diff --git a/iCubAbuDhabi01/calibrators/head_calib.xml b/iCubAbuDhabi01/calibrators/head_calib.xml index 361b8f9697..f24772532f 100644 --- a/iCubAbuDhabi01/calibrators/head_calib.xml +++ b/iCubAbuDhabi01/calibrators/head_calib.xml @@ -6,33 +6,39 @@ 6 Head_Calibrator - + + + -40 0 0 0 0 0 + 10 10 10 10 10 10 + + 0 0 0 0 0 0 1333 1333 1333 600 500 500 40 40 40 -20 20 20 - 0 0 0 0 0 0 + 0 0 0 0 0 0 + 0.00 0.00 0.00 0.00 0.00 0.00 + 0.00 0.00 0.00 0.00 0.00 0.00 + 0.00 0.00 0.00 0.00 0.00 0.00 + 0.00 0.00 0.00 0.00 0.00 0.00 0 0 0 0 0 0 10 10 10 10 10 10 1300 1300 1330 1300 1300 1300 2 2 180 2 180 180 - - -40 0 0 0 0 0 - 10 10 10 10 10 10 - + (0) (1) (2 3) (5) (4) - head_mc_wrapper + head_mc_remapper - head_mc_wrapper + head_mc_remapper diff --git a/iCubAbuDhabi01/icub_all.xml b/iCubAbuDhabi01/icub_all.xml index f8143da4bd..b02d3523f2 100644 --- a/iCubAbuDhabi01/icub_all.xml +++ b/iCubAbuDhabi01/icub_all.xml @@ -3,7 +3,8 @@ - + + diff --git a/iCubHertfordshire01/wrappers/motorControl/head_mc_wrapper.xml b/iCubAbuDhabi01/wrappers/motorControl/head-mc_remapper.xml similarity index 58% rename from iCubHertfordshire01/wrappers/motorControl/head_mc_wrapper.xml rename to iCubAbuDhabi01/wrappers/motorControl/head-mc_remapper.xml index b219920b04..b3327e6dca 100644 --- a/iCubHertfordshire01/wrappers/motorControl/head_mc_wrapper.xml +++ b/iCubAbuDhabi01/wrappers/motorControl/head-mc_remapper.xml @@ -1,17 +1,15 @@ - + + - ( 0 5 0 5 ) + ( 0 5 0 5 ) - 10 - /icub/head - head - 6 + 6 head_mc - + diff --git a/iCubAbuDhabi01/wrappers/motorControl/head-mc_wrapper.xml b/iCubAbuDhabi01/wrappers/motorControl/head-mc_wrapper.xml new file mode 100644 index 0000000000..5d14888760 --- /dev/null +++ b/iCubAbuDhabi01/wrappers/motorControl/head-mc_wrapper.xml @@ -0,0 +1,10 @@ + + + + + /icub/head + + head_mc_remapper + + + diff --git a/iCubAbuDhabi01/wrappers/motorControl/head_mc_wrapper.xml b/iCubAbuDhabi01/wrappers/motorControl/head_mc_wrapper.xml deleted file mode 100644 index 0144ab6615..0000000000 --- a/iCubAbuDhabi01/wrappers/motorControl/head_mc_wrapper.xml +++ /dev/null @@ -1,16 +0,0 @@ - - - - ( 0 5 0 5 ) - - 10 - /icub/head - head - 6 - - - head_mc - - - - diff --git a/iCubChemnitz01/calibrators/head-calib.xml b/iCubChemnitz01/calibrators/head-calib.xml index 737f0e6c06..2fa826cac6 100644 --- a/iCubChemnitz01/calibrators/head-calib.xml +++ b/iCubChemnitz01/calibrators/head-calib.xml @@ -37,11 +37,11 @@ (0 1 2 3) (4) (5) - head-mc_wrapper + head-mc_remapper - head-mc_wrapper + head-mc_remapper diff --git a/iCubChemnitz01/calibrators/right_arm-calib.xml b/iCubChemnitz01/calibrators/right_arm-calib.xml index 3d75d48cd5..b2fa52ffe2 100644 --- a/iCubChemnitz01/calibrators/right_arm-calib.xml +++ b/iCubChemnitz01/calibrators/right_arm-calib.xml @@ -33,11 +33,11 @@ (0 1 2 3) (4) (5 6) (7) (8 9 11 13) (10 12 14 15) - right_arm-mc_wrapper + right_arm-mc_remapper - right_arm-mc_wrapper + right_arm-mc_remapper diff --git a/iCubChemnitz01/cartesian/right_arm-cartesian.xml b/iCubChemnitz01/cartesian/right_arm-cartesian.xml index 09f884026c..da03a68b92 100644 --- a/iCubChemnitz01/cartesian/right_arm-cartesian.xml +++ b/iCubChemnitz01/cartesian/right_arm-cartesian.xml @@ -35,7 +35,7 @@ - right_arm-mc_wrapper + right_arm-mc_remapper diff --git a/iCubChemnitz01/icub_all.xml b/iCubChemnitz01/icub_all.xml index 3630326f57..696d1ffb4e 100644 --- a/iCubChemnitz01/icub_all.xml +++ b/iCubChemnitz01/icub_all.xml @@ -13,24 +13,29 @@ --> + + + + + + + - - - + - + diff --git a/iCubChemnitz01/wrappers/motorControl/head-mc_remapper.xml b/iCubChemnitz01/wrappers/motorControl/head-mc_remapper.xml new file mode 100644 index 0000000000..615c771153 --- /dev/null +++ b/iCubChemnitz01/wrappers/motorControl/head-mc_remapper.xml @@ -0,0 +1,15 @@ + + + + + + ( 0 5 0 5 ) + + 6 + + + head-cfw2_can0-mc + + + + \ No newline at end of file diff --git a/iCubChemnitz01/wrappers/motorControl/head-mc_wrapper.xml b/iCubChemnitz01/wrappers/motorControl/head-mc_wrapper.xml index 3a95106d13..d8be3e65d6 100644 --- a/iCubChemnitz01/wrappers/motorControl/head-mc_wrapper.xml +++ b/iCubChemnitz01/wrappers/motorControl/head-mc_wrapper.xml @@ -1,18 +1,10 @@ - - - ( 0 5 0 5 ) - - 10 - /icub/head - head - 6 - - - head-cfw2_can0-mc - head-calibrator - + + + /icub/head + + head-mc_remapper - - + + \ No newline at end of file diff --git a/iCubChemnitz01/wrappers/motorControl/right_arm-mc_remapper.xml b/iCubChemnitz01/wrappers/motorControl/right_arm-mc_remapper.xml new file mode 100644 index 0000000000..b8471cf106 --- /dev/null +++ b/iCubChemnitz01/wrappers/motorControl/right_arm-mc_remapper.xml @@ -0,0 +1,21 @@ + + + + + + ( 0 3 0 3 ) + ( 4 7 0 3 ) + ( 8 11 0 3 ) + ( 12 15 0 3 ) + + 16 + + + right_arm-eb3-j0_3-mc + right_arm-eb27-j4_7-mc + right_arm-eb28-j8_11-mc + right_arm-eb29-j12_15-mc + + + + diff --git a/iCubChemnitz01/wrappers/motorControl/right_arm-mc_wrapper.xml b/iCubChemnitz01/wrappers/motorControl/right_arm-mc_wrapper.xml index 050efe2e3b..5f5c310d90 100644 --- a/iCubChemnitz01/wrappers/motorControl/right_arm-mc_wrapper.xml +++ b/iCubChemnitz01/wrappers/motorControl/right_arm-mc_wrapper.xml @@ -1,26 +1,10 @@ - - - - ( 0 3 0 3 ) - ( 4 7 0 3 ) - ( 8 11 0 3 ) - ( 12 15 0 3 ) - - 10 - /icub/right_arm - right_arm - 16 - - - - right_arm-eb3-j0_3-mc - right_arm-eb27-j4_7-mc - right_arm-eb28-j8_11-mc - right_arm-eb29-j12_15-mc - right_arm-calibrator - + + + /icub/right_arm + + right_arm-mc_remapper - - + + \ No newline at end of file diff --git a/iCubDarmstadt01/calibrators/head-calib.xml b/iCubDarmstadt01/calibrators/head-calib.xml index ef236c2973..e1690b2fc0 100644 --- a/iCubDarmstadt01/calibrators/head-calib.xml +++ b/iCubDarmstadt01/calibrators/head-calib.xml @@ -37,11 +37,11 @@ (0 1 2) (3) (4) (5) - head-mc_wrapper + head-mc_remapper - head-mc_wrapper + head-mc_remapper diff --git a/iCubDarmstadt01/calibrators/left_arm-calib.xml b/iCubDarmstadt01/calibrators/left_arm-calib.xml index 4dcc23dc3a..c689c2d08e 100644 --- a/iCubDarmstadt01/calibrators/left_arm-calib.xml +++ b/iCubDarmstadt01/calibrators/left_arm-calib.xml @@ -35,11 +35,11 @@ (0 1 2 3) (4) (5 6 7) (8 9 11 13) (10 12 14 15) - left_arm-mc_wrapper + left_arm-mc_remapper - left_arm-mc_wrapper + left_arm-mc_remapper diff --git a/iCubDarmstadt01/calibrators/left_leg-calib.xml b/iCubDarmstadt01/calibrators/left_leg-calib.xml index 9164576e6a..e303a12a6e 100644 --- a/iCubDarmstadt01/calibrators/left_leg-calib.xml +++ b/iCubDarmstadt01/calibrators/left_leg-calib.xml @@ -36,11 +36,11 @@ (0 1 2 3 4 5) - left_leg-mc_wrapper + left_leg-mc_remapper - left_leg-mc_wrapper + left_leg-mc_remapper diff --git a/iCubDarmstadt01/calibrators/right_arm-calib.xml b/iCubDarmstadt01/calibrators/right_arm-calib.xml index a3490e2a40..1e8ea5d2fd 100644 --- a/iCubDarmstadt01/calibrators/right_arm-calib.xml +++ b/iCubDarmstadt01/calibrators/right_arm-calib.xml @@ -35,11 +35,11 @@ (0 1 2 3) (4) (5 6 7) (8 9 11 13) (10 12 14 15) - right_arm-mc_wrapper + right_arm-mc_remapper - right_arm-mc_wrapper + right_arm-mc_remapper diff --git a/iCubDarmstadt01/calibrators/right_leg-calib.xml b/iCubDarmstadt01/calibrators/right_leg-calib.xml index 9258abe152..6697e1f5f6 100644 --- a/iCubDarmstadt01/calibrators/right_leg-calib.xml +++ b/iCubDarmstadt01/calibrators/right_leg-calib.xml @@ -36,11 +36,11 @@ (0 1 2 3 4 5) - right_leg-mc_wrapper + right_leg-mc_remapper - right_leg-mc_wrapper + right_leg-mc_remapper diff --git a/iCubDarmstadt01/calibrators/torso-calib.xml b/iCubDarmstadt01/calibrators/torso-calib.xml index 8e1144968a..c399659a3d 100644 --- a/iCubDarmstadt01/calibrators/torso-calib.xml +++ b/iCubDarmstadt01/calibrators/torso-calib.xml @@ -37,11 +37,11 @@ (0 1 2) - torso-mc_wrapper + torso-mc_remapper - torso-mc_wrapper + torso-mc_remapper diff --git a/iCubDarmstadt01/cartesian/left_arm-cartesian.xml b/iCubDarmstadt01/cartesian/left_arm-cartesian.xml index 2523b9dd72..24d6cc42dd 100644 --- a/iCubDarmstadt01/cartesian/left_arm-cartesian.xml +++ b/iCubDarmstadt01/cartesian/left_arm-cartesian.xml @@ -45,8 +45,8 @@ - torso-mc_wrapper - left_arm-mc_wrapper + torso-mc_remapper + left_arm-mc_remapper diff --git a/iCubDarmstadt01/cartesian/right_arm-cartesian.xml b/iCubDarmstadt01/cartesian/right_arm-cartesian.xml index ba7badb590..cff857f9de 100644 --- a/iCubDarmstadt01/cartesian/right_arm-cartesian.xml +++ b/iCubDarmstadt01/cartesian/right_arm-cartesian.xml @@ -45,8 +45,8 @@ - torso-mc_wrapper - right_arm-mc_wrapper + torso-mc_remapper + right_arm-mc_remapper diff --git a/iCubDarmstadt01/icub_all.xml b/iCubDarmstadt01/icub_all.xml index ec3f5e42f5..9eeee318a6 100644 --- a/iCubDarmstadt01/icub_all.xml +++ b/iCubDarmstadt01/icub_all.xml @@ -10,24 +10,34 @@ + + + + + + + + + + + + + + - - - - @@ -60,12 +70,10 @@ - - diff --git a/iCubDarmstadt01/wrappers/motorControl/head-mc_remapper.xml b/iCubDarmstadt01/wrappers/motorControl/head-mc_remapper.xml new file mode 100644 index 0000000000..615c771153 --- /dev/null +++ b/iCubDarmstadt01/wrappers/motorControl/head-mc_remapper.xml @@ -0,0 +1,15 @@ + + + + + + ( 0 5 0 5 ) + + 6 + + + head-cfw2_can0-mc + + + + \ No newline at end of file diff --git a/iCubDarmstadt01/wrappers/motorControl/head-mc_wrapper.xml b/iCubDarmstadt01/wrappers/motorControl/head-mc_wrapper.xml index 62d529bd9e..d8be3e65d6 100644 --- a/iCubDarmstadt01/wrappers/motorControl/head-mc_wrapper.xml +++ b/iCubDarmstadt01/wrappers/motorControl/head-mc_wrapper.xml @@ -1,19 +1,10 @@ - - - ( 0 1 0 1 ) - ( 2 5 0 3 ) - - 10 - /icub/head - head - 6 - - - head-cfw2_can0-mc - head-calibrator - + + + /icub/head + + head-mc_remapper - - + + \ No newline at end of file diff --git a/iCubDarmstadt01/wrappers/motorControl/left_arm-mc_remapper.xml b/iCubDarmstadt01/wrappers/motorControl/left_arm-mc_remapper.xml new file mode 100644 index 0000000000..7f52c0f618 --- /dev/null +++ b/iCubDarmstadt01/wrappers/motorControl/left_arm-mc_remapper.xml @@ -0,0 +1,17 @@ + + + + + + ( 0 3 0 3 ) + ( 4 15 0 11 ) + + 16 + + + left_arm-eb1-j0_3-mc + left_arm-eb2-j4_15-mc + + + + diff --git a/iCubDarmstadt01/wrappers/motorControl/left_arm-mc_wrapper.xml b/iCubDarmstadt01/wrappers/motorControl/left_arm-mc_wrapper.xml index 476f4538b4..1aa7deb3c1 100644 --- a/iCubDarmstadt01/wrappers/motorControl/left_arm-mc_wrapper.xml +++ b/iCubDarmstadt01/wrappers/motorControl/left_arm-mc_wrapper.xml @@ -1,22 +1,10 @@ - - - - ( 0 3 0 3 ) - ( 4 15 0 11 ) - - 10 - /icub/left_arm - left_arm - 16 - - - - left_arm-eb1-j0_3-mc - left_arm-eb2-j4_15-mc - left_arm-calibrator - + + + /icub/left_arm + + left_arm-mc_remapper - - + + \ No newline at end of file diff --git a/iCubDarmstadt01/wrappers/motorControl/left_leg-mc_remapper.xml b/iCubDarmstadt01/wrappers/motorControl/left_leg-mc_remapper.xml new file mode 100644 index 0000000000..a41f2596f1 --- /dev/null +++ b/iCubDarmstadt01/wrappers/motorControl/left_leg-mc_remapper.xml @@ -0,0 +1,16 @@ + + + + + ( 0 3 0 3 ) + ( 4 5 0 1 ) + + 6 + + + left_leg-eb6-j0_3-mc + left_leg-eb7-j4_5-mc + + + + diff --git a/iCubDarmstadt01/wrappers/motorControl/left_leg-mc_wrapper.xml b/iCubDarmstadt01/wrappers/motorControl/left_leg-mc_wrapper.xml index 3bba248b53..e3d5597d1f 100644 --- a/iCubDarmstadt01/wrappers/motorControl/left_leg-mc_wrapper.xml +++ b/iCubDarmstadt01/wrappers/motorControl/left_leg-mc_wrapper.xml @@ -1,22 +1,10 @@ - - - - ( 0 3 0 3 ) - ( 4 5 0 1 ) - - 10 - /icub/left_leg - left_leg - 6 - - - - left_leg-eb6-j0_3-mc - left_leg-eb7-j4_5-mc - left_leg-calibrator - + + + /icub/left_leg + + left_leg-mc_remapper - - + + \ No newline at end of file diff --git a/iCubDarmstadt01/wrappers/motorControl/right_arm-mc_remapper.xml b/iCubDarmstadt01/wrappers/motorControl/right_arm-mc_remapper.xml new file mode 100644 index 0000000000..ae6fea0041 --- /dev/null +++ b/iCubDarmstadt01/wrappers/motorControl/right_arm-mc_remapper.xml @@ -0,0 +1,17 @@ + + + + + + ( 0 3 0 3 ) + ( 4 15 0 11 ) + + 16 + + + right_arm-eb3-j0_3-mc + right_arm-eb4-j4_15-mc + + + + diff --git a/iCubDarmstadt01/wrappers/motorControl/right_arm-mc_wrapper.xml b/iCubDarmstadt01/wrappers/motorControl/right_arm-mc_wrapper.xml index f54863a88e..5f5c310d90 100644 --- a/iCubDarmstadt01/wrappers/motorControl/right_arm-mc_wrapper.xml +++ b/iCubDarmstadt01/wrappers/motorControl/right_arm-mc_wrapper.xml @@ -1,22 +1,10 @@ - - - - ( 0 3 0 3 ) - ( 4 15 0 11 ) - - 10 - /icub/right_arm - right_arm - 16 - - - - right_arm-eb3-j0_3-mc - right_arm-eb4-j4_15-mc - right_arm-calibrator - + + + /icub/right_arm + + right_arm-mc_remapper - - + + \ No newline at end of file diff --git a/iCubDarmstadt01/wrappers/motorControl/right_leg-mc_remapper.xml b/iCubDarmstadt01/wrappers/motorControl/right_leg-mc_remapper.xml new file mode 100644 index 0000000000..93c08a3202 --- /dev/null +++ b/iCubDarmstadt01/wrappers/motorControl/right_leg-mc_remapper.xml @@ -0,0 +1,16 @@ + + + + + ( 0 3 0 3 ) + ( 4 5 0 1 ) + + 6 + + + right_leg-eb8-j0_3-mc + right_leg-eb9-j4_5-mc + + + + diff --git a/iCubDarmstadt01/wrappers/motorControl/right_leg-mc_wrapper.xml b/iCubDarmstadt01/wrappers/motorControl/right_leg-mc_wrapper.xml index 77202c394c..59b9e6500b 100644 --- a/iCubDarmstadt01/wrappers/motorControl/right_leg-mc_wrapper.xml +++ b/iCubDarmstadt01/wrappers/motorControl/right_leg-mc_wrapper.xml @@ -1,22 +1,10 @@ - - - - ( 0 3 0 3 ) - ( 4 5 0 1 ) - - 10 - /icub/right_leg - right_leg - 6 - - - - right_leg-eb8-j0_3-mc - right_leg-eb9-j4_5-mc - right_leg-calibrator - + + + /icub/right_leg + + right_leg-mc_remapper - - + + \ No newline at end of file diff --git a/iCubDarmstadt01/wrappers/motorControl/torso-mc_remapper.xml b/iCubDarmstadt01/wrappers/motorControl/torso-mc_remapper.xml new file mode 100644 index 0000000000..68c2555293 --- /dev/null +++ b/iCubDarmstadt01/wrappers/motorControl/torso-mc_remapper.xml @@ -0,0 +1,15 @@ + + + + + + ( 0 2 0 2 ) + + 3 + + + torso-eb5-j0_2-mc + + + + diff --git a/iCubDarmstadt01/wrappers/motorControl/torso-mc_wrapper.xml b/iCubDarmstadt01/wrappers/motorControl/torso-mc_wrapper.xml index 76889ad360..89cf257cd6 100644 --- a/iCubDarmstadt01/wrappers/motorControl/torso-mc_wrapper.xml +++ b/iCubDarmstadt01/wrappers/motorControl/torso-mc_wrapper.xml @@ -1,20 +1,10 @@ - - - - ( 0 2 0 2 ) - - 10 - /icub/torso - torso - 3 - - - - torso-eb5-j0_2-mc - torso-calibrator - + + + /icub/torso + + torso-mc_remapper - + diff --git a/iCubFrankfurt01/calibrators/head_calib.xml b/iCubFrankfurt01/calibrators/head_calib.xml index 84a4c4b4c8..823ea4d54d 100644 --- a/iCubFrankfurt01/calibrators/head_calib.xml +++ b/iCubFrankfurt01/calibrators/head_calib.xml @@ -8,31 +8,37 @@ Head_Calibrator + + -40 0 0 0 0 0 + 10 10 10 10 10 10 + + 0 0 0 0 0 0 1333 1333 1333 600 500 500 40 40 40 -20 20 20 - 0 0 0 0 0 0 + 0 0 0 0 0 0 + 0.00 0.00 0.00 0.00 0.00 0.00 + 0.00 0.00 0.00 0.00 0.00 0.00 + 0.00 0.00 0.00 0.00 0.00 0.00 + 0.00 0.00 0.00 0.00 0.00 0.00 0 0 0 0 0 0 10 10 10 10 10 10 1300 1300 1300 1300 1300 1300 2 2 180 2 180 180 - - -40 0 0 0 0 0 - 10 10 10 10 10 10 - + (0) (1) (2 3) (5) (4) - head_mc_wrapper + head-mc_remapper - head_mc_wrapper + head-mc_remapper diff --git a/iCubFrankfurt01/icub_all.xml b/iCubFrankfurt01/icub_all.xml index 6ac2c7feb1..03c83c6821 100644 --- a/iCubFrankfurt01/icub_all.xml +++ b/iCubFrankfurt01/icub_all.xml @@ -3,7 +3,8 @@ - + + diff --git a/iCubFrankfurt01/wrappers/motorControl/head-mc_remapper.xml b/iCubFrankfurt01/wrappers/motorControl/head-mc_remapper.xml new file mode 100644 index 0000000000..2ecf8ef188 --- /dev/null +++ b/iCubFrankfurt01/wrappers/motorControl/head-mc_remapper.xml @@ -0,0 +1,15 @@ + + + + + + ( 0 5 0 5 ) + + 6 + + + head_mc + + + + diff --git a/iCubFrankfurt01/wrappers/motorControl/head-mc_wrapper.xml b/iCubFrankfurt01/wrappers/motorControl/head-mc_wrapper.xml new file mode 100644 index 0000000000..ba077316af --- /dev/null +++ b/iCubFrankfurt01/wrappers/motorControl/head-mc_wrapper.xml @@ -0,0 +1,10 @@ + + + + + /icub/head + + head-mc_remapper + + + diff --git a/iCubFrankfurt01/wrappers/motorControl/head_mc_wrapper.xml b/iCubFrankfurt01/wrappers/motorControl/head_mc_wrapper.xml deleted file mode 100644 index 76e9bc8096..0000000000 --- a/iCubFrankfurt01/wrappers/motorControl/head_mc_wrapper.xml +++ /dev/null @@ -1,18 +0,0 @@ - - - - - ( 0 5 0 5 ) - - 10 - /icub/head - head - 6 - - - head_mc - head_calibrator - - - - diff --git a/iCubHertfordshire01/calibrators/head_calib.xml b/iCubHertfordshire01/calibrators/head_calib.xml index b89604bd8b..8341a6ea1c 100644 --- a/iCubHertfordshire01/calibrators/head_calib.xml +++ b/iCubHertfordshire01/calibrators/head_calib.xml @@ -1,38 +1,45 @@ - + + 6 Head_Calibrator + + + -30 0 0 0 0 0 + 10 10 10 10 10 10 + + 3 3 3 3 0 0 2047.5 2047.5 2047.5 2047.5 900 900 10 10 10 10 20 20 - 969.15 3327.188 3806.075 411.775 0 0 + 969.15 3327.188 3806.075 411.775 0 0 + 0.00 0.00 0.00 0.00 0.00 0.00 + 0.00 0.00 0.00 0.00 0.00 0.00 + 0.00 0.00 0.00 0.00 0.00 0.00 + 0.00 0.00 0.00 0.00 0.00 0.00 0 0 0 0 0 0 10 10 10 10 10 10 120 120 0 0 0 0 2 2 2 2 2 2 - - - -30 0 0 0 0 0 - 10 10 10 10 10 10 - + (0 1 2 3) (4) (5) - head_mc_wrapper + head-mc_remapper - head_mc_wrapper + head-mc_remapper diff --git a/iCubHertfordshire01/calibrators/left_arm_calib.xml b/iCubHertfordshire01/calibrators/left_arm_calib.xml index 9795e74437..2589b70cab 100644 --- a/iCubHertfordshire01/calibrators/left_arm_calib.xml +++ b/iCubHertfordshire01/calibrators/left_arm_calib.xml @@ -1,38 +1,45 @@ - - - + + + + 8 Left_Arm_Calibrator - + + + -30 30 0 45 0 0 40 15 + 10 10 10 10 30 30 30 100 + + 3 3 3 3 0 2 2 3 2388.75 3241.875 -275.933 1535.625 1000 750 750 1780 10 10 10 10 20 -10 -10 100 - 1248.975 2327.325 388.7406 1179.588 0 0 0 0 + 1248.975 2327.325 388.7406 1179.588 0 0 0 0 + 0.00 0.00 0.00 0.00 0.00 0.00 + 0.00 0.00 0.00 0.00 0.00 0.00 + 0.00 0.00 0.00 0.00 0.00 0.00 + 0.00 0.00 0.00 0.00 0.00 0.00 -30 30 0 45 0 0 0 15 10 10 10 10 30 30 30 100 120 120 120 120 0 0 0 0 2 2 2 2 2 2 90 90 - - -30 30 0 45 0 0 40 15 - 10 10 10 10 30 30 30 100 - + (0 1 2 3) (4 6 7) (5) - left_arm_mc + left_arm-mc_remapper - left_arm_mc + left_arm-mc_remapper diff --git a/iCubHertfordshire01/calibrators/left_hand_calib.xml b/iCubHertfordshire01/calibrators/left_hand_calib.xml index c0350e4502..4914e93acd 100644 --- a/iCubHertfordshire01/calibrators/left_hand_calib.xml +++ b/iCubHertfordshire01/calibrators/left_hand_calib.xml @@ -1,29 +1,36 @@ - - - + + + + 8 Left_Hand_Calibrator + + 90 3 0 0 0 0 0 0 + 10 10 10 10 10 10 10 10 + + 3 4 4 4 4 4 4 4 622.22 254 50 255 25 255 60 755 10 10 30 10 10 10 10 10 - 0 6000 6600 6000 7400 6000 -7400 -14000 + 0 6000 6600 6000 7400 6000 -7400 -14000 + 0.00 0.00 0.00 0.00 0.00 0.00 + 0.00 0.00 0.00 0.00 0.00 0.00 + 0.00 0.00 0.00 0.00 0.00 0.00 + 0.00 0.00 0.00 0.00 0.00 0.00 30 3 0 0 0 0 0 0 100 100 100 100 100 100 100 100 0 0 0 0 0 0 0 0 90 90 90 90 90 90 90 90 - - 90 3 0 0 0 0 0 0 - 10 10 10 10 10 10 10 10 - + (0 1 3 5) (2 4 6 7) diff --git a/iCubHertfordshire01/calibrators/left_leg_calib.xml b/iCubHertfordshire01/calibrators/left_leg_calib.xml index f18016163f..911effffaf 100644 --- a/iCubHertfordshire01/calibrators/left_leg_calib.xml +++ b/iCubHertfordshire01/calibrators/left_leg_calib.xml @@ -1,38 +1,45 @@ - - - + + + + 6 Left_Leg_Calibrator + + 0 0 0 0 0 0 + 10 10 10 10 10 10 + + 3 3 3 3 3 3 2047.5 2047.5 2047.5 2047.5 2047.5 2047.5 10 10 10 10 10 10 - 2724.313 2549.138 1051.05 117.1625 2361.45 1635.725 + 2724.313 2549.138 1051.05 117.1625 2361.45 1635.725 + 0.00 0.00 0.00 0.00 0.00 0.00 + 0.00 0.00 0.00 0.00 0.00 0.00 + 0.00 0.00 0.00 0.00 0.00 0.00 + 0.00 0.00 0.00 0.00 0.00 0.00 0 0 0 0 0 0 10 10 10 10 10 10 120 120 120 120 120 120 2 2 2 2 2 2 - - 0 0 0 0 0 0 - 10 10 10 10 10 10 - + (0 1 2 3 4 5) - left_leg_mc_wrapper + left_leg-mc_remapper - left_leg_mc_wrapper + left_leg-mc_remapper diff --git a/iCubHertfordshire01/calibrators/right_arm_calib.xml b/iCubHertfordshire01/calibrators/right_arm_calib.xml index 7d391157a1..c0592170a1 100644 --- a/iCubHertfordshire01/calibrators/right_arm_calib.xml +++ b/iCubHertfordshire01/calibrators/right_arm_calib.xml @@ -1,38 +1,45 @@ - - - + + + + 8 Right_Arm_Calibrator + + -30 30 0 45 0 0 40 15 + 10 10 10 10 30 10 10 100 + + 3 3 3 3 0 2 2 3 1706.25 853.13 2795.32 2559.38 900.00 750.00 750.00 1700.00 10.00 10.00 10.00 10.00 -20.00 10.00 10.00 100.00 - 3584.26 309.40 2265.62 779.19 0.00 0.00 0.00 0.00 + 3584.26 309.40 2265.62 779.19 0.00 0.00 0.00 0.00 + 0.00 0.00 0.00 0.00 0.00 0.00 + 0.00 0.00 0.00 0.00 0.00 0.00 + 0.00 0.00 0.00 0.00 0.00 0.00 + 0.00 0.00 0.00 0.00 0.00 0.00 -30 30 0 45 0 0 0 15 10 10 10 10 30 10 10 100 120 120 120 120 0 0 0 0 2 2 2 2 2 2 90 90 - - -30 30 0 45 0 0 40 15 - 10 10 10 10 30 10 10 100 - + (0 1 2 3) (4 6 7) (5) - right_arm_mc + right_arm-mc_remapper - right_arm_mc + right_arm-mc_remapper diff --git a/iCubHertfordshire01/calibrators/right_hand_calib.xml b/iCubHertfordshire01/calibrators/right_hand_calib.xml index 12ad70eb6d..e30fdebe8e 100644 --- a/iCubHertfordshire01/calibrators/right_hand_calib.xml +++ b/iCubHertfordshire01/calibrators/right_hand_calib.xml @@ -1,29 +1,36 @@ - - - + + + + 8 Right_Hand_Calibrator + + 90 3 0 0 0 0 0 0 + 10 10 10 10 10 10 10 10 + + 3 4 4 4 4 4 4 4 786.11 240.00 25.00 245.00 50.00 250.00 70.00 765.00 10.00 10.00 30.00 10.00 10.00 10.00 10.00 10.00 - 0.00 6000.00 8000.00 6000.00 -7400.00 6000.00 7400.00 14000.00 + 0.00 6000.00 8000.00 6000.00 -7400.00 6000.00 7400.00 14000.00 + 0.00 0.00 0.00 0.00 0.00 0.00 + 0.00 0.00 0.00 0.00 0.00 0.00 + 0.00 0.00 0.00 0.00 0.00 0.00 + 0.00 0.00 0.00 0.00 0.00 0.00 30 3 0 0 0 0 0 0 100 100 100 100 100 100 100 100 0 0 0 0 0 0 0 0 90 90 90 90 90 90 90 90 - - 90 3 0 0 0 0 0 0 - 10 10 10 10 10 10 10 10 - + (0 1 3 5) (2 4 6 7) diff --git a/iCubHertfordshire01/calibrators/right_leg_calib.xml b/iCubHertfordshire01/calibrators/right_leg_calib.xml index 240ff24de6..ba9117bb87 100644 --- a/iCubHertfordshire01/calibrators/right_leg_calib.xml +++ b/iCubHertfordshire01/calibrators/right_leg_calib.xml @@ -1,38 +1,45 @@ - - - + + + + 6 Right_Leg_Calibrator + + 0 0 0 0 0 0 + 10 10 10 10 10 10 + + 3 3 3 3 3 3 2047.5 2047.5 2047.5 2047.5 2047.5 2047.5 10 10 10 10 10 10 - 2144.188 100.1 3068.975 800.8 1936.025 1755.163 + 2144.188 100.1 3068.975 800.8 1936.025 1755.163 + 0.00 0.00 0.00 0.00 0.00 0.00 + 0.00 0.00 0.00 0.00 0.00 0.00 + 0.00 0.00 0.00 0.00 0.00 0.00 + 0.00 0.00 0.00 0.00 0.00 0.00 0 0 0 0 0 0 10 10 10 10 10 10 120 120 120 120 120 120 2 2 2 2 2 2 - - 0 0 0 0 0 0 - 10 10 10 10 10 10 - + (0 1 2 3 4 5) - right_leg_mc_wrapper + right_leg-mc_remapper - right_leg_mc_wrapper + right_leg-mc_remapper diff --git a/iCubHertfordshire01/calibrators/torso_calib.xml b/iCubHertfordshire01/calibrators/torso_calib.xml index c3b42bde22..b18d5580a8 100644 --- a/iCubHertfordshire01/calibrators/torso_calib.xml +++ b/iCubHertfordshire01/calibrators/torso_calib.xml @@ -1,38 +1,45 @@ - - - + + + + 4 Torso_Calibrator + + 0 0 -20 0 + 10 10 10 0 + + 3 3 3 0 2047.5 2047.5 2047.5 0 10 10 10 0 3787.875 3464.825 1622.075 0 + 0.00 0.00 0.00 0.00 0.00 0.00 + 0.00 0.00 0.00 0.00 0.00 0.00 + 0.00 0.00 0.00 0.00 0.00 0.00 + 0.00 0.00 0.00 0.00 0.00 0.00 0 0 0 0 10 10 10 0 120 120 120 0 2 2 2 2 - - 0 0 -20 0 - 10 10 10 0 - + (0 1 2) - torso_mc_wrapper + torso-mc_remapper - torso_mc_wrapper + torso-mc_remapper diff --git a/iCubHertfordshire01/cartesian/left_arm_cartesian.xml b/iCubHertfordshire01/cartesian/left_arm_cartesian.xml index ba428471d8..3132b14fa1 100644 --- a/iCubHertfordshire01/cartesian/left_arm_cartesian.xml +++ b/iCubHertfordshire01/cartesian/left_arm_cartesian.xml @@ -44,8 +44,8 @@ - torso_mc_wrapper - left_arm_mc_wrapper + torso-mc_remapper + left_arm-mc_remapper diff --git a/iCubHertfordshire01/cartesian/right_arm_cartesian.xml b/iCubHertfordshire01/cartesian/right_arm_cartesian.xml index 4040705fb6..6d4c06a056 100644 --- a/iCubHertfordshire01/cartesian/right_arm_cartesian.xml +++ b/iCubHertfordshire01/cartesian/right_arm_cartesian.xml @@ -44,8 +44,8 @@ - torso_mc_wrapper - right_arm_mc_wrapper + torso-mc_remapper + right_arm-mc_remapper diff --git a/iCubHertfordshire01/icub_all.xml b/iCubHertfordshire01/icub_all.xml index 532de84795..b7e84abf19 100644 --- a/iCubHertfordshire01/icub_all.xml +++ b/iCubHertfordshire01/icub_all.xml @@ -7,12 +7,18 @@ - - - - - - + + + + + + + + + + + + diff --git a/iCubHertfordshire01/wrappers/motorControl/head-mc_remapper.xml b/iCubHertfordshire01/wrappers/motorControl/head-mc_remapper.xml new file mode 100644 index 0000000000..2ecf8ef188 --- /dev/null +++ b/iCubHertfordshire01/wrappers/motorControl/head-mc_remapper.xml @@ -0,0 +1,15 @@ + + + + + + ( 0 5 0 5 ) + + 6 + + + head_mc + + + + diff --git a/iCubHertfordshire01/wrappers/motorControl/head-mc_wrapper.xml b/iCubHertfordshire01/wrappers/motorControl/head-mc_wrapper.xml new file mode 100644 index 0000000000..ba077316af --- /dev/null +++ b/iCubHertfordshire01/wrappers/motorControl/head-mc_wrapper.xml @@ -0,0 +1,10 @@ + + + + + /icub/head + + head-mc_remapper + + + diff --git a/iCubHertfordshire01/wrappers/motorControl/left_arm_mc_wrapper.xml b/iCubHertfordshire01/wrappers/motorControl/left_arm-mc_remapper.xml similarity index 63% rename from iCubHertfordshire01/wrappers/motorControl/left_arm_mc_wrapper.xml rename to iCubHertfordshire01/wrappers/motorControl/left_arm-mc_remapper.xml index f0053ddfce..b153e07c3c 100644 --- a/iCubHertfordshire01/wrappers/motorControl/left_arm_mc_wrapper.xml +++ b/iCubHertfordshire01/wrappers/motorControl/left_arm-mc_remapper.xml @@ -1,19 +1,17 @@ - + + ( 0 7 0 7 ) ( 8 15 0 7 ) - 10 - /icub/left_arm - left_arm - 16 + 16 - left_arm_mc + left_arm_mc left_hand_mc - + diff --git a/iCubHertfordshire01/wrappers/motorControl/left_arm-mc_wrapper.xml b/iCubHertfordshire01/wrappers/motorControl/left_arm-mc_wrapper.xml new file mode 100644 index 0000000000..a1ed7d1be6 --- /dev/null +++ b/iCubHertfordshire01/wrappers/motorControl/left_arm-mc_wrapper.xml @@ -0,0 +1,10 @@ + + + + + /icub/left_arm + + left_arm-mc_remapper + + + diff --git a/iCubHertfordshire01/wrappers/motorControl/left_leg_mc_wrapper.xml b/iCubHertfordshire01/wrappers/motorControl/left_leg-mc_remapper.xml similarity index 70% rename from iCubHertfordshire01/wrappers/motorControl/left_leg_mc_wrapper.xml rename to iCubHertfordshire01/wrappers/motorControl/left_leg-mc_remapper.xml index 4d7f837eed..04e89de94d 100644 --- a/iCubHertfordshire01/wrappers/motorControl/left_leg_mc_wrapper.xml +++ b/iCubHertfordshire01/wrappers/motorControl/left_leg-mc_remapper.xml @@ -1,17 +1,14 @@ - + ( 0 5 0 5 ) - 10 - /icub/left_leg - left_leg 6 left_leg_mc - + diff --git a/iCubHertfordshire01/wrappers/motorControl/left_leg-mc_wrapper.xml b/iCubHertfordshire01/wrappers/motorControl/left_leg-mc_wrapper.xml new file mode 100644 index 0000000000..64e5ab7e13 --- /dev/null +++ b/iCubHertfordshire01/wrappers/motorControl/left_leg-mc_wrapper.xml @@ -0,0 +1,10 @@ + + + + + /icub/left_leg + + left_leg-mc_remapper + + + diff --git a/iCubHertfordshire01/wrappers/motorControl/right_arm_mc_wrapper.xml b/iCubHertfordshire01/wrappers/motorControl/right_arm-mc_remapper.xml similarity index 63% rename from iCubHertfordshire01/wrappers/motorControl/right_arm_mc_wrapper.xml rename to iCubHertfordshire01/wrappers/motorControl/right_arm-mc_remapper.xml index 3bc291da52..8354c4b8f6 100644 --- a/iCubHertfordshire01/wrappers/motorControl/right_arm_mc_wrapper.xml +++ b/iCubHertfordshire01/wrappers/motorControl/right_arm-mc_remapper.xml @@ -1,19 +1,17 @@ - + + ( 0 7 0 7 ) ( 8 15 0 7 ) - 10 - /icub/right_arm - right_arm - 16 + 16 - right_arm_mc + right_arm_mc right_hand_mc - + diff --git a/iCubHertfordshire01/wrappers/motorControl/right_arm-mc_wrapper.xml b/iCubHertfordshire01/wrappers/motorControl/right_arm-mc_wrapper.xml new file mode 100644 index 0000000000..15bc4d3c12 --- /dev/null +++ b/iCubHertfordshire01/wrappers/motorControl/right_arm-mc_wrapper.xml @@ -0,0 +1,10 @@ + + + + + /icub/right_arm + + right_arm-mc_remapper + + + diff --git a/iCubHertfordshire01/wrappers/motorControl/right_leg_mc_wrapper.xml b/iCubHertfordshire01/wrappers/motorControl/right_leg-mc_remapper.xml similarity index 50% rename from iCubHertfordshire01/wrappers/motorControl/right_leg_mc_wrapper.xml rename to iCubHertfordshire01/wrappers/motorControl/right_leg-mc_remapper.xml index caba75b19c..a50e5a5c11 100644 --- a/iCubHertfordshire01/wrappers/motorControl/right_leg_mc_wrapper.xml +++ b/iCubHertfordshire01/wrappers/motorControl/right_leg-mc_remapper.xml @@ -1,17 +1,14 @@ - + - ( 0 5 0 5 ) + ( 0 5 0 5 ) - 10 - /icub/right_leg - right_leg - 6 + 6 - right_leg_mc + right_leg_mc - + diff --git a/iCubHertfordshire01/wrappers/motorControl/right_leg-mc_wrapper.xml b/iCubHertfordshire01/wrappers/motorControl/right_leg-mc_wrapper.xml new file mode 100644 index 0000000000..63ef3cb4a7 --- /dev/null +++ b/iCubHertfordshire01/wrappers/motorControl/right_leg-mc_wrapper.xml @@ -0,0 +1,10 @@ + + + + + /icub/right_leg + + right_leg-mc_remapper + + + diff --git a/iCubHertfordshire01/wrappers/motorControl/torso_mc_wrapper.xml b/iCubHertfordshire01/wrappers/motorControl/torso-mc_remapper.xml similarity index 62% rename from iCubHertfordshire01/wrappers/motorControl/torso_mc_wrapper.xml rename to iCubHertfordshire01/wrappers/motorControl/torso-mc_remapper.xml index 8984acb3a7..21dabf94fa 100644 --- a/iCubHertfordshire01/wrappers/motorControl/torso_mc_wrapper.xml +++ b/iCubHertfordshire01/wrappers/motorControl/torso-mc_remapper.xml @@ -1,17 +1,15 @@ - + + ( 0 2 0 2 ) - 10 - /icub/torso - torso 3 torso_mc - + diff --git a/iCubHertfordshire01/wrappers/motorControl/torso-mc_wrapper.xml b/iCubHertfordshire01/wrappers/motorControl/torso-mc_wrapper.xml new file mode 100644 index 0000000000..89cf257cd6 --- /dev/null +++ b/iCubHertfordshire01/wrappers/motorControl/torso-mc_wrapper.xml @@ -0,0 +1,10 @@ + + + + + /icub/torso + + torso-mc_remapper + + + diff --git a/iCubHertfordshire02/calibrators/head_calib.xml b/iCubHertfordshire02/calibrators/head_calib.xml index 94ac898a51..8a5fbbdcd4 100644 --- a/iCubHertfordshire02/calibrators/head_calib.xml +++ b/iCubHertfordshire02/calibrators/head_calib.xml @@ -1,37 +1,45 @@ - + + - + + 6 Head_Calibrator + + -40 0 0 0 0 0 + 10 10 10 10 10 10 + + 0 0 0 0 0 0 500 1333 1333 600 500 500 20 20 20 -20 20 20 - 0 0 0 0 0 0 + 0 0 0 0 0 0 + 0.00 0.00 0.00 0.00 0.00 0.00 + 0.00 0.00 0.00 0.00 0.00 0.00 + 0.00 0.00 0.00 0.00 0.00 0.00 + 0.00 0.00 0.00 0.00 0.00 0.00 20 0 0 0 0 0 10 10 10 10 10 10 0 0 0 0 0 0 2 2 2 2 2 2 - - -40 0 0 0 0 0 - 10 10 10 10 10 10 - + (0 1 2 3) (4) (5) - head_mc_wrapper + head-mc_remapper - head_mc_wrapper + head-mc_remapper diff --git a/iCubHertfordshire02/icub_all.xml b/iCubHertfordshire02/icub_all.xml index 1faa7da804..56e8b1d8f3 100644 --- a/iCubHertfordshire02/icub_all.xml +++ b/iCubHertfordshire02/icub_all.xml @@ -4,7 +4,8 @@ - + + diff --git a/iCubHertfordshire02/wrappers/motorControl/head-mc_remapper.xml b/iCubHertfordshire02/wrappers/motorControl/head-mc_remapper.xml new file mode 100644 index 0000000000..2ecf8ef188 --- /dev/null +++ b/iCubHertfordshire02/wrappers/motorControl/head-mc_remapper.xml @@ -0,0 +1,15 @@ + + + + + + ( 0 5 0 5 ) + + 6 + + + head_mc + + + + diff --git a/iCubHertfordshire02/wrappers/motorControl/head-mc_wrapper.xml b/iCubHertfordshire02/wrappers/motorControl/head-mc_wrapper.xml new file mode 100644 index 0000000000..06e2825805 --- /dev/null +++ b/iCubHertfordshire02/wrappers/motorControl/head-mc_wrapper.xml @@ -0,0 +1,10 @@ + + + + + /icub/head + + head-mc_remapper + + + diff --git a/iCubHertfordshire02/wrappers/motorControl/head_mc_wrapper.xml b/iCubHertfordshire02/wrappers/motorControl/head_mc_wrapper.xml deleted file mode 100644 index 0144ab6615..0000000000 --- a/iCubHertfordshire02/wrappers/motorControl/head_mc_wrapper.xml +++ /dev/null @@ -1,16 +0,0 @@ - - - - ( 0 5 0 5 ) - - 10 - /icub/head - head - 6 - - - head_mc - - - -