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Port all ini to use parenthesis
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@Nicogene
Nicogene committed Apr 8, 2024
1 parent ad77f96 commit bcfdd68
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Showing 10 changed files with 291 additions and 291 deletions.
58 changes: 29 additions & 29 deletions urdf/ergoCub/conf/gazebo_ergocub_head.ini
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Original file line number Diff line number Diff line change
@@ -1,51 +1,51 @@
disableImplicitNetworkWrapper
yarpDeviceName head_hardware_device

jointNames neck_pitch neck_roll neck_yaw camera_tilt
jointNames (neck_pitch neck_roll neck_yaw camera_tilt)

min_stiffness 0.0 0.0 0.0 0.0
max_stiffness 1000.0 1000.0 1000.0 1000.0
min_damping 0.0 0.0 0.0 0.0
max_damping 100.0 100.0 100.0 100.0
max_torques 1000000.0 1000000.0 1000000.0 1000000.0
min_stiffness (0.0 0.0 0.0 0.0)
max_stiffness (1000.0 1000.0 1000.0 1000.0)
min_damping (0.0 0.0 0.0 0.0)
max_damping (100.0 100.0 100.0 100.0)
max_torques (1000000.0 1000000.0 1000000.0 1000000.0)


#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 1.745
kd 0.122 0.122 0.122 0.122
ki 0.003 0.003 0.003 0.003
maxInt 9999 9999 9999 9999
maxOutput 9999 9999 9999 9999
shift 0.0 0.0 0.0 0.0
ko 0.0 0.0 0.0 0.0
stictionUp 0.0 0.0 0.0 0.0
stictionDwn 0.0 0.0 0.0 0.0
kp (1.745 1.745 1.745 1.745)
kd (0.122 0.122 0.122 0.122)
ki (0.003 0.003 0.003 0.003)
maxInt (9999 9999 9999 9999)
maxOutput (9999 9999 9999 9999)
shift (0.0 0.0 0.0 0.0)
ko (0.0 0.0 0.0 0.0)
stictionUp (0.0 0.0 0.0 0.0)
stictionDwn (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
kd 0.035 0.035 0.035 0.035
ki 0.003 0.003 0.003 0.003
maxInt 9999 9999 9999 9999
maxOutput 9999 9999 9999 9999
shift 0.0 0.0 0.0 0.0
ko 0.0 0.0 0.0 0.0
stictionUp 0.0 0.0 0.0 0.0
stictionDwn 0.0 0.0 0.0 0.0
kp (8.726 8.726 8.726 8.726)
kd (0.035 0.035 0.035 0.035)
ki (0.003 0.003 0.003 0.003)
maxInt (9999 9999 9999 9999)
maxOutput (9999 9999 9999 9999)
shift (0.0 0.0 0.0 0.0)
ko (0.0 0.0 0.0 0.0)
stictionUp (0.0 0.0 0.0 0.0)
stictionDwn (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
damping 0.0 0.0 0.0 0.0
stiffness (0.0 0.0 0.0 0.0)
damping (0.0 0.0 0.0 0.0)

[LIMITS]
jntPosMax 17.0 20.0 45.0 30.0
jntPosMin -30.0 -20.0 -45.0 -30
jntVelMax 100.0 100.0 100.0 100
jntPosMax (17.0 20.0 45.0 30.0)
jntPosMin (-30.0 -20.0 -45.0 -30)
jntVelMax (100.0 100.0 100.0 100)
58 changes: 29 additions & 29 deletions urdf/ergoCub/conf/gazebo_ergocub_left_arm.ini
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Original file line number Diff line number Diff line change
@@ -1,13 +1,13 @@
disableImplicitNetworkWrapper
yarpDeviceName left_arm_hardware_device

jointNames l_shoulder_pitch l_shoulder_roll l_shoulder_yaw l_elbow l_wrist_yaw l_wrist_roll l_wrist_pitch
jointNames (l_shoulder_pitch l_shoulder_roll l_shoulder_yaw l_elbow l_wrist_yaw l_wrist_roll l_wrist_pitch)

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
max_torques 1000000.0 1000000.0 1000000.0 1000000.0 1000000.0 1000000.0 1000000.0
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)
max_torques (1000000.0 1000000.0 1000000.0 1000000.0 1000000.0 1000000.0 1000000.0)

[TRAJECTORY_GENERATION]
trajectory_type minimum_jerk
Expand All @@ -17,37 +17,37 @@ trajectory_type minimum_jerk
[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
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
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
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 90.0 50.0 30.0
jntPosMin -175.0 12.0 -50.0 -3.0 -90.0 -60.0 -30.0
jntVelMax 100.0 100.0 100.0 100.0 100.0 100.0 100.0
jntPosMax (20.0 160.0 80.0 75.0 90.0 50.0 30.0)
jntPosMin (-175.0 12.0 -50.0 -3.0 -90.0 -60.0 -30.0)
jntVelMax (100.0 100.0 100.0 100.0 100.0 100.0 100.0)
72 changes: 36 additions & 36 deletions urdf/ergoCub/conf/gazebo_ergocub_left_hand_mk5_0.ini
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Original file line number Diff line number Diff line change
@@ -1,61 +1,61 @@
disableImplicitNetworkWrapper
yarpDeviceName left_hand_hardware_device
jointNames l_thumb_add l_thumb_prox l_thumb_dist l_index_add l_index_prox l_index_dist l_middle_prox l_middle_dist l_ring_prox l_ring_dist l_pinkie_prox l_pinkie_dist
max_torques 1000000.0 1000000.0 1000000.0 1000000.0 1000000.0 1000000.0 1000000.0 1000000.0 1000000.0 1000000.0 1000000.0 1000000.0
jointNames (l_thumb_add l_thumb_prox l_thumb_dist l_index_add l_index_prox l_index_dist l_middle_prox l_middle_dist l_ring_prox l_ring_dist l_pinkie_prox l_pinkie_dist)
max_torques (1000000.0 1000000.0 1000000.0 1000000.0 1000000.0 1000000.0 1000000.0 1000000.0 1000000.0 1000000.0 1000000.0 1000000.0)

[COUPLING]
device couplingXCubHandMk5
actuatedAxesNames l_thumb_add l_thumb_oc l_index_add l_index_oc l_middle_oc l_ring_pinky_oc
actuatedAxesPosMin 0.0 0.0 0.0 0.0 0.0 0.0
actuatedAxesPosMax 90.0 82.1 15.0 90.0 90.0 90.0
actuatedAxesNames (l_thumb_add l_thumb_oc l_index_add l_index_oc l_middle_oc l_ring_pinky_oc)
actuatedAxesPosMin (0.0 0.0 0.0 0.0 0.0 0.0)
actuatedAxesPosMax (90.0 82.1 15.0 90.0 90.0 90.0)

[COUPLING_PARAMS]
L0x -0.00555 -0.0050 -0.0050 -0.0050 -0.0050
L0y 0.00285 0.0040 0.0040 0.0040 0.0040
q2bias -180.0 -173.35 -173.35 -173.35 -170.54
q1off 4.29 2.86 2.86 2.86 3.43
k 0.0171 0.02918 0.02918 0.02918 0.02425
d 0.02006 0.03004 0.03004 0.03004 0.02504
l 0.0085 0.00604 0.00604 0.00604 0.00608
b 0.00624 0.0064 0.0064 0.0064 0.0064
L0x (-0.00555 -0.0050 -0.0050 -0.0050 -0.0050)
L0y ( 0.00285 0.0040 0.0040 0.0040 0.0040)
q2bias ( -180.0 -173.35 -173.35 -173.35 -170.54)
q1off ( 4.29 2.86 2.86 2.86 3.43)
k ( 0.0171 0.02918 0.02918 0.02918 0.02425)
d ( 0.02006 0.03004 0.03004 0.03004 0.02504)
l ( 0.0085 0.00604 0.00604 0.00604 0.00608)
b ( 0.00624 0.0064 0.0064 0.0064 0.0064)

[TRAJECTORY_GENERATION]
trajectory_type minimum_jerk

[LIMITS]
jntVelMax 100.0 100.0 100.0 100.0 100.0 100.0 100.0 100.0 100.0 100.0 100.0 100.0
jntPosMax 90.0 82.1 53.6 15.0 90.0 99.2 90.0 99.2 90.0 99.2 90.0 93.3
jntPosMin 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0
jntVelMax (100.0 100.0 100.0 100.0 100.0 100.0 100.0 100.0 100.0 100.0 100.0 100.0)
jntPosMax ( 90.0 82.1 53.6 15.0 90.0 99.2 90.0 99.2 90.0 99.2 90.0 93.3)
jntPosMin ( 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0)

[POSITION_CONTROL]
controlUnits metric_units
controlLaw joint_pid_gazebo_v1
kp 5.0 5.0 5.0 5.0 5.0 5.0 5.0 5.0 5.0 5.0 5.0 5.0
kd 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0
ki 0.00 0.00 0.00 0.00 0.00 0.00 0.00 0.00 0.00 0.00 0.00 0.00
maxInt 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999
maxOutput 9999 9999 9999 9999 9999 9999 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
kp (5.0 5.0 5.0 5.0 5.0 5.0 5.0 5.0 5.0 5.0 5.0 5.0)
kd (0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0)
ki (0.00 0.00 0.00 0.00 0.00 0.00 0.00 0.00 0.00 0.00 0.00 0.00)
maxInt (9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999)
maxOutput (9999 9999 9999 9999 9999 9999 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]
controlUnits metric_units
controlLaw joint_pid_gazebo_v1
velocityControlImplementationType integrator_and_position_pid
kp 0.01 0.01 0.01 0.01 0.01 0.01 0.01 0.01 0.01 0.01 0.01 0.01
kd 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0
ki 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0
maxInt 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999
maxOutput 9999 9999 9999 9999 9999 9999 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
kp (0.01 0.01 0.01 0.01 0.01 0.01 0.01 0.01 0.01 0.01 0.01 0.01)
kd (0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0)
ki (0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0)
maxInt (9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999)
maxOutput (9999 9999 9999 9999 9999 9999 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 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 0.0 0.0 0.0 0.0 0.0
stiffness (0.0 0.0 0.0 0.0 0.0 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 0.0 0.0 0.0 0.0 0.0)
46 changes: 23 additions & 23 deletions urdf/ergoCub/conf/gazebo_ergocub_left_hand_mk5_1.ini
View file
Original file line number Diff line number Diff line change
@@ -1,13 +1,13 @@
disableImplicitNetworkWrapper
yarpDeviceName left_hand_hardware_device
jointNames (l_thumb_add l_thumb_prox l_thumb_dist l_index_add l_index_prox l_index_dist l_middle_prox l_middle_dist l_ring_prox l_ring_dist l_pinkie_prox l_pinkie_dist)
max_torques 1000000.0 1000000.0 1000000.0 1000000.0 1000000.0 1000000.0 1000000.0 1000000.0 1000000.0 1000000.0 1000000.0 1000000.0
max_torques (1000000.0 1000000.0 1000000.0 1000000.0 1000000.0 1000000.0 1000000.0 1000000.0 1000000.0 1000000.0 1000000.0 1000000.0)

[COUPLING]
device couplingXCubHandMk5
actuatedAxesNames (l_thumb_add l_thumb_oc l_index_add l_index_oc l_middle_oc l_ring_pinky_oc)
actuatedAxesPosMin (0.0 0.0 0.0 0.0 0.0 0.0)
actuatedAxesPosMax (100.0 90.0 15.0 90.0 90.0 90.0)
actuatedAxesPosMin (0.0 0.0 0.0 0.0 0.0 0.0)
actuatedAxesPosMax (100.0 90.0 15.0 90.0 90.0 90.0)

[COUPLING_PARAMS]
L0x (-0.0050 -0.0050 -0.0050 -0.0050 -0.0050)
Expand All @@ -30,32 +30,32 @@ jntPosMin (0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0
[POSITION_CONTROL]
controlUnits metric_units
controlLaw joint_pid_gazebo_v1
kp 5.0 5.0 5.0 5.0 5.0 5.0 5.0 5.0 5.0 5.0 5.0 5.0
kd 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0
ki 0.00 0.00 0.00 0.00 0.00 0.00 0.00 0.00 0.00 0.00 0.00 0.00
maxInt 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999
maxOutput 9999 9999 9999 9999 9999 9999 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
kp (5.0 5.0 5.0 5.0 5.0 5.0 5.0 5.0 5.0 5.0 5.0 5.0)
kd (0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0)
ki (0.00 0.00 0.00 0.00 0.00 0.00 0.00 0.00 0.00 0.00 0.00 0.00)
maxInt (9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999)
maxOutput (9999 9999 9999 9999 9999 9999 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]
controlUnits metric_units
controlLaw joint_pid_gazebo_v1
velocityControlImplementationType integrator_and_position_pid
kp 0.01 0.01 0.01 0.01 0.01 0.01 0.01 0.01 0.01 0.01 0.01 0.01
kd 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0
ki 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0
maxInt 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999
maxOutput 9999 9999 9999 9999 9999 9999 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
kp (0.01 0.01 0.01 0.01 0.01 0.01 0.01 0.01 0.01 0.01 0.01 0.01)
kd (0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0)
ki (0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0)
maxInt (9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999)
maxOutput (9999 9999 9999 9999 9999 9999 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 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 0.0 0.0 0.0 0.0 0.0
stiffness (0.0 0.0 0.0 0.0 0.0 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 0.0 0.0 0.0 0.0 0.0)
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