From 86fbb8834db81adc1eae9e514915d84eacec734e Mon Sep 17 00:00:00 2001 From: Nicogene Date: Wed, 20 Nov 2024 09:56:10 +0100 Subject: [PATCH] Remove iCub3 models (iCubGazeboV3, iCubGenova09) You served well :') --- simmechanics/CMakeLists.txt | 13 +- .../data/icub3/ICUB3_ALL_SIM_MODEL.xml | 5055 - .../data/icub3/ICUB_3_all_options.yaml | 864 - .../icub3/ICUB_3_all_options_gazebo.yaml.in | 954 - .../icub3/ICUB_3_joint_all_parameters.csv | 33 - simmechanics/data/icub3/README.md | 3 - .../icub3/conf/FT/gazebo_icub_left_arm_ft.ini | 2 - .../FT/gazebo_icub_left_foot_front_ft.ini | 2 - .../conf/FT/gazebo_icub_left_foot_rear_ft.ini | 2 - .../icub3/conf/FT/gazebo_icub_left_leg_ft.ini | 2 - .../conf/FT/gazebo_icub_right_arm_ft.ini | 2 - .../FT/gazebo_icub_right_foot_front_ft.ini | 2 - .../FT/gazebo_icub_right_foot_rear_ft.ini | 2 - .../conf/FT/gazebo_icub_right_leg_ft.ini | 3 - .../icub3/conf/gazebo_icub_chest_inertial.ini | 2 - .../icub3/conf/gazebo_icub_depth_camera.ini | 8 - .../gazebo_icub_head_without_eyes_V2_7.ini | 50 - .../data/icub3/conf/gazebo_icub_inertial.ini | 2 - ...cub_left_arm_no_hand_for_no_hand_model.ini | 52 - .../data/icub3/conf/gazebo_icub_left_leg.ini | 52 - .../icub3/conf/gazebo_icub_rgb_camera.ini | 4 - ...ub_right_arm_no_hand_for_no_hand_model.ini | 53 - .../data/icub3/conf/gazebo_icub_right_leg.ini | 52 - .../data/icub3/conf/gazebo_icub_torso.ini | 52 - simmechanics/data/icub3/conf/icub.xml | 33 - simmechanics/data/icub3/conf/icub_ROS2.xml | 45 - .../conf/wrappers/FT/left_arm-FT_nws_ros2.xml | 18 - .../conf/wrappers/FT/left_arm-FT_wrapper.xml | 17 - .../wrappers/FT/left_foot-FT_nws_ros2.xml | 18 - .../conf/wrappers/FT/left_leg-FT_remapper.xml | 18 - .../conf/wrappers/FT/left_leg-FT_wrapper.xml | 16 - .../wrappers/FT/left_leg_hip-FT_nws_ros2.xml | 18 - .../wrappers/FT/right_arm-FT_nws_ros2.xml | 18 - .../conf/wrappers/FT/right_arm-FT_wrapper.xml | 17 - .../wrappers/FT/right_foot-FT_nws_ros2.xml | 18 - .../wrappers/FT/right_leg-FT_remapper.xml | 18 - .../conf/wrappers/FT/right_leg-FT_wrapper.xml | 16 - .../wrappers/FT/right_leg_hip-FT_nws_ros2.xml | 18 - .../inertials/head-inertials_wrapper.xml | 17 - .../motorControl/alljoints-mc_nws_ros2.xml | 11 - .../motorControl/alljoints-mc_remapper.xml | 25 - .../motorControl/head-mc_remapper.xml | 15 - .../wrappers/motorControl/head-mc_wrapper.xml | 10 - .../motorControl/left_arm-mc_remapper.xml | 15 - .../motorControl/left_arm-mc_wrapper.xml | 11 - .../motorControl/left_leg-mc_remapper.xml | 14 - .../motorControl/left_leg-mc_wrapper.xml | 11 - .../motorControl/right_arm-mc_remapper.xml | 15 - .../motorControl/right_arm-mc_wrapper.xml | 11 - .../motorControl/right_leg-mc_remapper.xml | 14 - .../motorControl/right_leg-mc_wrapper.xml | 11 - .../motorControl/torso-mc_remapper.xml | 15 - .../motorControl/torso-mc_wrapper.xml | 11 - .../meshes/simmechanics/sim_head_head_prt.stl | 151328 --------------- .../simmechanics/sim_head_neck_1_prt.stl | 55568 ------ .../simmechanics/sim_head_neck_2_prt.stl | 99192 ---------- .../simmechanics/sim_head_neck_3_prt.stl | 45376 ----- .../simmechanics/sim_icub3_chest_prt.stl | 1346 - .../simmechanics/sim_icub3_l_ankle_1_prt.stl | 1052 - .../simmechanics/sim_icub3_l_ankle_2_prt.stl | 6470 - .../simmechanics/sim_icub3_l_elbow_1_prt.stl | 268 - .../sim_icub3_l_foot_front_prt.stl | 534 - .../sim_icub3_l_foot_rear_prt.stl | 548 - .../simmechanics/sim_icub3_l_forearm_prt.stl | 450 - .../simmechanics/sim_icub3_l_hand_prt.stl | 478 - .../simmechanics/sim_icub3_l_hip_1_prt.stl | 12434 -- .../simmechanics/sim_icub3_l_hip_2_prt.stl | 14058 -- .../simmechanics/sim_icub3_l_hip_3_prt.stl | 18538 -- .../sim_icub3_l_lower_leg_prt.stl | 9228 - .../sim_icub3_l_shoulder_1_prt.stl | 450 - .../sim_icub3_l_shoulder_2_prt.stl | 13386 -- .../sim_icub3_l_shoulder_3_prt.stl | 310 - .../sim_icub3_l_upper_leg_prt.stl | 2340 - .../simmechanics/sim_icub3_l_upperarm_prt.stl | 660 - .../simmechanics/sim_icub3_l_wrist_1_prt.stl | 212 - .../simmechanics/sim_icub3_r_ankle_1_prt.stl | 1052 - .../simmechanics/sim_icub3_r_ankle_2_prt.stl | 2312 - .../simmechanics/sim_icub3_r_elbow_1_prt.stl | 2144 - .../sim_icub3_r_foot_front_prt.stl | 520 - .../sim_icub3_r_foot_rear_prt.stl | 576 - .../simmechanics/sim_icub3_r_forearm_prt.stl | 702 - .../simmechanics/sim_icub3_r_hand_prt.stl | 688 - .../simmechanics/sim_icub3_r_hip_1_prt.stl | 1304 - .../simmechanics/sim_icub3_r_hip_2_prt.stl | 13764 -- .../simmechanics/sim_icub3_r_hip_3_prt.stl | 3922 - .../sim_icub3_r_lower_leg_prt.stl | 8808 - .../sim_icub3_r_shoulder_1_prt.stl | 576 - .../sim_icub3_r_shoulder_2_prt.stl | 394 - .../sim_icub3_r_shoulder_3_prt.stl | 338 - .../sim_icub3_r_upper_leg_prt.stl | 2340 - .../simmechanics/sim_icub3_r_upperarm_prt.stl | 898 - .../simmechanics/sim_icub3_r_wrist_1_prt.stl | 254 - .../simmechanics/sim_icub3_root_link_prt.stl | 10796 - .../simmechanics/sim_icub3_torso_1_prt.stl | 10838 -- .../simmechanics/sim_icub3_torso_2_prt.stl | 716 - simmechanics/data/icub3/model.config | 16 - tests/CMakeLists.txt | 2 - tests/icub-model-test.cpp | 188 +- 98 files changed, 12 insertions(+), 505122 deletions(-) delete mode 100755 simmechanics/data/icub3/ICUB3_ALL_SIM_MODEL.xml delete mode 100644 simmechanics/data/icub3/ICUB_3_all_options.yaml delete mode 100644 simmechanics/data/icub3/ICUB_3_all_options_gazebo.yaml.in delete mode 100644 simmechanics/data/icub3/ICUB_3_joint_all_parameters.csv delete mode 100644 simmechanics/data/icub3/README.md delete mode 100644 simmechanics/data/icub3/conf/FT/gazebo_icub_left_arm_ft.ini delete mode 100644 simmechanics/data/icub3/conf/FT/gazebo_icub_left_foot_front_ft.ini delete mode 100644 simmechanics/data/icub3/conf/FT/gazebo_icub_left_foot_rear_ft.ini delete mode 100644 simmechanics/data/icub3/conf/FT/gazebo_icub_left_leg_ft.ini delete mode 100644 simmechanics/data/icub3/conf/FT/gazebo_icub_right_arm_ft.ini delete mode 100644 simmechanics/data/icub3/conf/FT/gazebo_icub_right_foot_front_ft.ini delete mode 100644 simmechanics/data/icub3/conf/FT/gazebo_icub_right_foot_rear_ft.ini delete mode 100644 simmechanics/data/icub3/conf/FT/gazebo_icub_right_leg_ft.ini delete mode 100644 simmechanics/data/icub3/conf/gazebo_icub_chest_inertial.ini delete mode 100644 simmechanics/data/icub3/conf/gazebo_icub_depth_camera.ini delete mode 100644 simmechanics/data/icub3/conf/gazebo_icub_head_without_eyes_V2_7.ini delete mode 100644 simmechanics/data/icub3/conf/gazebo_icub_inertial.ini delete mode 100644 simmechanics/data/icub3/conf/gazebo_icub_left_arm_no_hand_for_no_hand_model.ini delete mode 100644 simmechanics/data/icub3/conf/gazebo_icub_left_leg.ini delete mode 100644 simmechanics/data/icub3/conf/gazebo_icub_rgb_camera.ini delete mode 100644 simmechanics/data/icub3/conf/gazebo_icub_right_arm_no_hand_for_no_hand_model.ini delete mode 100644 simmechanics/data/icub3/conf/gazebo_icub_right_leg.ini delete mode 100644 simmechanics/data/icub3/conf/gazebo_icub_torso.ini delete mode 100644 simmechanics/data/icub3/conf/icub.xml delete mode 100644 simmechanics/data/icub3/conf/icub_ROS2.xml delete mode 100644 simmechanics/data/icub3/conf/wrappers/FT/left_arm-FT_nws_ros2.xml delete mode 100644 simmechanics/data/icub3/conf/wrappers/FT/left_arm-FT_wrapper.xml delete mode 100644 simmechanics/data/icub3/conf/wrappers/FT/left_foot-FT_nws_ros2.xml delete mode 100644 simmechanics/data/icub3/conf/wrappers/FT/left_leg-FT_remapper.xml delete mode 100644 simmechanics/data/icub3/conf/wrappers/FT/left_leg-FT_wrapper.xml delete mode 100644 simmechanics/data/icub3/conf/wrappers/FT/left_leg_hip-FT_nws_ros2.xml delete mode 100644 simmechanics/data/icub3/conf/wrappers/FT/right_arm-FT_nws_ros2.xml delete mode 100644 simmechanics/data/icub3/conf/wrappers/FT/right_arm-FT_wrapper.xml delete mode 100644 simmechanics/data/icub3/conf/wrappers/FT/right_foot-FT_nws_ros2.xml delete mode 100644 simmechanics/data/icub3/conf/wrappers/FT/right_leg-FT_remapper.xml delete mode 100644 simmechanics/data/icub3/conf/wrappers/FT/right_leg-FT_wrapper.xml delete mode 100644 simmechanics/data/icub3/conf/wrappers/FT/right_leg_hip-FT_nws_ros2.xml delete mode 100644 simmechanics/data/icub3/conf/wrappers/inertials/head-inertials_wrapper.xml delete mode 100644 simmechanics/data/icub3/conf/wrappers/motorControl/alljoints-mc_nws_ros2.xml delete mode 100644 simmechanics/data/icub3/conf/wrappers/motorControl/alljoints-mc_remapper.xml delete mode 100644 simmechanics/data/icub3/conf/wrappers/motorControl/head-mc_remapper.xml delete mode 100644 simmechanics/data/icub3/conf/wrappers/motorControl/head-mc_wrapper.xml delete mode 100644 simmechanics/data/icub3/conf/wrappers/motorControl/left_arm-mc_remapper.xml delete mode 100644 simmechanics/data/icub3/conf/wrappers/motorControl/left_arm-mc_wrapper.xml delete mode 100644 simmechanics/data/icub3/conf/wrappers/motorControl/left_leg-mc_remapper.xml delete mode 100644 simmechanics/data/icub3/conf/wrappers/motorControl/left_leg-mc_wrapper.xml delete mode 100644 simmechanics/data/icub3/conf/wrappers/motorControl/right_arm-mc_remapper.xml delete mode 100644 simmechanics/data/icub3/conf/wrappers/motorControl/right_arm-mc_wrapper.xml delete mode 100644 simmechanics/data/icub3/conf/wrappers/motorControl/right_leg-mc_remapper.xml delete mode 100644 simmechanics/data/icub3/conf/wrappers/motorControl/right_leg-mc_wrapper.xml delete mode 100644 simmechanics/data/icub3/conf/wrappers/motorControl/torso-mc_remapper.xml delete mode 100644 simmechanics/data/icub3/conf/wrappers/motorControl/torso-mc_wrapper.xml delete mode 100755 simmechanics/data/icub3/meshes/simmechanics/sim_head_head_prt.stl delete mode 100755 simmechanics/data/icub3/meshes/simmechanics/sim_head_neck_1_prt.stl delete mode 100755 simmechanics/data/icub3/meshes/simmechanics/sim_head_neck_2_prt.stl delete mode 100755 simmechanics/data/icub3/meshes/simmechanics/sim_head_neck_3_prt.stl delete mode 100755 simmechanics/data/icub3/meshes/simmechanics/sim_icub3_chest_prt.stl delete mode 100755 simmechanics/data/icub3/meshes/simmechanics/sim_icub3_l_ankle_1_prt.stl delete mode 100755 simmechanics/data/icub3/meshes/simmechanics/sim_icub3_l_ankle_2_prt.stl delete mode 100755 simmechanics/data/icub3/meshes/simmechanics/sim_icub3_l_elbow_1_prt.stl delete mode 100755 simmechanics/data/icub3/meshes/simmechanics/sim_icub3_l_foot_front_prt.stl delete mode 100755 simmechanics/data/icub3/meshes/simmechanics/sim_icub3_l_foot_rear_prt.stl delete mode 100755 simmechanics/data/icub3/meshes/simmechanics/sim_icub3_l_forearm_prt.stl delete mode 100755 simmechanics/data/icub3/meshes/simmechanics/sim_icub3_l_hand_prt.stl delete mode 100755 simmechanics/data/icub3/meshes/simmechanics/sim_icub3_l_hip_1_prt.stl delete mode 100755 simmechanics/data/icub3/meshes/simmechanics/sim_icub3_l_hip_2_prt.stl delete mode 100755 simmechanics/data/icub3/meshes/simmechanics/sim_icub3_l_hip_3_prt.stl delete mode 100755 simmechanics/data/icub3/meshes/simmechanics/sim_icub3_l_lower_leg_prt.stl delete mode 100755 simmechanics/data/icub3/meshes/simmechanics/sim_icub3_l_shoulder_1_prt.stl delete mode 100755 simmechanics/data/icub3/meshes/simmechanics/sim_icub3_l_shoulder_2_prt.stl delete mode 100755 simmechanics/data/icub3/meshes/simmechanics/sim_icub3_l_shoulder_3_prt.stl delete mode 100755 simmechanics/data/icub3/meshes/simmechanics/sim_icub3_l_upper_leg_prt.stl delete mode 100755 simmechanics/data/icub3/meshes/simmechanics/sim_icub3_l_upperarm_prt.stl delete mode 100755 simmechanics/data/icub3/meshes/simmechanics/sim_icub3_l_wrist_1_prt.stl delete mode 100755 simmechanics/data/icub3/meshes/simmechanics/sim_icub3_r_ankle_1_prt.stl delete mode 100755 simmechanics/data/icub3/meshes/simmechanics/sim_icub3_r_ankle_2_prt.stl delete mode 100755 simmechanics/data/icub3/meshes/simmechanics/sim_icub3_r_elbow_1_prt.stl delete mode 100755 simmechanics/data/icub3/meshes/simmechanics/sim_icub3_r_foot_front_prt.stl delete mode 100755 simmechanics/data/icub3/meshes/simmechanics/sim_icub3_r_foot_rear_prt.stl delete mode 100755 simmechanics/data/icub3/meshes/simmechanics/sim_icub3_r_forearm_prt.stl delete mode 100755 simmechanics/data/icub3/meshes/simmechanics/sim_icub3_r_hand_prt.stl delete mode 100755 simmechanics/data/icub3/meshes/simmechanics/sim_icub3_r_hip_1_prt.stl delete mode 100755 simmechanics/data/icub3/meshes/simmechanics/sim_icub3_r_hip_2_prt.stl delete mode 100755 simmechanics/data/icub3/meshes/simmechanics/sim_icub3_r_hip_3_prt.stl delete mode 100755 simmechanics/data/icub3/meshes/simmechanics/sim_icub3_r_lower_leg_prt.stl delete mode 100755 simmechanics/data/icub3/meshes/simmechanics/sim_icub3_r_shoulder_1_prt.stl delete mode 100755 simmechanics/data/icub3/meshes/simmechanics/sim_icub3_r_shoulder_2_prt.stl delete mode 100755 simmechanics/data/icub3/meshes/simmechanics/sim_icub3_r_shoulder_3_prt.stl delete mode 100755 simmechanics/data/icub3/meshes/simmechanics/sim_icub3_r_upper_leg_prt.stl delete mode 100755 simmechanics/data/icub3/meshes/simmechanics/sim_icub3_r_upperarm_prt.stl delete mode 100755 simmechanics/data/icub3/meshes/simmechanics/sim_icub3_r_wrist_1_prt.stl delete mode 100755 simmechanics/data/icub3/meshes/simmechanics/sim_icub3_root_link_prt.stl delete mode 100755 simmechanics/data/icub3/meshes/simmechanics/sim_icub3_torso_1_prt.stl delete mode 100755 simmechanics/data/icub3/meshes/simmechanics/sim_icub3_torso_2_prt.stl delete mode 100644 simmechanics/data/icub3/model.config diff --git a/simmechanics/CMakeLists.txt b/simmechanics/CMakeLists.txt index fcee237d..e4c534b2 100644 --- a/simmechanics/CMakeLists.txt +++ b/simmechanics/CMakeLists.txt @@ -366,12 +366,6 @@ generate_icub_simmechanics(YARP_ROBOT_NAME iCubGazeboV2_7 CSV_TEMPLATE "icub2_5/ICUB_2-5_BB_joint_parameters.csv.in" INCREASE_INERTIA_FOR_GAZEBO ICUB_2_7) -generate_icub_simmechanics(YARP_ROBOT_NAME iCubGazeboV3 - SIMMECHANICS_XML "icub3/ICUB3_ALL_SIM_MODEL.xml" - YAML_TEMPLATE "icub3/ICUB_3_all_options_gazebo.yaml.in" - CSV_TEMPLATE "icub3/ICUB_3_joint_all_parameters.csv" - ICUB_3_COLLISION_GEOM_MOD) - generate_icub_simmechanics(YARP_ROBOT_NAME left_hand_mk3 SIMMECHANICS_XML "components/left_hand_mk3/SIM_LEFT_HAND.xml" YAML_TEMPLATE "components/left_hand_mk3/simmechanics2urdf_configfile.yaml" @@ -422,10 +416,7 @@ generate_icub_simmechanics(YARP_ROBOT_NAME iCubGenova01 YAML_TEMPLATE "icub2_5/ICUB_2-5_BB_simmechanics_options.yaml.in" CSV_TEMPLATE "icub2_5/ICUB_2-5_BB_joint_parameters.csv.in" NO_BACKPACK) -generate_icub_simmechanics(YARP_ROBOT_NAME iCubGenova09 - SIMMECHANICS_XML "icub3/ICUB3_ALL_SIM_MODEL.xml" - YAML_TEMPLATE "icub3/ICUB_3_all_options.yaml" - CSV_TEMPLATE "icub3/ICUB_3_joint_all_parameters.csv") + generate_icub_simmechanics(YARP_ROBOT_NAME iCubErzelli02 SIMMECHANICS_XML "icub2_5/ICUB_2-5_BB_SIM_MODEL.xml" YAML_TEMPLATE "icub2_5/ICUB_2-5_BB_simmechanics_options.yaml.in" @@ -441,8 +432,6 @@ add_custom_command(TARGET generate-models-simmechanics POST_BUILD COMMAND ${CMAKE_COMMAND} -E copy_directory "${CMAKE_CURRENT_SOURCE_DIR}/data/icub2_5/meshes" "${CMAKE_BINARY_DIR}/${BUILD_PREFIX}/meshes" COMMAND ${CMAKE_COMMAND} -E copy_directory "${CMAKE_CURRENT_SOURCE_DIR}/data/icub2_5/conf" "${CMAKE_BINARY_DIR}/${BUILD_PREFIX}/conf" - COMMAND ${CMAKE_COMMAND} -E copy_directory "${CMAKE_CURRENT_SOURCE_DIR}/data/icub3/meshes" "${CMAKE_BINARY_DIR}/${BUILD_PREFIX}/meshes" - COMMAND ${CMAKE_COMMAND} -E copy_directory "${CMAKE_CURRENT_SOURCE_DIR}/data/icub3/conf" "${CMAKE_BINARY_DIR}/${BUILD_PREFIX}/conf_icub3" COMMAND ${CMAKE_COMMAND} -E copy_directory "${CMAKE_CURRENT_SOURCE_DIR}/data/components/left_wrist_mk2/meshes" "${CMAKE_BINARY_DIR}/${BUILD_PREFIX}/meshes" COMMAND ${CMAKE_COMMAND} -E copy_directory "${CMAKE_CURRENT_SOURCE_DIR}/data/components/left_wrist_mk2/conf" "${CMAKE_BINARY_DIR}/${BUILD_PREFIX}/conf_left_wrist_mk2" COMMAND ${CMAKE_COMMAND} -E copy "${CMAKE_CURRENT_SOURCE_DIR}/data/components/left_wrist_mk2/model.config" "${CMAKE_BINARY_DIR}/${BUILD_PREFIX}/robots/left_wrist_mk2/." diff --git a/simmechanics/data/icub3/ICUB3_ALL_SIM_MODEL.xml b/simmechanics/data/icub3/ICUB3_ALL_SIM_MODEL.xml deleted file mode 100755 index 6f1f7cde..00000000 --- a/simmechanics/data/icub3/ICUB3_ALL_SIM_MODEL.xml +++ /dev/null @@ -1,5055 +0,0 @@ - - - - "1.0.4" - - 1 - - "Simscape Multibody Link Version 5.0" - - "Pro/E Wildfire Creo 7.0 - 2021184" - - "07/01/22||12:27:44" - - "mfussi" - - "SIM_ICUB3" - - - "SIM_ICUB3" - "SIM_ICUB3" - - - "SIM_ICUB3_ROOT_LINK" - "187" - "" - 2.66299 - "kg" - 0.00418977,-2.12259e-006,-1.24115e-005,-2.12259e-006,0.00461882,0.000121017,-1.24115e-005,0.000121017,0.00262412 - "kg*m^2" - 462335 - "mm^3" - 195122 - "mm^2" - - - "CG" - "" - "187::CG(AUTOGEN)" - 0.149592,3.5506,-289.339 - "WORLD" - "WORLD" - "mm" - 1,0,0,0,1,0,0,0,1 - "3x3 Transform" - "rad" - "WORLD" - - - "CS1" - "" - "187::CS1(AUTOGEN)" - 0,0,0 - "WORLD" - "WORLD" - "mm" - 1,0,0,0,1,0,0,0,1 - "3x3 Transform" - "rad" - "WORLD" - - - "CS2" - "SCSYS_ROOT" - "3275(USERADDED)" - 0,0,-313.858 - "WORLD" - "WORLD" - "mm" - 0,1,0,-1,0,0,0,0,1 - "3x3 Transform" - "rad" - "WORLD" - - - "CS3" - "" - "187:-:SIM_ICUB3/RootPart::187(AUTOGEN)" - 0.149592,3.5506,-289.339 - "WORLD" - "WORLD" - "mm" - 1,0,0,0,1,0,0,0,1 - "3x3 Transform" - "rad" - "WORLD" - - - "CS4" - "" - "156:-:187::187(AUTOGEN)" - 0.05,21.6,-313.858 - "WORLD" - "WORLD" - "mm" - 1,0,0,0,1,0,0,0,1 - "3x3 Transform" - "rad" - "WORLD" - - - "CS5" - "" - "141:-:187::187(AUTOGEN)" - 0.05,-34.6,-253.358 - "WORLD" - "WORLD" - "mm" - 1,0,0,0,1,0,0,0,1 - "3x3 Transform" - "rad" - "WORLD" - - - "CS6" - "" - "165:-:187::187(AUTOGEN)" - -50.15,21.6,-313.858 - "WORLD" - "WORLD" - "mm" - 1,0,0,0,1,0,0,0,1 - "3x3 Transform" - "rad" - "WORLD" - - - "SIM_ICUB3_ROOT_LINK_prt.stl" - - - "RootPart" - "SIM_ICUB3/RootPart" - "" - 0 - "kg" - 0,0,0,0,0,0,0,0,0 - "kg*m^2" - 0 - "mm^3" - 0 - "mm^2" - - - "CG" - 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"121:-:124::121(AUTOGEN)" - 0,20.1615,107.412 - "WORLD" - "WORLD" - "mm" - 1,0,0,0,1,0,0,0,1 - "3x3 Transform" - "rad" - "WORLD" - - - "SIM_HEAD_NECK_2_prt.stl" - - - "SIM_HEAD_NECK_3" - "124" - "" - 0.190133 - "kg" - 0.000123771,-5.41886e-007,-3.72305e-007,-5.41886e-007,4.12807e-005,-1.03162e-005,-3.72305e-007,-1.03162e-005,0.000110703 - "kg*m^2" - 41910.9 - "mm^3" - 42653.6 - "mm^2" - - - "CG" - "" - "124::CG(AUTOGEN)" - 0.0821882,6.12691,143.521 - "WORLD" - "WORLD" - "mm" - 1,0,0,0,0,-1,0,1,0 - "3x3 Transform" - "rad" - "WORLD" - - - "CS1" - "" - "124::CS1(AUTOGEN)" - 0,4.86151,97.9115 - "WORLD" - "WORLD" - "mm" - 1,0,0,0,0,-1,0,1,0 - "3x3 Transform" - "rad" - "WORLD" - - - "CS2" - "SCSYS_NECK_3" - "13518(USERADDED)" - 0,4.86151,107.412 - "WORLD" - "WORLD" - "mm" - 0,1,0,-1,0,0,0,0,1 - "3x3 Transform" - "rad" - "WORLD" - - - "CS3" - "" - "124:-:125::124(AUTOGEN)" - 0,4.86151,185.512 - "WORLD" - "WORLD" - "mm" - 1,0,0,0,1,0,0,0,1 - "3x3 Transform" - "rad" - "WORLD" - - - "CS4" - "" - "121:-:124::124(AUTOGEN)" - 0,20.1615,107.412 - "WORLD" - "WORLD" - "mm" - 1,0,0,0,1,0,0,0,1 - "3x3 Transform" - "rad" - "WORLD" - - - "SIM_HEAD_NECK_3_prt.stl" - - - "SIM_HEAD_HEAD" - "125" - "" - 1.93676 - "kg" - 0.00790366,5.06719e-005,5.09464e-005,5.06719e-005,0.00765752,-0.000199888,5.09464e-005,-0.000199888,0.0057852 - "kg*m^2" - 822172 - "mm^3" - 737971 - "mm^2" - - - "CG" - "" - "125::CG(AUTOGEN)" - -0.526031,-15.7902,204.459 - "WORLD" - "WORLD" - "mm" - 1,0,0,0,0,-1,0,1,0 - "3x3 Transform" - "rad" - "WORLD" - - - "CS1" - "" - "125::CS1(AUTOGEN)" - 0,4.86151,97.9115 - "WORLD" - "WORLD" - "mm" - 1,0,0,0,0,-1,0,1,0 - "3x3 Transform" - "rad" - "WORLD" - - - "CS2" - "SCSYS_HEAD" - "50321(USERADDED)" - 0,4.86151,176.562 - "WORLD" - "WORLD" - "mm" - 0,1,0,-1,0,0,0,0,1 - "3x3 Transform" - "rad" - "WORLD" - - - "CS3" - "SCSYS_HEAD_IMU" - "50326(USERADDED)" - -5.5,8.36151,277.896 - "WORLD" - "WORLD" - "mm" - 1,0,0,0,-1,0,0,0,-1 - "3x3 Transform" - "rad" - "WORLD" - - - "CS4" - "" - "124:-:125::125(AUTOGEN)" - 0,4.86151,185.512 - "WORLD" - "WORLD" - "mm" - 1,0,0,0,1,0,0,0,1 - "3x3 Transform" - "rad" - "WORLD" - - - "SIM_HEAD_HEAD_prt.stl" - - - - - "RootPart--SIM_ICUB3_ROOT_LINK" - "187:-:SIM_ICUB3/RootPart" - "" - - - "" - - - - - - - - "" - - - - - - - - "weld" - "" - "WORLD" - 0.57735,0.57735,0.57735 - - - - - "SIM_ICUB3_ROOT_LINK--SIM_ICUB3_R_HIP_1" - "156:-:187" - "" - - - "" - - - - - - - - "" - - - - - - - - "revolute" - "" - "WORLD" - 1,0,0 - - - - - "SIM_ICUB3_R_HIP_1--SIM_ICUB3_R_HIP_2" - "156:-:157" - "" - - - "" - - - - - - - - "" - - - - - - - - "revolute" - "" - "WORLD" - 0,1,0 - - - - - "SIM_HEAD_NECK_3--SIM_HEAD_HEAD" - "124:-:125" - "" - - - "" - - - - - - - - "" - - - - - - - - "revolute" - "" - "WORLD" - 0,0,-1 - - - - - "SIM_ICUB3_R_WRIST_1--SIM_ICUB3_R_HAND" - "179:-:181" - "" - - - "" - - - - - - - - "" - - - - - - - - "revolute" - "" - "WORLD" - -0.960459,-0.267012,-0.0788901 - - - - - "SIM_HEAD_NECK_1--SIM_HEAD_NECK_2" - "120:-:121" - "" - - - "" - - - - - - - - "" - - - - - - - - "revolute" - "" - "WORLD" - 1,0,0 - - - - - "SIM_HEAD_NECK_2--SIM_HEAD_NECK_3" - "121:-:124" - "" - - - "" - - - - - - - - "" - - - - - - - - "revolute" - "" - "WORLD" - 0,1,0 - - - - - "SIM_ICUB3_CHEST--SIM_HEAD_NECK_1" - "120:-:143" - "Could not solve for constraint between SIM_ICUB3_CHEST and SIM_HEAD_NECK_1 because of CAD constraint " - - - "" - - - - - - - - "" - - - - - - - - "weld" - "" - "WORLD" - 0.57735,0.57735,0.57735 - - - - - "SIM_ICUB3_CHEST--SIM_ICUB3_R_SHOULDER_1" - "143:-:145" - "" - - - "" - - - - - - - - "" - - - - - - - - "revolute" - "" - "WORLD" - -0.935113,-0.250563,-0.250563 - - - - - "SIM_ICUB3_R_SHOULDER_1--SIM_ICUB3_R_SHOULDER_2" - "145:-:149" - "" - - - "" - - - - - - - - "" - - - - - - - - "revolute" - "" - "WORLD" - 0.271447,-0.961047,-0.0520081 - - - - - "SIM_ICUB3_R_SHOULDER_3--SIM_ICUB3_R_UPPERARM" - "152:-:154" - "" - - - "" - - - - - - - - "" - - - - - - - - "revolute" - "" - "WORLD" - -0.0619303,-0.0713662,0.995526 - - - - - "SIM_ICUB3_R_SHOULDER_2--SIM_ICUB3_R_SHOULDER_3" - "149:-:152" - "Could not solve for constraint between SIM_ICUB3_R_SHOULDER_2 and SIM_ICUB3_R_SHOULDER_3 because of CAD constraint " - - - "" - - - - - - - - "" - - - - - - - - "weld" - "" - "WORLD" - 0.57735,0.57735,0.57735 - - - - - "SIM_ICUB3_R_UPPERARM--SIM_ICUB3_R_ELBOW_1" - "154:-:175" - "" - - - "" - - - - - - - - "" - - - - - - - - "revolute" - "" - "WORLD" - -0.960459,-0.267012,-0.0788901 - - - - - "SIM_ICUB3_ROOT_LINK--SIM_ICUB3_TORSO_1" - "141:-:187" - "" - - - "" - - - - - - - - "" - - - - - - - - "revolute" - "" - "WORLD" - 0,1,0 - - - - - "SIM_ICUB3_ROOT_LINK--SIM_ICUB3_L_HIP_1" - "165:-:187" - "" - - - "" - - - - - - - - "" - - - - - - - - "revolute" - "" - "WORLD" - 1,0,0 - - - - - "SIM_ICUB3_CHEST--SIM_ICUB3_L_SHOULDER_1" - "143:-:144" - "" - - - "" - - - - - - - - "" - - - - - - - - "revolute" - "" - "WORLD" - 0.935113,-0.250563,-0.250563 - - - - - "SIM_ICUB3_TORSO_2--SIM_ICUB3_CHEST" - "142:-:143" - "" - - - "" - - - - - - - - "" - - - - - - - - "revolute" - "" - "WORLD" - 0,0,1 - - - - - "SIM_ICUB3_L_SHOULDER_2--SIM_ICUB3_L_SHOULDER_3" - "148:-:151" - "Could not solve for constraint between SIM_ICUB3_L_SHOULDER_2 and SIM_ICUB3_L_SHOULDER_3 because of CAD constraint " - - - "" - - - - - - - - "" - - - - - - - - "weld" - "" - "WORLD" - 0.57735,0.57735,0.57735 - - - - - "SIM_ICUB3_L_SHOULDER_1--SIM_ICUB3_L_SHOULDER_2" - "144:-:148" - "" - - - "" - - - - - - - - "" - - - - - - - - "revolute" - "" - "WORLD" - -0.271447,-0.961047,-0.0520081 - - - - - "SIM_ICUB3_TORSO_1--SIM_ICUB3_TORSO_2" - "141:-:142" - "" - - - "" - - - - - - - - "" - - - - - - - - "revolute" - "" - "WORLD" - 1,0,0 - - - - - "SIM_ICUB3_L_SHOULDER_3--SIM_ICUB3_L_UPPERARM" - "151:-:155" - "" - - - "" - - - - - - - - "" - - - - - - - - "revolute" - "" - "WORLD" - 0.0619303,-0.0713662,0.995526 - - - - - "SIM_ICUB3_L_UPPERARM--SIM_ICUB3_L_ELBOW_1" - "155:-:174" - "" - - - "" - - - - - - - - "" - - - - - - - - "revolute" - "" - "WORLD" - 0.960459,-0.267012,-0.0788901 - - - - - "SIM_ICUB3_R_UPPER_LEG--SIM_ICUB3_R_LOWER_LEG" - "159:-:160" - "" - - - "" - - - - - - - - "" - - - - - - - - "revolute" - "" - "WORLD" - -1,0,0 - - - - - "SIM_ICUB3_R_HIP_3--SIM_ICUB3_R_UPPER_LEG" - "158:-:159" - "" - - - "" - - - - - - - - "" - - - - - - - - "revolute" - "" - "WORLD" - 0,0,1 - - - - - "SIM_ICUB3_R_LOWER_LEG--SIM_ICUB3_R_ANKLE_1" - "160:-:161" - "" - - - "" - - - - - - - - "" - - - - - - - - "revolute" - "" - "WORLD" - -1,0,0 - - - - - "SIM_ICUB3_R_HIP_2--SIM_ICUB3_R_HIP_3" - "157:-:158" - "Could not solve for constraint between SIM_ICUB3_R_HIP_2 and SIM_ICUB3_R_HIP_3 because of CAD constraint " - - - "" - - - - - - - - "" - - - - - - - - "weld" - "" - "WORLD" - 0.57735,0.57735,0.57735 - - - - - "SIM_ICUB3_R_ANKLE_1--SIM_ICUB3_R_ANKLE_2" - "161:-:182" - "" - - - "" - - - - - - - - "" - - - - - - - - "revolute" - "" - "WORLD" - 0,1,0 - - - - - "SIM_ICUB3_R_ANKLE_2--SIM_ICUB3_R_FOOT_FRONT" - "163:-:182" - "Could not solve for constraint between SIM_ICUB3_R_ANKLE_2 and SIM_ICUB3_R_FOOT_FRONT because of CAD constraint " - - - "" - - - - - - - - "" - - - - - - - - "weld" - "" - "WORLD" - 0.57735,0.57735,0.57735 - - - - - "SIM_ICUB3_R_ANKLE_2--SIM_ICUB3_R_FOOT_REAR" - "164:-:182" - "Could not solve for constraint between SIM_ICUB3_R_ANKLE_2 and SIM_ICUB3_R_FOOT_REAR because of CAD constraint " - - - "" - - - - - - - - "" - - - - - - - - "weld" - "" - "WORLD" - 0.57735,0.57735,0.57735 - - - - - "SIM_ICUB3_L_HIP_1--SIM_ICUB3_L_HIP_2" - "165:-:166" - "" - - - "" - - - - - - - - "" - - - - - - - - "revolute" - "" - "WORLD" - 0,1,0 - - - - - "SIM_ICUB3_L_HIP_2--SIM_ICUB3_L_HIP_3" - "166:-:167" - "Could not solve for constraint between SIM_ICUB3_L_HIP_2 and SIM_ICUB3_L_HIP_3 because of CAD constraint " - - - "" - - - - - - - - "" - - - - - - - - "weld" - "" - "WORLD" - 0.57735,0.57735,0.57735 - - - - - "SIM_ICUB3_L_UPPER_LEG--SIM_ICUB3_L_LOWER_LEG" - "168:-:169" - "" - - - "" - - - - - - - - "" - - - - - - - - "revolute" - "" - "WORLD" - 1,0,0 - - - - - "SIM_ICUB3_L_HIP_3--SIM_ICUB3_L_UPPER_LEG" - "167:-:168" - "" - - - "" - - - - - - - - "" - - - - - - - - "revolute" - "" - "WORLD" - 0,0,1 - - - - - "SIM_ICUB3_L_ANKLE_2--SIM_ICUB3_L_FOOT_REAR" - "173:-:183" - "Could not solve for constraint between SIM_ICUB3_L_ANKLE_2 and SIM_ICUB3_L_FOOT_REAR because of CAD constraint " - - - "" - - - - - - - - "" - - - - - - - - "weld" - "" - "WORLD" - 0.57735,0.57735,0.57735 - - - - - "SIM_ICUB3_L_ANKLE_2--SIM_ICUB3_L_FOOT_FRONT" - "172:-:183" - "Could not solve for constraint between SIM_ICUB3_L_ANKLE_2 and SIM_ICUB3_L_FOOT_FRONT because of CAD constraint " - - - "" - - - - - - - - "" - - - - - - - - "weld" - "" - "WORLD" - 0.57735,0.57735,0.57735 - - - - - "SIM_ICUB3_L_ANKLE_1--SIM_ICUB3_L_ANKLE_2" - "170:-:183" - "" - - - "" - - - - - - - - "" - - - - - - - - "revolute" - "" - "WORLD" - 0,1,0 - - - - - "SIM_ICUB3_L_ELBOW_1--SIM_ICUB3_L_FOREARM" - "174:-:176" - "" - - - "" - - - - - - - - "" - - - - - - - - "revolute" - "" - "WORLD" - 0.0619303,-0.0713662,0.995526 - - - - - "SIM_ICUB3_R_ELBOW_1--SIM_ICUB3_R_FOREARM" - "175:-:177" - "" - - - "" - - - - - - - - "" - - - - - - - - "revolute" - "" - "WORLD" - -0.0619303,-0.0713662,0.995526 - - - - - "SIM_ICUB3_L_LOWER_LEG--SIM_ICUB3_L_ANKLE_1" - "169:-:170" - "" - - - "" - - - - - - - - "" - - - - - - - - "revolute" - "" - "WORLD" - 1,0,0 - - - - - "SIM_ICUB3_L_FOREARM--SIM_ICUB3_L_WRIST_1" - "176:-:178" - "" - - - "" - - - - - - - - "" - - - - - - - - "revolute" - "" - "WORLD" - 0.271447,0.961047,0.0520081 - - - - - "SIM_ICUB3_R_FOREARM--SIM_ICUB3_R_WRIST_1" - "177:-:179" - "" - - - "" - - - - - - - - "" - - - - - - - - "revolute" - "" - "WORLD" - -0.271447,0.961047,0.0520081 - - - - - "SIM_ICUB3_L_WRIST_1--SIM_ICUB3_L_HAND" - "178:-:180" - "" - - - "" - - - - - - - - "" - - - - - - - - "revolute" - "" - "WORLD" - 0.960459,-0.267012,-0.0788901 - - - - - "RootGround--RootPart" - "RootGround:-:SIM_ICUB3/RootPart" - "" - - - "" - - - - - - - - "" - - - - - - - - "weld" - "" - "WORLD" - 0.57735,0.57735,0.57735 - - - - - - - "RootGround" - "RootGround" - "" - - - "CS1" - "" - "RootGround:-:SIM_ICUB3/RootPart::RootGround(AUTOGEN)" - 0.00205478,6.63539,-360.969 - "WORLD" - "WORLD" - "mm" - 1,0,0,0,1,0,0,0,1 - "3x3 Transform" - "rad" - "WORLD" - - - - - - - 0 - - - diff --git a/simmechanics/data/icub3/ICUB_3_all_options.yaml b/simmechanics/data/icub3/ICUB_3_all_options.yaml deleted file mode 100644 index a5fa32ed..00000000 --- a/simmechanics/data/icub3/ICUB_3_all_options.yaml +++ /dev/null @@ -1,864 +0,0 @@ -# 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: - - | - - model://iCub/conf_icub3/FT/gazebo_icub_left_arm_ft.ini - - - 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: - - | - - model://iCub/conf_icub3/FT/gazebo_icub_right_arm_ft.ini - - # 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: - - | - - model://iCub/conf_icub3/FT/gazebo_icub_left_leg_ft.ini - - - 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: - - | - - model://iCub/conf_icub3/FT/gazebo_icub_left_foot_front_ft.ini - - - 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: - - | - - model://iCub/conf_icub3/FT/gazebo_icub_left_foot_rear_ft.ini - - # 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: - - | - - model://iCub/conf_icub3/FT/gazebo_icub_right_leg_ft.ini - - - 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: - - | - - model://iCub/conf_icub3/FT/gazebo_icub_right_foot_front_ft.ini - - - 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: - - | - - model://iCub/conf_icub3/FT/gazebo_icub_right_foot_rear_ft.ini - - - -sensors: - - sensorName: default - exportFrameInURDF: Yes - sensorType: "accelerometer" - updateRate: "100" - sensorBlobs: - - | - - - sensorName: default - exportFrameInURDF: Yes - sensorType: "gyroscope" - updateRate: "100" - - frameName: SCSYS_HEAD_IMU - linkName: head - sensorName: head_imu_0 - exportFrameInURDF: Yes - sensorType: "accelerometer" - sensorBlobs: - - | - - model://iCub/conf_icub3/gazebo_icub_inertial.ini - - - - sensorName: default - exportFrameInURDF: No - sensorType: "depth" - updateRate: "30" - - sensorName: default - exportFrameInURDF: No - sensorType: "camera" - updateRate: "30" - sensorBlobs: - - | - - - frameName: SCSYS_CHEST_DEPTH - linkName: chest - sensorName: realsense_chest_depth - sensorType: "depth" - sensorBlobs: - - | - - 0 0 0 -1.57079 -1.57079 3.14159 - 1.57079 - - 0 - 0 - 0 - 0 - 0 -
319.5 239.5
- - - 640 - 480 - R8G8B8 - - - 0.175 - 3000 - - - - | - false - - | - - model://iCub/conf_icub3/gazebo_icub_depth_camera.ini - - - - frameName: SCSYS_CHEST_RGB - linkName: chest - sensorName: realsense_chest_rgb - sensorType: "camera" - sensorBlobs: - - | - - 0 0 0 -1.57079 -1.57079 3.14159 - 1.2217 - - 0 - 0 - 0 - 0 - 0 -
319.5 239.5
- - - 640 - 480 - R8G8B8 - - - 0.02 - 3000 - - - - | - false - - | - - model://iCub/conf_icub3/gazebo_icub_rgb_camera.ini - - # 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: - - | - - model://iCub/conf_icub3/gazebo_icub_chest_inertial.ini - - -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 - - | - - - | - - - - - - - - | - - true - - true - - - | - - true - - true - - - | - - - model://iCub/conf_icub3/gazebo_icub_torso.ini - - - - | - - 1 - - - | - - 1 - - - | - - 1 - - - | - - 1 - - - | - - 1 - - - | - - 1 - - - | - - 1 - - - | - - 1 - - - | - - 1 - - # left leg - - | - - true - - true - - - | - - true - - true - - - | - - true - - true - - - - | - - - 0 - 100000 - - 4 - 18000000 - 100 - 100 - 0.0001 - 1 - 1 - 0 0 0 - - - | - - - 0 - 100000 - - 4 - 18000000 - 100 - 100 - 0.0001 - 1 - 1 - 0 0 0 - - - | - - - model://iCub/conf_icub3/gazebo_icub_left_leg.ini - - - - - | - - 1 - - - | - - 1 - - - | - - 1 - - - | - - 1 - - - | - - 1 - - - | - - 1 - - # right leg - - | - - true - - true - - - | - - true - - true - - - | - - true - - true - - - | - - - 0 - 100000 - - 4 - 18000000 - 100 - 100 - 0.0001 - 1 - 1 - 0 0 0 - - - | - - - 0 - 100000 - - 4 - 18000000 - 100 - 100 - 0.0001 - 1 - 1 - 0 0 0 - - - | - - - model://iCub/conf_icub3/gazebo_icub_right_leg.ini - - - - | - - 1 - - - | - - 1 - - - | - - 1 - - - | - - 1 - - - | - - 1 - - - | - - 1 - - - # head - - | - - - model://iCub/conf_icub3/gazebo_icub_head_without_eyes_V2_7.ini - - - - | - - 1 - - - | - - 1 - - - | - - 1 - - - # left arm - - | - - - model://iCub/conf_icub3/gazebo_icub_left_arm_no_hand_for_no_hand_model.ini - -0.52 0.52 0 0.785 0 0 0.0 - - - - | - - 1 - - - | - - 1 - - - | - - 1 - - - | - - 1 - - - | - - 1 - - - | - - 1 - - - | - - 1 - - # right arm - - | - - - model://iCub/conf_icub3/gazebo_icub_right_arm_no_hand_for_no_hand_model.ini - -0.52 0.52 0 0.785 0 0 0.0 - - - - | - - 1 - - - | - - 1 - - - | - - 1 - - - | - - 1 - - - | - - 1 - - - | - - 1 - - - | - - 1 - - - | - - - model://iCub/conf_icub3/icub.xml - - diff --git a/simmechanics/data/icub3/ICUB_3_all_options_gazebo.yaml.in b/simmechanics/data/icub3/ICUB_3_all_options_gazebo.yaml.in deleted file mode 100644 index d811993c..00000000 --- a/simmechanics/data/icub3/ICUB_3_all_options_gazebo.yaml.in +++ /dev/null @@ -1,954 +0,0 @@ -# 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: - - | - - model://iCub/conf_icub3/FT/gazebo_icub_left_arm_ft.ini - - - 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: - - | - - model://iCub/conf_icub3/FT/gazebo_icub_right_arm_ft.ini - - # 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: - - | - - model://iCub/conf_icub3/FT/gazebo_icub_left_leg_ft.ini - - - 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: - - | - - model://iCub/conf_icub3/FT/gazebo_icub_left_foot_front_ft.ini - - - 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: - - | - - model://iCub/conf_icub3/FT/gazebo_icub_left_foot_rear_ft.ini - - # 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: - - | - - model://iCub/conf_icub3/FT/gazebo_icub_right_leg_ft.ini - - - 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: - - | - - model://iCub/conf_icub3/FT/gazebo_icub_right_foot_front_ft.ini - - - 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: - - | - - model://iCub/conf_icub3/FT/gazebo_icub_right_foot_rear_ft.ini - - -sensors: - - sensorName: default - exportFrameInURDF: No - sensorType: "accelerometer" - updateRate: "100" - exportFrameInURDF: Yes - sensorBlobs: - - | - - - sensorName: default - exportFrameInURDF: Yes - sensorType: "gyroscope" - updateRate: "100" - - frameName: SCSYS_HEAD_IMU - linkName: head - sensorName: head_imu_0 - exportFrameInURDF: Yes - sensorType: "accelerometer" - sensorBlobs: - - | - - model://iCub/conf_icub3/gazebo_icub_inertial.ini - - - sensorName: default - exportFrameInURDF: No - sensorType: "depth" - updateRate: "30" - - sensorName: default - exportFrameInURDF: No - sensorType: "camera" - updateRate: "30" - sensorBlobs: - - | - - - frameName: SCSYS_CHEST_DEPTH - linkName: chest - sensorName: realsense_chest_depth - sensorType: "depth" - sensorBlobs: - - | - - 0 0 0 -1.57079 -1.57079 3.14159 - 1.57079 - - 0 - 0 - 0 - 0 - 0 -
319.5 239.5
- - - 640 - 480 - R8G8B8 - - - 0.175 - 3000 - - - - | - false - - | - - model://iCub/conf_icub3/gazebo_icub_depth_camera.ini - - - - frameName: SCSYS_CHEST_RGB - linkName: chest - sensorName: realsense_chest_rgb - sensorType: "camera" - sensorBlobs: - - | - - 0 0 0 -1.57079 -1.57079 3.14159 - 1.2217 - - 0 - 0 - 0 - 0 - 0 -
319.5 239.5
- - - 640 - 480 - R8G8B8 - - - 0.02 - 3000 - - - - | - false - - | - - model://iCub/conf_icub3/gazebo_icub_rgb_camera.ini - - # 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" - sensorBlobs: - - | - - model://iCub/conf_icub3/gazebo_icub_chest_inertial.ini - - - - -@ASSIGNED_COLLISION_GEOMETRIES@ - -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 - -assignedInertias: - # This is due to https://github.com/robotology/icub-models/issues/33 - - linkName: r_shoulder_1 - xx: 0.01 - yy: 0.01 - zz: 0.01 - - linkName: r_shoulder_2 - xx: 0.01 - yy: 0.01 - zz: 0.01 - - linkName: r_shoulder_3 - xx: 0.01 - yy: 0.01 - zz: 0.01 - - linkName: r_elbow_1 - xx: 0.01 - yy: 0.01 - zz: 0.01 - - linkName: r_wrist_1 - xx: 0.01 - yy: 0.01 - zz: 0.01 - - linkName: r_hand - xx: 0.01 - yy: 0.01 - zz: 0.01 - - linkName: l_shoulder_1 - xx: 0.01 - yy: 0.01 - zz: 0.01 - - linkName: l_shoulder_2 - xx: 0.01 - yy: 0.01 - zz: 0.01 - - linkName: l_shoulder_3 - xx: 0.01 - yy: 0.01 - zz: 0.01 - - linkName: l_elbow_1 - xx: 0.01 - yy: 0.01 - zz: 0.01 - - linkName: l_wrist_1 - xx: 0.01 - yy: 0.01 - zz: 0.01 - - linkName: l_hand - xx: 0.01 - yy: 0.01 - zz: 0.01 - - linkName: l_ankle_1 - xx: 0.01 - yy: 0.01 - zz: 0.01 - - linkName: l_ankle_2 - xx: 0.01 - yy: 0.01 - zz: 0.01 - - linkName: l_foot_front - xx: 0.01 - yy: 0.01 - zz: 0.01 - - linkName: l_foot_rear - xx: 0.01 - yy: 0.01 - zz: 0.01 - - linkName: r_ankle_1 - xx: 0.01 - yy: 0.01 - zz: 0.01 - - linkName: r_ankle_2 - xx: 0.01 - yy: 0.01 - zz: 0.01 - - linkName: r_foot_front - xx: 0.01 - yy: 0.01 - zz: 0.01 - - linkName: r_foot_rear - xx: 0.01 - yy: 0.01 - zz: 0.01 - -mirroredInertia: -- mirroredLink: l_upper_arm - originalLink: r_upper_arm - simmetryReferenceLink: root_link - symmetryPlane: xz - -assignedColors: - root_link : [0.90, 0.90, 0.90, 1] - torso_1 : [0.90, 0.90, 0.90, 1] - torso_2 : [0.90, 0.90, 0.90, 1] - chest : [0.3, 0.3, 0.3, 1] - l_shoulder_1: [0.90, 0.90, 0.90, 1] - r_shoulder_1: [0.90, 0.90, 0.90, 1] - l_shoulder_2: [0.90, 0.90, 0.90, 1] - r_shoulder_2: [0.90, 0.90, 0.90, 1] - r_shoulder_3: [0.90, 0.90, 0.90, 1] - l_shoulder_3: [0.90, 0.90, 0.90, 1] - l_upper_arm : [0.3, 0.3, 0.3, 1] - r_upper_arm : [0.3, 0.3, 0.3, 1] - r_hip_1 : [0.90, 0.90, 0.90, 1] - r_hip_2 : [0.90, 0.90, 0.90, 1] - r_hip_3 : [0.3, 0.3, 0.3, 1] - r_upper_leg : [0.90, 0.90, 0.90, 1] - r_lower_leg : [0.3, 0.3, 0.3, 1] - r_ankle_1 : [0.90, 0.90, 0.90, 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 : [0.90, 0.90, 0.90, 1] - l_hip_2 : [0.90, 0.90, 0.90, 1] - l_hip_3 : [0.3, 0.3, 0.3, 1] - l_upper_leg : [0.90, 0.90, 0.90, 1] - l_lower_leg : [0.3, 0.3, 0.3, 1] - l_ankle_1 : [0.90, 0.90, 0.90, 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 : [0.90, 0.90, 0.90, 1] - r_wrist_1 : [0.90, 0.90, 0.90, 1] - l_hand : [0.90, 0.90, 0.90, 1] - r_hand : [0.90, 0.90, 0.90, 1] - neck_1 : [0.90, 0.90, 0.90, 1] - neck_2 : [0.90, 0.90, 0.90, 1] - neck_3 : [0.90, 0.90, 0.90, 1] - head : [0.9, 0.9, 0.9, 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 - - | - - - | - - - - - - - - | - - true - - true - - - | - - true - - true - - - | - - - model://iCub/conf_icub3/gazebo_icub_torso.ini - - - - | - - 1 - - - | - - 1 - - - | - - 1 - - - | - - 1 - - - | - - 1 - - - | - - 1 - - - | - - 1 - - - | - - 1 - - - | - - 1 - - # left leg - - | - - true - - true - - - | - - true - - true - - - | - - true - - true - - - - | - - - 0 - 100000 - - 4 - 18000000 - 100 - 100 - 0.0001 - 1 - 1 - 0 0 0 - - - | - - - 0 - 100000 - - 4 - 18000000 - 100 - 100 - 0.0001 - 1 - 1 - 0 0 0 - - - | - - - model://iCub/conf_icub3/gazebo_icub_left_leg.ini - - - - - | - - 1 - - - | - - 1 - - - | - - 1 - - - | - - 1 - - - | - - 1 - - - | - - 1 - - # right leg - - | - - true - - true - - - | - - true - - true - - - | - - true - - true - - - | - - - 0 - 100000 - - 4 - 18000000 - 100 - 100 - 0.0001 - 1 - 1 - 0 0 0 - - - | - - - 0 - 100000 - - 4 - 18000000 - 100 - 100 - 0.0001 - 1 - 1 - 0 0 0 - - - | - - - model://iCub/conf_icub3/gazebo_icub_right_leg.ini - - - - | - - 1 - - - | - - 1 - - - | - - 1 - - - | - - 1 - - - | - - 1 - - - | - - 1 - - - # head - - | - - - model://iCub/conf_icub3/gazebo_icub_head_without_eyes_V2_7.ini - - - - | - - 1 - - - | - - 1 - - - | - - 1 - - - # left arm - - | - - - model://iCub/conf_icub3/gazebo_icub_left_arm_no_hand_for_no_hand_model.ini - -0.52 0.52 0 0.785 0 0 0.0 - - - - | - - 1 - - - | - - 1 - - - | - - 1 - - - | - - 1 - - - | - - 1 - - - | - - 1 - - - | - - 1 - - # right arm - - | - - - model://iCub/conf_icub3/gazebo_icub_right_arm_no_hand_for_no_hand_model.ini - -0.52 0.52 0 0.785 0 0 0.0 - - - - | - - 1 - - - | - - 1 - - - | - - 1 - - - | - - 1 - - - | - - 1 - - - | - - 1 - - - | - - 1 - - - | - - - model://iCub/conf_icub3/icub.xml - - diff --git a/simmechanics/data/icub3/ICUB_3_joint_all_parameters.csv b/simmechanics/data/icub3/ICUB_3_joint_all_parameters.csv deleted file mode 100644 index 7c8f7f46..00000000 --- a/simmechanics/data/icub3/ICUB_3_joint_all_parameters.csv +++ /dev/null @@ -1,33 +0,0 @@ -joint_name,lower_limit,upper_limit,damping,friction,velocity_limit,effort_limit -torso_yaw,-43,43,2,0,120, -torso_pitch,-18,45,2,0,120, -torso_roll,-23,23,2,0,120, -r_shoulder_pitch,-175,20,2,0,120, -r_shoulder_roll,12,163,2,0,120, -r_shoulder_yaw,-50,80,2,0,120, -l_shoulder_pitch,-175,20,2,0,120, -l_shoulder_roll,12,163,2,0,120, -l_shoulder_yaw,-50,80,2,0,120, -l_hip_pitch,-45,115,2,0,120, -l_hip_roll,-10,112,2,0,120, -l_hip_yaw,-80,80,2,0,120, -l_knee,-70,5,2,0,120, -l_ankle_pitch,-45,45,2,0,120, -l_ankle_roll,-25,25,2,0,120, -r_hip_pitch,-45,115,2,0,120, -r_hip_roll,-10,112,2,0,120, -r_hip_yaw,-80,80,2,0,120, -r_knee,-70,5,2,0,120, -r_ankle_pitch,-45,45,2,0,120, -r_ankle_roll,-25,25,2,0,120, -neck_pitch,-30,22,2,0,120, -neck_roll,-20,20,2,0,120, -neck_yaw,-45,45,2,0,120, -l_elbow,-3,75,2,0,120, -l_wrist_prosup,-88,88,2,0,120, -l_wrist_pitch,-70,25,2,0,120, -l_wrist_yaw,-15,35,2,0,120, -r_elbow,-3,75,2,0,120, -r_wrist_prosup,-88,88,2,0,120, -r_wrist_pitch,-70,25,2,0,120, -r_wrist_yaw,-15,35,2,0,120, diff --git a/simmechanics/data/icub3/README.md b/simmechanics/data/icub3/README.md deleted file mode 100644 index 43b11452..00000000 --- a/simmechanics/data/icub3/README.md +++ /dev/null @@ -1,3 +0,0 @@ -This directory contains file generated from `https://github.com/icub-tech-iit/cad-mechanics-public/blob/master/projects/simulation_model/icub3/sim_icub3.asm.1` -using the https://github.com/icub-tech-iit/cad-mechanics-public/wiki/Creo-mechanism-to-URDF workflow . -In particular the `ICUB3_ALL_SIM_MODEL.xml` is directly the output obtained by the SimMechanics Link plugin. \ No newline at end of file diff --git a/simmechanics/data/icub3/conf/FT/gazebo_icub_left_arm_ft.ini b/simmechanics/data/icub3/conf/FT/gazebo_icub_left_arm_ft.ini deleted file mode 100644 index bb631014..00000000 --- a/simmechanics/data/icub3/conf/FT/gazebo_icub_left_arm_ft.ini +++ /dev/null @@ -1,2 +0,0 @@ -disableImplicitNetworkWrapper -yarpDeviceName icub_left_arm_ft diff --git a/simmechanics/data/icub3/conf/FT/gazebo_icub_left_foot_front_ft.ini b/simmechanics/data/icub3/conf/FT/gazebo_icub_left_foot_front_ft.ini deleted file mode 100644 index b05a9fc3..00000000 --- a/simmechanics/data/icub3/conf/FT/gazebo_icub_left_foot_front_ft.ini +++ /dev/null @@ -1,2 +0,0 @@ -disableImplicitNetworkWrapper -yarpDeviceName icub_left_foot_front_ft diff --git a/simmechanics/data/icub3/conf/FT/gazebo_icub_left_foot_rear_ft.ini b/simmechanics/data/icub3/conf/FT/gazebo_icub_left_foot_rear_ft.ini deleted file mode 100644 index 730a00cf..00000000 --- a/simmechanics/data/icub3/conf/FT/gazebo_icub_left_foot_rear_ft.ini +++ /dev/null @@ -1,2 +0,0 @@ -disableImplicitNetworkWrapper -yarpDeviceName icub_left_foot_rear_ft diff --git a/simmechanics/data/icub3/conf/FT/gazebo_icub_left_leg_ft.ini b/simmechanics/data/icub3/conf/FT/gazebo_icub_left_leg_ft.ini deleted file mode 100644 index 71e85df8..00000000 --- a/simmechanics/data/icub3/conf/FT/gazebo_icub_left_leg_ft.ini +++ /dev/null @@ -1,2 +0,0 @@ -disableImplicitNetworkWrapper -yarpDeviceName icub_left_leg_ft diff --git a/simmechanics/data/icub3/conf/FT/gazebo_icub_right_arm_ft.ini b/simmechanics/data/icub3/conf/FT/gazebo_icub_right_arm_ft.ini deleted file mode 100644 index c411f9e5..00000000 --- a/simmechanics/data/icub3/conf/FT/gazebo_icub_right_arm_ft.ini +++ /dev/null @@ -1,2 +0,0 @@ -disableImplicitNetworkWrapper -yarpDeviceName icub_right_arm_ft diff --git a/simmechanics/data/icub3/conf/FT/gazebo_icub_right_foot_front_ft.ini b/simmechanics/data/icub3/conf/FT/gazebo_icub_right_foot_front_ft.ini deleted file mode 100644 index 14f1281d..00000000 --- a/simmechanics/data/icub3/conf/FT/gazebo_icub_right_foot_front_ft.ini +++ /dev/null @@ -1,2 +0,0 @@ -disableImplicitNetworkWrapper -yarpDeviceName icub_right_foot_front_ft diff --git a/simmechanics/data/icub3/conf/FT/gazebo_icub_right_foot_rear_ft.ini b/simmechanics/data/icub3/conf/FT/gazebo_icub_right_foot_rear_ft.ini deleted file mode 100644 index afd36ed5..00000000 --- a/simmechanics/data/icub3/conf/FT/gazebo_icub_right_foot_rear_ft.ini +++ /dev/null @@ -1,2 +0,0 @@ -disableImplicitNetworkWrapper -yarpDeviceName icub_right_foot_rear_ft diff --git a/simmechanics/data/icub3/conf/FT/gazebo_icub_right_leg_ft.ini b/simmechanics/data/icub3/conf/FT/gazebo_icub_right_leg_ft.ini deleted file mode 100644 index 9f10c91f..00000000 --- a/simmechanics/data/icub3/conf/FT/gazebo_icub_right_leg_ft.ini +++ /dev/null @@ -1,3 +0,0 @@ -disableImplicitNetworkWrapper -yarpDeviceName icub_right_leg_ft - diff --git a/simmechanics/data/icub3/conf/gazebo_icub_chest_inertial.ini b/simmechanics/data/icub3/conf/gazebo_icub_chest_inertial.ini deleted file mode 100644 index 1457c516..00000000 --- a/simmechanics/data/icub3/conf/gazebo_icub_chest_inertial.ini +++ /dev/null @@ -1,2 +0,0 @@ -disableImplicitNetworkWrapper -yarpDeviceName chest_inertial_hardware_device diff --git a/simmechanics/data/icub3/conf/gazebo_icub_depth_camera.ini b/simmechanics/data/icub3/conf/gazebo_icub_depth_camera.ini deleted file mode 100644 index c834e75c..00000000 --- a/simmechanics/data/icub3/conf/gazebo_icub_depth_camera.ini +++ /dev/null @@ -1,8 +0,0 @@ -disableImplicitNetworkWrapper -yarpDeviceName icub_depth_camera - -[CAMERA_PARAM] -focalLengthX 570.3422241210938 -focalLengthY 570.3422241210938 -tangentialPointX 0.0 -tangentialPointY 0.0 diff --git a/simmechanics/data/icub3/conf/gazebo_icub_head_without_eyes_V2_7.ini b/simmechanics/data/icub3/conf/gazebo_icub_head_without_eyes_V2_7.ini deleted file mode 100644 index 7d085ce7..00000000 --- a/simmechanics/data/icub3/conf/gazebo_icub_head_without_eyes_V2_7.ini +++ /dev/null @@ -1,50 +0,0 @@ -disableImplicitNetworkWrapper -yarpDeviceName head_hardware_device - -jointNames neck_pitch neck_roll neck_yaw - -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 - - -#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 -kd 0.122 0.122 0.122 -ki 0.003 0.003 0.003 -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 8.726 8.726 8.726 -kd 0.035 0.035 0.035 -ki 0.003 0.003 0.003 -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 - -[LIMITS] -jntPosMax 17.0 20.0 45.0 -jntPosMin -30.0 -20.0 -45.0 -jntVelMax 100.0 100.0 100.0 diff --git a/simmechanics/data/icub3/conf/gazebo_icub_inertial.ini b/simmechanics/data/icub3/conf/gazebo_icub_inertial.ini deleted file mode 100644 index 5202ca3a..00000000 --- a/simmechanics/data/icub3/conf/gazebo_icub_inertial.ini +++ /dev/null @@ -1,2 +0,0 @@ -disableImplicitNetworkWrapper -yarpDeviceName head_inertial_hardware_device diff --git a/simmechanics/data/icub3/conf/gazebo_icub_left_arm_no_hand_for_no_hand_model.ini b/simmechanics/data/icub3/conf/gazebo_icub_left_arm_no_hand_for_no_hand_model.ini deleted file mode 100644 index 05bffe9d..00000000 --- a/simmechanics/data/icub3/conf/gazebo_icub_left_arm_no_hand_for_no_hand_model.ini +++ /dev/null @@ -1,52 +0,0 @@ -disableImplicitNetworkWrapper -yarpDeviceName left_arm_hardware_device - -jointNames l_shoulder_pitch l_shoulder_roll l_shoulder_yaw l_elbow l_wrist_prosup l_wrist_pitch l_wrist_yaw - -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 - -[TRAJECTORY_GENERATION] -trajectory_type minimum_jerk - -#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 5.745 5.745 5.745 1.745 1.745 1.745 1.745 -kd 0.174 0.174 0.174 0.174 0.174 0.174 0.0 -ki 0.174 0.174 0.174 0.174 0.174 0.174 0.0 -maxInt 9999 9999 9999 9999 9999 9999 9999 -maxOutput 9999 9999 9999 9999 9999 9999 9999 -shift 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 -stictionUp 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 - -[VELOCITY_CONTROL] -velocityControlImplementationType integrator_and_position_pid -controlUnits metric_units -controlLaw joint_pid_gazebo_v1 -kp 8.726 8.726 8.726 5.236 5.236 5.236 5.236 -kd 0.035 0.035 0.035 0.002 0.002 0.002 0.0 -ki 0.002 0.002 0.002 0.0 0.0 0.0 0.0 -maxInt 9999 9999 9999 9999 9999 9999 9999 -maxOutput 9999 9999 9999 9999 9999 9999 9999 -shift 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 -stictionUp 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 - -[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 -damping 0.0 0.0 0.0 0.0 0.0 0.0 0.0 - -[LIMITS] -jntPosMax 20.0 160.0 80.0 75.0 88.0 25.0 35.0 -jntPosMin -175.0 12.0 -50.0 -3.0 -88.0 -70.0 -15.0 -jntVelMax 100.0 100.0 100.0 100.0 100.0 100.0 100.0 diff --git a/simmechanics/data/icub3/conf/gazebo_icub_left_leg.ini b/simmechanics/data/icub3/conf/gazebo_icub_left_leg.ini deleted file mode 100644 index 22f858f6..00000000 --- a/simmechanics/data/icub3/conf/gazebo_icub_left_leg.ini +++ /dev/null @@ -1,52 +0,0 @@ -disableImplicitNetworkWrapper -yarpDeviceName left_leg_hardware_device - -jointNames l_hip_pitch l_hip_roll l_hip_yaw l_knee l_ankle_pitch l_ankle_roll - -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 minimum_jerk - -#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 70.0 70.0 40.0 100.0 100.0 100.0 -kd 0.15 0.15 0.35 0.15 0.15 0.15 -ki 0.17 0.17 0.35 0.35 0.35 0.35 -maxInt 9999 9999 9999 9999 9999 9999 -maxOutput 9999 9999 9999 9999 9999 9999 -shift 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 -stictionUp 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 - -[VELOCITY_CONTROL] -velocityControlImplementationType integrator_and_position_pid -controlUnits metric_units -controlLaw joint_pid_gazebo_v1 -kp 8.726 8.726 8.726 8.726 8.726 8.726 -kd 0.349 0.349 0.349 0.349 0.349 0.349 -ki 0.176 0.176 0.176 0.176 0.176 0.176 -maxInt 9999 9999 9999 9999 9999 9999 -maxOutput 9999 9999 9999 9999 9999 9999 -shift 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 -stictionUp 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 - -[IMPEDANCE_CONTROL] -controlUnits metric_units -controlLaw joint_pid_gazebo_v1 -stiffness 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 - -[LIMITS] -jntPosMax 115.0 112.0 80.0 5.0 45.0 25.0 -jntPosMin -45.0 -10.0 -80.0 -70.0 -45.0 -25.0 -jntVelMax 100.0 100.0 100.0 100.0 100.0 100.0 diff --git a/simmechanics/data/icub3/conf/gazebo_icub_rgb_camera.ini b/simmechanics/data/icub3/conf/gazebo_icub_rgb_camera.ini deleted file mode 100644 index df4d018b..00000000 --- a/simmechanics/data/icub3/conf/gazebo_icub_rgb_camera.ini +++ /dev/null @@ -1,4 +0,0 @@ -disableImplicitNetworkWrapper -yarpDeviceName icub_rgb_camera -framerate 30 -stamp 1 \ No newline at end of file diff --git a/simmechanics/data/icub3/conf/gazebo_icub_right_arm_no_hand_for_no_hand_model.ini b/simmechanics/data/icub3/conf/gazebo_icub_right_arm_no_hand_for_no_hand_model.ini deleted file mode 100644 index 74cb2970..00000000 --- a/simmechanics/data/icub3/conf/gazebo_icub_right_arm_no_hand_for_no_hand_model.ini +++ /dev/null @@ -1,53 +0,0 @@ -disableImplicitNetworkWrapper -yarpDeviceName right_arm_hardware_device - -jointNames r_shoulder_pitch r_shoulder_roll r_shoulder_yaw r_elbow r_wrist_prosup r_wrist_pitch r_wrist_yaw -name right_arm_no_hand - -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 - -[TRAJECTORY_GENERATION] -trajectory_type minimum_jerk - -#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 5.745 5.745 5.745 1.745 1.745 1.745 1.745 -kd 0.174 0.174 0.174 0.174 0.174 0.174 0.0 -ki 0.174 0.174 0.174 0.174 0.174 0.174 0.0 -maxInt 9999 9999 9999 9999 9999 9999 9999 -maxOutput 9999 9999 9999 9999 9999 9999 9999 -shift 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 -stictionUp 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 - -[VELOCITY_CONTROL] -velocityControlImplementationType integrator_and_position_pid -controlUnits metric_units -controlLaw joint_pid_gazebo_v1 -kp 8.726 8.726 8.726 5.236 5.236 5.236 5.236 -kd 0.035 0.035 0.035 0.002 0.002 0.002 0.0 -ki 0.002 0.002 0.002 0.0 0.0 0.0 0.0 -maxInt 9999 9999 9999 9999 9999 9999 9999 -maxOutput 9999 9999 9999 9999 9999 9999 9999 -shift 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 -stictionUp 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 - -[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 -damping 0.0 0.0 0.0 0.0 0.0 0.0 0.0 - -[LIMITS] -jntPosMax 20.0 160.0 80.0 75.0 88.0 25.0 35.0 -jntPosMin -175.0 12.0 -50.0 -3.0 -88.0 -70.0 -15.0 -jntVelMax 100.0 100.0 100.0 100.0 100.0 100.0 100.0 diff --git a/simmechanics/data/icub3/conf/gazebo_icub_right_leg.ini b/simmechanics/data/icub3/conf/gazebo_icub_right_leg.ini deleted file mode 100644 index 426cec4d..00000000 --- a/simmechanics/data/icub3/conf/gazebo_icub_right_leg.ini +++ /dev/null @@ -1,52 +0,0 @@ -disableImplicitNetworkWrapper -yarpDeviceName right_leg_hardware_device - -jointNames r_hip_pitch r_hip_roll r_hip_yaw r_knee r_ankle_pitch r_ankle_roll - -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 minimum_jerk - -#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 70.0 70.0 40.0 100.0 100.0 100.0 -kd 0.15 0.15 0.35 0.15 0.15 0.15 -ki 0.17 0.17 0.35 0.35 0.35 0.35 -maxInt 9999 9999 9999 9999 9999 9999 -maxOutput 9999 9999 9999 9999 9999 9999 -shift 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 -stictionUp 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 - -[VELOCITY_CONTROL] -velocityControlImplementationType integrator_and_position_pid -controlUnits metric_units -controlLaw joint_pid_gazebo_v1 -kp 8.726 8.726 8.726 8.726 8.726 8.726 -kd 0.349 0.349 0.349 0.349 0.349 0.349 -ki 0.176 0.176 0.176 0.176 0.176 0.176 -maxInt 9999 9999 9999 9999 9999 9999 -maxOutput 9999 9999 9999 9999 9999 9999 -shift 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 -stictionUp 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 - -[IMPEDANCE_CONTROL] -controlUnits metric_units -controlLaw joint_pid_gazebo_v1 -stiffness 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 - -[LIMITS] -jntPosMax 115.0 112.0 80.0 5.0 45.0 25.0 -jntPosMin -45.0 -10.0 -80.0 -70.0 -45.0 -25.0 -jntVelMax 100.0 100.0 100.0 100.0 100.0 100.0 diff --git a/simmechanics/data/icub3/conf/gazebo_icub_torso.ini b/simmechanics/data/icub3/conf/gazebo_icub_torso.ini deleted file mode 100644 index b019b702..00000000 --- a/simmechanics/data/icub3/conf/gazebo_icub_torso.ini +++ /dev/null @@ -1,52 +0,0 @@ -disableImplicitNetworkWrapper -yarpDeviceName torso_hardware_device -jointNames torso_yaw torso_pitch torso_roll - -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 - -#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 70.0 70.0 70.0 -kd 0.15 0.15 0.15 -ki 0.17 0.17 0.17 -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 8.726 8.726 8.726 -kd 0.035 0.035 0.035 -ki 0.002 0.002 0.002 -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 - -[LIMITS] -jntPosMax 43.0 45.0 23.0 -jntPosMin -43.0 -18.0 -23.0 -jntVelMax 100.0 100.0 100.0 diff --git a/simmechanics/data/icub3/conf/icub.xml b/simmechanics/data/icub3/conf/icub.xml deleted file mode 100644 index dc73585b..00000000 --- a/simmechanics/data/icub3/conf/icub.xml +++ /dev/null @@ -1,33 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/simmechanics/data/icub3/conf/icub_ROS2.xml b/simmechanics/data/icub3/conf/icub_ROS2.xml deleted file mode 100644 index d2c677c6..00000000 --- a/simmechanics/data/icub3/conf/icub_ROS2.xml +++ /dev/null @@ -1,45 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/simmechanics/data/icub3/conf/wrappers/FT/left_arm-FT_nws_ros2.xml b/simmechanics/data/icub3/conf/wrappers/FT/left_arm-FT_nws_ros2.xml deleted file mode 100644 index 52d68532..00000000 --- a/simmechanics/data/icub3/conf/wrappers/FT/left_arm-FT_nws_ros2.xml +++ /dev/null @@ -1,18 +0,0 @@ - - - - - - /left_arm_ft - icub_left_arm_ft - 0.1 - - - - - icub_left_arm_ft - - - - - \ No newline at end of file diff --git a/simmechanics/data/icub3/conf/wrappers/FT/left_arm-FT_wrapper.xml b/simmechanics/data/icub3/conf/wrappers/FT/left_arm-FT_wrapper.xml deleted file mode 100644 index b9b6320d..00000000 --- a/simmechanics/data/icub3/conf/wrappers/FT/left_arm-FT_wrapper.xml +++ /dev/null @@ -1,17 +0,0 @@ - - - - - - 10 - ${portprefix}/left_arm/FT - - - - icub_left_arm_ft - - - - - - diff --git a/simmechanics/data/icub3/conf/wrappers/FT/left_foot-FT_nws_ros2.xml b/simmechanics/data/icub3/conf/wrappers/FT/left_foot-FT_nws_ros2.xml deleted file mode 100644 index 0dfcd719..00000000 --- a/simmechanics/data/icub3/conf/wrappers/FT/left_foot-FT_nws_ros2.xml +++ /dev/null @@ -1,18 +0,0 @@ - - - - - - /left_foot_ft - icub_left_foot_ft - 0.1 - - - - - left_foot-FT_remapper - - - - - \ No newline at end of file diff --git a/simmechanics/data/icub3/conf/wrappers/FT/left_leg-FT_remapper.xml b/simmechanics/data/icub3/conf/wrappers/FT/left_leg-FT_remapper.xml deleted file mode 100644 index 73bc0fe9..00000000 --- a/simmechanics/data/icub3/conf/wrappers/FT/left_leg-FT_remapper.xml +++ /dev/null @@ -1,18 +0,0 @@ - - - - - - - (l_leg_ft l_foot_rear_ft l_foot_front_ft) - - - - icub_left_leg_ft - icub_left_foot_rear_ft - icub_left_foot_front_ft - - - - - \ No newline at end of file diff --git a/simmechanics/data/icub3/conf/wrappers/FT/left_leg-FT_wrapper.xml b/simmechanics/data/icub3/conf/wrappers/FT/left_leg-FT_wrapper.xml deleted file mode 100644 index 55212471..00000000 --- a/simmechanics/data/icub3/conf/wrappers/FT/left_leg-FT_wrapper.xml +++ /dev/null @@ -1,16 +0,0 @@ - - - - - - 10 - ${portprefix}/left_leg/FT - - - - left_leg-FT_remapper - - - - - diff --git a/simmechanics/data/icub3/conf/wrappers/FT/left_leg_hip-FT_nws_ros2.xml b/simmechanics/data/icub3/conf/wrappers/FT/left_leg_hip-FT_nws_ros2.xml deleted file mode 100644 index ca2c18e3..00000000 --- a/simmechanics/data/icub3/conf/wrappers/FT/left_leg_hip-FT_nws_ros2.xml +++ /dev/null @@ -1,18 +0,0 @@ - - - - - - /left_leg_hip_ft - icub_left_leg_hip_ft - 0.1 - - - - - icub_left_leg_ft - - - - - \ No newline at end of file diff --git a/simmechanics/data/icub3/conf/wrappers/FT/right_arm-FT_nws_ros2.xml b/simmechanics/data/icub3/conf/wrappers/FT/right_arm-FT_nws_ros2.xml deleted file mode 100644 index ae7dbe6a..00000000 --- a/simmechanics/data/icub3/conf/wrappers/FT/right_arm-FT_nws_ros2.xml +++ /dev/null @@ -1,18 +0,0 @@ - - - - - - /right_arm_ft - icub_right_arm_ft - 0.1 - - - - - icub_right_arm_ft - - - - - \ No newline at end of file diff --git a/simmechanics/data/icub3/conf/wrappers/FT/right_arm-FT_wrapper.xml b/simmechanics/data/icub3/conf/wrappers/FT/right_arm-FT_wrapper.xml deleted file mode 100644 index 940f08d8..00000000 --- a/simmechanics/data/icub3/conf/wrappers/FT/right_arm-FT_wrapper.xml +++ /dev/null @@ -1,17 +0,0 @@ - - - - - - 10 - ${portprefix}/right_arm/FT - - - - icub_right_arm_ft - - - - - - diff --git a/simmechanics/data/icub3/conf/wrappers/FT/right_foot-FT_nws_ros2.xml b/simmechanics/data/icub3/conf/wrappers/FT/right_foot-FT_nws_ros2.xml deleted file mode 100644 index 62edc2e5..00000000 --- a/simmechanics/data/icub3/conf/wrappers/FT/right_foot-FT_nws_ros2.xml +++ /dev/null @@ -1,18 +0,0 @@ - - - - - - /right_foot_ft - icub_right_foot_ft - 0.1 - - - - - right_foot-FT_remapper - - - - - \ No newline at end of file diff --git a/simmechanics/data/icub3/conf/wrappers/FT/right_leg-FT_remapper.xml b/simmechanics/data/icub3/conf/wrappers/FT/right_leg-FT_remapper.xml deleted file mode 100644 index b60df29c..00000000 --- a/simmechanics/data/icub3/conf/wrappers/FT/right_leg-FT_remapper.xml +++ /dev/null @@ -1,18 +0,0 @@ - - - - - - - (r_leg_ft r_foot_rear_ft r_foot_front_ft) - - - - icub_right_leg_ft - icub_right_foot_rear_ft - icub_right_foot_front_ft - - - - - \ No newline at end of file diff --git a/simmechanics/data/icub3/conf/wrappers/FT/right_leg-FT_wrapper.xml b/simmechanics/data/icub3/conf/wrappers/FT/right_leg-FT_wrapper.xml deleted file mode 100644 index c75fc111..00000000 --- a/simmechanics/data/icub3/conf/wrappers/FT/right_leg-FT_wrapper.xml +++ /dev/null @@ -1,16 +0,0 @@ - - - - - - 10 - ${portprefix}/right_leg/FT - - - - right_leg-FT_remapper - - - - - diff --git a/simmechanics/data/icub3/conf/wrappers/FT/right_leg_hip-FT_nws_ros2.xml b/simmechanics/data/icub3/conf/wrappers/FT/right_leg_hip-FT_nws_ros2.xml deleted file mode 100644 index 26f92870..00000000 --- a/simmechanics/data/icub3/conf/wrappers/FT/right_leg_hip-FT_nws_ros2.xml +++ /dev/null @@ -1,18 +0,0 @@ - - - - - - /right_leg_hip_ft - icub_right_leg_hip_ft - 0.1 - - - - - icub_right_leg_ft - - - - - \ No newline at end of file diff --git a/simmechanics/data/icub3/conf/wrappers/inertials/head-inertials_wrapper.xml b/simmechanics/data/icub3/conf/wrappers/inertials/head-inertials_wrapper.xml deleted file mode 100644 index 874ea5db..00000000 --- a/simmechanics/data/icub3/conf/wrappers/inertials/head-inertials_wrapper.xml +++ /dev/null @@ -1,17 +0,0 @@ - - - - - - 10 - ${portprefix}/head/inertials - - - - - head_inertial_hardware_device - - - - - diff --git a/simmechanics/data/icub3/conf/wrappers/motorControl/alljoints-mc_nws_ros2.xml b/simmechanics/data/icub3/conf/wrappers/motorControl/alljoints-mc_nws_ros2.xml deleted file mode 100644 index be79410e..00000000 --- a/simmechanics/data/icub3/conf/wrappers/motorControl/alljoints-mc_nws_ros2.xml +++ /dev/null @@ -1,11 +0,0 @@ - - - - - icub_cb_node - /joint_states - - alljoints-mc_remapper - - - diff --git a/simmechanics/data/icub3/conf/wrappers/motorControl/alljoints-mc_remapper.xml b/simmechanics/data/icub3/conf/wrappers/motorControl/alljoints-mc_remapper.xml deleted file mode 100644 index 9c9e1b96..00000000 --- a/simmechanics/data/icub3/conf/wrappers/motorControl/alljoints-mc_remapper.xml +++ /dev/null @@ -1,25 +0,0 @@ - - - - - - ( 0 2 0 2 ) - ( 3 9 0 6 ) - ( 10 16 0 6 ) - ( 17 19 0 2 ) - ( 20 25 0 5 ) - ( 26 31 0 5 ) - - 32 - - - head-mc_remapper - left_arm-mc_remapper - right_arm-mc_remapper - torso-mc_remapper - left_leg-mc_remapper - right_leg-mc_remapper - - - - \ No newline at end of file diff --git a/simmechanics/data/icub3/conf/wrappers/motorControl/head-mc_remapper.xml b/simmechanics/data/icub3/conf/wrappers/motorControl/head-mc_remapper.xml deleted file mode 100644 index 4264356e..00000000 --- a/simmechanics/data/icub3/conf/wrappers/motorControl/head-mc_remapper.xml +++ /dev/null @@ -1,15 +0,0 @@ - - - - - - ( 0 2 0 2 ) - - 3 - - - head_hardware_device - - - - diff --git a/simmechanics/data/icub3/conf/wrappers/motorControl/head-mc_wrapper.xml b/simmechanics/data/icub3/conf/wrappers/motorControl/head-mc_wrapper.xml deleted file mode 100644 index e6972352..00000000 --- a/simmechanics/data/icub3/conf/wrappers/motorControl/head-mc_wrapper.xml +++ /dev/null @@ -1,10 +0,0 @@ - - - - - ${portprefix}/head - - head-mc_remapper - - - diff --git a/simmechanics/data/icub3/conf/wrappers/motorControl/left_arm-mc_remapper.xml b/simmechanics/data/icub3/conf/wrappers/motorControl/left_arm-mc_remapper.xml deleted file mode 100644 index 6bcd16a4..00000000 --- a/simmechanics/data/icub3/conf/wrappers/motorControl/left_arm-mc_remapper.xml +++ /dev/null @@ -1,15 +0,0 @@ - - - - - - ( 0 6 0 6 ) - - 7 - - - left_arm_hardware_device - - - - diff --git a/simmechanics/data/icub3/conf/wrappers/motorControl/left_arm-mc_wrapper.xml b/simmechanics/data/icub3/conf/wrappers/motorControl/left_arm-mc_wrapper.xml deleted file mode 100644 index 759c37c8..00000000 --- a/simmechanics/data/icub3/conf/wrappers/motorControl/left_arm-mc_wrapper.xml +++ /dev/null @@ -1,11 +0,0 @@ - - - - - ${portprefix}/left_arm - 0.01 - - left_arm-mc_remapper - - - diff --git a/simmechanics/data/icub3/conf/wrappers/motorControl/left_leg-mc_remapper.xml b/simmechanics/data/icub3/conf/wrappers/motorControl/left_leg-mc_remapper.xml deleted file mode 100644 index 0545961d..00000000 --- a/simmechanics/data/icub3/conf/wrappers/motorControl/left_leg-mc_remapper.xml +++ /dev/null @@ -1,14 +0,0 @@ - - - - - ( 0 5 0 5 ) - - 6 - - - left_leg_hardware_device - - - - diff --git a/simmechanics/data/icub3/conf/wrappers/motorControl/left_leg-mc_wrapper.xml b/simmechanics/data/icub3/conf/wrappers/motorControl/left_leg-mc_wrapper.xml deleted file mode 100644 index d8ac8322..00000000 --- a/simmechanics/data/icub3/conf/wrappers/motorControl/left_leg-mc_wrapper.xml +++ /dev/null @@ -1,11 +0,0 @@ - - - - - ${portprefix}/left_leg - 0.01 - - left_leg-mc_remapper - - - diff --git a/simmechanics/data/icub3/conf/wrappers/motorControl/right_arm-mc_remapper.xml b/simmechanics/data/icub3/conf/wrappers/motorControl/right_arm-mc_remapper.xml deleted file mode 100644 index 37cd508b..00000000 --- a/simmechanics/data/icub3/conf/wrappers/motorControl/right_arm-mc_remapper.xml +++ /dev/null @@ -1,15 +0,0 @@ - - - - - - ( 0 6 0 6 ) - - 7 - - - right_arm_hardware_device - - - - diff --git a/simmechanics/data/icub3/conf/wrappers/motorControl/right_arm-mc_wrapper.xml b/simmechanics/data/icub3/conf/wrappers/motorControl/right_arm-mc_wrapper.xml deleted file mode 100644 index 8177a145..00000000 --- a/simmechanics/data/icub3/conf/wrappers/motorControl/right_arm-mc_wrapper.xml +++ /dev/null @@ -1,11 +0,0 @@ - - - - - ${portprefix}/right_arm - 0.01 - - right_arm-mc_remapper - - - diff --git a/simmechanics/data/icub3/conf/wrappers/motorControl/right_leg-mc_remapper.xml b/simmechanics/data/icub3/conf/wrappers/motorControl/right_leg-mc_remapper.xml deleted file mode 100644 index d1fd9016..00000000 --- a/simmechanics/data/icub3/conf/wrappers/motorControl/right_leg-mc_remapper.xml +++ /dev/null @@ -1,14 +0,0 @@ - - - - - ( 0 5 0 5 ) - - 6 - - - right_leg_hardware_device - - - - diff --git a/simmechanics/data/icub3/conf/wrappers/motorControl/right_leg-mc_wrapper.xml b/simmechanics/data/icub3/conf/wrappers/motorControl/right_leg-mc_wrapper.xml deleted file mode 100644 index b2d952d5..00000000 --- a/simmechanics/data/icub3/conf/wrappers/motorControl/right_leg-mc_wrapper.xml +++ /dev/null @@ -1,11 +0,0 @@ - - - - - ${portprefix}/right_leg - 0.01 - - right_leg-mc_remapper - - - diff --git a/simmechanics/data/icub3/conf/wrappers/motorControl/torso-mc_remapper.xml b/simmechanics/data/icub3/conf/wrappers/motorControl/torso-mc_remapper.xml deleted file mode 100644 index d4aabf0f..00000000 --- a/simmechanics/data/icub3/conf/wrappers/motorControl/torso-mc_remapper.xml +++ /dev/null @@ -1,15 +0,0 @@ - - - - - - ( 0 2 0 2 ) - - 3 - - - torso_hardware_device - - - - diff --git a/simmechanics/data/icub3/conf/wrappers/motorControl/torso-mc_wrapper.xml b/simmechanics/data/icub3/conf/wrappers/motorControl/torso-mc_wrapper.xml deleted file mode 100644 index 6d1e2859..00000000 --- a/simmechanics/data/icub3/conf/wrappers/motorControl/torso-mc_wrapper.xml +++ /dev/null @@ -1,11 +0,0 @@ - - - - - ${portprefix}/torso - 0.01 - - torso-mc_remapper - - - diff --git a/simmechanics/data/icub3/meshes/simmechanics/sim_head_head_prt.stl b/simmechanics/data/icub3/meshes/simmechanics/sim_head_head_prt.stl deleted file mode 100755 index 1797634f..00000000 --- a/simmechanics/data/icub3/meshes/simmechanics/sim_head_head_prt.stl +++ /dev/null @@ -1,151328 +0,0 @@ -solid SIM_HEAD_HEAD - facet normal -9.157531e-01 -3.930532e-01 -8.309916e-02 - outer loop - vertex -8.865547e+01 -1.159541e+02 -4.353502e+01 - vertex -8.946848e+01 -1.136902e+02 -4.528374e+01 - vertex -8.908468e+01 -1.141063e+02 -4.754489e+01 - endloop - endfacet - facet normal -9.100921e-01 -4.066834e-01 -7.962971e-02 - outer loop - vertex -9.006142e+01 -1.115738e+02 -4.931569e+01 - vertex -8.908468e+01 -1.141063e+02 -4.754489e+01 - vertex -8.946848e+01 -1.136902e+02 -4.528374e+01 - endloop - endfacet - facet normal -6.924684e-01 -6.805432e-01 -2.394754e-01 - outer loop - vertex -8.767610e+01 -1.170933e+02 -4.312942e+01 - vertex -8.865547e+01 -1.159541e+02 -4.353502e+01 - 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endloop - endfacet - facet normal 1.337969e-02 3.401265e-01 9.402845e-01 - outer loop - vertex 3.116153e+01 7.977831e+00 1.775513e+01 - vertex 2.840438e+01 7.785755e+00 1.786384e+01 - vertex 2.839356e+01 5.700350e+00 1.861834e+01 - endloop - endfacet - facet normal -1.255143e-02 3.676923e-01 9.298628e-01 - outer loop - vertex 3.116153e+01 7.977831e+00 1.775513e+01 - vertex 2.839356e+01 5.700350e+00 1.861834e+01 - vertex 3.117723e+01 5.886968e+00 1.858212e+01 - endloop - endfacet - facet normal 1.171337e-15 -5.049315e-02 -9.987244e-01 - outer loop - vertex 3.120631e+01 9.283791e+00 -1.999427e+01 - vertex 3.120631e+01 6.495597e+00 -1.985331e+01 - vertex 2.836937e+01 9.283791e+00 -1.999427e+01 - endloop - endfacet - facet normal 4.156485e-03 4.467051e-01 8.946716e-01 - outer loop - vertex 3.116153e+01 7.977831e+00 1.775513e+01 - vertex 2.837740e+01 8.899062e+00 1.730810e+01 - vertex 2.840438e+01 7.785755e+00 1.786384e+01 - endloop - endfacet - facet normal -5.584335e-03 5.077975e-01 8.614583e-01 - outer loop - vertex 3.117788e+01 1.091675e+01 1.613690e+01 - vertex 2.839018e+01 1.081283e+01 1.618008e+01 - vertex 2.837740e+01 8.899062e+00 1.730810e+01 - endloop - endfacet - facet normal -1.080670e-02 4.099202e-01 9.120574e-01 - outer loop - vertex 3.121401e+01 8.912759e+00 1.733555e+01 - vertex 2.837740e+01 8.899062e+00 1.730810e+01 - vertex 3.116153e+01 7.977831e+00 1.775513e+01 - endloop - endfacet - facet normal -1.078419e-02 5.131437e-01 8.582350e-01 - outer loop - vertex 3.117788e+01 1.091675e+01 1.613690e+01 - vertex 2.837740e+01 8.899062e+00 1.730810e+01 - vertex 3.121401e+01 8.912759e+00 1.733555e+01 - endloop - endfacet - facet normal 2.936319e-01 -4.826734e-02 -9.546992e-01 - outer loop - vertex 3.235189e+01 3.725170e+00 -1.936090e+01 - vertex 3.120631e+01 9.192078e-01 -1.957138e+01 - vertex 3.120631e+01 3.707402e+00 -1.971234e+01 - endloop - endfacet - facet normal 2.531130e-01 -6.896967e-02 -9.649751e-01 - outer loop - vertex 3.228132e+01 9.334124e-01 -1.929042e+01 - vertex 3.120631e+01 -1.744068e+00 -1.938103e+01 - 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endfacet - facet normal 3.281037e-01 -3.212930e-02 -9.440951e-01 - outer loop - vertex 3.249304e+01 9.308686e+00 -1.950186e+01 - vertex 3.242246e+01 6.516928e+00 -1.943138e+01 - vertex 3.120631e+01 6.495597e+00 -1.985331e+01 - endloop - endfacet - facet normal 3.605037e-01 -4.709788e-02 -9.315680e-01 - outer loop - vertex 3.250000e+01 1.209723e+01 -1.963587e+01 - vertex 3.120631e+01 9.283791e+00 -1.999427e+01 - vertex 3.120631e+01 1.207199e+01 -2.013524e+01 - endloop - endfacet - facet normal 3.578046e-01 -4.571554e-02 -9.326768e-01 - outer loop - vertex 3.250000e+01 1.209723e+01 -1.963587e+01 - vertex 3.249304e+01 9.308686e+00 -1.950186e+01 - vertex 3.120631e+01 9.283791e+00 -1.999427e+01 - endloop - endfacet - facet normal 1.025768e-15 -5.049315e-02 -9.987244e-01 - outer loop - vertex 2.836937e+01 1.486018e+01 -2.027620e+01 - vertex 3.120631e+01 1.486018e+01 -2.027620e+01 - vertex 3.120631e+01 1.207199e+01 -2.013524e+01 - endloop - endfacet - facet normal -1.878260e-01 -4.959448e-02 -9.809494e-01 - outer loop - vertex 3.404325e+01 1.494008e+01 -2.082344e+01 - vertex 3.120631e+01 1.207199e+01 -2.013524e+01 - vertex 3.120631e+01 1.486018e+01 -2.027620e+01 - endloop - endfacet - facet normal 3.188862e-01 -5.074974e-01 -8.004736e-01 - outer loop - vertex 3.404325e+01 1.494008e+01 -2.082344e+01 - vertex 3.250000e+01 1.209723e+01 -1.963587e+01 - vertex 3.120631e+01 1.207199e+01 -2.013524e+01 - endloop - endfacet - facet normal -4.879001e-01 -4.407544e-02 -8.717860e-01 - outer loop - vertex 3.250000e+01 1.548288e+01 -2.103170e+01 - vertex 3.120631e+01 1.486018e+01 -2.027620e+01 - vertex 3.120631e+01 1.764837e+01 -2.041717e+01 - endloop - endfacet - facet normal -1.266071e-01 -6.480921e-01 -7.509642e-01 - outer loop - vertex 3.250000e+01 1.548288e+01 -2.103170e+01 - vertex 3.404325e+01 1.494008e+01 -2.082344e+01 - vertex 3.120631e+01 1.486018e+01 -2.027620e+01 - endloop - endfacet - facet normal 1.177811e-15 -5.049315e-02 -9.987244e-01 - outer loop - vertex 2.810000e+01 4.009449e+01 -2.155199e+01 - 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endfacet - facet normal 3.101143e-01 -4.017284e-01 8.616516e-01 - outer loop - vertex 3.238449e+01 -9.545209e+00 1.650962e+01 - vertex 3.250000e+01 -7.364861e+00 1.748459e+01 - vertex 3.120107e+01 -9.729331e+00 1.684970e+01 - endloop - endfacet - facet normal 3.621623e-01 -3.738674e-01 -8.538511e-01 - outer loop - vertex 3.250000e+01 -7.215323e+00 -1.752762e+01 - vertex 3.120454e+01 -7.419457e+00 -1.798771e+01 - vertex 3.122352e+01 -6.508376e+00 -1.837859e+01 - endloop - endfacet - facet normal 3.951021e-03 -3.405452e-01 9.402198e-01 - outer loop - vertex 3.200000e+01 -6.642223e+00 1.827670e+01 - vertex 3.119589e+01 -6.643305e+00 1.827968e+01 - vertex 3.120625e+01 -7.535767e+00 1.795639e+01 - endloop - endfacet - facet normal 3.464344e-01 -5.737739e-01 7.421365e-01 - outer loop - vertex 3.200000e+01 -6.642223e+00 1.827670e+01 - vertex 3.120625e+01 -7.535767e+00 1.795639e+01 - vertex 3.250000e+01 -7.364861e+00 1.748459e+01 - endloop - endfacet - facet normal 5.881950e-03 -2.677765e-01 -9.634631e-01 - 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outer loop - vertex 2.390866e+01 4.788963e+00 -8.380590e+00 - vertex 2.236612e+01 6.051742e+00 -7.524631e+00 - vertex 2.236617e+01 4.789004e+00 -8.380665e+00 - endloop - endfacet - facet normal 5.929352e-05 -3.445988e-01 9.387501e-01 - outer loop - vertex 2.082364e+01 2.532427e+00 -9.325116e+00 - vertex 2.236603e+01 4.139703e+00 -8.735210e+00 - vertex 2.082355e+01 4.139659e+00 -8.735129e+00 - endloop - endfacet - facet normal -1.815717e-05 -3.445333e-01 9.387741e-01 - outer loop - vertex 2.236612e+01 2.532420e+00 -9.325089e+00 - vertex 2.236603e+01 4.139703e+00 -8.735210e+00 - vertex 2.082364e+01 2.532427e+00 -9.325116e+00 - endloop - endfacet - facet normal 5.929291e-05 -3.445332e-01 9.387741e-01 - outer loop - vertex 2.390852e+01 4.139747e+00 -8.735291e+00 - vertex 2.236603e+01 4.139703e+00 -8.735210e+00 - vertex 2.236612e+01 2.532420e+00 -9.325089e+00 - endloop - endfacet - facet normal 5.994877e-05 -4.794607e-01 8.775633e-01 - outer loop - vertex 2.390866e+01 4.788963e+00 -8.380590e+00 - 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outer loop - vertex 2.082358e+01 6.974400e+00 -6.673488e+00 - vertex 2.082355e+01 7.772610e+00 -5.720556e+00 - vertex 1.928109e+01 6.974351e+00 -6.673439e+00 - endloop - endfacet - facet normal 3.912842e-06 -7.312559e-01 -6.821032e-01 - outer loop - vertex 2.082359e+01 7.486888e+00 6.102007e+00 - vertex 1.928110e+01 6.671293e+00 6.976365e+00 - vertex 1.928109e+01 7.486909e+00 6.101976e+00 - endloop - endfacet - facet normal 1.123237e-06 -7.312534e-01 -6.821059e-01 - outer loop - vertex 2.082359e+01 7.486888e+00 6.102007e+00 - vertex 2.082358e+01 6.671295e+00 6.976366e+00 - vertex 1.928110e+01 6.671293e+00 6.976365e+00 - endloop - endfacet - facet normal 1.065969e-05 -8.218037e-01 -5.697707e-01 - outer loop - vertex 2.082357e+01 8.317778e+00 4.903608e+00 - vertex 1.928109e+01 7.486909e+00 6.101976e+00 - vertex 1.928108e+01 8.317763e+00 4.903600e+00 - endloop - endfacet - facet normal 4.211849e-07 -8.217976e-01 -5.697796e-01 - outer loop - vertex 2.082357e+01 8.317778e+00 4.903608e+00 - 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outer loop - vertex 2.082359e+01 9.006783e+00 -1.287593e+01 - vertex 2.115000e+01 8.062395e+00 -1.351983e+01 - vertex 2.082359e+01 8.062395e+00 -1.351983e+01 - endloop - endfacet - facet normal 0.000000e+00 5.633350e-01 -8.262286e-01 - outer loop - vertex 2.115000e+01 9.006783e+00 -1.287593e+01 - vertex 2.115000e+01 8.062395e+00 -1.351983e+01 - vertex 2.082359e+01 9.006783e+00 -1.287593e+01 - endloop - endfacet - facet normal -2.940445e-07 -6.439554e-01 -7.650630e-01 - outer loop - vertex 2.390857e+01 6.671218e+00 6.976433e+00 - vertex 2.236607e+01 5.765242e+00 7.738995e+00 - vertex 2.236608e+01 6.671218e+00 6.976433e+00 - endloop - endfacet - facet normal 1.139341e-05 -5.355737e-01 -8.444885e-01 - outer loop - vertex 2.390854e+01 4.536564e+00 8.518242e+00 - vertex 2.236606e+01 4.536556e+00 8.518227e+00 - vertex 2.236607e+01 5.765242e+00 7.738995e+00 - endloop - endfacet - facet normal 1.002337e-05 -5.355749e-01 -8.444877e-01 - outer loop - vertex 2.390857e+01 5.765194e+00 7.739044e+00 - 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vertex 3.100000e+01 2.269268e+00 -9.657931e+00 - vertex 3.100000e+01 8.338657e-01 -9.615237e+00 - endloop - endfacet - facet normal -2.986372e-06 -1.624774e-01 -9.867123e-01 - outer loop - vertex 2.545105e+01 7.912797e-01 9.618400e+00 - vertex 2.390856e+01 7.912800e-01 9.618404e+00 - vertex 2.390857e+01 2.408144e+00 9.352163e+00 - endloop - endfacet - facet normal -2.990487e-06 3.901118e-03 -9.999924e-01 - outer loop - vertex 2.545105e+01 7.912797e-01 9.618400e+00 - vertex 2.545106e+01 -8.804622e-01 9.611878e+00 - vertex 2.390856e+01 7.912800e-01 9.618404e+00 - endloop - endfacet - facet normal 0.000000e+00 1.021557e-01 9.947684e-01 - outer loop - vertex 2.545040e+01 2.093065e+00 1.250720e+01 - vertex 2.390856e+01 6.790696e-01 1.265241e+01 - vertex 2.545105e+01 6.790696e-01 1.265241e+01 - endloop - endfacet - facet normal 7.249250e-04 1.013735e-01 9.948482e-01 - outer loop - vertex 2.545040e+01 2.093065e+00 1.250720e+01 - vertex 2.390791e+01 2.093301e+00 1.250830e+01 - vertex 2.390856e+01 6.790696e-01 1.265241e+01 - 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vertex 2.586103e+01 5.992411e+00 -1.105501e+01 - vertex 2.544924e+01 6.036682e+00 -1.113676e+01 - vertex 2.620000e+01 6.543965e+00 -1.053430e+01 - endloop - endfacet - facet normal 2.131166e-01 5.357707e-01 8.170258e-01 - outer loop - vertex 2.585261e+01 7.296165e+00 1.025096e+01 - vertex 2.544950e+01 7.348743e+00 1.032163e+01 - vertex 2.545004e+01 6.431918e+00 1.092271e+01 - endloop - endfacet - facet normal 3.585996e-01 4.629956e-01 8.105809e-01 - outer loop - vertex 2.585261e+01 7.296165e+00 1.025096e+01 - vertex 2.545004e+01 6.431918e+00 1.092271e+01 - vertex 2.620000e+01 6.294700e+00 1.066931e+01 - endloop - endfacet - facet normal 3.562769e-01 5.662430e-01 -7.432602e-01 - outer loop - vertex 2.620000e+01 8.139258e+00 -9.364927e+00 - vertex 2.544989e+01 7.633811e+00 -1.010955e+01 - vertex 2.545091e+01 8.342453e+00 -9.569195e+00 - endloop - endfacet - facet normal 3.384945e-01 6.637897e-01 -6.669368e-01 - outer loop - vertex 2.611504e+01 8.952708e+00 -8.624751e+00 - vertex 2.545091e+01 8.342453e+00 -9.569195e+00 - vertex 2.545014e+01 9.121382e+00 -8.794332e+00 - endloop - endfacet - facet normal 3.589567e-01 6.483881e-01 -6.713739e-01 - outer loop - vertex 2.611504e+01 8.952708e+00 -8.624751e+00 - vertex 2.620000e+01 8.139258e+00 -9.364927e+00 - vertex 2.545091e+01 8.342453e+00 -9.569195e+00 - endloop - endfacet - facet normal 3.213799e-01 6.010594e-01 -7.317394e-01 - outer loop - vertex 2.605910e+01 7.510269e+00 -9.943469e+00 - vertex 2.544989e+01 7.633811e+00 -1.010955e+01 - vertex 2.620000e+01 8.139258e+00 -9.364927e+00 - endloop - endfacet - facet normal -2.725378e-05 -8.485187e-01 5.291654e-01 - outer loop - vertex 3.100000e+01 7.772916e+00 -5.719932e+00 - vertex 3.100000e+01 8.568463e+00 -4.444269e+00 - vertex 2.545108e+01 8.568595e+00 -4.444344e+00 - endloop - endfacet - facet normal -2.718424e-05 -9.037448e-01 4.280717e-01 - outer loop - vertex 2.699353e+01 8.915088e+00 -3.712731e+00 - vertex 2.545108e+01 8.568595e+00 -4.444344e+00 - vertex 3.100000e+01 8.568463e+00 -4.444269e+00 - endloop - endfacet - facet normal -1.000000e+00 -1.767869e-08 9.761256e-09 - outer loop - vertex 3.100000e+01 8.915123e+00 -3.712616e+00 - vertex 3.100000e+01 8.568463e+00 -4.444269e+00 - vertex 3.100000e+01 7.772916e+00 -5.719932e+00 - endloop - endfacet - facet normal 1.582982e-05 -9.036536e-01 4.282641e-01 - outer loop - vertex 2.853603e+01 8.915161e+00 -3.712632e+00 - vertex 2.699353e+01 8.915088e+00 -3.712731e+00 - vertex 3.100000e+01 8.568463e+00 -4.444269e+00 - endloop - endfacet - facet normal -1.659453e-05 -9.036959e-01 4.281749e-01 - outer loop - vertex 3.100000e+01 8.915123e+00 -3.712616e+00 - vertex 2.853603e+01 8.915161e+00 -3.712632e+00 - vertex 3.100000e+01 8.568463e+00 -4.444269e+00 - endloop - endfacet - facet normal 1.000000e+00 -5.425475e-10 6.070372e-10 - outer loop - vertex 3.100000e+01 8.478778e+00 -5.089059e+00 - vertex 3.100000e+01 8.915123e+00 -3.712616e+00 - vertex 3.100000e+01 7.772916e+00 -5.719932e+00 - endloop - endfacet - facet normal 1.000000e+00 1.301536e-09 -1.456243e-09 - outer loop - vertex 3.100000e+01 8.478778e+00 -5.089059e+00 - vertex 3.100000e+01 7.772916e+00 -5.719932e+00 - vertex 3.100000e+01 6.974232e+00 -6.673244e+00 - endloop - endfacet - facet normal 2.134740e-01 5.829454e-01 7.839665e-01 - outer loop - vertex 2.585261e+01 7.296165e+00 1.025096e+01 - vertex 2.545051e+01 8.085797e+00 9.773298e+00 - vertex 2.544950e+01 7.348743e+00 1.032163e+01 - endloop - endfacet - facet normal 2.674869e-01 6.545749e-01 7.070944e-01 - outer loop - vertex 2.593252e+01 8.729210e+00 8.995333e+00 - vertex 2.544985e+01 8.823756e+00 9.090402e+00 - vertex 2.545051e+01 8.085797e+00 9.773298e+00 - endloop - endfacet - facet normal 3.580193e-01 6.099590e-01 7.069457e-01 - outer loop - vertex 2.585261e+01 7.296165e+00 1.025096e+01 - vertex 2.620000e+01 7.913820e+00 9.542117e+00 - vertex 2.545051e+01 8.085797e+00 9.773298e+00 - endloop - endfacet - facet normal 3.583481e-01 5.981959e-01 7.167623e-01 - outer loop - vertex 2.593252e+01 8.729210e+00 8.995333e+00 - vertex 2.545051e+01 8.085797e+00 9.773298e+00 - 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outer loop - vertex 3.100000e+01 9.728410e+00 -1.945615e+00 - vertex 3.100000e+01 9.635324e+00 -5.544341e-01 - vertex 3.100000e+01 9.395295e+00 -2.210154e+00 - endloop - endfacet - facet normal 1.000000e+00 -2.678454e-14 3.315290e-15 - outer loop - vertex 3.100000e+01 9.911857e+00 -4.635278e-01 - vertex 3.100000e+01 9.635324e+00 -5.544341e-01 - vertex 3.100000e+01 9.728410e+00 -1.945615e+00 - endloop - endfacet - facet normal 1.000000e+00 -2.546153e-14 -7.092364e-16 - outer loop - vertex 3.100000e+01 9.911857e+00 -4.635278e-01 - vertex 3.100000e+01 9.869536e+00 1.055822e+00 - vertex 3.100000e+01 9.635324e+00 -5.544341e-01 - endloop - endfacet - facet normal -2.311199e-05 -9.896580e-01 1.434468e-01 - outer loop - vertex 3.100000e+01 9.395295e+00 -2.210154e+00 - vertex 2.853603e+01 9.635342e+00 -5.544354e-01 - vertex 2.853603e+01 9.395351e+00 -2.210170e+00 - endloop - endfacet - facet normal 2.676461e-01 6.794757e-01 6.831386e-01 - outer loop - vertex 2.593252e+01 8.729210e+00 8.995333e+00 - 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outer loop - vertex 3.073000e+01 8.855005e+00 5.043562e+00 - vertex 3.007851e+01 9.414003e+00 3.916089e+00 - vertex 3.007848e+01 8.855057e+00 5.043588e+00 - endloop - endfacet - facet normal 1.521777e-01 9.364463e-01 3.160859e-01 - outer loop - vertex 3.084912e+01 9.302777e+00 3.874604e+00 - vertex 3.007851e+01 9.867920e+00 2.571298e+00 - vertex 3.007851e+01 9.414003e+00 3.916089e+00 - endloop - endfacet - facet normal 1.522104e-01 9.176726e-01 3.670273e-01 - outer loop - vertex 3.073000e+01 8.855005e+00 5.043562e+00 - vertex 3.084912e+01 9.302777e+00 3.874604e+00 - vertex 3.007851e+01 9.414003e+00 3.916089e+00 - endloop - endfacet - facet normal 8.955590e-05 8.588149e-01 5.122860e-01 - outer loop - vertex 3.073000e+01 8.855005e+00 5.043562e+00 - vertex 3.007848e+01 8.855057e+00 5.043588e+00 - vertex 3.007851e+01 8.474671e+00 5.681280e+00 - endloop - endfacet - facet normal 3.291924e-06 9.953360e-01 -9.646936e-02 - outer loop - vertex 3.007849e+01 1.018837e+01 -3.724742e-01 - vertex 2.853606e+01 1.006153e+01 -1.681269e+00 - vertex 2.853603e+01 1.018837e+01 -3.725657e-01 - endloop - endfacet - facet normal 3.471257e-07 9.994986e-01 3.166426e-02 - outer loop - vertex 3.007851e+01 1.014600e+01 9.647380e-01 - vertex 2.853603e+01 1.018837e+01 -3.725657e-01 - vertex 2.853603e+01 1.014600e+01 9.647220e-01 - endloop - endfacet - facet normal -4.312627e-06 9.994984e-01 3.166963e-02 - outer loop - vertex 3.007851e+01 1.014600e+01 9.647380e-01 - vertex 3.007849e+01 1.018837e+01 -3.724742e-01 - vertex 2.853603e+01 1.018837e+01 -3.725657e-01 - endloop - endfacet - facet normal -4.073952e-05 9.953409e-01 -9.641795e-02 - outer loop - vertex 3.007849e+01 1.018837e+01 -3.724742e-01 - vertex 3.007845e+01 1.006161e+01 -1.681013e+00 - vertex 2.853606e+01 1.006153e+01 -1.681269e+00 - endloop - endfacet - facet normal 1.989974e-05 9.771460e-01 -2.125694e-01 - outer loop - vertex 3.073000e+01 1.006160e+01 -1.681010e+00 - vertex 3.007851e+01 9.991590e+00 -2.002906e+00 - vertex 3.007845e+01 1.006161e+01 -1.681013e+00 - endloop - endfacet - facet normal 1.976227e-05 9.953409e-01 -9.641795e-02 - outer loop - vertex 3.073000e+01 1.006160e+01 -1.681010e+00 - vertex 3.007845e+01 1.006161e+01 -1.681013e+00 - vertex 3.007849e+01 1.018837e+01 -3.724742e-01 - endloop - endfacet - facet normal -9.903402e-07 9.871375e-01 1.598738e-01 - outer loop - vertex 3.007851e+01 1.014600e+01 9.647380e-01 - vertex 2.853603e+01 1.014600e+01 9.647220e-01 - vertex 2.853604e+01 9.937947e+00 2.249358e+00 - endloop - endfacet - facet normal -9.777172e-06 9.771412e-01 2.125913e-01 - outer loop - vertex 3.007851e+01 9.867920e+00 2.571298e+00 - vertex 3.007851e+01 9.937952e+00 2.249405e+00 - vertex 2.853604e+01 9.937947e+00 2.249358e+00 - endloop - endfacet - facet normal -8.195961e-06 9.871388e-01 1.598654e-01 - outer loop - vertex 3.007851e+01 1.014600e+01 9.647380e-01 - vertex 2.853604e+01 9.937947e+00 2.249358e+00 - vertex 3.007851e+01 9.937952e+00 2.249405e+00 - endloop - endfacet - facet normal 1.672305e-05 9.771412e-01 2.125913e-01 - outer loop - vertex 3.073000e+01 9.937941e+00 2.249403e+00 - vertex 3.007851e+01 9.937952e+00 2.249405e+00 - vertex 3.007851e+01 9.867920e+00 2.571298e+00 - endloop - endfacet - facet normal 1.848374e-06 9.871388e-01 1.598654e-01 - outer loop - vertex 3.073000e+01 1.014600e+01 9.647379e-01 - vertex 3.007851e+01 1.014600e+01 9.647380e-01 - vertex 3.007851e+01 9.937952e+00 2.249405e+00 - endloop - endfacet - facet normal 1.669898e-05 9.871376e-01 1.598727e-01 - outer loop - vertex 3.073000e+01 9.937941e+00 2.249403e+00 - vertex 3.073000e+01 1.014600e+01 9.647379e-01 - vertex 3.007851e+01 9.937952e+00 2.249405e+00 - endloop - endfacet - facet normal 2.802647e-01 9.300574e-01 2.375814e-01 - outer loop - vertex 3.084912e+01 9.302777e+00 3.874604e+00 - vertex 3.100000e+01 9.604837e+00 2.514143e+00 - vertex 3.007851e+01 9.867920e+00 2.571298e+00 - endloop - endfacet - facet normal 2.452153e-01 7.171932e-01 6.523062e-01 - outer loop - vertex 3.073000e+01 9.937941e+00 2.249403e+00 - vertex 3.007851e+01 9.867920e+00 2.571298e+00 - 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vertex 3.100000e+01 2.408129e+00 9.352094e+00 - vertex 3.100000e+01 3.865187e+00 8.857996e+00 - endloop - endfacet - facet normal 2.246413e-01 5.840113e-01 -7.800430e-01 - outer loop - vertex 3.092588e+01 6.511355e+00 -7.609229e+00 - vertex 3.007821e+01 5.890141e+00 -8.318443e+00 - vertex 3.007860e+01 6.628000e+00 -7.765903e+00 - endloop - endfacet - facet normal 1.735991e-04 6.994356e-01 -7.146956e-01 - outer loop - vertex 3.073000e+01 7.360493e+00 -7.048891e+00 - vertex 3.007860e+01 6.628000e+00 -7.765903e+00 - vertex 3.007824e+01 7.360573e+00 -7.048972e+00 - endloop - endfacet - facet normal 2.246260e-01 5.722722e-01 -7.887000e-01 - outer loop - vertex 3.073000e+01 7.360493e+00 -7.048891e+00 - vertex 3.092588e+01 6.511355e+00 -7.609229e+00 - vertex 3.007860e+01 6.628000e+00 -7.765903e+00 - endloop - endfacet - facet normal 1.705705e-04 7.521330e-01 -6.590113e-01 - outer loop - vertex 3.073000e+01 5.890073e+00 -8.318352e+00 - vertex 3.007821e+01 5.890141e+00 -8.318443e+00 - vertex 3.092588e+01 6.511355e+00 -7.609229e+00 - 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vertex -2.095423e+01 1.666552e+02 -9.153594e+02 - endloop - endfacet -endsolid SIM_ICUB3_L_ANKLE_2 diff --git a/simmechanics/data/icub3/meshes/simmechanics/sim_icub3_l_elbow_1_prt.stl b/simmechanics/data/icub3/meshes/simmechanics/sim_icub3_l_elbow_1_prt.stl deleted file mode 100755 index 544015b7..00000000 --- a/simmechanics/data/icub3/meshes/simmechanics/sim_icub3_l_elbow_1_prt.stl +++ /dev/null @@ -1,268 +0,0 @@ -solid SIM_ICUB3_L_ELBOW_1 - facet normal -3.171751e-01 8.079631e-02 -9.449190e-01 - outer loop - vertex -2.083372e+02 2.403485e+01 -2.402059e+02 - vertex -2.117915e+02 4.180784e+01 -2.375267e+02 - vertex -2.055852e+02 2.414778e+01 -2.411200e+02 - endloop - endfacet - facet normal -7.797217e-01 -1.503507e-01 -6.078065e-01 - outer loop - vertex -2.050204e+02 3.687549e+01 -2.449929e+02 - vertex -2.055852e+02 2.414778e+01 -2.411200e+02 - vertex -2.117915e+02 4.180784e+01 -2.375267e+02 - endloop - endfacet - facet normal 2.243822e-02 -9.981918e-01 -5.576375e-02 - outer loop - vertex -1.932111e+02 2.355539e+01 -2.255369e+02 - 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endloop - endfacet -endsolid SIM_ICUB3_L_HAND diff --git a/simmechanics/data/icub3/meshes/simmechanics/sim_icub3_l_hip_1_prt.stl b/simmechanics/data/icub3/meshes/simmechanics/sim_icub3_l_hip_1_prt.stl deleted file mode 100755 index 1b14ac50..00000000 --- a/simmechanics/data/icub3/meshes/simmechanics/sim_icub3_l_hip_1_prt.stl +++ /dev/null @@ -1,12434 +0,0 @@ -solid SIM_ICUB3_L_HIP_1 - facet normal -4.988744e-01 -7.506856e-01 -4.331229e-01 - outer loop - vertex -1.095762e+02 -1.554622e+01 -3.323104e+02 - vertex -1.120500e+02 -1.247024e+01 -3.347923e+02 - vertex -1.076834e+02 -1.356523e+01 -3.379240e+02 - endloop - endfacet - facet normal -5.310230e-01 -6.829092e-01 -5.016469e-01 - outer loop - vertex -1.107439e+02 -9.454856e+00 -3.402798e+02 - vertex -1.076834e+02 -1.356523e+01 -3.379240e+02 - vertex -1.120500e+02 -1.247024e+01 -3.347923e+02 - endloop - endfacet - facet normal -5.131297e-01 -7.403381e-01 -4.342780e-01 - outer loop - vertex -1.033689e+02 -1.890053e+01 -3.339265e+02 - vertex -1.095762e+02 -1.554622e+01 -3.323104e+02 - 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outer loop - vertex -1.137584e+02 3.669212e+01 3.082083e+01 - vertex -1.131965e+02 3.582714e+01 3.080535e+01 - vertex -1.113999e+02 3.553983e+01 2.673768e+01 - endloop - endfacet - facet normal 8.106874e-01 4.820981e-01 3.322157e-01 - outer loop - vertex -1.137584e+02 3.669212e+01 3.082083e+01 - vertex -1.113999e+02 3.553983e+01 2.673768e+01 - vertex -1.126063e+02 3.774242e+01 2.648533e+01 - endloop - endfacet -endsolid SIM_ICUB3_L_SHOULDER_2 diff --git a/simmechanics/data/icub3/meshes/simmechanics/sim_icub3_l_shoulder_3_prt.stl b/simmechanics/data/icub3/meshes/simmechanics/sim_icub3_l_shoulder_3_prt.stl deleted file mode 100755 index 73429101..00000000 --- a/simmechanics/data/icub3/meshes/simmechanics/sim_icub3_l_shoulder_3_prt.stl +++ /dev/null @@ -1,310 +0,0 @@ -solid SIM_ICUB3_L_SHOULDER_3 - facet normal -7.470766e-01 -4.137409e-01 -5.202835e-01 - outer loop - vertex -1.741165e+02 -1.296303e+01 -4.405474e+01 - vertex -1.848132e+02 1.176238e+01 -4.835743e+01 - vertex -1.686267e+02 2.996151e+00 -6.462861e+01 - 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vertex -1.310766e+02 3.533210e+01 -3.920943e+01 - vertex -1.245879e+02 1.309290e+01 -4.637377e+01 - endloop - endfacet -endsolid SIM_ICUB3_L_SHOULDER_3 diff --git a/simmechanics/data/icub3/meshes/simmechanics/sim_icub3_l_upper_leg_prt.stl b/simmechanics/data/icub3/meshes/simmechanics/sim_icub3_l_upper_leg_prt.stl deleted file mode 100755 index 51af58e3..00000000 --- a/simmechanics/data/icub3/meshes/simmechanics/sim_icub3_l_upper_leg_prt.stl +++ /dev/null @@ -1,2340 +0,0 @@ -solid SIM_ICUB3_L_UPPER_LEG - facet normal -8.719709e-01 -3.609164e-01 -3.307658e-01 - outer loop - vertex -9.254252e+01 -1.020618e+01 -6.145882e+02 - vertex -9.745000e+01 4.998590e+00 -6.182417e+02 - vertex -9.254252e+01 -1.991040e+00 -6.235522e+02 - endloop - endfacet - facet normal -8.567962e-01 -2.658896e-01 -4.418178e-01 - outer loop - vertex -9.254252e+01 9.265262e+00 -6.303263e+02 - vertex -9.254252e+01 -1.991040e+00 -6.235522e+02 - vertex -9.745000e+01 4.998590e+00 -6.182417e+02 - endloop - endfacet - facet normal 4.601916e-03 -7.372219e-01 -6.756350e-01 - 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outer loop - vertex 1.060937e+02 1.624868e+02 -9.050465e+02 - vertex 1.170948e+02 1.492131e+02 -9.177453e+02 - vertex 1.089198e+02 1.669927e+02 -9.184366e+02 - endloop - endfacet - facet normal 9.038086e-01 3.172221e-01 -2.872285e-01 - outer loop - vertex 1.061185e+02 1.653859e+02 -9.290260e+02 - vertex 1.089198e+02 1.669927e+02 -9.184366e+02 - vertex 1.105774e+02 1.488429e+02 -9.332657e+02 - endloop - endfacet -endsolid SIM_ICUB3_R_ANKLE_2 diff --git a/simmechanics/data/icub3/meshes/simmechanics/sim_icub3_r_elbow_1_prt.stl b/simmechanics/data/icub3/meshes/simmechanics/sim_icub3_r_elbow_1_prt.stl deleted file mode 100755 index c7e4351b..00000000 --- a/simmechanics/data/icub3/meshes/simmechanics/sim_icub3_r_elbow_1_prt.stl +++ /dev/null @@ -1,2144 +0,0 @@ -solid SIM_ICUB3_R_ELBOW_1 - facet normal -9.614558e-01 -2.509504e-01 -1.123684e-01 - outer loop - vertex 1.574947e+02 2.870145e+01 -1.728915e+02 - vertex 1.552376e+02 3.750140e+01 -1.732320e+02 - vertex 1.586944e+02 2.912019e+01 -1.840917e+02 - 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outer loop - vertex 2.076977e+02 3.630263e+01 -2.444312e+02 - vertex 2.067401e+02 2.412794e+01 -2.408503e+02 - vertex 1.988023e+02 2.718918e+01 -2.420718e+02 - endloop - endfacet - facet normal 1.641823e-01 1.903653e-01 -9.678870e-01 - outer loop - vertex 2.061113e+02 4.386666e+01 -2.386166e+02 - vertex 1.964796e+02 3.550563e+01 -2.418949e+02 - vertex 1.995307e+02 4.182843e+01 -2.401338e+02 - endloop - endfacet - facet normal -2.199278e-01 5.651218e-01 -7.951535e-01 - outer loop - vertex 2.061113e+02 4.386666e+01 -2.386166e+02 - vertex 2.076977e+02 3.630263e+01 -2.444312e+02 - vertex 1.964796e+02 3.550563e+01 -2.418949e+02 - endloop - endfacet - facet normal -7.991753e-01 5.986962e-01 5.368146e-02 - outer loop - vertex 1.926307e+02 3.749820e+01 -2.090589e+02 - vertex 1.897212e+02 3.486759e+01 -2.230354e+02 - vertex 1.896878e+02 3.353829e+01 -2.087073e+02 - endloop - endfacet - facet normal -8.934697e-01 4.369760e-01 1.037491e-01 - outer loop - vertex 1.926307e+02 3.749820e+01 -2.090589e+02 - 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vertex 2.108992e+02 4.812283e+01 -1.737364e+02 - vertex 2.097570e+02 5.387341e+01 -1.752243e+02 - endloop - endfacet - facet normal 6.416842e-01 -3.332292e-01 6.907964e-01 - outer loop - vertex 2.108291e+02 5.184604e+01 -1.771982e+02 - vertex 2.097570e+02 5.387341e+01 -1.752243e+02 - vertex 2.100822e+02 4.652763e+01 -1.790699e+02 - endloop - endfacet - facet normal 9.589658e-01 2.780405e-01 -5.548079e-02 - outer loop - vertex 2.107550e+02 4.015631e+01 -1.652320e+02 - vertex 2.106673e+02 3.880317e+01 -1.735291e+02 - vertex 2.095830e+02 4.425405e+01 -1.649555e+02 - endloop - endfacet -endsolid SIM_ICUB3_R_ELBOW_1 diff --git a/simmechanics/data/icub3/meshes/simmechanics/sim_icub3_r_foot_front_prt.stl b/simmechanics/data/icub3/meshes/simmechanics/sim_icub3_r_foot_front_prt.stl deleted file mode 100755 index d2d93de0..00000000 --- a/simmechanics/data/icub3/meshes/simmechanics/sim_icub3_r_foot_front_prt.stl +++ /dev/null @@ -1,520 +0,0 @@ -solid SIM_ICUB3_R_FOOT_FRONT - facet normal -9.985932e-01 -5.302490e-02 -2.020490e-04 - 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vertex 2.509448e+02 3.241750e+01 -2.329043e+02 - vertex 2.403320e+02 6.353347e+01 -2.377224e+02 - endloop - endfacet - facet normal 9.868438e-01 -6.652818e-02 1.473541e-01 - outer loop - vertex 2.405706e+02 3.940215e-01 -1.949488e+02 - vertex 2.456413e+02 1.865939e+00 -2.282432e+02 - vertex 2.423995e+02 2.758602e+01 -1.949206e+02 - endloop - endfacet -endsolid SIM_ICUB3_R_FOREARM diff --git a/simmechanics/data/icub3/meshes/simmechanics/sim_icub3_r_hand_prt.stl b/simmechanics/data/icub3/meshes/simmechanics/sim_icub3_r_hand_prt.stl deleted file mode 100755 index 65094ef1..00000000 --- a/simmechanics/data/icub3/meshes/simmechanics/sim_icub3_r_hand_prt.stl +++ /dev/null @@ -1,688 +0,0 @@ -solid SIM_ICUB3_R_HAND - facet normal -9.888260e-01 6.217136e-03 -1.489448e-01 - outer loop - vertex 1.904804e+02 1.232568e+02 -4.082073e+02 - vertex 1.912365e+02 1.352157e+02 -4.127275e+02 - vertex 1.919760e+02 1.289724e+02 -4.178973e+02 - endloop - endfacet - facet normal -9.683695e-01 8.079225e-02 -2.360785e-01 - 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outer loop - vertex 1.854789e+02 2.154393e+00 -2.767034e+01 - vertex 1.857670e+02 -1.084628e+00 -3.987637e+01 - vertex 1.874409e+02 2.197328e+01 -2.769719e+01 - endloop - endfacet -endsolid SIM_ICUB3_R_SHOULDER_3 diff --git a/simmechanics/data/icub3/meshes/simmechanics/sim_icub3_r_upper_leg_prt.stl b/simmechanics/data/icub3/meshes/simmechanics/sim_icub3_r_upper_leg_prt.stl deleted file mode 100755 index d763b66d..00000000 --- a/simmechanics/data/icub3/meshes/simmechanics/sim_icub3_r_upper_leg_prt.stl +++ /dev/null @@ -1,2340 +0,0 @@ -solid SIM_ICUB3_R_UPPER_LEG - facet normal -9.371548e-01 -3.135862e-01 -1.529853e-01 - outer loop - vertex 2.465748e+01 -1.040867e+01 -5.986126e+02 - vertex 1.975000e+01 5.262439e+00 -6.006728e+02 - vertex 2.465748e+01 -3.453346e+00 -6.128695e+02 - endloop - endfacet - facet normal -9.469487e-01 -2.492208e-01 -2.029216e-01 - outer loop - vertex 2.289652e+01 8.488819e+00 -6.193188e+02 - vertex 2.465748e+01 -3.453346e+00 -6.128695e+02 - vertex 1.975000e+01 5.262439e+00 -6.006728e+02 - 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outer loop - vertex 5.965000e+01 -3.300000e+01 -1.403885e+02 - vertex 5.547615e+01 -3.500000e+01 -1.403885e+02 - vertex 5.699209e+01 -3.990000e+01 -1.704788e+02 - endloop - endfacet - facet normal -2.558273e-02 -9.738882e-01 2.255820e-01 - outer loop - vertex 5.965000e+01 -3.300000e+01 -1.403885e+02 - vertex 5.699209e+01 -3.990000e+01 -1.704788e+02 - vertex 6.152258e+01 -3.990000e+01 -1.699650e+02 - endloop - endfacet - facet normal 7.345596e-01 -4.863336e-01 -4.731827e-01 - outer loop - vertex 6.591964e+01 -1.390000e+01 -1.797404e+02 - vertex 4.325000e+01 -3.070146e+01 -1.976639e+02 - vertex 4.325000e+01 -1.764973e+01 -2.110783e+02 - endloop - endfacet - facet normal 7.228831e-01 -3.247082e-01 -6.099217e-01 - outer loop - vertex 6.591964e+01 -1.390000e+01 -1.797404e+02 - vertex 6.044443e+01 -3.990000e+01 -1.723878e+02 - vertex 4.325000e+01 -3.070146e+01 -1.976639e+02 - endloop - endfacet - facet normal -7.866523e-01 -5.085675e-01 3.500532e-01 - outer loop - vertex 6.152258e+01 -3.990000e+01 -1.699650e+02 - vertex 4.325000e+01 -3.070146e+01 -1.976639e+02 - vertex 6.044443e+01 -3.990000e+01 -1.723878e+02 - endloop - endfacet - facet normal 8.102290e-01 1.481239e-07 -5.861135e-01 - outer loop - vertex 6.591964e+01 1.410000e+01 -1.797404e+02 - vertex 4.325000e+01 -1.764973e+01 -2.110783e+02 - vertex 4.325000e+01 1.764974e+01 -2.110783e+02 - endloop - endfacet - facet normal 8.102291e-01 -5.949409e-16 -5.861134e-01 - outer loop - vertex 6.591964e+01 1.410000e+01 -1.797404e+02 - vertex 6.591964e+01 -1.390000e+01 -1.797404e+02 - vertex 4.325000e+01 -1.764973e+01 -2.110783e+02 - endloop - endfacet - facet normal 3.123693e-01 -1.401019e-01 9.395727e-01 - outer loop - vertex 5.965000e+01 -2.569405e+01 -1.403885e+02 - vertex 3.898233e+01 -1.812360e+01 -1.323885e+02 - vertex 5.547615e+01 -3.500000e+01 -1.403885e+02 - endloop - endfacet - facet normal 0.000000e+00 0.000000e+00 1.000000e+00 - outer loop - vertex 5.965000e+01 -3.300000e+01 -1.403885e+02 - vertex 5.965000e+01 -2.569405e+01 -1.403885e+02 - vertex 5.547615e+01 -3.500000e+01 -1.403885e+02 - endloop - endfacet - facet normal 3.609788e-01 8.845197e-16 9.325740e-01 - outer loop - vertex 5.965000e+01 3.300000e+01 -1.403885e+02 - vertex 3.898233e+01 1.812360e+01 -1.323885e+02 - vertex 3.898233e+01 -1.812360e+01 -1.323885e+02 - endloop - endfacet - facet normal 3.609788e-01 9.468695e-16 9.325740e-01 - outer loop - vertex 5.965000e+01 3.300000e+01 -1.403885e+02 - vertex 3.898233e+01 -1.812360e+01 -1.323885e+02 - vertex 5.965000e+01 -2.569405e+01 -1.403885e+02 - endloop - endfacet - facet normal 8.881238e-01 -3.294126e-01 3.205049e-01 - outer loop - vertex 4.325000e+01 3.070146e+01 -1.976639e+02 - vertex 3.349496e+01 4.918694e+01 -1.516333e+02 - vertex 4.325000e+01 1.764974e+01 -2.110783e+02 - endloop - endfacet - facet normal 7.331959e-01 6.431432e-01 -2.208859e-01 - outer loop - vertex 5.161039e+01 2.569405e+01 -1.599051e+02 - vertex 4.325000e+01 1.764974e+01 -2.110783e+02 - vertex 3.349496e+01 4.918694e+01 -1.516333e+02 - endloop - endfacet - facet normal 4.525845e-01 8.666006e-01 -2.101682e-01 - outer loop - vertex 6.884021e+01 1.410000e+01 -1.706082e+02 - vertex 4.325000e+01 1.764974e+01 -2.110783e+02 - vertex 5.161039e+01 2.569405e+01 -1.599051e+02 - endloop - endfacet - facet normal 2.692250e-01 9.592207e-01 -8.610163e-02 - outer loop - vertex 6.591964e+01 1.410000e+01 -1.797404e+02 - vertex 4.325000e+01 1.764974e+01 -2.110783e+02 - vertex 6.884021e+01 1.410000e+01 -1.706082e+02 - endloop - endfacet - facet normal 5.069781e-02 4.174670e-01 9.072767e-01 - outer loop - vertex 5.965000e+01 3.300000e+01 -1.403885e+02 - vertex 3.190740e+01 4.958937e+01 -1.464716e+02 - vertex 3.898233e+01 1.812360e+01 -1.323885e+02 - endloop - endfacet - facet normal 1.806179e-01 4.476382e-01 -8.757837e-01 - outer loop - vertex 5.941414e+01 3.323586e+01 -1.544409e+02 - vertex 5.161039e+01 2.569405e+01 -1.599051e+02 - vertex 3.349496e+01 4.918694e+01 -1.516333e+02 - endloop - endfacet - facet normal 4.974231e-01 8.632661e-01 8.568512e-02 - outer loop - vertex 5.965000e+01 3.300000e+01 -1.403885e+02 - vertex 3.349496e+01 4.918694e+01 -1.516333e+02 - vertex 3.190740e+01 4.958937e+01 -1.464716e+02 - endloop - endfacet - facet normal 5.245398e-01 8.513683e-01 5.485524e-03 - outer loop - vertex 5.941414e+01 3.323586e+01 -1.544409e+02 - vertex 3.349496e+01 4.918694e+01 -1.516333e+02 - vertex 5.965000e+01 3.300000e+01 -1.403885e+02 - endloop - endfacet - facet normal -6.123201e-02 6.263900e-01 -7.771011e-01 - outer loop - vertex 5.941414e+01 3.323586e+01 -1.544409e+02 - vertex 6.884021e+01 1.410000e+01 -1.706082e+02 - vertex 5.161039e+01 2.569405e+01 -1.599051e+02 - endloop - endfacet - facet normal 9.155850e-01 -2.756138e-01 -2.928159e-01 - outer loop - vertex 6.591964e+01 -1.390000e+01 -1.797404e+02 - vertex 6.884021e+01 -1.390000e+01 -1.706082e+02 - vertex 6.044443e+01 -3.990000e+01 -1.723878e+02 - endloop - endfacet - facet normal 8.826610e-01 -2.581403e-01 -3.927762e-01 - outer loop - vertex 6.152258e+01 -3.990000e+01 -1.699650e+02 - vertex 6.044443e+01 -3.990000e+01 -1.723878e+02 - vertex 6.884021e+01 -1.390000e+01 -1.706082e+02 - endloop - endfacet - facet normal 9.524759e-01 -3.092019e-16 -3.046141e-01 - outer loop - vertex 6.591964e+01 1.410000e+01 -1.797404e+02 - vertex 6.884021e+01 -1.390000e+01 -1.706082e+02 - vertex 6.591964e+01 -1.390000e+01 -1.797404e+02 - endloop - endfacet - facet normal 9.470338e-01 -2.619441e-01 1.857746e-01 - outer loop - vertex 5.965000e+01 -2.569405e+01 -1.403885e+02 - vertex 6.152258e+01 -3.990000e+01 -1.699650e+02 - vertex 6.884021e+01 -1.390000e+01 -1.706082e+02 - endloop - endfacet - facet normal 9.567365e-01 2.953379e-16 2.909558e-01 - outer loop - vertex 6.884021e+01 1.410000e+01 -1.706082e+02 - vertex 5.965000e+01 -2.569405e+01 -1.403885e+02 - vertex 6.884021e+01 -1.390000e+01 -1.706082e+02 - endloop - endfacet - facet normal 9.524759e-01 -3.043769e-16 -3.046141e-01 - outer loop - vertex 6.591964e+01 1.410000e+01 -1.797404e+02 - vertex 6.884021e+01 1.410000e+01 -1.706082e+02 - vertex 6.884021e+01 -1.390000e+01 -1.706082e+02 - endloop - endfacet - facet normal 9.980017e-01 0.000000e+00 6.318652e-02 - outer loop - vertex 5.965000e+01 -3.300000e+01 -1.403885e+02 - vertex 6.152258e+01 -3.990000e+01 -1.699650e+02 - vertex 5.965000e+01 -2.569405e+01 -1.403885e+02 - endloop - endfacet - facet normal 9.567365e-01 3.976033e-16 2.909558e-01 - outer loop - vertex 5.965000e+01 3.300000e+01 -1.403885e+02 - vertex 5.965000e+01 -2.569405e+01 -1.403885e+02 - vertex 6.884021e+01 1.410000e+01 -1.706082e+02 - endloop - endfacet - facet normal 8.945159e-01 4.469730e-01 -7.511608e-03 - outer loop - vertex 5.941414e+01 3.323586e+01 -1.544409e+02 - vertex 5.965000e+01 3.300000e+01 -1.403885e+02 - vertex 6.884021e+01 1.410000e+01 -1.706082e+02 - endloop - endfacet -endsolid SIM_ICUB3_TORSO_2 diff --git a/simmechanics/data/icub3/model.config b/simmechanics/data/icub3/model.config deleted file mode 100644 index bf3c32c5..00000000 --- a/simmechanics/data/icub3/model.config +++ /dev/null @@ -1,16 +0,0 @@ - - - iCub 3 - - 1.0 - iCub3.sdf - - - Nicolò Genesio - nicolo.genesio@iit.it - - - - Model for the iCub 3 humanoid robot. - - diff --git a/tests/CMakeLists.txt b/tests/CMakeLists.txt index 39f87fc1..48cad15f 100644 --- a/tests/CMakeLists.txt +++ b/tests/CMakeLists.txt @@ -24,11 +24,9 @@ if( ICUB_MODEL_GENERATE_SIMMECHANICS ) add_icub_model_test(iCubGazeboV2_6) add_icub_model_test(iCubGazeboV2_7) add_icub_model_test(iCubGazeboV2_5_KIT_007) - add_icub_model_test(iCubGazeboV3) add_icub_model_test(iCubGenova01) add_icub_model_test(iCubGenova02) add_icub_model_test(iCubGenova04) - add_icub_model_test(iCubGenova09) add_icub_model_test(iCubGenova11) add_icub_model_test(iCubErzelli02) add_icub_model_test(iCubDarmstadt01) diff --git a/tests/icub-model-test.cpp b/tests/icub-model-test.cpp index 4b0f2a38..79898cd8 100644 --- a/tests/icub-model-test.cpp +++ b/tests/icub-model-test.cpp @@ -275,100 +275,6 @@ bool checkAxisDirectionsV2(iDynTree::KinDynComputations & comp) } - -bool checkAxisDirectionsV3(iDynTree::KinDynComputations & comp) -{ - - std::vector axisNames; - std::vector expectedDirectionInRootLink; - axisNames.push_back("torso_roll"); - expectedDirectionInRootLink.push_back(iDynTree::Direction(-1,0,0)); - axisNames.push_back("l_hip_pitch"); - expectedDirectionInRootLink.push_back(iDynTree::Direction(0,-1,0)); - axisNames.push_back("r_hip_pitch"); - expectedDirectionInRootLink.push_back(iDynTree::Direction(0,-1,0)); - axisNames.push_back("r_hip_roll"); - expectedDirectionInRootLink.push_back(iDynTree::Direction(-1,0,0)); - axisNames.push_back("r_hip_yaw"); - expectedDirectionInRootLink.push_back(iDynTree::Direction(0,0,-1)); - axisNames.push_back("r_knee"); - expectedDirectionInRootLink.push_back(iDynTree::Direction(0,-1,0)); - axisNames.push_back("r_ankle_pitch"); - expectedDirectionInRootLink.push_back(iDynTree::Direction(0,1,0)); - axisNames.push_back("r_ankle_roll"); - expectedDirectionInRootLink.push_back(iDynTree::Direction(-1,0,0)); - axisNames.push_back("l_hip_roll"); - expectedDirectionInRootLink.push_back(iDynTree::Direction(1,0,0)); - axisNames.push_back("l_hip_yaw"); - expectedDirectionInRootLink.push_back(iDynTree::Direction(0,0,1)); - axisNames.push_back("l_knee"); - expectedDirectionInRootLink.push_back(iDynTree::Direction(0,-1,0)); - axisNames.push_back("l_ankle_pitch"); - expectedDirectionInRootLink.push_back(iDynTree::Direction(0,1,0)); - axisNames.push_back("l_ankle_roll"); - expectedDirectionInRootLink.push_back(iDynTree::Direction(1,0,0)); - axisNames.push_back("torso_pitch"); - expectedDirectionInRootLink.push_back(iDynTree::Direction(0,1,0)); - axisNames.push_back("torso_yaw"); - expectedDirectionInRootLink.push_back(iDynTree::Direction(0,0,-1)); - axisNames.push_back("l_shoulder_pitch"); - expectedDirectionInRootLink.push_back(iDynTree::Direction(0.250563,0.935113,0.250563)); - axisNames.push_back("r_shoulder_pitch"); - expectedDirectionInRootLink.push_back(iDynTree::Direction(-0.250563,0.935113,-0.250563)); - axisNames.push_back("neck_pitch"); - expectedDirectionInRootLink.push_back(iDynTree::Direction(0,-1,0)); - axisNames.push_back("neck_roll"); - expectedDirectionInRootLink.push_back(iDynTree::Direction(1,0,0)); - axisNames.push_back("neck_yaw"); - expectedDirectionInRootLink.push_back(iDynTree::Direction(-1.62555e-21,-1.1e-15,1)); - axisNames.push_back("r_shoulder_roll"); - expectedDirectionInRootLink.push_back(iDynTree::Direction(-0.961047,-0.271447,-0.0520081)); - axisNames.push_back("r_shoulder_yaw"); - expectedDirectionInRootLink.push_back(iDynTree::Direction(-0.0713662,0.0619303,0.995526)); - axisNames.push_back("r_elbow"); - expectedDirectionInRootLink.push_back(iDynTree::Direction(0.267012,-0.960459,0.0788901)); - axisNames.push_back("r_wrist_prosup"); - expectedDirectionInRootLink.push_back(iDynTree::Direction(-0.0713662,0.0619303,0.995526)); - axisNames.push_back("r_wrist_pitch"); - expectedDirectionInRootLink.push_back(iDynTree::Direction(0.961047,0.271447,0.0520081)); - axisNames.push_back("r_wrist_yaw"); - expectedDirectionInRootLink.push_back(iDynTree::Direction(-0.267012,0.960459,-0.0788901)); - axisNames.push_back("l_shoulder_roll"); - expectedDirectionInRootLink.push_back(iDynTree::Direction(0.961047,-0.271447,0.0520081)); - axisNames.push_back("l_shoulder_yaw"); - expectedDirectionInRootLink.push_back(iDynTree::Direction(0.0713662,0.0619303,-0.995526)); - axisNames.push_back("l_elbow"); - expectedDirectionInRootLink.push_back(iDynTree::Direction(-0.267012,-0.960459,-0.0788901)); - axisNames.push_back("l_wrist_prosup"); - expectedDirectionInRootLink.push_back(iDynTree::Direction(0.0713662,0.0619303,-0.995526)); - axisNames.push_back("l_wrist_pitch"); - expectedDirectionInRootLink.push_back(iDynTree::Direction(-0.961047,0.271447,-0.0520081)); - axisNames.push_back("l_wrist_yaw"); - expectedDirectionInRootLink.push_back(iDynTree::Direction(0.267012,0.960459,0.0788901)); - - for(int i=0; i < axisNames.size(); i++) - { - std::string axisToCheck = axisNames[i]; - iDynTree::Axis axisInRootLink; - iDynTree::Direction expectedDirection = expectedDirectionInRootLink[i]; - bool getAxisOk = getAxisInRootLink(comp,axisToCheck,axisInRootLink); - - if( !getAxisOk ) { - return false; - } - - if( !checkVectorAreEqual(axisInRootLink.getDirection(),expectedDirection,1e-5) ) - { - std::cerr << "icub-model-test error:" << axisToCheck << " got direction of " << axisInRootLink.getDirection().toString() - << " instead of expected " << expectedDirection.toString() << std::endl; - return false; - } - } - - std::cerr << "icub-model-test : checkAxisDirectionsV3 test performed correctly " << std::endl; - return true; -} - /** * All the iCub have a odd and not null number of F/T sensors. */ @@ -474,43 +380,6 @@ bool checkFTSensorsAreCorrectlyOrientedV2(iDynTree::KinDynComputations & comp) return ok; } -bool checkFTSensorsAreCorrectlyOrientedV3(iDynTree::KinDynComputations & comp) -{ - - iDynTree::Rotation rootLink_R_sensorFrameLeftArmExpected = - iDynTree::Rotation(-0.267012, -0.961047, 0.0713662, - -0.960459, 0.271447, 0.0619303, - -0.0788901, -0.0520081, -0.995526); - iDynTree::Rotation rootLink_R_sensorFrameRightArmExpected = - iDynTree::Rotation(-0.267012, 0.961047, 0.0713662, - 0.960459, 0.271447, -0.0619303, - -0.0788901, 0.0520081, -0.995526); - - iDynTree::Rotation rootLink_R_sensorFrameExpectedFoot = - iDynTree::Rotation(-0.5, 0.866025, 0, - -0.866025, -0.5, 0, - 0, 0, 1); - - iDynTree::Rotation rootLink_R_sensorFrameExpectedLeg = - iDynTree::Rotation(-0.866025, -0.5, 0, - -0.5, 0.866025, 0, - 0, 0, -1); - - iDynTree::Rotation rootLink_L_sensorFrameExpectedLeg = - iDynTree::Rotation(-0.866025, 0.5, 0, - 0.5, 0.866025, 0, - 0, 0, -1); - - bool ok = checkFTSensorIsCorrectlyOriented(comp, rootLink_R_sensorFrameLeftArmExpected, "l_arm_ft_sensor"); - ok = checkFTSensorIsCorrectlyOriented(comp, rootLink_R_sensorFrameRightArmExpected, "r_arm_ft_sensor") && ok; - ok = checkFTSensorIsCorrectlyOriented(comp, rootLink_L_sensorFrameExpectedLeg, "l_leg_ft_sensor") && ok; - ok = checkFTSensorIsCorrectlyOriented(comp, rootLink_R_sensorFrameExpectedLeg, "r_leg_ft_sensor") && ok; - ok = checkFTSensorIsCorrectlyOriented(comp, rootLink_R_sensorFrameExpectedFoot, "l_foot_rear_ft_sensor") && ok; - ok = checkFTSensorIsCorrectlyOriented(comp, rootLink_R_sensorFrameExpectedFoot, "r_foot_rear_ft_sensor") && ok; - ok = checkFTSensorIsCorrectlyOriented(comp, rootLink_R_sensorFrameExpectedFoot, "l_foot_front_ft_sensor") && ok; - ok = checkFTSensorIsCorrectlyOriented(comp, rootLink_R_sensorFrameExpectedFoot, "r_foot_front_ft_sensor") && ok; - return ok; -} bool Model_isFrameNameUsed(const iDynTree::Model& model, const std::string frameName) { @@ -620,12 +489,6 @@ bool checkFTMeasurementFrameGivenBySensorTagsIsCoherentWithMeasurementFrameGiven return true; } -bool isiCub3Model(const std::string& modelPath) -{ - return (modelPath.find("Genova09") != std::string::npos || - modelPath.find("GazeboV3") != std::string::npos); -} - bool isModelWithoutFTSensorInAnkles(const std::string& modelPath) { return (modelPath.find("Genova03") != std::string::npos || @@ -642,14 +505,7 @@ std::vector getFTSensorNames(const std::string& modelPath) ftSensorNames.push_back("l_leg_ft"); ftSensorNames.push_back("r_leg_ft"); - if (isiCub3Model(modelPath)) - { - ftSensorNames.push_back("l_foot_rear_ft"); - ftSensorNames.push_back("r_foot_rear_ft"); - ftSensorNames.push_back("l_foot_front_ft"); - ftSensorNames.push_back("r_foot_front_ft"); - } - else if(!isModelWithoutFTSensorInAnkles(modelPath)) + if(!isModelWithoutFTSensorInAnkles(modelPath)) { ftSensorNames.push_back("l_foot_ft"); ftSensorNames.push_back("r_foot_ft"); @@ -755,19 +611,12 @@ int main(int argc, char ** argv) comp.setRobotState(qj,dqj,grav); // Check axis - if (isiCub3Model(modelPath)) { - if( !checkAxisDirectionsV3(comp) ) - { - return EXIT_FAILURE; - } - } - else { - if( !checkAxisDirectionsV2(comp) ) - { - return EXIT_FAILURE; - } + if( !checkAxisDirectionsV2(comp) ) + { + return EXIT_FAILURE; } + // Check if base_link exist, and check that is a frame attached to root_link and if its // transform is the idyn if( !checkBaseLink(comp) ) @@ -784,29 +633,14 @@ int main(int argc, char ** argv) // Now some test that test the sensors // The ft sensors orientation respect to the root_link are different to iCubV2 and they are under investigation. - if (isiCub3Model(modelPath)) { - - if( !checkFTSensorsAreEvenAndNotNull(mdlLoader) ) - { - return EXIT_FAILURE; - } - - if (!checkFTSensorsAreCorrectlyOrientedV3(comp)) - { - return EXIT_FAILURE; - } - } - else + if( !checkFTSensorsAreEvenAndNotNull(mdlLoader) ) { - if( !checkFTSensorsAreEvenAndNotNull(mdlLoader) ) - { - return EXIT_FAILURE; - } + return EXIT_FAILURE; + } - if (!checkFTSensorsAreCorrectlyOrientedV2(comp)) - { - return EXIT_FAILURE; - } + if (!checkFTSensorsAreCorrectlyOrientedV2(comp)) + { + return EXIT_FAILURE; } if (!checkAllFTMeasurementFrameGivenBySensorTagsIsCoherentWithMeasurementFrameGivenByFrame(modelPath))