From 7c62a8b9ae59987128aede41f8c3451b6b4b6a58 Mon Sep 17 00:00:00 2001 From: tumme Date: Wed, 2 Mar 2022 16:52:16 +0100 Subject: [PATCH 1/2] ergoCubSN000 - new conf folder --- all_robots.xml | 1 + ergoCubSN000/CMakeLists.txt | 15 + ergoCubSN000/calibrators/face-calib.xml | 61 +++ ergoCubSN000/calibrators/head-calib.xml | 52 +++ ergoCubSN000/calibrators/left_arm-calib.xml | 50 +++ ergoCubSN000/calibrators/left_leg-calib.xml | 46 +++ ergoCubSN000/calibrators/right_arm-calib.xml | 49 +++ ergoCubSN000/calibrators/right_leg-calib.xml | 47 +++ ergoCubSN000/calibrators/torso-calib.xml | 55 +++ .../camera/ServerGrabberDualDragon.ini | 9 + .../camera/ServerGrabberDualDragon640_480.ini | 7 + .../camera/ServerGrabberDualDragonBayer.ini | 9 + .../ServerGrabberDualDragonBayer640_480.ini | 9 + .../camera/dragonfly2_config_left.ini | 19 + .../camera/dragonfly2_config_left640_480.ini | 18 + .../camera/dragonfly2_config_leftLowRes.ini | 19 + .../dragonfly2_config_left_bayer_320_240.ini | 20 + .../dragonfly2_config_left_bayer_640_480.ini | 20 + .../camera/dragonfly2_config_right.ini | 19 + .../camera/dragonfly2_config_right640_480.ini | 18 + .../camera/dragonfly2_config_rightLowRes.ini | 19 + .../dragonfly2_config_right_bayer_320_240.ini | 20 + .../dragonfly2_config_right_bayer_640_480.ini | 20 + ergoCubSN000/cartesian/left_arm-cartesian.xml | 56 +++ .../cartesian/right_arm-cartesian.xml | 56 +++ ergoCubSN000/cartesianSolver.ini | 69 ++++ ergoCubSN000/ergocub_all.xml | 53 +++ ergoCubSN000/estimators/wholebodydynamics.xml | 84 ++++ ergoCubSN000/extra/JOINT_LIMITS.txt | 33 ++ ergoCubSN000/extra/applications/SFM.xml | 48 +++ .../extra/applications/cameras_calib.xml | 67 +++ .../applications/cameras_calib_640_480.xml | 67 +++ .../extra/applications/demoRedBall.xml | 55 +++ .../extra/applications/faceExpressions.xml | 21 + .../extra/applications/funny_things.xml | 83 ++++ .../extra/applications/grasp-processor.xml | 91 +++++ .../extra/applications/iCub3SkinGui.xml | 33 ++ .../extra/applications/iCubStartup.xml | 51 +++ .../applications/iCubStartup_640_480.xml | 45 ++ ergoCubSN000/extra/applications/iol.xml | 347 ++++++++++++++++ ergoCubSN000/extra/applications/iol_egpu.xml | 353 ++++++++++++++++ .../extra/applications/lbpExtract.xml | 68 +++ .../robmo-icub-hand-iRC-collector.xml | 112 +++++ ...obmo-icub-hand-iRC-test-no-calibration.xml | 65 +++ .../applications/robmo-icub-hand-iRC-test.xml | 89 ++++ .../extra/applications/skinGuiAll.xml | 74 ++++ .../extra/applications/stereoCalib.xml | 57 +++ .../contexts/yarpmanager/cluster-config.xml | 17 + ergoCubSN000/extra/scripts/README.md | 14 + .../extra/scripts/additionalCommands.sh | 59 +++ .../extra/scripts/bluetoothConnect.sh | 61 +++ .../extra/scripts/checkConfigurationFiles.sh | 14 + .../scripts/installRobotsConfiguration.sh | 12 + ergoCubSN000/firmwareupdater.ini | 2 + ergoCubSN000/general.xml | 12 + .../hardware/FT/left_arm-eb1-j0_1-strain.xml | 55 +++ .../hardware/FT/left_leg-eb7-j0_2-strain.xml | 57 +++ .../hardware/FT/left_leg-eb8-j3_5-strain.xml | 58 +++ .../hardware/FT/right_arm-eb3-j0_1-strain.xml | 55 +++ .../FT/right_leg-eb11-j0_2-strain.xml | 57 +++ .../FT/right_leg-eb12-j3_5-strain.xml | 58 +++ .../MAIS/left_arm-eb26-j12_15-mais.xml | 51 +++ .../MAIS/right_arm-eb29-j12_15-mais.xml | 51 +++ .../hardware/electronics/face-eb22-j0-eln.xml | 40 ++ .../electronics/face-eb22-j0_1-eln.xml | 40 ++ .../electronics/face-eb23-j2_5-eln.xml | 41 ++ .../electronics/head-eb20-j0_1-eln.xml | 40 ++ .../electronics/head-eb21-j2_5-eln.xml | 40 ++ .../electronics/left_arm-eb1-j0_1-eln.xml | 40 ++ .../electronics/left_arm-eb24-j4_7-eln.xml | 40 ++ .../electronics/left_arm-eb25-j8_11-eln.xml | 40 ++ .../electronics/left_arm-eb26-j12_15-eln.xml | 40 ++ .../electronics/left_arm-eb3-j2_3-eln.xml | 40 ++ .../electronics/left_leg-eb7-j0_2-eln.xml | 40 ++ .../electronics/left_leg-eb8-j3_5-eln.xml | 40 ++ ergoCubSN000/hardware/electronics/pc104.xml | 18 + .../electronics/right_arm-eb2-j0_1-eln.xml | 40 ++ .../electronics/right_arm-eb27-j4_7-eln.xml | 40 ++ .../electronics/right_arm-eb28-j8_11-eln.xml | 40 ++ .../electronics/right_arm-eb29-j12_15-eln.xml | 40 ++ .../electronics/right_arm-eb4-j2_3-eln.xml | 40 ++ .../electronics/right_leg-eb10-j3_5-eln.xml | 40 ++ .../electronics/right_leg-eb9-j0_2-eln.xml | 40 ++ .../electronics/torso-eb5-j0_2-eln.xml | 40 ++ ergoCubSN000/hardware/iCub_Calibration.xls | Bin 0 -> 131072 bytes .../hardware/inertials/head-inertial.xml | 54 +++ .../left_arm-eb24-j4_7-inertials.xml | 63 +++ .../inertials/left_leg-eb10-inertials.xml | 64 +++ .../right_arm-eb27-j4_7-inertials.xml | 61 +++ .../inertials/right_leg-eb11-inertials.xml | 64 +++ .../hardware/mechanicals/face-eb22-j0-mec.xml | 74 ++++ .../mechanicals/face-eb22-j0_1-mec.xml | 79 ++++ .../mechanicals/face-eb23-j2_5-mec.xml | 85 ++++ .../mechanicals/head-eb20-j0_1-mec.xml | 69 ++++ .../mechanicals/head-eb21-j2_5-mec.xml | 79 ++++ .../mechanicals/left_arm-eb1-j0_1-mec.xml | 83 ++++ .../mechanicals/left_arm-eb24-j4_7-mec.xml | 79 ++++ .../mechanicals/left_arm-eb25-j8_11-mec.xml | 77 ++++ .../mechanicals/left_arm-eb26-j12_15-mec.xml | 82 ++++ .../mechanicals/left_arm-eb3-j2_3-mec.xml | 83 ++++ .../mechanicals/left_leg-eb7-j0_2-mec.xml | 89 ++++ .../mechanicals/left_leg-eb8-j3_5-mec.xml | 88 ++++ .../mechanicals/right_arm-eb2-j0_1-mec.xml | 83 ++++ .../mechanicals/right_arm-eb27-j4_7-mec.xml | 76 ++++ .../mechanicals/right_arm-eb28-j8_11-mec.xml | 76 ++++ .../mechanicals/right_arm-eb29-j12_15-mec.xml | 82 ++++ .../mechanicals/right_arm-eb4-j2_3-mec.xml | 83 ++++ .../mechanicals/right_leg-eb10-j3_5-mec.xml | 88 ++++ .../mechanicals/right_leg-eb9-j0_2-mec.xml | 90 ++++ .../mechanicals/torso-eb5-j0_2-mec.xml | 85 ++++ .../hardware/motorControl/face-eb22-j0-mc.xml | 70 ++++ .../motorControl/face-eb22-j0-mc_service.xml | 48 +++ .../motorControl/face-eb22-j0_1-mc.xml | 72 ++++ .../face-eb22-j0_1-mc_service.xml | 48 +++ .../motorControl/face-eb23-j2_5-mc.xml | 72 ++++ .../face-eb23-j2_5-mc_service.xml | 47 +++ .../motorControl/head-eb20-j0_1-mc.xml | 70 ++++ .../head-eb20-j0_1-mc_service.xml | 48 +++ .../motorControl/head-eb21-j2_5-mc.xml | 76 ++++ .../head-eb21-j2_5-mc_service.xml | 49 +++ .../motorControl/left_arm-eb1-j0_1-mc.xml | 124 ++++++ .../left_arm-eb1-j0_1-mc_service.xml | 62 +++ .../motorControl/left_arm-eb24-j4_7-mc.xml | 72 ++++ .../left_arm-eb24-j4_7-mc_service.xml | 51 +++ .../motorControl/left_arm-eb25-j8_11-mc.xml | 75 ++++ .../left_arm-eb25-j8_11-mc_service.xml | 66 +++ .../motorControl/left_arm-eb26-j12_15-mc.xml | 72 ++++ .../left_arm-eb26-j12_15-mc_service.xml | 64 +++ .../motorControl/left_arm-eb3-j2_3-mc.xml | 124 ++++++ .../left_arm-eb3-j2_3-mc_service.xml | 62 +++ .../motorControl/left_leg-eb7-j0_2-mc.xml | 140 +++++++ .../left_leg-eb7-j0_2-mc_service.xml | 62 +++ .../motorControl/left_leg-eb8-j3_5-mc.xml | 139 +++++++ .../left_leg-eb8-j3_5-mc_service.xml | 61 +++ .../motorControl/right_arm-eb2-j0_1-mc.xml | 126 ++++++ .../right_arm-eb2-j0_1-mc_service.xml | 62 +++ .../motorControl/right_arm-eb27-j4_7-mc.xml | 72 ++++ .../right_arm-eb27-j4_7-mc_service.xml | 47 +++ .../motorControl/right_arm-eb28-j8_11-mc.xml | 75 ++++ .../right_arm-eb28-j8_11-mc_service.xml | 65 +++ .../motorControl/right_arm-eb29-j12_15-mc.xml | 63 +++ .../right_arm-eb29-j12_15-mc_service.xml | 65 +++ .../motorControl/right_arm-eb4-j2_3-mc.xml | 126 ++++++ .../right_arm-eb4-j2_3-mc_service.xml | 62 +++ .../motorControl/right_leg-eb10-j3_5-mc.xml | 139 +++++++ .../right_leg-eb10-j3_5-mc_service.xml | 61 +++ .../motorControl/right_leg-eb9-j0_2-mc.xml | 140 +++++++ .../right_leg-eb9-j0_2-mc_service.xml | 62 +++ .../motorControl/torso-eb5-j0_2-mc.xml | 126 ++++++ .../torso-eb5-j0_2-mc_service.xml | 65 +++ .../hardware/skin/left_arm-eb24-j4_7-skin.xml | 15 + .../skin/left_arm-eb24-j4_7-skinSpec.xml | 42 ++ .../hardware/skin/left_upperarm-eb2-skin.xml | 14 + .../skin/left_upperarm-eb2-skinSpec.xml | 38 ++ .../skin/right_arm-eb27-j4_7-skin.xml | 14 + .../skin/right_arm-eb27-j4_7-skinSpec.xml | 42 ++ .../hardware/skin/right_upperarm-eb4-skin.xml | 14 + .../skin/right_upperarm-eb4-skinSpec.xml | 38 ++ .../hardware/skin/torso-eb22-skin.xml | 15 + .../hardware/skin/torso-eb22-skinSpec.xml | 22 + .../skin/torso-ems5-inertial_gyro.xml | 55 +++ ergoCubSN000/iCubStartup.xml | 90 ++++ ergoCubSN000/iKinGazeCtrl.ini | 11 + ergoCubSN000/la.xml | 31 ++ ergoCubSN000/network.ergoCubSN000.xml | 386 ++++++++++++++++++ ergoCubSN000/sensors/RealSense_conf.ini | 13 + .../telemetry/telemetryDeviceExternal.xml | 38 ++ .../wrappers/FT/left_arm-FT_wrapper.xml | 18 + .../wrappers/FT/left_foot_heel-FT_wrapper.xml | 18 + ...left_foot_heel-FT_wrapper_multipleSens.xml | 18 + .../FT/left_foot_tiptoe-FT_wrapper.xml | 18 + ...ft_foot_tiptoe-FT_wrapper_multipleSens.xml | 18 + .../wrappers/FT/right_arm-FT_wrapper.xml | 18 + .../FT/right_foot_heel-FT_wrapper.xml | 18 + ...ight_foot_heel-FT_wrapper_multipleSens.xml | 18 + .../FT/right_foot_tiptoe-FT_wrapper.xml | 18 + ...ht_foot_tiptoe-FT_wrapper_multipleSens.xml | 18 + .../wrappers/MAIS/left_arm-mais_wrapper.xml | 16 + .../wrappers/MAIS/right_arm-mais_wrapper.xml | 16 + .../wrappers/VFT/left_arm-VFT_wrapper.xml | 31 ++ .../wrappers/VFT/left_leg-VFT_wrapper.xml | 29 ++ .../wrappers/VFT/right_arm-VFT_wrapper.xml | 31 ++ .../wrappers/VFT/right_leg-VFT_wrapper.xml | 29 ++ .../wrappers/VFT/torso-VFT_wrapper.xml | 18 + .../wrappers/inertials/head-imuFilter.xml | 20 + .../inertials/head-imuFilter_wrapper.xml | 20 + .../head-inertials_wrapper-deprecated.xml | 19 + .../inertials/head-inertials_wrapper.xml | 20 + .../inertials/left_arm-inertials_wrapper.xml | 21 + .../inertials/left_leg-inertials_wrapper.xml | 21 + .../inertials/right_arm-inertials_wrapper.xml | 21 + .../inertials/right_leg-inertials_wrapper.xml | 21 + .../inertials/torso_inertial_wrapper.xml | 19 + .../motorControl/alljoints-mc_remapper.xml | 31 ++ .../motorControl/alljoints-mc_ros_wrapper.xml | 11 + .../motorControl/face-mc_remapper.xml | 15 + .../wrappers/motorControl/face-mc_wrapper.xml | 10 + .../motorControl/head-mc_remapper.xml | 17 + .../wrappers/motorControl/head-mc_wrapper.xml | 10 + .../motorControl/left_arm-mc_remapper.xml | 17 + .../motorControl/left_arm-mc_wrapper.xml | 10 + .../motorControl/left_leg-mc_remapper.xml | 16 + .../motorControl/left_leg-mc_wrapper.xml | 10 + .../motorControl/right_arm-mc_remapper.xml | 17 + .../motorControl/right_arm-mc_wrapper.xml | 10 + .../motorControl/right_leg-mc_remapper.xml | 16 + .../motorControl/right_leg-mc_wrapper.xml | 10 + .../motorControl/torso-mc_remapper.xml | 15 + .../motorControl/torso-mc_wrapper.xml | 10 + .../wrappers/skin/left_arm-skin_wrapper.xml | 26 ++ .../wrappers/skin/left_leg-skin_wrapper.xml | 26 ++ .../skin/left_upperarm-skin_wrapper.xml | 24 ++ .../wrappers/skin/right_arm-skin_wrapper.xml | 26 ++ .../wrappers/skin/right_leg-skin_wrapper.xml | 26 ++ .../skin/right_upperarm-skin_wrapper.xml | 24 ++ .../wrappers/skin/torso-skin_wrapper.xml | 24 ++ ergoCubSN000/yarpmotorgui.ini | 7 + ergoCubSN000/yarprobotinterface.ini | 2 + 218 files changed, 11017 insertions(+) create mode 100644 ergoCubSN000/CMakeLists.txt create mode 100644 ergoCubSN000/calibrators/face-calib.xml create mode 100644 ergoCubSN000/calibrators/head-calib.xml create mode 100644 ergoCubSN000/calibrators/left_arm-calib.xml create mode 100644 ergoCubSN000/calibrators/left_leg-calib.xml create mode 100644 ergoCubSN000/calibrators/right_arm-calib.xml create mode 100644 ergoCubSN000/calibrators/right_leg-calib.xml create mode 100644 ergoCubSN000/calibrators/torso-calib.xml create mode 100644 ergoCubSN000/camera/ServerGrabberDualDragon.ini create mode 100644 ergoCubSN000/camera/ServerGrabberDualDragon640_480.ini create mode 100644 ergoCubSN000/camera/ServerGrabberDualDragonBayer.ini create mode 100644 ergoCubSN000/camera/ServerGrabberDualDragonBayer640_480.ini create mode 100644 ergoCubSN000/camera/dragonfly2_config_left.ini create mode 100644 ergoCubSN000/camera/dragonfly2_config_left640_480.ini create mode 100644 ergoCubSN000/camera/dragonfly2_config_leftLowRes.ini create mode 100644 ergoCubSN000/camera/dragonfly2_config_left_bayer_320_240.ini create mode 100644 ergoCubSN000/camera/dragonfly2_config_left_bayer_640_480.ini create mode 100644 ergoCubSN000/camera/dragonfly2_config_right.ini create mode 100644 ergoCubSN000/camera/dragonfly2_config_right640_480.ini create mode 100644 ergoCubSN000/camera/dragonfly2_config_rightLowRes.ini create mode 100644 ergoCubSN000/camera/dragonfly2_config_right_bayer_320_240.ini create mode 100644 ergoCubSN000/camera/dragonfly2_config_right_bayer_640_480.ini create mode 100644 ergoCubSN000/cartesian/left_arm-cartesian.xml create mode 100644 ergoCubSN000/cartesian/right_arm-cartesian.xml create mode 100644 ergoCubSN000/cartesianSolver.ini create mode 100644 ergoCubSN000/ergocub_all.xml create mode 100644 ergoCubSN000/estimators/wholebodydynamics.xml create mode 100644 ergoCubSN000/extra/JOINT_LIMITS.txt create mode 100644 ergoCubSN000/extra/applications/SFM.xml create mode 100644 ergoCubSN000/extra/applications/cameras_calib.xml create mode 100644 ergoCubSN000/extra/applications/cameras_calib_640_480.xml create mode 100644 ergoCubSN000/extra/applications/demoRedBall.xml create mode 100644 ergoCubSN000/extra/applications/faceExpressions.xml create mode 100644 ergoCubSN000/extra/applications/funny_things.xml create mode 100644 ergoCubSN000/extra/applications/grasp-processor.xml create mode 100644 ergoCubSN000/extra/applications/iCub3SkinGui.xml create mode 100644 ergoCubSN000/extra/applications/iCubStartup.xml create mode 100644 ergoCubSN000/extra/applications/iCubStartup_640_480.xml create mode 100644 ergoCubSN000/extra/applications/iol.xml create mode 100644 ergoCubSN000/extra/applications/iol_egpu.xml create mode 100644 ergoCubSN000/extra/applications/lbpExtract.xml create mode 100644 ergoCubSN000/extra/applications/robmo-icub-hand-iRC-collector.xml create mode 100644 ergoCubSN000/extra/applications/robmo-icub-hand-iRC-test-no-calibration.xml create mode 100644 ergoCubSN000/extra/applications/robmo-icub-hand-iRC-test.xml create mode 100644 ergoCubSN000/extra/applications/skinGuiAll.xml create mode 100644 ergoCubSN000/extra/applications/stereoCalib.xml create mode 100644 ergoCubSN000/extra/contexts/yarpmanager/cluster-config.xml create mode 100644 ergoCubSN000/extra/scripts/README.md create mode 100644 ergoCubSN000/extra/scripts/additionalCommands.sh create mode 100644 ergoCubSN000/extra/scripts/bluetoothConnect.sh create mode 100644 ergoCubSN000/extra/scripts/checkConfigurationFiles.sh create mode 100644 ergoCubSN000/extra/scripts/installRobotsConfiguration.sh create mode 100644 ergoCubSN000/firmwareupdater.ini create mode 100644 ergoCubSN000/general.xml create mode 100644 ergoCubSN000/hardware/FT/left_arm-eb1-j0_1-strain.xml create mode 100644 ergoCubSN000/hardware/FT/left_leg-eb7-j0_2-strain.xml create mode 100644 ergoCubSN000/hardware/FT/left_leg-eb8-j3_5-strain.xml create mode 100644 ergoCubSN000/hardware/FT/right_arm-eb3-j0_1-strain.xml create mode 100644 ergoCubSN000/hardware/FT/right_leg-eb11-j0_2-strain.xml create mode 100644 ergoCubSN000/hardware/FT/right_leg-eb12-j3_5-strain.xml create mode 100644 ergoCubSN000/hardware/MAIS/left_arm-eb26-j12_15-mais.xml create mode 100644 ergoCubSN000/hardware/MAIS/right_arm-eb29-j12_15-mais.xml create mode 100644 ergoCubSN000/hardware/electronics/face-eb22-j0-eln.xml create mode 100644 ergoCubSN000/hardware/electronics/face-eb22-j0_1-eln.xml create mode 100644 ergoCubSN000/hardware/electronics/face-eb23-j2_5-eln.xml create mode 100644 ergoCubSN000/hardware/electronics/head-eb20-j0_1-eln.xml create mode 100644 ergoCubSN000/hardware/electronics/head-eb21-j2_5-eln.xml create mode 100644 ergoCubSN000/hardware/electronics/left_arm-eb1-j0_1-eln.xml create mode 100644 ergoCubSN000/hardware/electronics/left_arm-eb24-j4_7-eln.xml create mode 100644 ergoCubSN000/hardware/electronics/left_arm-eb25-j8_11-eln.xml create mode 100644 ergoCubSN000/hardware/electronics/left_arm-eb26-j12_15-eln.xml create mode 100644 ergoCubSN000/hardware/electronics/left_arm-eb3-j2_3-eln.xml create mode 100644 ergoCubSN000/hardware/electronics/left_leg-eb7-j0_2-eln.xml create mode 100644 ergoCubSN000/hardware/electronics/left_leg-eb8-j3_5-eln.xml create mode 100644 ergoCubSN000/hardware/electronics/pc104.xml create mode 100644 ergoCubSN000/hardware/electronics/right_arm-eb2-j0_1-eln.xml create mode 100644 ergoCubSN000/hardware/electronics/right_arm-eb27-j4_7-eln.xml create mode 100644 ergoCubSN000/hardware/electronics/right_arm-eb28-j8_11-eln.xml create mode 100644 ergoCubSN000/hardware/electronics/right_arm-eb29-j12_15-eln.xml create mode 100644 ergoCubSN000/hardware/electronics/right_arm-eb4-j2_3-eln.xml create mode 100644 ergoCubSN000/hardware/electronics/right_leg-eb10-j3_5-eln.xml create mode 100644 ergoCubSN000/hardware/electronics/right_leg-eb9-j0_2-eln.xml create mode 100644 ergoCubSN000/hardware/electronics/torso-eb5-j0_2-eln.xml create mode 100644 ergoCubSN000/hardware/iCub_Calibration.xls create mode 100644 ergoCubSN000/hardware/inertials/head-inertial.xml create mode 100644 ergoCubSN000/hardware/inertials/left_arm-eb24-j4_7-inertials.xml create mode 100644 ergoCubSN000/hardware/inertials/left_leg-eb10-inertials.xml create mode 100644 ergoCubSN000/hardware/inertials/right_arm-eb27-j4_7-inertials.xml create mode 100644 ergoCubSN000/hardware/inertials/right_leg-eb11-inertials.xml create mode 100644 ergoCubSN000/hardware/mechanicals/face-eb22-j0-mec.xml create mode 100644 ergoCubSN000/hardware/mechanicals/face-eb22-j0_1-mec.xml create mode 100644 ergoCubSN000/hardware/mechanicals/face-eb23-j2_5-mec.xml create mode 100644 ergoCubSN000/hardware/mechanicals/head-eb20-j0_1-mec.xml create mode 100644 ergoCubSN000/hardware/mechanicals/head-eb21-j2_5-mec.xml create mode 100644 ergoCubSN000/hardware/mechanicals/left_arm-eb1-j0_1-mec.xml create mode 100644 ergoCubSN000/hardware/mechanicals/left_arm-eb24-j4_7-mec.xml create mode 100644 ergoCubSN000/hardware/mechanicals/left_arm-eb25-j8_11-mec.xml create mode 100644 ergoCubSN000/hardware/mechanicals/left_arm-eb26-j12_15-mec.xml create mode 100644 ergoCubSN000/hardware/mechanicals/left_arm-eb3-j2_3-mec.xml create mode 100644 ergoCubSN000/hardware/mechanicals/left_leg-eb7-j0_2-mec.xml create mode 100644 ergoCubSN000/hardware/mechanicals/left_leg-eb8-j3_5-mec.xml create mode 100644 ergoCubSN000/hardware/mechanicals/right_arm-eb2-j0_1-mec.xml create mode 100644 ergoCubSN000/hardware/mechanicals/right_arm-eb27-j4_7-mec.xml create mode 100644 ergoCubSN000/hardware/mechanicals/right_arm-eb28-j8_11-mec.xml create mode 100644 ergoCubSN000/hardware/mechanicals/right_arm-eb29-j12_15-mec.xml create mode 100644 ergoCubSN000/hardware/mechanicals/right_arm-eb4-j2_3-mec.xml create mode 100644 ergoCubSN000/hardware/mechanicals/right_leg-eb10-j3_5-mec.xml create mode 100644 ergoCubSN000/hardware/mechanicals/right_leg-eb9-j0_2-mec.xml create mode 100644 ergoCubSN000/hardware/mechanicals/torso-eb5-j0_2-mec.xml create mode 100644 ergoCubSN000/hardware/motorControl/face-eb22-j0-mc.xml create mode 100644 ergoCubSN000/hardware/motorControl/face-eb22-j0-mc_service.xml create mode 100644 ergoCubSN000/hardware/motorControl/face-eb22-j0_1-mc.xml create mode 100644 ergoCubSN000/hardware/motorControl/face-eb22-j0_1-mc_service.xml create mode 100644 ergoCubSN000/hardware/motorControl/face-eb23-j2_5-mc.xml create mode 100644 ergoCubSN000/hardware/motorControl/face-eb23-j2_5-mc_service.xml create mode 100644 ergoCubSN000/hardware/motorControl/head-eb20-j0_1-mc.xml create mode 100644 ergoCubSN000/hardware/motorControl/head-eb20-j0_1-mc_service.xml create mode 100644 ergoCubSN000/hardware/motorControl/head-eb21-j2_5-mc.xml create mode 100644 ergoCubSN000/hardware/motorControl/head-eb21-j2_5-mc_service.xml create mode 100644 ergoCubSN000/hardware/motorControl/left_arm-eb1-j0_1-mc.xml create mode 100644 ergoCubSN000/hardware/motorControl/left_arm-eb1-j0_1-mc_service.xml create mode 100644 ergoCubSN000/hardware/motorControl/left_arm-eb24-j4_7-mc.xml create mode 100644 ergoCubSN000/hardware/motorControl/left_arm-eb24-j4_7-mc_service.xml create mode 100644 ergoCubSN000/hardware/motorControl/left_arm-eb25-j8_11-mc.xml create mode 100644 ergoCubSN000/hardware/motorControl/left_arm-eb25-j8_11-mc_service.xml create mode 100644 ergoCubSN000/hardware/motorControl/left_arm-eb26-j12_15-mc.xml create mode 100644 ergoCubSN000/hardware/motorControl/left_arm-eb26-j12_15-mc_service.xml create mode 100644 ergoCubSN000/hardware/motorControl/left_arm-eb3-j2_3-mc.xml create mode 100644 ergoCubSN000/hardware/motorControl/left_arm-eb3-j2_3-mc_service.xml create mode 100644 ergoCubSN000/hardware/motorControl/left_leg-eb7-j0_2-mc.xml create mode 100644 ergoCubSN000/hardware/motorControl/left_leg-eb7-j0_2-mc_service.xml create mode 100644 ergoCubSN000/hardware/motorControl/left_leg-eb8-j3_5-mc.xml create mode 100644 ergoCubSN000/hardware/motorControl/left_leg-eb8-j3_5-mc_service.xml create mode 100644 ergoCubSN000/hardware/motorControl/right_arm-eb2-j0_1-mc.xml create mode 100644 ergoCubSN000/hardware/motorControl/right_arm-eb2-j0_1-mc_service.xml create mode 100644 ergoCubSN000/hardware/motorControl/right_arm-eb27-j4_7-mc.xml create mode 100644 ergoCubSN000/hardware/motorControl/right_arm-eb27-j4_7-mc_service.xml create mode 100644 ergoCubSN000/hardware/motorControl/right_arm-eb28-j8_11-mc.xml create mode 100644 ergoCubSN000/hardware/motorControl/right_arm-eb28-j8_11-mc_service.xml create mode 100644 ergoCubSN000/hardware/motorControl/right_arm-eb29-j12_15-mc.xml create mode 100644 ergoCubSN000/hardware/motorControl/right_arm-eb29-j12_15-mc_service.xml create mode 100644 ergoCubSN000/hardware/motorControl/right_arm-eb4-j2_3-mc.xml create mode 100644 ergoCubSN000/hardware/motorControl/right_arm-eb4-j2_3-mc_service.xml create mode 100644 ergoCubSN000/hardware/motorControl/right_leg-eb10-j3_5-mc.xml create mode 100644 ergoCubSN000/hardware/motorControl/right_leg-eb10-j3_5-mc_service.xml create mode 100644 ergoCubSN000/hardware/motorControl/right_leg-eb9-j0_2-mc.xml create mode 100644 ergoCubSN000/hardware/motorControl/right_leg-eb9-j0_2-mc_service.xml create mode 100644 ergoCubSN000/hardware/motorControl/torso-eb5-j0_2-mc.xml create mode 100644 ergoCubSN000/hardware/motorControl/torso-eb5-j0_2-mc_service.xml create mode 100644 ergoCubSN000/hardware/skin/left_arm-eb24-j4_7-skin.xml create mode 100644 ergoCubSN000/hardware/skin/left_arm-eb24-j4_7-skinSpec.xml create mode 100644 ergoCubSN000/hardware/skin/left_upperarm-eb2-skin.xml create mode 100644 ergoCubSN000/hardware/skin/left_upperarm-eb2-skinSpec.xml create mode 100644 ergoCubSN000/hardware/skin/right_arm-eb27-j4_7-skin.xml create mode 100644 ergoCubSN000/hardware/skin/right_arm-eb27-j4_7-skinSpec.xml create mode 100644 ergoCubSN000/hardware/skin/right_upperarm-eb4-skin.xml create mode 100644 ergoCubSN000/hardware/skin/right_upperarm-eb4-skinSpec.xml create mode 100644 ergoCubSN000/hardware/skin/torso-eb22-skin.xml create mode 100644 ergoCubSN000/hardware/skin/torso-eb22-skinSpec.xml create mode 100644 ergoCubSN000/hardware/skin/torso-ems5-inertial_gyro.xml create mode 100644 ergoCubSN000/iCubStartup.xml create mode 100644 ergoCubSN000/iKinGazeCtrl.ini create mode 100644 ergoCubSN000/la.xml create mode 100644 ergoCubSN000/network.ergoCubSN000.xml create mode 100644 ergoCubSN000/sensors/RealSense_conf.ini create mode 100644 ergoCubSN000/telemetry/telemetryDeviceExternal.xml create mode 100644 ergoCubSN000/wrappers/FT/left_arm-FT_wrapper.xml create mode 100644 ergoCubSN000/wrappers/FT/left_foot_heel-FT_wrapper.xml create mode 100644 ergoCubSN000/wrappers/FT/left_foot_heel-FT_wrapper_multipleSens.xml create mode 100644 ergoCubSN000/wrappers/FT/left_foot_tiptoe-FT_wrapper.xml create mode 100644 ergoCubSN000/wrappers/FT/left_foot_tiptoe-FT_wrapper_multipleSens.xml create mode 100644 ergoCubSN000/wrappers/FT/right_arm-FT_wrapper.xml create mode 100644 ergoCubSN000/wrappers/FT/right_foot_heel-FT_wrapper.xml create mode 100644 ergoCubSN000/wrappers/FT/right_foot_heel-FT_wrapper_multipleSens.xml create mode 100644 ergoCubSN000/wrappers/FT/right_foot_tiptoe-FT_wrapper.xml create mode 100644 ergoCubSN000/wrappers/FT/right_foot_tiptoe-FT_wrapper_multipleSens.xml create mode 100644 ergoCubSN000/wrappers/MAIS/left_arm-mais_wrapper.xml create mode 100644 ergoCubSN000/wrappers/MAIS/right_arm-mais_wrapper.xml create mode 100644 ergoCubSN000/wrappers/VFT/left_arm-VFT_wrapper.xml create mode 100644 ergoCubSN000/wrappers/VFT/left_leg-VFT_wrapper.xml create mode 100644 ergoCubSN000/wrappers/VFT/right_arm-VFT_wrapper.xml create mode 100644 ergoCubSN000/wrappers/VFT/right_leg-VFT_wrapper.xml create mode 100644 ergoCubSN000/wrappers/VFT/torso-VFT_wrapper.xml create mode 100644 ergoCubSN000/wrappers/inertials/head-imuFilter.xml create mode 100644 ergoCubSN000/wrappers/inertials/head-imuFilter_wrapper.xml create mode 100644 ergoCubSN000/wrappers/inertials/head-inertials_wrapper-deprecated.xml create mode 100644 ergoCubSN000/wrappers/inertials/head-inertials_wrapper.xml create mode 100644 ergoCubSN000/wrappers/inertials/left_arm-inertials_wrapper.xml create mode 100644 ergoCubSN000/wrappers/inertials/left_leg-inertials_wrapper.xml create mode 100644 ergoCubSN000/wrappers/inertials/right_arm-inertials_wrapper.xml create mode 100644 ergoCubSN000/wrappers/inertials/right_leg-inertials_wrapper.xml create mode 100644 ergoCubSN000/wrappers/inertials/torso_inertial_wrapper.xml create mode 100644 ergoCubSN000/wrappers/motorControl/alljoints-mc_remapper.xml create mode 100644 ergoCubSN000/wrappers/motorControl/alljoints-mc_ros_wrapper.xml create mode 100644 ergoCubSN000/wrappers/motorControl/face-mc_remapper.xml create mode 100644 ergoCubSN000/wrappers/motorControl/face-mc_wrapper.xml create mode 100644 ergoCubSN000/wrappers/motorControl/head-mc_remapper.xml create mode 100644 ergoCubSN000/wrappers/motorControl/head-mc_wrapper.xml create mode 100644 ergoCubSN000/wrappers/motorControl/left_arm-mc_remapper.xml create mode 100644 ergoCubSN000/wrappers/motorControl/left_arm-mc_wrapper.xml create mode 100644 ergoCubSN000/wrappers/motorControl/left_leg-mc_remapper.xml create mode 100644 ergoCubSN000/wrappers/motorControl/left_leg-mc_wrapper.xml create mode 100644 ergoCubSN000/wrappers/motorControl/right_arm-mc_remapper.xml create mode 100644 ergoCubSN000/wrappers/motorControl/right_arm-mc_wrapper.xml create mode 100644 ergoCubSN000/wrappers/motorControl/right_leg-mc_remapper.xml create mode 100644 ergoCubSN000/wrappers/motorControl/right_leg-mc_wrapper.xml create mode 100644 ergoCubSN000/wrappers/motorControl/torso-mc_remapper.xml create mode 100644 ergoCubSN000/wrappers/motorControl/torso-mc_wrapper.xml create mode 100644 ergoCubSN000/wrappers/skin/left_arm-skin_wrapper.xml create mode 100644 ergoCubSN000/wrappers/skin/left_leg-skin_wrapper.xml create mode 100644 ergoCubSN000/wrappers/skin/left_upperarm-skin_wrapper.xml create mode 100644 ergoCubSN000/wrappers/skin/right_arm-skin_wrapper.xml create mode 100644 ergoCubSN000/wrappers/skin/right_leg-skin_wrapper.xml create mode 100644 ergoCubSN000/wrappers/skin/right_upperarm-skin_wrapper.xml create mode 100644 ergoCubSN000/wrappers/skin/torso-skin_wrapper.xml create mode 100644 ergoCubSN000/yarpmotorgui.ini create mode 100644 ergoCubSN000/yarprobotinterface.ini diff --git a/all_robots.xml b/all_robots.xml index 0a95405d10..11b1be45e0 100644 --- a/all_robots.xml +++ b/all_robots.xml @@ -68,4 +68,5 @@ + diff --git a/ergoCubSN000/CMakeLists.txt b/ergoCubSN000/CMakeLists.txt new file mode 100644 index 0000000000..8d1694d98a --- /dev/null +++ b/ergoCubSN000/CMakeLists.txt @@ -0,0 +1,15 @@ +set(appname ergoCubSN000) + +file(GLOB xml ${CMAKE_CURRENT_SOURCE_DIR}/*.xml) +file(GLOB ini ${CMAKE_CURRENT_SOURCE_DIR}/*.ini) + +yarp_install(FILES ${xml} DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname}) +yarp_install(FILES ${ini} DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname}) +yarp_install(DIRECTORY estimators 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 sensors DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname}) +yarp_install(DIRECTORY telemetry DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname}) diff --git a/ergoCubSN000/calibrators/face-calib.xml b/ergoCubSN000/calibrators/face-calib.xml new file mode 100644 index 0000000000..83ef4572ef --- /dev/null +++ b/ergoCubSN000/calibrators/face-calib.xml @@ -0,0 +1,61 @@ + + + + + + + + + + 1 + FaceV3_Calibrator + + + + 0 + 10 + + + + + + 12 + + -2800 + 0 + 0 + + 0 + 0 + + 0 + 0 + + 0 + 10 + 3360 + 90 + + + + (0) + + + face-mc_remapper + + + + face-mc_remapper + + + + + + diff --git a/ergoCubSN000/calibrators/head-calib.xml b/ergoCubSN000/calibrators/head-calib.xml new file mode 100644 index 0000000000..24c6899ddb --- /dev/null +++ b/ergoCubSN000/calibrators/head-calib.xml @@ -0,0 +1,52 @@ + + + + + + + + + + 6 + HeadV3_Calibrator + + + + 0 0 0 0 0 0 + 10 10 10 10 10 10 + + + + + + 12 12 12 12 5 5 + 19567 53471 4175 770 2000 2000 + 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 0.0 0.0 0.0 + 0.0 0.0 0.0 0.0 0.0 6.5 + + 0.0 0.0 0.0 0.0 0.0 0.0 + 10 10 20.0 20.0 20.0 20.0 + 1000 1000 1000 1000 0 0 + 90 90 2 2 2 2 + + + (0 1 2) (3) (4 5) + + + head-mc_remapper + + + + head-mc_remapper + + + + + + diff --git a/ergoCubSN000/calibrators/left_arm-calib.xml b/ergoCubSN000/calibrators/left_arm-calib.xml new file mode 100644 index 0000000000..3c027b8886 --- /dev/null +++ b/ergoCubSN000/calibrators/left_arm-calib.xml @@ -0,0 +1,50 @@ + + + + + + + + + 16 + Left_Arm_Calibrator + + + + 5 30 0 10 0 0 0 35 15 65 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 + -54795 19668 44679 53215 -1500 -8335 10671 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 2045 448 240 484 243 483 255 480 725 + 0 0 0 0 0 0 0 2140 2712 0 9 15 8 20 45 125 + 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 + + -35 30 0 45 0 0 0 25 45 0 0 0 0 0 0 0 + 10.0 10.0 10.0 10.0 30 30 30 60 100 100 100 100 100 100 100 100 + 8000 8000 8000 8000 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 + + + (1) (0) (2) (3) (4) (5 6) (7) (8 9) (11 13) (10 12 14 15) + + + left_arm-mc_remapper + + + + left_arm-mc_remapper + + + + + + + + diff --git a/ergoCubSN000/calibrators/left_leg-calib.xml b/ergoCubSN000/calibrators/left_leg-calib.xml new file mode 100644 index 0000000000..10e6d9491e --- /dev/null +++ b/ergoCubSN000/calibrators/left_leg-calib.xml @@ -0,0 +1,46 @@ + + + + + + + 6 + Left_Leg_Calibrator + + + + 0.00 5.00 0.00 -5.00 0.00 0.00 + 10.00 10.00 10.00 10.00 10.00 10.00 + + + + + + 10 10 10 10 10 10 + -4500 4500 -2500 -4000 2500 -2000 + 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 + 93.0 119.90 80.761 5.817 -47.060 25.823 + 0 0 0 0 0 0 + + 90 20 0 -70 0 0 + 10.0 10.0 10.0 10 10 10 + 12000 8000 3000 8000 4000 3000 + 2 2 2 2 2 2 + + + (2) (4) (5) (3) (0) (1) + + + left_leg-mc_remapper + + + + left_leg-mc_remapper + + + + + diff --git a/ergoCubSN000/calibrators/right_arm-calib.xml b/ergoCubSN000/calibrators/right_arm-calib.xml new file mode 100644 index 0000000000..af942e0129 --- /dev/null +++ b/ergoCubSN000/calibrators/right_arm-calib.xml @@ -0,0 +1,49 @@ + + + + + + + + + 16 + Right_Arm_Calibrator + + + + 5 30 0 10 0 0 0 35 15 65 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 + 6576 -12912 -883 -47529 1500 36903 -12703 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 2510 1470 255 510 255 510 200 510 748 + 0 0 0 0 0 0 0 2670 2350 22 40 18 30 10 30 120 + 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 + 0 0 -5.8 0 0 -5.5 -4 10 0 0 0 0 0 0 0 0 + + -35 30 0 45 0 0 15 25 45 10 0 0 0 0 0 0 + 10.0 10.0 10.0 10.0 30 30 30 60 100 100 100 100 100 100 100 100 + 8000 8000 8000 8000 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 + + + + (1) (0) (2) (3) (4) (5 6) (7) (8 9) (11 13) (10 12 14 15) + + right_arm-mc_remapper + + + + right_arm-mc_remapper + + + + + + diff --git a/ergoCubSN000/calibrators/right_leg-calib.xml b/ergoCubSN000/calibrators/right_leg-calib.xml new file mode 100644 index 0000000000..0c38732c8e --- /dev/null +++ b/ergoCubSN000/calibrators/right_leg-calib.xml @@ -0,0 +1,47 @@ + + + + + + + 6 + Right_Leg_Calibrator + + + + 0.00 5.00 0.00 -5.00 0.00 0.00 + 10.00 10.00 10.00 10.00 10.00 10.00 + + + + + + 10 10 10 10 10 10 + 4500 -4500 2500 4000 -2500 2000 + 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 + 93.2 119 80.761 5.641 -46.329 24.137 + 0 0 0 0 0 0 + + 90 20 0 -70 0 0 + 10.0 10.0 10.0 10 10 10 + 12000 8000 3000 8000 4000 3000 + 2 2 2 2 2 2 + + + (4) (5) (2) (3) (0) (1) + + + + right_leg-mc_remapper + + + + right_leg-mc_remapper + + + + + diff --git a/ergoCubSN000/calibrators/torso-calib.xml b/ergoCubSN000/calibrators/torso-calib.xml new file mode 100644 index 0000000000..1c49710822 --- /dev/null +++ b/ergoCubSN000/calibrators/torso-calib.xml @@ -0,0 +1,55 @@ + + + + + + + + + 3 + Torso_Calibrator + + + + 0 -20 0 + 10 10 10 + + + + + + + 12 12 12 + + 58213 9527 35531 + 0 0 0 + 0 0 0 + + + 0 0 0 + 0 0 0 + 0 0 0 + 0 0 0 + + 0 0 0 + 10 10 10 + 5500 5500 5500 + 2 2 2 + + + + (0) (1) (2) + + + torso-mc_remapper + + + + torso-mc_remapper + + + + + + diff --git a/ergoCubSN000/camera/ServerGrabberDualDragon.ini b/ergoCubSN000/camera/ServerGrabberDualDragon.ini new file mode 100644 index 0000000000..6d9b0b953e --- /dev/null +++ b/ergoCubSN000/camera/ServerGrabberDualDragon.ini @@ -0,0 +1,9 @@ +device grabberDual +capabilities COLOR +name /icub/cam +split true +twoCameras true +left_config camera/dragonfly2_config_left.ini +right_config camera/dragonfly2_config_right.ini + + diff --git a/ergoCubSN000/camera/ServerGrabberDualDragon640_480.ini b/ergoCubSN000/camera/ServerGrabberDualDragon640_480.ini new file mode 100644 index 0000000000..24e2ca4617 --- /dev/null +++ b/ergoCubSN000/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/ergoCubSN000/camera/ServerGrabberDualDragonBayer.ini b/ergoCubSN000/camera/ServerGrabberDualDragonBayer.ini new file mode 100644 index 0000000000..d94d114ceb --- /dev/null +++ b/ergoCubSN000/camera/ServerGrabberDualDragonBayer.ini @@ -0,0 +1,9 @@ +device grabberDual +capabilities RAW +name /icub/cam +split true +twoCameras true +left_config camera/dragonfly2_config_left_bayer_320_240.ini +right_config camera/dragonfly2_config_right_bayer_320_240.ini + + diff --git a/ergoCubSN000/camera/ServerGrabberDualDragonBayer640_480.ini b/ergoCubSN000/camera/ServerGrabberDualDragonBayer640_480.ini new file mode 100644 index 0000000000..6cb9c9435b --- /dev/null +++ b/ergoCubSN000/camera/ServerGrabberDualDragonBayer640_480.ini @@ -0,0 +1,9 @@ +device grabberDual +capabilities RAW +name /icub/cam +split true +twoCameras true +left_config camera/dragonfly2_config_left_bayer_640_480.ini +right_config camera/dragonfly2_config_right_bayer_640_480.ini + + diff --git a/ergoCubSN000/camera/dragonfly2_config_left.ini b/ergoCubSN000/camera/dragonfly2_config_left.ini new file mode 100644 index 0000000000..66a1aff7d7 --- /dev/null +++ b/ergoCubSN000/camera/dragonfly2_config_left.ini @@ -0,0 +1,19 @@ +device dragonfly2 +width 1024 +height 768 +video_type 10 +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 15 +#d 1 +guid 00b09d0100c77485 +#<64bit global identifier, without the leading 0x> then remove the d option diff --git a/ergoCubSN000/camera/dragonfly2_config_left640_480.ini b/ergoCubSN000/camera/dragonfly2_config_left640_480.ini new file mode 100644 index 0000000000..a63b2e3148 --- /dev/null +++ b/ergoCubSN000/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 25 +#d 1 +guid 00b09d0100c77485 diff --git a/ergoCubSN000/camera/dragonfly2_config_leftLowRes.ini b/ergoCubSN000/camera/dragonfly2_config_leftLowRes.ini new file mode 100644 index 0000000000..67dd150838 --- /dev/null +++ b/ergoCubSN000/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 00b09d0100c77485 +#<64bit global identifier, without the leading 0x> then remove the d option diff --git a/ergoCubSN000/camera/dragonfly2_config_left_bayer_320_240.ini b/ergoCubSN000/camera/dragonfly2_config_left_bayer_320_240.ini new file mode 100644 index 0000000000..6df2ee422e --- /dev/null +++ b/ergoCubSN000/camera/dragonfly2_config_left_bayer_320_240.ini @@ -0,0 +1,20 @@ +device dragonfly2raw +width 320 +height 240 +video_type 3 +white_balance 0.477 0.514 +gain 0.0 +shutter 0.666 +name /icub/cam/left +brightness 0 +DR2 +stamp +sharpness 1.0 +hue 0.48 +gamma 0.4 +saturation 0.271 +framerate 30 +use_network_time 1 +#d 1 +guid 00b09d0100c77485 +#<64bit global identifier, without the leading 0x> then remove the d option diff --git a/ergoCubSN000/camera/dragonfly2_config_left_bayer_640_480.ini b/ergoCubSN000/camera/dragonfly2_config_left_bayer_640_480.ini new file mode 100644 index 0000000000..bd30720164 --- /dev/null +++ b/ergoCubSN000/camera/dragonfly2_config_left_bayer_640_480.ini @@ -0,0 +1,20 @@ +device dragonfly2raw +width 640 +height 480 +video_type 3 +white_balance 0.477 0.514 +gain 0.0 +shutter 0.666 +name /icub/cam/left +brightness 0 +DR2 +stamp +sharpness 1.0 +hue 0.48 +gamma 0.4 +saturation 0.271 +framerate 30 +use_network_time 1 +#d 1 +guid 00b09d0100c77485 +#<64bit global identifier, without the leading 0x> then remove the d option diff --git a/ergoCubSN000/camera/dragonfly2_config_right.ini b/ergoCubSN000/camera/dragonfly2_config_right.ini new file mode 100644 index 0000000000..80a9fdce4b --- /dev/null +++ b/ergoCubSN000/camera/dragonfly2_config_right.ini @@ -0,0 +1,19 @@ +device dragonfly2 +width 1024 +height 768 +video_type 10 +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 15 +#d 0 +guid 00b09d0100bbb395 +#<64bit global identifier, without the leading 0x> then remove the d option diff --git a/ergoCubSN000/camera/dragonfly2_config_right640_480.ini b/ergoCubSN000/camera/dragonfly2_config_right640_480.ini new file mode 100644 index 0000000000..e85f5f7fed --- /dev/null +++ b/ergoCubSN000/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 25 +#d 0 +guid 00b09d0100bbb395 diff --git a/ergoCubSN000/camera/dragonfly2_config_rightLowRes.ini b/ergoCubSN000/camera/dragonfly2_config_rightLowRes.ini new file mode 100644 index 0000000000..f948329a60 --- /dev/null +++ b/ergoCubSN000/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 00b09d0100bbb395 +#<64bit global identifier, without the leading 0x> then remove the d option diff --git a/ergoCubSN000/camera/dragonfly2_config_right_bayer_320_240.ini b/ergoCubSN000/camera/dragonfly2_config_right_bayer_320_240.ini new file mode 100644 index 0000000000..1ca322116e --- /dev/null +++ b/ergoCubSN000/camera/dragonfly2_config_right_bayer_320_240.ini @@ -0,0 +1,20 @@ +device dragonfly2raw +width 320 +height 240 +video_type 3 +white_balance 0.477 0.514 +gain 0.0 +shutter 0.666 +name /icub/cam/right +brightness 0 +DR2 +stamp +sharpness 1.0 +hue 0.48 +gamma 0.4 +saturation 0.271 +framerate 30 +use_network_time 1 +#d 0 +guid 00b09d0100bbb395 +#<64bit global identifier, without the leading 0x> then remove the d option diff --git a/ergoCubSN000/camera/dragonfly2_config_right_bayer_640_480.ini b/ergoCubSN000/camera/dragonfly2_config_right_bayer_640_480.ini new file mode 100644 index 0000000000..56b8fe7c3f --- /dev/null +++ b/ergoCubSN000/camera/dragonfly2_config_right_bayer_640_480.ini @@ -0,0 +1,20 @@ +device dragonfly2raw +width 640 +height 480 +video_type 3 +white_balance 0.477 0.514 +gain 0.0 +shutter 0.666 +name /icub/cam/right +brightness 0 +DR2 +stamp +sharpness 1.0 +hue 0.48 +gamma 0.4 +saturation 0.271 +framerate 30 +use_network_time 1 +#d 0 +guid 00b09d0100bbb395 +#<64bit global identifier, without the leading 0x> then remove the d option diff --git a/ergoCubSN000/cartesian/left_arm-cartesian.xml b/ergoCubSN000/cartesian/left_arm-cartesian.xml new file mode 100644 index 0000000000..26b163eabd --- /dev/null +++ b/ergoCubSN000/cartesian/left_arm-cartesian.xml @@ -0,0 +1,56 @@ + + + + + + + icub/cartesianController/left_arm + 10 + 4 + cartesianSolver/left_arm + arm + left_v3 + on + 2 + + + + torso + direct + (0.35 0.35 0.35) + + + + left_arm + direct + (0.35 0.35 0.35 0.35 0.35 0.35 0.35) + + + + + off + off + + ((Kp 1.0) (Tz 0.0) (Tw 0.0) (Zeta 0.0) (Td 0.0)) + ((Kp 1.0) (Tz 0.0) (Tw 0.0) (Zeta 0.0) (Td 0.0)) + ((Kp 1.0) (Tz 0.0) (Tw 0.0) (Zeta 0.0) (Td 0.0)) + ((Kp 1.0) (Tz 0.0) (Tw 0.0) (Zeta 0.0) (Td 0.0)) + ((Kp 1.0) (Tz 0.0) (Tw 0.0) (Zeta 0.0) (Td 0.0)) + ((Kp 1.0) (Tz 0.0) (Tw 0.0) (Zeta 0.0) (Td 0.0)) + ((Kp 1.0) (Tz 0.0) (Tw 0.0) (Zeta 0.0) (Td 0.0)) + ((Kp 1.0) (Tz 0.0) (Tw 0.0) (Zeta 0.0) (Td 0.0)) + ((Kp 1.0) (Tz 0.0) (Tw 0.0) (Zeta 0.0) (Td 0.0)) + ((Kp 1.0) (Tz 0.0) (Tw 0.0) (Zeta 0.0) (Td 0.0)) + + + + + torso-mc_remapper + left_arm-mc_remapper + + + + + + + diff --git a/ergoCubSN000/cartesian/right_arm-cartesian.xml b/ergoCubSN000/cartesian/right_arm-cartesian.xml new file mode 100644 index 0000000000..410774aa4e --- /dev/null +++ b/ergoCubSN000/cartesian/right_arm-cartesian.xml @@ -0,0 +1,56 @@ + + + + + + + icub/cartesianController/right_arm + 10 + 4 + cartesianSolver/right_arm + arm + right_v3 + on + 2 + + + + torso + direct + (0.35 0.35 0.35) + + + + right_arm + direct + (0.35 0.35 0.35 0.35 0.35 0.35 0.35) + + + + + off + off + + ((Kp 1.0) (Tz 0.0) (Tw 0.0) (Zeta 0.0) (Td 0.0)) + ((Kp 1.0) (Tz 0.0) (Tw 0.0) (Zeta 0.0) (Td 0.0)) + ((Kp 1.0) (Tz 0.0) (Tw 0.0) (Zeta 0.0) (Td 0.0)) + ((Kp 1.0) (Tz 0.0) (Tw 0.0) (Zeta 0.0) (Td 0.0)) + ((Kp 1.0) (Tz 0.0) (Tw 0.0) (Zeta 0.0) (Td 0.0)) + ((Kp 1.0) (Tz 0.0) (Tw 0.0) (Zeta 0.0) (Td 0.0)) + ((Kp 1.0) (Tz 0.0) (Tw 0.0) (Zeta 0.0) (Td 0.0)) + ((Kp 1.0) (Tz 0.0) (Tw 0.0) (Zeta 0.0) (Td 0.0)) + ((Kp 1.0) (Tz 0.0) (Tw 0.0) (Zeta 0.0) (Td 0.0)) + ((Kp 1.0) (Tz 0.0) (Tw 0.0) (Zeta 0.0) (Td 0.0)) + + + + + torso-mc_remapper + right_arm-mc_remapper + + + + + + + diff --git a/ergoCubSN000/cartesianSolver.ini b/ergoCubSN000/cartesianSolver.ini new file mode 100644 index 0000000000..2670d0f667 --- /dev/null +++ b/ergoCubSN000/cartesianSolver.ini @@ -0,0 +1,69 @@ +[left_arm] +robot icub +name cartesianSolver/left_arm +type left_v3 +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_v3 +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_v3 +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_v3 +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/ergoCubSN000/ergocub_all.xml b/ergoCubSN000/ergocub_all.xml new file mode 100644 index 0000000000..d66de0d686 --- /dev/null +++ b/ergoCubSN000/ergocub_all.xml @@ -0,0 +1,53 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/ergoCubSN000/estimators/wholebodydynamics.xml b/ergoCubSN000/estimators/wholebodydynamics.xml new file mode 100644 index 0000000000..8971f20b61 --- /dev/null +++ b/ergoCubSN000/estimators/wholebodydynamics.xml @@ -0,0 +1,84 @@ + + + + + + (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_foot_front,l_foot_rear,r_foot_front,r_foot_rear,l_lower_leg,r_lower_leg) + imu_frame + true + 2 + true + false + true + 3.0 + 3.0 + 3.0 + 3.0 + false + true + + + rfeimu_acc + rfeimu_gyro + + + + + true + root_link + (torso_roll,torso_pitch,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) + + + + + (l_hand,l_hand,root_link) + (r_hand,r_hand,root_link) + (l_lower_leg,l_lower_leg,root_link) + (r_lower_leg,r_lower_leg,root_link) + (l_foot_front,l_sole,l_sole) + (l_foot_rear,l_sole,l_sole) + (r_foot_front,r_sole,r_sole) + (r_foot_rear,r_sole,r_sole) + + + + + + head-eb20-j0_1-mc + head-eb21-j2_5-mc + torso-eb5-j0_2-mc + left_arm-eb1-j0_1-mc + left_arm-eb2-j2_3-mc + left_arm-eb24-j4_7-mc + right_arm-eb3-j0_1-mc + right_arm-eb4-j2_3-mc + right_arm-eb27-j4_7-mc + left_leg-eb7-j0_2-mc + left_leg-eb8-j3_5-mc + right_leg-eb11-j0_2-mc + right_leg-eb12-j3_5-mc + + + head-inertial + + + + + + left_arm-eb1-j0_1-strain + right_arm-eb3-j0_1-strain + left_leg-eb8-j3_5-strain + left_leg-eb7-j0_2-strain + right_leg-eb12-j3_5-strain + right_leg-eb11-j0_2-strain + + + + + + diff --git a/ergoCubSN000/extra/JOINT_LIMITS.txt b/ergoCubSN000/extra/JOINT_LIMITS.txt new file mode 100644 index 0000000000..0ec85181f9 --- /dev/null +++ b/ergoCubSN000/extra/JOINT_LIMITS.txt @@ -0,0 +1,33 @@ +left hip pitch [-47.170, ...] +left hip roll [ ] +left hip yaw [-80.546 80.739] +left_knee [5.817, ...] +left_ankle_pitch [-47.060,....] +left_ankle_roll [-25.889 25.823] + +right hip pitch [-47.175, ...] +right hip yaw [-80.327 80.700] +right_knee [5.641, ...] +right_ankle_pitch [-46.329,] +right_ankle_roll [-27.598, 24.137] + + +left hip pitch +left hip roll +left hip yaw +left_knee +left_ankle_pitch +left_ankle_roll + + +right hip pitch +right hip roll +right hip yaw +right_knee +right_ankle_pitch +right_ankle_roll + + + +Delta = theta - theta_desired + diff --git a/ergoCubSN000/extra/applications/SFM.xml b/ergoCubSN000/extra/applications/SFM.xml new file mode 100644 index 0000000000..f515b742e3 --- /dev/null +++ b/ergoCubSN000/extra/applications/SFM.xml @@ -0,0 +1,48 @@ + + SFM Application + + SFM + + icub-console + + (Pos (x 283) (y 161.9)) + + + yarpview + --name /matchViewer --x 0 --p 50 + icub-console + + (Pos (x 310) (y 10)) + + + yarpview + --name /dispViewer --x 330 --p 50 + icub-console + + (Pos (x 610) (y 10)) + + + /icub/camcalib/right/out + /SFM/right:i + tcp + (Pos ((x 231) (y 214.5)) ((x 199) (y 224)) ((x 284) (y 205)) ) + + + /icub/camcalib/left/out + /SFM/left:i + tcp + (Pos ((x 227.5) (y 177)) ((x 192) (y 174)) ((x 284) (y 180)) ) + + + /SFM/match:o + /matchViewer + mjpeg + (Pos ((x 438.5) (y 226)) ((x 397) (y 217)) ((x 501) (y 235)) ) + + + /SFM/disp:o + /dispViewer + tcp + (Pos ((x 437.5) (y 190.5)) ((x 397) (y 192)) ((x 499) (y 189)) ) + + diff --git a/ergoCubSN000/extra/applications/cameras_calib.xml b/ergoCubSN000/extra/applications/cameras_calib.xml new file mode 100644 index 0000000000..fa533b383d --- /dev/null +++ b/ergoCubSN000/extra/applications/cameras_calib.xml @@ -0,0 +1,67 @@ + +(1)Calib Cameras + + + + yarpdev + --from camera/ServerGrabberDualDragon.ini --split true + icub-head + + + camCalib + --context cameraCalibration --from icubEyes.ini --group CAMERA_CALIBRATION_LEFT --name /icub/camcalib/left + icub-console + + + camCalib + --context cameraCalibration --from icubEyes.ini --group CAMERA_CALIBRATION_RIGHT --name /icub/camcalib/right + icub-console + + + yarpview + --name /icub/view/left --x 0 --y 0 --p 50 --w 320 --h 320 + icub-console + + + yarpview + --name /icub/view/right --x 400 --y 0 --p 50 --w 320 --h 320 + icub-console + + + frameGrabberGui2 + --local /icub/fggui/left --remote /icub/cam/left --x 0 --y 350 --width 350 --height 500 + icub-console + + /icub/cam/left + + + + frameGrabberGui2 + --local /icub/fggui/right --remote /icub/cam/right --x 320 --y 350 --width 350 --height 500 + icub-console + + /icub/cam/right + + + + /icub/cam/left + /icub/camcalib/left/in + tcp + + + /icub/cam/right + /icub/camcalib/right/in + tcp + + + /icub/camcalib/left/out + /icub/view/left + tcp + + + /icub/camcalib/right/out + /icub/view/right + tcp + + + diff --git a/ergoCubSN000/extra/applications/cameras_calib_640_480.xml b/ergoCubSN000/extra/applications/cameras_calib_640_480.xml new file mode 100644 index 0000000000..e0c1ce3eca --- /dev/null +++ b/ergoCubSN000/extra/applications/cameras_calib_640_480.xml @@ -0,0 +1,67 @@ + +(1)Calib Cameras 640x480 (no Bayer) + + + + yarpdev + --from camera/ServerGrabberDualDragon640_480.ini --split true + icub-head + + + camCalib + --context cameraCalibration --from icubEyes_640_480.ini --group CAMERA_CALIBRATION_LEFT --name /icub/camcalib/left + icub-console + + + camCalib + --context cameraCalibration --from icubEyes_640_480.ini --group CAMERA_CALIBRATION_RIGHT --name /icub/camcalib/right + icub-console + + + yarpview + --name /icub/view/left --x 0 --y 0 --p 50 --w 320 --h 320 + icub-console + + + yarpview + --name /icub/view/right --x 400 --y 0 --p 50 --w 320 --h 320 + icub-console + + + frameGrabberGui2 + --local /icub/fggui/left --remote /icub/cam/left --x 0 --y 350 --width 350 --height 500 + icub-console + + /icub/cam/left + + + + frameGrabberGui2 + --local /icub/fggui/right --remote /icub/cam/right --x 320 --y 350 --width 350 --height 500 + icub-console + + /icub/cam/right + + + + /icub/cam/left + /icub/camcalib/left/in + mjpeg + + + /icub/cam/right + /icub/camcalib/right/in + mjpeg + + + /icub/camcalib/left/out + /icub/view/left + mjpeg + + + /icub/camcalib/right/out + /icub/view/right + mjpeg + + + diff --git a/ergoCubSN000/extra/applications/demoRedBall.xml b/ergoCubSN000/extra/applications/demoRedBall.xml new file mode 100644 index 0000000000..8c5420f356 --- /dev/null +++ b/ergoCubSN000/extra/applications/demoRedBall.xml @@ -0,0 +1,55 @@ + +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 + icub-console + + + + demoRedBall + icub-console + + + + yarpview + --name /PF3DTracker_viewer --x 320 --y 0 --p 50 --compact + icub-console-gui + + + + /icub/camcalib/left/out + /pf3dTracker/video:i + udp + + + /pf3dTracker/video:o + /PF3DTracker_viewer + mjpeg + + + /pf3dTracker/data:o + /demoRedBall/trackTarget:i + udp + + + /demoRedBall/cmdFace:rpc + /icub/face/emotions/in + tcp + + + /demoRedBall/gui:o + /iCubGui/objects + tcp + + + diff --git a/ergoCubSN000/extra/applications/faceExpressions.xml b/ergoCubSN000/extra/applications/faceExpressions.xml new file mode 100644 index 0000000000..4d7c00db34 --- /dev/null +++ b/ergoCubSN000/extra/applications/faceExpressions.xml @@ -0,0 +1,21 @@ + +Face Expressions + + yarpdev + --name /icub/face/raw --device serial --subdevice serialport --context faceExpressions --from serialport.ini + icub-head + face_device + + + emotionInterface + --name /icub/face/emotions --context faceExpressions --from emotions_rfe.ini + icub-head + emotions_interface + + + /icub/face/emotions/out + /icub/face/raw/in + tcp + + + diff --git a/ergoCubSN000/extra/applications/funny_things.xml b/ergoCubSN000/extra/applications/funny_things.xml new file mode 100644 index 0000000000..18b5167659 --- /dev/null +++ b/ergoCubSN000/extra/applications/funny_things.xml @@ -0,0 +1,83 @@ + + Funny Things + + + + iCubBlinker + --autoStart + icub-console + + + + gaze.lua + --look-around + lua + icub-console + + /iKinGazeCtrl/angles:i + /iKinGazeCtrl/angles:o + + + + + + yarpdev + --device speech --lingware-context speech --robot icub --default-language it-IT --pitch 90 --speed 100 + icub-head + + + iSpeak + --package speech-dev + icub-head + + + + + ctpService + --robot icub --part head + icub-console + + + ctpService + --robot icub --part left_arm + icub-console + + + ctpService + --robot icub --part right_arm + icub-console + + + ctpService + --robot icub --part torso + icub-console + + + + + /iCubBlinker/emotions/raw + /icub/face/raw/in + tcp + + + /iSpeak/speech-dev/rpc + /icub/speech:rpc + tcp + + + /iSpeak/emotions:o + /icub/face/emotions/in + tcp + + + /gaze/tx + /iKinGazeCtrl/angles:i + tcp + + + /iKinGazeCtrl/angles:o + /gaze/rx + tcp + + + diff --git a/ergoCubSN000/extra/applications/grasp-processor.xml b/ergoCubSN000/extra/applications/grasp-processor.xml new file mode 100644 index 0000000000..51639178e2 --- /dev/null +++ b/ergoCubSN000/extra/applications/grasp-processor.xml @@ -0,0 +1,91 @@ + + Grasp pose processor + + + /pointCloudRead/rpc + /actionsRenderingEngine/cmd:io + /actionsRenderingEngine/get:io + /iolReachingCalibration/rpc + /SFM/rpc + /memory/rpc + /icub/camcalib/left/out + /lbpExtract/rpc:i + + + + grasp-processor + icub-console-gui + + + + find-superquadric + --random-sample 0.2 --remove-outliers "(0.01 10)" --disable-viewer + icub-console + + + + point-cloud-read + icub-console + + + + /graspProcessor/superquadricRetrieve:rpc + /find-superquadric/points:rpc + fast_tcp + + + + /graspProcessor/pointCloud:rpc + /pointCloudRead/rpc + fast_tcp + + + + /graspProcessor/actionRenderer:rpc + /actionsRenderingEngine/cmd:io + fast_tcp + + + + /graspProcessor/tableCalib:rpc + /actionsRenderingEngine/get:io + fast_tcp + + + + /graspProcessor/reachingCalibration:rpc + /iolReachingCalibration/rpc + fast_tcp + + + + /icub/camcalib/left/out + /pointCloudRead/imgL:i + udp + + + + /pointCloudRead/OPCrpc + /memory/rpc + fast_tcp + + + + /pointCloudRead/SFMrpc + /SFM/rpc + fast_tcp + + + + /pointCloudRead/segmrpc + /lbpExtract/rpc:i + fast_tcp + + + + /iolStateMachineHandler/motor_grasp:rpc + /graspProcessor/cmd:rpc + fast_tcp + + + diff --git a/ergoCubSN000/extra/applications/iCub3SkinGui.xml b/ergoCubSN000/extra/applications/iCub3SkinGui.xml new file mode 100644 index 0000000000..cc015803ff --- /dev/null +++ b/ergoCubSN000/extra/applications/iCub3SkinGui.xml @@ -0,0 +1,33 @@ + + + iCub3SkinGui + Application for iCub3 skin gui visualization + + localhost + + + iCubSkinGui + --from left_upperarm_V3.ini + ${generic_node} + + + + iCubSkinGui + --from right_upperarm_V3.ini + ${generic_node} + yarpdatadumper + + + + /icub/skin/left_upperarm + /skinGui/left_upperarm:i + udp + + + + /icub/skin/right_upperarm + /skinGui/right_upperarm:i + udp + + + diff --git a/ergoCubSN000/extra/applications/iCubStartup.xml b/ergoCubSN000/extra/applications/iCubStartup.xml new file mode 100644 index 0000000000..020e5c632b --- /dev/null +++ b/ergoCubSN000/extra/applications/iCubStartup.xml @@ -0,0 +1,51 @@ + +(0)iCubStartup + + + + + + yarplogger + --start --no_stop + icub-console + + + + yarprobotinterface + icub-head + + + + iKinCartesianSolver + --part right_arm + icub-head + + /icub/yarprobotinterface + + + + + iKinCartesianSolver + --part left_arm + icub-head + + /icub/yarprobotinterface + + + + + iKinGazeCtrl + --from config_no_imu.ini + icub-head + + /icub/yarprobotinterface + + + + + yarpmotorgui + --from homePoseBalancing.ini + icub-console + + + diff --git a/ergoCubSN000/extra/applications/iCubStartup_640_480.xml b/ergoCubSN000/extra/applications/iCubStartup_640_480.xml new file mode 100644 index 0000000000..aba36aaa52 --- /dev/null +++ b/ergoCubSN000/extra/applications/iCubStartup_640_480.xml @@ -0,0 +1,45 @@ + +(0)iCubStartup (640x480) + + + + + + yarplogger + --start --no_stop + icub-console + + + + yarprobotinterface + icub-head + + + + iKinCartesianSolver + --part right_arm + icub-head + + /icub/yarprobotinterface + + + + + iKinCartesianSolver + --part left_arm + icub-head + + /icub/yarprobotinterface + + + + + iKinGazeCtrl + --from config_no_imu_640_480.ini + icub-head + + /icub/yarprobotinterface + + + + diff --git a/ergoCubSN000/extra/applications/iol.xml b/ergoCubSN000/extra/applications/iol.xml new file mode 100644 index 0000000000..2e3b5ce041 --- /dev/null +++ b/ergoCubSN000/extra/applications/iol.xml @@ -0,0 +1,347 @@ + +IOL (internal GPU) + + + /icub/camcalib/left/out + /icub/camcalib/right/out + /icub/cartesianController/left_arm/state:o + /icub/cartesianController/right_arm/state:o + /wholeBodyDynamics/left_arm/cartesianEndEffectorWrench:o + /wholeBodyDynamics/right_arm/cartesianEndEffectorWrench:o + /iKinGazeCtrl/rpc + + + + lbpExtract + icub-console-gui + + + motionCUT + icub-console-gui + + + SFM + icub-console-gui + + + + + caffeCoder + --from caffeCoder_resnet.ini + icub-console-gui + + + + + + + linearClassifierModule + --BufferSize 1 --CSVM 1.0 --databaseFolder IOLDatabase --WeightedSVM 1 + icub-console-gui + + + himrepClassifier + icub-console-gui + + + blobSelector + icub-console-gui + + + actionsRenderingEngine + --motor::block_eyes 5.0 + icub-console + + + iolReachingCalibration + icub-console + + + iolStateMachineHandler + icub-console + + + objectsPropertiesCollector + --name memory --db memory_iol.ini + icub-console + + + iSpeak + --package acapela-tts + icub-win + + + speechRecognizer + icub-win + + + iolHelper + icub-console + + + yarpview + --name /iolViewer/disparity --x 0 --y 0 --p 50 --compact + icub-console-gui + + + yarpview + --name /iolViewer/lbpSegmented --x 370 --y 0 --p 50 --compact + icub-console-gui + + + yarpview + --name /iolViewer/manager/snapshot --x 370 --y 720 --p 50 --compact + icub-console-gui + + + yarpview + --name /iolViewer/pointedBlobs --x 0 --y 720 --p 50 --compact + icub-console-gui + + + yarpview + --name /iolViewer/manager/tracker --x 0 --y 370 --p 50 --compact + icub-console-gui + + + yarpview + --name /iolViewer/manager/localizer --x 370 --y 370 --out /iolViewer/manager/localizer/out --p 50 --compact + icub-console-gui + + + yarpview + --name /iolViewer/manager/histogram --x 680 --y 220 --w 600 --h 600 --p 50 --compact + icub-console-gui + + + + + + rfsmGui + icub-console-gui + --rfsm iol_root_fsm.lua --context iol/lua --run + + /iSpeak + /speechRecognizer/rpc + /iolStateMachineHandler/human:rpc + /iolHelper/rpc + + + + + /icub/camcalib/left/out + /iolStateMachineHandler/img:i + mjpeg + + + /icub/camcalib/left/out + /lbpExtract/image:i + mjpeg + + + /iolStateMachineHandler/imgClassifier:o + /himrepClassifier/img:i + tcp + + + /icub/camcalib/left/out + /blobSelector/img:i + mjpeg + + + /icub/camcalib/left/out + /motionCUT/img:i + mjpeg + + + /motionCUT/blobs:o + /blobSelector/blobs:i + udp + + + /motionCUT/blobs:o + /actionsRenderingEngine/left/blobs:i + udp + + + /lbpExtract/blobs:o + /iolStateMachineHandler/blobs:i + udp + + + /iolStateMachineHandler/classify:rpc + /himrepClassifier/rpc + tcp + + + /SFM/disp:o + /iolViewer/disparity + udp + + + /lbpExtract/segmentedlbp:o + /iolViewer/lbpSegmented + mjpeg + + + /blobSelector/img:o + /iolViewer/pointedBlobs + mjpeg + + + /iolStateMachineHandler/img:o + /iolViewer/manager/snapshot + tcp + + + /iolStateMachineHandler/imgTrack:o + /iolViewer/manager/tracker + mjpeg + + + /iolStateMachineHandler/imgLoc:o + /iolViewer/manager/localizer + mjpeg + + + /iolStateMachineHandler/imgHistogram:o + /iolViewer/manager/histogram + mjpeg + + + /iolViewer/manager/localizer/out + /iolStateMachineHandler/histObjLocation:i + tcp + + + /iolStateMachineHandler/speak:o + /iSpeak + tcp + + + /iolReachingCalibration/opc + /memory/rpc + tcp + + + /iolReachingCalibration/are + /actionsRenderingEngine/cmd:io + tcp + + + /iolStateMachineHandler/reach_calib:rpc + /iolReachingCalibration/rpc + tcp + + + /iolStateMachineHandler/motor:rpc + /actionsRenderingEngine/cmd:io + tcp + + + /iolStateMachineHandler/motor_stop:rpc + /actionsRenderingEngine/rpc + tcp + + + /actionsRenderingEngine/wbd:rpc + /wholeBodyDynamics/rpc:i + tcp + + + /iolStateMachineHandler/memory:rpc + /memory/rpc + tcp + + + /actionsRenderingEngine/OPC:io + /memory/rpc + tcp + + + /iolHelper/opc + /memory/rpc + tcp + + + /speechRecognizer/recog/continuous:o + /iolStateMachineHandler/motor_stop:i + tcp + + + /blobSelector/point:o + /iolStateMachineHandler/point:i + tcp + + + /speechRecognizer/tts/iSpeak:o + /iSpeak + tcp + + + /iSpeak/emotions:o + /icub/face/emotions/in + tcp + + + /himrepClassifier/img:o + /caffeCoder/img:i + tcp + + + /caffeCoder/code:o + /himrepClassifier/features:i + tcp + + + /himrepClassifier/features:o + /linearClassifier/features:i + tcp + + + /linearClassifier/scores:o + /himrepClassifier/scores:i + tcp + + + /himrepClassifier/classify:rpc + /linearClassifier/rpc + tcp + + + /caffeCoder/img:o + /himrepClassifier/SIFTimg:i + tcp + + + /himrepClassifier/opc + /memory/rpc + tcp + + + /icub/camcalib/right/out + /SFM/right:i + tcp + + + /icub/camcalib/left/out + /SFM/left:i + tcp + + + /iolStateMachineHandler/get3d:rpc + /SFM/rpc + tcp + + diff --git a/ergoCubSN000/extra/applications/iol_egpu.xml b/ergoCubSN000/extra/applications/iol_egpu.xml new file mode 100644 index 0000000000..ab57cf1505 --- /dev/null +++ b/ergoCubSN000/extra/applications/iol_egpu.xml @@ -0,0 +1,353 @@ + +IOL (external GPU) + + + /icub/camcalib/left/out + /icub/camcalib/right/out + /icub/cartesianController/left_arm/state:o + /icub/cartesianController/right_arm/state:o + /wholeBodyDynamics/left_arm/cartesianEndEffectorWrench:o + /wholeBodyDynamics/right_arm/cartesianEndEffectorWrench:o + /iKinGazeCtrl/rpc + + + + lbpExtract + icub-console-gui + + + motionCUT + icub-console-gui + + + SFM + icub-console-gui + + + + + caffeCoder + --from caffeCoder_resnet.ini --device_id 0 + icub-cuda + + + linearClassifierModule + --BufferSize 1 --CSVM 1.0 --databaseFolder IOLDatabase --WeightedSVM 1 + icub-console-gui + + + himrepClassifier + icub-console-gui + + + blobSelector + icub-console-gui + + + actionsRenderingEngine + --motor::block_eyes 5.0 + icub-console + + + iolReachingCalibration + icub-console + + + iolStateMachineHandler + icub-console + + + objectsPropertiesCollector + --name memory --db memory_iol.ini + icub-console + + + iSpeak + --package speech-dev + icub-console + + + yarpdev + --device speech --lingware-context speech --default-language en-US --pitch 100 --speed 100 + icub-console + + + speechRecognizer + icub-win + + + iolHelper + icub-console + + + yarpview + --name /iolViewer/disparity --x 0 --y 0 --p 50 --compact + icub-console-gui + + + yarpview + --name /iolViewer/lbpSegmented --x 370 --y 0 --p 50 --compact + icub-console-gui + + + yarpview + --name /iolViewer/manager/snapshot --x 370 --y 720 --p 50 --compact + icub-console-gui + + + yarpview + --name /iolViewer/pointedBlobs --x 0 --y 720 --p 50 --compact + icub-console-gui + + + yarpview + --name /iolViewer/manager/tracker --x 0 --y 370 --p 50 --compact + icub-console-gui + + + yarpview + --name /iolViewer/manager/localizer --x 370 --y 370 --out /iolViewer/manager/localizer/out --p 50 --compact + icub-console-gui + + + yarpview + --name /iolViewer/manager/histogram --x 680 --y 220 --w 600 --h 600 --p 50 --compact + icub-console-gui + + + + + + rfsmGui + icub-console + --rfsm iol_root_fsm.lua --context iol/lua --run + + /iSpeak + /speechRecognizer/rpc + /iolStateMachineHandler/human:rpc + /iolHelper/rpc + + + + + /icub/camcalib/left/out + /iolStateMachineHandler/img:i + mjpeg + + + /icub/camcalib/left/out + /lbpExtract/image:i + mjpeg + + + /iolStateMachineHandler/imgClassifier:o + /himrepClassifier/img:i + tcp + + + /icub/camcalib/left/out + /blobSelector/img:i + mjpeg + + + /icub/camcalib/left/out + /motionCUT/img:i + mjpeg + + + /motionCUT/blobs:o + /blobSelector/blobs:i + udp + + + /motionCUT/blobs:o + /actionsRenderingEngine/left/blobs:i + udp + + + /lbpExtract/blobs:o + /iolStateMachineHandler/blobs:i + udp + + + /iolStateMachineHandler/classify:rpc + /himrepClassifier/rpc + tcp + + + /SFM/disp:o + /iolViewer/disparity + udp + + + /lbpExtract/segmentedlbp:o + /iolViewer/lbpSegmented + mjpeg + + + /blobSelector/img:o + /iolViewer/pointedBlobs + mjpeg + + + /iolStateMachineHandler/img:o + /iolViewer/manager/snapshot + tcp + + + /iolStateMachineHandler/imgTrack:o + /iolViewer/manager/tracker + mjpeg + + + /iolStateMachineHandler/imgLoc:o + /iolViewer/manager/localizer + mjpeg + + + /iolStateMachineHandler/imgHistogram:o + /iolViewer/manager/histogram + mjpeg + + + /iolViewer/manager/localizer/out + /iolStateMachineHandler/histObjLocation:i + tcp + + + /iolStateMachineHandler/speak:o + /iSpeak + tcp + + + /iolReachingCalibration/opc + /memory/rpc + tcp + + + /iolReachingCalibration/are + /actionsRenderingEngine/cmd:io + tcp + + + /iolStateMachineHandler/reach_calib:rpc + /iolReachingCalibration/rpc + tcp + + + /iolStateMachineHandler/motor:rpc + /actionsRenderingEngine/cmd:io + tcp + + + /iolStateMachineHandler/motor_stop:rpc + /actionsRenderingEngine/rpc + tcp + + + /actionsRenderingEngine/wbd:rpc + /wholeBodyDynamics/rpc:i + tcp + + + /iolStateMachineHandler/memory:rpc + /memory/rpc + tcp + + + /actionsRenderingEngine/OPC:io + /memory/rpc + tcp + + + /iolHelper/opc + /memory/rpc + tcp + + + /speechRecognizer/recog/continuous:o + /iolStateMachineHandler/motor_stop:i + tcp + + + /blobSelector/point:o + /iolStateMachineHandler/point:i + tcp + + + /speechRecognizer/tts/iSpeak:o + /iSpeak + tcp + + + /iSpeak/emotions:o + /icub/face/emotions/in + tcp + + + /iSpeak/speech-dev/rpc + /icub/speech:rpc + fast_tcp + + + /himrepClassifier/img:o + /caffeCoder/img:i + tcp + + + /caffeCoder/code:o + /himrepClassifier/features:i + tcp + + + /himrepClassifier/features:o + /linearClassifier/features:i + tcp + + + /linearClassifier/scores:o + /himrepClassifier/scores:i + tcp + + + /himrepClassifier/classify:rpc + /linearClassifier/rpc + tcp + + + /caffeCoder/img:o + /himrepClassifier/SIFTimg:i + tcp + + + /himrepClassifier/opc + /memory/rpc + tcp + + + /icub/camcalib/right/out + /SFM/right:i + tcp + + + /icub/camcalib/left/out + /SFM/left:i + tcp + + + /iolStateMachineHandler/get3d:rpc + /SFM/rpc + tcp + + diff --git a/ergoCubSN000/extra/applications/lbpExtract.xml b/ergoCubSN000/extra/applications/lbpExtract.xml new file mode 100644 index 0000000000..cb2ee248f5 --- /dev/null +++ b/ergoCubSN000/extra/applications/lbpExtract.xml @@ -0,0 +1,68 @@ + + Local Binary Pattern Blob Extraction + + + + + + lbpExtract + icub-console + + + + + yarpview + icub-console-gui + --name /lbps --x 0 --y 0 --RefreshTime 33 + + + + yarpview + icub-console-gui + --name /contourslbp --x 330 --y 0 --RefreshTime 33 + + + + yarpview + icub-console-gui + --name /extracted --x 0 --y 330 --RefreshTime 33 + + + + yarpview + icub-console-gui + --name /segmented --x 330 --y 330 --RefreshTime 33 + + + + + /icub/camcalib/left/out + /lbpExtract/image:i + udp + + + + /lbpExtract/lbp:o + /lbps + udp + + + + /lbpExtract/contourslbp:o + /contourslbp + mjpeg + + + + /lbpExtract/extractedlbp:o + /extracted + mjpeg + + + + /lbpExtract/segmentedlbp:o + /segmented + mjpeg + + + diff --git a/ergoCubSN000/extra/applications/robmo-icub-hand-iRC-collector.xml b/ergoCubSN000/extra/applications/robmo-icub-hand-iRC-collector.xml new file mode 100644 index 0000000000..ba0fee756a --- /dev/null +++ b/ergoCubSN000/extra/applications/robmo-icub-hand-iRC-collector.xml @@ -0,0 +1,112 @@ + + + iolReachingCalibrationCollector + + + robmo-icub-hand-iRC-collector + localhost + + + + robmo-icub-hand-si + localhost + icub left false left true false + + + + robmo-icub-hand-si + localhost + icub right false left true false + + + + yarpview + localhost + --name /iolReachingCalibrationCollector/viewer/left/aruco:i + + + + yarpview + localhost + --name /iolReachingCalibrationCollector/viewer/right/aruco:i + + + + yarpview + localhost + --name /iolReachingCalibrationCollector/viewer/left/si:i + + + + yarpview + localhost + --name /iolReachingCalibrationCollector/viewer/right/si:i + + + + /icub/cartesianController/left_arm/state:o + /iolReachingCalibrationCollector/left/hand_fk:i + fast_tcp + + + + /icub/cartesianController/right_arm/state:o + /iolReachingCalibrationCollector/right/hand_fk:i + fast_tcp + + + + /icub/camcalib/left/out + /robmo-icub-hand-si/left_camera/left_hand/rgbImage:i + fast_tcp + + + + /icub/camcalib/left/out + /robmo-icub-hand-si/left_camera/right_hand/rgbImage:i + fast_tcp + + + + /icub/camcalib/left/out + /iolReachingCalibrationCollector/left/rgbImage:i + fast_tcp + + + + /iolReachingCalibrationCollector/left/gt_image:o + /iolReachingCalibrationCollector/viewer/left/aruco:i + fast_tcp + + + + /iolReachingCalibrationCollector/right/gt_image:o + /iolReachingCalibrationCollector/viewer/right/aruco:i + fast_tcp + + + + /robmo-icub-hand-si/left_camera/left_hand/image:o + /iolReachingCalibrationCollector/viewer/left/si:i + fast_tcp + + + + /robmo-icub-hand-si/left_camera/right_hand/image:o + /iolReachingCalibrationCollector/viewer/right/si:i + fast_tcp + + + + /iolReachingCalibrationCollector/left/gt_pose:o + /robmo-icub-hand-si/left_camera/left_hand/si-icub-hand/left/state:i + fast_tcp + + + + /iolReachingCalibrationCollector/right/gt_pose:o + /robmo-icub-hand-si/left_camera/right_hand/si-icub-hand/right/state:i + fast_tcp + + + diff --git a/ergoCubSN000/extra/applications/robmo-icub-hand-iRC-test-no-calibration.xml b/ergoCubSN000/extra/applications/robmo-icub-hand-iRC-test-no-calibration.xml new file mode 100644 index 0000000000..888fdac077 --- /dev/null +++ b/ergoCubSN000/extra/applications/robmo-icub-hand-iRC-test-no-calibration.xml @@ -0,0 +1,65 @@ + + + iolReachingCalibrationTest (no calibration) + + + robmo-icub-hand-si + localhost + icub right false left true false + + + + robmo-icub-hand-si + localhost + icub left false left true false + + + + yarpview + localhost + --name /iolReachingCalibrationTest/viewer/left/si:i + + + + yarpview + localhost + --name /iolReachingCalibrationTest/viewer/right/si:i + + + + /icub/camcalib/left/out + /robmo-icub-hand-si/left_camera/left_hand/rgbImage:i + fast_tcp + + + + /icub/camcalib/left/out + /robmo-icub-hand-si/left_camera/right_hand/rgbImage:i + fast_tcp + + + + /robmo-icub-hand-si/left_camera/left_hand/image:o + /iolReachingCalibrationTest/viewer/left/si:i + fast_tcp + + + + /robmo-icub-hand-si/left_camera/right_hand/image:o + /iolReachingCalibrationTest/viewer/right/si:i + fast_tcp + + + + /icub/cartesianController/left_arm/state:o + /robmo-icub-hand-si/left_camera/left_hand/si-icub-hand/left/state:i + fast_tcp + + + + /icub/cartesianController/righ_arm/state:o + /robmo-icub-hand-si/left_camera/right_hand/si-icub-hand/right/state:i + fast_tcp + + + diff --git a/ergoCubSN000/extra/applications/robmo-icub-hand-iRC-test.xml b/ergoCubSN000/extra/applications/robmo-icub-hand-iRC-test.xml new file mode 100644 index 0000000000..7b460e5f01 --- /dev/null +++ b/ergoCubSN000/extra/applications/robmo-icub-hand-iRC-test.xml @@ -0,0 +1,89 @@ + + + iolReachingCalibrationTest + + + robmo-icub-hand-iRC-test + icub left + localhost + + + + robmo-icub-hand-iRC-test + icub right + localhost + + + + robmo-icub-hand-si + localhost + icub right false left true false + + + + robmo-icub-hand-si + localhost + icub left false left true false + + + + yarpview + localhost + --name /iolReachingCalibrationTest/viewer/left/si:i + + + + yarpview + localhost + --name /iolReachingCalibrationTest/viewer/right/si:i + + + + /icub/cartesianController/left_arm/state:o + /iolReachingCalibrationTest/left/hand_fk:i + fast_tcp + + + + /icub/cartesianController/right_arm/state:o + /iolReachingCalibrationTest/right/hand_fk:i + fast_tcp + + + + /icub/camcalib/left/out + /robmo-icub-hand-si/left_camera/left_hand/rgbImage:i + fast_tcp + + + + /icub/camcalib/left/out + /robmo-icub-hand-si/left_camera/right_hand/rgbImage:i + fast_tcp + + + + /robmo-icub-hand-si/left_camera/left_hand/image:o + /iolReachingCalibrationTest/viewer/left/si:i + fast_tcp + + + + /robmo-icub-hand-si/left_camera/right_hand/image:o + /iolReachingCalibrationTest/viewer/right/si:i + fast_tcp + + + + /iolReachingCalibrationTest/left_arm/state:o + /robmo-icub-hand-si/left_camera/left_hand/si-icub-hand/left/state:i + fast_tcp + + + + /iolReachingCalibrationTest/right_arm/state:o + /robmo-icub-hand-si/left_camera/right_hand/si-icub-hand/right/state:i + fast_tcp + + + diff --git a/ergoCubSN000/extra/applications/skinGuiAll.xml b/ergoCubSN000/extra/applications/skinGuiAll.xml new file mode 100644 index 0000000000..b75e27c2ae --- /dev/null +++ b/ergoCubSN000/extra/applications/skinGuiAll.xml @@ -0,0 +1,74 @@ + + Skin Gui All + + skinManager + --from skinManAll.ini --context skinGui + icub-console + skinMan + + + skinManagerGui + --from skinManGui.ini --context skinGui --xpos 1020 --ypos 350 + icub-console + skinManGui + + + + + iCubSkinGui + + --from left_hand_V2_1.ini --useCalibration --xpos 320 --ypos 0 --width 300 --height 300 + icub-console-gui + skinGuiLH + + + iCubSkinGui + + --from right_hand_V2_1.ini --useCalibration --xpos 960 --ypos 0 --width 300 --height 300 + icub-console-gui + skinGuiRH + + + + + /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/right_hand_comp + /skinGui/right_hand:i + udp + + diff --git a/ergoCubSN000/extra/applications/stereoCalib.xml b/ergoCubSN000/extra/applications/stereoCalib.xml new file mode 100644 index 0000000000..d71781c3b2 --- /dev/null +++ b/ergoCubSN000/extra/applications/stereoCalib.xml @@ -0,0 +1,57 @@ + +Stereo Calibration + + /icub/cam/left + /icub/cam/right + /icub/head/state:o + + + + stereoCalib + --from icubEyes.ini + icub-console + icub-console + StereoCalib + + + + yarpview + --name /viewLeft --synch + icub-console + view1 + + + + yarpview + --name /viewRight --synch + icub-console + view2 + + + + /stereoCalib/cam/left:o + /viewLeft + tcp + + + + /stereoCalib/cam/right:o + /viewRight + tcp + + + + /icub/cam/right + /stereoCalib/cam/right:i + tcp + + + + /icub/cam/left + /stereoCalib/cam/left:i + tcp + + + + + diff --git a/ergoCubSN000/extra/contexts/yarpmanager/cluster-config.xml b/ergoCubSN000/extra/contexts/yarpmanager/cluster-config.xml new file mode 100644 index 0000000000..40d6e6265a --- /dev/null +++ b/ergoCubSN000/extra/contexts/yarpmanager/cluster-config.xml @@ -0,0 +1,17 @@ + + + + + + +icub-console +icub-console-gui +pi-ifeel +icub-cuda +icub-head +icub-virtualizer +icub29 + + + diff --git a/ergoCubSN000/extra/scripts/README.md b/ergoCubSN000/extra/scripts/README.md new file mode 100644 index 0000000000..34c9a88b59 --- /dev/null +++ b/ergoCubSN000/extra/scripts/README.md @@ -0,0 +1,14 @@ +# Additional Commands + +This folder contains a set of script and aliases that ease the use of the robot. +In order to use them, we assume that ``robots-configuration`` has been installed using the [``robotology-superbuild``](https://github.com/robotology/robotology-superbuild), and that the ``ROBOTOLOGY_SUPERBUILD_SOURCE_DIR`` and ``YARP_ROBOT_NAME`` environmental variables have been set. +Then, in the ``.bashrc_iCub`` file, append the following lines +```sh +additionalCommandsFile=${ROBOTOLOGY_SUPERBUILD_SOURCE_DIR}/src/robots-configuration/${YARP_ROBOT_NAME}/extra/scripts/additionalCommands.sh + +if [ -f "$additionalCommandsFile" ]; then + source $additionalCommandsFile +fi +``` + +After opening a new terminal, you can type ``helpRobot`` to get a list of useful commands. diff --git a/ergoCubSN000/extra/scripts/additionalCommands.sh b/ergoCubSN000/extra/scripts/additionalCommands.sh new file mode 100644 index 0000000000..1ed97e3940 --- /dev/null +++ b/ergoCubSN000/extra/scripts/additionalCommands.sh @@ -0,0 +1,59 @@ +## Additional aliases and commands to use the robot + +getParentDir () { + SOURCE="${1}" + while [ -h "$SOURCE" ]; do # resolve $SOURCE until the file is no longer a symlink + DIR="$( cd -P "$( dirname "$SOURCE" )" >/dev/null 2>&1 && pwd )" + SOURCE="$(readlink "$SOURCE")" + [[ $SOURCE != /* ]] && SOURCE="$DIR/$SOURCE" # if $SOURCE was a relative symlink, we need to resolve it relative to the path where the symlink file was located + done + DIR="$( cd -P "$( dirname "$SOURCE" )" >/dev/null 2>&1 && pwd )" +} + +getParentDir "${BASH_SOURCE[0]}" + +# The directory where this script is +export ADDITIONAL_COMMANDS_DIR="$DIR" + + +#Robots Configuration settings +alias robotsConfigurationInstaller='bash ${ADDITIONAL_COMMANDS_DIR}/installRobotsConfiguration.sh' +export ROBOTS_CONFIGURATION_DIR=${ROBOTOLOGY_SUPERBUILD_SOURCE_DIR}/src/robots-configuration/${YARP_ROBOT_NAME} +alias gotoRobotsConfigurationFolder='cd $ROBOTS_CONFIGURATION_DIR' + +#Automatic Joypad configuration +alias connectToJoypad='sudo expect ${ADDITIONAL_COMMANDS_DIR}/bluetoothConnect.sh 28:9A:4B:08:E1:1B' + +# Go to DCM folder +alias dcmFolder='cd ${ROBOTOLOGY_SUPERBUILD_SOURCE_DIR}/src/walking-controllers/src/WalkingModule/app/robots/${YARP_ROBOT_NAME}' + +# Go to the corresponding build folder in the superbuild +alias goToBuildSuperbuild='cd ../../build/src/${PWD##*/}' + +## Alias for running a diff between the source and the install of the configuration files +alias configurationSourceInstallDiff='bash ${ADDITIONAL_COMMANDS_DIR}/checkConfigurationFiles.sh' + +alias test-speaker='speaker-test -t wav -c 1' + +# Test if the microphone is working +test-microphone() { + arecord -vvv -f dat /dev/null +} + +GREEN='\033[0;32m' +NC='\033[0m' # No Color +## Alias for displaying info messages about the other aliases +alias helpRobot='echo -e "Here some useful commands: +${GREEN}robotsConfigurationInstaller${NC} Takes care of installing the robot configuration files from any folder. +${GREEN}gotoRobotsConfigurationFolder${NC} Go to the source folder of the robot configuration files. +${GREEN}configurationSourceInstallDiff${NC} Performs a diff between the source and install configuration files. If there is no difference, it prints nothing. +${GREEN}connectToJoypad${NC} To reconnect the bluetooth connection of the robot joypad. +${GREEN}test-speaker${NC} Test if the speaker is working. +${GREEN}test-microphone${NC} Test if the micorphone is working. +${GREEN}dcmFolder${NC} Go to the robot walking configuration files. +${GREEN}goToBuildSuperbuild${NC} Go to the corresponding build folder of the robotology superbuild."' + +if [ "$PS1" ]; then + echo -e "Type ${GREEN}helpRobot${NC} for a list of useful commands." +fi + diff --git a/ergoCubSN000/extra/scripts/bluetoothConnect.sh b/ergoCubSN000/extra/scripts/bluetoothConnect.sh new file mode 100644 index 0000000000..d12c94b0dd --- /dev/null +++ b/ergoCubSN000/extra/scripts/bluetoothConnect.sh @@ -0,0 +1,61 @@ + +#!/usr/bin/expect -f + +set address [lindex $argv 0] + +spawn sudo bluetoothctl + +# Set timeout to 30 sec (-1 for infinity) +set timeout 30 + +# Remove the device if it was already connected +send "remove $address\r" +expect { + -re "Device $address not available" {send_user \ + "\n--------------\nDevice was not paired before. Continuing.\n\n--------------\n"} + -re "Device has been removed" + } + +# Scan for the device +send "scan on\r" +expect { + timeout {send_user "\n!!!!!!!\nDevice does not seem to be available.\n\n!!!!!!!!\n" ; \ + send "quit\r" ; expect eof ; exit 1} + -re "$address" + } +send_user "\n--------------\n$address found!\n\n--------------\n" +send "scan off\r" + +# Trust the device (useful since we are not setting any PIN) +send "trust $address\r" +expect { + timeout {send_user "\n!!!!!!!\nUnable to trust the device.\n\n!!!!!!!!\n" ; \ + send "quit\r" ; expect eof ; exit 1} + -re "trust succeeded" + } +send_user "\n--------------\nTrust succeded!\n\n--------------\n" + +#Pair the device +send "pair $address\r" +expect { + timeout {send_user "\n!!!!!!!\nUnable to pair the device.\n\n!!!!!!!!\n" ; \ + send "quit\r" ; expect eof ; exit 1} + -re "Pairing successful" + } +send_user "\n--------------\nPairing succeded!\n\n--------------\n" + +#Connect the device +send "connect $address\r" +expect { + timeout {send_user "\n!!!!!!!\nUnable to connect to the device.\n\n!!!!!!!!\n" ; \ + send "quit\r" ; expect eof ; exit 1} + -re "Connection successful" + } +send_user "\n--------------\nConnection succeded! The Joystick is ready to be used!!\n\n--------------\n" + +#Exit +send "quit\r" +expect eof +exit 0 + +#iCubGenova04 joypad address: 28:9A:4B:0A:5F:6D diff --git a/ergoCubSN000/extra/scripts/checkConfigurationFiles.sh b/ergoCubSN000/extra/scripts/checkConfigurationFiles.sh new file mode 100644 index 0000000000..defd0376e2 --- /dev/null +++ b/ergoCubSN000/extra/scripts/checkConfigurationFiles.sh @@ -0,0 +1,14 @@ +#!/bin/bash + +diff -r --exclude="CMakeLists.txt" $ROBOTOLOGY_SUPERBUILD_SOURCE_DIR/src/robots-configuration/$YARP_ROBOT_NAME $ROBOTOLOGY_SUPERBUILD_SOURCE_DIR/build/install/share/ICUBcontrib/robots/$YARP_ROBOT_NAME | grep -ve dcm_walking -ve extra > /tmp/diff_out 2>&1 + +GREEN='\033[0;32m' +RED='\033[0;31m' +NC='\033[0m' # No Color + +if [[ -s /tmp/diff_out ]]; then + echo -e "${RED}There are differences.${NC}" + cat /tmp/diff_out +else + echo -e "${GREEN}The configuration files in the source and in the install folder coincide.${NC}" +fi diff --git a/ergoCubSN000/extra/scripts/installRobotsConfiguration.sh b/ergoCubSN000/extra/scripts/installRobotsConfiguration.sh new file mode 100644 index 0000000000..a09b681a39 --- /dev/null +++ b/ergoCubSN000/extra/scripts/installRobotsConfiguration.sh @@ -0,0 +1,12 @@ +#!/bin/bash + +if [[ -v "${ICUB_BUILD_PATHNAME}" ]]; then + BUILD_DIR=${ICUB_BUILD_PATHNAME} +else + BUILD_DIR='build'; +fi + +echo "Running make install in ${ROBOTOLOGY_SUPERBUILD_SOURCE_DIR}/${BUILD_DIR}/src/robots-configuration" + +cd ${ROBOTOLOGY_SUPERBUILD_SOURCE_DIR}/${BUILD_DIR}/src/robots-configuration +cmake . && make install diff --git a/ergoCubSN000/firmwareupdater.ini b/ergoCubSN000/firmwareupdater.ini new file mode 100644 index 0000000000..c93b53ab35 --- /dev/null +++ b/ergoCubSN000/firmwareupdater.ini @@ -0,0 +1,2 @@ +[DRIVERS] +ETH "eth" diff --git a/ergoCubSN000/general.xml b/ergoCubSN000/general.xml new file mode 100644 index 0000000000..945c534622 --- /dev/null +++ b/ergoCubSN000/general.xml @@ -0,0 +1,12 @@ + + + + + + + true + false + false + false + + diff --git a/ergoCubSN000/hardware/FT/left_arm-eb1-j0_1-strain.xml b/ergoCubSN000/hardware/FT/left_arm-eb1-j0_1-strain.xml new file mode 100644 index 0000000000..0d034f459d --- /dev/null +++ b/ergoCubSN000/hardware/FT/left_arm-eb1-j0_1-strain.xml @@ -0,0 +1,55 @@ + + + + + + + + + + + + + + eomn_serv_AS_strain + + + + + eobrd_strain + + + 1 + 0 + + + 0 + 0 + 0 + + + + + id_l_upper_arm_strain + eoas_strain + CAN2:13 + + + + + + 10 + id_l_upper_arm_strain + + + + true + + + + + + + + + diff --git a/ergoCubSN000/hardware/FT/left_leg-eb7-j0_2-strain.xml b/ergoCubSN000/hardware/FT/left_leg-eb7-j0_2-strain.xml new file mode 100644 index 0000000000..7b47923328 --- /dev/null +++ b/ergoCubSN000/hardware/FT/left_leg-eb7-j0_2-strain.xml @@ -0,0 +1,57 @@ + + + + + + + + + + + + + + eomn_serv_AS_strain + + + + + strain2 + + + 2 + 0 + + + 2 + 0 + 9 + + + + + id_l_heel_strain + eoas_strain + CAN2:13 + + + + + + 10 + id_l_heel_strain + 1000 + + + + true + + + + + + + + + + diff --git a/ergoCubSN000/hardware/FT/left_leg-eb8-j3_5-strain.xml b/ergoCubSN000/hardware/FT/left_leg-eb8-j3_5-strain.xml new file mode 100644 index 0000000000..de1551cab5 --- /dev/null +++ b/ergoCubSN000/hardware/FT/left_leg-eb8-j3_5-strain.xml @@ -0,0 +1,58 @@ + + + + + + + + + + + + + + eomn_serv_AS_strain + + + + + strain2 + + + 2 + 0 + + + 2 + 0 + 9 + + + + + id_l_tiptoe_strain + eoas_strain + CAN2:13 + + + + + + 10 + id_l_tiptoe_strain + 1000 + + + + true + + + + + + + + + + + diff --git a/ergoCubSN000/hardware/FT/right_arm-eb3-j0_1-strain.xml b/ergoCubSN000/hardware/FT/right_arm-eb3-j0_1-strain.xml new file mode 100644 index 0000000000..7e9bcb8562 --- /dev/null +++ b/ergoCubSN000/hardware/FT/right_arm-eb3-j0_1-strain.xml @@ -0,0 +1,55 @@ + + + + + + + + + + + + + + eomn_serv_AS_strain + + + + + eobrd_strain + + + 1 + 0 + + + 0 + 0 + 0 + + + + + id_r_upper_arm_strain + eoas_strain + CAN2:13 + + + + + + 10 + id_r_upper_arm_strain + + + + true + + + + + + + + + diff --git a/ergoCubSN000/hardware/FT/right_leg-eb11-j0_2-strain.xml b/ergoCubSN000/hardware/FT/right_leg-eb11-j0_2-strain.xml new file mode 100644 index 0000000000..8d4760a6b6 --- /dev/null +++ b/ergoCubSN000/hardware/FT/right_leg-eb11-j0_2-strain.xml @@ -0,0 +1,57 @@ + + + + + + + + + + + + + + eomn_serv_AS_strain + + + + + strain2 + + + 2 + 0 + + + 2 + 0 + 9 + + + + + id_r_heel_strain + eoas_strain + CAN2:13 + + + + + + 10 + id_r_heel_strain + 1000 + + + + true + + + + + + + + + + diff --git a/ergoCubSN000/hardware/FT/right_leg-eb12-j3_5-strain.xml b/ergoCubSN000/hardware/FT/right_leg-eb12-j3_5-strain.xml new file mode 100644 index 0000000000..b7d3a2bcd8 --- /dev/null +++ b/ergoCubSN000/hardware/FT/right_leg-eb12-j3_5-strain.xml @@ -0,0 +1,58 @@ + + + + + + + + + + + + + + eomn_serv_AS_strain + + + + + strain2 + + + 2 + 0 + + + 2 + 0 + 9 + + + + + id_r_tiptoe_strain + eoas_strain + CAN2:13 + + + + + + 10 + id_r_tiptoe_strain + 1000 + + + + true + + + + + + + + + + + diff --git a/ergoCubSN000/hardware/MAIS/left_arm-eb26-j12_15-mais.xml b/ergoCubSN000/hardware/MAIS/left_arm-eb26-j12_15-mais.xml new file mode 100644 index 0000000000..fc5cc16a2b --- /dev/null +++ b/ergoCubSN000/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/ergoCubSN000/hardware/MAIS/right_arm-eb29-j12_15-mais.xml b/ergoCubSN000/hardware/MAIS/right_arm-eb29-j12_15-mais.xml new file mode 100644 index 0000000000..35ec78ac99 --- /dev/null +++ b/ergoCubSN000/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/ergoCubSN000/hardware/electronics/face-eb22-j0-eln.xml b/ergoCubSN000/hardware/electronics/face-eb22-j0-eln.xml new file mode 100644 index 0000000000..6349293a08 --- /dev/null +++ b/ergoCubSN000/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/ergoCubSN000/hardware/electronics/face-eb22-j0_1-eln.xml b/ergoCubSN000/hardware/electronics/face-eb22-j0_1-eln.xml new file mode 100644 index 0000000000..b44b284683 --- /dev/null +++ b/ergoCubSN000/hardware/electronics/face-eb22-j0_1-eln.xml @@ -0,0 +1,40 @@ + + + + + + + + + + + 10.0.1.22 + 12345 + mc4plus + 768 + 384 + + + + "face-eb22-j0_1" + + 1000 + 400 + 300 + 300 + 3 + + + + + + true + 0.020 + 60.0 + + + + + + + diff --git a/ergoCubSN000/hardware/electronics/face-eb23-j2_5-eln.xml b/ergoCubSN000/hardware/electronics/face-eb23-j2_5-eln.xml new file mode 100644 index 0000000000..96b28de860 --- /dev/null +++ b/ergoCubSN000/hardware/electronics/face-eb23-j2_5-eln.xml @@ -0,0 +1,41 @@ + + + + + + + + + + + 10.0.1.23 + 12345 + mc4plus + 768 + 384 + + + + "face-eb23-j2_5" + + 1000 + 400 + 300 + 300 + 5 + + + + + + true + 0.020 + 60.0 + + + + + + + + diff --git a/ergoCubSN000/hardware/electronics/head-eb20-j0_1-eln.xml b/ergoCubSN000/hardware/electronics/head-eb20-j0_1-eln.xml new file mode 100644 index 0000000000..d8c1dcbdaf --- /dev/null +++ b/ergoCubSN000/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/ergoCubSN000/hardware/electronics/head-eb21-j2_5-eln.xml b/ergoCubSN000/hardware/electronics/head-eb21-j2_5-eln.xml new file mode 100644 index 0000000000..673ebd35ec --- /dev/null +++ b/ergoCubSN000/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/ergoCubSN000/hardware/electronics/left_arm-eb1-j0_1-eln.xml b/ergoCubSN000/hardware/electronics/left_arm-eb1-j0_1-eln.xml new file mode 100644 index 0000000000..ccbd1c8590 --- /dev/null +++ b/ergoCubSN000/hardware/electronics/left_arm-eb1-j0_1-eln.xml @@ -0,0 +1,40 @@ + + + + + + + + + + + 10.0.1.1 + 12345 + ems4 + 768 + 384 + + + + "left_arm-eb1-j0_1" + + 1000 + 400 + 300 + 300 + 5 + + + + + + true + 0.020 + 60.0 + + + + + + + diff --git a/ergoCubSN000/hardware/electronics/left_arm-eb24-j4_7-eln.xml b/ergoCubSN000/hardware/electronics/left_arm-eb24-j4_7-eln.xml new file mode 100644 index 0000000000..aabfdfd1b2 --- /dev/null +++ b/ergoCubSN000/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/ergoCubSN000/hardware/electronics/left_arm-eb25-j8_11-eln.xml b/ergoCubSN000/hardware/electronics/left_arm-eb25-j8_11-eln.xml new file mode 100644 index 0000000000..111529fe0f --- /dev/null +++ b/ergoCubSN000/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/ergoCubSN000/hardware/electronics/left_arm-eb26-j12_15-eln.xml b/ergoCubSN000/hardware/electronics/left_arm-eb26-j12_15-eln.xml new file mode 100644 index 0000000000..f450a186e7 --- /dev/null +++ b/ergoCubSN000/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/ergoCubSN000/hardware/electronics/left_arm-eb3-j2_3-eln.xml b/ergoCubSN000/hardware/electronics/left_arm-eb3-j2_3-eln.xml new file mode 100644 index 0000000000..75208d9632 --- /dev/null +++ b/ergoCubSN000/hardware/electronics/left_arm-eb3-j2_3-eln.xml @@ -0,0 +1,40 @@ + + + + + + + + + + + 10.0.1.2 + 12345 + ems4 + 768 + 384 + + + + "left_arm-eb3-j2_3" + + 1000 + 400 + 300 + 300 + 5 + + + + + + true + 0.020 + 60.0 + + + + + + + diff --git a/ergoCubSN000/hardware/electronics/left_leg-eb7-j0_2-eln.xml b/ergoCubSN000/hardware/electronics/left_leg-eb7-j0_2-eln.xml new file mode 100644 index 0000000000..c8a70b5437 --- /dev/null +++ b/ergoCubSN000/hardware/electronics/left_leg-eb7-j0_2-eln.xml @@ -0,0 +1,40 @@ + + + + + + + + + + + 10.0.1.7 + 12345 + ems4 + 768 + 384 + + + + "left_leg-eb7-j0_2" + + 1000 + 400 + 300 + 300 + 5 + + + + + + true + 0.020 + 60.0 + + + + + + + diff --git a/ergoCubSN000/hardware/electronics/left_leg-eb8-j3_5-eln.xml b/ergoCubSN000/hardware/electronics/left_leg-eb8-j3_5-eln.xml new file mode 100644 index 0000000000..cd512bd4b0 --- /dev/null +++ b/ergoCubSN000/hardware/electronics/left_leg-eb8-j3_5-eln.xml @@ -0,0 +1,40 @@ + + + + + + + + + + + 10.0.1.8 + 12345 + ems4 + 768 + 384 + + + + "left_leg-eb8-j3_5" + + 1000 + 400 + 300 + 300 + 5 + + + + + + true + 0.020 + 60.0 + + + + + + + diff --git a/ergoCubSN000/hardware/electronics/pc104.xml b/ergoCubSN000/hardware/electronics/pc104.xml new file mode 100644 index 0000000000..adfe2c6b41 --- /dev/null +++ b/ergoCubSN000/hardware/electronics/pc104.xml @@ -0,0 +1,18 @@ + + + + + + + 10.0.1.104 + 12345 + 1 + 5 + + + + 0 + + + + diff --git a/ergoCubSN000/hardware/electronics/right_arm-eb2-j0_1-eln.xml b/ergoCubSN000/hardware/electronics/right_arm-eb2-j0_1-eln.xml new file mode 100644 index 0000000000..ebf48d79e6 --- /dev/null +++ b/ergoCubSN000/hardware/electronics/right_arm-eb2-j0_1-eln.xml @@ -0,0 +1,40 @@ + + + + + + + + + + + 10.0.1.3 + 12345 + ems4 + 768 + 384 + + + + "right_arm-eb2-j0_1" + + 1000 + 400 + 300 + 300 + 5 + + + + + + true + 0.020 + 60.0 + + + + + + + diff --git a/ergoCubSN000/hardware/electronics/right_arm-eb27-j4_7-eln.xml b/ergoCubSN000/hardware/electronics/right_arm-eb27-j4_7-eln.xml new file mode 100644 index 0000000000..1965ff1762 --- /dev/null +++ b/ergoCubSN000/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/ergoCubSN000/hardware/electronics/right_arm-eb28-j8_11-eln.xml b/ergoCubSN000/hardware/electronics/right_arm-eb28-j8_11-eln.xml new file mode 100644 index 0000000000..a8296cf768 --- /dev/null +++ b/ergoCubSN000/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/ergoCubSN000/hardware/electronics/right_arm-eb29-j12_15-eln.xml b/ergoCubSN000/hardware/electronics/right_arm-eb29-j12_15-eln.xml new file mode 100644 index 0000000000..f23cbce599 --- /dev/null +++ b/ergoCubSN000/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/ergoCubSN000/hardware/electronics/right_arm-eb4-j2_3-eln.xml b/ergoCubSN000/hardware/electronics/right_arm-eb4-j2_3-eln.xml new file mode 100644 index 0000000000..9d482b4594 --- /dev/null +++ b/ergoCubSN000/hardware/electronics/right_arm-eb4-j2_3-eln.xml @@ -0,0 +1,40 @@ + + + + + + + + + + + 10.0.1.4 + 12345 + ems4 + 768 + 384 + + + + "right_arm-eb4-j2_3" + + 1000 + 400 + 300 + 300 + 5 + + + + + + true + 0.020 + 60.0 + + + + + + + diff --git a/ergoCubSN000/hardware/electronics/right_leg-eb10-j3_5-eln.xml b/ergoCubSN000/hardware/electronics/right_leg-eb10-j3_5-eln.xml new file mode 100644 index 0000000000..8e1d92b043 --- /dev/null +++ b/ergoCubSN000/hardware/electronics/right_leg-eb10-j3_5-eln.xml @@ -0,0 +1,40 @@ + + + + + + + + + + + 10.0.1.12 + 12345 + ems4 + 768 + 384 + + + + "right_leg-eb12-j3_5" + + 1000 + 400 + 300 + 300 + 5 + + + + + + true + 0.020 + 60.0 + + + + + + + diff --git a/ergoCubSN000/hardware/electronics/right_leg-eb9-j0_2-eln.xml b/ergoCubSN000/hardware/electronics/right_leg-eb9-j0_2-eln.xml new file mode 100644 index 0000000000..778165571c --- /dev/null +++ b/ergoCubSN000/hardware/electronics/right_leg-eb9-j0_2-eln.xml @@ -0,0 +1,40 @@ + + + + + + + + + + + 10.0.1.11 + 12345 + ems4 + 768 + 384 + + + + "right_leg-eb11-j0_2" + + 1000 + 400 + 300 + 300 + 5 + + + + + + true + 0.020 + 60.0 + + + + + + + diff --git a/ergoCubSN000/hardware/electronics/torso-eb5-j0_2-eln.xml b/ergoCubSN000/hardware/electronics/torso-eb5-j0_2-eln.xml new file mode 100644 index 0000000000..72ebef50c2 --- /dev/null +++ b/ergoCubSN000/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/ergoCubSN000/hardware/iCub_Calibration.xls b/ergoCubSN000/hardware/iCub_Calibration.xls new file mode 100644 index 0000000000000000000000000000000000000000..899e26bfa28f57156632e7c10728b7e0215b467f GIT binary patch literal 131072 zcmeFa37lLg~|7Nf;lZDfN< zg250Q8H^prtPUmtg9#?V*aKPM5hsuE!tx*lW3muTf=Ni;dkL}r-&b|()~&i#-F;h9 z@*{tDPxah;?m4xbrIu4wx4!m2+g|*@r^fw2IG-h=R=j#{uxLoYYjFJ^`o2|&f5UYS z;nj2J&S~%&T;TS#&o2oF{v*m~E#y{*P>(>F4?<`}7>v+_(2UT6Fa%*JLLLDsAleXy zAq+B!im(h}Il>BrBEm|9RS2sQ z)*!4!SckA4VFSWOgv$^vN4NrE6T)VMD-pIJT!pX|VH?7BgdGT1BfJjb8iZ>Ru0yyU z;Rb{o5nhjQ6T;01I}vU{xD{a+LO;T8gxe7IAnZkW1Hu~-_95&?IDl{v;dX>KAsj+D zjBo_uD8d~G#}JMqoIp5DtXqD=qaSf=S8c{bjp9Rt~%dvhraN^3;fR7%Nnu1MqqdCupyL(cnA7atY{)b{T;huLzk??2FgXy?93b&cX9 zuo%%jw|i1ugZLN5f|Z;Ijkp&H#L{7hVr7ll=colx*Ga45i!~H2ghnZSQSOHYcnI+uH5_`ZJ}Umf8otMce?-N@j+Xp5 z_)a`caXd9sR|w|ww`D#JTuc=Scyo+z!wr66>KR#H6;F$_SoEGxx8*)R5k1(tXCyxp zaPfI|s8jHq?C+-GZOn}aU&9sO6hCLE4t|0ULy`Xvr_00QNLN~#`sQtVmNC+lmta`nE^oYq*Q=mbW!`W-|B_rJLZV9FKVTDY@_AX9RcSS6~tGA;Hh+fuqk_ z|I>VP@MHc&>8AJ-!8IRZ{y6ZMKM~x`f2%k%nU7RHQ~9sc_{`4~HJ~ASoc~z9gaWSe zli+jf3Z{_OTXcd6PwB0K$9fXSAK|C;*1?bYP#PZRKh|3ZKQ6D8Zo)1ixaPl`PYsXx z@8G*|&1W4?YwMZGl#JFN4R6amPkm13KeBhNC(M6=16T!*m?me%pWOU zldg_OflWR&+}0}-KV2An#m`tje_`jJ_3+&} z#8ZsmQ9k4Lu3+;s#=kjOuC~ulM2iuZH`Y&;Kn#!dA%biEJMg$%girI>qvpTPe<~h_ zZ*hJixRy(tZh)V#ZL?+s4nE_A4rY(*KzM#Rwe5ANMyl*l_mB zbM%58uc=wWmN{;(35WOWc$97oXFdTxZNpn-e$wz3377o@t3Sa0ywC39{1@zeCg2vI zP5yoPNvCW2Gc{9}Fh_Nt9&6fn*vs*$Q&qoC$v4KIF||hab0U5kc*M5|9_RCBj&H$F zm;ZZgc#K~N!3#BK*uS#Uh1aof>QrejG5krz&)HK8pPzUJJugQeZnpUu>w|7*Bm7}f zAHat(Hh!GXn~xo9tZS^(?NJ)8_!h&9Q9Mz57sKOtlwHK|LKJ_Te~t{NCKN|%fE zE#M=3`2-wVqCOg*`c?v;4oUgZ_|$*k-yVRc(xqLLh<|$&PgHLU*?%r5$F-Gi)Q(`V zt3EnEk-engQGMdbQSlS`(dowgjLNmejX&b^4K6(5n>U_MUrj0bRM93Zh}t_N$t#53X?|F@p0mH*q$G|2zM&eX~O!_N$o|3{pu z$NwhG8NnO1YUi#(?}Ifhm_34*Y2$(0j~?Ou5X>YsV#?*-5X5^&|w zBN53cG_{zPT6_G~{(U#CI=Xk?k&Op#Li7*7ncXLI3U|3U$E)av)0Yy0i!+2rKWFg& z3~z8TFff3BXT-w~pA!$y+l@(&7sLy|-;M7%z{PIdzrYAldVYB+9k0 zKX>k7@i6YsJq%jJd+vpY#k}3;#Jm??036s14965OC@WFdgo!|cZ1T>0${kxCcwDZvZd%?)deoEM21>3Xp04UqUf;l+}Jhb<= zJrU+G@yE9k*d!ECp|*-Q+)Zc{=f3{i?uCT^;=P0oRdMb+c&z`>P4Y>bnDA&aVhJ2A zmVcVSd=zm4f2^4CSw3nLhYsFy@W}pyD9LR{_ujPkz}|PDoH=|yk*h<=b9JLJeF(*h zK72y&IC)h|7b&;^B}6d?<986gU(7Wkpl*L>PP{BW%?Zy}p2Rb7^c87O-D)y)I3U!2 z#s@W&G4h&m@_$|QpRx14A^Oj}Xd3=!y8Pc1{cn!`>$vBM=2y`56VD@+Mhpvp-#Cyf z;d+ol)96Y>N#=#5%aCQH_gSYNI za-zWd0stGX+_ctUX+VsIBCP4(cVuUw0N!o@X9|}c+t ze$&dWn;`j{)^6VbZS}~Qc(C}DhxY53QxJ07!jX|%MDtQa^HY#ZQ;-EI$ikQ-dv@;I zSLolpyZ_cBDXhK}WD!h9adQ98z0@EpzlEOeG^i&H>P>^@r9t!4pi2STx^ex6B)bV> z4VmC<8q|Z5*jUVi4Jj}W4v2YhKr#<@f(z1E3)7&!G-wgT;6&fk?Sb`pV7(sLJP(Y@ z@1}7n3`=V56>HZQw7wQtClz)cDP*jQT2U3Xp(<)+{cWsV8h@lfSM=ZJXuW|@G}Iyk z(Q0oXTI~%)tG$7+OiDLUD9vi~n3^fsU_jJN2NY|C!HTuQfMTsMAl4tZ?>w?+aW5*! z#W(D|_2@0~XAbP-zzsWZzx@W;dLF)E@9LwsY(Lh2;7EUW&kcKa9@=$m=b`@bSU59h z&YZ%UD+`;i++NtSV|!uU#?33QC~Ui8<+cr|9#EBhj<%CS?C~h&Rko6$|P_A2d9w6ea=(^md z@OBoq?bxz*>yB+}w_c)Aj~&{3N{0|$>35dW^RVBYOJ5AEDvIIwen z|FWr3LpOCfxB;D5+9e+@FN|>TWNSKgIn;mYZHEpXy*(mlTQzk#C6bKv_Na;5aBzQr z`sp1}gQuP%Z%eyml*{3`u_9l+@`{bCwyxa1@yg9pmrruixYe}AY>d;%BoKN^KJ6{} zbYA+YE*^Q3eyWS7o}v?Dv1b3y<6DmHpSpaq14o=B*uLjb|KU9c_wAax96EG;f&(|A zX6ovSDh3Ekejtw3HXjIvo+qF^fPgju>GjagldwVoJv!Y%VSW@8SLdVdb{9=yG09&AAcz*Qrq(qNozd#ZYt` z3x#&j!J0O1-gsjHyx4WHK(#*9zyIJJ{ZReAhYS1m9_XKfSi8EY-i3p^rA0^shIUIB zYa4LCi<*AqaAb-HZ^sIS*bvw6*obkNdOm|=6JW8Ivo9Kj6b|W8Ms&3gRknPHi<#&v zT~DH$qz2vyX&|r34{R$T4Qj7^iux)6hS+R5QfiP+0wt0eI_4_9lMon_(=3f-MMaYN zHyKJq!sH>#1cVAxut8E|?CdacmQ=+olZM=!q-8v=>LBXtH7BDiNr|a$EEA7Dw${pQ zvHeYCRcW&1l!;R3<@#7kQ7W*-uC7!nGLH#dNe)J*QIT=Ce8^%%3du*w*g}fLYx7e| zj(kvAB&|#qEOxjRGt0yeBqwiniV;(Qrg##^4!v^-C8NDINIuDp6Jtac-s zu8o`5p2P6*6XMp!kq8*IMISIye&8y>I8iRxYqb{awSa6FdN?(*x5F`QE5?Yw_}I_B zzUh`ND{hkTGjepQBItR?JLXe*hC>Ik}{jW9=HGHapk+*_-kA;tKsghvl+0pt%!6MSi|J2wcR6 z_oUi5(%f^b{(<3W`l9C?wbu+Y_wbgBpXHT@iu4@McZ@Oj4H$VpGtR`vF}@gU?m4PH z&}#1K33y<%xo^VAyrae3H)H8x2kVR|KP?#Yez(co4~2VU;}CP7hkP~;HTSKM(RUNi z+t5#aAn|+{CV)0J8~ou|V%?Fr9{~v+NTfFkZj}R#27fdhXAdNvkA<7;fd=z@9G7HA z@rfE#hWPB2zg$t$SOZId1V)HEs1~A_%S#xgGEqEDM@0-H!bI_Xi8qjg4uF>4kBQ=# zg@;~Q3WlC(3Pul!OAA@0V6+eyZ!ol^K{PSiIDbu^Jkz@}QGCtHGj-6750!ZeMqasi zKt|72l*)zjhFmO?4#L;>*# z@f?==v(A}7T!Ywbn%VBE*Vd}01cNC(!tHm8fukPxwfq@FB z?&`%Q(&wk{8gNHlR(FGNM=e%&jkrUvDY_esJJ$E=SrhK4v+AxHchuJBWX@VJH8KOW zk9sx~NPE{{9vtGa8&9W_$uV5 z_Pa;zx%;Cl$OZama|AzIH&r6lp}rr(9T~3<;HP1rVWqq~H-P_jBUL2zh~#lu6}*^? zq#lv1myy)hi@Ifu{e5Bg;A@7QhP=4@{l{5KRFZp=cQu5Il4Rjgz+t>APU-vh+ zCiR9a8V@4!QEn93_-OL6;v@G|EVcMpkJMv6N*%7Z_*if8vEJfieQ7?{quw!mte1TB z;q-Gm_C>-+RhsSFLB{E3zf?WsJ zi-Tfbd;zt_An;5d~)+49^zv$fVEE} zlHV#xx60ZldA&`-RW06#!ZM5MyB!%}i^gs=2Q2*7%WSfHRe&rhr=>{l{5n_c%9zeo zGvYR#t7gP)I#tNM*@f!X4&8*8o3RSS5y zL-f6J?ZiXRyuKJK4#DhPwV+7oT-BEDTycCoNBrcf&rSNHZ+#;f2|HJ7WhCfa)h?m= z>CV+~bpuE}dui-jjZ5^cVtBG^)dHc~U8@#|>uT{wg{Kbf`QmQbEVV#*rfb!L#Jl3I z6-#5fRxJ?Fd@=G9>woZX=f0oJwdz_C8C|Q|P}iyj5>@>m)<7+g=zJdwR1L()Py^K_ zyH+g_yWO>-ZKu0dEfDqV;_o$)sM)JGU8^Aw^&&amVN*5)qFyYPf4RnL%7#Fu*NQds z4vVkdb5*juswo=+AubW$_|Wak-u`!ANj_Fxf+66&sk+&%9Rl88XYqcBtiE-(b_kfl z5u55-4FLyC*J=oOU-a{yt-=uSR`rv}+acg>(U&vTlnp_NlijK0b+T*4#Y5M}-y0%6 z(qz}8B+3AXf{z<8I#edZ4WT!RyRdBHvP9Pk7Qs#1FF*C{Ro{Kp3?*nX%jfS(*lr>Ly`JT79WSoRzUM{DEN4VYz4>~;@^y*h6hklRP0_IR>-Y* z+!-Uc;m(sY#mAxGW3pk`Dn5;-TahOliJ{=*&iH$aY$WE&%I;PvZ`FNe7d-t{D zT$$#i4N^1BNgEm#)10(f%}E;?7So)xAr;e{v_Yn&zYpGBwRf8~ACOlQx)x zX-?=HG|fpHq-L6vHu?nt(dA1vCv8@9(q=U$ZQkaD@tEdh7&ti#oK?2L@%=7w*N^(2@)OMFWEiqgeyq+h%^dM<)nkixmL{yb6skrKFn%P zhRNo{!vfWuFfw-iF&vc^{cRqC1TXS>yi3! zDeBkt{>I6x?>{^c_Z%o{R)fPK#3iEfTOYdp&gTb`>`=|ga3I;u$#8HxZcZfchg;3b zaH}~P4&IyQWH@+V6sJ(-UbW-zlZoYJAA7jfoD7%Ei6>{O8XOKj7Uf$q^ho_A_@J(n z&B<_Yb3#{`8L4yk^CI~M6E@2uBp;u@a zw|e>8$;XP1+-Ga^aYT}jMe6Vfi;rB1XPV^^79Y9m($g$cwb`6-<&0^TM@T+;a;Eq= zLh`XD=3S^+9^vI9orvp^H&v011Rpn`dQ?@f=c8aWitOMyDgeN7F2iL|#p^3{yu_ z`tC3N%Zy)~`&KeB#mAB0qiL35%DD67O!09f__$Sk7OCp7o4HOl%OjC9yIH2l=>9h& z^-)qEX8^{L`Y7;Gjnqe>AzUK9iC2MepgIbi)FXBNR|C~i;Kwr2wWUr_r$$Mg(j)az zu}*yf+BgclP$TuC_&SDQMdX~nN*C0xvMF<&w5(BHjUeCq5Vz8Z(Xu2naYxGEJ zL1ToST<1Bq866q2VmKS4(O`32Axc9YZ5i@tFnxL4zaDKF^5~=?55&emFx|$?H5#Lu z(AZ|QW$2@&p?g@M8Y4y)dslw0yep#<#$QU*oR>`Z$vGF*CtnmrRpYB(7RgR5MLh+>#i2I-+%4Eh$KF-1&jejioI0@z6hO1f_ z_CNgL=AZoG{ilmHc+MANtr;tt20%JwY|SX%G!6`tpa%Rl4AhQo9GiyLnZbG!qE)p> zJuGw*?i%3aW#lWxKjC+e_$Ne;t$FB+^SyFiz-Yph^A7oGi?Sip7(5`8uN#SfgLvIA zfH@s%##kwn*@%wbvayiK8<3P5Z;pjb*5Z!iqz*izOyuX4$D+vdEI@5ktooH>kk4)) zvWa^jC-BSM7UlcFG-SDi@M)6yW4+9$U%5{XYM9k=lKGg%lFT26xXJvffY;(}UQ7G# z+3@ncHx`*9SIn;&C;2@NB4}XI##y`^Cwa+H-AeHW{7r*?b315EG(g&kxM=;t3M%y$% zCd&A0$;xrDqH9*Fnm{pEU9%8LR*v(slCI@G*^MGA$4geu1&n$;K4Rr~T-8Qv7Q~sW z2jV)9;AiV5;qeqvTPp_1S-skU;nKr248Ma08b;QV%bZ?f^{X^?yyP+^qPhH?TB)&s zkjqSvT>h)?@l&5n5U)9^n@q{)_jI?QD71}h>%O=*reel65HcgUj;vLyEDQ43o!=_??TAL?RHN(BrpXqY zCR=QpY_Vx_f=vl+njC4<R+N^*$RNGjP zX8OkBM}B?6M?7s~!7|fA!c0|d_L!{A*hZ<^tRT(wp1b++m}$W>(}HED1ngTX$kZA|ZUv+-ul0C92J)fKA#Nv#Nu0 zB+S)TIc(6^wC|*QW(wG3yJxtnk+syD@Vd}Lc)8?ZT!p`CRU>P#f@~x>@jeadp3h7P z>pnA6!YeaV(vG;zObHi)nVAwUXEHM-?U0X|DQSn4%uGqUHB-Wc2xj8F9a1whCGC)% znJH<9sLV`BJ49t>O4=bRGgHzIQJI;Nc1Xs|l(b`TZDvZ^F_tznCGFNsNjusKGx6RI z_qv&QZ->*#OuV;4j_HYawisrnqywCsC0{yCj|F+UOT0SAo_HrWmxyow#kGe%_4ezE zv91zK=Trw0DL+#}AbK=Z|I*go*lC%==-wQ^1|*QI7kC{Z)`3xDIaAUB zQKu)~*%2@^CDS45MYvaf$mvSdKjXwZy|ijg<8&$N>HmB7rfcqbW3s%;ImPwCOT=74T9OgX2fOXrjtNwK<1&YC0#_0zpA1UpY=rsNXIM>g~{nM))epW8w{8V~;^ zl8?W&qyKe_ZdsblyW-;|l8?VbPi@y{l8+T1x$xTNBbQXid>mjq#bwookF0VNN(~v$;V5)d}N2y%#_RkA2-PE z3Hdk!eB3RbTW>F5K+Pg96I-76lW+9(ElM&<@ey?f9{)D^_|s1%A1gl203Yp{k{RG! zJX0d;f*IhWnJJk8KB{GGWX%ll(ae;<)X{MM=?gEs@QZVn@+&^h03Xdv2}~Jxo}4K@ z&OnJPnJJk8KH5z&^TkfOnJJkm^^qM)_E=_uj}xU}XTqkQ-J6CASVPq+|6YlzYfWp(B{sV6hN zdO~e7^Cz9MeC!-kPuO%V7OzfalVoNlJEgt-qI=Gv_YdAvY+^B>8aaa5M0KK#D?fkI zDXkK$c-Kp#e~^qsHBpS@g3Ob6slw zq|-A0PHFxg7N{nQk-76Horx-;l&CwsqUJc#%%9AXqUM-~qUO%N#p15Ld?~Q0S|Lf? zKXB9LZ_GS;*?=W#HUy9n9yfFH^zxT&A#(m?7I;q+Fw5>|rFcKf;{7a(_p>bCgS8^A zT9bKERl+Qbw_qKRJvmcV!mJb@KL|dg=TByN`N*-inLn8=`N$~%RtdAgM~?Nj;fnJo za>e>h_Z4gKT+W}&7K!TQZpqnV9*L z*-|Dz6ymLqMv-Iw1VxXErRPs(OX*~rKbh@iKAjw9{$!41{tCdz{5jwRnLia*oIh!t z^48W>U)dRD4D%;*B){j7-z?f3iyQNakDGI&7{YhUJAv{F3HVF^3yPo5T9~>bXjcbve?vRv8l_jNz5;j2Xg)d zyV)e0x+I&FDo(wP3@Xp2E-#ztiZt^l-I7hK03(~aV>WdgwM=@vHJiFEHgzZ1q&(iQ zN~L2K6`Q&xn^ZOFVNg=4Vzv}Xj6BjP2E*!Q@58*^v;_3lOD;Y)e)O| zVm9?iHqE%>mP_t<$)im@7Mpq!Y)Wd={V|(*B%AiiPr~C!+hq5($6`~D#ipJFn;A7 zO?8J78@jYQ^;&%DP4G#n(@RpFSPdw3>Xm%D^Xr%3&%>u)i%-24pL!E~8jl>td=d$D z>W$Q?H^HV#E2myBo9M(h4(xf7O=}}I&5PMIPqOLkx3;`~^@;w0L~Wufr+F5e<|Wvq z)af4Sz~*8t#in_ZP1nhf$LjDp!$ciE&ten(My3v*mtfO~NS#oJ&x1Nqo8~3hbW4TP zar3-vqEFvAu;+tK8^pSZP29Dy5oI3FCJ`QIehObZl4jFE=Yzy{U_S}Q9uQ=i zViOuXM5kWWA(GK4tD6rt83*=!u*o>E=Yvhgfju8=iX7Nm5)SP7kv7c-o3sP_OW&dE znub~0fju8=vPaGA`g5x1D86^#tM-O*qNf1Xu~WGeuIlr1QFDsu7-CeD#|v?FT;`RP z&_Z0DfLQdiTHMvecXe39yD`42$C-Bx@m&Kjp`o%WTZpR@@!qh7xHngIb_(%c0}`9~I+@gkbIsV7v#wh?_vLKrNP}*Qt_?V11Bl+8<4ysqsfIf?OAI!I2#7FM?b#*uUQ12(}0U zyjDCqaqR#5%Mrz-NRgMI1$L(UWTW@;W(Pyaar-TU#bYe=S{us@CUgZDz@{XX)5m3O=F^A8&8SS}JY* zsV%pDZr_<{X+ACmALodtC*Awe5`bIDfnnts@&}zSE`baORY+Esa2^i1s_eN zx)clxRH~|QrqUdb;;_<8K`nUx!@^P8c$D6pj#I%KI z>d+Sc_-mgT`()vYfkZQ=^bw61(50=POYAPu`nW8mkITTvSRZAbxy;hXWtKiJv-A;d z5A-Irz+CI&GD{y}%0N!#O!ILWN}SZemfT!r0MwVe3(r z2C>9SmwnG>=LKjRfmeqY+~HB2zsn@dro9}TYI10=0BoeQKy8x;Z?lBiXPEmx>nrjkwFoLdkUtkpCv~IMT`SZ!E*Jp5xCPM z1N5eFr$+`wEM7Skj|_^i;`GR1CE_t7gO%XqEYu0AHsmVX*?6rMM+T;KUI}jQ5byq% zN1oe!$%28nHYAuMgOwO5mme9dlx>gf77zNzVj>bXGGHVZWMr@sLbV&Ql@OQRh^@35 zv6WUMwh{s|jo3;E$kT`s%#i_eU20^o5)#!TgYm$QM+P>?hxz#hc;tOwUDUfG$tcCgHIk2V zh}e}Fyt1xghh74mV7myhhk zn1R7s@NpJuI8}vnDG93Z$+mN6t+eak`{&|6?|5q4KuRCif?=50q}%3P!fm7ZxHeU% zt_2_CI#u#L$>Fp%}*I`GjfrdkI+nt|#%@X-uZ(e(HR2D*M+2R@pCDw-DDd2*)sxDI?w z4hE9f$$`N-@X;Qq($3gfwg(36D&H-x!7n>+8^GCn(5}!)JPLO;xU;{5BfKWWbDhL% zLZ?kRo7EfyJJobOt5?UdJN*{a)GGeV@$9YQ21z#p9InL~SZ~AkSLF9s(T!s+*xh~$ zWU6Sc0L`yKmdsNpp4H+m`K60H{T(4=VkiCWkee#cCK*$b_ScZ&bJ+UJj{AM``wsCA z=|WR(G(KYo-uEn5!)b#YO3FNQ0^yyIIa6xEU9IE+U(80nvvZ$MK$@fs?~l2(720|f z@=~*6TS1ivT`T$kj6X@)f^!TBdsj@mUDDnX(Qc1vIRJ2JIRH2+-i;WQbgl;NcyVh) zdv!!R6t+b?HGxnkOT;0;QSs{tit-wn>aK|LnmAPs6WmleOgJhYh-t5rwEYq7b&{6D z%9{bf;K3RektZ&UWp!c9i3?*2E^N04w#Nh8>w&$&f&C3^u?AK`s~HTJ*`C^uqG+` z$2TDI#hNwHRlZHD1|{L^JNRy3zO;dR47f!;D2MmMicurmI zE1w1&FX??{24IljD;(6hpBm95>7cUEQ-#kZ)4!qeNV?@dvee@nt+|dxg($L=O1E621~N zM}YPDiR8)a_yYUsJaWlD0#M+JyB*3-Bx& zMTYn^iqn{BMjb*ebPK`}w0Znx&9okM*j{*a_M+ZWt*5S)n#A{Nx1w9yBL22!hirme zW?}g{(y>2bt-`A^Ba1tFW~r%}lnH z?kCJl9K0%#m$LO-zI=Hh*2|SR9&_{B*A?aza6p|pMQABL5k85Q*9;S%#i9ivio8WF z&ClcLa`1pwz7V38oiH};kjeA?{ACouyCXK~{JbA?OJxb*Pe&zWQY^(Ju5e zREhM}FMEmh!0W9_q_2KiOGGEvf9G?_p5dvl`0!jY)_~tloWsTAOExCX1*^wc?wQ27 zTk_no=$tQ}v&G7mi?w89CeO+u1bcC0rKaDB!SSaHQw^Yv$8n>J$3>4Wj7uL~7;9A* z#>q|>M(MgRws9`3#RJ3osT3Y3KV4e#*M+ruU~L{4TQ`@MQ=={nW2qF33n*Q@Q63my zMd{*=@xU+^N#TuiVD#xx<`1Gq(l z(GMu0UC`)jP4pKd_jMOH`uaHfbr*v<4LW*A_k!|X>CqrWuXT(D{E*Z!`t(_YzgJFN za|r)FxzCKVA$7>c`|v%R_;U7Oob(IwiT^2U`Xr6MRyX0VT*89j>I{O!J}c4IODF9rR%w7 z@JQ2Yu~kl6dmglP=RsS49<&Wr(NYJSF^)0y91p*tOq4{}N}t6BS|t(oXEayai%#n? z5{}&x5@|_DBs;Bm-qu;Tn3VqTgb1xajjsOi;F1#h z!x^sXX^sA5PuJ*Ac3Pu9samLPd5!*Lp{0B{zhW$!CyP-&N+Rs*o`s)ONrVSE&`*L7 zj*oOKnof=q5*ZGOR8L!b9<+7mL0hkB3-8EW-iE4ZDUsopL^xw(B*Kx#S?tYI5*cA6 zB2x7R9RMXHGQvp2rOiv{K}p(JB301F5~+eVmPovtJZh;c$a5@_Oth592umU(EQxTO zcNXv3Qxf6f67Ls}bMP!)T;bRV58ElhRnBDxX!D>fLraO!pLz~wa9ZhBKpRU0r#oh) zH4<@Zo(j@663IeKiHx))!Wmy#&4I-X?6rK%VK`+J6?q(nd_ zKNc;IN-9HZY{W^o0@_$2NI7e|L5Wn5Zcrj6X(^FWmPAHb5}}Xdteo|yUtx4YBB@%7 zhtZdi2-kUNX*#sSKv{;?NF+P0kw|u0Ba!U1Mj}~gDUs2ZL`GW@p@-=#=0Ld`u@n8W zoOnbuLDBRtb?yCfQtsiw!k*>YohV`aQYqj-5r1Y(qNmHJij;zWi-yf`Hy z5$`w|ukOk600gFKe+NsS=QLot>!&W4FtcUmCs^yoH8vXnFNj9DRz^BWF?8h`n{L1> zUSk6qR`+r~Or}$mzboahnGYK&UwDIz*F^JS^z{rHRAN?)9Q$SReGkUuFlWnH#M!yo zx#rK_jK3FG=>Iv)andtJUpGG~-}e~f3+HOB1LMs-nbpx@?xpWL@|A1f_q8%s`WLt^ zj~eW5L!u|nh0$~3Zn2^~T^KzgE{uMVM#sNS?}rPMd2;ZibR8Id8dwQt`RmCm7shd& z3*!jRg^^z_jH5Ld#xa@;<7mu=U^#w#qJy?Sczq&E&#Zt0Z~K+Kuvk z)bexxM*Mz0K8yU^JeW21a~GkTY5xy(t$Nzps%TXS>QDmu^XS2=K`ruV>@R-Q@)tiQ z%j5WqS+dw)oGuys#l(pH#c7P#Uwl!cuN4<5da|$4=R(EB2H zXcMq&ulqb!wM|)#YnJQn3S*ORLigOk=2?*0?+74_Jm%GF@_?{L~!*9z0tw z9>@0sSW?v}`Ji01+98;9(OO*@o=F@#1pOsUx@fc0ni6KAWeIsIxG5n|1-DDc%2_+u zcy67M^asEP#R=tlOX`aK%yzxm&sc#Q-7(LYH|2KQFSTqG?tEzzPdVVUTa6Altt*y` zij_s|W=dBU?6|ij^ej8AkwO+)Rf41xc$ls&1?4zA2u?7UbR51v-qCJpwAw`?hZp`5 z(s5WlEr%C+Cw=AVvV=V7)aV({thGz19C6z1lW@e@E)>czcKi4(DdC8#f;KRKDw8ft z$P->o33;HaT|(v9(ry&x*wTlLY}>9O30&D z?Gh?Sk#8#Dq-)=fL0S`I8c#Biuns*4!{6E@2O zyT*Yfhst;zr5P%t>B~G+22DNUS3_kE#)>jE&rq3Fx*00d)h4ibG`N8Dmu;w=JFlTK z4kAe`3nOzn2CJblhr;||2{S%eXf9>X>*3C@l4DF4##+dQQA#e1y=xanxw{YoiDya)&%k9G0*10gY z4la!KsS9HbfVE{skz7e*a%Vc7qcf=%?mCV60}3@ut7OvI1r#g@7nh7r?j z7=GpWthK4P_L8@UwJTsC(XtN1PP^C@a1yDcM^bbJR8Pwu?jIGNI<)7DdSREGoT?~Y zP8>(H8S<=3Umv$L1?0a$wlr*Q?C%GGH7s^81Qw)4Y0DL3%y;ZyNb?I024chxhBQX( zV0efcfMx!NFGlo%1!)&5_lX5*7dH2l9X%F$Nml`P4dO$A??YgAc%c_hVNnac)ELqK zdlqrfzF1f5rC)wb1=aYh$FtxkeI}K}&-y=0{K~&lsvgnLRC$%BMZ-${SNO_rQ3_8# zQ}}FeG^F%@h0nIA6kqf+&41fNa5hM*@old`d3@zbFge%hyZ?3k%A@cwYAk*qbm|#h z>wFMAQRQX3cs9bW1YeDIE014|9V^FIBeBZx)u@2^SN^Z1rW;t)R8hKtMNJja z4uZa^&zj76Zj5Q?W~Ln+(`J`ZQ%sv(M$P9z+j1VXL(YSC=y}lQ&x5wLDq3aDZBbu~ zZSiQ-Z)atXN{!~Vr<>F1TKg;y1T{DIbo;G*4BGMPX^oXvAo{g2Kw7zV4 zjg@DoHCCRT)>!$qu9cU~v$68*d^T2|oz_@+c3NZQ*=dcHXQwq*o}JcMd3IW3Z6?CB2Cv|w0P84ZnT zv!|PnX;XdBvbxc#Y0v0`mEsY730h^%$v(=Y*vjdDHycDIODk6@l;~5-H0oT6wkU##Ua1 ze2tZ-w7zVfV=J#BU1R0h_1Rc?c3NZQ*=b`d&s1Jo`DCjtpDafroVhPR! znbx!vss2LQ^0KA)BcR^HJ{I%=eVV)BHg&9xaRYj%Nw^8*ZfHaT4l}2{$N426oj)? zFqID?`KNe8qu2-6=-wfQAz`PO|dBzQmQ)hyT)%vMLemh_BLiI_MGHU+cS zy2q2!Bd%` z?)R3ZHCCR|`m(gf%CplNE6+}AtUNW2E1PFy<=JVCm1n0lR-T>KSb26@W98Xtjg@Do zHCCRT)>wHKT3Y#3YaBNVj8SGxsu$zX8rw$ti{jgw^jOrr&;-#7UzfK zz_ZxD#ckoc@lxQ*wr@Woc%Hrf{UDYfJt8XoRrzVR^3xvYhhtE^w!IU_JCvW*;!GE3 z&^iUjs=j$I7pCUhIErYVCnw~pQGQ>c>1Zr=g3$?O8-~*95t85(@zyX zN7Ncp`oF^GXuC9?eyZ>}64#K@{}nz*>80`XQ-#kFyoQwiukbm#FO8?4DtwOoHKg=^ zg-@?QX*~T@;nQPqpZIW@FKHA$y$Sb;kCgcue0mx_DxN6wHTd*GWWlG0;!!hPbu96dYrkAmP!b6FuAj-nB3Wf<*=D|Hi3q# zs@2XWuD>lJq+g1Umw*(orQGanDhS;FcX|oP`R;6b#@WgAtCEjgUq>18lXrZZ6sQZU z0Zd!uK<;-WZLJ4Z=b@z>-T1fy-i2|My9?t=b{EFg>Mo2c(p?x=ox3ouEO%jCJ?_G| zLfnN>3tbpF=)$;~+l6t(whQB`Y!}9r*Dj2!t6dm(GPy9WjCNs^vkT*@D;GA-1LF#) zR!29uvdM*U9YhlLTy%7lzqhBMLs5sZKU}VtI8^qpseez(my__V5_}2w$Hi~UFHaWj z1B9=seiv3U+%WQOMPf&>ee)rn=gFMuX0Swh^>D`5JEdv0va$+r1F`<@jFjfB3`AKl#J^PZyQCUr^=@M)XVj?%DA2y*FNr z=$m5ZTzxTk-;C)0n$^gGiz3>Vi<|o)I{IS&#bC}*9sQY$!uvd;e`E0@zdqq37lrq& zi2nM*H@~~=-!Je!QB^1D8Y;YtvLJU+>XqB+|Edqb{vp>+r=M$x!qdAZH8lNS;pyFy z>E{}v@boT84Nd=7cM z1U`cBD8g?bJcjU_2#+It0O5lOA42#r!bcE3itq%&Zy|gP;Yoy#Bm6eP?;v~v;gbkY zA$$tq(+E!^dLih`WZy*icuL%DK;r}B1KZI8yV}@Vo>*zl~=aRahu9ZFw0Z#f^5~A>iR*09c z5U;gDyf%qf-Y$k!h&Q}Kyb%@RjjRxFRE2n>E5sX9A>LTvsbjc9ze>Iw!-X&uoOsi* zm!-VlhyJkXSovNlCdYtbACh{KmtKQez)X%7>4li>fz9#2=6YaV9$2>r*5iTodSLTB zu=yU?r5@M<4{V_a*5`pO^1v2*U`sr(rGSm`tYmXx%Yo;P{OOs^C%kx+J7rW}n#82! zD#N5aE5oFeE5oGhE5oElRE9}CsSK0aQyC_8sxnM!T4k8jzsfMFm6c&qS4+*IFcwua zP=ia&o)}E(b*Xs}gGp_#43jocYOX}bxuEPUiNdsf+@n$VEx~at6 z3J+`(V56P{<`(IuGo633~;< zLe9ZZUv7{v`=!@6dSI{jz;1G2)aN2#Asr=L>GOiJ^I;*2Sx|N+EKEuLE}b{qwt1)Q zn^sVYGEJu_r{YlQ(v(9`3rrQXo>K8EEZS3fELvE3EZSUoELvfyI$q_Ac6ld8Z=tWk zqNUzh;!CXgIAFVUzS4OfCFyA2>1U-NijH+asS+}VPsU%~DLU2@rD9J%Q*^9L($7jk z6dmiEQdoTUl=W3~tds7;Xj*;!G5F|MZ&gFbx~&>I)_>K|v5u^Uj`e6cI-6UHpR8-E zp<{hq4IS(3YUo(6S3}3TzZyEW57p4I4arK!cI#%)xo!MT59}7qf7CmDfm?y+9z?Or z1MBy|c6(sAd0=}yu)QAG8$7T#dSLrJu>Bs`0T1k;2X?y$_9hSPkOy|y13L;>&f)VN zfVus|V}Q9M`r{th2@mX~2X@K>JMDqpiQKvA-UYnT)@XLV)T^xe$aagmmz{2?pniTj z`qrT(8z!io$(pBLLaCpGemHujpw!SblscM*QcKfN>S-EEO-)0ot7#~;H4UY{rlHi> zG?Y4(<1UB08VMUFe@DsR zaq@SP{GBR)r_0|?`8!ws_R8M{@^`WPU5?)&G8M+37u0^PN;rm8p2jslS>H%<47sbG zw)Q+|>&}C=KBi6Wk16vOm1E#o_2nIO9<+@yZPvH99K%^8I?vf@n_}85ZzNHA)qEbb zE$2Zyq$*k-;eHJ5#?$!brJc}1@`5b_%X3`XNp$MS-w^?OK)tPK*Y zhByF}CtLV;0UgKO=F?TaJLNd~FOlA4es{`oX(!daJLNc*N>*Rq*iJIPJLR~vlj`1` zavZu7@hbDXQ;uV89$z5_&~DId0hrEhI14OQM~eNVF%Z zoo8j<5^*BYo@A#r?MZf8)1G9fjqN1!+ec0$+LP?*n)W0+ZEPo*-#&68(Vk>aH?|Xz zoz~b%YL{MFy^8Imigb;gWXUt_w2-{u$bojk8vAKc-Mbe~N;|3U-3upWds5xI z7f#Cdq`G%6oHXqTIN-EnW!?#JQrby%?_M}5+mq_vy>Jp|ng#2~vUxWBuI%NF?IiQN z2u_;zB=fr$PU1APsJvCA8{0{ycQ4RRPFi+C3&{(PrfDaq675OWw-=mBv?r-Lqs(6T zQ_@b53HfpKwJdGio@9R4!KqSqQZ`*PK1u0ZSz6PcWT!QDlJ#8&rxNW+b{WNX0x4yc zk!eq|)5dmEMY^$_WTK^=oU-hM7Lv!zhO(2>2|G!(Q)PCdpHA3GcG?pCuCnRIc9L$F z%hH;DS4wZn(i%I-PHXHWJFT&kYm1J)md&$iPqNb*JIPLK>?Av_v6Jky#!j-((oRmt zcEY(~`d~S#4}aBopMKfA+%ZV++g+ggjCd)>b)ekWe*VA8`*s)n!M`id>Y~^6F6^QB z-NY9s%wm?|407UnweJSZ^=jYafxX28dz&Y|UvXgcKb`?BFMoN*6pc6XZsh1mqVM%Hg=S?*MCcLum1?**S^v%>FQpY zf&V!%_?1@tcRw|vNuGX+bDA(N(|i3Ja8;D3E9LLw@QVxq%0wLWQcK^d+3PQtXyso! z#T30To|N7yo@qj7iXWU>ip~{e#m^!H_IwC&-xpisf$`Kl7q8BPN13^Jl%5M4G`=(Bep&dRdcX&65 z>rvvI+<6C}y(5}wm);RgjB+Q4@=(^t5I3XO2hhnK(HAQE+Bo{%11y=qn%N}+uN%8C zxvw+P7cXe^lpWtB@mMT7p8oo|;FoV=Qm2fD_g$G&Mt@WA&8>Bi?S0|_7|3&|wRy@Y zSFYTLE5^mQS*UyWmnks4R@qjXr;4t=0y@^sE?q+fbgaK!xaz)e%lEDKkog0DB|mENW*>?i9SKq{{Mj(pY6*B5GHp^g{oQ3e&o*Axu(9502vEx_slWm>G=c&4ipZdS%uHh%!L5MYQHbuk3j?Cwi@k zs`|?FY)nrLk9iR;abweb`@TtlSz!Q-jKQ9L6N9JUgwi^6a#+mD^sSit=o% zJf-zz%WJGWJFT(u?6k(pEw4~TQhJ|uhc`qWWn^NP|nwN`doQ)^|XHMLfD zT2pIfr!}=!c3M+wWuav~U``w59sO6zx|t z)AG~`&l#iCo3iQh)QUfS;e{7|aqfqi(~VE9u-C~~lrB%Ls5Z|$wZgN;zM^#FQ!C#3 zXy)?r)C##y{`7k?)5fP(6c1*mHK$h0&rBPiTJd7`bmLPi&aBLwt~s?Ld%EV-iV>O9 zjZdxEVx2KsMmLl->mCX3=r^z6WKqUjW({`mWYLOf11Hi{L>oAfrXt$dw#EDb<;IQ2 z_GQa!PNYfo3d_=(6KS&3#BhF59@UjCud(ga=&CGjY}-|&8{2jj zw8plx^UBzEcG}psGv!%Xv-T-)-mL)JcIU~acwkdKuxTDxy9d_cflc?oF7d!PFYo4W zrU%A-uWimA@L3+%Y!7UX2gV(=ZhT!H7}pQDcs(8%_u{&E^E|Nm9@wQG78CQ&nzki1CM=t0wk>#%{JUNn z{e#TuvTbR`xvk&3{N>EFrftcdXVbQ1r;XbddtVCMw6eU4+m^5VUgq+~ZA%sD#%+sz zCTK-@j@yBeo#HGh(USIU}`{YJJU6`VlIJeAp(GDQSVAT2|i;RMn$ zF>z!XJb|<#TGJCuX@1$#o1S2HT4SxL*`>1S8f#7U$jZ{j)(S0fdd+2NV{5H~Hn!F( zXk%-wf;P6+DrjSCt%5eT)=adtRvtV3V0?B1dw3O`J4#(Ivr8p-?r24{B}RE=(=9Q| zD@$uy;*_qJr8Tyloz~cPc3NZGsX3*xc{aA4oz~cPc3NZG*=db!XQwr`ot@U$c6M50 z+u3Q2ZD*mSZS&kwHK)Woj@15ZPa9<}I5s?s8SMXxGe!+BI2tvxYCKugo~=sX>3K4a zS<_Elh{on<)_s<~*Vr8Ark}bHjm;6T`z(F0uxDUCFuA_XtaP)lS}}7tqoOxz-v>7z zaXFT@gO<=ESX`|cDj$K<}JHca7itZu`7cM6wdc;8bSrf@m7x8c4! zh08I&@2L$_xby|saNnK6rH{b()P^Zs`VLCHcT}BCs&MI3DE0nqbuOvGrLUpXd$HA- zqzaclh)Qwkn<(`b?PR?4S(HC5RONxbj7o9o0|Nb%!XZ<6iqCB(!Wzg+OA(|r3bdk16vK4>n~d4fvxqx)_Gtz0EWG?IsU3sQ)h@G zu5CW}?v!pY-@d0dOyROTHr#iobc5yeJ+)zmvlr${=?3{}r{lZ3Fe#c?RN9oAFEtxx zs4mQvN}Kv&r{lZ3Fe#c?lug`;v_ogl-kjWzh9!NO_oIQP9L!RkX$iZHe7n7@JbEq93mFrZg zB@f1D(X#nV+QIdL`{y2#+Ar+0XerwZv3D_X7Hv_f>;>Iim^h0z;@Aa^o@deWFu!v* z-FGo^&$DP7r@Xaw)mL_2jOgRDXbU%74Ce4G+WY_Q&(_^}$?l60ec&wG3#FJmi+08x zw_I|^OBW^gJd1X7-Jwl&hhBFvn8UMZ&wgvm>sO!XzZlW;ELwgFUpsPPqi0>k)3VJ< z{~FX)k73l_iRy+eygmst)V|Z77e2#wy4<6i_5vm$+JDI2W)kkd*4XTa`Z1DFjm;iv z67IiN*xh)yW+m9%%gXNvaH|{pZj<|2{qggZ-XsnCzNOBxeH`N@wTINC!@hBO8t%O` zH0(QvcC?zD+IeH&`e@k^s!B!kfPL?*H0+yarD5MaD-HYhN4@V6NWNR(8Q>VcvG1>G zJ{QxPD@FM^i-uzZO_Pk-zP8ih*r7a)oeswqO!2^`dSKH$uyzlu!vmY{fpG@P%?sz5To`AQTo^~4 zF6_1Sl&x3=l;#WlL@uxXE7ntTPOgBwq;=DUD7~g$x=+&g3YYqte&#|HF7?=blD=2C z)bI2&7ou>f_wJMQy~3qEq@TGEg-bhepQP^VLLbF_*NtiLLqcV)d+Deh}?v}WcfeD&HKEmTVA{Q$4c(Iz$JwK>{! z8|Ffi{JId=<>zQ`PtMU|aFThB7BuzH`3mM}n}BHMXgL#8U;o-1Z8S%l6B}FUzu-B} zE%2k&h>b1gp6>bwhMN02_`<%McwSE#G@Ivqn_R~bb3X{@!#vQa?)gqqy6fK{Q=^}S zV>m(vJ9Dh`+PN^!?YeJhr~F+QeQGX@o--Fl|CkG-|I3BZzvaT{zj9&pPq{GqpIjKr z?ZU_(7e@b(3#0$Xh0(v`!sx$oVf4=oarjLCiwmQF#f8y-;=<@3abfg-Bw@-kt7lEQ z(}S}`U+}$CvrjBDbELNbYgKNrsGF1%wX13-ieZYj<~(R?&x5wk&<;>vqj}vjdFELO zoD1XZSVJ^(HYhQpRs$dHgAz`CS2JpS_h&6iAI+cH@BU?Z;d`F@@Ve*t&08sbYY-%@sh+g9dQ!eDxylUlboMGq8>%6tgxa8KY7GuG zt<9@x>;alLMB#1I;(7h%qM}thuQP9IO36g_u!cb>)zj9V2W{PX(AJ*^Z9`SGl*}-z z4jAT@4Ey2w{XPq^s+E#aA6?@_*0RjJ-zOy*TFY=Lm?}vrmnumqmMTdpl`2Uol+2`* z$#BbBhI?hgagcs5#zL%npiJbMtNVWxSxYRF_}vFynT(J!k*}xt{%5n2QYP{(5pR4k zD=B3nU*s`azsRHF3{xggPrCQztDb!%YpRrq%<#D%S58Wqj7Zo?EAEoLm=@W)J@vs3fR2EflGJd`@wPfz0H@LU!z*RZ+wl+ zFMW;4{L=dvkEze>9#CmsAP1ZBKE}iD3+>!wsnZ_2$1Yes^6q3kg5@=tXRJU|VLdVw zE=E(2a3oz<_gXy?*CP+KnHeU|SUr=Nk)nhAKw?IUGgiqNF3wnO%o}>nSUnKk>r?aI z2y5p|hN(B)*(lmYlT(+_vRoKF#V##%z=hEZ?84~tbz$`Ix-iyn$ypcHb!@9$7=48< zj9w}i#&WwbdYxPtdFaCEQF3AQ8M!bvj6=jyR;xmvRL9Y>3sbXJHr~aawR%qWdeZg% zS=6DbX4N%*YDO!nFJ-@YrC0|sG@S|5(Wx1&%(RIat<1EE8LeWXT`802QZriW8E3Q} zg@&rSI5?{nVOcO>M;uE}y#K5dp2qQhKbuprkJ=}Jyc%gD1JHhQ%@%*DNHLInb zaaQXw$c%c=`pTWzqTchFZ$3*u^UY%EXa2b>6{mm3O4(U*o@x^Em-bFS3SHw@jf+_4 zRWM6MmR37URS|8hDaemwTV>OY)u0O6xZhRb6Hj*7gk zc8;ndS|b;0OkNSKkxO=3BbV&7MlM-sDVO9NRckayWy>WwLp8}eLuK%JGNpfh%Es}} zPT4sAxhaFg+$U$ICV6M3Z2Su6r6}tv=cOtk4a`ebLK>Kts)RH!FI5R?U|y;;Ddm%# zmuijXrEH0?hgZR@6qDkD!xFuu;H*?dw1HWvif99~QWen#W~C~k4a`cFp`~1svr?_N zqxaC3ONDb%Oe;PcAmw2wIVV*KX<$yO64Jn&R3)T=IjKrW19MWPNhy)!oK!3B(h>>I zNDcbOsBbPOc$icrGg2>K^|?uZ^u(WMC5>mKR{TR&Qc6V5gLPT+V3lN;5>eAi*6dp) zq?Cx9xI6KK$}>!f_-3SR8>w(cin*+IMyeuOGxL$^NtR95%zR|0H8UUCY0b<>7Fx>1 zHzQ@srNS90^0wL;sfuWgTvENVvgsPRWT!Q9$xdtJl7*IX@y$rta=FkmQg-YYdPd5Q zz5I-n!KY`f)J)UkNe}UiDm=uXsnA2*f$o*@5O)aPzvdzSPw^0QOs_n|^f*u_D)9!> zl89&CAXa9sC~DLy_a!FgiUu6NLkT~m%9mMX#$0l)DDB0oV7@5I^9A+m#Y5l=?RaC! z&3uveg*_&HVdX6SsidXPuENqmQ=z4Eiq2R%r#EuB{~uer7-r^f8lkBjiMbn?m)OQ1 zbd;54@;c|t({R$kh0$JI80T|bn3|TGZOvQI_vzx%=Q+qpm%dIHMjxjOW3A%C=tFa1 z^vAgA(*NS(kzX#1{uLL-k)azO$0l`7IoLaPVeFZ?F!l;u7~66e#y6n2>GBOHE*{@t z;==fbk|c~a%}-w3i(lSRRC)2X=#FyEi(iTEDB-;LRs8Zi8_G5>9smL9DAm09wFr~) z%!{|_rd##&{(FTKdPP{B(BSeH6k~l z5NbjQH4#E>2%$DYs0$&~MF{mFg!%}fA%xH{K<-d)^Wq&*ndqDMmT7HNrom`b0tl*1 zgHf#o5LB7487zdL$}|}DX&?qwrokdmrnN$qNy+e?QJJVY-uTuk>dv zWunRj5LB7CaW#OT%0x8{AgD62-pGslqcU-Sh!=f*R3>f$2_UF4HHXTyUZ^rPhsv~G zs4_K&%CugnGBt%F{q7k;UU%I36X4wWUW)G}Grym&W$X?Xb%cQ!=a!GbbB zcQy#c9jpimAt>(TL)_UAaVH<*&W4CP`4D$D2qkgW?0NKqRhhWz$t%!}QJL6z4Irp8 zwT8;HF_L&|s7xE9GPQ=vv@t4EYp6^cqcX8&%8OseFD1@4N!P_=aK{q560en*Y^hMA zmf}=tS zZjBOT8_T!Dssu-e65JLgI69Qzwn&3VhZ5WtCCCOm568Yra7-w{?NNebLJ4k<5*!ms zaC?*>dk1_orIJ1S1xEJcW%7R6v$v4PT(-*SgiuCzL>ZkB%IJr0`~XV4WV=98Y|6J$PLnShok(hVDkZU%WCP`{)OkPZv zzm!;BP#$?fF6IUKkrym&UY^L(D$`Xox|cf@={^k%^`V8bEZ5bFW0Cq#h582&RMj^X z>K{N*Z7H{52M|NQbhd@=1(?Z&DJkpM7 zA?-LGRgTj_+Ho9}BSkkYq#ehF(vE2%?Km!!c1#li?Km!!c1#Ot$8n*wV;Tl~UiCRH zly*$RI4Xdkv|}0!I)I?GV;WX=1Q3*VOvA#C0D{tvX;{}0Kv3E-4PER2g3^v@kZb@! zX~#6oBnJ?bcCh8i!{ey5qdlY@CnD`=4{67VNITj?+HoS%j`omtoQSleJ)|8cBJF4o zX~&63JK96qaU#-=_Ka}7US&ENX-7v$J5EO0(Gk*)laY3G zgtX&iq#Ye0?Kl}}M@L9IPDa|%5z>y6k#=;1wBux?9UUR($Q0qj?N6}=&49YXNGk2lu+&4 z%#e!JAssyx>FCUmj-HBibY@6L zPenR96Os)GOVwaALppjY(oxli);^iekanDow4*bm9j7Dh=nQGc=}0>|L)vjV(vHrM zcASp1qcfx(rz7p47u?I0(~)*`hP2~!q#d0h?KmB2M`uVoPDk3&8Pbl^k#=;3wBvN7 z9i1WVI2~z6XGl9vN7~UD(vH(n4b~abj?PaI!Xl92cw_GI5xXO+M!4H-68Eb7HLO!NIQ;2+R+`-j$@H_ zbceL#Sfm}@A?-L8X-9WRJB~%#(H+u`W07|7#1t=Ik44(i9ny|tk#=;4wBuN$9o-@A zI2LI~cSt*qMcUCF(vD-1c65id<5;8}-68Eb7HJ1PZh4_+&U!-Hp-1;UA??tk`<{?? z=+S*oNIUfCz9*y|dUW3t(hfbk?+Iy#9^LnZv_p^XdqUcAJkpMykair8w4*1a9mgZ> z=m}}Z@kl#*LfUaW(vF^xb{vniqbH;t$0P0N32DdiNIR6*@P6nB9W%Wl?a-t9-jH_a z(S2`7JM`$jH>4eUbl)4&4n4Z>4QYoS-S>vHLyzuzL)xK7_q`$Q(4+g_kapqw{AA*js2IGvM_CR&wuCf|Ty+4UFgL&~`{IV8W3fci&t4}kgf*OM@MOFg{4RYp(Gn;vF0>3QN zvQU|JMP*tRD$}m0One2lH^E&(m1$Y1OuK|C)3Q*Rb_rFcWuY?d5~@s`nazunQJI#9 z%G4i~X?dtj{ZW~ghsx9+m1%jXO#M-rmWRsJAC+l&s7(D)nK-kY7axhrv?5fd-BFoV zgvzu#D$|NknRZ8IS`jMK?x;*FLS@<=m1#w&OuJDgu8>%X(zrA7s{nIn)mM99Ydo-Z zp7_>#@HTj08$GbgJh00>uuXuu<=E`OyV3*O;(={-;$yu+36*J& zP-UVv=f!W~m-43`=keZmwZa(-LUBiF4~Mx2W&NcZlVZxYM6l z;tg@Th2@eV1SRne;7%Y0C2=g53?V3qW4UAqK}mcAvK~l6afkM5+AS=X^rP!`Yh$QP zy4}KZ$xsZcOjs@%LQrMGa>)>aD$~YLnRL6w`X(=)#P9#t-qnLR5k%pMXH3MCq!95C zB#kKe16C?$5zbR^7u`h#8=G86&S-KuVg$=8v=zm|M$pPew9&%y3M*0YgewFKO9d;j zImE>8o5>^L?w;;M5RpuHyOa5Q^Szn(-efmB%UK*~n8a@d8Yb~ufrd%^R-j=LzZGbh z#BT)}Ch=Rem;JlLp@vEPR;XbTzZGhj#BYTfCh=RLhDrQZs9~btqAt?j=ddrI(@a|W z9Nr<~H1mu_m{c?A5&HKfBh+2zdgUe~wm5=xlmbpOBS=Rn;AU|I=_m!;KU*)-Z`Jjx|hTi(?Iw*y32jB(^x#Fo`XWHB4fQ>5+5h366t1mo5%I zWrj=e-a8JWP8w|{ct_R*7DfH1%qFlkYbNuXr_9jsDEw6kq`(&=$}q&^YKDh&;%I?SKAZ z>^scKlVKNVFwV9crPHzMIW5kviUEZrST<$vd|lnj&V=j{hnfvR+Hyk+{G~f^Y%cTiE+x#`fciOY}H$CoeWd zy=6a=RAu>FU)WpD+2i2cfGvp7hs!q2=Rp3{KaoMwy8JE3kOJSjskkpg9Qnwo@bW4mr40kUT*(g+SzGvDBC_%> + + + + + + + + + + + + + eomn_serv_AS_inertials3 + + + + + rfe + + + 2 + 0 + + + 0 + 0 + 0 + + + + + rfeimu_acc rfeimu_gyro rfeimu_mag rfeimu_eul rfeimu_status + + eoas_imu_acc eoas_imu_gyr eoas_imu_mag eoas_imu_eul eoas_imu_status + + rfe rfe rfe rfe rfe + + CAN1:1 CAN1:1 CAN1:1 CAN1:1 CAN1:1 + + + + + + + 10 + rfeimu_acc rfeimu_gyro rfeimu_mag rfeimu_eul rfeimu_status + + + + + + + diff --git a/ergoCubSN000/hardware/inertials/left_arm-eb24-j4_7-inertials.xml b/ergoCubSN000/hardware/inertials/left_arm-eb24-j4_7-inertials.xml new file mode 100644 index 0000000000..df008caeb5 --- /dev/null +++ b/ergoCubSN000/hardware/inertials/left_arm-eb24-j4_7-inertials.xml @@ -0,0 +1,63 @@ + + + + + + + + + + + + + + eomn_serv_AS_inertials + + + + + eobrd_mtb + + + 0 + 0 + + + 0 + 0 + 0 + + + + + on_ems2_accel on_ems2_gyros + l_upper_arm_4 l_upper_arm_1 l_upper_arm_3 l_upper_arm_2 + l_forearm_1 l_forearm_2 l_hand l_hand_gyro + + + 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_gyros_mtb_ext + + + ETH:0 ETH:0 + CAN1:8 CAN1:9 CAN1:10 CAN1:11 + CAN1:12 CAN1:13 CAN1:14 CAN1:14 + + + + + + + 50 + l_hand l_forearm_1 l_forearm_2 l_hand_gyro + + + + + + + + + + diff --git a/ergoCubSN000/hardware/inertials/left_leg-eb10-inertials.xml b/ergoCubSN000/hardware/inertials/left_leg-eb10-inertials.xml new file mode 100644 index 0000000000..cbcffafce6 --- /dev/null +++ b/ergoCubSN000/hardware/inertials/left_leg-eb10-inertials.xml @@ -0,0 +1,64 @@ + + + + + + + + + + + + + + eomn_serv_AS_inertials + + + + + eobrd_mtb + + + 0 + 0 + + + 0 + 0 + 0 + + + + + on_ems10_accel on_ems10_gyros l_upper_leg_1_10B1 + l_upper_leg_2_10B2 l_upper_leg_3_10B3 l_upper_leg_4_10B4 l_upper_leg_5_10B5 + l_upper_leg_6_10B6 l_upper_leg_7_10B7 l_lower_leg_1_10B8 l_lower_leg_2_10B9 + l_lower_leg_3_10B10 l_lower_leg_4_10B11 l_foot_1_10B12 l_foot_2_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:0 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_1_10B1 l_upper_leg_2_10B2 l_upper_leg_3_10B3 l_upper_leg_4_10B4 + + + + + + + + diff --git a/ergoCubSN000/hardware/inertials/right_arm-eb27-j4_7-inertials.xml b/ergoCubSN000/hardware/inertials/right_arm-eb27-j4_7-inertials.xml new file mode 100644 index 0000000000..5a866a5ca7 --- /dev/null +++ b/ergoCubSN000/hardware/inertials/right_arm-eb27-j4_7-inertials.xml @@ -0,0 +1,61 @@ + + + + + + + + + + + + + + eomn_serv_AS_inertials + + + + + eobrd_mtb + + + 0 + 0 + + + 0 + 0 + 0 + + + + + on_ems4_accel on_ems4_gyros + r_upper_arm_4 r_upper_arm_1 r_upper_arm_3 r_upper_arm_2 + r_forearm_1 r_forearm_2 r_hand r_hand_gyro + + + 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_gyros_mtb_ext + + + ETH:0 ETH:0 + CAN1:8 CAN1:9 CAN1:10 CAN1:11 + CAN1:12 CAN1:13 CAN1:14 CAN1:14 + + + + + + + 50 + r_hand r_forearm_1 r_forearm_2 r_hand_gyro + + + + + + + + diff --git a/ergoCubSN000/hardware/inertials/right_leg-eb11-inertials.xml b/ergoCubSN000/hardware/inertials/right_leg-eb11-inertials.xml new file mode 100644 index 0000000000..664ad83bc8 --- /dev/null +++ b/ergoCubSN000/hardware/inertials/right_leg-eb11-inertials.xml @@ -0,0 +1,64 @@ + + + + + + + + + + + + + + eomn_serv_AS_inertials + + + + + eobrd_mtb + + + 0 + 0 + + + 0 + 0 + 0 + + + + + on_ems11_accel on_ems11_gyros r_upper_leg_1_10B1 + r_upper_leg_2_10B2 r_upper_leg_3_10B3 r_upper_leg_4_10B4 r_upper_leg_5_10B5 + r_upper_leg_6_10B6 r_upper_leg_7_10B7 r_lower_leg_1_10B8 r_lower_leg_2_10B9 + r_lower_leg_3_10B10 r_lower_leg_4_10B11 r_foot_1_10B12 r_foot_2_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:0 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_1_10B1 r_upper_leg_2_10B2 r_upper_leg_3_10B3 r_upper_leg_4_10B4 + + + + + + + + diff --git a/ergoCubSN000/hardware/mechanicals/face-eb22-j0-mec.xml b/ergoCubSN000/hardware/mechanicals/face-eb22-j0-mec.xml new file mode 100644 index 0000000000..c31210408f --- /dev/null +++ b/ergoCubSN000/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/ergoCubSN000/hardware/mechanicals/face-eb22-j0_1-mec.xml b/ergoCubSN000/hardware/mechanicals/face-eb22-j0_1-mec.xml new file mode 100644 index 0000000000..2e8e9df3e0 --- /dev/null +++ b/ergoCubSN000/hardware/mechanicals/face-eb22-j0_1-mec.xml @@ -0,0 +1,79 @@ + + + + + + + + + 6 + 2 + + 0 1 + "jaw" "eyelids" + "revolute" "revolute" + 182.044 182.044 + 3360 3360 + 1000.0 1000.0 + 1 -16 + 1 2.38 + 1 1 + "DC" "DC" + 0 + + + + +0 -5 + +22 +65 + 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 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 + + + + + + 2 + + 0 + none + 0 + 0 + + + + 1 + none + 0 + 0 + + + + + + + diff --git a/ergoCubSN000/hardware/mechanicals/face-eb23-j2_5-mec.xml b/ergoCubSN000/hardware/mechanicals/face-eb23-j2_5-mec.xml new file mode 100644 index 0000000000..5ab165851d --- /dev/null +++ b/ergoCubSN000/hardware/mechanicals/face-eb23-j2_5-mec.xml @@ -0,0 +1,85 @@ + + + + + + + 6 + 4 + 0 1 2 3 + "lip-right" "lip-high" "lip-left" "lip-bottom" + "revolute" "revolute" "revolute" "revolute" + 182.044 182.044 182.044 182.044 + 3360 3360 3360 3360 + 1000.0 1000.0 1000.0 1000.0 + -66 66 66 -66 + 1 1 1 1 + 1 1 1 1 + "DC" "DC" "DC" "DC" + 0 + + + + -35 -28 -35 0 + +35 +28 +35 +28 + 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 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 + + + + + + 4 + + 0 + none + 0 + 0 + + + + 1 + none + 0 + 0 + + + + 2 + none + 0 + 0 + + + + 3 + none + 0 + 0 + + + + diff --git a/ergoCubSN000/hardware/mechanicals/head-eb20-j0_1-mec.xml b/ergoCubSN000/hardware/mechanicals/head-eb20-j0_1-mec.xml new file mode 100644 index 0000000000..5ff6bec7a7 --- /dev/null +++ b/ergoCubSN000/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 + + + + -45 -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/ergoCubSN000/hardware/mechanicals/head-eb21-j2_5-mec.xml b/ergoCubSN000/hardware/mechanicals/head-eb21-j2_5-mec.xml new file mode 100644 index 0000000000..246a1b6371 --- /dev/null +++ b/ergoCubSN000/hardware/mechanicals/head-eb21-j2_5-mec.xml @@ -0,0 +1,79 @@ + + + + + + 6 + 4 + + + + 0 1 2 3 + "neck_yaw" "eyes_tilt" "eyes_version" "eyes_vergence" + "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/ergoCubSN000/hardware/mechanicals/left_arm-eb1-j0_1-mec.xml b/ergoCubSN000/hardware/mechanicals/left_arm-eb1-j0_1-mec.xml new file mode 100644 index 0000000000..2d1c0ee4df --- /dev/null +++ b/ergoCubSN000/hardware/mechanicals/left_arm-eb1-j0_1-mec.xml @@ -0,0 +1,83 @@ + + + + + + 6 + 2 + 0 1 + "l_shoulder_pitch" "l_shoulder_roll" + "revolute" "revolute" + 182.044 182.044 + 32000 32000 + 1000.0 1000.0 + 100.00 100.00 + 1 1 + 1 1 + "MOOG-BL-C2900576" "MOOG-BL-C2900576" + 0 + + + + + 16 165 + -90 0 + 0 0 + 0 0 + + + + 0 0 + 0 0 + 0 0 + 0 0 + 1 1 + 1 1 + 0 0 + 154 250 + 8 8 + + + + + + + 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 + + + + 1.000 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 + none + 0 + 0 + + + 1 + none + 0 + 0 + + + + diff --git a/ergoCubSN000/hardware/mechanicals/left_arm-eb24-j4_7-mec.xml b/ergoCubSN000/hardware/mechanicals/left_arm-eb24-j4_7-mec.xml new file mode 100644 index 0000000000..ca7a8e22cb --- /dev/null +++ b/ergoCubSN000/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 -15 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/ergoCubSN000/hardware/mechanicals/left_arm-eb25-j8_11-mec.xml b/ergoCubSN000/hardware/mechanicals/left_arm-eb25-j8_11-mec.xml new file mode 100644 index 0000000000..b7730f5fc5 --- /dev/null +++ b/ergoCubSN000/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 + + + + 110 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/ergoCubSN000/hardware/mechanicals/left_arm-eb26-j12_15-mec.xml b/ergoCubSN000/hardware/mechanicals/left_arm-eb26-j12_15-mec.xml new file mode 100644 index 0000000000..73fa0c18bf --- /dev/null +++ b/ergoCubSN000/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/ergoCubSN000/hardware/mechanicals/left_arm-eb3-j2_3-mec.xml b/ergoCubSN000/hardware/mechanicals/left_arm-eb3-j2_3-mec.xml new file mode 100644 index 0000000000..09a6970daf --- /dev/null +++ b/ergoCubSN000/hardware/mechanicals/left_arm-eb3-j2_3-mec.xml @@ -0,0 +1,83 @@ + + + + + + 6 + 2 + 0 1 + "l_shoulder_yaw" "l_elbow" + "revolute" "revolute" + 182.044 182.044 + 32000 32000 + 1000.0 1000.0 + 100.00 -100.00 + 1 1 + 1 1 + "MOOG-BL-C2900575" "MOOG-BL-C2900575" + 0 + + + + + 82 105 + -52 -5 + 0 0 + 0 0 + + + + 0 0 + 0 0 + 0 0 + 0 0 + 1 1 + 1 1 + 0 0 + 301 324 + 8 8 + + + + + + + 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 + + + + 1.000 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 + none + 0 + 0 + + + 1 + none + 0 + 0 + + + + diff --git a/ergoCubSN000/hardware/mechanicals/left_leg-eb7-j0_2-mec.xml b/ergoCubSN000/hardware/mechanicals/left_leg-eb7-j0_2-mec.xml new file mode 100644 index 0000000000..9aaa631926 --- /dev/null +++ b/ergoCubSN000/hardware/mechanicals/left_leg-eb7-j0_2-mec.xml @@ -0,0 +1,89 @@ + + + + + + 6 + 3 + 0 1 2 + "l_hip_pitch" "l_hip_roll" "l_hip_yaw" + "revolute" "revolute" "revolute" + 182.044 182.044 182.044 + 32000 32000 32000 + 1000.0 1000.0 1000.0 + -100.0 100.0 -100.0 + 64 64 64 + 1 1 1 + "MOOG_C2900580" "MOOG_C2900576" "MOOG_C2900576" + 0 + + + + 94 120 80.5 + -47 -20 -80.5 + 0 0 0 + 0 0 0 + + + + 0 0 0 + 0 0 0 + 0 0 0 + 0 0 0 + 1 1 1 + 1 1 1 + 0 0 0 + 189 7 64 + 12 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 + + + + + + 3 + + 0 + none + 0 + 0 + + + 1 + none + 0 + 0 + + + 2 + none + 0 + 0 + + + + + + diff --git a/ergoCubSN000/hardware/mechanicals/left_leg-eb8-j3_5-mec.xml b/ergoCubSN000/hardware/mechanicals/left_leg-eb8-j3_5-mec.xml new file mode 100644 index 0000000000..4c31f4d2e7 --- /dev/null +++ b/ergoCubSN000/hardware/mechanicals/left_leg-eb8-j3_5-mec.xml @@ -0,0 +1,88 @@ + + + + + + 6 + 3 + 0 1 2 + "l_knee" "l_ankle_pitch" "l_ankle_roll" + "revolute" "revolute" "revolute" + 182.044 182.044 182.044 + 32000 32000 32000 + 1000.0 1000.0 1000.0 + -100.0 -100.00 -100.00 + 64 64 32 + 1 1 1 + "MOOG_C2900580" "MOOG_C2900580" "MOOG_C2900575" + + 0 + + + + 6 45.00 25.00 + -80 -45.00 -25.00 + 0 0 0 + 0 0 0 + + + + 0 0 0 + 0 0 0 + 0 0 0 + 0 0 0 + 1 1 1 + 1 1 1 + 146 242 151 + 0 0 0 + 12 12 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 + + + + + + 3 + + 0 + none + 0 + 0 + + + 1 + none + 0 + 0 + + + 2 + none + 0 + 0 + + + + diff --git a/ergoCubSN000/hardware/mechanicals/right_arm-eb2-j0_1-mec.xml b/ergoCubSN000/hardware/mechanicals/right_arm-eb2-j0_1-mec.xml new file mode 100644 index 0000000000..3af43c3ae7 --- /dev/null +++ b/ergoCubSN000/hardware/mechanicals/right_arm-eb2-j0_1-mec.xml @@ -0,0 +1,83 @@ + + + + + + 6 + 2 + 0 1 + "r_shoulder_pitch" "r_shoulder_roll" + "revolute" "revolute" + 182.044 182.044 + 32000 32000 + 1000.0 1000.0 + -100.00 -100.00 + 1 1 + 1 1 + "MOOG-BL-C2900576" "MOOG-BL-C2900576" + 0 + + + + + 16 165 + -90 0 + 0 0 + 0 0 + + + + 0 0 + 0 0 + 0 0 + 0 0 + 1 1 + 1 1 + 0 0 + 157 78 + 8 8 + + + + + + + 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 + + + + 1.000 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 + none + 0 + 0 + + + 1 + none + 0 + 0 + + + + diff --git a/ergoCubSN000/hardware/mechanicals/right_arm-eb27-j4_7-mec.xml b/ergoCubSN000/hardware/mechanicals/right_arm-eb27-j4_7-mec.xml new file mode 100644 index 0000000000..879055ae8d --- /dev/null +++ b/ergoCubSN000/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 + -97 -80 -15 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/ergoCubSN000/hardware/mechanicals/right_arm-eb28-j8_11-mec.xml b/ergoCubSN000/hardware/mechanicals/right_arm-eb28-j8_11-mec.xml new file mode 100644 index 0000000000..8dc158053f --- /dev/null +++ b/ergoCubSN000/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 + + + + 110 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/ergoCubSN000/hardware/mechanicals/right_arm-eb29-j12_15-mec.xml b/ergoCubSN000/hardware/mechanicals/right_arm-eb29-j12_15-mec.xml new file mode 100644 index 0000000000..5b2afc90b7 --- /dev/null +++ b/ergoCubSN000/hardware/mechanicals/right_arm-eb29-j12_15-mec.xml @@ -0,0 +1,82 @@ + + + + + + 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/ergoCubSN000/hardware/mechanicals/right_arm-eb4-j2_3-mec.xml b/ergoCubSN000/hardware/mechanicals/right_arm-eb4-j2_3-mec.xml new file mode 100644 index 0000000000..0f470763fd --- /dev/null +++ b/ergoCubSN000/hardware/mechanicals/right_arm-eb4-j2_3-mec.xml @@ -0,0 +1,83 @@ + + + + + + 6 + 2 + 0 1 + "r_shoulder_yaw" "r_elbow" + "revolute" "revolute" + 182.044 182.044 + 32000 32000 + 1000.0 1000.0 + -100.00 100.00 + 1 1 + 1 1 + "MOOG-BL-C2900575" "MOOG-BL-C2900575" + 0 + + + + + 82 105 + -52 -5 + 0 0 + 0 0 + + + + 0 0 + 0 0 + 0 0 + 0 0 + 1 1 + 1 1 + 0 0 + 250 117 + 8 8 + + + + + + + 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 + + + + 1.000 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 + none + 0 + 0 + + + 1 + none + 0 + 0 + + + + diff --git a/ergoCubSN000/hardware/mechanicals/right_leg-eb10-j3_5-mec.xml b/ergoCubSN000/hardware/mechanicals/right_leg-eb10-j3_5-mec.xml new file mode 100644 index 0000000000..94a45bfb66 --- /dev/null +++ b/ergoCubSN000/hardware/mechanicals/right_leg-eb10-j3_5-mec.xml @@ -0,0 +1,88 @@ + + + + + + 6 + 3 + 0 1 2 + "r_knee" "r_ankle_pitch" "r_ankle_roll" + "revolute" "revolute" "revolute" + 182.044 182.044 182.044 + 32000 32000 32000 + 1000.0 1000.0 1000.0 + 100.0 100.0 100.0 + 64 64 32 + 1 1 1 + "MOOG_C2900580" "MOOG_C2900580" "MOOG_C2900575" + 0 + + + + 6 45 25 + -80 -45 -25 + 0 0 0 + 0 0 0 + + + + 0 0 0 + 0 0 0 + 0 0 0 + 0 0 0 + 1 1 1 + 1 1 1 + 0 0 0 + 157 155 180 + 12 12 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 + + + + + + 3 + + 0 + none + 0 + 0 + + + 1 + none + 0 + 0 + + + 2 + none + 0 + 0 + + + + + diff --git a/ergoCubSN000/hardware/mechanicals/right_leg-eb9-j0_2-mec.xml b/ergoCubSN000/hardware/mechanicals/right_leg-eb9-j0_2-mec.xml new file mode 100644 index 0000000000..105e680b58 --- /dev/null +++ b/ergoCubSN000/hardware/mechanicals/right_leg-eb9-j0_2-mec.xml @@ -0,0 +1,90 @@ + + + + + + 6 + 3 + + 0 1 2 + "r_hip_pitch" "r_hip_roll" "r_hip_yaw" + "revolute" "revolute" "revolute" + 182.044 182.044 182.044 + 32000 32000 32000 + 1000.0 1000.0 1000.0 + 100.00 -100.00 100.0 + 64 64 64 + 1 1 1 + "MOOG_C2900580" "MOOG_C2900576" "MOOG_C2900576" + + 0 + + + + + 94 120 80.5 + -47 -20 -80.5 + 0 0 0 + 0 0 0 + + + + 0 0 0 + 0 0 0 + 0 0 0 + 0 0 0 + 1 1 1 + 1 1 1 + 0 0 0 + 123 0 27 + 12 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 + + + + + + 3 + + 0 + none + 0 + 0 + + + 1 + none + 0 + 0 + + + 2 + none + 0 + 0 + + + + diff --git a/ergoCubSN000/hardware/mechanicals/torso-eb5-j0_2-mec.xml b/ergoCubSN000/hardware/mechanicals/torso-eb5-j0_2-mec.xml new file mode 100644 index 0000000000..f42d9def74 --- /dev/null +++ b/ergoCubSN000/hardware/mechanicals/torso-eb5-j0_2-mec.xml @@ -0,0 +1,85 @@ + + + + + + 6 + 3 + 0 1 2 + "torso_roll" "torso_pitch" "torso_yaw" + "revolute" "revolute" "revolute" + 182.044 182.044 182.044 + 32000 32000 32000 + 1000.0 1000.0 1000.0 + 100.0 100.0 -100.0 + 1 1 1 + 1 1 1 + "MOOG_C2900576" "MOOG_C290057" "MOOG_C2900576" + 0 + + + + 25 65 45 + -25 -20 -45 + 0 0 0 + 0 0 0 + + + + 0 0 0 + 0 0 0 + 0 0 0 + 0 0 0 + 1 1 1 + 1 1 1 + 0 0 0 + 48 33 122 + 8 8 8 + + + + + 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 + + + + + 3 + + 0 + none + 0 + 0 + + + 1 + none + 0 + 0 + + + 2 + none + 0 + 0 + + + + diff --git a/ergoCubSN000/hardware/motorControl/face-eb22-j0-mc.xml b/ergoCubSN000/hardware/motorControl/face-eb22-j0-mc.xml new file mode 100644 index 0000000000..5ee2a2aad4 --- /dev/null +++ b/ergoCubSN000/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 + 700.00 + 0.0 + 700.0 + 3360 + 3360 + 0 + 0 + 0 + + + + + + + + + + + + + diff --git a/ergoCubSN000/hardware/motorControl/face-eb22-j0-mc_service.xml b/ergoCubSN000/hardware/motorControl/face-eb22-j0-mc_service.xml new file mode 100644 index 0000000000..0311e6be2d --- /dev/null +++ b/ergoCubSN000/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/ergoCubSN000/hardware/motorControl/face-eb22-j0_1-mc.xml b/ergoCubSN000/hardware/motorControl/face-eb22-j0_1-mc.xml new file mode 100644 index 0000000000..23ad102f68 --- /dev/null +++ b/ergoCubSN000/hardware/motorControl/face-eb22-j0_1-mc.xml @@ -0,0 +1,72 @@ + + + + + + + + + + + + + + 22 65 + 0 -5 + 1000 1000 + 700 700 + 1000 1000 + 2000 2000 + 3300 3300 + + + + 100 100 + + + + 0.1 0.1 + 0.05 0.05 + + + + 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 + -400 400 + 0 0 + 0 0 + 3360 3360 + 3360 3360 + 0 0 + 0 0 + 0 0 + + + + + + + + + + + + + + + diff --git a/ergoCubSN000/hardware/motorControl/face-eb22-j0_1-mc_service.xml b/ergoCubSN000/hardware/motorControl/face-eb22-j0_1-mc_service.xml new file mode 100644 index 0000000000..f1c566c5d3 --- /dev/null +++ b/ergoCubSN000/hardware/motorControl/face-eb22-j0_1-mc_service.xml @@ -0,0 +1,48 @@ + + + + + + + + eomn_serv_MC_mc4plus + + + + + mc4plus + + + + + + + pwm pwm + CONN:P3 CONN:P2 + + + + aea aea + CONN:P11 CONN:P10 + atjoint atjoint + 4096 -4096 + 0.703 0.703 + + + + none qenc + none CONN:P2 + none atmotor + 0 40 + 0 0 + + + + + + + + + + + diff --git a/ergoCubSN000/hardware/motorControl/face-eb23-j2_5-mc.xml b/ergoCubSN000/hardware/motorControl/face-eb23-j2_5-mc.xml new file mode 100644 index 0000000000..bec8225716 --- /dev/null +++ b/ergoCubSN000/hardware/motorControl/face-eb23-j2_5-mc.xml @@ -0,0 +1,72 @@ + + + + + + + + + + + + + + +35 +28 +35 +28 + -35 -28 -35 0 + 1000 1000 1000 1000 + 700 700 700 700 + 1000 1000 1000 1000 + 2000 2000 2000 2000 + 1300 1300 1300 1300 + + + + 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 + none none none none + none none none none + none none none none + + + + + + + minjerk + pwm + metric_units + machine_units + -3500 2000 3500 -4500 + 0 0 0 0 + 0 0 0 0 + 3360 3360 3360 3360 + 3360 3360 3360 3360 + 0 0 0 0 + 0 0 0 0 + 0 0 0 0 + + + + + + + + + + + + + + + diff --git a/ergoCubSN000/hardware/motorControl/face-eb23-j2_5-mc_service.xml b/ergoCubSN000/hardware/motorControl/face-eb23-j2_5-mc_service.xml new file mode 100644 index 0000000000..0a4f00015d --- /dev/null +++ b/ergoCubSN000/hardware/motorControl/face-eb23-j2_5-mc_service.xml @@ -0,0 +1,47 @@ + + + + + + + + eomn_serv_MC_mc4plus + + + + + mc4plus + + + + + + pwm pwm pwm pwm + CONN:P3 CONN:P2 CONN:P4 CONN:P5 + + + + qenc qenc qenc qenc + CONN:P3 CONN:P2 CONN:P4 CONN:P5 + atmotor atmotor atmotor atmotor + 1600 1600 1600 1600 + 0.703 0.703 0.703 0.703 + + + + + none none none none + none none none none + none none none none + none none none none + 0 0 0 0 + + + + + + + + + + diff --git a/ergoCubSN000/hardware/motorControl/head-eb20-j0_1-mc.xml b/ergoCubSN000/hardware/motorControl/head-eb20-j0_1-mc.xml new file mode 100644 index 0000000000..184d6e29d6 --- /dev/null +++ b/ergoCubSN000/hardware/motorControl/head-eb20-j0_1-mc.xml @@ -0,0 +1,70 @@ + + + + + + + + + + + + + + + -40 -20 + +22 +20 + 1000 1000 + 5000 5000 + 1500 1500 + 3000 3000 + 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/ergoCubSN000/hardware/motorControl/head-eb20-j0_1-mc_service.xml b/ergoCubSN000/hardware/motorControl/head-eb20-j0_1-mc_service.xml new file mode 100644 index 0000000000..1afd55d843 --- /dev/null +++ b/ergoCubSN000/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/ergoCubSN000/hardware/motorControl/head-eb21-j2_5-mc.xml b/ergoCubSN000/hardware/motorControl/head-eb21-j2_5-mc.xml new file mode 100644 index 0000000000..4fe23db62c --- /dev/null +++ b/ergoCubSN000/hardware/motorControl/head-eb21-j2_5-mc.xml @@ -0,0 +1,76 @@ + + + + + + + + + + + + + + + -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 -1000 3500 3500 + 0 0 0 0 + 0 -100 600 600 + 3360 3360 3360 3360 + 3360 3360 3360 3360 + 0 0 0 0 + 0 0 0 0 + 0 0 0 0 + + + + + + + + + + + + + + + 0.0495 0.0495 0.0495 0.0495 + + + diff --git a/ergoCubSN000/hardware/motorControl/head-eb21-j2_5-mc_service.xml b/ergoCubSN000/hardware/motorControl/head-eb21-j2_5-mc_service.xml new file mode 100644 index 0000000000..f30564ded1 --- /dev/null +++ b/ergoCubSN000/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/ergoCubSN000/hardware/motorControl/left_arm-eb1-j0_1-mc.xml b/ergoCubSN000/hardware/motorControl/left_arm-eb1-j0_1-mc.xml new file mode 100644 index 0000000000..ca143b9091 --- /dev/null +++ b/ergoCubSN000/hardware/motorControl/left_arm-eb1-j0_1-mc.xml @@ -0,0 +1,124 @@ + + + + + + + + + + + + + + 14 163 + -88 17 + 120 120 + 5000 5000 + 12000 12000 + 15000 15000 + 8000 8000 + + + + 100 100 + + + + 0.3 0.3 + 0.05 0.05 + + + + 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 + 0 0 + 1500 1000 + 0 0 + 1000 1000 + 8000 8000 + 2000 2000 + 0 0 + 0 0 + + + + + + + torque + pwm + metric_units + dutycycle_percent + 3 1.8 + 0 0 + 6 4 + 25 25 + 1.56 1.56 + 0 0 + 0 0 + 0 0 + 1 1 + 0.0043 0.0037 + 0 0 + 0.86 0.7 + + + + + + + + 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 + + + + + + + + + + 0.0049 0.0049 + + + + + + diff --git a/ergoCubSN000/hardware/motorControl/left_arm-eb1-j0_1-mc_service.xml b/ergoCubSN000/hardware/motorControl/left_arm-eb1-j0_1-mc_service.xml new file mode 100644 index 0000000000..cca36688c1 --- /dev/null +++ b/ergoCubSN000/hardware/motorControl/left_arm-eb1-j0_1-mc_service.xml @@ -0,0 +1,62 @@ + + + + + + + + eomn_serv_MC_foc + + + + + ems4 + + + + foc + + 1 + 6 + + + 3 + 3 + 3 + + + + + + + + + foc foc + CAN1:1:0 CAN1:2:0 + + + + amo amo + CONN:P6 CONN:P8 + atjoint atjoint + -1048576 1048576 + 0.703 0.703 + + + + roie roie + CAN1:1:0 CAN1:2:0 + atmotor atmotor + 14400 14400 + 3.6 3.6 + + + + + + + + + + + diff --git a/ergoCubSN000/hardware/motorControl/left_arm-eb24-j4_7-mc.xml b/ergoCubSN000/hardware/motorControl/left_arm-eb24-j4_7-mc.xml new file mode 100644 index 0000000000..b1bf317339 --- /dev/null +++ b/ergoCubSN000/hardware/motorControl/left_arm-eb24-j4_7-mc.xml @@ -0,0 +1,72 @@ + + + + + + + + + + + + + + + 88 25 35 60 + -88 -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 + none 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 + -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 + + + + + + + + + + + + + + + diff --git a/ergoCubSN000/hardware/motorControl/left_arm-eb24-j4_7-mc_service.xml b/ergoCubSN000/hardware/motorControl/left_arm-eb24-j4_7-mc_service.xml new file mode 100644 index 0000000000..dfdab9e819 --- /dev/null +++ b/ergoCubSN000/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 + + + + none aea aea absanalog + CONN:none CONN:P10 CONN:P11 CONN:P3 + none 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/ergoCubSN000/hardware/motorControl/left_arm-eb25-j8_11-mc.xml b/ergoCubSN000/hardware/motorControl/left_arm-eb25-j8_11-mc.xml new file mode 100644 index 0000000000..90be44be6e --- /dev/null +++ b/ergoCubSN000/hardware/motorControl/left_arm-eb25-j8_11-mc.xml @@ -0,0 +1,75 @@ + + + + + + + + + + + + + + + 110 90 180 90 + 10 0 0 0 + 1000 1000 1000 1000 + 2000 2000 2000 2000 + 600 600 600 600 + 1000 1000 1000 1000 + + 1800 1800 1800 1800 + + + + 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 + -500 500 500 500 + 0 0 0 0 + -50 50 50 50 + + 1800 1800 1800 1800 + 1800 1800 1800 1800 + 0 0 0 0 + 0 0 0 0 + 0 0 0 0 + + + + + + + + + + + + + + + + diff --git a/ergoCubSN000/hardware/motorControl/left_arm-eb25-j8_11-mc_service.xml b/ergoCubSN000/hardware/motorControl/left_arm-eb25-j8_11-mc_service.xml new file mode 100644 index 0000000000..da13b06cd9 --- /dev/null +++ b/ergoCubSN000/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/ergoCubSN000/hardware/motorControl/left_arm-eb26-j12_15-mc.xml b/ergoCubSN000/hardware/motorControl/left_arm-eb26-j12_15-mc.xml new file mode 100644 index 0000000000..4ffe461c80 --- /dev/null +++ b/ergoCubSN000/hardware/motorControl/left_arm-eb26-j12_15-mc.xml @@ -0,0 +1,72 @@ + + + + + + + + + + + + + + + 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 + -500 300 500 -200 + 0 0 0 0 + -50 50 50 -30 + 3360 3360 3360 3360 + 3360 3360 3360 3360 + 0 0 0 0 + 0 0 0 0 + 0 0 0 0 + + + + + + + + + + + + + + + diff --git a/ergoCubSN000/hardware/motorControl/left_arm-eb26-j12_15-mc_service.xml b/ergoCubSN000/hardware/motorControl/left_arm-eb26-j12_15-mc_service.xml new file mode 100644 index 0000000000..4611334cd9 --- /dev/null +++ b/ergoCubSN000/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/ergoCubSN000/hardware/motorControl/left_arm-eb3-j2_3-mc.xml b/ergoCubSN000/hardware/motorControl/left_arm-eb3-j2_3-mc.xml new file mode 100644 index 0000000000..e1937a3e38 --- /dev/null +++ b/ergoCubSN000/hardware/motorControl/left_arm-eb3-j2_3-mc.xml @@ -0,0 +1,124 @@ + + + + + + + + + + + + + + 80 105 + -50 -3 + 120 120 + 5000 5000 + 9000 9000 + 15000 15000 + 8000 8000 + + + + 100 100 + + + + 0.2 0.1 + 0.05 0.05 + + + + 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 + 0 0 + 1000 -1000 + 0 0 + 1000 -1000 + 8000 8000 + 1000 1000 + 0 0 + 0 0 + + + + + + + torque + pwm + metric_units + dutycycle_percent + 2.5 -3 + 0 0 + 3.5 -4 + 25 25 + 1.56 1.56 + 0 0 + 0 0 + 0 0 + 1 1 + 0.003 -0.0023 + 0 0 + 0.9 -0.7 + + + + + + + + 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 + + + + + + + + + + 0.0049 0.0049 + + + + + + diff --git a/ergoCubSN000/hardware/motorControl/left_arm-eb3-j2_3-mc_service.xml b/ergoCubSN000/hardware/motorControl/left_arm-eb3-j2_3-mc_service.xml new file mode 100644 index 0000000000..b8da95e0c9 --- /dev/null +++ b/ergoCubSN000/hardware/motorControl/left_arm-eb3-j2_3-mc_service.xml @@ -0,0 +1,62 @@ + + + + + + + + eomn_serv_MC_foc + + + + + ems4 + + + + foc + + 1 + 6 + + + 3 + 3 + 3 + + + + + + + + + foc foc + CAN1:3:0 CAN1:4:0 + + + + amo amo + CONN:P6 CONN:P8 + atjoint atjoint + 1048576 1048576 + 0.703 0.703 + + + + roie roie + CAN1:3:0 CAN1:4:0 + atmotor atmotor + 14400 14400 + 3.6 3.6 + + + + + + + + + + + diff --git a/ergoCubSN000/hardware/motorControl/left_leg-eb7-j0_2-mc.xml b/ergoCubSN000/hardware/motorControl/left_leg-eb7-j0_2-mc.xml new file mode 100644 index 0000000000..926015208f --- /dev/null +++ b/ergoCubSN000/hardware/motorControl/left_leg-eb7-j0_2-mc.xml @@ -0,0 +1,140 @@ + + + + + + + + + + + + + + + 90 100 70 + -40 -15 -70 + 240 240 240 + 15000 15000 5000 + 20000 20000 10000 + 30000 30000 15000 + 16000 16000 16000 + + + + 100 100 100 + + + + 0.1 0.1 0.1 + 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 + 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 + 0 0 0 + -3000 7000 -711 + 0 0 0 + -1500 5000 -7111 + 12000 12000 12000 + 1500 5000 750 + 0 0 0 + 0 0 0 + + + + + + + torque + pwm + metric_units + dutycycle_percent + 0 0 0 + 0 0 0 + 0 0 0 + 25 25 25 + 1.56 1.56 1.56 + 0 0 0 + 0 0 0 + 0 0 0 + 1 1 1 + 0 0 0 + 0 0 0 + -0.51 0.56 -0.62 + + + + + + + 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 + + + + + + + + torque + current + metric_units + machine_units + -150.00 150.00 -200.00 + 0 0 0 + -80 50 -80 + 2500 2500 2500 + 200 200 200 + 0 0 0 + 0 0 0 + 0 0 0 + 1 1 1 + -0.0003 0.0004 -0.0003 + 0 0 0 + -175.56 177.83 -175.74 + + + + + + 0.0049 0.0049 0.0049 + + + diff --git a/ergoCubSN000/hardware/motorControl/left_leg-eb7-j0_2-mc_service.xml b/ergoCubSN000/hardware/motorControl/left_leg-eb7-j0_2-mc_service.xml new file mode 100644 index 0000000000..cefa1c7a95 --- /dev/null +++ b/ergoCubSN000/hardware/motorControl/left_leg-eb7-j0_2-mc_service.xml @@ -0,0 +1,62 @@ + + + + + + + + eomn_serv_MC_foc + + + + + ems4 + + + + foc + + 1 + 6 + + + 3 + 3 + 3 + + + + + + + + + foc foc foc + CAN1:1:0 CAN1:2:0 CAN1:3:0 + + + + amo amo amo + CONN:P6 CONN:P7 CONN:P8 + atjoint atjoint atjoint + 16384 16384 16384 + 0.703 0.703 0.703 + + + + roie roie roie + CAN1:1:0 CAN1:2:0 CAN1:3:0 + atmotor atmotor atmotor + 14400 14400 14400 + 3.6 3.6 3.6 + + + + + + + + + + + diff --git a/ergoCubSN000/hardware/motorControl/left_leg-eb8-j3_5-mc.xml b/ergoCubSN000/hardware/motorControl/left_leg-eb8-j3_5-mc.xml new file mode 100644 index 0000000000..36e5c4de9e --- /dev/null +++ b/ergoCubSN000/hardware/motorControl/left_leg-eb8-j3_5-mc.xml @@ -0,0 +1,139 @@ + + + + + + + + + + + + + + 3 32 23 + -70 -43 -23 + 240 240 240 + 10000 10000 10000 + 15000 15000 15000 + 20000 30000 30000 + 16000 16000 16000 + + + + 100 100 100 + + + + 0.1 0.1 0.1 + 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 + 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 + 0 0 0 + -5000 -5000 -3000 + 0 0 0 + -1500 -1000 -1000 + 12000 12000 12000 + 2000 1000 1000 + 0 0 0 + 0 0 0 + + + + + + + torque + pwm + metric_units + dutycycle_percent + 0 0 0 + 0 0 0 + 0 0 0 + 25 25 25 + 1.56 1.56 1.56 + 0 0 0 + 0 0 0 + 0 0 0 + 1 1 1 + 0 0 0 + 0 0 0 + -0.52 -0.65 -0.50 + + + + + + + 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 + + + + + + + + torque + current + metric_units + machine_units + -150.00 -36.21 -26.77 + 0 0 0 + -80.00 0 0 + 2500 2500 2500 + 200 200 200 + 0 0 0 + 0 0 0 + 0 0 0 + 1 1 1 + -0.0002 -0.0003 -0.0003 + 0 0 0 + -230.10 -162.24 -163.96 + + + + + 0.0049 0.0049 0.0049 + + + + diff --git a/ergoCubSN000/hardware/motorControl/left_leg-eb8-j3_5-mc_service.xml b/ergoCubSN000/hardware/motorControl/left_leg-eb8-j3_5-mc_service.xml new file mode 100644 index 0000000000..748c58581a --- /dev/null +++ b/ergoCubSN000/hardware/motorControl/left_leg-eb8-j3_5-mc_service.xml @@ -0,0 +1,61 @@ + + + + + + + + eomn_serv_MC_foc + + + + + ems4 + + + + foc + + 1 + 6 + + + 3 + 3 + 3 + + + + + + + + foc eomc_act_foc foc + CAN1:3:0 CAN1:1:0 CAN1:2:0 + + + + amo amo amo + CONN:P7 CONN:P6 CONN:P8 + atjoint atjoint atjoint + -16384 16384 -16384 + 0.703 0.703 0.703 + + + + roie roie roie + CAN3::0 CAN1::0 CAN1:2:0 + atmotor atmotor atmotor + 14400 14400 14400 + 3.6 3.6 3.6 + + + + + + + + + + + diff --git a/ergoCubSN000/hardware/motorControl/right_arm-eb2-j0_1-mc.xml b/ergoCubSN000/hardware/motorControl/right_arm-eb2-j0_1-mc.xml new file mode 100644 index 0000000000..03d4895b6a --- /dev/null +++ b/ergoCubSN000/hardware/motorControl/right_arm-eb2-j0_1-mc.xml @@ -0,0 +1,126 @@ + + + + + + + + + + + + + + + 14 163 + -88 17 + 120 120 + 5000 5000 + 12000 12000 + 15000 15000 + 8000 8000 + + + + 100 100 + + + + 0.3 0.3 + 0.05 0.05 + + + + 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 + 0 0 + -1500 -1000 + 0 0 + -1000 -1000 + 8000 8000 + 2000 2000 + 0 0 + 0 0 + + + + + + + + + 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 + + + + + + + + torque + pwm + metric_units + dutycycle_percent + -3 -2 + 0 0 + -6 -4 + 25 25 + 1.56 1.56 + 0 0 + 0 0 + 0 0 + 1 1 + -0.004 -0.004 + 0 0 + -0.86 -0.72 + + + + + + + + + 0.0049 0.0049 + + + + + + diff --git a/ergoCubSN000/hardware/motorControl/right_arm-eb2-j0_1-mc_service.xml b/ergoCubSN000/hardware/motorControl/right_arm-eb2-j0_1-mc_service.xml new file mode 100644 index 0000000000..62e251cb5d --- /dev/null +++ b/ergoCubSN000/hardware/motorControl/right_arm-eb2-j0_1-mc_service.xml @@ -0,0 +1,62 @@ + + + + + + + + eomn_serv_MC_foc + + + + + ems4 + + + + foc + + 1 + 6 + + + 3 + 3 + 3 + + + + + + + + + foc foc + CAN1:1:0 CAN1:2:0 + + + + amo amo + CONN:P6 CONN:P8 + atjoint atjoint + 1048576 -1048576 + 0.703 0.703 + + + + roie roie + CAN1:1:0 CAN1:2:0 + atmotor atmotor + 14400 14400 + 3.6 3.6 + + + + + + + + + + + diff --git a/ergoCubSN000/hardware/motorControl/right_arm-eb27-j4_7-mc.xml b/ergoCubSN000/hardware/motorControl/right_arm-eb27-j4_7-mc.xml new file mode 100644 index 0000000000..ab8753c1c6 --- /dev/null +++ b/ergoCubSN000/hardware/motorControl/right_arm-eb27-j4_7-mc.xml @@ -0,0 +1,72 @@ + + + + + + + + + + + + + + + 88 25 35 60 + -88 -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 + none 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 + + + + + + + + + + + + + + + diff --git a/ergoCubSN000/hardware/motorControl/right_arm-eb27-j4_7-mc_service.xml b/ergoCubSN000/hardware/motorControl/right_arm-eb27-j4_7-mc_service.xml new file mode 100644 index 0000000000..9121bfbc6e --- /dev/null +++ b/ergoCubSN000/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 + + + + none aea aea absanalog + CONN:none CONN:P10 CONN:P11 CONN:P3 + none 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/ergoCubSN000/hardware/motorControl/right_arm-eb28-j8_11-mc.xml b/ergoCubSN000/hardware/motorControl/right_arm-eb28-j8_11-mc.xml new file mode 100644 index 0000000000..064d3cb61c --- /dev/null +++ b/ergoCubSN000/hardware/motorControl/right_arm-eb28-j8_11-mc.xml @@ -0,0 +1,75 @@ + + + + + + + + + + + + + + + 110 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 + -150 150 -500 500 + 0 0 0 0 + -50 50 -50 50 + + 3360 3360 3360 3360 + 3360 3360 3360 3360 + 0 0 0 0 + 0 0 0 0 + 0 0 0 0 + + + + + + + + + + + + + + + + diff --git a/ergoCubSN000/hardware/motorControl/right_arm-eb28-j8_11-mc_service.xml b/ergoCubSN000/hardware/motorControl/right_arm-eb28-j8_11-mc_service.xml new file mode 100644 index 0000000000..d9a2041eeb --- /dev/null +++ b/ergoCubSN000/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/ergoCubSN000/hardware/motorControl/right_arm-eb29-j12_15-mc.xml b/ergoCubSN000/hardware/motorControl/right_arm-eb29-j12_15-mc.xml new file mode 100644 index 0000000000..690ec8b1c1 --- /dev/null +++ b/ergoCubSN000/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 + 500 500 -500 200 + 0 0 0 0 + 50 50 -50 20 + 3360 3360 3360 3360 + 3360 3360 3360 3360 + 0 0 0 0 + 0 0 0 0 + 0 0 0 0 + + + + + + + + + diff --git a/ergoCubSN000/hardware/motorControl/right_arm-eb29-j12_15-mc_service.xml b/ergoCubSN000/hardware/motorControl/right_arm-eb29-j12_15-mc_service.xml new file mode 100644 index 0000000000..55870a78c3 --- /dev/null +++ b/ergoCubSN000/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/ergoCubSN000/hardware/motorControl/right_arm-eb4-j2_3-mc.xml b/ergoCubSN000/hardware/motorControl/right_arm-eb4-j2_3-mc.xml new file mode 100644 index 0000000000..bce152b992 --- /dev/null +++ b/ergoCubSN000/hardware/motorControl/right_arm-eb4-j2_3-mc.xml @@ -0,0 +1,126 @@ + + + + + + + + + + + + + + 80 105 + -50 -3 + 120 120 + 5000 5000 + 9000 9000 + 15000 15000 + 8000 8000 + + + + 100 100 + + + + 0.2 0.1 + 0.05 0.05 + + + + 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 + 0 0 + -1000 1000 + 0 0 + -1000 1000 + 8000 8000 + 2000 2000 + 0 0 + 0 0 + + + + + + + + torque + pwm + metric_units + dutycycle_percent + -2.5 3 + 0 0 + -3.5 4 + 25 25 + 1.56 1.56 + 0 0 + 0 0 + 0 0 + 1 1 + -0.003 0.0023 + 0 0 + -0.9 0.7 + + + + + + + + + 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 + + + + + + + + + + 0.0049 0.0049 + + + + + + diff --git a/ergoCubSN000/hardware/motorControl/right_arm-eb4-j2_3-mc_service.xml b/ergoCubSN000/hardware/motorControl/right_arm-eb4-j2_3-mc_service.xml new file mode 100644 index 0000000000..393cb0ea51 --- /dev/null +++ b/ergoCubSN000/hardware/motorControl/right_arm-eb4-j2_3-mc_service.xml @@ -0,0 +1,62 @@ + + + + + + + + eomn_serv_MC_foc + + + + + ems4 + + + + foc + + 1 + 6 + + + 3 + 3 + 3 + + + + + + + + + foc foc + CAN1:3:0 CAN1:4:0 + + + + amo amo + CONN:P6 CONN:P8 + atjoint atjoint + -1048576 -1048576 + 0.703 0.703 + + + + roie roie + CAN1:3:0 CAN1:4:0 + atmotor atmotor + 14400 14400 + 3.6 3.6 + + + + + + + + + + + diff --git a/ergoCubSN000/hardware/motorControl/right_leg-eb10-j3_5-mc.xml b/ergoCubSN000/hardware/motorControl/right_leg-eb10-j3_5-mc.xml new file mode 100644 index 0000000000..9b01ce4f3a --- /dev/null +++ b/ergoCubSN000/hardware/motorControl/right_leg-eb10-j3_5-mc.xml @@ -0,0 +1,139 @@ + + + + + + + + + + + + + + 3 32 23 + -70 -45 -23 + 240 240 240 + 10000 10000 10000 + 15000 15000 15000 + 20000 30000 30000 + 16000 16000 16000 + + + + 100 100 100 + + + + 0.1 0.1 0.1 + 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 + 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 + 0 0 0 + 5000 5000 2310 + 0 0 0 + 1500 1000 1000 + 12000 12000 12000 + 2000 1000 1000 + 0 0 0 + 0 0 0 + + + + + + + torque + pwm + metric_units + dutycycle_percent + 0 0 0 + 0 0 0 + 0 0 0 + 25 25 25 + 1.56 1.56 1.56 + 0 0 0 + 0 0 0 + 0 0 0 + 1 1 1 + 0 0 0 + 0 0 0 + -0.52 0.72 0.56 + + + + + + + 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 + + + + + + + + torque + current + metric_units + machine_units + 150.00 40.44 28.27 + 0 0 0 + 80.00 0 0 + 2500 2500 2500 + 200 200 200 + 0 0 0 + 0 0 0 + 0 0 0 + 1 1 1 + 0.0001 0.0003 0.0004 + 0 0 0 + 270.78 181.17 230.00 + + + + + 0.011 0.011 0.011 + + + + diff --git a/ergoCubSN000/hardware/motorControl/right_leg-eb10-j3_5-mc_service.xml b/ergoCubSN000/hardware/motorControl/right_leg-eb10-j3_5-mc_service.xml new file mode 100644 index 0000000000..4503b3a1e7 --- /dev/null +++ b/ergoCubSN000/hardware/motorControl/right_leg-eb10-j3_5-mc_service.xml @@ -0,0 +1,61 @@ + + + + + + + + eomn_serv_MC_foc + + + + + ems4 + + + + foc + + 1 + 6 + + + 3 + 3 + 3 + + + + + + + + foc foc foc + CAN1:3:0 CAN1:1:0 CAN1:2:0 + + + + amo amo amo + CONN:P7 CONN:P6 CONN:P8 + atjoint atjoint atjoint + 16384 -16384 16384 + 0.703 0.703 0.703 + + + + roie roie roie + CAN3::0 CAN1::0 CAN1:2:0 + atmotor atmotor atmotor + 14400 14400 14400 + 3.6 3.6 3.6 + + + + + + + + + + + diff --git a/ergoCubSN000/hardware/motorControl/right_leg-eb9-j0_2-mc.xml b/ergoCubSN000/hardware/motorControl/right_leg-eb9-j0_2-mc.xml new file mode 100644 index 0000000000..2d00c2e2ef --- /dev/null +++ b/ergoCubSN000/hardware/motorControl/right_leg-eb9-j0_2-mc.xml @@ -0,0 +1,140 @@ + + + + + + + + + + + + + + + 90 100 70 + -40 -15 -70 + 240 240 240 + 15000 15000 5000 + 20000 20000 10000 + 30000 30000 15000 + 16000 16000 16000 + + + + 100 100 100 + + + + 0.1 0.1 0.1 + 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 + 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 + 0 0 0 + 5000 -25000 3000 + 0 0 0 + 1500 -5000 2000 + 12000 11000 12000 + 1500 5000 2000 + 0 0 0 + 0 0 0 + + + + + + + torque + pwm + metric_units + dutycycle_percent + 0 0 0 + 0 0 0 + 0 0 0 + 25 25 25 + 1.56 1.56 1.56 + 0 0 0 + 0 0 0 + 0 0 0 + 1 1 1 + 0 0 0 + 0 0 0 + 0.46 -0.56 0.68 + + + + + + + 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 + + + + + + + + torque + current + metric_units + machine_units + 150.00 -150.00 200.00 + 0 0 0 + 80 -50 80 + 2500 2500 2500 + 200 200 200 + 0 0 0 + 0 0 0 + 0 0 0 + 1 1 1 + 0.0002 -0.0003 0.0003 + 0 0 0 + 196.52 -185.41 185.70 + + + + + + 0.0049 0.0049 0.0049 + + + diff --git a/ergoCubSN000/hardware/motorControl/right_leg-eb9-j0_2-mc_service.xml b/ergoCubSN000/hardware/motorControl/right_leg-eb9-j0_2-mc_service.xml new file mode 100644 index 0000000000..9b8ae6e80b --- /dev/null +++ b/ergoCubSN000/hardware/motorControl/right_leg-eb9-j0_2-mc_service.xml @@ -0,0 +1,62 @@ + + + + + + + + eomn_serv_MC_foc + + + + + ems4 + + + + foc + + 1 + 6 + + + 3 + 3 + 3 + + + + + + + + + foc foc foc + CAN1:1:0 CAN1:2:0 CAN1:3:0 + + + + amo amo amo + CONN:P6 CONN:P7 CONN:P8 + atjoint atjoint atjoint + -16384 -16384 -16384 + 0.703 0.703 0.703 + + + + roie roie roie + CAN1:1:0 CAN1:2:0 CAN1:3:0 + atmotor atmotor atmotor + 14400 14400 14400 + 3.6 3.6 3.6 + + + + + + + + + + + diff --git a/ergoCubSN000/hardware/motorControl/torso-eb5-j0_2-mc.xml b/ergoCubSN000/hardware/motorControl/torso-eb5-j0_2-mc.xml new file mode 100644 index 0000000000..a9652bf2f0 --- /dev/null +++ b/ergoCubSN000/hardware/motorControl/torso-eb5-j0_2-mc.xml @@ -0,0 +1,126 @@ + + + + + + + + + + + + + + + + 23 45 43 + -23 -18 -43 + 120 120 120 + 5000 8000 5000 + 10000 16000 10000 + 15000 20000 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 + 7000 4000 -1500 + 0 0 0 + 3000 2000 -1000 + 8000 8000 8000 + 3000 2000 1000 + 0 0 0 + 0 0 0 + 0 0 0 + + + + + + + + torque + pwm + metric_units + dutycycle_percent + 0 0 0 + 0 0 0 + 0 0 0 + 25 25 25 + 1.56 1.56 1.56 + 0 0 0 + 0 0 0 + 0 0 0 + 1 1 1 + 0.0016 0.003 -0.003 + 0 0 0 + 0.63 0.63 -0.63 + + + + + + + + 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 + + + + + + + + + + 0.0049 0.0049 0.0049 + + + + + diff --git a/ergoCubSN000/hardware/motorControl/torso-eb5-j0_2-mc_service.xml b/ergoCubSN000/hardware/motorControl/torso-eb5-j0_2-mc_service.xml new file mode 100644 index 0000000000..4786953579 --- /dev/null +++ b/ergoCubSN000/hardware/motorControl/torso-eb5-j0_2-mc_service.xml @@ -0,0 +1,65 @@ + + + + + + + + eomn_serv_MC_foc + + + + + ems4 + + + + foc + + 1 + 6 + + + 3 + 3 + 3 + + + + + + + + + + eomc_act_foc eomc_act_foc eomc_act_foc + CAN1:1:0 CAN1:4:0 CAN1:3:0 + + + + amo amo amo + CONN:P7 CONN:P8 CONN:P6 + atjoint atjoint atjoint + 1048576 1048576 1048576 + 0.703 0.703 0.703 + + + + roie roie roie + CAN1:1:0 CAN1:4:0 CAN1:3:0 + atmotor atmotor atmotor + 14400 14400 14400 + 3.6 3.6 3.6 + + + + + + + + + + + + + diff --git a/ergoCubSN000/hardware/skin/left_arm-eb24-j4_7-skin.xml b/ergoCubSN000/hardware/skin/left_arm-eb24-j4_7-skin.xml new file mode 100644 index 0000000000..b8eba1997b --- /dev/null +++ b/ergoCubSN000/hardware/skin/left_arm-eb24-j4_7-skin.xml @@ -0,0 +1,15 @@ + + + + + + + + + + 14 13 12 11 10 9 8 + + + + + diff --git a/ergoCubSN000/hardware/skin/left_arm-eb24-j4_7-skinSpec.xml b/ergoCubSN000/hardware/skin/left_arm-eb24-j4_7-skinSpec.xml new file mode 100644 index 0000000000..54bfd3c064 --- /dev/null +++ b/ergoCubSN000/hardware/skin/left_arm-eb24-j4_7-skinSpec.xml @@ -0,0 +1,42 @@ + + + + + + + 50 + 0 + 0xf0 + false + + + + + 1 + + 1 14 14 50 1 0xf0 + + + + + + false + 2 + 0x2200 + + + + 2 + 1 14 0 6 1 0 0x2000 + 1 14 8 11 1 2 0x2200 + + + + + + diff --git a/ergoCubSN000/hardware/skin/left_upperarm-eb2-skin.xml b/ergoCubSN000/hardware/skin/left_upperarm-eb2-skin.xml new file mode 100644 index 0000000000..f24dfa1799 --- /dev/null +++ b/ergoCubSN000/hardware/skin/left_upperarm-eb2-skin.xml @@ -0,0 +1,14 @@ + + + + + + + + + + 13 + + + + diff --git a/ergoCubSN000/hardware/skin/left_upperarm-eb2-skinSpec.xml b/ergoCubSN000/hardware/skin/left_upperarm-eb2-skinSpec.xml new file mode 100644 index 0000000000..4cb54586a9 --- /dev/null +++ b/ergoCubSN000/hardware/skin/left_upperarm-eb2-skinSpec.xml @@ -0,0 +1,38 @@ + + + + + + + 50 + 8 + + 0xf0 + false + + + + + true + 2 + 0x2200 + + + + + + diff --git a/ergoCubSN000/hardware/skin/right_arm-eb27-j4_7-skin.xml b/ergoCubSN000/hardware/skin/right_arm-eb27-j4_7-skin.xml new file mode 100644 index 0000000000..511934f45a --- /dev/null +++ b/ergoCubSN000/hardware/skin/right_arm-eb27-j4_7-skin.xml @@ -0,0 +1,14 @@ + + + + + + + + + + 14 13 12 11 10 9 8 + + + + diff --git a/ergoCubSN000/hardware/skin/right_arm-eb27-j4_7-skinSpec.xml b/ergoCubSN000/hardware/skin/right_arm-eb27-j4_7-skinSpec.xml new file mode 100644 index 0000000000..54bfd3c064 --- /dev/null +++ b/ergoCubSN000/hardware/skin/right_arm-eb27-j4_7-skinSpec.xml @@ -0,0 +1,42 @@ + + + + + + + 50 + 0 + 0xf0 + false + + + + + 1 + + 1 14 14 50 1 0xf0 + + + + + + false + 2 + 0x2200 + + + + 2 + 1 14 0 6 1 0 0x2000 + 1 14 8 11 1 2 0x2200 + + + + + + diff --git a/ergoCubSN000/hardware/skin/right_upperarm-eb4-skin.xml b/ergoCubSN000/hardware/skin/right_upperarm-eb4-skin.xml new file mode 100644 index 0000000000..a070ff78b9 --- /dev/null +++ b/ergoCubSN000/hardware/skin/right_upperarm-eb4-skin.xml @@ -0,0 +1,14 @@ + + + + + + + + + + 13 + + + + diff --git a/ergoCubSN000/hardware/skin/right_upperarm-eb4-skinSpec.xml b/ergoCubSN000/hardware/skin/right_upperarm-eb4-skinSpec.xml new file mode 100644 index 0000000000..c0f7fec793 --- /dev/null +++ b/ergoCubSN000/hardware/skin/right_upperarm-eb4-skinSpec.xml @@ -0,0 +1,38 @@ + + + + + + + 50 + 8 + 0xf0 + false + + + + + true + 2 + 0x2200 + + + + + + diff --git a/ergoCubSN000/hardware/skin/torso-eb22-skin.xml b/ergoCubSN000/hardware/skin/torso-eb22-skin.xml new file mode 100644 index 0000000000..962796ab36 --- /dev/null +++ b/ergoCubSN000/hardware/skin/torso-eb22-skin.xml @@ -0,0 +1,15 @@ + + + + + + + + + + + 7 8 9 10 + + + + diff --git a/ergoCubSN000/hardware/skin/torso-eb22-skinSpec.xml b/ergoCubSN000/hardware/skin/torso-eb22-skinSpec.xml new file mode 100644 index 0000000000..7644775370 --- /dev/null +++ b/ergoCubSN000/hardware/skin/torso-eb22-skinSpec.xml @@ -0,0 +1,22 @@ + + + + + + + 50 + 0 + 0xf0 + false + + + + + true + 2 + 0x2200 + + + diff --git a/ergoCubSN000/hardware/skin/torso-ems5-inertial_gyro.xml b/ergoCubSN000/hardware/skin/torso-ems5-inertial_gyro.xml new file mode 100644 index 0000000000..979f35f78a --- /dev/null +++ b/ergoCubSN000/hardware/skin/torso-ems5-inertial_gyro.xml @@ -0,0 +1,55 @@ + + + + + + + + + + + + + + eomn_serv_AS_inertials + + + + + eobrd_mtb + + + 0 + 0 + + + 0 + 0 + 0 + + + + + on_ems10_gyros + + + eoas_gyros_st_l3g4200d + + + ETH:0 + + + + + + + 50 + on_ems10_gyros + + + + + + + + diff --git a/ergoCubSN000/iCubStartup.xml b/ergoCubSN000/iCubStartup.xml new file mode 100644 index 0000000000..4559fe6b09 --- /dev/null +++ b/ergoCubSN000/iCubStartup.xml @@ -0,0 +1,90 @@ + +iCubStartup + + + + + + yarplogger + --start --no_stop + console + + + + yarprobotinterface + pc104 + + + + iKinCartesianSolver + --from cartesianSolver.ini --part right_arm + console + + /icub/yarprobotinterface + + + + + iKinCartesianSolver + --from cartesianSolver.ini --part left_arm + console + + /icub/yarprobotinterface + + + + + iKinGazeCtrl + --from configv3.ini + console + + /icub/yarprobotinterface + /imuFilter/inertial:o + + + + + + wholeBodyDynamics + + --autoconnect + pwrNode6 + + /icub/yarprobotinterface + + + + + + gravityCompensator + + + pwrNode6 + + /wholeBodyDynamics/rpc:i + + + + + fingersTuner + console + + /icub/yarprobotinterface + + + + + imuFilter + pc104 + + /icub/inertial + + + + + /icub/inertial + /imuFilter/inertial:i + tcp + + + diff --git a/ergoCubSN000/iKinGazeCtrl.ini b/ergoCubSN000/iKinGazeCtrl.ini new file mode 100644 index 0000000000..f1db0b8ce8 --- /dev/null +++ b/ergoCubSN000/iKinGazeCtrl.ini @@ -0,0 +1,11 @@ +robot icub +head_version 3.0 +saccades off + +[cameras] +context cameraCalibration +file icubEyes.ini + +[imu] +mode off +source_port_name /imuFilter diff --git a/ergoCubSN000/la.xml b/ergoCubSN000/la.xml new file mode 100644 index 0000000000..7780cdad98 --- /dev/null +++ b/ergoCubSN000/la.xml @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/ergoCubSN000/network.ergoCubSN000.xml b/ergoCubSN000/network.ergoCubSN000.xml new file mode 100644 index 0000000000..6b2e46c543 --- /dev/null +++ b/ergoCubSN000/network.ergoCubSN000.xml @@ -0,0 +1,386 @@ + + + + + + + + + + + + + + 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/ergoCubSN000/sensors/RealSense_conf.ini b/ergoCubSN000/sensors/RealSense_conf.ini new file mode 100644 index 0000000000..82f8b437dd --- /dev/null +++ b/ergoCubSN000/sensors/RealSense_conf.ini @@ -0,0 +1,13 @@ +device RGBDSensorWrapper +subdevice realsense2withIMU +name /depthCamera + +[SETTINGS] +depthResolution (640 480) #Note the parentesys +rgbResolution (640 480) +framerate 30 +enableEmitter true +alignmentFrame RGB + +[HW_DESCRIPTION] +clipPlanes (0.2 10.0) diff --git a/ergoCubSN000/telemetry/telemetryDeviceExternal.xml b/ergoCubSN000/telemetry/telemetryDeviceExternal.xml new file mode 100644 index 0000000000..f5d7121820 --- /dev/null +++ b/ergoCubSN000/telemetry/telemetryDeviceExternal.xml @@ -0,0 +1,38 @@ + + + + + + (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) + true + true + true + true + true + false + true + true + telemetry_iCub3 + /home/icub/telemetry_logs/ + 100000 + true + 120.0 + 300 + true + + + + + head_mc + torso_mc + left_arm_mc + right_arm_mc + left_leg_mc + right_leg_mc + + + + + + + diff --git a/ergoCubSN000/wrappers/FT/left_arm-FT_wrapper.xml b/ergoCubSN000/wrappers/FT/left_arm-FT_wrapper.xml new file mode 100644 index 0000000000..7277915ace --- /dev/null +++ b/ergoCubSN000/wrappers/FT/left_arm-FT_wrapper.xml @@ -0,0 +1,18 @@ + + + + + + 10 + /icub/left_arm/analog:o + + + + + left_arm-eb1-j0_1-strain + + + + + + diff --git a/ergoCubSN000/wrappers/FT/left_foot_heel-FT_wrapper.xml b/ergoCubSN000/wrappers/FT/left_foot_heel-FT_wrapper.xml new file mode 100644 index 0000000000..d42d8f1012 --- /dev/null +++ b/ergoCubSN000/wrappers/FT/left_foot_heel-FT_wrapper.xml @@ -0,0 +1,18 @@ + + + + + + 10 + /icub/left_foot_heel/analog:o + + + + + left_leg-eb7-j0_2-strain + + + + + + diff --git a/ergoCubSN000/wrappers/FT/left_foot_heel-FT_wrapper_multipleSens.xml b/ergoCubSN000/wrappers/FT/left_foot_heel-FT_wrapper_multipleSens.xml new file mode 100644 index 0000000000..75b518384b --- /dev/null +++ b/ergoCubSN000/wrappers/FT/left_foot_heel-FT_wrapper_multipleSens.xml @@ -0,0 +1,18 @@ + + + + + + 10 + /icub/left_foot_heel + + + + + left_leg-eb7-j0_2-strain + + + + + + diff --git a/ergoCubSN000/wrappers/FT/left_foot_tiptoe-FT_wrapper.xml b/ergoCubSN000/wrappers/FT/left_foot_tiptoe-FT_wrapper.xml new file mode 100644 index 0000000000..9d5273045b --- /dev/null +++ b/ergoCubSN000/wrappers/FT/left_foot_tiptoe-FT_wrapper.xml @@ -0,0 +1,18 @@ + + + + + + 10 + /icub/left_foot_tiptoe/analog:o + + + + + left_leg-eb8-j3_5-strain + + + + + + diff --git a/ergoCubSN000/wrappers/FT/left_foot_tiptoe-FT_wrapper_multipleSens.xml b/ergoCubSN000/wrappers/FT/left_foot_tiptoe-FT_wrapper_multipleSens.xml new file mode 100644 index 0000000000..614fac4fbf --- /dev/null +++ b/ergoCubSN000/wrappers/FT/left_foot_tiptoe-FT_wrapper_multipleSens.xml @@ -0,0 +1,18 @@ + + + + + + 10 + /icub/left_foot_tiptoe + + + + + left_leg-eb8-j3_5-strain + + + + + + diff --git a/ergoCubSN000/wrappers/FT/right_arm-FT_wrapper.xml b/ergoCubSN000/wrappers/FT/right_arm-FT_wrapper.xml new file mode 100644 index 0000000000..d0eca5eab6 --- /dev/null +++ b/ergoCubSN000/wrappers/FT/right_arm-FT_wrapper.xml @@ -0,0 +1,18 @@ + + + + + + 10 + /icub/right_arm/analog:o + + + + + right_arm-eb3-j0_1-strain + + + + + + diff --git a/ergoCubSN000/wrappers/FT/right_foot_heel-FT_wrapper.xml b/ergoCubSN000/wrappers/FT/right_foot_heel-FT_wrapper.xml new file mode 100644 index 0000000000..e8a5e6e7d3 --- /dev/null +++ b/ergoCubSN000/wrappers/FT/right_foot_heel-FT_wrapper.xml @@ -0,0 +1,18 @@ + + + + + + 10 + /icub/right_foot_heel/analog:o + + + + + right_leg-eb11-j0_2-strain + + + + + + diff --git a/ergoCubSN000/wrappers/FT/right_foot_heel-FT_wrapper_multipleSens.xml b/ergoCubSN000/wrappers/FT/right_foot_heel-FT_wrapper_multipleSens.xml new file mode 100644 index 0000000000..eb6dc856a8 --- /dev/null +++ b/ergoCubSN000/wrappers/FT/right_foot_heel-FT_wrapper_multipleSens.xml @@ -0,0 +1,18 @@ + + + + + + 10 + /icub/right_foot_heel + + + + + right_leg-eb11-j0_2-strain + + + + + + diff --git a/ergoCubSN000/wrappers/FT/right_foot_tiptoe-FT_wrapper.xml b/ergoCubSN000/wrappers/FT/right_foot_tiptoe-FT_wrapper.xml new file mode 100644 index 0000000000..474134cfff --- /dev/null +++ b/ergoCubSN000/wrappers/FT/right_foot_tiptoe-FT_wrapper.xml @@ -0,0 +1,18 @@ + + + + + + 10 + /icub/right_foot_tiptoe/analog:o + + + + + right_leg-eb12-j3_5-strain + + + + + + diff --git a/ergoCubSN000/wrappers/FT/right_foot_tiptoe-FT_wrapper_multipleSens.xml b/ergoCubSN000/wrappers/FT/right_foot_tiptoe-FT_wrapper_multipleSens.xml new file mode 100644 index 0000000000..dce17bfbd4 --- /dev/null +++ b/ergoCubSN000/wrappers/FT/right_foot_tiptoe-FT_wrapper_multipleSens.xml @@ -0,0 +1,18 @@ + + + + + + 10 + /icub/right_foot_tiptoe + + + + + right_leg-eb12-j3_5-strain + + + + + + diff --git a/ergoCubSN000/wrappers/MAIS/left_arm-mais_wrapper.xml b/ergoCubSN000/wrappers/MAIS/left_arm-mais_wrapper.xml new file mode 100644 index 0000000000..670c35bcb4 --- /dev/null +++ b/ergoCubSN000/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/ergoCubSN000/wrappers/MAIS/right_arm-mais_wrapper.xml b/ergoCubSN000/wrappers/MAIS/right_arm-mais_wrapper.xml new file mode 100644 index 0000000000..1b5213361e --- /dev/null +++ b/ergoCubSN000/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/ergoCubSN000/wrappers/VFT/left_arm-VFT_wrapper.xml b/ergoCubSN000/wrappers/VFT/left_arm-VFT_wrapper.xml new file mode 100644 index 0000000000..c901eada21 --- /dev/null +++ b/ergoCubSN000/wrappers/VFT/left_arm-VFT_wrapper.xml @@ -0,0 +1,31 @@ + + + + + + 10 + + + + 0 1 0 1 + 2 3 0 1 + 4 6 0 2 + + + 7 + /icub/joint_vsens/left_arm:i + + + + + left_arm-eb1-j0_1-mc + left_arm-eb2-j2_3-mc + left_arm-eb24-j4_7-mc + + + + + + + + diff --git a/ergoCubSN000/wrappers/VFT/left_leg-VFT_wrapper.xml b/ergoCubSN000/wrappers/VFT/left_leg-VFT_wrapper.xml new file mode 100644 index 0000000000..b982c8046c --- /dev/null +++ b/ergoCubSN000/wrappers/VFT/left_leg-VFT_wrapper.xml @@ -0,0 +1,29 @@ + + + + + + 10 + + + + 0 2 0 2 + 3 5 0 2 + + + 6 + /icub/joint_vsens/left_leg:i + + + + + left_leg-eb7-j0_2-mc + left_leg-eb8-j3_5-mc + + + + + + + + diff --git a/ergoCubSN000/wrappers/VFT/right_arm-VFT_wrapper.xml b/ergoCubSN000/wrappers/VFT/right_arm-VFT_wrapper.xml new file mode 100644 index 0000000000..e4b8b7c401 --- /dev/null +++ b/ergoCubSN000/wrappers/VFT/right_arm-VFT_wrapper.xml @@ -0,0 +1,31 @@ + + + + + + 10 + + + + 0 1 0 1 + 2 3 0 1 + 4 6 0 2 + + + 7 + /icub/joint_vsens/right_arm:i + + + + + right_arm-eb3-j0_1-mc + right_arm-eb4-j2_3-mc + right_arm-eb27-j4_7-mc + + + + + + + + diff --git a/ergoCubSN000/wrappers/VFT/right_leg-VFT_wrapper.xml b/ergoCubSN000/wrappers/VFT/right_leg-VFT_wrapper.xml new file mode 100644 index 0000000000..deee9fbf66 --- /dev/null +++ b/ergoCubSN000/wrappers/VFT/right_leg-VFT_wrapper.xml @@ -0,0 +1,29 @@ + + + + + + 10 + + + + 0 2 0 2 + 3 5 0 2 + + + 6 + /icub/joint_vsens/right_leg:i + + + + + right_leg-eb11-j0_2-mc + right_leg-eb12-j3_5-mc + + + + + + + + diff --git a/ergoCubSN000/wrappers/VFT/torso-VFT_wrapper.xml b/ergoCubSN000/wrappers/VFT/torso-VFT_wrapper.xml new file mode 100644 index 0000000000..81d2841d34 --- /dev/null +++ b/ergoCubSN000/wrappers/VFT/torso-VFT_wrapper.xml @@ -0,0 +1,18 @@ + + + + 10 + + + ( 0 2 0 2 ) + + 3 + /icub/joint_vsens/torso:i + + + + torso-eb5-j0_2-mc + + + + diff --git a/ergoCubSN000/wrappers/inertials/head-imuFilter.xml b/ergoCubSN000/wrappers/inertials/head-imuFilter.xml new file mode 100644 index 0000000000..9070dff156 --- /dev/null +++ b/ergoCubSN000/wrappers/inertials/head-imuFilter.xml @@ -0,0 +1,20 @@ + + + + + + 20 + /imuFilter + + + + + + head-inertial + + + + + diff --git a/ergoCubSN000/wrappers/inertials/head-imuFilter_wrapper.xml b/ergoCubSN000/wrappers/inertials/head-imuFilter_wrapper.xml new file mode 100644 index 0000000000..840c87bab1 --- /dev/null +++ b/ergoCubSN000/wrappers/inertials/head-imuFilter_wrapper.xml @@ -0,0 +1,20 @@ + + + + + + 20 + /imuFilter + + + + + + head-imuFilter + + + + + diff --git a/ergoCubSN000/wrappers/inertials/head-inertials_wrapper-deprecated.xml b/ergoCubSN000/wrappers/inertials/head-inertials_wrapper-deprecated.xml new file mode 100644 index 0000000000..8a513a7bea --- /dev/null +++ b/ergoCubSN000/wrappers/inertials/head-inertials_wrapper-deprecated.xml @@ -0,0 +1,19 @@ + + + + + + /icub/inertial + + + + + + head-inertial + + + + + diff --git a/ergoCubSN000/wrappers/inertials/head-inertials_wrapper.xml b/ergoCubSN000/wrappers/inertials/head-inertials_wrapper.xml new file mode 100644 index 0000000000..ab266c8715 --- /dev/null +++ b/ergoCubSN000/wrappers/inertials/head-inertials_wrapper.xml @@ -0,0 +1,20 @@ + + + + + + 10 + /icub/head/inertials + + + + + + head-inertial + + + + + diff --git a/ergoCubSN000/wrappers/inertials/left_arm-inertials_wrapper.xml b/ergoCubSN000/wrappers/inertials/left_arm-inertials_wrapper.xml new file mode 100644 index 0000000000..f654cb77c3 --- /dev/null +++ b/ergoCubSN000/wrappers/inertials/left_arm-inertials_wrapper.xml @@ -0,0 +1,21 @@ + + + + + + 10 + /icub/left_hand/inertialMTB + + + + + + left_arm-eb24-j4_7-inertials + + + + + + diff --git a/ergoCubSN000/wrappers/inertials/left_leg-inertials_wrapper.xml b/ergoCubSN000/wrappers/inertials/left_leg-inertials_wrapper.xml new file mode 100644 index 0000000000..49922cee21 --- /dev/null +++ b/ergoCubSN000/wrappers/inertials/left_leg-inertials_wrapper.xml @@ -0,0 +1,21 @@ + + + + + + 10 + /icub/left_leg/inertialMTB + + + + + + left_leg-eb10-inertials + + + + + + diff --git a/ergoCubSN000/wrappers/inertials/right_arm-inertials_wrapper.xml b/ergoCubSN000/wrappers/inertials/right_arm-inertials_wrapper.xml new file mode 100644 index 0000000000..ec039799b2 --- /dev/null +++ b/ergoCubSN000/wrappers/inertials/right_arm-inertials_wrapper.xml @@ -0,0 +1,21 @@ + + + + + + 10 + /icub/right_hand/inertialMTB + + + + + + right_arm-eb27-j4_7-inertials + + + + + + diff --git a/ergoCubSN000/wrappers/inertials/right_leg-inertials_wrapper.xml b/ergoCubSN000/wrappers/inertials/right_leg-inertials_wrapper.xml new file mode 100644 index 0000000000..cca4c068ec --- /dev/null +++ b/ergoCubSN000/wrappers/inertials/right_leg-inertials_wrapper.xml @@ -0,0 +1,21 @@ + + + + + + 10 + /icub/right_leg/inertialMTB + + + + + + right_leg-eb11-inertials + + + + + + diff --git a/ergoCubSN000/wrappers/inertials/torso_inertial_wrapper.xml b/ergoCubSN000/wrappers/inertials/torso_inertial_wrapper.xml new file mode 100644 index 0000000000..6d855bd280 --- /dev/null +++ b/ergoCubSN000/wrappers/inertials/torso_inertial_wrapper.xml @@ -0,0 +1,19 @@ + + + + + + 10 + /icub/torso/inertialGYRO + + + + + + torso_inertialGYRO + + + + + + diff --git a/ergoCubSN000/wrappers/motorControl/alljoints-mc_remapper.xml b/ergoCubSN000/wrappers/motorControl/alljoints-mc_remapper.xml new file mode 100644 index 0000000000..5873b4fabc --- /dev/null +++ b/ergoCubSN000/wrappers/motorControl/alljoints-mc_remapper.xml @@ -0,0 +1,31 @@ + + + + + + ( 0 5 0 5 ) + ( 0 1 0 1 ) + ( 6 12 0 6 ) + ( 13 21 0 8 ) + ( 22 28 0 6 ) + ( 29 37 0 8 ) + ( 38 40 0 2 ) + ( 41 46 0 5 ) + ( 47 52 0 5 ) + + 53 + + + head_mc + face_mc + left_arm_mc + left_hand_mc + right_arm_mc + right_hand_mc + torso_mc + left_leg_mc + right_leg_mc + + + + diff --git a/ergoCubSN000/wrappers/motorControl/alljoints-mc_ros_wrapper.xml b/ergoCubSN000/wrappers/motorControl/alljoints-mc_ros_wrapper.xml new file mode 100644 index 0000000000..6aa7a31dc7 --- /dev/null +++ b/ergoCubSN000/wrappers/motorControl/alljoints-mc_ros_wrapper.xml @@ -0,0 +1,11 @@ + + + + + /yri_controlBoard_nws_ros + /all_joints + + alljoints-mc_remapper + + + diff --git a/ergoCubSN000/wrappers/motorControl/face-mc_remapper.xml b/ergoCubSN000/wrappers/motorControl/face-mc_remapper.xml new file mode 100644 index 0000000000..16f729d9a1 --- /dev/null +++ b/ergoCubSN000/wrappers/motorControl/face-mc_remapper.xml @@ -0,0 +1,15 @@ + + + + + + ( 0 0 0 0 ) + + 1 + + + face-eb22-j0-mc + + + + diff --git a/ergoCubSN000/wrappers/motorControl/face-mc_wrapper.xml b/ergoCubSN000/wrappers/motorControl/face-mc_wrapper.xml new file mode 100644 index 0000000000..d5c45c73bf --- /dev/null +++ b/ergoCubSN000/wrappers/motorControl/face-mc_wrapper.xml @@ -0,0 +1,10 @@ + + + + + /icub/face + + face-mc_remapper + + + diff --git a/ergoCubSN000/wrappers/motorControl/head-mc_remapper.xml b/ergoCubSN000/wrappers/motorControl/head-mc_remapper.xml new file mode 100644 index 0000000000..18ee4dd4f1 --- /dev/null +++ b/ergoCubSN000/wrappers/motorControl/head-mc_remapper.xml @@ -0,0 +1,17 @@ + + + + + + ( 0 1 0 1 ) + ( 2 5 0 3 ) + + 6 + + + head-eb20-j0_1-mc + head-eb21-j2_5-mc + + + + diff --git a/ergoCubSN000/wrappers/motorControl/head-mc_wrapper.xml b/ergoCubSN000/wrappers/motorControl/head-mc_wrapper.xml new file mode 100644 index 0000000000..06e2825805 --- /dev/null +++ b/ergoCubSN000/wrappers/motorControl/head-mc_wrapper.xml @@ -0,0 +1,10 @@ + + + + + /icub/head + + head-mc_remapper + + + diff --git a/ergoCubSN000/wrappers/motorControl/left_arm-mc_remapper.xml b/ergoCubSN000/wrappers/motorControl/left_arm-mc_remapper.xml new file mode 100644 index 0000000000..736a8c6834 --- /dev/null +++ b/ergoCubSN000/wrappers/motorControl/left_arm-mc_remapper.xml @@ -0,0 +1,17 @@ + + + + + + ( 0 1 0 1 ) + ( 2 3 0 1 ) + + 4 + + + left_arm-eb1-j0_1-mc + left_arm-eb3-j2_3-mc + + + + diff --git a/ergoCubSN000/wrappers/motorControl/left_arm-mc_wrapper.xml b/ergoCubSN000/wrappers/motorControl/left_arm-mc_wrapper.xml new file mode 100644 index 0000000000..caf7f8bb4b --- /dev/null +++ b/ergoCubSN000/wrappers/motorControl/left_arm-mc_wrapper.xml @@ -0,0 +1,10 @@ + + + + + /icub/left_arm + + left_arm-mc_remapper + + + diff --git a/ergoCubSN000/wrappers/motorControl/left_leg-mc_remapper.xml b/ergoCubSN000/wrappers/motorControl/left_leg-mc_remapper.xml new file mode 100644 index 0000000000..88ef2eb0fb --- /dev/null +++ b/ergoCubSN000/wrappers/motorControl/left_leg-mc_remapper.xml @@ -0,0 +1,16 @@ + + + + + ( 0 2 0 2 ) + ( 3 5 0 2 ) + + 6 + + + left_leg-eb7-j0_2-mc + left_leg-eb8-j3_5-mc + + + + diff --git a/ergoCubSN000/wrappers/motorControl/left_leg-mc_wrapper.xml b/ergoCubSN000/wrappers/motorControl/left_leg-mc_wrapper.xml new file mode 100644 index 0000000000..64e5ab7e13 --- /dev/null +++ b/ergoCubSN000/wrappers/motorControl/left_leg-mc_wrapper.xml @@ -0,0 +1,10 @@ + + + + + /icub/left_leg + + left_leg-mc_remapper + + + diff --git a/ergoCubSN000/wrappers/motorControl/right_arm-mc_remapper.xml b/ergoCubSN000/wrappers/motorControl/right_arm-mc_remapper.xml new file mode 100644 index 0000000000..e029b357b8 --- /dev/null +++ b/ergoCubSN000/wrappers/motorControl/right_arm-mc_remapper.xml @@ -0,0 +1,17 @@ + + + + + + ( 0 1 0 1 ) + ( 2 3 0 1 ) + + 4 + + + right_arm-eb2-j0_1-mc + right_arm-eb4-j2_3-mc + + + + diff --git a/ergoCubSN000/wrappers/motorControl/right_arm-mc_wrapper.xml b/ergoCubSN000/wrappers/motorControl/right_arm-mc_wrapper.xml new file mode 100644 index 0000000000..15bc4d3c12 --- /dev/null +++ b/ergoCubSN000/wrappers/motorControl/right_arm-mc_wrapper.xml @@ -0,0 +1,10 @@ + + + + + /icub/right_arm + + right_arm-mc_remapper + + + diff --git a/ergoCubSN000/wrappers/motorControl/right_leg-mc_remapper.xml b/ergoCubSN000/wrappers/motorControl/right_leg-mc_remapper.xml new file mode 100644 index 0000000000..107e6c31a5 --- /dev/null +++ b/ergoCubSN000/wrappers/motorControl/right_leg-mc_remapper.xml @@ -0,0 +1,16 @@ + + + + + ( 0 2 0 2 ) + ( 3 5 0 2 ) + + 6 + + + right_leg-eb9-j0_2-mc + right_leg-eb10-j3_5-mc + + + + diff --git a/ergoCubSN000/wrappers/motorControl/right_leg-mc_wrapper.xml b/ergoCubSN000/wrappers/motorControl/right_leg-mc_wrapper.xml new file mode 100644 index 0000000000..63ef3cb4a7 --- /dev/null +++ b/ergoCubSN000/wrappers/motorControl/right_leg-mc_wrapper.xml @@ -0,0 +1,10 @@ + + + + + /icub/right_leg + + right_leg-mc_remapper + + + diff --git a/ergoCubSN000/wrappers/motorControl/torso-mc_remapper.xml b/ergoCubSN000/wrappers/motorControl/torso-mc_remapper.xml new file mode 100644 index 0000000000..68c2555293 --- /dev/null +++ b/ergoCubSN000/wrappers/motorControl/torso-mc_remapper.xml @@ -0,0 +1,15 @@ + + + + + + ( 0 2 0 2 ) + + 3 + + + torso-eb5-j0_2-mc + + + + diff --git a/ergoCubSN000/wrappers/motorControl/torso-mc_wrapper.xml b/ergoCubSN000/wrappers/motorControl/torso-mc_wrapper.xml new file mode 100644 index 0000000000..89cf257cd6 --- /dev/null +++ b/ergoCubSN000/wrappers/motorControl/torso-mc_wrapper.xml @@ -0,0 +1,10 @@ + + + + + /icub/torso + + torso-mc_remapper + + + diff --git a/ergoCubSN000/wrappers/skin/left_arm-skin_wrapper.xml b/ergoCubSN000/wrappers/skin/left_arm-skin_wrapper.xml new file mode 100644 index 0000000000..370a7c56ff --- /dev/null +++ b/ergoCubSN000/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/ergoCubSN000/wrappers/skin/left_leg-skin_wrapper.xml b/ergoCubSN000/wrappers/skin/left_leg-skin_wrapper.xml new file mode 100644 index 0000000000..560ce45c94 --- /dev/null +++ b/ergoCubSN000/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-eb9-skin + + + + + + diff --git a/ergoCubSN000/wrappers/skin/left_upperarm-skin_wrapper.xml b/ergoCubSN000/wrappers/skin/left_upperarm-skin_wrapper.xml new file mode 100644 index 0000000000..3ea1bc0772 --- /dev/null +++ b/ergoCubSN000/wrappers/skin/left_upperarm-skin_wrapper.xml @@ -0,0 +1,24 @@ + + + + + + 20 + 192 + skinWrapper + + + 0 191 0 191 + + + + + + left_upperarm-eb2-skin + + + + + + diff --git a/ergoCubSN000/wrappers/skin/right_arm-skin_wrapper.xml b/ergoCubSN000/wrappers/skin/right_arm-skin_wrapper.xml new file mode 100644 index 0000000000..2bcf052de9 --- /dev/null +++ b/ergoCubSN000/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/ergoCubSN000/wrappers/skin/right_leg-skin_wrapper.xml b/ergoCubSN000/wrappers/skin/right_leg-skin_wrapper.xml new file mode 100644 index 0000000000..4053a02745 --- /dev/null +++ b/ergoCubSN000/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-eb13-skin + + + + + + diff --git a/ergoCubSN000/wrappers/skin/right_upperarm-skin_wrapper.xml b/ergoCubSN000/wrappers/skin/right_upperarm-skin_wrapper.xml new file mode 100644 index 0000000000..7d0b62d6bc --- /dev/null +++ b/ergoCubSN000/wrappers/skin/right_upperarm-skin_wrapper.xml @@ -0,0 +1,24 @@ + + + + + + 20 + 192 + skinWrapper + + + 0 191 0 191 + + + + + + right_upperarm-eb4-skin + + + + + + diff --git a/ergoCubSN000/wrappers/skin/torso-skin_wrapper.xml b/ergoCubSN000/wrappers/skin/torso-skin_wrapper.xml new file mode 100644 index 0000000000..e8e696c2a4 --- /dev/null +++ b/ergoCubSN000/wrappers/skin/torso-skin_wrapper.xml @@ -0,0 +1,24 @@ + + + + + + 20 + 768 + skinWrapper + + + 0 767 0 767 + + + + + + torso-eb22-skin + + + + + + diff --git a/ergoCubSN000/yarpmotorgui.ini b/ergoCubSN000/yarpmotorgui.ini new file mode 100644 index 0000000000..3ec981b8b6 --- /dev/null +++ b/ergoCubSN000/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/ergoCubSN000/yarprobotinterface.ini b/ergoCubSN000/yarprobotinterface.ini new file mode 100644 index 0000000000..79751db316 --- /dev/null +++ b/ergoCubSN000/yarprobotinterface.ini @@ -0,0 +1,2 @@ +config ./ergocub_all.xml + From e35d5da46a17d49217cac5cb7e7c1e3818dc9223 Mon Sep 17 00:00:00 2001 From: tumme Date: Wed, 2 Mar 2022 19:06:11 +0100 Subject: [PATCH 2/2] cleanup --- ergoCubSN000/iCubStartup.xml | 90 ----------------------------------- ergoCubSN000/iKinGazeCtrl.ini | 11 ----- 2 files changed, 101 deletions(-) delete mode 100644 ergoCubSN000/iCubStartup.xml delete mode 100644 ergoCubSN000/iKinGazeCtrl.ini diff --git a/ergoCubSN000/iCubStartup.xml b/ergoCubSN000/iCubStartup.xml deleted file mode 100644 index 4559fe6b09..0000000000 --- a/ergoCubSN000/iCubStartup.xml +++ /dev/null @@ -1,90 +0,0 @@ - -iCubStartup - - - - - - yarplogger - --start --no_stop - console - - - - yarprobotinterface - pc104 - - - - iKinCartesianSolver - --from cartesianSolver.ini --part right_arm - console - - /icub/yarprobotinterface - - - - - iKinCartesianSolver - --from cartesianSolver.ini --part left_arm - console - - /icub/yarprobotinterface - - - - - iKinGazeCtrl - --from configv3.ini - console - - /icub/yarprobotinterface - /imuFilter/inertial:o - - - - - - wholeBodyDynamics - - --autoconnect - pwrNode6 - - /icub/yarprobotinterface - - - - - - gravityCompensator - - - pwrNode6 - - /wholeBodyDynamics/rpc:i - - - - - fingersTuner - console - - /icub/yarprobotinterface - - - - - imuFilter - pc104 - - /icub/inertial - - - - - /icub/inertial - /imuFilter/inertial:i - tcp - - - diff --git a/ergoCubSN000/iKinGazeCtrl.ini b/ergoCubSN000/iKinGazeCtrl.ini deleted file mode 100644 index f1db0b8ce8..0000000000 --- a/ergoCubSN000/iKinGazeCtrl.ini +++ /dev/null @@ -1,11 +0,0 @@ -robot icub -head_version 3.0 -saccades off - -[cameras] -context cameraCalibration -file icubEyes.ini - -[imu] -mode off -source_port_name /imuFilter