robotology · Nicogene · Dec 28, 2022 · Dec 27, 2022 · Dec 27, 2022
diff --git a/simmechanics/data/icub2_5/ICUB_2-5_BB_simmechanics_options.yaml.in b/simmechanics/data/icub2_5/ICUB_2-5_BB_simmechanics_options.yaml.in
@@ -1246,5 +1246,11 @@ XMLBlobs:
         <gazebo reference="neck_yaw">
            <implicitSpringDamper>1</implicitSpringDamper>
         </gazebo>
+  - |
+        <gazebo>
+          <plugin name="robotinterface" filename="libgazebo_yarp_robotinterface.so">
+            <yarpRobotInterfaceConfigurationFile>model://iCub/conf/icub.xml</yarpRobotInterfaceConfigurationFile>
+          </plugin>
+        </gazebo>
 @ADDITIONAL_XML_BLOBS@
 
diff --git a/simmechanics/data/icub2_5/conf/FT/gazebo_icub_left_arm_ft.ini b/simmechanics/data/icub2_5/conf/FT/gazebo_icub_left_arm_ft.ini
@@ -1,7 +1,2 @@
-[include "../gazebo_icub_robotname.ini"]
-
-name /${gazeboYarpPluginsRobotName}/left_arm/analog:o
-period 10
-
-device analogServer
-
+disableImplicitNetworkWrapper
+yarpDeviceName icub_left_arm_ft
diff --git a/simmechanics/data/icub2_5/conf/FT/gazebo_icub_left_foot_ft.ini b/simmechanics/data/icub2_5/conf/FT/gazebo_icub_left_foot_ft.ini
@@ -1,7 +1,2 @@
-[include "../gazebo_icub_robotname.ini"]
-
-name /${gazeboYarpPluginsRobotName}/left_foot/analog:o
-period 10
-
-device analogServer
-
+disableImplicitNetworkWrapper
+yarpDeviceName icub_left_foot_ft
diff --git a/simmechanics/data/icub2_5/conf/FT/gazebo_icub_left_leg_ft.ini b/simmechanics/data/icub2_5/conf/FT/gazebo_icub_left_leg_ft.ini
@@ -1,7 +1,2 @@
-[include "../gazebo_icub_robotname.ini"]
-
-name /${gazeboYarpPluginsRobotName}/left_leg/analog:o
-period 10
-
-device analogServer
-
+disableImplicitNetworkWrapper
+yarpDeviceName icub_left_leg_ft
diff --git a/simmechanics/data/icub2_5/conf/FT/gazebo_icub_right_arm_ft.ini b/simmechanics/data/icub2_5/conf/FT/gazebo_icub_right_arm_ft.ini
@@ -1,7 +1,2 @@
-[include "../gazebo_icub_robotname.ini"]
-
-name /${gazeboYarpPluginsRobotName}/right_arm/analog:o
-period 10
-
-device analogServer
-
+disableImplicitNetworkWrapper
+yarpDeviceName icub_right_arm_ft
diff --git a/simmechanics/data/icub2_5/conf/FT/gazebo_icub_right_foot_ft.ini b/simmechanics/data/icub2_5/conf/FT/gazebo_icub_right_foot_ft.ini
@@ -1,6 +1,2 @@
-[include "../gazebo_icub_robotname.ini"]
-
-name /${gazeboYarpPluginsRobotName}/right_foot/analog:o
-period 10
-
-device analogServer
+disableImplicitNetworkWrapper
+yarpDeviceName icub_right_foot_ft
diff --git a/simmechanics/data/icub2_5/conf/FT/gazebo_icub_right_leg_ft.ini b/simmechanics/data/icub2_5/conf/FT/gazebo_icub_right_leg_ft.ini
@@ -1,6 +1,3 @@
-[include "../gazebo_icub_robotname.ini"]
+disableImplicitNetworkWrapper
+yarpDeviceName icub_right_leg_ft
 
-name /${gazeboYarpPluginsRobotName}/right_leg/analog:o
-period 10
-
-device analogServer
diff --git a/simmechanics/data/icub2_5/conf/gazebo_icub_head.ini b/simmechanics/data/icub2_5/conf/gazebo_icub_head.ini
diff --git a/simmechanics/data/icub2_5/conf/gazebo_icub_head_without_eyes.ini b/simmechanics/data/icub2_5/conf/gazebo_icub_head_without_eyes.ini
@@ -1,36 +1,13 @@
-[include "gazebo_icub_robotname.ini"]
+disableImplicitNetworkWrapper
+yarpDeviceName head_hardware_device
 
-[WRAPPER]
-# name of the wrapper device to be instatiated by the factory
-device controlboardwrapper2
-# rate of output streaming from ports in ms
-period 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
-
-[TRAJECTORY_GENERATION]
-trajectory_type minimum_jerk
-
-# 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
 
-min_stiffness 0.0    0.0    0.0   
+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 
+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
@@ -40,12 +17,12 @@ 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  
+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

diff --git a/simmechanics/data/icub2_5/conf/gazebo_icub_inertial.ini b/simmechanics/data/icub2_5/conf/gazebo_icub_inertial.ini
@@ -1,14 +1,2 @@
-[include "gazebo_icub_robotname.ini"]
-
-[WRAPPER]
-device multipleanalogsensorsserver
-name /${gazeboYarpPluginsRobotName}/head/inertials
-period 10
-
-[ADDITIONAL_WRAPPER]
-device inertial
-name /${gazeboYarpPluginsRobotName}/inertial
-period 0.01
-
-[IMU_DRIVER]
-device gazebo_imu
+disableImplicitNetworkWrapper
+yarpDeviceName head_inertial_hardware_device
diff --git a/simmechanics/data/icub2_5/conf/gazebo_icub_left_arm.ini b/simmechanics/data/icub2_5/conf/gazebo_icub_left_arm.ini
diff --git a/simmechanics/data/icub2_5/conf/gazebo_icub_left_arm_no_hand.ini b/simmechanics/data/icub2_5/conf/gazebo_icub_left_arm_no_hand.ini
diff --git a/simmechanics/data/icub2_5/conf/gazebo_icub_left_arm_no_hand_for_no_hand_model.ini b/simmechanics/data/icub2_5/conf/gazebo_icub_left_arm_no_hand_for_no_hand_model.ini
@@ -1,38 +1,16 @@
-[include "gazebo_icub_robotname.ini"]
+disableImplicitNetworkWrapper
+yarpDeviceName left_arm_hardware_device
 
-[WRAPPER]
-# name of the wrapper device to be instatiated by the factory
-device controlboardwrapper2
-# rate of output streaming from ports in ms
-period 10
-# output port name
-name /${gazeboYarpPluginsRobotName}/left_arm
-# Total number of joints
-joints 7
-# list of MotorControl device to use
-networks ( left_arm_no_hand )
-# for each network specify the joint map
-left_arm_no_hand 0 6 0 6
-
-# Verbose output (on if present, off if commented out)
-#verbose
-
-[TRAJECTORY_GENERATION]
-trajectory_type minimum_jerk
-
-# Specify configuration of MotorControl devices
-[left_arm_no_hand]
-# 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 l_wrist_prosup l_wrist_pitch l_wrist_yaw
-name left_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]

diff --git a/simmechanics/data/icub2_5/conf/gazebo_icub_left_hand.ini b/simmechanics/data/icub2_5/conf/gazebo_icub_left_hand.ini