diff --git a/iCubLisboa01/CMakeLists.txt b/iCubLisboa01/CMakeLists.txt index 154e31d9d3..6637bdac07 100644 --- a/iCubLisboa01/CMakeLists.txt +++ b/iCubLisboa01/CMakeLists.txt @@ -2,16 +2,12 @@ set(appname iCubLisboa01) file(GLOB xml ${CMAKE_CURRENT_SOURCE_DIR}/*.xml) file(GLOB ini ${CMAKE_CURRENT_SOURCE_DIR}/*.ini) -set(whatsleft firmwareUpdate.txt) yarp_install(FILES ${xml} DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname}) yarp_install(FILES ${ini} DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname}) -yarp_install(FILES ${whatsleft} DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname}) -yarp_install(DIRECTORY calibrators DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname}) +yarp_install(DIRECTORY calibrators DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname}) yarp_install(DIRECTORY cartesian DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname}) yarp_install(DIRECTORY wrappers DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname}) -yarp_install(DIRECTORY hardware DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname}) -yarp_install(DIRECTORY camera DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname}) - - - +yarp_install(DIRECTORY hardware DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname}) +yarp_install(DIRECTORY camera DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname}) +yarp_install(DIRECTORY estimators DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname}) diff --git a/iCubLisboa01/affordancesExploration.xml b/iCubLisboa01/affordancesExploration.xml deleted file mode 100644 index a94bba43df..0000000000 --- a/iCubLisboa01/affordancesExploration.xml +++ /dev/null @@ -1,319 +0,0 @@ - -Affordances Exploration - - - /icub/camcalib/left/out - - - - blobSpotter - icub-laptop - - - blobDescriptor - icub-laptop - - - sequentialLabeller - icub-laptop - - - - perspectiveChanger - --ppm 130 - icub-laptop - - - blobSpotter - --name blobSpotterPC --minArea 40 - icub-laptop - - - blobDescriptor - --name blobDescriptorPC - icub-laptop - - - sequentialLabeller - --name sequentialLabellerPC - icub-laptop - - - - activeSeg - icub-laptop - - - templatePFTracker - icub-laptop - - - - affExploreManager - icub-laptop - - - actionsRenderingEngine - icub-laptop - - - karmaMotor - icub-laptop - - - karmaToolFinder - icub-laptop - - - - - yarpview - icub-laptop - --name /view/bsinput --x 0 --y 0 --p 33 --out /desiredRoi - - - yarpview - icub-laptop - --name /view/bsinputPC --x 0 --y 330 --p 33 --out /desiredRoiPC - - - yarpview - --name /view/bsoutput --x 330 --y 0 --p 33 - icub-laptop - - - yarpview - --name /view/bsoutputPC --x 330 --y 330 --p 33 - icub-laptop - - - yarpview - icub-laptop - --name /view/objectParts --x 660 --y 0 --p 33 - - - yarpview - icub-laptop - --name /view/objectPartsPC --x 660 --y 330 --p 33 - - - - yarpview - --name /seg --x 990 --y 0 --p 33 - icub-laptop - - - yarpview - --name /tracker --x 1320 --y 0 --out /desiredTrack --p 33 - icub-laptop - - - - yarpview - --name /toolProj --x 0 --y 660 --p 50 - icub-laptop - - - - /icub/camcalib/left/out - /blobSpotter/image:i - udp - - - /blobSpotter/propagated:o - /view/bsinput - udp - - - /blobSpotter/image:o - /view/bsoutput - udp - - - /desiredRoi - /blobSpotter/fixRoi:i - - - /blobSpotter/propagated:o - /sequentialLabeller/rawImg:i - udp - - - /blobSpotter/image:o - /sequentialLabeller/binImg:i - udp - - - /blobSpotter/image:o - /blobDescriptor/binImg:i - udp - - - /icub/camcalib/left/out - /blobDescriptor/rawImg:i - udp - - - /sequentialLabeller/labeledImg:o - /blobDescriptor/labeledImg:i - udp - - - /blobDescriptor/viewImg:o - /view/objectParts - udp - - - - /icub/camcalib/left/out - /perspectiveChanger/img:io - udp - - - /perspectiveChanger/img:io - /blobSpotterPC/image:i - udp - - - - /blobSpotterPC/propagated:o - /view/bsinputPC - udp - - - /blobSpotterPC/image:o - /view/bsoutputPC - udp - - - /desiredRoiPC - /blobSpotterPC/fixRoi:i - - - /blobSpotterPC/propagated:o - /sequentialLabellerPC/rawImg:i - udp - - - /blobSpotterPC/image:o - /sequentialLabellerPC/binImg:i - udp - - - /blobSpotterPC/image:o - /blobDescriptorPC/binImg:i - udp - - - /icub/camcalib/left/out - /blobDescriptorPC/rawImg:i - udp - - - /sequentialLabellerPC/labeledImg:o - /blobDescriptorPC/labeledImg:i - udp - - - /blobDescriptorPC/viewImg:o - /view/objectPartsPC - udp - - - - /blobDescriptor/affDescriptor:o - /affExploreManager/fullObjDesc:i - udp - - - /blobDescriptorPC/affDescriptor:o - /affExploreManager/fullObjDescPC:i - udp - - - - /blobDescriptor/toolAffDescriptor:o - /affExploreManager/partsObjDesc:i - udp - - - /blobDescriptorPC/toolAffDescriptor:o - /affExploreManager/partsObjDescPC:i - udp - - - - /icub/camcalib/left/out - /activeSeg/image:i - udp - - - /activeSeg/image:o - /seg - udp - - - /activeSeg/imageCrop:o - /templatePFTracker/template/image:i - tcp - - - /affExploreManager/segmentTarget:o - /activeSeg/fixPoint:i - tcp - - - /templatePFTracker/left/image:o - /tracker - tcp - - - /templatePFTracker/target:o - /affExploreManager/particle:i - udp - - - - /affExploreManager/are:rpc - /actionsRenderingEngine/cmd:io - tcp - - - - /icub/camcalib/left/out - /templatePFTracker/left/image:i - udp - - - /icub/camcalib/right/out - /templatePFTracker/right/image:i - udp - - - /templatePFTracker/target:o - /actionsRenderingEngine/tracker:i - udp - - - - /affExploreManager/karma:rpc - /karmaMotor/rpc - tcp - - - /icub/camcalib/left/out - /karmaToolFinder/img:i - udp - - - /karmaToolFinder/img:o - /toolProj - udp - - - /affExploreManager/toolFinder:rpc - /karmaToolFinder/rpc - tcp - - - diff --git a/iCubLisboa01/calibrators/face-calib.xml b/iCubLisboa01/calibrators/face-calib.xml new file mode 100644 index 0000000000..c957584473 --- /dev/null +++ b/iCubLisboa01/calibrators/face-calib.xml @@ -0,0 +1,61 @@ + + + + + + + + + + 1 + FaceV3_Calibrator + + + + 0 + 10 + + + + + + 12 + + -25000 + 0 + 0 + + 0 + 0 + + 0 + 0 + + 0 + 10 + 3360 + 90 + + + + (0) + + + face-mc_wrapper + + + + face-mc_wrapper + + + + + + diff --git a/iCubLisboa01/calibrators/head-calib.xml b/iCubLisboa01/calibrators/head-calib.xml new file mode 100644 index 0000000000..825322fdfe --- /dev/null +++ b/iCubLisboa01/calibrators/head-calib.xml @@ -0,0 +1,49 @@ + + + + + + + + + + 6 + HeadV3_Calibrator + + + + 0 0 0 0 0 0 + 10 10 10 10 10 10 + + + + + + 12 12 12 12 5 5 + 61343 22815 36207 42047 3000 3000 + 0 0 0 0 8192 8192 + 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 2 -1.8 -7.8 -10.8 -4.3 + + 0 0 0 0 0 0 + 10 10 20 20 20 20 + 3000 3000 3000 3000 0 0 + 90 90 2 2 2 2 + + + (0 1 2) (3) (4 5) + + + head-mc_wrapper + + + + head-mc_wrapper + + + + + diff --git a/iCubLisboa01/calibrators/head_calib.xml b/iCubLisboa01/calibrators/head_calib.xml deleted file mode 100644 index 8edc119ec8..0000000000 --- a/iCubLisboa01/calibrators/head_calib.xml +++ /dev/null @@ -1,67 +0,0 @@ - - - - - - - 6 - Head_Calibrator - - - - - 3 3 3 3 0 0 - 2047.5 2047.5 2047.5 2047.5 900 900 - 10 10 10 10 20 20 - 3257.8 2393.3 377.65 3571.75 0 0 - 0 0 0 0 0 0 - 10 10 10 10 10 10 - 140 140 600 0 0 0 - 2 2 2 2 2 2 - - - - -30 0 0 0 0 0 - 10 10 10 10 10 10 - - - (0 1 2 3) (4) (5) - - - head_mc_remapper - - - - head_mc_remapper - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/iCubLisboa01/calibrators/left_arm-calib.xml b/iCubLisboa01/calibrators/left_arm-calib.xml new file mode 100644 index 0000000000..762f35dd08 --- /dev/null +++ b/iCubLisboa01/calibrators/left_arm-calib.xml @@ -0,0 +1,50 @@ + + + + + + + + + 16 + Left_Arm_Calibrator + + + + -30 30 0 45 0 0 0 20 30 0 0 0 0 0 0 0 + 10 10 10 10 30 30 30 60 30 30 30 30 30 30 30 30 + + + + 12 12 12 12 5 12 12 7 7 6 6 6 6 6 6 6 + 25500 44300 40400 63200 -1500 -38015 4079 0 0 0 0 0 0 0 0 0 + 0 0 0 0 16384 0 0 0 0 9102 9102 9102 9102 9102 9102 10000 + 0 0 0 0 0 0 0 0 0 -1 1 -1 1 -1 1 1 + 0 0 0 0 0 0 0 2420 980 225 498 254 462 226 490 718 + 0 0 0 0 0 0 0 2630 3700 22 20 12 10 0 0 127 + 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 + 1 -15 -13 0 0 0 0 0 0 0 0 0 0 0 0 0 + + -35 30 0 50 0 0 0 25 35 0 0 0 0 0 0 0 + 10 10 10 10 30 30 30 60 100 100 100 100 100 100 100 100 + 3000 3000 3000 3000 2000 0 0 0 0 0 0 0 0 0 0 0 + 2 2 2 2 90 90 90 90 90 90 90 90 90 90 90 90 + + + (0 1 2 3) (4) (5 6 7) (8 9 11 13) (10 12 14 15) + + + + left_arm-mc_wrapper + + + + left_arm-mc_wrapper + + + + + + + + diff --git a/iCubLisboa01/calibrators/left_arm_calib.xml b/iCubLisboa01/calibrators/left_arm_calib.xml deleted file mode 100644 index 23e37987bb..0000000000 --- a/iCubLisboa01/calibrators/left_arm_calib.xml +++ /dev/null @@ -1,67 +0,0 @@ - - - - - - - 8 - Left_Arm_Calibrator - - - - - 3 3 3 3 0 2 2 3 - 2388.75 3241.875 -275.933 1535.625 800 750 750 1930 - 10 10 10 10 20 -10 -10 100 - 1610.5 411.875 2700.75 809.9 0 0 0 0 - -30 30 0 45 0 0 0 15 - 10 10 10 10 30 30 30 100 - 120 120 120 120 0 0 0 0 - 2 2 2 2 2 2 90 90 - - - - -30 30 0 45 0 0 40 15 - 10 10 10 10 30 30 30 100 - - - (0 1 2 3) (4 6 7) (5) - - - left_arm_mc_remapper - - - - left_arm_mc_remapper - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/iCubLisboa01/calibrators/left_hand_calib.xml b/iCubLisboa01/calibrators/left_hand_calib.xml deleted file mode 100644 index d42f55d261..0000000000 --- a/iCubLisboa01/calibrators/left_hand_calib.xml +++ /dev/null @@ -1,67 +0,0 @@ - - - - - - - 8 - Left_Hand_Calibrator - - - - - 3 4 4 4 4 4 4 4 - 1970.00 235 55 230 10 240 20 710 - 10 10 30 10 10 10 10 10 - 0 6000 6600 6000 7400 6000 -7400 14000 - 30 3 0 0 0 0 0 0 - 100 100 100 100 100 100 100 100 - 0 0 0 0 0 0 0 0 - 90 90 90 90 90 90 90 90 - - - - 90 3 0 0 0 0 0 0 - 10 10 10 10 10 10 10 10 - - - (0 1 3 5) (2 4 6 7) - - - left_hand_mc - - - - left_hand_mc - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/iCubLisboa01/calibrators/left_leg-calib.xml b/iCubLisboa01/calibrators/left_leg-calib.xml new file mode 100644 index 0000000000..b1d026ef24 --- /dev/null +++ b/iCubLisboa01/calibrators/left_leg-calib.xml @@ -0,0 +1,52 @@ + + + + + + + + + 6 + Left_Leg_Calibrator + + + + 0.00 10.00 0.00 0.00 0.00 0.00 + 10.00 10.00 10.00 10.00 10.00 10.00 + + + + + 12 12 12 12 12 12 + 14751 1800 45583 20700 53567 9935 + 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 + -3.5 0 0 0 0 0 + + + 0 0 0 0 0 0 + 5 5 10 10 10 10 + 3500 3500 3500 3500 3500 3500 + 2 2 2 2 2 2 + + + (0 1 2 3 4 5) + + + + + + left_leg-mc_wrapper + + + + left_leg-mc_wrapper + + + + + diff --git a/iCubLisboa01/calibrators/left_leg_calib.xml b/iCubLisboa01/calibrators/left_leg_calib.xml deleted file mode 100644 index 6aec3389d4..0000000000 --- a/iCubLisboa01/calibrators/left_leg_calib.xml +++ /dev/null @@ -1,67 +0,0 @@ - - - - - - - 6 - Left_Leg_Calibrator - - - - - 3 3 3 3 3 3 - 2047.5 2047.5 2047.5 2047.5 2047.5 2047.5 - 10 10 10 10 10 10 - 2898.5 2104.5 788.5 3365.5 1238.5 1976.5 - 0 0 0 0 0 0 - 10 10 10 10 10 10 - 120 120 120 120 120 120 - 2 2 2 2 2 2 - - - - 0 0 0 0 0 0 - 10 10 10 10 10 10 - - - (0 1 2 3 4 5) - - - left_leg_mc_remapper - - - - left_leg_mc_remapper - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/iCubLisboa01/calibrators/right_arm-calib.xml b/iCubLisboa01/calibrators/right_arm-calib.xml new file mode 100644 index 0000000000..ccc96a86bf --- /dev/null +++ b/iCubLisboa01/calibrators/right_arm-calib.xml @@ -0,0 +1,49 @@ + + + + + + + + + 16 + Right_Arm_Calibrator + + + + -30 30 0 45 0 0 0 20 30 0 0 0 0 0 0 0 + 10 10 10 10 30 30 30 60 30 30 30 30 30 30 30 30 + + + + + 12 12 12 12 5 12 12 7 7 6 6 6 6 6 6 6 + 60500 65900 32450 35500 1500 2500 -58750 0 0 0 0 0 0 0 0 0 + 0 0 0 0 16384 0 0 0 0 9102 9102 9102 9102 9102 9102 10000 + 0 0 0 0 0 0 0 0 0 -1 1 -1 1 -1 1 1 + 0 0 0 0 0 0 0 1130 690 255 474 255 506 242 506 742 + 0 0 0 0 0 0 0 1530 3170 18 0 14 0 15 41 127 + 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 + 5 -18 -17 0 0 0 0 0 0 0 0 0 0 0 0 0 + + -35 30 0 50 0 0 0 25 35 0 0 0 0 0 0 0 + 10 10 10 10 30 30 30 60 100 100 100 100 100 100 100 100 + 3000 3000 3000 3000 1500 0 0 0 0 0 0 0 0 0 0 0 + 2 2 2 2 90 90 90 90 90 90 90 90 90 90 90 90 + + + + (0 1 2 3) (4) (5 6 7) (8 9 11 13) (10 12 14 15) + + + + right_arm-mc_wrapper + + + + right_arm-mc_wrapper + + + + + diff --git a/iCubLisboa01/calibrators/right_arm_calib.xml b/iCubLisboa01/calibrators/right_arm_calib.xml deleted file mode 100644 index 19ba74710c..0000000000 --- a/iCubLisboa01/calibrators/right_arm_calib.xml +++ /dev/null @@ -1,67 +0,0 @@ - - - - - - - 8 - Right_Arm_Calibrator - - - - - 3 3 3 3 0 2 2 3 - 1706.25 853.13 2795.32 2559.38 800.00 750.00 750.00 1490.00 - 10.00 10.00 10.00 10.00 -20.00 10.00 10.00 100.00 - 425.50 513.13 2023.13 578.99 0.00 0.00 0.00 0.00 - -30 30 0 45 0 0 0 15 - 10 10 10 10 30 30 30 100 - 120 120 120 120 0 0 0 0 - 2 2 2 2 2 2 90 90 - - - - -30 30 0 45 0 0 40 15 - 10 10 10 10 30 10 10 100 - - - (0 1 2 3) (4 6 7) (5) - - - right_arm_mc_remapper - - - - right_arm_mc_remapper - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/iCubLisboa01/calibrators/right_hand_calib.xml b/iCubLisboa01/calibrators/right_hand_calib.xml deleted file mode 100644 index cf8e78b37b..0000000000 --- a/iCubLisboa01/calibrators/right_hand_calib.xml +++ /dev/null @@ -1,67 +0,0 @@ - - - - - - - 8 - Right_Hand_Calibrator - - - - - 3 4 4 4 4 4 4 4 - 2166.67 238.00 60.00 238.00 105.00 242.00 20.00 705.00 - 10.00 10.00 30.00 10.00 10.00 10.00 10.00 10.00 - 0.00 6000.00 8000.00 6000.00 -7400.00 6000.00 7400.00 14000.00 - 30 3 0 0 0 0 0 0 - 100 100 100 100 100 100 100 100 - 0 0 0 0 0 0 0 0 - 90 90 90 90 90 90 90 90 - - - - 90 3 0 0 0 0 0 0 - 10 10 10 10 10 10 10 10 - - - (0 1 3 5) (2 4 6 7) - - - right_hand_mc - - - - right_hand_mc - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/iCubLisboa01/calibrators/right_leg-calib.xml b/iCubLisboa01/calibrators/right_leg-calib.xml new file mode 100644 index 0000000000..7049cda21b --- /dev/null +++ b/iCubLisboa01/calibrators/right_leg-calib.xml @@ -0,0 +1,49 @@ + + + + + + + + + 6 + Right_Leg_Calibrator + + + + 0.00 10.00 0.00 0.00 0.00 0.00 + 10.00 10.00 10.00 10.00 10.00 10.00 + + + + 12 12 12 12 12 12 + 55151 49151 46335 42000 5935 7330 + 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 + 0 0.9 0 0 0 0 + + 0 0 0 0 0 0 + 5 5 10 10 10 10 + 3500 3500 3500 3500 3500 3500 + 4 4 4 4 4 4 + + + + (0 1 2 3 4 5) + + + + + right_leg-mc_wrapper + + + + right_leg-mc_wrapper + + + + + diff --git a/iCubLisboa01/calibrators/right_leg_calib.xml b/iCubLisboa01/calibrators/right_leg_calib.xml deleted file mode 100644 index 57a8cd3879..0000000000 --- a/iCubLisboa01/calibrators/right_leg_calib.xml +++ /dev/null @@ -1,67 +0,0 @@ - - - - - - - 6 - Right_Leg_Calibrator - - - - - 3 3 3 3 3 3 - 2047.5 2047.5 2047.5 2047.5 2047.5 2047.5 - 10 10 10 10 10 10 - 1451.5 1068.5 871.5 520.5 2413.5 3859.5 - 0 0 0 0 0 0 - 10 10 10 10 10 10 - 120 120 120 120 120 120 - 2 2 2 2 2 2 - - - - 0 0 0 0 0 0 - 10 10 10 10 10 10 - - - (0 1 2 3 4 5) - - - right_leg_mc_remapper - - - - right_leg_mc_remapper - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/iCubLisboa01/calibrators/torso-calib.xml b/iCubLisboa01/calibrators/torso-calib.xml new file mode 100644 index 0000000000..97d340ac41 --- /dev/null +++ b/iCubLisboa01/calibrators/torso-calib.xml @@ -0,0 +1,47 @@ + + + + + + + + + 3 + Torso_Calibrator + + + + 0 0 -20 + 10 10 10 + + + + 12 12 12 + 30047 3167 19000 + 0 0 0 + 0 0 0 + 0 0 0 + 0 0 0 + 0 0 0 + 4 1.7 0 + + 0 0 0 + 10 10 10 + 5500 5500 5500 + 4 4 4 + + + + (0 1 2) + + + torso-mc_wrapper + + + + torso-mc_wrapper + + + + + diff --git a/iCubLisboa01/calibrators/torso_calib.xml b/iCubLisboa01/calibrators/torso_calib.xml deleted file mode 100644 index 3b5b105e2d..0000000000 --- a/iCubLisboa01/calibrators/torso_calib.xml +++ /dev/null @@ -1,67 +0,0 @@ - - - - - - - 4 - Torso_Calibrator - - - - - 3 3 3 0 - 2047.5 2047.5 2047.5 0 - 10 10 10 0 - 179.725 2275 3219.125 0 - 0 0 0 0 - 10 10 10 0 - 120 120 120 0 - 2 2 2 2 - - - - 0 0 -20 0 - 10 10 10 0 - - - (0 1 2) - - - torso_mc_remapper - - - - torso_mc_remapper - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/iCubLisboa01/camera/ServerGrabberDualDragon640_480.ini b/iCubLisboa01/camera/ServerGrabberDualDragon640_480.ini new file mode 100644 index 0000000000..24e2ca4617 --- /dev/null +++ b/iCubLisboa01/camera/ServerGrabberDualDragon640_480.ini @@ -0,0 +1,7 @@ +device grabberDual +capabilities COLOR +name /icub/cam +split true +twoCameras true +left_config camera/dragonfly2_config_left640_480.ini +right_config camera/dragonfly2_config_right640_480.ini diff --git a/iCubLisboa01/camera/ServerGrabberDualDragonLowRes.ini b/iCubLisboa01/camera/ServerGrabberDualDragonLowRes.ini new file mode 100644 index 0000000000..fd80fa3a0e --- /dev/null +++ b/iCubLisboa01/camera/ServerGrabberDualDragonLowRes.ini @@ -0,0 +1,9 @@ +device grabberDual +capabilities COLOR +name /icub/cam +split true +twoCameras true +left_config camera/dragonfly2_config_leftLowRes.ini +right_config camera/dragonfly2_config_rightLowRes.ini + + diff --git a/iCubLisboa01/camera/dragonfly2_config_left.ini b/iCubLisboa01/camera/dragonfly2_config_left.ini index f31a34df96..5cb0cf0ad5 100644 --- a/iCubLisboa01/camera/dragonfly2_config_left.ini +++ b/iCubLisboa01/camera/dragonfly2_config_left.ini @@ -1,18 +1,19 @@ device dragonfly2 -width 320 -height 240 -video_type 1 -white_balance 0.514 0.610 +width 1024 +height 768 +video_type 10 +white_balance 0.561 0.631 gain 0.0 -shutter 0.913 +shutter 0.512 name /icub/cam/left brightness 0 DR2 -stamp -sharpness 0.5 -hue 0.48 -gamma 0.4 -saturation 0.420 +stamp +sharpness 0.518 +hue 0.479 +gamma 0.399 +saturation 0.467 framerate 30 -#d 0 -guid 00b09d01009a72fb +#d 1 +guid 00b09d0100c77483 +#<64bit global identifier, without the leading 0x> then remove the d option diff --git a/iCubLisboa01/camera/dragonfly2_config_left640_480.ini b/iCubLisboa01/camera/dragonfly2_config_left640_480.ini new file mode 100644 index 0000000000..9c587c46b1 --- /dev/null +++ b/iCubLisboa01/camera/dragonfly2_config_left640_480.ini @@ -0,0 +1,18 @@ +device dragonfly2 +width 640 +height 480 +video_type 2 +white_balance 0.514 0.610 +gain 0.0 +shutter 0.554 +name /icub/cam/left +brightness 0 +DR2 +stamp +sharpness 0.5 +hue 0.48 +gamma 0.4 +saturation 0.420 +framerate 20 +#d 1 +guid 00b09d0100c77483 diff --git a/iCubLisboa01/camera/dragonfly2_config_leftLowRes.ini b/iCubLisboa01/camera/dragonfly2_config_leftLowRes.ini new file mode 100644 index 0000000000..0c6d314b8b --- /dev/null +++ b/iCubLisboa01/camera/dragonfly2_config_leftLowRes.ini @@ -0,0 +1,19 @@ +device dragonfly2 +width 320 +height 240 +video_type 1 +white_balance 0.561 0.631 +gain 0.0 +shutter 0.512 +name /icub/cam/left +brightness 0 +DR2 +stamp +sharpness 0.518 +hue 0.479 +gamma 0.399 +saturation 0.467 +framerate 30 +#d 1 +guid 00b09d0100c77483 +#<64bit global identifier, without the leading 0x> then remove the d option diff --git a/iCubLisboa01/camera/dragonfly2_config_left_bayer_320_240.ini b/iCubLisboa01/camera/dragonfly2_config_left_bayer_320_240.ini index 6ef1c6a064..73264b362b 100644 --- a/iCubLisboa01/camera/dragonfly2_config_left_bayer_320_240.ini +++ b/iCubLisboa01/camera/dragonfly2_config_left_bayer_320_240.ini @@ -15,5 +15,6 @@ gamma 0.4 saturation 0.271 framerate 30 use_network_time 1 -#d 0 -guid 00b09d01009a72fb +#d 1 +guid 00b09d0100c77483 +#<64bit global identifier, without the leading 0x> then remove the d option diff --git a/iCubLisboa01/camera/dragonfly2_config_left_bayer_640_480.ini b/iCubLisboa01/camera/dragonfly2_config_left_bayer_640_480.ini index e3122dbd28..ecbe106102 100644 --- a/iCubLisboa01/camera/dragonfly2_config_left_bayer_640_480.ini +++ b/iCubLisboa01/camera/dragonfly2_config_left_bayer_640_480.ini @@ -2,17 +2,19 @@ device dragonfly2raw width 640 height 480 video_type 3 -white_balance 0.550 0.600 -gain 0.350 -shutter 0.592 +white_balance 0.477 0.514 +gain 0.0 +shutter 0.666 name /icub/cam/left brightness 0 DR2 -stamp +stamp sharpness 1.0 hue 0.48 gamma 0.4 saturation 0.271 framerate 30 use_network_time 1 -guid 00b09d01009a72fb +#d 1 +guid 00b09d0100c77483 +#<64bit global identifier, without the leading 0x> then remove the d option diff --git a/iCubLisboa01/camera/dragonfly2_config_right.ini b/iCubLisboa01/camera/dragonfly2_config_right.ini index d9bdfa84f6..a00779287f 100644 --- a/iCubLisboa01/camera/dragonfly2_config_right.ini +++ b/iCubLisboa01/camera/dragonfly2_config_right.ini @@ -1,18 +1,19 @@ device dragonfly2 -width 320 -height 240 -video_type 1 -white_balance 0.514 0.610 +width 1024 +height 768 +video_type 10 +white_balance 0.561 0.627 gain 0.0 -shutter 0.913 +shutter 0.635 name /icub/cam/right brightness 0 DR2 stamp -sharpness 0.5 -hue 0.48 -gamma 0.4 -saturation 0.420 +sharpness 0.499 +hue 0.479 +gamma 0.399 +saturation 0.449 framerate 30 -#d 1 -guid 00b09d01009a72ef +#d 0 +guid 00b09d0100c77488 +#<64bit global identifier, without the leading 0x> then remove the d option diff --git a/iCubLisboa01/camera/dragonfly2_config_right640_480.ini b/iCubLisboa01/camera/dragonfly2_config_right640_480.ini new file mode 100644 index 0000000000..1122de285f --- /dev/null +++ b/iCubLisboa01/camera/dragonfly2_config_right640_480.ini @@ -0,0 +1,18 @@ +device dragonfly2 +width 640 +height 480 +video_type 2 +white_balance 0.514 0.610 +gain 0.0 +shutter 0.554 +name /icub/cam/right +brightness 0 +DR2 +stamp +sharpness 0.5 +hue 0.48 +gamma 0.4 +saturation 0.420 +framerate 20 +#d 0 +guid 00b09d0100c77488 diff --git a/iCubLisboa01/camera/dragonfly2_config_rightLowRes.ini b/iCubLisboa01/camera/dragonfly2_config_rightLowRes.ini new file mode 100644 index 0000000000..bb8356b3b2 --- /dev/null +++ b/iCubLisboa01/camera/dragonfly2_config_rightLowRes.ini @@ -0,0 +1,19 @@ +device dragonfly2 +width 320 +height 240 +video_type 1 +white_balance 0.561 0.627 +gain 0.0 +shutter 0.635 +name /icub/cam/right +brightness 0 +DR2 +stamp +sharpness 0.499 +hue 0.479 +gamma 0.399 +saturation 0.449 +framerate 30 +#d 0 +guid 00b09d0100c77488 +#<64bit global identifier, without the leading 0x> then remove the d option diff --git a/iCubLisboa01/camera/dragonfly2_config_right_bayer_320_240.ini b/iCubLisboa01/camera/dragonfly2_config_right_bayer_320_240.ini index 5417fe2efe..9904848931 100644 --- a/iCubLisboa01/camera/dragonfly2_config_right_bayer_320_240.ini +++ b/iCubLisboa01/camera/dragonfly2_config_right_bayer_320_240.ini @@ -1,6 +1,6 @@ device dragonfly2raw -width 640 -height 480 +width 320 +height 240 video_type 3 white_balance 0.477 0.514 gain 0.0 @@ -15,5 +15,6 @@ gamma 0.4 saturation 0.271 framerate 30 use_network_time 1 -#d 1 -guid 00b09d01009a72ef +#d 0 +guid 00b09d0100c77488 +#<64bit global identifier, without the leading 0x> then remove the d option diff --git a/iCubLisboa01/camera/dragonfly2_config_right_bayer_640_480.ini b/iCubLisboa01/camera/dragonfly2_config_right_bayer_640_480.ini index 89027b119a..76f58c1c2e 100644 --- a/iCubLisboa01/camera/dragonfly2_config_right_bayer_640_480.ini +++ b/iCubLisboa01/camera/dragonfly2_config_right_bayer_640_480.ini @@ -2,17 +2,19 @@ device dragonfly2raw width 640 height 480 video_type 3 -white_balance 0.550 0.600 -gain 0.350 -shutter 0.592 -name /icub/cam/right +white_balance 0.477 0.514 +gain 0.0 +shutter 0.666 +name /icub/cam/right brightness 0 DR2 -stamp +stamp sharpness 1.0 hue 0.48 gamma 0.4 saturation 0.271 framerate 30 use_network_time 1 -guid 00b09d01009a72ef +#d 0 +guid 00b09d0100c77488 +#<64bit global identifier, without the leading 0x> then remove the d option diff --git a/iCubLisboa01/cameras_320x240_setForTracking.xml b/iCubLisboa01/cameras_320x240_setForTracking.xml deleted file mode 100644 index 2ae62541ed..0000000000 --- a/iCubLisboa01/cameras_320x240_setForTracking.xml +++ /dev/null @@ -1,76 +0,0 @@ - - - -Cameras 320x240 for ball tracking - - - /icub - - - - yarpdev - --device grabber --subdevice dragonfly2 --width 320 --height 240 --video_type 1 --white_balance 0.474 0.648 --gain 0.312 --shutter 0.592 --name /icub/cam/left --brightness 0 --DR2 --stamp --guid 00b09d01009a72fb --sharpness 0.5 --hue 0.48 --gamma 0.4 --saturation 0.826 --framerate 30 - pc104 - - - yarpdev - --device grabber --subdevice dragonfly2 --width 320 --height 240 --video_type 1 --white_balance 0.474 0.648 --gain 0.312 --shutter 0.592 --name /icub/cam/right --brightness 0 --DR2 --stamp --guid 00b09d01009a72ef --sharpness 0.5 --hue 0.48 --gamma 0.4 --saturation 0.826 --framerate 30 - pc104 - - - - camCalib - --from icubEyes320x240.ini --group CAMERA_CALIBRATION_LEFT --name /icub/camcalib/left --fps 30 - icubbrain1 - - - camCalib - --from icubEyes320x240.ini --group CAMERA_CALIBRATION_RIGHT --name /icub/camcalib/right --fps 30 - icubbrain2 - - - - yarpview - --name /icub/view/left --x 0 --y 0 --p 50 - icub-laptop - - - yarpview - --name /icub/view/right --x 320 --y 0 --p 50 - icub-laptop - - - - frameGrabberGui2 - --local /icub/fggui/left --remote /icub/cam/left --x 0 --y 350 --width 350 --height 500 - icub-laptop - - - frameGrabberGui2 - --local /icub/fggui/right --remote /icub/cam/right --x 320 --y 350 --width 350 --height 500 - icub-laptop - - - - /icub/cam/left - /icub/camcalib/left/in - udp - - - /icub/cam/right - /icub/camcalib/right/in - udp - - - /icub/camcalib/left/out - /icub/view/left - udp - - - /icub/camcalib/right/out - /icub/view/right - udp - - diff --git a/iCubLisboa01/cameras_calib_bayer_640x480.xml b/iCubLisboa01/cameras_calib_bayer_640x480.xml deleted file mode 100644 index 9e2deb559b..0000000000 --- a/iCubLisboa01/cameras_calib_bayer_640x480.xml +++ /dev/null @@ -1,76 +0,0 @@ - - - -Cameras Bayer 640x480 - - - /icub - - - - yarpdev - --from camera/dragonfly2_config_left_bayer_640_480.ini - pc104 - - - yarpdev - --from camera/dragonfly2_config_right_bayer_640_480.ini - pc104 - - - - camCalib - --from icubEyes640x480.ini --group CAMERA_CALIBRATION_LEFT --name /icub/camcalib/left --fps 30 - icubbrain1 - - - camCalib - --from icubEyes640x480.ini --group CAMERA_CALIBRATION_RIGHT --name /icub/camcalib/right --fps 30 - icubbrain2 - - - - yarpview - --name /icub/view/left --x 0 --y 0 --p 50 - icub-laptop - - - yarpview - --name /icub/view/right --x 700 --y 0 --p 50 - icub-laptop - - - - frameGrabberGui2 - --local /icub/fggui/left --remote /icub/cam/left --x 0 --y 350 --width 350 --height 500 - icub-laptop - - - frameGrabberGui2 - --local /icub/fggui/right --remote /icub/cam/right --x 320 --y 350 --width 350 --height 500 - icub-laptop - - - - /icub/cam/left - /icub/camcalib/left/in - udp+recv.bayer+method.nearest - - - /icub/cam/right - /icub/camcalib/right/in - udp+recv.bayer+method.nearest - - - /icub/camcalib/left/out - /icub/view/left - udp - - - /icub/camcalib/right/out - /icub/view/right - udp - - diff --git a/iCubLisboa01/cartesian/left_arm_cartesian.xml b/iCubLisboa01/cartesian/left_arm-cartesian.xml similarity index 89% rename from iCubLisboa01/cartesian/left_arm_cartesian.xml rename to iCubLisboa01/cartesian/left_arm-cartesian.xml index 27586890da..51e84b9809 100644 --- a/iCubLisboa01/cartesian/left_arm_cartesian.xml +++ b/iCubLisboa01/cartesian/left_arm-cartesian.xml @@ -1,15 +1,16 @@ - + + icub/cartesianController/left_arm 10 4 cartesianSolver/left_arm arm - left - on + left_v2.7 + on 2 @@ -44,8 +45,8 @@ - torso_mc_remapper - left_arm_mc_remapper + torso-mc_wrapper + left_arm-mc_wrapper diff --git a/iCubLisboa01/cartesian/right_arm_cartesian.xml b/iCubLisboa01/cartesian/right_arm-cartesian.xml similarity index 89% rename from iCubLisboa01/cartesian/right_arm_cartesian.xml rename to iCubLisboa01/cartesian/right_arm-cartesian.xml index 756e245dac..462f9b5ebd 100644 --- a/iCubLisboa01/cartesian/right_arm_cartesian.xml +++ b/iCubLisboa01/cartesian/right_arm-cartesian.xml @@ -1,15 +1,16 @@ - + + icub/cartesianController/right_arm 10 4 cartesianSolver/right_arm arm - right - on + right_v2.7 + on 2 @@ -44,8 +45,8 @@ - torso_mc_remapper - right_arm_mc_remapper + torso-mc_wrapper + right_arm-mc_wrapper diff --git a/iCubLisboa01/cartesianSolver.ini b/iCubLisboa01/cartesianSolver.ini new file mode 100644 index 0000000000..be0d8cea51 --- /dev/null +++ b/iCubLisboa01/cartesianSolver.ini @@ -0,0 +1,69 @@ +[left_arm] +robot icub +name cartesianSolver/left_arm +type left_v2.7 +period 20 +dof (0 0 0 1 1 1 1 1 1 1) +rest_pos (0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0) +rest_weights (1.0 1.0 1.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0) +pose full +mode shot +verbosity off +maxIter 200 +tol 0.001 +xyzTol 0.000001 +interPoints off +ping_robot_tmo 40.0 + +[right_arm] +robot icub +name cartesianSolver/right_arm +type right_v2.7 +period 20 +dof (0 0 0 1 1 1 1 1 1 1) +rest_pos (0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0) +rest_weights (1.0 1.0 1.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0) +pose full +mode shot +verbosity off +maxIter 200 +tol 0.001 +xyzTol 0.000001 +interPoints off +ping_robot_tmo 40.0 + +[left_leg] +robot icub +name cartesianSolver/left_leg +type left_v2.7 +period 20 +dof (1 1 1 1 1 1) +rest_pos (0.0 0.0 0.0 0.0 0.0 0.0) +rest_weights (0.0 0.0 0.0 0.0 0.0 0.0) +pose full +mode shot +verbosity off +maxIter 200 +tol 0.001 +xyzTol 0.000001 +interPoints off +ping_robot_tmo 40.0 + +[right_leg] +robot icub +name cartesianSolver/right_leg +type right_v2.7 +period 20 +dof (1 1 1 1 1 1) +rest_pos (0.0 0.0 0.0 0.0 0.0 0.0) +rest_weights (0.0 0.0 0.0 0.0 0.0 0.0) +pose full +mode shot +verbosity off +maxIter 200 +tol 0.001 +xyzTol 0.000001 +interPoints off +ping_robot_tmo 40.0 + + diff --git a/iCubLisboa01/demoRedBall.xml b/iCubLisboa01/demoRedBall.xml deleted file mode 100644 index 484c19809c..0000000000 --- a/iCubLisboa01/demoRedBall.xml +++ /dev/null @@ -1,59 +0,0 @@ - - - -Red-Ball Demo - - - /icub/camcalib/left/out - /iKinGazeCtrl/rpc - /icub/cartesianController/right_arm/state:o - /icub/cartesianController/left_arm/state:o - /wholeBodyDynamics/right_arm/FT:i - /wholeBodyDynamics/left_arm/FT:i - - - - pf3dTracker - icubbrain1 - - - - demoRedBall - icubbrain2 - - - - yarpview - --name /PF3DTracker_viewer --x 640 --y 0 --p 50 - icub-laptop - - - - /icub/camcalib/left/out - /pf3dTracker/video:i - udp - - - /pf3dTracker/video:o - /PF3DTracker_viewer - udp - - - /pf3dTracker/data:o - /demoRedBall/trackTarget:i - udp - - - /demoRedBall/cmdFace:rpc - /icub/face/emotions/in - tcp - - - /demoRedBall/gui:o - /iCubGui/objects - tcp - - - diff --git a/iCubLisboa01/dynamicBabbling.xml b/iCubLisboa01/dynamicBabbling.xml deleted file mode 100644 index 1a036cb0e5..0000000000 --- a/iCubLisboa01/dynamicBabbling.xml +++ /dev/null @@ -1,50 +0,0 @@ - -Dynamic babbling - - - /wholeBodyDynamics/right_arm/Torques:o - /icub/right_arm/state:o - /velObs/vel:o - /velObs/acc:o - - - - velocityObserver - icubbrain1 - - - wholeBodyDynamics - icubbrain2 - - - dynamicMover - icub-laptop - - - - /icub/right_arm/state:o - /velObs/pos:i - udp - - - /velObs/vel:o - /dynamicMover/right_arm/vel:i - udp - - - /velObs/acc:o - /dynamicMover/right_arm/acc:i - udp - - - /wholeBodyDynamics/right_arm/Torques:o - /dynamicMover/right_arm/Torques:i - udp - - - /dynamicMover/right_arm/data:o - /onlineLearner/data:i - udp - - - diff --git a/iCubLisboa01/dynamicControl.xml b/iCubLisboa01/dynamicControl.xml deleted file mode 100644 index 73f770d1d9..0000000000 --- a/iCubLisboa01/dynamicControl.xml +++ /dev/null @@ -1,60 +0,0 @@ - -Dynamic control - - - /wholeBodyDynamics/right_arm/Torques:o - /icub/right_arm/state:o - /velObs/vel:o - /velObs/acc:o - /onlineLearner/query:rpc - - - - velocityObserver - icubbrain1 - - - wholeBodyDynamics - icubbrain2 - - - dynamicControl - icub-laptop - - - onlineLearner12to4 - icub-laptop - - - - /icub/right_arm/state:o - /velObs/pos:i - udp - - - /velObs/vel:o - /dynamicControl/right_arm/vel:i - udp - - - /velObs/acc:o - /dynamicControl/right_arm/acc:i - udp - - - /wholeBodyDynamics/right_arm/Torques:o - /dynamicControl/right_arm/Torques:i - udp - - - /dynamicControl/right_arm/update:o - /onlineLearner/data:i - udp - - - /dynamicControl/right_arm/query:io - /onlineLearner/query:rpc - tcp - - - diff --git a/iCubLisboa01/estimators/wholebodydynamics.xml b/iCubLisboa01/estimators/wholebodydynamics.xml new file mode 100644 index 0000000000..25e6ca9fed --- /dev/null +++ b/iCubLisboa01/estimators/wholebodydynamics.xml @@ -0,0 +1,101 @@ + + + + + + (torso_pitch,torso_roll,torso_yaw,neck_pitch, neck_roll,neck_yaw,l_shoulder_pitch,l_shoulder_roll,l_shoulder_yaw,l_elbow,l_wrist_prosup,l_wrist_pitch,l_wrist_yaw,r_shoulder_pitch,r_shoulder_roll,r_shoulder_yaw,r_elbow,r_wrist_prosup,r_wrist_pitch,r_wrist_yaw,l_hip_pitch,l_hip_roll,l_hip_yaw,l_knee,l_ankle_pitch,l_ankle_roll,r_hip_pitch,r_hip_roll,r_hip_yaw,r_knee,r_ankle_pitch,r_ankle_roll) + model.urdf + (0,0,-9.81) + (l_hand,r_hand,root_link,l_sole,r_sole,r_lower_leg,l_lower_leg,l_elbow_1,r_elbow_1) + imu_frame + true + 2 + true + false + + + + (root_link,1,0) + (chest,1,2) + (l_upper_arm,3,2) + (l_hand_dh_frame,3,6) + (r_hand_dh_frame,4,6) + (l_elbow_1, 3, 4) + (r_upper_arm,4,2) + (r_elbow_1, 4, 4) + (l_lower_leg,5,3) + (l_ankle_1,5,4) + (l_foot_dh_frame,5,5) + (r_foot_dh_frame,6,5) + (r_lower_leg,6,3) + (r_ankle_1,6,4) + (r_foot_dh_frame,6,5) + + + + true + root_link + (torso_pitch,torso_roll,torso_yaw,neck_pitch,neck_roll,neck_yaw,l_shoulder_pitch,l_shoulder_roll,l_shoulder_yaw,l_elbow,r_shoulder_pitch,r_shoulder_roll,r_shoulder_yaw,r_elbow,l_hip_pitch,l_hip_roll,l_hip_yaw,l_knee,l_ankle_pitch,l_ankle_roll,r_hip_pitch,r_hip_roll,r_hip_yaw,r_knee,r_ankle_pitch,r_ankle_roll) + + + + + (5.969361e-01,2.428213e-02,-5.463457e-02,4.254463e-01,1.123516e+00,-1.303151e-01 + ,-2.818578e-02,6.863783e-01,2.028274e-02,6.585433e-01,1.573658e-01,1.544577e+00 + ,-3.915223e-02,3.971615e-02,9.679746e-01,-3.150958e-03,3.718397e-01,-8.653098e-02 + ,-8.647321e-03,-2.836473e-02,-1.840247e-04,8.261000e-01,4.659817e-02,3.751658e-02 + ,5.671831e-03,6.968371e-03,4.892937e-03,5.396529e-02,9.499420e-01,-1.575216e-01 + ,3.469447e-18,0,-7.993503e-20,0,0,1.000000e+00) + + + (7.619710e-01,-9.833019e-02,-5.603709e-02,-7.503703e-01,4.654638e-01,-2.100801e+00 + ,2.708629e-02,8.108288e-01,-3.377881e-03,8.122805e-01,4.181660e-02,8.531041e-01 + ,-7.067404e-02,-3.179978e-02,9.888732e-01,-4.080758e-02,5.046211e-01,-5.754858e-01 + ,7.021926e-03,-2.948727e-02,-1.022865e-03,8.566027e-01,-3.532611e-02,-8.280662e-02 + ,3.959038e-02,1.290493e-03,-6.796986e-04,-6.866659e-02,8.221872e-01,-6.964079e-03 + ,-1.542292e-04,3.264395e-04,-6.124671e-04,-2.551378e-02,5.215466e-03,7.234167e-01) + + + + + + (l_hand,l_hand_dh_frame,root_link) + (r_hand,r_hand_dh_frame,root_link) + (l_lower_leg,l_lower_leg,root_link) + (l_foot,l_sole,l_sole) + (r_lower_leg,r_lower_leg,root_link) + (r_foot,r_sole,r_sole) + + + + + + left_leg-eb7-j4_5-mc + right_leg-eb9-j4_5-mc + left_leg-eb6-j0_3-mc + right_leg-eb8-j0_3-mc + torso-eb5-j0_2-mc + right_arm-eb27-j4_7-mc + left_arm-eb24-j4_7-mc + right_arm-eb3-j0_3-mc + left_arm-eb1-j0_3-mc + head-eb20-j0_1-mc + head-eb21-j2_5-mc + + inertial + + left_arm-eb1-j0_3-strain + right_arm-eb3-j0_3-strain + left_leg-eb6-j0_3-strain + right_leg-eb8-j0_3-strain + left_leg-eb7-j4_5-strain + right_leg-eb9-j4_5-strain + + + + + + + diff --git a/iCubLisboa01/estimators/wholebodydynamics_standup.xml b/iCubLisboa01/estimators/wholebodydynamics_standup.xml new file mode 100644 index 0000000000..bbce49b996 --- /dev/null +++ b/iCubLisboa01/estimators/wholebodydynamics_standup.xml @@ -0,0 +1,89 @@ + + + + + + (torso_pitch,torso_roll,torso_yaw,neck_pitch, neck_roll,neck_yaw,l_shoulder_pitch,l_shoulder_roll,l_shoulder_yaw,l_elbow,l_wrist_prosup,l_wrist_pitch,l_wrist_yaw,r_shoulder_pitch,r_shoulder_roll,r_shoulder_yaw,r_elbow,r_wrist_prosup,r_wrist_pitch,r_wrist_yaw,l_hip_pitch,l_hip_roll,l_hip_yaw,l_knee,l_ankle_pitch,l_ankle_roll,r_hip_pitch,r_hip_roll,r_hip_yaw,r_knee,r_ankle_pitch,r_ankle_roll) + model.urdf + (0,0,-9.81) + (l_hand,r_hand,root_link,l_sole,r_sole,r_upper_leg,l_upper_leg,l_elbow_1,r_elbow_1) + imu_frame + true + + + + (root_link,1,0) + (chest,1,2) + (l_upper_arm,3,2) + (l_elbow_1, 3, 4) + (r_upper_arm,4,2) + (l_hand_dh_frame,3,6) + (r_elbow_1, 4, 4) + (r_hand_dh_frame,4,6) + (l_upper_leg,5,2) + (l_lower_leg,5,3) + (l_ankle_1,5,4) + (l_foot_dh_frame,5,5) + (r_upper_leg,6,2) + (r_lower_leg,6,3) + (r_ankle_1,6,4) + (r_foot_dh_frame,6,5) + + + + true + root_link + (torso_pitch,torso_roll,torso_yaw,neck_pitch,neck_roll,neck_yaw,l_shoulder_pitch,l_shoulder_roll,l_shoulder_yaw,l_elbow,r_shoulder_pitch,r_shoulder_roll,r_shoulder_yaw,r_elbow,l_hip_pitch,l_hip_roll,l_hip_yaw,l_knee,l_ankle_pitch,l_ankle_roll,r_hip_pitch,r_hip_roll,r_hip_yaw,r_knee,r_ankle_pitch,r_ankle_roll) + + + + + (1.165043e-01,-4.824760e-02,-2.838516e-03,-4.063452e-01,3.829723e+00,-4.049686e+00 + ,-1.646781e-02,1.028508e-01,1.218741e-03,-3.860480e+00,6.586313e-02,1.079024e-01 + ,-1.223875e-01,-1.720457e-01,9.950911e-01,-1.332774e+00,4.882303e-01,1.109860e+00 + ,-2.690149e-03,-1.097413e-02,1.942506e-03,9.459466e-01,2.006043e-02,4.074997e-02 + ,1.949960e-02,-1.769210e-02,-3.291195e-03,-1.505223e-01,8.921250e-01,-1.064398e-01 + ,9.882410e-03,5.137381e-03,-5.774219e-05,4.049618e-04,-4.992196e-02,9.255909e-01) + + + + (l_hand,l_hand_dh_frame,l_sole) + (r_hand,r_hand_dh_frame,l_sole) + (l_foot,l_sole,root_link) + (l_foot,l_sole,l_sole) + (r_foot,r_sole,root_link) + (r_foot,r_sole,l_sole) + + + + + + left_leg-eb7-j4_5-mc + right_leg-eb9-j4_5-mc + left_leg-eb6-j0_3-mc + right_leg-eb8-j0_3-mc + torso-eb5-j0_2-mc + right_arm-eb27-j4_7-mc + left_arm-eb24-j4_7-mc + right_arm-eb3-j0_3-mc + left_arm-eb1-j0_3-mc + head-eb20-j0_1-mc + head-eb21-j2_5-mc + + inertial + + left_arm-eb1-j0_3-strain + right_arm-eb3-j0_3-strain + left_leg-eb6-j0_3-strain + right_leg-eb8-j0_3-strain + left_leg-eb7-j4_5-strain + right_leg-eb9-j4_5-strain + + + + + + + diff --git a/iCubLisboa01/firmwareUpdate.txt b/iCubLisboa01/firmwareUpdate.txt deleted file mode 100644 index c6c98cb36f..0000000000 --- a/iCubLisboa01/firmwareUpdate.txt +++ /dev/null @@ -1,39 +0,0 @@ -// head -cfw2can 0 1 2BLLDC.1.62.out.S -cfw2can 0 2 4DC.2.15.out.S - -// torso -cfw2can 0 5 2BLL.1.54.out.S -cfw2can 0 6 2BLL.1.52.out.S - -// left_arm -cfw2can 1 1 2BLL.1.50.out.S -cfw2can 1 2 2BLL.1.57.out.S -cfw2can 1 3 4DC.1.19.out.S - -// left_hand -cfw2can 5 5 4DC.1.28.out.S -cfw2can 5 7 4DC.1.30.out.S - -// right_arm -cfw2can 2 1 2BLL.1.50.out.S -cfw2can 2 2 2BLL.1.57.out.S -cfw2can 2 3 4DC.1.19.out.S - -// right_hand -cfw2can 6 5 4DC.1.28.out.S -cfw2can 6 7 4DC.1.30.out.S - -// left leg -cfw2can 3 5 2BLL.1.51.out.S -cfw2can 3 6 2BLL.1.51.out.S -cfw2can 3 7 2BLL.1.51.out.S -// right leg -cfw2can 4 8 2BLL.1.51.out.S -cfw2can 4 9 2BLL.1.51.out.S -cfw2can 4 10 2BLL.1.51.out.S - - - - - diff --git a/iCubLisboa01/firmwareupdater.ini b/iCubLisboa01/firmwareupdater.ini index 48ba87e2b8..9fa155e435 100644 --- a/iCubLisboa01/firmwareupdater.ini +++ b/iCubLisboa01/firmwareupdater.ini @@ -1,11 +1,2 @@ -[DRIVERS] -CFW2 "0" -CFW2 "1" -CFW2 "2" -CFW2 "3" -CFW2 "4" -CFW2 "5" -CFW2 "6" -CFW2 "7" -CFW2 "8" -CFW2 "9" +[DRIVERS] +ETH "eno1" diff --git a/iCubLisboa01/general.xml b/iCubLisboa01/general.xml index d17093a021..3752d9c653 100644 --- a/iCubLisboa01/general.xml +++ b/iCubLisboa01/general.xml @@ -1,7 +1,7 @@ - + false diff --git a/iCubLisboa01/handTeleoperation.xml b/iCubLisboa01/handTeleoperation.xml deleted file mode 100644 index 003e0c9baf..0000000000 --- a/iCubLisboa01/handTeleoperation.xml +++ /dev/null @@ -1,25 +0,0 @@ - -Glove-based hand control - - - /icubSim/right_arm/state:o - /gloveToYarp/jointsPos:o - /handControl/data:i - - - - gloveToYarp - localhost - - - handControl - localhost - - - - /gloveToYarp/jointsPos:o - /handControl/data:i - udp - - - diff --git a/iCubLisboa01/hardware/FT/left_arm-eb1-j0_3-strain.xml b/iCubLisboa01/hardware/FT/left_arm-eb1-j0_3-strain.xml new file mode 100644 index 0000000000..ff23c66e45 --- /dev/null +++ b/iCubLisboa01/hardware/FT/left_arm-eb1-j0_3-strain.xml @@ -0,0 +1,56 @@ + + + + + + + + + + + + + + eomn_serv_AS_strain + + + + + strain2 + + + 2 + 0 + + + 2 + 0 + 9 + + + + + id_l_upper_arm_strain + eoas_strain + CAN2:13 + + + + + + 10 + id_l_upper_arm_strain + 1000 + + + + true + + + + + + + + + diff --git a/iCubLisboa01/hardware/FT/left_arm_strain.xml b/iCubLisboa01/hardware/FT/left_arm_strain.xml deleted file mode 100644 index 8fdfba6e6c..0000000000 --- a/iCubLisboa01/hardware/FT/left_arm_strain.xml +++ /dev/null @@ -1,14 +0,0 @@ - - - - - "sharedcan" - "cfw2can" - 1 - 0x0D - 16 - 6 - 1 - 1 - - diff --git a/iCubLisboa01/hardware/FT/left_foot_strain.xml b/iCubLisboa01/hardware/FT/left_foot_strain.xml deleted file mode 100644 index 990668bdab..0000000000 --- a/iCubLisboa01/hardware/FT/left_foot_strain.xml +++ /dev/null @@ -1,14 +0,0 @@ - - - - - "sharedcan" - "cfw2can" - 3 - 0x01 - 16 - 6 - 1 - 1 - - diff --git a/iCubLisboa01/hardware/FT/left_leg-eb6-j0_3-strain.xml b/iCubLisboa01/hardware/FT/left_leg-eb6-j0_3-strain.xml new file mode 100644 index 0000000000..e14e7d9168 --- /dev/null +++ b/iCubLisboa01/hardware/FT/left_leg-eb6-j0_3-strain.xml @@ -0,0 +1,57 @@ + + + + + + + + + + + + + + eomn_serv_AS_strain + + + + + strain2 + + + 2 + 0 + + + 2 + 0 + 9 + + + + + id_l_upper_leg_strain + eoas_strain + CAN2:13 + + + + + + 10 + id_l_upper_leg_strain + 1000 + + + + true + + + + + + + + + + diff --git a/iCubLisboa01/hardware/FT/left_leg-eb7-j4_5-strain.xml b/iCubLisboa01/hardware/FT/left_leg-eb7-j4_5-strain.xml new file mode 100644 index 0000000000..6a6afcbab0 --- /dev/null +++ b/iCubLisboa01/hardware/FT/left_leg-eb7-j4_5-strain.xml @@ -0,0 +1,57 @@ + + + + + + + + + + + + + + eomn_serv_AS_strain + + + + + strain2 + + + 2 + 0 + + + 2 + 0 + 9 + + + + + id_l_lower_leg_strain + eoas_strain + CAN2:13 + + + + + + 10 + id_l_lower_leg_strain + 1000 + + + + true + + + + + + + + + + diff --git a/iCubLisboa01/hardware/FT/left_leg_strain.xml b/iCubLisboa01/hardware/FT/left_leg_strain.xml deleted file mode 100644 index 37eec5fba5..0000000000 --- a/iCubLisboa01/hardware/FT/left_leg_strain.xml +++ /dev/null @@ -1,14 +0,0 @@ - - - - - "sharedcan" - "cfw2can" - 3 - 0x0D - 16 - 6 - 1 - 1 - - diff --git a/iCubLisboa01/hardware/FT/right_arm-eb3-j0_3-strain.xml b/iCubLisboa01/hardware/FT/right_arm-eb3-j0_3-strain.xml new file mode 100644 index 0000000000..33dc7b4fe3 --- /dev/null +++ b/iCubLisboa01/hardware/FT/right_arm-eb3-j0_3-strain.xml @@ -0,0 +1,58 @@ + + + + + + + + + + + + + + eomn_serv_AS_strain + + + + + strain2 + + + 2 + 0 + + + 2 + 0 + 9 + + + + + id_r_upper_arm_strain + eoas_strain + CAN2:13 + + + + + + 10 + id_r_upper_arm_strain + 1000 + + + + true + + + + + + + + + + + diff --git a/iCubLisboa01/hardware/FT/right_arm_strain.xml b/iCubLisboa01/hardware/FT/right_arm_strain.xml deleted file mode 100644 index c330f5a690..0000000000 --- a/iCubLisboa01/hardware/FT/right_arm_strain.xml +++ /dev/null @@ -1,14 +0,0 @@ - - - - - "sharedcan" - "cfw2can" - 2 - 0x0D - 16 - 6 - 1 - 1 - - diff --git a/iCubLisboa01/hardware/FT/right_foot_strain.xml b/iCubLisboa01/hardware/FT/right_foot_strain.xml deleted file mode 100644 index 2aaca21470..0000000000 --- a/iCubLisboa01/hardware/FT/right_foot_strain.xml +++ /dev/null @@ -1,14 +0,0 @@ - - - - - "sharedcan" - "cfw2can" - 4 - 0x01 - 16 - 6 - 1 - 1 - - diff --git a/iCubLisboa01/hardware/FT/right_leg-eb8-j0_3-strain.xml b/iCubLisboa01/hardware/FT/right_leg-eb8-j0_3-strain.xml new file mode 100644 index 0000000000..525c8850f6 --- /dev/null +++ b/iCubLisboa01/hardware/FT/right_leg-eb8-j0_3-strain.xml @@ -0,0 +1,56 @@ + + + + + + + + + + + + + + eomn_serv_AS_strain + + + + + strain2 + + + 2 + 0 + + + 2 + 0 + 9 + + + + + id_r_upper_leg_strain + eoas_strain + CAN2:13 + + + + + + 10 + id_r_upper_leg_strain + 1000 + + + + true + + + + + + + + + diff --git a/iCubLisboa01/hardware/FT/right_leg-eb9-j4_5-strain.xml b/iCubLisboa01/hardware/FT/right_leg-eb9-j4_5-strain.xml new file mode 100644 index 0000000000..f98fa0f0d4 --- /dev/null +++ b/iCubLisboa01/hardware/FT/right_leg-eb9-j4_5-strain.xml @@ -0,0 +1,58 @@ + + + + + + + + + + + + + + eomn_serv_AS_strain + + + + + strain2 + + + 2 + 0 + + + 2 + 0 + 9 + + + + + id_r_lower_leg_strain + eoas_strain + CAN2:13 + + + + + + 10 + id_r_lower_leg_strain + 1000 + + + + true + + + + + + + + + + + diff --git a/iCubLisboa01/hardware/FT/right_leg_strain.xml b/iCubLisboa01/hardware/FT/right_leg_strain.xml deleted file mode 100644 index b5aeae292f..0000000000 --- a/iCubLisboa01/hardware/FT/right_leg_strain.xml +++ /dev/null @@ -1,14 +0,0 @@ - - - - - "sharedcan" - "cfw2can" - 4 - 0x0E - 16 - 6 - 1 - 1 - - diff --git a/iCubLisboa01/hardware/MAIS/left_arm-eb26-j12_15-mais.xml b/iCubLisboa01/hardware/MAIS/left_arm-eb26-j12_15-mais.xml new file mode 100644 index 0000000000..fc5cc16a2b --- /dev/null +++ b/iCubLisboa01/hardware/MAIS/left_arm-eb26-j12_15-mais.xml @@ -0,0 +1,51 @@ + + + + + + + + + + + + + + eomn_serv_AS_mais + + + + + eobrd_mais + + + 0 + 0 + + + 0 + 0 + 0 + + + + + id_x_hand_mais + eoas_mais + CAN1:14 + + + + + + 10 + id_x_hand_mais + + + + + + + + + diff --git a/iCubLisboa01/hardware/MAIS/right_arm-eb29-j12_15-mais.xml b/iCubLisboa01/hardware/MAIS/right_arm-eb29-j12_15-mais.xml new file mode 100644 index 0000000000..35ec78ac99 --- /dev/null +++ b/iCubLisboa01/hardware/MAIS/right_arm-eb29-j12_15-mais.xml @@ -0,0 +1,51 @@ + + + + + + + + + + + + + + eomn_serv_AS_mais + + + + + eobrd_mais + + + 0 + 0 + + + 0 + 0 + 0 + + + + + id_x_hand_mais + eoas_mais + CAN1:14 + + + + + + 10 + id_x_hand_mais + + + + + + + + + diff --git a/iCubLisboa01/hardware/VFT/left_arm_virtual_strain.xml b/iCubLisboa01/hardware/VFT/left_arm_virtual_strain.xml deleted file mode 100644 index a9b2ee4feb..0000000000 --- a/iCubLisboa01/hardware/VFT/left_arm_virtual_strain.xml +++ /dev/null @@ -1,15 +0,0 @@ - - - - - "sharedcan" - "cfw2can" - 1 - 0x0C - 16 - 6 - 1 - 1 - 8 8 8 8 8 8 - - diff --git a/iCubLisboa01/hardware/VFT/left_leg_virtual_strain.xml b/iCubLisboa01/hardware/VFT/left_leg_virtual_strain.xml deleted file mode 100644 index 4546049236..0000000000 --- a/iCubLisboa01/hardware/VFT/left_leg_virtual_strain.xml +++ /dev/null @@ -1,15 +0,0 @@ - - - - - "sharedcan" - "cfw2can" - 3 - 0x0C - 16 - 6 - 1 - 1 - 12 12 12 12 12 12 - - diff --git a/iCubLisboa01/hardware/VFT/right_arm_virtual_strain.xml b/iCubLisboa01/hardware/VFT/right_arm_virtual_strain.xml deleted file mode 100644 index 90285905b3..0000000000 --- a/iCubLisboa01/hardware/VFT/right_arm_virtual_strain.xml +++ /dev/null @@ -1,15 +0,0 @@ - - - - - "sharedcan" - "cfw2can" - 2 - 0x0C - 16 - 6 - 1 - 1 - 8 8 8 8 8 8 - - diff --git a/iCubLisboa01/hardware/VFT/right_leg_virtual_strain.xml b/iCubLisboa01/hardware/VFT/right_leg_virtual_strain.xml deleted file mode 100644 index df8ffcc203..0000000000 --- a/iCubLisboa01/hardware/VFT/right_leg_virtual_strain.xml +++ /dev/null @@ -1,15 +0,0 @@ - - - - - "sharedcan" - "cfw2can" - 4 - 0x0B - 16 - 6 - 1 - 1 - 12 12 12 12 12 12 - - diff --git a/iCubLisboa01/hardware/VFT/torso_virtual_strain.xml b/iCubLisboa01/hardware/VFT/torso_virtual_strain.xml deleted file mode 100644 index 40c3dab009..0000000000 --- a/iCubLisboa01/hardware/VFT/torso_virtual_strain.xml +++ /dev/null @@ -1,15 +0,0 @@ - - - - - "sharedcan" - "cfw2can" - 0 - 0x0C - 16 - 6 - 1 - 1 - 12 12 12 12 12 12 - - diff --git a/iCubLisboa01/hardware/electronics/face-eb22-j0-eln.xml b/iCubLisboa01/hardware/electronics/face-eb22-j0-eln.xml new file mode 100644 index 0000000000..f6bc05638c --- /dev/null +++ b/iCubLisboa01/hardware/electronics/face-eb22-j0-eln.xml @@ -0,0 +1,40 @@ + + + + + + + + + + + 10.0.1.22 + 12345 + mc4plus + 768 + 384 + + + + "face-eb22-j0" + + 1000 + 400 + 300 + 300 + 3 + + + + + + true + 0.020 + 60.0 + + + + + + + diff --git a/iCubLisboa01/hardware/electronics/head-eb20-j0_1-eln.xml b/iCubLisboa01/hardware/electronics/head-eb20-j0_1-eln.xml new file mode 100644 index 0000000000..a0933bd462 --- /dev/null +++ b/iCubLisboa01/hardware/electronics/head-eb20-j0_1-eln.xml @@ -0,0 +1,40 @@ + + + + + + + + + + + 10.0.1.20 + 12345 + mc4plus + 768 + 384 + + + + "head-eb20-j0_1" + + 1000 + 400 + 300 + 300 + 5 + + + + + + true + 0.020 + 60.0 + + + + + + + diff --git a/iCubLisboa01/hardware/electronics/head-eb21-j2_5-eln.xml b/iCubLisboa01/hardware/electronics/head-eb21-j2_5-eln.xml new file mode 100644 index 0000000000..aced7cb509 --- /dev/null +++ b/iCubLisboa01/hardware/electronics/head-eb21-j2_5-eln.xml @@ -0,0 +1,40 @@ + + + + + + + + + + + 10.0.1.21 + 12345 + mc4plus + 768 + 384 + + + + "head-eb21-j2_5" + + 1000 + 400 + 300 + 300 + 5 + + + + + + true + 0.020 + 60.0 + + + + + + + diff --git a/iCubLisboa01/hardware/electronics/left_arm-eb1-j0_3-eln.xml b/iCubLisboa01/hardware/electronics/left_arm-eb1-j0_3-eln.xml new file mode 100644 index 0000000000..f9330b40d4 --- /dev/null +++ b/iCubLisboa01/hardware/electronics/left_arm-eb1-j0_3-eln.xml @@ -0,0 +1,40 @@ + + + + + + + + + + + 10.0.1.1 + 12345 + ems4 + 768 + 384 + + + + "left_arm-eb1-j0_3" + + 1000 + 400 + 300 + 300 + 5 + + + + + + true + 0.020 + 60.0 + + + + + + + diff --git a/iCubLisboa01/hardware/electronics/left_arm-eb24-j4_7-eln.xml b/iCubLisboa01/hardware/electronics/left_arm-eb24-j4_7-eln.xml new file mode 100644 index 0000000000..8e1c5ec2b8 --- /dev/null +++ b/iCubLisboa01/hardware/electronics/left_arm-eb24-j4_7-eln.xml @@ -0,0 +1,40 @@ + + + + + + + + + + + 10.0.1.24 + 12345 + mc4plus + 768 + 384 + + + + "left_arm-eb24-j4_7" + + 1000 + 400 + 300 + 300 + 3 + + + + + + true + 0.020 + 60.0 + + + + + + + diff --git a/iCubLisboa01/hardware/electronics/left_arm-eb25-j8_11-eln.xml b/iCubLisboa01/hardware/electronics/left_arm-eb25-j8_11-eln.xml new file mode 100644 index 0000000000..bfe5aee7a1 --- /dev/null +++ b/iCubLisboa01/hardware/electronics/left_arm-eb25-j8_11-eln.xml @@ -0,0 +1,40 @@ + + + + + + + + + + + 10.0.1.25 + 12345 + mc4plus + 768 + 384 + + + + "left_arm-eb25-j8_11" + + 1000 + 400 + 300 + 300 + 5 + + + + + + true + 0.020 + 60.0 + + + + + + + diff --git a/iCubLisboa01/hardware/electronics/left_arm-eb26-j12_15-eln.xml b/iCubLisboa01/hardware/electronics/left_arm-eb26-j12_15-eln.xml new file mode 100644 index 0000000000..be544f4d39 --- /dev/null +++ b/iCubLisboa01/hardware/electronics/left_arm-eb26-j12_15-eln.xml @@ -0,0 +1,40 @@ + + + + + + + + + + + 10.0.1.26 + 12345 + mc4plus + 768 + 384 + + + + "left_arm-eb26-j12_15" + + 1000 + 400 + 300 + 300 + 5 + + + + + + true + 0.020 + 60.0 + + + + + + + diff --git a/iCubLisboa01/hardware/electronics/left_leg-eb10-skin-eln.xml b/iCubLisboa01/hardware/electronics/left_leg-eb10-skin-eln.xml new file mode 100644 index 0000000000..6f9d612ab8 --- /dev/null +++ b/iCubLisboa01/hardware/electronics/left_leg-eb10-skin-eln.xml @@ -0,0 +1,41 @@ + + + + + + + + + + + 10.0.1.10 + 12345 + ems4 + 768 + 384 + + + + "left_leg-eb10-skin" + + 1000 + 400 + 300 + 300 + 3 + + + + + + true + 0.020 + 60.0 + + + + + + + + diff --git a/iCubLisboa01/hardware/electronics/left_leg-eb6-j0_3-eln.xml b/iCubLisboa01/hardware/electronics/left_leg-eb6-j0_3-eln.xml new file mode 100644 index 0000000000..fca77f617d --- /dev/null +++ b/iCubLisboa01/hardware/electronics/left_leg-eb6-j0_3-eln.xml @@ -0,0 +1,40 @@ + + + + + + + + + + + 10.0.1.6 + 12345 + ems4 + 768 + 384 + + + + "left_leg-eb6-j0_3" + + 1000 + 400 + 300 + 300 + 5 + + + + + + true + 0.020 + 60.0 + + + + + + + diff --git a/iCubLisboa01/hardware/electronics/left_leg-eb7-j4_5-eln.xml b/iCubLisboa01/hardware/electronics/left_leg-eb7-j4_5-eln.xml new file mode 100644 index 0000000000..2617b8515b --- /dev/null +++ b/iCubLisboa01/hardware/electronics/left_leg-eb7-j4_5-eln.xml @@ -0,0 +1,40 @@ + + + + + + + + + + + 10.0.1.7 + 12345 + ems4 + 768 + 384 + + + + "left_leg-eb7-j4_5" + + 1000 + 400 + 300 + 300 + 5 + + + + + + true + 0.020 + 60.0 + + + + + + + diff --git a/iCubLisboa01/hardware/electronics/pc104.xml b/iCubLisboa01/hardware/electronics/pc104.xml new file mode 100644 index 0000000000..81f140a7cd --- /dev/null +++ b/iCubLisboa01/hardware/electronics/pc104.xml @@ -0,0 +1,14 @@ + + + + + + + 10.0.1.104 + 12345 + 1 + 5 + + + + diff --git a/iCubLisboa01/hardware/electronics/right_arm-eb27-j4_7-eln.xml b/iCubLisboa01/hardware/electronics/right_arm-eb27-j4_7-eln.xml new file mode 100644 index 0000000000..76a72b2474 --- /dev/null +++ b/iCubLisboa01/hardware/electronics/right_arm-eb27-j4_7-eln.xml @@ -0,0 +1,40 @@ + + + + + + + + + + + 10.0.1.27 + 12345 + mc4plus + 768 + 384 + + + + "right_arm-eb27-j4_7" + + 1000 + 400 + 300 + 300 + 3 + + + + + + true + 0.020 + 60.0 + + + + + + + diff --git a/iCubLisboa01/hardware/electronics/right_arm-eb28-j8_11-eln.xml b/iCubLisboa01/hardware/electronics/right_arm-eb28-j8_11-eln.xml new file mode 100644 index 0000000000..6a41631142 --- /dev/null +++ b/iCubLisboa01/hardware/electronics/right_arm-eb28-j8_11-eln.xml @@ -0,0 +1,40 @@ + + + + + + + + + + + 10.0.1.28 + 12345 + mc4plus + 768 + 384 + + + + "right_arm-eb28-j8_11" + + 1000 + 400 + 300 + 300 + 5 + + + + + + true + 0.020 + 60.0 + + + + + + + diff --git a/iCubLisboa01/hardware/electronics/right_arm-eb29-j12_15-eln.xml b/iCubLisboa01/hardware/electronics/right_arm-eb29-j12_15-eln.xml new file mode 100644 index 0000000000..1f79482a5a --- /dev/null +++ b/iCubLisboa01/hardware/electronics/right_arm-eb29-j12_15-eln.xml @@ -0,0 +1,40 @@ + + + + + + + + + + + 10.0.1.29 + 12345 + mc4plus + 768 + 384 + + + + "right_arm-eb29-j12_15" + + 1000 + 400 + 300 + 300 + 5 + + + + + + true + 0.020 + 60.0 + + + + + + + diff --git a/iCubLisboa01/hardware/electronics/right_arm-eb3-j0_3-eln.xml b/iCubLisboa01/hardware/electronics/right_arm-eb3-j0_3-eln.xml new file mode 100644 index 0000000000..4e4363c93b --- /dev/null +++ b/iCubLisboa01/hardware/electronics/right_arm-eb3-j0_3-eln.xml @@ -0,0 +1,40 @@ + + + + + + + + + + + 10.0.1.3 + 12345 + ems4 + 768 + 384 + + + + "right_arm-eb3-j0_3" + + 1000 + 400 + 300 + 300 + 5 + + + + + + true + 0.020 + 60.0 + + + + + + + diff --git a/iCubLisboa01/hardware/electronics/right_leg-eb11-skin-eln.xml b/iCubLisboa01/hardware/electronics/right_leg-eb11-skin-eln.xml new file mode 100644 index 0000000000..54893f7b05 --- /dev/null +++ b/iCubLisboa01/hardware/electronics/right_leg-eb11-skin-eln.xml @@ -0,0 +1,41 @@ + + + + + + + + + + + 10.0.1.11 + 12345 + ems4 + 768 + 384 + + + + "right_leg-eb11-skin" + + 1000 + 400 + 300 + 300 + 3 + + + + + + true + 0.020 + 60.0 + + + + + + + + diff --git a/iCubLisboa01/hardware/electronics/right_leg-eb8-j0_3-eln.xml b/iCubLisboa01/hardware/electronics/right_leg-eb8-j0_3-eln.xml new file mode 100644 index 0000000000..6d7a3d02e7 --- /dev/null +++ b/iCubLisboa01/hardware/electronics/right_leg-eb8-j0_3-eln.xml @@ -0,0 +1,40 @@ + + + + + + + + + + + 10.0.1.8 + 12345 + ems4 + 768 + 384 + + + + "right_leg-eb8-j0_3" + + 1000 + 400 + 300 + 300 + 5 + + + + + + true + 0.020 + 60.0 + + + + + + + diff --git a/iCubLisboa01/hardware/electronics/right_leg-eb9-j4_5-eln.xml b/iCubLisboa01/hardware/electronics/right_leg-eb9-j4_5-eln.xml new file mode 100644 index 0000000000..80335c514a --- /dev/null +++ b/iCubLisboa01/hardware/electronics/right_leg-eb9-j4_5-eln.xml @@ -0,0 +1,40 @@ + + + + + + + + + + + 10.0.1.9 + 12345 + ems4 + 768 + 384 + + + + "right_leg-eb9-j4_5" + + 1000 + 400 + 300 + 300 + 5 + + + + + + true + 0.020 + 60.0 + + + + + + + diff --git a/iCubLisboa01/hardware/electronics/torso-eb5-j0_2-eln.xml b/iCubLisboa01/hardware/electronics/torso-eb5-j0_2-eln.xml new file mode 100644 index 0000000000..205f1e47e9 --- /dev/null +++ b/iCubLisboa01/hardware/electronics/torso-eb5-j0_2-eln.xml @@ -0,0 +1,40 @@ + + + + + + + + + + + 10.0.1.5 + 12345 + ems4 + 768 + 384 + + + + "torso-eb5-j0_2" + + 1000 + 400 + 300 + 300 + 5 + + + + + + true + 0.020 + 60.0 + + + + + + + diff --git a/iCubLisboa01/hardware/inertials/head-inertial.xml b/iCubLisboa01/hardware/inertials/head-inertial.xml index 7f7b85a8db..cb5d041a78 100644 --- a/iCubLisboa01/hardware/inertials/head-inertial.xml +++ b/iCubLisboa01/hardware/inertials/head-inertial.xml @@ -1,7 +1,54 @@ + - - /dev/ttyS0 - + + + + + + + + + + + eomn_serv_AS_inertials3 + + + + + rfe + + + 2 + 0 + + + 0 + 0 + 0 + + + + + rfeimu_acc rfeimu_gyro rfeimu_mag rfeimu_status + + eoas_imu_acc eoas_imu_gyr eoas_imu_mag eoas_imu_status + + rfe rfe rfe rfe + + CAN1:1 CAN1:1 CAN1:1 CAN1:1 + + + + + + + 10 + rfeimu_acc rfeimu_gyro rfeimu_mag rfeimu_status + + + + + diff --git a/iCubLisboa01/hardware/inertials/left_arm-eb24-j4_7-inertials.xml b/iCubLisboa01/hardware/inertials/left_arm-eb24-j4_7-inertials.xml new file mode 100644 index 0000000000..44a4c1fc9a --- /dev/null +++ b/iCubLisboa01/hardware/inertials/left_arm-eb24-j4_7-inertials.xml @@ -0,0 +1,59 @@ + + + + + + + + + + + + + + eomn_serv_AS_inertials + + + + + eobrd_mtb + + + 0 + 0 + + + 0 + 0 + 0 + + + + + l_upper_arm_mtb_acc_1b10 l_upper_arm_mtb_acc_1b11 l_upper_arm_mtb_acc_1b12 l_upper_arm_mtb_acc_1b13 + l_forearm_mtb_acc_1b7 l_forearm_mtb_acc_1b8 l_forearm_mtb_acc_1b9 l_hand_gyro + + + eoas_accel_mtb_int eoas_accel_mtb_int eoas_accel_mtb_int eoas_accel_mtb_int + eoas_accel_mtb_int eoas_accel_mtb_int eoas_accel_mtb_int eoas_gyros_mtb_ext + + + CAN1:8 CAN1:9 CAN1:10 CAN1:11 + CAN1:12 CAN1:13 CAN1:14 CAN1:14 + + + + + + + 50 + l_upper_arm_mtb_acc_1b10 l_upper_arm_mtb_acc_1b11 l_upper_arm_mtb_acc_1b12 l_upper_arm_mtb_acc_1b13 + l_forearm_mtb_acc_1b7 l_forearm_mtb_acc_1b8 l_forearm_mtb_acc_1b9 + + + + + + + + diff --git a/iCubLisboa01/hardware/inertials/left_leg-eb10-inertials.xml b/iCubLisboa01/hardware/inertials/left_leg-eb10-inertials.xml new file mode 100644 index 0000000000..a9c9be4ba1 --- /dev/null +++ b/iCubLisboa01/hardware/inertials/left_leg-eb10-inertials.xml @@ -0,0 +1,69 @@ + + + + + + + + + + + + + + eomn_serv_AS_inertials + + + + + eobrd_mtb + + + 0 + 0 + + + 0 + 0 + 0 + + + + + l_upper_leg_ems_acc_eb10 l_upper_leg_ems_gyro_eb10 + l_upper_leg_mtb_acc_10b1 l_upper_leg_mtb_acc_10b2 l_upper_leg_mtb_acc_10b3 l_upper_leg_mtb_acc_10b4 + l_upper_leg_mtb_acc_10b5 l_upper_leg_mtb_acc_10b6 l_upper_leg_mtb_acc_10b7 + l_lower_leg_mtb_acc_10b8 l_lower_leg_mtb_acc_10b9 l_lower_leg_mtb_acc_10b10 l_lower_leg_mtb_acc_10b11 + l_foot_mtb_acc_10b12 l_foot_mtb_acc_10b13 + + + eoas_accel_st_lis3x eoas_gyros_st_l3g4200d eoas_accel_mtb_int + eoas_accel_mtb_int eoas_accel_mtb_int eoas_accel_mtb_int eoas_accel_mtb_int + eoas_accel_mtb_int eoas_accel_mtb_int eoas_accel_mtb_int eoas_accel_mtb_int + eoas_accel_mtb_int eoas_accel_mtb_int eoas_accel_mtb_int eoas_accel_mtb_int + + + ETH:0 ETH:1 CAN1:1 + CAN1:2 CAN1:3 CAN1:4 CAN1:5 + CAN1:6 CAN1:7 CAN2:8 CAN2:9 + CAN2:10 CAN2:11 CAN2:13 CAN2:12 + + + + + + + 50 + l_upper_leg_ems_gyro_eb10 + l_upper_leg_mtb_acc_10b1 l_upper_leg_mtb_acc_10b2 l_upper_leg_mtb_acc_10b3 l_upper_leg_mtb_acc_10b4 + l_upper_leg_mtb_acc_10b5 l_upper_leg_mtb_acc_10b6 l_upper_leg_mtb_acc_10b7 + l_lower_leg_mtb_acc_10b8 l_lower_leg_mtb_acc_10b9 l_lower_leg_mtb_acc_10b10 l_lower_leg_mtb_acc_10b11 + l_foot_mtb_acc_10b12 l_foot_mtb_acc_10b13 + + + + + + + + diff --git a/iCubLisboa01/hardware/inertials/left_leg-eb6-IMU.xml b/iCubLisboa01/hardware/inertials/left_leg-eb6-IMU.xml new file mode 100644 index 0000000000..d5abaec1eb --- /dev/null +++ b/iCubLisboa01/hardware/inertials/left_leg-eb6-IMU.xml @@ -0,0 +1,58 @@ + + + + + + + + + + + + + + eomn_serv_AS_inertials3 + + + + + strain2 + + + 2 + 0 + + + 0 + 0 + 0 + + + + + l_upper_leg_imu_acc_1 l_upper_leg_imu_gyro_1 l_upper_leg_imu_eul_1 l_upper_leg_imu_mag_1 l_upper_leg_imu_stat_1 + + + eoas_imu_acc eoas_imu_gyr eoas_imu_eul eoas_imu_mag eoas_imu_status + + + strain2 strain2 strain2 strain2 strain2 + + + CAN2:13 CAN2:13 CAN2:13 CAN2:13 CAN2:13 + + + + + + + 50 + l_upper_leg_imu_acc_1 l_upper_leg_imu_gyro_1 l_upper_leg_imu_eul_1 l_upper_leg_imu_mag_1 l_upper_leg_imu_stat_1 + + + + + + + + diff --git a/iCubLisboa01/hardware/inertials/left_leg-eb6-inertials.xml b/iCubLisboa01/hardware/inertials/left_leg-eb6-inertials.xml new file mode 100644 index 0000000000..5ae49bb96c --- /dev/null +++ b/iCubLisboa01/hardware/inertials/left_leg-eb6-inertials.xml @@ -0,0 +1,55 @@ + + + + + + + + + + + + + + eomn_serv_AS_inertials + + + + + eobrd_mtb + + + 0 + 0 + + + 0 + 0 + 0 + + + + + l_upper_leg_ems_gyro_eb6 + + + eoas_gyros_st_l3g4200d + + + ETH:1 + + + + + + + 50 + l_upper_leg_ems_gyro_eb6 + + + + + + + + diff --git a/iCubLisboa01/hardware/inertials/left_leg-eb7-IMU.xml b/iCubLisboa01/hardware/inertials/left_leg-eb7-IMU.xml new file mode 100644 index 0000000000..bf613e532c --- /dev/null +++ b/iCubLisboa01/hardware/inertials/left_leg-eb7-IMU.xml @@ -0,0 +1,58 @@ + + + + + + + + + + + + + + eomn_serv_AS_inertials3 + + + + + strain2 + + + 2 + 0 + + + 0 + 0 + 0 + + + + + l_lower_leg_imu_acc_2 l_lower_leg_imu_gyro_2 l_lower_leg_imu_eul_2 l_lower_leg_imu_mag_2 l_lower_leg_imu_stat_2 + + + eoas_imu_acc eoas_imu_gyr eoas_imu_eul eoas_imu_mag eoas_imu_status + + + strain2 strain2 strain2 strain2 strain2 + + + CAN2:13 CAN2:13 CAN2:13 CAN2:13 CAN2:13 + + + + + + + 50 + l_lower_leg_imu_acc_2 l_lower_leg_imu_gyro_2 l_lower_leg_imu_eul_2 l_lower_leg_imu_mag_2 l_lower_leg_imu_stat_2 + + + + + + + + diff --git a/iCubLisboa01/hardware/inertials/left_leg-eb7-inertials.xml b/iCubLisboa01/hardware/inertials/left_leg-eb7-inertials.xml new file mode 100644 index 0000000000..e92c6d72e9 --- /dev/null +++ b/iCubLisboa01/hardware/inertials/left_leg-eb7-inertials.xml @@ -0,0 +1,55 @@ + + + + + + + + + + + + + + eomn_serv_AS_inertials + + + + + eobrd_mtb + + + 0 + 0 + + + 0 + 0 + 0 + + + + + l_lower_leg_ems_gyro_eb7 + + + eoas_gyros_st_l3g4200d + + + ETH:1 + + + + + + + 50 + l_lower_leg_ems_gyro_eb7 + + + + + + + + diff --git a/iCubLisboa01/hardware/inertials/right_arm-eb27-j4_7-inertials.xml b/iCubLisboa01/hardware/inertials/right_arm-eb27-j4_7-inertials.xml new file mode 100644 index 0000000000..be0139c31f --- /dev/null +++ b/iCubLisboa01/hardware/inertials/right_arm-eb27-j4_7-inertials.xml @@ -0,0 +1,59 @@ + + + + + + + + + + + + + + eomn_serv_AS_inertials + + + + + eobrd_mtb + + + 0 + 0 + + + 0 + 0 + 0 + + + + + r_upper_arm_mtb_acc_2b10 r_upper_arm_mtb_acc_2b11 r_upper_arm_mtb_acc_2b12 r_upper_arm_mtb_acc_2b13 + r_forearm_mtb_acc_2b7 r_forearm_mtb_acc_2b8 r_forearm_mtb_acc_2b9 r_hand_gyro + + + eoas_accel_mtb_int eoas_accel_mtb_int eoas_accel_mtb_int eoas_accel_mtb_int + eoas_accel_mtb_int eoas_accel_mtb_int eoas_accel_mtb_int eoas_gyros_mtb_ext + + + CAN1:8 CAN1:9 CAN1:10 CAN1:11 + CAN1:12 CAN1:13 CAN1:14 CAN1:14 + + + + + + + 50 + r_upper_arm_mtb_acc_2b10 r_upper_arm_mtb_acc_2b11 r_upper_arm_mtb_acc_2b12 r_upper_arm_mtb_acc_2b13 + r_forearm_mtb_acc_2b7 r_forearm_mtb_acc_2b8 r_forearm_mtb_acc_2b9 + + + + + + + + diff --git a/iCubLisboa01/hardware/inertials/right_leg-eb11-inertials.xml b/iCubLisboa01/hardware/inertials/right_leg-eb11-inertials.xml new file mode 100644 index 0000000000..13463771e0 --- /dev/null +++ b/iCubLisboa01/hardware/inertials/right_leg-eb11-inertials.xml @@ -0,0 +1,69 @@ + + + + + + + + + + + + + + eomn_serv_AS_inertials + + + + + eobrd_mtb + + + 0 + 0 + + + 0 + 0 + 0 + + + + + r_upper_leg_ems_acc_eb11 r_upper_leg_ems_gyro_eb11 + r_upper_leg_mtb_acc_11b1 r_upper_leg_mtb_acc_11b2 r_upper_leg_mtb_acc_11b3 r_upper_leg_mtb_acc_11b4 + r_upper_leg_mtb_acc_11b5 r_upper_leg_mtb_acc_11b6 r_upper_leg_mtb_acc_11b7 + r_lower_leg_mtb_acc_11b8 r_lower_leg_mtb_acc_11b9 r_lower_leg_mtb_acc_11b10 r_lower_leg_mtb_acc_11b11 + r_foot_mtb_acc_11b12 r_foot_mtb_acc_11b13 + + + eoas_accel_st_lis3x eoas_gyros_st_l3g4200d eoas_accel_mtb_int + eoas_accel_mtb_int eoas_accel_mtb_int eoas_accel_mtb_int eoas_accel_mtb_int + eoas_accel_mtb_int eoas_accel_mtb_int eoas_accel_mtb_int eoas_accel_mtb_int + eoas_accel_mtb_int eoas_accel_mtb_int eoas_accel_mtb_int eoas_accel_mtb_int + + + ETH:0 ETH:1 CAN1:1 + CAN1:2 CAN1:3 CAN1:4 CAN1:5 + CAN1:6 CAN1:7 CAN2:8 CAN2:9 + CAN2:10 CAN2:11 CAN2:12 CAN2:13 + + + + + + + 50 + r_upper_leg_ems_gyro_eb11 + r_upper_leg_mtb_acc_11b1 r_upper_leg_mtb_acc_11b2 r_upper_leg_mtb_acc_11b3 r_upper_leg_mtb_acc_11b4 + r_upper_leg_mtb_acc_11b5 r_upper_leg_mtb_acc_11b6 r_upper_leg_mtb_acc_11b7 + r_lower_leg_mtb_acc_11b8 r_lower_leg_mtb_acc_11b9 r_lower_leg_mtb_acc_11b10 r_lower_leg_mtb_acc_11b11 + r_foot_mtb_acc_11b12 r_foot_mtb_acc_11b13 + + + + + + + + diff --git a/iCubLisboa01/hardware/inertials/right_leg-eb8-IMU.xml b/iCubLisboa01/hardware/inertials/right_leg-eb8-IMU.xml new file mode 100644 index 0000000000..127deac5f9 --- /dev/null +++ b/iCubLisboa01/hardware/inertials/right_leg-eb8-IMU.xml @@ -0,0 +1,57 @@ + + + + + + + + + + + + + + eomn_serv_AS_inertials3 + + + + + strain2 + + + 2 + 0 + + + 0 + 0 + 0 + + + + + r_upper_leg_imu_acc_1 r_upper_leg_imu_gyro_1 r_upper_leg_imu_eul_1 r_upper_leg_imu_mag_1 r_upper_leg_imu_stat_1 + + + eoas_imu_acc eoas_imu_gyr eoas_imu_eul eoas_imu_mag eoas_imu_status + + strain2 strain2 strain2 strain2 strain2 + + + + CAN2:13 CAN2:13 CAN2:13 CAN2:13 CAN2:13 + + + + + + + 50 + r_upper_leg_imu_acc_1 r_upper_leg_imu_gyro_1 r_upper_leg_imu_eul_1 r_upper_leg_imu_mag_1 r_upper_leg_imu_stat_1 + + + + + + + diff --git a/iCubLisboa01/hardware/inertials/right_leg-eb8-inertials.xml b/iCubLisboa01/hardware/inertials/right_leg-eb8-inertials.xml new file mode 100644 index 0000000000..29f9455424 --- /dev/null +++ b/iCubLisboa01/hardware/inertials/right_leg-eb8-inertials.xml @@ -0,0 +1,55 @@ + + + + + + + + + + + + + + eomn_serv_AS_inertials + + + + + eobrd_mtb + + + 0 + 0 + + + 0 + 0 + 0 + + + + + r_upper_leg_ems_gyro_eb8 + + + eoas_gyros_st_l3g4200d + + + ETH:1 + + + + + + + 50 + r_upper_leg_ems_gyro_eb8 + + + + + + + + diff --git a/iCubLisboa01/hardware/inertials/right_leg-eb9-IMU.xml b/iCubLisboa01/hardware/inertials/right_leg-eb9-IMU.xml new file mode 100644 index 0000000000..7218a38567 --- /dev/null +++ b/iCubLisboa01/hardware/inertials/right_leg-eb9-IMU.xml @@ -0,0 +1,57 @@ + + + + + + + + + + + + + + eomn_serv_AS_inertials3 + + + + + strain2 + + + 2 + 0 + + + 0 + 0 + 0 + + + + + r_lower_leg_imu_acc_2 r_lower_leg_imu_gyro_2 r_lower_leg_imu_eul_2 r_lower_leg_imu_mag_2 r_lower_leg_imu_stat_2 + + + eoas_imu_acc eoas_imu_gyr eoas_imu_eul eoas_imu_mag eoas_imu_status + + strain2 strain2 strain2 strain2 strain2 + + + + CAN2:13 CAN2:13 CAN2:13 CAN2:13 CAN2:13 + + + + + + + 50 + r_lower_leg_imu_acc_2 r_lower_leg_imu_gyro_2 r_lower_leg_imu_eul_2 r_lower_leg_imu_mag_2 r_lower_leg_imu_stat_2 + + + + + + + diff --git a/iCubLisboa01/hardware/inertials/right_leg-eb9-inertials.xml b/iCubLisboa01/hardware/inertials/right_leg-eb9-inertials.xml new file mode 100644 index 0000000000..d4d4f63f9d --- /dev/null +++ b/iCubLisboa01/hardware/inertials/right_leg-eb9-inertials.xml @@ -0,0 +1,55 @@ + + + + + + + + + + + + + + eomn_serv_AS_inertials + + + + + eobrd_mtb + + + 0 + 0 + + + 0 + 0 + 0 + + + + + r_lower_leg_ems_gyro_eb9 + + + eoas_gyros_st_l3g4200d + + + ETH:1 + + + + + + + 50 + r_lower_leg_ems_gyro_eb9 + + + + + + + + diff --git a/iCubLisboa01/hardware/inertials/torso-eb1-inertials.xml b/iCubLisboa01/hardware/inertials/torso-eb1-inertials.xml new file mode 100644 index 0000000000..87a5e110da --- /dev/null +++ b/iCubLisboa01/hardware/inertials/torso-eb1-inertials.xml @@ -0,0 +1,55 @@ + + + + + + + + + + + + + + eomn_serv_AS_inertials + + + + + eobrd_mtb + + + 0 + 0 + + + 0 + 0 + 0 + + + + + torso_ems_gyro_eb1 + + + eoas_gyros_st_l3g4200d + + + ETH:1 + + + + + + + 50 + torso_ems_gyro_eb1 + + + + + + + + diff --git a/iCubLisboa01/hardware/inertials/torso-eb22-inertials.xml b/iCubLisboa01/hardware/inertials/torso-eb22-inertials.xml new file mode 100644 index 0000000000..a27279f6b3 --- /dev/null +++ b/iCubLisboa01/hardware/inertials/torso-eb22-inertials.xml @@ -0,0 +1,55 @@ + + + + + + + + + + + + + + eomn_serv_AS_inertials + + + + + eobrd_mtb + + + 0 + 0 + + + 0 + 0 + 0 + + + + + chest_mtb_acc_0b7 chest_mtb_acc_0b8 chest_mtb_acc_0b9 chest_mtb_acc_0b10 + + + eoas_accel_mtb_int eoas_accel_mtb_int eoas_accel_mtb_int eoas_accel_mtb_int + + + CAN1:7 CAN1:8 CAN1:9 CAN1:10 + + + + + + + 50 + chest_mtb_acc_0b7 chest_mtb_acc_0b8 chest_mtb_acc_0b9 chest_mtb_acc_0b10 + + + + + + + + diff --git a/iCubLisboa01/hardware/inertials/torso-eb3-inertials.xml b/iCubLisboa01/hardware/inertials/torso-eb3-inertials.xml new file mode 100644 index 0000000000..b884dfcac4 --- /dev/null +++ b/iCubLisboa01/hardware/inertials/torso-eb3-inertials.xml @@ -0,0 +1,55 @@ + + + + + + + + + + + + + + eomn_serv_AS_inertials + + + + + eobrd_mtb + + + 0 + 0 + + + 0 + 0 + 0 + + + + + torso_ems_gyro_eb3 + + + eoas_gyros_st_l3g4200d + + + ETH:1 + + + + + + + 50 + torso_ems_gyro_eb3 + + + + + + + + diff --git a/iCubLisboa01/hardware/inertials/waist-eb5-inertials.xml b/iCubLisboa01/hardware/inertials/waist-eb5-inertials.xml new file mode 100644 index 0000000000..19958f8d39 --- /dev/null +++ b/iCubLisboa01/hardware/inertials/waist-eb5-inertials.xml @@ -0,0 +1,55 @@ + + + + + + + + + + + + + + eomn_serv_AS_inertials + + + + + eobrd_mtb + + + 0 + 0 + + + 0 + 0 + 0 + + + + + waist_ems_gyro_eb5 + + + eoas_gyros_st_l3g4200d + + + ETH:1 + + + + + + + 50 + waist_ems_gyro_eb5 + + + + + + + + diff --git a/iCubLisboa01/hardware/inertials/waist-inertial.xml b/iCubLisboa01/hardware/inertials/waist-inertial.xml new file mode 100644 index 0000000000..8d2f688d6b --- /dev/null +++ b/iCubLisboa01/hardware/inertials/waist-inertial.xml @@ -0,0 +1,10 @@ + + + + + + /icub/xsens_inertial + xsensmt + /dev/ttyXsens + + diff --git a/iCubLisboa01/hardware/mechanicals/face-eb22-j0-mec.xml b/iCubLisboa01/hardware/mechanicals/face-eb22-j0-mec.xml new file mode 100644 index 0000000000..778026f696 --- /dev/null +++ b/iCubLisboa01/hardware/mechanicals/face-eb22-j0-mec.xml @@ -0,0 +1,74 @@ + + + + + + + + + 6 + 1 + + 0 + "eyelids" + "revolute" + 182.044 + 3360 + 1000.0 + -16 + 2.38 + 1 + "DC" + 0 + + + + -5 + +65 + 0 + 0 + + + + + + 1.000 0.000 0.000 0.000 + 0.000 1.000 0.000 0.000 + 0.000 0.000 1.000 0.000 + 0.000 0.000 0.000 1.000 + + + + 1.000 0.000 0.000 0.000 + 0.000 1.000 0.000 0.000 + 0.000 0.000 1.000 0.000 + 0.000 0.000 0.000 1.000 + + + + 1.00 0.00 0.00 0.00 0.00 0.00 + 0.00 1.00 0.00 0.00 0.00 0.00 + 0.00 0.00 1.00 0.00 0.00 0.00 + 0.00 0.00 0.00 1.00 0.00 0.00 + + + + + + 1 + + 0 + none + 0 + 0 + + + + + + + + + diff --git a/iCubLisboa01/hardware/mechanicals/head-eb20-j0_1-mec.xml b/iCubLisboa01/hardware/mechanicals/head-eb20-j0_1-mec.xml new file mode 100644 index 0000000000..16715e5846 --- /dev/null +++ b/iCubLisboa01/hardware/mechanicals/head-eb20-j0_1-mec.xml @@ -0,0 +1,69 @@ + + + + + + + + 6 + 2 + + + + + 0 1 + "neck_pitch" "neck_roll" + "revolute" "revolute" + 182.044 182.044 + 3360 3360 + 1000.0 1000.0 + 161.68 161.68 + 1 1 + 1 1 + "DC" "DC" + 0 + + + + -30 -20 + +22 +20 + 0 0 + 0 0 + + + + + + 1.000 1.000 0.000 0.000 + -1.000 1.000 0.000 0.000 + 0.000 0.000 1.000 0.000 + 0.000 0.000 0.000 1.000 + + + + 0.500 -0.500 0.000 0.000 + 0.500 0.500 0.000 0.000 + 0.000 0.000 1.000 0.000 + 0.000 0.000 0.000 1.000 + + + + 1.00 0.00 0.00 0.00 0.00 0.00 + 0.00 1.00 0.00 0.00 0.00 0.00 + 0.00 0.00 1.00 0.00 0.00 0.00 + 0.00 0.00 0.00 1.00 0.00 0.00 + + + + + + 1 + + 0 1 + none + 0 + 0 + + + + diff --git a/iCubLisboa01/hardware/mechanicals/head-eb21-j2_5-mec.xml b/iCubLisboa01/hardware/mechanicals/head-eb21-j2_5-mec.xml new file mode 100644 index 0000000000..d5978ef66c --- /dev/null +++ b/iCubLisboa01/hardware/mechanicals/head-eb21-j2_5-mec.xml @@ -0,0 +1,79 @@ + + + + + + 6 + 4 + + + + 0 1 2 3 + "neck_yaw" "eyes_tilt" "eyes_vers" "eyes_verg" + "revolute" "revolute" "revolute" "revolute" + 182.044 182.044 182.044 182.044 + 3360 3360 3360 3360 + 1000.0 1000.0 1000.0 1000.0 + 100 -141 50 50 + 1 1 1 1 + 1 1 1 1 + "DC" "DC" "DC" "DC" + + 0 + + + + -45 -30 -45 0 + +45 +30 +45 +45 + 0 0 0 0 + 0 0 0 0 + + + + + + 1.000 0.000 0.000 0.000 + 0.000 1.000 0.000 0.000 + 0.000 0.000 1.000 -1.000 + 0.000 0.000 1.000 1.000 + + + + 1.000 0.000 0.000 0.000 + 0.000 1.000 0.000 0.000 + 0.000 0.000 0.500 0.500 + 0.000 0.000 -0.500 0.500 + + + + 1.000 0.000 0.000 0.000 0.000 0.000 + 0.000 1.000 0.000 0.000 0.000 0.000 + 0.000 0.000 1.000 0.000 0.000 0.000 + 0.000 0.000 0.000 1.000 0.000 0.000 + + + + + + 3 + + 0 + none + 0 + 0 + + + 1 + none + 0 + 0 + + + 2 3 + none + 0 + 0 + + + + diff --git a/iCubLisboa01/hardware/mechanicals/left_arm-eb1-j0_3-mec.xml b/iCubLisboa01/hardware/mechanicals/left_arm-eb1-j0_3-mec.xml new file mode 100644 index 0000000000..f1296aaf7e --- /dev/null +++ b/iCubLisboa01/hardware/mechanicals/left_arm-eb1-j0_3-mec.xml @@ -0,0 +1,83 @@ + + + + + + 6 + 4 + 0 1 2 3 + "l_shoulder_pitch" "l_shoulder_roll" "l_shoulder_yaw" "l_elbow" + "revolute" "revolute" "revolute" "revolute" + 182.044 182.044 182.044 182.044 + 32000 32000 32000 32000 + 1000.0 1000.0 1000.0 1000.0 + 100.00 100.00 100.00 100.00 + 1 1 1 1 + 1 1 1 1 + "BLL_MOOG" "BLL_MOOG" "BLL_MOOG" "BLL_MOOG" + 0 + + + + + 8 160 80 106 + -95.5 15 -32 15 + 0 0 0 0 + 0 0 0 0 + + + + 1 1 1 1 + 0 0 0 0 + 1 1 1 1 + 0 0 0 0 + 0 0 0 0 + 0 0 0 0 + 8 8 8 8 + + + + + + + + 1.00 0.00 0.00 0.00 + -1.625 1.625 0.00 0.00 + 0.00 0.00 1.625 0.00 + 0.00 0.00 0.00 1.00 + + + + + 1.000 0.000 0.000 0.000 + 1.000 0.615 0.000 0.000 + 0.000 -0.615 0.615 0.000 + 0.000 0.000 0.000 1.000 + + + + 1.000 0.000 0.000 0.000 0.000 0.000 + 0.000 1.000 0.000 0.000 0.000 0.000 + 0.000 0.000 1.000 0.000 0.000 0.000 + 0.000 0.000 0.000 1.000 0.000 0.000 + + + + + + 2 + + 0 1 2 + none + 0 + 0 + + + 3 + none + 0 + 0 + + + + diff --git a/iCubLisboa01/hardware/mechanicals/left_arm-eb24-j4_7-mec.xml b/iCubLisboa01/hardware/mechanicals/left_arm-eb24-j4_7-mec.xml new file mode 100644 index 0000000000..1bf2d94b4f --- /dev/null +++ b/iCubLisboa01/hardware/mechanicals/left_arm-eb24-j4_7-mec.xml @@ -0,0 +1,79 @@ + + + + + + 6 + 4 + + + "l_wrist_prosup" "l_wrist_pitch" "l_wrist_yaw" "l_hand_finger" + "revolute" "revolute" "revolute" "revolute" + 0 1 2 3 + 182.044 182.044 182.044 182.044 + 3360 3360 3360 3360 + 1000.0 1000.0 1000.0 1000.0 + -100 159 159 256 + 1 1 1 1 + 1 1 1 1 + "DC" "DC" "DC" "DC" + 0 + + + + 90 30 35 60 + -90 -80 -35 10 + 0 0 0 0 + 0 0 0 0 + + + + + + + 1.000 0.000 0.000 0.000 + 0.000 1.000 0.000 0.000 + 0.000 -1.000 +1.000 0.000 + 0.000 0.000 0.000 1.000 + + + + 1.000 0.000 0.000 0.000 + 0.000 1.000 +1.000 0.000 + 0.000 0.000 +1.000 0.000 + 0.000 0.000 0.000 1.000 + + + + 1.000 0.000 0.000 0.000 0.000 0.000 + 0.000 1.000 0.000 0.000 0.000 0.000 + 0.000 0.000 1.000 0.000 0.000 0.000 + 0.000 0.000 0.000 1.000 0.000 0.000 + + + + + + 3 + + 0 + none + 0 + 0 + + + 1 2 + none + 0 + 0 + + + 3 + none + 0 + 0 + + + + + diff --git a/iCubLisboa01/hardware/mechanicals/left_arm-eb25-j8_11-mec.xml b/iCubLisboa01/hardware/mechanicals/left_arm-eb25-j8_11-mec.xml new file mode 100644 index 0000000000..c6a69794e7 --- /dev/null +++ b/iCubLisboa01/hardware/mechanicals/left_arm-eb25-j8_11-mec.xml @@ -0,0 +1,77 @@ + + + + + + 6 + 4 + + + "l_thumb_oppose" "l_thumb_proximal" "l_thumb_distal" "l_index_proximal" + "revolute" "revolute" "revolute" "revolute" + 0 1 2 3 + 182.044 182.044 182.044 182.044 + 3360 3360 3360 3360 + 1000.0 1000.0 1000.0 1000.0 + -256 -256 -256 -256 + 1 1 1 1 + 0 0 0 0 + "DC" "DC" "DC" "DC" + 0 + + + + 90 90 180 90 + 10 0 0 0 + 0 0 -70000 -5120 + 0 0 5120 32000 + + + + + + 1.000 0.000 0.000 0.000 + -1.000 +1.000 0.000 0.000 + 0.000 0.000 1.000 0.000 + 0.000 0.000 0.000 1.000 + + + + 1.000 0.000 0.000 0.000 + +1.000 +1.000 0.000 0.000 + 0.000 0.000 1.000 0.000 + 0.000 0.000 0.000 1.000 + + + + 1.000 0.000 0.000 0.000 0.000 0.000 + 0.000 1.000 0.000 0.000 0.000 0.000 + 0.000 0.000 1.000 0.000 0.000 0.000 + 0.000 0.000 0.000 1.000 0.000 0.000 + + + + + 3 + + 0 1 + none + 0 + 0 + + + 2 + none + 0 + 0 + + + 3 + none + 0 + 0 + + + + + diff --git a/iCubLisboa01/hardware/mechanicals/left_arm-eb26-j12_15-mec.xml b/iCubLisboa01/hardware/mechanicals/left_arm-eb26-j12_15-mec.xml new file mode 100644 index 0000000000..1136543ccb --- /dev/null +++ b/iCubLisboa01/hardware/mechanicals/left_arm-eb26-j12_15-mec.xml @@ -0,0 +1,82 @@ + + + + + + 6 + 4 + + + "l_index_distal" "l_middle_proximal" "l_middle_distal" "l_pinky" + "revolute" "revolute" "revolute" "revolute" + 0 1 2 3 + 182.044 182.044 182.044 182.044 + 3360 3360 3360 3360 + 1000.0 1000.0 1000.0 1000.0 + -256 -256 -256 -256 + 1 1 1 1 + 0 0 0 0 + "DC" "DC" "DC" "DC" + 0 + + + + 180 90 180 270 + 0 0 0 0 + -5120 -5120 -65000 -5120 + 65000 32000 5120 65000 + + + + + + 1.000 0.000 0.000 0.000 + 0.000 1.000 0.000 0.000 + 0.000 0.000 1.000 0.000 + 0.000 0.000 0.000 1.000 + + + + 1.000 0.000 0.000 0.000 + 1.000 1.000 0.000 0.000 + 0.000 0.000 1.000 0.000 + 0.000 0.000 0.000 1.000 + + + + 1.000 0.000 0.000 0.000 0.000 0.000 + 0.000 1.000 0.000 0.000 0.000 0.000 + 0.000 0.000 1.000 0.000 0.000 0.000 + 0.000 0.000 0.000 1.000 0.000 0.000 + + + + + + 4 + + 0 + none + 0 + 0 + + + 1 + none + 0 + 0 + + + 2 + none + 0 + 0 + + + 3 + none + 0 + 0 + + + diff --git a/iCubLisboa01/hardware/mechanicals/left_leg-eb6-j0_3-mec.xml b/iCubLisboa01/hardware/mechanicals/left_leg-eb6-j0_3-mec.xml new file mode 100644 index 0000000000..5b506fe2f4 --- /dev/null +++ b/iCubLisboa01/hardware/mechanicals/left_leg-eb6-j0_3-mec.xml @@ -0,0 +1,93 @@ + + + + + + 6 + 4 + 0 1 2 3 + "l_hip_pitch" "l_hip_roll" "l_hip_yaw" "l_knee" + "revolute" "revolute" "revolute" "revolute" + 182.044 182.044 182.044 182.044 + 32000 32000 32000 32000 + 1000.0 1000.0 1000.0 1000.0 + -150.0 100.0 -100.0 100.0 + 1 1 1 1 + 1 1 1 1 + "BLL_KOLLM" "BLL_KOLLM" "BLL_KOLLM" "BLL_KOLLM" + 0 + + + + 92 92 72 0 + -30 -15 -72 -100 + 0 0 0 0 + 0 0 0 0 + + + + 1 1 1 1 + 0 0 0 0 + 0 0 0 0 + 0 0 0 0 + 0 0 0 0 + 0 0 0 0 + 8 8 8 8 + + + + + + 1.00 0.00 0.00 0.00 + 0.00 1.00 0.00 0.00 + 0.00 0.00 1.00 0.00 + 0.00 0.00 0.00 1.00 + + + + 1.00 0.00 0.00 0.00 + 0.00 1.00 0.00 0.00 + 0.00 0.00 1.00 0.00 + 0.00 0.00 0.00 1.00 + + + + 1.00 0.00 0.00 0.00 0.00 0.00 + 0.00 1.00 0.00 0.00 0.00 0.00 + 0.00 0.00 1.00 0.00 0.00 0.00 + 0.00 0.00 0.00 -1.00 0.00 0.00 + + + + + + 4 + + 0 + none + 0 + 0 + + + 1 + none + 0 + 0 + + + 2 + none + 0 + 0 + + + 3 + none + 0 + 0 + + + + + + diff --git a/iCubLisboa01/hardware/mechanicals/left_leg-eb7-j4_5-mec.xml b/iCubLisboa01/hardware/mechanicals/left_leg-eb7-j4_5-mec.xml new file mode 100644 index 0000000000..1f1b182f22 --- /dev/null +++ b/iCubLisboa01/hardware/mechanicals/left_leg-eb7-j4_5-mec.xml @@ -0,0 +1,79 @@ + + + + + + 6 + 2 + 0 1 + "l_ankle_pitch" "l_ankle_roll" + "revolute" "revolute" + 182.044 182.044 + 32000 32000 + 1000.0 1000.0 + 100.00 100.00 + 1 1 + "BLL_MOOG" "BLL_MOOG" + 1 1 + 0 + + + + 30.00 20.00 + -30.00 -20.00 + 0 0 + 0 0 + + + + 1 1 + 0 0 + 0 0 + 0 0 + 0 0 + 0 0 + 8 8 + + + + + + 1.00 0.00 0.00 0.00 + 0.00 1.00 0.00 0.00 + 0.00 0.00 1.00 0.00 + 0.00 0.00 0.00 1.00 + + + + 1.00 0.00 0.00 0.00 + 0.00 1.00 0.00 0.00 + 0.00 0.00 1.00 0.00 + 0.00 0.00 0.00 1.00 + + + + 1.00 0.00 0.00 0.00 0.00 0.00 + 0.00 1.00 0.00 0.00 0.00 0.00 + 0.00 0.00 1.00 0.00 0.00 0.00 + 0.00 0.00 0.00 1.00 0.00 0.00 + + + + + + 2 + + 0 + none + 0 + 0 + + + 1 + none + 0 + 0 + + + + diff --git a/iCubLisboa01/hardware/mechanicals/right_arm-eb27-j4_7-mec.xml b/iCubLisboa01/hardware/mechanicals/right_arm-eb27-j4_7-mec.xml new file mode 100644 index 0000000000..12861ca221 --- /dev/null +++ b/iCubLisboa01/hardware/mechanicals/right_arm-eb27-j4_7-mec.xml @@ -0,0 +1,76 @@ + + + + + + 6 + 4 + + + "r_wrist_prosup" "r_wrist_pitch" "r_wrist_yaw" "r_hand_finger" + "revolute" "revolute" "revolute" "revolute" + 0 1 2 3 + 182.044 182.044 182.044 182.044 + 3360 3360 3360 3360 + 1000.0 1000.0 1000.0 1000.0 + 100 159 159 256 + 1 1 1 1 + 1 1 1 1 + "DC" "DC" "DC" "DC" + 0 + + + + 90 30 35 60 + -90 -80 -35 10 + 0 0 0 0 + 0 0 0 0 + + + + + + 1.000 0.000 0.000 0.000 + 0.000 1.000 0.000 0.000 + 0.000 -1.000 +1.000 0.000 + 0.000 0.000 0.000 1.000 + + + + 1.000 0.000 0.000 0.000 + 0.000 1.000 +1.000 0.000 + 0.000 0.000 +1.000 0.000 + 0.000 0.000 0.000 1.000 + + + + 1.000 0.000 0.000 0.000 0.000 0.000 + 0.000 1.000 0.000 0.000 0.000 0.000 + 0.000 0.000 1.000 0.000 0.000 0.000 + 0.000 0.000 0.000 1.000 0.000 0.000 + + + + + + 3 + + 0 + none + 0 + 0 + + + 1 2 + none + 0 + 0 + + + 3 + none + 0 + 0 + + + diff --git a/iCubLisboa01/hardware/mechanicals/right_arm-eb28-j8_11-mec.xml b/iCubLisboa01/hardware/mechanicals/right_arm-eb28-j8_11-mec.xml new file mode 100644 index 0000000000..1e4e084c10 --- /dev/null +++ b/iCubLisboa01/hardware/mechanicals/right_arm-eb28-j8_11-mec.xml @@ -0,0 +1,76 @@ + + + + + + 6 + 4 + + + "r_thumb_oppose" "r_thumb_proximal" "r_thumb_distal" "r_index_proximal" + "revolute" "revolute" "revolute" "revolute" + 0 1 2 3 + 182.044 182.044 182.044 182.044 + 3360 3360 3360 3360 + 1000.0 1000.0 1000.0 1000.0 + -256 -256 -256 -256 + 1 1 1 1 + 0 0 0 0 + "DC" "DC" "DC" "DC" + 0 + + + + 90 90 180 90 + 10 0 0 0 + 0 0 -5120 -5120 + 0 0 70000 32000 + + + + + + 1.000 0.000 0.000 0.000 + -1.000 +1.000 0.000 0.000 + 0.000 0.000 1.000 0.000 + 0.000 0.000 0.000 1.000 + + + + 1.000 0.000 0.000 0.000 + -1.000 +1.000 0.000 0.000 + 0.000 0.000 1.000 0.000 + 0.000 0.000 0.000 1.000 + + + + 1.000 0.000 0.000 0.000 0.000 0.000 + 0.000 1.000 0.000 0.000 0.000 0.000 + 0.000 0.000 1.000 0.000 0.000 0.000 + 0.000 0.000 0.000 1.000 0.000 0.000 + + + + + + 3 + + 0 1 + none + 0 + 0 + + + 2 + none + 0 + 0 + + + 3 + none + 0 + 0 + + + diff --git a/iCubLisboa01/hardware/mechanicals/right_arm-eb29-j12_15-mec.xml b/iCubLisboa01/hardware/mechanicals/right_arm-eb29-j12_15-mec.xml new file mode 100644 index 0000000000..a91fa6d920 --- /dev/null +++ b/iCubLisboa01/hardware/mechanicals/right_arm-eb29-j12_15-mec.xml @@ -0,0 +1,83 @@ + + + + + + 6 + 4 + + + "r_index_distal" "r_middle_proximal" "r_middle_distal" "r_pinky" + "revolute" "revolute" "revolute" "revolute" + 0 1 2 3 + 182.044 182.044 182.044 182.044 + 3360 3360 3360 3360 + 1000.0 1000.0 1000.0 1000.0 + -256 -256 -256 -256 + 1 1 1 1 + 0 0 0 0 + "DC" "DC" "DC" "DC" + 0 + + + + 180 90 180 270 + 0 0 0 0 + -65000 -5120 -5120 -65000 + 5120 32000 65000 5120 + + + + + + + 1.000 0.000 0.000 0.000 + 0.000 1.000 0.000 0.000 + 0.000 0.000 1.000 0.000 + 0.000 0.000 0.000 1.000 + + + + 1.000 0.000 0.000 0.000 + 1.000 1.000 0.000 0.000 + 0.000 0.000 1.000 0.000 + 0.000 0.000 0.000 1.000 + + + + 1.000 0.000 0.000 0.000 0.000 0.000 + 0.000 1.000 0.000 0.000 0.000 0.000 + 0.000 0.000 1.000 0.000 0.000 0.000 + 0.000 0.000 0.000 1.000 0.000 0.000 + + + + + + 4 + + 0 + none + 0 + 0 + + + 1 + none + 0 + 0 + + + 2 + none + 0 + 0 + + + 3 + none + 0 + 0 + + + diff --git a/iCubLisboa01/hardware/mechanicals/right_arm-eb3-j0_3-mec.xml b/iCubLisboa01/hardware/mechanicals/right_arm-eb3-j0_3-mec.xml new file mode 100644 index 0000000000..c5afc9891b --- /dev/null +++ b/iCubLisboa01/hardware/mechanicals/right_arm-eb3-j0_3-mec.xml @@ -0,0 +1,85 @@ + + + + + + 6 + 4 + 0 1 2 3 + "r_shoulder_pitch" "r_shoulder_roll" "r_shoulder_yaw" "r_elbow" + "revolute" "revolute" "revolute" "revolute" + 182.044 182.044 182.044 182.044 + 32000 32000 32000 32000 + 1000.0 1000.0 1000.0 1000.0 + -100.00 -100.00 -100.00 -100.00 + 1 1 1 1 + 1 1 1 1 + "BLL_MOOG" "BLL_MOOG" "BLL_MOOG" "BLL_MOOG" + + 0 + + + + + 8 160 80 106 + -95.5 15 -32 15 + 0 0 0 0 + 0 0 0 0 + + + + 1 1 1 1 + 0 0 0 0 + 1 1 1 1 + 0 0 0 0 + 0 0 0 0 + 0 0 0 0 + 8 8 8 8 + + + + + + + + 1.00 0.00 0.00 0.00 + -1.625 1.625 0.00 0.00 + 0.00 0.00 1.625 0.00 + 0.00 0.00 0.00 1.00 + + + + + 1.000 0.000 0.000 0.000 + 1.000 0.615 0.000 0.000 + 0.000 -0.615 0.615 0.000 + 0.000 0.000 0.000 1.000 + + + + 1.000 0.000 0.000 0.000 0.000 0.000 + 0.000 1.000 0.000 0.000 0.000 0.000 + 0.000 0.000 1.000 0.000 0.000 0.000 + 0.000 0.000 0.000 1.000 0.000 0.000 + + + + + + 2 + + 0 1 2 + none + 0 + 0 + + + 3 + none + 0 + 0 + + + + + diff --git a/iCubLisboa01/hardware/mechanicals/right_leg-eb8-j0_3-mec.xml b/iCubLisboa01/hardware/mechanicals/right_leg-eb8-j0_3-mec.xml new file mode 100644 index 0000000000..e76dd8a231 --- /dev/null +++ b/iCubLisboa01/hardware/mechanicals/right_leg-eb8-j0_3-mec.xml @@ -0,0 +1,93 @@ + + + + + + 6 + 4 + + 0 1 2 3 + "r_hip_pitch" "r_hip_roll" "r_hip_yaw" "r_knee" + "revolute" "revolute" "revolute" "revolute" + 182.044 182.044 182.044 182.044 + 32000 32000 32000 32000 + 1000.0 1000.0 1000.0 1000.0 + 100.00 -100.00 100.00 -100.00 + 1 1 1 1 + 1 1 1 1 + "BLL_KOLLM" "BLL_KOLLM" "BLL_KOLLM" "BLL_KOLLM" + + 0 + + + + + 92 92 72 0 + -30 -15 -72 -100 + 0 0 0 0 + 0 0 0 0 + + + + 1 1 1 1 + 0 0 0 0 + 0 0 0 0 + 0 0 0 0 + 0 0 0 0 + 0 0 0 0 + 8 8 8 8 + + + + + + 1.00 0.00 0.00 0.00 + 0.00 1.00 0.00 0.00 + 0.00 0.00 1.00 0.00 + 0.00 0.00 0.00 1.00 + + + + 1.00 0.00 0.00 0.00 + 0.00 1.00 0.00 0.00 + 0.00 0.00 1.00 0.00 + 0.00 0.00 0.00 1.00 + + + + 1.00 0.00 0.00 0.00 0.00 0.00 + 0.00 1.00 0.00 0.00 0.00 0.00 + 0.00 0.00 1.00 0.00 0.00 0.00 + 0.00 0.00 0.00 -1.00 0.00 0.00 + + + + + + 4 + + 0 + none + 0 + 0 + + + 1 + none + 0 + 0 + + + 2 + none + 0 + 0 + + + 3 + none + 0 + 0 + + + diff --git a/iCubLisboa01/hardware/mechanicals/right_leg-eb9-j4_5-mec.xml b/iCubLisboa01/hardware/mechanicals/right_leg-eb9-j4_5-mec.xml new file mode 100644 index 0000000000..173cf3b027 --- /dev/null +++ b/iCubLisboa01/hardware/mechanicals/right_leg-eb9-j4_5-mec.xml @@ -0,0 +1,80 @@ + + + + + + 6 + 2 + 0 1 + "r_ankle_pitch" "r_ankle_roll" + "revolute" "revolute" + 182.044 182.044 + 32000 32000 + 1000.0 1000.0 + -100.00 -100.00 + 1.00 1.00 + "BLL_MOOG" "BLL_MOOG" + 1 1 + 0 + + + + 30 20 + -30 -20 + 0 0 + 0 0 + + + + 1 1 + 0 0 + 0 0 + 0 0 + 0 0 + 0 0 + 8 8 + + + + + + 1.00 0.00 0.00 0.00 + 0.00 1.00 0.00 0.00 + 0.00 0.00 1.00 0.00 + 0.00 0.00 0.00 1.00 + + + + 1.00 0.00 0.00 0.00 + 0.00 1.00 0.00 0.00 + 0.00 0.00 1.00 0.00 + 0.00 0.00 0.00 1.00 + + + + 1.00 0.00 0.00 0.00 0.00 0.00 + 0.00 1.00 0.00 0.00 0.00 0.00 + 0.00 0.00 1.00 0.00 0.00 0.00 + 0.00 0.00 0.00 1.00 0.00 0.00 + + + + + + 2 + + 0 + none + 0 + 0 + + + 1 + none + 0 + 0 + + + + + diff --git a/iCubLisboa01/hardware/mechanicals/torso-eb5-j0_2-mec.xml b/iCubLisboa01/hardware/mechanicals/torso-eb5-j0_2-mec.xml new file mode 100644 index 0000000000..63b40e1a93 --- /dev/null +++ b/iCubLisboa01/hardware/mechanicals/torso-eb5-j0_2-mec.xml @@ -0,0 +1,73 @@ + + + + + + 6 + 3 + 2 0 1 + "torso_yaw" "torso_roll" "torso_pitch" + "revolute" "revolute" "revolute" + 182.044 182.044 182.044 + 32000 32000 32000 + 1000.0 1000.0 1000.0 + -100.00 -100.00 -100.00 + 1 1 1 + 1 1 1 + "BLL_MOOG" "BLL_MOOG" "BLL_MOOG" + 0 + + + + 50 30 70 + -50 -30 -20 + 0 0 0 + 0 0 0 + + + + 1 1 1 + 0 0 0 + 0 0 0 + 0 0 0 + 0 0 0 + 0 0 0 + 8 8 8 + + + + + + 0.500 -0.500 0.000 0.000 + 0.500 0.500 0.000 0.000 + 0.000 0.000 1.000 0.000 + 0.000 0.000 0.000 0.000 + + + + + 0.500 0.500 0.000 0.000 + -0.500 0.500 0.000 0.000 + 0.275 0.275 0.550 0.000 + 0.000 0.000 0.000 0.000 + + + 1.00 0.00 0.00 0.00 0.00 0.00 + 0.00 1.00 0.00 0.00 0.00 0.00 + 0.00 0.00 1.00 0.00 0.00 0.00 + 0.00 0.00 0.00 0.00 0.00 0.00 + + + + + + 1 + + 0 1 2 + none + 0 + 0 + + + + diff --git a/iCubLisboa01/hardware/motorControl/face-eb22-j0-mc.xml b/iCubLisboa01/hardware/motorControl/face-eb22-j0-mc.xml new file mode 100644 index 0000000000..a805716a13 --- /dev/null +++ b/iCubLisboa01/hardware/motorControl/face-eb22-j0-mc.xml @@ -0,0 +1,70 @@ + + + + + + + + + + + + + + + -5 + +65 + 2000 + 700 + 1000 + 1000 + 3300 + + + + 100 + + + + 0.0 + 0.0 + + + + POS_PID_DEFAULT + POS_PID_DEFAULT + POS_PID_DEFAULT + none + none + none + + + + + + + minjerk + pwm + metric_units + machine_units + 600.00 + 0.0 + 100.0 + 3360 + 3360 + 0 + 0 + 0 + + + + + + + + + + + + + diff --git a/iCubLisboa01/hardware/motorControl/face-eb22-j0-mc_service.xml b/iCubLisboa01/hardware/motorControl/face-eb22-j0-mc_service.xml new file mode 100644 index 0000000000..91c6cc2ae9 --- /dev/null +++ b/iCubLisboa01/hardware/motorControl/face-eb22-j0-mc_service.xml @@ -0,0 +1,48 @@ + + + + + + + + eomn_serv_MC_mc4plus + + + + + mc4plus + + + + + + + pwm + CONN:P2 + + + + aea + CONN:P10 + atjoint + -4096 + 0.703 + + + + none + none + none + 0 + 0 + + + + + + + + + + + diff --git a/iCubLisboa01/hardware/motorControl/head-eb20-j0_1-mc.xml b/iCubLisboa01/hardware/motorControl/head-eb20-j0_1-mc.xml new file mode 100644 index 0000000000..f81260ebec --- /dev/null +++ b/iCubLisboa01/hardware/motorControl/head-eb20-j0_1-mc.xml @@ -0,0 +1,70 @@ + + + + + + + + + + + + + + + -30 -20 + +22 +20 + 1000 1000 + 6000 6000 + 1500 1500 + 4000 4000 + 3360 3360 + + + + 100 100 + + + + 0.0 0.0 + 0.0 0.0 + + + + POS_PID_DEFAULT POS_PID_DEFAULT + POS_PID_DEFAULT POS_PID_DEFAULT + POS_PID_DEFAULT POS_PID_DEFAULT + none none + none none + none none + + + + + + + minjerk + pwm + metric_units + machine_units + -300 +300 + -10 +10 + -100 +100 + 3360 3360 + 3360 3360 + 0 0 + 0 0 + 0 0 + + + + + + + + + + + + + diff --git a/iCubLisboa01/hardware/motorControl/head-eb20-j0_1-mc_service.xml b/iCubLisboa01/hardware/motorControl/head-eb20-j0_1-mc_service.xml new file mode 100644 index 0000000000..6e6cc2a3bf --- /dev/null +++ b/iCubLisboa01/hardware/motorControl/head-eb20-j0_1-mc_service.xml @@ -0,0 +1,48 @@ + + + + + + + + eomn_serv_MC_mc4plus + + + + + mc4plus + + + + + + + pwm pwm + CONN:P3 CONN:P4 + + + + aea aea + CONN:P11 CONN:P10 + atjoint atjoint + 4096 -4096 + 0.703 0.703 + + + + qenc qenc + CONN:P3 CONN:P4 + atmotor atmotor + 2048 2048 + 0 0 + + + + + + + + + + + diff --git a/iCubLisboa01/hardware/motorControl/head-eb21-j2_5-mc.xml b/iCubLisboa01/hardware/motorControl/head-eb21-j2_5-mc.xml new file mode 100644 index 0000000000..c22aed6c0d --- /dev/null +++ b/iCubLisboa01/hardware/motorControl/head-eb21-j2_5-mc.xml @@ -0,0 +1,71 @@ + + + + + + + + + + + + + + + -45 -30 -30 0 + +45 +30 +30 +45 + 1000 1000 1000 1000 + 2000 2000 2500 2500 + 700 700 700 700 + 1500 1500 1500 1500 + + 3360 3360 3360 3360 + + + + 100 100 100 100 + + + + 0.0 0.0 0.0 0.0 + 0.0 0.0 0.0 0.0 + + + + POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT + POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT + POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT + none none none none + none none none none + none none none none + + + + + + + minjerk + pwm + metric_units + machine_units + 1100.00 -1000 3500 3500 + 0.0 0.0 0.0 0.0 + 0.0 -100 600.0 600.0 + 3360 3360 3360 3360 + 3360 3360 3360 3360 + 0 0 0 0 + 0 0 0 0 + 0 0 0 0 + + + + + + + + + + + + + diff --git a/iCubLisboa01/hardware/motorControl/head-eb21-j2_5-mc_service.xml b/iCubLisboa01/hardware/motorControl/head-eb21-j2_5-mc_service.xml new file mode 100644 index 0000000000..4a4e177a07 --- /dev/null +++ b/iCubLisboa01/hardware/motorControl/head-eb21-j2_5-mc_service.xml @@ -0,0 +1,49 @@ + + + + + + + + eomn_serv_MC_mc4plus + + + + + mc4plus + + + + + + + + + pwm pwm pwm pwm + CONN:P3 CONN:P2 CONN:P5 CONN:P4 + + + + aea aea none none + CONN:P11 CONN:P10 CONN:none CONN:none + atjoint atjoint none none + 4096 4096 0 0 + 0.703 0.703 0 0 + + + + qenc qenc qenc qenc + CONN:P3 CONN:P2 CONN:P5 CONN:P4 + atmotor atmotor atmotor atmotor + 2048 2048 2048 2048 + 0 0 0 0 + + + + + + + + + + diff --git a/iCubLisboa01/hardware/motorControl/icub_head.xml b/iCubLisboa01/hardware/motorControl/icub_head.xml deleted file mode 100644 index 1daf3f6c68..0000000000 --- a/iCubLisboa01/hardware/motorControl/icub_head.xml +++ /dev/null @@ -1,87 +0,0 @@ - - - - - - - sharedcan - cfw2can - 1 2 3 - 0 - HEAD - 0 - 10 - 500 - 500 - 500 - 1 1 1 1 1 1 - 0 0 0 0 0 0 - 1 1 1 1 1 1 - 0 0 0 0 0 0 - 1 1 1 1 1 1 - 1 1 1 1 1 1 - 0 0 0 0 0 0 - 0 0 0 0 0 0 - 0 0 0 0 0 0 - - - - - 6 - 0 1 2 3 4 5 - "neck_pitch" "neck_roll" "neck_yaw" "eyes_tilt" "eyes_version" "eyes_vergence" - "revolute" "revolute" "revolute" "revolute" "revolute" "revolute" - 11.375 -11.375 11.375 11.375 568.88 284.44 - 178 -178 178 178 -49 0 - 1333 1333 1333 1333 1333 1333 - 1000.0 1000.0 1000.0 1000.0 1000.0 1000.0 - 0 0 0 0 0 0 - 0 0 0 0 0 0 - 0 0 0 0 0 0 - 0 0 0 0 0 0 - 1 1 1 1 1 1 - 1 1 1 1 1 1 - - - - 1 1 1 1 1 1 - 1 1 1 1 1 1 - 5 5 5 5 5 5 - 5 5 5 5 5 5 - 8 8 8 8 8 8 - 100 100 100 100 100 100 - - - - -35 -20 -45 -30 -30 0 - 22 20 45 30 30 50 - 2000 2000 1200 620 600 600 - 1333 1333 1333 1333 1333 1333 - - - - 6000 -6000 3200 -400 100 100 - 500 -500 3200 -400 1000 1000 - 5 -5 10 -4 10 10 - 480 480 1333 1333 1333 1333 - 480 480 1333 1333 1333 1333 - 9 9 6 4 5 5 - 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 - 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 - 0 0 0 0 0 0 - 0 0 0 0 0 0 - - - - diff --git a/iCubLisboa01/hardware/motorControl/icub_left_arm.xml b/iCubLisboa01/hardware/motorControl/icub_left_arm.xml deleted file mode 100644 index 75ce192ef0..0000000000 --- a/iCubLisboa01/hardware/motorControl/icub_left_arm.xml +++ /dev/null @@ -1,87 +0,0 @@ - - - - - - - sharedcan - cfw2can - 1 2 3 4 - 1 - LEFT_ARM - 0 - 10 - 500 - 500 - 500 - 1 1 1 1 1 1 1 1 - 1 1 1 1 0 0 0 0 - 1 1 1 1 1 1 1 1 - 0 0 0 0 0 0 0 0 - 1 1 1 1 1 1 1 1 - 1 1 1 1 1 1 1 1 - 0 0 0 0 0 0 0 0 - 0 0 0 0 0 0 0 0 - 0 0 0 0 0 0 0 0 - - - - - 8 - 0 1 2 3 4 5 6 7 - "l_shoulder_pitch" "l_shoulder_roll" "l_shoulder_yaw" "l_elbow" "l_wrist_prosup" "l_wrist_pitch" "l_wrist_yaw" "l_hand_finger" - "revolute" "revolute" "revolute" "revolute" "revolute" "revolute" "revolute" "revolute" - -11.375 -11.375 -11.375 -11.375 -706.67 -978.46 -978.46 3.666667 - -180.5 -327 6.0 -178 90 -20 -52 526.3636 - 800 800 800 800 1333 1333 1333 1333 - 1000.0 1000.0 1000.0 1000.0 1000.0 1000.0 1000.0 1000.0 - 0x0C 0x0C 0x0C 0x0C 0x0C 0 0 0 - 0 1 2 3 4 0 0 0 - 8 8 8 8 2 2 2 2 - 0 0 0 0 0 0 0 0 - 21.888 21.888 21.888 21.888 1 1 1 1 - 1 1 1 1 1 1 1 1 - - - - 1 1 1 1 1 1 1 1 - 1 1 1 1 1 1 1 1 - 5 5 5 5 5 5 5 5 - 5 5 5 5 5 5 5 5 - 8 8 8 8 8 8 8 8 - 100 100 100 100 100 100 100 100 - - - - -95.5 0 -30 15 -90 -80 -20 0 - 10 160.8 75 106 90 15 25 60 - 7000 7000 7000 7000 500 800 800 800 - 1333 1333 1333 1333 1333 1333 1333 1333 - - - - 32000 32000 10000 32000 200 100 100 -200 - 50 50 0 20 1000 100 100 -200 - 60 60 10 60 1 2 2 -1 - 1333 1333 1333 1333 1333 1333 1333 1333 - 1333 1333 1333 1333 1333 1333 1333 1333 - 13 13 13 13 6 6 6 4 - 0 0 0 0 0 0 0 0 - 0 0 0 0 0 0 0 0 - 0 0 0 0 0 0 0 0 - - - - -8 -8 -30 -30 -50 0 0 0 - 0 0 0 0 0 0 0 0 - 0 0 0 0 0 0 0 0 - 1333 1333 1333 1333 1333 1333 1333 1333 - 1333 1333 1333 1333 1333 1333 1333 1333 - 10 10 10 10 10 10 10 10 - 0 0 0 0 0 0 0 0 - 0 0 0 0 0 0 0 0 - 0 0 0 0 0 0 0 0 - - - - diff --git a/iCubLisboa01/hardware/motorControl/icub_left_hand.xml b/iCubLisboa01/hardware/motorControl/icub_left_hand.xml deleted file mode 100644 index 456acb6d93..0000000000 --- a/iCubLisboa01/hardware/motorControl/icub_left_hand.xml +++ /dev/null @@ -1,87 +0,0 @@ - - - - - - - sharedcan - cfw2can - 5 6 7 8 - 5 - LEFT_HAND - 0 - 10 - 500 - 500 - 500 - 1 1 1 1 1 1 1 1 - 0 0 0 0 0 0 0 0 - 1 1 1 1 1 1 1 1 - 0 0 0 0 0 0 0 0 - 1 1 1 1 1 1 1 1 - 1 1 1 1 1 1 1 1 - 0 0 0 0 0 0 0 0 - 0 0 0 0 0 0 0 0 - 0 0 0 0 0 0 0 0 - - - - - 8 - "l_thumb_oppose" "l_thumb_proximal" "l_thumb_distal" "l_index_proximal" "l_index_distal" "l_middle_proximal" "l_middle_distal" "l_pinky" - "revolute" "revolute" "revolute" "revolute" "revolute" "revolute" "revolute" "revolute" - 0 1 2 3 4 5 6 7 - 5.50 -2.17 -2.36 -2.33 -2.53 -2.44 -2.39 -2.20 - 348.18 -108.46 -203.29 -98.57 -183.96 -98.18 -188.37 -322.73 - 1333 1333 1333 1333 1333 1333 1333 1333 - 1000.0 1000.0 1000.0 1000.0 1000.0 1000.0 1000.0 1000.0 - 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 0 0 0 - 1 1 1 1 1 1 1 1 - 1 1 1 1 1 1 1 1 - - - - 1 1 1 1 1 1 1 1 - 1 1 1 1 1 1 1 1 - 5 5 5 5 5 5 5 5 - 5 5 5 5 5 5 5 5 - 8 8 8 8 8 8 8 8 - 100 100 100 100 100 100 100 100 - - - - 10 0 0 0 0 0 0 0 - 90 90 170 90 170 90 170 250 - 485 485 485 485 485 485 485 485 - 1333 1333 1333 1333 1333 1333 1333 1333 - - - - 8000 -8000 8000 -8000 8000 -8000 -8000 -120 - 32000 -32000 32000 -32000 32000 -32000 -32000 -1250 - 5 -5 5 -5 5 -5 -5 0 - 1333 1333 1333 1333 1333 1333 1333 1333 - 1333 1333 1333 1333 1333 1333 1333 1333 - 10 10 10 8 10 10 10 4 - 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 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 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 0 0 0 0 0 0 - - - - diff --git a/iCubLisboa01/hardware/motorControl/icub_left_leg.xml b/iCubLisboa01/hardware/motorControl/icub_left_leg.xml deleted file mode 100644 index 64c234f173..0000000000 --- a/iCubLisboa01/hardware/motorControl/icub_left_leg.xml +++ /dev/null @@ -1,87 +0,0 @@ - - - - - - - sharedcan - cfw2can - 5 6 7 - 3 - LEFTLEG - 0 - 10 - 500 - 500 - 500 - 1 1 1 1 1 1 - 0 0 0 0 0 0 - 1 1 1 1 1 1 - 0 0 0 0 0 0 - 1 1 1 1 1 1 - 1 1 1 1 1 1 - 0 0 0 0 0 0 - 0 0 0 0 0 0 - 0 0 0 0 0 0 - - - - - 6 - 2 3 0 1 4 5 - "l_hip_pitch" "l_hip_roll" "l_hip_yaw" "l_knee" "l_ankle_pitch" "l_ankle_roll" - "revolute" "revolute" "revolute" "revolute" "revolute" "revolute" - 11.375 11.375 11.375 11.375 11.375 11.375 - 180 180 180 180 180 180 - 0x0C 0x0C 0x0C 0x0C 0x0C 0x0C - 0 1 2 3 4 5 - 12 12 12 12 12 12 - 800 800 800 800 800 800 - 1000.0 1000.0 1000.0 1000.0 1000.0 1000.0 - 0 0 0 0 0 0 - 21.888 21.888 21.888 21.888 21.888 21.888 - 150 100 100 100 100 100 - - - - 1 1 1 1 1 1 - 1 1 1 1 1 1 - 5 5 5 5 5 5 - 5 5 5 5 5 5 - 8 8 8 8 8 8 - 100 100 100 100 100 100 - - - - -30 0 -40 -120 -20 -10 - 90 90 65 0 30 15 - 7000 7000 7000 7000 7000 7000 - 1333 1333 1333 1333 1333 1333 - - - - 32000 -32000 32000 -32000 -32000 -32000 - 100 -100 100 -100 -100 -100 - 60 -60 60 -60 -60 -60 - 800 800 800 800 800 800 - 800 800 800 800 800 800 - 13 13 13 13 13 13 - 0 0 0 0 0 0 - 0 0 0 0 0 0 - 0 0 0 0 0 0 - - - - 76 -76 76 -76 0 0 - 0 0 0 0 0 0 - 0 0 0 0 0 0 - 800 800 800 800 800 800 - 800 800 800 800 800 800 - 14 14 14 14 14 14 - 0 0 0 0 0 0 - 0 0 0 0 0 0 - 0 0 0 0 0 0 - - - - diff --git a/iCubLisboa01/hardware/motorControl/icub_right_arm.xml b/iCubLisboa01/hardware/motorControl/icub_right_arm.xml deleted file mode 100644 index d43c669435..0000000000 --- a/iCubLisboa01/hardware/motorControl/icub_right_arm.xml +++ /dev/null @@ -1,87 +0,0 @@ - - - - - - - sharedcan - cfw2can - 1 2 3 4 - 2 - RIGHT_ARM - 0 - 10 - 500 - 500 - 500 - 1 1 1 1 1 1 1 1 - 1 1 1 1 0 0 0 0 - 1 1 1 1 1 1 1 1 - 0 0 0 0 0 0 0 0 - 1 1 1 1 1 1 1 1 - 1 1 1 1 1 1 1 1 - 0 0 0 0 0 0 0 0 - 0 0 0 0 0 0 0 0 - 0 0 0 0 0 0 0 0 - - - - - 8 - 0 1 2 3 4 5 6 7 - "r_shoulder_pitch" "r_shoulder_roll" "r_shoulder_yaw" "r_elbow" "r_wrist_prosup" "r_wrist pitch" "r_wrist_yaw" "r_hand_finger" - "revolute" "revolute" "revolute" "revolute" "revolute" "revolute" "revolute" "revolute" - 800 800 800 800 1333 1333 1333 1333 - 1000.0 1000.0 1000.0 1000.0 1000.0 1000.0 1000.0 1000.0 - 11.375 11.375 11.375 11.375 706.67 978.46 978.46 3.333333 - 174 31 233.7422 176 90 -20 -52 447 - 0x0C 0x0C 0x0C 0x0C 0x0C 0 0 0 - 0 1 2 3 4 0 0 0 - 8 8 8 8 2 2 2 2 - 0 0 0 0 0 0 0 0 - 21.888 21.888 21.888 21.888 1 1 1 1 - 1 1 1 1 1 1 1 1 - - - - 1 1 1 1 1 1 1 1 - 1 1 1 1 1 1 1 1 - 5 5 5 5 5 5 5 5 - 5 5 5 5 5 5 5 5 - 8 8 8 8 8 8 8 8 - 100 100 100 100 100 100 100 100 - - - - -95.5 0 -30 15 -90 -80 -20 0 - 10 161 75 106 90 15 25 60 - 7000 7000 7000 7000 500 800 800 800 - 1333 1333 1333 1333 1333 1333 1333 1333 - - - - 32000 32000 10000 32000 200 100 100 200 - 50 50 0 20 1000 100 100 200 - 60 60 10 60 1 2 2 1 - 1333 1333 1333 1333 1333 1333 1333 1333 - 1333 1333 1333 1333 1333 1333 1333 1333 - 13 13 13 13 6 6 6 4 - 0 0 0 0 0 0 0 0 - 0 0 0 0 0 0 0 0 - 0 0 0 0 0 0 0 0 - - - - 8 8 30 30 50 0 0 0 - 0 0 0 0 0 0 0 0 - 0 0 0 0 0 0 0 0 - 1333 1333 1333 1333 1333 1333 1333 1333 - 1333 1333 1333 1333 1333 1333 1333 1333 - 10 10 10 10 10 10 10 10 - 0 0 0 0 0 0 0 0 - 0 0 0 0 0 0 0 0 - 0 0 0 0 0 0 0 0 - - - - diff --git a/iCubLisboa01/hardware/motorControl/icub_right_hand.xml b/iCubLisboa01/hardware/motorControl/icub_right_hand.xml deleted file mode 100644 index c750b61385..0000000000 --- a/iCubLisboa01/hardware/motorControl/icub_right_hand.xml +++ /dev/null @@ -1,87 +0,0 @@ - - - - - - - sharedcan - cfw2can - 5 6 7 8 - 6 - RIGHT_HAND - 0 - 10 - 500 - 500 - 500 - 1 1 1 1 1 1 1 1 - 0 0 0 0 0 0 0 0 - 1 1 1 1 1 1 1 1 - 0 0 0 0 0 0 0 0 - 1 1 1 1 1 1 1 1 - 1 1 1 1 1 1 1 1 - 0 0 0 0 0 0 0 0 - 0 0 0 0 0 0 0 0 - 0 0 0 0 0 0 0 0 - - - - - 8 - 0 1 2 3 4 5 6 7 - "r_thumb_oppose" "r_thumb_proximal" "r_thumb_distal" "r_index_proximal" "r_index_distal" "r_middle_proximal" "r_middle_distal" "r_pinky" - "revolute" "revolute" "revolute" "revolute" "revolute" "revolute" "revolute" "revolute" - 16.67 -2.42 -2.42 -2.53 -2.08 -2.52 -2.39 -2.30 - 120.00 -98.26 -204.83 -93.95 -230.40 -95.95 -188.37 -306.52 - 1333 1333 1333 1333 1333 1333 1333 1333 - 1000.0 1000.0 1000.0 1000.0 1000.0 1000.0 1000.0 1000.0 - 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 0 0 0 - 1 1 1 1 1 1 1 1 - 1 1 1 1 1 1 1 1 - - - - 1 1 1 1 1 1 1 1 - 1 1 1 1 1 1 1 1 - 5 5 5 5 5 5 5 5 - 5 5 5 5 5 5 5 5 - 8 8 8 8 8 8 8 8 - 100 100 100 100 100 100 100 100 - - - - 10 0 0 0 0 0 0 0 - 90 90 170 90 170 90 170 250 - 485 485 485 485 485 485 485 485 - 1333 1333 1333 1333 1333 1333 1333 1333 - - - - -8000 -8000 8000 -8000 -8000 -8000 8000 -120 - -32000 -32000 32000 -32000 -32000 -32000 32000 -1250 - -5 -5 5 -5 -5 -5 5 0 - 1333 1333 1333 1333 1333 1333 1333 1333 - 1333 1333 1333 1333 1333 1333 1333 1333 - 10 10 10 10 10 10 10 4 - 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 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 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 0 0 0 0 0 0 - - - - diff --git a/iCubLisboa01/hardware/motorControl/icub_right_leg.xml b/iCubLisboa01/hardware/motorControl/icub_right_leg.xml deleted file mode 100644 index dab9796d3f..0000000000 --- a/iCubLisboa01/hardware/motorControl/icub_right_leg.xml +++ /dev/null @@ -1,87 +0,0 @@ - - - - - - - sharedcan - cfw2can - 8 9 10 - 4 - RIGHTLEG - 0 - 10 - 500 - 500 - 500 - 1 1 1 1 1 1 - 0 0 0 0 0 0 - 1 1 1 1 1 1 - 0 0 0 0 0 0 - 1 1 1 1 1 1 - 1 1 1 1 1 1 - 0 0 0 0 0 0 - 0 0 0 0 0 0 - 0 0 0 0 0 0 - - - - - 6 - 2 3 0 1 4 5 - "r_hip_pitch" "r_hip_roll" "r_hip_yaw" "r_knee" "r_ankle_pitch" "r_ankle_roll" - "revolute" "revolute" "revolute" "revolute" "revolute" "revolute" - -11.375 -11.375 -11.375 -11.375 -11.375 -11.375 - -180 -180 -180 -180 -180 -180 - 0x0B 0x0B 0x0B 0x0B 0x0B 0x0B - 0 1 2 3 4 5 - 12 12 12 12 12 12 - 800 800 800 800 800 800 - 1000.0 1000.0 1000.0 1000.0 1000.0 1000.0 - 0 0 0 0 0 0 - 21.888 21.888 21.888 21.888 21.888 21.888 - 150 100 100 100 100 100 - - - - 1 1 1 1 1 1 - 1 1 1 1 1 1 - 5 5 5 5 5 5 - 5 5 5 5 5 5 - 8 8 8 8 8 8 - 100 100 100 100 100 100 - - - - -30 0 -40 -120 -20 -10 - 90 90 65 0 30 15 - 7000 7000 7000 7000 7000 7000 - 1333 1333 1333 1333 1333 1333 - - - - 32000 -32000 32000 -32000 -32000 -32000 - 100 -100 100 -100 -100 -100 - 60 -60 60 -60 -60 -60 - 800 800 800 800 800 800 - 800 800 800 800 800 800 - 13 13 13 13 13 13 - 0 0 0 0 0 0 - 0 0 0 0 0 0 - 0 0 0 0 0 0 - - - - -76 76 -76 76 0 0 - 0 0 0 0 0 0 - 0 0 0 0 0 0 - 800 800 800 800 800 800 - 800 800 800 800 800 800 - 14 14 14 14 14 14 - 0 0 0 0 0 0 - 0 0 0 0 0 0 - 0 0 0 0 0 0 - - - - diff --git a/iCubLisboa01/hardware/motorControl/icub_torso.xml b/iCubLisboa01/hardware/motorControl/icub_torso.xml deleted file mode 100644 index 2835416d38..0000000000 --- a/iCubLisboa01/hardware/motorControl/icub_torso.xml +++ /dev/null @@ -1,88 +0,0 @@ - - - - - - - sharedcan - cfw2can - 5 6 - 0 - TORSO - 0 - 10 - 500 - 500 - 500 - 1 1 1 1 - 0 0 0 0 - 1 1 1 1 - 0 0 0 0 - 1 1 1 1 - 1 1 1 1 - 0 0 0 0 - 0 0 0 0 - 0 0 0 0 - - - - - 4 - 0 2 3 1 - "torso_yaw" "torso_roll" "torso_pitch" "none" - "revolute" "revolute" "revolute" "revolute" - 11.375 11.375 11.375 0 - 180 179 181 0 - 0x0C 0x0C 0x0C 0x0C - 0 1 2 0 - 12 12 12 12 - 0 0 0 0 - 21.888 21.888 21.888 0 - 1 1 1 1 - 800 800 800 800 - 1000.0 1000.0 1000.0 1000.0 - - - - - 1 1 1 1 - 1 1 1 1 - 5 5 5 5 - 5 5 5 5 - 8 8 8 8 - 100 100 100 100 - - - - -50 -30 -22 0 - 50 30 70 0 - 7000 7000 7000 0 - 1333 1333 1333 0 - - - - 32000 32000 32000 0 - 6000 6000 6000 0 - 60 60 60 0 - 1333 1333 1333 1333 - 1333 1333 1333 1333 - 13 13 13 0 - 0 0 0 0 - 0 0 0 0 - 0 0 0 0 - - - - 6 6 6 0 - 0 0 0 0 - 0 0 0 0 - 0 0 0 0 - 0 0 0 0 - 11 11 11 0 - 0 0 0 0 - 0 0 0 0 - 0 0 0 0 - - - - diff --git a/iCubLisboa01/hardware/motorControl/left_arm-eb1-j0_3-mc.xml b/iCubLisboa01/hardware/motorControl/left_arm-eb1-j0_3-mc.xml new file mode 100644 index 0000000000..b1e3b5fa66 --- /dev/null +++ b/iCubLisboa01/hardware/motorControl/left_arm-eb1-j0_3-mc.xml @@ -0,0 +1,117 @@ + + + + + + + + + + + + + + + 8 160 80 106 + -95.5 15 -32 15 + 1000 1000 1000 1000 + 4500 4500 4500 4000 + 5500 5500 5500 5000 + 15000 15000 15000 15000 + 10000 10000 10000 10000 + + + + 100 100 100 100 + + + + 0.1 0.1 0.1 0.1 + 0.05 0.05 0.05 0.05 + + + + POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT + POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT + POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT + TRQ_PID_DEFAULT TRQ_PID_DEFAULT TRQ_PID_DEFAULT TRQ_PID_DEFAULT + 2FOC_CUR_CONTROL 2FOC_CUR_CONTROL 2FOC_CUR_CONTROL 2FOC_CUR_CONTROL + 2FOC_VEL_CONTROL 2FOC_VEL_CONTROL 2FOC_VEL_CONTROL 2FOC_VEL_CONTROL + + + + + + + minjerk + pwm + metric_units + machine_units + -711.11 1066.66 711.11 1066.66 + 0.00 0.00 0.00 0.00 + -7111.09 10666.64 7111.09 10666.64 + 8000 8000 8000 8000 + 200 200 200 1000 + 0 0 0 0 + 0 0 0 0 + 0 0 0 0 + + + + + + + + + torque + pwm + metric_units + machine_units + 200 200 250 300 + 0 0 0 0 + 0 0 0 0 + 8000 8000 8000 8000 + 500 500 500 500 + 0 0 0 0 + 0.5 0.5 1 1.7 + -0.7 -0.7 -0.8 -1.2 + 1 1 1 1 + 0.0030 0.0006 0.0007 0.0007 + 0 0 0 0 + 180 464 463 449 + + + + low_lev_current + machine_units + machine_units + 8 8 8 8 + 0 0 0 0 + 2 2 2 2 + 10 10 10 10 + 32000 32000 32000 32000 + 32000 32000 32000 32000 + 0 0 0 0 + + + + low_lev_speed + machine_units + machine_units + 0 0 0 0 + 12 12 12 12 + 0 0 0 0 + 16 16 16 16 + 10 10 10 10 + 32000 32000 32000 32000 + 32000 32000 32000 32000 + + + + + + + + + + diff --git a/iCubLisboa01/hardware/motorControl/left_arm-eb1-j0_3-mc_service.xml b/iCubLisboa01/hardware/motorControl/left_arm-eb1-j0_3-mc_service.xml new file mode 100644 index 0000000000..c20d6b441b --- /dev/null +++ b/iCubLisboa01/hardware/motorControl/left_arm-eb1-j0_3-mc_service.xml @@ -0,0 +1,62 @@ + + + + + + + + eomn_serv_MC_foc + + + + + ems4 + + + + foc + + 1 + 6 + + + 3 + 3 + 3 + + + + + + + + + eomc_act_foc foc foc foc + CAN1:1:0 CAN1:2:0 CAN1:3:0 CAN1:4:0 + + + + eomc_enc_aea aea aea aea + CONN:P6 CONN:P7 CONN:P8 CONN:P9 + eomc_pos_atjoint atjoint atjoint atjoint + -4096 -4096 4096 -4096 + 0.703 0.703 0.703 0.703 + + + + roie roie roie roie + CAN1:1:0 CAN1:2:0 CAN1:3:0 CAN1:4:0 + atmotor atmotor atmotor atmotor + -14400 -14400 -14400 -14400 + 0 0 0 0 + + + + + + + + + + + diff --git a/iCubLisboa01/hardware/motorControl/left_arm-eb24-j4_7-mc.xml b/iCubLisboa01/hardware/motorControl/left_arm-eb24-j4_7-mc.xml new file mode 100644 index 0000000000..552b691bff --- /dev/null +++ b/iCubLisboa01/hardware/motorControl/left_arm-eb24-j4_7-mc.xml @@ -0,0 +1,92 @@ + + + + + + + + + + + + + + + 60 25 35 60 + -60 -70 -15 10 + 1000 1000 1000 1000 + 10000 2000 2000 2000 + 5000 1000 1000 600 + 5000 2000 2000 1000 + 3360 3360 3360 3360 + + + + 100 100 100 100 + + + + 0.0 0.0 0.0 0.0 + 0.0 0.0 0.0 0.0 + + + + POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT + POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT + POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT + TRQ_PID_DEFAULT none none none + none none none none + none none none none + + + + + + + minjerk + pwm + metric_units + machine_units + -200.0 -500.0 -500.0 -500.0 + 0.0 0.0 0.0 0.0 + -200.0 -50.0 -50.0 -50.0 + 3360 3360 3360 3360 + 3360 3360 3360 3360 + 0 0 0 0 + 0 0 0 0 + 0 0 0 0 + + + + + + + + + torque + pwm + metric_units + dutycycle_percent + -29.76 0 0 0 + 0 0 0 0 + 0 0 0 0 + 100 0 0 0 + 14.88 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 + 0.03 0 0 0 + + + + + + + + + + + diff --git a/iCubLisboa01/hardware/motorControl/left_arm-eb24-j4_7-mc_service.xml b/iCubLisboa01/hardware/motorControl/left_arm-eb24-j4_7-mc_service.xml new file mode 100644 index 0000000000..14e94efa87 --- /dev/null +++ b/iCubLisboa01/hardware/motorControl/left_arm-eb24-j4_7-mc_service.xml @@ -0,0 +1,51 @@ + + + + + + + + eomn_serv_MC_mc4plus + + + + + mc4plus + + + + + + + + + pwm pwm pwm pwm + CONN:P5 CONN:P2 CONN:P4 CONN:P3 + + + + qenc aea aea absanalog + CONN:P5 CONN:P10 CONN:P11 CONN:P3 + atjoint atjoint atjoint atjoint + 1 -4096 4096 65535 + 0 0.703 0.703 0 + + + + + qenc qenc qenc none + CONN:P5 CONN:P2 CONN:P4 CONN:none + atmotor atmotor atmotor none + -2048 1600 1600 1 + 0 0 0 0 + + + + + + + + + + + diff --git a/iCubLisboa01/hardware/motorControl/left_arm-eb25-j8_11-mc.xml b/iCubLisboa01/hardware/motorControl/left_arm-eb25-j8_11-mc.xml new file mode 100644 index 0000000000..911fce8534 --- /dev/null +++ b/iCubLisboa01/hardware/motorControl/left_arm-eb25-j8_11-mc.xml @@ -0,0 +1,73 @@ + + + + + + + + + + + + + + + 90 90 180 90 + 10 0 0 0 + 1000 1000 1000 1000 + 2000 2000 2000 2000 + 600 600 600 600 + 1000 1000 1000 1000 + 3360 3360 3360 3360 + + + + 100 100 100 100 + + + + 0.0 0.0 0.0 0.0 + 0.0 0.0 0.0 0.0 + + + + POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT + POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT + POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT + none none none none + none none none none + none none none none + + + + + + + minjerk + pwm + metric_units + machine_units + -500.0 500.0 500.0 500.0 + 0.0 0.0 0.0 0.0 + -50.0 50.0 50.0 50.0 + 3360 3360 3360 3360 + 3360 3360 3360 3360 + 0 0 0 0 + 0 0 0 0 + 0 0 0 0 + + + + + + + + + + + + + + + + diff --git a/iCubLisboa01/hardware/motorControl/left_arm-eb25-j8_11-mc_service.xml b/iCubLisboa01/hardware/motorControl/left_arm-eb25-j8_11-mc_service.xml new file mode 100644 index 0000000000..06926ec053 --- /dev/null +++ b/iCubLisboa01/hardware/motorControl/left_arm-eb25-j8_11-mc_service.xml @@ -0,0 +1,66 @@ + + + + + + + + eomn_serv_MC_mc4plusmais + + + + + mc4plus + + + + mais + + 0 + 0 + + + 0 + 0 + 0 + + + + + CAN1:14 + + + + + + + + pwm pwm pwm pwm + CONN:P3 CONN:P2 CONN:P4 CONN:P5 + + + + absanalog mais mais mais + CONN:P3 MAIS:thumbproximal MAIS:thumbdistal MAIS:indexproximal + atjoint atjoint atjoint atjoint + 65535 65535 65535 65535 + 0 0 0 0 + + + + none qenc qenc qenc + CONN:none CONN:P2 CONN:P4 CONN:P5 + none atmotor atmotor atmotor + 1 40 40 40 + 0 0 0 0 + + + + + + + + + + + diff --git a/iCubLisboa01/hardware/motorControl/left_arm-eb26-j12_15-mc.xml b/iCubLisboa01/hardware/motorControl/left_arm-eb26-j12_15-mc.xml new file mode 100644 index 0000000000..bc5ca1e151 --- /dev/null +++ b/iCubLisboa01/hardware/motorControl/left_arm-eb26-j12_15-mc.xml @@ -0,0 +1,71 @@ + + + + + + + + + + + + + + + 180 90 180 270 + 0 0 0 0 + 1000 1000 1000 1000 + 2000 2000 2000 2000 + 600 600 600 600 + 1000 1000 1000 1000 + 3360 3360 3360 3360 + + + + 100 100 100 100 + + + + 0.0 0.0 0.0 0.0 + 0.0 0.0 0.0 0.0 + + + + POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT + POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT + POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT + none none none none + none none none none + none none none none + + + + + + + minjerk + pwm + metric_units + machine_units + -500.0 500.0 500.0 -200.0 + 0.0 0.0 0.0 0.0 + -50.0 50.0 50.0 -20.0 + 3360 3360 3360 3360 + 3360 3360 3360 3360 + 0 0 0 0 + 0 0 0 0 + 0 0 0 0 + + + + + + + + + + + + + + diff --git a/iCubLisboa01/hardware/motorControl/left_arm-eb26-j12_15-mc_service.xml b/iCubLisboa01/hardware/motorControl/left_arm-eb26-j12_15-mc_service.xml new file mode 100644 index 0000000000..1dec82c233 --- /dev/null +++ b/iCubLisboa01/hardware/motorControl/left_arm-eb26-j12_15-mc_service.xml @@ -0,0 +1,64 @@ + + + + + + + + eomn_serv_MC_mc4plusmais + + + + + mc4plus + + + + mais + + 0 + 0 + + + 0 + 0 + 0 + + + + + CAN1:14 + + + + + + + pwm pwm pwm pwm + CONN:P3 CONN:P2 CONN:P4 CONN:P5 + + + + mais mais mais mais + MAIS:indexdistal MAIS:mediumproximal MAIS:mediumdistal MAIS:littlefingers + atjoint atjoint atjoint atjoint + 65535 65535 65535 65535 + 0 0 0 0 + + + + qenc qenc qenc qenc + CONN:P3 CONN:P2 CONN:P4 CONN:P5 + atmotor atmotor atmotor atmotor + 40 40 40 40 + 0 0 0 0 + + + + + + + + + + diff --git a/iCubLisboa01/hardware/motorControl/left_leg-eb6-j0_3-mc.xml b/iCubLisboa01/hardware/motorControl/left_leg-eb6-j0_3-mc.xml new file mode 100644 index 0000000000..e58ca6f86a --- /dev/null +++ b/iCubLisboa01/hardware/motorControl/left_leg-eb6-j0_3-mc.xml @@ -0,0 +1,116 @@ + + + + + + + + + + + + + + + 85 85 70 0 + -30 0 -70 -100 + 1000 1000 1000 1000 + 5000 5000 5000 5000 + 6000 10000 6000 10000 + 15000 15000 15000 15000 + 10000 10000 10000 10000 + + + + 100 100 100 100 + + + + 0.0 0.0 0.0 0.0 + 0.0 0.0 0.0 0.0 + + + + POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT + POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT + POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT + TRQ_PID_DEFAULT TRQ_PID_DEFAULT TRQ_PID_DEFAULT TRQ_PID_DEFAULT + 2FOC_CUR_CONTROL 2FOC_CUR_CONTROL 2FOC_CUR_CONTROL 2FOC_CUR_CONTROL + 2FOC_VEL_CONTROL 2FOC_VEL_CONTROL 2FOC_VEL_CONTROL 2FOC_VEL_CONTROL + + + + + + + minjerk + pwm + metric_units + machine_units + 1066.66 -2066.66 711.11 -1066.66 + 0.00 0.00 0.00 0.00 + 10666.64 -14222.18 7111.09 -1066.64 + 8000 8000 8000 8000 + 1500 1500 750 1000 + 0 0 0 0 + 0 0 0 0 + 0 0 0 0 + + + + + + + + + torque + pwm + metric_units + machine_units + -200 200 0 -200 + 0 0 0 0 + 0 0 0 0 + 8000 8000 8000 8000 + 500 500 500 500 + 0 0 0 0 + -2.0 2.0 -1.0 -1.0 + 1.4 -2.0 1.3 0.2 + 1 1 1 1 + 0 0 0 0 + 0 0 0 0 + -162 178 -197 -167 + + + + low_lev_current + machine_units + machine_units + 8 8 8 8 + 0 0 0 0 + 2 2 2 2 + 10 10 10 10 + 32000 32000 32000 32000 + 32000 32000 32000 32000 + 0 0 0 0 + + + + low_lev_speed + machine_units + machine_units + 0 0 0 0 + 12 12 12 12 + 0 0 0 0 + 16 16 16 16 + 10 10 10 10 + 32000 32000 32000 32000 + 32000 32000 32000 32000 + + + + + + + + + diff --git a/iCubLisboa01/hardware/motorControl/left_leg-eb6-j0_3-mc_service.xml b/iCubLisboa01/hardware/motorControl/left_leg-eb6-j0_3-mc_service.xml new file mode 100644 index 0000000000..e8c6b02e8e --- /dev/null +++ b/iCubLisboa01/hardware/motorControl/left_leg-eb6-j0_3-mc_service.xml @@ -0,0 +1,62 @@ + + + + + + + + eomn_serv_MC_foc + + + + + ems4 + + + + foc + + 1 + 6 + + + 3 + 3 + 10 + + + + + + + + + eomc_act_foc foc foc foc + CAN1:3:0 CAN1:4:0 CAN1:1:0 CAN1:2:0 + + + + eomc_enc_aea aea aea aea + CONN:P6 CONN:P7 CONN:P8 CONN:P9 + eomc_pos_atjoint atjoint atjoint atjoint + 4096 4096 4096 -4096 + 0.703 0.703 0.703 0.703 + + + + roie roie roie roie + CAN1:3:0 CAN1:4:0 CAN1:1:0 CAN1:2:0 + eomc_pos_atmotor atmotor atmotor atmotor + -14400.0 -14400.0 -14400.0 -14400.0 + 0 0 0 0 + + + + + + + + + + + diff --git a/iCubLisboa01/hardware/motorControl/left_leg-eb7-j4_5-mc.xml b/iCubLisboa01/hardware/motorControl/left_leg-eb7-j4_5-mc.xml new file mode 100644 index 0000000000..0ffec7b70e --- /dev/null +++ b/iCubLisboa01/hardware/motorControl/left_leg-eb7-j4_5-mc.xml @@ -0,0 +1,117 @@ + + + + + + + + + + + + + + + 30 20 + -30 -20 + 5000 5000 + 10000 10000 + 15000 15000 + 1000 1000 + 10000 10000 + + + + 100 100 + + + + 0.0 0.0 + 0.0 0.0 + + + + POS_PID_DEFAULT POS_PID_DEFAULT + POS_PID_DEFAULT POS_PID_DEFAULT + POS_PID_DEFAULT POS_PID_DEFAULT + TRQ_PID_DEFAULT TRQ_PID_DEFAULT + 2FOC_CUR_CONTROL 2FOC_CUR_CONTROL + 2FOC_VEL_CONTROL 2FOC_VEL_CONTROL + + + + + + + minjerk + pwm + metric_units + machine_units + 2200.00 -2200.00 + 0.00 0.00 + 0.09 -0.09 + 8000 8000 + 750 750 + 0 0 + 0 0 + 0 0 + + + + + + + + + torque + pwm + metric_units + machine_units + 200 200 + 0 0 + 0 0 + 0 0 + 8000 8000 + 500 500 + 0 0 + 1.7 0.8 + -1.7 -1.8 + 1 1 + 0 0 + 0 0 + 209 160 + + + + low_lev_current + machine_units + machine_units + 8 8 + 0 0 + 2 2 + 10 10 + 32000 32000 + 32000 32000 + 0 0 + + + + low_lev_speed + machine_units + machine_units + 0 0 + 12 12 + 0 0 + 16 16 + 10 10 + 32000 32000 + 32000 32000 + + + + + + + + + diff --git a/iCubLisboa01/hardware/motorControl/left_leg-eb7-j4_5-mc_service.xml b/iCubLisboa01/hardware/motorControl/left_leg-eb7-j4_5-mc_service.xml new file mode 100644 index 0000000000..268ad8efb7 --- /dev/null +++ b/iCubLisboa01/hardware/motorControl/left_leg-eb7-j4_5-mc_service.xml @@ -0,0 +1,61 @@ + + + + + + + + eomn_serv_MC_foc + + + + + ems4 + + + + foc + + 1 + 6 + + + 3 + 3 + 10 + + + + + + + + eomc_act_foc foc + CAN1:1:0 CAN1:2:0 + + + + eomc_enc_aea aea + CONN:P6 CONN:P7 + eomc_pos_atjoint atjoint + -4096 4096 + 0.703 0.703 + + + + roie roie + CAN1:1:0 CAN1:2:0 + atmotor atmotor + -14400 -14400 + 0 0 + + + + + + + + + + + diff --git a/iCubLisboa01/hardware/motorControl/right_arm-eb27-j4_7-mc.xml b/iCubLisboa01/hardware/motorControl/right_arm-eb27-j4_7-mc.xml new file mode 100644 index 0000000000..a7f67783a5 --- /dev/null +++ b/iCubLisboa01/hardware/motorControl/right_arm-eb27-j4_7-mc.xml @@ -0,0 +1,92 @@ + + + + + + + + + + + + + + + 60 25 35 60 + -60 -70 -15 10 + 1000 1000 1000 1000 + 10000 2000 2000 2000 + 5000 1000 1000 600 + 5000 2000 2000 1000 + 3360 3360 3360 3360 + + + + 100 100 100 100 + + + + 0.0 0.0 0.0 0.0 + 0.0 0.0 0.0 0.0 + + + + POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT + POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT + POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT + TRQ_PID_DEFAULT none none none + none none none none + none none none none + + + + + + + minjerk + pwm + metric_units + machine_units + 200.0 500.0 500.0 500.0 + 0.0 0.0 0.0 0.0 + 200.0 50.0 50.0 50.0 + 3360 3360 3360 3360 + 3360 3360 3360 3360 + 0 0 0 0 + 0 0 0 0 + 0 0 0 0 + + + + + + + + + torque + pwm + metric_units + dutycycle_percent + 29.76 0 0 0 + 0 0 0 0 + 0 0 0 0 + 100 0 0 0 + 14.88 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 + 0.03 0 0 0 + + + + + + + + + + + diff --git a/iCubLisboa01/hardware/motorControl/right_arm-eb27-j4_7-mc_service.xml b/iCubLisboa01/hardware/motorControl/right_arm-eb27-j4_7-mc_service.xml new file mode 100644 index 0000000000..b8e503c4c2 --- /dev/null +++ b/iCubLisboa01/hardware/motorControl/right_arm-eb27-j4_7-mc_service.xml @@ -0,0 +1,47 @@ + + + + + + + + eomn_serv_MC_mc4plus + + + + + mc4plus + + + + + + + pwm pwm pwm pwm + CONN:P5 CONN:P2 CONN:P4 CONN:P3 + + + + qenc aea aea absanalog + CONN:P5 CONN:P10 CONN:P11 CONN:P3 + atjoint atjoint atjoint atjoint + 1 4096 -4096 65535 + 0 0.703 0.703 0 + + + + qenc qenc qenc none + CONN:P5 CONN:P2 CONN:P4 CONN:none + atmotor atmotor atmotor none + -2048 1600 1600 1 + 0 0 0 0 + + + + + + + + + + diff --git a/iCubLisboa01/hardware/motorControl/right_arm-eb28-j8_11-mc.xml b/iCubLisboa01/hardware/motorControl/right_arm-eb28-j8_11-mc.xml new file mode 100644 index 0000000000..f8f5b56971 --- /dev/null +++ b/iCubLisboa01/hardware/motorControl/right_arm-eb28-j8_11-mc.xml @@ -0,0 +1,72 @@ + + + + + + + + + + + + + + + 90 90 180 90 + 10 0 0 0 + 1000 1000 1000 1000 + 2000 2000 2000 2000 + 600 600 600 600 + 1000 1000 1000 1000 + 3360 3360 3360 3360 + + + + 100 100 100 100 + + + + 0.0 0.0 0.0 0.0 + 0.0 0.0 0.0 0.0 + + + + POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT + POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT + POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT + none none none none + none none none none + none none none none + + + + + + + minjerk + pwm + metric_units + machine_units + -500.0 500.0 -500.0 500.0 + 0.0 0.0 0.0 0.0 + -50.0 50.0 -50.0 50.0 + 3360 3360 3360 3360 + 3360 3360 3360 3360 + 0 0 0 0 + 0 0 0 0 + 0 0 0 0 + + + + + + + + + + + + + + + diff --git a/iCubLisboa01/hardware/motorControl/right_arm-eb28-j8_11-mc_service.xml b/iCubLisboa01/hardware/motorControl/right_arm-eb28-j8_11-mc_service.xml new file mode 100644 index 0000000000..75b8a2392d --- /dev/null +++ b/iCubLisboa01/hardware/motorControl/right_arm-eb28-j8_11-mc_service.xml @@ -0,0 +1,65 @@ + + + + + + + + eomn_serv_MC_mc4plusmais + + + + + mc4plus + + + + mais + + 0 + 0 + + + 0 + 0 + 0 + + + + + CAN1:14 + + + + + + + pwm pwm pwm pwm + CONN:P3 CONN:P2 CONN:P4 CONN:P5 + + + + absanalog mais mais mais + CONN:P3 MAIS:thumbproximal MAIS:thumbdistal MAIS:indexproximal + atjoint atjoint atjoint atjoint + 65535 65535 65535 65535 + 0 0 0 0 + + + + none qenc qenc qenc + CONN:none CONN:P2 CONN:P4 CONN:P5 + none atmotor atmotor atmotor + 1 40 40 40 + 0 0 0 0 + + + + + + + + + + + diff --git a/iCubLisboa01/hardware/motorControl/right_arm-eb29-j12_15-mc.xml b/iCubLisboa01/hardware/motorControl/right_arm-eb29-j12_15-mc.xml new file mode 100644 index 0000000000..91decfc902 --- /dev/null +++ b/iCubLisboa01/hardware/motorControl/right_arm-eb29-j12_15-mc.xml @@ -0,0 +1,63 @@ + + + + + + + + + + + + + + + 180 90 180 270 + 0 0 0 0 + 1000 1000 1000 1000 + 2000 2000 2000 2000 + 600 600 600 600 + 1000 1000 1000 1000 + 3360 3360 3360 3360 + + + + 100 100 100 100 + + + + 0.0 0.0 0.0 0.0 + 0.0 0.0 0.0 0.0 + + + + POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT + POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT + POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT + none none none none + none none none none + none none none none + + + + minjerk + pwm + metric_units + machine_units + 500.0 500.0 -500.0 200.0 + 0.0 0.0 0.0 0.0 + 50.0 50.0 -50.0 20.0 + 3360 3360 3360 3360 + 3360 3360 3360 3360 + 0 0 0 0 + 0 0 0 0 + 0 0 0 0 + + + + + + + + + diff --git a/iCubLisboa01/hardware/motorControl/right_arm-eb29-j12_15-mc_service.xml b/iCubLisboa01/hardware/motorControl/right_arm-eb29-j12_15-mc_service.xml new file mode 100644 index 0000000000..2957524545 --- /dev/null +++ b/iCubLisboa01/hardware/motorControl/right_arm-eb29-j12_15-mc_service.xml @@ -0,0 +1,65 @@ + + + + + + + + eomn_serv_MC_mc4plusmais + + + + + mc4plus + + + + mais + + 0 + 0 + + + 0 + 0 + 0 + + + + + CAN1:14 + + + + + + + + pwm pwm pwm pwm + CONN:P3 CONN:P2 CONN:P4 CONN:P5 + + + + mais mais mais mais + MAIS:indexdistal MAIS:mediumproximal MAIS:mediumdistal MAIS:littlefingers + atjoint atjoint atjoint atjoint + 65535 65535 65535 65535 + 0 0 0 0 + + + + qenc qenc qenc qenc + CONN:P3 CONN:P2 CONN:P4 CONN:P5 + atmotor atmotor atmotor atmotor + 40 40 40 40 + 0 0 0 0 + + + + + + + + + + diff --git a/iCubLisboa01/hardware/motorControl/right_arm-eb3-j0_3-mc.xml b/iCubLisboa01/hardware/motorControl/right_arm-eb3-j0_3-mc.xml new file mode 100644 index 0000000000..daa75a3620 --- /dev/null +++ b/iCubLisboa01/hardware/motorControl/right_arm-eb3-j0_3-mc.xml @@ -0,0 +1,117 @@ + + + + + + + + + + + + + + + 8 160 80 106 + -95.5 15 -32 15 + 1000 1000 1000 1000 + 4000 4000 4000 4000 + 5000 5000 5000 5000 + 15000 15000 15000 15000 + 10000 10000 10000 10000 + + + + 100 100 100 100 + + + + 0.1 0.1 0.1 0.1 + 0.05 0.05 0.05 0.05 + + + + POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT + POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT + POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT + TRQ_PID_DEFAULT TRQ_PID_DEFAULT TRQ_PID_DEFAULT TRQ_PID_DEFAULT + 2FOC_CUR_CONTROL 2FOC_CUR_CONTROL 2FOC_CUR_CONTROL 2FOC_CUR_CONTROL + 2FOC_VEL_CONTROL 2FOC_VEL_CONTROL 2FOC_VEL_CONTROL 2FOC_VEL_CONTROL + + + + + + + minjerk + pwm + metric_units + machine_units + -711.11 -1066.66 -711.11 -1066.66 + 0.00 0.00 0.00 0.00 + -7111.09 -10666.64 -7111.09 -10666.64 + 8000 8000 8000 8000 + 200 200 200 1000 + 0 0 0 0 + 0 0 0 0 + 0 0 0 0 + + + + + + + + + torque + pwm + metric_units + machine_units + -50 -200 -250 -300 + 0 0 0 0 + 0 0 0 0 + 8000 8000 8000 8000 + 500 500 500 500 + 0 0 0 0 + -0.5 -0.5 -1 -1.7 + 0.7 0.7 0.8 1.2 + 1 1 1 1 + -0.0030 -0.0006 -0.0007 0.0007 + 0 0 0 0 + -180 -464 -463 -449 + + + + low_lev_current + machine_units + machine_units + 8 8 8 8 + 0 0 0 0 + 2 2 2 2 + 10 10 10 10 + 32000 32000 32000 32000 + 32000 32000 32000 32000 + 0 0 0 0 + + + + low_lev_speed + machine_units + machine_units + 0 0 0 0 + 12 12 12 12 + 0 0 0 0 + 16 16 16 16 + 10 10 10 10 + 32000 32000 32000 32000 + 32000 32000 32000 32000 + + + + + + + + + + diff --git a/iCubLisboa01/hardware/motorControl/right_arm-eb3-j0_3-mc_service.xml b/iCubLisboa01/hardware/motorControl/right_arm-eb3-j0_3-mc_service.xml new file mode 100644 index 0000000000..b5f52b96bf --- /dev/null +++ b/iCubLisboa01/hardware/motorControl/right_arm-eb3-j0_3-mc_service.xml @@ -0,0 +1,63 @@ + + + + + + + + eomn_serv_MC_foc + + + + + ems4 + + + + foc + + 1 + 6 + + + 3 + 3 + 3 + + + + + + + + + eomc_act_foc foc foc foc + CAN1:1:0 CAN1:2:0 CAN1:3:0 CAN1:4:0 + + + + eomc_enc_aea aea aea aea + CONN:P6 CONN:P7 CONN:P8 CONN:P9 + eomc_pos_atjoint atjoint atjoint atjoint + 4096 4096 -4096 4096 + 0.703 0.703 0.703 0.703 + + + + roie roie roie roie + CAN1:1:0 CAN1:2:0 CAN1:3:0 CAN1:4:0 + atmotor atmotor atmotor atmotor + -14400 -14400 -14400 -14400 + 0 0 0 0 + + + + + + + + + + + + diff --git a/iCubLisboa01/hardware/motorControl/right_leg-eb8-j0_3-mc.xml b/iCubLisboa01/hardware/motorControl/right_leg-eb8-j0_3-mc.xml new file mode 100644 index 0000000000..3d085ac16b --- /dev/null +++ b/iCubLisboa01/hardware/motorControl/right_leg-eb8-j0_3-mc.xml @@ -0,0 +1,116 @@ + + + + + + + + + + + + + + + 85 85 70 0 + -30 0 -70 -100 + 1000 1000 1000 1000 + 5000 5000 5000 5000 + 6000 10000 6000 10000 + 15000 15000 15000 15000 + 10000 10000 10000 10000 + + + + 100 100 100 100 + + + + 0.0 0.0 0.0 0.0 + 0.0 0.0 0.0 0.0 + + + + POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT + POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT + POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT + TRQ_PID_DEFAULT TRQ_PID_DEFAULT TRQ_PID_DEFAULT TRQ_PID_DEFAULT + 2FOC_CUR_CONTROL 2FOC_CUR_CONTROL 2FOC_CUR_CONTROL 2FOC_CUR_CONTROL + 2FOC_VEL_CONTROL 2FOC_VEL_CONTROL 2FOC_VEL_CONTROL 2FOC_VEL_CONTROL + + + + + + + minjerk + pwm + metric_units + machine_units + -1066.66 2066.66 -711.11 1066.66 + 0.00 0.00 0.00 0.00 + -10666.64 14222.18 -7111.09 1066.64 + 8000 8000 8000 8000 + 1500 1500 750 1000 + 0 0 0 0 + 0 0 0 0 + 0 0 0 0 + + + + + + + + + torque + pwm + metric_units + machine_units + 200 -200 0 300 + 0 0 0 0 + 0 0 0 0 + 8000 8000 8000 8000 + 500 500 500 500 + 0 0 0 0 + 2.3 -1.79 1.8 1.2 + -3.3 1.76 -1.4 -1.7 + 1 1 1 1 + 0 0 0 0 + 0 0 0 0 + 147 -180 217 282 + + + + low_lev_current + machine_units + machine_units + 8 8 8 8 + 0 0 0 0 + 2 2 2 2 + 10 10 10 10 + 32000 32000 32000 32000 + 32000 32000 32000 32000 + 0 0 0 0 + + + + low_lev_speed + machine_units + machine_units + 0 0 0 0 + 12 12 12 12 + 0 0 0 0 + 16 16 16 16 + 10 10 10 10 + 32000 32000 32000 32000 + 32000 32000 32000 32000 + + + + + + + + + diff --git a/iCubLisboa01/hardware/motorControl/right_leg-eb8-j0_3-mc_service.xml b/iCubLisboa01/hardware/motorControl/right_leg-eb8-j0_3-mc_service.xml new file mode 100644 index 0000000000..dafeaa540e --- /dev/null +++ b/iCubLisboa01/hardware/motorControl/right_leg-eb8-j0_3-mc_service.xml @@ -0,0 +1,62 @@ + + + + + + + + eomn_serv_MC_foc + + + + + ems4 + + + + foc + + 1 + 6 + + + 3 + 3 + 10 + + + + + + + + + eomc_act_foc foc foc foc + CAN1:3:0 CAN1:4:0 CAN1:1:0 CAN1:2:0 + + + + eomc_enc_aea aea aea aea + CONN:P6 CONN:P7 CONN:P8 CONN:P9 + eomc_pos_atjoint atjoint atjoint atjoint + -4096 -4096 -4096 4096 + 0.703 0.703 0.703 0.703 + + + + roie roie roie roie + CAN1:3:0 CAN1:4:0 CAN1:1:0 CAN1:2:0 + eomc_pos_atmotor atmotor atmotor atmotor + -14400 -14400 -14400 -14400 + 0 0 0 0 + + + + + + + + + + + diff --git a/iCubLisboa01/hardware/motorControl/right_leg-eb9-j4_5-mc.xml b/iCubLisboa01/hardware/motorControl/right_leg-eb9-j4_5-mc.xml new file mode 100644 index 0000000000..29e1b28a00 --- /dev/null +++ b/iCubLisboa01/hardware/motorControl/right_leg-eb9-j4_5-mc.xml @@ -0,0 +1,116 @@ + + + + + + + + + + + + + + + 30 20 + -30 -20 + 5000 5000 + 10000 10000 + 15000 15000 + 1000 1000 + 10000 10000 + + + + 100 100 + + + + 0 0 + 0 0 + + + + POS_PID_DEFAULT POS_PID_DEFAULT + POS_PID_DEFAULT POS_PID_DEFAULT + POS_PID_DEFAULT POS_PID_DEFAULT + TRQ_PID_DEFAULT TRQ_PID_DEFAULT + 2FOC_CUR_CONTROL 2FOC_CUR_CONTROL + 2FOC_VEL_CONTROL 2FOC_VEL_CONTROL + + + + + + + minjerk + pwm + metric_units + machine_units + -2105.00 2310.00 + 0.00 0.00 + -0.09 0.09 + 8000 8000 + 750 750 + 0 0 + 0 0 + 0 0 + + + + + + + + + torque + pwm + metric_units + machine_units + -200 -200 + 0 0 + 0 0 + 8000 8000 + 500 500 + 0 0 + -1.4 -1.5 + 2.4 1.6 + 1 1 + 0 0 + 0 0 + -231 -180 + + + + low_lev_current + machine_units + machine_units + 8 8 + 0 0 + 2 2 + 10 10 + 32000 32000 + 32000 32000 + 0 0 + + + + low_lev_speed + machine_units + machine_units + 0 0 + 12 12 + 0 0 + 16 16 + 10 10 + 32000 32000 + 32000 32000 + + + + + + + + + diff --git a/iCubLisboa01/hardware/motorControl/right_leg-eb9-j4_5-mc_service.xml b/iCubLisboa01/hardware/motorControl/right_leg-eb9-j4_5-mc_service.xml new file mode 100644 index 0000000000..4f847e2dcb --- /dev/null +++ b/iCubLisboa01/hardware/motorControl/right_leg-eb9-j4_5-mc_service.xml @@ -0,0 +1,60 @@ + + + + + + + + eomn_serv_MC_foc + + + + + ems4 + + + + foc + + 1 + 6 + + + 3 + 3 + 10 + + + + + + + eomc_act_foc foc + CAN1:1:0 CAN1:2:0 + + + + eomc_enc_aea aea + CONN:P6 CONN:P7 + eomc_pos_atjoint atjoint + 4096 -4096 + 0.703 0.703 + + + + roie roie + CAN1:1:0 CAN1:2:0 + atmotor atmotor + -14400 -14400 + 0 0 + + + + + + + + + + + diff --git a/iCubLisboa01/hardware/motorControl/torso-eb5-j0_2-mc.xml b/iCubLisboa01/hardware/motorControl/torso-eb5-j0_2-mc.xml new file mode 100644 index 0000000000..45a47678f3 --- /dev/null +++ b/iCubLisboa01/hardware/motorControl/torso-eb5-j0_2-mc.xml @@ -0,0 +1,116 @@ + + + + + + + + + + + + + + + 50 28 68 + -50 -28 -18 + 1000 1000 1000 + 4000 4000 4000 + 5000 5000 5000 + 15000 15000 15000 + 10000 10000 10000 + + + + 100 100 100 + + + + 0 0 0 + 0 0 0 + + + + POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT + POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT + POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT + TRQ_PID_DEFAULT TRQ_PID_DEFAULT TRQ_PID_DEFAULT + 2FOC_CUR_CONTROL 2FOC_CUR_CONTROL 2FOC_CUR_CONTROL + 2FOC_VEL_CONTROL 2FOC_VEL_CONTROL 2FOC_VEL_CONTROL + + + + + + + minjerk + pwm + metric_units + machine_units + 711.11 1066.66 1066.66 + 0.00 0.00 0.00 + 7111.09 10666.64 14222.18 + 8000 8000 16000 + 750 1000 1000 + 0 0 0 + 0 0 0 + 0 0 0 + + + + + + + + + torque + pwm + metric_units + machine_units + -450 -400 -400 + 0 0 0 + 0 0 0 + 8000 8000 8000 + 500 500 500 + 0 0 0 + 0 0 0 + -2 -2 -2 + 1 1 1 + -0.0016 -0.003 -0.003 + 0 0 0 + -200 -200 -200 + + + + low_lev_current + machine_units + machine_units + 8 8 8 + 0 0 0 + 2 2 2 + 10 10 10 + 32000 32000 32000 + 32000 32000 32000 + 0 0 0 + + + + low_lev_speed + machine_units + machine_units + 0 0 0 + 12 12 12 + 0 0 0 + 16 16 16 + 10 10 10 + 32000 32000 32000 + 32000 32000 32000 + + + + + + + + + diff --git a/iCubLisboa01/hardware/motorControl/torso-eb5-j0_2-mc_service.xml b/iCubLisboa01/hardware/motorControl/torso-eb5-j0_2-mc_service.xml new file mode 100644 index 0000000000..53254b244b --- /dev/null +++ b/iCubLisboa01/hardware/motorControl/torso-eb5-j0_2-mc_service.xml @@ -0,0 +1,63 @@ + + + + + + + + eomn_serv_MC_foc + + + + + ems4 + + + + foc + + 1 + 6 + + + 3 + 3 + 10 + + + + + + + + + eomc_act_foc foc foc + CAN1:3:0 CAN1:4:0 CAN1:1:0 + + + + eomc_enc_aea aea aea + CONN:P6 CONN:P7 CONN:P8 + eomc_pos_atjoint atjoint atjoint + 4096 4096 4096 + 0.703 0.703 0.703 + + + + roie roie roie + CAN1:3:0 CAN1:4:0 CAN1:1:0 + atmotor atmotor atmotor + -14400 -14400 -14400 + 0 0 0 + + + + + + + + + + + + diff --git a/iCubLisboa01/hardware/skin/left_arm-cfw2_can7-skinSpec.xml b/iCubLisboa01/hardware/skin/left_arm-cfw2_can7-skinSpec.xml deleted file mode 100644 index 5d7f182d78..0000000000 --- a/iCubLisboa01/hardware/skin/left_arm-cfw2_can7-skinSpec.xml +++ /dev/null @@ -1,39 +0,0 @@ - - - - - - - 50 - 0 - 0xf0 - false - - - - - - 1 - - 7 14 14 50 1 0xf0 - - - - false - 2 - 0x2200 - - - - 0x01 - - 7 0xE 0 6 1 0 0x2000 - - - - diff --git a/iCubLisboa01/hardware/skin/left_arm-eb24-j4_7-skin.xml b/iCubLisboa01/hardware/skin/left_arm-eb24-j4_7-skin.xml new file mode 100644 index 0000000000..b8eba1997b --- /dev/null +++ b/iCubLisboa01/hardware/skin/left_arm-eb24-j4_7-skin.xml @@ -0,0 +1,15 @@ + + + + + + + + + + 14 13 12 11 10 9 8 + + + + + diff --git a/iCubLisboa01/hardware/skin/left_arm-eb24-j4_7-skinSpec.xml b/iCubLisboa01/hardware/skin/left_arm-eb24-j4_7-skinSpec.xml new file mode 100644 index 0000000000..e4fa9da405 --- /dev/null +++ b/iCubLisboa01/hardware/skin/left_arm-eb24-j4_7-skinSpec.xml @@ -0,0 +1,54 @@ + + + + + + + 50 + 8 + 0xf0 + false + + + + true + 2 + 0x2200 + + + + + 20 + 1 14 0 6 1 0 0x2000 + 1 14 8 11 1 2 0x2200 + + 1 13 0 15 1 2 0x2200 + + 1 12 0 1 1 2 0x2200 + 1 12 3 3 1 2 0x2200 + 1 12 6 6 1 2 0x2200 + 1 12 8 9 1 2 0x2200 + 1 12 12 13 1 2 0x2200 + + 1 11 1 4 1 2 0x2200 + 1 11 8 13 1 2 0x2200 + + 1 10 0 1 1 2 0x2200 + 1 10 6 6 1 2 0x2200 + 1 10 8 15 1 2 0x2200 + + 1 9 0 8 1 2 0x2200 + 1 9 12 13 1 2 0x2200 + + 1 8 0 0 1 2 0x2200 + 1 8 8 9 1 2 0x2200 + 1 8 10 11 1 2 0x2200 + 1 8 13 13 1 2 0x2200 + 1 8 15 15 1 2 0x2200 + + + + diff --git a/iCubLisboa01/hardware/skin/left_arm.xml b/iCubLisboa01/hardware/skin/left_arm.xml deleted file mode 100644 index 5cdbae718a..0000000000 --- a/iCubLisboa01/hardware/skin/left_arm.xml +++ /dev/null @@ -1,17 +0,0 @@ - - - - - - - - - - 7 - 14 13 12 11 10 9 8 - 10 - cfw2can - - - - diff --git a/iCubLisboa01/hardware/skin/left_hand_inertial_mtb.xml b/iCubLisboa01/hardware/skin/left_hand_inertial_mtb.xml deleted file mode 100644 index e1b8376019..0000000000 --- a/iCubLisboa01/hardware/skin/left_hand_inertial_mtb.xml +++ /dev/null @@ -1,12 +0,0 @@ - - - - - "sharedcan" - "cfw2can" - 7 - 0x0E - 10 - "extAccAndGyro" - - diff --git a/iCubLisboa01/hardware/skin/left_leg-eb10-skin.xml b/iCubLisboa01/hardware/skin/left_leg-eb10-skin.xml new file mode 100644 index 0000000000..19f9c0bbe3 --- /dev/null +++ b/iCubLisboa01/hardware/skin/left_leg-eb10-skin.xml @@ -0,0 +1,16 @@ + + + + + + + + + + 1 2 3 4 5 6 7 + 13 12 8 9 10 11 + + + + + diff --git a/iCubLisboa01/hardware/skin/left_leg-eb10-skinSpec.xml b/iCubLisboa01/hardware/skin/left_leg-eb10-skinSpec.xml new file mode 100644 index 0000000000..a54a43ee73 --- /dev/null +++ b/iCubLisboa01/hardware/skin/left_leg-eb10-skinSpec.xml @@ -0,0 +1,127 @@ + + + + + + + 50 + 8 + 0xf0 + false + + + + + true + 2 + 0x2200 + + + + + diff --git a/iCubLisboa01/hardware/skin/right_arm-cfw2_can8-skinSpec.xml b/iCubLisboa01/hardware/skin/right_arm-cfw2_can8-skinSpec.xml deleted file mode 100644 index b38fd28dfc..0000000000 --- a/iCubLisboa01/hardware/skin/right_arm-cfw2_can8-skinSpec.xml +++ /dev/null @@ -1,39 +0,0 @@ - - - - - - - 50 - 0 - 0xf0 - false - - - - - - 1 - - 8 14 14 50 1 0xf0 - - - - false - 2 - 0x2200 - - - - 0x01 - - 8 0xE 0 6 1 0 0x2000 - - - - diff --git a/iCubLisboa01/hardware/skin/right_arm-eb27-j4_7-skin.xml b/iCubLisboa01/hardware/skin/right_arm-eb27-j4_7-skin.xml new file mode 100644 index 0000000000..511934f45a --- /dev/null +++ b/iCubLisboa01/hardware/skin/right_arm-eb27-j4_7-skin.xml @@ -0,0 +1,14 @@ + + + + + + + + + + 14 13 12 11 10 9 8 + + + + diff --git a/iCubLisboa01/hardware/skin/right_arm-eb27-j4_7-skinSpec.xml b/iCubLisboa01/hardware/skin/right_arm-eb27-j4_7-skinSpec.xml new file mode 100644 index 0000000000..061380bb83 --- /dev/null +++ b/iCubLisboa01/hardware/skin/right_arm-eb27-j4_7-skinSpec.xml @@ -0,0 +1,55 @@ + + + + + + + 50 + 8 + 0xf0 + false + + + + + + true + 2 + 0x2200 + + + + 20 + 1 14 0 6 1 0 0x2000 + 1 14 8 11 1 2 0x2200 + + 1 13 0 15 1 2 0x2200 + + 1 12 0 1 1 2 0x2200 + 1 12 3 3 1 2 0x2200 + 1 12 6 6 1 2 0x2200 + 1 12 8 9 1 2 0x2200 + 1 12 12 13 1 2 0x2200 + + 1 11 1 4 1 2 0x2200 + 1 11 8 13 1 2 0x2200 + + 1 9 0 1 1 2 0x2200 + 1 9 6 6 1 2 0x2200 + 1 9 8 15 1 2 0x2200 + + 1 10 0 8 1 2 0x2200 + 1 10 12 13 1 2 0x2200 + + 1 8 0 0 1 2 0x2200 + 1 8 8 9 1 2 0x2200 + 1 8 10 11 1 2 0x2200 + 1 8 13 13 1 2 0x2200 + 1 8 15 15 1 2 0x2200 + + + + diff --git a/iCubLisboa01/hardware/skin/right_arm.xml b/iCubLisboa01/hardware/skin/right_arm.xml deleted file mode 100644 index cd20a9bf7b..0000000000 --- a/iCubLisboa01/hardware/skin/right_arm.xml +++ /dev/null @@ -1,16 +0,0 @@ - - - - - - - - - - 8 - 14 13 12 11 10 9 8 - 10 - cfw2can - - - diff --git a/iCubLisboa01/hardware/skin/right_hand_inertial_mtb.xml b/iCubLisboa01/hardware/skin/right_hand_inertial_mtb.xml deleted file mode 100644 index 293d171136..0000000000 --- a/iCubLisboa01/hardware/skin/right_hand_inertial_mtb.xml +++ /dev/null @@ -1,12 +0,0 @@ - - - - - "sharedcan" - "cfw2can" - 8 - 0x0E - 10 - "extAccAndGyro" - - diff --git a/iCubLisboa01/hardware/skin/right_leg-eb11-skin.xml b/iCubLisboa01/hardware/skin/right_leg-eb11-skin.xml new file mode 100644 index 0000000000..fca5d82864 --- /dev/null +++ b/iCubLisboa01/hardware/skin/right_leg-eb11-skin.xml @@ -0,0 +1,16 @@ + + + + + + + + + + 1 2 3 4 5 6 7 + 13 12 8 9 10 11 + + + + + diff --git a/iCubLisboa01/hardware/skin/right_leg-eb11-skinSpec.xml b/iCubLisboa01/hardware/skin/right_leg-eb11-skinSpec.xml new file mode 100644 index 0000000000..eed86cfafc --- /dev/null +++ b/iCubLisboa01/hardware/skin/right_leg-eb11-skinSpec.xml @@ -0,0 +1,80 @@ + + + + + + + 50 + 8 + 0xf0 + false + + + + + true + 2 + 0x2200 + + + + + + diff --git a/iCubLisboa01/hardware/skin/torso-eb22-skin.xml b/iCubLisboa01/hardware/skin/torso-eb22-skin.xml new file mode 100644 index 0000000000..3737cd3bcf --- /dev/null +++ b/iCubLisboa01/hardware/skin/torso-eb22-skin.xml @@ -0,0 +1,15 @@ + + + + + + + + + + + 7 8 9 10 + + + + diff --git a/iCubLisboa01/hardware/skin/torso-cfw2_can9-skinSpec.xml b/iCubLisboa01/hardware/skin/torso-eb22-skinSpec.xml similarity index 73% rename from iCubLisboa01/hardware/skin/torso-cfw2_can9-skinSpec.xml rename to iCubLisboa01/hardware/skin/torso-eb22-skinSpec.xml index a11eaeb23b..7b9d6b1dbc 100644 --- a/iCubLisboa01/hardware/skin/torso-cfw2_can9-skinSpec.xml +++ b/iCubLisboa01/hardware/skin/torso-eb22-skinSpec.xml @@ -1,13 +1,14 @@ - + 50 - 0 + 2 ==> old skin without temperature compensation + 8 ==> rugged skin with temperature compensation (4535.C) --> 0xf0 false diff --git a/iCubLisboa01/hardware/skin/torso.xml b/iCubLisboa01/hardware/skin/torso.xml deleted file mode 100644 index 72aadad5cb..0000000000 --- a/iCubLisboa01/hardware/skin/torso.xml +++ /dev/null @@ -1,17 +0,0 @@ - - - - - - - - - - 9 - 7 8 9 10 - 10 - cfw2can - - - - diff --git a/iCubLisboa01/iCubGui.xml b/iCubLisboa01/iCubGui.xml deleted file mode 100644 index 7cb8eb38f1..0000000000 --- a/iCubLisboa01/iCubGui.xml +++ /dev/null @@ -1,54 +0,0 @@ - - - - iCubGui - - - iCubGui - --xpos 1500 --ypos 50 --width 370 - icub-laptop - - - - /wholeBodyDynamics/contacts:o - /iCubGui/forces - udp - - - /icub/head/state:o - /iCubGui/head:i - udp - - - /icub/inertial - /iCubGui/inertial:i - udp - - - /icub/left_arm/state:o - /iCubGui/left_arm:i - udp - - - /icub/right_arm/state:o - /iCubGui/right_arm:i - udp - - - /icub/left_leg/state:o - /iCubGui/left_leg:i - udp - - - /icub/right_leg/state:o - /iCubGui/right_leg:i - udp - - - /icub/torso/state:o - /iCubGui/torso:i - udp - - diff --git a/iCubLisboa01/iCubGui_skinContacts.xml b/iCubLisboa01/iCubGui_skinContacts.xml deleted file mode 100644 index 1e23f565bd..0000000000 --- a/iCubLisboa01/iCubGui_skinContacts.xml +++ /dev/null @@ -1,54 +0,0 @@ - - - - iCubGui with Skin Contacts - - - iCubGui - --xpos 1000 --ypos 100 --width 370 - icub-laptop - - - - /skinManager/skin_events:o - /iCubGui/forces - udp - - - /icub/head/state:o - /iCubGui/head:i - udp - - - /icub/inertial - /iCubGui/inertial:i - udp - - - /icub/left_arm/state:o - /iCubGui/left_arm:i - udp - - - /icub/right_arm/state:o - /iCubGui/right_arm:i - udp - - - /icub/left_leg/state:o - /iCubGui/left_leg:i - udp - - - /icub/right_leg/state:o - /iCubGui/right_leg:i - udp - - - /icub/torso/state:o - /iCubGui/torso:i - udp - - diff --git a/iCubLisboa01/iCubStartup.xml b/iCubLisboa01/iCubStartup.xml deleted file mode 100644 index b80d667e64..0000000000 --- a/iCubLisboa01/iCubStartup.xml +++ /dev/null @@ -1,90 +0,0 @@ - -iCubStartup - - - - - - - - yarprobotinterface - pc104 - - - - iKinCartesianSolver - --part right_arm - icubbrain1 - - /icub/yarprobotinterface - - - - - iKinCartesianSolver - --part left_arm - icubbrain2 - - /icub/yarprobotinterface - - - - - iKinGazeCtrl - --head_version 2.0 --from config_imu_filter.ini --eye_tilt::min -25.0 - icubbrain1 - - /icub/yarprobotinterface - /imuFilter/inertial:o - - - - - - wholeBodyDynamics - --headV2 --autoconnect - icubbrain1 - - /icub/yarprobotinterface - - - - - - gravityCompensator - --headV2 - icubbrain2 - - /wholeBodyDynamics/rpc:i - - - - - fingersTuner - icub-laptop - - /icub/yarprobotinterface - - - - - imuFilter - pc104 - - /icub/inertial - - - - - /icub/inertial - /imuFilter/inertial:i - tcp - - - diff --git a/iCubLisboa01/iCub_Calibration_V1_3_1_iCubLisboa01.xls b/iCubLisboa01/iCub_Calibration_V1_3_1_iCubLisboa01.xls deleted file mode 100644 index 9081d3b9df..0000000000 Binary files a/iCubLisboa01/iCub_Calibration_V1_3_1_iCubLisboa01.xls and /dev/null differ diff --git a/iCubLisboa01/iKinGazeCtrl.ini b/iCubLisboa01/iKinGazeCtrl.ini index 7ac58e6315..34793d08ac 100644 --- a/iCubLisboa01/iKinGazeCtrl.ini +++ b/iCubLisboa01/iKinGazeCtrl.ini @@ -1,5 +1,15 @@ -head_version 2.0 +robot icub +head_version 2.7 +saccades off + +[eye_tilt] +min 0.0 +max 0.0 [cameras] -context iCubLisboa01 -file icubEyes320x240.ini +context cameraCalibration +file icubEyes320_240.ini + +[imu] +mode off +source_port_name /imuFilter diff --git a/iCubLisboa01/icubEyes.ini b/iCubLisboa01/icubEyes.ini new file mode 100644 index 0000000000..edd518aba6 --- /dev/null +++ b/iCubLisboa01/icubEyes.ini @@ -0,0 +1,67 @@ +[CAMERA_CALIBRATION_RIGHT] + +projection pinhole +drawCenterCross 0 + +w 640 +h 480 +fx 719.572 +fy 719.176 +cx 295.566 +cy 223.314 +k1 -0.445461 +k2 0.119824 +p1 0.00125465 +p2 0.00143851 + +[CAMERA_CALIBRATION_LEFT] + +projection pinhole +drawCenterCross 0 + +w 640 +h 480 +fx 714.656 +fy 713.9 +cx 285.511 +cy 251.285 +k1 -0.448847 +k2 0.318235 +p1 0.00122981 +p2 0.00277238 + + +[CAMERA_CALIBRATION_CONFIGURATION_LEFT] + +numPatternImagesRequired 10 +numPatternInnerCornersX 8 +numPatternInnerCornersY 6 +patternSquareSideLength 25 +outputFilename /tmp/results.ini +outputGroupname CAMERA_CALIBRATION_LEFT + + + +[CAMERA_CALIBRATION_CONFIGURATION_RIGHT] + +numPatternImagesRequired 10 +numPatternInnerCornersX 8 +numPatternInnerCornersY 6 +patternSquareSideLength 25 +outputFilename /tmp/results.ini +outputGroupname CAMERA_CALIBRATION_RIGHT + + +[STEREO_CALIBRATION_CONFIGURATION] +boardWidth 8 +boardHeight 6 +boardSize 0.09241 +numberOfPairs 30 + + +[STEREO_DISPARITY] +HN (0.994541 -0.00331672 -0.104293 -0.217853 0.00662477 0.999485 0.0313885 -0.00904448 0.104135 -0.0319081 0.994051 -0.0185724 0 0 0 1) +QL ( 0.003739 -0.000479 -0.000767 0.000000 0.000383 0.003835 0.000000 0.000000) +QR ( 0.003739 -0.000479 -0.000767 0.000000 0.000383 0.003835 0.000000 0.000000) + + diff --git a/iCubLisboa01/icubEyes320x240.ini b/iCubLisboa01/icubEyes320_240.ini similarity index 54% rename from iCubLisboa01/icubEyes320x240.ini rename to iCubLisboa01/icubEyes320_240.ini index 7c1950c275..5ce1a9536d 100644 --- a/iCubLisboa01/icubEyes320x240.ini +++ b/iCubLisboa01/icubEyes320_240.ini @@ -1,32 +1,35 @@ [CAMERA_CALIBRATION_RIGHT] -projection pinhole +projection pinhole drawCenterCross 0 -w 320 -h 240 -fx 219.88 -fy 220.363 -cx 167.297 -cy 125.909 -k1 -0.386775 -k2 0.115804 -p1 3.13367e-05 -p2 -0.00179399 + +w 320 +h 244 +fx 222.073 +fy 221.606 +cx 172.424 +cy 118.289 +k1 -0.4127 +k2 0.143324 +p1 -0.000344691 +p2 -4.46355e-05 [CAMERA_CALIBRATION_LEFT] -projection pinhole +projection pinhole drawCenterCross 0 -w 320 -h 240 -fx 215.444 -fy 215.737 -cx 168.92 -cy 129.72 -k1 -0.386704 -k2 0.12594 -p1 0.000743205 -p2 -0.0030906 + +w 320 +h 244 +fx 222.284 +fy 221.861 +cx 149.053 +cy 119.298 +k1 -0.430123 +k2 0.17197 +p1 0.000386035 +p2 -0.000730393 + [CAMERA_CALIBRATION_CONFIGURATION_LEFT] @@ -55,8 +58,10 @@ boardHeight 6 boardSize 0.09241 numberOfPairs 30 + [STEREO_DISPARITY] -HN (0.999843 -0.013375 -0.0116484 -0.0674731 0.0133345 0.999905 -0.00354939 0.000509037 0.0116948 0.0033935 0.999926 0.00269453 0 0 0 1) -QL ( 0.000000 0.000000 0.000000 0.014193 0.000384 0.024741 -0.019179 0.032582) -QR ( 0.000000 0.000000 0.000000 0.014193 0.000384 0.024741 -0.019179 0.015831) +HN (0.993342 0.0108693 -0.11469 -0.0686084 -0.0108768 0.999941 0.000560432 0.00125079 0.114689 0.000690759 0.993401 -0.00369692 0 0 0 1) +QL ( 0.000000 0.000000 0.000000 -0.000192 0.000863 -0.002301 -0.000288 0.000000) +QR ( 0.000000 0.000000 0.000000 -0.000192 0.000863 -0.002301 -0.000288 0.000000) + diff --git a/iCubLisboa01/icubEyes640x480.ini b/iCubLisboa01/icubEyes640x480.ini deleted file mode 100644 index c5e9d50959..0000000000 --- a/iCubLisboa01/icubEyes640x480.ini +++ /dev/null @@ -1,43 +0,0 @@ -// Running Left Camera Calibration... -// RMS error reported by calibrateCamera: 0.784405 -// Running Right Camera Calibration... -// RMS error reported by calibrateCamera: 0.620026 -// 30 pairs have been successfully detected. -// Running stereo calibration ... -// done with RMS error= 0.904386 -// average reprojection err = 1.317298 - -[CAMERA_CALIBRATION_RIGHT] - -projection pinhole -drawCenterCross 0 -w 640 -h 480 -fx 443.787 -fy 444.464 -cx 340.567 -cy 255.573 -k1 -0.385225 -k2 0.123298 -p1 0.000279715 -p2 -0.00221192 - -[CAMERA_CALIBRATION_LEFT] - -projection pinhole -drawCenterCross 0 -w 640 -h 480 -fx 440.391 -fy 440.857 -cx 339.17 -cy 264.568 -k1 -0.388223 -k2 0.133177 -p1 -7.43573e-05 -p2 -0.0018589 - -[STEREO_DISPARITY] -HN (0.999907 -0.0134295 0.00219096 -0.159504 0.0134377 0.999903 -0.00378485 0.00367808 -0.00213992 0.00381394 0.99999 -0.001612 0 0 0 1) -QL ( 0.000000 0.000000 0.000000 0.015727 -0.004219 0.024741 -0.017645 0.033380) -QR ( 0.000000 0.000000 0.000000 0.015727 -0.004219 0.024741 -0.017645 0.016260) diff --git a/iCubLisboa01/icub_all.xml b/iCubLisboa01/icub_all.xml index 01dca8f4c6..8f221d3ada 100644 --- a/iCubLisboa01/icub_all.xml +++ b/iCubLisboa01/icub_all.xml @@ -1,88 +1,114 @@ - - - - - + + + + + + + + + + + - + + + + + + + + + + + + + + + + + + - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - + + + + + + - - - - - - - - - - - - - + + + + - - - - - - - + + + + - + - + - - - + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + - - - - - - - - - - - + + diff --git a/iCubLisboa01/icub_noLegs.xml b/iCubLisboa01/icub_noLegs.xml deleted file mode 100644 index d2e3b38431..0000000000 --- a/iCubLisboa01/icub_noLegs.xml +++ /dev/null @@ -1,82 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/iCubLisboa01/icub_noSkin.xml b/iCubLisboa01/icub_noSkin.xml deleted file mode 100644 index 46c3a25ecd..0000000000 --- a/iCubLisboa01/icub_noSkin.xml +++ /dev/null @@ -1,84 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/iCubLisboa01/network.iCubLisboa01.xml b/iCubLisboa01/network.iCubLisboa01.xml new file mode 100644 index 0000000000..fe7e612048 --- /dev/null +++ b/iCubLisboa01/network.iCubLisboa01.xml @@ -0,0 +1,648 @@ + + + + + + + + + + + + + + + + ETH + + + + + + ETH + + + + + + + + + + + ETH + + + + + + + + + + + ETH + + + + + + ETH + + + + + + ETH + + + + + + ETH + + + + + + ETH + + + + + + ETH + + + + + + + ETH + + + + + + ETH + + + + + + ETH + + + + + + ETH + + + + + + ETH + + + + + + ETH + + + + + + ETH + + + + + + ETH + + + + + + ETH + + + + + + ETH + + + + + + ETH + + + + + + + + + + + ETH + + + + + + ETH + + + + + + ETH + + + + + + ETH + + + + + + ETH + + + + + + ETH + + + + + + ETH + + + + + + ETH + + + + + + ETH + + + + + + ETH + + + + + + ETH + + + + + + ETH + + + + + + ETH + + + + + + ETH + + + + + + ETH + + + + + + ETH + + + + + + ETH + + + + + + + + + + + ETH + + + + + + ETH + + + + + + ETH + + + + + + ETH + + + + + + ETH + + + + + + ETH + + + + + + ETH + + + + + + ETH + + + + + + + + + + + ETH + + + + + + ETH + + + + + + ETH + + + + + + ETH + + + + + + ETH + + + + + + ETH + + + + + + ETH + + + + + + ETH + + + + + + ETH + + + + + + ETH + + + + + + ETH + + + + + + ETH + + + + + + ETH + + + + + + ETH + + + + + + ETH + + + + + + ETH + + + + + + ETH + + + + + + ETH + + + + + + ETH + + + + + + ETH + + + + + + ETH + + + + + + ETH + + + + + + ETH + + + + + + ETH + + + + + + + + + + + ETH + + + + + + ETH + + + + + + ETH + + + + + + ETH + + + + + + ETH + + + + + + ETH + + + + + + ETH + + + + + + ETH + + + + + + ETH + + + + + + ETH + + + + + + ETH + + + + + + ETH + + + + + + ETH + + + + + + ETH + + + + + + ETH + + + + + + ETH + + + + + + ETH + + + + + + ETH + + + + + + ETH + + + + + + ETH + + + + + + ETH + + + + + + ETH + + + + + + ETH + + + + + + ETH + + + + + + + + + + + + + + + + diff --git a/iCubLisboa01/pf3dTracker.ini b/iCubLisboa01/pf3dTracker.ini index abb89acc71..dabde852d4 100644 --- a/iCubLisboa01/pf3dTracker.ini +++ b/iCubLisboa01/pf3dTracker.ini @@ -11,7 +11,7 @@ name /pf3dTracker ############################# #parameters of the algorithm# ############################# -nParticles 900 +nParticles 700 #nParticles number of particles used accelStDev 30 #accelStDev 50 30 15 @@ -47,77 +47,16 @@ outputAttentionPort /pf3dTracker/attention:o #projectionModel [perspective|equidistance|unified] projectionModel perspective -cameraContext iCubLisboa01 -#cameraFile icubEyes.ini -cameraFile icubEyes320x240.ini +cameraFile icubEyes.ini cameraGroup CAMERA_CALIBRATION_LEFT -#iCub01 2008-07-29-afternoon. -# perspectiveFx 221.731 -# perspectiveFy 221.396 -# perspectiveCx 152.533 -# perspectiveCy 114.882 - -#iCubLisboaLeftEye_2009_03_04 -#perspectiveFx 217.934 -#perspectiveFy 218.24 -#perspectiveCx 185.282 -#perspectiveCy 121.498 - -#iCubLiboaLeftEye_2012 -w 320 -h 240 -perspectiveFx 217.043 -perspectiveFy 217.062 -perspectiveCx 164.908 -perspectiveCy 128.685 - -#iCubLisboaLeftEye_Zoom_Lens_2009_05_19 -#perspectiveFx 445.202 -#perspectiveFy 445.664 -#perspectiveCx 188.297 -#perspectiveCy 138.496 - -# my webcam, with 320x240 resolution. -#perspectiveFx 465 -#perspectiveFy 465 -#perspectiveCx 150 -#perspectiveCy 132 - -# my webcam, with 640x480 resolution. -#perspectiveFx 980.112 -#perspectiveFy 982.055 -#perspectiveCx 299.068 -#perspectiveCy 264.786 - -# Balta LeftEye Matteo (calibration: 30 images, 27 November 2008) -#perspectiveFx 632.972 -#perspectiveFy 632.876 -#perspectiveCx 338.53 -#perspectiveCy 236.821 - -# VisLab 3-CCD camera (calibration v1, 21 January 2009) -#perspectiveFx 715.038 -#perspectiveFy 717.164 -#perspectiveCx 323.348 -#perspectiveCy 285.334 - -# Gaspar's simulated camera (matrix H, 21 January 2009) -# perspectiveFx 184 -# perspectiveFy 184.5 -# perspectiveCx 288 -# perspectiveCy 190.5 - - ####################### #tracked object models# ####################### #trackedObjectType [sphere|parallelogram] trackedObjectType sphere -#trackedObjectColorTemplate models/blue_general_model_2009_03_03.bmp -#trackedObjectColorTemplate models/red_ball_ist.bmp -trackedObjectColorTemplate models/red_smiley_2009_07_02.bmp -trackedObjectShapeTemplate models/initial_ball_points_smiley_31mm_20percent.csv +trackedObjectColorTemplate models/red_ball_iit.bmp +trackedObjectShapeTemplate models/initial_ball_points_36mm_20percent.csv motionModelMatrix models/motion_model_matrix.csv trackedObjectTemp current_histogram.csv @@ -135,8 +74,8 @@ initialZ 0.5 #################### #visualization mode# #################### -#circleVisualizationMode [0=inner and outer cirlce | 1=one circle with the correct radious] default 0. only applies to the sphere. -circleVisualizationMode 1 +#circleVisualizationMode [0=inner and outer cirlce | 1=one circle with the correct radious] default 0. only applies to the sphere. +circleVisualizationMode 1 ######################### @@ -145,7 +84,7 @@ circleVisualizationMode 1 #the tracker produces a value of likelihood at each time step. this value can be used to infer if the object it is tracking is the correct one. this is not a very robust way of doing so. #if likelihood>this value, then probably I'm tracking the object. 20Millions is good, 12Millions is the likelihood of Jonas Hornsteins's PC screen (false positive). #20Millions is a good threshold level when you have the right color model. 5M. -likelihoodThreshold 0.005 +likelihoodThreshold 0.0005 attentionOutputMax 300 attentionOutputDecrease 0.99 diff --git a/iCubLisboa01/skinGuiAll.xml b/iCubLisboa01/skinGuiAll.xml deleted file mode 100644 index b3a4a37473..0000000000 --- a/iCubLisboa01/skinGuiAll.xml +++ /dev/null @@ -1,124 +0,0 @@ - - Skin Gui All - - skinManager - --from skinManAll.ini --context skinGui - icub-laptop - - - skinManagerGui - --from skinManGui.ini --context skinGui --xpos 1020 --ypos 350 - icub-laptop - - - - iCubSkinGui - - --from left_arm.ini --useCalibration --xpos 0 --ypos 350 --width 300 --height 300 - icub-laptop - - - iCubSkinGui - - --from left_forearm.ini --useCalibration --xpos 0 --ypos 0 --width 300 --height 300 - icub-laptop - - - iCubSkinGui - - --from left_hand_V2_1.ini --useCalibration --xpos 320 --ypos 0 --width 300 --height 300 - icub-laptop - - - iCubSkinGui - - --from right_arm.ini --useCalibration --xpos 640 --ypos 350 --width 300 --height 300 - icub-laptop - - - iCubSkinGui - - --from right_forearm.ini --useCalibration --xpos 640 --ypos 0 --width 300 --height 300 - icub-laptop - - - iCubSkinGui - - --from right_hand_V2_1.ini --useCalibration --xpos 960 --ypos 0 --width 300 --height 300 - icub-laptop - - - iCubSkinGui - - --from torso.ini --useCalibration --xpos 320 --ypos 350 --width 300 --height 300 - icub-laptop - - - - /skinManager/skin_events:o - /wholeBodyDynamics/skin_contacts:i - udp - - - /skinManagerGui/rpc:o - /skinManager/rpc - tcp - - - /skinManager/monitor:o - /skinManagerGui/monitor:i - udp - - - /skinManager/info:o - /skinManagerGui/info:i - tcp - - - - /diagnostics/skin/errors:o - /skinManager/diagnostics/skin/errors:i - tcp - - - /skinManager/diagnostics/skin/errors:o - /skinManagerGui/diagnostics/skin/errors:i - tcp - - - - /icub/skin/left_hand_comp - /skinGui/left_hand:i - udp - - - /icub/skin/left_forearm_comp - /skinGui/left_forearm:i - udp - - - /icub/skin/left_arm_comp - /skinGui/left_arm:i - udp - - - /icub/skin/right_hand_comp - /skinGui/right_hand:i - udp - - - /icub/skin/right_forearm_comp - /skinGui/right_forearm:i - udp - - - /icub/skin/right_arm_comp - /skinGui/right_arm:i - udp - - - /icub/skin/torso_comp - /skinGui/torso:i - udp - - diff --git a/iCubLisboa01/startaudio.ini b/iCubLisboa01/startaudio.ini new file mode 100644 index 0000000000..fb78606211 --- /dev/null +++ b/iCubLisboa01/startaudio.ini @@ -0,0 +1,5 @@ +device AudioRecorderWrapper + subdevice portaudioRecorder + name /microphone + min_samples_over_network 4000 + max_samples_over_network 4000 diff --git a/iCubLisboa01/vislab-cluster.xml b/iCubLisboa01/vislab-cluster.xml deleted file mode 100644 index 8cfde10fbe..0000000000 --- a/iCubLisboa01/vislab-cluster.xml +++ /dev/null @@ -1,18 +0,0 @@ - - - - - - - -icub-laptop -pc104 -icubbrain1 -icubbrain2 -icub-cuda - - - diff --git a/iCubLisboa01/wholeBodyDynamics.ini b/iCubLisboa01/wholeBodyDynamics.ini new file mode 100644 index 0000000000..3767e8a407 --- /dev/null +++ b/iCubLisboa01/wholeBodyDynamics.ini @@ -0,0 +1,6 @@ +period 10 +performance 0 +comparison 0 +autoconnect +headV2.7 +imuPortName /icub/head/inertials diff --git a/iCubLisboa01/wrappers/FT/left_arm-FT_wrapper.xml b/iCubLisboa01/wrappers/FT/left_arm-FT_wrapper.xml new file mode 100644 index 0000000000..7685a751fa --- /dev/null +++ b/iCubLisboa01/wrappers/FT/left_arm-FT_wrapper.xml @@ -0,0 +1,18 @@ + + + + + + 10 + /icub/left_arm/analog:o + + + + + left_arm-eb1-j0_3-strain + + + + + + diff --git a/iCubLisboa01/wrappers/FT/left_arm-FT_wrapper_multipleSens.xml b/iCubLisboa01/wrappers/FT/left_arm-FT_wrapper_multipleSens.xml new file mode 100644 index 0000000000..ef1f5556f7 --- /dev/null +++ b/iCubLisboa01/wrappers/FT/left_arm-FT_wrapper_multipleSens.xml @@ -0,0 +1,18 @@ + + + + + + 10 + /icub/left_arm + + + + + left_arm-eb1-j0_3-strain + + + + + + diff --git a/iCubLisboa01/wrappers/FT/left_arm_FT_wrapper.xml b/iCubLisboa01/wrappers/FT/left_arm_FT_wrapper.xml deleted file mode 100644 index ade4f2850a..0000000000 --- a/iCubLisboa01/wrappers/FT/left_arm_FT_wrapper.xml +++ /dev/null @@ -1,16 +0,0 @@ - - - - - 10 - /icub/left_arm/analog:o - - - - left_arm_strain - - - - - - diff --git a/iCubLisboa01/wrappers/FT/left_foot-FT_wrapper.xml b/iCubLisboa01/wrappers/FT/left_foot-FT_wrapper.xml new file mode 100644 index 0000000000..9e03772f50 --- /dev/null +++ b/iCubLisboa01/wrappers/FT/left_foot-FT_wrapper.xml @@ -0,0 +1,18 @@ + + + + + + 10 + /icub/left_foot/analog:o + + + + + left_leg-eb7-j4_5-strain + + + + + + diff --git a/iCubLisboa01/wrappers/FT/left_foot-FT_wrapper_multipleSens.xml b/iCubLisboa01/wrappers/FT/left_foot-FT_wrapper_multipleSens.xml new file mode 100644 index 0000000000..a4db01f0a8 --- /dev/null +++ b/iCubLisboa01/wrappers/FT/left_foot-FT_wrapper_multipleSens.xml @@ -0,0 +1,18 @@ + + + + + + 10 + /icub/left_foot + + + + + left_leg-eb7-j4_5-strain + + + + + + diff --git a/iCubLisboa01/wrappers/FT/left_foot_FT_wrapper.xml b/iCubLisboa01/wrappers/FT/left_foot_FT_wrapper.xml deleted file mode 100644 index 1f7f3fded4..0000000000 --- a/iCubLisboa01/wrappers/FT/left_foot_FT_wrapper.xml +++ /dev/null @@ -1,16 +0,0 @@ - - - - - 10 - /icub/left_foot/analog:o - - - - left_foot_strain - - - - - - diff --git a/iCubLisboa01/wrappers/FT/left_leg-FT_wrapper.xml b/iCubLisboa01/wrappers/FT/left_leg-FT_wrapper.xml new file mode 100644 index 0000000000..84ac4cf081 --- /dev/null +++ b/iCubLisboa01/wrappers/FT/left_leg-FT_wrapper.xml @@ -0,0 +1,18 @@ + + + + + + 10 + /icub/left_leg/analog:o + + + + + left_leg-eb6-j0_3-strain + + + + + + diff --git a/iCubLisboa01/wrappers/FT/left_leg-FT_wrapper_multipleSens.xml b/iCubLisboa01/wrappers/FT/left_leg-FT_wrapper_multipleSens.xml new file mode 100644 index 0000000000..0af22697fe --- /dev/null +++ b/iCubLisboa01/wrappers/FT/left_leg-FT_wrapper_multipleSens.xml @@ -0,0 +1,18 @@ + + + + + + 10 + /icub/left_leg + + + + + left_leg-eb6-j0_3-strain + + + + + + diff --git a/iCubLisboa01/wrappers/FT/left_leg_FT_wrapper.xml b/iCubLisboa01/wrappers/FT/left_leg_FT_wrapper.xml deleted file mode 100644 index 1b5f7106d4..0000000000 --- a/iCubLisboa01/wrappers/FT/left_leg_FT_wrapper.xml +++ /dev/null @@ -1,16 +0,0 @@ - - - - - 10 - /icub/left_leg/analog:o - - - - left_leg_strain - - - - - - diff --git a/iCubLisboa01/wrappers/FT/right_arm-FT_wrapper.xml b/iCubLisboa01/wrappers/FT/right_arm-FT_wrapper.xml new file mode 100644 index 0000000000..cd117e9f7a --- /dev/null +++ b/iCubLisboa01/wrappers/FT/right_arm-FT_wrapper.xml @@ -0,0 +1,18 @@ + + + + + + 10 + /icub/right_arm/analog:o + + + + + right_arm-eb3-j0_3-strain + + + + + + diff --git a/iCubLisboa01/wrappers/FT/right_arm-FT_wrapper_multipleSens.xml b/iCubLisboa01/wrappers/FT/right_arm-FT_wrapper_multipleSens.xml new file mode 100644 index 0000000000..d051f529e0 --- /dev/null +++ b/iCubLisboa01/wrappers/FT/right_arm-FT_wrapper_multipleSens.xml @@ -0,0 +1,18 @@ + + + + + + 10 + /icub/right_arm + + + + + right_arm-eb3-j0_3-strain + + + + + + diff --git a/iCubLisboa01/wrappers/FT/right_arm_FT_wrapper.xml b/iCubLisboa01/wrappers/FT/right_arm_FT_wrapper.xml deleted file mode 100644 index 45cf62534b..0000000000 --- a/iCubLisboa01/wrappers/FT/right_arm_FT_wrapper.xml +++ /dev/null @@ -1,16 +0,0 @@ - - - - - 10 - /icub/right_arm/analog:o - - - - right_arm_strain - - - - - - diff --git a/iCubLisboa01/wrappers/FT/right_foot-FT_wrapper.xml b/iCubLisboa01/wrappers/FT/right_foot-FT_wrapper.xml new file mode 100644 index 0000000000..fc2b87dca3 --- /dev/null +++ b/iCubLisboa01/wrappers/FT/right_foot-FT_wrapper.xml @@ -0,0 +1,18 @@ + + + + + + 10 + /icub/right_foot/analog:o + + + + + right_leg-eb9-j4_5-strain + + + + + + diff --git a/iCubLisboa01/wrappers/FT/right_foot-FT_wrapper_multipleSens.xml b/iCubLisboa01/wrappers/FT/right_foot-FT_wrapper_multipleSens.xml new file mode 100644 index 0000000000..1f99ca981d --- /dev/null +++ b/iCubLisboa01/wrappers/FT/right_foot-FT_wrapper_multipleSens.xml @@ -0,0 +1,18 @@ + + + + + + 10 + /icub/right_foot + + + + + right_leg-eb9-j4_5-strain + + + + + + diff --git a/iCubLisboa01/wrappers/FT/right_foot_FT_wrapper.xml b/iCubLisboa01/wrappers/FT/right_foot_FT_wrapper.xml deleted file mode 100644 index e57a452345..0000000000 --- a/iCubLisboa01/wrappers/FT/right_foot_FT_wrapper.xml +++ /dev/null @@ -1,16 +0,0 @@ - - - - - 10 - /icub/right_foot/analog:o - - - - right_foot_strain - - - - - - diff --git a/iCubLisboa01/wrappers/FT/right_leg-FT_wrapper.xml b/iCubLisboa01/wrappers/FT/right_leg-FT_wrapper.xml new file mode 100644 index 0000000000..0c7c07de59 --- /dev/null +++ b/iCubLisboa01/wrappers/FT/right_leg-FT_wrapper.xml @@ -0,0 +1,18 @@ + + + + + + 10 + /icub/right_leg/analog:o + + + + + right_leg-eb8-j0_3-strain + + + + + + diff --git a/iCubLisboa01/wrappers/FT/right_leg-FT_wrapper_multipleSens.xml b/iCubLisboa01/wrappers/FT/right_leg-FT_wrapper_multipleSens.xml new file mode 100644 index 0000000000..ab86e6230f --- /dev/null +++ b/iCubLisboa01/wrappers/FT/right_leg-FT_wrapper_multipleSens.xml @@ -0,0 +1,18 @@ + + + + + + 10 + /icub/right_leg + + + + + right_leg-eb8-j0_3-strain + + + + + + diff --git a/iCubLisboa01/wrappers/FT/right_leg_FT_wrapper.xml b/iCubLisboa01/wrappers/FT/right_leg_FT_wrapper.xml deleted file mode 100644 index 8542c0f9d5..0000000000 --- a/iCubLisboa01/wrappers/FT/right_leg_FT_wrapper.xml +++ /dev/null @@ -1,16 +0,0 @@ - - - - - 10 - /icub/right_leg/analog:o - - - - right_leg_strain - - - - - - diff --git a/iCubLisboa01/wrappers/MAIS/left_arm-mais_wrapper.xml b/iCubLisboa01/wrappers/MAIS/left_arm-mais_wrapper.xml new file mode 100644 index 0000000000..670c35bcb4 --- /dev/null +++ b/iCubLisboa01/wrappers/MAIS/left_arm-mais_wrapper.xml @@ -0,0 +1,16 @@ + + + + + 10 + /icub/left_hand/analog:o + + + + left_arm-eb26-j12_15-mais + + + + + + diff --git a/iCubLisboa01/wrappers/MAIS/left_hand_mais_wrapper.xml b/iCubLisboa01/wrappers/MAIS/left_hand_mais_wrapper.xml deleted file mode 100644 index 4193652f4b..0000000000 --- a/iCubLisboa01/wrappers/MAIS/left_hand_mais_wrapper.xml +++ /dev/null @@ -1,16 +0,0 @@ - - - - - 10 - /icub/left_hand/analog:o - - - - left_hand_mais - - - - - - diff --git a/iCubLisboa01/wrappers/MAIS/right_arm-mais_wrapper.xml b/iCubLisboa01/wrappers/MAIS/right_arm-mais_wrapper.xml new file mode 100644 index 0000000000..1b5213361e --- /dev/null +++ b/iCubLisboa01/wrappers/MAIS/right_arm-mais_wrapper.xml @@ -0,0 +1,16 @@ + + + + + 10 + /icub/right_hand/analog:o + + + + right_arm-eb29-j12_15-mais + + + + + + diff --git a/iCubLisboa01/wrappers/MAIS/right_hand_mais_wrapper.xml b/iCubLisboa01/wrappers/MAIS/right_hand_mais_wrapper.xml deleted file mode 100644 index 1cb874bc9a..0000000000 --- a/iCubLisboa01/wrappers/MAIS/right_hand_mais_wrapper.xml +++ /dev/null @@ -1,16 +0,0 @@ - - - - - 10 - /icub/right_hand/analog:o - - - - right_hand_mais - - - - - - diff --git a/iCubLisboa01/wrappers/VFT/left_arm-VFT_wrapper.xml b/iCubLisboa01/wrappers/VFT/left_arm-VFT_wrapper.xml new file mode 100644 index 0000000000..21e23e3033 --- /dev/null +++ b/iCubLisboa01/wrappers/VFT/left_arm-VFT_wrapper.xml @@ -0,0 +1,20 @@ + + + + 10 + + + ( 0 3 0 3 ) + ( 4 6 0 2 ) + + 7 + /icub/joint_vsens/left_arm:i + + + + left_arm-eb1-j0_3-mc + left_arm-eb24-j4_7-mc + + + + diff --git a/iCubLisboa01/wrappers/VFT/left_arm_VFT_wrapper.xml b/iCubLisboa01/wrappers/VFT/left_arm_VFT_wrapper.xml deleted file mode 100644 index b4746c806a..0000000000 --- a/iCubLisboa01/wrappers/VFT/left_arm_VFT_wrapper.xml +++ /dev/null @@ -1,15 +0,0 @@ - - - - 10 - - ( 0 5 0 5 ) - - /icub/joint_vsens/left_arm:i - - - left_arm_virtual_strain - - - - diff --git a/iCubLisboa01/wrappers/VFT/left_leg_VFT_wrapper.xml b/iCubLisboa01/wrappers/VFT/left_leg-VFT_wrapper.xml similarity index 52% rename from iCubLisboa01/wrappers/VFT/left_leg_VFT_wrapper.xml rename to iCubLisboa01/wrappers/VFT/left_leg-VFT_wrapper.xml index dff5d6fd56..f3ffb9cc19 100644 --- a/iCubLisboa01/wrappers/VFT/left_leg_VFT_wrapper.xml +++ b/iCubLisboa01/wrappers/VFT/left_leg-VFT_wrapper.xml @@ -3,12 +3,17 @@ 10 - ( 0 5 0 5 ) + + ( 0 3 0 3 ) + ( 4 5 0 1 ) + 6 /icub/joint_vsens/left_leg:i - left_leg_virtual_strain + + left_leg-eb6-j0_3-mc + left_leg-eb7-j4_5-mc diff --git a/iCubLisboa01/wrappers/VFT/right_arm-VFT_wrapper.xml b/iCubLisboa01/wrappers/VFT/right_arm-VFT_wrapper.xml new file mode 100644 index 0000000000..a55cf3e65e --- /dev/null +++ b/iCubLisboa01/wrappers/VFT/right_arm-VFT_wrapper.xml @@ -0,0 +1,20 @@ + + + + 10 + + + ( 0 3 0 3 ) + ( 4 6 0 2 ) + + 7 + /icub/joint_vsens/right_arm:i + + + + right_arm-eb3-j0_3-mc + right_arm-eb27-j4_7-mc + + + + diff --git a/iCubLisboa01/wrappers/VFT/right_arm_VFT_wrapper.xml b/iCubLisboa01/wrappers/VFT/right_arm_VFT_wrapper.xml deleted file mode 100644 index fe19ada982..0000000000 --- a/iCubLisboa01/wrappers/VFT/right_arm_VFT_wrapper.xml +++ /dev/null @@ -1,15 +0,0 @@ - - - - 10 - - ( 0 5 0 5 ) - - /icub/joint_vsens/right_arm:i - - - right_arm_virtual_strain - - - - diff --git a/iCubLisboa01/wrappers/VFT/right_leg-VFT_wrapper.xml b/iCubLisboa01/wrappers/VFT/right_leg-VFT_wrapper.xml new file mode 100644 index 0000000000..b14fa54653 --- /dev/null +++ b/iCubLisboa01/wrappers/VFT/right_leg-VFT_wrapper.xml @@ -0,0 +1,20 @@ + + + + 10 + + + ( 0 3 0 3 ) + ( 4 5 0 1 ) + + 6 + /icub/joint_vsens/right_leg:i + + + + right_leg-eb8-j0_3-mc + right_leg-eb9-j4_5-mc + + + + diff --git a/iCubLisboa01/wrappers/VFT/right_leg_VFT_wrapper.xml b/iCubLisboa01/wrappers/VFT/right_leg_VFT_wrapper.xml deleted file mode 100644 index e2cb6126b5..0000000000 --- a/iCubLisboa01/wrappers/VFT/right_leg_VFT_wrapper.xml +++ /dev/null @@ -1,16 +0,0 @@ - - - - 10 - - ( 0 5 0 5 ) - - 6 - /icub/joint_vsens/right_leg:i - - - right_leg_virtual_strain - - - - diff --git a/iCubLisboa01/wrappers/VFT/torso_VFT_wrapper.xml b/iCubLisboa01/wrappers/VFT/torso-VFT_wrapper.xml similarity index 53% rename from iCubLisboa01/wrappers/VFT/torso_VFT_wrapper.xml rename to iCubLisboa01/wrappers/VFT/torso-VFT_wrapper.xml index 79ade68260..81d2841d34 100644 --- a/iCubLisboa01/wrappers/VFT/torso_VFT_wrapper.xml +++ b/iCubLisboa01/wrappers/VFT/torso-VFT_wrapper.xml @@ -1,14 +1,17 @@ - + 10 - ( 0 5 0 5 ) + + ( 0 2 0 2 ) + 3 /icub/joint_vsens/torso:i - torso_virtual_strain + + torso-eb5-j0_2-mc diff --git a/iCubLisboa01/wrappers/inertials/left_arm-inertials_remapper.xml b/iCubLisboa01/wrappers/inertials/left_arm-inertials_remapper.xml new file mode 100644 index 0000000000..fdbc2f5ced --- /dev/null +++ b/iCubLisboa01/wrappers/inertials/left_arm-inertials_remapper.xml @@ -0,0 +1,24 @@ + + + + + + 10 + + + (l_upper_arm_mtb_acc_1b10 l_upper_arm_mtb_acc_1b11 l_upper_arm_mtb_acc_1b12 l_upper_arm_mtb_acc_1b13 + l_forearm_mtb_acc_1b7 l_forearm_mtb_acc_1b8 l_forearm_mtb_acc_1b9) + + + + + left_arm-eb24-j4_7-inertials + + + + + + diff --git a/iCubLisboa01/wrappers/inertials/left_arm-inertials_wrapper-deprecated.xml b/iCubLisboa01/wrappers/inertials/left_arm-inertials_wrapper-deprecated.xml new file mode 100644 index 0000000000..65b0d255c8 --- /dev/null +++ b/iCubLisboa01/wrappers/inertials/left_arm-inertials_wrapper-deprecated.xml @@ -0,0 +1,21 @@ + + + + + + 10 + /icub/left_hand/inertialMTB + + + + + + left_arm-eb24-j4_7-inertials + + + + + + diff --git a/iCubLisboa01/wrappers/inertials/left_arm-inertials_wrapper.xml b/iCubLisboa01/wrappers/inertials/left_arm-inertials_wrapper.xml new file mode 100644 index 0000000000..221e99b2f7 --- /dev/null +++ b/iCubLisboa01/wrappers/inertials/left_arm-inertials_wrapper.xml @@ -0,0 +1,20 @@ + + + + + + 10 + /icub/left_arm/inertials + + + + + left_arm-inertials_remapper + + + + + + diff --git a/iCubLisboa01/wrappers/inertials/left_foot-imu_wrapper.xml b/iCubLisboa01/wrappers/inertials/left_foot-imu_wrapper.xml new file mode 100644 index 0000000000..a1fb36cd32 --- /dev/null +++ b/iCubLisboa01/wrappers/inertials/left_foot-imu_wrapper.xml @@ -0,0 +1,21 @@ + + + + + + 10 + /icub/left_foot/imu + + + + + + left_leg-eb7-imu + + + + + + diff --git a/iCubLisboa01/wrappers/inertials/head-inertials_wrapper-deprecated.xml b/iCubLisboa01/wrappers/inertials/left_leg-imu_wrapper.xml similarity index 60% rename from iCubLisboa01/wrappers/inertials/head-inertials_wrapper-deprecated.xml rename to iCubLisboa01/wrappers/inertials/left_leg-imu_wrapper.xml index 8a513a7bea..33280d537d 100644 --- a/iCubLisboa01/wrappers/inertials/head-inertials_wrapper-deprecated.xml +++ b/iCubLisboa01/wrappers/inertials/left_leg-imu_wrapper.xml @@ -2,18 +2,20 @@ - - /icub/inertial + + 10 + /icub/left_leg/imu - - head-inertial + left_leg-eb6-imu - + + diff --git a/iCubLisboa01/wrappers/inertials/left_leg-inertials_remapper.xml b/iCubLisboa01/wrappers/inertials/left_leg-inertials_remapper.xml new file mode 100644 index 0000000000..dbe7f0b89c --- /dev/null +++ b/iCubLisboa01/wrappers/inertials/left_leg-inertials_remapper.xml @@ -0,0 +1,40 @@ + + + + + + 10 + + + (l_upper_leg_imu_gyro_1 + l_upper_leg_ems_gyro_eb6 + l_upper_leg_ems_gyro_eb10 + l_lower_leg_ems_gyro_eb7 + l_lower_leg_imu_gyro_2) + + + (l_upper_leg_imu_acc_1 + l_upper_leg_mtb_acc_10b1 l_upper_leg_mtb_acc_10b2 l_upper_leg_mtb_acc_10b3 l_upper_leg_mtb_acc_10b4 + l_upper_leg_mtb_acc_10b5 l_upper_leg_mtb_acc_10b6 l_upper_leg_mtb_acc_10b7 + l_lower_leg_mtb_acc_10b8 l_lower_leg_mtb_acc_10b9 l_lower_leg_mtb_acc_10b10 l_lower_leg_mtb_acc_10b11 + l_lower_leg_imu_acc_2 + l_foot_mtb_acc_10b12 l_foot_mtb_acc_10b13) + + + + + + left_leg-eb6-imu + left_leg-eb6-inertials + left_leg-eb7-imu + left_leg-eb7-inertials + left_leg-eb10-inertials + + + + + + diff --git a/iCubLisboa01/wrappers/inertials/left_leg-inertials_wrapper-deprecated.xml b/iCubLisboa01/wrappers/inertials/left_leg-inertials_wrapper-deprecated.xml new file mode 100644 index 0000000000..20650df365 --- /dev/null +++ b/iCubLisboa01/wrappers/inertials/left_leg-inertials_wrapper-deprecated.xml @@ -0,0 +1,55 @@ + + + + + + 10 + /icub/left_leg/inertialMTB + + + + + + left_leg-eb10-inertials + + + + + + + + 10 + /icub/left_leg/inertialEMS6 + + + + + + left_leg-eb6-inertials + + + + + + + + 10 + /icub/left_leg/inertialEMS7 + + + + + + left_leg-eb7-inertials + + + + + + diff --git a/iCubLisboa01/wrappers/inertials/left_leg-inertials_wrapper.xml b/iCubLisboa01/wrappers/inertials/left_leg-inertials_wrapper.xml new file mode 100644 index 0000000000..908fde5b7c --- /dev/null +++ b/iCubLisboa01/wrappers/inertials/left_leg-inertials_wrapper.xml @@ -0,0 +1,20 @@ + + + + + + 10 + /icub/left_leg/inertials + + + + + left_leg-inertials_remapper + + + + + + diff --git a/iCubLisboa01/wrappers/inertials/right_arm-inertials_remapper.xml b/iCubLisboa01/wrappers/inertials/right_arm-inertials_remapper.xml new file mode 100644 index 0000000000..bc8f86f444 --- /dev/null +++ b/iCubLisboa01/wrappers/inertials/right_arm-inertials_remapper.xml @@ -0,0 +1,24 @@ + + + + + + 10 + + + (r_upper_arm_mtb_acc_2b10 r_upper_arm_mtb_acc_2b11 r_upper_arm_mtb_acc_2b12 r_upper_arm_mtb_acc_2b13 + r_forearm_mtb_acc_2b7 r_forearm_mtb_acc_2b8 r_forearm_mtb_acc_2b9) + + + + + right_arm-eb27-j4_7-inertials + + + + + + diff --git a/iCubLisboa01/wrappers/inertials/right_arm-inertials_wrapper-deprecated.xml b/iCubLisboa01/wrappers/inertials/right_arm-inertials_wrapper-deprecated.xml new file mode 100644 index 0000000000..ee48a1f6b8 --- /dev/null +++ b/iCubLisboa01/wrappers/inertials/right_arm-inertials_wrapper-deprecated.xml @@ -0,0 +1,21 @@ + + + + + + 10 + /icub/right_hand/inertialMTB + + + + + + right_arm-eb27-j4_7-inertials + + + + + + diff --git a/iCubLisboa01/wrappers/inertials/right_arm-inertials_wrapper.xml b/iCubLisboa01/wrappers/inertials/right_arm-inertials_wrapper.xml new file mode 100644 index 0000000000..35234c9b33 --- /dev/null +++ b/iCubLisboa01/wrappers/inertials/right_arm-inertials_wrapper.xml @@ -0,0 +1,20 @@ + + + + + + 10 + /icub/right_arm/inertials + + + + + right_arm-inertials_remapper + + + + + + diff --git a/iCubLisboa01/wrappers/inertials/right_foot-imu_wrapper.xml b/iCubLisboa01/wrappers/inertials/right_foot-imu_wrapper.xml new file mode 100644 index 0000000000..67fa1abda7 --- /dev/null +++ b/iCubLisboa01/wrappers/inertials/right_foot-imu_wrapper.xml @@ -0,0 +1,21 @@ + + + + + + 10 + /icub/right_foot/imu + + + + + + right_leg-eb9-imu + + + + + + diff --git a/iCubLisboa01/wrappers/inertials/right_leg-imu_wrapper.xml b/iCubLisboa01/wrappers/inertials/right_leg-imu_wrapper.xml new file mode 100644 index 0000000000..700af6cbae --- /dev/null +++ b/iCubLisboa01/wrappers/inertials/right_leg-imu_wrapper.xml @@ -0,0 +1,21 @@ + + + + + + 10 + /icub/right_leg/imu + + + + + + right_leg-eb8-imu + + + + + + diff --git a/iCubLisboa01/wrappers/inertials/right_leg-inertials_remapper.xml b/iCubLisboa01/wrappers/inertials/right_leg-inertials_remapper.xml new file mode 100644 index 0000000000..f91892786a --- /dev/null +++ b/iCubLisboa01/wrappers/inertials/right_leg-inertials_remapper.xml @@ -0,0 +1,39 @@ + + + + + + 10 + + + (r_upper_leg_imu_gyro_1 + r_upper_leg_ems_gyro_eb8 + r_upper_leg_ems_gyro_eb11 + r_lower_leg_ems_gyro_eb9 + r_lower_leg_imu_gyro_2) + + + (r_upper_leg_imu_acc_1 + r_upper_leg_mtb_acc_11b1 r_upper_leg_mtb_acc_11b2 r_upper_leg_mtb_acc_11b3 r_upper_leg_mtb_acc_11b4 + r_upper_leg_mtb_acc_11b5 r_upper_leg_mtb_acc_11b6 r_upper_leg_mtb_acc_11b7 + r_lower_leg_mtb_acc_11b8 r_lower_leg_mtb_acc_11b9 r_lower_leg_mtb_acc_11b10 r_lower_leg_mtb_acc_11b11 + r_lower_leg_imu_acc_2 + r_foot_mtb_acc_11b12 r_foot_mtb_acc_11b13) + + + + + right_leg-eb8-imu + right_leg-eb8-inertials + right_leg-eb9-imu + right_leg-eb9-inertials + right_leg-eb11-inertials + + + + + + diff --git a/iCubLisboa01/wrappers/inertials/right_leg-inertials_wrapper-deprecated.xml b/iCubLisboa01/wrappers/inertials/right_leg-inertials_wrapper-deprecated.xml new file mode 100644 index 0000000000..555b40d772 --- /dev/null +++ b/iCubLisboa01/wrappers/inertials/right_leg-inertials_wrapper-deprecated.xml @@ -0,0 +1,55 @@ + + + + + + 10 + /icub/right_leg/inertialMTB + + + + + + right_leg-eb11-inertials + + + + + + + + 10 + /icub/right_leg/inertialEMS8 + + + + + + right_leg-eb8-inertials + + + + + + + + 10 + /icub/right_leg/inertialEMS9 + + + + + + right_leg-eb9-inertials + + + + + + diff --git a/iCubLisboa01/wrappers/inertials/right_leg-inertials_wrapper.xml b/iCubLisboa01/wrappers/inertials/right_leg-inertials_wrapper.xml new file mode 100644 index 0000000000..dd511f7b81 --- /dev/null +++ b/iCubLisboa01/wrappers/inertials/right_leg-inertials_wrapper.xml @@ -0,0 +1,20 @@ + + + + + + 10 + /icub/right_leg/inertials + + + + + right_leg-inertials_remapper + + + + + + diff --git a/iCubLisboa01/wrappers/inertials/torso-inertial_wrapper.xml b/iCubLisboa01/wrappers/inertials/torso-inertial_wrapper.xml new file mode 100644 index 0000000000..d9e1d4334b --- /dev/null +++ b/iCubLisboa01/wrappers/inertials/torso-inertial_wrapper.xml @@ -0,0 +1,19 @@ + + + + + + 10 + /icub/torso/inertialMTB + + + + + + torso_inertialMTB + + + + + + diff --git a/iCubLisboa01/wrappers/inertials/torso-inertials_remapper.xml b/iCubLisboa01/wrappers/inertials/torso-inertials_remapper.xml new file mode 100644 index 0000000000..bc35f9d450 --- /dev/null +++ b/iCubLisboa01/wrappers/inertials/torso-inertials_remapper.xml @@ -0,0 +1,27 @@ + + + + + + 10 + + + (torso_ems_gyro_eb1 + torso_ems_gyro_eb3) + + + (chest_mtb_acc_0b7 chest_mtb_acc_0b8 chest_mtb_acc_0b9 chest_mtb_acc_0b10) + + + + + torso-eb22-inertials + torso-eb1-inertials + torso-eb3-inertials + + + + + + diff --git a/iCubLisboa01/wrappers/inertials/torso-inertials_wrapper-deprecated.xml b/iCubLisboa01/wrappers/inertials/torso-inertials_wrapper-deprecated.xml new file mode 100644 index 0000000000..244ed3a01e --- /dev/null +++ b/iCubLisboa01/wrappers/inertials/torso-inertials_wrapper-deprecated.xml @@ -0,0 +1,49 @@ + + + + + + 10 + /icub/torso/inertialMTB + + + + + + torso-eb22-inertials + + + + + + + + 10 + /icub/torso/inertialEMS1 + + + + + + torso-eb1-inertials + + + + + + + + 10 + /icub/torso/inertialEMS3 + + + + + + torso-eb3-inertials + + + + + + diff --git a/iCubLisboa01/wrappers/inertials/torso-inertials_wrapper.xml b/iCubLisboa01/wrappers/inertials/torso-inertials_wrapper.xml new file mode 100644 index 0000000000..e99fd513e5 --- /dev/null +++ b/iCubLisboa01/wrappers/inertials/torso-inertials_wrapper.xml @@ -0,0 +1,18 @@ + + + + + + 10 + /icub/torso/inertials + + + + + torso-inertials_remapper + + + + + + diff --git a/iCubLisboa01/wrappers/inertials/waist-inertials_remapper.xml b/iCubLisboa01/wrappers/inertials/waist-inertials_remapper.xml new file mode 100644 index 0000000000..546b410725 --- /dev/null +++ b/iCubLisboa01/wrappers/inertials/waist-inertials_remapper.xml @@ -0,0 +1,21 @@ + + + + + + 10 + + + (waist_ems_gyro_eb5) + + + + + waist-eb5-inertials + + + + + + diff --git a/iCubLisboa01/wrappers/inertials/waist-inertials_wrapper-deprecated.xml b/iCubLisboa01/wrappers/inertials/waist-inertials_wrapper-deprecated.xml new file mode 100644 index 0000000000..7afeeb997b --- /dev/null +++ b/iCubLisboa01/wrappers/inertials/waist-inertials_wrapper-deprecated.xml @@ -0,0 +1,19 @@ + + + + + + 10 + /icub/waist/inertialEMS5 + + + + + + waist-eb5-inertials + + + + + + diff --git a/iCubLisboa01/wrappers/inertials/waist-inertials_wrapper.xml b/iCubLisboa01/wrappers/inertials/waist-inertials_wrapper.xml new file mode 100644 index 0000000000..0a47668314 --- /dev/null +++ b/iCubLisboa01/wrappers/inertials/waist-inertials_wrapper.xml @@ -0,0 +1,18 @@ + + + + + + 10 + /icub/waist/inertials + + + + + waist-inertials_remapper + + + + + + diff --git a/iCubLisboa01/wrappers/motorControl/face-mc_remapper.xml b/iCubLisboa01/wrappers/motorControl/face-mc_remapper.xml new file mode 100644 index 0000000000..16f729d9a1 --- /dev/null +++ b/iCubLisboa01/wrappers/motorControl/face-mc_remapper.xml @@ -0,0 +1,15 @@ + + + + + + ( 0 0 0 0 ) + + 1 + + + face-eb22-j0-mc + + + + diff --git a/iCubLisboa01/wrappers/motorControl/face-mc_wrapper.xml b/iCubLisboa01/wrappers/motorControl/face-mc_wrapper.xml new file mode 100644 index 0000000000..f9adc60ffb --- /dev/null +++ b/iCubLisboa01/wrappers/motorControl/face-mc_wrapper.xml @@ -0,0 +1,29 @@ + + + + + + + + (0 0 0 0) + + + + 10 + /icub/face + face + 1 + + + + + face-eb22-j0-mc + face-calibrator + + + + + + + + diff --git a/iCubLisboa01/wrappers/motorControl/head-mc_remapper.xml b/iCubLisboa01/wrappers/motorControl/head-mc_remapper.xml index b3327e6dca..18ee4dd4f1 100644 --- a/iCubLisboa01/wrappers/motorControl/head-mc_remapper.xml +++ b/iCubLisboa01/wrappers/motorControl/head-mc_remapper.xml @@ -1,14 +1,16 @@ - + - ( 0 5 0 5 ) + ( 0 1 0 1 ) + ( 2 5 0 3 ) 6 - head_mc + head-eb20-j0_1-mc + head-eb21-j2_5-mc diff --git a/iCubLisboa01/wrappers/motorControl/head-mc_wrapper.xml b/iCubLisboa01/wrappers/motorControl/head-mc_wrapper.xml index ef0c98c153..3db3d9823a 100644 --- a/iCubLisboa01/wrappers/motorControl/head-mc_wrapper.xml +++ b/iCubLisboa01/wrappers/motorControl/head-mc_wrapper.xml @@ -1,11 +1,28 @@ - + - - 0.01 - /icub/head - - head_mc_remapper - - - + + + + (0 1 0 1) + (2 5 0 3) + + + 10 + /icub/head + head + 6 + + + + + head-eb20-j0_1-mc + head-eb21-j2_5-mc + head-calibrator + + + + + + + diff --git a/iCubLisboa01/wrappers/motorControl/icub_ros_wrapper.xml b/iCubLisboa01/wrappers/motorControl/icub_ros_wrapper.xml new file mode 100644 index 0000000000..cd6fbe6c51 --- /dev/null +++ b/iCubLisboa01/wrappers/motorControl/icub_ros_wrapper.xml @@ -0,0 +1,64 @@ + + + + 10 + /icub04/all_joints + 50 + + ( 0 1 0 1 ) + + ( 2 2 0 0 ) + + ( 3 5 0 2 ) + + ( 6 9 0 3 ) + + ( 10 13 0 3 ) + + ( 14 17 0 3 ) + + ( 18 21 0 3 ) + + ( 22 25 0 3 ) + + ( 26 29 0 3 ) + + ( 30 33 0 3 ) + + ( 34 37 0 3 ) + + ( 38 41 0 3 ) + + ( 42 43 0 1 ) + + ( 44 47 0 3 ) + + ( 48 49 0 1 ) + + + + true + /icub04/joint_states + /icub04/joint_state_publisher + + + + head-eb20-j0_1-mc + head-eb21-j2_5-mc + torso-eb5-j0_2-mc + right_arm-eb3-j0_3-mc + right_arm-eb27-j4_7-mc + right_arm-eb28-j8_11-mc + right_arm-eb29-j12_15-mc + left_arm-eb1-j0_3-mc + left_arm-eb24-j4_7-mc + left_arm-eb25-j8_11-mc + left_arm-eb26-j12_15-mc + left_leg-eb6-j0_3-mc + left_leg-eb7-j4_5-mc + right_leg-eb8-j0_3-mc + right_leg-eb9-j4_5-mc + + + + diff --git a/iCubLisboa01/wrappers/motorControl/left_arm-mc_remapper.xml b/iCubLisboa01/wrappers/motorControl/left_arm-mc_remapper.xml index 50d52ebcc4..7b043cb0db 100644 --- a/iCubLisboa01/wrappers/motorControl/left_arm-mc_remapper.xml +++ b/iCubLisboa01/wrappers/motorControl/left_arm-mc_remapper.xml @@ -1,16 +1,20 @@ - + - ( 0 7 0 7 ) - ( 8 15 0 7 ) + ( 0 3 0 3 ) + ( 4 7 0 3 ) + ( 8 11 0 3 ) + ( 12 15 0 3 ) 16 - left_arm_mc - left_hand_mc + left_arm-eb1-j0_3-mc + left_arm-eb24-j4_7-mc + left_arm-eb25-j8_11-mc + left_arm-eb26-j12_15-mc diff --git a/iCubLisboa01/wrappers/motorControl/left_arm-mc_wrapper.xml b/iCubLisboa01/wrappers/motorControl/left_arm-mc_wrapper.xml index f0bd42f98c..ed51538da3 100644 --- a/iCubLisboa01/wrappers/motorControl/left_arm-mc_wrapper.xml +++ b/iCubLisboa01/wrappers/motorControl/left_arm-mc_wrapper.xml @@ -1,11 +1,33 @@ - + - - 0.01 - /icub/left_arm - - left_arm_mc_remapper - - - + + + + + (0 3 0 3) + (4 7 0 3) + (8 11 0 3) + (12 15 0 3) + + + 10 + /icub/left_arm + left_arm + 16 + + + + + left_arm-eb1-j0_3-mc + left_arm-eb24-j4_7-mc + left_arm-eb25-j8_11-mc + left_arm-eb26-j12_15-mc + left_arm-calibrator + + + + + + + diff --git a/iCubLisboa01/wrappers/motorControl/left_forearm-mc_wrapper.xml b/iCubLisboa01/wrappers/motorControl/left_forearm-mc_wrapper.xml new file mode 100644 index 0000000000..a966219fe6 --- /dev/null +++ b/iCubLisboa01/wrappers/motorControl/left_forearm-mc_wrapper.xml @@ -0,0 +1,33 @@ + + + + + + + + + (4 7 0 3) + (8 11 0 3) + (12 15 0 3) + + + 10 + /icub/left_arm + left_arm + 12 + + + + + + left_arm-eb24-j4_7-mc + left_arm-eb25-j8_11-mc + left_arm-eb26-j12_15-mc + left_arm-calibrator + + + + + + + diff --git a/iCubLisboa01/wrappers/motorControl/left_leg-mc_remapper.xml b/iCubLisboa01/wrappers/motorControl/left_leg-mc_remapper.xml index 02e9c9c27a..a41f2596f1 100644 --- a/iCubLisboa01/wrappers/motorControl/left_leg-mc_remapper.xml +++ b/iCubLisboa01/wrappers/motorControl/left_leg-mc_remapper.xml @@ -1,13 +1,15 @@ - + - ( 0 5 0 5 ) + ( 0 3 0 3 ) + ( 4 5 0 1 ) 6 - left_leg_mc + left_leg-eb6-j0_3-mc + left_leg-eb7-j4_5-mc diff --git a/iCubLisboa01/wrappers/motorControl/left_leg-mc_wrapper.xml b/iCubLisboa01/wrappers/motorControl/left_leg-mc_wrapper.xml index b7752386f5..bde6ae98c5 100644 --- a/iCubLisboa01/wrappers/motorControl/left_leg-mc_wrapper.xml +++ b/iCubLisboa01/wrappers/motorControl/left_leg-mc_wrapper.xml @@ -1,11 +1,30 @@ - + - - 0.01 - /icub/left_leg - - left_leg_mc_remapper - - - + + + + + (0 3 0 3) + (4 5 0 1) + + + 10 + /icub/left_leg + left_leg + 6 + + + + + + left_leg-eb6-j0_3-mc + left_leg-eb7-j4_5-mc + left_leg-calibrator + + + + + + + diff --git a/iCubLisboa01/wrappers/motorControl/left_shoulder-mc_wrapper.xml b/iCubLisboa01/wrappers/motorControl/left_shoulder-mc_wrapper.xml new file mode 100644 index 0000000000..d2bb57c669 --- /dev/null +++ b/iCubLisboa01/wrappers/motorControl/left_shoulder-mc_wrapper.xml @@ -0,0 +1,27 @@ + + + + + + + + (0 3 0 3) + + + 10 + /icub/left_arm + left_arm + 4 + + + + + left_arm-eb1-j0_3-mc + left_arm-calibrator + + + + + + + diff --git a/iCubLisboa01/wrappers/motorControl/right_arm-mc_remapper.xml b/iCubLisboa01/wrappers/motorControl/right_arm-mc_remapper.xml index e08c59444b..c6e6ed2894 100644 --- a/iCubLisboa01/wrappers/motorControl/right_arm-mc_remapper.xml +++ b/iCubLisboa01/wrappers/motorControl/right_arm-mc_remapper.xml @@ -1,16 +1,20 @@ - + - ( 0 7 0 7 ) - ( 8 15 0 7 ) + ( 0 3 0 3 ) + ( 4 7 0 3 ) + ( 8 11 0 3 ) + ( 12 15 0 3 ) 16 - right_arm_mc - right_hand_mc + right_arm-eb3-j0_3-mc + right_arm-eb27-j4_7-mc + right_arm-eb28-j8_11-mc + right_arm-eb29-j12_15-mc > diff --git a/iCubLisboa01/wrappers/motorControl/right_arm-mc_wrapper.xml b/iCubLisboa01/wrappers/motorControl/right_arm-mc_wrapper.xml index d10109bffe..9463ee1964 100644 --- a/iCubLisboa01/wrappers/motorControl/right_arm-mc_wrapper.xml +++ b/iCubLisboa01/wrappers/motorControl/right_arm-mc_wrapper.xml @@ -1,11 +1,33 @@ - + - - 0.01 - /icub/right_arm - - right_arm_mc_remapper - - - + + + + + (0 3 0 3) + (4 7 0 3) + (8 11 0 3) + (12 15 0 3) + + + 10 + /icub/right_arm + right_arm + 16 + + + + + right_arm-eb3-j0_3-mc + right_arm-eb27-j4_7-mc + right_arm-eb28-j8_11-mc + right_arm-eb29-j12_15-mc + right_arm-calibrator + + + + + + + diff --git a/iCubLisboa01/wrappers/motorControl/right_forearm-mc_wrapper.xml b/iCubLisboa01/wrappers/motorControl/right_forearm-mc_wrapper.xml new file mode 100644 index 0000000000..9f84f8447c --- /dev/null +++ b/iCubLisboa01/wrappers/motorControl/right_forearm-mc_wrapper.xml @@ -0,0 +1,33 @@ + + + + + + + + + (4 7 0 3) + (8 11 0 3) + (12 15 0 3) + + + 10 + /icub/right_arm + right_arm + 12 + + + + + + right_arm-eb27-j4_7-mc + right_arm-eb28-j8_11-mc + right_arm-eb29-j12_15-mc + right_arm-calibrator + + + + + + + diff --git a/iCubLisboa01/wrappers/motorControl/right_leg-mc_remapper.xml b/iCubLisboa01/wrappers/motorControl/right_leg-mc_remapper.xml index 0a8d6d4f80..93c08a3202 100644 --- a/iCubLisboa01/wrappers/motorControl/right_leg-mc_remapper.xml +++ b/iCubLisboa01/wrappers/motorControl/right_leg-mc_remapper.xml @@ -1,13 +1,15 @@ - + - ( 0 5 0 5 ) + ( 0 3 0 3 ) + ( 4 5 0 1 ) 6 - right_leg_mc + right_leg-eb8-j0_3-mc + right_leg-eb9-j4_5-mc diff --git a/iCubLisboa01/wrappers/motorControl/right_leg-mc_wrapper.xml b/iCubLisboa01/wrappers/motorControl/right_leg-mc_wrapper.xml index 2cdfa8d824..eeaf22738c 100644 --- a/iCubLisboa01/wrappers/motorControl/right_leg-mc_wrapper.xml +++ b/iCubLisboa01/wrappers/motorControl/right_leg-mc_wrapper.xml @@ -1,11 +1,30 @@ - + - - 0.01 - /icub/right_leg - - right_leg_mc_remapper - - - + + + + + (0 3 0 3) + (4 5 0 1) + + + 10 + /icub/right_leg + right_leg + 6 + + + + + + right_leg-eb8-j0_3-mc + right_leg-eb9-j4_5-mc + right_leg-calibrator + + + + + + + diff --git a/iCubLisboa01/wrappers/motorControl/right_shoulder-mc_wrapper.xml b/iCubLisboa01/wrappers/motorControl/right_shoulder-mc_wrapper.xml new file mode 100644 index 0000000000..4d9bdc233c --- /dev/null +++ b/iCubLisboa01/wrappers/motorControl/right_shoulder-mc_wrapper.xml @@ -0,0 +1,27 @@ + + + + + + + + (0 3 0 3) + + + 10 + /icub/right_arm + right_arm + 4 + + + + + right_arm-eb3-j0_3-mc + right_arm-calibrator + + + + + + + diff --git a/iCubLisboa01/wrappers/motorControl/torso-mc_remapper.xml b/iCubLisboa01/wrappers/motorControl/torso-mc_remapper.xml index 51ef3d71ae..68c2555293 100644 --- a/iCubLisboa01/wrappers/motorControl/torso-mc_remapper.xml +++ b/iCubLisboa01/wrappers/motorControl/torso-mc_remapper.xml @@ -1,14 +1,14 @@ - + ( 0 2 0 2 ) 3 - torso_mc + torso-eb5-j0_2-mc diff --git a/iCubLisboa01/wrappers/motorControl/torso-mc_wrapper.xml b/iCubLisboa01/wrappers/motorControl/torso-mc_wrapper.xml index ee66c22409..56d0629d51 100644 --- a/iCubLisboa01/wrappers/motorControl/torso-mc_wrapper.xml +++ b/iCubLisboa01/wrappers/motorControl/torso-mc_wrapper.xml @@ -1,11 +1,28 @@ - + - - 0.01 - /icub/torso - - torso_mc_remapper - - - + + + + + (0 2 0 2) + + + 10 + /icub/torso + torso + 3 + + + + + + torso-eb5-j0_2-mc + torso-calibrator + + + + + + + diff --git a/iCubLisboa01/wrappers/skin/left_arm-skin_wrapper.xml b/iCubLisboa01/wrappers/skin/left_arm-skin_wrapper.xml new file mode 100644 index 0000000000..370a7c56ff --- /dev/null +++ b/iCubLisboa01/wrappers/skin/left_arm-skin_wrapper.xml @@ -0,0 +1,26 @@ + + + + + + 20 + 1344 + skinWrapper + + + 0 191 0 191 + 192 575 0 383 + 576 1343 0 767 + + + + + + left_arm-eb24-j4_7-skin + + + + + + diff --git a/iCubLisboa01/wrappers/skin/left_arm_skin_wrapper.xml b/iCubLisboa01/wrappers/skin/left_arm_skin_wrapper.xml deleted file mode 100644 index 70ff3b3060..0000000000 --- a/iCubLisboa01/wrappers/skin/left_arm_skin_wrapper.xml +++ /dev/null @@ -1,25 +0,0 @@ - - - - - - 20 - 1344 - skinWrapper - - - 0 191 0 191 - 192 575 0 383 - 576 1343 0 767 - - - - - - left_arm_skin - - - - - - diff --git a/iCubLisboa01/wrappers/skin/left_hand_inertial_wrapper.xml b/iCubLisboa01/wrappers/skin/left_hand_inertial_wrapper.xml deleted file mode 100644 index e56fea96f8..0000000000 --- a/iCubLisboa01/wrappers/skin/left_hand_inertial_wrapper.xml +++ /dev/null @@ -1,16 +0,0 @@ - - - - - 10 - left_hand_inertial - - - - left_hand_inertial_mtb - - - - - - diff --git a/iCubLisboa01/wrappers/skin/left_leg-skin_wrapper.xml b/iCubLisboa01/wrappers/skin/left_leg-skin_wrapper.xml new file mode 100644 index 0000000000..e0b25cca8f --- /dev/null +++ b/iCubLisboa01/wrappers/skin/left_leg-skin_wrapper.xml @@ -0,0 +1,26 @@ + + + + + + 20 + 2496 + skinWrapper + + + 1152 2495 0 1343 + 384 1151 0 767 + 0 383 0 383 + + + + + + left_leg-eb10-skin + + + + + + diff --git a/iCubLisboa01/wrappers/skin/right_arm-skin_wrapper.xml b/iCubLisboa01/wrappers/skin/right_arm-skin_wrapper.xml new file mode 100644 index 0000000000..2bcf052de9 --- /dev/null +++ b/iCubLisboa01/wrappers/skin/right_arm-skin_wrapper.xml @@ -0,0 +1,26 @@ + + + + + + 20 + 1344 + skinWrapper + + + 0 191 0 191 + 192 575 0 383 + 576 1343 0 767 + + + + + + right_arm-eb27-j4_7-skin + + + + + + diff --git a/iCubLisboa01/wrappers/skin/right_arm_skin_wrapper.xml b/iCubLisboa01/wrappers/skin/right_arm_skin_wrapper.xml deleted file mode 100644 index ba8224c251..0000000000 --- a/iCubLisboa01/wrappers/skin/right_arm_skin_wrapper.xml +++ /dev/null @@ -1,25 +0,0 @@ - - - - - - 20 - 1344 - skinWrapper - - - 0 191 0 191 - 192 575 0 383 - 576 1343 0 767 - - - - - - right_arm_skin - - - - - - diff --git a/iCubLisboa01/wrappers/skin/right_hand_inertial_wrapper.xml b/iCubLisboa01/wrappers/skin/right_hand_inertial_wrapper.xml deleted file mode 100644 index f7468654d8..0000000000 --- a/iCubLisboa01/wrappers/skin/right_hand_inertial_wrapper.xml +++ /dev/null @@ -1,16 +0,0 @@ - - - - - 10 - right_hand_inertial - - - - right_hand_inertial_mtb - - - - - - diff --git a/iCubLisboa01/wrappers/skin/right_leg-skin_wrapper.xml b/iCubLisboa01/wrappers/skin/right_leg-skin_wrapper.xml new file mode 100644 index 0000000000..683247e6b6 --- /dev/null +++ b/iCubLisboa01/wrappers/skin/right_leg-skin_wrapper.xml @@ -0,0 +1,26 @@ + + + + + + 20 + 2496 + skinWrapper + + + 1152 2495 0 1343 + 384 1151 0 767 + 0 383 0 383 + + + + + + right_leg-eb11-skin + + + + + + diff --git a/iCubLisboa01/wrappers/skin/torso-skin_wrapper.xml b/iCubLisboa01/wrappers/skin/torso-skin_wrapper.xml new file mode 100644 index 0000000000..e8e696c2a4 --- /dev/null +++ b/iCubLisboa01/wrappers/skin/torso-skin_wrapper.xml @@ -0,0 +1,24 @@ + + + + + + 20 + 768 + skinWrapper + + + 0 767 0 767 + + + + + + torso-eb22-skin + + + + + + diff --git a/iCubLisboa01/wrappers/skin/torso_skin_wrapper.xml b/iCubLisboa01/wrappers/skin/torso_skin_wrapper.xml deleted file mode 100644 index bf4c8543b6..0000000000 --- a/iCubLisboa01/wrappers/skin/torso_skin_wrapper.xml +++ /dev/null @@ -1,23 +0,0 @@ - - - - - - 20 - 768 - skinWrapper - - - 0 767 0 767 - - - - - - torso_skin - - - - - - diff --git a/iCubLisboa01/yarpmotorgui.ini b/iCubLisboa01/yarpmotorgui.ini new file mode 100644 index 0000000000..3ec981b8b6 --- /dev/null +++ b/iCubLisboa01/yarpmotorgui.ini @@ -0,0 +1,7 @@ +//name of the robot +robot icub +//parts to be opened by the GUI +parts (head face torso left_arm right_arm right_leg left_leg) + + //DO NOT REMOVE THIS LINE + diff --git a/iCubLisboa01/yarprobotinterface.ini b/iCubLisboa01/yarprobotinterface.ini index b970b6bdab..4bf3ddec05 100644 --- a/iCubLisboa01/yarprobotinterface.ini +++ b/iCubLisboa01/yarprobotinterface.ini @@ -1,2 +1,3 @@ config ./icub_all.xml + diff --git a/iCubLisboa01/yarprobotinterface_noLegs.ini b/iCubLisboa01/yarprobotinterface_noLegs.ini deleted file mode 100644 index 84074e0d1f..0000000000 --- a/iCubLisboa01/yarprobotinterface_noLegs.ini +++ /dev/null @@ -1 +0,0 @@ -config ./icub_noLegs.xml diff --git a/iCubLisboa01/yarprobotinterface_noSkin.ini b/iCubLisboa01/yarprobotinterface_noSkin.ini deleted file mode 100644 index 89ef1d588a..0000000000 --- a/iCubLisboa01/yarprobotinterface_noSkin.ini +++ /dev/null @@ -1,2 +0,0 @@ -config ./icub_noSkin.xml -