diff --git a/all_robots.xml b/all_robots.xml index 506eded23b..1f4ef6d325 100644 --- a/all_robots.xml +++ b/all_robots.xml @@ -64,4 +64,5 @@ + diff --git a/iCubPrague01/CMakeLists.txt b/iCubPrague01/CMakeLists.txt new file mode 100644 index 0000000000..a4446ae734 --- /dev/null +++ b/iCubPrague01/CMakeLists.txt @@ -0,0 +1,13 @@ +set(appname iCubPrague01) + +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 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 estimators DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname}) diff --git a/iCubPrague01/calib_all_joints.xml b/iCubPrague01/calib_all_joints.xml new file mode 100644 index 0000000000..bc43454b13 --- /dev/null +++ b/iCubPrague01/calib_all_joints.xml @@ -0,0 +1,64 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/iCubPrague01/calib_head.xml b/iCubPrague01/calib_head.xml new file mode 100644 index 0000000000..9f6ba34b10 --- /dev/null +++ b/iCubPrague01/calib_head.xml @@ -0,0 +1,25 @@ + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/iCubPrague01/calib_lowerbody.xml b/iCubPrague01/calib_lowerbody.xml new file mode 100644 index 0000000000..b063cf2155 --- /dev/null +++ b/iCubPrague01/calib_lowerbody.xml @@ -0,0 +1,34 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/iCubPrague01/calib_torso.xml b/iCubPrague01/calib_torso.xml new file mode 100644 index 0000000000..bd2286e6bf --- /dev/null +++ b/iCubPrague01/calib_torso.xml @@ -0,0 +1,22 @@ + + + + + + + + + + + + + + + + + + + + + + diff --git a/iCubPrague01/calib_upperbody.xml b/iCubPrague01/calib_upperbody.xml new file mode 100644 index 0000000000..5d3fdd7b5b --- /dev/null +++ b/iCubPrague01/calib_upperbody.xml @@ -0,0 +1,48 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/iCubPrague01/calibrators/face-calib.xml b/iCubPrague01/calibrators/face-calib.xml new file mode 100644 index 0000000000..6c7f8feda3 --- /dev/null +++ b/iCubPrague01/calibrators/face-calib.xml @@ -0,0 +1,61 @@ + + + + + + + + + + 1 + FaceV3_Calibrator + + + + 0 + 10 + + + + + + 12 + + 282 + 0 + 0 + + 0 + 0 + + 0 + 0 + + 0 + 10 + 3360 + 90 + + + + (0) + + + face-mc_wrapper + + + + face-mc_wrapper + + + + + + diff --git a/iCubPrague01/calibrators/head-calib.xml b/iCubPrague01/calibrators/head-calib.xml new file mode 100644 index 0000000000..66a3322d34 --- /dev/null +++ b/iCubPrague01/calibrators/head-calib.xml @@ -0,0 +1,50 @@ + + + + + + + + + + 6 + HeadV3_Calibrator + + + + 0 0 0 0 0 0 + 10 10 10 10 10 10 + + + + + + 12 12 12 12 5 5 + 64975 45999 13119 47103 3000 3000 + 0 0 0 0 8192 8192 + 0 0 0 0 0 0 + 0 0 0 0 0 0 + 0 0 0 0 0 0 + 0 0 0 0 0 0 + 0 0 0 0 -3.6 -3.6 + + 0 0 0 0 0 0 + 10 10 20 20 20 20 + 3000 3000 3000 3000 0 0 + 90 90 2 2 2 2 + + + (0 1 2) (3) (4 5) + + + head-mc_wrapper + + + + head-mc_wrapper + + + + + + diff --git a/iCubPrague01/calibrators/left_arm-calib.xml b/iCubPrague01/calibrators/left_arm-calib.xml new file mode 100644 index 0000000000..91fce6d0b8 --- /dev/null +++ b/iCubPrague01/calibrators/left_arm-calib.xml @@ -0,0 +1,50 @@ + + + + + + + + + 16 + Left_Arm_Calibrator + + + + -30 30 0 45 0 0 0 35 65 0 0 0 0 0 0 0 + 10 10 10 10 30 30 30 60 30 30 30 30 30 30 30 30 + + + + 12 12 12 12 5 12 12 7 7 6 6 6 6 6 6 6 + 42767 4880 32415 58031 -1500 37087 45583 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 2500 670 251 474 236 486 255 464 748 + 0 0 0 0 0 0 0 2860 4312 0 0 0 37 9 2 90 + 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 + -3.13 5.29 -8.28 -1.75 0 0 0 0 0 0 0 0 0 0 0 0 + + -35 30 0 50 0 0 0 15 30 0 0 0 0 0 0 0 + 10 10 10 10 30 30 30 100 100 100 100 100 100 100 100 100 + 2000 2000 2000 2000 2000 0 0 0 0 0 0 0 0 0 0 0 + 2 2 2 2 90 90 90 90 90 90 90 90 90 90 90 90 + + + (0 1 2 3) (4) (5 6 7) (8 9 11 13) (10 12 14 15) + + + + left_arm-mc_wrapper + + + + left_arm-mc_wrapper + + + + + + + + diff --git a/iCubPrague01/calibrators/left_leg-calib.xml b/iCubPrague01/calibrators/left_leg-calib.xml new file mode 100644 index 0000000000..ed875639c5 --- /dev/null +++ b/iCubPrague01/calibrators/left_leg-calib.xml @@ -0,0 +1,50 @@ + + + + + + + + + 6 + Left_Leg_Calibrator + + + + 0.00 10.00 0.00 0.00 0.00 0.00 + 10.00 10.00 10.00 10.00 10.00 10.00 + + + + + 12 12 12 12 12 12 + 18463 39759 48255 62431 8127 40607 + 0 0 0 0 0 0 + 0 0 0 0 0 0 + + 0 0 0 0 0 0 + 0 0 0 0 0 0 + 0 0 0 0 0 0 + 0 0 0 0 0 0 + + + 0 5 0 0 0 0 + 5 5 10 10 10 10 + 1200 1200 1200 1200 1200 1200 + 2 2 2 2 2 2 + + + (0 1 2 3 4 5) + + + left_leg-mc_wrapper + + + + left_leg-mc_wrapper + + + + + + diff --git a/iCubPrague01/calibrators/right_arm-calib.xml b/iCubPrague01/calibrators/right_arm-calib.xml new file mode 100644 index 0000000000..e7ec3d2656 --- /dev/null +++ b/iCubPrague01/calibrators/right_arm-calib.xml @@ -0,0 +1,49 @@ + + + + + + + + + 16 + Right_Arm_Calibrator + + + + -30 30 0 45 0 0 0 35 65 0 0 0 0 0 0 0 + 10 10 10 10 30 30 30 60 30 30 30 30 30 30 30 30 + + + + + 12 12 12 12 5 12 12 7 7 6 6 6 6 6 6 6 + 45200 26207 24111 13263 1500 27119 21439 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 1375 180 255 495 241 488 250 465 749 + 0 0 0 0 0 0 0 1570 2050 16 22 5 71 20 107 84 + 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 + 1.1 5.29 -18.36 0.98 0 0 0 0 0 0 0 0 0 0 0 0 + + -35 30 0 50 0 0 0 25 30 0 0 0 0 0 0 0 + 10 10 10 10 30 30 30 60 100 100 100 100 100 100 100 100 + 2000 2000 2000 2000 1500 0 0 0 0 0 0 0 0 0 0 0 + 2 2 2 2 90 90 90 90 90 90 90 90 90 90 90 90 + + + + (0 1 2 3) (4) (5 6 7) (8 9 11 13) (10 12 14 15) + + + right_arm-mc_wrapper + + + + right_arm-mc_wrapper + + + + + + diff --git a/iCubPrague01/calibrators/right_leg-calib.xml b/iCubPrague01/calibrators/right_leg-calib.xml new file mode 100644 index 0000000000..4438e12683 --- /dev/null +++ b/iCubPrague01/calibrators/right_leg-calib.xml @@ -0,0 +1,48 @@ + + + + + + + + + 6 + Right_Leg_Calibrator + + + + 0.00 10.00 0.00 0.00 0.00 0.00 + 10.00 10.00 10.00 10.00 10.00 10.00 + + + + 12 12 12 12 12 12 + 52415 11295 22319 23791 26623 34239 + 0 0 0 0 0 0 + 0 0 0 0 0 0 + 0 0 0 0 0 0 + 0 0 0 0 0 0 + 0 0 0 0 0 0 + 0 0 0 0 0 0 + + 0 5 0 0 0 0 + 5 5 10 10 10 10 + 2200 2200 2200 2200 2200 2200 + 2 2 2 2 2 2 + + + + (0 1 2 3 4 5) + + + right_leg-mc_wrapper + + + + right_leg-mc_wrapper + + + + + + diff --git a/iCubPrague01/calibrators/torso-calib.xml b/iCubPrague01/calibrators/torso-calib.xml new file mode 100644 index 0000000000..28bc4ffdd7 --- /dev/null +++ b/iCubPrague01/calibrators/torso-calib.xml @@ -0,0 +1,48 @@ + + + + + + + + + 3 + Torso_Calibrator + + + + 0 0 -20 + 10 10 10 + + + + 12 12 12 + 41423 48207 31583 + 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_wrapper + + + + torso-mc_wrapper + + + + + + diff --git a/iCubPrague01/camera/ServerGrabberDualDragon.ini b/iCubPrague01/camera/ServerGrabberDualDragon.ini new file mode 100644 index 0000000000..6d9b0b953e --- /dev/null +++ b/iCubPrague01/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/iCubPrague01/camera/ServerGrabberDualDragonBayer.ini b/iCubPrague01/camera/ServerGrabberDualDragonBayer.ini new file mode 100644 index 0000000000..d94d114ceb --- /dev/null +++ b/iCubPrague01/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/iCubPrague01/camera/ServerGrabberDualDragonBayer640_480.ini b/iCubPrague01/camera/ServerGrabberDualDragonBayer640_480.ini new file mode 100644 index 0000000000..6cb9c9435b --- /dev/null +++ b/iCubPrague01/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/iCubPrague01/camera/dragonfly2_config_left.ini b/iCubPrague01/camera/dragonfly2_config_left.ini new file mode 100644 index 0000000000..988d185868 --- /dev/null +++ b/iCubPrague01/camera/dragonfly2_config_left.ini @@ -0,0 +1,19 @@ +device dragonfly2 +width 320 +height 240 +video_type 1 +white_balance 0.506 0.494 +gain 0.312 +shutter 0.913 +name /icub/cam/left +brightness 0 +DR2 +stamp +sharpness 0.5 +hue 0.48 +gamma 0.4 +saturation 0.271 +framerate 25 +#d 0 +guid 00b09d01011b4349 +#<64bit global identifier, without the leading 0x> then remove the d option diff --git a/iCubPrague01/camera/dragonfly2_config_left_bayer_320_240.ini b/iCubPrague01/camera/dragonfly2_config_left_bayer_320_240.ini new file mode 100644 index 0000000000..4abfdc021e --- /dev/null +++ b/iCubPrague01/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 0 +guid 00b09d01011b4349 +#<64bit global identifier, without the leading 0x> then remove the d option diff --git a/iCubPrague01/camera/dragonfly2_config_left_bayer_640_480.ini b/iCubPrague01/camera/dragonfly2_config_left_bayer_640_480.ini new file mode 100644 index 0000000000..088e9898e4 --- /dev/null +++ b/iCubPrague01/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 0 +guid 00b09d01011b4349 +#<64bit global identifier, without the leading 0x> then remove the d option diff --git a/iCubPrague01/camera/dragonfly2_config_right.ini b/iCubPrague01/camera/dragonfly2_config_right.ini new file mode 100644 index 0000000000..dd0b6ec02d --- /dev/null +++ b/iCubPrague01/camera/dragonfly2_config_right.ini @@ -0,0 +1,20 @@ +device dragonfly2 +width 320 +height 240 +video_type 1 +white_balance 0.506 0.494 +gain 0.312 +shutter 0.913 +name /icub/cam/right +brightness 0 +DR2 +stamp +sharpness 0.5 +hue 0.48 +gamma 0.4 +saturation 0.271 +framerate 25 +#d 1 +guid 00b09d01011b4344 + +#<64bit global identifier, without the leading 0x> then remove the d option diff --git a/iCubPrague01/camera/dragonfly2_config_right_bayer_320_240.ini b/iCubPrague01/camera/dragonfly2_config_right_bayer_320_240.ini new file mode 100644 index 0000000000..cee80c7e07 --- /dev/null +++ b/iCubPrague01/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 1 +guid 00b09d01011b4344 +#<64bit global identifier, without the leading 0x> then remove the d option diff --git a/iCubPrague01/camera/dragonfly2_config_right_bayer_640_480.ini b/iCubPrague01/camera/dragonfly2_config_right_bayer_640_480.ini new file mode 100644 index 0000000000..ea41a69361 --- /dev/null +++ b/iCubPrague01/camera/dragonfly2_config_right_bayer_640_480.ini @@ -0,0 +1,21 @@ +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 1 +guid 00b09d01011b4344 +#<64bit global identifier, without the leading 0x> then remove the d option + diff --git a/iCubPrague01/cartesian/left_arm-cartesian.xml b/iCubPrague01/cartesian/left_arm-cartesian.xml new file mode 100644 index 0000000000..51e84b9809 --- /dev/null +++ b/iCubPrague01/cartesian/left_arm-cartesian.xml @@ -0,0 +1,56 @@ + + + + + + + icub/cartesianController/left_arm + 10 + 4 + cartesianSolver/left_arm + arm + left_v2.7 + on + 2 + + + + torso + reversed + (0.35 0.35 0.35) + + + + left_arm + direct + (0.35 0.35 0.35 0.35 0.35 0.35 0.35) + + + + + on + off + + ((Kp 1.022) (Tz 0.405) (Tw 0.248) (Zeta 0.797) (Td 0.000)) + ((Kp 1.026) (Tz 0.407) (Tw 0.243) (Zeta 0.822) (Td 0.000)) + ((Kp 1.040) (Tz 0.344) (Tw 0.160) (Zeta 1.110) (Td 0.000)) + ((Kp 1.035) (Tz 0.410) (Tw 0.178) (Zeta 1.198) (Td 0.000)) + ((Kp 1.016) (Tz 0.384) (Tw 0.159) (Zeta 1.222) (Td 0.000)) + ((Kp 1.025) (Tz 0.823) (Tw 0.405) (Zeta 1.030) (Td 0.000)) + ((Kp 1.022) (Tz 0.300) (Tw 0.120) (Zeta 1.303) (Td 0.000)) + ((Kp 1.016) (Tz 0.123) (Tw 0.030) (Zeta 2.204) (Td 0.000)) + ((Kp 1.000) (Tz 0.000) (Tw 0.000) (Zeta 0.000) (Td 0.000)) + ((Kp 1.000) (Tz 0.000) (Tw 0.000) (Zeta 0.000) (Td 0.000)) + + + + + torso-mc_wrapper + left_arm-mc_wrapper + + + + + + + diff --git a/iCubPrague01/cartesian/right_arm-cartesian.xml b/iCubPrague01/cartesian/right_arm-cartesian.xml new file mode 100644 index 0000000000..462f9b5ebd --- /dev/null +++ b/iCubPrague01/cartesian/right_arm-cartesian.xml @@ -0,0 +1,56 @@ + + + + + + + icub/cartesianController/right_arm + 10 + 4 + cartesianSolver/right_arm + arm + right_v2.7 + on + 2 + + + + torso + reversed + (0.35 0.35 0.35) + + + + right_arm + direct + (0.35 0.35 0.35 0.35 0.35 0.35 0.35) + + + + + on + off + + ((Kp 1.022) (Tz 0.405) (Tw 0.248) (Zeta 0.797) (Td 0.000)) + ((Kp 1.026) (Tz 0.407) (Tw 0.243) (Zeta 0.822) (Td 0.000)) + ((Kp 1.040) (Tz 0.344) (Tw 0.160) (Zeta 1.110) (Td 0.000)) + ((Kp 1.035) (Tz 0.410) (Tw 0.178) (Zeta 1.198) (Td 0.000)) + ((Kp 1.016) (Tz 0.384) (Tw 0.159) (Zeta 1.222) (Td 0.000)) + ((Kp 1.025) (Tz 0.823) (Tw 0.405) (Zeta 1.030) (Td 0.000)) + ((Kp 1.022) (Tz 0.300) (Tw 0.120) (Zeta 1.303) (Td 0.000)) + ((Kp 1.016) (Tz 0.123) (Tw 0.030) (Zeta 2.204) (Td 0.000)) + ((Kp 1.000) (Tz 0.000) (Tw 0.000) (Zeta 0.000) (Td 0.000)) + ((Kp 1.000) (Tz 0.000) (Tw 0.000) (Zeta 0.000) (Td 0.000)) + + + + + torso-mc_wrapper + right_arm-mc_wrapper + + + + + + + diff --git a/iCubPrague01/cartesianSolver.ini b/iCubPrague01/cartesianSolver.ini new file mode 100644 index 0000000000..be0d8cea51 --- /dev/null +++ b/iCubPrague01/cartesianSolver.ini @@ -0,0 +1,69 @@ +[left_arm] +robot icub +name cartesianSolver/left_arm +type left_v2.7 +period 20 +dof (0 0 0 1 1 1 1 1 1 1) +rest_pos (0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0) +rest_weights (1.0 1.0 1.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0) +pose full +mode shot +verbosity off +maxIter 200 +tol 0.001 +xyzTol 0.000001 +interPoints off +ping_robot_tmo 40.0 + +[right_arm] +robot icub +name cartesianSolver/right_arm +type right_v2.7 +period 20 +dof (0 0 0 1 1 1 1 1 1 1) +rest_pos (0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0) +rest_weights (1.0 1.0 1.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0) +pose full +mode shot +verbosity off +maxIter 200 +tol 0.001 +xyzTol 0.000001 +interPoints off +ping_robot_tmo 40.0 + +[left_leg] +robot icub +name cartesianSolver/left_leg +type left_v2.7 +period 20 +dof (1 1 1 1 1 1) +rest_pos (0.0 0.0 0.0 0.0 0.0 0.0) +rest_weights (0.0 0.0 0.0 0.0 0.0 0.0) +pose full +mode shot +verbosity off +maxIter 200 +tol 0.001 +xyzTol 0.000001 +interPoints off +ping_robot_tmo 40.0 + +[right_leg] +robot icub +name cartesianSolver/right_leg +type right_v2.7 +period 20 +dof (1 1 1 1 1 1) +rest_pos (0.0 0.0 0.0 0.0 0.0 0.0) +rest_weights (0.0 0.0 0.0 0.0 0.0 0.0) +pose full +mode shot +verbosity off +maxIter 200 +tol 0.001 +xyzTol 0.000001 +interPoints off +ping_robot_tmo 40.0 + + diff --git a/iCubPrague01/estimators/wholebodydynamics.xml b/iCubPrague01/estimators/wholebodydynamics.xml new file mode 100644 index 0000000000..25e6ca9fed --- /dev/null +++ b/iCubPrague01/estimators/wholebodydynamics.xml @@ -0,0 +1,101 @@ + + + + + + (torso_pitch,torso_roll,torso_yaw,neck_pitch, neck_roll,neck_yaw,l_shoulder_pitch,l_shoulder_roll,l_shoulder_yaw,l_elbow,l_wrist_prosup,l_wrist_pitch,l_wrist_yaw,r_shoulder_pitch,r_shoulder_roll,r_shoulder_yaw,r_elbow,r_wrist_prosup,r_wrist_pitch,r_wrist_yaw,l_hip_pitch,l_hip_roll,l_hip_yaw,l_knee,l_ankle_pitch,l_ankle_roll,r_hip_pitch,r_hip_roll,r_hip_yaw,r_knee,r_ankle_pitch,r_ankle_roll) + model.urdf + (0,0,-9.81) + (l_hand,r_hand,root_link,l_sole,r_sole,r_lower_leg,l_lower_leg,l_elbow_1,r_elbow_1) + imu_frame + true + 2 + true + false + + + + (root_link,1,0) + (chest,1,2) + (l_upper_arm,3,2) + (l_hand_dh_frame,3,6) + (r_hand_dh_frame,4,6) + (l_elbow_1, 3, 4) + (r_upper_arm,4,2) + (r_elbow_1, 4, 4) + (l_lower_leg,5,3) + (l_ankle_1,5,4) + (l_foot_dh_frame,5,5) + (r_foot_dh_frame,6,5) + (r_lower_leg,6,3) + (r_ankle_1,6,4) + (r_foot_dh_frame,6,5) + + + + true + root_link + (torso_pitch,torso_roll,torso_yaw,neck_pitch,neck_roll,neck_yaw,l_shoulder_pitch,l_shoulder_roll,l_shoulder_yaw,l_elbow,r_shoulder_pitch,r_shoulder_roll,r_shoulder_yaw,r_elbow,l_hip_pitch,l_hip_roll,l_hip_yaw,l_knee,l_ankle_pitch,l_ankle_roll,r_hip_pitch,r_hip_roll,r_hip_yaw,r_knee,r_ankle_pitch,r_ankle_roll) + + + + + (5.969361e-01,2.428213e-02,-5.463457e-02,4.254463e-01,1.123516e+00,-1.303151e-01 + ,-2.818578e-02,6.863783e-01,2.028274e-02,6.585433e-01,1.573658e-01,1.544577e+00 + ,-3.915223e-02,3.971615e-02,9.679746e-01,-3.150958e-03,3.718397e-01,-8.653098e-02 + ,-8.647321e-03,-2.836473e-02,-1.840247e-04,8.261000e-01,4.659817e-02,3.751658e-02 + ,5.671831e-03,6.968371e-03,4.892937e-03,5.396529e-02,9.499420e-01,-1.575216e-01 + ,3.469447e-18,0,-7.993503e-20,0,0,1.000000e+00) + + + (7.619710e-01,-9.833019e-02,-5.603709e-02,-7.503703e-01,4.654638e-01,-2.100801e+00 + ,2.708629e-02,8.108288e-01,-3.377881e-03,8.122805e-01,4.181660e-02,8.531041e-01 + ,-7.067404e-02,-3.179978e-02,9.888732e-01,-4.080758e-02,5.046211e-01,-5.754858e-01 + ,7.021926e-03,-2.948727e-02,-1.022865e-03,8.566027e-01,-3.532611e-02,-8.280662e-02 + ,3.959038e-02,1.290493e-03,-6.796986e-04,-6.866659e-02,8.221872e-01,-6.964079e-03 + ,-1.542292e-04,3.264395e-04,-6.124671e-04,-2.551378e-02,5.215466e-03,7.234167e-01) + + + + + + (l_hand,l_hand_dh_frame,root_link) + (r_hand,r_hand_dh_frame,root_link) + (l_lower_leg,l_lower_leg,root_link) + (l_foot,l_sole,l_sole) + (r_lower_leg,r_lower_leg,root_link) + (r_foot,r_sole,r_sole) + + + + + + left_leg-eb7-j4_5-mc + right_leg-eb9-j4_5-mc + left_leg-eb6-j0_3-mc + right_leg-eb8-j0_3-mc + torso-eb5-j0_2-mc + right_arm-eb27-j4_7-mc + left_arm-eb24-j4_7-mc + right_arm-eb3-j0_3-mc + left_arm-eb1-j0_3-mc + head-eb20-j0_1-mc + head-eb21-j2_5-mc + + inertial + + left_arm-eb1-j0_3-strain + right_arm-eb3-j0_3-strain + left_leg-eb6-j0_3-strain + right_leg-eb8-j0_3-strain + left_leg-eb7-j4_5-strain + right_leg-eb9-j4_5-strain + + + + + + + diff --git a/iCubPrague01/estimators/wholebodydynamics_standup.xml b/iCubPrague01/estimators/wholebodydynamics_standup.xml new file mode 100644 index 0000000000..bbce49b996 --- /dev/null +++ b/iCubPrague01/estimators/wholebodydynamics_standup.xml @@ -0,0 +1,89 @@ + + + + + + (torso_pitch,torso_roll,torso_yaw,neck_pitch, neck_roll,neck_yaw,l_shoulder_pitch,l_shoulder_roll,l_shoulder_yaw,l_elbow,l_wrist_prosup,l_wrist_pitch,l_wrist_yaw,r_shoulder_pitch,r_shoulder_roll,r_shoulder_yaw,r_elbow,r_wrist_prosup,r_wrist_pitch,r_wrist_yaw,l_hip_pitch,l_hip_roll,l_hip_yaw,l_knee,l_ankle_pitch,l_ankle_roll,r_hip_pitch,r_hip_roll,r_hip_yaw,r_knee,r_ankle_pitch,r_ankle_roll) + model.urdf + (0,0,-9.81) + (l_hand,r_hand,root_link,l_sole,r_sole,r_upper_leg,l_upper_leg,l_elbow_1,r_elbow_1) + imu_frame + true + + + + (root_link,1,0) + (chest,1,2) + (l_upper_arm,3,2) + (l_elbow_1, 3, 4) + (r_upper_arm,4,2) + (l_hand_dh_frame,3,6) + (r_elbow_1, 4, 4) + (r_hand_dh_frame,4,6) + (l_upper_leg,5,2) + (l_lower_leg,5,3) + (l_ankle_1,5,4) + (l_foot_dh_frame,5,5) + (r_upper_leg,6,2) + (r_lower_leg,6,3) + (r_ankle_1,6,4) + (r_foot_dh_frame,6,5) + + + + true + root_link + (torso_pitch,torso_roll,torso_yaw,neck_pitch,neck_roll,neck_yaw,l_shoulder_pitch,l_shoulder_roll,l_shoulder_yaw,l_elbow,r_shoulder_pitch,r_shoulder_roll,r_shoulder_yaw,r_elbow,l_hip_pitch,l_hip_roll,l_hip_yaw,l_knee,l_ankle_pitch,l_ankle_roll,r_hip_pitch,r_hip_roll,r_hip_yaw,r_knee,r_ankle_pitch,r_ankle_roll) + + + + + (1.165043e-01,-4.824760e-02,-2.838516e-03,-4.063452e-01,3.829723e+00,-4.049686e+00 + ,-1.646781e-02,1.028508e-01,1.218741e-03,-3.860480e+00,6.586313e-02,1.079024e-01 + ,-1.223875e-01,-1.720457e-01,9.950911e-01,-1.332774e+00,4.882303e-01,1.109860e+00 + ,-2.690149e-03,-1.097413e-02,1.942506e-03,9.459466e-01,2.006043e-02,4.074997e-02 + ,1.949960e-02,-1.769210e-02,-3.291195e-03,-1.505223e-01,8.921250e-01,-1.064398e-01 + ,9.882410e-03,5.137381e-03,-5.774219e-05,4.049618e-04,-4.992196e-02,9.255909e-01) + + + + (l_hand,l_hand_dh_frame,l_sole) + (r_hand,r_hand_dh_frame,l_sole) + (l_foot,l_sole,root_link) + (l_foot,l_sole,l_sole) + (r_foot,r_sole,root_link) + (r_foot,r_sole,l_sole) + + + + + + left_leg-eb7-j4_5-mc + right_leg-eb9-j4_5-mc + left_leg-eb6-j0_3-mc + right_leg-eb8-j0_3-mc + torso-eb5-j0_2-mc + right_arm-eb27-j4_7-mc + left_arm-eb24-j4_7-mc + right_arm-eb3-j0_3-mc + left_arm-eb1-j0_3-mc + head-eb20-j0_1-mc + head-eb21-j2_5-mc + + inertial + + left_arm-eb1-j0_3-strain + right_arm-eb3-j0_3-strain + left_leg-eb6-j0_3-strain + right_leg-eb8-j0_3-strain + left_leg-eb7-j4_5-strain + right_leg-eb9-j4_5-strain + + + + + + + diff --git a/iCubPrague01/firmwareupdater.ini b/iCubPrague01/firmwareupdater.ini new file mode 100644 index 0000000000..9fa155e435 --- /dev/null +++ b/iCubPrague01/firmwareupdater.ini @@ -0,0 +1,2 @@ +[DRIVERS] +ETH "eno1" diff --git a/iCubPrague01/general.xml b/iCubPrague01/general.xml new file mode 100644 index 0000000000..5bed9d8223 --- /dev/null +++ b/iCubPrague01/general.xml @@ -0,0 +1,12 @@ + + + + + + + false + false + false + false + + diff --git a/iCubPrague01/hardware/FT/left_arm-eb1-j0_3-strain.xml b/iCubPrague01/hardware/FT/left_arm-eb1-j0_3-strain.xml new file mode 100644 index 0000000000..4bd22abf73 --- /dev/null +++ b/iCubPrague01/hardware/FT/left_arm-eb1-j0_3-strain.xml @@ -0,0 +1,55 @@ + + + + + + + + + + + + + + eomn_serv_AS_strain + + + + + strain2 + + + 2 + 0 + + + 2 + 0 + 9 + + + + + id_l_upper_arm_strain + eoas_strain + CAN2:13 + + + + + + 10 + id_l_upper_arm_strain + + + + true + + + + + + + + + diff --git a/iCubPrague01/hardware/FT/left_leg-eb6-j0_3-strain.xml b/iCubPrague01/hardware/FT/left_leg-eb6-j0_3-strain.xml new file mode 100644 index 0000000000..555e3a9e41 --- /dev/null +++ b/iCubPrague01/hardware/FT/left_leg-eb6-j0_3-strain.xml @@ -0,0 +1,56 @@ + + + + + + + + + + + + + + eomn_serv_AS_strain + + + + + strain2 + + + 2 + 0 + + + 2 + 0 + 9 + + + + + id_l_upper_leg_strain + eoas_strain + CAN2:13 + + + + + + 10 + id_l_upper_leg_strain + + + + true + + + + + + + + + + diff --git a/iCubPrague01/hardware/FT/left_leg-eb7-j4_5-strain.xml b/iCubPrague01/hardware/FT/left_leg-eb7-j4_5-strain.xml new file mode 100644 index 0000000000..b1aed30884 --- /dev/null +++ b/iCubPrague01/hardware/FT/left_leg-eb7-j4_5-strain.xml @@ -0,0 +1,56 @@ + + + + + + + + + + + + + + eomn_serv_AS_strain + + + + + strain2 + + + 2 + 0 + + + 2 + 0 + 9 + + + + + id_l_lower_leg_strain + eoas_strain + CAN2:13 + + + + + + 10 + id_l_lower_leg_strain + + + + true + + + + + + + + + + diff --git a/iCubPrague01/hardware/FT/right_arm-eb3-j0_3-strain.xml b/iCubPrague01/hardware/FT/right_arm-eb3-j0_3-strain.xml new file mode 100644 index 0000000000..3d792add62 --- /dev/null +++ b/iCubPrague01/hardware/FT/right_arm-eb3-j0_3-strain.xml @@ -0,0 +1,57 @@ + + + + + + + + + + + + + + eomn_serv_AS_strain + + + + + strain2 + + + 2 + 0 + + + 2 + 0 + 9 + + + + + id_r_upper_arm_strain + eoas_strain + CAN2:13 + + + + + + 10 + id_r_upper_arm_strain + + + + true + + + + + + + + + + + diff --git a/iCubPrague01/hardware/FT/right_leg-eb8-j0_3-strain.xml b/iCubPrague01/hardware/FT/right_leg-eb8-j0_3-strain.xml new file mode 100644 index 0000000000..0c845838fb --- /dev/null +++ b/iCubPrague01/hardware/FT/right_leg-eb8-j0_3-strain.xml @@ -0,0 +1,55 @@ + + + + + + + + + + + + + + eomn_serv_AS_strain + + + + + strain2 + + + 2 + 0 + + + 2 + 0 + 9 + + + + + id_r_upper_leg_strain + eoas_strain + CAN2:13 + + + + + + 10 + id_r_upper_leg_strain + + + + true + + + + + + + + + diff --git a/iCubPrague01/hardware/FT/right_leg-eb9-j4_5-strain.xml b/iCubPrague01/hardware/FT/right_leg-eb9-j4_5-strain.xml new file mode 100644 index 0000000000..22c0294cee --- /dev/null +++ b/iCubPrague01/hardware/FT/right_leg-eb9-j4_5-strain.xml @@ -0,0 +1,57 @@ + + + + + + + + + + + + + + eomn_serv_AS_strain + + + + + strain2 + + + 2 + 0 + + + 2 + 0 + 9 + + + + + id_r_lower_leg_strain + eoas_strain + CAN2:13 + + + + + + 10 + id_r_lower_leg_strain + + + + true + + + + + + + + + + + diff --git a/iCubPrague01/hardware/MAIS/left_arm-eb26-j12_15-mais.xml b/iCubPrague01/hardware/MAIS/left_arm-eb26-j12_15-mais.xml new file mode 100644 index 0000000000..fc5cc16a2b --- /dev/null +++ b/iCubPrague01/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/iCubPrague01/hardware/MAIS/right_arm-eb29-j12_15-mais.xml b/iCubPrague01/hardware/MAIS/right_arm-eb29-j12_15-mais.xml new file mode 100644 index 0000000000..35ec78ac99 --- /dev/null +++ b/iCubPrague01/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/iCubPrague01/hardware/electronics/face-eb22-j0-eln.xml b/iCubPrague01/hardware/electronics/face-eb22-j0-eln.xml new file mode 100644 index 0000000000..3ea54dbe29 --- /dev/null +++ b/iCubPrague01/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/iCubPrague01/hardware/electronics/head-eb20-j0_1-eln.xml b/iCubPrague01/hardware/electronics/head-eb20-j0_1-eln.xml new file mode 100644 index 0000000000..d4158c4c4e --- /dev/null +++ b/iCubPrague01/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/iCubPrague01/hardware/electronics/head-eb21-j2_5-eln.xml b/iCubPrague01/hardware/electronics/head-eb21-j2_5-eln.xml new file mode 100644 index 0000000000..20eb28c81e --- /dev/null +++ b/iCubPrague01/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/iCubPrague01/hardware/electronics/left_arm-eb1-j0_3-eln.xml b/iCubPrague01/hardware/electronics/left_arm-eb1-j0_3-eln.xml new file mode 100644 index 0000000000..24e5444500 --- /dev/null +++ b/iCubPrague01/hardware/electronics/left_arm-eb1-j0_3-eln.xml @@ -0,0 +1,40 @@ + + + + + + + + + + + 10.0.1.1 + 12345 + ems4 + 768 + 384 + + + + "left_arm-eb1-j0_3" + + 1000 + 400 + 300 + 300 + 5 + + + + + + true + 0.020 + 60.0 + + + + + + + diff --git a/iCubPrague01/hardware/electronics/left_arm-eb24-j4_7-eln.xml b/iCubPrague01/hardware/electronics/left_arm-eb24-j4_7-eln.xml new file mode 100644 index 0000000000..130cdf1e39 --- /dev/null +++ b/iCubPrague01/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/iCubPrague01/hardware/electronics/left_arm-eb25-j8_11-eln.xml b/iCubPrague01/hardware/electronics/left_arm-eb25-j8_11-eln.xml new file mode 100644 index 0000000000..d75dadcc23 --- /dev/null +++ b/iCubPrague01/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/iCubPrague01/hardware/electronics/left_arm-eb26-j12_15-eln.xml b/iCubPrague01/hardware/electronics/left_arm-eb26-j12_15-eln.xml new file mode 100644 index 0000000000..5cdfb07912 --- /dev/null +++ b/iCubPrague01/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/iCubPrague01/hardware/electronics/left_leg-eb10-skin-eln.xml b/iCubPrague01/hardware/electronics/left_leg-eb10-skin-eln.xml new file mode 100644 index 0000000000..901d018127 --- /dev/null +++ b/iCubPrague01/hardware/electronics/left_leg-eb10-skin-eln.xml @@ -0,0 +1,41 @@ + + + + + + + + + + + 10.0.1.10 + 12345 + ems4 + 768 + 384 + + + + "left_leg-eb10-skin" + + 1000 + 400 + 300 + 300 + 3 + + + + + + true + 0.020 + 60.0 + + + + + + + + diff --git a/iCubPrague01/hardware/electronics/left_leg-eb6-j0_3-eln.xml b/iCubPrague01/hardware/electronics/left_leg-eb6-j0_3-eln.xml new file mode 100644 index 0000000000..42bb9d99de --- /dev/null +++ b/iCubPrague01/hardware/electronics/left_leg-eb6-j0_3-eln.xml @@ -0,0 +1,40 @@ + + + + + + + + + + + 10.0.1.6 + 12345 + ems4 + 768 + 384 + + + + "left_leg-eb6-j0_3" + + 1000 + 400 + 300 + 300 + 5 + + + + + + true + 0.020 + 60.0 + + + + + + + diff --git a/iCubPrague01/hardware/electronics/left_leg-eb7-j4_5-eln.xml b/iCubPrague01/hardware/electronics/left_leg-eb7-j4_5-eln.xml new file mode 100644 index 0000000000..3333e9f832 --- /dev/null +++ b/iCubPrague01/hardware/electronics/left_leg-eb7-j4_5-eln.xml @@ -0,0 +1,40 @@ + + + + + + + + + + + 10.0.1.7 + 12345 + ems4 + 768 + 384 + + + + "left_leg-eb7-j4_5" + + 1000 + 400 + 300 + 300 + 5 + + + + + + true + 0.020 + 60.0 + + + + + + + diff --git a/iCubPrague01/hardware/electronics/pc104.xml b/iCubPrague01/hardware/electronics/pc104.xml new file mode 100644 index 0000000000..c17fefb3a3 --- /dev/null +++ b/iCubPrague01/hardware/electronics/pc104.xml @@ -0,0 +1,14 @@ + + + + + + + 10.0.1.104 + 12345 + 1 + 5 + + + + diff --git a/iCubPrague01/hardware/electronics/right_arm-eb27-j4_7-eln.xml b/iCubPrague01/hardware/electronics/right_arm-eb27-j4_7-eln.xml new file mode 100644 index 0000000000..29950fda22 --- /dev/null +++ b/iCubPrague01/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/iCubPrague01/hardware/electronics/right_arm-eb28-j8_11-eln.xml b/iCubPrague01/hardware/electronics/right_arm-eb28-j8_11-eln.xml new file mode 100644 index 0000000000..3ce8fd2aee --- /dev/null +++ b/iCubPrague01/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/iCubPrague01/hardware/electronics/right_arm-eb29-j12_15-eln.xml b/iCubPrague01/hardware/electronics/right_arm-eb29-j12_15-eln.xml new file mode 100644 index 0000000000..99cae1eed4 --- /dev/null +++ b/iCubPrague01/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/iCubPrague01/hardware/electronics/right_arm-eb3-j0_3-eln.xml b/iCubPrague01/hardware/electronics/right_arm-eb3-j0_3-eln.xml new file mode 100644 index 0000000000..fa94d55065 --- /dev/null +++ b/iCubPrague01/hardware/electronics/right_arm-eb3-j0_3-eln.xml @@ -0,0 +1,40 @@ + + + + + + + + + + + 10.0.1.3 + 12345 + ems4 + 768 + 384 + + + + "right_arm-eb3-j0_3" + + 1000 + 400 + 300 + 300 + 5 + + + + + + true + 0.020 + 60.0 + + + + + + + diff --git a/iCubPrague01/hardware/electronics/right_leg-eb11-skin-eln.xml b/iCubPrague01/hardware/electronics/right_leg-eb11-skin-eln.xml new file mode 100644 index 0000000000..e2b07cbe27 --- /dev/null +++ b/iCubPrague01/hardware/electronics/right_leg-eb11-skin-eln.xml @@ -0,0 +1,41 @@ + + + + + + + + + + + 10.0.1.11 + 12345 + ems4 + 768 + 384 + + + + "right_leg-eb11-skin" + + 1000 + 400 + 300 + 300 + 3 + + + + + + true + 0.020 + 60.0 + + + + + + + + diff --git a/iCubPrague01/hardware/electronics/right_leg-eb8-j0_3-eln.xml b/iCubPrague01/hardware/electronics/right_leg-eb8-j0_3-eln.xml new file mode 100644 index 0000000000..10ebfc20b7 --- /dev/null +++ b/iCubPrague01/hardware/electronics/right_leg-eb8-j0_3-eln.xml @@ -0,0 +1,40 @@ + + + + + + + + + + + 10.0.1.8 + 12345 + ems4 + 768 + 384 + + + + "right_leg-eb8-j0_3" + + 1000 + 400 + 300 + 300 + 5 + + + + + + true + 0.020 + 60.0 + + + + + + + diff --git a/iCubPrague01/hardware/electronics/right_leg-eb9-j4_5-eln.xml b/iCubPrague01/hardware/electronics/right_leg-eb9-j4_5-eln.xml new file mode 100644 index 0000000000..f0324d38ba --- /dev/null +++ b/iCubPrague01/hardware/electronics/right_leg-eb9-j4_5-eln.xml @@ -0,0 +1,40 @@ + + + + + + + + + + + 10.0.1.9 + 12345 + ems4 + 768 + 384 + + + + "right_leg-eb9-j4_5" + + 1000 + 400 + 300 + 300 + 5 + + + + + + true + 0.020 + 60.0 + + + + + + + diff --git a/iCubPrague01/hardware/electronics/torso-eb5-j0_2-eln.xml b/iCubPrague01/hardware/electronics/torso-eb5-j0_2-eln.xml new file mode 100644 index 0000000000..b8a00184e4 --- /dev/null +++ b/iCubPrague01/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/iCubPrague01/hardware/inertials/head-inertial.xml b/iCubPrague01/hardware/inertials/head-inertial.xml new file mode 100644 index 0000000000..cb5d041a78 --- /dev/null +++ b/iCubPrague01/hardware/inertials/head-inertial.xml @@ -0,0 +1,54 @@ + + + + + + + + + + + + + + eomn_serv_AS_inertials3 + + + + + rfe + + + 2 + 0 + + + 0 + 0 + 0 + + + + + rfeimu_acc rfeimu_gyro rfeimu_mag rfeimu_status + + eoas_imu_acc eoas_imu_gyr eoas_imu_mag eoas_imu_status + + rfe rfe rfe rfe + + CAN1:1 CAN1:1 CAN1:1 CAN1:1 + + + + + + + 10 + rfeimu_acc rfeimu_gyro rfeimu_mag rfeimu_status + + + + + + + diff --git a/iCubPrague01/hardware/inertials/left_arm-eb24-j4_7-inertials.xml b/iCubPrague01/hardware/inertials/left_arm-eb24-j4_7-inertials.xml new file mode 100644 index 0000000000..44a4c1fc9a --- /dev/null +++ b/iCubPrague01/hardware/inertials/left_arm-eb24-j4_7-inertials.xml @@ -0,0 +1,59 @@ + + + + + + + + + + + + + + eomn_serv_AS_inertials + + + + + eobrd_mtb + + + 0 + 0 + + + 0 + 0 + 0 + + + + + l_upper_arm_mtb_acc_1b10 l_upper_arm_mtb_acc_1b11 l_upper_arm_mtb_acc_1b12 l_upper_arm_mtb_acc_1b13 + l_forearm_mtb_acc_1b7 l_forearm_mtb_acc_1b8 l_forearm_mtb_acc_1b9 l_hand_gyro + + + eoas_accel_mtb_int eoas_accel_mtb_int eoas_accel_mtb_int eoas_accel_mtb_int + eoas_accel_mtb_int eoas_accel_mtb_int eoas_accel_mtb_int eoas_gyros_mtb_ext + + + CAN1:8 CAN1:9 CAN1:10 CAN1:11 + CAN1:12 CAN1:13 CAN1:14 CAN1:14 + + + + + + + 50 + l_upper_arm_mtb_acc_1b10 l_upper_arm_mtb_acc_1b11 l_upper_arm_mtb_acc_1b12 l_upper_arm_mtb_acc_1b13 + l_forearm_mtb_acc_1b7 l_forearm_mtb_acc_1b8 l_forearm_mtb_acc_1b9 + + + + + + + + diff --git a/iCubPrague01/hardware/inertials/left_leg-eb10-inertials.xml b/iCubPrague01/hardware/inertials/left_leg-eb10-inertials.xml new file mode 100644 index 0000000000..a9c9be4ba1 --- /dev/null +++ b/iCubPrague01/hardware/inertials/left_leg-eb10-inertials.xml @@ -0,0 +1,69 @@ + + + + + + + + + + + + + + eomn_serv_AS_inertials + + + + + eobrd_mtb + + + 0 + 0 + + + 0 + 0 + 0 + + + + + l_upper_leg_ems_acc_eb10 l_upper_leg_ems_gyro_eb10 + l_upper_leg_mtb_acc_10b1 l_upper_leg_mtb_acc_10b2 l_upper_leg_mtb_acc_10b3 l_upper_leg_mtb_acc_10b4 + l_upper_leg_mtb_acc_10b5 l_upper_leg_mtb_acc_10b6 l_upper_leg_mtb_acc_10b7 + l_lower_leg_mtb_acc_10b8 l_lower_leg_mtb_acc_10b9 l_lower_leg_mtb_acc_10b10 l_lower_leg_mtb_acc_10b11 + l_foot_mtb_acc_10b12 l_foot_mtb_acc_10b13 + + + eoas_accel_st_lis3x eoas_gyros_st_l3g4200d eoas_accel_mtb_int + eoas_accel_mtb_int eoas_accel_mtb_int eoas_accel_mtb_int eoas_accel_mtb_int + eoas_accel_mtb_int eoas_accel_mtb_int eoas_accel_mtb_int eoas_accel_mtb_int + eoas_accel_mtb_int eoas_accel_mtb_int eoas_accel_mtb_int eoas_accel_mtb_int + + + ETH:0 ETH:1 CAN1:1 + CAN1:2 CAN1:3 CAN1:4 CAN1:5 + CAN1:6 CAN1:7 CAN2:8 CAN2:9 + CAN2:10 CAN2:11 CAN2:13 CAN2:12 + + + + + + + 50 + l_upper_leg_ems_gyro_eb10 + l_upper_leg_mtb_acc_10b1 l_upper_leg_mtb_acc_10b2 l_upper_leg_mtb_acc_10b3 l_upper_leg_mtb_acc_10b4 + l_upper_leg_mtb_acc_10b5 l_upper_leg_mtb_acc_10b6 l_upper_leg_mtb_acc_10b7 + l_lower_leg_mtb_acc_10b8 l_lower_leg_mtb_acc_10b9 l_lower_leg_mtb_acc_10b10 l_lower_leg_mtb_acc_10b11 + l_foot_mtb_acc_10b12 l_foot_mtb_acc_10b13 + + + + + + + + diff --git a/iCubPrague01/hardware/inertials/left_leg-eb6-IMU.xml b/iCubPrague01/hardware/inertials/left_leg-eb6-IMU.xml new file mode 100644 index 0000000000..d5abaec1eb --- /dev/null +++ b/iCubPrague01/hardware/inertials/left_leg-eb6-IMU.xml @@ -0,0 +1,58 @@ + + + + + + + + + + + + + + eomn_serv_AS_inertials3 + + + + + strain2 + + + 2 + 0 + + + 0 + 0 + 0 + + + + + l_upper_leg_imu_acc_1 l_upper_leg_imu_gyro_1 l_upper_leg_imu_eul_1 l_upper_leg_imu_mag_1 l_upper_leg_imu_stat_1 + + + eoas_imu_acc eoas_imu_gyr eoas_imu_eul eoas_imu_mag eoas_imu_status + + + strain2 strain2 strain2 strain2 strain2 + + + CAN2:13 CAN2:13 CAN2:13 CAN2:13 CAN2:13 + + + + + + + 50 + l_upper_leg_imu_acc_1 l_upper_leg_imu_gyro_1 l_upper_leg_imu_eul_1 l_upper_leg_imu_mag_1 l_upper_leg_imu_stat_1 + + + + + + + + diff --git a/iCubPrague01/hardware/inertials/left_leg-eb6-inertials.xml b/iCubPrague01/hardware/inertials/left_leg-eb6-inertials.xml new file mode 100644 index 0000000000..5ae49bb96c --- /dev/null +++ b/iCubPrague01/hardware/inertials/left_leg-eb6-inertials.xml @@ -0,0 +1,55 @@ + + + + + + + + + + + + + + eomn_serv_AS_inertials + + + + + eobrd_mtb + + + 0 + 0 + + + 0 + 0 + 0 + + + + + l_upper_leg_ems_gyro_eb6 + + + eoas_gyros_st_l3g4200d + + + ETH:1 + + + + + + + 50 + l_upper_leg_ems_gyro_eb6 + + + + + + + + diff --git a/iCubPrague01/hardware/inertials/left_leg-eb7-IMU.xml b/iCubPrague01/hardware/inertials/left_leg-eb7-IMU.xml new file mode 100644 index 0000000000..bf613e532c --- /dev/null +++ b/iCubPrague01/hardware/inertials/left_leg-eb7-IMU.xml @@ -0,0 +1,58 @@ + + + + + + + + + + + + + + eomn_serv_AS_inertials3 + + + + + strain2 + + + 2 + 0 + + + 0 + 0 + 0 + + + + + l_lower_leg_imu_acc_2 l_lower_leg_imu_gyro_2 l_lower_leg_imu_eul_2 l_lower_leg_imu_mag_2 l_lower_leg_imu_stat_2 + + + eoas_imu_acc eoas_imu_gyr eoas_imu_eul eoas_imu_mag eoas_imu_status + + + strain2 strain2 strain2 strain2 strain2 + + + CAN2:13 CAN2:13 CAN2:13 CAN2:13 CAN2:13 + + + + + + + 50 + l_lower_leg_imu_acc_2 l_lower_leg_imu_gyro_2 l_lower_leg_imu_eul_2 l_lower_leg_imu_mag_2 l_lower_leg_imu_stat_2 + + + + + + + + diff --git a/iCubPrague01/hardware/inertials/left_leg-eb7-inertials.xml b/iCubPrague01/hardware/inertials/left_leg-eb7-inertials.xml new file mode 100644 index 0000000000..e92c6d72e9 --- /dev/null +++ b/iCubPrague01/hardware/inertials/left_leg-eb7-inertials.xml @@ -0,0 +1,55 @@ + + + + + + + + + + + + + + eomn_serv_AS_inertials + + + + + eobrd_mtb + + + 0 + 0 + + + 0 + 0 + 0 + + + + + l_lower_leg_ems_gyro_eb7 + + + eoas_gyros_st_l3g4200d + + + ETH:1 + + + + + + + 50 + l_lower_leg_ems_gyro_eb7 + + + + + + + + diff --git a/iCubPrague01/hardware/inertials/right_arm-eb27-j4_7-inertials.xml b/iCubPrague01/hardware/inertials/right_arm-eb27-j4_7-inertials.xml new file mode 100644 index 0000000000..be0139c31f --- /dev/null +++ b/iCubPrague01/hardware/inertials/right_arm-eb27-j4_7-inertials.xml @@ -0,0 +1,59 @@ + + + + + + + + + + + + + + eomn_serv_AS_inertials + + + + + eobrd_mtb + + + 0 + 0 + + + 0 + 0 + 0 + + + + + r_upper_arm_mtb_acc_2b10 r_upper_arm_mtb_acc_2b11 r_upper_arm_mtb_acc_2b12 r_upper_arm_mtb_acc_2b13 + r_forearm_mtb_acc_2b7 r_forearm_mtb_acc_2b8 r_forearm_mtb_acc_2b9 r_hand_gyro + + + eoas_accel_mtb_int eoas_accel_mtb_int eoas_accel_mtb_int eoas_accel_mtb_int + eoas_accel_mtb_int eoas_accel_mtb_int eoas_accel_mtb_int eoas_gyros_mtb_ext + + + CAN1:8 CAN1:9 CAN1:10 CAN1:11 + CAN1:12 CAN1:13 CAN1:14 CAN1:14 + + + + + + + 50 + r_upper_arm_mtb_acc_2b10 r_upper_arm_mtb_acc_2b11 r_upper_arm_mtb_acc_2b12 r_upper_arm_mtb_acc_2b13 + r_forearm_mtb_acc_2b7 r_forearm_mtb_acc_2b8 r_forearm_mtb_acc_2b9 + + + + + + + + diff --git a/iCubPrague01/hardware/inertials/right_leg-eb11-inertials.xml b/iCubPrague01/hardware/inertials/right_leg-eb11-inertials.xml new file mode 100644 index 0000000000..13463771e0 --- /dev/null +++ b/iCubPrague01/hardware/inertials/right_leg-eb11-inertials.xml @@ -0,0 +1,69 @@ + + + + + + + + + + + + + + eomn_serv_AS_inertials + + + + + eobrd_mtb + + + 0 + 0 + + + 0 + 0 + 0 + + + + + r_upper_leg_ems_acc_eb11 r_upper_leg_ems_gyro_eb11 + r_upper_leg_mtb_acc_11b1 r_upper_leg_mtb_acc_11b2 r_upper_leg_mtb_acc_11b3 r_upper_leg_mtb_acc_11b4 + r_upper_leg_mtb_acc_11b5 r_upper_leg_mtb_acc_11b6 r_upper_leg_mtb_acc_11b7 + r_lower_leg_mtb_acc_11b8 r_lower_leg_mtb_acc_11b9 r_lower_leg_mtb_acc_11b10 r_lower_leg_mtb_acc_11b11 + r_foot_mtb_acc_11b12 r_foot_mtb_acc_11b13 + + + eoas_accel_st_lis3x eoas_gyros_st_l3g4200d eoas_accel_mtb_int + eoas_accel_mtb_int eoas_accel_mtb_int eoas_accel_mtb_int eoas_accel_mtb_int + eoas_accel_mtb_int eoas_accel_mtb_int eoas_accel_mtb_int eoas_accel_mtb_int + eoas_accel_mtb_int eoas_accel_mtb_int eoas_accel_mtb_int eoas_accel_mtb_int + + + ETH:0 ETH:1 CAN1:1 + CAN1:2 CAN1:3 CAN1:4 CAN1:5 + CAN1:6 CAN1:7 CAN2:8 CAN2:9 + CAN2:10 CAN2:11 CAN2:12 CAN2:13 + + + + + + + 50 + r_upper_leg_ems_gyro_eb11 + r_upper_leg_mtb_acc_11b1 r_upper_leg_mtb_acc_11b2 r_upper_leg_mtb_acc_11b3 r_upper_leg_mtb_acc_11b4 + r_upper_leg_mtb_acc_11b5 r_upper_leg_mtb_acc_11b6 r_upper_leg_mtb_acc_11b7 + r_lower_leg_mtb_acc_11b8 r_lower_leg_mtb_acc_11b9 r_lower_leg_mtb_acc_11b10 r_lower_leg_mtb_acc_11b11 + r_foot_mtb_acc_11b12 r_foot_mtb_acc_11b13 + + + + + + + + diff --git a/iCubPrague01/hardware/inertials/right_leg-eb8-IMU.xml b/iCubPrague01/hardware/inertials/right_leg-eb8-IMU.xml new file mode 100644 index 0000000000..127deac5f9 --- /dev/null +++ b/iCubPrague01/hardware/inertials/right_leg-eb8-IMU.xml @@ -0,0 +1,57 @@ + + + + + + + + + + + + + + eomn_serv_AS_inertials3 + + + + + strain2 + + + 2 + 0 + + + 0 + 0 + 0 + + + + + r_upper_leg_imu_acc_1 r_upper_leg_imu_gyro_1 r_upper_leg_imu_eul_1 r_upper_leg_imu_mag_1 r_upper_leg_imu_stat_1 + + + eoas_imu_acc eoas_imu_gyr eoas_imu_eul eoas_imu_mag eoas_imu_status + + strain2 strain2 strain2 strain2 strain2 + + + + CAN2:13 CAN2:13 CAN2:13 CAN2:13 CAN2:13 + + + + + + + 50 + r_upper_leg_imu_acc_1 r_upper_leg_imu_gyro_1 r_upper_leg_imu_eul_1 r_upper_leg_imu_mag_1 r_upper_leg_imu_stat_1 + + + + + + + diff --git a/iCubPrague01/hardware/inertials/right_leg-eb8-inertials.xml b/iCubPrague01/hardware/inertials/right_leg-eb8-inertials.xml new file mode 100644 index 0000000000..29f9455424 --- /dev/null +++ b/iCubPrague01/hardware/inertials/right_leg-eb8-inertials.xml @@ -0,0 +1,55 @@ + + + + + + + + + + + + + + eomn_serv_AS_inertials + + + + + eobrd_mtb + + + 0 + 0 + + + 0 + 0 + 0 + + + + + r_upper_leg_ems_gyro_eb8 + + + eoas_gyros_st_l3g4200d + + + ETH:1 + + + + + + + 50 + r_upper_leg_ems_gyro_eb8 + + + + + + + + diff --git a/iCubPrague01/hardware/inertials/right_leg-eb9-IMU.xml b/iCubPrague01/hardware/inertials/right_leg-eb9-IMU.xml new file mode 100644 index 0000000000..7218a38567 --- /dev/null +++ b/iCubPrague01/hardware/inertials/right_leg-eb9-IMU.xml @@ -0,0 +1,57 @@ + + + + + + + + + + + + + + eomn_serv_AS_inertials3 + + + + + strain2 + + + 2 + 0 + + + 0 + 0 + 0 + + + + + r_lower_leg_imu_acc_2 r_lower_leg_imu_gyro_2 r_lower_leg_imu_eul_2 r_lower_leg_imu_mag_2 r_lower_leg_imu_stat_2 + + + eoas_imu_acc eoas_imu_gyr eoas_imu_eul eoas_imu_mag eoas_imu_status + + strain2 strain2 strain2 strain2 strain2 + + + + CAN2:13 CAN2:13 CAN2:13 CAN2:13 CAN2:13 + + + + + + + 50 + r_lower_leg_imu_acc_2 r_lower_leg_imu_gyro_2 r_lower_leg_imu_eul_2 r_lower_leg_imu_mag_2 r_lower_leg_imu_stat_2 + + + + + + + diff --git a/iCubPrague01/hardware/inertials/right_leg-eb9-inertials.xml b/iCubPrague01/hardware/inertials/right_leg-eb9-inertials.xml new file mode 100644 index 0000000000..d4d4f63f9d --- /dev/null +++ b/iCubPrague01/hardware/inertials/right_leg-eb9-inertials.xml @@ -0,0 +1,55 @@ + + + + + + + + + + + + + + eomn_serv_AS_inertials + + + + + eobrd_mtb + + + 0 + 0 + + + 0 + 0 + 0 + + + + + r_lower_leg_ems_gyro_eb9 + + + eoas_gyros_st_l3g4200d + + + ETH:1 + + + + + + + 50 + r_lower_leg_ems_gyro_eb9 + + + + + + + + diff --git a/iCubPrague01/hardware/inertials/torso-eb1-inertials.xml b/iCubPrague01/hardware/inertials/torso-eb1-inertials.xml new file mode 100644 index 0000000000..87a5e110da --- /dev/null +++ b/iCubPrague01/hardware/inertials/torso-eb1-inertials.xml @@ -0,0 +1,55 @@ + + + + + + + + + + + + + + eomn_serv_AS_inertials + + + + + eobrd_mtb + + + 0 + 0 + + + 0 + 0 + 0 + + + + + torso_ems_gyro_eb1 + + + eoas_gyros_st_l3g4200d + + + ETH:1 + + + + + + + 50 + torso_ems_gyro_eb1 + + + + + + + + diff --git a/iCubPrague01/hardware/inertials/torso-eb22-inertials.xml b/iCubPrague01/hardware/inertials/torso-eb22-inertials.xml new file mode 100644 index 0000000000..a27279f6b3 --- /dev/null +++ b/iCubPrague01/hardware/inertials/torso-eb22-inertials.xml @@ -0,0 +1,55 @@ + + + + + + + + + + + + + + eomn_serv_AS_inertials + + + + + eobrd_mtb + + + 0 + 0 + + + 0 + 0 + 0 + + + + + chest_mtb_acc_0b7 chest_mtb_acc_0b8 chest_mtb_acc_0b9 chest_mtb_acc_0b10 + + + eoas_accel_mtb_int eoas_accel_mtb_int eoas_accel_mtb_int eoas_accel_mtb_int + + + CAN1:7 CAN1:8 CAN1:9 CAN1:10 + + + + + + + 50 + chest_mtb_acc_0b7 chest_mtb_acc_0b8 chest_mtb_acc_0b9 chest_mtb_acc_0b10 + + + + + + + + diff --git a/iCubPrague01/hardware/inertials/torso-eb3-inertials.xml b/iCubPrague01/hardware/inertials/torso-eb3-inertials.xml new file mode 100644 index 0000000000..b884dfcac4 --- /dev/null +++ b/iCubPrague01/hardware/inertials/torso-eb3-inertials.xml @@ -0,0 +1,55 @@ + + + + + + + + + + + + + + eomn_serv_AS_inertials + + + + + eobrd_mtb + + + 0 + 0 + + + 0 + 0 + 0 + + + + + torso_ems_gyro_eb3 + + + eoas_gyros_st_l3g4200d + + + ETH:1 + + + + + + + 50 + torso_ems_gyro_eb3 + + + + + + + + diff --git a/iCubPrague01/hardware/inertials/waist-eb5-inertials.xml b/iCubPrague01/hardware/inertials/waist-eb5-inertials.xml new file mode 100644 index 0000000000..19958f8d39 --- /dev/null +++ b/iCubPrague01/hardware/inertials/waist-eb5-inertials.xml @@ -0,0 +1,55 @@ + + + + + + + + + + + + + + eomn_serv_AS_inertials + + + + + eobrd_mtb + + + 0 + 0 + + + 0 + 0 + 0 + + + + + waist_ems_gyro_eb5 + + + eoas_gyros_st_l3g4200d + + + ETH:1 + + + + + + + 50 + waist_ems_gyro_eb5 + + + + + + + + diff --git a/iCubPrague01/hardware/inertials/waist-inertial.xml b/iCubPrague01/hardware/inertials/waist-inertial.xml new file mode 100644 index 0000000000..8d2f688d6b --- /dev/null +++ b/iCubPrague01/hardware/inertials/waist-inertial.xml @@ -0,0 +1,10 @@ + + + + + + /icub/xsens_inertial + xsensmt + /dev/ttyXsens + + diff --git a/iCubPrague01/hardware/mechanicals/face-eb22-j0-mec.xml b/iCubPrague01/hardware/mechanicals/face-eb22-j0-mec.xml new file mode 100644 index 0000000000..421fe9ad44 --- /dev/null +++ b/iCubPrague01/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/iCubPrague01/hardware/mechanicals/head-eb20-j0_1-mec.xml b/iCubPrague01/hardware/mechanicals/head-eb20-j0_1-mec.xml new file mode 100644 index 0000000000..e35e41b600 --- /dev/null +++ b/iCubPrague01/hardware/mechanicals/head-eb20-j0_1-mec.xml @@ -0,0 +1,69 @@ + + + + + + + + 6 + 2 + + + + + 0 1 + "neck_pitch" "neck_roll" + "revolute" "revolute" + 182.044 182.044 + 3360 3360 + 1000.0 1000.0 + 161.68 161.68 + 1 1 + 1 1 + "DC" "DC" + 0 + + + + -30 -20 + +22 +20 + 0 0 + 0 0 + + + + + + 1.000 1.000 0.000 0.000 + -1.000 1.000 0.000 0.000 + 0.000 0.000 1.000 0.000 + 0.000 0.000 0.000 1.000 + + + + 0.500 -0.500 0.000 0.000 + 0.500 0.500 0.000 0.000 + 0.000 0.000 1.000 0.000 + 0.000 0.000 0.000 1.000 + + + + 1.00 0.00 0.00 0.00 0.00 0.00 + 0.00 1.00 0.00 0.00 0.00 0.00 + 0.00 0.00 1.00 0.00 0.00 0.00 + 0.00 0.00 0.00 1.00 0.00 0.00 + + + + + + 1 + + 0 1 + none + 0 + 0 + + + + diff --git a/iCubPrague01/hardware/mechanicals/head-eb21-j2_5-mec.xml b/iCubPrague01/hardware/mechanicals/head-eb21-j2_5-mec.xml new file mode 100644 index 0000000000..06eae8dbc4 --- /dev/null +++ b/iCubPrague01/hardware/mechanicals/head-eb21-j2_5-mec.xml @@ -0,0 +1,79 @@ + + + + + + 6 + 4 + + + + 0 1 2 3 + "neck_yaw" "eyes_tilt" "eyes_vers" "eyes_verg" + "revolute" "revolute" "revolute" "revolute" + 182.044 182.044 182.044 182.044 + 3360 3360 3360 3360 + 1000.0 1000.0 1000.0 1000.0 + 100 -141 50 50 + 1 1 1 1 + 1 1 1 1 + "DC" "DC" "DC" "DC" + + 0 + + + + -45 -30 -45 0 + +45 +30 +45 +45 + 0 0 0 0 + 0 0 0 0 + + + + + + 1.000 0.000 0.000 0.000 + 0.000 1.000 0.000 0.000 + 0.000 0.000 1.000 -1.000 + 0.000 0.000 1.000 1.000 + + + + 1.000 0.000 0.000 0.000 + 0.000 1.000 0.000 0.000 + 0.000 0.000 0.500 0.500 + 0.000 0.000 -0.500 0.500 + + + + 1.000 0.000 0.000 0.000 0.000 0.000 + 0.000 1.000 0.000 0.000 0.000 0.000 + 0.000 0.000 1.000 0.000 0.000 0.000 + 0.000 0.000 0.000 1.000 0.000 0.000 + + + + + + 3 + + 0 + none + 0 + 0 + + + 1 + none + 0 + 0 + + + 2 3 + none + 0 + 0 + + + + diff --git a/iCubPrague01/hardware/mechanicals/left_arm-eb1-j0_3-mec.xml b/iCubPrague01/hardware/mechanicals/left_arm-eb1-j0_3-mec.xml new file mode 100644 index 0000000000..3475076e71 --- /dev/null +++ b/iCubPrague01/hardware/mechanicals/left_arm-eb1-j0_3-mec.xml @@ -0,0 +1,83 @@ + + + + + + 6 + 4 + 0 1 2 3 + "l_shoulder_pitch" "l_shoulder_roll" "l_shoulder_yaw" "l_elbow" + "revolute" "revolute" "revolute" "revolute" + 182.044 182.044 182.044 182.044 + 32000 32000 32000 32000 + 1000.0 1000.0 1000.0 1000.0 + 100.00 100.00 100.00 100.00 + 1 1 1 1 + 1 1 1 1 + "BLL_MOOG" "BLL_MOOG" "BLL_MOOG" "BLL_MOOG" + 0 + + + + + 8 160 80 106 + -95.5 15 -32 15 + 0 0 0 0 + 0 0 0 0 + + + + 1 1 1 1 + 0 0 0 0 + 1 1 1 1 + 0 0 0 0 + 0 0 0 0 + 0 0 0 0 + 8 8 8 8 + + + + + + + + 1.00 0.00 0.00 0.00 + -1.625 1.625 0.00 0.00 + 0.00 0.00 1.625 0.00 + 0.00 0.00 0.00 1.00 + + + + + 1.000 0.000 0.000 0.000 + 1.000 0.615 0.000 0.000 + 0.000 -0.615 0.615 0.000 + 0.000 0.000 0.000 1.000 + + + + 1.000 0.000 0.000 0.000 0.000 0.000 + 0.000 1.000 0.000 0.000 0.000 0.000 + 0.000 0.000 1.000 0.000 0.000 0.000 + 0.000 0.000 0.000 1.000 0.000 0.000 + + + + + + 2 + + 0 1 2 + none + 0 + 0 + + + 3 + none + 0 + 0 + + + + diff --git a/iCubPrague01/hardware/mechanicals/left_arm-eb24-j4_7-mec.xml b/iCubPrague01/hardware/mechanicals/left_arm-eb24-j4_7-mec.xml new file mode 100644 index 0000000000..97f841f8f4 --- /dev/null +++ b/iCubPrague01/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 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+ + + 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/iCubPrague01/hardware/mechanicals/left_arm-eb26-j12_15-mec.xml b/iCubPrague01/hardware/mechanicals/left_arm-eb26-j12_15-mec.xml new file mode 100644 index 0000000000..3896ddca2f --- /dev/null +++ b/iCubPrague01/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_little-fingers" + "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 + 1 1 1 1 + "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/iCubPrague01/hardware/mechanicals/left_leg-eb6-j0_3-mec.xml b/iCubPrague01/hardware/mechanicals/left_leg-eb6-j0_3-mec.xml new file mode 100644 index 0000000000..c5f4322e99 --- /dev/null +++ b/iCubPrague01/hardware/mechanicals/left_leg-eb6-j0_3-mec.xml @@ -0,0 +1,93 @@ + + + + + + 6 + 4 + 0 1 2 3 + "l_hip_pitch" "l_hip_roll" "l_hip_yaw" "l_knee" + "revolute" "revolute" "revolute" "revolute" + 182.044 182.044 182.044 182.044 + 32000 32000 32000 32000 + 1000.0 1000.0 1000.0 1000.0 + -150.0 100.0 -100.0 -100.0 + 1 1 1 1 + 1 1 1 1 + "BLL_MOOG" "BLL_MOOG" "BLL_MOOG" "BLL_MOOG" + 0 + + + + 92 92 72 0 + -30 -15 -72 -100 + 0 0 0 0 + 0 0 0 0 + + + + 1 1 1 1 + 0 0 0 0 + 1 1 1 1 + 0 0 0 0 + 0 0 0 0 + 0 0 0 0 + 8 8 8 8 + + + + + + 1.00 0.00 0.00 0.00 + 0.00 1.00 0.00 0.00 + 0.00 0.00 1.00 0.00 + 0.00 0.00 0.00 1.00 + + + + 1.00 0.00 0.00 0.00 + 0.00 1.00 0.00 0.00 + 0.00 0.00 1.00 0.00 + 0.00 0.00 0.00 1.00 + + + + 1.00 0.00 0.00 0.00 0.00 0.00 + 0.00 1.00 0.00 0.00 0.00 0.00 + 0.00 0.00 1.00 0.00 0.00 0.00 + 0.00 0.00 0.00 1.00 0.00 0.00 + + + + + + 4 + + 0 + none + 0 + 0 + + + 1 + none + 0 + 0 + + + 2 + none + 0 + 0 + + + 3 + none + 0 + 0 + + + + + + diff --git a/iCubPrague01/hardware/mechanicals/left_leg-eb7-j4_5-mec.xml b/iCubPrague01/hardware/mechanicals/left_leg-eb7-j4_5-mec.xml new file mode 100644 index 0000000000..7c40d9be97 --- /dev/null +++ b/iCubPrague01/hardware/mechanicals/left_leg-eb7-j4_5-mec.xml @@ -0,0 +1,79 @@ + + + + + + 6 + 2 + 0 1 + "l_ankle_pitch" "l_ankle_roll" + "revolute" "revolute" + 182.044 182.044 + 32000 32000 + 1000.0 1000.0 + 100.00 100.00 + 1 1 + "BLL_MOOG" "BLL_MOOG" + 1 1 + 0 + + + + 30.00 20.00 + -30.00 -20.00 + 0 0 + 0 0 + + + + 1 1 + 0 0 + 1 1 + 0 0 + 0 0 + 0 0 + 8 8 + + + + + + 1.00 0.00 0.00 0.00 + 0.00 1.00 0.00 0.00 + 0.00 0.00 1.00 0.00 + 0.00 0.00 0.00 1.00 + + + + 1.00 0.00 0.00 0.00 + 0.00 1.00 0.00 0.00 + 0.00 0.00 1.00 0.00 + 0.00 0.00 0.00 1.00 + + + + 1.00 0.00 0.00 0.00 0.00 0.00 + 0.00 1.00 0.00 0.00 0.00 0.00 + 0.00 0.00 1.00 0.00 0.00 0.00 + 0.00 0.00 0.00 1.00 0.00 0.00 + + + + + + 2 + + 0 + none + 0 + 0 + + + 1 + none + 0 + 0 + + + + diff --git a/iCubPrague01/hardware/mechanicals/right_arm-eb27-j4_7-mec.xml b/iCubPrague01/hardware/mechanicals/right_arm-eb27-j4_7-mec.xml new file mode 100644 index 0000000000..fa6030495a --- /dev/null +++ b/iCubPrague01/hardware/mechanicals/right_arm-eb27-j4_7-mec.xml @@ -0,0 +1,76 @@ + + + + + + 6 + 4 + + + "r_wrist_prosup" "r_wrist_pitch" "r_wrist_yaw" "r_hand_finger" + "revolute" "revolute" "revolute" "revolute" + 0 1 2 3 + 182.044 182.044 182.044 182.044 + 3360 3360 3360 3360 + 1000.0 1000.0 1000.0 1000.0 + 100 159 159 256 + 1 1 1 1 + 1 1 1 1 + "DC" "DC" "DC" "DC" + 0 + + + + 90 30 35 60 + -90 -80 -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/iCubPrague01/hardware/mechanicals/right_arm-eb28-j8_11-mec.xml b/iCubPrague01/hardware/mechanicals/right_arm-eb28-j8_11-mec.xml new file mode 100644 index 0000000000..f8a1f5e0b5 --- /dev/null +++ b/iCubPrague01/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 + 1 1 1 1 + "DC" "DC" "DC" "DC" + 0 + + + + 90 90 180 90 + 10 0 0 0 + 0 0 -5120 -5120 + 0 0 70000 32000 + + + + + + 1.000 0.000 0.000 0.000 + -1.000 +1.000 0.000 0.000 + 0.000 0.000 1.000 0.000 + 0.000 0.000 0.000 1.000 + + + + 1.000 0.000 0.000 0.000 + +1.000 +1.000 0.000 0.000 + 0.000 0.000 1.000 0.000 + 0.000 0.000 0.000 1.000 + + + + 1.000 0.000 0.000 0.000 0.000 0.000 + 0.000 1.000 0.000 0.000 0.000 0.000 + 0.000 0.000 1.000 0.000 0.000 0.000 + 0.000 0.000 0.000 1.000 0.000 0.000 + + + + + + 3 + + 0 1 + none + 0 + 0 + + + 2 + none + 0 + 0 + + + 3 + none + 0 + 0 + + + diff --git a/iCubPrague01/hardware/mechanicals/right_arm-eb29-j12_15-mec.xml b/iCubPrague01/hardware/mechanicals/right_arm-eb29-j12_15-mec.xml new file mode 100644 index 0000000000..4beaf67e10 --- /dev/null +++ b/iCubPrague01/hardware/mechanicals/right_arm-eb29-j12_15-mec.xml @@ -0,0 +1,83 @@ + + + + + + 6 + 4 + + + "r_index-distal" "r_middle-proximal" "r_middle-distal" "r_little-fingers" + "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 + 1 1 1 1 + "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/iCubPrague01/hardware/mechanicals/right_arm-eb3-j0_3-mec.xml b/iCubPrague01/hardware/mechanicals/right_arm-eb3-j0_3-mec.xml new file mode 100644 index 0000000000..56744446f9 --- /dev/null +++ b/iCubPrague01/hardware/mechanicals/right_arm-eb3-j0_3-mec.xml @@ -0,0 +1,85 @@ + + + + + + 6 + 4 + 0 1 2 3 + "r_shoulder_pitch" "r_shoulder_roll" "r_shoulder_yaw" "r_elbow" + "revolute" "revolute" "revolute" "revolute" + 182.044 182.044 182.044 182.044 + 32000 32000 32000 32000 + 1000.0 1000.0 1000.0 1000.0 + -100.00 -100.00 -100.00 -100.00 + 1 1 1 1 + 1 1 1 1 + "BLL_MOOG" "BLL_MOOG" "BLL_MOOG" "BLL_MOOG" + + 0 + + + + + 8 160 80 106 + -95.5 15 -32 15 + 0 0 0 0 + 0 0 0 0 + + + + 1 1 1 1 + 0 0 0 0 + 1 1 1 1 + 0 0 0 0 + 0 0 0 0 + 0 0 0 0 + 8 8 8 8 + + + + + + + + 1.00 0.00 0.00 0.00 + -1.625 1.625 0.00 0.00 + 0.00 0.00 1.625 0.00 + 0.00 0.00 0.00 1.00 + + + + + 1.000 0.000 0.000 0.000 + 1.000 0.615 0.000 0.000 + 0.000 -0.615 0.615 0.000 + 0.000 0.000 0.000 1.000 + + + + 1.000 0.000 0.000 0.000 0.000 0.000 + 0.000 1.000 0.000 0.000 0.000 0.000 + 0.000 0.000 1.000 0.000 0.000 0.000 + 0.000 0.000 0.000 1.000 0.000 0.000 + + + + + + 2 + + 0 1 2 + none + 0 + 0 + + + 3 + none + 0 + 0 + + + + + diff --git a/iCubPrague01/hardware/mechanicals/right_leg-eb8-j0_3-mec.xml b/iCubPrague01/hardware/mechanicals/right_leg-eb8-j0_3-mec.xml new file mode 100644 index 0000000000..2f0300a8af --- /dev/null +++ b/iCubPrague01/hardware/mechanicals/right_leg-eb8-j0_3-mec.xml @@ -0,0 +1,93 @@ + + + + + + 6 + 4 + + 0 1 2 3 + "r_hip_pitch" "r_hip_roll" "r_hip_yaw" "r_knee" + "revolute" "revolute" "revolute" "revolute" + 182.044 182.044 182.044 182.044 + 32000 32000 32000 32000 + 1000.0 1000.0 1000.0 1000.0 + 150.00 -100.00 100.00 100.00 + 1 1 1 1 + 1 1 1 1 + "BLL_MOOG" "BLL_MOOG" "BLL_MOOG" "BLL_MOOG" + + 0 + + + + + 92 92 72 0 + -30 -15 -72 -100 + 0 0 0 0 + 0 0 0 0 + + + + 1 1 1 1 + 0 0 0 0 + 1 1 1 1 + 0 0 0 0 + 0 0 0 0 + 0 0 0 0 + 8 8 8 8 + + + + + + 1.00 0.00 0.00 0.00 + 0.00 1.00 0.00 0.00 + 0.00 0.00 1.00 0.00 + 0.00 0.00 0.00 1.00 + + + + 1.00 0.00 0.00 0.00 + 0.00 1.00 0.00 0.00 + 0.00 0.00 1.00 0.00 + 0.00 0.00 0.00 1.00 + + + + 1.00 0.00 0.00 0.00 0.00 0.00 + 0.00 1.00 0.00 0.00 0.00 0.00 + 0.00 0.00 1.00 0.00 0.00 0.00 + 0.00 0.00 0.00 1.00 0.00 0.00 + + + + + + 4 + + 0 + none + 0 + 0 + + + 1 + none + 0 + 0 + + + 2 + none + 0 + 0 + + + 3 + none + 0 + 0 + + + diff --git a/iCubPrague01/hardware/mechanicals/right_leg-eb9-j4_5-mec.xml b/iCubPrague01/hardware/mechanicals/right_leg-eb9-j4_5-mec.xml new file mode 100644 index 0000000000..fc6e35c138 --- /dev/null +++ b/iCubPrague01/hardware/mechanicals/right_leg-eb9-j4_5-mec.xml @@ -0,0 +1,80 @@ + + + + + + 6 + 2 + 0 1 + "r_ankle_pitch" "r_ankle_roll" + "revolute" "revolute" + 182.044 182.044 + 32000 32000 + 1000.0 1000.0 + -100.00 -100.00 + 1.00 1.00 + "BLL_MOOG" "BLL_MOOG" + 1 1 + 0 + + + + 30 20 + -30 -20 + 0 0 + 0 0 + + + + 1 1 + 0 0 + 1 1 + 0 0 + 0 0 + 0 0 + 8 8 + + + + + + 1.00 0.00 0.00 0.00 + 0.00 1.00 0.00 0.00 + 0.00 0.00 1.00 0.00 + 0.00 0.00 0.00 1.00 + + + + 1.00 0.00 0.00 0.00 + 0.00 1.00 0.00 0.00 + 0.00 0.00 1.00 0.00 + 0.00 0.00 0.00 1.00 + + + + 1.00 0.00 0.00 0.00 0.00 0.00 + 0.00 1.00 0.00 0.00 0.00 0.00 + 0.00 0.00 1.00 0.00 0.00 0.00 + 0.00 0.00 0.00 1.00 0.00 0.00 + + + + + + 2 + + 0 + none + 0 + 0 + + + 1 + none + 0 + 0 + + + + + diff --git a/iCubPrague01/hardware/mechanicals/torso-eb5-j0_2-mec.xml b/iCubPrague01/hardware/mechanicals/torso-eb5-j0_2-mec.xml new file mode 100644 index 0000000000..b01ab414f2 --- /dev/null +++ b/iCubPrague01/hardware/mechanicals/torso-eb5-j0_2-mec.xml @@ -0,0 +1,74 @@ + + + + + + 6 + 3 + 2 0 1 + "torso_yaw" "torso_roll" "torso_pitch" + "revolute" "revolute" "revolute" + 182.044 182.044 182.044 + 32000 32000 32000 + 1000.0 1000.0 1000.0 + -100.00 -100.00 -100.00 + 1 1 1 + 1 1 1 + "BLL_MOOG" "BLL_MOOG" "BLL_MOOG" + 0 + + + + 50 30 70 + -50 -30 -20 + 0 0 0 + 0 0 0 + + + + 1 1 1 + 0 0 0 + 1 1 1 + 0 0 0 + 0 0 0 + 0 0 0 + 8 8 8 + + + + + + 0.500 -0.500 0.000 0.000 + 0.500 0.500 0.000 0.000 + 0.000 0.000 1.000 0.000 + 0.000 0.000 0.000 1.000 + + + + + 0.500 0.500 0.000 0.000 + -0.500 0.500 0.000 0.000 + 0.275 0.275 0.550 0.000 + 0.000 0.000 0.000 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 2 + none + 0 + 0 + + + + diff --git a/iCubPrague01/hardware/motorControl/face-eb22-j0-mc.xml b/iCubPrague01/hardware/motorControl/face-eb22-j0-mc.xml new file mode 100644 index 0000000000..a805716a13 --- /dev/null +++ b/iCubPrague01/hardware/motorControl/face-eb22-j0-mc.xml @@ -0,0 +1,70 @@ + + + + + + + + + + + + + + + -5 + +65 + 2000 + 700 + 1000 + 1000 + 3300 + + + + 100 + + + + 0.0 + 0.0 + + + + POS_PID_DEFAULT + POS_PID_DEFAULT + POS_PID_DEFAULT + none + none + none + + + + + + + minjerk + pwm + metric_units + machine_units + 600.00 + 0.0 + 100.0 + 3360 + 3360 + 0 + 0 + 0 + + + + + + + + + + + + + diff --git a/iCubPrague01/hardware/motorControl/face-eb22-j0-mc_service.xml b/iCubPrague01/hardware/motorControl/face-eb22-j0-mc_service.xml new file mode 100644 index 0000000000..f5ab0b88dd --- /dev/null +++ b/iCubPrague01/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/iCubPrague01/hardware/motorControl/head-eb20-j0_1-mc.xml b/iCubPrague01/hardware/motorControl/head-eb20-j0_1-mc.xml new file mode 100644 index 0000000000..f81260ebec --- /dev/null +++ b/iCubPrague01/hardware/motorControl/head-eb20-j0_1-mc.xml @@ -0,0 +1,70 @@ + + + + + + + + + + + + + + + -30 -20 + +22 +20 + 1000 1000 + 6000 6000 + 1500 1500 + 4000 4000 + 3360 3360 + + + + 100 100 + + + + 0.0 0.0 + 0.0 0.0 + + + + POS_PID_DEFAULT POS_PID_DEFAULT + POS_PID_DEFAULT POS_PID_DEFAULT + POS_PID_DEFAULT POS_PID_DEFAULT + none none + none none + none none + + + + + + + minjerk + pwm + metric_units + machine_units + -300 +300 + -10 +10 + -100 +100 + 3360 3360 + 3360 3360 + 0 0 + 0 0 + 0 0 + + + + + + + + + + + + + diff --git a/iCubPrague01/hardware/motorControl/head-eb20-j0_1-mc_service.xml b/iCubPrague01/hardware/motorControl/head-eb20-j0_1-mc_service.xml new file mode 100644 index 0000000000..636e0cc693 --- /dev/null +++ b/iCubPrague01/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/iCubPrague01/hardware/motorControl/head-eb21-j2_5-mc.xml b/iCubPrague01/hardware/motorControl/head-eb21-j2_5-mc.xml new file mode 100644 index 0000000000..c22aed6c0d --- /dev/null +++ b/iCubPrague01/hardware/motorControl/head-eb21-j2_5-mc.xml @@ -0,0 +1,71 @@ + + + + + + + + + + + + + + + -45 -30 -30 0 + +45 +30 +30 +45 + 1000 1000 1000 1000 + 2000 2000 2500 2500 + 700 700 700 700 + 1500 1500 1500 1500 + + 3360 3360 3360 3360 + + + + 100 100 100 100 + + + + 0.0 0.0 0.0 0.0 + 0.0 0.0 0.0 0.0 + + + + POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT + POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT + POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT + none none none none + none none none none + none none none none + + + + + + + minjerk + pwm + metric_units + machine_units + 1100.00 -1000 3500 3500 + 0.0 0.0 0.0 0.0 + 0.0 -100 600.0 600.0 + 3360 3360 3360 3360 + 3360 3360 3360 3360 + 0 0 0 0 + 0 0 0 0 + 0 0 0 0 + + + + + + + + + + + + + diff --git a/iCubPrague01/hardware/motorControl/head-eb21-j2_5-mc_service.xml b/iCubPrague01/hardware/motorControl/head-eb21-j2_5-mc_service.xml new file mode 100644 index 0000000000..cdd8f26e91 --- /dev/null +++ b/iCubPrague01/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/iCubPrague01/hardware/motorControl/left_arm-eb1-j0_3-mc.xml b/iCubPrague01/hardware/motorControl/left_arm-eb1-j0_3-mc.xml new file mode 100644 index 0000000000..aa196d26ca --- /dev/null +++ b/iCubPrague01/hardware/motorControl/left_arm-eb1-j0_3-mc.xml @@ -0,0 +1,117 @@ + + + + + + + + + + + + + + + 8 160 80 106 + -95.5 15 -32 15 + 1000 1000 1000 1000 + 4000 4000 4000 4000 + 5000 5000 5000 5000 + 15000 15000 15000 15000 + 10000 10000 10000 10000 + + + + 100 100 100 100 + + + + 0.1 0.1 0.1 0.1 + 0.05 0.05 0.05 0.05 + + + + POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT + POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT + POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT + TRQ_PID_DEFAULT TRQ_PID_DEFAULT TRQ_PID_DEFAULT TRQ_PID_DEFAULT + 2FOC_CUR_CONTROL 2FOC_CUR_CONTROL 2FOC_CUR_CONTROL 2FOC_CUR_CONTROL + 2FOC_VEL_CONTROL 2FOC_VEL_CONTROL 2FOC_VEL_CONTROL 2FOC_VEL_CONTROL + + + + + + + minjerk + pwm + metric_units + machine_units + 711.11 1066.66 711.11 1066.66 + 0.00 0.00 0.00 0.00 + 7111.09 10666.64 7111.09 10666.64 + 8000 8000 8000 8000 + 200 200 200 1000 + 0 0 0 0 + 0 0 0 0 + 0 0 0 0 + + + + + + + + + torque + pwm + metric_units + machine_units + 200 200 250 300 + 0 0 0 0 + 0 0 0 0 + 8000 8000 8000 8000 + 500 500 500 500 + 0 0 0 0 + 0.5 0.5 1 1.7 + -0.7 -0.7 -0.8 -1.2 + 1 1 1 1 + 0.0030 0.0006 0.0007 0.0007 + 0 0 0 0 + 180 464 463 449 + + + + low_lev_current + machine_units + machine_units + 8 8 8 8 + 0 0 0 0 + 2 2 2 2 + 10 10 10 10 + 32000 32000 32000 32000 + 32000 32000 32000 32000 + 0 0 0 0 + + + + low_lev_speed + machine_units + machine_units + 0 0 0 0 + 12 12 12 12 + 0 0 0 0 + 16 16 16 16 + 10 10 10 10 + 32000 32000 32000 32000 + 32000 32000 32000 32000 + + + + + + + + + + diff --git a/iCubPrague01/hardware/motorControl/left_arm-eb1-j0_3-mc_service.xml b/iCubPrague01/hardware/motorControl/left_arm-eb1-j0_3-mc_service.xml new file mode 100644 index 0000000000..a944f0b189 --- /dev/null +++ b/iCubPrague01/hardware/motorControl/left_arm-eb1-j0_3-mc_service.xml @@ -0,0 +1,62 @@ + + + + + + + + eomn_serv_MC_foc + + + + + ems4 + + + + foc + + 1 + 6 + + + 3 + 3 + 3 + + + + + + + + + eomc_act_foc foc foc foc + CAN1:1:0 CAN1:2:0 CAN1:3:0 CAN1:4:0 + + + + eomc_enc_aea aea aea aea + CONN:P6 CONN:P7 CONN:P8 CONN:P9 + eomc_pos_atjoint atjoint atjoint atjoint + -4096 -4096 4096 -4096 + 0.703 0.703 0.703 0.703 + + + + roie roie roie roie + CAN1:1:0 CAN1:2:0 CAN1:3:0 CAN1:4:0 + atmotor atmotor atmotor atmotor + -14400 -14400 -14400 -14400 + 0 0 0 0 + + + + + + + + + + + diff --git a/iCubPrague01/hardware/motorControl/left_arm-eb24-j4_7-mc.xml b/iCubPrague01/hardware/motorControl/left_arm-eb24-j4_7-mc.xml new file mode 100644 index 0000000000..a9e370f8eb --- /dev/null +++ b/iCubPrague01/hardware/motorControl/left_arm-eb24-j4_7-mc.xml @@ -0,0 +1,92 @@ + + + + + + + + + + + + + + + 60 25 35 60 + -60 -70 -15 10 + 1000 1000 1000 1000 + 10000 2000 2000 2000 + 5000 1000 1000 600 + 5000 2000 2000 1000 + 3360 3360 3360 3360 + + + + 100 100 100 100 + + + + 0.0 0.0 0.0 0.0 + 0.0 0.0 0.0 0.0 + + + + POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT + POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT + POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT + TRQ_PID_DEFAULT none none none + none none none none + none none none none + + + + + + + minjerk + pwm + metric_units + machine_units + -200.0 -500.0 -500.0 -500.0 + 0.0 0.0 0.0 0.0 + -200.0 -50.0 -50.0 -50.0 + 3360 3360 3360 3360 + 3360 3360 3360 3360 + 0 0 0 0 + 0 0 0 0 + 0 0 0 0 + + + + + + + + + torque + pwm + metric_units + machine_units + -1000 0 0 0 + 0 0 0 0 + 0 0 0 0 + 3360 0 0 0 + 500 0 0 0 + 0 0 0 0 + 0 0 0 0 + 0 0 0 0 + 0 0 0 0 + 0 0 0 0 + 0 0 0 0 + 1 0 0 0 + + + + + + + + + + + diff --git a/iCubPrague01/hardware/motorControl/left_arm-eb24-j4_7-mc_service.xml b/iCubPrague01/hardware/motorControl/left_arm-eb24-j4_7-mc_service.xml new file mode 100644 index 0000000000..56b3049417 --- /dev/null +++ b/iCubPrague01/hardware/motorControl/left_arm-eb24-j4_7-mc_service.xml @@ -0,0 +1,51 @@ + + + + + + + + eomn_serv_MC_mc4plus + + + + + mc4plus + + + + + + + + + pwm pwm pwm pwm + CONN:P5 CONN:P2 CONN:P4 CONN:P3 + + + + qenc aea aea absanalog + CONN:P5 CONN:P10 CONN:P11 CONN:P3 + atjoint atjoint atjoint atjoint + 1 -4096 4096 65535 + 0 0.703 0.703 0 + + + + + qenc qenc qenc none + CONN:P5 CONN:P2 CONN:P4 CONN:none + atmotor atmotor atmotor none + -2048 1600 1600 1 + 0 0 0 0 + + + + + + + + + + + diff --git a/iCubPrague01/hardware/motorControl/left_arm-eb25-j8_11-mc.xml b/iCubPrague01/hardware/motorControl/left_arm-eb25-j8_11-mc.xml new file mode 100644 index 0000000000..911fce8534 --- /dev/null +++ b/iCubPrague01/hardware/motorControl/left_arm-eb25-j8_11-mc.xml @@ -0,0 +1,73 @@ + + + + + + + + + + + + + + + 90 90 180 90 + 10 0 0 0 + 1000 1000 1000 1000 + 2000 2000 2000 2000 + 600 600 600 600 + 1000 1000 1000 1000 + 3360 3360 3360 3360 + + + + 100 100 100 100 + + + + 0.0 0.0 0.0 0.0 + 0.0 0.0 0.0 0.0 + + + + POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT + POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT + POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT + none none none none + none none none none + none none none none + + + + + + + minjerk + pwm + metric_units + machine_units + -500.0 500.0 500.0 500.0 + 0.0 0.0 0.0 0.0 + -50.0 50.0 50.0 50.0 + 3360 3360 3360 3360 + 3360 3360 3360 3360 + 0 0 0 0 + 0 0 0 0 + 0 0 0 0 + + + + + + + + + + + + + + + + diff --git a/iCubPrague01/hardware/motorControl/left_arm-eb25-j8_11-mc_service.xml b/iCubPrague01/hardware/motorControl/left_arm-eb25-j8_11-mc_service.xml new file mode 100644 index 0000000000..d922c65dc9 --- /dev/null +++ b/iCubPrague01/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/iCubPrague01/hardware/motorControl/left_arm-eb26-j12_15-mc.xml b/iCubPrague01/hardware/motorControl/left_arm-eb26-j12_15-mc.xml new file mode 100644 index 0000000000..1d4f63e5cf --- /dev/null +++ b/iCubPrague01/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 + -500.0 500.0 500.0 -200.0 + 0.0 0.0 0.0 0.0 + -50.0 50.0 50.0 -20.0 + 3360 3360 3360 3360 + 3360 3360 3360 3360 + 0 0 0 0 + 0 0 0 0 + 0 0 0 0 + + + + + + + + + + + + + + + diff --git a/iCubPrague01/hardware/motorControl/left_arm-eb26-j12_15-mc_service.xml b/iCubPrague01/hardware/motorControl/left_arm-eb26-j12_15-mc_service.xml new file mode 100644 index 0000000000..ee47fb0b27 --- /dev/null +++ b/iCubPrague01/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/iCubPrague01/hardware/motorControl/left_leg-eb6-j0_3-mc.xml b/iCubPrague01/hardware/motorControl/left_leg-eb6-j0_3-mc.xml new file mode 100644 index 0000000000..f51e089092 --- /dev/null +++ b/iCubPrague01/hardware/motorControl/left_leg-eb6-j0_3-mc.xml @@ -0,0 +1,117 @@ + + + + + + + + + + + + + + + 85 85 70 0 + -30 0 -70 -100 + 1000 1000 1000 1000 + 5000 5000 5000 5000 + 6000 10000 6000 10000 + 15000 15000 15000 15000 + 10000 10000 10000 10000 + + + + 100 100 100 100 + + + + 0.0 0.0 0.0 0.0 + 0.0 0.0 0.0 0.0 + + + + POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT + POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT + POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT + TRQ_PID_DEFAULT TRQ_PID_DEFAULT TRQ_PID_DEFAULT TRQ_PID_DEFAULT + 2FOC_CUR_CONTROL 2FOC_CUR_CONTROL 2FOC_CUR_CONTROL 2FOC_CUR_CONTROL + 2FOC_VEL_CONTROL 2FOC_VEL_CONTROL 2FOC_VEL_CONTROL 2FOC_VEL_CONTROL + + + + + + + minjerk + pwm + metric_units + machine_units + -1066.66 2066.66 -711.11 -1066.66 + 0.00 0.00 0.00 0.00 + -10666.64 14222.18 -7111.09 -1066.64 + 8000 8000 8000 8000 + 1500 1500 750 1000 + 0 0 0 0 + 0 0 0 0 + 0 0 0 0 + + + + + + + + + torque + pwm + metric_units + machine_units + -200 200 0 -200 + 0 0 0 0 + 0 0 0 0 + 8000 8000 8000 8000 + 500 500 500 500 + 0 0 0 0 + -2.0 2.0 -1.0 -1.0 + 1.4 -2.0 1.3 0.2 + 1 1 1 1 + 0 0 0 0 + 0 0 0 0 + -162 178 -197 -167 + + + + low_lev_current + machine_units + machine_units + 8 8 8 8 + 0 0 0 0 + 2 2 2 2 + 10 10 10 10 + 32000 32000 32000 32000 + 32000 32000 32000 32000 + 0 0 0 0 + + + + low_lev_speed + machine_units + machine_units + 0 0 0 0 + 12 12 12 12 + 0 0 0 0 + 16 16 16 16 + 10 10 10 10 + 32000 32000 32000 32000 + 32000 32000 32000 32000 + + + + + + + + + + diff --git a/iCubPrague01/hardware/motorControl/left_leg-eb6-j0_3-mc_service.xml b/iCubPrague01/hardware/motorControl/left_leg-eb6-j0_3-mc_service.xml new file mode 100644 index 0000000000..202f6fe456 --- /dev/null +++ b/iCubPrague01/hardware/motorControl/left_leg-eb6-j0_3-mc_service.xml @@ -0,0 +1,62 @@ + + + + + + + + eomn_serv_MC_foc + + + + + ems4 + + + + foc + + 1 + 6 + + + 3 + 3 + 3 + + + + + + + + + eomc_act_foc foc foc foc + CAN1:3:0 CAN1:4:0 CAN1:1:0 CAN1:2:0 + + + + eomc_enc_aea aea aea aea + CONN:P6 CONN:P7 CONN:P8 CONN:P9 + eomc_pos_atjoint atjoint atjoint atjoint + 4096 4096 4096 -4096 + 0.703 0.703 0.703 0.703 + + + + roie roie roie roie + CAN1:3:0 CAN1:4:0 CAN1:1:0 CAN1:2:0 + eomc_pos_atmotor atmotor atmotor atmotor + -14400.0 -14400.0 -14400.0 -14400.0 + 0 0 0 0 + + + + + + + + + + + diff --git a/iCubPrague01/hardware/motorControl/left_leg-eb7-j4_5-mc.xml b/iCubPrague01/hardware/motorControl/left_leg-eb7-j4_5-mc.xml new file mode 100644 index 0000000000..5d6e681692 --- /dev/null +++ b/iCubPrague01/hardware/motorControl/left_leg-eb7-j4_5-mc.xml @@ -0,0 +1,118 @@ + + + + + + + + + + + + + + + 30 20 + -30 -20 + 5000 5000 + 10000 10000 + 15000 15000 + 1000 1000 + 10000 10000 + + + + 100 100 + + + + 0.0 0.0 + 0.0 0.0 + + + + POS_PID_DEFAULT POS_PID_DEFAULT + POS_PID_DEFAULT POS_PID_DEFAULT + POS_PID_DEFAULT POS_PID_DEFAULT + TRQ_PID_DEFAULT TRQ_PID_DEFAULT + 2FOC_CUR_CONTROL 2FOC_CUR_CONTROL + 2FOC_VEL_CONTROL 2FOC_VEL_CONTROL + + + + + + + minjerk + pwm + metric_units + machine_units + 2200.00 2200.00 + 0.00 0.00 + 0.09 0.09 + 8000 8000 + 750 750 + 0 0 + 0 0 + 0 0 + + + + + + + + + torque + pwm + metric_units + machine_units + 200 200 + 0 0 + 0 0 + 0 0 + 8000 8000 + 500 500 + 0 0 + 1.7 0.8 + -1.7 -1.8 + 1 1 + 0 0 + 0 0 + 209 160 + + + + low_lev_current + machine_units + machine_units + 8 8 + 0 0 + 2 2 + 10 10 + 32000 32000 + 32000 32000 + 0 0 + + + + low_lev_speed + machine_units + machine_units + 0 0 + 12 12 + 0 0 + 16 16 + 10 10 + 32000 32000 + 32000 32000 + + + + + + + + + + diff --git a/iCubPrague01/hardware/motorControl/left_leg-eb7-j4_5-mc_service.xml b/iCubPrague01/hardware/motorControl/left_leg-eb7-j4_5-mc_service.xml new file mode 100644 index 0000000000..b4227312d3 --- /dev/null +++ b/iCubPrague01/hardware/motorControl/left_leg-eb7-j4_5-mc_service.xml @@ -0,0 +1,61 @@ + + + + + + + + eomn_serv_MC_foc + + + + + ems4 + + + + foc + + 1 + 6 + + + 3 + 3 + 3 + + + + + + + + eomc_act_foc foc + CAN1:1:0 CAN1:2:0 + + + + eomc_enc_aea aea + CONN:P6 CONN:P7 + eomc_pos_atjoint atjoint + -4096 4096 + 0.703 0.703 + + + + roie roie + CAN1:1:0 CAN1:2:0 + atmotor atmotor + -14400 -14400 + 0 0 + + + + + + + + + + + diff --git a/iCubPrague01/hardware/motorControl/right_arm-eb27-j4_7-mc.xml b/iCubPrague01/hardware/motorControl/right_arm-eb27-j4_7-mc.xml new file mode 100644 index 0000000000..1b3e3504bb --- /dev/null +++ b/iCubPrague01/hardware/motorControl/right_arm-eb27-j4_7-mc.xml @@ -0,0 +1,92 @@ + + + + + + + + + + + + + + + 60 25 35 60 + -60 -70 -15 10 + 1000 1000 1000 1000 + 10000 2000 2000 2000 + 5000 1000 1000 600 + 5000 2000 2000 1000 + 3360 3360 3360 3360 + + + + 100 100 100 100 + + + + 0.0 0.0 0.0 0.0 + 0.0 0.0 0.0 0.0 + + + + POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT + POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT + POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT + TRQ_PID_DEFAULT none none none + none none none none + none none none none + + + + + + + minjerk + pwm + metric_units + machine_units + 200.0 500.0 500.0 500.0 + 0.0 0.0 0.0 0.0 + 200.0 50.0 50.0 50.0 + 3360 3360 3360 3360 + 3360 3360 3360 3360 + 0 0 0 0 + 0 0 0 0 + 0 0 0 0 + + + + + + + + + torque + pwm + metric_units + machine_units + 1000 0 0 0 + 0 0 0 0 + 0 0 0 0 + 3360 0 0 0 + 500 0 0 0 + 0 0 0 0 + 0 0 0 0 + 0 0 0 0 + 0 0 0 0 + 0 0 0 0 + 0 0 0 0 + 1 0 0 0 + + + + + + + + + + + diff --git a/iCubPrague01/hardware/motorControl/right_arm-eb27-j4_7-mc_service.xml b/iCubPrague01/hardware/motorControl/right_arm-eb27-j4_7-mc_service.xml new file mode 100644 index 0000000000..59b004f02e --- /dev/null +++ b/iCubPrague01/hardware/motorControl/right_arm-eb27-j4_7-mc_service.xml @@ -0,0 +1,47 @@ + + + + + + + + eomn_serv_MC_mc4plus + + + + + mc4plus + + + + + + + pwm pwm pwm pwm + CONN:P5 CONN:P2 CONN:P4 CONN:P3 + + + + qenc aea aea absanalog + CONN:P5 CONN:P10 CONN:P11 CONN:P3 + atjoint atjoint atjoint atjoint + 1 4096 -4096 65535 + 0 0.703 0.703 0 + + + + qenc qenc qenc none + CONN:P5 CONN:P2 CONN:P4 CONN:none + atmotor atmotor atmotor none + -2048 1600 1600 1 + 0 0 0 0 + + + + + + + + + + diff --git a/iCubPrague01/hardware/motorControl/right_arm-eb28-j8_11-mc.xml b/iCubPrague01/hardware/motorControl/right_arm-eb28-j8_11-mc.xml new file mode 100644 index 0000000000..642b28ffd6 --- /dev/null +++ b/iCubPrague01/hardware/motorControl/right_arm-eb28-j8_11-mc.xml @@ -0,0 +1,73 @@ + + + + + + + + + + + + + + + 90 90 180 90 + 10 0 0 0 + 1000 1000 1000 1000 + 2000 2000 2000 2000 + 600 600 600 600 + 1000 1000 1000 1000 + 3360 3360 3360 3360 + + + + 100 100 100 100 + + + + 0.0 0.0 0.0 0.0 + 0.0 0.0 0.0 0.0 + + + + POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT + POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT + POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT + none none none none + none none none none + none none none none + + + + + + + minjerk + pwm + metric_units + machine_units + -500.0 500.0 -500.0 500.0 + 0.0 0.0 0.0 0.0 + -50.0 50.0 -50.0 50.0 + 3360 3360 3360 3360 + 3360 3360 3360 3360 + 0 0 0 0 + 0 0 0 0 + 0 0 0 0 + + + + + + + + + + + + + + + + diff --git a/iCubPrague01/hardware/motorControl/right_arm-eb28-j8_11-mc_service.xml b/iCubPrague01/hardware/motorControl/right_arm-eb28-j8_11-mc_service.xml new file mode 100644 index 0000000000..fc2a053d3b --- /dev/null +++ b/iCubPrague01/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/iCubPrague01/hardware/motorControl/right_arm-eb29-j12_15-mc.xml b/iCubPrague01/hardware/motorControl/right_arm-eb29-j12_15-mc.xml new file mode 100644 index 0000000000..21cd849950 --- /dev/null +++ b/iCubPrague01/hardware/motorControl/right_arm-eb29-j12_15-mc.xml @@ -0,0 +1,63 @@ + + + + + + + + + + + + + + + 180 90 180 270 + 0 0 0 0 + 1000 1000 1000 1000 + 2000 2000 2000 2000 + 600 600 600 600 + 1000 1000 1000 1000 + 3360 3360 3360 3360 + + + + 100 100 100 100 + + + + 0.0 0.0 0.0 0.0 + 0.0 0.0 0.0 0.0 + + + + POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT + POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT + POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT + none none none none + none none none none + none none none none + + + + minjerk + pwm + metric_units + machine_units + 500.0 500.0 -500.0 200.0 + 0.0 0.0 0.0 0.0 + 50.0 50.0 -50.0 20.0 + 3360 3360 3360 3360 + 3360 3360 3360 3360 + 0 0 0 0 + 0 0 0 0 + 0 0 0 0 + + + + + + + + + diff --git a/iCubPrague01/hardware/motorControl/right_arm-eb29-j12_15-mc_service.xml b/iCubPrague01/hardware/motorControl/right_arm-eb29-j12_15-mc_service.xml new file mode 100644 index 0000000000..90c1ef15a2 --- /dev/null +++ b/iCubPrague01/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/iCubPrague01/hardware/motorControl/right_arm-eb3-j0_3-mc.xml b/iCubPrague01/hardware/motorControl/right_arm-eb3-j0_3-mc.xml new file mode 100644 index 0000000000..daa75a3620 --- /dev/null +++ b/iCubPrague01/hardware/motorControl/right_arm-eb3-j0_3-mc.xml @@ -0,0 +1,117 @@ + + + + + + + + + + + + + + + 8 160 80 106 + -95.5 15 -32 15 + 1000 1000 1000 1000 + 4000 4000 4000 4000 + 5000 5000 5000 5000 + 15000 15000 15000 15000 + 10000 10000 10000 10000 + + + + 100 100 100 100 + + + + 0.1 0.1 0.1 0.1 + 0.05 0.05 0.05 0.05 + + + + POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT + POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT + POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT + TRQ_PID_DEFAULT TRQ_PID_DEFAULT TRQ_PID_DEFAULT TRQ_PID_DEFAULT + 2FOC_CUR_CONTROL 2FOC_CUR_CONTROL 2FOC_CUR_CONTROL 2FOC_CUR_CONTROL + 2FOC_VEL_CONTROL 2FOC_VEL_CONTROL 2FOC_VEL_CONTROL 2FOC_VEL_CONTROL + + + + + + + minjerk + pwm + metric_units + machine_units + -711.11 -1066.66 -711.11 -1066.66 + 0.00 0.00 0.00 0.00 + -7111.09 -10666.64 -7111.09 -10666.64 + 8000 8000 8000 8000 + 200 200 200 1000 + 0 0 0 0 + 0 0 0 0 + 0 0 0 0 + + + + + + + + + torque + pwm + metric_units + machine_units + -50 -200 -250 -300 + 0 0 0 0 + 0 0 0 0 + 8000 8000 8000 8000 + 500 500 500 500 + 0 0 0 0 + -0.5 -0.5 -1 -1.7 + 0.7 0.7 0.8 1.2 + 1 1 1 1 + -0.0030 -0.0006 -0.0007 0.0007 + 0 0 0 0 + -180 -464 -463 -449 + + + + low_lev_current + machine_units + machine_units + 8 8 8 8 + 0 0 0 0 + 2 2 2 2 + 10 10 10 10 + 32000 32000 32000 32000 + 32000 32000 32000 32000 + 0 0 0 0 + + + + low_lev_speed + machine_units + machine_units + 0 0 0 0 + 12 12 12 12 + 0 0 0 0 + 16 16 16 16 + 10 10 10 10 + 32000 32000 32000 32000 + 32000 32000 32000 32000 + + + + + + + + + + diff --git a/iCubPrague01/hardware/motorControl/right_arm-eb3-j0_3-mc_service.xml b/iCubPrague01/hardware/motorControl/right_arm-eb3-j0_3-mc_service.xml new file mode 100644 index 0000000000..b2e44e0699 --- /dev/null +++ b/iCubPrague01/hardware/motorControl/right_arm-eb3-j0_3-mc_service.xml @@ -0,0 +1,63 @@ + + + + + + + + eomn_serv_MC_foc + + + + + ems4 + + + + foc + + 1 + 6 + + + 3 + 3 + 3 + + + + + + + + + eomc_act_foc foc foc foc + CAN1:1:0 CAN1:2:0 CAN1:3:0 CAN1:4:0 + + + + eomc_enc_aea aea aea aea + CONN:P6 CONN:P7 CONN:P8 CONN:P9 + eomc_pos_atjoint atjoint atjoint atjoint + 4096 4096 -4096 4096 + 0.703 0.703 0.703 0.703 + + + + roie roie roie roie + CAN1:1:0 CAN1:2:0 CAN1:3:0 CAN1:4:0 + atmotor atmotor atmotor atmotor + -14400 -14400 -14400 -14400 + 0 0 0 0 + + + + + + + + + + + + diff --git a/iCubPrague01/hardware/motorControl/right_leg-eb8-j0_3-mc.xml b/iCubPrague01/hardware/motorControl/right_leg-eb8-j0_3-mc.xml new file mode 100644 index 0000000000..a8c166f4e5 --- /dev/null +++ b/iCubPrague01/hardware/motorControl/right_leg-eb8-j0_3-mc.xml @@ -0,0 +1,118 @@ + + + + + + + + + + + + + + + 85 85 70 0 + -30 0 -70 -100 + 1000 1000 1000 1000 + 5000 5000 5000 5000 + 6000 10000 6000 10000 + 15000 15000 15000 15000 + 10000 10000 10000 10000 + + + + 100 100 100 100 + + + + 0.0 0.0 0.0 0.0 + 0.0 0.0 0.0 0.0 + + + + POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT + POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT + POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT + TRQ_PID_DEFAULT TRQ_PID_DEFAULT TRQ_PID_DEFAULT TRQ_PID_DEFAULT + 2FOC_CUR_CONTROL 2FOC_CUR_CONTROL 2FOC_CUR_CONTROL 2FOC_CUR_CONTROL + 2FOC_VEL_CONTROL 2FOC_VEL_CONTROL 2FOC_VEL_CONTROL 2FOC_VEL_CONTROL + + + + + + + minjerk + pwm + metric_units + machine_units + 1066.66 -2066.66 711.11 1066.66 + 0.00 0.00 0.00 0.00 + 10666.64 -14222.18 7111.09 1066.64 + 8000 8000 8000 8000 + 1500 1500 750 1000 + 0 0 0 0 + 0 0 0 0 + 0 0 0 0 + + + + + + + + + torque + pwm + metric_units + machine_units + 200 -200 0 300 + 0 0 0 0 + 0 0 0 0 + 8000 8000 8000 8000 + 500 500 500 500 + 0 0 0 0 + 2.3 -1.79 1.8 1.2 + -3.3 1.76 -1.4 -1.7 + 1 1 1 1 + 0 0 0 0 + 0 0 0 0 + 147 -180 217 282 + + + + low_lev_current + machine_units + machine_units + 8 8 8 8 + 0 0 0 0 + 2 2 2 2 + 10 10 10 10 + 32000 32000 32000 32000 + 32000 32000 32000 32000 + 0 0 0 0 + + + + low_lev_speed + machine_units + machine_units + 0 0 0 0 + 12 12 12 12 + 0 0 0 0 + 16 16 16 16 + 10 10 10 10 + 32000 32000 32000 32000 + 32000 32000 32000 32000 + + + + + + + + + + + diff --git a/iCubPrague01/hardware/motorControl/right_leg-eb8-j0_3-mc_service.xml b/iCubPrague01/hardware/motorControl/right_leg-eb8-j0_3-mc_service.xml new file mode 100644 index 0000000000..38c349cda2 --- /dev/null +++ b/iCubPrague01/hardware/motorControl/right_leg-eb8-j0_3-mc_service.xml @@ -0,0 +1,62 @@ + + + + + + + + eomn_serv_MC_foc + + + + + ems4 + + + + foc + + 1 + 6 + + + 3 + 3 + 3 + + + + + + + + + eomc_act_foc foc foc foc + CAN1:3:0 CAN1:4:0 CAN1:1:0 CAN1:2:0 + + + + eomc_enc_aea aea aea aea + CONN:P6 CONN:P7 CONN:P8 CONN:P9 + eomc_pos_atjoint atjoint atjoint atjoint + -4096 -4096 -4096 4096 + 0.703 0.703 0.703 0.703 + + + + roie roie roie roie + CAN1:3:0 CAN1:4:0 CAN1:1:0 CAN1:2:0 + eomc_pos_atmotor atmotor atmotor atmotor + -14400 -14400 -14400 -14400 + 0 0 0 0 + + + + + + + + + + + diff --git a/iCubPrague01/hardware/motorControl/right_leg-eb9-j4_5-mc.xml b/iCubPrague01/hardware/motorControl/right_leg-eb9-j4_5-mc.xml new file mode 100644 index 0000000000..50cb6cafc1 --- /dev/null +++ b/iCubPrague01/hardware/motorControl/right_leg-eb9-j4_5-mc.xml @@ -0,0 +1,118 @@ + + + + + + + + + + + + + + + 30 20 + -30 -20 + 5000 5000 + 10000 10000 + 15000 15000 + 1000 1000 + 10000 10000 + + + + 100 100 + + + + 0 0 + 0 0 + + + + POS_PID_DEFAULT POS_PID_DEFAULT + POS_PID_DEFAULT POS_PID_DEFAULT + POS_PID_DEFAULT POS_PID_DEFAULT + TRQ_PID_DEFAULT TRQ_PID_DEFAULT + 2FOC_CUR_CONTROL 2FOC_CUR_CONTROL + 2FOC_VEL_CONTROL 2FOC_VEL_CONTROL + + + + + + + minjerk + pwm + metric_units + machine_units + -2105.00 -2310.00 + 0.00 0.00 + -0.09 -0.09 + 8000 8000 + 750 750 + 0 0 + 0 0 + 0 0 + + + + + + + + + torque + pwm + metric_units + machine_units + -200 -200 + 0 0 + 0 0 + 8000 8000 + 500 500 + 0 0 + -1.4 -1.5 + 2.4 1.6 + 1 1 + 0 0 + 0 0 + -231 -180 + + + + low_lev_current + machine_units + machine_units + 8 8 + 0 0 + 2 2 + 10 10 + 32000 32000 + 32000 32000 + 0 0 + + + + low_lev_speed + machine_units + machine_units + 0 0 + 12 12 + 0 0 + 16 16 + 10 10 + 32000 32000 + 32000 32000 + + + + + + + + + + + diff --git a/iCubPrague01/hardware/motorControl/right_leg-eb9-j4_5-mc_service.xml b/iCubPrague01/hardware/motorControl/right_leg-eb9-j4_5-mc_service.xml new file mode 100644 index 0000000000..4e7a027def --- /dev/null +++ b/iCubPrague01/hardware/motorControl/right_leg-eb9-j4_5-mc_service.xml @@ -0,0 +1,60 @@ + + + + + + + + eomn_serv_MC_foc + + + + + ems4 + + + + foc + + 1 + 6 + + + 3 + 3 + 3 + + + + + + + eomc_act_foc foc + CAN1:1:0 CAN1:2:0 + + + + eomc_enc_aea aea + CONN:P6 CONN:P7 + eomc_pos_atjoint atjoint + 4096 -4096 + 0.703 0.703 + + + + roie roie + CAN1:1:0 CAN1:2:0 + atmotor atmotor + -14400 -14400 + 0 0 + + + + + + + + + + + diff --git a/iCubPrague01/hardware/motorControl/torso-eb5-j0_2-mc.xml b/iCubPrague01/hardware/motorControl/torso-eb5-j0_2-mc.xml new file mode 100644 index 0000000000..5fca3fe394 --- /dev/null +++ b/iCubPrague01/hardware/motorControl/torso-eb5-j0_2-mc.xml @@ -0,0 +1,118 @@ + + + + + + + + + + + + + + + 50 28 68 + -50 -28 -18 + 1000 1000 1000 + 4000 4000 4000 + 5000 5000 5000 + 15000 15000 15000 + 10000 10000 10000 + + + + 100 100 100 + + + + 0 0 0 + 0 0 0 + + + + POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT + POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT + POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT + TRQ_PID_DEFAULT TRQ_PID_DEFAULT TRQ_PID_DEFAULT + 2FOC_CUR_CONTROL 2FOC_CUR_CONTROL 2FOC_CUR_CONTROL + 2FOC_VEL_CONTROL 2FOC_VEL_CONTROL 2FOC_VEL_CONTROL + + + + + + + minjerk + pwm + metric_units + machine_units + -711.11 -1066.66 -1066.66 + 0.00 0.00 0.00 + -7111.09 -10666.64 -14222.18 + 8000 8000 16000 + 750 1000 1000 + 0 0 0 + 0 0 0 + 0 0 0 + + + + + + + + + torque + pwm + metric_units + machine_units + -450 -400 -400 + 0 0 0 + 0 0 0 + 8000 8000 8000 + 500 500 500 + 0 0 0 + 0 0 0 + -2 -2 -2 + 1 1 1 + -0.0016 -0.003 -0.003 + 0 0 0 + -200 -200 -200 + + + + low_lev_current + machine_units + machine_units + 8 8 8 + 0 0 0 + 2 2 2 + 10 10 10 + 32000 32000 32000 + 32000 32000 32000 + 0 0 0 + + + + low_lev_speed + machine_units + machine_units + 0 0 0 + 12 12 12 + 0 0 0 + 16 16 16 + 10 10 10 + 32000 32000 32000 + 32000 32000 32000 + + + + + + + + + + + diff --git a/iCubPrague01/hardware/motorControl/torso-eb5-j0_2-mc_service.xml b/iCubPrague01/hardware/motorControl/torso-eb5-j0_2-mc_service.xml new file mode 100644 index 0000000000..19b75c1aad --- /dev/null +++ b/iCubPrague01/hardware/motorControl/torso-eb5-j0_2-mc_service.xml @@ -0,0 +1,64 @@ + + + + + + + + eomn_serv_MC_foc + + + + + ems4 + + + + foc + + 1 + 6 + + + 3 + 3 + 3 + + + + + + + + + eomc_act_foc foc foc + CAN1:3:0 CAN1:4:0 CAN1:1:0 + + + + eomc_enc_aea aea aea + CONN:P6 CONN:P7 CONN:P8 + eomc_pos_atjoint atjoint atjoint + 4096 4096 4096 + 0.703 0.703 0.703 + + + + roie roie roie + CAN1:3:0 CAN1:4:0 CAN1:1:0 + atmotor atmotor atmotor + -14400 -14400 -14400 + 0 0 0 + + + + + + + + + + + + + diff --git a/iCubPrague01/hardware/skin/left_arm-eb24-j4_7-skin.xml b/iCubPrague01/hardware/skin/left_arm-eb24-j4_7-skin.xml new file mode 100644 index 0000000000..b8eba1997b --- /dev/null +++ b/iCubPrague01/hardware/skin/left_arm-eb24-j4_7-skin.xml @@ -0,0 +1,15 @@ + + + + + + + + + + 14 13 12 11 10 9 8 + + + + + diff --git a/iCubPrague01/hardware/skin/left_arm-eb24-j4_7-skinSpec.xml b/iCubPrague01/hardware/skin/left_arm-eb24-j4_7-skinSpec.xml new file mode 100644 index 0000000000..0c43dcf25c --- /dev/null +++ b/iCubPrague01/hardware/skin/left_arm-eb24-j4_7-skinSpec.xml @@ -0,0 +1,54 @@ + + + + + + + 50 + 8 + 0xf0 + false + + + + true + 2 + 0x2200 + + + + + 20 + 1 14 0 6 1 0 0x2000 + 1 14 8 11 1 2 0x2200 + + 1 13 0 15 1 2 0x2200 + + 1 12 0 1 1 2 0x2200 + 1 12 3 3 1 2 0x2200 + 1 12 6 6 1 2 0x2200 + 1 12 8 9 1 2 0x2200 + 1 12 12 13 1 2 0x2200 + + 1 11 1 4 1 2 0x2200 + 1 11 8 13 1 2 0x2200 + + 1 10 0 1 1 2 0x2200 + 1 10 6 6 1 2 0x2200 + 1 10 8 15 1 2 0x2200 + + 1 9 0 8 1 2 0x2200 + 1 9 12 13 1 2 0x2200 + + 1 8 0 0 1 2 0x2200 + 1 8 8 9 1 2 0x2200 + 1 8 10 11 1 2 0x2200 + 1 8 13 13 1 2 0x2200 + 1 8 15 15 1 2 0x2200 + + + + diff --git a/iCubPrague01/hardware/skin/left_leg-eb10-skin.xml b/iCubPrague01/hardware/skin/left_leg-eb10-skin.xml new file mode 100644 index 0000000000..19f9c0bbe3 --- /dev/null +++ b/iCubPrague01/hardware/skin/left_leg-eb10-skin.xml @@ -0,0 +1,16 @@ + + + + + + + + + + 1 2 3 4 5 6 7 + 13 12 8 9 10 11 + + + + + diff --git a/iCubPrague01/hardware/skin/left_leg-eb10-skinSpec.xml b/iCubPrague01/hardware/skin/left_leg-eb10-skinSpec.xml new file mode 100644 index 0000000000..835f822503 --- /dev/null +++ b/iCubPrague01/hardware/skin/left_leg-eb10-skinSpec.xml @@ -0,0 +1,127 @@ + + + + + + + 50 + 8 + 0xf0 + false + + + + + true + 2 + 0x2200 + + + + + diff --git a/iCubPrague01/hardware/skin/right_arm-eb27-j4_7-skin.xml b/iCubPrague01/hardware/skin/right_arm-eb27-j4_7-skin.xml new file mode 100644 index 0000000000..511934f45a --- /dev/null +++ b/iCubPrague01/hardware/skin/right_arm-eb27-j4_7-skin.xml @@ -0,0 +1,14 @@ + + + + + + + + + + 14 13 12 11 10 9 8 + + + + diff --git a/iCubPrague01/hardware/skin/right_arm-eb27-j4_7-skinSpec.xml b/iCubPrague01/hardware/skin/right_arm-eb27-j4_7-skinSpec.xml new file mode 100644 index 0000000000..67987208d6 --- /dev/null +++ b/iCubPrague01/hardware/skin/right_arm-eb27-j4_7-skinSpec.xml @@ -0,0 +1,55 @@ + + + + + + + 50 + 8 + 0xf0 + false + + + + + + true + 2 + 0x2200 + + + + 20 + 1 14 0 6 1 0 0x2000 + 1 14 8 11 1 2 0x2200 + + 1 13 0 15 1 2 0x2200 + + 1 12 0 1 1 2 0x2200 + 1 12 3 3 1 2 0x2200 + 1 12 6 6 1 2 0x2200 + 1 12 8 9 1 2 0x2200 + 1 12 12 13 1 2 0x2200 + + 1 11 1 4 1 2 0x2200 + 1 11 8 13 1 2 0x2200 + + 1 9 0 1 1 2 0x2200 + 1 9 6 6 1 2 0x2200 + 1 9 8 15 1 2 0x2200 + + 1 10 0 8 1 2 0x2200 + 1 10 12 13 1 2 0x2200 + + 1 8 0 0 1 2 0x2200 + 1 8 8 9 1 2 0x2200 + 1 8 10 11 1 2 0x2200 + 1 8 13 13 1 2 0x2200 + 1 8 15 15 1 2 0x2200 + + + + diff --git a/iCubPrague01/hardware/skin/right_leg-eb11-skin.xml b/iCubPrague01/hardware/skin/right_leg-eb11-skin.xml new file mode 100644 index 0000000000..fca5d82864 --- /dev/null +++ b/iCubPrague01/hardware/skin/right_leg-eb11-skin.xml @@ -0,0 +1,16 @@ + + + + + + + + + + 1 2 3 4 5 6 7 + 13 12 8 9 10 11 + + + + + diff --git a/iCubPrague01/hardware/skin/right_leg-eb11-skinSpec.xml b/iCubPrague01/hardware/skin/right_leg-eb11-skinSpec.xml new file mode 100644 index 0000000000..d27a75757a --- /dev/null +++ b/iCubPrague01/hardware/skin/right_leg-eb11-skinSpec.xml @@ -0,0 +1,80 @@ + + + + + + + 50 + 8 + 0xf0 + false + + + + + true + 2 + 0x2200 + + + + + + diff --git a/iCubPrague01/hardware/skin/torso-eb22-skin.xml b/iCubPrague01/hardware/skin/torso-eb22-skin.xml new file mode 100644 index 0000000000..3737cd3bcf --- /dev/null +++ b/iCubPrague01/hardware/skin/torso-eb22-skin.xml @@ -0,0 +1,15 @@ + + + + + + + + + + + 7 8 9 10 + + + + diff --git a/iCubPrague01/hardware/skin/torso-eb22-skinSpec.xml b/iCubPrague01/hardware/skin/torso-eb22-skinSpec.xml new file mode 100644 index 0000000000..cef0d77483 --- /dev/null +++ b/iCubPrague01/hardware/skin/torso-eb22-skinSpec.xml @@ -0,0 +1,23 @@ + + + + + + + 50 + 8 + 0xf0 + false + + + + + true + 2 + 0x2200 + + + diff --git a/iCubPrague01/head-inetrials.xml b/iCubPrague01/head-inetrials.xml new file mode 100644 index 0000000000..e310132732 --- /dev/null +++ b/iCubPrague01/head-inetrials.xml @@ -0,0 +1,37 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/iCubPrague01/iKinGazeCtrl.ini b/iCubPrague01/iKinGazeCtrl.ini new file mode 100644 index 0000000000..a20c40b953 --- /dev/null +++ b/iCubPrague01/iKinGazeCtrl.ini @@ -0,0 +1,11 @@ +robot icub +head_version 2.7 +saccades off + +[cameras] +context cameraCalibration +file icubEyes.ini + +[imu] +mode off +source_port_name /imuFilter diff --git a/iCubPrague01/icubEyes.ini b/iCubPrague01/icubEyes.ini new file mode 100644 index 0000000000..5ce1a9536d --- /dev/null +++ b/iCubPrague01/icubEyes.ini @@ -0,0 +1,67 @@ +[CAMERA_CALIBRATION_RIGHT] + +projection pinhole +drawCenterCross 0 + +w 320 +h 244 +fx 222.073 +fy 221.606 +cx 172.424 +cy 118.289 +k1 -0.4127 +k2 0.143324 +p1 -0.000344691 +p2 -4.46355e-05 + +[CAMERA_CALIBRATION_LEFT] + +projection pinhole +drawCenterCross 0 + +w 320 +h 244 +fx 222.284 +fy 221.861 +cx 149.053 +cy 119.298 +k1 -0.430123 +k2 0.17197 +p1 0.000386035 +p2 -0.000730393 + + +[CAMERA_CALIBRATION_CONFIGURATION_LEFT] + +numPatternImagesRequired 10 +numPatternInnerCornersX 8 +numPatternInnerCornersY 6 +patternSquareSideLength 25 +outputFilename /tmp/results.ini +outputGroupname CAMERA_CALIBRATION_LEFT + + + +[CAMERA_CALIBRATION_CONFIGURATION_RIGHT] + +numPatternImagesRequired 10 +numPatternInnerCornersX 8 +numPatternInnerCornersY 6 +patternSquareSideLength 25 +outputFilename /tmp/results.ini +outputGroupname CAMERA_CALIBRATION_RIGHT + + +[STEREO_CALIBRATION_CONFIGURATION] +boardWidth 8 +boardHeight 6 +boardSize 0.09241 +numberOfPairs 30 + + +[STEREO_DISPARITY] +HN (0.993342 0.0108693 -0.11469 -0.0686084 -0.0108768 0.999941 0.000560432 0.00125079 0.114689 0.000690759 0.993401 -0.00369692 0 0 0 1) +QL ( 0.000000 0.000000 0.000000 -0.000192 0.000863 -0.002301 -0.000288 0.000000) +QR ( 0.000000 0.000000 0.000000 -0.000192 0.000863 -0.002301 -0.000288 0.000000) + + diff --git a/iCubPrague01/icub_all.xml b/iCubPrague01/icub_all.xml new file mode 100644 index 0000000000..e99127da32 --- /dev/null +++ b/iCubPrague01/icub_all.xml @@ -0,0 +1,114 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/iCubPrague01/icub_all_no_skin.xml b/iCubPrague01/icub_all_no_skin.xml new file mode 100644 index 0000000000..e45578fadd --- /dev/null +++ b/iCubPrague01/icub_all_no_skin.xml @@ -0,0 +1,113 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/iCubPrague01/icub_head_IMU.xml b/iCubPrague01/icub_head_IMU.xml new file mode 100644 index 0000000000..41796932c9 --- /dev/null +++ b/iCubPrague01/icub_head_IMU.xml @@ -0,0 +1,25 @@ + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/iCubPrague01/network.iCubPrague01.xml b/iCubPrague01/network.iCubPrague01.xml new file mode 100644 index 0000000000..fe7e612048 --- /dev/null +++ b/iCubPrague01/network.iCubPrague01.xml @@ -0,0 +1,648 @@ + + + + + + + + + + + + + + + + ETH + + + + + + ETH + + + + + + + + + + + ETH + + + + + + + + + + + ETH + + + + + + ETH + + + + + + ETH + + + + + + ETH + + + + + + ETH + + + + + + ETH + + + + + + + ETH + + + + + + ETH + + + + + + ETH + + + + + + ETH + + + + + + ETH + + + + + + ETH + + + + + + ETH + + + + + + ETH + + + + + + ETH + + + + + + ETH + + + + + + ETH + + + + + + + + + + + ETH + + + + + + ETH + + + + + + ETH + + + + + + ETH + + + + + + ETH + + + + + + ETH + + + + + + ETH + + + + + + ETH + + + + + + ETH + + + + + + ETH + + + + + + ETH + + + + + + ETH + + + + + + ETH + + + + + + ETH + + + + + + ETH + + + + + + ETH + + + + + + ETH + + + + + + + + + + + ETH + + + + + + ETH + + + + + + ETH + + + + + + ETH + + + + + + ETH + + + + + + ETH + + + + + + ETH + + + + + + ETH + + + + + + + + + + + ETH + + + + + + ETH + + + + + + ETH + + + + + + ETH + + + + + + ETH + + + + + + ETH + + + + + + ETH + + + + + + ETH + + + + + + ETH + + + + + + ETH + + + + + + ETH + + + + + + ETH + + + + + + ETH + + + + + + ETH + + + + + + ETH + + + + + + ETH + + + + + + ETH + + + + + + ETH + + + + + + ETH + + + + + + ETH + + + + + + ETH + + + + + + ETH + + + + + + ETH + + + + + + ETH + + + + + + + + + + + ETH + + + + + + ETH + + + + + + ETH + + + + + + ETH + + + + + + ETH + + + + + + ETH + + + + + + ETH + + + + + + ETH + + + + + + ETH + + + + + + ETH + + + + + + ETH + + + + + + ETH + + + + + + ETH + + + + + + ETH + + + + + + ETH + + + + + + ETH + + + + + + ETH + + + + + + ETH + + + + + + ETH + + + + + + ETH + + + + + + ETH + + + + + + ETH + + + + + + ETH + + + + + + ETH + + + + + + + + + + + + + + + + diff --git a/iCubPrague01/pf3dTracker.ini b/iCubPrague01/pf3dTracker.ini new file mode 100644 index 0000000000..dabde852d4 --- /dev/null +++ b/iCubPrague01/pf3dTracker.ini @@ -0,0 +1,98 @@ +#################################### +#configuration file for PF3DTracker# +#################################### + + +############# +#module name# +############# +name /pf3dTracker + +############################# +#parameters of the algorithm# +############################# +nParticles 700 +#nParticles number of particles used +accelStDev 30 +#accelStDev 50 30 15 +#accelStDev standard deviation of the acceleration noise +insideOutsideDiffWeight 1.5 +#insideOutsideDiffWeight inside-outside difference weight for the likelihood function +colorTransfPolicy 1 +#colorTransfPolicy [0=transform the whole image | 1=only transform the pixels you need] + + + + +######################### +#port names and function# +######################### +inputVideoPort /pf3dTracker/video:i +#inputVideoPort receives images from the grabber or the rectifying program. +outputVideoPort /pf3dTracker/video:o +#outputVideoPort produces images in which the contour of the estimated ball is highlighted +outputDataPort /pf3dTracker/data:o +#outputDataPort produces a stream of data in the format: X, Y, Z, likelihood, U, V, seeing_object +outputParticlePort /pf3dTracker/particles:o +#outputParticlePort produces data for the plotter. it is usually not active for performance reasons. +inputParticlePort /pf3dTracker/particles:i +#inputParticlePort recives hypotheses on the ball position from pf3dBottomup. +outputAttentionPort /pf3dTracker/attention:o +#outputAttentionPort produces data for the attention system, in terms of a peak of saliency. + + +################################# +#projection model and parameters# +################################# +#projectionModel [perspective|equidistance|unified] +projectionModel perspective + +cameraFile icubEyes.ini +cameraGroup CAMERA_CALIBRATION_LEFT + +####################### +#tracked object models# +####################### +#trackedObjectType [sphere|parallelogram] +trackedObjectType sphere +trackedObjectColorTemplate models/red_ball_iit.bmp +trackedObjectShapeTemplate models/initial_ball_points_36mm_20percent.csv + +motionModelMatrix models/motion_model_matrix.csv +trackedObjectTemp current_histogram.csv + +####################### +#initialization method# +####################### +#initialization method [search|3dEstimate|2dEstimate] +initializationMethod 3dEstimate +initialX 0 +initialY 0 +initialZ 0.5 + + +#################### +#visualization mode# +#################### +#circleVisualizationMode [0=inner and outer cirlce | 1=one circle with the correct radious] default 0. only applies to the sphere. +circleVisualizationMode 1 + + +######################### +#attention-related stuff# +######################### +#the tracker produces a value of likelihood at each time step. this value can be used to infer if the object it is tracking is the correct one. this is not a very robust way of doing so. +#if likelihood>this value, then probably I'm tracking the object. 20Millions is good, 12Millions is the likelihood of Jonas Hornsteins's PC screen (false positive). +#20Millions is a good threshold level when you have the right color model. 5M. +likelihoodThreshold 0.0005 +attentionOutputMax 300 +attentionOutputDecrease 0.99 + + +########################## +#image saving preferences# +########################## +#save images with OpenCV? +saveImagesWithOpencv false +#always use the trailing slash here. +saveImagesWithOpencvDir ./graphical_results/ diff --git a/iCubPrague01/skin.xml b/iCubPrague01/skin.xml new file mode 100644 index 0000000000..3a38162590 --- /dev/null +++ b/iCubPrague01/skin.xml @@ -0,0 +1,28 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/iCubPrague01/startaudio.ini b/iCubPrague01/startaudio.ini new file mode 100644 index 0000000000..fb78606211 --- /dev/null +++ b/iCubPrague01/startaudio.ini @@ -0,0 +1,5 @@ +device AudioRecorderWrapper + subdevice portaudioRecorder + name /microphone + min_samples_over_network 4000 + max_samples_over_network 4000 diff --git a/iCubPrague01/wholeBodyDynamics.ini b/iCubPrague01/wholeBodyDynamics.ini new file mode 100644 index 0000000000..3767e8a407 --- /dev/null +++ b/iCubPrague01/wholeBodyDynamics.ini @@ -0,0 +1,6 @@ +period 10 +performance 0 +comparison 0 +autoconnect +headV2.7 +imuPortName /icub/head/inertials diff --git a/iCubPrague01/wrappers/FT/left_arm-FT_wrapper.xml b/iCubPrague01/wrappers/FT/left_arm-FT_wrapper.xml new file mode 100644 index 0000000000..7685a751fa --- /dev/null +++ b/iCubPrague01/wrappers/FT/left_arm-FT_wrapper.xml @@ -0,0 +1,18 @@ + + + + + + 10 + /icub/left_arm/analog:o + + + + + left_arm-eb1-j0_3-strain + + + + + + diff --git a/iCubPrague01/wrappers/FT/left_foot-FT_wrapper.xml b/iCubPrague01/wrappers/FT/left_foot-FT_wrapper.xml new file mode 100644 index 0000000000..9e03772f50 --- /dev/null +++ b/iCubPrague01/wrappers/FT/left_foot-FT_wrapper.xml @@ -0,0 +1,18 @@ + + + + + + 10 + /icub/left_foot/analog:o + + + + + left_leg-eb7-j4_5-strain + + + + + + diff --git a/iCubPrague01/wrappers/FT/left_foot-FT_wrapper_multipleSens.xml b/iCubPrague01/wrappers/FT/left_foot-FT_wrapper_multipleSens.xml new file mode 100644 index 0000000000..a4db01f0a8 --- /dev/null +++ b/iCubPrague01/wrappers/FT/left_foot-FT_wrapper_multipleSens.xml @@ -0,0 +1,18 @@ + + + + + + 10 + /icub/left_foot + + + + + left_leg-eb7-j4_5-strain + + + + + + diff --git a/iCubPrague01/wrappers/FT/left_leg-FT_wrapper.xml b/iCubPrague01/wrappers/FT/left_leg-FT_wrapper.xml new file mode 100644 index 0000000000..84ac4cf081 --- /dev/null +++ b/iCubPrague01/wrappers/FT/left_leg-FT_wrapper.xml @@ -0,0 +1,18 @@ + + + + + + 10 + /icub/left_leg/analog:o + + + + + left_leg-eb6-j0_3-strain + + + + + + diff --git a/iCubPrague01/wrappers/FT/left_leg-FT_wrapper_multipleSens.xml b/iCubPrague01/wrappers/FT/left_leg-FT_wrapper_multipleSens.xml new file mode 100644 index 0000000000..76e6445d5e --- /dev/null +++ b/iCubPrague01/wrappers/FT/left_leg-FT_wrapper_multipleSens.xml @@ -0,0 +1,18 @@ + + + + + + 10 + /icub/left_leg + + + + + left_leg-eb6-j0_3-strain + + + + + + diff --git a/iCubPrague01/wrappers/FT/right_arm-FT_wrapper.xml b/iCubPrague01/wrappers/FT/right_arm-FT_wrapper.xml new file mode 100644 index 0000000000..cd117e9f7a --- /dev/null +++ b/iCubPrague01/wrappers/FT/right_arm-FT_wrapper.xml @@ -0,0 +1,18 @@ + + + + + + 10 + /icub/right_arm/analog:o + + + + + right_arm-eb3-j0_3-strain + + + + + + diff --git a/iCubPrague01/wrappers/FT/right_foot-FT_wrapper.xml b/iCubPrague01/wrappers/FT/right_foot-FT_wrapper.xml new file mode 100644 index 0000000000..fc2b87dca3 --- /dev/null +++ b/iCubPrague01/wrappers/FT/right_foot-FT_wrapper.xml @@ -0,0 +1,18 @@ + + + + + + 10 + /icub/right_foot/analog:o + + + + + right_leg-eb9-j4_5-strain + + + + + + diff --git a/iCubPrague01/wrappers/FT/right_foot-FT_wrapper_multipleSens.xml b/iCubPrague01/wrappers/FT/right_foot-FT_wrapper_multipleSens.xml new file mode 100644 index 0000000000..1f99ca981d --- /dev/null +++ b/iCubPrague01/wrappers/FT/right_foot-FT_wrapper_multipleSens.xml @@ -0,0 +1,18 @@ + + + + + + 10 + /icub/right_foot + + + + + right_leg-eb9-j4_5-strain + + + + + + diff --git a/iCubPrague01/wrappers/FT/right_leg-FT_wrapper.xml b/iCubPrague01/wrappers/FT/right_leg-FT_wrapper.xml new file mode 100644 index 0000000000..0c7c07de59 --- /dev/null +++ b/iCubPrague01/wrappers/FT/right_leg-FT_wrapper.xml @@ -0,0 +1,18 @@ + + + + + + 10 + /icub/right_leg/analog:o + + + + + right_leg-eb8-j0_3-strain + + + + + + diff --git a/iCubPrague01/wrappers/FT/right_leg-FT_wrapper_multipleSens.xml b/iCubPrague01/wrappers/FT/right_leg-FT_wrapper_multipleSens.xml new file mode 100644 index 0000000000..ab86e6230f --- /dev/null +++ b/iCubPrague01/wrappers/FT/right_leg-FT_wrapper_multipleSens.xml @@ -0,0 +1,18 @@ + + + + + + 10 + /icub/right_leg + + + + + right_leg-eb8-j0_3-strain + + + + + + diff --git a/iCubPrague01/wrappers/MAIS/left_arm-mais_wrapper.xml b/iCubPrague01/wrappers/MAIS/left_arm-mais_wrapper.xml new file mode 100644 index 0000000000..670c35bcb4 --- /dev/null +++ b/iCubPrague01/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/iCubPrague01/wrappers/MAIS/right_arm-mais_wrapper.xml b/iCubPrague01/wrappers/MAIS/right_arm-mais_wrapper.xml new file mode 100644 index 0000000000..1b5213361e --- /dev/null +++ b/iCubPrague01/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/iCubPrague01/wrappers/VFT/left_arm-VFT_wrapper.xml b/iCubPrague01/wrappers/VFT/left_arm-VFT_wrapper.xml new file mode 100644 index 0000000000..21e23e3033 --- /dev/null +++ b/iCubPrague01/wrappers/VFT/left_arm-VFT_wrapper.xml @@ -0,0 +1,20 @@ + + + + 10 + + + ( 0 3 0 3 ) + ( 4 6 0 2 ) + + 7 + /icub/joint_vsens/left_arm:i + + + + left_arm-eb1-j0_3-mc + left_arm-eb24-j4_7-mc + + + + diff --git a/iCubPrague01/wrappers/VFT/left_leg-VFT_wrapper.xml b/iCubPrague01/wrappers/VFT/left_leg-VFT_wrapper.xml new file mode 100644 index 0000000000..f3ffb9cc19 --- /dev/null +++ b/iCubPrague01/wrappers/VFT/left_leg-VFT_wrapper.xml @@ -0,0 +1,20 @@ + + + + 10 + + + ( 0 3 0 3 ) + ( 4 5 0 1 ) + + 6 + /icub/joint_vsens/left_leg:i + + + + left_leg-eb6-j0_3-mc + left_leg-eb7-j4_5-mc + + + + diff --git a/iCubPrague01/wrappers/VFT/right_arm-VFT_wrapper.xml b/iCubPrague01/wrappers/VFT/right_arm-VFT_wrapper.xml new file mode 100644 index 0000000000..a55cf3e65e --- /dev/null +++ b/iCubPrague01/wrappers/VFT/right_arm-VFT_wrapper.xml @@ -0,0 +1,20 @@ + + + + 10 + + + ( 0 3 0 3 ) + ( 4 6 0 2 ) + + 7 + /icub/joint_vsens/right_arm:i + + + + right_arm-eb3-j0_3-mc + right_arm-eb27-j4_7-mc + + + + diff --git a/iCubPrague01/wrappers/VFT/right_leg-VFT_wrapper.xml b/iCubPrague01/wrappers/VFT/right_leg-VFT_wrapper.xml new file mode 100644 index 0000000000..b14fa54653 --- /dev/null +++ b/iCubPrague01/wrappers/VFT/right_leg-VFT_wrapper.xml @@ -0,0 +1,20 @@ + + + + 10 + + + ( 0 3 0 3 ) + ( 4 5 0 1 ) + + 6 + /icub/joint_vsens/right_leg:i + + + + right_leg-eb8-j0_3-mc + right_leg-eb9-j4_5-mc + + + + diff --git a/iCubPrague01/wrappers/VFT/torso-VFT_wrapper.xml b/iCubPrague01/wrappers/VFT/torso-VFT_wrapper.xml new file mode 100644 index 0000000000..81d2841d34 --- /dev/null +++ b/iCubPrague01/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/iCubPrague01/wrappers/inertials/head-imuFilter.xml b/iCubPrague01/wrappers/inertials/head-imuFilter.xml new file mode 100644 index 0000000000..9070dff156 --- /dev/null +++ b/iCubPrague01/wrappers/inertials/head-imuFilter.xml @@ -0,0 +1,20 @@ + + + + + + 20 + /imuFilter + + + + + + head-inertial + + + + + diff --git a/iCubPrague01/wrappers/inertials/head-imuFilter_wrapper.xml b/iCubPrague01/wrappers/inertials/head-imuFilter_wrapper.xml new file mode 100644 index 0000000000..840c87bab1 --- /dev/null +++ b/iCubPrague01/wrappers/inertials/head-imuFilter_wrapper.xml @@ -0,0 +1,20 @@ + + + + + + 20 + /imuFilter + + + + + + head-imuFilter + + + + + diff --git a/iCubPrague01/wrappers/inertials/head-inertials_wrapper.xml b/iCubPrague01/wrappers/inertials/head-inertials_wrapper.xml new file mode 100644 index 0000000000..ab266c8715 --- /dev/null +++ b/iCubPrague01/wrappers/inertials/head-inertials_wrapper.xml @@ -0,0 +1,20 @@ + + + + + + 10 + /icub/head/inertials + + + + + + head-inertial + + + + + diff --git a/iCubPrague01/wrappers/inertials/left_arm-inertials_remapper.xml b/iCubPrague01/wrappers/inertials/left_arm-inertials_remapper.xml new file mode 100644 index 0000000000..fdbc2f5ced --- /dev/null +++ b/iCubPrague01/wrappers/inertials/left_arm-inertials_remapper.xml @@ -0,0 +1,24 @@ + + + + + + 10 + + + (l_upper_arm_mtb_acc_1b10 l_upper_arm_mtb_acc_1b11 l_upper_arm_mtb_acc_1b12 l_upper_arm_mtb_acc_1b13 + l_forearm_mtb_acc_1b7 l_forearm_mtb_acc_1b8 l_forearm_mtb_acc_1b9) + + + + + left_arm-eb24-j4_7-inertials + + + + + + diff --git a/iCubPrague01/wrappers/inertials/left_arm-inertials_wrapper-deprecated.xml b/iCubPrague01/wrappers/inertials/left_arm-inertials_wrapper-deprecated.xml new file mode 100644 index 0000000000..65b0d255c8 --- /dev/null +++ b/iCubPrague01/wrappers/inertials/left_arm-inertials_wrapper-deprecated.xml @@ -0,0 +1,21 @@ + + + + + + 10 + /icub/left_hand/inertialMTB + + + + + + left_arm-eb24-j4_7-inertials + + + + + + diff --git a/iCubPrague01/wrappers/inertials/left_arm-inertials_wrapper.xml b/iCubPrague01/wrappers/inertials/left_arm-inertials_wrapper.xml new file mode 100644 index 0000000000..221e99b2f7 --- /dev/null +++ b/iCubPrague01/wrappers/inertials/left_arm-inertials_wrapper.xml @@ -0,0 +1,20 @@ + + + + + + 10 + /icub/left_arm/inertials + + + + + left_arm-inertials_remapper + + + + + + diff --git a/iCubPrague01/wrappers/inertials/left_foot-imu_wrapper.xml b/iCubPrague01/wrappers/inertials/left_foot-imu_wrapper.xml new file mode 100644 index 0000000000..a1fb36cd32 --- /dev/null +++ b/iCubPrague01/wrappers/inertials/left_foot-imu_wrapper.xml @@ -0,0 +1,21 @@ + + + + + + 10 + /icub/left_foot/imu + + + + + + left_leg-eb7-imu + + + + + + diff --git a/iCubPrague01/wrappers/inertials/left_leg-imu_wrapper.xml b/iCubPrague01/wrappers/inertials/left_leg-imu_wrapper.xml new file mode 100644 index 0000000000..33280d537d --- /dev/null +++ b/iCubPrague01/wrappers/inertials/left_leg-imu_wrapper.xml @@ -0,0 +1,21 @@ + + + + + + 10 + /icub/left_leg/imu + + + + + + left_leg-eb6-imu + + + + + + diff --git a/iCubPrague01/wrappers/inertials/left_leg-inertials_remapper.xml b/iCubPrague01/wrappers/inertials/left_leg-inertials_remapper.xml new file mode 100644 index 0000000000..dbe7f0b89c --- /dev/null +++ b/iCubPrague01/wrappers/inertials/left_leg-inertials_remapper.xml @@ -0,0 +1,40 @@ + + + + + + 10 + + + (l_upper_leg_imu_gyro_1 + l_upper_leg_ems_gyro_eb6 + l_upper_leg_ems_gyro_eb10 + l_lower_leg_ems_gyro_eb7 + l_lower_leg_imu_gyro_2) + + + (l_upper_leg_imu_acc_1 + l_upper_leg_mtb_acc_10b1 l_upper_leg_mtb_acc_10b2 l_upper_leg_mtb_acc_10b3 l_upper_leg_mtb_acc_10b4 + l_upper_leg_mtb_acc_10b5 l_upper_leg_mtb_acc_10b6 l_upper_leg_mtb_acc_10b7 + l_lower_leg_mtb_acc_10b8 l_lower_leg_mtb_acc_10b9 l_lower_leg_mtb_acc_10b10 l_lower_leg_mtb_acc_10b11 + l_lower_leg_imu_acc_2 + l_foot_mtb_acc_10b12 l_foot_mtb_acc_10b13) + + + + + + left_leg-eb6-imu + left_leg-eb6-inertials + left_leg-eb7-imu + left_leg-eb7-inertials + left_leg-eb10-inertials + + + + + + diff --git a/iCubPrague01/wrappers/inertials/left_leg-inertials_wrapper-deprecated.xml b/iCubPrague01/wrappers/inertials/left_leg-inertials_wrapper-deprecated.xml new file mode 100644 index 0000000000..20650df365 --- /dev/null +++ b/iCubPrague01/wrappers/inertials/left_leg-inertials_wrapper-deprecated.xml @@ -0,0 +1,55 @@ + + + + + + 10 + /icub/left_leg/inertialMTB + + + + + + left_leg-eb10-inertials + + + + + + + + 10 + /icub/left_leg/inertialEMS6 + + + + + + left_leg-eb6-inertials + + + + + + + + 10 + /icub/left_leg/inertialEMS7 + + + + + + left_leg-eb7-inertials + + + + + + diff --git a/iCubPrague01/wrappers/inertials/left_leg-inertials_wrapper.xml b/iCubPrague01/wrappers/inertials/left_leg-inertials_wrapper.xml new file mode 100644 index 0000000000..908fde5b7c --- /dev/null +++ b/iCubPrague01/wrappers/inertials/left_leg-inertials_wrapper.xml @@ -0,0 +1,20 @@ + + + + + + 10 + /icub/left_leg/inertials + + + + + left_leg-inertials_remapper + + + + + + diff --git a/iCubPrague01/wrappers/inertials/right_arm-inertials_remapper.xml b/iCubPrague01/wrappers/inertials/right_arm-inertials_remapper.xml new file mode 100644 index 0000000000..bc8f86f444 --- /dev/null +++ b/iCubPrague01/wrappers/inertials/right_arm-inertials_remapper.xml @@ -0,0 +1,24 @@ + + + + + + 10 + + + (r_upper_arm_mtb_acc_2b10 r_upper_arm_mtb_acc_2b11 r_upper_arm_mtb_acc_2b12 r_upper_arm_mtb_acc_2b13 + r_forearm_mtb_acc_2b7 r_forearm_mtb_acc_2b8 r_forearm_mtb_acc_2b9) + + + + + right_arm-eb27-j4_7-inertials + + + + + + diff --git a/iCubPrague01/wrappers/inertials/right_arm-inertials_wrapper-deprecated.xml b/iCubPrague01/wrappers/inertials/right_arm-inertials_wrapper-deprecated.xml new file mode 100644 index 0000000000..ee48a1f6b8 --- /dev/null +++ b/iCubPrague01/wrappers/inertials/right_arm-inertials_wrapper-deprecated.xml @@ -0,0 +1,21 @@ + + + + + + 10 + /icub/right_hand/inertialMTB + + + + + + right_arm-eb27-j4_7-inertials + + + + + + diff --git a/iCubPrague01/wrappers/inertials/right_arm-inertials_wrapper.xml b/iCubPrague01/wrappers/inertials/right_arm-inertials_wrapper.xml new file mode 100644 index 0000000000..35234c9b33 --- /dev/null +++ b/iCubPrague01/wrappers/inertials/right_arm-inertials_wrapper.xml @@ -0,0 +1,20 @@ + + + + + + 10 + /icub/right_arm/inertials + + + + + right_arm-inertials_remapper + + + + + + diff --git a/iCubPrague01/wrappers/inertials/right_foot-imu_wrapper.xml b/iCubPrague01/wrappers/inertials/right_foot-imu_wrapper.xml new file mode 100644 index 0000000000..67fa1abda7 --- /dev/null +++ b/iCubPrague01/wrappers/inertials/right_foot-imu_wrapper.xml @@ -0,0 +1,21 @@ + + + + + + 10 + /icub/right_foot/imu + + + + + + right_leg-eb9-imu + + + + + + diff --git a/iCubPrague01/wrappers/inertials/right_leg-imu_wrapper.xml b/iCubPrague01/wrappers/inertials/right_leg-imu_wrapper.xml new file mode 100644 index 0000000000..700af6cbae --- /dev/null +++ b/iCubPrague01/wrappers/inertials/right_leg-imu_wrapper.xml @@ -0,0 +1,21 @@ + + + + + + 10 + /icub/right_leg/imu + + + + + + right_leg-eb8-imu + + + + + + diff --git a/iCubPrague01/wrappers/inertials/right_leg-inertials_remapper.xml b/iCubPrague01/wrappers/inertials/right_leg-inertials_remapper.xml new file mode 100644 index 0000000000..f91892786a --- /dev/null +++ b/iCubPrague01/wrappers/inertials/right_leg-inertials_remapper.xml @@ -0,0 +1,39 @@ + + + + + + 10 + + + (r_upper_leg_imu_gyro_1 + r_upper_leg_ems_gyro_eb8 + r_upper_leg_ems_gyro_eb11 + r_lower_leg_ems_gyro_eb9 + r_lower_leg_imu_gyro_2) + + + (r_upper_leg_imu_acc_1 + r_upper_leg_mtb_acc_11b1 r_upper_leg_mtb_acc_11b2 r_upper_leg_mtb_acc_11b3 r_upper_leg_mtb_acc_11b4 + r_upper_leg_mtb_acc_11b5 r_upper_leg_mtb_acc_11b6 r_upper_leg_mtb_acc_11b7 + r_lower_leg_mtb_acc_11b8 r_lower_leg_mtb_acc_11b9 r_lower_leg_mtb_acc_11b10 r_lower_leg_mtb_acc_11b11 + r_lower_leg_imu_acc_2 + r_foot_mtb_acc_11b12 r_foot_mtb_acc_11b13) + + + + + right_leg-eb8-imu + right_leg-eb8-inertials + right_leg-eb9-imu + right_leg-eb9-inertials + right_leg-eb11-inertials + + + + + + diff --git a/iCubPrague01/wrappers/inertials/right_leg-inertials_wrapper-deprecated.xml b/iCubPrague01/wrappers/inertials/right_leg-inertials_wrapper-deprecated.xml new file mode 100644 index 0000000000..555b40d772 --- /dev/null +++ b/iCubPrague01/wrappers/inertials/right_leg-inertials_wrapper-deprecated.xml @@ -0,0 +1,55 @@ + + + + + + 10 + /icub/right_leg/inertialMTB + + + + + + right_leg-eb11-inertials + + + + + + + + 10 + /icub/right_leg/inertialEMS8 + + + + + + right_leg-eb8-inertials + + + + + + + + 10 + /icub/right_leg/inertialEMS9 + + + + + + right_leg-eb9-inertials + + + + + + diff --git a/iCubPrague01/wrappers/inertials/right_leg-inertials_wrapper.xml b/iCubPrague01/wrappers/inertials/right_leg-inertials_wrapper.xml new file mode 100644 index 0000000000..dd511f7b81 --- /dev/null +++ b/iCubPrague01/wrappers/inertials/right_leg-inertials_wrapper.xml @@ -0,0 +1,20 @@ + + + + + + 10 + /icub/right_leg/inertials + + + + + right_leg-inertials_remapper + + + + + + diff --git a/iCubPrague01/wrappers/inertials/torso-inertial_wrapper.xml b/iCubPrague01/wrappers/inertials/torso-inertial_wrapper.xml new file mode 100644 index 0000000000..d9e1d4334b --- /dev/null +++ b/iCubPrague01/wrappers/inertials/torso-inertial_wrapper.xml @@ -0,0 +1,19 @@ + + + + + + 10 + /icub/torso/inertialMTB + + + + + + torso_inertialMTB + + + + + + diff --git a/iCubPrague01/wrappers/inertials/torso-inertials_remapper.xml b/iCubPrague01/wrappers/inertials/torso-inertials_remapper.xml new file mode 100644 index 0000000000..bc35f9d450 --- /dev/null +++ b/iCubPrague01/wrappers/inertials/torso-inertials_remapper.xml @@ -0,0 +1,27 @@ + + + + + + 10 + + + (torso_ems_gyro_eb1 + torso_ems_gyro_eb3) + + + (chest_mtb_acc_0b7 chest_mtb_acc_0b8 chest_mtb_acc_0b9 chest_mtb_acc_0b10) + + + + + torso-eb22-inertials + torso-eb1-inertials + torso-eb3-inertials + + + + + + diff --git a/iCubPrague01/wrappers/inertials/torso-inertials_wrapper-deprecated.xml b/iCubPrague01/wrappers/inertials/torso-inertials_wrapper-deprecated.xml new file mode 100644 index 0000000000..244ed3a01e --- /dev/null +++ b/iCubPrague01/wrappers/inertials/torso-inertials_wrapper-deprecated.xml @@ -0,0 +1,49 @@ + + + + + + 10 + /icub/torso/inertialMTB + + + + + + torso-eb22-inertials + + + + + + + + 10 + /icub/torso/inertialEMS1 + + + + + + torso-eb1-inertials + + + + + + + + 10 + /icub/torso/inertialEMS3 + + + + + + torso-eb3-inertials + + + + + + diff --git a/iCubPrague01/wrappers/inertials/torso-inertials_wrapper.xml b/iCubPrague01/wrappers/inertials/torso-inertials_wrapper.xml new file mode 100644 index 0000000000..e99fd513e5 --- /dev/null +++ b/iCubPrague01/wrappers/inertials/torso-inertials_wrapper.xml @@ -0,0 +1,18 @@ + + + + + + 10 + /icub/torso/inertials + + + + + torso-inertials_remapper + + + + + + diff --git a/iCubPrague01/wrappers/inertials/waist-inertials_remapper.xml b/iCubPrague01/wrappers/inertials/waist-inertials_remapper.xml new file mode 100644 index 0000000000..546b410725 --- /dev/null +++ b/iCubPrague01/wrappers/inertials/waist-inertials_remapper.xml @@ -0,0 +1,21 @@ + + + + + + 10 + + + (waist_ems_gyro_eb5) + + + + + waist-eb5-inertials + + + + + + diff --git a/iCubPrague01/wrappers/inertials/waist-inertials_wrapper-deprecated.xml b/iCubPrague01/wrappers/inertials/waist-inertials_wrapper-deprecated.xml new file mode 100644 index 0000000000..7afeeb997b --- /dev/null +++ b/iCubPrague01/wrappers/inertials/waist-inertials_wrapper-deprecated.xml @@ -0,0 +1,19 @@ + + + + + + 10 + /icub/waist/inertialEMS5 + + + + + + waist-eb5-inertials + + + + + + diff --git a/iCubPrague01/wrappers/inertials/waist-inertials_wrapper.xml b/iCubPrague01/wrappers/inertials/waist-inertials_wrapper.xml new file mode 100644 index 0000000000..0a47668314 --- /dev/null +++ b/iCubPrague01/wrappers/inertials/waist-inertials_wrapper.xml @@ -0,0 +1,18 @@ + + + + + + 10 + /icub/waist/inertials + + + + + waist-inertials_remapper + + + + + + diff --git a/iCubPrague01/wrappers/motorControl/face-mc_wrapper.xml b/iCubPrague01/wrappers/motorControl/face-mc_wrapper.xml new file mode 100644 index 0000000000..f9adc60ffb --- /dev/null +++ b/iCubPrague01/wrappers/motorControl/face-mc_wrapper.xml @@ -0,0 +1,29 @@ + + + + + + + + (0 0 0 0) + + + + 10 + /icub/face + face + 1 + + + + + face-eb22-j0-mc + face-calibrator + + + + + + + + diff --git a/iCubPrague01/wrappers/motorControl/head-mc_wrapper.xml b/iCubPrague01/wrappers/motorControl/head-mc_wrapper.xml new file mode 100644 index 0000000000..3db3d9823a --- /dev/null +++ b/iCubPrague01/wrappers/motorControl/head-mc_wrapper.xml @@ -0,0 +1,28 @@ + + + + + + + (0 1 0 1) + (2 5 0 3) + + + 10 + /icub/head + head + 6 + + + + + head-eb20-j0_1-mc + head-eb21-j2_5-mc + head-calibrator + + + + + + + diff --git a/iCubPrague01/wrappers/motorControl/icub_ros_wrapper.xml b/iCubPrague01/wrappers/motorControl/icub_ros_wrapper.xml new file mode 100644 index 0000000000..cd6fbe6c51 --- /dev/null +++ b/iCubPrague01/wrappers/motorControl/icub_ros_wrapper.xml @@ -0,0 +1,64 @@ + + + + 10 + /icub04/all_joints + 50 + + ( 0 1 0 1 ) + + ( 2 2 0 0 ) + + ( 3 5 0 2 ) + + ( 6 9 0 3 ) + + ( 10 13 0 3 ) + + ( 14 17 0 3 ) + + ( 18 21 0 3 ) + + ( 22 25 0 3 ) + + ( 26 29 0 3 ) + + ( 30 33 0 3 ) + + ( 34 37 0 3 ) + + ( 38 41 0 3 ) + + ( 42 43 0 1 ) + + ( 44 47 0 3 ) + + ( 48 49 0 1 ) + + + + true + /icub04/joint_states + /icub04/joint_state_publisher + + + + head-eb20-j0_1-mc + head-eb21-j2_5-mc + torso-eb5-j0_2-mc + right_arm-eb3-j0_3-mc + right_arm-eb27-j4_7-mc + right_arm-eb28-j8_11-mc + right_arm-eb29-j12_15-mc + left_arm-eb1-j0_3-mc + left_arm-eb24-j4_7-mc + left_arm-eb25-j8_11-mc + left_arm-eb26-j12_15-mc + left_leg-eb6-j0_3-mc + left_leg-eb7-j4_5-mc + right_leg-eb8-j0_3-mc + right_leg-eb9-j4_5-mc + + + + diff --git a/iCubPrague01/wrappers/motorControl/left_arm-mc_wrapper.xml b/iCubPrague01/wrappers/motorControl/left_arm-mc_wrapper.xml new file mode 100644 index 0000000000..ed51538da3 --- /dev/null +++ b/iCubPrague01/wrappers/motorControl/left_arm-mc_wrapper.xml @@ -0,0 +1,33 @@ + + + + + + + + (0 3 0 3) + (4 7 0 3) + (8 11 0 3) + (12 15 0 3) + + + 10 + /icub/left_arm + left_arm + 16 + + + + + left_arm-eb1-j0_3-mc + left_arm-eb24-j4_7-mc + left_arm-eb25-j8_11-mc + left_arm-eb26-j12_15-mc + left_arm-calibrator + + + + + + + diff --git a/iCubPrague01/wrappers/motorControl/left_forearm-mc_wrapper.xml b/iCubPrague01/wrappers/motorControl/left_forearm-mc_wrapper.xml new file mode 100644 index 0000000000..a966219fe6 --- /dev/null +++ b/iCubPrague01/wrappers/motorControl/left_forearm-mc_wrapper.xml @@ -0,0 +1,33 @@ + + + + + + + + + (4 7 0 3) + (8 11 0 3) + (12 15 0 3) + + + 10 + /icub/left_arm + left_arm + 12 + + + + + + left_arm-eb24-j4_7-mc + left_arm-eb25-j8_11-mc + left_arm-eb26-j12_15-mc + left_arm-calibrator + + + + + + + diff --git a/iCubPrague01/wrappers/motorControl/left_leg-mc_wrapper.xml b/iCubPrague01/wrappers/motorControl/left_leg-mc_wrapper.xml new file mode 100644 index 0000000000..bde6ae98c5 --- /dev/null +++ b/iCubPrague01/wrappers/motorControl/left_leg-mc_wrapper.xml @@ -0,0 +1,30 @@ + + + + + + + + (0 3 0 3) + (4 5 0 1) + + + 10 + /icub/left_leg + left_leg + 6 + + + + + + left_leg-eb6-j0_3-mc + left_leg-eb7-j4_5-mc + left_leg-calibrator + + + + + + + diff --git a/iCubPrague01/wrappers/motorControl/left_shoulder-mc_wrapper.xml b/iCubPrague01/wrappers/motorControl/left_shoulder-mc_wrapper.xml new file mode 100644 index 0000000000..e9a733e505 --- /dev/null +++ b/iCubPrague01/wrappers/motorControl/left_shoulder-mc_wrapper.xml @@ -0,0 +1,27 @@ + + + + + + + + (0 3 0 3) + + + 10 + /icub/left_arm + left_arm + 4 + + + + + left_arm-eb1-j0_3-mc + left_arm-calibrator + + + + + + + diff --git a/iCubPrague01/wrappers/motorControl/right_arm-mc_wrapper.xml b/iCubPrague01/wrappers/motorControl/right_arm-mc_wrapper.xml new file mode 100644 index 0000000000..da0e8812dc --- /dev/null +++ b/iCubPrague01/wrappers/motorControl/right_arm-mc_wrapper.xml @@ -0,0 +1,33 @@ + + + + + + + + (0 3 0 3) + (4 7 0 3) + (8 11 0 3) + (12 15 0 3) + + + 10 + /icub/right_arm + right_arm + 16 + + + + + right_arm-eb3-j0_3-mc + right_arm-eb27-j4_7-mc + right_arm-eb28-j8_11-mc + right_arm-eb29-j12_15-mc + right_arm-calibrator + + + + + + + diff --git a/iCubPrague01/wrappers/motorControl/right_forearm-mc_wrapper.xml b/iCubPrague01/wrappers/motorControl/right_forearm-mc_wrapper.xml new file mode 100644 index 0000000000..9f84f8447c --- /dev/null +++ b/iCubPrague01/wrappers/motorControl/right_forearm-mc_wrapper.xml @@ -0,0 +1,33 @@ + + + + + + + + + (4 7 0 3) + (8 11 0 3) + (12 15 0 3) + + + 10 + /icub/right_arm + right_arm + 12 + + + + + + right_arm-eb27-j4_7-mc + right_arm-eb28-j8_11-mc + right_arm-eb29-j12_15-mc + right_arm-calibrator + + + + + + + diff --git a/iCubPrague01/wrappers/motorControl/right_leg-mc_wrapper.xml b/iCubPrague01/wrappers/motorControl/right_leg-mc_wrapper.xml new file mode 100644 index 0000000000..eeaf22738c --- /dev/null +++ b/iCubPrague01/wrappers/motorControl/right_leg-mc_wrapper.xml @@ -0,0 +1,30 @@ + + + + + + + + (0 3 0 3) + (4 5 0 1) + + + 10 + /icub/right_leg + right_leg + 6 + + + + + + right_leg-eb8-j0_3-mc + right_leg-eb9-j4_5-mc + right_leg-calibrator + + + + + + + diff --git a/iCubPrague01/wrappers/motorControl/right_shoulder-mc_wrapper.xml b/iCubPrague01/wrappers/motorControl/right_shoulder-mc_wrapper.xml new file mode 100644 index 0000000000..bcd8c7ed7a --- /dev/null +++ b/iCubPrague01/wrappers/motorControl/right_shoulder-mc_wrapper.xml @@ -0,0 +1,27 @@ + + + + + + + + (0 3 0 3) + + + 10 + /icub/right_arm + right_arm + 4 + + + + + right_arm-eb3-j0_3-mc + right_arm-calibrator + + + + + + + diff --git a/iCubPrague01/wrappers/motorControl/torso-mc_wrapper.xml b/iCubPrague01/wrappers/motorControl/torso-mc_wrapper.xml new file mode 100644 index 0000000000..56d0629d51 --- /dev/null +++ b/iCubPrague01/wrappers/motorControl/torso-mc_wrapper.xml @@ -0,0 +1,28 @@ + + + + + + + + (0 2 0 2) + + + 10 + /icub/torso + torso + 3 + + + + + + torso-eb5-j0_2-mc + torso-calibrator + + + + + + + diff --git a/iCubPrague01/wrappers/skin/left_arm-skin_wrapper.xml b/iCubPrague01/wrappers/skin/left_arm-skin_wrapper.xml new file mode 100644 index 0000000000..370a7c56ff --- /dev/null +++ b/iCubPrague01/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/iCubPrague01/wrappers/skin/left_leg-skin_wrapper.xml b/iCubPrague01/wrappers/skin/left_leg-skin_wrapper.xml new file mode 100644 index 0000000000..e0b25cca8f --- /dev/null +++ b/iCubPrague01/wrappers/skin/left_leg-skin_wrapper.xml @@ -0,0 +1,26 @@ + + + + + + 20 + 2496 + skinWrapper + + + 1152 2495 0 1343 + 384 1151 0 767 + 0 383 0 383 + + + + + + left_leg-eb10-skin + + + + + + diff --git a/iCubPrague01/wrappers/skin/right_arm-skin_wrapper.xml b/iCubPrague01/wrappers/skin/right_arm-skin_wrapper.xml new file mode 100644 index 0000000000..2bcf052de9 --- /dev/null +++ b/iCubPrague01/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/iCubPrague01/wrappers/skin/right_leg-skin_wrapper.xml b/iCubPrague01/wrappers/skin/right_leg-skin_wrapper.xml new file mode 100644 index 0000000000..683247e6b6 --- /dev/null +++ b/iCubPrague01/wrappers/skin/right_leg-skin_wrapper.xml @@ -0,0 +1,26 @@ + + + + + + 20 + 2496 + skinWrapper + + + 1152 2495 0 1343 + 384 1151 0 767 + 0 383 0 383 + + + + + + right_leg-eb11-skin + + + + + + diff --git a/iCubPrague01/wrappers/skin/torso-skin_wrapper.xml b/iCubPrague01/wrappers/skin/torso-skin_wrapper.xml new file mode 100644 index 0000000000..e8e696c2a4 --- /dev/null +++ b/iCubPrague01/wrappers/skin/torso-skin_wrapper.xml @@ -0,0 +1,24 @@ + + + + + + 20 + 768 + skinWrapper + + + 0 767 0 767 + + + + + + torso-eb22-skin + + + + + + diff --git a/iCubPrague01/yarpmotorgui.ini b/iCubPrague01/yarpmotorgui.ini new file mode 100644 index 0000000000..3ec981b8b6 --- /dev/null +++ b/iCubPrague01/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/iCubPrague01/yarprobotinterface.ini b/iCubPrague01/yarprobotinterface.ini new file mode 100644 index 0000000000..4bf3ddec05 --- /dev/null +++ b/iCubPrague01/yarprobotinterface.ini @@ -0,0 +1,3 @@ +config ./icub_all.xml + +