diff --git a/R1SN003nws/CER.xml b/R1SN003nws/CER.xml new file mode 100644 index 0000000000..71caaf1409 --- /dev/null +++ b/R1SN003nws/CER.xml @@ -0,0 +1,84 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/R1SN003nws/CER_base.xml b/R1SN003nws/CER_base.xml new file mode 100644 index 0000000000..5d0b9761bb --- /dev/null +++ b/R1SN003nws/CER_base.xml @@ -0,0 +1,27 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/R1SN003nws/CER_hands_only.xml b/R1SN003nws/CER_hands_only.xml new file mode 100644 index 0000000000..fe06124884 --- /dev/null +++ b/R1SN003nws/CER_hands_only.xml @@ -0,0 +1,24 @@ + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/R1SN003nws/CER_mc_no_hands.xml b/R1SN003nws/CER_mc_no_hands.xml new file mode 100644 index 0000000000..e889d171f1 --- /dev/null +++ b/R1SN003nws/CER_mc_no_hands.xml @@ -0,0 +1,84 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/R1SN003nws/CER_mc_only_no_hands.xml b/R1SN003nws/CER_mc_only_no_hands.xml new file mode 100644 index 0000000000..884397b195 --- /dev/null +++ b/R1SN003nws/CER_mc_only_no_hands.xml @@ -0,0 +1,73 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/R1SN003nws/CMakeLists.txt b/R1SN003nws/CMakeLists.txt new file mode 100644 index 0000000000..ce00de0eed --- /dev/null +++ b/R1SN003nws/CMakeLists.txt @@ -0,0 +1,11 @@ +set(appname R1SN003) + +set(scripts CER.xml yarprobotinterface.ini general.xml yarpmotorgui.ini firmwareupdater.ini) + +yarp_install(FILES ${scripts} DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname}) +yarp_install(DIRECTORY calibrators 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 sensors DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname}) +yarp_install(DIRECTORY camera DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname}) + diff --git a/R1SN003nws/calibrators/cer_base-calib.xml b/R1SN003nws/calibrators/cer_base-calib.xml new file mode 100644 index 0000000000..7488e14b3e --- /dev/null +++ b/R1SN003nws/calibrators/cer_base-calib.xml @@ -0,0 +1,50 @@ + + + + + + + + + 2 + Mobile_Base_Calibrator + + + + + + 0 + + + + + 3 3 + 0 0 + 10.0 10.0 + 0 0 + 0 0 + 0 0 + 0 0 + 0.0 0.0 + 0.0 0.0 + 1.0 1.0 + 5000 5000 + 2 2 + 1.0 1.0 + 1 1 + + + (0 1) + + + cer_mobile_base_mc_wrapper + + + + cer_mobile_base_mc_wrapper + + + + + + diff --git a/R1SN003nws/calibrators/cer_head-calib.xml b/R1SN003nws/calibrators/cer_head-calib.xml new file mode 100644 index 0000000000..62a81335a1 --- /dev/null +++ b/R1SN003nws/calibrators/cer_head-calib.xml @@ -0,0 +1,52 @@ + + + + + + + + + 2 + Head_Calibrator + + + + + 1 + + + 0.00 0.00 + 10 10.00 + + + + + 12 12 + 15535 47167 + 0 0 + 0 0 + 0 0 + 0 0 + 0 0 + 0.0 0.0 + + 0.0 0.0 + 10.0 10.0 + 2000 1800 + 4 4 + + + (0 1) + + + cer_head_mc_wrapper + + + + cer_head_mc_wrapper + + + + + + diff --git a/R1SN003nws/calibrators/cer_left_arm_no_hand-calib.xml b/R1SN003nws/calibrators/cer_left_arm_no_hand-calib.xml new file mode 100644 index 0000000000..b1a6174ad7 --- /dev/null +++ b/R1SN003nws/calibrators/cer_left_arm_no_hand-calib.xml @@ -0,0 +1,62 @@ + + + + + + + + + 8 + Left_Arm_No_Hand_Calibrator + + + + + 2 + + + 25.00 16.00 -9.00 15.00 0.00 0.03 -5.0 0.0 + 10 10.00 10.00 10.00 10.00 0.005 10.0 10.0 + + + -10.85 4.15 -10.2 49.5 -78.3 0.03 0.68 0.68 + 3.00 5.00 10.00 10.00 10.00 0.005 10.0 10.0 + + + + + + + 12 12 12 12 10 8 8 8 + 9663 -28287 -19375 -36927 550 1500 1500 1500 + 0 0 0 0 0 700 700 700 + 0 0 0 0 0 0 0 0 + 0 0 0 0 0 0 0 0 + 0 0 0 0 0 0 0 0 + 0 0 0 0 91 0 0 0 + 0 0 0 0 0 0 0 0 + + -10 20 -10 35 0 0.03 0.0 0.0 + 10 10 10 10 15.0 0.007 10 10 + 32000 32000 32000 32000 2000 2000 2000 2000 + 2 2 2 2 2 0.002 2 2 + + + (0 1 2) (3) (4) (5 6 7) + + + cer_left_arm_no_hand_mc_wrapper + + + + cer_left_arm_no_hand_mc_wrapper + + + cer_left_arm_no_hand_mc_wrapper + + + + + + + diff --git a/R1SN003nws/calibrators/cer_left_hand-calib.xml b/R1SN003nws/calibrators/cer_left_hand-calib.xml new file mode 100644 index 0000000000..4fda044397 --- /dev/null +++ b/R1SN003nws/calibrators/cer_left_hand-calib.xml @@ -0,0 +1,52 @@ + + + + + + + + + 2 + Left_Hand_Calibrator + + + + + 1 + + + 30.00 30.00 + 40 40.00 + + + + + 13 13 + 19715 52239 + 28744 35280 + 37155 0 + 21262 0 + -1500 1500 + 0 0 + 0 0 + 30.0 30.0 + 40.0 40.0 + 1500 1500 + 10 10 + + + (0 1) + + + cer_left_hand_mc_wrapper + + + + cer_left_hand_mc_wrapper + + + + + + + diff --git a/R1SN003nws/calibrators/cer_right_arm_no_hand-calib.xml b/R1SN003nws/calibrators/cer_right_arm_no_hand-calib.xml new file mode 100644 index 0000000000..db9f3103d5 --- /dev/null +++ b/R1SN003nws/calibrators/cer_right_arm_no_hand-calib.xml @@ -0,0 +1,60 @@ + + + + + + + + + 8 + Right_Arm_No_Hand_Calibrator + + + + 2 + + + 25.00 16.00 -9.00 15.00 0.00 0.01 -5.0 0.0 + 10 10.00 10.00 10.00 10.00 0.005 10.0 10.0 + + + -9.29 5.8 -10.2 49.50 -80.0 0.03 0.34 -0.34 + 3.00 5.00 10.00 10.00 10.00 0.005 10.0 10.0 + + + + + + 12 12 12 12 10 8 8 8 + -5487 40831 61039 -27439 -550 1500 1500 1500 + 0 0 0 0 0 700 700 700 + 0 0 0 0 0 0 0 0 + 0 0 0 0 0 0 0 0 + 0 0 0 0 0 0 0 0 + 0 0 0 0 90 0 0 0 + 0 0 0 0 0 0 0 0 + + -10 20 -10 35 0 0.03 0.0 0.0 + 10 10 10 10 10 0.007 10 10 + 32000 32000 32000 32000 2000 2000 2000 2000 + 2 2 2 2 2 0.002 2 2 + + + (0 1 2) (3) (4) (5 6 7) + + + cer_right_arm_no_hand_mc_wrapper + + + + cer_right_arm_no_hand_mc_wrapper + + + cer_right_arm_no_hand_mc_wrapper + + + + + + + diff --git a/R1SN003nws/calibrators/cer_right_hand-calib.xml b/R1SN003nws/calibrators/cer_right_hand-calib.xml new file mode 100644 index 0000000000..067d8b98b0 --- /dev/null +++ b/R1SN003nws/calibrators/cer_right_hand-calib.xml @@ -0,0 +1,51 @@ + + + + + + + + + 2 + Right_Hand_Calibrator + + + + 1 + + + 30.00 30.00 + 40 40.00 + + + + + 13 13 + 8046 1693 + 57489 51919 + 48150 0 + 50972 0 + -1500 1500 + 0 0 + 0 0 + 30.0 30.0 + 40.0 40.0 + 1500 1500 + 10 10 + + + (0 1) + + + cer_right_hand_mc_wrapper + + + + cer_right_hand_mc_wrapper + + + + + + + diff --git a/R1SN003nws/calibrators/cer_torso-calib.xml b/R1SN003nws/calibrators/cer_torso-calib.xml new file mode 100644 index 0000000000..a99a23eb57 --- /dev/null +++ b/R1SN003nws/calibrators/cer_torso-calib.xml @@ -0,0 +1,61 @@ + + + + + + + + + 4 + Torso_Calibrator + + + + 2 + + + 0.14 0.00 0.00 0.00 + 0.01 10.00 10.00 10.00 + + + 0.029 0.00 0.00 0.00 + 0.01 10.00 10.00 10.00 + + + + + + 9 9 9 12 + 15000 15000 15000 -47919 + 280 280 280 0 + 0 0 0 0 + 0 0 0 0 + 0 0 0 0 + 1500 1500 1500 0 + 0.0 0.0 0.0 0.0 + + 0.12 0.0 0.0 0.0 + 0.01 10 10 10.0 + 30 30 30 20 + 20000 20000 20000 5000 + 0.005 2 2 2 + + + (0 1 2 3) + + + cer_torso_mc_wrapper + + + + cer_torso_mc_wrapper + + + cer_torso_mc_wrapper + + + + + + + diff --git a/R1SN003nws/camera/ServerGrabberDual.ini b/R1SN003nws/camera/ServerGrabberDual.ini new file mode 100644 index 0000000000..4d6a0d043e --- /dev/null +++ b/R1SN003nws/camera/ServerGrabberDual.ini @@ -0,0 +1,8 @@ +device grabberDual +subdevice usbCamera +capabilities COLOR +name /cer/cam +d /dev/video0 +width 1280 +height 480 + diff --git a/R1SN003nws/cer.urdf b/R1SN003nws/cer.urdf new file mode 100644 index 0000000000..e4ae8b166b --- /dev/null +++ b/R1SN003nws/cer.urdf @@ -0,0 +1,1540 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 1 + 100 + + child + child_to_parent + + + + + + + child + child_to_parent + + + + + 1 + 100 + + child + child_to_parent + + + + + + + child + child_to_parent + + + + + 1 + 40 + 0.07 0.0 0.031 0.0 -0.0 0.0 + + + + 360 + 1 + -3.14 + 3.14 + + + + 0.10 + 5.0 + 0.01 + + + gaussian + 0.0 + 0.005 + + + + package://cer/conf/gazebo_cer_laser_sensor.ini + + + + + + + + + + 1 + 30 + 0.0521666 0.0 -0.06748 -1.57079632679 -0.0 -1.57079632679 + + -0.0325 0 0 -1.57079 -1.57079 3.14159 + 1.5708 + + 640 + 480 + + + 0.1 + 100 + + + + 0.0325 0 0 -1.57079 -1.57079 3.14159 + 1.5708 + + 640 + 480 + + + 0.1 + 100 + + + + package://cer/conf/gazebo_cer_multicamera.ini + + + + + + + + + + 1 + 30 + 0.0598814 0.0444871 0.04402 -1.57079632679 -0.0 -1.57079632679 + + 0 0 0 -1.57079 -1.57079 3.14159 + 1.02259 + + 0 + 0 + 0 + 0 + 0 +
319.5 239.5
+ + + 640 + 480 + R8G8B8 + + + 0.02 + 3000 + + + + package://cer/conf/gazebo_cer_depthCamera.ini + + + + + + + + + + 1 + 30 + 0.0598814 0.0184871 0.04402 -1.57079632679 -0.0 -1.57079632679 + + 0 0 0 -1.57079 -1.57079 3.14159 + 1.02259 + + 0 + 0 + 0 + 0 + 0 +
319.5 239.5
+ + + 640 + 480 + R8G8B8 + + + 0.02 + 3000 + + + + package://cer/conf/gazebo_cer_xtion_camera_rgb.ini + + + + + + + + + + + package://cer/conf/gazebo_cer_torso.ini + + + + package://cer/conf/gazebo_cer_torso_tripod.ini + + + + package://cer/conf/gazebo_cer_left_upper_arm.ini + + + + package://cer/conf/gazebo_cer_left_wrist.ini + + + + package://cer/conf/gazebo_cer_left_wrist_tripod.ini + + + + package://cer/conf/gazebo_cer_right_upper_arm.ini + + + + package://cer/conf/gazebo_cer_right_wrist.ini + + + + package://cer/conf/gazebo_cer_right_wrist_tripod.ini + + + + package://cer/conf/gazebo_cer_right_arm.ini + + + package://cer/conf/gazebo_cer_left_arm.ini + + + + package://cer/conf/gazebo_cer_head.ini + + + + package://cer/conf/gazebo_cer_left_hand.ini + + + + package://cer/conf/gazebo_cer_right_hand.ini + + + + package://cer/conf/gazebo_cer_left_hand_mais.ini + + + package://cer/conf/gazebo_cer_right_hand_mais.ini + + + + package://cer/conf/gazebo_cer_mobile_base.ini + + + package://cer/conf/gazebo_cer_all.ini + + + package://cer/conf/worldInterface.ini + + + + + + + + + + + 0.0 + 0.0 + + + + + + + 0 0 0.16 0 0 0 + + + 1 + + + 1 + + + 1 + + + 1 + + + 1 + + + 1 + + + 1 + + + 1 + + + 1 + + + 1 + + + 1 + + + 1 + + + 1 + + + 1 + + + 1 + + + 1 + + + 1 + + + 1 + + + 1 + + + 1 + + + 1 + + + 1 + + + 1 + + + 1 + + + 1 + + + 1 + + + 1 + + + 1 + + + 1 + + + 1 + + + 1 + + + 1 + + + diff --git a/R1SN003nws/firmwareupdater.ini b/R1SN003nws/firmwareupdater.ini new file mode 100644 index 0000000000..c93b53ab35 --- /dev/null +++ b/R1SN003nws/firmwareupdater.ini @@ -0,0 +1,2 @@ +[DRIVERS] +ETH "eth" diff --git a/R1SN003nws/general.xml b/R1SN003nws/general.xml new file mode 100644 index 0000000000..c035458613 --- /dev/null +++ b/R1SN003nws/general.xml @@ -0,0 +1,12 @@ + + + + + + + false + false + false + false + + diff --git a/R1SN003nws/hardware/FT/cer_left_shoulder-ems5-strain.xml b/R1SN003nws/hardware/FT/cer_left_shoulder-ems5-strain.xml new file mode 100644 index 0000000000..017b584ec5 --- /dev/null +++ b/R1SN003nws/hardware/FT/cer_left_shoulder-ems5-strain.xml @@ -0,0 +1,52 @@ + + + + + + + + + + + + + eomn_serv_AS_strain + + + + + eobrd_strain + + + 1 + 0 + + + 0 + 0 + 0 + + + + + id_l_upper_arm_strain + eoas_strain + CAN2:13 + + + + + + 10 + id_l_upper_arm_strain + + + + true + + + + + + + diff --git a/R1SN003nws/hardware/FT/cer_right_shoulder-ems4-strain.xml b/R1SN003nws/hardware/FT/cer_right_shoulder-ems4-strain.xml new file mode 100644 index 0000000000..80184eb9ba --- /dev/null +++ b/R1SN003nws/hardware/FT/cer_right_shoulder-ems4-strain.xml @@ -0,0 +1,52 @@ + + + + + + + + + + + + + eomn_serv_AS_strain + + + + + eobrd_strain + + + 1 + 0 + + + 0 + 0 + 0 + + + + + id_r_upper_arm_strain + eoas_strain + CAN2:13 + + + + + + 10 + id_r_upper_arm_strain + + + + true + + + + + + + diff --git a/R1SN003nws/hardware/MAIS/left_hand-multi_enc.xml b/R1SN003nws/hardware/MAIS/left_hand-multi_enc.xml new file mode 100644 index 0000000000..6015e1ec56 --- /dev/null +++ b/R1SN003nws/hardware/MAIS/left_hand-multi_enc.xml @@ -0,0 +1,15 @@ + + + + + + + + + 0 1 + -182.044 182.044 1.0 -182.044 182.044 1.0 + + + + + diff --git a/R1SN003nws/hardware/MAIS/right_hand-multi_enc.xml b/R1SN003nws/hardware/MAIS/right_hand-multi_enc.xml new file mode 100644 index 0000000000..a03bd1bb4f --- /dev/null +++ b/R1SN003nws/hardware/MAIS/right_hand-multi_enc.xml @@ -0,0 +1,15 @@ + + + + + + + + + 0 1 + -182.044 182.044 1.0 -182.044 182.044 1.0 + + + + + diff --git a/R1SN003nws/hardware/PSC/left_hand-psc.xml b/R1SN003nws/hardware/PSC/left_hand-psc.xml new file mode 100644 index 0000000000..57e27174f8 --- /dev/null +++ b/R1SN003nws/hardware/PSC/left_hand-psc.xml @@ -0,0 +1,52 @@ + + + + + + + + + + + + + eomn_serv_AS_psc + + + + + eobrd_psc + + + 2 + 0 + + + 0 + 0 + 0 + + + + + id_left_hand1 id_left_hand2 id_left_hand3 + eoas_psc_angle eoas_psc_angle eoas_psc_angle + CAN1:1 CAN1:2 CAN1:3 + + + + + + 50 + id_left_hand1 id_left_hand2 id_left_hand3 + + + + + + + + + + + diff --git a/R1SN003nws/hardware/PSC/right_hand-psc.xml b/R1SN003nws/hardware/PSC/right_hand-psc.xml new file mode 100644 index 0000000000..05e27fb852 --- /dev/null +++ b/R1SN003nws/hardware/PSC/right_hand-psc.xml @@ -0,0 +1,52 @@ + + + + + + + + + + + + + eomn_serv_AS_psc + + + + + eobrd_psc + + + 2 + 0 + + + 0 + 0 + 0 + + + + + id_right_hand1 id_right_hand2 id_right_hand3 + eoas_psc_angle eoas_psc_angle eoas_psc_angle + CAN1:1 CAN1:2 CAN1:3 + + + + + + 50 + id_right_hand1 id_right_hand2 id_right_hand3 + + + + + + + + + + + diff --git a/R1SN003nws/hardware/electronics/cer_base-ems1-eln.xml b/R1SN003nws/hardware/electronics/cer_base-ems1-eln.xml new file mode 100644 index 0000000000..caeb52e006 --- /dev/null +++ b/R1SN003nws/hardware/electronics/cer_base-ems1-eln.xml @@ -0,0 +1,38 @@ + + + + + + + + + + 10.0.1.1 + 12345 + ems4 + 768 + 384 + + + + "EB1" + + 1000 + 400 + 300 + 300 + 3 + + + + + + true + 0.020 + 60.0 + + + + + + diff --git a/R1SN003nws/hardware/electronics/cer_head-mcp10-eln.xml b/R1SN003nws/hardware/electronics/cer_head-mcp10-eln.xml new file mode 100644 index 0000000000..930c2225f8 --- /dev/null +++ b/R1SN003nws/hardware/electronics/cer_head-mcp10-eln.xml @@ -0,0 +1,39 @@ + + + + + + + + + + + 10.0.1.10 + 12345 + mc4plus + 768 + 384 + + + + "EB10" + + 1000 + 400 + 300 + 300 + 5 + + + + + + true + 0.020 + 60.0 + + + + + + diff --git a/R1SN003nws/hardware/electronics/cer_left_hand-mcp9-eln.xml b/R1SN003nws/hardware/electronics/cer_left_hand-mcp9-eln.xml new file mode 100644 index 0000000000..06cc685ace --- /dev/null +++ b/R1SN003nws/hardware/electronics/cer_left_hand-mcp9-eln.xml @@ -0,0 +1,39 @@ + + + + + + + + + + + 10.0.1.9 + 12345 + mc2plus + 768 + 384 + + + + "EB9" + + 1000 + 300 + 400 + 300 + 5 + + + + + + true + 0.020 + 60.0 + + + + + + diff --git a/R1SN003nws/hardware/electronics/cer_left_lower_arm-mcp8-eln.xml b/R1SN003nws/hardware/electronics/cer_left_lower_arm-mcp8-eln.xml new file mode 100644 index 0000000000..8c0cc36885 --- /dev/null +++ b/R1SN003nws/hardware/electronics/cer_left_lower_arm-mcp8-eln.xml @@ -0,0 +1,39 @@ + + + + + + + + + + + 10.0.1.8 + 12345 + mc4plus + 768 + 384 + + + + "EB8" + + 1000 + 400 + 300 + 300 + 5 + + + + + + true + 0.020 + 60.0 + + + + + + diff --git a/R1SN003nws/hardware/electronics/cer_left_shoulder-ems5-eln.xml b/R1SN003nws/hardware/electronics/cer_left_shoulder-ems5-eln.xml new file mode 100644 index 0000000000..3a2c290eab --- /dev/null +++ b/R1SN003nws/hardware/electronics/cer_left_shoulder-ems5-eln.xml @@ -0,0 +1,39 @@ + + + + + + + + + + + 10.0.1.5 + 12345 + ems4 + 768 + 384 + + + + "EB5" + + 1000 + 400 + 300 + 300 + 5 + + + + + + true + 0.020 + 60.0 + + + + + + diff --git a/R1SN003nws/hardware/electronics/cer_left_upper_arm-ems12-eln.xml b/R1SN003nws/hardware/electronics/cer_left_upper_arm-ems12-eln.xml new file mode 100644 index 0000000000..37619e2943 --- /dev/null +++ b/R1SN003nws/hardware/electronics/cer_left_upper_arm-ems12-eln.xml @@ -0,0 +1,39 @@ + + + + + + + + + + + 10.0.1.12 + 12345 + ems4 + 768 + 384 + + + + "EB12" + + 1000 + 400 + 300 + 300 + 5 + + + + + + true + 0.020 + 60.0 + + + + + + diff --git a/R1SN003nws/hardware/electronics/cer_right_hand-mcp7-eln.xml b/R1SN003nws/hardware/electronics/cer_right_hand-mcp7-eln.xml new file mode 100644 index 0000000000..29f2e92d1f --- /dev/null +++ b/R1SN003nws/hardware/electronics/cer_right_hand-mcp7-eln.xml @@ -0,0 +1,39 @@ + + + + + + + + + + + 10.0.1.7 + 12345 + mc2plus + 768 + 384 + + + + "EB7" + + 1000 + 300 + 400 + 300 + 5 + + + + + + true + 0.020 + 60.0 + + + + + + diff --git a/R1SN003nws/hardware/electronics/cer_right_lower_arm-mcp6-eln.xml b/R1SN003nws/hardware/electronics/cer_right_lower_arm-mcp6-eln.xml new file mode 100644 index 0000000000..cfa1e9010e --- /dev/null +++ b/R1SN003nws/hardware/electronics/cer_right_lower_arm-mcp6-eln.xml @@ -0,0 +1,39 @@ + + + + + + + + + + + 10.0.1.6 + 12345 + mc4plus + 768 + 384 + + + + "EB6" + + 1000 + 400 + 300 + 300 + 5 + + + + + + true + 0.020 + 60.0 + + + + + + diff --git a/R1SN003nws/hardware/electronics/cer_right_shoulder-ems4-eln.xml b/R1SN003nws/hardware/electronics/cer_right_shoulder-ems4-eln.xml new file mode 100644 index 0000000000..5a25fa57bf --- /dev/null +++ b/R1SN003nws/hardware/electronics/cer_right_shoulder-ems4-eln.xml @@ -0,0 +1,39 @@ + + + + + + + + + + + 10.0.1.4 + 12345 + ems4 + 768 + 384 + + + + "EB4" + + 1000 + 400 + 300 + 300 + 5 + + + + + + true + 0.020 + 60.0 + + + + + + diff --git a/R1SN003nws/hardware/electronics/cer_right_upper_arm-ems11-eln.xml b/R1SN003nws/hardware/electronics/cer_right_upper_arm-ems11-eln.xml new file mode 100644 index 0000000000..ac276f82b2 --- /dev/null +++ b/R1SN003nws/hardware/electronics/cer_right_upper_arm-ems11-eln.xml @@ -0,0 +1,39 @@ + + + + + + + + + + + 10.0.1.11 + 12345 + ems4 + 768 + 384 + + + + "EB11" + + 1000 + 400 + 300 + 300 + 5 + + + + + + true + 0.020 + 60.0 + + + + + + diff --git a/R1SN003nws/hardware/electronics/cer_torso-ems3-eln.xml b/R1SN003nws/hardware/electronics/cer_torso-ems3-eln.xml new file mode 100644 index 0000000000..bd2f22d144 --- /dev/null +++ b/R1SN003nws/hardware/electronics/cer_torso-ems3-eln.xml @@ -0,0 +1,39 @@ + + + + + + + + + + + 10.0.1.3 + 12345 + ems4 + 768 + 384 + + + + "EB3" + + 1000 + 400 + 300 + 300 + 5 + + + + + + true + 0.020 + 60.0 + + + + + + diff --git a/R1SN003nws/hardware/electronics/pc104.xml b/R1SN003nws/hardware/electronics/pc104.xml new file mode 100644 index 0000000000..06a7a2904d --- /dev/null +++ b/R1SN003nws/hardware/electronics/pc104.xml @@ -0,0 +1,11 @@ + + + + + + 10.0.1.104 + 12345 + 1 + 5 + + diff --git a/R1SN003nws/hardware/mechanicals/cer_base-ems1-mec.xml b/R1SN003nws/hardware/mechanicals/cer_base-ems1-mec.xml new file mode 100644 index 0000000000..33adead9ef --- /dev/null +++ b/R1SN003nws/hardware/mechanicals/cer_base-ems1-mec.xml @@ -0,0 +1,82 @@ + + + + + + 6 + 2 + "mobile_base_l_wheel_joint" "mobile_base_r_wheel_joint" + 0 1 + "revolute" "revolute" + 182.044 182.044 + 32000 32000 + 1000.0 1000.0 + 17 17 + 1 1 + 1 1 + + 0 + + + + 0 0 + 0 0 + 0 0 + 0 0 + + + + + 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 + + + + 1.000 0.000 0.000 0.000 0.000 0.000 + 0.000 1.000 0.000 0.000 0.000 0.000 + 0.000 0.000 1.000 0.000 0.000 0.000 + 0.000 0.000 0.000 1.000 0.000 0.000 + + + + + + 2 + + 0 + none + 0 + 0 + + + 1 + none + 0 + 0 + + + + diff --git a/R1SN003nws/hardware/mechanicals/cer_head-mcp10-mec.xml b/R1SN003nws/hardware/mechanicals/cer_head-mcp10-mec.xml new file mode 100644 index 0000000000..362498e7b0 --- /dev/null +++ b/R1SN003nws/hardware/mechanicals/cer_head-mcp10-mec.xml @@ -0,0 +1,70 @@ + + + + + + 6 + 2 + "neck_pitch_joint" "neck_yaw_joint" + 0 1 + "revolute" "revolute" + 182.044 182.044 + -1 125 + 1 1 + 3360 3360 + 1000.0 1000.0 + "DC" "DC" + 1 1 + 0 + + + + 40 51 + -30.0 -51 + + 0 0 + 0 0 + + + + + + 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 + + + + 1.000 0.000 0.000 0.000 0.000 0.000 + 0.000 1.000 0.000 0.000 0.000 0.000 + 0.000 0.000 1.000 0.000 0.000 0.000 + 0.000 0.000 0.000 1.000 0.000 0.000 + + + + + + 2 + + 0 + none + 0 + 0 + + + 1 + none + 0 + 0 + + + + diff --git a/R1SN003nws/hardware/mechanicals/cer_left_hand-mcp9-mec.xml b/R1SN003nws/hardware/mechanicals/cer_left_hand-mcp9-mec.xml new file mode 100644 index 0000000000..7bdb7df7e7 --- /dev/null +++ b/R1SN003nws/hardware/mechanicals/cer_left_hand-mcp9-mec.xml @@ -0,0 +1,69 @@ + + + + + + 6 + 2 + "l_palm" "l_thumb" + 0 1 + "revolute" "revolute" + 182.044 182.044 + 1 -1 + 1 1 + 0 0 + "DC" "DC" + 3360 3360 + 1000.0 1000.0 + 0 + + + + 145 135 + 0 -5 + 0 0 + 0 0 + + + + + + 1.000 0.000 0.000 0.000 + 0.000 1.000 0.000 0.000 + 0.000 0.000 1.000 0.000 + 0.000 0.000 0.000 1.000 + + + + 1.000 0.000 0.000 0.000 + 0.000 1.000 0.000 0.000 + 0.000 0.000 1.000 0.000 + 0.000 0.000 0.000 1.000 + + + + -0.5 0.5 0.5 -0.5 0.000 0.000 + 0.000 0.000 0.000 0.000 -1.000 1.000 + 0.000 0.000 0.000 0.000 0.000 0.000 + 0.000 0.000 0.000 0.000 0.000 0.000 + + + + + + 2 + + 0 + cerhand2 + 0 + 0 + + + 1 + cerhand2 + 0 + 0 + + + + diff --git a/R1SN003nws/hardware/mechanicals/cer_left_lower_arm-mcp8-mec.xml b/R1SN003nws/hardware/mechanicals/cer_left_lower_arm-mcp8-mec.xml new file mode 100644 index 0000000000..ce0f768be1 --- /dev/null +++ b/R1SN003nws/hardware/mechanicals/cer_left_lower_arm-mcp8-mec.xml @@ -0,0 +1,72 @@ + + + + + + 6 + 4 + "l_wrist_tripod_0" "l_wrist_tripod_1" "l_wrist_tripod_2" "l_wrist_pronosupination_joint" + 0 1 2 3 + "prismatic" "prismatic" "prismatic" "revolute" + 56333.333 56333.333 56333.333 182.044 + 1 1 1 1 + 1 1 1 64 + 1 1 1 1 + 3360 3360 3360 3360 + 1000.0 1000.0 1000.0 1000.0 + "DC" "DC" "DC" "DC" + 0 + + + + 0.125 0.125 0.125 90 + -0.005 -0.005 -0.005 -90 + 0 0 0 0 + 0 0 0 0 + + + + + + + 1.000 0.000 0.000 0.000 + 0.000 1.000 0.000 0.000 + 0.000 0.000 1.000 0.000 + 0.000 0.000 0.000 1.000 + + + + + 1.000 0.000 0.000 0.000 + 0.000 1.000 0.000 0.000 + 0.000 0.000 1.000 0.000 + 0.000 0.000 0.000 1.000 + + + + 1.000 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 + trifid + + 244236 + 0 + + + 3 + none + 0 + 0 + + + + diff --git a/R1SN003nws/hardware/mechanicals/cer_left_shoulder-ems5-mec.xml b/R1SN003nws/hardware/mechanicals/cer_left_shoulder-ems5-mec.xml new file mode 100644 index 0000000000..2504e5daef --- /dev/null +++ b/R1SN003nws/hardware/mechanicals/cer_left_shoulder-ems5-mec.xml @@ -0,0 +1,81 @@ + + + + + + 6 + 2 + 0 1 + "l_shoulder_pitch_joint" "l_shoulder_roll_joint" + "revolute" "revolute" + 182.044 182.044 + 117.333 -117.333 + 1 1 + 1 1 + "BLL_MECAP" "BLL_MECAP" + 32000 32000 + 1000.0 1000.0 + 0 + + + + 90 90 + -75 0 + 0 0 + 0 0 + + + + 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 + + + + 1.000 0.000 0.000 0.000 0.000 0.000 + 0.000 1.000 0.000 0.000 0.000 0.000 + 0.000 0.000 1.000 0.000 0.000 0.000 + 0.000 0.000 0.000 1.000 0.000 0.000 + + + + + + 2 + + 0 + none + 0 + 0 + + + 1 + none + 0 + 0 + + + + diff --git a/R1SN003nws/hardware/mechanicals/cer_left_upper_arm-ems12-mec.xml b/R1SN003nws/hardware/mechanicals/cer_left_upper_arm-ems12-mec.xml new file mode 100644 index 0000000000..2f0751e713 --- /dev/null +++ b/R1SN003nws/hardware/mechanicals/cer_left_upper_arm-ems12-mec.xml @@ -0,0 +1,81 @@ + + + + + + 6 + 2 + 0 1 + "l_shoulder_yaw_joint" "l_elbow_joint" + "revolute" "revolute" + 182.044 182.044 + 159.438 159.438 + 1 1 + 1 1 + "BLL_MECAP" "BLL_MECAP" + 32000 32000 + 1000.0 1000.0 + 0 + + + + 92 100 + -92 0 + 0 0 + 0 0 + + + + 0 0 + 0 0 + 1 1 + 0 0 + 1 1 + 0 0 + 0 0 + 0 0 + 16 16 + + + + + + 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 + + + + 1.000 0.000 0.000 0.000 0.000 0.000 + 0.000 1.000 0.000 0.000 0.000 0.000 + 0.000 0.000 1.000 0.000 0.000 0.000 + 0.000 0.000 0.000 1.000 0.000 0.000 + + + + + + 2 + + 0 + none + 0 + 0 + + + 1 + none + 0 + 0 + + + + diff --git a/R1SN003nws/hardware/mechanicals/cer_right_hand-mcp7-mec.xml b/R1SN003nws/hardware/mechanicals/cer_right_hand-mcp7-mec.xml new file mode 100644 index 0000000000..1f2faabe7e --- /dev/null +++ b/R1SN003nws/hardware/mechanicals/cer_right_hand-mcp7-mec.xml @@ -0,0 +1,71 @@ + + + + + + 6 + 2 + "r_palm" "r_thumb" + 0 1 + "revolute" "revolute" + 182.044 182.044 + 3360 3360 + 1000.0 1000.0 + 1 -1 + 1 1 + 0 0 + "DC" "DC" + 0 + + + + 145 135 + -5 -5 + 0 0 + 0 0 + + + + + + + 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 + + + + 0.5 -0.5 -0.5 0.5 0.000 0.000 + 0.000 0.000 0.000 0.000 1.0 -1.0 + 0.000 0.000 0.000 0.000 0.000 0.000 + 0.000 0.000 0.000 0.000 0.000 0.000 + + + + + + 2 + + 0 + cerhand2 + 0 + 0 + + + 1 + cerhand2 + 0 + 0 + + + + + diff --git a/R1SN003nws/hardware/mechanicals/cer_right_lower_arm-mcp6-mec.xml b/R1SN003nws/hardware/mechanicals/cer_right_lower_arm-mcp6-mec.xml new file mode 100644 index 0000000000..27aa652881 --- /dev/null +++ b/R1SN003nws/hardware/mechanicals/cer_right_lower_arm-mcp6-mec.xml @@ -0,0 +1,70 @@ + + + + + + 6 + 4 + "r_wrist_tripod_0" "r_wrist_tripod_1" "r_wrist_tripod_2" "r_wrist_pronosupination_joint" + 0 1 2 3 + "prismatic" "prismatic" "prismatic" "revolute" + 56333.333 56333.333 56333.333 182.044 + 1 1 1 1 + 1 1 1 64 + 1 1 1 1 + 3360 3360 3360 3360 + 1000.0 1000.0 1000.0 1000.0 + "DC" "DC" "DC" "DC" + 0 + + + + 0.125 0.125 0.125 90 + -0.005 -0.005 -0.005 -90 + 0 0 0 0 + 0 0 0 0 + + + + + + 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 + + + + 1.000 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 + trifid + + 244236 + 0 + + + 3 + none + 0 + 0 + + + + diff --git a/R1SN003nws/hardware/mechanicals/cer_right_shoulder-ems4-mec.xml b/R1SN003nws/hardware/mechanicals/cer_right_shoulder-ems4-mec.xml new file mode 100644 index 0000000000..03941d7e72 --- /dev/null +++ b/R1SN003nws/hardware/mechanicals/cer_right_shoulder-ems4-mec.xml @@ -0,0 +1,81 @@ + + + + + + 6 + 2 + 0 1 + "r_shoulder_pitch_joint" "r_shoulder_roll_joint" + "revolute" "revolute" + 182.044 182.044 + 117.333 -117.333 + 1 1 + 1 1 + 32000 32000 + 1000.0 1000.0 + "BLL_MECAP" "BLL_MECAP" + 0 + + + + 90 90 + -75 0 + 0 0 + 0 0 + + + + 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 + + + + 1.000 0.000 0.000 0.000 0.000 0.000 + 0.000 1.000 0.000 0.000 0.000 0.000 + 0.000 0.000 1.000 0.000 0.000 0.000 + 0.000 0.000 0.000 1.000 0.000 0.000 + + + + + + 2 + + 0 + none + 0 + 0 + + + 1 + none + 0 + 0 + + + + diff --git a/R1SN003nws/hardware/mechanicals/cer_right_upper_arm-ems11-mec.xml b/R1SN003nws/hardware/mechanicals/cer_right_upper_arm-ems11-mec.xml new file mode 100644 index 0000000000..9f8e1a1d70 --- /dev/null +++ b/R1SN003nws/hardware/mechanicals/cer_right_upper_arm-ems11-mec.xml @@ -0,0 +1,81 @@ + + + + + + 6 + 2 + 0 1 + "r_shoulder_yaw_joint" "r_elbow_joint" + "revolute" "revolute" + 182.044 182.044 + -159.438 159.438 + 1 1 + 1 1 + 32000 32000 + 1000.0 1000.0 + "BLL_MECAP" "BLL_MECAP" + 0 + + + + 92 100 + -92 0 + 0 0 + 0 0 + + + + 0 0 + 0 0 + 1 1 + 0 0 + 1 1 + 0 0 + 0 0 + 0 0 + 16 16 + + + + + + 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 + + + + 1.000 0.000 0.000 0.000 0.000 0.000 + 0.000 1.000 0.000 0.000 0.000 0.000 + 0.000 0.000 1.000 0.000 0.000 0.000 + 0.000 0.000 0.000 1.000 0.000 0.000 + + + + + + 2 + + 0 + none + 0 + 0 + + + 1 + none + 0 + 0 + + + + diff --git a/R1SN003nws/hardware/mechanicals/cer_torso-ems3-mec.xml b/R1SN003nws/hardware/mechanicals/cer_torso-ems3-mec.xml new file mode 100644 index 0000000000..106e3d628d --- /dev/null +++ b/R1SN003nws/hardware/mechanicals/cer_torso-ems3-mec.xml @@ -0,0 +1,83 @@ + + + + + + 6 + 4 + "torso_tripod_0" "torso_tripod_1" "torso_tripod_2" "torso_yaw_joint" + 0 1 2 3 + "prismatic" "prismatic" "prismatic" "revolute" + 10000 10000 10000 182.044 + 1 1 1 117.333 + 1 1 1 1 + 1 1 1 1 + "DC" "DC" "DC" "BLL_MECAP" + 32000 32000 32000 32000 + 1000.0 1000.0 1000.0 1000.0 + 0 + + + + 0.155 0.155 0.155 31 + -0.04 -0.04 -0.04 -31 + 0 0 0 0 + 0 0 0 0 + + + + + 0 0 0 0 + 0 0 0 0 + 0 0 0 1 + 0 0 0 0 + 1 1 1 1 + 0 0 0 0 + 0 0 0 0 + 0 0 0 0 + 2 2 2 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 + + + + 1.000 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 + trifid + 658000 + 0 + + + 3 + none + 0 + 0 + + + + diff --git a/R1SN003nws/hardware/motorControl/cer_base-ems1-mc-service.xml b/R1SN003nws/hardware/motorControl/cer_base-ems1-mc-service.xml new file mode 100644 index 0000000000..9708bf179d --- /dev/null +++ b/R1SN003nws/hardware/motorControl/cer_base-ems1-mc-service.xml @@ -0,0 +1,61 @@ + + + + + + + + eomn_serv_MC_foc + + + + + ems4 + + + + foc + + 1 + 6 + + + 0 + 0 + 0 + + + + + + + + foc foc + CAN1:1:0 CAN1:2:0 + + + + hallmotor hallmotor + CAN1:4:0 CAN1:2:0 + atmotor atmotor + 14400 -14400 + 0 0 + + + + none none + CONN:none CONN:none + none none + 0 0 + 0 0 + + + + + + + + + + + diff --git a/R1SN003nws/hardware/motorControl/cer_base-ems1-mc.xml b/R1SN003nws/hardware/motorControl/cer_base-ems1-mc.xml new file mode 100644 index 0000000000..30243c58bd --- /dev/null +++ b/R1SN003nws/hardware/motorControl/cer_base-ems1-mc.xml @@ -0,0 +1,98 @@ + + + + + + + + + + + + 0 0 + 0 0 + 360 360 + 15000 15000 + 10000 10000 + 15000 15000 + 10000 10000 + + + + + 100 100 + + + + JOINT_MINJERK_OUT_VEL_CTRL JOINT_MINJERK_OUT_VEL_CTRL + JOINT_MINJERK_OUT_VEL_CTRL JOINT_MINJERK_OUT_VEL_CTRL + JOINT_MINJERK_OUT_VEL_CTRL JOINT_MINJERK_OUT_VEL_CTRL + JOINT_DIRECT_OUT_VEL_CTRL JOINT_DIRECT_OUT_VEL_CTRL + JOINT_DIRECT_OUT_VEL_CTRL JOINT_DIRECT_OUT_VEL_CTRL + none none + + 2FOC_CUR_CONTROL 2FOC_CUR_CONTROL + 2FOC_VEL_CONTROL 2FOC_VEL_CONTROL + + + + minjerk + velocity + machine_units + machine_units + 1 1 + 5 5 + 0 0 + 32000 32000 + + + + direct + velocity + machine_units + machine_units + 1 1 + 5 5 + 0 0 + 32000 32000 + + + + low_lev_current + machine_units + machine_units + 0 0 + 8 8 + 0 0 + 2 2 + 10 10 + 32000 32000 + 32000 32000 + + + + low_lev_speed + machine_units + machine_units + 0 0 + 12 12 + 0 0 + 16 16 + 10 10 + 32000 32000 + 32000 32000 + + + + + 0 0 + 0 0 + + + + 0.025 0.025 + + + + + diff --git a/R1SN003nws/hardware/motorControl/cer_head-mcp10-mc-service.xml b/R1SN003nws/hardware/motorControl/cer_head-mcp10-mc-service.xml new file mode 100644 index 0000000000..2e512fc1f9 --- /dev/null +++ b/R1SN003nws/hardware/motorControl/cer_head-mcp10-mc-service.xml @@ -0,0 +1,59 @@ + + + + + + + + eomn_serv_MC_mc4plus + + + + + mc4plus + + + + + + + pwm pwm + CONN:P5 CONN:P2 + + + + + + eomc_enc_aea aea + CONN:P11 CONN:P10 + eomc_pos_atjoint atjoint + 4096 4096 + 0.703 0.703 + + + + eomc_enc_none none + CONN:none CONN:none + eomc_pos_none none + 0 0 + 0 0 + + + + + + + + + + 0.0495 0.0495 + + + + diff --git a/R1SN003nws/hardware/motorControl/cer_head-mcp10-mc.xml b/R1SN003nws/hardware/motorControl/cer_head-mcp10-mc.xml new file mode 100644 index 0000000000..7b6479a7ca --- /dev/null +++ b/R1SN003nws/hardware/motorControl/cer_head-mcp10-mc.xml @@ -0,0 +1,76 @@ + + + + + + + + + + + + + + 38 49 + -28 -49 + 50 50 + 5000 5000 + 8000 8000 + 8000 8000 + 3360 3360 + + + + + 100 100 + + + + JOINT_MINJERK_OUT_PWM_CTRL JOINT_MINJERK_OUT_PWM_CTRL + JOINT_MINJERK_OUT_PWM_CTRL JOINT_MINJERK_OUT_PWM_CTRL + JOINT_MINJERK_OUT_PWM_CTRL JOINT_MINJERK_OUT_PWM_CTRL + JOINT_DIRECT_OUT_PWM_CTRL JOINT_DIRECT_OUT_PWM_CTRL + JOINT_DIRECT_OUT_PWM_CTRL JOINT_DIRECT_OUT_PWM_CTRL + none none + + none none + none none + + + + minjerk + pwm + machine_units + machine_units + 0 0 + 2 -0.75 + 0 0 + 5 -2 + 3360 3360 + 3360 1500 + 0 0 + 0 0 + + + + direct + pwm + machine_units + machine_units + 0 0 + 2 -1.5 + 0 0 + 1 -5 + 3360 3360 + 3360 1500 + 0 0 + 0 0 + + + + 0 0 + 0 0 + + + + diff --git a/R1SN003nws/hardware/motorControl/cer_left_hand-mcp9-mc-service.xml b/R1SN003nws/hardware/motorControl/cer_left_hand-mcp9-mc-service.xml new file mode 100644 index 0000000000..3c06e8ad0e --- /dev/null +++ b/R1SN003nws/hardware/motorControl/cer_left_hand-mcp9-mc-service.xml @@ -0,0 +1,66 @@ + + + + + + + + eomn_serv_MC_mc2pluspsc + + + + + mc2plus + + + + psc + + 2 + 0 + + + 0 + 0 + 0 + + + + + CAN1:1 CAN1:2 CAN1:3 + + + + + + + + pwm pwm + CONN:P2 CONN:P3 + + + + psc psc + finger0 finger1 + atjoint atjoint + 65535 65535 + 5 5 + + + + qenc qenc + CONN:P2 CONN:P3 + atmotor atmotor + 1024 1024 + 0 0 + + + + + + + + + + + diff --git a/R1SN003nws/hardware/motorControl/cer_left_hand-mcp9-mc.xml b/R1SN003nws/hardware/motorControl/cer_left_hand-mcp9-mc.xml new file mode 100644 index 0000000000..52588fa9a6 --- /dev/null +++ b/R1SN003nws/hardware/motorControl/cer_left_hand-mcp9-mc.xml @@ -0,0 +1,83 @@ + + + + + + + + + + + + + + 140 130 + 6 0 + 150 150 + 5000 5000 + 1500 1500 + 2500 2500 + 3360 3360 + + + + + 100 100 + + + + + JOINT_MINJERK_OUT_PWM_CTRL JOINT_MINJERK_OUT_PWM_CTRL + JOINT_MINJERK_OUT_PWM_CTRL JOINT_MINJERK_OUT_PWM_CTRL + JOINT_MINJERK_OUT_PWM_CTRL JOINT_MINJERK_OUT_PWM_CTRL + JOINT_DIRECT_OUT_PWM_CTRL JOINT_DIRECT_OUT_PWM_CTRL + JOINT_DIRECT_OUT_PWM_CTRL JOINT_DIRECT_OUT_PWM_CTRL + none none + + none none + none none + + + + minjerk + pwm + machine_units + machine_units + 0 0 + 100 100 + 0 0 + 300 300 + 1200 800 + 1200 800 + 0 0 + 0 0 + + + + direct + pwm + machine_units + machine_units + 0 0 + 100 100 + 0 0 + 300 300 + 1200 800 + 1200 800 + 0 0 + 0 0 + + + + 0 0 + 0 0 + + + + 4.20 4.20 + + + + + + diff --git a/R1SN003nws/hardware/motorControl/cer_left_lower_arm-mcp8-mc-service.xml b/R1SN003nws/hardware/motorControl/cer_left_lower_arm-mcp8-mc-service.xml new file mode 100644 index 0000000000..5cd22288fe --- /dev/null +++ b/R1SN003nws/hardware/motorControl/cer_left_lower_arm-mcp8-mc-service.xml @@ -0,0 +1,51 @@ + + + + + + + + eomn_serv_MC_mc4plus + + + + + mc4plus + + + + + + + pwm pwm pwm pwm + CONN:P3 CONN:P2 CONN:P4 CONN:P5 + + + + none none none aea + CONN:none CONN:none CONN:none CONN:P10 + none none none atjoint + 65535 65535 65535 -4096 + 0 0 0 0.703 + + + + qenc qenc qenc none + CONN:P3 CONN:P2 CONN:P4 CONN:none + atmotor atmotor atmotor none + 65535 65535 65535 0 + 0 0 0 0 + + + + + + + + + + 0.00002 0.00002 0.00002 0.0055 + + + + diff --git a/R1SN003nws/hardware/motorControl/cer_left_lower_arm-mcp8-mc.xml b/R1SN003nws/hardware/motorControl/cer_left_lower_arm-mcp8-mc.xml new file mode 100644 index 0000000000..492a573ead --- /dev/null +++ b/R1SN003nws/hardware/motorControl/cer_left_lower_arm-mcp8-mc.xml @@ -0,0 +1,77 @@ + + + + + + + + + + + + + + 0.12 0.12 0.12 89 + 0 0 0 -89 + 0.02 0.02 0.02 3000 + 10000 10000 10000 10000 + 5000 5000 5000 5000 + 5000 5000 5000 5000 + 3360 3360 3360 3360 + + + + 100 100 100 100 + + + + + JOINT_MINJERK_OUT_PWM_CTRL JOINT_MINJERK_OUT_PWM_CTRL JOINT_MINJERK_OUT_PWM_CTRL JOINT_MINJERK_OUT_PWM_CTRL + JOINT_MINJERK_OUT_PWM_CTRL JOINT_MINJERK_OUT_PWM_CTRL JOINT_MINJERK_OUT_PWM_CTRL JOINT_MINJERK_OUT_PWM_CTRL + JOINT_MINJERK_OUT_PWM_CTRL JOINT_MINJERK_OUT_PWM_CTRL JOINT_MINJERK_OUT_PWM_CTRL JOINT_MINJERK_OUT_PWM_CTRL + JOINT_DIRECT_OUT_PWM_CTRL JOINT_DIRECT_OUT_PWM_CTRL JOINT_DIRECT_OUT_PWM_CTRL JOINT_DIRECT_OUT_PWM_CTRL + JOINT_DIRECT_OUT_PWM_CTRL JOINT_DIRECT_OUT_PWM_CTRL JOINT_DIRECT_OUT_PWM_CTRL JOINT_DIRECT_OUT_PWM_CTRL + none none none none + + none none none none + none none none none + + + + minjerk + pwm + machine_units + machine_units + 0 0 0 0 + -20 -20 -20 0.7 + 0 0 0 0 + 0 0 0 0 + 3000 3000 3000 2000 + 0 0 0 0 + 0 0 0 0 + 0 0 0 0 + + + + direct + pwm + machine_units + machine_units + 0 0 0 0 + -20 -20 -20 0.7 + 0 0 0 0 + 0 0 0 0 + 3000 3000 3000 2000 + 0 0 0 0 + 0 0 0 0 + 0 0 0 0 + + + + 0 0 0 0 + 0 0 0 0 + + + + + diff --git a/R1SN003nws/hardware/motorControl/cer_left_shoulder-ems5-mc-service.xml b/R1SN003nws/hardware/motorControl/cer_left_shoulder-ems5-mc-service.xml new file mode 100644 index 0000000000..51045b958f --- /dev/null +++ b/R1SN003nws/hardware/motorControl/cer_left_shoulder-ems5-mc-service.xml @@ -0,0 +1,60 @@ + + + + + + + + eomn_serv_MC_foc + + + + + ems4 + + + + foc + + 1 + 6 + + + 0 + 0 + 0 + + + + + + + foc foc + CAN1:1:0 CAN1:2:0 + + + + aea aea + CONN:P8 CONN:P6 + atjoint atjoint + 4096 -4096 + 0.703 0.703 + + + + roie roie + CAN1:1:0 CAN1:2:0 + atmotor atmotor + 8192 8192 + 0 0 + + + + + + + + + + + diff --git a/R1SN003nws/hardware/motorControl/cer_left_shoulder-ems5-mc.xml b/R1SN003nws/hardware/motorControl/cer_left_shoulder-ems5-mc.xml new file mode 100644 index 0000000000..e46fc1769e --- /dev/null +++ b/R1SN003nws/hardware/motorControl/cer_left_shoulder-ems5-mc.xml @@ -0,0 +1,97 @@ + + + + + + + + + + + + 85 85 + -70 2 + 5000 5000 + 2500 2500 + 5000 5000 + 50 50 + 32000 32000 + + + + 100 100 + + + + + JOINT_MINJERK_OUT_WORM_VEL_CTRL JOINT_MINJERK_OUT_WORM_VEL_CTRL + JOINT_MINJERK_OUT_WORM_VEL_CTRL JOINT_MINJERK_OUT_WORM_VEL_CTRL + JOINT_MINJERK_OUT_WORM_VEL_CTRL JOINT_MINJERK_OUT_WORM_VEL_CTRL + JOINT_DIRECT_OUT_WORM_VEL_CTRL JOINT_DIRECT_OUT_WORM_VEL_CTRL + JOINT_DIRECT_OUT_WORM_VEL_CTRL JOINT_DIRECT_OUT_WORM_VEL_CTRL + none none + + 2FOC_CUR_CONTROL 2FOC_CUR_CONTROL + 2FOC_VEL_CONTROL 2FOC_VEL_CONTROL + + + + minjerk + velocity + machine_units + machine_units + 1 1 + 5 5 + 0 0 + 32000 32000 + + + + direct + velocity + machine_units + machine_units + 1 1 + 5 5 + 0 0 + 32000 32000 + + + + low_lev_current + machine_units + machine_units + 0 0 + 8 8 + 0 0 + 2 2 + 10 10 + 32000 32000 + 32000 32000 + + + + low_lev_speed + machine_units + machine_units + 0 0 + 1280 1280 + 6144 6144 + 1 1 + 14 14 + 32000 32000 + 32000 32000 + + + + 0 0 + 0 0 + + + + + 0.0495 0.0495 + + + + diff --git a/R1SN003nws/hardware/motorControl/cer_left_upper_arm-ems12-mc-service.xml b/R1SN003nws/hardware/motorControl/cer_left_upper_arm-ems12-mc-service.xml new file mode 100644 index 0000000000..f16243df76 --- /dev/null +++ b/R1SN003nws/hardware/motorControl/cer_left_upper_arm-ems12-mc-service.xml @@ -0,0 +1,60 @@ + + + + + + + + eomn_serv_MC_foc + + + + + ems4 + + + + foc + + 1 + 6 + + + 0 + 0 + 0 + + + + + + + foc foc + CAN1:1:0 CAN1:2:0 + + + + aea aea + CONN:P8 CONN:P6 + atjoint atjoint + -4096 -4096 + 0.703 0.703 + + + + roie roie + CAN1:1:0 CAN1:2:0 + atmotor atmotor + 8192 8192 + 0 0 + + + + + + + + + + + diff --git a/R1SN003nws/hardware/motorControl/cer_left_upper_arm-ems12-mc.xml b/R1SN003nws/hardware/motorControl/cer_left_upper_arm-ems12-mc.xml new file mode 100644 index 0000000000..c8269f876a --- /dev/null +++ b/R1SN003nws/hardware/motorControl/cer_left_upper_arm-ems12-mc.xml @@ -0,0 +1,95 @@ + + + + + + + + + + + + 85 95 + -85 5 + 9000 9000 + 3000 3000 + 6000 6000 + 90 90 + 32000 32000 + + + + 100 100 + + + + JOINT_MINJERK_OUT_WORM_VEL_CTRL JOINT_MINJERK_OUT_WORM_VEL_CTRL + JOINT_MINJERK_OUT_WORM_VEL_CTRL JOINT_MINJERK_OUT_WORM_VEL_CTRL + JOINT_MINJERK_OUT_WORM_VEL_CTRL JOINT_MINJERK_OUT_WORM_VEL_CTRL + JOINT_DIRECT_OUT_WORM_VEL_CTRL JOINT_DIRECT_OUT_WORM_VEL_CTRL + JOINT_DIRECT_OUT_WORM_VEL_CTRL JOINT_DIRECT_OUT_WORM_VEL_CTRL + none none + + 2FOC_CUR_CONTROL 2FOC_CUR_CONTROL + 2FOC_VEL_CONTROL 2FOC_VEL_CONTROL + + + + minjerk + velocity + machine_units + machine_units + 1 1 + 5 5 + 0 0 + 32000 32000 + + + + direct + velocity + machine_units + machine_units + 1 1 + 5 5 + 0 0 + 32000 32000 + + + + low_lev_current + machine_units + machine_units + 0 0 + 8 8 + 0 0 + 2 2 + 10 10 + 32000 32000 + 32000 32000 + + + + low_lev_speed + machine_units + machine_units + 0 0 + 12 12 + 0 0 + 16 16 + 10 10 + 32000 32000 + 32000 32000 + + + + 0 0 + 0 0 + + + + 0.0495 0.0495 + + + + diff --git a/R1SN003nws/hardware/motorControl/cer_left_wrist_equivalent-mc.xml b/R1SN003nws/hardware/motorControl/cer_left_wrist_equivalent-mc.xml new file mode 100644 index 0000000000..04f3775082 --- /dev/null +++ b/R1SN003nws/hardware/motorControl/cer_left_wrist_equivalent-mc.xml @@ -0,0 +1,44 @@ + + + + + + + + "l_wrist_heave_eq_joint" "l_wrist_roll_eq_joint" "l_wrist_pitch_eq_joint" + + + 3 + + + 1 1 1 + + + + 0.018 + 0.112 + 0.0 + 17.0 + + 1.0 0.0 0.0 0.0 + 0.0 1.0 0.0 0.0 + 0.0 0.0 1.0 0.0 + 0.0 0.0 0.0 1.0 + + + + + 0.05 + + + + + + cer_left_lower_arm_mc + + + + + + + diff --git a/R1SN003nws/hardware/motorControl/cer_right_hand-mcp7-mc-service.xml b/R1SN003nws/hardware/motorControl/cer_right_hand-mcp7-mc-service.xml new file mode 100644 index 0000000000..0c7fbe973c --- /dev/null +++ b/R1SN003nws/hardware/motorControl/cer_right_hand-mcp7-mc-service.xml @@ -0,0 +1,66 @@ + + + + + + + + eomn_serv_MC_mc2pluspsc + + + + + mc2plus + + + + psc + + 2 + 0 + + + 0 + 0 + 0 + + + + + CAN1:1 CAN1:2 CAN1:3 + + + + + + + + pwm pwm + CONN:P2 CONN:P3 + + + + psc psc + finger0 finger1 + atjoint atjoint + 65535 65535 + 5 5 + + + + qenc qenc + CONN:P2 CONN:P3 + atmotor atmotor + 1024 1024 + 0 0 + + + + + + + + + + + diff --git a/R1SN003nws/hardware/motorControl/cer_right_hand-mcp7-mc.xml b/R1SN003nws/hardware/motorControl/cer_right_hand-mcp7-mc.xml new file mode 100644 index 0000000000..4dcff99c41 --- /dev/null +++ b/R1SN003nws/hardware/motorControl/cer_right_hand-mcp7-mc.xml @@ -0,0 +1,84 @@ + + + + + + + + + + + + + + 140 130 + 8 0 + 150 150 + 5000 5000 + 1500 1500 + 2500 2500 + 3360 3360 + + + + + 100 100 + + + + + JOINT_MINJERK_OUT_PWM_CTRL JOINT_MINJERK_OUT_PWM_CTRL + JOINT_MINJERK_OUT_PWM_CTRL JOINT_MINJERK_OUT_PWM_CTRL + JOINT_MINJERK_OUT_PWM_CTRL JOINT_MINJERK_OUT_PWM_CTRL + JOINT_DIRECT_OUT_PWM_CTRL JOINT_DIRECT_OUT_PWM_CTRL + JOINT_DIRECT_OUT_PWM_CTRL JOINT_DIRECT_OUT_PWM_CTRL + none none + + none none + none none + + + + minjerk + pwm + machine_units + machine_units + 0 0 + -100 -100 + 0 0 + -300 -300 + 1200 800 + 1200 800 + 0 0 + 0 0 + + + + direct + pwm + machine_units + machine_units + 0 0 + -100 -100 + 0 0 + -300 -300 + 800 800 + 800 800 + 0 0 + 0 0 + + + + 0 0 + 0 0 + + + + 4.20 4.20 + + + + + + + diff --git a/R1SN003nws/hardware/motorControl/cer_right_lower_arm-mcp6-mc-service.xml b/R1SN003nws/hardware/motorControl/cer_right_lower_arm-mcp6-mc-service.xml new file mode 100644 index 0000000000..0c9ad763cd --- /dev/null +++ b/R1SN003nws/hardware/motorControl/cer_right_lower_arm-mcp6-mc-service.xml @@ -0,0 +1,47 @@ + + + + + + + + eomn_serv_MC_mc4plus + + + + + mc4plus + + + + + + + pwm pwm pwm pwm + CONN:P3 CONN:P2 CONN:P4 CONN:P5 + + + + none none none aea + CONN:none CONN:none CONN:none CONN:P10 + none none none atjoint + 65535 65535 65535 4096 + 0 0 0 0.703 + + + + qenc qenc qenc none + CONN:P3 CONN:P2 CONN:P4 CONN:none + atmotor atmotor atmotor none + 65535 65535 65535 0 + 0 0 0 0 + + + + + + + + + + diff --git a/R1SN003nws/hardware/motorControl/cer_right_lower_arm-mcp6-mc.xml b/R1SN003nws/hardware/motorControl/cer_right_lower_arm-mcp6-mc.xml new file mode 100644 index 0000000000..76f140bc23 --- /dev/null +++ b/R1SN003nws/hardware/motorControl/cer_right_lower_arm-mcp6-mc.xml @@ -0,0 +1,82 @@ + + + + + + + + + + + + + + 0.12 0.12 0.12 89 + 0 0 0 -89 + 0.02 0.02 0.02 3000 + 10000 10000 10000 10000 + 5000 5000 5000 5000 + 5000 5000 5000 5000 + 3360 3360 3360 3360 + + + + + 100 100 100 100 + + + + + JOINT_MINJERK_OUT_PWM_CTRL JOINT_MINJERK_OUT_PWM_CTRL JOINT_MINJERK_OUT_PWM_CTRL JOINT_MINJERK_OUT_PWM_CTRL + JOINT_MINJERK_OUT_PWM_CTRL JOINT_MINJERK_OUT_PWM_CTRL JOINT_MINJERK_OUT_PWM_CTRL JOINT_MINJERK_OUT_PWM_CTRL + JOINT_MINJERK_OUT_PWM_CTRL JOINT_MINJERK_OUT_PWM_CTRL JOINT_MINJERK_OUT_PWM_CTRL JOINT_MINJERK_OUT_PWM_CTRL + JOINT_DIRECT_OUT_PWM_CTRL JOINT_DIRECT_OUT_PWM_CTRL JOINT_DIRECT_OUT_PWM_CTRL JOINT_DIRECT_OUT_PWM_CTRL + JOINT_DIRECT_OUT_PWM_CTRL JOINT_DIRECT_OUT_PWM_CTRL JOINT_DIRECT_OUT_PWM_CTRL JOINT_DIRECT_OUT_PWM_CTRL + none none none none + + none none none none + none none none none + + + + minjerk + pwm + machine_units + machine_units + 0 0 0 0 + -20 -20 -20 -0.7 + 0 0 0 0 + 0 0 0 0 + 3000 3000 3000 2000 + 0 0 0 0 + 0 0 0 0 + 0 0 0 0 + + + + direct + pwm + machine_units + machine_units + 0 0 0 0 + -20 -20 -20 -0.7 + 0 0 0 0 + 0 0 0 0 + 3000 3000 3000 2000 + 0 0 0 0 + 0 0 0 0 + 0 0 0 0 + + + + 0 0 0 0 + 0 0 0 0 + + + + 0.00002 0.00002 0.00002 0.0055 + + + + + diff --git a/R1SN003nws/hardware/motorControl/cer_right_shoulder-ems4-mc-service.xml b/R1SN003nws/hardware/motorControl/cer_right_shoulder-ems4-mc-service.xml new file mode 100644 index 0000000000..e9fa05bd42 --- /dev/null +++ b/R1SN003nws/hardware/motorControl/cer_right_shoulder-ems4-mc-service.xml @@ -0,0 +1,61 @@ + + + + + + + + eomn_serv_MC_foc + + + + + ems4 + + + + foc + + 1 + 6 + + + 0 + 0 + 0 + + + + + + + + foc foc + CAN1:1:0 CAN1:2:0 + + + + aea aea + CONN:P8 CONN:P6 + atjoint atjoint + -4096 4096 + 0.703 0.703 + + + + roie roie + CAN1:1:0 CAN1:2:0 + atmotor atmotor + 8192 8192 + 0 0 + + + + + + + + + + + diff --git a/R1SN003nws/hardware/motorControl/cer_right_shoulder-ems4-mc.xml b/R1SN003nws/hardware/motorControl/cer_right_shoulder-ems4-mc.xml new file mode 100644 index 0000000000..e886e4e600 --- /dev/null +++ b/R1SN003nws/hardware/motorControl/cer_right_shoulder-ems4-mc.xml @@ -0,0 +1,96 @@ + + + + + + + + + + + + 85 85 + -70 2 + 5000 5000 + 2500 2500 + 5000 5000 + 50 50 + 32000 32000 + + + + 100 100 + + + + JOINT_MINJERK_OUT_WORM_VEL_CTRL JOINT_MINJERK_OUT_WORM_VEL_CTRL + JOINT_MINJERK_OUT_WORM_VEL_CTRL JOINT_MINJERK_OUT_WORM_VEL_CTRL + JOINT_MINJERK_OUT_WORM_VEL_CTRL JOINT_MINJERK_OUT_WORM_VEL_CTRL + JOINT_DIRECT_OUT_WORM_VEL_CTRL JOINT_DIRECT_OUT_WORM_VEL_CTRL + JOINT_DIRECT_OUT_WORM_VEL_CTRL JOINT_DIRECT_OUT_WORM_VEL_CTRL + none none + + 2FOC_CUR_CONTROL 2FOC_CUR_CONTROL + 2FOC_VEL_CONTROL 2FOC_VEL_CONTROL + + + + minjerk + velocity + machine_units + machine_units + 1 1 + 5 5 + 0 0 + 32000 32000 + + + + direct + velocity + machine_units + machine_units + 1 1 + 5 5 + 0 0 + 32000 32000 + + + + low_lev_current + machine_units + machine_units + 0 0 + 8 8 + 0 0 + 2 2 + 10 10 + 32000 32000 + 32000 32000 + + + + low_lev_speed + machine_units + machine_units + 0 0 + 1280 1280 + 6144 6144 + 1 1 + 14 14 + 32000 32000 + 32000 32000 + + + + + 0 0 + 0 0 + + + + 0.0495 0.0495 + + + + diff --git a/R1SN003nws/hardware/motorControl/cer_right_upper_arm-ems11-mc-service.xml b/R1SN003nws/hardware/motorControl/cer_right_upper_arm-ems11-mc-service.xml new file mode 100644 index 0000000000..52b4fb56da --- /dev/null +++ b/R1SN003nws/hardware/motorControl/cer_right_upper_arm-ems11-mc-service.xml @@ -0,0 +1,62 @@ + + + + + + + + eomn_serv_MC_foc + + + + + ems4 + + + + foc + + 1 + 6 + + + 0 + 0 + 0 + + + + + + + + foc foc + CAN1:1:0 CAN1:2:0 + + + + aea aea + CONN:P8 CONN:P6 + + atjoint atjoint + 4096 -4096 + 0.703 0.703 + + + + roie roie + CAN1:1:0 CAN1:2:0 + atmotor atmotor + 8192 8192 + 0 0 + + + + + + + + + + + diff --git a/R1SN003nws/hardware/motorControl/cer_right_upper_arm-ems11-mc.xml b/R1SN003nws/hardware/motorControl/cer_right_upper_arm-ems11-mc.xml new file mode 100644 index 0000000000..1c025eae09 --- /dev/null +++ b/R1SN003nws/hardware/motorControl/cer_right_upper_arm-ems11-mc.xml @@ -0,0 +1,95 @@ + + + + + + + + + + + + 85 95 + -85 5 + 9000 9000 + 3000 3000 + 6000 6000 + 90 90 + 32000 32000 + + + + 100 100 + + + + JOINT_MINJERK_OUT_WORM_VEL_CTRL JOINT_MINJERK_OUT_WORM_VEL_CTRL + JOINT_MINJERK_OUT_WORM_VEL_CTRL JOINT_MINJERK_OUT_WORM_VEL_CTRL + JOINT_MINJERK_OUT_WORM_VEL_CTRL JOINT_MINJERK_OUT_WORM_VEL_CTRL + JOINT_DIRECT_OUT_WORM_VEL_CTRL JOINT_DIRECT_OUT_WORM_VEL_CTRL + JOINT_DIRECT_OUT_WORM_VEL_CTRL JOINT_DIRECT_OUT_WORM_VEL_CTRL + none none + + 2FOC_CUR_CONTROL 2FOC_CUR_CONTROL + 2FOC_VEL_CONTROL 2FOC_VEL_CONTROL + + + + minjerk + velocity + machine_units + machine_units + 1 1 + 5 5 + 0 0 + 32000 32000 + + + + direct + velocity + machine_units + machine_units + 1 1 + 5 5 + 0 0 + 32000 32000 + + + + low_lev_current + machine_units + machine_units + 0 0 + 8 8 + 0 0 + 2 2 + 10 10 + 32000 32000 + 32000 32000 + + + + low_lev_speed + machine_units + machine_units + 0 0 + 12 12 + 0 0 + 16 16 + 10 10 + 32000 32000 + 32000 32000 + + + + 0 0 + 0 0 + + + + 0.0495 0.0495 + + + + diff --git a/R1SN003nws/hardware/motorControl/cer_right_wrist_equivalent-mc.xml b/R1SN003nws/hardware/motorControl/cer_right_wrist_equivalent-mc.xml new file mode 100644 index 0000000000..d361672c56 --- /dev/null +++ b/R1SN003nws/hardware/motorControl/cer_right_wrist_equivalent-mc.xml @@ -0,0 +1,44 @@ + + + + + + + + "r_wrist_heave_eq_joint" "r_wrist_roll_eq_joint" "r_wrist_pitch_eq_joint" + + + 3 + + + 1 1 1 + + + + 0.018 + 0.112 + 0.0 + 17.0 + + 1.0 0.0 0.0 0.0 + 0.0 1.0 0.0 0.0 + 0.0 0.0 1.0 0.0 + 0.0 0.0 0.0 1.0 + + + + + 0.05 + + + + + + cer_right_lower_arm_mc + + + + + + + diff --git a/R1SN003nws/hardware/motorControl/cer_torso-ems3-mc-service.xml b/R1SN003nws/hardware/motorControl/cer_torso-ems3-mc-service.xml new file mode 100644 index 0000000000..7710421d8a --- /dev/null +++ b/R1SN003nws/hardware/motorControl/cer_torso-ems3-mc-service.xml @@ -0,0 +1,61 @@ + + + + + + + + eomn_serv_MC_foc + + + + + ems4 + + + + foc + + 1 + 6 + + + 0 + 0 + 0 + + + + + + + + eomc_act_foc foc foc foc + CAN1:1:0 CAN1:2:0 CAN1:3:0 CAN1:4:0 + + + + none none none aea + CONN:none CONN:none CONN:none CONN:P8 + none none none atjoint + 0 0 0 -4096 + 0 0 0 0.703 + + + + roie roie roie roie + CAN1:1:0 CAN1:2:0 CAN1:3:0 CAN1:4:0 + atmotor atmotor atmotor atmotor + 65535 65535 65535 8192 + 0 0 0 0 + + + + + + + + + + + diff --git a/R1SN003nws/hardware/motorControl/cer_torso-ems3-mc.xml b/R1SN003nws/hardware/motorControl/cer_torso-ems3-mc.xml new file mode 100644 index 0000000000..025e928c0f --- /dev/null +++ b/R1SN003nws/hardware/motorControl/cer_torso-ems3-mc.xml @@ -0,0 +1,132 @@ + + + + + + + + + + + + + + 0.15 0.15 0.15 30 + -0.04 -0.04 -0.04 -30 + 0.05 0.05 0.05 30000 + 5000 5000 5000 5000 + 2500 2500 2500 2500 + 5000 5000 5000 5000 + 32000 32000 32000 32000 + + + + + 100 100 100 100 + + + + + JOINT_MINJERK_OUT_DC_PWM_CTRL JOINT_MINJERK_OUT_DC_PWM_CTRL JOINT_MINJERK_OUT_DC_PWM_CTRL JOINT_MINJERK_OUT_WORM_VEL_CTRL + JOINT_MINJERK_OUT_DC_PWM_CTRL JOINT_MINJERK_OUT_DC_PWM_CTRL JOINT_MINJERK_OUT_DC_PWM_CTRL JOINT_MINJERK_OUT_WORM_VEL_CTRL + JOINT_MINJERK_OUT_DC_PWM_CTRL JOINT_MINJERK_OUT_DC_PWM_CTRL JOINT_MINJERK_OUT_DC_PWM_CTRL JOINT_MINJERK_OUT_WORM_VEL_CTRL + JOINT_DIRECT_OUT_DC_PWM_CTRL JOINT_DIRECT_OUT_DC_PWM_CTRL JOINT_DIRECT_OUT_DC_PWM_CTRL JOINT_DIRECT_OUT_WORM_VEL_CTRL + JOINT_DIRECT_OUT_DC_PWM_CTRL JOINT_DIRECT_OUT_DC_PWM_CTRL JOINT_DIRECT_OUT_DC_PWM_CTRL JOINT_DIRECT_OUT_WORM_VEL_CTRL + none none none none + + 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 + machine_units + machine_units + 0 0 0 0 + 3000 3000 3000 0 + 0 0 0 0 + 5000 5000 5000 0 + 32000 32000 32000 0 + 4000 4000 4000 0 + 0 0 0 0 + 0 0 0 0 + + + + direct + pwm + machine_units + machine_units + 0 0 0 0 + 3000 3000 3000 0 + 0 0 0 0 + 5000 5000 5000 0 + 32000 32000 32000 0 + 4000 4000 4000 0 + 0 0 0 0 + 0 0 0 0 + + + + minjerk + velocity + machine_units + machine_units + 0 0 0 1 + 0 0 0 5 + 0 0 0 0 + 0 0 0 32000 + + + + direct + velocity + machine_units + machine_units + 0 0 0 1 + 0 0 0 5 + 0 0 0 0 + 0 0 0 32000 + + + + low_lev_current + machine_units + machine_units + 0 0 0 0 + 8 8 8 8 + 0 0 0 0 + 2 2 2 2 + 10 10 10 10 + 32000 32000 32000 32000 + 32000 32000 32000 32000 + + + + low_lev_speed + machine_units + machine_units + 0 0 0 0 + 12 12 12 1280 + 0 0 0 6144 + 16 16 16 1 + 10 10 10 14 + 32000 32000 32000 32000 + 32000 32000 32000 32000 + + + + + 0 0 0 0 + 0 0 0 0 + + + + 0.0001 0.0001 0.0001 0.0495 + + + + + diff --git a/R1SN003nws/hardware/motorControl/cer_torso_equivalent-mc.xml b/R1SN003nws/hardware/motorControl/cer_torso_equivalent-mc.xml new file mode 100644 index 0000000000..9ac5b8d89e --- /dev/null +++ b/R1SN003nws/hardware/motorControl/cer_torso_equivalent-mc.xml @@ -0,0 +1,53 @@ + + + + + + + + "torso_heave_eq_joint" "torso_pitch_eq_joint" "torso_roll_eq_joint" + + + 3 + + + 1 -1 1 + + + + 0.09 + 0.15 + -0.04 + 25.0 + + 1.0 0.0 0.0 0.0 + 0.0 1.0 0.0 0.0 + 0.0 0.0 1.0 0.0 + 0.0 0.0 0.0 1.0 + + + + + 0.05 + + + + + + + + + cer_torso_mc + + + + + + + diff --git a/R1SN003nws/hardware/rpLidar/laserA2_hw.xml b/R1SN003nws/hardware/rpLidar/laserA2_hw.xml new file mode 100644 index 0000000000..7f1175a617 --- /dev/null +++ b/R1SN003nws/hardware/rpLidar/laserA2_hw.xml @@ -0,0 +1,46 @@ + + + + + + 7.0 + 0.1 + 360 + 0 + 0.5 + 1 + + + cer_laser + 115200 + /dev/ttyUSB1 + 1 + + + 35 + 325 + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/R1SN003nws/hardware/rpLidar/laserA2_hw_back.xml b/R1SN003nws/hardware/rpLidar/laserA2_hw_back.xml new file mode 100644 index 0000000000..cd84e5ff81 --- /dev/null +++ b/R1SN003nws/hardware/rpLidar/laserA2_hw_back.xml @@ -0,0 +1,23 @@ + + + + + + cer_laserBack + 115200 + /dev/ttyUSB1 + 1 + + + 7.0 + 0.1 + 360 + 0 + 0.5 + 1 + + + 60 + 300 + + diff --git a/R1SN003nws/hardware/rpLidar/laserA2_hw_double.xml b/R1SN003nws/hardware/rpLidar/laserA2_hw_double.xml new file mode 100644 index 0000000000..85cb7e1d71 --- /dev/null +++ b/R1SN003nws/hardware/rpLidar/laserA2_hw_double.xml @@ -0,0 +1,36 @@ + + + + + + + L_Front + 0.070 0.0 0.031 0.0 + laserA2_hw_front.xml + + + L_Back + -0.070 0.0 0.031 3.14159 + laserA2_hw_back.xml + + + 7.0 + 0.1 + 360 + 0 + 0.5 + 1 + + + + + cer_laser_front_device + cer_laser_back_device + + + + + + + + diff --git a/R1SN003nws/hardware/rpLidar/laserA2_hw_front.xml b/R1SN003nws/hardware/rpLidar/laserA2_hw_front.xml new file mode 100644 index 0000000000..44539d98ed --- /dev/null +++ b/R1SN003nws/hardware/rpLidar/laserA2_hw_front.xml @@ -0,0 +1,24 @@ + + + + + + cer_laserFront + 115200 + /dev/ttyUSB0 + 1 + + + 7.0 + 0.1 + 360 + 0 + 0.5 + 1 + + + 35 + 325 + + + diff --git a/R1SN003nws/hardware/rpLidar/laserA3_hw_back.xml b/R1SN003nws/hardware/rpLidar/laserA3_hw_back.xml new file mode 100644 index 0000000000..2ac2ae3593 --- /dev/null +++ b/R1SN003nws/hardware/rpLidar/laserA3_hw_back.xml @@ -0,0 +1,23 @@ + + + + + + cer_laserBack + 256000 + /dev/ttyUSB0 + 1 + + + 20.0 + 0.1 + 360 + 0 + 0.225 + 1 + + + 60 + 300 + + diff --git a/R1SN003nws/hardware/rpLidar/laserA3_hw_double.xml b/R1SN003nws/hardware/rpLidar/laserA3_hw_double.xml new file mode 100644 index 0000000000..4668aa92c7 --- /dev/null +++ b/R1SN003nws/hardware/rpLidar/laserA3_hw_double.xml @@ -0,0 +1,34 @@ + + + + + + + L_Front + 0.070 0.0 0.031 0.0 + + + L_Back + -0.070 0.0 0.031 3.14159 + + + 20.0 + 0.1 + 360 + 0 + 0.225 + 1 + + + + + cer_laser_front_device + cer_laser_back_device + + + + + + + + diff --git a/R1SN003nws/hardware/rpLidar/laserA3_hw_front.xml b/R1SN003nws/hardware/rpLidar/laserA3_hw_front.xml new file mode 100644 index 0000000000..19227253cd --- /dev/null +++ b/R1SN003nws/hardware/rpLidar/laserA3_hw_front.xml @@ -0,0 +1,24 @@ + + + + + + cer_laserFront + 256000 + /dev/ttyUSB1 + 1 + + + 20.0 + 0.1 + 360 + 0 + 0.225 + 1 + + + 35 + 325 + + + diff --git a/R1SN003nws/hardware/skin/left_hand-mc9-skin.xml b/R1SN003nws/hardware/skin/left_hand-mc9-skin.xml new file mode 100644 index 0000000000..2c4a4eecdf --- /dev/null +++ b/R1SN003nws/hardware/skin/left_hand-mc9-skin.xml @@ -0,0 +1,40 @@ + + + + + + + + + + + + eomn_serv_SK_skin + + + + + psc + + + 2 + 0 + + + 0 + 0 + 0 + + + + + + + + + 1 2 3 + + + + + diff --git a/R1SN003nws/hardware/skin/left_hand-mc9-skinSpec.xml b/R1SN003nws/hardware/skin/left_hand-mc9-skinSpec.xml new file mode 100644 index 0000000000..2534f87c52 --- /dev/null +++ b/R1SN003nws/hardware/skin/left_hand-mc9-skinSpec.xml @@ -0,0 +1,36 @@ + + + + + + + 50 + 0 + 0xf0 + false + + + + + true + 2 + 0x0000 + + + + + + + + diff --git a/R1SN003nws/hardware/skin/right_hand-mc7-skin.xml b/R1SN003nws/hardware/skin/right_hand-mc7-skin.xml new file mode 100644 index 0000000000..8bdbb9d46d --- /dev/null +++ b/R1SN003nws/hardware/skin/right_hand-mc7-skin.xml @@ -0,0 +1,40 @@ + + + + + + + + + + + + eomn_serv_SK_skin + + + + + psc + + + 2 + 0 + + + 0 + 0 + 0 + + + + + + + + + 1 2 3 + + + + + diff --git a/R1SN003nws/hardware/skin/right_hand-mc7-skinSpec.xml b/R1SN003nws/hardware/skin/right_hand-mc7-skinSpec.xml new file mode 100644 index 0000000000..f1d83a8dd0 --- /dev/null +++ b/R1SN003nws/hardware/skin/right_hand-mc7-skinSpec.xml @@ -0,0 +1,36 @@ + + + + + + + 50 + 0 + 0xf0 + false + + + + + true + 2 + 0x0000 + + + + + + + + diff --git a/R1SN003nws/network.CER04.txt b/R1SN003nws/network.CER04.txt new file mode 100644 index 0000000000..4d2c7e85a2 --- /dev/null +++ b/R1SN003nws/network.CER04.txt @@ -0,0 +1,17 @@ + +#MK3 + + +Base (EMS1): software standard di iCub su tutte le 2FOC + +Torso (EMS3): 2FOC-DC.hex su 2FOC 1,2,3 + 2FOC-WORM.hex su 2FOC 4 + +Left shoulder (EMS5): 2FOC-WORM.hex su tutte le 2FOC + +Right shoulder (EMS4): 2FOC-WORM.hex su tutte le 2FOC + +Left upper arm (EMS12): 2FOC-UARM.hex su tutte le 2FOC + +Right upper arm (EMS11): 2FOC-UARM.hex su tutte le 2FOC + diff --git a/R1SN003nws/realsense2.xml b/R1SN003nws/realsense2.xml new file mode 100644 index 0000000000..398d756c39 --- /dev/null +++ b/R1SN003nws/realsense2.xml @@ -0,0 +1,11 @@ + + + + + + + + + + + diff --git a/R1SN003nws/robotStatePublisher.launch b/R1SN003nws/robotStatePublisher.launch new file mode 100644 index 0000000000..5de7d293d5 --- /dev/null +++ b/R1SN003nws/robotStatePublisher.launch @@ -0,0 +1,9 @@ + + + + + + + + + diff --git a/R1SN003nws/sensors/Orbecc_Astra.ini b/R1SN003nws/sensors/Orbecc_Astra.ini new file mode 100644 index 0000000000..d2923be0c5 --- /dev/null +++ b/R1SN003nws/sensors/Orbecc_Astra.ini @@ -0,0 +1,58 @@ +device RGBDSensorWrapper +subdevice depthCamera +name /depthCamera +[ROS] +use_ROS true +forceInfoSync true +ROS_frame_Id depth_center +ROS_nodeName /YarpRGBDSensor +ROS_colorTopicName /yarpColor +ROS_depthTopicName /yarpDepth +ROS_colorInfoTopicName /yarpColor_info +ROS_depthinfoTopicName /yarpDepth_info +[SETTINGS] + +rgbMirroring false +depthMirroring false + +[HW_DESCRIPTION] + + +[RGB_INTRINSIC_PARAMETERS] + +focalLengthX 570.3422241210938 +focalLengthY 570.3422241210938 +principalPointX 314.5 +principalPointY 235.5 +distortionModel rgb_distortion + +[rgb_distortion] +name plumb_bob +k1 0.0 +k2 0.0 +t1 0.0 +t2 0.0 +k3 0.0 + + +[DEPTH_INTRINSIC_PARAMETERS] + +focalLengthX 570.3422241210938 +focalLengthY 570.3422241210938 +principalPointX 314.5 +principalPointY 235.5 +distortionModel depth_distortion + +[depth_distortion] +name plumb_bob +k1 0.0 +k2 0.0 +t1 0.0 +t2 0.0 +k3 0.0 + + +[EXTRINSIC_PARAMETERS] +transformation (1.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 1.0) + + diff --git a/R1SN003nws/sensors/RealSenseStereo_conf.ini b/R1SN003nws/sensors/RealSenseStereo_conf.ini new file mode 100644 index 0000000000..eaf03afad3 --- /dev/null +++ b/R1SN003nws/sensors/RealSenseStereo_conf.ini @@ -0,0 +1,13 @@ +device grabberDual +subdevice realsense2 +capabilities RAW +stereoMode true +split false + +[SETTINGS] +rgbResolution (640 480) +depthResolution (640 480) +framerate 30 +enableEmitter false + +[HW_DESCRIPTION] diff --git a/R1SN003nws/sensors/RealSense_conf.ini b/R1SN003nws/sensors/RealSense_conf.ini new file mode 100644 index 0000000000..43c51b03f3 --- /dev/null +++ b/R1SN003nws/sensors/RealSense_conf.ini @@ -0,0 +1,14 @@ + +device RGBDSensorWrapper +subdevice realsense2 +name /depthCamera + +[SETTINGS] +depthResolution (640 480) #Note the parentesys +rgbResolution (640 480) +framerate 30 +enableEmitter true +alignmentFrame RGB + +[HW_DESCRIPTION] +clipPlanes (0.2 10.0) diff --git a/R1SN003nws/sensors/Xtion_depthCamera.ini b/R1SN003nws/sensors/Xtion_depthCamera.ini new file mode 100644 index 0000000000..5c28aff412 --- /dev/null +++ b/R1SN003nws/sensors/Xtion_depthCamera.ini @@ -0,0 +1,48 @@ +device RGBDSensorWrapper +subdevice depthCamera +name /depthCamera + +[SETTINGS] +accuracy 0.001 +depthResolution (320 240) #Note the parentesys +rgbResolution (320 240) +#enable mirroring for back compatibility with old driver version +rgbMirroring true +depthMirroring true + +[HW_DESCRIPTION] +clipPlanes (0.4 4.5) + +[RGB_INTRINSIC_PARAMETERS] +focalLengthX 1.0 +focalLengthY 2.0 +principalPointX 256.0 +principalPointY 128.0 +distortionModel rgb_distortion + +[rgb_distortion] +name plumb_bob +k1 1.0 +k2 2.0 +t1 3.0 +t2 4.0 +k3 5.0 + +[DEPTH_INTRINSIC_PARAMETERS] +focalLengthX 1.0 +focalLengthY 2.0 +principalPointX 256.0 +principalPointY 128.0 +distortionModel depth_distortion + +[depth_distortion] +name plumb_bob +k1 1.0 +k2 2.0 +t1 3.0 +t2 4.0 +k3 5.0 + +[EXTRINSIC_PARAMETERS] +transformation (1.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 1.0) + diff --git a/R1SN003nws/sensors/realsense2.xml b/R1SN003nws/sensors/realsense2.xml new file mode 100644 index 0000000000..24bf9c44e0 --- /dev/null +++ b/R1SN003nws/sensors/realsense2.xml @@ -0,0 +1,17 @@ + + + + + + + (640 480) + (640 480) + 30 + true + true + RGB + + + (0.2 10.0) + + diff --git a/R1SN003nws/wrappers/FT/cer_left_arm-FT_wrapper.xml b/R1SN003nws/wrappers/FT/cer_left_arm-FT_wrapper.xml new file mode 100644 index 0000000000..fb14520cb5 --- /dev/null +++ b/R1SN003nws/wrappers/FT/cer_left_arm-FT_wrapper.xml @@ -0,0 +1,26 @@ + + + + + + 10 + /cer/left_arm/FT:o + + + + + cer_left_arm-eb5-strain + + + + + + + + diff --git a/R1SN003nws/wrappers/FT/cer_right_arm-FT_wrapper.xml b/R1SN003nws/wrappers/FT/cer_right_arm-FT_wrapper.xml new file mode 100644 index 0000000000..65fe970a0a --- /dev/null +++ b/R1SN003nws/wrappers/FT/cer_right_arm-FT_wrapper.xml @@ -0,0 +1,28 @@ + + + + + + 10 + /cer/right_arm/FT:o + + + + + cer_right_arm-eb4-strain + + + + + + + + diff --git a/R1SN003nws/wrappers/MAIS/left_hand-mais_wrapper.xml b/R1SN003nws/wrappers/MAIS/left_hand-mais_wrapper.xml new file mode 100644 index 0000000000..e7d456c746 --- /dev/null +++ b/R1SN003nws/wrappers/MAIS/left_hand-mais_wrapper.xml @@ -0,0 +1,24 @@ + + + + + 10 + /cer/left_hand/analog:o + + + + left_hand_multienc + + + + + true + /cer-left_hand_MAIS + /joint_states + sensor_msgs/JointState + l_hand_paddle_distal_joint l_hand_paddle_proximal_joint l_dummy_1 l_hand_thumb_proximal_joint l_hand_thumb_distal_joint l_dummy_2 + + + + + diff --git a/R1SN003nws/wrappers/MAIS/right_hand-mais_wrapper.xml b/R1SN003nws/wrappers/MAIS/right_hand-mais_wrapper.xml new file mode 100644 index 0000000000..9a5222fa18 --- /dev/null +++ b/R1SN003nws/wrappers/MAIS/right_hand-mais_wrapper.xml @@ -0,0 +1,24 @@ + + + + + 10 + /cer/right_hand/analog:o + + + + right_hand_multienc + + + + + true + /cer-right_hand_MAIS + /joint_states + sensor_msgs/JointState + r_hand_paddle_distal_joint r_hand_paddle_proximal_joint r_dummy_1 r_hand_thumb_distal_joint r_hand_thumb_proximal_joint r_dummy_2 + + + + + diff --git a/R1SN003nws/wrappers/PSC/cer_left_arm-PSC_wrapper.xml b/R1SN003nws/wrappers/PSC/cer_left_arm-PSC_wrapper.xml new file mode 100644 index 0000000000..7836399993 --- /dev/null +++ b/R1SN003nws/wrappers/PSC/cer_left_arm-PSC_wrapper.xml @@ -0,0 +1,17 @@ + + + + + 10 + /cer/left_hand/PSC:o + + + + + left_hand-psc + + + + + + diff --git a/R1SN003nws/wrappers/PSC/cer_right_arm-PSC_wrapper.xml b/R1SN003nws/wrappers/PSC/cer_right_arm-PSC_wrapper.xml new file mode 100644 index 0000000000..fa923e9a67 --- /dev/null +++ b/R1SN003nws/wrappers/PSC/cer_right_arm-PSC_wrapper.xml @@ -0,0 +1,17 @@ + + + + + 10 + /cer/right_hand/PSC:o + + + + + right_hand-psc + + + + + + diff --git a/R1SN003nws/wrappers/VFT/left_arm-VFT_wrapper.xml b/R1SN003nws/wrappers/VFT/left_arm-VFT_wrapper.xml new file mode 100644 index 0000000000..d1030c0603 --- /dev/null +++ b/R1SN003nws/wrappers/VFT/left_arm-VFT_wrapper.xml @@ -0,0 +1,23 @@ + + + + + 10 + left_arm + + + ( 0 3 0 3 ) + ( 4 6 0 2 ) + + 7 + /left_arm + + + + left_upper_arm_mc + left_lower_arm_mc + + + + + diff --git a/R1SN003nws/wrappers/VFT/left_leg-VFT_wrapper.xml b/R1SN003nws/wrappers/VFT/left_leg-VFT_wrapper.xml new file mode 100644 index 0000000000..68b3161230 --- /dev/null +++ b/R1SN003nws/wrappers/VFT/left_leg-VFT_wrapper.xml @@ -0,0 +1,23 @@ + + + + + 10 + left_leg + + + ( 0 3 0 3 ) + ( 4 5 0 1 ) + + 6 + /left_leg + + + + left_upper_leg_mc + left_lower_leg_mc + + + + + diff --git a/R1SN003nws/wrappers/VFT/right_arm-VFT_wrapper.xml b/R1SN003nws/wrappers/VFT/right_arm-VFT_wrapper.xml new file mode 100644 index 0000000000..af74cf72c1 --- /dev/null +++ b/R1SN003nws/wrappers/VFT/right_arm-VFT_wrapper.xml @@ -0,0 +1,23 @@ + + + + + 10 + right_arm + + + ( 0 3 0 3 ) + ( 4 6 0 2 ) + + 7 + /right_arm + + + + right_upper_arm_mc + right_lower_arm_mc + + + + + diff --git a/R1SN003nws/wrappers/VFT/right_leg-VFT_wrapper.xml b/R1SN003nws/wrappers/VFT/right_leg-VFT_wrapper.xml new file mode 100644 index 0000000000..267b629906 --- /dev/null +++ b/R1SN003nws/wrappers/VFT/right_leg-VFT_wrapper.xml @@ -0,0 +1,23 @@ + + + + + 10 + right_leg + + + ( 0 3 0 3 ) + ( 4 5 0 1 ) + + 6 + /right_leg + + + + right_upper_leg_mc + right_lower_leg_mc + + + + + diff --git a/R1SN003nws/wrappers/VFT/torso-VFT_wrapper.xml b/R1SN003nws/wrappers/VFT/torso-VFT_wrapper.xml new file mode 100644 index 0000000000..38c89f8ad9 --- /dev/null +++ b/R1SN003nws/wrappers/VFT/torso-VFT_wrapper.xml @@ -0,0 +1,21 @@ + + + + + 10 + torso + + + ( 0 2 0 2 ) + + 3 + /torso + + + + torso_mc + + + + + diff --git a/R1SN003nws/wrappers/camera/pointcloudsensor_ros.xml b/R1SN003nws/wrappers/camera/pointcloudsensor_ros.xml new file mode 100644 index 0000000000..6ccb9ed129 --- /dev/null +++ b/R1SN003nws/wrappers/camera/pointcloudsensor_ros.xml @@ -0,0 +1,15 @@ + + + + + 0.033 + /camera/rgbdPointCloud_nws_ros + /camera/depth/color/points + depth_center + + + realsense2dev + + + + diff --git a/R1SN003nws/wrappers/camera/rgbdsensor_ros.xml b/R1SN003nws/wrappers/camera/rgbdsensor_ros.xml new file mode 100644 index 0000000000..d41c62bb8f --- /dev/null +++ b/R1SN003nws/wrappers/camera/rgbdsensor_ros.xml @@ -0,0 +1,18 @@ + + + + + 33 + /camera_rgbd/color/image_rect_color + /camera_rgbd/depth/image_rect + depth_center + depth_center + /rgbdsensor_ros_node + + + + realsense2dev + + + + diff --git a/R1SN003nws/wrappers/camera/rgbdsensor_yarp.xml b/R1SN003nws/wrappers/camera/rgbdsensor_yarp.xml new file mode 100644 index 0000000000..9d67bd9302 --- /dev/null +++ b/R1SN003nws/wrappers/camera/rgbdsensor_yarp.xml @@ -0,0 +1,13 @@ + + + + + 33 + /cer/realsense + + + realsense2dev + + + + diff --git a/R1SN003nws/wrappers/motorControl/cer_base-mc_wrapper.xml b/R1SN003nws/wrappers/motorControl/cer_base-mc_wrapper.xml new file mode 100644 index 0000000000..208df6f596 --- /dev/null +++ b/R1SN003nws/wrappers/motorControl/cer_base-mc_wrapper.xml @@ -0,0 +1,19 @@ + + + + + + ( 0 1 0 1 ) + + 10 + /cer/mobile_base + mobile_base + 2 + + + + cer_mobile_base_mc + + + + diff --git a/R1SN003nws/wrappers/motorControl/cer_head-mc_wrapper.xml b/R1SN003nws/wrappers/motorControl/cer_head-mc_wrapper.xml new file mode 100644 index 0000000000..2e0cd2c805 --- /dev/null +++ b/R1SN003nws/wrappers/motorControl/cer_head-mc_wrapper.xml @@ -0,0 +1,19 @@ + + + + + + ( 0 1 0 1 ) + + 10 + /cer/head + head + 2 + + + + cer_head_mc + + + + diff --git a/R1SN003nws/wrappers/motorControl/cer_left_arm-mc_wrapper.xml b/R1SN003nws/wrappers/motorControl/cer_left_arm-mc_wrapper.xml new file mode 100644 index 0000000000..1dcacb314d --- /dev/null +++ b/R1SN003nws/wrappers/motorControl/cer_left_arm-mc_wrapper.xml @@ -0,0 +1,25 @@ + + + + + + ( 0 3 0 3 ) + ( 4 4 3 3 ) + ( 5 7 0 2 ) + ( 8 9 0 1 ) + + 10 + /cer/left_arm + left_arm + 10 + + + + cer_left_upper_arm_mc + cer_left_wrist_equivalent_mc + cer_left_lower_arm_mc + cer_left_hand_mc + + + + diff --git a/R1SN003nws/wrappers/motorControl/cer_left_arm_no_hand-mc_wrapper.xml b/R1SN003nws/wrappers/motorControl/cer_left_arm_no_hand-mc_wrapper.xml new file mode 100644 index 0000000000..d967f88c86 --- /dev/null +++ b/R1SN003nws/wrappers/motorControl/cer_left_arm_no_hand-mc_wrapper.xml @@ -0,0 +1,27 @@ + + + + + + ( 0 1 0 1 ) + ( 2 3 0 1 ) + ( 4 4 3 3 ) + ( 5 7 0 2 ) + + + 10 + /cer/left_arm + left_arm + 8 + + + + cer_left_shoulder_mc + cer_left_upper_arm_mc + cer_left_lower_arm_mc + cer_left_wrist_equivalent_mc + + + + + diff --git a/R1SN003nws/wrappers/motorControl/cer_left_hand-mc_wrapper.xml b/R1SN003nws/wrappers/motorControl/cer_left_hand-mc_wrapper.xml new file mode 100644 index 0000000000..a58a77c7e9 --- /dev/null +++ b/R1SN003nws/wrappers/motorControl/cer_left_hand-mc_wrapper.xml @@ -0,0 +1,19 @@ + + + + + + ( 0 1 0 1 ) + + 10 + /cer/left_hand + left_hand + 2 + + + + cer_left_hand_mc + + + + diff --git a/R1SN003nws/wrappers/motorControl/cer_left_shoulder-mc_wrapper.xml b/R1SN003nws/wrappers/motorControl/cer_left_shoulder-mc_wrapper.xml new file mode 100644 index 0000000000..14775c1e9d --- /dev/null +++ b/R1SN003nws/wrappers/motorControl/cer_left_shoulder-mc_wrapper.xml @@ -0,0 +1,19 @@ + + + + + + ( 0 1 0 1 ) + + 10 + /cer/left_arm + left_arm + 2 + + + + cer_left_shoulder_mc + + + + diff --git a/R1SN003nws/wrappers/motorControl/cer_left_upper_arm-mc_wrapper.xml b/R1SN003nws/wrappers/motorControl/cer_left_upper_arm-mc_wrapper.xml new file mode 100644 index 0000000000..a45c0002ce --- /dev/null +++ b/R1SN003nws/wrappers/motorControl/cer_left_upper_arm-mc_wrapper.xml @@ -0,0 +1,21 @@ + + + + + + ( 0 1 0 1 ) + ( 2 3 0 1 ) + + 10 + /cer/left_arm + left_arm + 4 + + + + cer_left_shoulder_mc + cer_left_upper_arm_mc + + + + diff --git a/R1SN003nws/wrappers/motorControl/cer_left_wrist-mc_wrapper.xml b/R1SN003nws/wrappers/motorControl/cer_left_wrist-mc_wrapper.xml new file mode 100644 index 0000000000..5e23de2f2a --- /dev/null +++ b/R1SN003nws/wrappers/motorControl/cer_left_wrist-mc_wrapper.xml @@ -0,0 +1,19 @@ + + + + 10 + + + ( 0 2 0 2 ) + + /cer/left_wrist + left_wrist + 3 + + + + cer_left_lower_arm_mc + + + + diff --git a/R1SN003nws/wrappers/motorControl/cer_left_wrist_tripod-mc_wrapper.xml b/R1SN003nws/wrappers/motorControl/cer_left_wrist_tripod-mc_wrapper.xml new file mode 100644 index 0000000000..b5bb182e81 --- /dev/null +++ b/R1SN003nws/wrappers/motorControl/cer_left_wrist_tripod-mc_wrapper.xml @@ -0,0 +1,19 @@ + + + + 10 + + + ( 0 2 0 2 ) + + /cer/left_wrist_tripod + left_wrist_tripod + 3 + + + + cer_left_lower_arm_mc + + + + diff --git a/R1SN003nws/wrappers/motorControl/cer_right_arm-mc_wrapper.xml b/R1SN003nws/wrappers/motorControl/cer_right_arm-mc_wrapper.xml new file mode 100644 index 0000000000..e7a5799c51 --- /dev/null +++ b/R1SN003nws/wrappers/motorControl/cer_right_arm-mc_wrapper.xml @@ -0,0 +1,25 @@ + + + + + + ( 0 3 0 3 ) + ( 4 4 3 3 ) + ( 5 7 0 2 ) + ( 8 9 0 1 ) + + 10 + /cer/right_arm + right_arm + 10 + + + + cer_right_upper_arm_mc + cer_right_wrist_equivalent_mc + cer_right_lower_arm_mc + cer_right_hand_mc + + + + diff --git a/R1SN003nws/wrappers/motorControl/cer_right_arm_no_hand-mc_wrapper.xml b/R1SN003nws/wrappers/motorControl/cer_right_arm_no_hand-mc_wrapper.xml new file mode 100644 index 0000000000..dbbf891dee --- /dev/null +++ b/R1SN003nws/wrappers/motorControl/cer_right_arm_no_hand-mc_wrapper.xml @@ -0,0 +1,27 @@ + + + + + + ( 0 1 0 1 ) + ( 2 3 0 1 ) + ( 4 4 3 3 ) + ( 5 7 0 2 ) + + + 10 + /cer/right_arm + right_arm + 8 + + + + cer_right_shoulder_mc + cer_right_upper_arm_mc + cer_right_lower_arm_mc + cer_right_wrist_equivalent_mc + + + + + diff --git a/R1SN003nws/wrappers/motorControl/cer_right_hand-mc_wrapper.xml b/R1SN003nws/wrappers/motorControl/cer_right_hand-mc_wrapper.xml new file mode 100644 index 0000000000..222581e1ef --- /dev/null +++ b/R1SN003nws/wrappers/motorControl/cer_right_hand-mc_wrapper.xml @@ -0,0 +1,19 @@ + + + + + + ( 0 1 0 1 ) + + 10 + /cer/right_hand + right_hand + 2 + + + + cer_right_hand_mc + + + + diff --git a/R1SN003nws/wrappers/motorControl/cer_right_shoulder-mc_wrapper.xml b/R1SN003nws/wrappers/motorControl/cer_right_shoulder-mc_wrapper.xml new file mode 100644 index 0000000000..73c218aa78 --- /dev/null +++ b/R1SN003nws/wrappers/motorControl/cer_right_shoulder-mc_wrapper.xml @@ -0,0 +1,19 @@ + + + + + + ( 0 1 0 1 ) + + 10 + /cer/right_arm + right_arm + 2 + + + + cer_right_shoulder_mc + + + + diff --git a/R1SN003nws/wrappers/motorControl/cer_right_upper_arm-mc_wrapper.xml b/R1SN003nws/wrappers/motorControl/cer_right_upper_arm-mc_wrapper.xml new file mode 100644 index 0000000000..0cf6cbb5b7 --- /dev/null +++ b/R1SN003nws/wrappers/motorControl/cer_right_upper_arm-mc_wrapper.xml @@ -0,0 +1,21 @@ + + + + + + ( 0 1 0 1 ) + ( 2 3 0 1 ) + + 10 + /cer/right_arm + right_arm + 4 + + + + cer_right_shoulder_mc + cer_right_upper_arm_mc + + + + diff --git a/R1SN003nws/wrappers/motorControl/cer_right_wrist-mc_wrapper.xml b/R1SN003nws/wrappers/motorControl/cer_right_wrist-mc_wrapper.xml new file mode 100644 index 0000000000..780574d0a5 --- /dev/null +++ b/R1SN003nws/wrappers/motorControl/cer_right_wrist-mc_wrapper.xml @@ -0,0 +1,19 @@ + + + + 10 + + + ( 0 2 0 2 ) + + /cer/right_wrist + right_wrist + 3 + + + + cer_right_lower_arm_mc + + + + diff --git a/R1SN003nws/wrappers/motorControl/cer_right_wrist_tripod-mc_wrapper.xml b/R1SN003nws/wrappers/motorControl/cer_right_wrist_tripod-mc_wrapper.xml new file mode 100644 index 0000000000..496f9e65e5 --- /dev/null +++ b/R1SN003nws/wrappers/motorControl/cer_right_wrist_tripod-mc_wrapper.xml @@ -0,0 +1,19 @@ + + + + 10 + + + ( 0 2 0 2 ) + + /cer/right_wrist_tripod + right_wrist_tripod + 3 + + + + cer_right_lower_arm_mc + + + + diff --git a/R1SN003nws/wrappers/motorControl/cer_ros_wrapper.xml b/R1SN003nws/wrappers/motorControl/cer_ros_wrapper.xml new file mode 100644 index 0000000000..4a7fc3fb82 --- /dev/null +++ b/R1SN003nws/wrappers/motorControl/cer_ros_wrapper.xml @@ -0,0 +1,40 @@ + + + + 10 + /cer/all_joints + 28 + + ( 0 1 0 1 ) + + ( 2 5 0 3 ) + + ( 6 13 0 7 ) + + ( 14 21 0 7 ) + + ( 22 23 0 1 ) + + ( 24 25 0 1 ) + + ( 26 27 0 1 ) + + + + true + /joint_states + /cer + + + + cer_head_mc_wrapper + cer_torso_mc_wrapper + cer_mobile_base_mc_wrapper + cer_right_arm_no_hand_mc_wrapper + cer_right_hand_mc + cer_left_arm_no_hand_mc_wrapper + cer_left_hand_mc + + + + diff --git a/R1SN003nws/wrappers/motorControl/cer_ros_wrapper_base_only.xml b/R1SN003nws/wrappers/motorControl/cer_ros_wrapper_base_only.xml new file mode 100644 index 0000000000..cc255a555d --- /dev/null +++ b/R1SN003nws/wrappers/motorControl/cer_ros_wrapper_base_only.xml @@ -0,0 +1,21 @@ + + + + 10 + /cer/all_joints + 2 + + ( 0 1 0 1 ) + + + only + /base_joint_states + /cer + + + + cer_mobile_base_mc_wrapper + + + + diff --git a/R1SN003nws/wrappers/motorControl/cer_ros_wrapper_fix.xml b/R1SN003nws/wrappers/motorControl/cer_ros_wrapper_fix.xml new file mode 100644 index 0000000000..adec2f4a57 --- /dev/null +++ b/R1SN003nws/wrappers/motorControl/cer_ros_wrapper_fix.xml @@ -0,0 +1,40 @@ + + + + 10 + /cer/all_joints + 28 + + ( 0 1 0 1 ) + + ( 2 5 0 3 ) + + ( 6 13 0 7 ) + + ( 14 21 0 7 ) + + ( 22 23 0 1 ) + + ( 24 25 0 1 ) + + ( 26 27 0 1 ) + + + + true + /joint_states + /cer + + + + cer_head_mc_wrapper + cer_torso_mc_wrapper + cer_mobile_base_mc_wrapper + cer_right_arm_mc_wrapper + cer_right_hand_mc + cer_left_arm_mc_wrapper + cer_left_hand_mc + + + + diff --git a/R1SN003nws/wrappers/motorControl/cer_torso-mc_wrapper.xml b/R1SN003nws/wrappers/motorControl/cer_torso-mc_wrapper.xml new file mode 100644 index 0000000000..06224fe0d6 --- /dev/null +++ b/R1SN003nws/wrappers/motorControl/cer_torso-mc_wrapper.xml @@ -0,0 +1,21 @@ + + + + + + ( 0 2 0 2 ) + ( 3 3 3 3 ) + + 10 + /cer/torso + torso + 4 + + + + cer_torso_equivalent_mc + cer_torso_mc + + + + diff --git a/R1SN003nws/wrappers/motorControl/cer_torso_tripod-mc_wrapper.xml b/R1SN003nws/wrappers/motorControl/cer_torso_tripod-mc_wrapper.xml new file mode 100644 index 0000000000..3718237bca --- /dev/null +++ b/R1SN003nws/wrappers/motorControl/cer_torso_tripod-mc_wrapper.xml @@ -0,0 +1,19 @@ + + + + 10 + + + ( 0 2 0 2 ) + + /cer/torso_tripod + torso_tripod + 3 + + + + cer_torso_mc + + + + diff --git a/R1SN003nws/wrappers/rpLidar/laser_back_nws_yarp.xml b/R1SN003nws/wrappers/rpLidar/laser_back_nws_yarp.xml new file mode 100644 index 0000000000..3e9eca9f69 --- /dev/null +++ b/R1SN003nws/wrappers/rpLidar/laser_back_nws_yarp.xml @@ -0,0 +1,24 @@ + + + + + 0.01 + /cer/laser/back:o + + + + cer_laser_back_device + + + + + true + /cer-laserBack + /laserBack + mobile_base_lidar_B > + + + + + + diff --git a/R1SN003nws/wrappers/rpLidar/laser_double_nws_ros.xml b/R1SN003nws/wrappers/rpLidar/laser_double_nws_ros.xml new file mode 100644 index 0000000000..0c471c643d --- /dev/null +++ b/R1SN003nws/wrappers/rpLidar/laser_double_nws_ros.xml @@ -0,0 +1,20 @@ + + + + + 0.01 + /cer/laser:o + + + + cer_double_laser_device + + + + /cer-laser + /laser + mobile_base_double_lidar + + + + diff --git a/R1SN003nws/wrappers/rpLidar/laser_double_nws_yarp.xml b/R1SN003nws/wrappers/rpLidar/laser_double_nws_yarp.xml new file mode 100644 index 0000000000..a3a7cf013d --- /dev/null +++ b/R1SN003nws/wrappers/rpLidar/laser_double_nws_yarp.xml @@ -0,0 +1,23 @@ + + + + + 0.01 + /cer/laser:o + + + + cer_double_laser_device + + + + + true + /cer-laser + /laser + mobile_base_double_lidar + + + + + diff --git a/R1SN003nws/wrappers/rpLidar/laser_front_nws_yarp.xml b/R1SN003nws/wrappers/rpLidar/laser_front_nws_yarp.xml new file mode 100644 index 0000000000..f9e42370ea --- /dev/null +++ b/R1SN003nws/wrappers/rpLidar/laser_front_nws_yarp.xml @@ -0,0 +1,23 @@ + + + + + 0.01 + /cer/laser/front:o + + + + cer_laser_front_device + + + + + true + /cer-laserFront + /laserFront + mobile_base_lidar_F + + + + + diff --git a/R1SN003nws/wrappers/skin/left_hand-skin_wrapper.xml b/R1SN003nws/wrappers/skin/left_hand-skin_wrapper.xml new file mode 100644 index 0000000000..c13763ec4c --- /dev/null +++ b/R1SN003nws/wrappers/skin/left_hand-skin_wrapper.xml @@ -0,0 +1,34 @@ + + + + + + 20 + 576 + skinWrapper + + + 0 191 0 191 + 192 383 0 191 + 384 575 0 191 + + + + + + + + left_hand_skin + + + + + + diff --git a/R1SN003nws/wrappers/skin/right_hand-skin_wrapper.xml b/R1SN003nws/wrappers/skin/right_hand-skin_wrapper.xml new file mode 100644 index 0000000000..796cc5b901 --- /dev/null +++ b/R1SN003nws/wrappers/skin/right_hand-skin_wrapper.xml @@ -0,0 +1,34 @@ + + + + + + 20 + 576 + skinWrapper + + + 0 191 0 191 + 192 383 0 191 + 384 575 0 191 + + + + + + + + right_hand_skin + + + + + + diff --git a/R1SN003nws/yarplaserscannergui.ini b/R1SN003nws/yarplaserscannergui.ini new file mode 100644 index 0000000000..82411b4fb6 --- /dev/null +++ b/R1SN003nws/yarplaserscannergui.ini @@ -0,0 +1,5 @@ +scale 100 +robot_radius 0.3575 // 715.0 / 2.0 / 1000.0m +laser_position 0.245 // 245.0 / 1000.0m +period 50 +sens_port /cer/laser:o diff --git a/R1SN003nws/yarpmotorgui.ini b/R1SN003nws/yarpmotorgui.ini new file mode 100644 index 0000000000..1eb77da13f --- /dev/null +++ b/R1SN003nws/yarpmotorgui.ini @@ -0,0 +1,4 @@ +robot cer + +parts (torso torso_tripod mobile_base head left_arm right_arm left_wrist_tripod right_wrist_tripod left_hand right_hand all_joints) + diff --git a/R1SN003nws/yarprobotinterface.ini b/R1SN003nws/yarprobotinterface.ini new file mode 100644 index 0000000000..2a38d22b09 --- /dev/null +++ b/R1SN003nws/yarprobotinterface.ini @@ -0,0 +1,2 @@ +config ./CER.xml +