Add Gazebo tag to enable implicit damping on all joints

Solves robotology#24
traversaro · Oct 24, 2017 · 6655db2 · 6655db2
1 parent ec5e1be
commit 6655db2
Showing 1 changed file with 128 additions and 0 deletions.
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
@@ -887,3 +887,131 @@ XMLBlobs:
              <robotNamefromConfigFile>model://iCub/conf/gazebo_icub_robotname.ini</robotNamefromConfigFile>
         </plugin>
         </gazebo>
+  - |
+        <gazebo reference="r_hip_pitch">
+           <implicitSpringDamper>1</implicitSpringDamper>
+        </gazebo>
+  - |
+        <gazebo reference="r_hip_roll">
+           <implicitSpringDamper>1</implicitSpringDamper>
+        </gazebo>
+  - |
+        <gazebo reference="r_hip_yaw">
+           <implicitSpringDamper>1</implicitSpringDamper>
+        </gazebo>
+  - |
+        <gazebo reference="r_knee">
+           <implicitSpringDamper>1</implicitSpringDamper>
+        </gazebo>
+  - |
+        <gazebo reference="r_ankle_pitch">
+           <implicitSpringDamper>1</implicitSpringDamper>
+        </gazebo>
+  - |
+        <gazebo reference="r_ankle_roll">
+           <implicitSpringDamper>1</implicitSpringDamper>
+        </gazebo>
+  - |
+        <gazebo reference="l_hip_pitch">
+           <implicitSpringDamper>1</implicitSpringDamper>
+        </gazebo>
+  - |
+        <gazebo reference="l_hip_roll">
+           <implicitSpringDamper>1</implicitSpringDamper>
+        </gazebo>
+  - |
+        <gazebo reference="l_hip_yaw">
+           <implicitSpringDamper>1</implicitSpringDamper>
+        </gazebo>
+  - |
+        <gazebo reference="l_knee">
+           <implicitSpringDamper>1</implicitSpringDamper>
+        </gazebo>
+  - |
+        <gazebo reference="l_ankle_pitch">
+           <implicitSpringDamper>1</implicitSpringDamper>
+        </gazebo>
+  - |
+        <gazebo reference="l_ankle_roll">
+           <implicitSpringDamper>1</implicitSpringDamper>
+        </gazebo>
+  - |
+        <gazebo reference="torso_pitch">
+           <implicitSpringDamper>1</implicitSpringDamper>
+        </gazebo>
+  - |
+        <gazebo reference="torso_roll">
+           <implicitSpringDamper>1</implicitSpringDamper>
+        </gazebo>
+  - |
+        <gazebo reference="torso_yaw">
+           <implicitSpringDamper>1</implicitSpringDamper>
+        </gazebo>
+  - |
+        <gazebo reference="r_shoulder_pitch">
+           <implicitSpringDamper>1</implicitSpringDamper>
+        </gazebo>
+  - |
+        <gazebo reference="r_shoulder_roll">
+           <implicitSpringDamper>1</implicitSpringDamper>
+        </gazebo>
+  - |
+        <gazebo reference="r_shoulder_yaw">
+           <implicitSpringDamper>1</implicitSpringDamper>
+        </gazebo>
+  - |
+        <gazebo reference="r_elbow">
+           <implicitSpringDamper>1</implicitSpringDamper>
+        </gazebo>
+  - |
+        <gazebo reference="r_wrist_prosup">
+           <implicitSpringDamper>1</implicitSpringDamper>
+        </gazebo>
+  - |
+        <gazebo reference="r_wrist_pitch">
+           <implicitSpringDamper>1</implicitSpringDamper>
+        </gazebo>
+  - |
+        <gazebo reference="r_wrist_yaw">
+           <implicitSpringDamper>1</implicitSpringDamper>
+        </gazebo>
+  - |
+        <gazebo reference="l_shoulder_pitch">
+           <implicitSpringDamper>1</implicitSpringDamper>
+        </gazebo>
+  - |
+        <gazebo reference="l_shoulder_roll">
+           <implicitSpringDamper>1</implicitSpringDamper>
+        </gazebo>
+  - |
+        <gazebo reference="l_shoulder_yaw">
+           <implicitSpringDamper>1</implicitSpringDamper>
+        </gazebo>
+  - |
+        <gazebo reference="l_elbow">
+           <implicitSpringDamper>1</implicitSpringDamper>
+        </gazebo>
+  - |
+        <gazebo reference="l_wrist_prosup">
+           <implicitSpringDamper>1</implicitSpringDamper>
+        </gazebo>
+  - |
+        <gazebo reference="l_wrist_pitch">
+           <implicitSpringDamper>1</implicitSpringDamper>
+        </gazebo>
+  - |
+        <gazebo reference="l_wrist_yaw">
+           <implicitSpringDamper>1</implicitSpringDamper>
+        </gazebo>
+  - |
+        <gazebo reference="neck_pitch">
+           <implicitSpringDamper>1</implicitSpringDamper>
+        </gazebo>
+  - |
+        <gazebo reference="neck_roll">
+           <implicitSpringDamper>1</implicitSpringDamper>
+        </gazebo>
+  - |
+        <gazebo reference="neck_yaw">
+           <implicitSpringDamper>1</implicitSpringDamper>
+        </gazebo>