ported the models to WBT3.0 and added coupled motor inertia

robotology · Jan 23, 2018 · b82317a · b82317a
1 parent 867df22
commit b82317a
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Showing 51 changed files with 12,001 additions and 8,142 deletions.
diff --git a/controllers/impedanceControl/app/robots/iCubGazeboV2_5/configRobot.m b/controllers/impedanceControl/app/robots/iCubGazeboV2_5/configRobot.m
@@ -2,9 +2,18 @@
 % Gains and parameters for impedance controller
 Config.ON_GAZEBO = true;
 ROBOT_DOF        = 23;
-WBT_robotName    = 'icubSim';
-WBT_wbiList      = '(torso_pitch,torso_roll,torso_yaw,l_shoulder_pitch, l_shoulder_roll, l_shoulder_yaw, l_elbow, r_shoulder_pitch,r_shoulder_roll, r_shoulder_yaw, r_elbow, l_hip_pitch, l_hip_roll, l_hip_yaw, l_knee, l_ankle_pitch, l_ankle_roll, r_hip_pitch,r_hip_roll,r_hip_yaw,r_knee,r_ankle_pitch,r_ankle_roll)';
+% Robot configuration for WBT3.0
+WBTConfigRobot           = WBToolbox.Configuration;
+WBTConfigRobot.RobotName = 'icubSim';
+WBTConfigRobot.UrdfFile  = 'model.urdf';
+WBTConfigRobot.LocalName = 'WBT';
 
+WBTConfigRobot.ControlBoardsNames = {'right_arm','left_arm','right_leg','left_leg','torso'};
+WBTConfigRobot.ControlledJoints   = {'torso_pitch','torso_roll','torso_yaw', ...
+                                     'l_shoulder_pitch','l_shoulder_roll','l_shoulder_yaw','l_elbow', ...
+                                     'r_shoulder_pitch','r_shoulder_roll','r_shoulder_yaw','r_elbow', ...
+                                     'l_hip_pitch','l_hip_roll','l_hip_yaw','l_knee','l_ankle_pitch','l_ankle_roll', ...
+                                     'r_hip_pitch','r_hip_roll','r_hip_yaw','r_knee','r_ankle_pitch','r_ankle_roll'};
 % References for the demo movements
 if MOVING
 

diff --git a/controllers/impedanceControl/app/robots/iCubGenova02/configRobot.m b/controllers/impedanceControl/app/robots/iCubGenova02/configRobot.m
@@ -2,9 +2,18 @@
 % Gains and parameters for impedance controller
 Config.ON_GAZEBO = false;
 ROBOT_DOF        = 23;
-WBT_robotName    = 'icub';
-WBT_wbiList      = '(torso_pitch,torso_roll,torso_yaw,l_shoulder_pitch, l_shoulder_roll, l_shoulder_yaw, l_elbow, r_shoulder_pitch,r_shoulder_roll, r_shoulder_yaw, r_elbow, l_hip_pitch, l_hip_roll, l_hip_yaw, l_knee, l_ankle_pitch, l_ankle_roll, r_hip_pitch,r_hip_roll,r_hip_yaw,r_knee,r_ankle_pitch,r_ankle_roll)';
+% Robot configuration for WBT3.0
+WBTConfigRobot           = WBToolbox.Configuration;
+WBTConfigRobot.RobotName = 'icubSim';
+WBTConfigRobot.UrdfFile  = 'model.urdf';
+WBTConfigRobot.LocalName = 'WBT';
 
+WBTConfigRobot.ControlBoardsNames = {'right_arm','left_arm','right_leg','left_leg','torso'};
+WBTConfigRobot.ControlledJoints   = {'torso_pitch','torso_roll','torso_yaw', ...
+                                     'l_shoulder_pitch','l_shoulder_roll','l_shoulder_yaw','l_elbow', ...
+                                     'r_shoulder_pitch','r_shoulder_roll','r_shoulder_yaw','r_elbow', ...
+                                     'l_hip_pitch','l_hip_roll','l_hip_yaw','l_knee','l_ankle_pitch','l_ankle_roll', ...
+                                     'r_hip_pitch','r_hip_roll','r_hip_yaw','r_knee','r_ankle_pitch','r_ankle_roll'};
 % References for the demo movements
 if MOVING
 

diff --git a/controllers/impedanceControl/app/robots/icubGazeboSim/configRobot.m b/controllers/impedanceControl/app/robots/icubGazeboSim/configRobot.m
@@ -2,9 +2,18 @@
 % Gains and parameters for impedance controller
 Config.ON_GAZEBO = true;
 ROBOT_DOF        = 23;
-WBT_robotName    = 'icubSim';
-WBT_wbiList      = '(torso_pitch,torso_roll,torso_yaw,l_shoulder_pitch, l_shoulder_roll, l_shoulder_yaw, l_elbow, r_shoulder_pitch,r_shoulder_roll, r_shoulder_yaw, r_elbow, l_hip_pitch, l_hip_roll, l_hip_yaw, l_knee, l_ankle_pitch, l_ankle_roll, r_hip_pitch,r_hip_roll,r_hip_yaw,r_knee,r_ankle_pitch,r_ankle_roll)';
+% Robot configuration for WBT3.0
+WBTConfigRobot           = WBToolbox.Configuration;
+WBTConfigRobot.RobotName = 'icubSim';
+WBTConfigRobot.UrdfFile  = 'model.urdf';
+WBTConfigRobot.LocalName = 'WBT';
 
+WBTConfigRobot.ControlBoardsNames = {'right_arm','left_arm','right_leg','left_leg','torso'};
+WBTConfigRobot.ControlledJoints   = {'torso_pitch','torso_roll','torso_yaw', ...
+                                     'l_shoulder_pitch','l_shoulder_roll','l_shoulder_yaw','l_elbow', ...
+                                     'r_shoulder_pitch','r_shoulder_roll','r_shoulder_yaw','r_elbow', ...
+                                     'l_hip_pitch','l_hip_roll','l_hip_yaw','l_knee','l_ankle_pitch','l_ankle_roll', ...
+                                     'r_hip_pitch','r_hip_roll','r_hip_yaw','r_knee','r_ankle_pitch','r_ankle_roll'};
 % References for the demo movements
 if MOVING