diff --git a/.gitignore b/.gitignore index 0cc7e4b..54f6c99 100644 --- a/.gitignore +++ b/.gitignore @@ -5,3 +5,5 @@ Makefile cmake_install.cmake install_manifest.txt CTestTestfile.cmake + +.DS_Store \ No newline at end of file diff --git a/README.md b/README.md index 81957af..d7b699a 100644 --- a/README.md +++ b/README.md @@ -1,7 +1,7 @@ # icub-gazebo-wholebody Gazebo models and worlds for simulating scenarios related to iCub Whole Body Control. -The world and models in this repository are mantained by the [Dynamic Interaction Control Group](https://www.iit.it/research/lines/dynamic-interaction-controlicub-gazebo-wholebody) and are mostly related to whole body balancing and walking, related to the FP7 European Projects CoDyCo and Koroibot and the H2020 Project AnDy. +The world and models in this repository are mantained by the [Dynamic Interaction Control Group](https://www.iit.it/research/lines/dynamic-interaction-control) and are mostly related to whole body balancing and walking, related to the FP7 European Projects CoDyCo and Koroibot and the H2020 Project AnDy. # Usage - `git clone` the repository on your computer. diff --git a/models/board/board.sdf b/models/board/board.sdf new file mode 100644 index 0000000..bc6789b --- /dev/null +++ b/models/board/board.sdf @@ -0,0 +1,374 @@ + + + + 0 0 1.0 0.0 0.0 0.0 + + + + + 0.0 0.0 0.0 0.0 0.0 0.0 + 2 + + 0.0416 + 0.0 + 0.0 + 0.0416 + 0.0 + 0.083 + + + + + + 0.5 0.5 0.025 + + + 10 + + + + 0.2 + 0 + 18000000 + 100 + 100 + 0.0001 + + + + + 1 + 1 + 0 0 0 + 0 + 0 + + + + 0 + 100000 + + + + + + + 0.5 0.5 0.025 + + + + + + + + 0.2375 0.0 0.025 0.0 0.0 0.0 + + 0.0 0.0 0.0 0.0 0.0 0.0 + 0.01 + + 0.000208 + 0.0 + 0.0 + 0.000001037 + 0.0 + 0.000208 + + + + + + 0.025 0.5 0.025 + + + + + + + 0.025 0.5 0.025 + + + + + + -0.2375 0.0 0.025 0.0 0.0 0.0 + + 0.0 0.0 0.0 0.0 0.0 0.0 + 0.01 + + 0.000208 + 0.0 + 0.0 + 0.000001037 + 0.0 + 0.000208 + + + + + + 0.025 0.5 0.025 + + + + + + + 0.025 0.5 0.025 + + + + + + 0.0 0.2375 0.025 0.0 0.0 0.0 + + 0.0 0.0 0.0 0.0 0.0 0.0 + 0.01 + + 0.000001037 + 0.0 + 0.0 + 0.000208 + 0.0 + 0.000208 + + + + + + 0.5 0.025 0.025 + + + + + + + 0.5 0.025 0.025 + + + + + + 0.0 -0.2375 0.025 0.0 0.0 0.0 + + 0.0 0.0 0.0 0.0 0.0 0.0 + 0.01 + + 0.000001037 + 0.0 + 0.0 + 0.000208 + 0.0 + 0.000208 + + + + + + 0.5 0.025 0.025 + + + + + + + 0.5 0.025 0.025 + + + + + + + + -0.25 0.125 0.025 0.0 0.0 0.0 + + 0.0 0.0 0.0 0.0 0.0 0.0 + 0.1 + + 0,00000166 + 0.0 + 0.0 + 0,00000166 + 0.0 + 0,00000166 + + + + + + 0.01 0.01 0.01 + + + + + + + 0.01 0.01 0.01 + + + + + + + -0.25 -0.125 0.025 0.0 0.0 0.0 + + 0.0 0.0 0.0 0.0 0.0 0.0 + 0.1 + + 0,00000166 + 0.0 + 0.0 + 0,00000166 + 0.0 + 0,00000166 + + + + + + 0.01 0.01 0.01 + + + + + + + 0.01 0.01 0.01 + + + + + + + 0.25 0.125 0.025 0.0 0.0 0.0 + + 0.0 0.0 0.0 0.0 0.0 0.0 + 0.1 + + 0,00000166 + 0.0 + 0.0 + 0,00000166 + 0.0 + 0,00000166 + + + + + + 0.01 0.01 0.01 + + + + + + + 0.01 0.01 0.01 + + + + + + + 0.25 -0.125 0.025 0.0 0.0 0.0 + + 0.0 0.0 0.0 0.0 0.0 0.0 + 0.1 + + 0,00000166 + 0.0 + 0.0 + 0,00000166 + 0.0 + 0,00000166 + + + + + + 0.01 0.01 0.01 + + + + + + + 0.01 0.01 0.01 + + + + + + + + base_link + border_top_link + 0.0 0.0 0.0 0.0 0.0 0.0 + + 1.0 0.0 0.0 + + + + base_link + border_bottom_link + 0.0 0.0 0.0 0.0 0.0 0.0 + + 1.0 0.0 0.0 + + + + base_link + border_left_link + 0.0 0.0 0.0 0.0 0.0 0.0 + + 1.0 0.0 0.0 + + + + base_link + border_right_link + 0.0 0.0 0.0 0.0 0.0 0.0 + + 1.0 0.0 0.0 + + + + + base_link + side1_left_dummy_link + 0.0 0.0 0.0 0.0 0.0 0.0 + + 1.0 0.0 0.0 + + + + base_link + side1_right_dummy_link + 0.0 0.0 0.0 0.0 0.0 0.0 + + 1.0 0.0 0.0 + + + + base_link + side2_left_dummy_link + 0.0 0.0 0.0 0.0 0.0 0.0 + + 1.0 0.0 0.0 + + + + base_link + side2_right_dummy_link + 0.0 0.0 0.0 0.0 0.0 0.0 + + 1.0 0.0 0.0 + + + + + + model://board/conf/linkattacher.ini + + + + diff --git a/models/board/conf/linkattacher.ini b/models/board/conf/linkattacher.ini new file mode 100644 index 0000000..4838622 --- /dev/null +++ b/models/board/conf/linkattacher.ini @@ -0,0 +1 @@ +name /board/linkattacher/rpc:i diff --git a/models/board/handlesHandsLinkAttacher.sh b/models/board/handlesHandsLinkAttacher.sh new file mode 100755 index 0000000..7125c05 --- /dev/null +++ b/models/board/handlesHandsLinkAttacher.sh @@ -0,0 +1,52 @@ +usage() { +cat << EOF +************************************************************************************************************************************ +ATTACH SCRIPT FOR PRRI SIMULATION EXPERIMENT WITH TWO ICUBS COMANIPULATING A BOARD +Author: Yeshasvi Tirupachuri +This script takes name of the human model and attaches the hands of the human to iCub +USAGE: + $0 options +************************************************************************************************************************************ +OPTIONS: +************************************************************************************************************************************ +EXAMPLE USAGE: ./handlesHandsLinkAttacher.sh attach -----> Attach the handle links of the board to the hand links of the two robot +EXAMPLE USAGE: ./handlesHandsLinkAttacher.sh detach -----> Detach the handle links of the board from the hand links of the two robot +************************************************************************************************************************************ +EOF +} + +attach() { + echo "attachUnscoped board side1_left_dummy_link iCub1 l_hand" | yarp rpc /board/linkattacher/rpc:i + echo "attachUnscoped board side1_right_dummy_link iCub1 r_hand" | yarp rpc /board/linkattacher/rpc:i + echo "attachUnscoped board side2_left_dummy_link iCub2 r_hand" | yarp rpc /board/linkattacher/rpc:i + echo "attachUnscoped board side2_right_dummy_link iCub2 l_hand" | yarp rpc /board/linkattacher/rpc:i +} + +detach() { + echo "detachUnscoped board side1_left_dummy_link" | yarp rpc /board/linkattacher/rpc:i + echo "detachUnscoped board side1_right_dummy_link" | yarp rpc /board/linkattacher/rpc:i + echo "detachUnscoped board side2_left_dummy_link" | yarp rpc /board/linkattacher/rpc:i + echo "detachUnscoped board side2_right_dummy_link" | yarp rpc /board/linkattacher/rpc:i +} + +################################################################################ +# "MAIN" FUNCTION: # +################################################################################ +if [[ $# -eq 0 || $# -lt 1 ]] ; then + echo "Error in options passed!" + echo "" + usage + exit 1 +fi + +COMMAND=$1 + +if [[ ${COMMAND} == "attach" ]] ; then + attach +fi + +if [[ ${COMMAND} == "detach" ]] ; then + detach +fi + +exit 0 diff --git a/models/board/model.config b/models/board/model.config new file mode 100644 index 0000000..c4677aa --- /dev/null +++ b/models/board/model.config @@ -0,0 +1,16 @@ + + + Board + + 1.0 + board.sdf + + + Yeshasvi Tirupachuri + yeshasvi.tirupachuri@iit.t + + + + A simple board used in two icubs comanipulation experiment + + diff --git a/models/icub_on_seesaw/icub.sdf b/models/icub_on_seesaw/icub.sdf deleted file mode 100644 index dd8cc67..0000000 --- a/models/icub_on_seesaw/icub.sdf +++ /dev/null @@ -1,2184 +0,0 @@ - - - - -0.05 0 0.6926 0 0 3.14 - - 0 0 0 0 -0 0 - - 0 0 0 0 -0 0 - 4.72 - - 0.01 - 0 - 0 - 0.01 - 0 - 0.01 - - - - 0 0 0 0 -0 0 - - - 1 1 1 - model://icub/meshes/collision/icub_simple_collision_root_link.dae - - - - - 0 0 0 0 -0 0 - - - 1 1 1 - model://icub/meshes/visual/icub_root_link.dae - - - - - - 0 -0.0681 -0.1199 2.65359e-06 1.57079 3.14159 - - 0 -0.0782 0 0 -0 0 - 0.754 - - 0.01 - 2.059e-06 - 1.451e-06 - 0.01 - 1.545e-06 - 0.01 - - - - 0 0 0 -0.785403 1.57079 -2.35619 - - - 1 1 1 - model://icub/meshes/collision/icub_simple_collision_l_hip_1.dae - - - - - 0 0 0 -0.785403 1.57079 -2.35619 - - - 1 1 1 - model://icub/meshes/visual/icub_l_hip_1.dae - - - - - - l_hip_1 - root_link - - 2.65359e-06 1 -9.74718e-12 - - -0.767945 - 2.30383 - 84 - 100 - - - 1 - 0 - 0 - 0 - - 1 - - - - 0 -0.0681 -0.1199 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18000000 - - 100 - 100 - - 0.0001 - - - - - 1 - 1 - 0 0 0 - 0 - 0 - - - - 0 - 100000 - - - - - 4.45647e-12 -5.54343e-12 -0.037 -0.785403 1.57079 -0.785403 - - - 1 1 1 - model://icub/meshes/visual/icub_l_foot.dae - - - - - - l_foot - l_ankle_2 - - 0 0 0 - - 0 - 0 - 0 - 0 - - - 0 - 0 - - 1 - - - 1 - 100 - 0 0 0 0 0 0 - - model://icub/conf/FT/gazebo_icub_left_foot_ft.ini - - - - - 0 0.0681 -0.1199 3.14159 1.57079 -3.14159 - - 0 -0.0782 0 0 -0 0 - 0.754 - - 0.01 - 0 - 0 - 0.01 - 0 - 0.01 - - - - 0 0 0 1.76819 -1.57079 2.76109 - - - 1 1 1 - model://icub/meshes/collision/icub_simple_collision_r_hip_1.dae - - - - - 0 0 0 1.76819 -1.57079 2.76109 - - - 1 1 1 - model://icub/meshes/visual/icub_r_hip_1.dae - - - - - - r_hip_1 - root_link - - 5.7211e-18 1 -1.22967e-22 - - -0.767945 - 2.30383 - 84 - 100 - - - 1 - 0 - 0 - 0 - - 1 - - - - 0 0.0681 -0.1199 -3.14159 -7.34641e-06 -3.14159 - - 0 0 0.03045 0 -0 0 - 0.526 - - 0.01 - 0 - 0 - 0.01 - 0 - 0.01 - - - - 0 0 0 -2.35627 -1.57079 2.35627 - - - 1 1 1 - model://icub/meshes/collision/icub_simple_collision_r_hip_2.dae - - - - - 0 0 0 -2.35627 -1.57079 2.35627 - - - 1 1 1 - model://icub/meshes/visual/icub_r_hip_2.dae - - - - - - r_hip_2 - r_hip_1 - - 1 5.55111e-17 -7.34641e-06 - - -0.296706 - 2.07694 - 84 - 100 - - - 1 - 0 - 0 - 0 - - 1 - - - - -4.88536e-07 0.0681 -0.1864 -3.14159 -7.34641e-06 -3.14159 - - 0 0 0 0 -0 0 - 0.1 - - 0.01 - 0 - 0 - 0.01 - 0 - 0.01 - - - - - r_hip_3 - r_hip_2 - - 0 0 -0 - - 0 - 0 - 0 - 0 - - - 0 - 0 - - 1 - - - 1 - 100 - 0 0 0 0 0 0 - - model://icub/conf/FT/gazebo_icub_right_leg_ft.ini - - - - - 0 0.0681 -0.1199 1.57079 -7.34641e-06 3.14159 - - 0.00144 -0.15943 0.00039 0 -0 0 - 2.175 - - 0.01 - 0 - 0 - 0.01 - -2.71051e-20 - 0.01 - - - - 0 0 0 1.57087 -1.57079 -7.26536e-05 - - - 1 1 1 - model://icub/meshes/collision/icub_simple_collision_r_thigh.dae - - - - - 0 0 0 1.57087 -1.57079 -7.26536e-05 - - - 1 1 1 - model://icub/meshes/visual/icub_r_thigh.dae - - - - - - r_upper_leg - r_hip_3 - - -7.34641e-06 3.67321e-06 -1 - - -1.37881 - 1.37881 - 40 - 100 - - - 1 - 0 - 0 - 0 - - 1 - - - - -1.64266e-06 0.0681008 -0.3435 1.89254 -1.57078 -0.321751 - - -0.1071 0.00182 -0.00211 0 -0 0 - 1.264 - - 0.01 - 5.42101e-20 - -5.42101e-20 - 0.01 - 8.47033e-22 - 0.01 - - - - 5.55112e-17 2.28232e-12 -8.32667e-17 3.14159 -1.14426e-17 1.5708 - - - 1 1 1 - model://icub/meshes/collision/icub_simple_collision_r_shank.dae - - - - - 5.55112e-17 2.28232e-12 -8.32667e-17 3.14159 -1.14426e-17 1.5708 - - - 1 1 1 - model://icub/meshes/visual/icub_r_shank.dae - - - - - - r_lower_leg - r_upper_leg - - 2.65362e-06 1 3.67318e-06 - - -2.18166 - 0.401426 - 30 - 100 - - - 1 - 0 - 0 - 0 - - 1 - - - - -3.98984e-06 0.0681016 -0.5565 -2.81984 -1.57078 -0.321751 - - -0.0054 0.00163 -0.0172 0 -0 0 - 0.746 - - 0.01 - -1.69407e-21 - 1.35525e-20 - 0.01 - 3.38813e-21 - 0.01 - - - - 1.11022e-16 -1.08717e-12 -4.45647e-12 -1.5708 -1.53106e-11 5.10376e-12 - - - 1 1 1 - model://icub/meshes/collision/icub_simple_collision_r_ankle_1.dae - - - - - 1.11022e-16 -1.08717e-12 -4.45647e-12 -1.5708 -1.53106e-11 5.10376e-12 - - - 1 1 1 - model://icub/meshes/visual/icub_r_ankle_1.dae - - - - - - r_ankle_1 - r_lower_leg - - 1.01959e-06 -1 -3.67322e-06 - - -0.733038 - 0.366519 - 24 - 100 - - - 1 - 0 - 0 - 0 - - 1 - - - - -3.98984e-06 0.0681016 -0.5565 3.14159 -1.4236e-05 -3.14159 - - 0 0 0.037 0 -0 0 - 0.2675 - - 0.01 - 0 - 0 - 0.01 - 0 - 0.01 - - - - - r_ankle_2 - r_ankle_1 - - 1 2.79362e-06 -1.4236e-05 - - -0.418879 - 0.418879 - 11 - 100 - - - 1 - 0 - 0 - 0 - - 1 - - - - -4.51657e-06 0.0681019 -0.5935 3.14159 -1.4236e-05 -3.14159 - - 0.024069 0.000613931 -0.0284154 0 -0 0 - 0.5935 - - 0.01 - 4.51893e-06 - 0.000567784 - 0.01 - 6.62535e-07 - 0.01 - - - - 0.03 0 -0.01 0 -0 0 - - - 0.15 0.07 0.03 - - - 4 - - - - 0.2 - 0 - - 18000000 - - 100 - 100 - - 0.0001 - - - - - 1 - 1 - 0 0 0 - 0 - 0 - - - - 0 - 100000 - - - - - 4.45647e-12 1.08717e-12 -0.037 -2.81983 1.57079 0.321763 - - - 1 1 1 - model://icub/meshes/visual/icub_r_foot.dae - - 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- 0.01 - 2.1e-08 - -1e-09 - 0.01 - 4.22e-06 - 0.01 - - - - -3.08642e-14 0.109285 0.00521101 3.06003 1.57079 -1.65235 - - - 1 1 1 - model://icub/meshes/collision/icub_simple_collision_r_shoulder_1.dae - - - - - -3.08642e-14 0.109285 0.00521101 3.06003 1.57079 -1.65235 - - - 1 1 1 - model://icub/meshes/visual/icub_r_shoulder_1.dae - - - - - - r_shoulder_1 - chest - - 0.258817 -0.965926 -2.85208e-06 - - -1.65806 - 0.0872665 - 84 - 100 - - - 1 - 0 - 0 - 0 - - 1 - - - - -0.0107489 0.11026 0.1753 6.97094e-06 8.21122e-07 1.83259 - - -9.4e-05 -0.00627 -0.0166 0 -0 0 - 0.179 - - 0.01 - -4.53e-07 - 2.03e-07 - 0.01 - 2.07e-05 - 0.01 - - - - -0.00154529 -0.00521101 -1.11181e-12 -1.00125 -1.57079 2.57205 - - - 1 1 1 - model://icub/meshes/collision/icub_simple_collision_r_shoulder_2.dae - - - - - -0.00154529 -0.00521101 -1.11181e-12 -1.00125 -1.57079 2.57205 - - - 1 1 1 - model://icub/meshes/visual/icub_r_shoulder_2.dae - - - - - - r_shoulder_2 - r_shoulder_1 - - 0.965926 0.258817 -6.97094e-06 - - 0 - 2.80649 - 84 - 100 - - - 1 - 0 - 0 - 0 - - 1 - - - - -0.0107489 0.11026 0.1753 3.14159 -6.5209e-06 -3.14159 - - 0.00553932 -2.47652e-05 0.0493895 0 -0 0 - 0.155 - - 0.01 - 3.56977e-07 - -3.95372e-06 - 0.01 - -6.5128e-06 - 0.01 - - - - - r_shoulder_3 - r_shoulder_2 - - 6.5209e-06 -5.62481e-08 1 - - -0.645772 - 1.74533 - 34 - 100 - - - 1 - 0 - 0 - 0 - - 1 - - - - -0.0257494 0.11026 0.1073 3.14159 -6.5209e-06 -3.14159 - - -0.00015906 8.28733e-05 0.0298828 0 -0 0 - 0.729 - - 0.01 - -1.08e-06 - -2.29e-06 - 0.01 - 3.57e-06 - 0.01 - - - - -0.0204334 -0.000143922 -0.068 -3.14159 -1.51363e-11 1.309 - - - 1 1 1 - model://icub/meshes/collision/icub_simple_collision_r_arm.dae - - - - - -0.0204334 -0.000143922 -0.068 -3.14159 -1.51363e-11 1.309 - - - 1 1 1 - model://icub/meshes/visual/icub_r_arm.dae - - - - - - r_upper_arm - r_shoulder_3 - - -0 0 0 - - 0 - 0 - 0 - 0 - - - 0 - 0 - - 1 - - - 1 - 100 - 0 0 0 0 0 0 - - model://icub/conf/FT/gazebo_icub_right_arm_ft.ini - - - - - -0.0257499 0.11026 0.0230202 -2.59732e-06 6.5209e-06 3.6732e-06 - - 0.0013 -0.00371 0.00105 0 -0 0 - 0.1 - - 0.01 - -5.02e-07 - -3.99e-07 - 0.01 - -3.71e-07 - 0.01 - - - - - r_elbow_1 - r_upper_arm - - -3.67322e-06 1 -2.59732e-06 - - 0.0959931 - 1.85005 - 20 - 100 - - - 1 - 0 - 0 - 0 - - 1 - - - - -0.0107499 0.11026 0.0230201 1.57079 -2.59734e-06 -1.5708 - - -0.000347 -0.066 -0.00476 0 -0 0 - 0.525 - - 0.01 - 5.66e-06 - 1.4e-06 - 0.01 - 1.82e-05 - 0.01 - - - - 0.000143922 -1.07214e-12 -0.0204334 -1.74165 1.57079 -0.170863 - - - 1 1 1 - model://icub/meshes/collision/icub_simple_collision_r_forearm.dae - - - - - 0.000143922 -1.07214e-12 -0.0204334 -1.74165 1.57079 -0.170863 - - - 1 1 1 - model://icub/meshes/visual/icub_r_forearm.dae - - - - - - r_forearm - r_elbow_1 - - 2.84768e-06 2.59734e-06 1 - - -0.872665 - 0.872665 - 0.45 - 100 - - - 1 - 0 - 0 - 0 - - 1 - - - - -0.0107503 0.11026 -0.11428 0.426292 -1.57079 1.14451 - - 0 0 0 0 -0 0 - 0.1 - - 0.01 - 0 - 0 - 0.01 - 0 - 0.01 - - - - - r_wrist_1 - r_forearm - - -1 -3.67321e-06 2.84771e-06 - - -1.13446 - 0.174533 - 0.65 - 100 - - - 1 - 0 - 0 - 0 - - 1 - - - - -0.0107503 0.11026 -0.11428 -0.720145 1.57079 -2.29094 - - 0.07023 -0.00805 0.007 0 -0 0 - 0.213 - - 0.01 - 1.26e-05 - -6.08e-06 - 0.01 - 1.76e-05 - 0.01 - - - - 1.0721e-12 0.0204334 0.000143922 1.53098e-11 2.00656e-11 -3.14159 - - - 1 1 1 - model://icub/meshes/collision/icub_simple_collision_r_hand.dae - - - - - 1.0721e-12 0.0204334 0.000143922 1.53098e-11 2.00656e-11 -3.14159 - - - 1 1 1 - model://icub/meshes/visual/icub_r_hand.dae - - - - - - r_hand - r_wrist_1 - - 3.67323e-06 -1 6.27054e-06 - - -0.436332 - 0.436332 - 0.65 - 100 - - - 1 - 0 - 0 - 0 - - 1 - - - - model://icub/conf/gazebo_icub_torso.ini - 0.0 0.0 0.0 - - - model://icub/conf/gazebo_icub_head.ini - - - model://icub/conf/gazebo_icub_left_arm_no_hand_for_no_hand_model.ini - -0.6981 0.2094 1.3963 0.5585 0 0 0 - - - model://icub/conf/gazebo_icub_right_arm_no_hand_for_no_hand_model.ini - -0.6981 0.2094 1.3963 0.5585 0 0 0 - - - model://icub/conf/gazebo_icub_left_leg.ini - 1.5908 0.2141 0 -1.8176 -0.2142 0.0 - - - model://icub/conf/gazebo_icub_right_leg.ini - 1.5908 0.2141 0 -1.8176 -0.2142 0.0 - - - model://icub/conf/gazebo_icub_robotname.ini> - - 0 0 0.70 0 0 0 - - diff --git a/models/icub_standup/model.config b/models/icub_standup/model.config deleted file mode 100644 index 9f7791b..0000000 --- a/models/icub_standup/model.config +++ /dev/null @@ -1,16 +0,0 @@ - - - iCub on a chair - - 1.0 - icub_standup.sdf - - - Gabriele Nava - gabriele.nava@iit.it - - - - iCub is sitting on a chair - - diff --git a/worlds/icub_seesaw_world/icub_seesaw.world b/worlds/icub_seesaw_world/icub_seesaw.world index 1895332..3c88e71 100644 --- a/worlds/icub_seesaw_world/icub_seesaw.world +++ b/worlds/icub_seesaw_world/icub_seesaw.world @@ -1,5 +1,5 @@ - + @@ -12,15 +12,30 @@ model://ground_plane - + model://seesaw - - - - model://icub_on_seesaw - + + + + + + 0.0 0.0 0.0 + + + + 0.0 0.0 0.0 0.0 0.0 0.0 + + + + 0.0 0.0 0.0 0.0 0.0 0.0 + + + model://iCubGazeboV2_5 + 0.0 0.0 0.75 0.0 0.0 3.14 + + diff --git a/worlds/icub_standup_world/icub_standup.world b/worlds/icub_standup_world/icub_standup.world index 8b06d5e..cc2a6af 100644 --- a/worlds/icub_standup_world/icub_standup.world +++ b/worlds/icub_standup_world/icub_standup.world @@ -1,5 +1,5 @@ - + @@ -16,10 +16,34 @@ model://chair - + - - model://icub_standup - + + + + 0.0 0.0 0.0 + + + + -0.6981 0.2094 1.3963 0.5585 0 0 0 + + + + -0.6981 0.2094 1.3963 0.5585 0 0 0 + + + + 1.5908 0.2141 0 -1.8176 -0.2142 0.0 + + + + 1.5908 0.2141 0 -1.8176 -0.2142 0.0 + + + model://iCubGazeboV2_5 + 0.0 0.0 0.39 0.0 0.0 3.14 + + + diff --git a/worlds/two_icubs_comanipulation/README.md b/worlds/two_icubs_comanipulation/README.md new file mode 100644 index 0000000..90224b4 --- /dev/null +++ b/worlds/two_icubs_comanipulation/README.md @@ -0,0 +1,36 @@ +## To load a gazebo world with two icubs comanipulating a board + +Normally, for loading a `world`, Gazebo needs to be launched in the folder where the `world` is. You can avoid this by appending these lines to your `.bashrc`: + +``` +source /usr/share/gazebo/setup.sh +export GAZEBO_RESOURCE_PATH=$GAZEBO_RESOURCE_PATH:/PATH/WHERE/YOUR/WORLD/IS + +``` + +Furthermore, if you are working with Simulink controllers, it is necessary to synchronize Gazebo with Simulink by running Gazebo with the option `-slibgazebo_yarp_clock.so`. + +Final command to run in the terminal is something like this: `gazebo -slibgazebo_yarp_clock.so nameOfYourWorld`. For seesaw demo, it is also required to start Gazebo in "pause" mode, and therefore final command will be: `gazebo -slibgazebo_yarp_clock.so two_icubs_comanipulation -u`. + +Alternatively you can add an alias to your `.bashrc` which will let you run a smaller command from the terminal to launch gazebo with this world. As an example add the following line to your `.bashrc` +`alias gazebo_prri="gazebo -slibgazebo_yarp_clock.so two_icubs_comanipulation -u --verbose"` + +The option `--verbose` enables verbose output on the terminal running gazebo + +For **two_icubs_comanipulation** it is also necessary to avoid using the standard `gazeboYarpPluginsRobotName` for the two robots, otherwise the two models would share the name `icubSim` and the control boards of one of the two model fail. +This can be done by editing [gazebo_icub_robotname.ini](https://github.com/robotology/icub-gazebo/blob/master/icub/conf/gazebo_icub_robotname.ini) file, and commenting out the following line: + + ``` +gazeboYarpPluginsRobotName icubSim + + ``` + When the world is created the two robots are spawned along with the board on top of their hands. The board and the hands of the robots are not linked at this state, but the `board` model is created with the [linkattacher](https://github.com/robotology/gazebo-yarp-plugins/tree/master/plugins/linkattacher) gazebo-yarp-plugin which is be used to attach the robots hands and the board. The bash script `handlesHandsLinkAttacher.sh` inside the `board` model directory will achieve this. The usage is as following: + +``` +./handlesHandsLinkAttacher.sh attach -----> Attach the handle links of the board to the hand links of the two robot +./handlesHandsLinkAttacher.sh detach -----> Detach the handle links of the board from the hand links of the two robot + ``` + + **NOTE:** If the bash script is throwing error there may be a possible naming issue of the icub models spawned in gazebo. The default names of the two iCub robots assumed for this bash script are `iCub1` and `iCub2`. + + diff --git a/worlds/two_icubs_comanipulation/two_icubs_comanipulation b/worlds/two_icubs_comanipulation/two_icubs_comanipulation new file mode 100644 index 0000000..1a9d900 --- /dev/null +++ b/worlds/two_icubs_comanipulation/two_icubs_comanipulation @@ -0,0 +1,72 @@ + + + + + + + model://sun + + + + + model://ground_plane + + + + + + + -0.18046704 0.0 0.0 + + + + 0.0 0.0 0.2156194 + + + + -0.6597345 0.4747296 0.4694936 1.0800097 1.0472 0.0 0.0 + + + + -0.6597345 0.4747296 0.4694936 1.0800097 1.0472 0.0 0.0 + + + 0 0 0.63 0 0 3.14 + model://iCubGazeboV2_5 + + + + + + + + -0.18046704 0.0 0.0 + + + + 0.0 0.0 0.2156194 + + + + -0.6597345 0.4747296 0.4694936 1.0800097 1.0472 0.0 0.0 + + + + -0.6597345 0.4747296 0.4694936 1.0800097 1.0472 0.0 0.0 + + + 1.1 0 0.63 0 0 0 + model://iCubGazeboV2_5 + + + + + + + 0.55 0.0 0.675 0.0 0.0 0.0 + model://board + + + + + diff --git a/worlds/two_icubs_standup_world/README.md b/worlds/two_icubs_standup_world/README.md new file mode 100644 index 0000000..b98e218 --- /dev/null +++ b/worlds/two_icubs_standup_world/README.md @@ -0,0 +1,25 @@ +## To load two icubs standup world in Gazebo + +Normally, for loading a `world`, Gazebo needs to be launched in the folder where the `world` is. You can avoid this by appending these lines to your `.bashrc`: + +``` +source /usr/share/gazebo/setup.sh +export GAZEBO_RESOURCE_PATH=$GAZEBO_RESOURCE_PATH:/PATH/WHERE/YOUR/WORLD/IS +``` + +Furthermore, if you are working with Simulink controllers, it is necessary to sincronize Gazebo with Simulink by running Gazebo with the option `-slibgazebo_yarp_clock.so`. + +Final command to run in the terminal is something like this: `gazebo -slibgazebo_yarp_clock.so nameOfYourWorld`. + +For **two_icubs_standup** it is also necessary to avoid using the standard `gazeboYarpPluginsRobotName` for the two robots, otherwise the two models would share the name `icubSim` and the control boards of one of the two model fail. +This can be done by editing [gazebo_icub_robotname.ini](https://github.com/robotology/icub-gazebo/blob/master/icub/conf/gazebo_icub_robotname.ini) file, and commenting out the following line: + ``` + gazeboYarpPluginsRobotName icubSim + ``` + + When the world is created the two robots are not linked, but the model `iCub` is created with the [`linkattacher`](https://github.com/robotology/gazebo-yarp-plugins/tree/master/plugins/linkattacher) plugin that can be used to attach the robots hands: + ``` + $ yarp rpc /iCub/linkattacher/rpc:i +> attachUnscoped iCub l_hand iCub_0 r_hand +> attachUnscoped iCub r_hand iCub_0 l_hand + ``` \ No newline at end of file diff --git a/worlds/two_icubs_standup_world/two_icub_standup_world b/worlds/two_icubs_standup_world/two_icub_standup_world new file mode 100644 index 0000000..95f2346 --- /dev/null +++ b/worlds/two_icubs_standup_world/two_icub_standup_world @@ -0,0 +1,59 @@ + + + + + + + model://sun + + + + + model://ground_plane + + + + + model://chair + + + + + + + 0.0 0.0 0.0 + + + + -0.6981 0.2094 1.3963 0.5585 0 0 0 + + + + -0.6981 0.2094 1.3963 0.5585 0 0 0 + + + + 1.5908 0.2141 0 -1.8176 -0.2142 0.0 + + + + 1.5908 0.2141 0 -1.8176 -0.2142 0.0 + + + model://icub + + + (name /iCub/linkattacher/rpc:i) + + + + + + + model://icub + 0.6 0.0 0.6 0 0 0 + + + + + \ No newline at end of file