gazebo>
 </robot>
diff --git a/urdf/ergoCub/robots/ergoCubSN001/model.urdf b/urdf/ergoCub/robots/ergoCubSN001/model.urdf
@@ -3257,7 +3257,7 @@
     </plugin>
   </gazebo>
   <gazebo>
-    <pose>0.000000 0.000000 0.900000 0.000000 0.000000 0.000000</pose>
+    <pose>0.000000 0.000000 0.800000 0.000000 0.000000 0.000000</pose>
   </gazebo>
   <gazebo reference="l_arm_ft_sensor">
     <sensor name="l_arm_ft" type="force_torque">