Disable implicit network wrappers

Closes #6.
roboticslab-uc3m · Jun 8, 2022 · a895d78 · a895d78
1 parent 40926af
commit a895d78
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Showing 39 changed files with 348 additions and 221 deletions.
diff --git a/models/teo/conf/gazebo_teo_head.ini b/models/teo/conf/gazebo_teo_head.ini
@@ -1,27 +1,16 @@
-[include "gazebo_teo_robotname.ini"]
-
-[WRAPPER]
-device controlboardwrapper2
-period 10
-name /${gazeboYarpPluginsRobotName}/head
-joints 2
-networks (head)
-head (0 1 0 1)
-
-[TRAJECTORY_GENERATION]
-trajectory_type trapezoidal_speed
-refSpeed        10.0 10.0
-refAcceleration 10.0 10.0
-
-[head]
-device gazebo_controlboard
+disableImplicitNetworkWrapper
+yarpDeviceName controlboard_head
 jointNames AxialNeck FrontalNeck
-name head
 min_stiffness 0.0    0.0
 max_stiffness 1000.0 1000.0
 min_damping   0.0    0.0
 max_damping   100.0  100.0
 
+[TRAJECTORY_GENERATION]
+trajectory_type trapezoidal_speed
+refSpeed        10.0 10.0
+refAcceleration 10.0 10.0
+
 [POSITION_CONTROL]
 controlUnits  metric_units
 controlLaw    joint_pid_gazebo_v1

diff --git a/models/teo/conf/gazebo_teo_leftArm.ini b/models/teo/conf/gazebo_teo_leftArm.ini
@@ -1,27 +1,16 @@
-[include "gazebo_teo_robotname.ini"]
-
-[WRAPPER]
-device controlboardwrapper2
-period 10
-name /${gazeboYarpPluginsRobotName}/leftArm
-joints 6
-networks (leftArm)
-leftArm (0 5 0 5)
-
-[TRAJECTORY_GENERATION]
-trajectory_type trapezoidal_speed
-refSpeed        10.0 10.0 10.0 10.0 10.0 10.0
-refAcceleration 10.0 10.0 10.0 10.0 10.0 10.0
-
-[leftArm]
-device gazebo_controlboard
+disableImplicitNetworkWrapper
+yarpDeviceName controlboard_leftArm
 jointNames FrontalLeftShoulder SagittalLeftShoulder AxialLeftShoulder FrontalLeftElbow AxialLeftWrist FrontalLeftWrist
-name leftArm
 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 trapezoidal_speed
+refSpeed        10.0 10.0 10.0 10.0 10.0 10.0
+refAcceleration 10.0 10.0 10.0 10.0 10.0 10.0
+
 [POSITION_CONTROL]
 controlUnits  metric_units
 controlLaw    joint_pid_gazebo_v1

diff --git a/models/teo/conf/gazebo_teo_leftLacqueyFetch_externalFinger.ini b/models/teo/conf/gazebo_teo_leftLacqueyFetch_externalFinger.ini
@@ -1,27 +1,16 @@
-[include "gazebo_teo_robotname.ini"]
-
-[WRAPPER]
-device controlboardwrapper2
-period 10
-name /${gazeboYarpPluginsRobotName}/leftLacqueyFetch/externalFinger
-joints 2
-networks (externalLeftFinger)
-externalLeftFinger (0 1 0 1)
+disableImplicitNetworkWrapper
+yarpDeviceName controlboard_leftLacqueyFetch_externalFinger
+jointNames TEO_leftLacqueyFetch::ExternalLeftFingerProximal TEO_leftLacqueyFetch::ExternalLeftFingerDistal
+min_stiffness 0.0    0.0
+max_stiffness 1000.0 1000.0
+min_damping   0.0    0.0
+max_damping   100.0  100.0
 
 [TRAJECTORY_GENERATION]
 trajectory_type trapezoidal_speed
 refSpeed        10.0 10.0
 refAcceleration 10.0 10.0
 
-[externalLeftFinger]
-device gazebo_controlboard
-jointNames TEO_leftLacqueyFetch::ExternalLeftFingerProximal TEO_leftLacqueyFetch::ExternalLeftFingerDistal 
-name externalLeftFinger
-min_stiffness 0.0   0.0
-max_stiffness 1000.0 1000.0
-min_damping   0.0    0.0
-max_damping   100.0  100.0
-
 [POSITION_CONTROL]
 controlUnits  metric_units
 controlLaw    joint_pid_gazebo_v1

diff --git a/models/teo/conf/gazebo_teo_leftLacqueyFetch_internalFinger.ini b/models/teo/conf/gazebo_teo_leftLacqueyFetch_internalFinger.ini
@@ -1,27 +1,16 @@
-[include "gazebo_teo_robotname.ini"]
-
-[WRAPPER]
-device controlboardwrapper2
-period 10
-name /${gazeboYarpPluginsRobotName}/leftLacqueyFetch/internalFinger
-joints 2
-networks (internalLeftFinger)
-internalLeftFinger (0 1 0 1)
+disableImplicitNetworkWrapper
+yarpDeviceName controlboard_leftLacqueyFetch_internalFinger
+jointNames TEO_leftLacqueyFetch::InternalLeftFingerProximal TEO_leftLacqueyFetch::InternalLeftFingerDistal
+min_stiffness 0.0    0.0
+max_stiffness 1000.0 1000.0
+min_damping   0.0    0.0
+max_damping   100.0  100.0
 
 [TRAJECTORY_GENERATION]
 trajectory_type trapezoidal_speed
 refSpeed        10.0 10.0
 refAcceleration 10.0 10.0
 
-[internalLeftFinger]
-device gazebo_controlboard
-jointNames TEO_leftLacqueyFetch::InternalLeftFingerProximal TEO_leftLacqueyFetch::InternalLeftFingerDistal
-name internalLeftFinger
-min_stiffness 0.0   0.0
-max_stiffness 1000.0 1000.0
-min_damping   0.0    0.0
-max_damping   100.0  100.0
-
 [POSITION_CONTROL]
 controlUnits  metric_units
 controlLaw    joint_pid_gazebo_v1

diff --git a/models/teo/conf/gazebo_teo_leftLacqueyFetch_thumb.ini b/models/teo/conf/gazebo_teo_leftLacqueyFetch_thumb.ini
@@ -1,27 +1,16 @@
-[include "gazebo_teo_robotname.ini"]
-
-[WRAPPER]
-device controlboardwrapper2
-period 10
-name /${gazeboYarpPluginsRobotName}/leftLacqueyFetch/thumb
-joints 2
-networks (leftThumb)
-leftThumb (0 1 0 1)
+disableImplicitNetworkWrapper
+yarpDeviceName controlboard_leftLacqueyFetch_thumb
+jointNames TEO_leftLacqueyFetch::LeftThumbProximal TEO_leftLacqueyFetch::LeftThumbDistal
+min_stiffness 0.0    0.0
+max_stiffness 1000.0 1000.0
+min_damping   0.0    0.0
+max_damping   100.0  100.0
 
 [TRAJECTORY_GENERATION]
 trajectory_type trapezoidal_speed
 refSpeed        10.0 10.0
 refAcceleration 10.0 10.0
 
-[leftThumb]
-device gazebo_controlboard
-jointNames TEO_leftLacqueyFetch::LeftThumbProximal TEO_leftLacqueyFetch::LeftThumbDistal 
-name leftThumb
-min_stiffness 0.0   0.0
-max_stiffness 1000.0 1000.0
-min_damping   0.0    0.0
-max_damping   100.0  100.0
-
 [POSITION_CONTROL]
 controlUnits  metric_units
 controlLaw    joint_pid_gazebo_v1

diff --git a/models/teo/conf/gazebo_teo_leftLeg.ini b/models/teo/conf/gazebo_teo_leftLeg.ini
@@ -1,27 +1,16 @@
-[include "gazebo_teo_robotname.ini"]
-
-[WRAPPER]
-device controlboardwrapper2
-period 10
-name /${gazeboYarpPluginsRobotName}/leftLeg
-joints 6
-networks (leftLeg)
-leftLeg (0 5 0 5)
-
-[TRAJECTORY_GENERATION]
-trajectory_type trapezoidal_speed
-refSpeed        10.0 10.0 10.0 10.0 10.0 10.0
-refAcceleration 10.0 10.0 10.0 10.0 10.0 10.0
-
-[leftLeg]
-device gazebo_controlboard
+disableImplicitNetworkWrapper
+yarpDeviceName controlboard_leftLeg
 jointNames AxialLeftHip SagittalLeftHip FrontalLeftHip FrontalLeftKnee FrontalLeftAnkle SagittalLeftAnkle
-name leftLeg
 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 trapezoidal_speed
+refSpeed        10.0 10.0 10.0 10.0 10.0 10.0
+refAcceleration 10.0 10.0 10.0 10.0 10.0 10.0
+
 [POSITION_CONTROL]
 controlUnits  metric_units
 controlLaw    joint_pid_gazebo_v1

diff --git a/models/teo/conf/gazebo_teo_rightArm.ini b/models/teo/conf/gazebo_teo_rightArm.ini
@@ -1,27 +1,16 @@
-[include "gazebo_teo_robotname.ini"]
-
-[WRAPPER]
-device controlboardwrapper2
-period 10
-name /${gazeboYarpPluginsRobotName}/rightArm
-joints 6
-networks (rightArm)
-rightArm (0 5 0 5)
-
-[TRAJECTORY_GENERATION]
-trajectory_type trapezoidal_speed
-refSpeed        10.0 10.0 10.0 10.0 10.0 10.0
-refAcceleration 10.0 10.0 10.0 10.0 10.0 10.0
-
-[rightArm]
-device gazebo_controlboard
+disableImplicitNetworkWrapper
+yarpDeviceName controlboard_rightArm
 jointNames FrontalRightShoulder SagittalRightShoulder AxialRightShoulder FrontalRightElbow AxialRightWrist FrontalRightWrist
-name rightArm
 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 trapezoidal_speed
+refSpeed        10.0 10.0 10.0 10.0 10.0 10.0
+refAcceleration 10.0 10.0 10.0 10.0 10.0 10.0
+
 [POSITION_CONTROL]
 controlUnits  metric_units
 controlLaw    joint_pid_gazebo_v1

diff --git a/models/teo/conf/gazebo_teo_rightLacqueyFetch_externalFinger.ini b/models/teo/conf/gazebo_teo_rightLacqueyFetch_externalFinger.ini
@@ -1,27 +1,16 @@
-[include "gazebo_teo_robotname.ini"]
-
-[WRAPPER]
-device controlboardwrapper2
-period 10
-name /${gazeboYarpPluginsRobotName}/rightLacqueyFetch/externalFinger
-joints 2
-networks (externalRightFinger)
-externalRightFinger (0 1 0 1)
+disableImplicitNetworkWrapper
+yarpDeviceName controlboard_rightLacqueyFetch_externalFinger
+jointNames TEO_rightLacqueyFetch::ExternalRightFingerProximal TEO_rightLacqueyFetch::ExternalRightFingerDistal
+min_stiffness 0.0    0.0
+max_stiffness 1000.0 1000.0
+min_damping   0.0    0.0
+max_damping   100.0  100.0
 
 [TRAJECTORY_GENERATION]
 trajectory_type trapezoidal_speed
 refSpeed        10.0 10.0
 refAcceleration 10.0 10.0
 
-[externalRightFinger]
-device gazebo_controlboard
-jointNames TEO_rightLacqueyFetch::ExternalRightFingerProximal TEO_rightLacqueyFetch::ExternalRightFingerDistal 
-name externalRightFinger
-min_stiffness 0.0   0.0
-max_stiffness 1000.0 1000.0
-min_damping   0.0    0.0
-max_damping   100.0  100.0
-
 [POSITION_CONTROL]
 controlUnits  metric_units
 controlLaw    joint_pid_gazebo_v1

diff --git a/models/teo/conf/gazebo_teo_rightLacqueyFetch_internalFinger.ini b/models/teo/conf/gazebo_teo_rightLacqueyFetch_internalFinger.ini
@@ -1,27 +1,16 @@
-[include "gazebo_teo_robotname.ini"]
-
-[WRAPPER]
-device controlboardwrapper2
-period 10
-name /${gazeboYarpPluginsRobotName}/rightLacqueyFetch/internalFinger
-joints 2
-networks (internalRightFinger)
-internalRightFinger (0 1 0 1)
+disableImplicitNetworkWrapper
+yarpDeviceName controlboard_rightLacqueyFetch_internalFinger
+jointNames TEO_rightLacqueyFetch::InternalRightFingerProximal TEO_rightLacqueyFetch::InternalRightFingerDistal
+min_stiffness 0.0    0.0
+max_stiffness 1000.0 1000.0
+min_damping   0.0    0.0
+max_damping   100.0  100.0
 
 [TRAJECTORY_GENERATION]
 trajectory_type trapezoidal_speed
 refSpeed        10.0 10.0
 refAcceleration 10.0 10.0
 
-[internalRightFinger]
-device gazebo_controlboard
-jointNames TEO_rightLacqueyFetch::InternalRightFingerProximal TEO_rightLacqueyFetch::InternalRightFingerDistal 
-name internalRightFinger
-min_stiffness 0.0   0.0
-max_stiffness 1000.0 1000.0
-min_damping   0.0    0.0
-max_damping   100.0  100.0
-
 [POSITION_CONTROL]
 controlUnits  metric_units
 controlLaw    joint_pid_gazebo_v1

diff --git a/models/teo/conf/gazebo_teo_rightLacqueyFetch_thumb.ini b/models/teo/conf/gazebo_teo_rightLacqueyFetch_thumb.ini
@@ -1,27 +1,16 @@
-[include "gazebo_teo_robotname.ini"]
-
-[WRAPPER]
-device controlboardwrapper2
-period 10
-name /${gazeboYarpPluginsRobotName}/rightLacqueyFetch/thumb
-joints 2
-networks (rightThumb)
-rightThumb (0 1 0 1)
+disableImplicitNetworkWrapper
+yarpDeviceName controlboard_rightLacqueyFetch_thumb
+jointNames TEO_rightLacqueyFetch::RightThumbProximal TEO_rightLacqueyFetch::RightThumbDistal
+min_stiffness 0.0    0.0
+max_stiffness 1000.0 1000.0
+min_damping   0.0    0.0
+max_damping   100.0  100.0
 
 [TRAJECTORY_GENERATION]
 trajectory_type trapezoidal_speed
 refSpeed        10.0 10.0
 refAcceleration 10.0 10.0
 
-[rightThumb]
-device gazebo_controlboard
-jointNames TEO_rightLacqueyFetch::RightThumbProximal TEO_rightLacqueyFetch::RightThumbDistal 
-name rightThumb
-min_stiffness 0.0   0.0
-max_stiffness 1000.0 1000.0
-min_damping   0.0    0.0
-max_damping   100.0  100.0
-
 [POSITION_CONTROL]
 controlUnits  metric_units
 controlLaw    joint_pid_gazebo_v1

diff --git a/models/teo/conf/gazebo_teo_rightLeg.ini b/models/teo/conf/gazebo_teo_rightLeg.ini
@@ -1,27 +1,16 @@
-[include "gazebo_teo_robotname.ini"]
-
-[WRAPPER]
-device controlboardwrapper2
-period 10
-name /${gazeboYarpPluginsRobotName}/rightLeg
-joints 6
-networks (rightLeg)
-rightLeg (0 5 0 5)
-
-[TRAJECTORY_GENERATION]
-trajectory_type trapezoidal_speed
-refSpeed        10.0 10.0 10.0 10.0 10.0 10.0
-refAcceleration 10.0 10.0 10.0 10.0 10.0 10.0
-
-[rightLeg]
-device gazebo_controlboard
+disableImplicitNetworkWrapper
+yarpDeviceName controlboard_rightLeg
 jointNames AxialRightHip SagittalRightHip FrontalRightHip FrontalRightKnee FrontalRightAnkle SagittalRightAnkle
-name rightLeg
 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 trapezoidal_speed
+refSpeed        10.0 10.0 10.0 10.0 10.0 10.0
+refAcceleration 10.0 10.0 10.0 10.0 10.0 10.0
+
 [POSITION_CONTROL]
 controlUnits  metric_units
 controlLaw    joint_pid_gazebo_v1

diff --git a/models/teo/conf/gazebo_teo_robotname.ini b/models/teo/conf/gazebo_teo_robotname.ini