diff --git a/iCubGenova01/calibrators/head_calib.xml b/iCubGenova01/calibrators/head_calib.xml index 4d5e2f2c72..b1a3cdf41e 100644 --- a/iCubGenova01/calibrators/head_calib.xml +++ b/iCubGenova01/calibrators/head_calib.xml @@ -31,12 +31,12 @@ (0 1 2) (3) (4) (5) - - head_mc_wrapper + + head_mc_remapper - head_mc_wrapper + head_mc_remapper diff --git a/iCubGenova01/calibrators/left_arm_calib.xml b/iCubGenova01/calibrators/left_arm_calib.xml index 436a03e00f..3068b8f879 100644 --- a/iCubGenova01/calibrators/left_arm_calib.xml +++ b/iCubGenova01/calibrators/left_arm_calib.xml @@ -29,12 +29,12 @@ (0 1 2 3) (4 6 7) (5) - - left_arm_mc_wrapper + + left_arm_mc_remapper - left_arm_mc_wrapper + left_arm_mc_remapper diff --git a/iCubGenova01/calibrators/left_hand_calib.xml b/iCubGenova01/calibrators/left_hand_calib.xml index 38fc7814e3..412f90f5cf 100644 --- a/iCubGenova01/calibrators/left_hand_calib.xml +++ b/iCubGenova01/calibrators/left_hand_calib.xml @@ -1,15 +1,15 @@ - + - + - - - 8 - Left_Hand_Calibrator - - + + + 8 + Left_Hand_Calibrator + + @@ -31,45 +31,17 @@ - - (0 1 3 5) (2 4 6 7) - - - left_hand_mc - - - - left_hand_mc - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - + + (0 1 3 5) (2 4 6 7) + + + left_hand_mc + + + + left_hand_mc + + + + + diff --git a/iCubGenova01/calibrators/left_leg_calib.xml b/iCubGenova01/calibrators/left_leg_calib.xml index 4bf02cd6b6..7bbd934759 100644 --- a/iCubGenova01/calibrators/left_leg_calib.xml +++ b/iCubGenova01/calibrators/left_leg_calib.xml @@ -28,12 +28,12 @@ (0 1 2 3 4 5) - - left_leg_mc_wrapper + + left_leg_mc_remapper - left_leg_mc_wrapper + left_leg_mc_remapper diff --git a/iCubGenova01/calibrators/right_arm_calib.xml b/iCubGenova01/calibrators/right_arm_calib.xml index 6e58584823..d8d3fb9028 100644 --- a/iCubGenova01/calibrators/right_arm_calib.xml +++ b/iCubGenova01/calibrators/right_arm_calib.xml @@ -28,12 +28,12 @@ (0 1 2 3) (4 6 7) (5) - - right_arm_mc_wrapper + + right_arm_mc_remapper - right_arm_mc_wrapper + right_arm_mc_remapper diff --git a/iCubGenova01/calibrators/right_hand_calib.xml b/iCubGenova01/calibrators/right_hand_calib.xml index 99ee68b2c4..d9b9e2069d 100644 --- a/iCubGenova01/calibrators/right_hand_calib.xml +++ b/iCubGenova01/calibrators/right_hand_calib.xml @@ -1,15 +1,15 @@ - + - + - - - 8 - Right_Hand_Calibrator - - + + + 8 + Right_Hand_Calibrator + + @@ -22,7 +22,7 @@ 3 4 4 4 4 4 4 4 - 1742.4 180.0 5.0 196.0 13.0 207.0 22.0 580.0 + 1742.4 255.0 5.0 196.0 13.0 207.0 22.0 580.0 10.0 10.0 30.0 10.0 10.0 10.0 10.0 10.0 0.0 6000.0 6600.0 6000.0 -7000.0 6000.0 7000.0 14000.0 45.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 @@ -30,46 +30,18 @@ 0 0 0 0 0 0 0 0 1000 1000 1000 1000 1000 1000 1000 1000 - - - (0 1 3 5) (2 4 6 7) - - - right_hand_mc - - - - right_hand_mc - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - + + + (0 1 3 5) (2 4 6 7) + + + right_hand_mc + + + + right_hand_mc + + + + + diff --git a/iCubGenova01/calibrators/right_leg_calib.xml b/iCubGenova01/calibrators/right_leg_calib.xml index 49616e8407..0237e68a6f 100644 --- a/iCubGenova01/calibrators/right_leg_calib.xml +++ b/iCubGenova01/calibrators/right_leg_calib.xml @@ -28,12 +28,12 @@ (0 1 2 3 4 5) - - right_leg_mc_wrapper + + right_leg_mc_remapper - right_leg_mc_wrapper + right_leg_mc_remapper diff --git a/iCubGenova01/calibrators/torso_calib.xml b/iCubGenova01/calibrators/torso_calib.xml index 5389a067f6..99f22df67b 100644 --- a/iCubGenova01/calibrators/torso_calib.xml +++ b/iCubGenova01/calibrators/torso_calib.xml @@ -28,12 +28,12 @@ (0 1 2) - - torso_mc_wrapper + + torso_mc_remapper - torso_mc_wrapper + torso_mc_remapper diff --git a/iCubGenova01/cartesian/left_arm_cartesian.xml b/iCubGenova01/cartesian/left_arm_cartesian.xml index af82286448..002f67d0aa 100644 --- a/iCubGenova01/cartesian/left_arm_cartesian.xml +++ b/iCubGenova01/cartesian/left_arm_cartesian.xml @@ -40,14 +40,14 @@ ((Kp 1.000) (Tz 0.000) (Tw 0.000) (Zeta 0.000) (Td 0.000)) - + - torso_mc_wrapper - left_arm_mc_wrapper + torso_mc_remapper + left_arm_mc_remapper - + diff --git a/iCubGenova01/cartesian/right_arm_cartesian.xml b/iCubGenova01/cartesian/right_arm_cartesian.xml index 347ffb75e7..9e22f70915 100644 --- a/iCubGenova01/cartesian/right_arm_cartesian.xml +++ b/iCubGenova01/cartesian/right_arm_cartesian.xml @@ -40,14 +40,14 @@ ((Kp 1.000) (Tz 0.000) (Tw 0.000) (Zeta 0.000) (Td 0.000)) - + - torso_mc_wrapper - right_arm_mc_wrapper + torso_mc_remapper + right_arm_mc_remapper - + diff --git a/iCubGenova01/hardware/motorControl/icub_left_hand.xml b/iCubGenova01/hardware/motorControl/icub_left_hand.xml index e6c64ccf32..d147119762 100644 --- a/iCubGenova01/hardware/motorControl/icub_left_hand.xml +++ b/iCubGenova01/hardware/motorControl/icub_left_hand.xml @@ -1,34 +1,34 @@ - - - + + + - - - sharedcan - cfw2can - 5 6 7 8 - 5 - LEFT_HAND - 0 - 10 - 500 - 500 - 500 - 1 1 1 1 1 1 1 1 - 0 0 0 0 0 0 0 0 - 1 1 1 1 1 1 1 1 - 0 0 0 0 0 0 0 0 - 1 1 1 1 1 1 1 1 - 1 1 1 1 1 1 1 1 - 0 0 0 0 0 0 0 0 - 0 0 0 0 0 0 0 0 - 0 0 0 0 0 0 0 0 - - - - - 8 - 0 1 2 3 4 5 6 7 + + + sharedcan + cfw2can + 5 6 7 8 + 5 + LEFT_HAND + 0 + 10 + 500 + 500 + 500 + 1 1 1 1 1 1 1 1 + 0 0 0 0 0 0 0 0 + 1 1 1 1 1 1 1 1 + 0 0 0 0 0 0 0 0 + 1 1 1 1 1 1 1 1 + 1 1 1 1 1 1 1 1 + 0 0 0 0 0 0 0 0 + 0 0 0 0 0 0 0 0 + 0 0 0 0 0 0 0 0 + + + + + 8 + 0 1 2 3 4 5 6 7 "l_thumb_oppose" "l_thumb_proximal" "l_thumb_distal" "l_index_proximal" "l_index_distal" "l_middle_proximal" "l_middle_distal" "l_pinky" "revolute" "revolute" "revolute" "revolute" "revolute" "revolute" "revolute" "revolute" 7.611 -2.478 -2.765 -2.744 -2.406 -2.833 -2.576 -2.040 @@ -36,53 +36,51 @@ 1333 1333 1333 1333 1333 1333 1333 1333 1000.0 1000.0 1000.0 1000.0 1000.0 1000.0 1000.0 1000.0 - 0 0 0 0 0 0 0 0 - 0 0 0 0 0 0 0 0 - 0 0 0 0 0 0 0 0 - 0 0 0 0 0 0 0 0 - 1 1 1 1 1 1 1 1 - 1 1 1 1 1 1 1 1 - - - - 1 1 1 1 1 1 1 1 - 1 1 1 1 1 1 1 1 - 5 5 5 5 5 5 5 5 - 5 5 5 5 5 5 5 5 - 8 8 8 8 8 8 8 8 - 100 100 100 100 100 100 100 100 - - - - 10 0 0 0 0 0 0 0 - 90 90 170 90 170 90 170 250 - 485 485 485 485 485 485 485 485 - - - - -8000 -8000 -8000 -8000 8000 -8000 -8000 120 - -32000 -32000 -32000 -32000 32000 -32000 -32000 1250 - -5 -5 -5 -5 5 -5 -5 0 - 1333 1333 1333 1333 1333 1333 1333 1333 - 1333 1333 1333 1333 1333 1333 1333 1333 - 10 10 10 8 10 10 10 4 - 0 0 0 0 0 0 0 0 - 0 0 0 0 0 0 0 0 - 0 0 0 0 0 0 0 0 - - - - 0 0 0 0 0 0 0 0 - 0 0 0 0 0 0 0 0 - 0 0 0 0 0 0 0 0 - 0 0 0 0 0 0 0 0 - 0 0 0 0 0 0 0 0 - 0 0 0 0 0 0 0 0 - 0 0 0 0 0 0 0 0 - 0 0 0 0 0 0 0 0 - 0 0 0 0 0 0 0 0 - - - - - + 0 0 0 0 0 0 0 0 + 0 0 0 0 0 0 0 0 + 0 0 0 0 0 0 0 0 + 0 0 0 0 0 0 0 0 + 1 1 1 1 1 1 1 1 + 1 1 1 1 1 1 1 1 + + + + 1 1 1 1 1 1 1 1 + 1 1 1 1 1 1 1 1 + 5 5 5 5 5 5 5 5 + 5 5 5 5 5 5 5 5 + 8 8 8 8 8 8 8 8 + 100 100 100 100 100 100 100 100 + + + + 10 0 0 0 0 0 0 0 + 90 90 170 90 170 90 170 250 + 485 485 485 485 485 485 485 485 + + + + -8000 -8000 -8000 -8000 8000 -8000 -8000 120 + -32000 -32000 -32000 -32000 32000 -32000 -32000 1250 + -5 -5 -5 -5 5 -5 -5 0 + 1333 1333 1333 1333 1333 1333 1333 1333 + 1333 1333 1333 1333 1333 1333 1333 1333 + 10 10 10 8 10 10 10 4 + 0 0 0 0 0 0 0 0 + 0 0 0 0 0 0 0 0 + 0 0 0 0 0 0 0 0 + + + + 0 0 0 0 0 0 0 0 + 0 0 0 0 0 0 0 0 + 0 0 0 0 0 0 0 0 + 0 0 0 0 0 0 0 0 + 0 0 0 0 0 0 0 0 + 0 0 0 0 0 0 0 0 + 0 0 0 0 0 0 0 0 + 0 0 0 0 0 0 0 0 + 0 0 0 0 0 0 0 0 + + + diff --git a/iCubGenova01/hardware/motorControl/icub_right_hand.xml b/iCubGenova01/hardware/motorControl/icub_right_hand.xml index 1d61b1c52c..bfa796434c 100644 --- a/iCubGenova01/hardware/motorControl/icub_right_hand.xml +++ b/iCubGenova01/hardware/motorControl/icub_right_hand.xml @@ -1,34 +1,34 @@ - - - + + + - - - sharedcan - cfw2can - 5 6 7 8 - 6 - RIGHT_HAND - 0 - 10 - 500 - 500 - 500 - 1 1 1 1 1 1 1 1 - 0 0 0 0 0 0 0 0 - 1 1 1 1 1 1 1 1 - 0 0 0 0 0 0 0 0 - 1 1 1 1 1 1 1 1 - 1 1 1 1 1 1 1 1 - 0 0 0 0 0 0 0 0 - 0 0 0 0 0 0 0 0 - 0 0 0 0 0 0 0 0 - - - - - 8 - 0 1 2 3 4 5 6 7 + + + sharedcan + cfw2can + 5 6 7 8 + 6 + RIGHT_HAND + 0 + 10 + 500 + 500 + 500 + 1 1 1 1 1 1 1 1 + 0 0 0 0 0 0 0 0 + 1 1 1 1 1 1 1 1 + 0 0 0 0 0 0 0 0 + 1 1 1 1 1 1 1 1 + 1 1 1 1 1 1 1 1 + 0 0 0 0 0 0 0 0 + 0 0 0 0 0 0 0 0 + 0 0 0 0 0 0 0 0 + + + + + 8 + 0 1 2 3 4 5 6 7 "r_thumb_oppose" "r_thumb_proximal" "r_thumb_distal" "r_index_proximal" "r_index_distal" "r_middle_proximal" "r_middle_distal" "r_pinky" "revolute" "revolute" "revolute" "revolute" "revolute" "revolute" "revolute" "revolute" 6.844 -1.8 -2.441 -2.078 -2.365 -2.300 -2.359 -1.520 @@ -36,53 +36,51 @@ 1333 1333 1333 1333 1333 1333 1333 1333 600.0 600.0 1000.0 1000.0 1000.0 1000.0 1000.0 1000.0 - 0 0 0 0 0 0 0 0 - 0 0 0 0 0 0 0 0 - 0 0 0 0 0 0 0 0 - 0 0 0 0 0 0 0 0 - 1 1 1 1 1 1 1 1 - 1 1 1 1 1 1 1 1 - - - - 1 1 1 1 1 1 1 1 - 1 1 1 1 1 1 1 1 - 5 5 5 5 5 5 5 5 - 5 5 5 5 5 5 5 5 - 8 8 8 8 8 8 8 8 - 100 100 100 100 100 100 100 100 - - - - 10 0 0 0 0 0 0 0 - 90 90 170 90 170 90 170 250 - 485 485 485 485 485 485 485 485 - - - + 0 0 0 0 0 0 0 0 + 0 0 0 0 0 0 0 0 + 0 0 0 0 0 0 0 0 + 0 0 0 0 0 0 0 0 + 1 1 1 1 1 1 1 1 + 1 1 1 1 1 1 1 1 + + + + 1 1 1 1 1 1 1 1 + 1 1 1 1 1 1 1 1 + 5 5 5 5 5 5 5 5 + 5 5 5 5 5 5 5 5 + 8 8 8 8 8 8 8 8 + 100 100 100 100 100 100 100 100 + + + + 10 0 0 0 0 0 0 0 + 90 90 170 90 170 90 170 250 + 485 485 485 485 485 485 485 485 + + + -6000 -6000 8000 -8000 -8000 -8000 8000 -120 -26000 -26000 32000 -32000 -32000 -32000 32000 -1250 - -5 -5 5 -5 -5 -5 5 0 - 1333 1333 1333 1333 1333 1333 1333 1333 - 1333 1333 1333 1333 1333 1333 1333 1333 - 10 10 10 10 10 10 10 4 - 0 0 0 0 0 0 0 0 - 0 0 0 0 0 0 0 0 - 0 0 0 0 0 0 0 0 - - - - 0 0 0 0 0 0 0 0 - 0 0 0 0 0 0 0 0 - 0 0 0 0 0 0 0 0 - 0 0 0 0 0 0 0 0 - 0 0 0 0 0 0 0 0 - 0 0 0 0 0 0 0 0 - 0 0 0 0 0 0 0 0 - 0 0 0 0 0 0 0 0 - 0 0 0 0 0 0 0 0 - - - - - + -5 -5 5 -5 -5 -5 5 0 + 1333 1333 1333 1333 1333 1333 1333 1333 + 1333 1333 1333 1333 1333 1333 1333 1333 + 10 10 10 10 10 10 10 4 + 0 0 0 0 0 0 0 0 + 0 0 0 0 0 0 0 0 + 0 0 0 0 0 0 0 0 + + + + 0 0 0 0 0 0 0 0 + 0 0 0 0 0 0 0 0 + 0 0 0 0 0 0 0 0 + 0 0 0 0 0 0 0 0 + 0 0 0 0 0 0 0 0 + 0 0 0 0 0 0 0 0 + 0 0 0 0 0 0 0 0 + 0 0 0 0 0 0 0 0 + 0 0 0 0 0 0 0 0 + + + diff --git a/iCubGenova01/icub.xml b/iCubGenova01/icub.xml index 501c6d2475..d7b7f53afd 100644 --- a/iCubGenova01/icub.xml +++ b/iCubGenova01/icub.xml @@ -6,13 +6,23 @@ + + + - - - - - - + + + + + + + + + + + + @@ -65,7 +75,6 @@ - - + + + + - - - - - - + + + + + + + + + + + + @@ -21,7 +31,7 @@ - + @@ -70,7 +80,6 @@ - - + + + + - - - - + + + + + + + + + + - + diff --git a/iCubGenova01/icub_analog_only.xml b/iCubGenova01/icub_analog_only.xml index 15f64a1ba6..946fe667fe 100644 --- a/iCubGenova01/icub_analog_only.xml +++ b/iCubGenova01/icub_analog_only.xml @@ -7,16 +7,25 @@ + --> + + - - head-inertial - - - - - diff --git a/iCubGenova01/wrappers/motorControl/alljoints-mc_remapper.xml b/iCubGenova01/wrappers/motorControl/alljoints-mc_remapper.xml new file mode 100644 index 0000000000..bba9bfc990 --- /dev/null +++ b/iCubGenova01/wrappers/motorControl/alljoints-mc_remapper.xml @@ -0,0 +1,29 @@ + + + + + + ( 0 5 0 5 ) + ( 6 12 0 6 ) + ( 13 21 0 8 ) + ( 22 28 0 6 ) + ( 29 37 0 8 ) + ( 38 40 0 2 ) + ( 41 46 0 5 ) + ( 47 52 0 5 ) + + 53 + + + head_mc + left_arm_mc + left_hand_mc + right_arm_mc + right_hand_mc + torso_mc + left_leg_mc + right_leg_mc + + + + diff --git a/iCubGenova01/wrappers/motorControl/alljoints-mc_ros_wrapper.xml b/iCubGenova01/wrappers/motorControl/alljoints-mc_ros_wrapper.xml new file mode 100644 index 0000000000..47d45fc9a1 --- /dev/null +++ b/iCubGenova01/wrappers/motorControl/alljoints-mc_ros_wrapper.xml @@ -0,0 +1,11 @@ + + + + + /yri_controlBoard_nws_ros + /all_joints + + alljoints_remapper + + + diff --git a/iCubGenova01/wrappers/motorControl/head_mc_wrapper.xml b/iCubGenova01/wrappers/motorControl/head_mc-remapper.xml similarity index 54% rename from iCubGenova01/wrappers/motorControl/head_mc_wrapper.xml rename to iCubGenova01/wrappers/motorControl/head_mc-remapper.xml index cf9d0c3000..b3327e6dca 100644 --- a/iCubGenova01/wrappers/motorControl/head_mc_wrapper.xml +++ b/iCubGenova01/wrappers/motorControl/head_mc-remapper.xml @@ -1,18 +1,15 @@ - + + - ( 0 5 0 5 ) + ( 0 5 0 5 ) - 10 - /icub/head - head - 6 + 6 head_mc - head_calibrator - + diff --git a/iCubGenova01/wrappers/motorControl/head_mc-wrapper.xml b/iCubGenova01/wrappers/motorControl/head_mc-wrapper.xml new file mode 100644 index 0000000000..5d14888760 --- /dev/null +++ b/iCubGenova01/wrappers/motorControl/head_mc-wrapper.xml @@ -0,0 +1,10 @@ + + + + + /icub/head + + head_mc_remapper + + + diff --git a/iCubGenova01/wrappers/motorControl/left_arm_mc_wrapper.xml b/iCubGenova01/wrappers/motorControl/left_arm-mc_remapper.xml similarity index 59% rename from iCubGenova01/wrappers/motorControl/left_arm_mc_wrapper.xml rename to iCubGenova01/wrappers/motorControl/left_arm-mc_remapper.xml index f989cc0060..50d52ebcc4 100644 --- a/iCubGenova01/wrappers/motorControl/left_arm_mc_wrapper.xml +++ b/iCubGenova01/wrappers/motorControl/left_arm-mc_remapper.xml @@ -1,20 +1,17 @@ - + + ( 0 7 0 7 ) ( 8 15 0 7 ) - 10 - /icub/left_arm - left_arm - 16 + 16 - left_arm_mc + left_arm_mc left_hand_mc - left_arm_calibrator - + diff --git a/iCubGenova01/wrappers/motorControl/left_arm-mc_wrapper.xml b/iCubGenova01/wrappers/motorControl/left_arm-mc_wrapper.xml new file mode 100644 index 0000000000..ebe11670f8 --- /dev/null +++ b/iCubGenova01/wrappers/motorControl/left_arm-mc_wrapper.xml @@ -0,0 +1,10 @@ + + + + + /icub/left_arm + + left_arm_mc_remapper + + + diff --git a/iCubGenova01/wrappers/motorControl/left_leg_mc_wrapper.xml b/iCubGenova01/wrappers/motorControl/left_leg-mc_remapper.xml similarity index 65% rename from iCubGenova01/wrappers/motorControl/left_leg_mc_wrapper.xml rename to iCubGenova01/wrappers/motorControl/left_leg-mc_remapper.xml index eece297558..02e9c9c27a 100644 --- a/iCubGenova01/wrappers/motorControl/left_leg_mc_wrapper.xml +++ b/iCubGenova01/wrappers/motorControl/left_leg-mc_remapper.xml @@ -1,18 +1,14 @@ - + ( 0 5 0 5 ) - 10 - /icub/left_leg - left_leg 6 left_leg_mc - left_leg_calibrator - + diff --git a/iCubGenova01/wrappers/motorControl/left_leg-mc_wrapper.xml b/iCubGenova01/wrappers/motorControl/left_leg-mc_wrapper.xml new file mode 100644 index 0000000000..2b54562163 --- /dev/null +++ b/iCubGenova01/wrappers/motorControl/left_leg-mc_wrapper.xml @@ -0,0 +1,10 @@ + + + + + /icub/left_leg + + left_leg_mc_remapper + + + diff --git a/iCubGenova01/wrappers/motorControl/right_arm_mc_wrapper.xml b/iCubGenova01/wrappers/motorControl/right_arm-mc_remapper.xml similarity index 59% rename from iCubGenova01/wrappers/motorControl/right_arm_mc_wrapper.xml rename to iCubGenova01/wrappers/motorControl/right_arm-mc_remapper.xml index 8aa22c41a8..e08c59444b 100644 --- a/iCubGenova01/wrappers/motorControl/right_arm_mc_wrapper.xml +++ b/iCubGenova01/wrappers/motorControl/right_arm-mc_remapper.xml @@ -1,20 +1,17 @@ - + + ( 0 7 0 7 ) ( 8 15 0 7 ) - 10 - /icub/right_arm - right_arm - 16 + 16 - right_arm_mc + right_arm_mc right_hand_mc - right_arm_calibrator - + diff --git a/iCubGenova01/wrappers/motorControl/right_arm-mc_wrapper.xml b/iCubGenova01/wrappers/motorControl/right_arm-mc_wrapper.xml new file mode 100644 index 0000000000..f980f9dd1f --- /dev/null +++ b/iCubGenova01/wrappers/motorControl/right_arm-mc_wrapper.xml @@ -0,0 +1,10 @@ + + + + + /icub/right_arm + + right_arm_mc_remapper + + + diff --git a/iCubGenova01/wrappers/motorControl/right_leg-mc_remapper.xml b/iCubGenova01/wrappers/motorControl/right_leg-mc_remapper.xml new file mode 100644 index 0000000000..0a8d6d4f80 --- /dev/null +++ b/iCubGenova01/wrappers/motorControl/right_leg-mc_remapper.xml @@ -0,0 +1,14 @@ + + + + + ( 0 5 0 5 ) + + 6 + + + right_leg_mc + + + + diff --git a/iCubGenova01/wrappers/motorControl/right_leg-mc_wrapper.xml b/iCubGenova01/wrappers/motorControl/right_leg-mc_wrapper.xml new file mode 100644 index 0000000000..850532c3fa --- /dev/null +++ b/iCubGenova01/wrappers/motorControl/right_leg-mc_wrapper.xml @@ -0,0 +1,10 @@ + + + + + /icub/right_leg + + right_leg_mc_remapper + + + diff --git a/iCubGenova01/wrappers/motorControl/right_leg_mc_wrapper.xml b/iCubGenova01/wrappers/motorControl/right_leg_mc_wrapper.xml deleted file mode 100644 index 2c9b0f7163..0000000000 --- a/iCubGenova01/wrappers/motorControl/right_leg_mc_wrapper.xml +++ /dev/null @@ -1,18 +0,0 @@ - - - - - ( 0 5 0 5 ) - - 10 - /icub/right_leg - right_leg - 6 - - - right_leg_mc - right_leg_calibrator - - - - diff --git a/iCubGenova01/wrappers/motorControl/torso_mc_wrapper.xml b/iCubGenova01/wrappers/motorControl/torso-mc_remapper.xml similarity index 65% rename from iCubGenova01/wrappers/motorControl/torso_mc_wrapper.xml rename to iCubGenova01/wrappers/motorControl/torso-mc_remapper.xml index 2ceebcd869..51ef3d71ae 100644 --- a/iCubGenova01/wrappers/motorControl/torso_mc_wrapper.xml +++ b/iCubGenova01/wrappers/motorControl/torso-mc_remapper.xml @@ -1,18 +1,15 @@ - + + ( 0 2 0 2 ) - 10 - /icub/torso - torso 3 torso_mc - torso_calibrator - + diff --git a/iCubGenova01/wrappers/motorControl/torso-mc_wrapper.xml b/iCubGenova01/wrappers/motorControl/torso-mc_wrapper.xml new file mode 100644 index 0000000000..974bf9e8a0 --- /dev/null +++ b/iCubGenova01/wrappers/motorControl/torso-mc_wrapper.xml @@ -0,0 +1,10 @@ + + + + + /icub/torso + + torso_mc_remapper + + +