gazebo_icub_right_hand_finger.ini

[include "gazebo_icub_robotname.ini"]

# Verbose output (on if present, off if commented out)
#verbose

[WRAPPER]
device controlboardwrapper2
period 10
name /${gazeboYarpPluginsRobotName}/right_hand_finger
joints 4
networks ( right_hand_finger )
right_hand_finger 0 3 0 3

[TRAJECTORY_GENERATION]
trajectory_type minimum_jerk

[COUPLING]
fingers_abduction_control (0 1 2 3) (r_hand_fingers reserved reserved reserved reserved)

# Specify configuration of MotorControl devices
[right_hand_finger]
# name of the device to be instatiated by the factory
device gazebo_controlboard
#jointNames list
jointNames r_aij6 r_mj6 r_rij6 r_lij6
name right_hand_finger

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

#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            1.745 1.745 1.745 1.745
kd            0.0 0.0 0.0 0.0
ki            0.174 0.174 0.174 0.174
maxInt        9999  9999  9999  9999
maxOutput     9999  9999  9999  9999
shift         0.0   0.0   0.0   0.0
ko            0.0   0.0   0.0   0.0
stictionUp    0.0   0.0   0.0   0.0
stictionDwn   0.0   0.0   0.0   0.0

[VELOCITY_CONTROL]
controlUnits  metric_units
controlLaw    joint_pid_gazebo_v1
kp            8.726 8.726 8.726 5.236
kd            0.035 0.035 0.035 0.002
ki            0.002 0.002 0.002 0.0
maxInt        9999  9999  9999  9999
maxOutput     9999  9999  9999  9999
shift         0.0   0.0   0.0   0.0
ko            0.0   0.0   0.0   0.0
stictionUp    0.0   0.0   0.0   0.0
stictionDwn   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
damping       0.0   0.0   0.0   0.0


[LIMITS]
jntPosMax 90.0 90.0 90.0 90.0
jntPosMin -90.0 -90.0 -90.0 -90.0
jntVelMax 100.0 100.0 100.0 100.0