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gz-sim-yarp-plugins: add support for icub 2.x #280

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merged 1 commit into from
Nov 29, 2024
Merged

gz-sim-yarp-plugins: add support for icub 2.x #280

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9 changes: 8 additions & 1 deletion simmechanics/CMakeLists.txt
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Expand Up @@ -304,7 +304,14 @@ macro(generate_icub_simmechanics)
<yarpConfigurationFile>model://iCub/conf/gazebo_icub_xsens_inertial.ini</yarpConfigurationFile>
</plugin>
</sensor>
</gazebo>")
</gazebo>
- |
<gazebo>
<plugin name=\"gzyarp::Imu\" filename=\"gz-sim-yarp-imu-system\">
<yarpConfigurationFile>model://iCub/conf/gazebo_icub_xsens_inertial.ini</yarpConfigurationFile>
</plugin>
</gazebo>
")
endif()

set(GENERATED_YAML_LOCATION ${CMAKE_CURRENT_BINARY_DIR}/${GIVTWO_YARP_ROBOT_NAME}.yaml)
Expand Down
93 changes: 93 additions & 0 deletions simmechanics/data/icub2_5/ICUB_2-5_BB_simmechanics_options.yaml.in
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Expand Up @@ -1128,6 +1128,85 @@ XMLBlobs:
<mu2>1</mu2>
<fdir1>0 0 0</fdir1>
</gazebo>
# gz-sim plugins
- |
<gazebo>
<plugin name="gzyarp::ControlBoard" filename="gz-sim-yarp-controlboard-system">
<yarpConfigurationFile>model://iCub/conf/gazebo_icub_torso.ini</yarpConfigurationFile>
</plugin>
<plugin name="gzyarp::ControlBoard" filename="gz-sim-yarp-controlboard-system">
<yarpConfigurationFile>model://iCub/conf/gazebo_icub_head_without_eyes.ini</yarpConfigurationFile>
</plugin>
<plugin name="gzyarp::ControlBoard" filename="gz-sim-yarp-controlboard-system">
<yarpConfigurationFile>model://iCub/conf/gazebo_icub_left_arm_no_hand_for_no_hand_model.ini</yarpConfigurationFile>
<initialConfiguration>-0.52 0.52 0 0.785 0 0 0.0</initialConfiguration>
</plugin>
<plugin name="gzyarp::ControlBoard" filename="gz-sim-yarp-controlboard-system">
<yarpConfigurationFile>model://iCub/conf/gazebo_icub_right_arm_no_hand_for_no_hand_model.ini</yarpConfigurationFile>
<initialConfiguration>-0.52 0.52 0 0.785 0 0 0.0</initialConfiguration>
</plugin>
<plugin name="gzyarp::ControlBoard" filename="gz-sim-yarp-controlboard-system">
<yarpConfigurationFile>model://iCub/conf/gazebo_icub_right_leg.ini</yarpConfigurationFile>
</plugin>
<plugin name="gzyarp::ControlBoard" filename="gz-sim-yarp-controlboard-system">
<yarpConfigurationFile>model://iCub/conf/gazebo_icub_left_leg.ini</yarpConfigurationFile>
</plugin>
</gazebo>
- |
<gazebo>
<plugin name="gzyarp::ForceTorque" filename="gz-sim-yarp-forcetorque-system">
<yarpConfigurationFile>model://iCub/conf/FT/gazebo_icub_right_arm_ft.ini</yarpConfigurationFile>
</plugin>
</gazebo>
- |
<gazebo>
<plugin name="gzyarp::ForceTorque" filename="gz-sim-yarp-forcetorque-system">
<yarpConfigurationFile>model://iCub/conf/FT/gazebo_icub_left_arm_ft.ini</yarpConfigurationFile>
</plugin>
</gazebo>
- |
<gazebo>
<plugin name="gzyarp::ForceTorque" filename="gz-sim-yarp-forcetorque-system">
<yarpConfigurationFile>model://iCub/conf/FT/gazebo_icub_right_leg_ft.ini</yarpConfigurationFile>
</plugin>
</gazebo>
- |
<gazebo>
<plugin name="gzyarp::ForceTorque" filename="gz-sim-yarp-forcetorque-system">
<yarpConfigurationFile>model://iCub/conf/FT/gazebo_icub_left_leg_ft.ini</yarpConfigurationFile>
</plugin>
</gazebo>
- |
<gazebo>
<plugin name="gzyarp::ForceTorque" filename="gz-sim-yarp-forcetorque-system">
<yarpConfigurationFile>model://iCub/conf/FT/gazebo_icub_right_foot_ft.ini</yarpConfigurationFile>
</plugin>
</gazebo>

- |
<gazebo>
<plugin name="gzyarp::ForceTorque" filename="gz-sim-yarp-forcetorque-system">
<yarpConfigurationFile>model://iCub/conf/FT/gazebo_icub_left_foot_ft.ini</yarpConfigurationFile>
</plugin>
</gazebo>
- |
<gazebo>
<plugin name="gzyarp::Imu" filename="gz-sim-yarp-imu-system">
<yarpConfigurationFile>model://iCub/conf/gazebo_icub_right_arm_inertial.ini</yarpConfigurationFile>
</plugin>
</gazebo>
- |
<gazebo>
<plugin name="gzyarp::Imu" filename="gz-sim-yarp-imu-system">
<yarpConfigurationFile>model://iCub/conf/gazebo_icub_left_arm_inertial.ini</yarpConfigurationFile>
</plugin>
</gazebo>
- |
<gazebo>
<plugin name="gzyarp::Imu" filename="gz-sim-yarp-imu-system">
<yarpConfigurationFile>model://iCub/conf/gazebo_icub_inertial.ini</yarpConfigurationFile>
</plugin>
</gazebo>
- |
<gazebo>
<plugin name="iCub_yarp_gazebo_plugin_ACCpart" filename="libgazebo_yarp_distributedinertials.so">
Expand Down Expand Up @@ -1303,5 +1382,19 @@ XMLBlobs:
<yarpRobotInterfaceConfigurationFile>model://iCub/conf/icub.xml</yarpRobotInterfaceConfigurationFile>
</plugin>
</gazebo>
- |
<gazebo>
<plugin name="gzyarp::RobotInterface" filename="gz-sim-yarp-robotinterface-system">
<yarpRobotInterfaceConfigurationFile>model://iCub/conf/icub.xml</yarpRobotInterfaceConfigurationFile>
</plugin>
</gazebo>
- |
<gazebo>
<plugin filename="gz-sim-forcetorque-system" name="gz::sim::systems::ForceTorque"></plugin>
</gazebo>
- |
<gazebo>
<plugin filename="gz-sim-imu-system" name="gz::sim::systems::Imu"></plugin>
</gazebo>
@ADDITIONAL_XML_BLOBS@

2 changes: 2 additions & 0 deletions simmechanics/data/icub2_5/conf/FT/gazebo_icub_left_arm_ft.ini
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@@ -1,2 +1,4 @@
disableImplicitNetworkWrapper
yarpDeviceName icub_left_arm_ft
jointName l_arm_ft_sensor
sensorName l_arm_ft
2 changes: 2 additions & 0 deletions simmechanics/data/icub2_5/conf/FT/gazebo_icub_left_foot_ft.ini
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@@ -1,2 +1,4 @@
disableImplicitNetworkWrapper
yarpDeviceName icub_left_foot_ft
jointName l_foot_ft_sensor
sensorName l_foot_ft
2 changes: 2 additions & 0 deletions simmechanics/data/icub2_5/conf/FT/gazebo_icub_left_leg_ft.ini
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@@ -1,2 +1,4 @@
disableImplicitNetworkWrapper
yarpDeviceName icub_left_leg_ft
jointName l_leg_ft_sensor
sensorName l_leg_ft
2 changes: 2 additions & 0 deletions simmechanics/data/icub2_5/conf/FT/gazebo_icub_right_arm_ft.ini
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@@ -1,2 +1,4 @@
disableImplicitNetworkWrapper
yarpDeviceName icub_right_arm_ft
jointName r_arm_ft_sensor
sensorName r_arm_ft
2 changes: 2 additions & 0 deletions simmechanics/data/icub2_5/conf/FT/gazebo_icub_right_foot_ft.ini
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@@ -1,2 +1,4 @@
disableImplicitNetworkWrapper
yarpDeviceName icub_right_foot_ft
jointName r_foot_ft_sensor
sensorName r_foot_ft
3 changes: 2 additions & 1 deletion simmechanics/data/icub2_5/conf/FT/gazebo_icub_right_leg_ft.ini
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@@ -1,3 +1,4 @@
disableImplicitNetworkWrapper
yarpDeviceName icub_right_leg_ft

jointName r_leg_ft_sensor
sensorName r_leg_ft
2 changes: 2 additions & 0 deletions simmechanics/data/icub2_5/conf/gazebo_icub_inertial.ini
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@@ -1,2 +1,4 @@
disableImplicitNetworkWrapper
yarpDeviceName head_inertial_hardware_device
parentLinkName head
sensorName head_imu_0
4 changes: 3 additions & 1 deletion simmechanics/data/icub2_5/conf/gazebo_icub_left_arm_inertial.ini
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@@ -1,2 +1,4 @@
disableImplicitNetworkWrapper
yarpDeviceName left_arm_inertial_hardware_device
yarpDeviceName left_arm_inertial_hardware_device
parentLinkName l_shoulder_3
sensorName l_arm_ft_imu
4 changes: 3 additions & 1 deletion simmechanics/data/icub2_5/conf/gazebo_icub_right_arm_inertial.ini
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disableImplicitNetworkWrapper
yarpDeviceName right_arm_inertial_hardware_device
yarpDeviceName right_arm_inertial_hardware_device
parentLinkName r_shoulder_3
sensorName r_arm_ft_imu
3 changes: 3 additions & 0 deletions simmechanics/data/icub2_5/conf/gazebo_icub_xsens_inertial.ini
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Expand Up @@ -5,3 +5,6 @@ period 2

device multipleanalogsensorsserver
subdevice gazebo_imu
yarpDeviceName waist_inertial_hardware_device
parentLinkName root_link
sensorName root_link_imu_acc