gazebo_icub_right_leg.ini

[include "gazebo_icub_robotname.ini"]

[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}/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

[TRAJECTORY_GENERATION]
trajectory_type minimum_jerk

# 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

min_stiffness 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
min_damping   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

#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            40.0   40.0   40.0   40.0   40.0   40.0
kd            0.35   0.35   0.35   0.35   0.35   0.35
ki            0.35   0.35   0.35   0.35   0.35   0.35
maxInt        9999   9999   9999   9999   9999   9999
maxOutput     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]
velocityControlImplementationType integrator_and_position_pid
controlUnits  metric_units
controlLaw    joint_pid_gazebo_v1
kp            8.726 8.726 8.726 8.726 8.726 8.726
kd            0.349 0.349 0.349 0.349 0.349 0.349
ki            0.176 0.176 0.176 0.176 0.176 0.176
maxInt        9999  9999  9999  9999  9999  9999
maxOutput     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
damping       0.0   0.0   0.0   0.0   0.0   0.0

[LIMITS]
jntPosMax 115.0 115.0 80.0 5.0 45.0 25.0
jntPosMin -45.0 -10.0 -80.0 -70.0 -45.0 -25.0
jntVelMax 100.0 100.0 100.0 100.0 100.0 100.0