adding iCubGenova02 model

database.config

@@ -11,6 +11,8 @@
 <uri>file://double_pendulum</uri>
 <uri>file://iCubHeidelberg01_fixed</uri>
 <uri>file://iCubHeidelberg01_model</uri>
+<uri>file://iCubGenova02</uri>
+<uri>file://iCubGenova02_fixed</uri>
 <uri>file://seesaw</uri>
 <uri>file://inclined_plane</uri>
 </models>

iCubGenova02/conf/FT/gazebo_icub_left_arm_ft.ini

@@ -0,0 +1,8 @@
+[include "../gazebo_iCubGenova02_robotname.ini"]
+
+robotName ${gazeboYarpPluginsRobotName}
+deviceId left_arm
+period 10
+
+device analogServer
+subdevice gazebo_forcetorque

iCubGenova02/conf/FT/gazebo_icub_left_foot_ft.ini

@@ -0,0 +1,8 @@
+[include "../gazebo_iCubGenova02_robotname.ini"]
+
+robotName ${gazeboYarpPluginsRobotName}
+deviceId left_foot
+period 10
+
+device analogServer
+subdevice gazebo_forcetorque

iCubGenova02/conf/FT/gazebo_icub_left_leg_ft.ini

@@ -0,0 +1,8 @@
+[include "../gazebo_iCubGenova02_robotname.ini"]
+
+robotName ${gazeboYarpPluginsRobotName}
+deviceId left_leg
+period 10
+
+device analogServer
+subdevice gazebo_forcetorque

iCubGenova02/conf/FT/gazebo_icub_right_arm_ft.ini

@@ -0,0 +1,8 @@
+[include "../gazebo_iCubGenova02_robotname.ini"]
+
+robotName ${gazeboYarpPluginsRobotName}
+deviceId right_arm
+period 10
+
+device analogServer
+subdevice gazebo_forcetorque

iCubGenova02/conf/FT/gazebo_icub_right_foot_ft.ini

@@ -0,0 +1,8 @@
+[include "../gazebo_iCubGenova02_robotname.ini"]
+
+robotName ${gazeboYarpPluginsRobotName}
+deviceId right_foot
+period 10
+
+device analogServer
+subdevice gazebo_forcetorque

iCubGenova02/conf/FT/gazebo_icub_right_leg_ft.ini

@@ -0,0 +1,8 @@
+[include "../gazebo_iCubGenova02_robotname.ini"]
+
+robotName ${gazeboYarpPluginsRobotName}
+deviceId right_leg
+period 10
+
+device analogServer
+subdevice gazebo_forcetorque

iCubGenova02/conf/gazebo_iCubGenova02_head.ini

@@ -0,0 +1,33 @@
+[include "gazebo_iCubGenova02_robotname.ini"]
+
+[WRAPPER]
+# name of the wrapper device to be instatiated by the factory
+device controlboardwrapper2
+# rate of output streaming from ports in ms
+threadrate 10
+# output port name (a leading '/' will be added by code)
+name ${gazeboYarpPluginsRobotName}/head
+# Total number of joints
+joints 3
+# list of MotorControl device to use
+networks ( head )
+# for each network specify the joint map
+head  0 2 0 2
+# Verbose output (on if present, off if commented out)
+#verbose
+
+# Specify configuration of MotorControl devices
+[head]
+# name of the device to be instatiated by the factory
+device gazebo_controlboard
+#jointNames list
+jointNames neck_pitch neck_roll neck_yaw
+name head
+
+#PIDs:
+# this information is used to set the PID values in simulation for GAZEBO, we need only the first three values
+[GAZEBO_PIDS]
+#head
+Pid0 50.0 1.0 0.1 9999 9999 9 9
+Pid1 50.0 1.0 0.1 9999 9999 9 9
+Pid2 50.0 1.0 0.1 9999 9999 9 9

iCubGenova02/conf/gazebo_iCubGenova02_inertial.ini

@@ -0,0 +1,7 @@
+[include "gazebo_iCubGenova02_robotname.ini"]
+
+name /${gazeboYarpPluginsRobotName}/inertial
+period 0.01
+
+device inertial
+subdevice gazebo_imu

iCubGenova02/conf/gazebo_iCubGenova02_left_arm.ini

@@ -0,0 +1,36 @@
+[include "gazebo_iCubGenova02_robotname.ini"]
+
+[WRAPPER]
+# name of the wrapper device to be instatiated by the factory
+device controlboardwrapper2
+# rate of output streaming from ports in ms
+threadrate 10
+# output port name (a leading '/' will be added by code)
+name ${gazeboYarpPluginsRobotName}/left_arm
+# Total number of joints
+joints 4
+# list of MotorControl device to use
+networks ( left_arm )
+# for each network specify the joint map
+left_arm  0 3 0 3
+# Verbose output (on if present, off if commented out)
+#verbose
+
+
+# Specify configuration of MotorControl devices
+[left_arm]
+# name of the device to be instatiated by the factory
+device gazebo_controlboard
+#jointNames list
+jointNames l_shoulder_pitch l_shoulder_roll l_shoulder_yaw l_elbow
+name left_arm
+
+
+#PIDs:
+# this information is used to set the PID values in simulation for GAZEBO, we need only the first three values
+[GAZEBO_PIDS]
+#Left Arm
+Pid0 10.0 1.0 1.0 9999 9999 9 9
+Pid1 10.0 1.0 1.0 9999 9999 9 9
+Pid2 10.0 1.0 1.0 9999 9999 9 9
+Pid3 10.0 1.0 1.0 9999 9999 9 9

iCubGenova02/conf/gazebo_iCubGenova02_left_leg.ini

@@ -0,0 +1,39 @@
+[include "gazebo_iCubGenova02_robotname.ini"]
+
+[WRAPPER]
+# name of the wrapper device to be instatiated by the factory
+device controlboardwrapper2
+# rate of output streaming from ports in ms
+threadrate 10
+# output port name (a leading '/' will be added by code)
+name ${gazeboYarpPluginsRobotName}/left_leg
+# Total number of joints
+joints 6
+# list of MotorControl device to use
+networks ( left_leg )
+# for each network specify the joint map
+left_leg  0 5 0 5
+# Verbose output (on if present, off if commented out)
+#verbose
+
+
+# Specify configuration of MotorControl devices
+[left_leg]
+# name of the device to be instatiated by the factory
+device gazebo_controlboard
+#jointNames list
+jointNames l_hip_pitch l_hip_roll l_hip_yaw l_knee l_ankle_pitch l_ankle_roll  
+name left_leg
+
+
+#PIDs:
+# this information is used to set the PID values in simulation for GAZEBO, we need only the first three values
+[GAZEBO_PIDS]
+#Left Leg
+Pid0 150.0 0.0 1 9999 9999 9 9
+Pid1 60.0  0.0 10 9999 9999 9 9
+Pid2 60.0  0.0 10 9999 9999 9 9
+Pid3 300.0 0.0 1 9999 9999 9 9
+Pid4 150.0 0.0 1 9999 9999 9 9
+Pid5 60.0  0.0 10 9999 9999 9 9
+

iCubGenova02/conf/gazebo_iCubGenova02_right_arm.ini

@@ -0,0 +1,37 @@
+[include "gazebo_iCubGenova02_robotname.ini"]
+
+[WRAPPER]
+# name of the wrapper device to be instatiated by the factory
+device controlboardwrapper2
+# rate of output streaming from ports in ms
+threadrate 10
+# output port name (a leading '/' will be added by code)
+name ${gazeboYarpPluginsRobotName}/right_arm
+# Total number of joints
+joints 4
+# list of MotorControl device to use
+networks ( right_arm )
+# for each network specify the joint map
+right_arm  0 3 0 3
+# Verbose output (on if present, off if commented out)
+#verbose
+
+
+# Specify configuration of MotorControl devices
+[right_arm]
+# name of the device to be instatiated by the factory
+device gazebo_controlboard
+#jointNames list
+jointNames r_shoulder_pitch r_shoulder_roll r_shoulder_yaw r_elbow
+name right_arm
+
+
+#PIDs:
+# this information is used to set the PID values in simulation for GAZEBO, we need only the first three values
+[GAZEBO_PIDS]
+#Right Arm
+Pid0 10.0 1.0 1.0 9999 9999 9 9
+Pid1 10.0 1.0 1.0 9999 9999 9 9
+Pid2 10.0 1.0 1.0 9999 9999 9 9
+Pid3 10.0 1.0 1.0 9999 9999 9 9
+

iCubGenova02/conf/gazebo_iCubGenova02_right_leg.ini

@@ -0,0 +1,40 @@
+[include "gazebo_iCubGenova02_robotname.ini"]
+
+
+[WRAPPER]
+# name of the wrapper device to be instatiated by the factory
+device controlboardwrapper2
+# rate of output streaming from ports in ms
+threadrate 10
+# output port name (a leading '/' will be added by code)
+name ${gazeboYarpPluginsRobotName}/right_leg
+# Total number of joints
+joints 6
+# list of MotorControl device to use
+networks ( right_leg )
+# for each network specify the joint map
+right_leg  0 5 0 5
+# Verbose output (on if present, off if commented out)
+#verbose
+
+
+# Specify configuration of MotorControl devices
+[right_leg]
+# name of the device to be instatiated by the factory
+device gazebo_controlboard
+#jointNames list
+jointNames r_hip_pitch r_hip_roll r_hip_yaw r_knee r_ankle_pitch r_ankle_roll  
+name right_leg
+
+
+#PIDs:
+# this information is used to set the PID values in simulation for GAZEBO, we need only the first three values
+[GAZEBO_PIDS]
+#Right Leg
+Pid0 150.0 0.0 1 9999 9999 9 9
+Pid1 60.0 0.0 10 9999 9999 9 9
+Pid2 60.0 0.0 10 9999 9999 9 9
+Pid3 300.0 0.0 1 9999 9999 9 9
+Pid4 150.0 0.0 1 9999 9999 9 9
+Pid5 60.0 0.0 10 9999 9999 9 9
+

iCubGenova02/conf/gazebo_iCubGenova02_robotname.ini

@@ -0,0 +1 @@
+gazeboYarpPluginsRobotName icubGazeboSim

iCubGenova02/conf/gazebo_iCubGenova02_torso.ini

@@ -0,0 +1,34 @@
+[include "gazebo_iCubGenova02_robotname.ini"]
+
+[WRAPPER]
+# name of the wrapper device to be instatiated by the factory
+device controlboardwrapper2
+# rate of output streaming from ports in ms
+threadrate 10
+# output port name (a leading '/' will be added by code)
+name ${gazeboYarpPluginsRobotName}/torso
+# Total number of joints
+joints 3
+# list of MotorControl device to use
+networks ( torso )
+# for each network specify the joint map
+torso  0 2 0 2
+# Verbose output (on if present, off if commented out)
+#verbose
+
+# Specify configuration of MotorControl devices
+[torso]
+# name of the device to be instatiated by the factory
+device gazebo_controlboard
+#jointNames list
+jointNames torso_yaw torso_roll torso_pitch 
+name torso
+
+#PIDs:
+# this information is used to set the PID values in simulation for GAZEBO, we need only the first three values
+[GAZEBO_PIDS]
+#Torso
+Pid0 100.0 1.0 15 9999 9999 9 9
+Pid1 120.0 1.0 15 9999 9999 9 9
+Pid2 170.0 1.0 15 9999 9999 9 9
+

iCubGenova02/conf/robotMotorGui.ini

@@ -0,0 +1,36 @@
+//name of the robot
+name icubGazeboSim
+//parts to be opened by the GUI
+parts (head torso left_arm right_arm left_leg right_leg)
+
+[head_zero]
+//Joint             0          1        2 
+PositionZero      0.0        0.0      0.0      
+VelocityZero     10.0       10.0     10.0     
+
+[torso_zero]
+//Joint             0          1        2 
+PositionZero      0.0        0.0     30.0 
+VelocityZero     10.0       10.0     30.0 
+
+[left_arm_zero]
+//Joint              0	       1       2       3 
+PositionZero     -25.8      20.0     0.0      50    
+VelocityZero       5.0       5.0     5.0     5.0  
+
+[right_arm_zero]
+//Joint              0	       1       2       3 
+PositionZero     -25.8      20.0     0.0      50   
+VelocityZero       5.0       5.0     5.0     5.0  
+
+[left_leg_zero]
+//Joint             0	   1 	     2       3        4          5
+PositionZero      0.0    0.0       0.0   -40.0    -20.0        0.0
+VelocityZero      4.0    4.0       4.0    60.0     30.0        4.0
+
+[right_leg_zero]
+//Joint             0	   1 	     2       3        4          5
+PositionZero      0.0    0.0       0.0   -40.0    -20.0        0.0
+VelocityZero      4.0    4.0       4.0    60.0     30.0        4.0
+
+//DO NOT REMOVE THIS LINE