icub3: add right/left_arm

- Fixes shoulder_yaw/arm_ft_sensor joint definition that are swapped respect to icub. - Add right_arm and left_arm without hands. - Add gazebo yaml file that define bigger inertias, the real one are too small for the simulation (see robotology/icub-models#33) - Add conf files for arms and files for configuration of the only upperbody(no_forarm).
robotology · Oct 20, 2020 · b38df5c · b38df5c
1 parent e2a5b13
commit b38df5c
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diff --git a/simmechanics/CMakeLists.txt b/simmechanics/CMakeLists.txt
@@ -281,9 +281,9 @@ generate_icub_simmechanics(YARP_ROBOT_NAME iCubGazeboV2_5
                            YAML_TEMPLATE "icub2_5/ICUB_2-5_BB_simmechanics_options.yaml.in"
                            CSV_TEMPLATE "icub2_5/ICUB_2-5_BB_joint_parameters.csv.in"
                            INCREASE_INERTIA_FOR_GAZEBO)
-generate_icub_simmechanics(YARP_ROBOT_NAME iCubV3
+generate_icub_simmechanics(YARP_ROBOT_NAME iCubGazeboV3
                            SIMMECHANICS_XML "icub3/ICUB3_ALL_SIM_MODEL.xml"
-                           YAML_TEMPLATE "icub3/ICUB_3_all_options.yaml"
+                           YAML_TEMPLATE "icub3/ICUB_3_all_options_gazebo.yaml"
                            CSV_TEMPLATE "icub3/ICUB_3_joint_all_parameters.csv")
 
 generate_icub_simmechanics(YARP_ROBOT_NAME iCubGazeboV2_5_plus

diff --git a/simmechanics/data/icub3/ICUB3_ALL_SIM_MODEL.xml b/simmechanics/data/icub3/ICUB3_ALL_SIM_MODEL.xml
diff --git a/simmechanics/data/icub3/ICUB_3_all_options.yaml b/simmechanics/data/icub3/ICUB_3_all_options.yaml
@@ -6,7 +6,7 @@ originXYZ: [0.0,0.0,0.80]
 originRPY: [0.0,0.0,0.0]
 # Meshes options
 scale: "0.001 0.001 0.001"
-filenameformatchangeext: "package://iCub/meshes/simmechanics/%s.stl"
+#filenameformatchangeext: "package://iCub/meshes/simmechanics/%s.stl"
 epsilon: 2e-4
 
 forcelowercase: Yes
@@ -19,17 +19,17 @@ rename:
     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_shoulder_yaw
+    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_arm_ft_sensor
+    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_shoulder_yaw
+    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_arm_ft_sensor
+    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
@@ -83,6 +83,24 @@ rename:
     SIM_ICUB3_NECK_1--SIM_ICUB3_NECK_2: neck_pitch
     SIM_ICUB3_NECK_2--SIM_ICUB3_NECK_3: neck_roll
     SIM_ICUB3_NECK_3--SIM_ICUB3_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
 
 # Sensors options
 forceTorqueSensors:
@@ -175,6 +193,24 @@ linkFrames:
     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_L_SOLE
@@ -323,8 +359,15 @@ assignedInertias:
     xx: 7.5908054e-03
     yy: 5.6755473e-03
     zz: 7.1266850e-03
+  - linkName: l_upper_arm
+    xx: 0.00382639
+    yy: 0.00368146
+    zz: 0.00167002
 reverseRotationAxis:
     r_knee
+    r_elbow
+    l_shoulder_pitch
+    l_shoulder_roll
 XMLBlobs:
     # upperbody
     - |
@@ -571,3 +614,76 @@ XMLBlobs:
                 <implicitSpringDamper>1</implicitSpringDamper>
             </gazebo>
 
+    # left arm
+    - | 
+            <gazebo>
+            <plugin name="controlboard_left_arm_no_hand" filename="libgazebo_yarp_controlboard.so">
+            <yarpConfigurationFile>model://iCub/conf/gazebo_icub_left_arm_no_hand_for_no_hand_model.ini</yarpConfigurationFile>
+            <initialConfiguration>-0.52 0.52 0 0.785 0 0 0.0</initialConfiguration>
+            </plugin>
+            </gazebo>
+    - |
+            <gazebo reference="l_shoulder_pitch">
+              <implicitSpringDamper>1</implicitSpringDamper>
+            </gazebo>
+    - |
+            <gazebo reference="l_shoulder_roll">
+              <implicitSpringDamper>1</implicitSpringDamper>
+            </gazebo>
+    - |
+            <gazebo reference="l_shoulder_yaw">
+              <implicitSpringDamper>1</implicitSpringDamper>
+            </gazebo>
+    - |
+            <gazebo reference="l_elbow">
+              <implicitSpringDamper>1</implicitSpringDamper>
+            </gazebo>
+    - |
+            <gazebo reference="l_wrist_prosup">
+              <implicitSpringDamper>1</implicitSpringDamper>
+            </gazebo>
+    - |
+            <gazebo reference="l_wrist_pitch">
+              <implicitSpringDamper>1</implicitSpringDamper>
+            </gazebo>
+    - |
+            <gazebo reference="l_wrist_yaw">
+              <implicitSpringDamper>1</implicitSpringDamper>
+            </gazebo>
+    # right arm
+    - |
+            <gazebo>
+            <plugin name="controlboard_right_arm_no_hand" filename="libgazebo_yarp_controlboard.so">
+            <yarpConfigurationFile>model://iCub/conf/gazebo_icub_right_arm_no_hand_for_no_hand_model.ini</yarpConfigurationFile>
+            <initialConfiguration>-0.52 0.52 0 0.785 0 0 0.0</initialConfiguration>
+            </plugin>
+            </gazebo>
+    - |
+            <gazebo reference="r_shoulder_pitch">
+              <implicitSpringDamper>1</implicitSpringDamper>
+            </gazebo>
+    - |
+            <gazebo reference="r_shoulder_roll">
+              <implicitSpringDamper>1</implicitSpringDamper>
+            </gazebo>
+    - |
+            <gazebo reference="r_shoulder_yaw">
+              <implicitSpringDamper>1</implicitSpringDamper>
+            </gazebo>
+    - |
+            <gazebo reference="r_elbow">
+              <implicitSpringDamper>1</implicitSpringDamper>
+            </gazebo>
+    - |
+            <gazebo reference="r_wrist_prosup">
+              <implicitSpringDamper>1</implicitSpringDamper>
+            </gazebo>
+    - |
+            <gazebo reference="r_wrist_pitch">
+              <implicitSpringDamper>1</implicitSpringDamper>
+            </gazebo>
+    - |
+            <gazebo reference="r_wrist_yaw">
+              <implicitSpringDamper>1</implicitSpringDamper>
+            </gazebo>
+