From c4eccec73e99f3fbf913e3ab6f59449c44db9498 Mon Sep 17 00:00:00 2001 From: Marco Randazzo Date: Tue, 28 Sep 2021 14:05:35 +0200 Subject: [PATCH 1/7] initial commit: clone of iCubGenova01 --- iCubGenova01_nws/CMakeLists.txt | 15 + iCubGenova01_nws/calibrators/head_calib.xml | 45 ++ .../calibrators/left_arm_calib.xml | 70 +++ .../calibrators/left_hand_calib.xml | 75 ++++ .../calibrators/left_leg_calib.xml | 42 ++ .../calibrators/right_arm_calib.xml | 69 +++ .../calibrators/right_hand_calib.xml | 75 ++++ .../calibrators/right_leg_calib.xml | 42 ++ iCubGenova01_nws/calibrators/torso_calib.xml | 42 ++ .../camera/ServerGrabberDualDragon.ini | 9 + .../camera/ServerGrabberDualDragon640_480.ini | 7 + .../camera/ServerGrabberDualDragonBayer.ini | 9 + .../ServerGrabberDualDragonBayer640_480.ini | 9 + .../camera/dragonfly2_config_left.ini | 18 + .../camera/dragonfly2_config_left640_480.ini | 18 + .../dragonfly2_config_left_bayer_320_240.ini | 19 + .../dragonfly2_config_left_bayer_640_480.ini | 19 + .../camera/dragonfly2_config_right.ini | 18 + .../camera/dragonfly2_config_right640_480.ini | 18 + .../dragonfly2_config_right_bayer_320_240.ini | 19 + .../dragonfly2_config_right_bayer_640_480.ini | 19 + .../cartesian/left_arm_cartesian.xml | 53 +++ .../cartesian/right_arm_cartesian.xml | 53 +++ iCubGenova01_nws/cartesianSolver.ini | 69 +++ iCubGenova01_nws/firmwareUpdate.txt | 39 ++ iCubGenova01_nws/firmwareupdater.ini | 11 + iCubGenova01_nws/general.xml | 12 + .../hardware/FT/left_arm_strain.xml | 16 + .../hardware/FT/left_foot_strain.xml | 16 + .../hardware/FT/left_leg_strain.xml | 16 + .../hardware/FT/right_arm_strain.xml | 16 + .../hardware/FT/right_foot_double_strain.xml | 15 + .../hardware/FT/right_foot_strain.xml | 15 + .../hardware/FT/right_leg_strain.xml | 16 + .../hardware/MAIS/left_hand_mais.xml | 15 + .../hardware/MAIS/right_hand_mais.xml | 15 + .../hardware/VFT/left_arm_virtual_strain.xml | 16 + .../hardware/VFT/left_leg_virtual_strain.xml | 16 + .../hardware/VFT/right_arm_virtual_strain.xml | 16 + .../hardware/VFT/right_leg_virtual_strain.xml | 16 + .../hardware/VFT/torso_virtual_strain.xml | 16 + .../hardware/inertials/head-inertial.xml | 6 + .../hardware/motorControl/icub_head.xml | 72 +++ .../hardware/motorControl/icub_head.xml.bak | 76 ++++ .../hardware/motorControl/icub_head_test.xml | 74 ++++ .../hardware/motorControl/icub_left_arm.xml | 91 ++++ .../hardware/motorControl/icub_left_hand.xml | 88 ++++ .../hardware/motorControl/icub_left_leg.xml | 89 ++++ .../hardware/motorControl/icub_right_arm.xml | 88 ++++ .../hardware/motorControl/icub_right_hand.xml | 88 ++++ .../hardware/motorControl/icub_right_leg.xml | 112 +++++ .../hardware/motorControl/icub_torso.xml | 130 ++++++ .../hardware/motorSpecs/icub_head.xml | 60 +++ .../hardware/motorSpecs/icub_left_arm.xml | 173 ++++++++ .../hardware/motorSpecs/icub_left_hand.xml | 68 +++ .../hardware/motorSpecs/icub_left_leg.xml | 121 +++++ .../hardware/motorSpecs/icub_right_arm.xml | 138 ++++++ .../hardware/motorSpecs/icub_right_hand.xml | 13 + .../hardware/motorSpecs/icub_right_leg.xml | 125 ++++++ .../hardware/motorSpecs/icub_torso.xml | 118 +++++ .../skin/left_arm-cfw2_can7-skinSpec.xml | 29 ++ iCubGenova01_nws/hardware/skin/left_arm.xml | 16 + .../skin/left_arm_accelerometers_mtb.xml | 14 + iCubGenova01_nws/hardware/skin/left_foot.xml | 12 + .../hardware/skin/left_foot_inertial_mtb.xml | 13 + .../hardware/skin/left_hand_inertial_mtb.xml | 13 + .../skin/right_arm-cfw2_can8-skinSpec.xml | 29 ++ iCubGenova01_nws/hardware/skin/right_arm.xml | 16 + .../skin/right_arm_accelerometers_mtb.xml | 14 + iCubGenova01_nws/hardware/skin/right_foot.xml | 12 + .../hardware/skin/right_foot_inertial_mtb.xml | 13 + .../hardware/skin/right_hand_inertial_mtb.xml | 13 + .../skin/torso-cfw2_can9-skinSpec.xml | 38 ++ iCubGenova01_nws/hardware/skin/torso.xml | 17 + .../skin/torso_accelerometers_mtb.xml | 14 + iCubGenova01_nws/iKinGazeCtrl.ini | 8 + iCubGenova01_nws/icub.xml | 100 +++++ iCubGenova01_nws/icubEyes.ini | 45 ++ iCubGenova01_nws/icub_all.xml | 101 +++++ iCubGenova01_nws/icub_all_no_legs.xml | 87 ++++ iCubGenova01_nws/icub_analog_only.xml | 103 +++++ iCubGenova01_nws/network.iCubGenova01.xml | 416 ++++++++++++++++++ iCubGenova01_nws/pf3dTracker.ini | 98 +++++ iCubGenova01_nws/skinManAll.ini | 44 ++ iCubGenova01_nws/test/test_xsens.sh | 7 + .../wrappers/FT/left_arm_FT_wrapper.xml | 17 + .../wrappers/FT/left_foot_FT_wrapper.xml | 17 + .../wrappers/FT/left_leg_FT_wrapper.xml | 17 + .../wrappers/FT/right_arm_FT_wrapper.xml | 17 + .../wrappers/FT/right_foot_FT_wrapper.xml | 17 + .../wrappers/FT/right_leg_FT_wrapper.xml | 17 + .../wrappers/MAIS/left_hand_mais_wrapper.xml | 17 + .../wrappers/MAIS/right_hand_mais_wrapper.xml | 17 + .../wrappers/VFT/left_arm_VFT_wrapper.xml | 15 + .../wrappers/VFT/left_leg_VFT_wrapper.xml | 15 + .../wrappers/VFT/right_arm_VFT_wrapper.xml | 15 + .../wrappers/VFT/right_leg_VFT_wrapper.xml | 16 + .../wrappers/VFT/torso_VFT_wrapper.xml | 15 + .../wrappers/inertials/head-imuFilter.xml | 20 + .../inertials/head-imuFilter_wrapper.xml | 20 + .../head-inertials_wrapper-deprecated.xml | 19 + .../inertials/head-inertials_wrapper.xml | 20 + .../wrappers/motorControl/head_mc_wrapper.xml | 18 + .../motorControl/left_arm_mc_wrapper.xml | 20 + .../motorControl/left_leg_mc_wrapper.xml | 18 + .../motorControl/right_arm_mc_wrapper.xml | 20 + .../motorControl/right_leg_mc_wrapper.xml | 18 + .../motorControl/torso_mc_wrapper.xml | 18 + .../left_arm_accelerometers_mtb_wrapper.xml | 17 + .../wrappers/skin/left_arm_skin_wrapper.xml | 25 ++ .../skin/left_foot_inertial_wrapper.xml | 17 + .../wrappers/skin/left_foot_skin_wrapper.xml | 23 + .../skin/left_hand_inertial_wrapper.xml | 17 + .../right_arm_accelerometers_mtb_wrapper.xml | 17 + .../wrappers/skin/right_arm_skin_wrapper.xml | 25 ++ .../skin/right_foot_inertial_wrapper.xml | 17 + .../wrappers/skin/right_foot_skin_wrapper.xml | 23 + .../skin/right_hand_inertial_wrapper.xml | 17 + .../skin/torso_accelerometers_mtb_wrapper.xml | 17 + .../wrappers/skin/torso_skin_wrapper.xml | 23 + iCubGenova01_nws/yarprobotinterface.ini | 2 + 121 files changed, 4759 insertions(+) create mode 100644 iCubGenova01_nws/CMakeLists.txt create mode 100644 iCubGenova01_nws/calibrators/head_calib.xml create mode 100644 iCubGenova01_nws/calibrators/left_arm_calib.xml create mode 100644 iCubGenova01_nws/calibrators/left_hand_calib.xml create mode 100644 iCubGenova01_nws/calibrators/left_leg_calib.xml create mode 100644 iCubGenova01_nws/calibrators/right_arm_calib.xml create mode 100644 iCubGenova01_nws/calibrators/right_hand_calib.xml create mode 100644 iCubGenova01_nws/calibrators/right_leg_calib.xml create mode 100644 iCubGenova01_nws/calibrators/torso_calib.xml create mode 100644 iCubGenova01_nws/camera/ServerGrabberDualDragon.ini create mode 100644 iCubGenova01_nws/camera/ServerGrabberDualDragon640_480.ini create mode 100644 iCubGenova01_nws/camera/ServerGrabberDualDragonBayer.ini create mode 100644 iCubGenova01_nws/camera/ServerGrabberDualDragonBayer640_480.ini create mode 100644 iCubGenova01_nws/camera/dragonfly2_config_left.ini create mode 100644 iCubGenova01_nws/camera/dragonfly2_config_left640_480.ini create mode 100644 iCubGenova01_nws/camera/dragonfly2_config_left_bayer_320_240.ini create mode 100644 iCubGenova01_nws/camera/dragonfly2_config_left_bayer_640_480.ini create mode 100644 iCubGenova01_nws/camera/dragonfly2_config_right.ini create mode 100644 iCubGenova01_nws/camera/dragonfly2_config_right640_480.ini create mode 100644 iCubGenova01_nws/camera/dragonfly2_config_right_bayer_320_240.ini create mode 100644 iCubGenova01_nws/camera/dragonfly2_config_right_bayer_640_480.ini create mode 100644 iCubGenova01_nws/cartesian/left_arm_cartesian.xml create mode 100644 iCubGenova01_nws/cartesian/right_arm_cartesian.xml create mode 100644 iCubGenova01_nws/cartesianSolver.ini create mode 100644 iCubGenova01_nws/firmwareUpdate.txt create mode 100644 iCubGenova01_nws/firmwareupdater.ini create mode 100644 iCubGenova01_nws/general.xml create mode 100644 iCubGenova01_nws/hardware/FT/left_arm_strain.xml create mode 100644 iCubGenova01_nws/hardware/FT/left_foot_strain.xml create mode 100644 iCubGenova01_nws/hardware/FT/left_leg_strain.xml create mode 100644 iCubGenova01_nws/hardware/FT/right_arm_strain.xml create mode 100644 iCubGenova01_nws/hardware/FT/right_foot_double_strain.xml create mode 100644 iCubGenova01_nws/hardware/FT/right_foot_strain.xml create mode 100644 iCubGenova01_nws/hardware/FT/right_leg_strain.xml create mode 100644 iCubGenova01_nws/hardware/MAIS/left_hand_mais.xml create mode 100644 iCubGenova01_nws/hardware/MAIS/right_hand_mais.xml create mode 100644 iCubGenova01_nws/hardware/VFT/left_arm_virtual_strain.xml create mode 100644 iCubGenova01_nws/hardware/VFT/left_leg_virtual_strain.xml create mode 100644 iCubGenova01_nws/hardware/VFT/right_arm_virtual_strain.xml create mode 100644 iCubGenova01_nws/hardware/VFT/right_leg_virtual_strain.xml create mode 100644 iCubGenova01_nws/hardware/VFT/torso_virtual_strain.xml create mode 100644 iCubGenova01_nws/hardware/inertials/head-inertial.xml create mode 100644 iCubGenova01_nws/hardware/motorControl/icub_head.xml create mode 100644 iCubGenova01_nws/hardware/motorControl/icub_head.xml.bak create mode 100644 iCubGenova01_nws/hardware/motorControl/icub_head_test.xml create mode 100644 iCubGenova01_nws/hardware/motorControl/icub_left_arm.xml create mode 100644 iCubGenova01_nws/hardware/motorControl/icub_left_hand.xml create mode 100644 iCubGenova01_nws/hardware/motorControl/icub_left_leg.xml create mode 100644 iCubGenova01_nws/hardware/motorControl/icub_right_arm.xml create mode 100644 iCubGenova01_nws/hardware/motorControl/icub_right_hand.xml create mode 100644 iCubGenova01_nws/hardware/motorControl/icub_right_leg.xml create mode 100644 iCubGenova01_nws/hardware/motorControl/icub_torso.xml create mode 100644 iCubGenova01_nws/hardware/motorSpecs/icub_head.xml create mode 100644 iCubGenova01_nws/hardware/motorSpecs/icub_left_arm.xml create mode 100644 iCubGenova01_nws/hardware/motorSpecs/icub_left_hand.xml create mode 100644 iCubGenova01_nws/hardware/motorSpecs/icub_left_leg.xml create mode 100644 iCubGenova01_nws/hardware/motorSpecs/icub_right_arm.xml create mode 100644 iCubGenova01_nws/hardware/motorSpecs/icub_right_hand.xml create mode 100644 iCubGenova01_nws/hardware/motorSpecs/icub_right_leg.xml create mode 100644 iCubGenova01_nws/hardware/motorSpecs/icub_torso.xml create mode 100644 iCubGenova01_nws/hardware/skin/left_arm-cfw2_can7-skinSpec.xml create mode 100644 iCubGenova01_nws/hardware/skin/left_arm.xml create mode 100644 iCubGenova01_nws/hardware/skin/left_arm_accelerometers_mtb.xml create mode 100644 iCubGenova01_nws/hardware/skin/left_foot.xml create mode 100644 iCubGenova01_nws/hardware/skin/left_foot_inertial_mtb.xml create mode 100644 iCubGenova01_nws/hardware/skin/left_hand_inertial_mtb.xml create mode 100644 iCubGenova01_nws/hardware/skin/right_arm-cfw2_can8-skinSpec.xml create mode 100644 iCubGenova01_nws/hardware/skin/right_arm.xml create mode 100644 iCubGenova01_nws/hardware/skin/right_arm_accelerometers_mtb.xml create mode 100644 iCubGenova01_nws/hardware/skin/right_foot.xml create mode 100644 iCubGenova01_nws/hardware/skin/right_foot_inertial_mtb.xml create mode 100644 iCubGenova01_nws/hardware/skin/right_hand_inertial_mtb.xml create mode 100644 iCubGenova01_nws/hardware/skin/torso-cfw2_can9-skinSpec.xml create mode 100644 iCubGenova01_nws/hardware/skin/torso.xml create mode 100644 iCubGenova01_nws/hardware/skin/torso_accelerometers_mtb.xml create mode 100644 iCubGenova01_nws/iKinGazeCtrl.ini create mode 100644 iCubGenova01_nws/icub.xml create mode 100644 iCubGenova01_nws/icubEyes.ini create mode 100644 iCubGenova01_nws/icub_all.xml create mode 100644 iCubGenova01_nws/icub_all_no_legs.xml create mode 100644 iCubGenova01_nws/icub_analog_only.xml create mode 100644 iCubGenova01_nws/network.iCubGenova01.xml create mode 100644 iCubGenova01_nws/pf3dTracker.ini create mode 100644 iCubGenova01_nws/skinManAll.ini create mode 100644 iCubGenova01_nws/test/test_xsens.sh create mode 100644 iCubGenova01_nws/wrappers/FT/left_arm_FT_wrapper.xml create mode 100644 iCubGenova01_nws/wrappers/FT/left_foot_FT_wrapper.xml create mode 100644 iCubGenova01_nws/wrappers/FT/left_leg_FT_wrapper.xml create mode 100644 iCubGenova01_nws/wrappers/FT/right_arm_FT_wrapper.xml create mode 100644 iCubGenova01_nws/wrappers/FT/right_foot_FT_wrapper.xml create mode 100644 iCubGenova01_nws/wrappers/FT/right_leg_FT_wrapper.xml create mode 100644 iCubGenova01_nws/wrappers/MAIS/left_hand_mais_wrapper.xml create mode 100644 iCubGenova01_nws/wrappers/MAIS/right_hand_mais_wrapper.xml create mode 100644 iCubGenova01_nws/wrappers/VFT/left_arm_VFT_wrapper.xml create mode 100644 iCubGenova01_nws/wrappers/VFT/left_leg_VFT_wrapper.xml create mode 100644 iCubGenova01_nws/wrappers/VFT/right_arm_VFT_wrapper.xml create mode 100644 iCubGenova01_nws/wrappers/VFT/right_leg_VFT_wrapper.xml create mode 100644 iCubGenova01_nws/wrappers/VFT/torso_VFT_wrapper.xml create mode 100644 iCubGenova01_nws/wrappers/inertials/head-imuFilter.xml create mode 100644 iCubGenova01_nws/wrappers/inertials/head-imuFilter_wrapper.xml create mode 100644 iCubGenova01_nws/wrappers/inertials/head-inertials_wrapper-deprecated.xml create mode 100644 iCubGenova01_nws/wrappers/inertials/head-inertials_wrapper.xml create mode 100644 iCubGenova01_nws/wrappers/motorControl/head_mc_wrapper.xml create mode 100644 iCubGenova01_nws/wrappers/motorControl/left_arm_mc_wrapper.xml create mode 100644 iCubGenova01_nws/wrappers/motorControl/left_leg_mc_wrapper.xml create mode 100644 iCubGenova01_nws/wrappers/motorControl/right_arm_mc_wrapper.xml create mode 100644 iCubGenova01_nws/wrappers/motorControl/right_leg_mc_wrapper.xml create mode 100644 iCubGenova01_nws/wrappers/motorControl/torso_mc_wrapper.xml create mode 100644 iCubGenova01_nws/wrappers/skin/left_arm_accelerometers_mtb_wrapper.xml create mode 100644 iCubGenova01_nws/wrappers/skin/left_arm_skin_wrapper.xml create mode 100644 iCubGenova01_nws/wrappers/skin/left_foot_inertial_wrapper.xml create mode 100644 iCubGenova01_nws/wrappers/skin/left_foot_skin_wrapper.xml create mode 100644 iCubGenova01_nws/wrappers/skin/left_hand_inertial_wrapper.xml create mode 100644 iCubGenova01_nws/wrappers/skin/right_arm_accelerometers_mtb_wrapper.xml create mode 100644 iCubGenova01_nws/wrappers/skin/right_arm_skin_wrapper.xml create mode 100644 iCubGenova01_nws/wrappers/skin/right_foot_inertial_wrapper.xml create mode 100644 iCubGenova01_nws/wrappers/skin/right_foot_skin_wrapper.xml create mode 100644 iCubGenova01_nws/wrappers/skin/right_hand_inertial_wrapper.xml create mode 100644 iCubGenova01_nws/wrappers/skin/torso_accelerometers_mtb_wrapper.xml create mode 100644 iCubGenova01_nws/wrappers/skin/torso_skin_wrapper.xml create mode 100644 iCubGenova01_nws/yarprobotinterface.ini diff --git a/iCubGenova01_nws/CMakeLists.txt b/iCubGenova01_nws/CMakeLists.txt new file mode 100644 index 0000000000..bda8749e20 --- /dev/null +++ b/iCubGenova01_nws/CMakeLists.txt @@ -0,0 +1,15 @@ +set(appname iCubGenova01) + +file(GLOB xml ${CMAKE_CURRENT_SOURCE_DIR}/*.xml) +file(GLOB ini ${CMAKE_CURRENT_SOURCE_DIR}/*.ini) +set(whatsleft firmwareUpdate.txt) + +yarp_install(FILES ${xml} DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname}) +yarp_install(FILES ${ini} DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname}) +yarp_install(FILES ${whatsleft} DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname}) +yarp_install(DIRECTORY calibrators DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname}) +yarp_install(DIRECTORY cartesian DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname}) +yarp_install(DIRECTORY wrappers DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname}) +yarp_install(DIRECTORY hardware DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname}) +yarp_install(DIRECTORY camera DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname}) + diff --git a/iCubGenova01_nws/calibrators/head_calib.xml b/iCubGenova01_nws/calibrators/head_calib.xml new file mode 100644 index 0000000000..4d5e2f2c72 --- /dev/null +++ b/iCubGenova01_nws/calibrators/head_calib.xml @@ -0,0 +1,45 @@ + + + + + + + + + 6 + HeadV2_Calibrator + + + + + -30 0 0 0 0 0 + 10 10 10 10 10 10 + + + + + + 3 3 3 3 0 0 + 2047.5 2047.5 2047.5 2047.5 900.0 900.0 + 10.0 10.0 10.0 10.0 20.0 20.0 + 1413.5 1475.5 2807.5 3217.5 0.0 0.0 + 0.0 0.0 0.0 0.0 0.0 0.0 + 10.0 10.0 10.0 10.0 10.0 10.0 + 130 130 0 0 0 0 + 2 2 2 2 2 2 + + + (0 1 2) (3) (4) (5) + + + head_mc_wrapper + + + + head_mc_wrapper + + + + + + diff --git a/iCubGenova01_nws/calibrators/left_arm_calib.xml b/iCubGenova01_nws/calibrators/left_arm_calib.xml new file mode 100644 index 0000000000..436a03e00f --- /dev/null +++ b/iCubGenova01_nws/calibrators/left_arm_calib.xml @@ -0,0 +1,70 @@ + + + + + + + + + 8 + Left_Arm_Calibrator + + + + + -30 30 0 45 0 0 40 30 + 10 10 10 10 30 30 30 100 + + + + + 3 3 3 3 0 3 3 3 + 2388.8 3241.9 -275.9 1535.6 500.0 2047.5 2047.5 2412.6 + 10.0 10.0 10.0 10.0 20.0 10.0 10.0 100.0 + 1337.5 1465.9 3508.4 980.5 0.0 1932.5 3887.5 0.0 + -30.0 30.0 0.0 45.0 0.0 0.0 0.0 30.0 + 10.0 10.0 10.0 10.0 30.0 30.0 30.0 100.0 + 120 120 120 120 0 0 0 0 + 2 2 2 2 2 2 90 90 + + (0 1 2 3) (4 6 7) (5) + + + left_arm_mc_wrapper + + + + left_arm_mc_wrapper + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/iCubGenova01_nws/calibrators/left_hand_calib.xml b/iCubGenova01_nws/calibrators/left_hand_calib.xml new file mode 100644 index 0000000000..fd7f69c530 --- /dev/null +++ b/iCubGenova01_nws/calibrators/left_hand_calib.xml @@ -0,0 +1,75 @@ + + + + + + + + + 8 + Left_Hand_Calibrator + + + + + + + 45 0 0 0 0 0 0 0 + 10 10 10 10 10 10 10 10 + + + + + 3 4 4 4 4 4 4 4 + 1204.5 252.0 16.0 245.0 37.0 254.0 26.0 746.0 + 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 + 100.0 100.0 100.0 100.0 100.0 100.0 100.0 100.0 + 0 0 0 0 0 0 0 0 + 1000 1000 1000 1000 1000 1000 1000 1000 + + + + + (0 1 3 5) (2 4 6 7) + + + left_hand_mc + + + + left_hand_mc + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/iCubGenova01_nws/calibrators/left_leg_calib.xml b/iCubGenova01_nws/calibrators/left_leg_calib.xml new file mode 100644 index 0000000000..4bf02cd6b6 --- /dev/null +++ b/iCubGenova01_nws/calibrators/left_leg_calib.xml @@ -0,0 +1,42 @@ + + + + + + + + + 6 + Left_Leg_Calibrator + + + + 3 3 3 3 3 3 + 2047.5 2047.5 2047.5 2047.5 2047.5 2047.5 + 10 10 10 10 10 10 + 2555.9625 2982.525 1833.65 1567.475 3475.0625 2558.2375 + 0 8 0 0 0 -8 + 10 10 10 10 10 10 + 120 120 120 120 120 120 + 2 2 2 2 2 2 + + + + 0 8 0 0 0 -8 + 10 10 10 10 10 10 + + + (0 1 2 3 4 5) + + + left_leg_mc_wrapper + + + + left_leg_mc_wrapper + + + + + + diff --git a/iCubGenova01_nws/calibrators/right_arm_calib.xml b/iCubGenova01_nws/calibrators/right_arm_calib.xml new file mode 100644 index 0000000000..6e58584823 --- /dev/null +++ b/iCubGenova01_nws/calibrators/right_arm_calib.xml @@ -0,0 +1,69 @@ + + + + + + + + + 8 + Right_Arm_Calibrator + + + + -30 30 0 45 0 0 40 15 + 10 10 10 10 30 30 30 100 + + + + + 3 3 3 3 0 3 3 3 + 1706.3 853.1 2795.3 2559.4 500.0 2047.5 2047.5 1830.0 + 10.0 10.0 10.0 10.0 -20.0 10.0 10.0 100.0 + 2122.5 1178.13 1901.25 3151.50 0.0 4032.5 4057.5 0.0 + -30.0 30.0 0.0 45.0 0.0 0.0 0.0 15.0 + 10.0 10.0 10.0 10.0 30.0 30.0 30.0 100.0 + 120 120 120 120 0 0 0 0 + 2 2 2 2 2 2 90 90 + + (0 1 2 3) (4 6 7) (5) + + + right_arm_mc_wrapper + + + + right_arm_mc_wrapper + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/iCubGenova01_nws/calibrators/right_hand_calib.xml b/iCubGenova01_nws/calibrators/right_hand_calib.xml new file mode 100644 index 0000000000..cc26c1a1a3 --- /dev/null +++ b/iCubGenova01_nws/calibrators/right_hand_calib.xml @@ -0,0 +1,75 @@ + + + + + + + + + 8 + Right_Hand_Calibrator + + + + + + + + 45 0 0 0 0 0 0 0 + 10 10 10 10 10 10 10 10 + + + + + 3 4 4 4 4 4 4 4 + 1547.8 255.0 35.0 245.0 42.0 253.0 14.0 675.0 + 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 + 100.0 100.0 100.0 100.0 100.0 100.0 100.0 100.0 + 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 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/iCubGenova01_nws/calibrators/right_leg_calib.xml b/iCubGenova01_nws/calibrators/right_leg_calib.xml new file mode 100644 index 0000000000..49616e8407 --- /dev/null +++ b/iCubGenova01_nws/calibrators/right_leg_calib.xml @@ -0,0 +1,42 @@ + + + + + + + + + 6 + Right_Leg_Calibrator + + + + 3 3 3 3 3 3 + 2047.5 2047.5 2047.5 2047.5 2047.5 2047.5 + 10 10 10 10 10 10 + 2650.375 3094 3357.9 3197.51 1670.9875 908.8625 + 0 8 0 0 0 -8 + 10 10 10 10 10 10 + 120 120 120 120 120 120 + 2 2 2 2 2 2 + + + + 0 8 0 0 0 -8 + 10 10 10 10 10 10 + + + (0 1 2 3 4 5) + + + right_leg_mc_wrapper + + + + right_leg_mc_wrapper + + + + + + diff --git a/iCubGenova01_nws/calibrators/torso_calib.xml b/iCubGenova01_nws/calibrators/torso_calib.xml new file mode 100644 index 0000000000..5389a067f6 --- /dev/null +++ b/iCubGenova01_nws/calibrators/torso_calib.xml @@ -0,0 +1,42 @@ + + + + + + + + + 4 + Torso_Calibrator + + + + 3 3 3 3 + 2047.5 2047.5 2047.5 0 + 10 10 10 0 + 508.4625 2646.963 3420.463 0 + 0 0 0 0 + 10 10 10 0 + 120 120 120 0 + 2 2 2 2 + + + + 0 0 -20 0 + 10 10 10 0 + + + (0 1 2) + + + torso_mc_wrapper + + + + torso_mc_wrapper + + + + + + diff --git a/iCubGenova01_nws/camera/ServerGrabberDualDragon.ini b/iCubGenova01_nws/camera/ServerGrabberDualDragon.ini new file mode 100644 index 0000000000..6d9b0b953e --- /dev/null +++ b/iCubGenova01_nws/camera/ServerGrabberDualDragon.ini @@ -0,0 +1,9 @@ +device grabberDual +capabilities COLOR +name /icub/cam +split true +twoCameras true +left_config camera/dragonfly2_config_left.ini +right_config camera/dragonfly2_config_right.ini + + diff --git a/iCubGenova01_nws/camera/ServerGrabberDualDragon640_480.ini b/iCubGenova01_nws/camera/ServerGrabberDualDragon640_480.ini new file mode 100644 index 0000000000..24e2ca4617 --- /dev/null +++ b/iCubGenova01_nws/camera/ServerGrabberDualDragon640_480.ini @@ -0,0 +1,7 @@ +device grabberDual +capabilities COLOR +name /icub/cam +split true +twoCameras true +left_config camera/dragonfly2_config_left640_480.ini +right_config camera/dragonfly2_config_right640_480.ini diff --git a/iCubGenova01_nws/camera/ServerGrabberDualDragonBayer.ini b/iCubGenova01_nws/camera/ServerGrabberDualDragonBayer.ini new file mode 100644 index 0000000000..d94d114ceb --- /dev/null +++ b/iCubGenova01_nws/camera/ServerGrabberDualDragonBayer.ini @@ -0,0 +1,9 @@ +device grabberDual +capabilities RAW +name /icub/cam +split true +twoCameras true +left_config camera/dragonfly2_config_left_bayer_320_240.ini +right_config camera/dragonfly2_config_right_bayer_320_240.ini + + diff --git a/iCubGenova01_nws/camera/ServerGrabberDualDragonBayer640_480.ini b/iCubGenova01_nws/camera/ServerGrabberDualDragonBayer640_480.ini new file mode 100644 index 0000000000..6cb9c9435b --- /dev/null +++ b/iCubGenova01_nws/camera/ServerGrabberDualDragonBayer640_480.ini @@ -0,0 +1,9 @@ +device grabberDual +capabilities RAW +name /icub/cam +split true +twoCameras true +left_config camera/dragonfly2_config_left_bayer_640_480.ini +right_config camera/dragonfly2_config_right_bayer_640_480.ini + + diff --git a/iCubGenova01_nws/camera/dragonfly2_config_left.ini b/iCubGenova01_nws/camera/dragonfly2_config_left.ini new file mode 100644 index 0000000000..4f0e5f5a69 --- /dev/null +++ b/iCubGenova01_nws/camera/dragonfly2_config_left.ini @@ -0,0 +1,18 @@ +device dragonfly2 +width 320 +height 240 +video_type 1 +white_balance 0.514 0.610 +gain 0.0 +shutter 0.913 +name /icub/cam/left +brightness 0 +DR2 +stamp +sharpness 0.5 +hue 0.48 +gamma 0.4 +saturation 0.420 +framerate 30 +#d 0 +guid 00b09d01009b56fe diff --git a/iCubGenova01_nws/camera/dragonfly2_config_left640_480.ini b/iCubGenova01_nws/camera/dragonfly2_config_left640_480.ini new file mode 100644 index 0000000000..cee0fc2b7f --- /dev/null +++ b/iCubGenova01_nws/camera/dragonfly2_config_left640_480.ini @@ -0,0 +1,18 @@ +device dragonfly2 +width 640 +height 480 +video_type 2 +white_balance 0.514 0.610 +gain 0.0 +shutter 0.554 +name /icub/cam/left +brightness 0 +DR2 +stamp +sharpness 0.5 +hue 0.48 +gamma 0.4 +saturation 0.420 +framerate 25 +#d 0 +guid 00b09d01009b56fe diff --git a/iCubGenova01_nws/camera/dragonfly2_config_left_bayer_320_240.ini b/iCubGenova01_nws/camera/dragonfly2_config_left_bayer_320_240.ini new file mode 100644 index 0000000000..1b8f607d56 --- /dev/null +++ b/iCubGenova01_nws/camera/dragonfly2_config_left_bayer_320_240.ini @@ -0,0 +1,19 @@ +device dragonfly2raw +width 320 +height 240 +video_type 3 +white_balance 0.477 0.514 +gain 0.0 +shutter 0.666 +name /icub/cam/left +brightness 0 +DR2 +stamp +sharpness 1.0 +hue 0.48 +gamma 0.4 +saturation 0.271 +framerate 30 +use_network_time 1 +#d 0 +guid 00b09d01009b56fe diff --git a/iCubGenova01_nws/camera/dragonfly2_config_left_bayer_640_480.ini b/iCubGenova01_nws/camera/dragonfly2_config_left_bayer_640_480.ini new file mode 100644 index 0000000000..28769b9510 --- /dev/null +++ b/iCubGenova01_nws/camera/dragonfly2_config_left_bayer_640_480.ini @@ -0,0 +1,19 @@ +device dragonfly2raw +width 640 +height 480 +video_type 3 +white_balance 0.477 0.514 +gain 0.0 +shutter 0.666 +name /icub/cam/left +brightness 0 +DR2 +stamp +sharpness 1.0 +hue 0.48 +gamma 0.4 +saturation 0.271 +framerate 30 +use_network_time 1 +#d 0 +guid 00b09d01009b56fe diff --git a/iCubGenova01_nws/camera/dragonfly2_config_right.ini b/iCubGenova01_nws/camera/dragonfly2_config_right.ini new file mode 100644 index 0000000000..c1dddd86bc --- /dev/null +++ b/iCubGenova01_nws/camera/dragonfly2_config_right.ini @@ -0,0 +1,18 @@ +device dragonfly2 +width 320 +height 240 +video_type 1 +white_balance 0.514 0.610 +gain 0.0 +shutter 0.913 +name /icub/cam/right +brightness 0 +DR2 +stamp +sharpness 0.5 +hue 0.48 +gamma 0.4 +saturation 0.420 +framerate 30 +#d 1 +guid 00b09d01009a72f9 diff --git a/iCubGenova01_nws/camera/dragonfly2_config_right640_480.ini b/iCubGenova01_nws/camera/dragonfly2_config_right640_480.ini new file mode 100644 index 0000000000..99e9e9a1e8 --- /dev/null +++ b/iCubGenova01_nws/camera/dragonfly2_config_right640_480.ini @@ -0,0 +1,18 @@ +device dragonfly2 +width 640 +height 480 +video_type 2 +white_balance 0.514 0.610 +gain 0.0 +shutter 0.554 +name /icub/cam/right +brightness 0 +DR2 +stamp +sharpness 0.5 +hue 0.48 +gamma 0.4 +saturation 0.420 +framerate 25 +#d 1 +guid 00b09d01009a72f9 diff --git a/iCubGenova01_nws/camera/dragonfly2_config_right_bayer_320_240.ini b/iCubGenova01_nws/camera/dragonfly2_config_right_bayer_320_240.ini new file mode 100644 index 0000000000..35c802937d --- /dev/null +++ b/iCubGenova01_nws/camera/dragonfly2_config_right_bayer_320_240.ini @@ -0,0 +1,19 @@ +device dragonfly2raw +width 640 +height 480 +video_type 3 +white_balance 0.477 0.514 +gain 0.0 +shutter 0.666 +name /icub/cam/right +brightness 0 +DR2 +stamp +sharpness 1.0 +hue 0.48 +gamma 0.4 +saturation 0.271 +framerate 30 +use_network_time 1 +#d 1 +guid 00b09d01009a72f9 diff --git a/iCubGenova01_nws/camera/dragonfly2_config_right_bayer_640_480.ini b/iCubGenova01_nws/camera/dragonfly2_config_right_bayer_640_480.ini new file mode 100644 index 0000000000..35c802937d --- /dev/null +++ b/iCubGenova01_nws/camera/dragonfly2_config_right_bayer_640_480.ini @@ -0,0 +1,19 @@ +device dragonfly2raw +width 640 +height 480 +video_type 3 +white_balance 0.477 0.514 +gain 0.0 +shutter 0.666 +name /icub/cam/right +brightness 0 +DR2 +stamp +sharpness 1.0 +hue 0.48 +gamma 0.4 +saturation 0.271 +framerate 30 +use_network_time 1 +#d 1 +guid 00b09d01009a72f9 diff --git a/iCubGenova01_nws/cartesian/left_arm_cartesian.xml b/iCubGenova01_nws/cartesian/left_arm_cartesian.xml new file mode 100644 index 0000000000..af82286448 --- /dev/null +++ b/iCubGenova01_nws/cartesian/left_arm_cartesian.xml @@ -0,0 +1,53 @@ + + + + icub/cartesianController/left_arm + 10 + 4 + cartesianSolver/left_arm + arm + left_v2 + on + 2 + + + + torso + reversed + (0.35 0.35 0.35) + + + + left_arm + direct + (0.35 0.35 0.35 0.35 0.35 0.35 0.35) + + + + + on + off + + ((Kp 1.022) (Tz 0.405) (Tw 0.248) (Zeta 0.797) (Td 0.000)) + ((Kp 1.026) (Tz 0.407) (Tw 0.243) (Zeta 0.822) (Td 0.000)) + ((Kp 1.040) (Tz 0.344) (Tw 0.160) (Zeta 1.110) (Td 0.000)) + ((Kp 1.035) (Tz 0.410) (Tw 0.178) (Zeta 1.198) (Td 0.000)) + ((Kp 1.016) (Tz 0.384) (Tw 0.159) (Zeta 1.222) (Td 0.000)) + ((Kp 1.025) (Tz 0.823) (Tw 0.405) (Zeta 1.030) (Td 0.000)) + ((Kp 1.022) (Tz 0.300) (Tw 0.120) (Zeta 1.303) (Td 0.000)) + ((Kp 1.016) (Tz 0.123) (Tw 0.030) (Zeta 2.204) (Td 0.000)) + ((Kp 1.000) (Tz 0.000) (Tw 0.000) (Zeta 0.000) (Td 0.000)) + ((Kp 1.000) (Tz 0.000) (Tw 0.000) (Zeta 0.000) (Td 0.000)) + + + + + torso_mc_wrapper + left_arm_mc_wrapper + + + + + + + diff --git a/iCubGenova01_nws/cartesian/right_arm_cartesian.xml b/iCubGenova01_nws/cartesian/right_arm_cartesian.xml new file mode 100644 index 0000000000..347ffb75e7 --- /dev/null +++ b/iCubGenova01_nws/cartesian/right_arm_cartesian.xml @@ -0,0 +1,53 @@ + + + + icub/cartesianController/right_arm + 10 + 4 + cartesianSolver/right_arm + arm + right_v2 + on + 2 + + + + torso + reversed + (0.35 0.35 0.35) + + + + right_arm + direct + (0.35 0.35 0.35 0.35 0.35 0.35 0.35) + + + + + on + off + + ((Kp 1.022) (Tz 0.405) (Tw 0.248) (Zeta 0.797) (Td 0.000)) + ((Kp 1.026) (Tz 0.407) (Tw 0.243) (Zeta 0.822) (Td 0.000)) + ((Kp 1.040) (Tz 0.344) (Tw 0.160) (Zeta 1.110) (Td 0.000)) + ((Kp 1.035) (Tz 0.410) (Tw 0.178) (Zeta 1.198) (Td 0.000)) + ((Kp 1.016) (Tz 0.384) (Tw 0.159) (Zeta 1.222) (Td 0.000)) + ((Kp 1.025) (Tz 0.823) (Tw 0.405) (Zeta 1.030) (Td 0.000)) + ((Kp 1.022) (Tz 0.300) (Tw 0.120) (Zeta 1.303) (Td 0.000)) + ((Kp 1.016) (Tz 0.123) (Tw 0.030) (Zeta 2.204) (Td 0.000)) + ((Kp 1.000) (Tz 0.000) (Tw 0.000) (Zeta 0.000) (Td 0.000)) + ((Kp 1.000) (Tz 0.000) (Tw 0.000) (Zeta 0.000) (Td 0.000)) + + + + + torso_mc_wrapper + right_arm_mc_wrapper + + + + + + + diff --git a/iCubGenova01_nws/cartesianSolver.ini b/iCubGenova01_nws/cartesianSolver.ini new file mode 100644 index 0000000000..aadd9ca7dd --- /dev/null +++ b/iCubGenova01_nws/cartesianSolver.ini @@ -0,0 +1,69 @@ +[left_arm] +robot icub +name cartesianSolver/left_arm +type left_v2 +period 20 +dof (0 0 0 1 1 1 1 1 1 1) +rest_pos (0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0) +rest_weights (1.0 1.0 1.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0) +pose full +mode shot +verbosity off +maxIter 200 +tol 0.001 +xyzTol 0.000001 +interPoints off +ping_robot_tmo 40.0 + +[right_arm] +robot icub +name cartesianSolver/right_arm +type right_v2 +period 20 +dof (0 0 0 1 1 1 1 1 1 1) +rest_pos (0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0) +rest_weights (1.0 1.0 1.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0) +pose full +mode shot +verbosity off +maxIter 200 +tol 0.001 +xyzTol 0.000001 +interPoints off +ping_robot_tmo 40.0 + +[left_leg] +robot icub +name cartesianSolver/left_leg +type left +period 20 +dof (1 1 1 1 1 1) +rest_pos (0.0 0.0 0.0 0.0 0.0 0.0) +rest_weights (0.0 0.0 0.0 0.0 0.0 0.0) +pose full +mode shot +verbosity off +maxIter 200 +tol 0.001 +xyzTol 0.000001 +interPoints off +ping_robot_tmo 40.0 + +[right_leg] +robot icub +name cartesianSolver/right_leg +type right +period 20 +dof (1 1 1 1 1 1) +rest_pos (0.0 0.0 0.0 0.0 0.0 0.0) +rest_weights (0.0 0.0 0.0 0.0 0.0 0.0) +pose full +mode shot +verbosity off +maxIter 200 +tol 0.001 +xyzTol 0.000001 +interPoints off +ping_robot_tmo 40.0 + + diff --git a/iCubGenova01_nws/firmwareUpdate.txt b/iCubGenova01_nws/firmwareUpdate.txt new file mode 100644 index 0000000000..0c100acbe3 --- /dev/null +++ b/iCubGenova01_nws/firmwareUpdate.txt @@ -0,0 +1,39 @@ +// head +cfw2can 0 1 2BLLDC.1.62.out.S +cfw2can 0 2 4DC.2.15.out.S + +// torso +cfw2can 0 5 2BLL.1.54.out.S +cfw2can 0 6 2BLL.1.52.out.S + +// left_arm +cfw2can 1 1 2BLL.1.50.out.S +cfw2can 1 2 2BLL.1.57.out.S +cfw2can 1 3 4DC.2.19.out.S + +// left_hand +cfw2can 5 5 4DC.2.28.out.S +cfw2can 5 7 4DC.2.30.out.S + +// right_arm +cfw2can 2 1 2BLL.1.50.out.S +cfw2can 2 2 2BLL.1.57.out.S +cfw2can 2 3 4DC.2.19.out.S + +// right_hand +cfw2can 6 5 4DC.2.28.out.S +cfw2can 6 7 4DC.2.30.out.S + +// left leg +cfw2can 3 5 2BLL_IE.2.51.out.S +cfw2can 3 6 2BLL_IE.2.51.out.S +cfw2can 3 7 2BLL_IE.2.51.out.S +// right leg +cfw2can 4 8 2BLL_IE.2.51.out.S +cfw2can 4 9 2BLL_IE.2.51.out.S +cfw2can 4 10 2BLL_IE.2.51.out.S + + + + + diff --git a/iCubGenova01_nws/firmwareupdater.ini b/iCubGenova01_nws/firmwareupdater.ini new file mode 100644 index 0000000000..48ba87e2b8 --- /dev/null +++ b/iCubGenova01_nws/firmwareupdater.ini @@ -0,0 +1,11 @@ +[DRIVERS] +CFW2 "0" +CFW2 "1" +CFW2 "2" +CFW2 "3" +CFW2 "4" +CFW2 "5" +CFW2 "6" +CFW2 "7" +CFW2 "8" +CFW2 "9" diff --git a/iCubGenova01_nws/general.xml b/iCubGenova01_nws/general.xml new file mode 100644 index 0000000000..7af0ed39e1 --- /dev/null +++ b/iCubGenova01_nws/general.xml @@ -0,0 +1,12 @@ + + + + + + + false + false + false + false + + diff --git a/iCubGenova01_nws/hardware/FT/left_arm_strain.xml b/iCubGenova01_nws/hardware/FT/left_arm_strain.xml new file mode 100644 index 0000000000..168a9f44ab --- /dev/null +++ b/iCubGenova01_nws/hardware/FT/left_arm_strain.xml @@ -0,0 +1,16 @@ + + + + + + "sharedcan" + "cfw2can" + 1 + 0x0D + 16 + 6 + 1 + 1 + 1 + + diff --git a/iCubGenova01_nws/hardware/FT/left_foot_strain.xml b/iCubGenova01_nws/hardware/FT/left_foot_strain.xml new file mode 100644 index 0000000000..97b1aca525 --- /dev/null +++ b/iCubGenova01_nws/hardware/FT/left_foot_strain.xml @@ -0,0 +1,16 @@ + + + + + + "sharedcan" + "cfw2can" + 3 + 0x01 + 16 + 6 + 1 + 1 + 1 + + diff --git a/iCubGenova01_nws/hardware/FT/left_leg_strain.xml b/iCubGenova01_nws/hardware/FT/left_leg_strain.xml new file mode 100644 index 0000000000..6538dc4f2e --- /dev/null +++ b/iCubGenova01_nws/hardware/FT/left_leg_strain.xml @@ -0,0 +1,16 @@ + + + + + + "sharedcan" + "cfw2can" + 3 + 0x0D + 16 + 6 + 1 + 1 + 1 + + diff --git a/iCubGenova01_nws/hardware/FT/right_arm_strain.xml b/iCubGenova01_nws/hardware/FT/right_arm_strain.xml new file mode 100644 index 0000000000..9a5763f990 --- /dev/null +++ b/iCubGenova01_nws/hardware/FT/right_arm_strain.xml @@ -0,0 +1,16 @@ + + + + + + "sharedcan" + "cfw2can" + 2 + 0x0D + 16 + 6 + 1 + 1 + 1 + + diff --git a/iCubGenova01_nws/hardware/FT/right_foot_double_strain.xml b/iCubGenova01_nws/hardware/FT/right_foot_double_strain.xml new file mode 100644 index 0000000000..6b1bc8ce89 --- /dev/null +++ b/iCubGenova01_nws/hardware/FT/right_foot_double_strain.xml @@ -0,0 +1,15 @@ + + + + + + "sharedcan" + "cfw2can" + 4 + 0x01 + 0x02 + 2 + 0.046 + 0.01012 + + diff --git a/iCubGenova01_nws/hardware/FT/right_foot_strain.xml b/iCubGenova01_nws/hardware/FT/right_foot_strain.xml new file mode 100644 index 0000000000..afbc3d84cd --- /dev/null +++ b/iCubGenova01_nws/hardware/FT/right_foot_strain.xml @@ -0,0 +1,15 @@ + + + + + + "sharedcan" + "cfw2can" + 4 + 0x01 + 16 + 6 + 1 + 1 + + diff --git a/iCubGenova01_nws/hardware/FT/right_leg_strain.xml b/iCubGenova01_nws/hardware/FT/right_leg_strain.xml new file mode 100644 index 0000000000..80ad820d92 --- /dev/null +++ b/iCubGenova01_nws/hardware/FT/right_leg_strain.xml @@ -0,0 +1,16 @@ + + + + + + "sharedcan" + "cfw2can" + 4 + 0x0E + 16 + 6 + 1 + 1 + 1 + + diff --git a/iCubGenova01_nws/hardware/MAIS/left_hand_mais.xml b/iCubGenova01_nws/hardware/MAIS/left_hand_mais.xml new file mode 100644 index 0000000000..79feea7fa7 --- /dev/null +++ b/iCubGenova01_nws/hardware/MAIS/left_hand_mais.xml @@ -0,0 +1,15 @@ + + + + + + "sharedcan" + "cfw2can" + 5 + 0x0E + 8 + 16 + 10 + 1 + + diff --git a/iCubGenova01_nws/hardware/MAIS/right_hand_mais.xml b/iCubGenova01_nws/hardware/MAIS/right_hand_mais.xml new file mode 100644 index 0000000000..ea2127568b --- /dev/null +++ b/iCubGenova01_nws/hardware/MAIS/right_hand_mais.xml @@ -0,0 +1,15 @@ + + + + + + "sharedcan" + "cfw2can" + 6 + 0x0E + 8 + 16 + 10 + 1 + + diff --git a/iCubGenova01_nws/hardware/VFT/left_arm_virtual_strain.xml b/iCubGenova01_nws/hardware/VFT/left_arm_virtual_strain.xml new file mode 100644 index 0000000000..bb52abc9df --- /dev/null +++ b/iCubGenova01_nws/hardware/VFT/left_arm_virtual_strain.xml @@ -0,0 +1,16 @@ + + + + + + "sharedcan" + "cfw2can" + 1 + 0x0C + 16 + 6 + 1 + 1 + 8 8 8 8 8 8 + + diff --git a/iCubGenova01_nws/hardware/VFT/left_leg_virtual_strain.xml b/iCubGenova01_nws/hardware/VFT/left_leg_virtual_strain.xml new file mode 100644 index 0000000000..b5d0850c8e --- /dev/null +++ b/iCubGenova01_nws/hardware/VFT/left_leg_virtual_strain.xml @@ -0,0 +1,16 @@ + + + + + + "sharedcan" + "cfw2can" + 3 + 0x0C + 16 + 6 + 1 + 1 + 12 12 12 12 12 12 + + diff --git a/iCubGenova01_nws/hardware/VFT/right_arm_virtual_strain.xml b/iCubGenova01_nws/hardware/VFT/right_arm_virtual_strain.xml new file mode 100644 index 0000000000..3baf98ef36 --- /dev/null +++ b/iCubGenova01_nws/hardware/VFT/right_arm_virtual_strain.xml @@ -0,0 +1,16 @@ + + + + + + "sharedcan" + "cfw2can" + 2 + 0x0C + 16 + 6 + 1 + 1 + 8 8 8 8 8 8 + + diff --git a/iCubGenova01_nws/hardware/VFT/right_leg_virtual_strain.xml b/iCubGenova01_nws/hardware/VFT/right_leg_virtual_strain.xml new file mode 100644 index 0000000000..7aeab9f914 --- /dev/null +++ b/iCubGenova01_nws/hardware/VFT/right_leg_virtual_strain.xml @@ -0,0 +1,16 @@ + + + + + + "sharedcan" + "cfw2can" + 4 + 0x0B + 16 + 6 + 1 + 1 + 12 12 12 12 12 12 + + diff --git a/iCubGenova01_nws/hardware/VFT/torso_virtual_strain.xml b/iCubGenova01_nws/hardware/VFT/torso_virtual_strain.xml new file mode 100644 index 0000000000..ef54208a89 --- /dev/null +++ b/iCubGenova01_nws/hardware/VFT/torso_virtual_strain.xml @@ -0,0 +1,16 @@ + + + + + + "sharedcan" + "cfw2can" + 0 + 0x0C + 16 + 6 + 1 + 1 + 12 12 12 12 12 12 + + diff --git a/iCubGenova01_nws/hardware/inertials/head-inertial.xml b/iCubGenova01_nws/hardware/inertials/head-inertial.xml new file mode 100644 index 0000000000..f6bb287849 --- /dev/null +++ b/iCubGenova01_nws/hardware/inertials/head-inertial.xml @@ -0,0 +1,6 @@ + + + /dev/ttyS0 + + + diff --git a/iCubGenova01_nws/hardware/motorControl/icub_head.xml b/iCubGenova01_nws/hardware/motorControl/icub_head.xml new file mode 100644 index 0000000000..661f1302e6 --- /dev/null +++ b/iCubGenova01_nws/hardware/motorControl/icub_head.xml @@ -0,0 +1,72 @@ + + + + + + + + + sharedcan + cfw2can + 1 2 3 + 0 + HEAD + 0 + 10 + 300 + 500 + 500 + 1 1 1 1 1 1 + 0 0 0 0 0 0 + 1 1 1 1 1 1 + 0 0 0 0 0 0 + 1 1 1 1 1 1 + 1 1 1 1 1 1 + 0 0 0 0 0 0 + + + + 6 + 100 100 100 100 100 100 + 0 1 2 3 4 5 + "neck_pitch" "neck_roll" "neck_yaw" "eyes_tilt" "eyes_version" "eyes_vergence" + "revolute" "revolute" "revolute" "revolute" "revolute" "revolute" + 11.375 -11.375 11.375 11.375 568.880 284.440 + 176.50 -182.0 177.00 180.00 -50.40 -8.00 + 1333 1333 1333 1333 1333 1333 + 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 + + + + 8 8 8 8 8 8 + 100 100 100 100 100 100 + + + + 22 20 50 30 30 50 + -37 -20 -50 -30 -30 0 + 2000 2000 1200 620 600 600 + + + + 6000 -6000 3200 -400 100 100 + 500 -500 3200 -400 1000 1000 + 5 -5 10 -4 10 10 + 480 480 1333 1333 1333 1333 + 480 480 1333 1333 1333 1333 + 9 9 6 4 5 5 + 0 0 0 0 0 0 + 0 0 0 0 0 0 + 0 0 0 0 0 0 + + + + + diff --git a/iCubGenova01_nws/hardware/motorControl/icub_head.xml.bak b/iCubGenova01_nws/hardware/motorControl/icub_head.xml.bak new file mode 100644 index 0000000000..b8cccd83d2 --- /dev/null +++ b/iCubGenova01_nws/hardware/motorControl/icub_head.xml.bak @@ -0,0 +1,76 @@ + + + + + + + + + sharedcan + cfw2can + 1 2 3 + 0 + HEAD + 0 + 10 + 300 + 500 + 500 + 1 1 1 1 1 1 + 0 0 0 0 0 0 + 1 1 1 1 1 1 + 0 0 0 0 0 0 + 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 + + + + 6 + 100 100 100 100 100 100 + 0 1 2 3 4 5 + "neck_pitch" "neck_roll" "neck_yaw" "eyes_tilt" "eyes_version" "eyes_vergence" + "revolute" "revolute" "revolute" "revolute" "revolute" "revolute" + 11.375 -11.375 11.375 11.375 568.880 284.440 + 176.50 -183.60 177.00 180.00 -48.60 0.00 + 1333 1333 1333 1333 1333 1333 + 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 + 1 1 1 1 1 1 + 1 1 1 1 1 1 + + + + 8 8 8 8 8 8 + 100 100 100 100 100 100 + + + + 22 20 50 30 30 50 + -37 -20 -50 -30 -30 0 + 2000 2000 1200 620 600 600 + + + + 6000 -6000 3200 -400 100 100 + 500 -500 3200 -400 1000 1000 + 5 -5 10 -4 10 10 + 480 480 1333 1333 1333 1333 + 480 480 1333 1333 1333 1333 + 9 9 6 4 5 5 + 0 0 0 0 0 0 + 0 0 0 0 0 0 + 0 0 0 0 0 0 + + + + + diff --git a/iCubGenova01_nws/hardware/motorControl/icub_head_test.xml b/iCubGenova01_nws/hardware/motorControl/icub_head_test.xml new file mode 100644 index 0000000000..7861975974 --- /dev/null +++ b/iCubGenova01_nws/hardware/motorControl/icub_head_test.xml @@ -0,0 +1,74 @@ + + + + + + + + + sharedcan + cfw2can + 1 2 3 + 0 + HEAD + 0 + 1 + 1 + 300 + 500 + 500 + 1 1 1 1 1 1 + 1 1 1 0 0 0 \ + 1 1 0 0 0 0 + 1 1 1 1 1 1 + 0 0 0 0 0 0 + 1 1 1 1 1 1 + 1 1 1 1 1 1 + 1 1 0 0 0 0 + 1 1 0 0 0 0 + 0 0 0 0 0 0 + + + + 6 + 100 100 100 100 100 100 + 0 1 2 3 4 5 + "neck_pitch" "neck_roll" "neck_yaw" "eyes_tilt" "eyes_version" "eyes_vergence" + "revolute" "revolute" "revolute" "revolute" "revolute" "revolute" + + 11.375 -11.375 11.375 11.375 568.88 284.44 + 168.3 -191.8 180 172 -44.8 3.5 + 0 0 0 0 0 0 + 0 0 0 0 0 0 + 0 0 0 0 0 0 + 1333 1333 1333 1333 1333 1333 + 1000.0 1000.0 1000.0 1000.0 1000.0 1000.0 + 0 + + + + 8 8 8 8 8 8 + 100 100 100 100 100 100 + + + + 22 20 50 30 30 50 + -32 -20 -50 -30 -30 0 + 2000 2000 1200 620 600 600 + + + + -750 -750 3200 -400 100 100 + -15000 -15000 3200 -400 1000 1000 + -8 -8 10 -4 10 10 + 800 800 1333 1333 1333 1333 + 160 160 1333 1333 1333 1333 + 11 11 6 4 5 5 + 0 0 0 0 0 0 + 0 0 0 0 0 0 + 0 0 0 0 0 0 + + + + + diff --git a/iCubGenova01_nws/hardware/motorControl/icub_left_arm.xml b/iCubGenova01_nws/hardware/motorControl/icub_left_arm.xml new file mode 100644 index 0000000000..f3e539454d --- /dev/null +++ b/iCubGenova01_nws/hardware/motorControl/icub_left_arm.xml @@ -0,0 +1,91 @@ + + + + + + + sharedcan + cfw2can + 1 2 3 4 + 1 + LEFT_ARM + 0 + 10 + 500 + 500 + 500 + 1 1 1 1 1 1 1 1 + 1 1 1 1 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_shoulder_pitch" "l_shoulder_roll" "l_shoulder_yaw" "l_elbow" "l_wrist_prosup" "l_wrist_pitch" "l_wrist_yaw" "l_hand_finger" + "revolute" "revolute" "revolute" "revolute" "revolute" "revolute" "revolute" "revolute" + -11.375 -11.375 -11.375 -11.375 706.67 -11.375 11.375 -6.244 + -179.00 -327.00 20.26 -187.00 -75.00 -180.00 183.00 -386.4 + 800 800 800 800 1333 1333 1333 1333 + 1000.0 1000.0 1000.0 1000.0 1000.0 1000.0 1000.0 1000.0 + + + + + + 0x0C 0x0C 0x0C 0x0C 0x0C 0 0 0 + 0 1 2 3 4 0 0 0 + 8 8 8 8 2 2 2 2 + 0 0 0 0 0 0 0 0 + 21.888 21.888 21.888 21.888 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 + + + + -95.5 0 -30 15 -60 -80 -20 15.0 + 10 160.8 75 106 60 25 25 60 + 7000 7000 7000 7000 1000 800 800 800 + + + + 32000 32000 10000 32000 -200 1000 -1000 200 + 50 50 0 20 -1000 10000 -10000 200 + 60 60 10 60 -1 1 -1 1 + 800 800 800 800 1333 1333 1333 1333 + 800 800 800 800 1333 1333 1333 1333 + 13 13 13 13 6 7 7 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 + + + + -8 -8 -30 -288 -80 0 0 0 + 0 0 0 0 0 0 0 0 + 0 0 0 0 0 0 0 0 + 1333 1333 1333 800 1333 1333 1333 1333 + 1333 1333 1333 800 1333 1333 1333 1333 + 10 10 10 14 10 10 10 10 + 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_nws/hardware/motorControl/icub_left_hand.xml b/iCubGenova01_nws/hardware/motorControl/icub_left_hand.xml new file mode 100644 index 0000000000..16e05cf341 --- /dev/null +++ b/iCubGenova01_nws/hardware/motorControl/icub_left_hand.xml @@ -0,0 +1,88 @@ + + + + + + + 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" + 9.85 -2.433 -2.712 -2.544 -2.494 -2.822 -2.694 -2.096 + 112.22 -103.56 -175.90 -96.29 -184.83 -90.00 -179.65 -355.92 + 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 + + + + + diff --git a/iCubGenova01_nws/hardware/motorControl/icub_left_leg.xml b/iCubGenova01_nws/hardware/motorControl/icub_left_leg.xml new file mode 100644 index 0000000000..95fb380364 --- /dev/null +++ b/iCubGenova01_nws/hardware/motorControl/icub_left_leg.xml @@ -0,0 +1,89 @@ + + + + + + + + + sharedcan + cfw2can + 5 6 7 + 3 + LEFT_LEG + 0 + 10 + 300 + 500 + 500 + 1 1 1 1 1 1 + 1 1 1 1 1 1 + 1 1 1 1 1 1 + 0 0 0 0 0 0 + 1 1 1 1 1 1 + 1 1 1 1 1 1 + 1 1 1 1 1 1 + + + + 6 + 100 100 100 100 100 100 + 2 3 0 1 4 5 + "l_hip_pitch" "l_hip_roll" "l_hip_yaw" "l_knee" "l_ankle_pitch" "l_ankle_roll" + "revolute" "revolute" "revolute" "revolute" "revolute" "revolute" + 11.375 11.375 11.375 -11.375 -11.375 11.375 + 185 176.5 172.8 -179.4 -175.8 183.8 + 0x0C 0x0C 0x0C 0x0C 0x0C 0x0C + 0 1 2 3 4 5 + 24 24 24 24 24 24 + 800 800 800 800 800 800 + 1000.0 1000.0 1000.0 1000.0 1000.0 1000.0 + 0 + + + + 8 8 8 8 8 8 + 100 100 100 100 100 100 + + + + 90 90 78 0 39 22 + -30 -20 -80 -120 -20 -22 + 7000 7000 7000 7000 7000 7000 + + + + + + 32000 -32000 32000 -32000 32000 -32000 + 100 -100 100 -100 100 -100 + 60 -60 60 -60 60 -60 + 800 800 800 800 800 800 + 800 800 800 800 800 800 + 13 13 13 13 13 13 + 0 0 0 0 0 0 + 0 0 0 0 0 0 + 0 0 0 0 0 0 + + + + 76 -76 76 76 0 0 + 0 0 0 0 0 0 + 0 0 0 0 0 0 + 800 800 800 800 800 800 + 800 800 800 800 800 800 + 14 14 14 14 14 14 + 0 0 0 0 0 0 + 0 0 0 0 0 0 + 0 0 0 0 0 0 + + + + 0.6 0.6 0.4 0.4 0.4 0.4 + 0.01 0.01 0.01 0.01 0.01 0.01 + + + + + + diff --git a/iCubGenova01_nws/hardware/motorControl/icub_right_arm.xml b/iCubGenova01_nws/hardware/motorControl/icub_right_arm.xml new file mode 100644 index 0000000000..ded3b430d5 --- /dev/null +++ b/iCubGenova01_nws/hardware/motorControl/icub_right_arm.xml @@ -0,0 +1,88 @@ + + + + + + + sharedcan + cfw2can + 1 2 3 4 + 2 + RIGHT_ARM + 0 + 10 + 500 + 500 + 500 + 1 1 1 1 1 1 1 1 + 1 1 1 1 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 + 11.375 11.375 11.375 11.375 -706.67 11.375 -11.375 -3.333 + 180.00 36.00 226.74 173.00 -75.00 180.00 -157.00 -549.00 + 800 800 800 800 1333 1333 1333 1333 + 1000.0 1000.0 1000.0 1000.0 1000.0 1000.0 1000.0 1000.0 + + + "r_shoulder_pitch" "r_shoulder_roll" "r_shoulder_yaw" "r_elbow" "r_wrist_prosup" "r_wrist_pitch" "r_wrist_yaw" "r_hand_finger" + "revolute" "revolute" "revolute" "revolute" "revolute" "revolute" "revolute" "revolute" + 0x0C 0x0C 0x0C 0x0C 0x0C 0 0 0 + 0 1 2 3 4 0 0 0 + 8 8 8 8 2 2 2 2 + 0 0 0 0 0 0 0 0 + 21.888 21.888 21.888 21.888 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 + + + + -95.5 0 -30 15 -60 -80 -20 0 + 10 161 75 106 60 25 25 60 + 7000 7000 7000 7000 1000 800 800 800 + + + + 32000 32000 10000 32000 -200 1000 -1000 -200 + 50 50 0 20 -1000 10000 -10000 -200 + 60 60 10 60 -1 1 -1 -1 + 1333 1333 1333 800 1333 1333 1333 1333 + 1333 1333 1333 800 1333 1333 1333 1333 + 13 13 13 13 6 7 7 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 + + + + 8 8 30 288 80 0 0 0 + 0 0 0 0 0 0 0 0 + 0 0 0 0 0 0 0 0 + 1333 1333 1333 800 1333 1333 1333 1333 + 1333 1333 1333 800 1333 1333 1333 1333 + 10 10 10 14 10 10 10 10 + 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_nws/hardware/motorControl/icub_right_hand.xml b/iCubGenova01_nws/hardware/motorControl/icub_right_hand.xml new file mode 100644 index 0000000000..1b7c9d2a0e --- /dev/null +++ b/iCubGenova01_nws/hardware/motorControl/icub_right_hand.xml @@ -0,0 +1,88 @@ + + + + + + + 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" + 10.778 -2.344 -2.771 -2.500 -2.559 -2.733 -2.794 -1.400 + 133.61 -107.06 -180.83 -98.00 -186.41 -92.56 -175.01 -480.70 + 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 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_nws/hardware/motorControl/icub_right_leg.xml b/iCubGenova01_nws/hardware/motorControl/icub_right_leg.xml new file mode 100644 index 0000000000..e1933a65ab --- /dev/null +++ b/iCubGenova01_nws/hardware/motorControl/icub_right_leg.xml @@ -0,0 +1,112 @@ + + + + + + + + + sharedcan + cfw2can + 8 9 10 + 4 + RIGHTLEG + 0 + 10 + 300 + 500 + 500 + 1 1 1 1 1 1 + 1 1 1 1 1 1 + 1 1 1 1 1 1 + 0 0 0 0 0 0 + 1 1 1 1 1 1 + 1 1 1 1 1 1 + 1 1 1 1 1 1 + + + + 6 + 100 100 100 100 100 100 + 2 3 0 1 4 5 + "r_hip_pitch" "r_hip_roll" "r_hip_yaw" "r_knee" "r_ankle_pitch" "r_ankle_roll" + "revolute" "revolute" "revolute" "revolute" "revolute" "revolute" + -11.375 -11.375 -11.375 11.375 11.375 -11.375 + -172.9 -181.4 -124.5 178.8 183.5 -176.4 + 0x0B 0x0B 0x0B 0x0B 0x0B 0x0B + 0 1 2 3 4 5 + 24 24 24 24 24 24 + 800 800 800 800 800 800 + 1000.0 1000.0 1000.0 1000.0 1000.0 1000.0 + 0 + + + + 8 8 8 8 8 8 + 100 100 100 100 100 100 + + + + 90 90 78 0 39 22 + -30 -20 -80 -120 -20 -22 + 7000 7000 7000 7000 7000 7000 + + + + + + 32000 -32000 32000 -32000 32000 -32000 + 100 -100 100 -100 100 -100 + 60 -60 60 -60 60 -60 + 800 800 800 800 800 800 + 800 800 800 800 800 800 + 13 13 13 13 13 13 + 0 0 0 0 0 0 + 0 0 0 0 0 0 + 0 0 0 0 0 0 + + + + -76 76 -76 -76 0 0 + 0 0 0 0 0 0 + 0 0 0 0 0 0 + 800 800 800 800 800 800 + 800 800 800 800 800 800 + 14 14 14 14 14 14 + 0 0 0 0 0 0 + 0 0 0 0 0 0 + 0 0 0 0 0 0 + + + + 0.6 0.6 0.4 0.4 0.4 0.4 + 0.01 0.01 0.01 0.01 0.01 0.01 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/iCubGenova01_nws/hardware/motorControl/icub_torso.xml b/iCubGenova01_nws/hardware/motorControl/icub_torso.xml new file mode 100644 index 0000000000..98144903ea --- /dev/null +++ b/iCubGenova01_nws/hardware/motorControl/icub_torso.xml @@ -0,0 +1,130 @@ + + + + + + + + + sharedcan + cfw2can + 5 6 + 0 + TORSO + 0 + 10 + 300 + 500 + 500 + 1 1 1 1 + 0 0 0 0 + 1 1 1 1 + 0 0 0 0 + 1 1 1 1 + 1 1 1 1 + 0 0 0 0 + + + + 4 + 100 100 100 100 + 0 2 3 1 + "torso_yaw" "torso_roll" "torso_pitch" "none" + "revolute" "revolute" "revolute" "revolute" + 11.375 11.375 11.375 0 + 177 180 180 0 + 0x0C 0x0C 0x0C 0 + 0 1 2 0 + 12 12 12 0 + 0 + 800 800 800 800 + 1000.0 1000.0 1000.0 1000.0 + + + + 8 8 8 8 + 100 100 100 100 + + + + 50 30 70 0 + -50 -30 -22 0 + 7000 7000 7000 7000 + + + + 32000 32000 32000 0 + 6000 6000 6000 0 + 60 60 60 0 + 1333 1333 1333 1333 + 1333 1333 1333 1333 + 13 13 13 0 + 0 0 0 0 + 0 0 0 0 + 0 0 0 0 + + + + 6 6 6 0 + 0 0 0 0 + 0 0 0 0 + 1333 1333 1333 1333 + 1333 1333 1333 1333 + 11 11 11 0 + 0 0 0 0 + 0 0 0 0 + 0 0 0 0 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/iCubGenova01_nws/hardware/motorSpecs/icub_head.xml b/iCubGenova01_nws/hardware/motorSpecs/icub_head.xml new file mode 100644 index 0000000000..2c99600e2e --- /dev/null +++ b/iCubGenova01_nws/hardware/motorSpecs/icub_head.xml @@ -0,0 +1,60 @@ + + + + + + + head_mc + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/iCubGenova01_nws/hardware/motorSpecs/icub_left_arm.xml b/iCubGenova01_nws/hardware/motorSpecs/icub_left_arm.xml new file mode 100644 index 0000000000..122b188604 --- /dev/null +++ b/iCubGenova01_nws/hardware/motorSpecs/icub_left_arm.xml @@ -0,0 +1,173 @@ + + + + + + + + left_arm_mc + + + + + 0.664 + 0.32 + 0.04096648235185 + 0.203 + 0.00000847 + 8 + 0.015 + 0.00001995802986 + 0.806 + 0.223 + 100 + 48 + + + 0.664 + 0.32 + 0.04096648235185 + 0.203 + 0.00000847 + 8 + 0.015 + 0.00001995802986 + 0.806 + 0.223 + 100 + 48 + + + 0.664 + 0.32 + 0.04096648235185 + 0.203 + 0.00000847 + 8 + 0.015 + 0.00001995802986 + 0.806 + 0.223 + 100 + 48 + + + 0.698 + 0.280 + 0.0236 + 0.126 + 0.00000515 + 8 + 0.0120 + 0.00000876625427 + 0.342 + 0.115 + 100 + 48 + + + 0.698 + 0.280 + 0.0236 + 0.126 + 0.00000515 + 8 + 0.0120 + 0.00000876625427 + 0.342 + 0.115 + 100 + 48 + + + 0.698 + 0.280 + 0.0236 + 0.126 + 0.00000515 + 8 + 0.0120 + 0.00000876625427 + 0.342 + 0.115 + 100 + 48 + + + 0.698 + 0.280 + 0.0236 + 0.126 + 0.00000515 + 8 + 0.0120 + 0.00000876625427 + 0.342 + 0.115 + 100 + 48 + + + 0.698 + 0.280 + 0.0236 + 0.126 + 0.00000515 + 8 + 0.0120 + 0.00000876625427 + 0.342 + 0.115 + 100 + 48 + + + + + + 3 + 0 1 2 + 1 + ((1 0 0) (0 1 0) (1.625 -1.625 1)) + 0.0001519 + ((1 0 0) (-0.6153846154 0.6153846154 0) (-0.6153846154 0.6153846154 0.6153846154)) + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/iCubGenova01_nws/hardware/motorSpecs/icub_left_hand.xml b/iCubGenova01_nws/hardware/motorSpecs/icub_left_hand.xml new file mode 100644 index 0000000000..5c2d886146 --- /dev/null +++ b/iCubGenova01_nws/hardware/motorSpecs/icub_left_hand.xml @@ -0,0 +1,68 @@ + + + + + + + left_hand_mc + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/iCubGenova01_nws/hardware/motorSpecs/icub_left_leg.xml b/iCubGenova01_nws/hardware/motorSpecs/icub_left_leg.xml new file mode 100644 index 0000000000..668dd8a069 --- /dev/null +++ b/iCubGenova01_nws/hardware/motorSpecs/icub_left_leg.xml @@ -0,0 +1,121 @@ + + + + + + + + left_leg_mc + + + + + 0.664 + 0.32 + 0.04096648235185 + 0.203 + 0.00000847 + 8 + 0.015 + 0.00001995802986 + 0.806 + 0.223 + 100 + 48 + + + 0.664 + 0.32 + 0.04096648235185 + 0.203 + 0.00000847 + 8 + 0.015 + 0.00001995802986 + 0.806 + 0.223 + 100 + 48 + + + 0.664 + 0.32 + 0.04096648235185 + 0.203 + 0.00000847 + 8 + 0.015 + 0.00001995802986 + 0.806 + 0.223 + 100 + 48 + + + 0.664 + 0.32 + 0.04096648235185 + 0.203 + 0.00000847 + 8 + 0.015 + 0.00001995802986 + 0.806 + 0.223 + 100 + 48 + + + 0.664 + 0.32 + 0.04096648235185 + 0.203 + 0.00000847 + 8 + 0.015 + 0.00001995802986 + 0.806 + 0.223 + 100 + 48 + + + 0.664 + 0.32 + 0.04096648235185 + 0.203 + 0.00000847 + 8 + 0.015 + 0.00001995802986 + 0.806 + 0.223 + 100 + 48 + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/iCubGenova01_nws/hardware/motorSpecs/icub_right_arm.xml b/iCubGenova01_nws/hardware/motorSpecs/icub_right_arm.xml new file mode 100644 index 0000000000..4cf97df0d2 --- /dev/null +++ b/iCubGenova01_nws/hardware/motorSpecs/icub_right_arm.xml @@ -0,0 +1,138 @@ + + + + + + + + right_arm_mc + + + + 0.664 + 0.32 + 0.04096648235185 + 0.203 + 0.00000847 + 8 + 0.015 + 0.00001995802986 + 0.806 + 0.223 + 100 + 48 + + + 0.664 + 0.32 + 0.04096648235185 + 0.203 + 0.00000847 + 8 + 0.015 + 0.00001995802986 + 0.806 + 0.223 + 100 + 48 + + + 0.664 + 0.32 + 0.04096648235185 + 0.203 + 0.00000847 + 8 + 0.015 + 0.00001995802986 + 0.806 + 0.223 + 100 + 48 + + + 0.698 + 0.280 + 0.0236 + 0.126 + 0.00000515 + 8 + 0.0120 + 0.00000876625427 + 0.342 + 0.115 + 100 + 48 + + + 0.698 + 0.280 + 0.0236 + 0.126 + 0.00000515 + 8 + 0.0120 + 0.00000876625427 + 0.342 + 0.115 + 100 + 48 + + + 0.698 + 0.280 + 0.0236 + 0.126 + 0.00000515 + 8 + 0.0120 + 0.00000876625427 + 0.342 + 0.115 + 100 + 48 + + + 0.698 + 0.280 + 0.0236 + 0.126 + 0.00000515 + 8 + 0.0120 + 0.00000876625427 + 0.342 + 0.115 + 100 + 48 + + + 0.698 + 0.280 + 0.0236 + 0.126 + 0.00000515 + 8 + 0.0120 + 0.00000876625427 + 0.342 + 0.115 + 100 + 48 + + + + + + 3 + 0 1 2 + 1 + ((1 0 0) (0 1 0) (1.625 -1.625 1)) + 0.0001519 + ((1 0 0) (-0.6153846154 0.6153846154 0) (-0.6153846154 0.6153846154 0.6153846154)) + + + + + + \ No newline at end of file diff --git a/iCubGenova01_nws/hardware/motorSpecs/icub_right_hand.xml b/iCubGenova01_nws/hardware/motorSpecs/icub_right_hand.xml new file mode 100644 index 0000000000..1cd43ee57c --- /dev/null +++ b/iCubGenova01_nws/hardware/motorSpecs/icub_right_hand.xml @@ -0,0 +1,13 @@ + + + + + + + + right_hand_mc + + + + + \ No newline at end of file diff --git a/iCubGenova01_nws/hardware/motorSpecs/icub_right_leg.xml b/iCubGenova01_nws/hardware/motorSpecs/icub_right_leg.xml new file mode 100644 index 0000000000..b043ed6caa --- /dev/null +++ b/iCubGenova01_nws/hardware/motorSpecs/icub_right_leg.xml @@ -0,0 +1,125 @@ + + + + + + + + right_leg_mc + + + + + 0.664 + 0.32 + 0.04096648235185 + 0.203 + 0.00000847 + 8 + 0.015 + 0.00001995802986 + 0.806 + 0.223 + 100 + 48 + + + 0.664 + 0.32 + 0.04096648235185 + 0.203 + 0.00000847 + 8 + 0.015 + 0.00001995802986 + 0.806 + 0.223 + 100 + 48 + + + 0.664 + 0.32 + 0.04096648235185 + 0.203 + 0.00000847 + 8 + 0.015 + 0.00001995802986 + 0.806 + 0.223 + 100 + 48 + + + 0.664 + 0.32 + 0.04096648235185 + 0.203 + 0.00000847 + 8 + 0.015 + 0.00001995802986 + 0.806 + 0.223 + 100 + 48 + + + 0.664 + 0.32 + 0.04096648235185 + 0.203 + 0.00000847 + 8 + 0.015 + 0.00001995802986 + 0.806 + 0.223 + 100 + 48 + + + 0.664 + 0.32 + 0.04096648235185 + 0.203 + 0.00000847 + 8 + 0.015 + 0.00001995802986 + 0.806 + 0.223 + 100 + 48 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/iCubGenova01_nws/hardware/motorSpecs/icub_torso.xml b/iCubGenova01_nws/hardware/motorSpecs/icub_torso.xml new file mode 100644 index 0000000000..761abe9275 --- /dev/null +++ b/iCubGenova01_nws/hardware/motorSpecs/icub_torso.xml @@ -0,0 +1,118 @@ + + + + + + + + torso_mc + + + + + 0.664 + 0.32 + 0.04096648235185 + 0.203 + 0.00000847 + 8 + 0.015 + 0.00001995802986 + 0.806 + 0.223 + 100 + 48 + + + 0.664 + 0.32 + 0.04096648235185 + 0.203 + 0.00000847 + 8 + 0.015 + 0.00001995802986 + 0.806 + 0.223 + 100 + 48 + + + 0.698 + 0.280 + 0.0236 + 0.126 + 0.00000515 + 8 + 0.0120 + 0.00000876625427 + 0.342 + 0.115 + 100 + 48 + + + + + + 2 + 0 1 + 1 + ((0.5 0.5) (0.5 -0.5)) + 1 + ((1 1) (1 -1)) + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/iCubGenova01_nws/hardware/skin/left_arm-cfw2_can7-skinSpec.xml b/iCubGenova01_nws/hardware/skin/left_arm-cfw2_can7-skinSpec.xml new file mode 100644 index 0000000000..20885e8190 --- /dev/null +++ b/iCubGenova01_nws/hardware/skin/left_arm-cfw2_can7-skinSpec.xml @@ -0,0 +1,29 @@ + + + + + + + 50 + 0 + 0xf0 + false + + + + + true + 2 + 0x2200 + + + + 0x01 + + 7 0xE 0 6 1 0 0x2000 + + + + diff --git a/iCubGenova01_nws/hardware/skin/left_arm.xml b/iCubGenova01_nws/hardware/skin/left_arm.xml new file mode 100644 index 0000000000..d9819f2622 --- /dev/null +++ b/iCubGenova01_nws/hardware/skin/left_arm.xml @@ -0,0 +1,16 @@ + + + + + + + + + 7 + 14 13 12 11 10 9 8 + 10 + cfw2can + + + + diff --git a/iCubGenova01_nws/hardware/skin/left_arm_accelerometers_mtb.xml b/iCubGenova01_nws/hardware/skin/left_arm_accelerometers_mtb.xml new file mode 100644 index 0000000000..b7c2b0ac23 --- /dev/null +++ b/iCubGenova01_nws/hardware/skin/left_arm_accelerometers_mtb.xml @@ -0,0 +1,14 @@ + + + + + + "sharedcan" + "cfw2can" + 7 + 8 9 10 11 12 13 + 10 + 10 + "acc" + + diff --git a/iCubGenova01_nws/hardware/skin/left_foot.xml b/iCubGenova01_nws/hardware/skin/left_foot.xml new file mode 100644 index 0000000000..cbcf3a99dd --- /dev/null +++ b/iCubGenova01_nws/hardware/skin/left_foot.xml @@ -0,0 +1,12 @@ + + + + + + "sharedcan" + "cfw2can" + 9 + 2 3 + 10 + + diff --git a/iCubGenova01_nws/hardware/skin/left_foot_inertial_mtb.xml b/iCubGenova01_nws/hardware/skin/left_foot_inertial_mtb.xml new file mode 100644 index 0000000000..547894ff4c --- /dev/null +++ b/iCubGenova01_nws/hardware/skin/left_foot_inertial_mtb.xml @@ -0,0 +1,13 @@ + + + + + + "sharedcan" + "cfw2can" + 9 + 0x03 + 10 + "acc" + + diff --git a/iCubGenova01_nws/hardware/skin/left_hand_inertial_mtb.xml b/iCubGenova01_nws/hardware/skin/left_hand_inertial_mtb.xml new file mode 100644 index 0000000000..6786cedb9a --- /dev/null +++ b/iCubGenova01_nws/hardware/skin/left_hand_inertial_mtb.xml @@ -0,0 +1,13 @@ + + + + + + "sharedcan" + "cfw2can" + 7 + 0x0E + 10 + "extAccAndGyro" + + diff --git a/iCubGenova01_nws/hardware/skin/right_arm-cfw2_can8-skinSpec.xml b/iCubGenova01_nws/hardware/skin/right_arm-cfw2_can8-skinSpec.xml new file mode 100644 index 0000000000..b44ed73266 --- /dev/null +++ b/iCubGenova01_nws/hardware/skin/right_arm-cfw2_can8-skinSpec.xml @@ -0,0 +1,29 @@ + + + + + + + 50 + 0 + 0xf0 + false + + + + + true + 2 + 0x2200 + + + + 0x01 + + 8 0xE 0 6 1 0 0x2000 + + + + diff --git a/iCubGenova01_nws/hardware/skin/right_arm.xml b/iCubGenova01_nws/hardware/skin/right_arm.xml new file mode 100644 index 0000000000..94502e7149 --- /dev/null +++ b/iCubGenova01_nws/hardware/skin/right_arm.xml @@ -0,0 +1,16 @@ + + + + + + + + + + 8 + 14 13 12 11 10 9 8 + 10 + cfw2can + + + diff --git a/iCubGenova01_nws/hardware/skin/right_arm_accelerometers_mtb.xml b/iCubGenova01_nws/hardware/skin/right_arm_accelerometers_mtb.xml new file mode 100644 index 0000000000..0c96bb6791 --- /dev/null +++ b/iCubGenova01_nws/hardware/skin/right_arm_accelerometers_mtb.xml @@ -0,0 +1,14 @@ + + + + + + "sharedcan" + "cfw2can" + 8 + 8 9 10 11 12 13 + 10 + 10 + "acc" + + diff --git a/iCubGenova01_nws/hardware/skin/right_foot.xml b/iCubGenova01_nws/hardware/skin/right_foot.xml new file mode 100644 index 0000000000..2064717dbf --- /dev/null +++ b/iCubGenova01_nws/hardware/skin/right_foot.xml @@ -0,0 +1,12 @@ + + + + + + "sharedcan" + "cfw2can" + 9 + 13 14 + 10 + + diff --git a/iCubGenova01_nws/hardware/skin/right_foot_inertial_mtb.xml b/iCubGenova01_nws/hardware/skin/right_foot_inertial_mtb.xml new file mode 100644 index 0000000000..c1b3c70048 --- /dev/null +++ b/iCubGenova01_nws/hardware/skin/right_foot_inertial_mtb.xml @@ -0,0 +1,13 @@ + + + + + + "sharedcan" + "cfw2can" + 9 + 0x0C + 10 + "acc" + + diff --git a/iCubGenova01_nws/hardware/skin/right_hand_inertial_mtb.xml b/iCubGenova01_nws/hardware/skin/right_hand_inertial_mtb.xml new file mode 100644 index 0000000000..a75af18ad2 --- /dev/null +++ b/iCubGenova01_nws/hardware/skin/right_hand_inertial_mtb.xml @@ -0,0 +1,13 @@ + + + + + + "sharedcan" + "cfw2can" + 8 + 0x0E + 10 + "extAccAndGyro" + + diff --git a/iCubGenova01_nws/hardware/skin/torso-cfw2_can9-skinSpec.xml b/iCubGenova01_nws/hardware/skin/torso-cfw2_can9-skinSpec.xml new file mode 100644 index 0000000000..0fae45f5a6 --- /dev/null +++ b/iCubGenova01_nws/hardware/skin/torso-cfw2_can9-skinSpec.xml @@ -0,0 +1,38 @@ + + + + + + + 50 + 0 + 0xf0 + false + + + + + false + 2 + 0x2200 + + + + 7 + + 9 7 5 11 1 2 0x2200 + + 9 8 1 3 1 2 0x2200 + 9 8 6 13 1 2 0x2200 + + 9 9 0 15 1 2 0x2200 + + 9 10 1 2 1 2 0x2200 + 9 10 4 4 1 2 0x2200 + 9 10 8 14 1 2 0x2200 + + + + diff --git a/iCubGenova01_nws/hardware/skin/torso.xml b/iCubGenova01_nws/hardware/skin/torso.xml new file mode 100644 index 0000000000..391f88546e --- /dev/null +++ b/iCubGenova01_nws/hardware/skin/torso.xml @@ -0,0 +1,17 @@ + + + + + + + + + + 9 + 7 8 9 10 + 10 + cfw2can + + + + diff --git a/iCubGenova01_nws/hardware/skin/torso_accelerometers_mtb.xml b/iCubGenova01_nws/hardware/skin/torso_accelerometers_mtb.xml new file mode 100644 index 0000000000..62ae1427a6 --- /dev/null +++ b/iCubGenova01_nws/hardware/skin/torso_accelerometers_mtb.xml @@ -0,0 +1,14 @@ + + + + + + "sharedcan" + "cfw2can" + 9 + 7 8 9 10 + 10 + 10 + "acc" + + diff --git a/iCubGenova01_nws/iKinGazeCtrl.ini b/iCubGenova01_nws/iKinGazeCtrl.ini new file mode 100644 index 0000000000..740ebef209 --- /dev/null +++ b/iCubGenova01_nws/iKinGazeCtrl.ini @@ -0,0 +1,8 @@ +head_version 2.0 + +[cameras] +context cameraCalibration +file icubEyes.ini + +[imu] +source_port_name /imuFilter diff --git a/iCubGenova01_nws/icub.xml b/iCubGenova01_nws/icub.xml new file mode 100644 index 0000000000..501c6d2475 --- /dev/null +++ b/iCubGenova01_nws/icub.xml @@ -0,0 +1,100 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/iCubGenova01_nws/icubEyes.ini b/iCubGenova01_nws/icubEyes.ini new file mode 100644 index 0000000000..cf28470727 --- /dev/null +++ b/iCubGenova01_nws/icubEyes.ini @@ -0,0 +1,45 @@ +[CAMERA_CALIBRATION_RIGHT] +projection pinhole +drawCenterCross 0 +fps 30 +fpsOutputFrequency 100 + +w 320 +h 240 +fx 234.666 +fy 234.25 +cx 149.795 +cy 123.059 +k1 -0.425792 +k2 0.175221 +p1 0.000321599 +p2 -0.00175487 + +[CAMERA_CALIBRATION_LEFT] +projection pinhole +drawCenterCross 0 +fps 30 +fpsOutputFrequency 100 + +w 320 +h 240 +fx 234.88 +fy 234.582 +cx 160.77 +cy 123.491 +k1 -0.412323 +k2 0.151472 +p1 0.000156673 +p2 0.0005931 + +[STEREO_CALIBRATION_CONFIGURATION] +boardWidth 8 +boardHeight 6 +boardSize 0.09241 +numberOfPairs 30 + +[STEREO_DISPARITY] +HN (0.994379 0.00282584 0.105838 -0.0679143 -0.00748192 0.99902 0.0436214 -7.77028e-05 -0.105611 -0.0441681 0.993426 0.00342402 0 0 0 1) +QL ( 0.000000 0.000000 0.000000 0.000479 0.000690 -0.000575 0.000767 -0.000013) +QR ( 0.000000 0.000000 0.000000 0.000479 0.000690 -0.000575 0.000767 -0.000013) + diff --git a/iCubGenova01_nws/icub_all.xml b/iCubGenova01_nws/icub_all.xml new file mode 100644 index 0000000000..914b43fa8a --- /dev/null +++ b/iCubGenova01_nws/icub_all.xml @@ -0,0 +1,101 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/iCubGenova01_nws/icub_all_no_legs.xml b/iCubGenova01_nws/icub_all_no_legs.xml new file mode 100644 index 0000000000..138be8d823 --- /dev/null +++ b/iCubGenova01_nws/icub_all_no_legs.xml @@ -0,0 +1,87 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/iCubGenova01_nws/icub_analog_only.xml b/iCubGenova01_nws/icub_analog_only.xml new file mode 100644 index 0000000000..15f64a1ba6 --- /dev/null +++ b/iCubGenova01_nws/icub_analog_only.xml @@ -0,0 +1,103 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/iCubGenova01_nws/network.iCubGenova01.xml b/iCubGenova01_nws/network.iCubGenova01.xml new file mode 100644 index 0000000000..4ebf9678ff --- /dev/null +++ b/iCubGenova01_nws/network.iCubGenova01.xml @@ -0,0 +1,416 @@ + + + + + + + + + + + + + + + + + + + + + + + + CFW + + + + + + + CFW + + + + + + + + + + + + + + + + CFW + + + + + + + CFW + + + + + + + CFW + + + + + + + CFW + + + + + + + CFW + + + + + + CFW + + + + + + CFW + + + + + + CFW + + + + + + CFW + + + + + + CFW + + + + + + CFW + + + + + + CFW + + + + + + CFW + + + + + + CFW + + + + + + + + + + + + CFW + + + + + + + CFW + + + + + + + CFW + + + + + + + CFW + + + + + + + CFW + + + + + + CFW + + + + + + CFW + + + + + + CFW + + + + + + CFW + + + + + + CFW + + + + + + CFW + + + + + + CFW + + + + + + CFW + + + + + + CFW + + + + + + + + + + + + CFW + + + + + + + CFW + + + + + + CFW + + + + + + CFW + + + + + + CFW + + + + + + CFW + + + + + + + + + + + + CFW + + + + + + + CFW + + + + + + + CFW + + + + + + CFW + + + + + + CFW + + + + + + CFW + + + + + + CFW + + + + + + + + + + + + CFW + + + + + + + CFW + + + + + + + CFW + + + + + + CFW + + + + + + CFW + + + + + + CFW + + + + + + CFW + + + + + + + + + + + + + + + + + diff --git a/iCubGenova01_nws/pf3dTracker.ini b/iCubGenova01_nws/pf3dTracker.ini new file mode 100644 index 0000000000..dabde852d4 --- /dev/null +++ b/iCubGenova01_nws/pf3dTracker.ini @@ -0,0 +1,98 @@ +#################################### +#configuration file for PF3DTracker# +#################################### + + +############# +#module name# +############# +name /pf3dTracker + +############################# +#parameters of the algorithm# +############################# +nParticles 700 +#nParticles number of particles used +accelStDev 30 +#accelStDev 50 30 15 +#accelStDev standard deviation of the acceleration noise +insideOutsideDiffWeight 1.5 +#insideOutsideDiffWeight inside-outside difference weight for the likelihood function +colorTransfPolicy 1 +#colorTransfPolicy [0=transform the whole image | 1=only transform the pixels you need] + + + + +######################### +#port names and function# +######################### +inputVideoPort /pf3dTracker/video:i +#inputVideoPort receives images from the grabber or the rectifying program. +outputVideoPort /pf3dTracker/video:o +#outputVideoPort produces images in which the contour of the estimated ball is highlighted +outputDataPort /pf3dTracker/data:o +#outputDataPort produces a stream of data in the format: X, Y, Z, likelihood, U, V, seeing_object +outputParticlePort /pf3dTracker/particles:o +#outputParticlePort produces data for the plotter. it is usually not active for performance reasons. +inputParticlePort /pf3dTracker/particles:i +#inputParticlePort recives hypotheses on the ball position from pf3dBottomup. +outputAttentionPort /pf3dTracker/attention:o +#outputAttentionPort produces data for the attention system, in terms of a peak of saliency. + + +################################# +#projection model and parameters# +################################# +#projectionModel [perspective|equidistance|unified] +projectionModel perspective + +cameraFile icubEyes.ini +cameraGroup CAMERA_CALIBRATION_LEFT + +####################### +#tracked object models# +####################### +#trackedObjectType [sphere|parallelogram] +trackedObjectType sphere +trackedObjectColorTemplate models/red_ball_iit.bmp +trackedObjectShapeTemplate models/initial_ball_points_36mm_20percent.csv + +motionModelMatrix models/motion_model_matrix.csv +trackedObjectTemp current_histogram.csv + +####################### +#initialization method# +####################### +#initialization method [search|3dEstimate|2dEstimate] +initializationMethod 3dEstimate +initialX 0 +initialY 0 +initialZ 0.5 + + +#################### +#visualization mode# +#################### +#circleVisualizationMode [0=inner and outer cirlce | 1=one circle with the correct radious] default 0. only applies to the sphere. +circleVisualizationMode 1 + + +######################### +#attention-related stuff# +######################### +#the tracker produces a value of likelihood at each time step. this value can be used to infer if the object it is tracking is the correct one. this is not a very robust way of doing so. +#if likelihood>this value, then probably I'm tracking the object. 20Millions is good, 12Millions is the likelihood of Jonas Hornsteins's PC screen (false positive). +#20Millions is a good threshold level when you have the right color model. 5M. +likelihoodThreshold 0.0005 +attentionOutputMax 300 +attentionOutputDecrease 0.99 + + +########################## +#image saving preferences# +########################## +#save images with OpenCV? +saveImagesWithOpencv false +#always use the trailing slash here. +saveImagesWithOpencvDir ./graphical_results/ diff --git a/iCubGenova01_nws/skinManAll.ini b/iCubGenova01_nws/skinManAll.ini new file mode 100644 index 0000000000..2fe17d4d7d --- /dev/null +++ b/iCubGenova01_nws/skinManAll.ini @@ -0,0 +1,44 @@ +inputPorts ( /icub/skin/left_hand \ + /icub/skin/left_forearm \ + /icub/skin/left_arm \ + /icub/skin/right_hand \ + /icub/skin/right_forearm \ + /icub/skin/right_arm \ + /icub/skin/torso ) + +outputPorts ( /icub/skin/left_hand_comp \ + /icub/skin/left_forearm_comp \ + /icub/skin/left_arm_comp \ + /icub/skin/right_hand_comp \ + /icub/skin/right_forearm_comp \ + /icub/skin/right_arm_comp \ + /icub/skin/torso_comp ) + +robot icub +name skinManager +period 20 +minBaseline 3 +addThreshold 7 +compensationGain 0.2 +contactCompensationGain 0.05 +zeroUpRawData false +smoothFilter true +smoothFactor 0.5 +binarization true + +[SKIN_EVENTS] +skinParts ( 1 2 3 4 5 6 7 ) +taxelPositionFiles ( positions/left_hand_V2_1.txt \ + positions/left_forearm_V2.txt \ + positions/left_arm_mesh.txt \ + positions/right_hand_V2_1.txt \ + positions/right_forearm_V2.txt \ + positions/right_arm_mesh.txt \ + positions/torso.txt ) +maxNeighborDist 0.015 + +% The positions files should be in this particular order, matching enum SkinPart from skinDynLib/common.h +% SKIN_PART_UNKNOWN=0, SKIN_LEFT_HAND, SKIN_LEFT_FOREARM, SKIN_LEFT_UPPER_ARM, +% SKIN_RIGHT_HAND, SKIN_RIGHT_FOREARM, SKIN_RIGHT_UPPER_ARM, +% SKIN_FRONT_TORSO, LEFT_LEG_UPPER, LEFT_LEG_LOWER, LEFT_FOOT, +% RIGHT_LEG_UPPER, RIGHT_LEG_LOWER, RIGHT_FOOT diff --git a/iCubGenova01_nws/test/test_xsens.sh b/iCubGenova01_nws/test/test_xsens.sh new file mode 100644 index 0000000000..1e2f3e9c0a --- /dev/null +++ b/iCubGenova01_nws/test/test_xsens.sh @@ -0,0 +1,7 @@ +for (( ; ; )) +do +robot-interface 2>&1 | grep MRCHECK +sleep 10 +killall -9 robot-interface +sleep 0.5 +done diff --git a/iCubGenova01_nws/wrappers/FT/left_arm_FT_wrapper.xml b/iCubGenova01_nws/wrappers/FT/left_arm_FT_wrapper.xml new file mode 100644 index 0000000000..59f5b85df5 --- /dev/null +++ b/iCubGenova01_nws/wrappers/FT/left_arm_FT_wrapper.xml @@ -0,0 +1,17 @@ + + + + + + 10 + /icub/left_arm/analog:o + + + + left_arm_strain + + + + + + diff --git a/iCubGenova01_nws/wrappers/FT/left_foot_FT_wrapper.xml b/iCubGenova01_nws/wrappers/FT/left_foot_FT_wrapper.xml new file mode 100644 index 0000000000..73d7686fcd --- /dev/null +++ b/iCubGenova01_nws/wrappers/FT/left_foot_FT_wrapper.xml @@ -0,0 +1,17 @@ + + + + + + 10 + /icub/left_foot/analog:o + + + + left_foot_strain + + + + + + diff --git a/iCubGenova01_nws/wrappers/FT/left_leg_FT_wrapper.xml b/iCubGenova01_nws/wrappers/FT/left_leg_FT_wrapper.xml new file mode 100644 index 0000000000..0d715528d2 --- /dev/null +++ b/iCubGenova01_nws/wrappers/FT/left_leg_FT_wrapper.xml @@ -0,0 +1,17 @@ + + + + + + 10 + /icub/left_leg/analog:o + + + + left_leg_strain + + + + + + diff --git a/iCubGenova01_nws/wrappers/FT/right_arm_FT_wrapper.xml b/iCubGenova01_nws/wrappers/FT/right_arm_FT_wrapper.xml new file mode 100644 index 0000000000..4ca3a35a2e --- /dev/null +++ b/iCubGenova01_nws/wrappers/FT/right_arm_FT_wrapper.xml @@ -0,0 +1,17 @@ + + + + + + 10 + /icub/right_arm/analog:o + + + + right_arm_strain + + + + + + diff --git a/iCubGenova01_nws/wrappers/FT/right_foot_FT_wrapper.xml b/iCubGenova01_nws/wrappers/FT/right_foot_FT_wrapper.xml new file mode 100644 index 0000000000..390e30947d --- /dev/null +++ b/iCubGenova01_nws/wrappers/FT/right_foot_FT_wrapper.xml @@ -0,0 +1,17 @@ + + + + + + 10 + /icub/right_foot/analog:o + + + + right_foot_strain + + + + + + diff --git a/iCubGenova01_nws/wrappers/FT/right_leg_FT_wrapper.xml b/iCubGenova01_nws/wrappers/FT/right_leg_FT_wrapper.xml new file mode 100644 index 0000000000..9a208b4fa1 --- /dev/null +++ b/iCubGenova01_nws/wrappers/FT/right_leg_FT_wrapper.xml @@ -0,0 +1,17 @@ + + + + + + 10 + /icub/right_leg/analog:o + + + + right_leg_strain + + + + + + diff --git a/iCubGenova01_nws/wrappers/MAIS/left_hand_mais_wrapper.xml b/iCubGenova01_nws/wrappers/MAIS/left_hand_mais_wrapper.xml new file mode 100644 index 0000000000..805dd672e2 --- /dev/null +++ b/iCubGenova01_nws/wrappers/MAIS/left_hand_mais_wrapper.xml @@ -0,0 +1,17 @@ + + + + + + 10 + /icub/left_hand/analog:o + + + + left_hand_mais + + + + + + diff --git a/iCubGenova01_nws/wrappers/MAIS/right_hand_mais_wrapper.xml b/iCubGenova01_nws/wrappers/MAIS/right_hand_mais_wrapper.xml new file mode 100644 index 0000000000..f3dcc1a181 --- /dev/null +++ b/iCubGenova01_nws/wrappers/MAIS/right_hand_mais_wrapper.xml @@ -0,0 +1,17 @@ + + + + + + 10 + /icub/right_hand/analog:o + + + + right_hand_mais + + + + + + diff --git a/iCubGenova01_nws/wrappers/VFT/left_arm_VFT_wrapper.xml b/iCubGenova01_nws/wrappers/VFT/left_arm_VFT_wrapper.xml new file mode 100644 index 0000000000..b4746c806a --- /dev/null +++ b/iCubGenova01_nws/wrappers/VFT/left_arm_VFT_wrapper.xml @@ -0,0 +1,15 @@ + + + + 10 + + ( 0 5 0 5 ) + + /icub/joint_vsens/left_arm:i + + + left_arm_virtual_strain + + + + diff --git a/iCubGenova01_nws/wrappers/VFT/left_leg_VFT_wrapper.xml b/iCubGenova01_nws/wrappers/VFT/left_leg_VFT_wrapper.xml new file mode 100644 index 0000000000..dff5d6fd56 --- /dev/null +++ b/iCubGenova01_nws/wrappers/VFT/left_leg_VFT_wrapper.xml @@ -0,0 +1,15 @@ + + + + 10 + + ( 0 5 0 5 ) + + /icub/joint_vsens/left_leg:i + + + left_leg_virtual_strain + + + + diff --git a/iCubGenova01_nws/wrappers/VFT/right_arm_VFT_wrapper.xml b/iCubGenova01_nws/wrappers/VFT/right_arm_VFT_wrapper.xml new file mode 100644 index 0000000000..fe19ada982 --- /dev/null +++ b/iCubGenova01_nws/wrappers/VFT/right_arm_VFT_wrapper.xml @@ -0,0 +1,15 @@ + + + + 10 + + ( 0 5 0 5 ) + + /icub/joint_vsens/right_arm:i + + + right_arm_virtual_strain + + + + diff --git a/iCubGenova01_nws/wrappers/VFT/right_leg_VFT_wrapper.xml b/iCubGenova01_nws/wrappers/VFT/right_leg_VFT_wrapper.xml new file mode 100644 index 0000000000..e2cb6126b5 --- /dev/null +++ b/iCubGenova01_nws/wrappers/VFT/right_leg_VFT_wrapper.xml @@ -0,0 +1,16 @@ + + + + 10 + + ( 0 5 0 5 ) + + 6 + /icub/joint_vsens/right_leg:i + + + right_leg_virtual_strain + + + + diff --git a/iCubGenova01_nws/wrappers/VFT/torso_VFT_wrapper.xml b/iCubGenova01_nws/wrappers/VFT/torso_VFT_wrapper.xml new file mode 100644 index 0000000000..79ade68260 --- /dev/null +++ b/iCubGenova01_nws/wrappers/VFT/torso_VFT_wrapper.xml @@ -0,0 +1,15 @@ + + + + 10 + + ( 0 5 0 5 ) + + /icub/joint_vsens/torso:i + + + torso_virtual_strain + + + + diff --git a/iCubGenova01_nws/wrappers/inertials/head-imuFilter.xml b/iCubGenova01_nws/wrappers/inertials/head-imuFilter.xml new file mode 100644 index 0000000000..9070dff156 --- /dev/null +++ b/iCubGenova01_nws/wrappers/inertials/head-imuFilter.xml @@ -0,0 +1,20 @@ + + + + + + 20 + /imuFilter + + + + + + head-inertial + + + + + diff --git a/iCubGenova01_nws/wrappers/inertials/head-imuFilter_wrapper.xml b/iCubGenova01_nws/wrappers/inertials/head-imuFilter_wrapper.xml new file mode 100644 index 0000000000..840c87bab1 --- /dev/null +++ b/iCubGenova01_nws/wrappers/inertials/head-imuFilter_wrapper.xml @@ -0,0 +1,20 @@ + + + + + + 20 + /imuFilter + + + + + + head-imuFilter + + + + + diff --git a/iCubGenova01_nws/wrappers/inertials/head-inertials_wrapper-deprecated.xml b/iCubGenova01_nws/wrappers/inertials/head-inertials_wrapper-deprecated.xml new file mode 100644 index 0000000000..8a513a7bea --- /dev/null +++ b/iCubGenova01_nws/wrappers/inertials/head-inertials_wrapper-deprecated.xml @@ -0,0 +1,19 @@ + + + + + + /icub/inertial + + + + + + head-inertial + + + + + diff --git a/iCubGenova01_nws/wrappers/inertials/head-inertials_wrapper.xml b/iCubGenova01_nws/wrappers/inertials/head-inertials_wrapper.xml new file mode 100644 index 0000000000..ab266c8715 --- /dev/null +++ b/iCubGenova01_nws/wrappers/inertials/head-inertials_wrapper.xml @@ -0,0 +1,20 @@ + + + + + + 10 + /icub/head/inertials + + + + + + head-inertial + + + + + diff --git a/iCubGenova01_nws/wrappers/motorControl/head_mc_wrapper.xml b/iCubGenova01_nws/wrappers/motorControl/head_mc_wrapper.xml new file mode 100644 index 0000000000..cf9d0c3000 --- /dev/null +++ b/iCubGenova01_nws/wrappers/motorControl/head_mc_wrapper.xml @@ -0,0 +1,18 @@ + + + + + ( 0 5 0 5 ) + + 10 + /icub/head + head + 6 + + + head_mc + head_calibrator + + + + diff --git a/iCubGenova01_nws/wrappers/motorControl/left_arm_mc_wrapper.xml b/iCubGenova01_nws/wrappers/motorControl/left_arm_mc_wrapper.xml new file mode 100644 index 0000000000..f989cc0060 --- /dev/null +++ b/iCubGenova01_nws/wrappers/motorControl/left_arm_mc_wrapper.xml @@ -0,0 +1,20 @@ + + + + + ( 0 7 0 7 ) + ( 8 15 0 7 ) + + 10 + /icub/left_arm + left_arm + 16 + + + left_arm_mc + left_hand_mc + left_arm_calibrator + + + + diff --git a/iCubGenova01_nws/wrappers/motorControl/left_leg_mc_wrapper.xml b/iCubGenova01_nws/wrappers/motorControl/left_leg_mc_wrapper.xml new file mode 100644 index 0000000000..eece297558 --- /dev/null +++ b/iCubGenova01_nws/wrappers/motorControl/left_leg_mc_wrapper.xml @@ -0,0 +1,18 @@ + + + + + ( 0 5 0 5 ) + + 10 + /icub/left_leg + left_leg + 6 + + + left_leg_mc + left_leg_calibrator + + + + diff --git a/iCubGenova01_nws/wrappers/motorControl/right_arm_mc_wrapper.xml b/iCubGenova01_nws/wrappers/motorControl/right_arm_mc_wrapper.xml new file mode 100644 index 0000000000..8aa22c41a8 --- /dev/null +++ b/iCubGenova01_nws/wrappers/motorControl/right_arm_mc_wrapper.xml @@ -0,0 +1,20 @@ + + + + + ( 0 7 0 7 ) + ( 8 15 0 7 ) + + 10 + /icub/right_arm + right_arm + 16 + + + right_arm_mc + right_hand_mc + right_arm_calibrator + + + + diff --git a/iCubGenova01_nws/wrappers/motorControl/right_leg_mc_wrapper.xml b/iCubGenova01_nws/wrappers/motorControl/right_leg_mc_wrapper.xml new file mode 100644 index 0000000000..2c9b0f7163 --- /dev/null +++ b/iCubGenova01_nws/wrappers/motorControl/right_leg_mc_wrapper.xml @@ -0,0 +1,18 @@ + + + + + ( 0 5 0 5 ) + + 10 + /icub/right_leg + right_leg + 6 + + + right_leg_mc + right_leg_calibrator + + + + diff --git a/iCubGenova01_nws/wrappers/motorControl/torso_mc_wrapper.xml b/iCubGenova01_nws/wrappers/motorControl/torso_mc_wrapper.xml new file mode 100644 index 0000000000..2ceebcd869 --- /dev/null +++ b/iCubGenova01_nws/wrappers/motorControl/torso_mc_wrapper.xml @@ -0,0 +1,18 @@ + + + + + ( 0 2 0 2 ) + + 10 + /icub/torso + torso + 3 + + + torso_mc + torso_calibrator + + + + diff --git a/iCubGenova01_nws/wrappers/skin/left_arm_accelerometers_mtb_wrapper.xml b/iCubGenova01_nws/wrappers/skin/left_arm_accelerometers_mtb_wrapper.xml new file mode 100644 index 0000000000..11d2750817 --- /dev/null +++ b/iCubGenova01_nws/wrappers/skin/left_arm_accelerometers_mtb_wrapper.xml @@ -0,0 +1,17 @@ + + + + + + 10 + left_arm_accelerometers + + + + left_arm_accelerometers_mtb + + + + + + diff --git a/iCubGenova01_nws/wrappers/skin/left_arm_skin_wrapper.xml b/iCubGenova01_nws/wrappers/skin/left_arm_skin_wrapper.xml new file mode 100644 index 0000000000..d317a95cfb --- /dev/null +++ b/iCubGenova01_nws/wrappers/skin/left_arm_skin_wrapper.xml @@ -0,0 +1,25 @@ + + + + + + 20 + 1344 + skinWrapper + + + 0 191 0 191 + 192 575 0 383 + 576 1343 0 767 + + + + + + left_arm_skin + + + + + + diff --git a/iCubGenova01_nws/wrappers/skin/left_foot_inertial_wrapper.xml b/iCubGenova01_nws/wrappers/skin/left_foot_inertial_wrapper.xml new file mode 100644 index 0000000000..ebfe62923a --- /dev/null +++ b/iCubGenova01_nws/wrappers/skin/left_foot_inertial_wrapper.xml @@ -0,0 +1,17 @@ + + + + + + 10 + left_foot_inertial + + + + left_foot_inertial_mtb + + + + + + diff --git a/iCubGenova01_nws/wrappers/skin/left_foot_skin_wrapper.xml b/iCubGenova01_nws/wrappers/skin/left_foot_skin_wrapper.xml new file mode 100644 index 0000000000..6f0a7f31c5 --- /dev/null +++ b/iCubGenova01_nws/wrappers/skin/left_foot_skin_wrapper.xml @@ -0,0 +1,23 @@ + + + + + + 20 + 384 + skinWrapper + + + 0 383 0 383 + + + + + + left_foot_skin + + + + + + diff --git a/iCubGenova01_nws/wrappers/skin/left_hand_inertial_wrapper.xml b/iCubGenova01_nws/wrappers/skin/left_hand_inertial_wrapper.xml new file mode 100644 index 0000000000..6c91de93a1 --- /dev/null +++ b/iCubGenova01_nws/wrappers/skin/left_hand_inertial_wrapper.xml @@ -0,0 +1,17 @@ + + + + + + 10 + left_hand_inertial + + + + left_hand_inertial_mtb + + + + + + diff --git a/iCubGenova01_nws/wrappers/skin/right_arm_accelerometers_mtb_wrapper.xml b/iCubGenova01_nws/wrappers/skin/right_arm_accelerometers_mtb_wrapper.xml new file mode 100644 index 0000000000..f451fc6ef5 --- /dev/null +++ b/iCubGenova01_nws/wrappers/skin/right_arm_accelerometers_mtb_wrapper.xml @@ -0,0 +1,17 @@ + + + + + + 10 + right_arm_accelerometers + + + + right_arm_accelerometers_mtb + + + + + + diff --git a/iCubGenova01_nws/wrappers/skin/right_arm_skin_wrapper.xml b/iCubGenova01_nws/wrappers/skin/right_arm_skin_wrapper.xml new file mode 100644 index 0000000000..b1d64df594 --- /dev/null +++ b/iCubGenova01_nws/wrappers/skin/right_arm_skin_wrapper.xml @@ -0,0 +1,25 @@ + + + + + + 20 + 1344 + skinWrapper + + + 0 191 0 191 + 192 575 0 383 + 576 1343 0 767 + + + + + + right_arm_skin + + + + + + diff --git a/iCubGenova01_nws/wrappers/skin/right_foot_inertial_wrapper.xml b/iCubGenova01_nws/wrappers/skin/right_foot_inertial_wrapper.xml new file mode 100644 index 0000000000..248b8511c7 --- /dev/null +++ b/iCubGenova01_nws/wrappers/skin/right_foot_inertial_wrapper.xml @@ -0,0 +1,17 @@ + + + + + + 10 + right_foot_inertial + + + + right_foot_inertial_mtb + + + + + + diff --git a/iCubGenova01_nws/wrappers/skin/right_foot_skin_wrapper.xml b/iCubGenova01_nws/wrappers/skin/right_foot_skin_wrapper.xml new file mode 100644 index 0000000000..997ab4663b --- /dev/null +++ b/iCubGenova01_nws/wrappers/skin/right_foot_skin_wrapper.xml @@ -0,0 +1,23 @@ + + + + + + 20 + 384 + skinWrapper + + + 0 383 0 383 + + + + + + right_foot_skin + + + + + + diff --git a/iCubGenova01_nws/wrappers/skin/right_hand_inertial_wrapper.xml b/iCubGenova01_nws/wrappers/skin/right_hand_inertial_wrapper.xml new file mode 100644 index 0000000000..90e14deb67 --- /dev/null +++ b/iCubGenova01_nws/wrappers/skin/right_hand_inertial_wrapper.xml @@ -0,0 +1,17 @@ + + + + + + 10 + right_hand_inertial + + + + right_hand_inertial_mtb + + + + + + diff --git a/iCubGenova01_nws/wrappers/skin/torso_accelerometers_mtb_wrapper.xml b/iCubGenova01_nws/wrappers/skin/torso_accelerometers_mtb_wrapper.xml new file mode 100644 index 0000000000..1541d9a25a --- /dev/null +++ b/iCubGenova01_nws/wrappers/skin/torso_accelerometers_mtb_wrapper.xml @@ -0,0 +1,17 @@ + + + + + + 10 + torso_accelerometers + + + + torso_accelerometers_mtb + + + + + + diff --git a/iCubGenova01_nws/wrappers/skin/torso_skin_wrapper.xml b/iCubGenova01_nws/wrappers/skin/torso_skin_wrapper.xml new file mode 100644 index 0000000000..403716cd16 --- /dev/null +++ b/iCubGenova01_nws/wrappers/skin/torso_skin_wrapper.xml @@ -0,0 +1,23 @@ + + + + + + 20 + 768 + skinWrapper + + + 0 767 0 767 + + + + + + torso_skin + + + + + + diff --git a/iCubGenova01_nws/yarprobotinterface.ini b/iCubGenova01_nws/yarprobotinterface.ini new file mode 100644 index 0000000000..f1d733b783 --- /dev/null +++ b/iCubGenova01_nws/yarprobotinterface.ini @@ -0,0 +1,2 @@ +config ./icub_all_no_legs.xml + From afe92844e19d46b1a199097958479a1e85f44856 Mon Sep 17 00:00:00 2001 From: Marco Randazzo Date: Fri, 8 Oct 2021 17:46:33 +0200 Subject: [PATCH 2/7] all motorControl nws, remappers, calibrators and cartesian controllers tested --- iCubGenova01_nws/calibrators/head_calib.xml | 6 +-- .../calibrators/left_arm_calib.xml | 6 +-- .../calibrators/left_hand_calib.xml | 2 +- .../calibrators/left_leg_calib.xml | 6 +-- .../calibrators/right_arm_calib.xml | 6 +-- .../calibrators/right_hand_calib.xml | 2 +- .../calibrators/right_leg_calib.xml | 6 +-- iCubGenova01_nws/calibrators/torso_calib.xml | 6 +-- .../cartesian/left_arm_cartesian.xml | 8 ++-- .../cartesian/right_arm_cartesian.xml | 8 ++-- .../motorControl/alljoints_mc_remapper.xml | 29 +++++++++++++++ .../motorControl/alljoints_mc_ros_wrapper.xml | 11 ++++++ .../motorControl/head_mc_remapper.xml | 16 ++++++++ .../wrappers/motorControl/head_mc_wrapper.xml | 20 +++------- .../motorControl/left_arm_mc_remapper.xml | 18 +++++++++ .../motorControl/left_arm_mc_wrapper.xml | 22 +++-------- .../motorControl/left_leg_mc_remapper.xml | 15 ++++++++ .../motorControl/left_leg_mc_wrapper.xml | 20 +++------- .../motorControl/right_arm_mc_remapper.xml | 18 +++++++++ .../motorControl/right_arm_mc_wrapper.xml | 22 +++-------- .../motorControl/right_leg_mc_remapper.xml | 15 ++++++++ .../motorControl/right_leg_mc_wrapper.xml | 20 +++------- .../motorControl/ros_alljoints_wrapper.xml | 37 +++++++++++++++++++ .../motorControl/torso_mc_remapper.xml | 16 ++++++++ .../motorControl/torso_mc_wrapper.xml | 20 +++------- 25 files changed, 239 insertions(+), 116 deletions(-) create mode 100644 iCubGenova01_nws/wrappers/motorControl/alljoints_mc_remapper.xml create mode 100644 iCubGenova01_nws/wrappers/motorControl/alljoints_mc_ros_wrapper.xml create mode 100644 iCubGenova01_nws/wrappers/motorControl/head_mc_remapper.xml create mode 100644 iCubGenova01_nws/wrappers/motorControl/left_arm_mc_remapper.xml create mode 100644 iCubGenova01_nws/wrappers/motorControl/left_leg_mc_remapper.xml create mode 100644 iCubGenova01_nws/wrappers/motorControl/right_arm_mc_remapper.xml create mode 100644 iCubGenova01_nws/wrappers/motorControl/right_leg_mc_remapper.xml create mode 100644 iCubGenova01_nws/wrappers/motorControl/ros_alljoints_wrapper.xml create mode 100644 iCubGenova01_nws/wrappers/motorControl/torso_mc_remapper.xml diff --git a/iCubGenova01_nws/calibrators/head_calib.xml b/iCubGenova01_nws/calibrators/head_calib.xml index 4d5e2f2c72..b1a3cdf41e 100644 --- a/iCubGenova01_nws/calibrators/head_calib.xml +++ b/iCubGenova01_nws/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_nws/calibrators/left_arm_calib.xml b/iCubGenova01_nws/calibrators/left_arm_calib.xml index 436a03e00f..3068b8f879 100644 --- a/iCubGenova01_nws/calibrators/left_arm_calib.xml +++ b/iCubGenova01_nws/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_nws/calibrators/left_hand_calib.xml b/iCubGenova01_nws/calibrators/left_hand_calib.xml index fd7f69c530..189d321770 100644 --- a/iCubGenova01_nws/calibrators/left_hand_calib.xml +++ b/iCubGenova01_nws/calibrators/left_hand_calib.xml @@ -34,7 +34,7 @@ (0 1 3 5) (2 4 6 7) - + left_hand_mc diff --git a/iCubGenova01_nws/calibrators/left_leg_calib.xml b/iCubGenova01_nws/calibrators/left_leg_calib.xml index 4bf02cd6b6..7bbd934759 100644 --- a/iCubGenova01_nws/calibrators/left_leg_calib.xml +++ b/iCubGenova01_nws/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_nws/calibrators/right_arm_calib.xml b/iCubGenova01_nws/calibrators/right_arm_calib.xml index 6e58584823..d8d3fb9028 100644 --- a/iCubGenova01_nws/calibrators/right_arm_calib.xml +++ b/iCubGenova01_nws/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_nws/calibrators/right_hand_calib.xml b/iCubGenova01_nws/calibrators/right_hand_calib.xml index cc26c1a1a3..d992b03427 100644 --- a/iCubGenova01_nws/calibrators/right_hand_calib.xml +++ b/iCubGenova01_nws/calibrators/right_hand_calib.xml @@ -34,7 +34,7 @@ (0 1 3 5) (2 4 6 7) - + right_hand_mc diff --git a/iCubGenova01_nws/calibrators/right_leg_calib.xml b/iCubGenova01_nws/calibrators/right_leg_calib.xml index 49616e8407..0237e68a6f 100644 --- a/iCubGenova01_nws/calibrators/right_leg_calib.xml +++ b/iCubGenova01_nws/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_nws/calibrators/torso_calib.xml b/iCubGenova01_nws/calibrators/torso_calib.xml index 5389a067f6..99f22df67b 100644 --- a/iCubGenova01_nws/calibrators/torso_calib.xml +++ b/iCubGenova01_nws/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_nws/cartesian/left_arm_cartesian.xml b/iCubGenova01_nws/cartesian/left_arm_cartesian.xml index af82286448..002f67d0aa 100644 --- a/iCubGenova01_nws/cartesian/left_arm_cartesian.xml +++ b/iCubGenova01_nws/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_nws/cartesian/right_arm_cartesian.xml b/iCubGenova01_nws/cartesian/right_arm_cartesian.xml index 347ffb75e7..9e22f70915 100644 --- a/iCubGenova01_nws/cartesian/right_arm_cartesian.xml +++ b/iCubGenova01_nws/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_nws/wrappers/motorControl/alljoints_mc_remapper.xml b/iCubGenova01_nws/wrappers/motorControl/alljoints_mc_remapper.xml new file mode 100644 index 0000000000..bba9bfc990 --- /dev/null +++ b/iCubGenova01_nws/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_nws/wrappers/motorControl/alljoints_mc_ros_wrapper.xml b/iCubGenova01_nws/wrappers/motorControl/alljoints_mc_ros_wrapper.xml new file mode 100644 index 0000000000..47d45fc9a1 --- /dev/null +++ b/iCubGenova01_nws/wrappers/motorControl/alljoints_mc_ros_wrapper.xml @@ -0,0 +1,11 @@ + + + + + /yri_controlBoard_nws_ros + /all_joints + + alljoints_remapper + + + diff --git a/iCubGenova01_nws/wrappers/motorControl/head_mc_remapper.xml b/iCubGenova01_nws/wrappers/motorControl/head_mc_remapper.xml new file mode 100644 index 0000000000..1f20a46f12 --- /dev/null +++ b/iCubGenova01_nws/wrappers/motorControl/head_mc_remapper.xml @@ -0,0 +1,16 @@ + + + + + + ( 0 5 0 5 ) + + 6 + + + head_mc + + + + + diff --git a/iCubGenova01_nws/wrappers/motorControl/head_mc_wrapper.xml b/iCubGenova01_nws/wrappers/motorControl/head_mc_wrapper.xml index cf9d0c3000..5d14888760 100644 --- a/iCubGenova01_nws/wrappers/motorControl/head_mc_wrapper.xml +++ b/iCubGenova01_nws/wrappers/motorControl/head_mc_wrapper.xml @@ -1,18 +1,10 @@ - - - ( 0 5 0 5 ) - - 10 - /icub/head - head - 6 - - - head_mc - head_calibrator - + + + /icub/head + + head_mc_remapper - + diff --git a/iCubGenova01_nws/wrappers/motorControl/left_arm_mc_remapper.xml b/iCubGenova01_nws/wrappers/motorControl/left_arm_mc_remapper.xml new file mode 100644 index 0000000000..8c47adc871 --- /dev/null +++ b/iCubGenova01_nws/wrappers/motorControl/left_arm_mc_remapper.xml @@ -0,0 +1,18 @@ + + + + + + ( 0 7 0 7 ) + ( 8 15 0 7 ) + + 16 + + + left_arm_mc + left_hand_mc + + + + + diff --git a/iCubGenova01_nws/wrappers/motorControl/left_arm_mc_wrapper.xml b/iCubGenova01_nws/wrappers/motorControl/left_arm_mc_wrapper.xml index f989cc0060..ebe11670f8 100644 --- a/iCubGenova01_nws/wrappers/motorControl/left_arm_mc_wrapper.xml +++ b/iCubGenova01_nws/wrappers/motorControl/left_arm_mc_wrapper.xml @@ -1,20 +1,10 @@ - - - ( 0 7 0 7 ) - ( 8 15 0 7 ) - - 10 - /icub/left_arm - left_arm - 16 - - - left_arm_mc - left_hand_mc - left_arm_calibrator - + + + /icub/left_arm + + left_arm_mc_remapper - + diff --git a/iCubGenova01_nws/wrappers/motorControl/left_leg_mc_remapper.xml b/iCubGenova01_nws/wrappers/motorControl/left_leg_mc_remapper.xml new file mode 100644 index 0000000000..bf8a9dd79b --- /dev/null +++ b/iCubGenova01_nws/wrappers/motorControl/left_leg_mc_remapper.xml @@ -0,0 +1,15 @@ + + + + + ( 0 5 0 5 ) + + 6 + + + left_leg_mc + left_leg_calibrator + + + + diff --git a/iCubGenova01_nws/wrappers/motorControl/left_leg_mc_wrapper.xml b/iCubGenova01_nws/wrappers/motorControl/left_leg_mc_wrapper.xml index eece297558..2b54562163 100644 --- a/iCubGenova01_nws/wrappers/motorControl/left_leg_mc_wrapper.xml +++ b/iCubGenova01_nws/wrappers/motorControl/left_leg_mc_wrapper.xml @@ -1,18 +1,10 @@ - - - ( 0 5 0 5 ) - - 10 - /icub/left_leg - left_leg - 6 - - - left_leg_mc - left_leg_calibrator - + + + /icub/left_leg + + left_leg_mc_remapper - + diff --git a/iCubGenova01_nws/wrappers/motorControl/right_arm_mc_remapper.xml b/iCubGenova01_nws/wrappers/motorControl/right_arm_mc_remapper.xml new file mode 100644 index 0000000000..8f008f1eab --- /dev/null +++ b/iCubGenova01_nws/wrappers/motorControl/right_arm_mc_remapper.xml @@ -0,0 +1,18 @@ + + + + + + ( 0 7 0 7 ) + ( 8 15 0 7 ) + + 16 + + + right_arm_mc + right_hand_mc + right_arm_calibrator + + + + diff --git a/iCubGenova01_nws/wrappers/motorControl/right_arm_mc_wrapper.xml b/iCubGenova01_nws/wrappers/motorControl/right_arm_mc_wrapper.xml index 8aa22c41a8..f980f9dd1f 100644 --- a/iCubGenova01_nws/wrappers/motorControl/right_arm_mc_wrapper.xml +++ b/iCubGenova01_nws/wrappers/motorControl/right_arm_mc_wrapper.xml @@ -1,20 +1,10 @@ - - - ( 0 7 0 7 ) - ( 8 15 0 7 ) - - 10 - /icub/right_arm - right_arm - 16 - - - right_arm_mc - right_hand_mc - right_arm_calibrator - + + + /icub/right_arm + + right_arm_mc_remapper - + diff --git a/iCubGenova01_nws/wrappers/motorControl/right_leg_mc_remapper.xml b/iCubGenova01_nws/wrappers/motorControl/right_leg_mc_remapper.xml new file mode 100644 index 0000000000..c06b1a9463 --- /dev/null +++ b/iCubGenova01_nws/wrappers/motorControl/right_leg_mc_remapper.xml @@ -0,0 +1,15 @@ + + + + + ( 0 5 0 5 ) + + 6 + + + right_leg_mc + right_leg_calibrator + + + + diff --git a/iCubGenova01_nws/wrappers/motorControl/right_leg_mc_wrapper.xml b/iCubGenova01_nws/wrappers/motorControl/right_leg_mc_wrapper.xml index 2c9b0f7163..850532c3fa 100644 --- a/iCubGenova01_nws/wrappers/motorControl/right_leg_mc_wrapper.xml +++ b/iCubGenova01_nws/wrappers/motorControl/right_leg_mc_wrapper.xml @@ -1,18 +1,10 @@ - - - ( 0 5 0 5 ) - - 10 - /icub/right_leg - right_leg - 6 - - - right_leg_mc - right_leg_calibrator - + + + /icub/right_leg + + right_leg_mc_remapper - + diff --git a/iCubGenova01_nws/wrappers/motorControl/ros_alljoints_wrapper.xml b/iCubGenova01_nws/wrappers/motorControl/ros_alljoints_wrapper.xml new file mode 100644 index 0000000000..3a66d54780 --- /dev/null +++ b/iCubGenova01_nws/wrappers/motorControl/ros_alljoints_wrapper.xml @@ -0,0 +1,37 @@ + + + + + ( 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 + + + + + + + /yri_controlBoard_nws_ros + /all_joints + + alljoints_remapper + + + \ No newline at end of file diff --git a/iCubGenova01_nws/wrappers/motorControl/torso_mc_remapper.xml b/iCubGenova01_nws/wrappers/motorControl/torso_mc_remapper.xml new file mode 100644 index 0000000000..2b4b7ffe2a --- /dev/null +++ b/iCubGenova01_nws/wrappers/motorControl/torso_mc_remapper.xml @@ -0,0 +1,16 @@ + + + + + + ( 0 2 0 2 ) + + 3 + + + torso_mc + torso_calibrator + + + + diff --git a/iCubGenova01_nws/wrappers/motorControl/torso_mc_wrapper.xml b/iCubGenova01_nws/wrappers/motorControl/torso_mc_wrapper.xml index 2ceebcd869..974bf9e8a0 100644 --- a/iCubGenova01_nws/wrappers/motorControl/torso_mc_wrapper.xml +++ b/iCubGenova01_nws/wrappers/motorControl/torso_mc_wrapper.xml @@ -1,18 +1,10 @@ - - - ( 0 2 0 2 ) - - 10 - /icub/torso - torso - 3 - - - torso_mc - torso_calibrator - + + + /icub/torso + + torso_mc_remapper - + From 244429d8cd439caa1bb80f00d47b6645b7b4852b Mon Sep 17 00:00:00 2001 From: Marco Randazzo Date: Fri, 10 Dec 2021 17:34:58 +0100 Subject: [PATCH 3/7] removed deprecated stuff --- iCubGenova01_nws/icub.xml | 1 - iCubGenova01_nws/icub_all.xml | 1 - iCubGenova01_nws/icub_all_no_legs.xml | 1 - .../head-inertials_wrapper-deprecated.xml | 19 ------------------- 4 files changed, 22 deletions(-) delete mode 100644 iCubGenova01_nws/wrappers/inertials/head-inertials_wrapper-deprecated.xml diff --git a/iCubGenova01_nws/icub.xml b/iCubGenova01_nws/icub.xml index 501c6d2475..a39aaf543c 100644 --- a/iCubGenova01_nws/icub.xml +++ b/iCubGenova01_nws/icub.xml @@ -65,7 +65,6 @@ - - head-inertial - - - - - From 1df70d2c3dd97c1d065ca911f16979a82fcec87d Mon Sep 17 00:00:00 2001 From: Marco Randazzo Date: Fri, 10 Dec 2021 17:54:15 +0100 Subject: [PATCH 4/7] updated hand calibration with Nicola's files (part1) --- .../calibrators/left_hand_calib.xml | 74 +++----- .../calibrators/right_hand_calib.xml | 76 +++----- .../hardware/motorControl/icub_left_hand.xml | 162 +++++++++-------- .../hardware/motorControl/icub_right_hand.xml | 164 +++++++++--------- iCubGenova01_nws/icub_all.xml | 14 +- iCubGenova01_nws/icub_all_no_legs.xml | 13 +- 6 files changed, 231 insertions(+), 272 deletions(-) diff --git a/iCubGenova01_nws/calibrators/left_hand_calib.xml b/iCubGenova01_nws/calibrators/left_hand_calib.xml index 189d321770..412f90f5cf 100644 --- a/iCubGenova01_nws/calibrators/left_hand_calib.xml +++ b/iCubGenova01_nws/calibrators/left_hand_calib.xml @@ -1,15 +1,15 @@ - + - + - - - 8 - Left_Hand_Calibrator - - + + + 8 + Left_Hand_Calibrator + + @@ -21,7 +21,7 @@ 3 4 4 4 4 4 4 4 - 1204.5 252.0 16.0 245.0 37.0 254.0 26.0 746.0 + 1314.1 255.0 5.0 247.0 38.0 255.0 0.0 650.0 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 @@ -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_nws/calibrators/right_hand_calib.xml b/iCubGenova01_nws/calibrators/right_hand_calib.xml index d992b03427..584bb04eb2 100644 --- a/iCubGenova01_nws/calibrators/right_hand_calib.xml +++ b/iCubGenova01_nws/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 - 1547.8 255.0 35.0 245.0 42.0 253.0 14.0 675.0 + 1742.4 255.0 5.0 196.0 13.0 207.0 22.0 627.0 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_nws/hardware/motorControl/icub_left_hand.xml b/iCubGenova01_nws/hardware/motorControl/icub_left_hand.xml index 16e05cf341..d147119762 100644 --- a/iCubGenova01_nws/hardware/motorControl/icub_left_hand.xml +++ b/iCubGenova01_nws/hardware/motorControl/icub_left_hand.xml @@ -1,88 +1,86 @@ - - - + + + - - - 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" - 9.85 -2.433 -2.712 -2.544 -2.494 -2.822 -2.694 -2.096 - 112.22 -103.56 -175.90 -96.29 -184.83 -90.00 -179.65 -355.92 + 7.611 -2.478 -2.765 -2.744 -2.406 -2.833 -2.576 -2.040 + 162.66 -102.91 -171.81 -90.00 -185.79 -90.00 -170.00 -318.63 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_nws/hardware/motorControl/icub_right_hand.xml b/iCubGenova01_nws/hardware/motorControl/icub_right_hand.xml index 1b7c9d2a0e..4381550b58 100644 --- a/iCubGenova01_nws/hardware/motorControl/icub_right_hand.xml +++ b/iCubGenova01_nws/hardware/motorControl/icub_right_hand.xml @@ -1,88 +1,86 @@ - - - + + + - - - 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" - 10.778 -2.344 -2.771 -2.500 -2.559 -2.733 -2.794 -1.400 - 133.61 -107.06 -180.83 -98.00 -186.41 -92.56 -175.01 -480.70 + 6.844 -1.8 -2.441 -2.078 -2.365 -2.300 -2.359 -1.716 + 244.58 -100.0 -172.05 -94.33 -175.50 -90.00 -179.33 -365.38 1333 1333 1333 1333 1333 1333 1333 1333 - 1000.0 1000.0 1000.0 1000.0 1000.0 1000.0 1000.0 1000.0 + 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 + + + + -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 + - 0 0 0 0 0 0 0 0 - 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 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_nws/icub_all.xml b/iCubGenova01_nws/icub_all.xml index 4819b381d6..3215d1c55a 100644 --- a/iCubGenova01_nws/icub_all.xml +++ b/iCubGenova01_nws/icub_all.xml @@ -5,7 +5,11 @@ - + + + + @@ -13,6 +17,12 @@ + + + + + + @@ -21,7 +31,7 @@ - + diff --git a/iCubGenova01_nws/icub_all_no_legs.xml b/iCubGenova01_nws/icub_all_no_legs.xml index d1a93d0f32..ea57b5d833 100644 --- a/iCubGenova01_nws/icub_all_no_legs.xml +++ b/iCubGenova01_nws/icub_all_no_legs.xml @@ -5,19 +5,27 @@ - + + + + + + + + - + @@ -58,6 +66,7 @@ + 3 4 4 4 4 4 4 4 - 1742.4 255.0 5.0 196.0 13.0 207.0 22.0 627.0 + 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 diff --git a/iCubGenova01_nws/hardware/motorControl/icub_right_hand.xml b/iCubGenova01_nws/hardware/motorControl/icub_right_hand.xml index 4381550b58..bfa796434c 100644 --- a/iCubGenova01_nws/hardware/motorControl/icub_right_hand.xml +++ b/iCubGenova01_nws/hardware/motorControl/icub_right_hand.xml @@ -31,8 +31,8 @@ 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 -1.716 - 244.58 -100.0 -172.05 -94.33 -175.50 -90.00 -179.33 -365.38 + 6.844 -1.8 -2.441 -2.078 -2.365 -2.300 -2.359 -1.520 + 244.58 -100.0 -172.05 -94.33 -175.50 -90.00 -179.33 -381.58 1333 1333 1333 1333 1333 1333 1333 1333 600.0 600.0 1000.0 1000.0 1000.0 1000.0 1000.0 1000.0 From 433cef5478de005d4ba260e448a7380a023d622f Mon Sep 17 00:00:00 2001 From: Marco Randazzo Date: Fri, 10 Dec 2021 18:04:29 +0100 Subject: [PATCH 6/7] removed icubGenova01. iCubGenova01nws has been renamed to iCubGenova01 --- iCubGenova01/calibrators/head_calib.xml | 6 +- iCubGenova01/calibrators/left_arm_calib.xml | 6 +- iCubGenova01/calibrators/left_hand_calib.xml | 72 +-- iCubGenova01/calibrators/left_leg_calib.xml | 6 +- iCubGenova01/calibrators/right_arm_calib.xml | 6 +- iCubGenova01/calibrators/right_hand_calib.xml | 76 +--- iCubGenova01/calibrators/right_leg_calib.xml | 6 +- iCubGenova01/calibrators/torso_calib.xml | 6 +- iCubGenova01/cartesian/left_arm_cartesian.xml | 8 +- .../cartesian/right_arm_cartesian.xml | 8 +- .../hardware/motorControl/icub_left_hand.xml | 158 ++++--- .../hardware/motorControl/icub_right_hand.xml | 154 ++++--- iCubGenova01/icub.xml | 1 - iCubGenova01/icub_all.xml | 15 +- iCubGenova01/icub_all_no_legs.xml | 12 +- iCubGenova01/test/test_xsens.sh | 0 .../head-inertials_wrapper-deprecated.xml | 19 - .../motorControl/alljoints_mc_remapper.xml | 0 .../motorControl/alljoints_mc_ros_wrapper.xml | 0 .../motorControl/head_mc_remapper.xml | 0 .../wrappers/motorControl/head_mc_wrapper.xml | 20 +- .../motorControl/left_arm_mc_remapper.xml | 0 .../motorControl/left_arm_mc_wrapper.xml | 22 +- .../motorControl/left_leg_mc_remapper.xml | 0 .../motorControl/left_leg_mc_wrapper.xml | 20 +- .../motorControl/right_arm_mc_remapper.xml | 0 .../motorControl/right_arm_mc_wrapper.xml | 22 +- .../motorControl/right_leg_mc_remapper.xml | 0 .../motorControl/right_leg_mc_wrapper.xml | 20 +- .../motorControl/ros_alljoints_wrapper.xml | 0 .../motorControl/torso_mc_remapper.xml | 0 .../motorControl/torso_mc_wrapper.xml | 20 +- iCubGenova01_nws/CMakeLists.txt | 15 - iCubGenova01_nws/calibrators/head_calib.xml | 45 -- .../calibrators/left_arm_calib.xml | 70 --- .../calibrators/left_hand_calib.xml | 47 -- .../calibrators/left_leg_calib.xml | 42 -- .../calibrators/right_arm_calib.xml | 69 --- .../calibrators/right_hand_calib.xml | 47 -- .../calibrators/right_leg_calib.xml | 42 -- iCubGenova01_nws/calibrators/torso_calib.xml | 42 -- .../camera/ServerGrabberDualDragon.ini | 9 - .../camera/ServerGrabberDualDragon640_480.ini | 7 - .../camera/ServerGrabberDualDragonBayer.ini | 9 - .../ServerGrabberDualDragonBayer640_480.ini | 9 - .../camera/dragonfly2_config_left.ini | 18 - .../camera/dragonfly2_config_left640_480.ini | 18 - .../dragonfly2_config_left_bayer_320_240.ini | 19 - .../dragonfly2_config_left_bayer_640_480.ini | 19 - .../camera/dragonfly2_config_right.ini | 18 - .../camera/dragonfly2_config_right640_480.ini | 18 - .../dragonfly2_config_right_bayer_320_240.ini | 19 - .../dragonfly2_config_right_bayer_640_480.ini | 19 - .../cartesian/left_arm_cartesian.xml | 53 --- .../cartesian/right_arm_cartesian.xml | 53 --- iCubGenova01_nws/cartesianSolver.ini | 69 --- iCubGenova01_nws/firmwareUpdate.txt | 39 -- iCubGenova01_nws/firmwareupdater.ini | 11 - iCubGenova01_nws/general.xml | 12 - .../hardware/FT/left_arm_strain.xml | 16 - .../hardware/FT/left_foot_strain.xml | 16 - .../hardware/FT/left_leg_strain.xml | 16 - .../hardware/FT/right_arm_strain.xml | 16 - .../hardware/FT/right_foot_double_strain.xml | 15 - .../hardware/FT/right_foot_strain.xml | 15 - .../hardware/FT/right_leg_strain.xml | 16 - .../hardware/MAIS/left_hand_mais.xml | 15 - .../hardware/MAIS/right_hand_mais.xml | 15 - .../hardware/VFT/left_arm_virtual_strain.xml | 16 - .../hardware/VFT/left_leg_virtual_strain.xml | 16 - .../hardware/VFT/right_arm_virtual_strain.xml | 16 - .../hardware/VFT/right_leg_virtual_strain.xml | 16 - .../hardware/VFT/torso_virtual_strain.xml | 16 - .../hardware/inertials/head-inertial.xml | 6 - .../hardware/motorControl/icub_head.xml | 72 --- .../hardware/motorControl/icub_head.xml.bak | 76 ---- .../hardware/motorControl/icub_head_test.xml | 74 ---- .../hardware/motorControl/icub_left_arm.xml | 91 ---- .../hardware/motorControl/icub_left_hand.xml | 86 ---- .../hardware/motorControl/icub_left_leg.xml | 89 ---- .../hardware/motorControl/icub_right_arm.xml | 88 ---- .../hardware/motorControl/icub_right_hand.xml | 86 ---- .../hardware/motorControl/icub_right_leg.xml | 112 ----- .../hardware/motorControl/icub_torso.xml | 130 ------ .../hardware/motorSpecs/icub_head.xml | 60 --- .../hardware/motorSpecs/icub_left_arm.xml | 173 -------- .../hardware/motorSpecs/icub_left_hand.xml | 68 --- .../hardware/motorSpecs/icub_left_leg.xml | 121 ----- .../hardware/motorSpecs/icub_right_arm.xml | 138 ------ .../hardware/motorSpecs/icub_right_hand.xml | 13 - .../hardware/motorSpecs/icub_right_leg.xml | 125 ------ .../hardware/motorSpecs/icub_torso.xml | 118 ----- .../skin/left_arm-cfw2_can7-skinSpec.xml | 29 -- iCubGenova01_nws/hardware/skin/left_arm.xml | 16 - .../skin/left_arm_accelerometers_mtb.xml | 14 - iCubGenova01_nws/hardware/skin/left_foot.xml | 12 - .../hardware/skin/left_foot_inertial_mtb.xml | 13 - .../hardware/skin/left_hand_inertial_mtb.xml | 13 - .../skin/right_arm-cfw2_can8-skinSpec.xml | 29 -- iCubGenova01_nws/hardware/skin/right_arm.xml | 16 - .../skin/right_arm_accelerometers_mtb.xml | 14 - iCubGenova01_nws/hardware/skin/right_foot.xml | 12 - .../hardware/skin/right_foot_inertial_mtb.xml | 13 - .../hardware/skin/right_hand_inertial_mtb.xml | 13 - .../skin/torso-cfw2_can9-skinSpec.xml | 38 -- iCubGenova01_nws/hardware/skin/torso.xml | 17 - .../skin/torso_accelerometers_mtb.xml | 14 - iCubGenova01_nws/iKinGazeCtrl.ini | 8 - iCubGenova01_nws/icub.xml | 99 ----- iCubGenova01_nws/icubEyes.ini | 45 -- iCubGenova01_nws/icub_all.xml | 110 ----- iCubGenova01_nws/icub_all_no_legs.xml | 95 ---- iCubGenova01_nws/icub_analog_only.xml | 103 ----- iCubGenova01_nws/network.iCubGenova01.xml | 416 ------------------ iCubGenova01_nws/pf3dTracker.ini | 98 ----- iCubGenova01_nws/skinManAll.ini | 44 -- iCubGenova01_nws/test/test_xsens.sh | 7 - .../wrappers/FT/left_arm_FT_wrapper.xml | 17 - .../wrappers/FT/left_foot_FT_wrapper.xml | 17 - .../wrappers/FT/left_leg_FT_wrapper.xml | 17 - .../wrappers/FT/right_arm_FT_wrapper.xml | 17 - .../wrappers/FT/right_foot_FT_wrapper.xml | 17 - .../wrappers/FT/right_leg_FT_wrapper.xml | 17 - .../wrappers/MAIS/left_hand_mais_wrapper.xml | 17 - .../wrappers/MAIS/right_hand_mais_wrapper.xml | 17 - .../wrappers/VFT/left_arm_VFT_wrapper.xml | 15 - .../wrappers/VFT/left_leg_VFT_wrapper.xml | 15 - .../wrappers/VFT/right_arm_VFT_wrapper.xml | 15 - .../wrappers/VFT/right_leg_VFT_wrapper.xml | 16 - .../wrappers/VFT/torso_VFT_wrapper.xml | 15 - .../wrappers/inertials/head-imuFilter.xml | 20 - .../inertials/head-imuFilter_wrapper.xml | 20 - .../inertials/head-inertials_wrapper.xml | 20 - .../wrappers/motorControl/head_mc_wrapper.xml | 10 - .../motorControl/left_arm_mc_wrapper.xml | 10 - .../motorControl/left_leg_mc_wrapper.xml | 10 - .../motorControl/right_arm_mc_wrapper.xml | 10 - .../motorControl/right_leg_mc_wrapper.xml | 10 - .../motorControl/torso_mc_wrapper.xml | 10 - .../left_arm_accelerometers_mtb_wrapper.xml | 17 - .../wrappers/skin/left_arm_skin_wrapper.xml | 25 -- .../skin/left_foot_inertial_wrapper.xml | 17 - .../wrappers/skin/left_foot_skin_wrapper.xml | 23 - .../skin/left_hand_inertial_wrapper.xml | 17 - .../right_arm_accelerometers_mtb_wrapper.xml | 17 - .../wrappers/skin/right_arm_skin_wrapper.xml | 25 -- .../skin/right_foot_inertial_wrapper.xml | 17 - .../wrappers/skin/right_foot_skin_wrapper.xml | 23 - .../skin/right_hand_inertial_wrapper.xml | 17 - .../skin/torso_accelerometers_mtb_wrapper.xml | 17 - .../wrappers/skin/torso_skin_wrapper.xml | 23 - iCubGenova01_nws/yarprobotinterface.ini | 2 - 152 files changed, 284 insertions(+), 5043 deletions(-) mode change 100755 => 100644 iCubGenova01/test/test_xsens.sh delete mode 100644 iCubGenova01/wrappers/inertials/head-inertials_wrapper-deprecated.xml rename {iCubGenova01_nws => iCubGenova01}/wrappers/motorControl/alljoints_mc_remapper.xml (100%) rename {iCubGenova01_nws => iCubGenova01}/wrappers/motorControl/alljoints_mc_ros_wrapper.xml (100%) rename {iCubGenova01_nws => iCubGenova01}/wrappers/motorControl/head_mc_remapper.xml (100%) rename {iCubGenova01_nws => iCubGenova01}/wrappers/motorControl/left_arm_mc_remapper.xml (100%) rename {iCubGenova01_nws => iCubGenova01}/wrappers/motorControl/left_leg_mc_remapper.xml (100%) rename {iCubGenova01_nws => iCubGenova01}/wrappers/motorControl/right_arm_mc_remapper.xml (100%) rename {iCubGenova01_nws => iCubGenova01}/wrappers/motorControl/right_leg_mc_remapper.xml (100%) rename {iCubGenova01_nws => iCubGenova01}/wrappers/motorControl/ros_alljoints_wrapper.xml (100%) rename {iCubGenova01_nws => iCubGenova01}/wrappers/motorControl/torso_mc_remapper.xml (100%) delete mode 100644 iCubGenova01_nws/CMakeLists.txt delete mode 100644 iCubGenova01_nws/calibrators/head_calib.xml delete mode 100644 iCubGenova01_nws/calibrators/left_arm_calib.xml delete mode 100644 iCubGenova01_nws/calibrators/left_hand_calib.xml delete mode 100644 iCubGenova01_nws/calibrators/left_leg_calib.xml delete mode 100644 iCubGenova01_nws/calibrators/right_arm_calib.xml delete mode 100644 iCubGenova01_nws/calibrators/right_hand_calib.xml delete mode 100644 iCubGenova01_nws/calibrators/right_leg_calib.xml delete mode 100644 iCubGenova01_nws/calibrators/torso_calib.xml delete mode 100644 iCubGenova01_nws/camera/ServerGrabberDualDragon.ini delete mode 100644 iCubGenova01_nws/camera/ServerGrabberDualDragon640_480.ini delete mode 100644 iCubGenova01_nws/camera/ServerGrabberDualDragonBayer.ini delete mode 100644 iCubGenova01_nws/camera/ServerGrabberDualDragonBayer640_480.ini delete mode 100644 iCubGenova01_nws/camera/dragonfly2_config_left.ini delete mode 100644 iCubGenova01_nws/camera/dragonfly2_config_left640_480.ini delete mode 100644 iCubGenova01_nws/camera/dragonfly2_config_left_bayer_320_240.ini delete mode 100644 iCubGenova01_nws/camera/dragonfly2_config_left_bayer_640_480.ini delete mode 100644 iCubGenova01_nws/camera/dragonfly2_config_right.ini delete mode 100644 iCubGenova01_nws/camera/dragonfly2_config_right640_480.ini delete mode 100644 iCubGenova01_nws/camera/dragonfly2_config_right_bayer_320_240.ini delete mode 100644 iCubGenova01_nws/camera/dragonfly2_config_right_bayer_640_480.ini delete mode 100644 iCubGenova01_nws/cartesian/left_arm_cartesian.xml delete mode 100644 iCubGenova01_nws/cartesian/right_arm_cartesian.xml delete mode 100644 iCubGenova01_nws/cartesianSolver.ini delete mode 100644 iCubGenova01_nws/firmwareUpdate.txt delete mode 100644 iCubGenova01_nws/firmwareupdater.ini delete mode 100644 iCubGenova01_nws/general.xml delete mode 100644 iCubGenova01_nws/hardware/FT/left_arm_strain.xml delete mode 100644 iCubGenova01_nws/hardware/FT/left_foot_strain.xml delete mode 100644 iCubGenova01_nws/hardware/FT/left_leg_strain.xml delete mode 100644 iCubGenova01_nws/hardware/FT/right_arm_strain.xml delete mode 100644 iCubGenova01_nws/hardware/FT/right_foot_double_strain.xml delete mode 100644 iCubGenova01_nws/hardware/FT/right_foot_strain.xml delete mode 100644 iCubGenova01_nws/hardware/FT/right_leg_strain.xml delete mode 100644 iCubGenova01_nws/hardware/MAIS/left_hand_mais.xml delete mode 100644 iCubGenova01_nws/hardware/MAIS/right_hand_mais.xml delete mode 100644 iCubGenova01_nws/hardware/VFT/left_arm_virtual_strain.xml delete mode 100644 iCubGenova01_nws/hardware/VFT/left_leg_virtual_strain.xml delete mode 100644 iCubGenova01_nws/hardware/VFT/right_arm_virtual_strain.xml delete mode 100644 iCubGenova01_nws/hardware/VFT/right_leg_virtual_strain.xml delete mode 100644 iCubGenova01_nws/hardware/VFT/torso_virtual_strain.xml delete mode 100644 iCubGenova01_nws/hardware/inertials/head-inertial.xml delete mode 100644 iCubGenova01_nws/hardware/motorControl/icub_head.xml delete mode 100644 iCubGenova01_nws/hardware/motorControl/icub_head.xml.bak delete mode 100644 iCubGenova01_nws/hardware/motorControl/icub_head_test.xml delete mode 100644 iCubGenova01_nws/hardware/motorControl/icub_left_arm.xml delete mode 100644 iCubGenova01_nws/hardware/motorControl/icub_left_hand.xml delete mode 100644 iCubGenova01_nws/hardware/motorControl/icub_left_leg.xml delete mode 100644 iCubGenova01_nws/hardware/motorControl/icub_right_arm.xml delete mode 100644 iCubGenova01_nws/hardware/motorControl/icub_right_hand.xml delete mode 100644 iCubGenova01_nws/hardware/motorControl/icub_right_leg.xml delete mode 100644 iCubGenova01_nws/hardware/motorControl/icub_torso.xml delete mode 100644 iCubGenova01_nws/hardware/motorSpecs/icub_head.xml delete mode 100644 iCubGenova01_nws/hardware/motorSpecs/icub_left_arm.xml delete mode 100644 iCubGenova01_nws/hardware/motorSpecs/icub_left_hand.xml delete mode 100644 iCubGenova01_nws/hardware/motorSpecs/icub_left_leg.xml delete mode 100644 iCubGenova01_nws/hardware/motorSpecs/icub_right_arm.xml delete mode 100644 iCubGenova01_nws/hardware/motorSpecs/icub_right_hand.xml delete mode 100644 iCubGenova01_nws/hardware/motorSpecs/icub_right_leg.xml delete mode 100644 iCubGenova01_nws/hardware/motorSpecs/icub_torso.xml delete mode 100644 iCubGenova01_nws/hardware/skin/left_arm-cfw2_can7-skinSpec.xml delete mode 100644 iCubGenova01_nws/hardware/skin/left_arm.xml delete mode 100644 iCubGenova01_nws/hardware/skin/left_arm_accelerometers_mtb.xml delete mode 100644 iCubGenova01_nws/hardware/skin/left_foot.xml delete mode 100644 iCubGenova01_nws/hardware/skin/left_foot_inertial_mtb.xml delete mode 100644 iCubGenova01_nws/hardware/skin/left_hand_inertial_mtb.xml delete mode 100644 iCubGenova01_nws/hardware/skin/right_arm-cfw2_can8-skinSpec.xml delete mode 100644 iCubGenova01_nws/hardware/skin/right_arm.xml delete mode 100644 iCubGenova01_nws/hardware/skin/right_arm_accelerometers_mtb.xml delete mode 100644 iCubGenova01_nws/hardware/skin/right_foot.xml delete mode 100644 iCubGenova01_nws/hardware/skin/right_foot_inertial_mtb.xml delete mode 100644 iCubGenova01_nws/hardware/skin/right_hand_inertial_mtb.xml delete mode 100644 iCubGenova01_nws/hardware/skin/torso-cfw2_can9-skinSpec.xml delete mode 100644 iCubGenova01_nws/hardware/skin/torso.xml delete mode 100644 iCubGenova01_nws/hardware/skin/torso_accelerometers_mtb.xml delete mode 100644 iCubGenova01_nws/iKinGazeCtrl.ini delete mode 100644 iCubGenova01_nws/icub.xml delete mode 100644 iCubGenova01_nws/icubEyes.ini delete mode 100644 iCubGenova01_nws/icub_all.xml delete mode 100644 iCubGenova01_nws/icub_all_no_legs.xml delete mode 100644 iCubGenova01_nws/icub_analog_only.xml delete mode 100644 iCubGenova01_nws/network.iCubGenova01.xml delete mode 100644 iCubGenova01_nws/pf3dTracker.ini delete mode 100644 iCubGenova01_nws/skinManAll.ini delete mode 100644 iCubGenova01_nws/test/test_xsens.sh delete mode 100644 iCubGenova01_nws/wrappers/FT/left_arm_FT_wrapper.xml delete mode 100644 iCubGenova01_nws/wrappers/FT/left_foot_FT_wrapper.xml delete mode 100644 iCubGenova01_nws/wrappers/FT/left_leg_FT_wrapper.xml delete mode 100644 iCubGenova01_nws/wrappers/FT/right_arm_FT_wrapper.xml delete mode 100644 iCubGenova01_nws/wrappers/FT/right_foot_FT_wrapper.xml delete mode 100644 iCubGenova01_nws/wrappers/FT/right_leg_FT_wrapper.xml delete mode 100644 iCubGenova01_nws/wrappers/MAIS/left_hand_mais_wrapper.xml delete mode 100644 iCubGenova01_nws/wrappers/MAIS/right_hand_mais_wrapper.xml delete mode 100644 iCubGenova01_nws/wrappers/VFT/left_arm_VFT_wrapper.xml delete mode 100644 iCubGenova01_nws/wrappers/VFT/left_leg_VFT_wrapper.xml delete mode 100644 iCubGenova01_nws/wrappers/VFT/right_arm_VFT_wrapper.xml delete mode 100644 iCubGenova01_nws/wrappers/VFT/right_leg_VFT_wrapper.xml delete mode 100644 iCubGenova01_nws/wrappers/VFT/torso_VFT_wrapper.xml delete mode 100644 iCubGenova01_nws/wrappers/inertials/head-imuFilter.xml delete mode 100644 iCubGenova01_nws/wrappers/inertials/head-imuFilter_wrapper.xml delete mode 100644 iCubGenova01_nws/wrappers/inertials/head-inertials_wrapper.xml delete mode 100644 iCubGenova01_nws/wrappers/motorControl/head_mc_wrapper.xml delete mode 100644 iCubGenova01_nws/wrappers/motorControl/left_arm_mc_wrapper.xml delete mode 100644 iCubGenova01_nws/wrappers/motorControl/left_leg_mc_wrapper.xml delete mode 100644 iCubGenova01_nws/wrappers/motorControl/right_arm_mc_wrapper.xml delete mode 100644 iCubGenova01_nws/wrappers/motorControl/right_leg_mc_wrapper.xml delete mode 100644 iCubGenova01_nws/wrappers/motorControl/torso_mc_wrapper.xml delete mode 100644 iCubGenova01_nws/wrappers/skin/left_arm_accelerometers_mtb_wrapper.xml delete mode 100644 iCubGenova01_nws/wrappers/skin/left_arm_skin_wrapper.xml delete mode 100644 iCubGenova01_nws/wrappers/skin/left_foot_inertial_wrapper.xml delete mode 100644 iCubGenova01_nws/wrappers/skin/left_foot_skin_wrapper.xml delete mode 100644 iCubGenova01_nws/wrappers/skin/left_hand_inertial_wrapper.xml delete mode 100644 iCubGenova01_nws/wrappers/skin/right_arm_accelerometers_mtb_wrapper.xml delete mode 100644 iCubGenova01_nws/wrappers/skin/right_arm_skin_wrapper.xml delete mode 100644 iCubGenova01_nws/wrappers/skin/right_foot_inertial_wrapper.xml delete mode 100644 iCubGenova01_nws/wrappers/skin/right_foot_skin_wrapper.xml delete mode 100644 iCubGenova01_nws/wrappers/skin/right_hand_inertial_wrapper.xml delete mode 100644 iCubGenova01_nws/wrappers/skin/torso_accelerometers_mtb_wrapper.xml delete mode 100644 iCubGenova01_nws/wrappers/skin/torso_skin_wrapper.xml delete mode 100644 iCubGenova01_nws/yarprobotinterface.ini 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..a39aaf543c 100644 --- a/iCubGenova01/icub.xml +++ b/iCubGenova01/icub.xml @@ -65,7 +65,6 @@ - - + + + + @@ -13,6 +17,12 @@ + + + + + + @@ -21,7 +31,7 @@ - + @@ -70,7 +80,6 @@ - - + + + + + + + + - + diff --git a/iCubGenova01/test/test_xsens.sh b/iCubGenova01/test/test_xsens.sh old mode 100755 new mode 100644 diff --git a/iCubGenova01/wrappers/inertials/head-inertials_wrapper-deprecated.xml b/iCubGenova01/wrappers/inertials/head-inertials_wrapper-deprecated.xml deleted file mode 100644 index 8a513a7bea..0000000000 --- a/iCubGenova01/wrappers/inertials/head-inertials_wrapper-deprecated.xml +++ /dev/null @@ -1,19 +0,0 @@ - - - - - - /icub/inertial - - - - - - head-inertial - - - - - diff --git a/iCubGenova01_nws/wrappers/motorControl/alljoints_mc_remapper.xml b/iCubGenova01/wrappers/motorControl/alljoints_mc_remapper.xml similarity index 100% rename from iCubGenova01_nws/wrappers/motorControl/alljoints_mc_remapper.xml rename to iCubGenova01/wrappers/motorControl/alljoints_mc_remapper.xml diff --git a/iCubGenova01_nws/wrappers/motorControl/alljoints_mc_ros_wrapper.xml b/iCubGenova01/wrappers/motorControl/alljoints_mc_ros_wrapper.xml similarity index 100% rename from iCubGenova01_nws/wrappers/motorControl/alljoints_mc_ros_wrapper.xml rename to iCubGenova01/wrappers/motorControl/alljoints_mc_ros_wrapper.xml diff --git a/iCubGenova01_nws/wrappers/motorControl/head_mc_remapper.xml b/iCubGenova01/wrappers/motorControl/head_mc_remapper.xml similarity index 100% rename from iCubGenova01_nws/wrappers/motorControl/head_mc_remapper.xml rename to iCubGenova01/wrappers/motorControl/head_mc_remapper.xml diff --git a/iCubGenova01/wrappers/motorControl/head_mc_wrapper.xml b/iCubGenova01/wrappers/motorControl/head_mc_wrapper.xml index cf9d0c3000..5d14888760 100644 --- a/iCubGenova01/wrappers/motorControl/head_mc_wrapper.xml +++ b/iCubGenova01/wrappers/motorControl/head_mc_wrapper.xml @@ -1,18 +1,10 @@ - - - ( 0 5 0 5 ) - - 10 - /icub/head - head - 6 - - - head_mc - head_calibrator - + + + /icub/head + + head_mc_remapper - + diff --git a/iCubGenova01_nws/wrappers/motorControl/left_arm_mc_remapper.xml b/iCubGenova01/wrappers/motorControl/left_arm_mc_remapper.xml similarity index 100% rename from iCubGenova01_nws/wrappers/motorControl/left_arm_mc_remapper.xml rename to iCubGenova01/wrappers/motorControl/left_arm_mc_remapper.xml diff --git a/iCubGenova01/wrappers/motorControl/left_arm_mc_wrapper.xml b/iCubGenova01/wrappers/motorControl/left_arm_mc_wrapper.xml index f989cc0060..ebe11670f8 100644 --- a/iCubGenova01/wrappers/motorControl/left_arm_mc_wrapper.xml +++ b/iCubGenova01/wrappers/motorControl/left_arm_mc_wrapper.xml @@ -1,20 +1,10 @@ - - - ( 0 7 0 7 ) - ( 8 15 0 7 ) - - 10 - /icub/left_arm - left_arm - 16 - - - left_arm_mc - left_hand_mc - left_arm_calibrator - + + + /icub/left_arm + + left_arm_mc_remapper - + diff --git a/iCubGenova01_nws/wrappers/motorControl/left_leg_mc_remapper.xml b/iCubGenova01/wrappers/motorControl/left_leg_mc_remapper.xml similarity index 100% rename from iCubGenova01_nws/wrappers/motorControl/left_leg_mc_remapper.xml rename to iCubGenova01/wrappers/motorControl/left_leg_mc_remapper.xml diff --git a/iCubGenova01/wrappers/motorControl/left_leg_mc_wrapper.xml b/iCubGenova01/wrappers/motorControl/left_leg_mc_wrapper.xml index eece297558..2b54562163 100644 --- a/iCubGenova01/wrappers/motorControl/left_leg_mc_wrapper.xml +++ b/iCubGenova01/wrappers/motorControl/left_leg_mc_wrapper.xml @@ -1,18 +1,10 @@ - - - ( 0 5 0 5 ) - - 10 - /icub/left_leg - left_leg - 6 - - - left_leg_mc - left_leg_calibrator - + + + /icub/left_leg + + left_leg_mc_remapper - + diff --git a/iCubGenova01_nws/wrappers/motorControl/right_arm_mc_remapper.xml b/iCubGenova01/wrappers/motorControl/right_arm_mc_remapper.xml similarity index 100% rename from iCubGenova01_nws/wrappers/motorControl/right_arm_mc_remapper.xml rename to iCubGenova01/wrappers/motorControl/right_arm_mc_remapper.xml diff --git a/iCubGenova01/wrappers/motorControl/right_arm_mc_wrapper.xml b/iCubGenova01/wrappers/motorControl/right_arm_mc_wrapper.xml index 8aa22c41a8..f980f9dd1f 100644 --- a/iCubGenova01/wrappers/motorControl/right_arm_mc_wrapper.xml +++ b/iCubGenova01/wrappers/motorControl/right_arm_mc_wrapper.xml @@ -1,20 +1,10 @@ - - - ( 0 7 0 7 ) - ( 8 15 0 7 ) - - 10 - /icub/right_arm - right_arm - 16 - - - right_arm_mc - right_hand_mc - right_arm_calibrator - + + + /icub/right_arm + + right_arm_mc_remapper - + diff --git a/iCubGenova01_nws/wrappers/motorControl/right_leg_mc_remapper.xml b/iCubGenova01/wrappers/motorControl/right_leg_mc_remapper.xml similarity index 100% rename from iCubGenova01_nws/wrappers/motorControl/right_leg_mc_remapper.xml rename to iCubGenova01/wrappers/motorControl/right_leg_mc_remapper.xml diff --git a/iCubGenova01/wrappers/motorControl/right_leg_mc_wrapper.xml b/iCubGenova01/wrappers/motorControl/right_leg_mc_wrapper.xml index 2c9b0f7163..850532c3fa 100644 --- a/iCubGenova01/wrappers/motorControl/right_leg_mc_wrapper.xml +++ b/iCubGenova01/wrappers/motorControl/right_leg_mc_wrapper.xml @@ -1,18 +1,10 @@ - - - ( 0 5 0 5 ) - - 10 - /icub/right_leg - right_leg - 6 - - - right_leg_mc - right_leg_calibrator - + + + /icub/right_leg + + right_leg_mc_remapper - + diff --git a/iCubGenova01_nws/wrappers/motorControl/ros_alljoints_wrapper.xml b/iCubGenova01/wrappers/motorControl/ros_alljoints_wrapper.xml similarity index 100% rename from iCubGenova01_nws/wrappers/motorControl/ros_alljoints_wrapper.xml rename to iCubGenova01/wrappers/motorControl/ros_alljoints_wrapper.xml diff --git a/iCubGenova01_nws/wrappers/motorControl/torso_mc_remapper.xml b/iCubGenova01/wrappers/motorControl/torso_mc_remapper.xml similarity index 100% rename from iCubGenova01_nws/wrappers/motorControl/torso_mc_remapper.xml rename to iCubGenova01/wrappers/motorControl/torso_mc_remapper.xml diff --git a/iCubGenova01/wrappers/motorControl/torso_mc_wrapper.xml b/iCubGenova01/wrappers/motorControl/torso_mc_wrapper.xml index 2ceebcd869..974bf9e8a0 100644 --- a/iCubGenova01/wrappers/motorControl/torso_mc_wrapper.xml +++ b/iCubGenova01/wrappers/motorControl/torso_mc_wrapper.xml @@ -1,18 +1,10 @@ - - - ( 0 2 0 2 ) - - 10 - /icub/torso - torso - 3 - - - torso_mc - torso_calibrator - + + + /icub/torso + + torso_mc_remapper - + diff --git a/iCubGenova01_nws/CMakeLists.txt b/iCubGenova01_nws/CMakeLists.txt deleted file mode 100644 index bda8749e20..0000000000 --- a/iCubGenova01_nws/CMakeLists.txt +++ /dev/null @@ -1,15 +0,0 @@ -set(appname iCubGenova01) - -file(GLOB xml ${CMAKE_CURRENT_SOURCE_DIR}/*.xml) -file(GLOB ini ${CMAKE_CURRENT_SOURCE_DIR}/*.ini) -set(whatsleft firmwareUpdate.txt) - -yarp_install(FILES ${xml} DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname}) -yarp_install(FILES ${ini} DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname}) -yarp_install(FILES ${whatsleft} DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname}) -yarp_install(DIRECTORY calibrators DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname}) -yarp_install(DIRECTORY cartesian DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname}) -yarp_install(DIRECTORY wrappers DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname}) -yarp_install(DIRECTORY hardware DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname}) -yarp_install(DIRECTORY camera DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname}) - diff --git a/iCubGenova01_nws/calibrators/head_calib.xml b/iCubGenova01_nws/calibrators/head_calib.xml deleted file mode 100644 index b1a3cdf41e..0000000000 --- a/iCubGenova01_nws/calibrators/head_calib.xml +++ /dev/null @@ -1,45 +0,0 @@ - - - - - - - - - 6 - HeadV2_Calibrator - - - - - -30 0 0 0 0 0 - 10 10 10 10 10 10 - - - - - - 3 3 3 3 0 0 - 2047.5 2047.5 2047.5 2047.5 900.0 900.0 - 10.0 10.0 10.0 10.0 20.0 20.0 - 1413.5 1475.5 2807.5 3217.5 0.0 0.0 - 0.0 0.0 0.0 0.0 0.0 0.0 - 10.0 10.0 10.0 10.0 10.0 10.0 - 130 130 0 0 0 0 - 2 2 2 2 2 2 - - - (0 1 2) (3) (4) (5) - - - head_mc_remapper - - - - head_mc_remapper - - - - - - diff --git a/iCubGenova01_nws/calibrators/left_arm_calib.xml b/iCubGenova01_nws/calibrators/left_arm_calib.xml deleted file mode 100644 index 3068b8f879..0000000000 --- a/iCubGenova01_nws/calibrators/left_arm_calib.xml +++ /dev/null @@ -1,70 +0,0 @@ - - - - - - - - - 8 - Left_Arm_Calibrator - - - - - -30 30 0 45 0 0 40 30 - 10 10 10 10 30 30 30 100 - - - - - 3 3 3 3 0 3 3 3 - 2388.8 3241.9 -275.9 1535.6 500.0 2047.5 2047.5 2412.6 - 10.0 10.0 10.0 10.0 20.0 10.0 10.0 100.0 - 1337.5 1465.9 3508.4 980.5 0.0 1932.5 3887.5 0.0 - -30.0 30.0 0.0 45.0 0.0 0.0 0.0 30.0 - 10.0 10.0 10.0 10.0 30.0 30.0 30.0 100.0 - 120 120 120 120 0 0 0 0 - 2 2 2 2 2 2 90 90 - - (0 1 2 3) (4 6 7) (5) - - - left_arm_mc_remapper - - - - left_arm_mc_remapper - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/iCubGenova01_nws/calibrators/left_hand_calib.xml b/iCubGenova01_nws/calibrators/left_hand_calib.xml deleted file mode 100644 index 412f90f5cf..0000000000 --- a/iCubGenova01_nws/calibrators/left_hand_calib.xml +++ /dev/null @@ -1,47 +0,0 @@ - - - - - - - - - 8 - Left_Hand_Calibrator - - - - - - - 45 0 0 0 0 0 0 0 - 10 10 10 10 10 10 10 10 - - - - - 3 4 4 4 4 4 4 4 - 1314.1 255.0 5.0 247.0 38.0 255.0 0.0 650.0 - 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 - 100.0 100.0 100.0 100.0 100.0 100.0 100.0 100.0 - 0 0 0 0 0 0 0 0 - 1000 1000 1000 1000 1000 1000 1000 1000 - - - - - (0 1 3 5) (2 4 6 7) - - - left_hand_mc - - - - left_hand_mc - - - - - diff --git a/iCubGenova01_nws/calibrators/left_leg_calib.xml b/iCubGenova01_nws/calibrators/left_leg_calib.xml deleted file mode 100644 index 7bbd934759..0000000000 --- a/iCubGenova01_nws/calibrators/left_leg_calib.xml +++ /dev/null @@ -1,42 +0,0 @@ - - - - - - - - - 6 - Left_Leg_Calibrator - - - - 3 3 3 3 3 3 - 2047.5 2047.5 2047.5 2047.5 2047.5 2047.5 - 10 10 10 10 10 10 - 2555.9625 2982.525 1833.65 1567.475 3475.0625 2558.2375 - 0 8 0 0 0 -8 - 10 10 10 10 10 10 - 120 120 120 120 120 120 - 2 2 2 2 2 2 - - - - 0 8 0 0 0 -8 - 10 10 10 10 10 10 - - - (0 1 2 3 4 5) - - - left_leg_mc_remapper - - - - left_leg_mc_remapper - - - - - - diff --git a/iCubGenova01_nws/calibrators/right_arm_calib.xml b/iCubGenova01_nws/calibrators/right_arm_calib.xml deleted file mode 100644 index d8d3fb9028..0000000000 --- a/iCubGenova01_nws/calibrators/right_arm_calib.xml +++ /dev/null @@ -1,69 +0,0 @@ - - - - - - - - - 8 - Right_Arm_Calibrator - - - - -30 30 0 45 0 0 40 15 - 10 10 10 10 30 30 30 100 - - - - - 3 3 3 3 0 3 3 3 - 1706.3 853.1 2795.3 2559.4 500.0 2047.5 2047.5 1830.0 - 10.0 10.0 10.0 10.0 -20.0 10.0 10.0 100.0 - 2122.5 1178.13 1901.25 3151.50 0.0 4032.5 4057.5 0.0 - -30.0 30.0 0.0 45.0 0.0 0.0 0.0 15.0 - 10.0 10.0 10.0 10.0 30.0 30.0 30.0 100.0 - 120 120 120 120 0 0 0 0 - 2 2 2 2 2 2 90 90 - - (0 1 2 3) (4 6 7) (5) - - - right_arm_mc_remapper - - - - right_arm_mc_remapper - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/iCubGenova01_nws/calibrators/right_hand_calib.xml b/iCubGenova01_nws/calibrators/right_hand_calib.xml deleted file mode 100644 index d9b9e2069d..0000000000 --- a/iCubGenova01_nws/calibrators/right_hand_calib.xml +++ /dev/null @@ -1,47 +0,0 @@ - - - - - - - - - 8 - Right_Hand_Calibrator - - - - - - - - 45 0 0 0 0 0 0 0 - 10 10 10 10 10 10 10 10 - - - - - 3 4 4 4 4 4 4 4 - 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 - 100.0 100.0 100.0 100.0 100.0 100.0 100.0 100.0 - 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 - - - - - diff --git a/iCubGenova01_nws/calibrators/right_leg_calib.xml b/iCubGenova01_nws/calibrators/right_leg_calib.xml deleted file mode 100644 index 0237e68a6f..0000000000 --- a/iCubGenova01_nws/calibrators/right_leg_calib.xml +++ /dev/null @@ -1,42 +0,0 @@ - - - - - - - - - 6 - Right_Leg_Calibrator - - - - 3 3 3 3 3 3 - 2047.5 2047.5 2047.5 2047.5 2047.5 2047.5 - 10 10 10 10 10 10 - 2650.375 3094 3357.9 3197.51 1670.9875 908.8625 - 0 8 0 0 0 -8 - 10 10 10 10 10 10 - 120 120 120 120 120 120 - 2 2 2 2 2 2 - - - - 0 8 0 0 0 -8 - 10 10 10 10 10 10 - - - (0 1 2 3 4 5) - - - right_leg_mc_remapper - - - - right_leg_mc_remapper - - - - - - diff --git a/iCubGenova01_nws/calibrators/torso_calib.xml b/iCubGenova01_nws/calibrators/torso_calib.xml deleted file mode 100644 index 99f22df67b..0000000000 --- a/iCubGenova01_nws/calibrators/torso_calib.xml +++ /dev/null @@ -1,42 +0,0 @@ - - - - - - - - - 4 - Torso_Calibrator - - - - 3 3 3 3 - 2047.5 2047.5 2047.5 0 - 10 10 10 0 - 508.4625 2646.963 3420.463 0 - 0 0 0 0 - 10 10 10 0 - 120 120 120 0 - 2 2 2 2 - - - - 0 0 -20 0 - 10 10 10 0 - - - (0 1 2) - - - torso_mc_remapper - - - - torso_mc_remapper - - - - - - diff --git a/iCubGenova01_nws/camera/ServerGrabberDualDragon.ini b/iCubGenova01_nws/camera/ServerGrabberDualDragon.ini deleted file mode 100644 index 6d9b0b953e..0000000000 --- a/iCubGenova01_nws/camera/ServerGrabberDualDragon.ini +++ /dev/null @@ -1,9 +0,0 @@ -device grabberDual -capabilities COLOR -name /icub/cam -split true -twoCameras true -left_config camera/dragonfly2_config_left.ini -right_config camera/dragonfly2_config_right.ini - - diff --git a/iCubGenova01_nws/camera/ServerGrabberDualDragon640_480.ini b/iCubGenova01_nws/camera/ServerGrabberDualDragon640_480.ini deleted file mode 100644 index 24e2ca4617..0000000000 --- a/iCubGenova01_nws/camera/ServerGrabberDualDragon640_480.ini +++ /dev/null @@ -1,7 +0,0 @@ -device grabberDual -capabilities COLOR -name /icub/cam -split true -twoCameras true -left_config camera/dragonfly2_config_left640_480.ini -right_config camera/dragonfly2_config_right640_480.ini diff --git a/iCubGenova01_nws/camera/ServerGrabberDualDragonBayer.ini b/iCubGenova01_nws/camera/ServerGrabberDualDragonBayer.ini deleted file mode 100644 index d94d114ceb..0000000000 --- a/iCubGenova01_nws/camera/ServerGrabberDualDragonBayer.ini +++ /dev/null @@ -1,9 +0,0 @@ -device grabberDual -capabilities RAW -name /icub/cam -split true -twoCameras true -left_config camera/dragonfly2_config_left_bayer_320_240.ini -right_config camera/dragonfly2_config_right_bayer_320_240.ini - - diff --git a/iCubGenova01_nws/camera/ServerGrabberDualDragonBayer640_480.ini b/iCubGenova01_nws/camera/ServerGrabberDualDragonBayer640_480.ini deleted file mode 100644 index 6cb9c9435b..0000000000 --- a/iCubGenova01_nws/camera/ServerGrabberDualDragonBayer640_480.ini +++ /dev/null @@ -1,9 +0,0 @@ -device grabberDual -capabilities RAW -name /icub/cam -split true -twoCameras true -left_config camera/dragonfly2_config_left_bayer_640_480.ini -right_config camera/dragonfly2_config_right_bayer_640_480.ini - - diff --git a/iCubGenova01_nws/camera/dragonfly2_config_left.ini b/iCubGenova01_nws/camera/dragonfly2_config_left.ini deleted file mode 100644 index 4f0e5f5a69..0000000000 --- a/iCubGenova01_nws/camera/dragonfly2_config_left.ini +++ /dev/null @@ -1,18 +0,0 @@ -device dragonfly2 -width 320 -height 240 -video_type 1 -white_balance 0.514 0.610 -gain 0.0 -shutter 0.913 -name /icub/cam/left -brightness 0 -DR2 -stamp -sharpness 0.5 -hue 0.48 -gamma 0.4 -saturation 0.420 -framerate 30 -#d 0 -guid 00b09d01009b56fe diff --git a/iCubGenova01_nws/camera/dragonfly2_config_left640_480.ini b/iCubGenova01_nws/camera/dragonfly2_config_left640_480.ini deleted file mode 100644 index cee0fc2b7f..0000000000 --- a/iCubGenova01_nws/camera/dragonfly2_config_left640_480.ini +++ /dev/null @@ -1,18 +0,0 @@ -device dragonfly2 -width 640 -height 480 -video_type 2 -white_balance 0.514 0.610 -gain 0.0 -shutter 0.554 -name /icub/cam/left -brightness 0 -DR2 -stamp -sharpness 0.5 -hue 0.48 -gamma 0.4 -saturation 0.420 -framerate 25 -#d 0 -guid 00b09d01009b56fe diff --git a/iCubGenova01_nws/camera/dragonfly2_config_left_bayer_320_240.ini b/iCubGenova01_nws/camera/dragonfly2_config_left_bayer_320_240.ini deleted file mode 100644 index 1b8f607d56..0000000000 --- a/iCubGenova01_nws/camera/dragonfly2_config_left_bayer_320_240.ini +++ /dev/null @@ -1,19 +0,0 @@ -device dragonfly2raw -width 320 -height 240 -video_type 3 -white_balance 0.477 0.514 -gain 0.0 -shutter 0.666 -name /icub/cam/left -brightness 0 -DR2 -stamp -sharpness 1.0 -hue 0.48 -gamma 0.4 -saturation 0.271 -framerate 30 -use_network_time 1 -#d 0 -guid 00b09d01009b56fe diff --git a/iCubGenova01_nws/camera/dragonfly2_config_left_bayer_640_480.ini b/iCubGenova01_nws/camera/dragonfly2_config_left_bayer_640_480.ini deleted file mode 100644 index 28769b9510..0000000000 --- a/iCubGenova01_nws/camera/dragonfly2_config_left_bayer_640_480.ini +++ /dev/null @@ -1,19 +0,0 @@ -device dragonfly2raw -width 640 -height 480 -video_type 3 -white_balance 0.477 0.514 -gain 0.0 -shutter 0.666 -name /icub/cam/left -brightness 0 -DR2 -stamp -sharpness 1.0 -hue 0.48 -gamma 0.4 -saturation 0.271 -framerate 30 -use_network_time 1 -#d 0 -guid 00b09d01009b56fe diff --git a/iCubGenova01_nws/camera/dragonfly2_config_right.ini b/iCubGenova01_nws/camera/dragonfly2_config_right.ini deleted file mode 100644 index c1dddd86bc..0000000000 --- a/iCubGenova01_nws/camera/dragonfly2_config_right.ini +++ /dev/null @@ -1,18 +0,0 @@ -device dragonfly2 -width 320 -height 240 -video_type 1 -white_balance 0.514 0.610 -gain 0.0 -shutter 0.913 -name /icub/cam/right -brightness 0 -DR2 -stamp -sharpness 0.5 -hue 0.48 -gamma 0.4 -saturation 0.420 -framerate 30 -#d 1 -guid 00b09d01009a72f9 diff --git a/iCubGenova01_nws/camera/dragonfly2_config_right640_480.ini b/iCubGenova01_nws/camera/dragonfly2_config_right640_480.ini deleted file mode 100644 index 99e9e9a1e8..0000000000 --- a/iCubGenova01_nws/camera/dragonfly2_config_right640_480.ini +++ /dev/null @@ -1,18 +0,0 @@ -device dragonfly2 -width 640 -height 480 -video_type 2 -white_balance 0.514 0.610 -gain 0.0 -shutter 0.554 -name /icub/cam/right -brightness 0 -DR2 -stamp -sharpness 0.5 -hue 0.48 -gamma 0.4 -saturation 0.420 -framerate 25 -#d 1 -guid 00b09d01009a72f9 diff --git a/iCubGenova01_nws/camera/dragonfly2_config_right_bayer_320_240.ini b/iCubGenova01_nws/camera/dragonfly2_config_right_bayer_320_240.ini deleted file mode 100644 index 35c802937d..0000000000 --- a/iCubGenova01_nws/camera/dragonfly2_config_right_bayer_320_240.ini +++ /dev/null @@ -1,19 +0,0 @@ -device dragonfly2raw -width 640 -height 480 -video_type 3 -white_balance 0.477 0.514 -gain 0.0 -shutter 0.666 -name /icub/cam/right -brightness 0 -DR2 -stamp -sharpness 1.0 -hue 0.48 -gamma 0.4 -saturation 0.271 -framerate 30 -use_network_time 1 -#d 1 -guid 00b09d01009a72f9 diff --git a/iCubGenova01_nws/camera/dragonfly2_config_right_bayer_640_480.ini b/iCubGenova01_nws/camera/dragonfly2_config_right_bayer_640_480.ini deleted file mode 100644 index 35c802937d..0000000000 --- a/iCubGenova01_nws/camera/dragonfly2_config_right_bayer_640_480.ini +++ /dev/null @@ -1,19 +0,0 @@ -device dragonfly2raw -width 640 -height 480 -video_type 3 -white_balance 0.477 0.514 -gain 0.0 -shutter 0.666 -name /icub/cam/right -brightness 0 -DR2 -stamp -sharpness 1.0 -hue 0.48 -gamma 0.4 -saturation 0.271 -framerate 30 -use_network_time 1 -#d 1 -guid 00b09d01009a72f9 diff --git a/iCubGenova01_nws/cartesian/left_arm_cartesian.xml b/iCubGenova01_nws/cartesian/left_arm_cartesian.xml deleted file mode 100644 index 002f67d0aa..0000000000 --- a/iCubGenova01_nws/cartesian/left_arm_cartesian.xml +++ /dev/null @@ -1,53 +0,0 @@ - - - - icub/cartesianController/left_arm - 10 - 4 - cartesianSolver/left_arm - arm - left_v2 - on - 2 - - - - torso - reversed - (0.35 0.35 0.35) - - - - left_arm - direct - (0.35 0.35 0.35 0.35 0.35 0.35 0.35) - - - - - on - off - - ((Kp 1.022) (Tz 0.405) (Tw 0.248) (Zeta 0.797) (Td 0.000)) - ((Kp 1.026) (Tz 0.407) (Tw 0.243) (Zeta 0.822) (Td 0.000)) - ((Kp 1.040) (Tz 0.344) (Tw 0.160) (Zeta 1.110) (Td 0.000)) - ((Kp 1.035) (Tz 0.410) (Tw 0.178) (Zeta 1.198) (Td 0.000)) - ((Kp 1.016) (Tz 0.384) (Tw 0.159) (Zeta 1.222) (Td 0.000)) - ((Kp 1.025) (Tz 0.823) (Tw 0.405) (Zeta 1.030) (Td 0.000)) - ((Kp 1.022) (Tz 0.300) (Tw 0.120) (Zeta 1.303) (Td 0.000)) - ((Kp 1.016) (Tz 0.123) (Tw 0.030) (Zeta 2.204) (Td 0.000)) - ((Kp 1.000) (Tz 0.000) (Tw 0.000) (Zeta 0.000) (Td 0.000)) - ((Kp 1.000) (Tz 0.000) (Tw 0.000) (Zeta 0.000) (Td 0.000)) - - - - - torso_mc_remapper - left_arm_mc_remapper - - - - - - - diff --git a/iCubGenova01_nws/cartesian/right_arm_cartesian.xml b/iCubGenova01_nws/cartesian/right_arm_cartesian.xml deleted file mode 100644 index 9e22f70915..0000000000 --- a/iCubGenova01_nws/cartesian/right_arm_cartesian.xml +++ /dev/null @@ -1,53 +0,0 @@ - - - - icub/cartesianController/right_arm - 10 - 4 - cartesianSolver/right_arm - arm - right_v2 - on - 2 - - - - torso - reversed - (0.35 0.35 0.35) - - - - right_arm - direct - (0.35 0.35 0.35 0.35 0.35 0.35 0.35) - - - - - on - off - - ((Kp 1.022) (Tz 0.405) (Tw 0.248) (Zeta 0.797) (Td 0.000)) - ((Kp 1.026) (Tz 0.407) (Tw 0.243) (Zeta 0.822) (Td 0.000)) - ((Kp 1.040) (Tz 0.344) (Tw 0.160) (Zeta 1.110) (Td 0.000)) - ((Kp 1.035) (Tz 0.410) (Tw 0.178) (Zeta 1.198) (Td 0.000)) - ((Kp 1.016) (Tz 0.384) (Tw 0.159) (Zeta 1.222) (Td 0.000)) - ((Kp 1.025) (Tz 0.823) (Tw 0.405) (Zeta 1.030) (Td 0.000)) - ((Kp 1.022) (Tz 0.300) (Tw 0.120) (Zeta 1.303) (Td 0.000)) - ((Kp 1.016) (Tz 0.123) (Tw 0.030) (Zeta 2.204) (Td 0.000)) - ((Kp 1.000) (Tz 0.000) (Tw 0.000) (Zeta 0.000) (Td 0.000)) - ((Kp 1.000) (Tz 0.000) (Tw 0.000) (Zeta 0.000) (Td 0.000)) - - - - - torso_mc_remapper - right_arm_mc_remapper - - - - - - - diff --git a/iCubGenova01_nws/cartesianSolver.ini b/iCubGenova01_nws/cartesianSolver.ini deleted file mode 100644 index aadd9ca7dd..0000000000 --- a/iCubGenova01_nws/cartesianSolver.ini +++ /dev/null @@ -1,69 +0,0 @@ -[left_arm] -robot icub -name cartesianSolver/left_arm -type left_v2 -period 20 -dof (0 0 0 1 1 1 1 1 1 1) -rest_pos (0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0) -rest_weights (1.0 1.0 1.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0) -pose full -mode shot -verbosity off -maxIter 200 -tol 0.001 -xyzTol 0.000001 -interPoints off -ping_robot_tmo 40.0 - -[right_arm] -robot icub -name cartesianSolver/right_arm -type right_v2 -period 20 -dof (0 0 0 1 1 1 1 1 1 1) -rest_pos (0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0) -rest_weights (1.0 1.0 1.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0) -pose full -mode shot -verbosity off -maxIter 200 -tol 0.001 -xyzTol 0.000001 -interPoints off -ping_robot_tmo 40.0 - -[left_leg] -robot icub -name cartesianSolver/left_leg -type left -period 20 -dof (1 1 1 1 1 1) -rest_pos (0.0 0.0 0.0 0.0 0.0 0.0) -rest_weights (0.0 0.0 0.0 0.0 0.0 0.0) -pose full -mode shot -verbosity off -maxIter 200 -tol 0.001 -xyzTol 0.000001 -interPoints off -ping_robot_tmo 40.0 - -[right_leg] -robot icub -name cartesianSolver/right_leg -type right -period 20 -dof (1 1 1 1 1 1) -rest_pos (0.0 0.0 0.0 0.0 0.0 0.0) -rest_weights (0.0 0.0 0.0 0.0 0.0 0.0) -pose full -mode shot -verbosity off -maxIter 200 -tol 0.001 -xyzTol 0.000001 -interPoints off -ping_robot_tmo 40.0 - - diff --git a/iCubGenova01_nws/firmwareUpdate.txt b/iCubGenova01_nws/firmwareUpdate.txt deleted file mode 100644 index 0c100acbe3..0000000000 --- a/iCubGenova01_nws/firmwareUpdate.txt +++ /dev/null @@ -1,39 +0,0 @@ -// head -cfw2can 0 1 2BLLDC.1.62.out.S -cfw2can 0 2 4DC.2.15.out.S - -// torso -cfw2can 0 5 2BLL.1.54.out.S -cfw2can 0 6 2BLL.1.52.out.S - -// left_arm -cfw2can 1 1 2BLL.1.50.out.S -cfw2can 1 2 2BLL.1.57.out.S -cfw2can 1 3 4DC.2.19.out.S - -// left_hand -cfw2can 5 5 4DC.2.28.out.S -cfw2can 5 7 4DC.2.30.out.S - -// right_arm -cfw2can 2 1 2BLL.1.50.out.S -cfw2can 2 2 2BLL.1.57.out.S -cfw2can 2 3 4DC.2.19.out.S - -// right_hand -cfw2can 6 5 4DC.2.28.out.S -cfw2can 6 7 4DC.2.30.out.S - -// left leg -cfw2can 3 5 2BLL_IE.2.51.out.S -cfw2can 3 6 2BLL_IE.2.51.out.S -cfw2can 3 7 2BLL_IE.2.51.out.S -// right leg -cfw2can 4 8 2BLL_IE.2.51.out.S -cfw2can 4 9 2BLL_IE.2.51.out.S -cfw2can 4 10 2BLL_IE.2.51.out.S - - - - - diff --git a/iCubGenova01_nws/firmwareupdater.ini b/iCubGenova01_nws/firmwareupdater.ini deleted file mode 100644 index 48ba87e2b8..0000000000 --- a/iCubGenova01_nws/firmwareupdater.ini +++ /dev/null @@ -1,11 +0,0 @@ -[DRIVERS] -CFW2 "0" -CFW2 "1" -CFW2 "2" -CFW2 "3" -CFW2 "4" -CFW2 "5" -CFW2 "6" -CFW2 "7" -CFW2 "8" -CFW2 "9" diff --git a/iCubGenova01_nws/general.xml b/iCubGenova01_nws/general.xml deleted file mode 100644 index 7af0ed39e1..0000000000 --- a/iCubGenova01_nws/general.xml +++ /dev/null @@ -1,12 +0,0 @@ - - - - - - - false - false - false - false - - diff --git a/iCubGenova01_nws/hardware/FT/left_arm_strain.xml b/iCubGenova01_nws/hardware/FT/left_arm_strain.xml deleted file mode 100644 index 168a9f44ab..0000000000 --- a/iCubGenova01_nws/hardware/FT/left_arm_strain.xml +++ /dev/null @@ -1,16 +0,0 @@ - - - - - - "sharedcan" - "cfw2can" - 1 - 0x0D - 16 - 6 - 1 - 1 - 1 - - diff --git a/iCubGenova01_nws/hardware/FT/left_foot_strain.xml b/iCubGenova01_nws/hardware/FT/left_foot_strain.xml deleted file mode 100644 index 97b1aca525..0000000000 --- a/iCubGenova01_nws/hardware/FT/left_foot_strain.xml +++ /dev/null @@ -1,16 +0,0 @@ - - - - - - "sharedcan" - "cfw2can" - 3 - 0x01 - 16 - 6 - 1 - 1 - 1 - - diff --git a/iCubGenova01_nws/hardware/FT/left_leg_strain.xml b/iCubGenova01_nws/hardware/FT/left_leg_strain.xml deleted file mode 100644 index 6538dc4f2e..0000000000 --- a/iCubGenova01_nws/hardware/FT/left_leg_strain.xml +++ /dev/null @@ -1,16 +0,0 @@ - - - - - - "sharedcan" - "cfw2can" - 3 - 0x0D - 16 - 6 - 1 - 1 - 1 - - diff --git a/iCubGenova01_nws/hardware/FT/right_arm_strain.xml b/iCubGenova01_nws/hardware/FT/right_arm_strain.xml deleted file mode 100644 index 9a5763f990..0000000000 --- a/iCubGenova01_nws/hardware/FT/right_arm_strain.xml +++ /dev/null @@ -1,16 +0,0 @@ - - - - - - "sharedcan" - "cfw2can" - 2 - 0x0D - 16 - 6 - 1 - 1 - 1 - - diff --git a/iCubGenova01_nws/hardware/FT/right_foot_double_strain.xml b/iCubGenova01_nws/hardware/FT/right_foot_double_strain.xml deleted file mode 100644 index 6b1bc8ce89..0000000000 --- a/iCubGenova01_nws/hardware/FT/right_foot_double_strain.xml +++ /dev/null @@ -1,15 +0,0 @@ - - - - - - "sharedcan" - "cfw2can" - 4 - 0x01 - 0x02 - 2 - 0.046 - 0.01012 - - diff --git a/iCubGenova01_nws/hardware/FT/right_foot_strain.xml b/iCubGenova01_nws/hardware/FT/right_foot_strain.xml deleted file mode 100644 index afbc3d84cd..0000000000 --- a/iCubGenova01_nws/hardware/FT/right_foot_strain.xml +++ /dev/null @@ -1,15 +0,0 @@ - - - - - - "sharedcan" - "cfw2can" - 4 - 0x01 - 16 - 6 - 1 - 1 - - diff --git a/iCubGenova01_nws/hardware/FT/right_leg_strain.xml b/iCubGenova01_nws/hardware/FT/right_leg_strain.xml deleted file mode 100644 index 80ad820d92..0000000000 --- a/iCubGenova01_nws/hardware/FT/right_leg_strain.xml +++ /dev/null @@ -1,16 +0,0 @@ - - - - - - "sharedcan" - "cfw2can" - 4 - 0x0E - 16 - 6 - 1 - 1 - 1 - - diff --git a/iCubGenova01_nws/hardware/MAIS/left_hand_mais.xml b/iCubGenova01_nws/hardware/MAIS/left_hand_mais.xml deleted file mode 100644 index 79feea7fa7..0000000000 --- a/iCubGenova01_nws/hardware/MAIS/left_hand_mais.xml +++ /dev/null @@ -1,15 +0,0 @@ - - - - - - "sharedcan" - "cfw2can" - 5 - 0x0E - 8 - 16 - 10 - 1 - - diff --git a/iCubGenova01_nws/hardware/MAIS/right_hand_mais.xml b/iCubGenova01_nws/hardware/MAIS/right_hand_mais.xml deleted file mode 100644 index ea2127568b..0000000000 --- a/iCubGenova01_nws/hardware/MAIS/right_hand_mais.xml +++ /dev/null @@ -1,15 +0,0 @@ - - - - - - "sharedcan" - "cfw2can" - 6 - 0x0E - 8 - 16 - 10 - 1 - - diff --git a/iCubGenova01_nws/hardware/VFT/left_arm_virtual_strain.xml b/iCubGenova01_nws/hardware/VFT/left_arm_virtual_strain.xml deleted file mode 100644 index bb52abc9df..0000000000 --- a/iCubGenova01_nws/hardware/VFT/left_arm_virtual_strain.xml +++ /dev/null @@ -1,16 +0,0 @@ - - - - - - "sharedcan" - "cfw2can" - 1 - 0x0C - 16 - 6 - 1 - 1 - 8 8 8 8 8 8 - - diff --git a/iCubGenova01_nws/hardware/VFT/left_leg_virtual_strain.xml b/iCubGenova01_nws/hardware/VFT/left_leg_virtual_strain.xml deleted file mode 100644 index b5d0850c8e..0000000000 --- a/iCubGenova01_nws/hardware/VFT/left_leg_virtual_strain.xml +++ /dev/null @@ -1,16 +0,0 @@ - - - - - - "sharedcan" - "cfw2can" - 3 - 0x0C - 16 - 6 - 1 - 1 - 12 12 12 12 12 12 - - diff --git a/iCubGenova01_nws/hardware/VFT/right_arm_virtual_strain.xml b/iCubGenova01_nws/hardware/VFT/right_arm_virtual_strain.xml deleted file mode 100644 index 3baf98ef36..0000000000 --- a/iCubGenova01_nws/hardware/VFT/right_arm_virtual_strain.xml +++ /dev/null @@ -1,16 +0,0 @@ - - - - - - "sharedcan" - "cfw2can" - 2 - 0x0C - 16 - 6 - 1 - 1 - 8 8 8 8 8 8 - - diff --git a/iCubGenova01_nws/hardware/VFT/right_leg_virtual_strain.xml b/iCubGenova01_nws/hardware/VFT/right_leg_virtual_strain.xml deleted file mode 100644 index 7aeab9f914..0000000000 --- a/iCubGenova01_nws/hardware/VFT/right_leg_virtual_strain.xml +++ /dev/null @@ -1,16 +0,0 @@ - - - - - - "sharedcan" - "cfw2can" - 4 - 0x0B - 16 - 6 - 1 - 1 - 12 12 12 12 12 12 - - diff --git a/iCubGenova01_nws/hardware/VFT/torso_virtual_strain.xml b/iCubGenova01_nws/hardware/VFT/torso_virtual_strain.xml deleted file mode 100644 index ef54208a89..0000000000 --- a/iCubGenova01_nws/hardware/VFT/torso_virtual_strain.xml +++ /dev/null @@ -1,16 +0,0 @@ - - - - - - "sharedcan" - "cfw2can" - 0 - 0x0C - 16 - 6 - 1 - 1 - 12 12 12 12 12 12 - - diff --git a/iCubGenova01_nws/hardware/inertials/head-inertial.xml b/iCubGenova01_nws/hardware/inertials/head-inertial.xml deleted file mode 100644 index f6bb287849..0000000000 --- a/iCubGenova01_nws/hardware/inertials/head-inertial.xml +++ /dev/null @@ -1,6 +0,0 @@ - - - /dev/ttyS0 - - - diff --git a/iCubGenova01_nws/hardware/motorControl/icub_head.xml b/iCubGenova01_nws/hardware/motorControl/icub_head.xml deleted file mode 100644 index 661f1302e6..0000000000 --- a/iCubGenova01_nws/hardware/motorControl/icub_head.xml +++ /dev/null @@ -1,72 +0,0 @@ - - - - - - - - - sharedcan - cfw2can - 1 2 3 - 0 - HEAD - 0 - 10 - 300 - 500 - 500 - 1 1 1 1 1 1 - 0 0 0 0 0 0 - 1 1 1 1 1 1 - 0 0 0 0 0 0 - 1 1 1 1 1 1 - 1 1 1 1 1 1 - 0 0 0 0 0 0 - - - - 6 - 100 100 100 100 100 100 - 0 1 2 3 4 5 - "neck_pitch" "neck_roll" "neck_yaw" "eyes_tilt" "eyes_version" "eyes_vergence" - "revolute" "revolute" "revolute" "revolute" "revolute" "revolute" - 11.375 -11.375 11.375 11.375 568.880 284.440 - 176.50 -182.0 177.00 180.00 -50.40 -8.00 - 1333 1333 1333 1333 1333 1333 - 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 - - - - 8 8 8 8 8 8 - 100 100 100 100 100 100 - - - - 22 20 50 30 30 50 - -37 -20 -50 -30 -30 0 - 2000 2000 1200 620 600 600 - - - - 6000 -6000 3200 -400 100 100 - 500 -500 3200 -400 1000 1000 - 5 -5 10 -4 10 10 - 480 480 1333 1333 1333 1333 - 480 480 1333 1333 1333 1333 - 9 9 6 4 5 5 - 0 0 0 0 0 0 - 0 0 0 0 0 0 - 0 0 0 0 0 0 - - - - - diff --git a/iCubGenova01_nws/hardware/motorControl/icub_head.xml.bak b/iCubGenova01_nws/hardware/motorControl/icub_head.xml.bak deleted file mode 100644 index b8cccd83d2..0000000000 --- a/iCubGenova01_nws/hardware/motorControl/icub_head.xml.bak +++ /dev/null @@ -1,76 +0,0 @@ - - - - - - - - - sharedcan - cfw2can - 1 2 3 - 0 - HEAD - 0 - 10 - 300 - 500 - 500 - 1 1 1 1 1 1 - 0 0 0 0 0 0 - 1 1 1 1 1 1 - 0 0 0 0 0 0 - 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 - - - - 6 - 100 100 100 100 100 100 - 0 1 2 3 4 5 - "neck_pitch" "neck_roll" "neck_yaw" "eyes_tilt" "eyes_version" "eyes_vergence" - "revolute" "revolute" "revolute" "revolute" "revolute" "revolute" - 11.375 -11.375 11.375 11.375 568.880 284.440 - 176.50 -183.60 177.00 180.00 -48.60 0.00 - 1333 1333 1333 1333 1333 1333 - 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 - 1 1 1 1 1 1 - 1 1 1 1 1 1 - - - - 8 8 8 8 8 8 - 100 100 100 100 100 100 - - - - 22 20 50 30 30 50 - -37 -20 -50 -30 -30 0 - 2000 2000 1200 620 600 600 - - - - 6000 -6000 3200 -400 100 100 - 500 -500 3200 -400 1000 1000 - 5 -5 10 -4 10 10 - 480 480 1333 1333 1333 1333 - 480 480 1333 1333 1333 1333 - 9 9 6 4 5 5 - 0 0 0 0 0 0 - 0 0 0 0 0 0 - 0 0 0 0 0 0 - - - - - diff --git a/iCubGenova01_nws/hardware/motorControl/icub_head_test.xml b/iCubGenova01_nws/hardware/motorControl/icub_head_test.xml deleted file mode 100644 index 7861975974..0000000000 --- a/iCubGenova01_nws/hardware/motorControl/icub_head_test.xml +++ /dev/null @@ -1,74 +0,0 @@ - - - - - - - - - sharedcan - cfw2can - 1 2 3 - 0 - HEAD - 0 - 1 - 1 - 300 - 500 - 500 - 1 1 1 1 1 1 - 1 1 1 0 0 0 \ - 1 1 0 0 0 0 - 1 1 1 1 1 1 - 0 0 0 0 0 0 - 1 1 1 1 1 1 - 1 1 1 1 1 1 - 1 1 0 0 0 0 - 1 1 0 0 0 0 - 0 0 0 0 0 0 - - - - 6 - 100 100 100 100 100 100 - 0 1 2 3 4 5 - "neck_pitch" "neck_roll" "neck_yaw" "eyes_tilt" "eyes_version" "eyes_vergence" - "revolute" "revolute" "revolute" "revolute" "revolute" "revolute" - - 11.375 -11.375 11.375 11.375 568.88 284.44 - 168.3 -191.8 180 172 -44.8 3.5 - 0 0 0 0 0 0 - 0 0 0 0 0 0 - 0 0 0 0 0 0 - 1333 1333 1333 1333 1333 1333 - 1000.0 1000.0 1000.0 1000.0 1000.0 1000.0 - 0 - - - - 8 8 8 8 8 8 - 100 100 100 100 100 100 - - - - 22 20 50 30 30 50 - -32 -20 -50 -30 -30 0 - 2000 2000 1200 620 600 600 - - - - -750 -750 3200 -400 100 100 - -15000 -15000 3200 -400 1000 1000 - -8 -8 10 -4 10 10 - 800 800 1333 1333 1333 1333 - 160 160 1333 1333 1333 1333 - 11 11 6 4 5 5 - 0 0 0 0 0 0 - 0 0 0 0 0 0 - 0 0 0 0 0 0 - - - - - diff --git a/iCubGenova01_nws/hardware/motorControl/icub_left_arm.xml b/iCubGenova01_nws/hardware/motorControl/icub_left_arm.xml deleted file mode 100644 index f3e539454d..0000000000 --- a/iCubGenova01_nws/hardware/motorControl/icub_left_arm.xml +++ /dev/null @@ -1,91 +0,0 @@ - - - - - - - sharedcan - cfw2can - 1 2 3 4 - 1 - LEFT_ARM - 0 - 10 - 500 - 500 - 500 - 1 1 1 1 1 1 1 1 - 1 1 1 1 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_shoulder_pitch" "l_shoulder_roll" "l_shoulder_yaw" "l_elbow" "l_wrist_prosup" "l_wrist_pitch" "l_wrist_yaw" "l_hand_finger" - "revolute" "revolute" "revolute" "revolute" "revolute" "revolute" "revolute" "revolute" - -11.375 -11.375 -11.375 -11.375 706.67 -11.375 11.375 -6.244 - -179.00 -327.00 20.26 -187.00 -75.00 -180.00 183.00 -386.4 - 800 800 800 800 1333 1333 1333 1333 - 1000.0 1000.0 1000.0 1000.0 1000.0 1000.0 1000.0 1000.0 - - - - - - 0x0C 0x0C 0x0C 0x0C 0x0C 0 0 0 - 0 1 2 3 4 0 0 0 - 8 8 8 8 2 2 2 2 - 0 0 0 0 0 0 0 0 - 21.888 21.888 21.888 21.888 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 - - - - -95.5 0 -30 15 -60 -80 -20 15.0 - 10 160.8 75 106 60 25 25 60 - 7000 7000 7000 7000 1000 800 800 800 - - - - 32000 32000 10000 32000 -200 1000 -1000 200 - 50 50 0 20 -1000 10000 -10000 200 - 60 60 10 60 -1 1 -1 1 - 800 800 800 800 1333 1333 1333 1333 - 800 800 800 800 1333 1333 1333 1333 - 13 13 13 13 6 7 7 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 - - - - -8 -8 -30 -288 -80 0 0 0 - 0 0 0 0 0 0 0 0 - 0 0 0 0 0 0 0 0 - 1333 1333 1333 800 1333 1333 1333 1333 - 1333 1333 1333 800 1333 1333 1333 1333 - 10 10 10 14 10 10 10 10 - 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_nws/hardware/motorControl/icub_left_hand.xml b/iCubGenova01_nws/hardware/motorControl/icub_left_hand.xml deleted file mode 100644 index d147119762..0000000000 --- a/iCubGenova01_nws/hardware/motorControl/icub_left_hand.xml +++ /dev/null @@ -1,86 +0,0 @@ - - - - - - - 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 - 162.66 -102.91 -171.81 -90.00 -185.79 -90.00 -170.00 -318.63 - 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 - - - diff --git a/iCubGenova01_nws/hardware/motorControl/icub_left_leg.xml b/iCubGenova01_nws/hardware/motorControl/icub_left_leg.xml deleted file mode 100644 index 95fb380364..0000000000 --- a/iCubGenova01_nws/hardware/motorControl/icub_left_leg.xml +++ /dev/null @@ -1,89 +0,0 @@ - - - - - - - - - sharedcan - cfw2can - 5 6 7 - 3 - LEFT_LEG - 0 - 10 - 300 - 500 - 500 - 1 1 1 1 1 1 - 1 1 1 1 1 1 - 1 1 1 1 1 1 - 0 0 0 0 0 0 - 1 1 1 1 1 1 - 1 1 1 1 1 1 - 1 1 1 1 1 1 - - - - 6 - 100 100 100 100 100 100 - 2 3 0 1 4 5 - "l_hip_pitch" "l_hip_roll" "l_hip_yaw" "l_knee" "l_ankle_pitch" "l_ankle_roll" - "revolute" "revolute" "revolute" "revolute" "revolute" "revolute" - 11.375 11.375 11.375 -11.375 -11.375 11.375 - 185 176.5 172.8 -179.4 -175.8 183.8 - 0x0C 0x0C 0x0C 0x0C 0x0C 0x0C - 0 1 2 3 4 5 - 24 24 24 24 24 24 - 800 800 800 800 800 800 - 1000.0 1000.0 1000.0 1000.0 1000.0 1000.0 - 0 - - - - 8 8 8 8 8 8 - 100 100 100 100 100 100 - - - - 90 90 78 0 39 22 - -30 -20 -80 -120 -20 -22 - 7000 7000 7000 7000 7000 7000 - - - - - - 32000 -32000 32000 -32000 32000 -32000 - 100 -100 100 -100 100 -100 - 60 -60 60 -60 60 -60 - 800 800 800 800 800 800 - 800 800 800 800 800 800 - 13 13 13 13 13 13 - 0 0 0 0 0 0 - 0 0 0 0 0 0 - 0 0 0 0 0 0 - - - - 76 -76 76 76 0 0 - 0 0 0 0 0 0 - 0 0 0 0 0 0 - 800 800 800 800 800 800 - 800 800 800 800 800 800 - 14 14 14 14 14 14 - 0 0 0 0 0 0 - 0 0 0 0 0 0 - 0 0 0 0 0 0 - - - - 0.6 0.6 0.4 0.4 0.4 0.4 - 0.01 0.01 0.01 0.01 0.01 0.01 - - - - - - diff --git a/iCubGenova01_nws/hardware/motorControl/icub_right_arm.xml b/iCubGenova01_nws/hardware/motorControl/icub_right_arm.xml deleted file mode 100644 index ded3b430d5..0000000000 --- a/iCubGenova01_nws/hardware/motorControl/icub_right_arm.xml +++ /dev/null @@ -1,88 +0,0 @@ - - - - - - - sharedcan - cfw2can - 1 2 3 4 - 2 - RIGHT_ARM - 0 - 10 - 500 - 500 - 500 - 1 1 1 1 1 1 1 1 - 1 1 1 1 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 - 11.375 11.375 11.375 11.375 -706.67 11.375 -11.375 -3.333 - 180.00 36.00 226.74 173.00 -75.00 180.00 -157.00 -549.00 - 800 800 800 800 1333 1333 1333 1333 - 1000.0 1000.0 1000.0 1000.0 1000.0 1000.0 1000.0 1000.0 - - - "r_shoulder_pitch" "r_shoulder_roll" "r_shoulder_yaw" "r_elbow" "r_wrist_prosup" "r_wrist_pitch" "r_wrist_yaw" "r_hand_finger" - "revolute" "revolute" "revolute" "revolute" "revolute" "revolute" "revolute" "revolute" - 0x0C 0x0C 0x0C 0x0C 0x0C 0 0 0 - 0 1 2 3 4 0 0 0 - 8 8 8 8 2 2 2 2 - 0 0 0 0 0 0 0 0 - 21.888 21.888 21.888 21.888 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 - - - - -95.5 0 -30 15 -60 -80 -20 0 - 10 161 75 106 60 25 25 60 - 7000 7000 7000 7000 1000 800 800 800 - - - - 32000 32000 10000 32000 -200 1000 -1000 -200 - 50 50 0 20 -1000 10000 -10000 -200 - 60 60 10 60 -1 1 -1 -1 - 1333 1333 1333 800 1333 1333 1333 1333 - 1333 1333 1333 800 1333 1333 1333 1333 - 13 13 13 13 6 7 7 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 - - - - 8 8 30 288 80 0 0 0 - 0 0 0 0 0 0 0 0 - 0 0 0 0 0 0 0 0 - 1333 1333 1333 800 1333 1333 1333 1333 - 1333 1333 1333 800 1333 1333 1333 1333 - 10 10 10 14 10 10 10 10 - 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_nws/hardware/motorControl/icub_right_hand.xml b/iCubGenova01_nws/hardware/motorControl/icub_right_hand.xml deleted file mode 100644 index bfa796434c..0000000000 --- a/iCubGenova01_nws/hardware/motorControl/icub_right_hand.xml +++ /dev/null @@ -1,86 +0,0 @@ - - - - - - - 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 - 244.58 -100.0 -172.05 -94.33 -175.50 -90.00 -179.33 -381.58 - 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 - - - - -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 - - - diff --git a/iCubGenova01_nws/hardware/motorControl/icub_right_leg.xml b/iCubGenova01_nws/hardware/motorControl/icub_right_leg.xml deleted file mode 100644 index e1933a65ab..0000000000 --- a/iCubGenova01_nws/hardware/motorControl/icub_right_leg.xml +++ /dev/null @@ -1,112 +0,0 @@ - - - - - - - - - sharedcan - cfw2can - 8 9 10 - 4 - RIGHTLEG - 0 - 10 - 300 - 500 - 500 - 1 1 1 1 1 1 - 1 1 1 1 1 1 - 1 1 1 1 1 1 - 0 0 0 0 0 0 - 1 1 1 1 1 1 - 1 1 1 1 1 1 - 1 1 1 1 1 1 - - - - 6 - 100 100 100 100 100 100 - 2 3 0 1 4 5 - "r_hip_pitch" "r_hip_roll" "r_hip_yaw" "r_knee" "r_ankle_pitch" "r_ankle_roll" - "revolute" "revolute" "revolute" "revolute" "revolute" "revolute" - -11.375 -11.375 -11.375 11.375 11.375 -11.375 - -172.9 -181.4 -124.5 178.8 183.5 -176.4 - 0x0B 0x0B 0x0B 0x0B 0x0B 0x0B - 0 1 2 3 4 5 - 24 24 24 24 24 24 - 800 800 800 800 800 800 - 1000.0 1000.0 1000.0 1000.0 1000.0 1000.0 - 0 - - - - 8 8 8 8 8 8 - 100 100 100 100 100 100 - - - - 90 90 78 0 39 22 - -30 -20 -80 -120 -20 -22 - 7000 7000 7000 7000 7000 7000 - - - - - - 32000 -32000 32000 -32000 32000 -32000 - 100 -100 100 -100 100 -100 - 60 -60 60 -60 60 -60 - 800 800 800 800 800 800 - 800 800 800 800 800 800 - 13 13 13 13 13 13 - 0 0 0 0 0 0 - 0 0 0 0 0 0 - 0 0 0 0 0 0 - - - - -76 76 -76 -76 0 0 - 0 0 0 0 0 0 - 0 0 0 0 0 0 - 800 800 800 800 800 800 - 800 800 800 800 800 800 - 14 14 14 14 14 14 - 0 0 0 0 0 0 - 0 0 0 0 0 0 - 0 0 0 0 0 0 - - - - 0.6 0.6 0.4 0.4 0.4 0.4 - 0.01 0.01 0.01 0.01 0.01 0.01 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/iCubGenova01_nws/hardware/motorControl/icub_torso.xml b/iCubGenova01_nws/hardware/motorControl/icub_torso.xml deleted file mode 100644 index 98144903ea..0000000000 --- a/iCubGenova01_nws/hardware/motorControl/icub_torso.xml +++ /dev/null @@ -1,130 +0,0 @@ - - - - - - - - - sharedcan - cfw2can - 5 6 - 0 - TORSO - 0 - 10 - 300 - 500 - 500 - 1 1 1 1 - 0 0 0 0 - 1 1 1 1 - 0 0 0 0 - 1 1 1 1 - 1 1 1 1 - 0 0 0 0 - - - - 4 - 100 100 100 100 - 0 2 3 1 - "torso_yaw" "torso_roll" "torso_pitch" "none" - "revolute" "revolute" "revolute" "revolute" - 11.375 11.375 11.375 0 - 177 180 180 0 - 0x0C 0x0C 0x0C 0 - 0 1 2 0 - 12 12 12 0 - 0 - 800 800 800 800 - 1000.0 1000.0 1000.0 1000.0 - - - - 8 8 8 8 - 100 100 100 100 - - - - 50 30 70 0 - -50 -30 -22 0 - 7000 7000 7000 7000 - - - - 32000 32000 32000 0 - 6000 6000 6000 0 - 60 60 60 0 - 1333 1333 1333 1333 - 1333 1333 1333 1333 - 13 13 13 0 - 0 0 0 0 - 0 0 0 0 - 0 0 0 0 - - - - 6 6 6 0 - 0 0 0 0 - 0 0 0 0 - 1333 1333 1333 1333 - 1333 1333 1333 1333 - 11 11 11 0 - 0 0 0 0 - 0 0 0 0 - 0 0 0 0 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/iCubGenova01_nws/hardware/motorSpecs/icub_head.xml b/iCubGenova01_nws/hardware/motorSpecs/icub_head.xml deleted file mode 100644 index 2c99600e2e..0000000000 --- a/iCubGenova01_nws/hardware/motorSpecs/icub_head.xml +++ /dev/null @@ -1,60 +0,0 @@ - - - - - - - head_mc - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/iCubGenova01_nws/hardware/motorSpecs/icub_left_arm.xml b/iCubGenova01_nws/hardware/motorSpecs/icub_left_arm.xml deleted file mode 100644 index 122b188604..0000000000 --- a/iCubGenova01_nws/hardware/motorSpecs/icub_left_arm.xml +++ /dev/null @@ -1,173 +0,0 @@ - - - - - - - - left_arm_mc - - - - - 0.664 - 0.32 - 0.04096648235185 - 0.203 - 0.00000847 - 8 - 0.015 - 0.00001995802986 - 0.806 - 0.223 - 100 - 48 - - - 0.664 - 0.32 - 0.04096648235185 - 0.203 - 0.00000847 - 8 - 0.015 - 0.00001995802986 - 0.806 - 0.223 - 100 - 48 - - - 0.664 - 0.32 - 0.04096648235185 - 0.203 - 0.00000847 - 8 - 0.015 - 0.00001995802986 - 0.806 - 0.223 - 100 - 48 - - - 0.698 - 0.280 - 0.0236 - 0.126 - 0.00000515 - 8 - 0.0120 - 0.00000876625427 - 0.342 - 0.115 - 100 - 48 - - - 0.698 - 0.280 - 0.0236 - 0.126 - 0.00000515 - 8 - 0.0120 - 0.00000876625427 - 0.342 - 0.115 - 100 - 48 - - - 0.698 - 0.280 - 0.0236 - 0.126 - 0.00000515 - 8 - 0.0120 - 0.00000876625427 - 0.342 - 0.115 - 100 - 48 - - - 0.698 - 0.280 - 0.0236 - 0.126 - 0.00000515 - 8 - 0.0120 - 0.00000876625427 - 0.342 - 0.115 - 100 - 48 - - - 0.698 - 0.280 - 0.0236 - 0.126 - 0.00000515 - 8 - 0.0120 - 0.00000876625427 - 0.342 - 0.115 - 100 - 48 - - - - - - 3 - 0 1 2 - 1 - ((1 0 0) (0 1 0) (1.625 -1.625 1)) - 0.0001519 - ((1 0 0) (-0.6153846154 0.6153846154 0) (-0.6153846154 0.6153846154 0.6153846154)) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/iCubGenova01_nws/hardware/motorSpecs/icub_left_hand.xml b/iCubGenova01_nws/hardware/motorSpecs/icub_left_hand.xml deleted file mode 100644 index 5c2d886146..0000000000 --- a/iCubGenova01_nws/hardware/motorSpecs/icub_left_hand.xml +++ /dev/null @@ -1,68 +0,0 @@ - - - - - - - left_hand_mc - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/iCubGenova01_nws/hardware/motorSpecs/icub_left_leg.xml b/iCubGenova01_nws/hardware/motorSpecs/icub_left_leg.xml deleted file mode 100644 index 668dd8a069..0000000000 --- a/iCubGenova01_nws/hardware/motorSpecs/icub_left_leg.xml +++ /dev/null @@ -1,121 +0,0 @@ - - - - - - - - left_leg_mc - - - - - 0.664 - 0.32 - 0.04096648235185 - 0.203 - 0.00000847 - 8 - 0.015 - 0.00001995802986 - 0.806 - 0.223 - 100 - 48 - - - 0.664 - 0.32 - 0.04096648235185 - 0.203 - 0.00000847 - 8 - 0.015 - 0.00001995802986 - 0.806 - 0.223 - 100 - 48 - - - 0.664 - 0.32 - 0.04096648235185 - 0.203 - 0.00000847 - 8 - 0.015 - 0.00001995802986 - 0.806 - 0.223 - 100 - 48 - - - 0.664 - 0.32 - 0.04096648235185 - 0.203 - 0.00000847 - 8 - 0.015 - 0.00001995802986 - 0.806 - 0.223 - 100 - 48 - - - 0.664 - 0.32 - 0.04096648235185 - 0.203 - 0.00000847 - 8 - 0.015 - 0.00001995802986 - 0.806 - 0.223 - 100 - 48 - - - 0.664 - 0.32 - 0.04096648235185 - 0.203 - 0.00000847 - 8 - 0.015 - 0.00001995802986 - 0.806 - 0.223 - 100 - 48 - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/iCubGenova01_nws/hardware/motorSpecs/icub_right_arm.xml b/iCubGenova01_nws/hardware/motorSpecs/icub_right_arm.xml deleted file mode 100644 index 4cf97df0d2..0000000000 --- a/iCubGenova01_nws/hardware/motorSpecs/icub_right_arm.xml +++ /dev/null @@ -1,138 +0,0 @@ - - - - - - - - right_arm_mc - - - - 0.664 - 0.32 - 0.04096648235185 - 0.203 - 0.00000847 - 8 - 0.015 - 0.00001995802986 - 0.806 - 0.223 - 100 - 48 - - - 0.664 - 0.32 - 0.04096648235185 - 0.203 - 0.00000847 - 8 - 0.015 - 0.00001995802986 - 0.806 - 0.223 - 100 - 48 - - - 0.664 - 0.32 - 0.04096648235185 - 0.203 - 0.00000847 - 8 - 0.015 - 0.00001995802986 - 0.806 - 0.223 - 100 - 48 - - - 0.698 - 0.280 - 0.0236 - 0.126 - 0.00000515 - 8 - 0.0120 - 0.00000876625427 - 0.342 - 0.115 - 100 - 48 - - - 0.698 - 0.280 - 0.0236 - 0.126 - 0.00000515 - 8 - 0.0120 - 0.00000876625427 - 0.342 - 0.115 - 100 - 48 - - - 0.698 - 0.280 - 0.0236 - 0.126 - 0.00000515 - 8 - 0.0120 - 0.00000876625427 - 0.342 - 0.115 - 100 - 48 - - - 0.698 - 0.280 - 0.0236 - 0.126 - 0.00000515 - 8 - 0.0120 - 0.00000876625427 - 0.342 - 0.115 - 100 - 48 - - - 0.698 - 0.280 - 0.0236 - 0.126 - 0.00000515 - 8 - 0.0120 - 0.00000876625427 - 0.342 - 0.115 - 100 - 48 - - - - - - 3 - 0 1 2 - 1 - ((1 0 0) (0 1 0) (1.625 -1.625 1)) - 0.0001519 - ((1 0 0) (-0.6153846154 0.6153846154 0) (-0.6153846154 0.6153846154 0.6153846154)) - - - - - - \ No newline at end of file diff --git a/iCubGenova01_nws/hardware/motorSpecs/icub_right_hand.xml b/iCubGenova01_nws/hardware/motorSpecs/icub_right_hand.xml deleted file mode 100644 index 1cd43ee57c..0000000000 --- a/iCubGenova01_nws/hardware/motorSpecs/icub_right_hand.xml +++ /dev/null @@ -1,13 +0,0 @@ - - - - - - - - right_hand_mc - - - - - \ No newline at end of file diff --git a/iCubGenova01_nws/hardware/motorSpecs/icub_right_leg.xml b/iCubGenova01_nws/hardware/motorSpecs/icub_right_leg.xml deleted file mode 100644 index b043ed6caa..0000000000 --- a/iCubGenova01_nws/hardware/motorSpecs/icub_right_leg.xml +++ /dev/null @@ -1,125 +0,0 @@ - - - - - - - - right_leg_mc - - - - - 0.664 - 0.32 - 0.04096648235185 - 0.203 - 0.00000847 - 8 - 0.015 - 0.00001995802986 - 0.806 - 0.223 - 100 - 48 - - - 0.664 - 0.32 - 0.04096648235185 - 0.203 - 0.00000847 - 8 - 0.015 - 0.00001995802986 - 0.806 - 0.223 - 100 - 48 - - - 0.664 - 0.32 - 0.04096648235185 - 0.203 - 0.00000847 - 8 - 0.015 - 0.00001995802986 - 0.806 - 0.223 - 100 - 48 - - - 0.664 - 0.32 - 0.04096648235185 - 0.203 - 0.00000847 - 8 - 0.015 - 0.00001995802986 - 0.806 - 0.223 - 100 - 48 - - - 0.664 - 0.32 - 0.04096648235185 - 0.203 - 0.00000847 - 8 - 0.015 - 0.00001995802986 - 0.806 - 0.223 - 100 - 48 - - - 0.664 - 0.32 - 0.04096648235185 - 0.203 - 0.00000847 - 8 - 0.015 - 0.00001995802986 - 0.806 - 0.223 - 100 - 48 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/iCubGenova01_nws/hardware/motorSpecs/icub_torso.xml b/iCubGenova01_nws/hardware/motorSpecs/icub_torso.xml deleted file mode 100644 index 761abe9275..0000000000 --- a/iCubGenova01_nws/hardware/motorSpecs/icub_torso.xml +++ /dev/null @@ -1,118 +0,0 @@ - - - - - - - - torso_mc - - - - - 0.664 - 0.32 - 0.04096648235185 - 0.203 - 0.00000847 - 8 - 0.015 - 0.00001995802986 - 0.806 - 0.223 - 100 - 48 - - - 0.664 - 0.32 - 0.04096648235185 - 0.203 - 0.00000847 - 8 - 0.015 - 0.00001995802986 - 0.806 - 0.223 - 100 - 48 - - - 0.698 - 0.280 - 0.0236 - 0.126 - 0.00000515 - 8 - 0.0120 - 0.00000876625427 - 0.342 - 0.115 - 100 - 48 - - - - - - 2 - 0 1 - 1 - ((0.5 0.5) (0.5 -0.5)) - 1 - ((1 1) (1 -1)) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/iCubGenova01_nws/hardware/skin/left_arm-cfw2_can7-skinSpec.xml b/iCubGenova01_nws/hardware/skin/left_arm-cfw2_can7-skinSpec.xml deleted file mode 100644 index 20885e8190..0000000000 --- a/iCubGenova01_nws/hardware/skin/left_arm-cfw2_can7-skinSpec.xml +++ /dev/null @@ -1,29 +0,0 @@ - - - - - - - 50 - 0 - 0xf0 - false - - - - - true - 2 - 0x2200 - - - - 0x01 - - 7 0xE 0 6 1 0 0x2000 - - - - diff --git a/iCubGenova01_nws/hardware/skin/left_arm.xml b/iCubGenova01_nws/hardware/skin/left_arm.xml deleted file mode 100644 index d9819f2622..0000000000 --- a/iCubGenova01_nws/hardware/skin/left_arm.xml +++ /dev/null @@ -1,16 +0,0 @@ - - - - - - - - - 7 - 14 13 12 11 10 9 8 - 10 - cfw2can - - - - diff --git a/iCubGenova01_nws/hardware/skin/left_arm_accelerometers_mtb.xml b/iCubGenova01_nws/hardware/skin/left_arm_accelerometers_mtb.xml deleted file mode 100644 index b7c2b0ac23..0000000000 --- a/iCubGenova01_nws/hardware/skin/left_arm_accelerometers_mtb.xml +++ /dev/null @@ -1,14 +0,0 @@ - - - - - - "sharedcan" - "cfw2can" - 7 - 8 9 10 11 12 13 - 10 - 10 - "acc" - - diff --git a/iCubGenova01_nws/hardware/skin/left_foot.xml b/iCubGenova01_nws/hardware/skin/left_foot.xml deleted file mode 100644 index cbcf3a99dd..0000000000 --- a/iCubGenova01_nws/hardware/skin/left_foot.xml +++ /dev/null @@ -1,12 +0,0 @@ - - - - - - "sharedcan" - "cfw2can" - 9 - 2 3 - 10 - - diff --git a/iCubGenova01_nws/hardware/skin/left_foot_inertial_mtb.xml b/iCubGenova01_nws/hardware/skin/left_foot_inertial_mtb.xml deleted file mode 100644 index 547894ff4c..0000000000 --- a/iCubGenova01_nws/hardware/skin/left_foot_inertial_mtb.xml +++ /dev/null @@ -1,13 +0,0 @@ - - - - - - "sharedcan" - "cfw2can" - 9 - 0x03 - 10 - "acc" - - diff --git a/iCubGenova01_nws/hardware/skin/left_hand_inertial_mtb.xml b/iCubGenova01_nws/hardware/skin/left_hand_inertial_mtb.xml deleted file mode 100644 index 6786cedb9a..0000000000 --- a/iCubGenova01_nws/hardware/skin/left_hand_inertial_mtb.xml +++ /dev/null @@ -1,13 +0,0 @@ - - - - - - "sharedcan" - "cfw2can" - 7 - 0x0E - 10 - "extAccAndGyro" - - diff --git a/iCubGenova01_nws/hardware/skin/right_arm-cfw2_can8-skinSpec.xml b/iCubGenova01_nws/hardware/skin/right_arm-cfw2_can8-skinSpec.xml deleted file mode 100644 index b44ed73266..0000000000 --- a/iCubGenova01_nws/hardware/skin/right_arm-cfw2_can8-skinSpec.xml +++ /dev/null @@ -1,29 +0,0 @@ - - - - - - - 50 - 0 - 0xf0 - false - - - - - true - 2 - 0x2200 - - - - 0x01 - - 8 0xE 0 6 1 0 0x2000 - - - - diff --git a/iCubGenova01_nws/hardware/skin/right_arm.xml b/iCubGenova01_nws/hardware/skin/right_arm.xml deleted file mode 100644 index 94502e7149..0000000000 --- a/iCubGenova01_nws/hardware/skin/right_arm.xml +++ /dev/null @@ -1,16 +0,0 @@ - - - - - - - - - - 8 - 14 13 12 11 10 9 8 - 10 - cfw2can - - - diff --git a/iCubGenova01_nws/hardware/skin/right_arm_accelerometers_mtb.xml b/iCubGenova01_nws/hardware/skin/right_arm_accelerometers_mtb.xml deleted file mode 100644 index 0c96bb6791..0000000000 --- a/iCubGenova01_nws/hardware/skin/right_arm_accelerometers_mtb.xml +++ /dev/null @@ -1,14 +0,0 @@ - - - - - - "sharedcan" - "cfw2can" - 8 - 8 9 10 11 12 13 - 10 - 10 - "acc" - - diff --git a/iCubGenova01_nws/hardware/skin/right_foot.xml b/iCubGenova01_nws/hardware/skin/right_foot.xml deleted file mode 100644 index 2064717dbf..0000000000 --- a/iCubGenova01_nws/hardware/skin/right_foot.xml +++ /dev/null @@ -1,12 +0,0 @@ - - - - - - "sharedcan" - "cfw2can" - 9 - 13 14 - 10 - - diff --git a/iCubGenova01_nws/hardware/skin/right_foot_inertial_mtb.xml b/iCubGenova01_nws/hardware/skin/right_foot_inertial_mtb.xml deleted file mode 100644 index c1b3c70048..0000000000 --- a/iCubGenova01_nws/hardware/skin/right_foot_inertial_mtb.xml +++ /dev/null @@ -1,13 +0,0 @@ - - - - - - "sharedcan" - "cfw2can" - 9 - 0x0C - 10 - "acc" - - diff --git a/iCubGenova01_nws/hardware/skin/right_hand_inertial_mtb.xml b/iCubGenova01_nws/hardware/skin/right_hand_inertial_mtb.xml deleted file mode 100644 index a75af18ad2..0000000000 --- a/iCubGenova01_nws/hardware/skin/right_hand_inertial_mtb.xml +++ /dev/null @@ -1,13 +0,0 @@ - - - - - - "sharedcan" - "cfw2can" - 8 - 0x0E - 10 - "extAccAndGyro" - - diff --git a/iCubGenova01_nws/hardware/skin/torso-cfw2_can9-skinSpec.xml b/iCubGenova01_nws/hardware/skin/torso-cfw2_can9-skinSpec.xml deleted file mode 100644 index 0fae45f5a6..0000000000 --- a/iCubGenova01_nws/hardware/skin/torso-cfw2_can9-skinSpec.xml +++ /dev/null @@ -1,38 +0,0 @@ - - - - - - - 50 - 0 - 0xf0 - false - - - - - false - 2 - 0x2200 - - - - 7 - - 9 7 5 11 1 2 0x2200 - - 9 8 1 3 1 2 0x2200 - 9 8 6 13 1 2 0x2200 - - 9 9 0 15 1 2 0x2200 - - 9 10 1 2 1 2 0x2200 - 9 10 4 4 1 2 0x2200 - 9 10 8 14 1 2 0x2200 - - - - diff --git a/iCubGenova01_nws/hardware/skin/torso.xml b/iCubGenova01_nws/hardware/skin/torso.xml deleted file mode 100644 index 391f88546e..0000000000 --- a/iCubGenova01_nws/hardware/skin/torso.xml +++ /dev/null @@ -1,17 +0,0 @@ - - - - - - - - - - 9 - 7 8 9 10 - 10 - cfw2can - - - - diff --git a/iCubGenova01_nws/hardware/skin/torso_accelerometers_mtb.xml b/iCubGenova01_nws/hardware/skin/torso_accelerometers_mtb.xml deleted file mode 100644 index 62ae1427a6..0000000000 --- a/iCubGenova01_nws/hardware/skin/torso_accelerometers_mtb.xml +++ /dev/null @@ -1,14 +0,0 @@ - - - - - - "sharedcan" - "cfw2can" - 9 - 7 8 9 10 - 10 - 10 - "acc" - - diff --git a/iCubGenova01_nws/iKinGazeCtrl.ini b/iCubGenova01_nws/iKinGazeCtrl.ini deleted file mode 100644 index 740ebef209..0000000000 --- a/iCubGenova01_nws/iKinGazeCtrl.ini +++ /dev/null @@ -1,8 +0,0 @@ -head_version 2.0 - -[cameras] -context cameraCalibration -file icubEyes.ini - -[imu] -source_port_name /imuFilter diff --git a/iCubGenova01_nws/icub.xml b/iCubGenova01_nws/icub.xml deleted file mode 100644 index a39aaf543c..0000000000 --- a/iCubGenova01_nws/icub.xml +++ /dev/null @@ -1,99 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/iCubGenova01_nws/icubEyes.ini b/iCubGenova01_nws/icubEyes.ini deleted file mode 100644 index cf28470727..0000000000 --- a/iCubGenova01_nws/icubEyes.ini +++ /dev/null @@ -1,45 +0,0 @@ -[CAMERA_CALIBRATION_RIGHT] -projection pinhole -drawCenterCross 0 -fps 30 -fpsOutputFrequency 100 - -w 320 -h 240 -fx 234.666 -fy 234.25 -cx 149.795 -cy 123.059 -k1 -0.425792 -k2 0.175221 -p1 0.000321599 -p2 -0.00175487 - -[CAMERA_CALIBRATION_LEFT] -projection pinhole -drawCenterCross 0 -fps 30 -fpsOutputFrequency 100 - -w 320 -h 240 -fx 234.88 -fy 234.582 -cx 160.77 -cy 123.491 -k1 -0.412323 -k2 0.151472 -p1 0.000156673 -p2 0.0005931 - -[STEREO_CALIBRATION_CONFIGURATION] -boardWidth 8 -boardHeight 6 -boardSize 0.09241 -numberOfPairs 30 - -[STEREO_DISPARITY] -HN (0.994379 0.00282584 0.105838 -0.0679143 -0.00748192 0.99902 0.0436214 -7.77028e-05 -0.105611 -0.0441681 0.993426 0.00342402 0 0 0 1) -QL ( 0.000000 0.000000 0.000000 0.000479 0.000690 -0.000575 0.000767 -0.000013) -QR ( 0.000000 0.000000 0.000000 0.000479 0.000690 -0.000575 0.000767 -0.000013) - diff --git a/iCubGenova01_nws/icub_all.xml b/iCubGenova01_nws/icub_all.xml deleted file mode 100644 index 3215d1c55a..0000000000 --- a/iCubGenova01_nws/icub_all.xml +++ /dev/null @@ -1,110 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/iCubGenova01_nws/icub_all_no_legs.xml b/iCubGenova01_nws/icub_all_no_legs.xml deleted file mode 100644 index ea57b5d833..0000000000 --- a/iCubGenova01_nws/icub_all_no_legs.xml +++ /dev/null @@ -1,95 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/iCubGenova01_nws/icub_analog_only.xml b/iCubGenova01_nws/icub_analog_only.xml deleted file mode 100644 index 15f64a1ba6..0000000000 --- a/iCubGenova01_nws/icub_analog_only.xml +++ /dev/null @@ -1,103 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/iCubGenova01_nws/network.iCubGenova01.xml b/iCubGenova01_nws/network.iCubGenova01.xml deleted file mode 100644 index 4ebf9678ff..0000000000 --- a/iCubGenova01_nws/network.iCubGenova01.xml +++ /dev/null @@ -1,416 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - CFW - - - - - - - CFW - - - - - - - - - - - - - - - - CFW - - - - - - - CFW - - - - - - - CFW - - - - - - - CFW - - - - - - - CFW - - - - - - CFW - - - - - - CFW - - - - - - CFW - - - - - - CFW - - - - - - CFW - - - - - - CFW - - - - - - CFW - - - - - - CFW - - - - - - CFW - - - - - - - - - - - - CFW - - - - - - - CFW - - - - - - - CFW - - - - - - - CFW - - - - - - - CFW - - - - - - CFW - - - - - - CFW - - - - - - CFW - - - - - - CFW - - - - - - CFW - - - - - - CFW - - - - - - CFW - - - - - - CFW - - - - - - CFW - - - - - - - - - - - - CFW - - - - - - - CFW - - - - - - CFW - - - - - - CFW - - - - - - CFW - - - - - - CFW - - - - - - - - - - - - CFW - - - - - - - CFW - - - - - - - CFW - - - - - - CFW - - - - - - CFW - - - - - - CFW - - - - - - CFW - - - - - - - - - - - - CFW - - - - - - - CFW - - - - - - - CFW - - - - - - CFW - - - - - - CFW - - - - - - CFW - - - - - - CFW - - - - - - - - - - - - - - - - - diff --git a/iCubGenova01_nws/pf3dTracker.ini b/iCubGenova01_nws/pf3dTracker.ini deleted file mode 100644 index dabde852d4..0000000000 --- a/iCubGenova01_nws/pf3dTracker.ini +++ /dev/null @@ -1,98 +0,0 @@ -#################################### -#configuration file for PF3DTracker# -#################################### - - -############# -#module name# -############# -name /pf3dTracker - -############################# -#parameters of the algorithm# -############################# -nParticles 700 -#nParticles number of particles used -accelStDev 30 -#accelStDev 50 30 15 -#accelStDev standard deviation of the acceleration noise -insideOutsideDiffWeight 1.5 -#insideOutsideDiffWeight inside-outside difference weight for the likelihood function -colorTransfPolicy 1 -#colorTransfPolicy [0=transform the whole image | 1=only transform the pixels you need] - - - - -######################### -#port names and function# -######################### -inputVideoPort /pf3dTracker/video:i -#inputVideoPort receives images from the grabber or the rectifying program. -outputVideoPort /pf3dTracker/video:o -#outputVideoPort produces images in which the contour of the estimated ball is highlighted -outputDataPort /pf3dTracker/data:o -#outputDataPort produces a stream of data in the format: X, Y, Z, likelihood, U, V, seeing_object -outputParticlePort /pf3dTracker/particles:o -#outputParticlePort produces data for the plotter. it is usually not active for performance reasons. -inputParticlePort /pf3dTracker/particles:i -#inputParticlePort recives hypotheses on the ball position from pf3dBottomup. -outputAttentionPort /pf3dTracker/attention:o -#outputAttentionPort produces data for the attention system, in terms of a peak of saliency. - - -################################# -#projection model and parameters# -################################# -#projectionModel [perspective|equidistance|unified] -projectionModel perspective - -cameraFile icubEyes.ini -cameraGroup CAMERA_CALIBRATION_LEFT - -####################### -#tracked object models# -####################### -#trackedObjectType [sphere|parallelogram] -trackedObjectType sphere -trackedObjectColorTemplate models/red_ball_iit.bmp -trackedObjectShapeTemplate models/initial_ball_points_36mm_20percent.csv - -motionModelMatrix models/motion_model_matrix.csv -trackedObjectTemp current_histogram.csv - -####################### -#initialization method# -####################### -#initialization method [search|3dEstimate|2dEstimate] -initializationMethod 3dEstimate -initialX 0 -initialY 0 -initialZ 0.5 - - -#################### -#visualization mode# -#################### -#circleVisualizationMode [0=inner and outer cirlce | 1=one circle with the correct radious] default 0. only applies to the sphere. -circleVisualizationMode 1 - - -######################### -#attention-related stuff# -######################### -#the tracker produces a value of likelihood at each time step. this value can be used to infer if the object it is tracking is the correct one. this is not a very robust way of doing so. -#if likelihood>this value, then probably I'm tracking the object. 20Millions is good, 12Millions is the likelihood of Jonas Hornsteins's PC screen (false positive). -#20Millions is a good threshold level when you have the right color model. 5M. -likelihoodThreshold 0.0005 -attentionOutputMax 300 -attentionOutputDecrease 0.99 - - -########################## -#image saving preferences# -########################## -#save images with OpenCV? -saveImagesWithOpencv false -#always use the trailing slash here. -saveImagesWithOpencvDir ./graphical_results/ diff --git a/iCubGenova01_nws/skinManAll.ini b/iCubGenova01_nws/skinManAll.ini deleted file mode 100644 index 2fe17d4d7d..0000000000 --- a/iCubGenova01_nws/skinManAll.ini +++ /dev/null @@ -1,44 +0,0 @@ -inputPorts ( /icub/skin/left_hand \ - /icub/skin/left_forearm \ - /icub/skin/left_arm \ - /icub/skin/right_hand \ - /icub/skin/right_forearm \ - /icub/skin/right_arm \ - /icub/skin/torso ) - -outputPorts ( /icub/skin/left_hand_comp \ - /icub/skin/left_forearm_comp \ - /icub/skin/left_arm_comp \ - /icub/skin/right_hand_comp \ - /icub/skin/right_forearm_comp \ - /icub/skin/right_arm_comp \ - /icub/skin/torso_comp ) - -robot icub -name skinManager -period 20 -minBaseline 3 -addThreshold 7 -compensationGain 0.2 -contactCompensationGain 0.05 -zeroUpRawData false -smoothFilter true -smoothFactor 0.5 -binarization true - -[SKIN_EVENTS] -skinParts ( 1 2 3 4 5 6 7 ) -taxelPositionFiles ( positions/left_hand_V2_1.txt \ - positions/left_forearm_V2.txt \ - positions/left_arm_mesh.txt \ - positions/right_hand_V2_1.txt \ - positions/right_forearm_V2.txt \ - positions/right_arm_mesh.txt \ - positions/torso.txt ) -maxNeighborDist 0.015 - -% The positions files should be in this particular order, matching enum SkinPart from skinDynLib/common.h -% SKIN_PART_UNKNOWN=0, SKIN_LEFT_HAND, SKIN_LEFT_FOREARM, SKIN_LEFT_UPPER_ARM, -% SKIN_RIGHT_HAND, SKIN_RIGHT_FOREARM, SKIN_RIGHT_UPPER_ARM, -% SKIN_FRONT_TORSO, LEFT_LEG_UPPER, LEFT_LEG_LOWER, LEFT_FOOT, -% RIGHT_LEG_UPPER, RIGHT_LEG_LOWER, RIGHT_FOOT diff --git a/iCubGenova01_nws/test/test_xsens.sh b/iCubGenova01_nws/test/test_xsens.sh deleted file mode 100644 index 1e2f3e9c0a..0000000000 --- a/iCubGenova01_nws/test/test_xsens.sh +++ /dev/null @@ -1,7 +0,0 @@ -for (( ; ; )) -do -robot-interface 2>&1 | grep MRCHECK -sleep 10 -killall -9 robot-interface -sleep 0.5 -done diff --git a/iCubGenova01_nws/wrappers/FT/left_arm_FT_wrapper.xml b/iCubGenova01_nws/wrappers/FT/left_arm_FT_wrapper.xml deleted file mode 100644 index 59f5b85df5..0000000000 --- a/iCubGenova01_nws/wrappers/FT/left_arm_FT_wrapper.xml +++ /dev/null @@ -1,17 +0,0 @@ - - - - - - 10 - /icub/left_arm/analog:o - - - - left_arm_strain - - - - - - diff --git a/iCubGenova01_nws/wrappers/FT/left_foot_FT_wrapper.xml b/iCubGenova01_nws/wrappers/FT/left_foot_FT_wrapper.xml deleted file mode 100644 index 73d7686fcd..0000000000 --- a/iCubGenova01_nws/wrappers/FT/left_foot_FT_wrapper.xml +++ /dev/null @@ -1,17 +0,0 @@ - - - - - - 10 - /icub/left_foot/analog:o - - - - left_foot_strain - - - - - - diff --git a/iCubGenova01_nws/wrappers/FT/left_leg_FT_wrapper.xml b/iCubGenova01_nws/wrappers/FT/left_leg_FT_wrapper.xml deleted file mode 100644 index 0d715528d2..0000000000 --- a/iCubGenova01_nws/wrappers/FT/left_leg_FT_wrapper.xml +++ /dev/null @@ -1,17 +0,0 @@ - - - - - - 10 - /icub/left_leg/analog:o - - - - left_leg_strain - - - - - - diff --git a/iCubGenova01_nws/wrappers/FT/right_arm_FT_wrapper.xml b/iCubGenova01_nws/wrappers/FT/right_arm_FT_wrapper.xml deleted file mode 100644 index 4ca3a35a2e..0000000000 --- a/iCubGenova01_nws/wrappers/FT/right_arm_FT_wrapper.xml +++ /dev/null @@ -1,17 +0,0 @@ - - - - - - 10 - /icub/right_arm/analog:o - - - - right_arm_strain - - - - - - diff --git a/iCubGenova01_nws/wrappers/FT/right_foot_FT_wrapper.xml b/iCubGenova01_nws/wrappers/FT/right_foot_FT_wrapper.xml deleted file mode 100644 index 390e30947d..0000000000 --- a/iCubGenova01_nws/wrappers/FT/right_foot_FT_wrapper.xml +++ /dev/null @@ -1,17 +0,0 @@ - - - - - - 10 - /icub/right_foot/analog:o - - - - right_foot_strain - - - - - - diff --git a/iCubGenova01_nws/wrappers/FT/right_leg_FT_wrapper.xml b/iCubGenova01_nws/wrappers/FT/right_leg_FT_wrapper.xml deleted file mode 100644 index 9a208b4fa1..0000000000 --- a/iCubGenova01_nws/wrappers/FT/right_leg_FT_wrapper.xml +++ /dev/null @@ -1,17 +0,0 @@ - - - - - - 10 - /icub/right_leg/analog:o - - - - right_leg_strain - - - - - - diff --git a/iCubGenova01_nws/wrappers/MAIS/left_hand_mais_wrapper.xml b/iCubGenova01_nws/wrappers/MAIS/left_hand_mais_wrapper.xml deleted file mode 100644 index 805dd672e2..0000000000 --- a/iCubGenova01_nws/wrappers/MAIS/left_hand_mais_wrapper.xml +++ /dev/null @@ -1,17 +0,0 @@ - - - - - - 10 - /icub/left_hand/analog:o - - - - left_hand_mais - - - - - - diff --git a/iCubGenova01_nws/wrappers/MAIS/right_hand_mais_wrapper.xml b/iCubGenova01_nws/wrappers/MAIS/right_hand_mais_wrapper.xml deleted file mode 100644 index f3dcc1a181..0000000000 --- a/iCubGenova01_nws/wrappers/MAIS/right_hand_mais_wrapper.xml +++ /dev/null @@ -1,17 +0,0 @@ - - - - - - 10 - /icub/right_hand/analog:o - - - - right_hand_mais - - - - - - diff --git a/iCubGenova01_nws/wrappers/VFT/left_arm_VFT_wrapper.xml b/iCubGenova01_nws/wrappers/VFT/left_arm_VFT_wrapper.xml deleted file mode 100644 index b4746c806a..0000000000 --- a/iCubGenova01_nws/wrappers/VFT/left_arm_VFT_wrapper.xml +++ /dev/null @@ -1,15 +0,0 @@ - - - - 10 - - ( 0 5 0 5 ) - - /icub/joint_vsens/left_arm:i - - - left_arm_virtual_strain - - - - diff --git a/iCubGenova01_nws/wrappers/VFT/left_leg_VFT_wrapper.xml b/iCubGenova01_nws/wrappers/VFT/left_leg_VFT_wrapper.xml deleted file mode 100644 index dff5d6fd56..0000000000 --- a/iCubGenova01_nws/wrappers/VFT/left_leg_VFT_wrapper.xml +++ /dev/null @@ -1,15 +0,0 @@ - - - - 10 - - ( 0 5 0 5 ) - - /icub/joint_vsens/left_leg:i - - - left_leg_virtual_strain - - - - diff --git a/iCubGenova01_nws/wrappers/VFT/right_arm_VFT_wrapper.xml b/iCubGenova01_nws/wrappers/VFT/right_arm_VFT_wrapper.xml deleted file mode 100644 index fe19ada982..0000000000 --- a/iCubGenova01_nws/wrappers/VFT/right_arm_VFT_wrapper.xml +++ /dev/null @@ -1,15 +0,0 @@ - - - - 10 - - ( 0 5 0 5 ) - - /icub/joint_vsens/right_arm:i - - - right_arm_virtual_strain - - - - diff --git a/iCubGenova01_nws/wrappers/VFT/right_leg_VFT_wrapper.xml b/iCubGenova01_nws/wrappers/VFT/right_leg_VFT_wrapper.xml deleted file mode 100644 index e2cb6126b5..0000000000 --- a/iCubGenova01_nws/wrappers/VFT/right_leg_VFT_wrapper.xml +++ /dev/null @@ -1,16 +0,0 @@ - - - - 10 - - ( 0 5 0 5 ) - - 6 - /icub/joint_vsens/right_leg:i - - - right_leg_virtual_strain - - - - diff --git a/iCubGenova01_nws/wrappers/VFT/torso_VFT_wrapper.xml b/iCubGenova01_nws/wrappers/VFT/torso_VFT_wrapper.xml deleted file mode 100644 index 79ade68260..0000000000 --- a/iCubGenova01_nws/wrappers/VFT/torso_VFT_wrapper.xml +++ /dev/null @@ -1,15 +0,0 @@ - - - - 10 - - ( 0 5 0 5 ) - - /icub/joint_vsens/torso:i - - - torso_virtual_strain - - - - diff --git a/iCubGenova01_nws/wrappers/inertials/head-imuFilter.xml b/iCubGenova01_nws/wrappers/inertials/head-imuFilter.xml deleted file mode 100644 index 9070dff156..0000000000 --- a/iCubGenova01_nws/wrappers/inertials/head-imuFilter.xml +++ /dev/null @@ -1,20 +0,0 @@ - - - - - - 20 - /imuFilter - - - - - - head-inertial - - - - - diff --git a/iCubGenova01_nws/wrappers/inertials/head-imuFilter_wrapper.xml b/iCubGenova01_nws/wrappers/inertials/head-imuFilter_wrapper.xml deleted file mode 100644 index 840c87bab1..0000000000 --- a/iCubGenova01_nws/wrappers/inertials/head-imuFilter_wrapper.xml +++ /dev/null @@ -1,20 +0,0 @@ - - - - - - 20 - /imuFilter - - - - - - head-imuFilter - - - - - diff --git a/iCubGenova01_nws/wrappers/inertials/head-inertials_wrapper.xml b/iCubGenova01_nws/wrappers/inertials/head-inertials_wrapper.xml deleted file mode 100644 index ab266c8715..0000000000 --- a/iCubGenova01_nws/wrappers/inertials/head-inertials_wrapper.xml +++ /dev/null @@ -1,20 +0,0 @@ - - - - - - 10 - /icub/head/inertials - - - - - - head-inertial - - - - - diff --git a/iCubGenova01_nws/wrappers/motorControl/head_mc_wrapper.xml b/iCubGenova01_nws/wrappers/motorControl/head_mc_wrapper.xml deleted file mode 100644 index 5d14888760..0000000000 --- a/iCubGenova01_nws/wrappers/motorControl/head_mc_wrapper.xml +++ /dev/null @@ -1,10 +0,0 @@ - - - - - /icub/head - - head_mc_remapper - - - diff --git a/iCubGenova01_nws/wrappers/motorControl/left_arm_mc_wrapper.xml b/iCubGenova01_nws/wrappers/motorControl/left_arm_mc_wrapper.xml deleted file mode 100644 index ebe11670f8..0000000000 --- a/iCubGenova01_nws/wrappers/motorControl/left_arm_mc_wrapper.xml +++ /dev/null @@ -1,10 +0,0 @@ - - - - - /icub/left_arm - - left_arm_mc_remapper - - - diff --git a/iCubGenova01_nws/wrappers/motorControl/left_leg_mc_wrapper.xml b/iCubGenova01_nws/wrappers/motorControl/left_leg_mc_wrapper.xml deleted file mode 100644 index 2b54562163..0000000000 --- a/iCubGenova01_nws/wrappers/motorControl/left_leg_mc_wrapper.xml +++ /dev/null @@ -1,10 +0,0 @@ - - - - - /icub/left_leg - - left_leg_mc_remapper - - - diff --git a/iCubGenova01_nws/wrappers/motorControl/right_arm_mc_wrapper.xml b/iCubGenova01_nws/wrappers/motorControl/right_arm_mc_wrapper.xml deleted file mode 100644 index f980f9dd1f..0000000000 --- a/iCubGenova01_nws/wrappers/motorControl/right_arm_mc_wrapper.xml +++ /dev/null @@ -1,10 +0,0 @@ - - - - - /icub/right_arm - - right_arm_mc_remapper - - - diff --git a/iCubGenova01_nws/wrappers/motorControl/right_leg_mc_wrapper.xml b/iCubGenova01_nws/wrappers/motorControl/right_leg_mc_wrapper.xml deleted file mode 100644 index 850532c3fa..0000000000 --- a/iCubGenova01_nws/wrappers/motorControl/right_leg_mc_wrapper.xml +++ /dev/null @@ -1,10 +0,0 @@ - - - - - /icub/right_leg - - right_leg_mc_remapper - - - diff --git a/iCubGenova01_nws/wrappers/motorControl/torso_mc_wrapper.xml b/iCubGenova01_nws/wrappers/motorControl/torso_mc_wrapper.xml deleted file mode 100644 index 974bf9e8a0..0000000000 --- a/iCubGenova01_nws/wrappers/motorControl/torso_mc_wrapper.xml +++ /dev/null @@ -1,10 +0,0 @@ - - - - - /icub/torso - - torso_mc_remapper - - - diff --git a/iCubGenova01_nws/wrappers/skin/left_arm_accelerometers_mtb_wrapper.xml b/iCubGenova01_nws/wrappers/skin/left_arm_accelerometers_mtb_wrapper.xml deleted file mode 100644 index 11d2750817..0000000000 --- a/iCubGenova01_nws/wrappers/skin/left_arm_accelerometers_mtb_wrapper.xml +++ /dev/null @@ -1,17 +0,0 @@ - - - - - - 10 - left_arm_accelerometers - - - - left_arm_accelerometers_mtb - - - - - - diff --git a/iCubGenova01_nws/wrappers/skin/left_arm_skin_wrapper.xml b/iCubGenova01_nws/wrappers/skin/left_arm_skin_wrapper.xml deleted file mode 100644 index d317a95cfb..0000000000 --- a/iCubGenova01_nws/wrappers/skin/left_arm_skin_wrapper.xml +++ /dev/null @@ -1,25 +0,0 @@ - - - - - - 20 - 1344 - skinWrapper - - - 0 191 0 191 - 192 575 0 383 - 576 1343 0 767 - - - - - - left_arm_skin - - - - - - diff --git a/iCubGenova01_nws/wrappers/skin/left_foot_inertial_wrapper.xml b/iCubGenova01_nws/wrappers/skin/left_foot_inertial_wrapper.xml deleted file mode 100644 index ebfe62923a..0000000000 --- a/iCubGenova01_nws/wrappers/skin/left_foot_inertial_wrapper.xml +++ /dev/null @@ -1,17 +0,0 @@ - - - - - - 10 - left_foot_inertial - - - - left_foot_inertial_mtb - - - - - - diff --git a/iCubGenova01_nws/wrappers/skin/left_foot_skin_wrapper.xml b/iCubGenova01_nws/wrappers/skin/left_foot_skin_wrapper.xml deleted file mode 100644 index 6f0a7f31c5..0000000000 --- a/iCubGenova01_nws/wrappers/skin/left_foot_skin_wrapper.xml +++ /dev/null @@ -1,23 +0,0 @@ - - - - - - 20 - 384 - skinWrapper - - - 0 383 0 383 - - - - - - left_foot_skin - - - - - - diff --git a/iCubGenova01_nws/wrappers/skin/left_hand_inertial_wrapper.xml b/iCubGenova01_nws/wrappers/skin/left_hand_inertial_wrapper.xml deleted file mode 100644 index 6c91de93a1..0000000000 --- a/iCubGenova01_nws/wrappers/skin/left_hand_inertial_wrapper.xml +++ /dev/null @@ -1,17 +0,0 @@ - - - - - - 10 - left_hand_inertial - - - - left_hand_inertial_mtb - - - - - - diff --git a/iCubGenova01_nws/wrappers/skin/right_arm_accelerometers_mtb_wrapper.xml b/iCubGenova01_nws/wrappers/skin/right_arm_accelerometers_mtb_wrapper.xml deleted file mode 100644 index f451fc6ef5..0000000000 --- a/iCubGenova01_nws/wrappers/skin/right_arm_accelerometers_mtb_wrapper.xml +++ /dev/null @@ -1,17 +0,0 @@ - - - - - - 10 - right_arm_accelerometers - - - - right_arm_accelerometers_mtb - - - - - - diff --git a/iCubGenova01_nws/wrappers/skin/right_arm_skin_wrapper.xml b/iCubGenova01_nws/wrappers/skin/right_arm_skin_wrapper.xml deleted file mode 100644 index b1d64df594..0000000000 --- a/iCubGenova01_nws/wrappers/skin/right_arm_skin_wrapper.xml +++ /dev/null @@ -1,25 +0,0 @@ - - - - - - 20 - 1344 - skinWrapper - - - 0 191 0 191 - 192 575 0 383 - 576 1343 0 767 - - - - - - right_arm_skin - - - - - - diff --git a/iCubGenova01_nws/wrappers/skin/right_foot_inertial_wrapper.xml b/iCubGenova01_nws/wrappers/skin/right_foot_inertial_wrapper.xml deleted file mode 100644 index 248b8511c7..0000000000 --- a/iCubGenova01_nws/wrappers/skin/right_foot_inertial_wrapper.xml +++ /dev/null @@ -1,17 +0,0 @@ - - - - - - 10 - right_foot_inertial - - - - right_foot_inertial_mtb - - - - - - diff --git a/iCubGenova01_nws/wrappers/skin/right_foot_skin_wrapper.xml b/iCubGenova01_nws/wrappers/skin/right_foot_skin_wrapper.xml deleted file mode 100644 index 997ab4663b..0000000000 --- a/iCubGenova01_nws/wrappers/skin/right_foot_skin_wrapper.xml +++ /dev/null @@ -1,23 +0,0 @@ - - - - - - 20 - 384 - skinWrapper - - - 0 383 0 383 - - - - - - right_foot_skin - - - - - - diff --git a/iCubGenova01_nws/wrappers/skin/right_hand_inertial_wrapper.xml b/iCubGenova01_nws/wrappers/skin/right_hand_inertial_wrapper.xml deleted file mode 100644 index 90e14deb67..0000000000 --- a/iCubGenova01_nws/wrappers/skin/right_hand_inertial_wrapper.xml +++ /dev/null @@ -1,17 +0,0 @@ - - - - - - 10 - right_hand_inertial - - - - right_hand_inertial_mtb - - - - - - diff --git a/iCubGenova01_nws/wrappers/skin/torso_accelerometers_mtb_wrapper.xml b/iCubGenova01_nws/wrappers/skin/torso_accelerometers_mtb_wrapper.xml deleted file mode 100644 index 1541d9a25a..0000000000 --- a/iCubGenova01_nws/wrappers/skin/torso_accelerometers_mtb_wrapper.xml +++ /dev/null @@ -1,17 +0,0 @@ - - - - - - 10 - torso_accelerometers - - - - torso_accelerometers_mtb - - - - - - diff --git a/iCubGenova01_nws/wrappers/skin/torso_skin_wrapper.xml b/iCubGenova01_nws/wrappers/skin/torso_skin_wrapper.xml deleted file mode 100644 index 403716cd16..0000000000 --- a/iCubGenova01_nws/wrappers/skin/torso_skin_wrapper.xml +++ /dev/null @@ -1,23 +0,0 @@ - - - - - - 20 - 768 - skinWrapper - - - 0 767 0 767 - - - - - - torso_skin - - - - - - diff --git a/iCubGenova01_nws/yarprobotinterface.ini b/iCubGenova01_nws/yarprobotinterface.ini deleted file mode 100644 index f1d733b783..0000000000 --- a/iCubGenova01_nws/yarprobotinterface.ini +++ /dev/null @@ -1,2 +0,0 @@ -config ./icub_all_no_legs.xml - From 805f39fd8b06c721b6d452ee05dfd8e9a897711b Mon Sep 17 00:00:00 2001 From: Marco Randazzo Date: Mon, 13 Dec 2021 14:46:46 +0100 Subject: [PATCH 7/7] cleanup --- iCubGenova01/icub.xml | 22 ++++++++--- iCubGenova01/icub_all.xml | 24 ++++++------ iCubGenova01/icub_all_no_legs.xml | 18 +++++---- iCubGenova01/icub_analog_only.xml | 25 +++++++++---- ...remapper.xml => alljoints-mc_remapper.xml} | 0 ...apper.xml => alljoints-mc_ros_wrapper.xml} | 0 ...d_mc_remapper.xml => head_mc-remapper.xml} | 1 - ...ead_mc_wrapper.xml => head_mc-wrapper.xml} | 0 ..._remapper.xml => left_arm-mc_remapper.xml} | 1 - ...mc_wrapper.xml => left_arm-mc_wrapper.xml} | 0 ..._remapper.xml => left_leg-mc_remapper.xml} | 1 - ...mc_wrapper.xml => left_leg-mc_wrapper.xml} | 0 ...remapper.xml => right_arm-mc_remapper.xml} | 1 - ...c_wrapper.xml => right_arm-mc_wrapper.xml} | 0 ...remapper.xml => right_leg-mc_remapper.xml} | 1 - ...c_wrapper.xml => right_leg-mc_wrapper.xml} | 0 .../motorControl/ros_alljoints_wrapper.xml | 37 ------------------- ..._mc_remapper.xml => torso-mc_remapper.xml} | 1 - ...so_mc_wrapper.xml => torso-mc_wrapper.xml} | 0 19 files changed, 55 insertions(+), 77 deletions(-) rename iCubGenova01/wrappers/motorControl/{alljoints_mc_remapper.xml => alljoints-mc_remapper.xml} (100%) rename iCubGenova01/wrappers/motorControl/{alljoints_mc_ros_wrapper.xml => alljoints-mc_ros_wrapper.xml} (100%) rename iCubGenova01/wrappers/motorControl/{head_mc_remapper.xml => head_mc-remapper.xml} (90%) rename iCubGenova01/wrappers/motorControl/{head_mc_wrapper.xml => head_mc-wrapper.xml} (100%) rename iCubGenova01/wrappers/motorControl/{left_arm_mc_remapper.xml => left_arm-mc_remapper.xml} (91%) rename iCubGenova01/wrappers/motorControl/{left_arm_mc_wrapper.xml => left_arm-mc_wrapper.xml} (100%) rename iCubGenova01/wrappers/motorControl/{left_leg_mc_remapper.xml => left_leg-mc_remapper.xml} (91%) rename iCubGenova01/wrappers/motorControl/{left_leg_mc_wrapper.xml => left_leg-mc_wrapper.xml} (100%) rename iCubGenova01/wrappers/motorControl/{right_arm_mc_remapper.xml => right_arm-mc_remapper.xml} (92%) rename iCubGenova01/wrappers/motorControl/{right_arm_mc_wrapper.xml => right_arm-mc_wrapper.xml} (100%) rename iCubGenova01/wrappers/motorControl/{right_leg_mc_remapper.xml => right_leg-mc_remapper.xml} (91%) rename iCubGenova01/wrappers/motorControl/{right_leg_mc_wrapper.xml => right_leg-mc_wrapper.xml} (100%) delete mode 100644 iCubGenova01/wrappers/motorControl/ros_alljoints_wrapper.xml rename iCubGenova01/wrappers/motorControl/{torso_mc_remapper.xml => torso-mc_remapper.xml} (91%) rename iCubGenova01/wrappers/motorControl/{torso_mc_wrapper.xml => torso-mc_wrapper.xml} (100%) diff --git a/iCubGenova01/icub.xml b/iCubGenova01/icub.xml index a39aaf543c..d7b7f53afd 100644 --- a/iCubGenova01/icub.xml +++ b/iCubGenova01/icub.xml @@ -6,13 +6,23 @@ + + + - - - - - - + + + + + + + + + + + + diff --git a/iCubGenova01/icub_all.xml b/iCubGenova01/icub_all.xml index 3215d1c55a..47651070dd 100644 --- a/iCubGenova01/icub_all.xml +++ b/iCubGenova01/icub_all.xml @@ -11,18 +11,18 @@ --> - - - - - - - - - - - - + + + + + + + + + + + + diff --git a/iCubGenova01/icub_all_no_legs.xml b/iCubGenova01/icub_all_no_legs.xml index ea57b5d833..a1d3f7853d 100644 --- a/iCubGenova01/icub_all_no_legs.xml +++ b/iCubGenova01/icub_all_no_legs.xml @@ -11,14 +11,16 @@ --> - - - - - - - - + + + + + + + + + + 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 @@ + --> + + - diff --git a/iCubGenova01/wrappers/motorControl/head_mc_wrapper.xml b/iCubGenova01/wrappers/motorControl/head_mc-wrapper.xml similarity index 100% rename from iCubGenova01/wrappers/motorControl/head_mc_wrapper.xml rename to iCubGenova01/wrappers/motorControl/head_mc-wrapper.xml diff --git a/iCubGenova01/wrappers/motorControl/left_arm_mc_remapper.xml b/iCubGenova01/wrappers/motorControl/left_arm-mc_remapper.xml similarity index 91% rename from iCubGenova01/wrappers/motorControl/left_arm_mc_remapper.xml rename to iCubGenova01/wrappers/motorControl/left_arm-mc_remapper.xml index 8c47adc871..50d52ebcc4 100644 --- a/iCubGenova01/wrappers/motorControl/left_arm_mc_remapper.xml +++ b/iCubGenova01/wrappers/motorControl/left_arm-mc_remapper.xml @@ -11,7 +11,6 @@ left_arm_mc left_hand_mc - diff --git a/iCubGenova01/wrappers/motorControl/left_arm_mc_wrapper.xml b/iCubGenova01/wrappers/motorControl/left_arm-mc_wrapper.xml similarity index 100% rename from iCubGenova01/wrappers/motorControl/left_arm_mc_wrapper.xml rename to iCubGenova01/wrappers/motorControl/left_arm-mc_wrapper.xml diff --git a/iCubGenova01/wrappers/motorControl/left_leg_mc_remapper.xml b/iCubGenova01/wrappers/motorControl/left_leg-mc_remapper.xml similarity index 91% rename from iCubGenova01/wrappers/motorControl/left_leg_mc_remapper.xml rename to iCubGenova01/wrappers/motorControl/left_leg-mc_remapper.xml index bf8a9dd79b..02e9c9c27a 100644 --- a/iCubGenova01/wrappers/motorControl/left_leg_mc_remapper.xml +++ b/iCubGenova01/wrappers/motorControl/left_leg-mc_remapper.xml @@ -8,7 +8,6 @@ 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 similarity index 100% rename from iCubGenova01/wrappers/motorControl/left_leg_mc_wrapper.xml rename to iCubGenova01/wrappers/motorControl/left_leg-mc_wrapper.xml diff --git a/iCubGenova01/wrappers/motorControl/right_arm_mc_remapper.xml b/iCubGenova01/wrappers/motorControl/right_arm-mc_remapper.xml similarity index 92% rename from iCubGenova01/wrappers/motorControl/right_arm_mc_remapper.xml rename to iCubGenova01/wrappers/motorControl/right_arm-mc_remapper.xml index 8f008f1eab..e08c59444b 100644 --- a/iCubGenova01/wrappers/motorControl/right_arm_mc_remapper.xml +++ b/iCubGenova01/wrappers/motorControl/right_arm-mc_remapper.xml @@ -11,7 +11,6 @@ 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 similarity index 100% rename from iCubGenova01/wrappers/motorControl/right_arm_mc_wrapper.xml rename to iCubGenova01/wrappers/motorControl/right_arm-mc_wrapper.xml diff --git a/iCubGenova01/wrappers/motorControl/right_leg_mc_remapper.xml b/iCubGenova01/wrappers/motorControl/right_leg-mc_remapper.xml similarity index 91% rename from iCubGenova01/wrappers/motorControl/right_leg_mc_remapper.xml rename to iCubGenova01/wrappers/motorControl/right_leg-mc_remapper.xml index c06b1a9463..0a8d6d4f80 100644 --- a/iCubGenova01/wrappers/motorControl/right_leg_mc_remapper.xml +++ b/iCubGenova01/wrappers/motorControl/right_leg-mc_remapper.xml @@ -8,7 +8,6 @@ right_leg_mc - right_leg_calibrator diff --git a/iCubGenova01/wrappers/motorControl/right_leg_mc_wrapper.xml b/iCubGenova01/wrappers/motorControl/right_leg-mc_wrapper.xml similarity index 100% rename from iCubGenova01/wrappers/motorControl/right_leg_mc_wrapper.xml rename to iCubGenova01/wrappers/motorControl/right_leg-mc_wrapper.xml diff --git a/iCubGenova01/wrappers/motorControl/ros_alljoints_wrapper.xml b/iCubGenova01/wrappers/motorControl/ros_alljoints_wrapper.xml deleted file mode 100644 index 3a66d54780..0000000000 --- a/iCubGenova01/wrappers/motorControl/ros_alljoints_wrapper.xml +++ /dev/null @@ -1,37 +0,0 @@ - - - - - ( 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 - - - - - - - /yri_controlBoard_nws_ros - /all_joints - - alljoints_remapper - - - \ No newline at end of file diff --git a/iCubGenova01/wrappers/motorControl/torso_mc_remapper.xml b/iCubGenova01/wrappers/motorControl/torso-mc_remapper.xml similarity index 91% rename from iCubGenova01/wrappers/motorControl/torso_mc_remapper.xml rename to iCubGenova01/wrappers/motorControl/torso-mc_remapper.xml index 2b4b7ffe2a..51ef3d71ae 100644 --- a/iCubGenova01/wrappers/motorControl/torso_mc_remapper.xml +++ b/iCubGenova01/wrappers/motorControl/torso-mc_remapper.xml @@ -9,7 +9,6 @@ torso_mc - torso_calibrator diff --git a/iCubGenova01/wrappers/motorControl/torso_mc_wrapper.xml b/iCubGenova01/wrappers/motorControl/torso-mc_wrapper.xml similarity index 100% rename from iCubGenova01/wrappers/motorControl/torso_mc_wrapper.xml rename to iCubGenova01/wrappers/motorControl/torso-mc_wrapper.xml