From e74703731992b47bffad0f8fed3b8a72b7b240f2 Mon Sep 17 00:00:00 2001 From: Ugo Pattacini Date: Sat, 11 Dec 2021 13:00:13 +0100 Subject: [PATCH] R1SN003nws promoted --- R1SN003/CER.xml | 33 +- R1SN003/CER_base.xml | 26 - R1SN003/CER_hands_only.xml | 24 - R1SN003/CER_mc_no_hands.xml | 83 - R1SN003/CER_mc_only_no_hands.xml | 72 - R1SN003/calibrators/cer_base-calib.xml | 6 +- R1SN003/calibrators/cer_head-calib.xml | 6 +- .../cer_left_arm_no_hand-calib.xml | 8 +- R1SN003/calibrators/cer_left_hand-calib.xml | 6 +- .../cer_right_arm_no_hand-calib.xml | 8 +- R1SN003/calibrators/cer_right_hand-calib.xml | 6 +- R1SN003/calibrators/cer_torso-calib.xml | 8 +- .../cer_left_wrist_equivalent-mc.xml | 5 +- .../cer_right_wrist_equivalent-mc.xml | 5 +- .../motorControl/cer_torso_equivalent-mc.xml | 14 +- .../hardware/odometry/odometry.xml | 0 .../hardware/rpLidar/laserA3_hw_back.xml | 0 .../hardware/rpLidar/laserA3_hw_double.xml | 0 .../hardware/rpLidar/laserA3_hw_front.xml | 0 .../motorControl/cer_alljoints_remapper.xml | 0 .../cer_alljoints_ros_wrapper.xml | 0 .../motorControl/cer_base-mc_remapper.xml | 0 .../motorControl/cer_base-mc_wrapper.xml | 19 +- .../motorControl/cer_baseonly_ros_wrapper.xml | 0 .../motorControl/cer_head-mc_remapper.xml | 0 .../motorControl/cer_head-mc_wrapper.xml | 21 +- .../motorControl/cer_left_arm-mc_wrapper.xml | 25 - .../cer_left_arm_no_hand-mc_remapper.xml | 0 .../cer_left_arm_no_hand-mc_wrapper.xml | 28 +- .../cer_left_hand-mc_remapper.xml | 0 .../motorControl/cer_left_hand-mc_wrapper.xml | 21 +- .../cer_left_shoulder-mc_wrapper.xml | 19 - .../cer_left_upper_arm-mc_wrapper.xml | 21 - .../cer_left_wrist-mc_remapper.xml | 0 .../cer_left_wrist-mc_wrapper.xml | 21 +- .../cer_left_wrist_tripod-mc_remapper.xml | 0 .../cer_left_wrist_tripod-mc_wrapper.xml | 19 +- .../motorControl/cer_right_arm-mc_wrapper.xml | 25 - .../cer_right_arm_no_hand-mc_remapper.xml | 0 .../cer_right_arm_no_hand-mc_wrapper.xml | 28 +- .../cer_right_hand-mc_remapper.xml | 0 .../cer_right_hand-mc_wrapper.xml | 21 +- .../cer_right_shoulder-mc_wrapper.xml | 19 - .../cer_right_upper_arm-mc_wrapper.xml | 21 - .../cer_right_wrist-mc_remapper.xml | 0 .../cer_right_wrist-mc_wrapper.xml | 19 +- .../cer_right_wrist_tripod-mc_remapper.xml | 0 .../cer_right_wrist_tripod-mc_wrapper.xml | 19 +- .../wrappers/motorControl/cer_ros_wrapper.xml | 40 - .../cer_ros_wrapper_base_only.xml | 21 - .../motorControl/cer_ros_wrapper_fix.xml | 40 - .../motorControl/cer_torso-mc_remapper.xml | 0 .../motorControl/cer_torso-mc_wrapper.xml | 23 +- .../cer_torso_tripod-mc_remapper.xml | 0 .../cer_torso_tripod-mc_wrapper.xml | 21 +- .../wrappers/odometry/odometry_nws_ros.xml | 0 .../wrappers/odometry/odometry_nws_yarp.xml | 0 .../wrappers/rpLidar/laser_back_nws_yarp.xml | 0 .../wrappers/rpLidar/laser_back_wrapper.xml | 24 - .../wrappers/rpLidar/laser_double_nws_ros.xml | 0 .../rpLidar/laser_double_nws_yarp.xml | 0 .../wrappers/rpLidar/laser_double_wrapper.xml | 23 - .../wrappers/rpLidar/laser_front_nws_yarp.xml | 0 .../wrappers/rpLidar/laser_front_wrapper.xml | 23 - R1SN003/wrappers/rpLidar/laser_wrapper.xml | 23 - R1SN003nws/CER.xml | 100 -- R1SN003nws/CMakeLists.txt | 11 - R1SN003nws/calibrators/cer_base-calib.xml | 50 - R1SN003nws/calibrators/cer_head-calib.xml | 52 - .../cer_left_arm_no_hand-calib.xml | 62 - .../calibrators/cer_left_hand-calib.xml | 52 - .../cer_right_arm_no_hand-calib.xml | 60 - .../calibrators/cer_right_hand-calib.xml | 51 - R1SN003nws/calibrators/cer_torso-calib.xml | 61 - R1SN003nws/camera/ServerGrabberDual.ini | 8 - R1SN003nws/cer.urdf | 1547 ----------------- R1SN003nws/firmwareupdater.ini | 2 - R1SN003nws/fw_notes.txt | 17 - R1SN003nws/general.xml | 12 - .../FT/cer_left_shoulder-ems5-strain.xml | 52 - .../FT/cer_right_shoulder-ems4-strain.xml | 52 - .../hardware/MAIS/left_hand-multi_enc.xml | 15 - .../hardware/MAIS/right_hand-multi_enc.xml | 15 - R1SN003nws/hardware/PSC/left_hand-psc.xml | 52 - R1SN003nws/hardware/PSC/right_hand-psc.xml | 52 - .../electronics/cer_base-ems1-eln.xml | 38 - .../electronics/cer_head-mcp10-eln.xml | 39 - .../electronics/cer_left_hand-mcp9-eln.xml | 39 - .../cer_left_lower_arm-mcp8-eln.xml | 39 - .../cer_left_shoulder-ems5-eln.xml | 39 - .../cer_left_upper_arm-ems12-eln.xml | 39 - .../electronics/cer_right_hand-mcp7-eln.xml | 39 - .../cer_right_lower_arm-mcp6-eln.xml | 39 - .../cer_right_shoulder-ems4-eln.xml | 39 - .../cer_right_upper_arm-ems11-eln.xml | 39 - .../electronics/cer_torso-ems3-eln.xml | 39 - R1SN003nws/hardware/electronics/pc104.xml | 11 - .../mechanicals/cer_base-ems1-mec.xml | 82 - .../mechanicals/cer_head-mcp10-mec.xml | 70 - .../mechanicals/cer_left_hand-mcp9-mec.xml | 69 - .../cer_left_lower_arm-mcp8-mec.xml | 72 - .../cer_left_shoulder-ems5-mec.xml | 81 - .../cer_left_upper_arm-ems12-mec.xml | 81 - .../mechanicals/cer_right_hand-mcp7-mec.xml | 71 - .../cer_right_lower_arm-mcp6-mec.xml | 70 - .../cer_right_shoulder-ems4-mec.xml | 81 - .../cer_right_upper_arm-ems11-mec.xml | 81 - .../mechanicals/cer_torso-ems3-mec.xml | 83 - .../motorControl/cer_base-ems1-mc-service.xml | 61 - .../motorControl/cer_base-ems1-mc.xml | 98 -- .../cer_head-mcp10-mc-service.xml | 59 - .../motorControl/cer_head-mcp10-mc.xml | 76 - .../cer_left_hand-mcp9-mc-service.xml | 66 - .../motorControl/cer_left_hand-mcp9-mc.xml | 83 - .../cer_left_lower_arm-mcp8-mc-service.xml | 51 - .../cer_left_lower_arm-mcp8-mc.xml | 77 - .../cer_left_shoulder-ems5-mc-service.xml | 60 - .../cer_left_shoulder-ems5-mc.xml | 97 -- .../cer_left_upper_arm-ems12-mc-service.xml | 60 - .../cer_left_upper_arm-ems12-mc.xml | 95 - .../cer_left_wrist_equivalent-mc.xml | 43 - .../cer_right_hand-mcp7-mc-service.xml | 66 - .../motorControl/cer_right_hand-mcp7-mc.xml | 84 - .../cer_right_lower_arm-mcp6-mc-service.xml | 47 - .../cer_right_lower_arm-mcp6-mc.xml | 82 - .../cer_right_shoulder-ems4-mc-service.xml | 61 - .../cer_right_shoulder-ems4-mc.xml | 96 - .../cer_right_upper_arm-ems11-mc-service.xml | 62 - .../cer_right_upper_arm-ems11-mc.xml | 95 - .../cer_right_wrist_equivalent-mc.xml | 43 - .../cer_torso-ems3-mc-service.xml | 61 - .../motorControl/cer_torso-ems3-mc.xml | 132 -- .../motorControl/cer_torso_equivalent-mc.xml | 43 - R1SN003nws/hardware/rpLidar/laserA2_hw.xml | 46 - .../hardware/rpLidar/laserA2_hw_back.xml | 23 - .../hardware/rpLidar/laserA2_hw_double.xml | 36 - .../hardware/rpLidar/laserA2_hw_front.xml | 24 - .../hardware/skin/left_hand-mc9-skin.xml | 40 - .../hardware/skin/left_hand-mc9-skinSpec.xml | 36 - .../hardware/skin/right_hand-mc7-skin.xml | 40 - .../hardware/skin/right_hand-mc7-skinSpec.xml | 36 - R1SN003nws/realsense2.xml | 11 - R1SN003nws/robotStatePublisher.launch | 9 - R1SN003nws/sensors/Orbecc_Astra.ini | 58 - R1SN003nws/sensors/RealSenseStereo_conf.ini | 13 - R1SN003nws/sensors/RealSense_conf.ini | 14 - R1SN003nws/sensors/Xtion_depthCamera.ini | 48 - R1SN003nws/sensors/realsense2.xml | 17 - .../wrappers/FT/cer_left_arm-FT_wrapper.xml | 26 - .../wrappers/FT/cer_right_arm-FT_wrapper.xml | 28 - .../wrappers/MAIS/left_hand-mais_wrapper.xml | 24 - .../wrappers/MAIS/right_hand-mais_wrapper.xml | 24 - .../wrappers/PSC/cer_left_arm-PSC_wrapper.xml | 17 - .../PSC/cer_right_arm-PSC_wrapper.xml | 17 - .../wrappers/VFT/left_arm-VFT_wrapper.xml | 23 - .../wrappers/VFT/left_leg-VFT_wrapper.xml | 23 - .../wrappers/VFT/right_arm-VFT_wrapper.xml | 23 - .../wrappers/VFT/right_leg-VFT_wrapper.xml | 23 - R1SN003nws/wrappers/VFT/torso-VFT_wrapper.xml | 21 - .../wrappers/camera/pointcloudsensor_ros.xml | 15 - R1SN003nws/wrappers/camera/rgbdsensor_ros.xml | 18 - .../wrappers/camera/rgbdsensor_yarp.xml | 13 - .../motorControl/cer_base-mc_wrapper.xml | 10 - .../motorControl/cer_head-mc_wrapper.xml | 10 - .../cer_left_arm_no_hand-mc_wrapper.xml | 9 - .../motorControl/cer_left_hand-mc_wrapper.xml | 10 - .../cer_left_wrist-mc_wrapper.xml | 10 - .../cer_left_wrist_tripod-mc_wrapper.xml | 10 - .../cer_right_arm_no_hand-mc_wrapper.xml | 9 - .../cer_right_hand-mc_wrapper.xml | 10 - .../cer_right_wrist-mc_wrapper.xml | 10 - .../cer_right_wrist_tripod-mc_wrapper.xml | 10 - .../motorControl/cer_torso-mc_wrapper.xml | 10 - .../cer_torso_tripod-mc_wrapper.xml | 10 - .../wrappers/skin/left_hand-skin_wrapper.xml | 34 - .../wrappers/skin/right_hand-skin_wrapper.xml | 34 - R1SN003nws/yarplaserscannergui.ini | 5 - R1SN003nws/yarpmotorgui.ini | 4 - R1SN003nws/yarprobotinterface.ini | 2 - 179 files changed, 121 insertions(+), 7117 deletions(-) delete mode 100644 R1SN003/CER_base.xml delete mode 100644 R1SN003/CER_hands_only.xml delete mode 100644 R1SN003/CER_mc_no_hands.xml delete mode 100644 R1SN003/CER_mc_only_no_hands.xml rename {R1SN003nws => R1SN003}/hardware/odometry/odometry.xml (100%) rename {R1SN003nws => R1SN003}/hardware/rpLidar/laserA3_hw_back.xml (100%) rename {R1SN003nws => R1SN003}/hardware/rpLidar/laserA3_hw_double.xml (100%) rename {R1SN003nws => R1SN003}/hardware/rpLidar/laserA3_hw_front.xml (100%) rename {R1SN003nws => R1SN003}/wrappers/motorControl/cer_alljoints_remapper.xml (100%) rename {R1SN003nws => R1SN003}/wrappers/motorControl/cer_alljoints_ros_wrapper.xml (100%) rename {R1SN003nws => R1SN003}/wrappers/motorControl/cer_base-mc_remapper.xml (100%) rename {R1SN003nws => R1SN003}/wrappers/motorControl/cer_baseonly_ros_wrapper.xml (100%) rename {R1SN003nws => R1SN003}/wrappers/motorControl/cer_head-mc_remapper.xml (100%) delete mode 100644 R1SN003/wrappers/motorControl/cer_left_arm-mc_wrapper.xml rename {R1SN003nws => R1SN003}/wrappers/motorControl/cer_left_arm_no_hand-mc_remapper.xml (100%) rename {R1SN003nws => R1SN003}/wrappers/motorControl/cer_left_hand-mc_remapper.xml (100%) delete mode 100644 R1SN003/wrappers/motorControl/cer_left_shoulder-mc_wrapper.xml delete mode 100644 R1SN003/wrappers/motorControl/cer_left_upper_arm-mc_wrapper.xml rename {R1SN003nws => R1SN003}/wrappers/motorControl/cer_left_wrist-mc_remapper.xml (100%) rename {R1SN003nws => R1SN003}/wrappers/motorControl/cer_left_wrist_tripod-mc_remapper.xml (100%) delete mode 100644 R1SN003/wrappers/motorControl/cer_right_arm-mc_wrapper.xml rename {R1SN003nws => R1SN003}/wrappers/motorControl/cer_right_arm_no_hand-mc_remapper.xml (100%) rename {R1SN003nws => R1SN003}/wrappers/motorControl/cer_right_hand-mc_remapper.xml (100%) delete mode 100644 R1SN003/wrappers/motorControl/cer_right_shoulder-mc_wrapper.xml delete mode 100644 R1SN003/wrappers/motorControl/cer_right_upper_arm-mc_wrapper.xml rename {R1SN003nws => R1SN003}/wrappers/motorControl/cer_right_wrist-mc_remapper.xml (100%) rename {R1SN003nws => R1SN003}/wrappers/motorControl/cer_right_wrist_tripod-mc_remapper.xml (100%) delete mode 100644 R1SN003/wrappers/motorControl/cer_ros_wrapper.xml delete mode 100644 R1SN003/wrappers/motorControl/cer_ros_wrapper_base_only.xml delete mode 100644 R1SN003/wrappers/motorControl/cer_ros_wrapper_fix.xml rename {R1SN003nws => R1SN003}/wrappers/motorControl/cer_torso-mc_remapper.xml (100%) rename {R1SN003nws => R1SN003}/wrappers/motorControl/cer_torso_tripod-mc_remapper.xml (100%) rename {R1SN003nws => R1SN003}/wrappers/odometry/odometry_nws_ros.xml (100%) rename {R1SN003nws => R1SN003}/wrappers/odometry/odometry_nws_yarp.xml (100%) rename {R1SN003nws => R1SN003}/wrappers/rpLidar/laser_back_nws_yarp.xml (100%) delete mode 100644 R1SN003/wrappers/rpLidar/laser_back_wrapper.xml rename {R1SN003nws => R1SN003}/wrappers/rpLidar/laser_double_nws_ros.xml (100%) rename {R1SN003nws => R1SN003}/wrappers/rpLidar/laser_double_nws_yarp.xml (100%) delete mode 100644 R1SN003/wrappers/rpLidar/laser_double_wrapper.xml rename {R1SN003nws => R1SN003}/wrappers/rpLidar/laser_front_nws_yarp.xml (100%) delete mode 100644 R1SN003/wrappers/rpLidar/laser_front_wrapper.xml delete mode 100644 R1SN003/wrappers/rpLidar/laser_wrapper.xml delete mode 100644 R1SN003nws/CER.xml delete mode 100644 R1SN003nws/CMakeLists.txt delete mode 100644 R1SN003nws/calibrators/cer_base-calib.xml delete mode 100644 R1SN003nws/calibrators/cer_head-calib.xml delete mode 100644 R1SN003nws/calibrators/cer_left_arm_no_hand-calib.xml delete mode 100644 R1SN003nws/calibrators/cer_left_hand-calib.xml delete mode 100644 R1SN003nws/calibrators/cer_right_arm_no_hand-calib.xml delete mode 100644 R1SN003nws/calibrators/cer_right_hand-calib.xml delete mode 100644 R1SN003nws/calibrators/cer_torso-calib.xml delete mode 100644 R1SN003nws/camera/ServerGrabberDual.ini delete mode 100644 R1SN003nws/cer.urdf delete mode 100644 R1SN003nws/firmwareupdater.ini delete mode 100644 R1SN003nws/fw_notes.txt delete mode 100644 R1SN003nws/general.xml delete mode 100644 R1SN003nws/hardware/FT/cer_left_shoulder-ems5-strain.xml delete mode 100644 R1SN003nws/hardware/FT/cer_right_shoulder-ems4-strain.xml delete mode 100644 R1SN003nws/hardware/MAIS/left_hand-multi_enc.xml delete mode 100644 R1SN003nws/hardware/MAIS/right_hand-multi_enc.xml delete mode 100644 R1SN003nws/hardware/PSC/left_hand-psc.xml delete mode 100644 R1SN003nws/hardware/PSC/right_hand-psc.xml delete mode 100644 R1SN003nws/hardware/electronics/cer_base-ems1-eln.xml delete mode 100644 R1SN003nws/hardware/electronics/cer_head-mcp10-eln.xml delete mode 100644 R1SN003nws/hardware/electronics/cer_left_hand-mcp9-eln.xml delete mode 100644 R1SN003nws/hardware/electronics/cer_left_lower_arm-mcp8-eln.xml delete mode 100644 R1SN003nws/hardware/electronics/cer_left_shoulder-ems5-eln.xml delete mode 100644 R1SN003nws/hardware/electronics/cer_left_upper_arm-ems12-eln.xml delete mode 100644 R1SN003nws/hardware/electronics/cer_right_hand-mcp7-eln.xml delete mode 100644 R1SN003nws/hardware/electronics/cer_right_lower_arm-mcp6-eln.xml delete mode 100644 R1SN003nws/hardware/electronics/cer_right_shoulder-ems4-eln.xml delete mode 100644 R1SN003nws/hardware/electronics/cer_right_upper_arm-ems11-eln.xml delete mode 100644 R1SN003nws/hardware/electronics/cer_torso-ems3-eln.xml delete mode 100644 R1SN003nws/hardware/electronics/pc104.xml delete mode 100644 R1SN003nws/hardware/mechanicals/cer_base-ems1-mec.xml delete mode 100644 R1SN003nws/hardware/mechanicals/cer_head-mcp10-mec.xml delete mode 100644 R1SN003nws/hardware/mechanicals/cer_left_hand-mcp9-mec.xml delete mode 100644 R1SN003nws/hardware/mechanicals/cer_left_lower_arm-mcp8-mec.xml delete mode 100644 R1SN003nws/hardware/mechanicals/cer_left_shoulder-ems5-mec.xml delete mode 100644 R1SN003nws/hardware/mechanicals/cer_left_upper_arm-ems12-mec.xml delete mode 100644 R1SN003nws/hardware/mechanicals/cer_right_hand-mcp7-mec.xml delete mode 100644 R1SN003nws/hardware/mechanicals/cer_right_lower_arm-mcp6-mec.xml delete mode 100644 R1SN003nws/hardware/mechanicals/cer_right_shoulder-ems4-mec.xml delete mode 100644 R1SN003nws/hardware/mechanicals/cer_right_upper_arm-ems11-mec.xml delete mode 100644 R1SN003nws/hardware/mechanicals/cer_torso-ems3-mec.xml delete mode 100644 R1SN003nws/hardware/motorControl/cer_base-ems1-mc-service.xml delete mode 100644 R1SN003nws/hardware/motorControl/cer_base-ems1-mc.xml delete mode 100644 R1SN003nws/hardware/motorControl/cer_head-mcp10-mc-service.xml delete mode 100644 R1SN003nws/hardware/motorControl/cer_head-mcp10-mc.xml delete mode 100644 R1SN003nws/hardware/motorControl/cer_left_hand-mcp9-mc-service.xml delete mode 100644 R1SN003nws/hardware/motorControl/cer_left_hand-mcp9-mc.xml delete mode 100644 R1SN003nws/hardware/motorControl/cer_left_lower_arm-mcp8-mc-service.xml delete mode 100644 R1SN003nws/hardware/motorControl/cer_left_lower_arm-mcp8-mc.xml delete mode 100644 R1SN003nws/hardware/motorControl/cer_left_shoulder-ems5-mc-service.xml delete mode 100644 R1SN003nws/hardware/motorControl/cer_left_shoulder-ems5-mc.xml delete mode 100644 R1SN003nws/hardware/motorControl/cer_left_upper_arm-ems12-mc-service.xml delete mode 100644 R1SN003nws/hardware/motorControl/cer_left_upper_arm-ems12-mc.xml delete mode 100644 R1SN003nws/hardware/motorControl/cer_left_wrist_equivalent-mc.xml delete mode 100644 R1SN003nws/hardware/motorControl/cer_right_hand-mcp7-mc-service.xml delete mode 100644 R1SN003nws/hardware/motorControl/cer_right_hand-mcp7-mc.xml delete mode 100644 R1SN003nws/hardware/motorControl/cer_right_lower_arm-mcp6-mc-service.xml delete mode 100644 R1SN003nws/hardware/motorControl/cer_right_lower_arm-mcp6-mc.xml delete mode 100644 R1SN003nws/hardware/motorControl/cer_right_shoulder-ems4-mc-service.xml delete mode 100644 R1SN003nws/hardware/motorControl/cer_right_shoulder-ems4-mc.xml delete mode 100644 R1SN003nws/hardware/motorControl/cer_right_upper_arm-ems11-mc-service.xml delete mode 100644 R1SN003nws/hardware/motorControl/cer_right_upper_arm-ems11-mc.xml delete mode 100644 R1SN003nws/hardware/motorControl/cer_right_wrist_equivalent-mc.xml delete mode 100644 R1SN003nws/hardware/motorControl/cer_torso-ems3-mc-service.xml delete mode 100644 R1SN003nws/hardware/motorControl/cer_torso-ems3-mc.xml delete mode 100644 R1SN003nws/hardware/motorControl/cer_torso_equivalent-mc.xml delete mode 100644 R1SN003nws/hardware/rpLidar/laserA2_hw.xml delete mode 100644 R1SN003nws/hardware/rpLidar/laserA2_hw_back.xml delete mode 100644 R1SN003nws/hardware/rpLidar/laserA2_hw_double.xml delete mode 100644 R1SN003nws/hardware/rpLidar/laserA2_hw_front.xml delete mode 100644 R1SN003nws/hardware/skin/left_hand-mc9-skin.xml delete mode 100644 R1SN003nws/hardware/skin/left_hand-mc9-skinSpec.xml delete mode 100644 R1SN003nws/hardware/skin/right_hand-mc7-skin.xml delete mode 100644 R1SN003nws/hardware/skin/right_hand-mc7-skinSpec.xml delete mode 100644 R1SN003nws/realsense2.xml delete mode 100644 R1SN003nws/robotStatePublisher.launch delete mode 100644 R1SN003nws/sensors/Orbecc_Astra.ini delete mode 100644 R1SN003nws/sensors/RealSenseStereo_conf.ini delete mode 100644 R1SN003nws/sensors/RealSense_conf.ini delete mode 100644 R1SN003nws/sensors/Xtion_depthCamera.ini delete mode 100644 R1SN003nws/sensors/realsense2.xml delete mode 100644 R1SN003nws/wrappers/FT/cer_left_arm-FT_wrapper.xml delete mode 100644 R1SN003nws/wrappers/FT/cer_right_arm-FT_wrapper.xml delete mode 100644 R1SN003nws/wrappers/MAIS/left_hand-mais_wrapper.xml delete mode 100644 R1SN003nws/wrappers/MAIS/right_hand-mais_wrapper.xml delete mode 100644 R1SN003nws/wrappers/PSC/cer_left_arm-PSC_wrapper.xml delete mode 100644 R1SN003nws/wrappers/PSC/cer_right_arm-PSC_wrapper.xml delete mode 100644 R1SN003nws/wrappers/VFT/left_arm-VFT_wrapper.xml delete mode 100644 R1SN003nws/wrappers/VFT/left_leg-VFT_wrapper.xml delete mode 100644 R1SN003nws/wrappers/VFT/right_arm-VFT_wrapper.xml delete mode 100644 R1SN003nws/wrappers/VFT/right_leg-VFT_wrapper.xml delete mode 100644 R1SN003nws/wrappers/VFT/torso-VFT_wrapper.xml delete mode 100644 R1SN003nws/wrappers/camera/pointcloudsensor_ros.xml delete mode 100644 R1SN003nws/wrappers/camera/rgbdsensor_ros.xml delete mode 100644 R1SN003nws/wrappers/camera/rgbdsensor_yarp.xml delete mode 100644 R1SN003nws/wrappers/motorControl/cer_base-mc_wrapper.xml delete mode 100644 R1SN003nws/wrappers/motorControl/cer_head-mc_wrapper.xml delete mode 100644 R1SN003nws/wrappers/motorControl/cer_left_arm_no_hand-mc_wrapper.xml delete mode 100644 R1SN003nws/wrappers/motorControl/cer_left_hand-mc_wrapper.xml delete mode 100644 R1SN003nws/wrappers/motorControl/cer_left_wrist-mc_wrapper.xml delete mode 100644 R1SN003nws/wrappers/motorControl/cer_left_wrist_tripod-mc_wrapper.xml delete mode 100644 R1SN003nws/wrappers/motorControl/cer_right_arm_no_hand-mc_wrapper.xml delete mode 100644 R1SN003nws/wrappers/motorControl/cer_right_hand-mc_wrapper.xml delete mode 100644 R1SN003nws/wrappers/motorControl/cer_right_wrist-mc_wrapper.xml delete mode 100644 R1SN003nws/wrappers/motorControl/cer_right_wrist_tripod-mc_wrapper.xml delete mode 100644 R1SN003nws/wrappers/motorControl/cer_torso-mc_wrapper.xml delete mode 100644 R1SN003nws/wrappers/motorControl/cer_torso_tripod-mc_wrapper.xml delete mode 100644 R1SN003nws/wrappers/skin/left_hand-skin_wrapper.xml delete mode 100644 R1SN003nws/wrappers/skin/right_hand-skin_wrapper.xml delete mode 100644 R1SN003nws/yarplaserscannergui.ini delete mode 100644 R1SN003nws/yarpmotorgui.ini delete mode 100644 R1SN003nws/yarprobotinterface.ini diff --git a/R1SN003/CER.xml b/R1SN003/CER.xml index 52350bf255..1c3b16df0c 100644 --- a/R1SN003/CER.xml +++ b/R1SN003/CER.xml @@ -4,22 +4,31 @@ + + + + + - - - - - - + + + + + + + + + + @@ -27,27 +36,34 @@ + + + - + + + + + @@ -78,6 +94,7 @@ - + + diff --git a/R1SN003/CER_base.xml b/R1SN003/CER_base.xml deleted file mode 100644 index d30d860ec6..0000000000 --- a/R1SN003/CER_base.xml +++ /dev/null @@ -1,26 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/R1SN003/CER_hands_only.xml b/R1SN003/CER_hands_only.xml deleted file mode 100644 index fe06124884..0000000000 --- a/R1SN003/CER_hands_only.xml +++ /dev/null @@ -1,24 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/R1SN003/CER_mc_no_hands.xml b/R1SN003/CER_mc_no_hands.xml deleted file mode 100644 index b0f1bd774b..0000000000 --- a/R1SN003/CER_mc_no_hands.xml +++ /dev/null @@ -1,83 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/R1SN003/CER_mc_only_no_hands.xml b/R1SN003/CER_mc_only_no_hands.xml deleted file mode 100644 index 1ff559f1f1..0000000000 --- a/R1SN003/CER_mc_only_no_hands.xml +++ /dev/null @@ -1,72 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/R1SN003/calibrators/cer_base-calib.xml b/R1SN003/calibrators/cer_base-calib.xml index 7488e14b3e..3d3d9f0396 100644 --- a/R1SN003/calibrators/cer_base-calib.xml +++ b/R1SN003/calibrators/cer_base-calib.xml @@ -36,12 +36,12 @@ (0 1) - - cer_mobile_base_mc_wrapper + + cer_mobile_base_mc_remapper - cer_mobile_base_mc_wrapper + cer_mobile_base_mc_remapper diff --git a/R1SN003/calibrators/cer_head-calib.xml b/R1SN003/calibrators/cer_head-calib.xml index 62a81335a1..7adfdc4086 100644 --- a/R1SN003/calibrators/cer_head-calib.xml +++ b/R1SN003/calibrators/cer_head-calib.xml @@ -38,12 +38,12 @@ (0 1) - - cer_head_mc_wrapper + + cer_head_mc_remapper - cer_head_mc_wrapper + cer_head_mc_remapper diff --git a/R1SN003/calibrators/cer_left_arm_no_hand-calib.xml b/R1SN003/calibrators/cer_left_arm_no_hand-calib.xml index b1a6174ad7..e8ca7994db 100644 --- a/R1SN003/calibrators/cer_left_arm_no_hand-calib.xml +++ b/R1SN003/calibrators/cer_left_arm_no_hand-calib.xml @@ -44,15 +44,15 @@ (0 1 2) (3) (4) (5 6 7) - - cer_left_arm_no_hand_mc_wrapper + + cer_left_arm_no_hand_mc_remapper - cer_left_arm_no_hand_mc_wrapper + cer_left_arm_no_hand_mc_remapper - cer_left_arm_no_hand_mc_wrapper + cer_left_arm_no_hand_mc_remapper diff --git a/R1SN003/calibrators/cer_left_hand-calib.xml b/R1SN003/calibrators/cer_left_hand-calib.xml index 4fda044397..36a0016dc8 100644 --- a/R1SN003/calibrators/cer_left_hand-calib.xml +++ b/R1SN003/calibrators/cer_left_hand-calib.xml @@ -37,12 +37,12 @@ (0 1) - - cer_left_hand_mc_wrapper + + cer_left_hand_mc_remapper - cer_left_hand_mc_wrapper + cer_left_hand_mc_remapper diff --git a/R1SN003/calibrators/cer_right_arm_no_hand-calib.xml b/R1SN003/calibrators/cer_right_arm_no_hand-calib.xml index db9f3103d5..21230e104e 100644 --- a/R1SN003/calibrators/cer_right_arm_no_hand-calib.xml +++ b/R1SN003/calibrators/cer_right_arm_no_hand-calib.xml @@ -42,15 +42,15 @@ (0 1 2) (3) (4) (5 6 7) - - cer_right_arm_no_hand_mc_wrapper + + cer_right_arm_no_hand_mc_remapper - cer_right_arm_no_hand_mc_wrapper + cer_right_arm_no_hand_mc_remapper - cer_right_arm_no_hand_mc_wrapper + cer_right_arm_no_hand_mc_remapper diff --git a/R1SN003/calibrators/cer_right_hand-calib.xml b/R1SN003/calibrators/cer_right_hand-calib.xml index 067d8b98b0..9713a88242 100644 --- a/R1SN003/calibrators/cer_right_hand-calib.xml +++ b/R1SN003/calibrators/cer_right_hand-calib.xml @@ -36,12 +36,12 @@ (0 1) - - cer_right_hand_mc_wrapper + + cer_right_hand_mc_remapper - cer_right_hand_mc_wrapper + cer_right_hand_mc_remapper diff --git a/R1SN003/calibrators/cer_torso-calib.xml b/R1SN003/calibrators/cer_torso-calib.xml index a99a23eb57..255539b8b5 100644 --- a/R1SN003/calibrators/cer_torso-calib.xml +++ b/R1SN003/calibrators/cer_torso-calib.xml @@ -43,15 +43,15 @@ (0 1 2 3) - - cer_torso_mc_wrapper + + cer_torso_mc_remapper - cer_torso_mc_wrapper + cer_torso_mc_remapper - cer_torso_mc_wrapper + cer_torso_mc_remapper diff --git a/R1SN003/hardware/motorControl/cer_left_wrist_equivalent-mc.xml b/R1SN003/hardware/motorControl/cer_left_wrist_equivalent-mc.xml index 04f3775082..303b022455 100644 --- a/R1SN003/hardware/motorControl/cer_left_wrist_equivalent-mc.xml +++ b/R1SN003/hardware/motorControl/cer_left_wrist_equivalent-mc.xml @@ -31,14 +31,13 @@ 0.05 - - + cer_left_lower_arm_mc - + diff --git a/R1SN003/hardware/motorControl/cer_right_wrist_equivalent-mc.xml b/R1SN003/hardware/motorControl/cer_right_wrist_equivalent-mc.xml index d361672c56..8ba45f8582 100644 --- a/R1SN003/hardware/motorControl/cer_right_wrist_equivalent-mc.xml +++ b/R1SN003/hardware/motorControl/cer_right_wrist_equivalent-mc.xml @@ -31,14 +31,13 @@ 0.05 - - + cer_right_lower_arm_mc - + diff --git a/R1SN003/hardware/motorControl/cer_torso_equivalent-mc.xml b/R1SN003/hardware/motorControl/cer_torso_equivalent-mc.xml index 9ac5b8d89e..43bb77bf12 100644 --- a/R1SN003/hardware/motorControl/cer_torso_equivalent-mc.xml +++ b/R1SN003/hardware/motorControl/cer_torso_equivalent-mc.xml @@ -31,23 +31,13 @@ 0.05 - - - - - + cer_torso_mc - + diff --git a/R1SN003nws/hardware/odometry/odometry.xml b/R1SN003/hardware/odometry/odometry.xml similarity index 100% rename from R1SN003nws/hardware/odometry/odometry.xml rename to R1SN003/hardware/odometry/odometry.xml diff --git a/R1SN003nws/hardware/rpLidar/laserA3_hw_back.xml b/R1SN003/hardware/rpLidar/laserA3_hw_back.xml similarity index 100% rename from R1SN003nws/hardware/rpLidar/laserA3_hw_back.xml rename to R1SN003/hardware/rpLidar/laserA3_hw_back.xml diff --git a/R1SN003nws/hardware/rpLidar/laserA3_hw_double.xml b/R1SN003/hardware/rpLidar/laserA3_hw_double.xml similarity index 100% rename from R1SN003nws/hardware/rpLidar/laserA3_hw_double.xml rename to R1SN003/hardware/rpLidar/laserA3_hw_double.xml diff --git a/R1SN003nws/hardware/rpLidar/laserA3_hw_front.xml b/R1SN003/hardware/rpLidar/laserA3_hw_front.xml similarity index 100% rename from R1SN003nws/hardware/rpLidar/laserA3_hw_front.xml rename to R1SN003/hardware/rpLidar/laserA3_hw_front.xml diff --git a/R1SN003nws/wrappers/motorControl/cer_alljoints_remapper.xml b/R1SN003/wrappers/motorControl/cer_alljoints_remapper.xml similarity index 100% rename from R1SN003nws/wrappers/motorControl/cer_alljoints_remapper.xml rename to R1SN003/wrappers/motorControl/cer_alljoints_remapper.xml diff --git a/R1SN003nws/wrappers/motorControl/cer_alljoints_ros_wrapper.xml b/R1SN003/wrappers/motorControl/cer_alljoints_ros_wrapper.xml similarity index 100% rename from R1SN003nws/wrappers/motorControl/cer_alljoints_ros_wrapper.xml rename to R1SN003/wrappers/motorControl/cer_alljoints_ros_wrapper.xml diff --git a/R1SN003nws/wrappers/motorControl/cer_base-mc_remapper.xml b/R1SN003/wrappers/motorControl/cer_base-mc_remapper.xml similarity index 100% rename from R1SN003nws/wrappers/motorControl/cer_base-mc_remapper.xml rename to R1SN003/wrappers/motorControl/cer_base-mc_remapper.xml diff --git a/R1SN003/wrappers/motorControl/cer_base-mc_wrapper.xml b/R1SN003/wrappers/motorControl/cer_base-mc_wrapper.xml index 208df6f596..78ede339a3 100644 --- a/R1SN003/wrappers/motorControl/cer_base-mc_wrapper.xml +++ b/R1SN003/wrappers/motorControl/cer_base-mc_wrapper.xml @@ -1,19 +1,10 @@ - - - - ( 0 1 0 1 ) - - 10 + + /cer/mobile_base - mobile_base - 2 - - - - cer_mobile_base_mc - + + cer_mobile_base_mc_remapper - + diff --git a/R1SN003nws/wrappers/motorControl/cer_baseonly_ros_wrapper.xml b/R1SN003/wrappers/motorControl/cer_baseonly_ros_wrapper.xml similarity index 100% rename from R1SN003nws/wrappers/motorControl/cer_baseonly_ros_wrapper.xml rename to R1SN003/wrappers/motorControl/cer_baseonly_ros_wrapper.xml diff --git a/R1SN003nws/wrappers/motorControl/cer_head-mc_remapper.xml b/R1SN003/wrappers/motorControl/cer_head-mc_remapper.xml similarity index 100% rename from R1SN003nws/wrappers/motorControl/cer_head-mc_remapper.xml rename to R1SN003/wrappers/motorControl/cer_head-mc_remapper.xml diff --git a/R1SN003/wrappers/motorControl/cer_head-mc_wrapper.xml b/R1SN003/wrappers/motorControl/cer_head-mc_wrapper.xml index 2e0cd2c805..9215d8f0a5 100644 --- a/R1SN003/wrappers/motorControl/cer_head-mc_wrapper.xml +++ b/R1SN003/wrappers/motorControl/cer_head-mc_wrapper.xml @@ -1,19 +1,10 @@ - - - - ( 0 1 0 1 ) - - 10 - /cer/head - head - 2 - - - - cer_head_mc - + + + /cer/head + + cer_head_mc_remapper - + diff --git a/R1SN003/wrappers/motorControl/cer_left_arm-mc_wrapper.xml b/R1SN003/wrappers/motorControl/cer_left_arm-mc_wrapper.xml deleted file mode 100644 index 1dcacb314d..0000000000 --- a/R1SN003/wrappers/motorControl/cer_left_arm-mc_wrapper.xml +++ /dev/null @@ -1,25 +0,0 @@ - - - - - - ( 0 3 0 3 ) - ( 4 4 3 3 ) - ( 5 7 0 2 ) - ( 8 9 0 1 ) - - 10 - /cer/left_arm - left_arm - 10 - - - - cer_left_upper_arm_mc - cer_left_wrist_equivalent_mc - cer_left_lower_arm_mc - cer_left_hand_mc - - - - diff --git a/R1SN003nws/wrappers/motorControl/cer_left_arm_no_hand-mc_remapper.xml b/R1SN003/wrappers/motorControl/cer_left_arm_no_hand-mc_remapper.xml similarity index 100% rename from R1SN003nws/wrappers/motorControl/cer_left_arm_no_hand-mc_remapper.xml rename to R1SN003/wrappers/motorControl/cer_left_arm_no_hand-mc_remapper.xml diff --git a/R1SN003/wrappers/motorControl/cer_left_arm_no_hand-mc_wrapper.xml b/R1SN003/wrappers/motorControl/cer_left_arm_no_hand-mc_wrapper.xml index d967f88c86..64a778b05f 100644 --- a/R1SN003/wrappers/motorControl/cer_left_arm_no_hand-mc_wrapper.xml +++ b/R1SN003/wrappers/motorControl/cer_left_arm_no_hand-mc_wrapper.xml @@ -1,27 +1,9 @@ - - - - ( 0 1 0 1 ) - ( 2 3 0 1 ) - ( 4 4 3 3 ) - ( 5 7 0 2 ) - - - 10 - /cer/left_arm - left_arm - 8 - - - - cer_left_shoulder_mc - cer_left_upper_arm_mc - cer_left_lower_arm_mc - cer_left_wrist_equivalent_mc - - + + /cer/left_arm + + cer_left_arm_no_hand_mc_remapper - + diff --git a/R1SN003nws/wrappers/motorControl/cer_left_hand-mc_remapper.xml b/R1SN003/wrappers/motorControl/cer_left_hand-mc_remapper.xml similarity index 100% rename from R1SN003nws/wrappers/motorControl/cer_left_hand-mc_remapper.xml rename to R1SN003/wrappers/motorControl/cer_left_hand-mc_remapper.xml diff --git a/R1SN003/wrappers/motorControl/cer_left_hand-mc_wrapper.xml b/R1SN003/wrappers/motorControl/cer_left_hand-mc_wrapper.xml index a58a77c7e9..6eaec7525c 100644 --- a/R1SN003/wrappers/motorControl/cer_left_hand-mc_wrapper.xml +++ b/R1SN003/wrappers/motorControl/cer_left_hand-mc_wrapper.xml @@ -1,19 +1,10 @@ - - - - ( 0 1 0 1 ) - - 10 - /cer/left_hand - left_hand - 2 - - - - cer_left_hand_mc - + + + /cer/left_hand + + cer_left_hand_mc_remapper - + diff --git a/R1SN003/wrappers/motorControl/cer_left_shoulder-mc_wrapper.xml b/R1SN003/wrappers/motorControl/cer_left_shoulder-mc_wrapper.xml deleted file mode 100644 index 14775c1e9d..0000000000 --- a/R1SN003/wrappers/motorControl/cer_left_shoulder-mc_wrapper.xml +++ /dev/null @@ -1,19 +0,0 @@ - - - - - - ( 0 1 0 1 ) - - 10 - /cer/left_arm - left_arm - 2 - - - - cer_left_shoulder_mc - - - - diff --git a/R1SN003/wrappers/motorControl/cer_left_upper_arm-mc_wrapper.xml b/R1SN003/wrappers/motorControl/cer_left_upper_arm-mc_wrapper.xml deleted file mode 100644 index a45c0002ce..0000000000 --- a/R1SN003/wrappers/motorControl/cer_left_upper_arm-mc_wrapper.xml +++ /dev/null @@ -1,21 +0,0 @@ - - - - - - ( 0 1 0 1 ) - ( 2 3 0 1 ) - - 10 - /cer/left_arm - left_arm - 4 - - - - cer_left_shoulder_mc - cer_left_upper_arm_mc - - - - diff --git a/R1SN003nws/wrappers/motorControl/cer_left_wrist-mc_remapper.xml b/R1SN003/wrappers/motorControl/cer_left_wrist-mc_remapper.xml similarity index 100% rename from R1SN003nws/wrappers/motorControl/cer_left_wrist-mc_remapper.xml rename to R1SN003/wrappers/motorControl/cer_left_wrist-mc_remapper.xml diff --git a/R1SN003/wrappers/motorControl/cer_left_wrist-mc_wrapper.xml b/R1SN003/wrappers/motorControl/cer_left_wrist-mc_wrapper.xml index 5e23de2f2a..4e17e67a4e 100644 --- a/R1SN003/wrappers/motorControl/cer_left_wrist-mc_wrapper.xml +++ b/R1SN003/wrappers/motorControl/cer_left_wrist-mc_wrapper.xml @@ -1,19 +1,10 @@ - - 10 - - - ( 0 2 0 2 ) - - /cer/left_wrist - left_wrist - 3 - - - - cer_left_lower_arm_mc - + + + /cer/left_wrist_tripod + + cer_left_wrist_tripod_mc_remapper - + diff --git a/R1SN003nws/wrappers/motorControl/cer_left_wrist_tripod-mc_remapper.xml b/R1SN003/wrappers/motorControl/cer_left_wrist_tripod-mc_remapper.xml similarity index 100% rename from R1SN003nws/wrappers/motorControl/cer_left_wrist_tripod-mc_remapper.xml rename to R1SN003/wrappers/motorControl/cer_left_wrist_tripod-mc_remapper.xml diff --git a/R1SN003/wrappers/motorControl/cer_left_wrist_tripod-mc_wrapper.xml b/R1SN003/wrappers/motorControl/cer_left_wrist_tripod-mc_wrapper.xml index b5bb182e81..c00cc2571f 100644 --- a/R1SN003/wrappers/motorControl/cer_left_wrist_tripod-mc_wrapper.xml +++ b/R1SN003/wrappers/motorControl/cer_left_wrist_tripod-mc_wrapper.xml @@ -1,19 +1,10 @@ - - 10 - - - ( 0 2 0 2 ) - + + /cer/left_wrist_tripod - left_wrist_tripod - 3 - - - - cer_left_lower_arm_mc - + + cer_left_wrist_tripod_mc_remapper - + diff --git a/R1SN003/wrappers/motorControl/cer_right_arm-mc_wrapper.xml b/R1SN003/wrappers/motorControl/cer_right_arm-mc_wrapper.xml deleted file mode 100644 index e7a5799c51..0000000000 --- a/R1SN003/wrappers/motorControl/cer_right_arm-mc_wrapper.xml +++ /dev/null @@ -1,25 +0,0 @@ - - - - - - ( 0 3 0 3 ) - ( 4 4 3 3 ) - ( 5 7 0 2 ) - ( 8 9 0 1 ) - - 10 - /cer/right_arm - right_arm - 10 - - - - cer_right_upper_arm_mc - cer_right_wrist_equivalent_mc - cer_right_lower_arm_mc - cer_right_hand_mc - - - - diff --git a/R1SN003nws/wrappers/motorControl/cer_right_arm_no_hand-mc_remapper.xml b/R1SN003/wrappers/motorControl/cer_right_arm_no_hand-mc_remapper.xml similarity index 100% rename from R1SN003nws/wrappers/motorControl/cer_right_arm_no_hand-mc_remapper.xml rename to R1SN003/wrappers/motorControl/cer_right_arm_no_hand-mc_remapper.xml diff --git a/R1SN003/wrappers/motorControl/cer_right_arm_no_hand-mc_wrapper.xml b/R1SN003/wrappers/motorControl/cer_right_arm_no_hand-mc_wrapper.xml index dbbf891dee..a376b727b1 100644 --- a/R1SN003/wrappers/motorControl/cer_right_arm_no_hand-mc_wrapper.xml +++ b/R1SN003/wrappers/motorControl/cer_right_arm_no_hand-mc_wrapper.xml @@ -1,27 +1,9 @@ - - - - ( 0 1 0 1 ) - ( 2 3 0 1 ) - ( 4 4 3 3 ) - ( 5 7 0 2 ) - - - 10 - /cer/right_arm - right_arm - 8 - - - - cer_right_shoulder_mc - cer_right_upper_arm_mc - cer_right_lower_arm_mc - cer_right_wrist_equivalent_mc - - + + /cer/right_arm + + cer_right_arm_no_hand_mc_remapper - + diff --git a/R1SN003nws/wrappers/motorControl/cer_right_hand-mc_remapper.xml b/R1SN003/wrappers/motorControl/cer_right_hand-mc_remapper.xml similarity index 100% rename from R1SN003nws/wrappers/motorControl/cer_right_hand-mc_remapper.xml rename to R1SN003/wrappers/motorControl/cer_right_hand-mc_remapper.xml diff --git a/R1SN003/wrappers/motorControl/cer_right_hand-mc_wrapper.xml b/R1SN003/wrappers/motorControl/cer_right_hand-mc_wrapper.xml index 222581e1ef..06c8f56999 100644 --- a/R1SN003/wrappers/motorControl/cer_right_hand-mc_wrapper.xml +++ b/R1SN003/wrappers/motorControl/cer_right_hand-mc_wrapper.xml @@ -1,19 +1,10 @@ - - - - ( 0 1 0 1 ) - - 10 - /cer/right_hand - right_hand - 2 - - - - cer_right_hand_mc - + + + /cer/right_hand + + cer_right_hand_mc_remapper - + diff --git a/R1SN003/wrappers/motorControl/cer_right_shoulder-mc_wrapper.xml b/R1SN003/wrappers/motorControl/cer_right_shoulder-mc_wrapper.xml deleted file mode 100644 index 73c218aa78..0000000000 --- a/R1SN003/wrappers/motorControl/cer_right_shoulder-mc_wrapper.xml +++ /dev/null @@ -1,19 +0,0 @@ - - - - - - ( 0 1 0 1 ) - - 10 - /cer/right_arm - right_arm - 2 - - - - cer_right_shoulder_mc - - - - diff --git a/R1SN003/wrappers/motorControl/cer_right_upper_arm-mc_wrapper.xml b/R1SN003/wrappers/motorControl/cer_right_upper_arm-mc_wrapper.xml deleted file mode 100644 index 0cf6cbb5b7..0000000000 --- a/R1SN003/wrappers/motorControl/cer_right_upper_arm-mc_wrapper.xml +++ /dev/null @@ -1,21 +0,0 @@ - - - - - - ( 0 1 0 1 ) - ( 2 3 0 1 ) - - 10 - /cer/right_arm - right_arm - 4 - - - - cer_right_shoulder_mc - cer_right_upper_arm_mc - - - - diff --git a/R1SN003nws/wrappers/motorControl/cer_right_wrist-mc_remapper.xml b/R1SN003/wrappers/motorControl/cer_right_wrist-mc_remapper.xml similarity index 100% rename from R1SN003nws/wrappers/motorControl/cer_right_wrist-mc_remapper.xml rename to R1SN003/wrappers/motorControl/cer_right_wrist-mc_remapper.xml diff --git a/R1SN003/wrappers/motorControl/cer_right_wrist-mc_wrapper.xml b/R1SN003/wrappers/motorControl/cer_right_wrist-mc_wrapper.xml index 780574d0a5..510d7daca2 100644 --- a/R1SN003/wrappers/motorControl/cer_right_wrist-mc_wrapper.xml +++ b/R1SN003/wrappers/motorControl/cer_right_wrist-mc_wrapper.xml @@ -1,19 +1,10 @@ - - 10 - - - ( 0 2 0 2 ) - + + /cer/right_wrist - right_wrist - 3 - - - - cer_right_lower_arm_mc - + + cer_right_lower_arm_mc_remapper - + diff --git a/R1SN003nws/wrappers/motorControl/cer_right_wrist_tripod-mc_remapper.xml b/R1SN003/wrappers/motorControl/cer_right_wrist_tripod-mc_remapper.xml similarity index 100% rename from R1SN003nws/wrappers/motorControl/cer_right_wrist_tripod-mc_remapper.xml rename to R1SN003/wrappers/motorControl/cer_right_wrist_tripod-mc_remapper.xml diff --git a/R1SN003/wrappers/motorControl/cer_right_wrist_tripod-mc_wrapper.xml b/R1SN003/wrappers/motorControl/cer_right_wrist_tripod-mc_wrapper.xml index 496f9e65e5..6c15a31e22 100644 --- a/R1SN003/wrappers/motorControl/cer_right_wrist_tripod-mc_wrapper.xml +++ b/R1SN003/wrappers/motorControl/cer_right_wrist_tripod-mc_wrapper.xml @@ -1,19 +1,10 @@ - - 10 - - - ( 0 2 0 2 ) - + + /cer/right_wrist_tripod - right_wrist_tripod - 3 - - - - cer_right_lower_arm_mc - + + cer_right_wrist_tripod_mc_remapper - + diff --git a/R1SN003/wrappers/motorControl/cer_ros_wrapper.xml b/R1SN003/wrappers/motorControl/cer_ros_wrapper.xml deleted file mode 100644 index 4a7fc3fb82..0000000000 --- a/R1SN003/wrappers/motorControl/cer_ros_wrapper.xml +++ /dev/null @@ -1,40 +0,0 @@ - - - - 10 - /cer/all_joints - 28 - - ( 0 1 0 1 ) - - ( 2 5 0 3 ) - - ( 6 13 0 7 ) - - ( 14 21 0 7 ) - - ( 22 23 0 1 ) - - ( 24 25 0 1 ) - - ( 26 27 0 1 ) - - - - true - /joint_states - /cer - - - - cer_head_mc_wrapper - cer_torso_mc_wrapper - cer_mobile_base_mc_wrapper - cer_right_arm_no_hand_mc_wrapper - cer_right_hand_mc - cer_left_arm_no_hand_mc_wrapper - cer_left_hand_mc - - - - diff --git a/R1SN003/wrappers/motorControl/cer_ros_wrapper_base_only.xml b/R1SN003/wrappers/motorControl/cer_ros_wrapper_base_only.xml deleted file mode 100644 index cc255a555d..0000000000 --- a/R1SN003/wrappers/motorControl/cer_ros_wrapper_base_only.xml +++ /dev/null @@ -1,21 +0,0 @@ - - - - 10 - /cer/all_joints - 2 - - ( 0 1 0 1 ) - - - only - /base_joint_states - /cer - - - - cer_mobile_base_mc_wrapper - - - - diff --git a/R1SN003/wrappers/motorControl/cer_ros_wrapper_fix.xml b/R1SN003/wrappers/motorControl/cer_ros_wrapper_fix.xml deleted file mode 100644 index adec2f4a57..0000000000 --- a/R1SN003/wrappers/motorControl/cer_ros_wrapper_fix.xml +++ /dev/null @@ -1,40 +0,0 @@ - - - - 10 - /cer/all_joints - 28 - - ( 0 1 0 1 ) - - ( 2 5 0 3 ) - - ( 6 13 0 7 ) - - ( 14 21 0 7 ) - - ( 22 23 0 1 ) - - ( 24 25 0 1 ) - - ( 26 27 0 1 ) - - - - true - /joint_states - /cer - - - - cer_head_mc_wrapper - cer_torso_mc_wrapper - cer_mobile_base_mc_wrapper - cer_right_arm_mc_wrapper - cer_right_hand_mc - cer_left_arm_mc_wrapper - cer_left_hand_mc - - - - diff --git a/R1SN003nws/wrappers/motorControl/cer_torso-mc_remapper.xml b/R1SN003/wrappers/motorControl/cer_torso-mc_remapper.xml similarity index 100% rename from R1SN003nws/wrappers/motorControl/cer_torso-mc_remapper.xml rename to R1SN003/wrappers/motorControl/cer_torso-mc_remapper.xml diff --git a/R1SN003/wrappers/motorControl/cer_torso-mc_wrapper.xml b/R1SN003/wrappers/motorControl/cer_torso-mc_wrapper.xml index 06224fe0d6..47dcc70220 100644 --- a/R1SN003/wrappers/motorControl/cer_torso-mc_wrapper.xml +++ b/R1SN003/wrappers/motorControl/cer_torso-mc_wrapper.xml @@ -1,21 +1,10 @@ - - - - ( 0 2 0 2 ) - ( 3 3 3 3 ) - - 10 - /cer/torso - torso - 4 - - - - cer_torso_equivalent_mc - cer_torso_mc - + + + /cer/torso + + cer_torso_mc_remapper - + diff --git a/R1SN003nws/wrappers/motorControl/cer_torso_tripod-mc_remapper.xml b/R1SN003/wrappers/motorControl/cer_torso_tripod-mc_remapper.xml similarity index 100% rename from R1SN003nws/wrappers/motorControl/cer_torso_tripod-mc_remapper.xml rename to R1SN003/wrappers/motorControl/cer_torso_tripod-mc_remapper.xml diff --git a/R1SN003/wrappers/motorControl/cer_torso_tripod-mc_wrapper.xml b/R1SN003/wrappers/motorControl/cer_torso_tripod-mc_wrapper.xml index 3718237bca..78c1efb16f 100644 --- a/R1SN003/wrappers/motorControl/cer_torso_tripod-mc_wrapper.xml +++ b/R1SN003/wrappers/motorControl/cer_torso_tripod-mc_wrapper.xml @@ -1,19 +1,10 @@ - - 10 - - - ( 0 2 0 2 ) - - /cer/torso_tripod - torso_tripod - 3 - - - - cer_torso_mc - + + + /cer/torso_tripod + + cer_torso_tripod_mc_remapper - + diff --git a/R1SN003nws/wrappers/odometry/odometry_nws_ros.xml b/R1SN003/wrappers/odometry/odometry_nws_ros.xml similarity index 100% rename from R1SN003nws/wrappers/odometry/odometry_nws_ros.xml rename to R1SN003/wrappers/odometry/odometry_nws_ros.xml diff --git a/R1SN003nws/wrappers/odometry/odometry_nws_yarp.xml b/R1SN003/wrappers/odometry/odometry_nws_yarp.xml similarity index 100% rename from R1SN003nws/wrappers/odometry/odometry_nws_yarp.xml rename to R1SN003/wrappers/odometry/odometry_nws_yarp.xml diff --git a/R1SN003nws/wrappers/rpLidar/laser_back_nws_yarp.xml b/R1SN003/wrappers/rpLidar/laser_back_nws_yarp.xml similarity index 100% rename from R1SN003nws/wrappers/rpLidar/laser_back_nws_yarp.xml rename to R1SN003/wrappers/rpLidar/laser_back_nws_yarp.xml diff --git a/R1SN003/wrappers/rpLidar/laser_back_wrapper.xml b/R1SN003/wrappers/rpLidar/laser_back_wrapper.xml deleted file mode 100644 index 746695ee02..0000000000 --- a/R1SN003/wrappers/rpLidar/laser_back_wrapper.xml +++ /dev/null @@ -1,24 +0,0 @@ - - - - - 10 - /cer/laser/back:o - - - - cer_laser_back_device - - - - - true - /cer-laserBack - /laserBack - mobile_base_lidar_B > - - - - - - diff --git a/R1SN003nws/wrappers/rpLidar/laser_double_nws_ros.xml b/R1SN003/wrappers/rpLidar/laser_double_nws_ros.xml similarity index 100% rename from R1SN003nws/wrappers/rpLidar/laser_double_nws_ros.xml rename to R1SN003/wrappers/rpLidar/laser_double_nws_ros.xml diff --git a/R1SN003nws/wrappers/rpLidar/laser_double_nws_yarp.xml b/R1SN003/wrappers/rpLidar/laser_double_nws_yarp.xml similarity index 100% rename from R1SN003nws/wrappers/rpLidar/laser_double_nws_yarp.xml rename to R1SN003/wrappers/rpLidar/laser_double_nws_yarp.xml diff --git a/R1SN003/wrappers/rpLidar/laser_double_wrapper.xml b/R1SN003/wrappers/rpLidar/laser_double_wrapper.xml deleted file mode 100644 index b4b6a7735c..0000000000 --- a/R1SN003/wrappers/rpLidar/laser_double_wrapper.xml +++ /dev/null @@ -1,23 +0,0 @@ - - - - - 10 - /cer/laser:o - - - - cer_double_laser_device - - - - - true - /cer-laser - /laser - mobile_base_double_lidar - - - - - diff --git a/R1SN003nws/wrappers/rpLidar/laser_front_nws_yarp.xml b/R1SN003/wrappers/rpLidar/laser_front_nws_yarp.xml similarity index 100% rename from R1SN003nws/wrappers/rpLidar/laser_front_nws_yarp.xml rename to R1SN003/wrappers/rpLidar/laser_front_nws_yarp.xml diff --git a/R1SN003/wrappers/rpLidar/laser_front_wrapper.xml b/R1SN003/wrappers/rpLidar/laser_front_wrapper.xml deleted file mode 100644 index 36242cdcfa..0000000000 --- a/R1SN003/wrappers/rpLidar/laser_front_wrapper.xml +++ /dev/null @@ -1,23 +0,0 @@ - - - - - 10 - /cer/laser/front:o - - - - cer_laser_front_device - - - - - true - /cer-laserFront - /laserFront - mobile_base_lidar_F - - - - - diff --git a/R1SN003/wrappers/rpLidar/laser_wrapper.xml b/R1SN003/wrappers/rpLidar/laser_wrapper.xml deleted file mode 100644 index 7d609b98ae..0000000000 --- a/R1SN003/wrappers/rpLidar/laser_wrapper.xml +++ /dev/null @@ -1,23 +0,0 @@ - - - - - 10 - /cer/laser:o - - - - cer_laser_front_device - - - - - true - /cer-laser - /laser - mobile_base_lidar - - - - - diff --git a/R1SN003nws/CER.xml b/R1SN003nws/CER.xml deleted file mode 100644 index 1c3b16df0c..0000000000 --- a/R1SN003nws/CER.xml +++ /dev/null @@ -1,100 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/R1SN003nws/CMakeLists.txt b/R1SN003nws/CMakeLists.txt deleted file mode 100644 index ce00de0eed..0000000000 --- a/R1SN003nws/CMakeLists.txt +++ /dev/null @@ -1,11 +0,0 @@ -set(appname R1SN003) - -set(scripts CER.xml yarprobotinterface.ini general.xml yarpmotorgui.ini firmwareupdater.ini) - -yarp_install(FILES ${scripts} DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname}) -yarp_install(DIRECTORY calibrators DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname}) -yarp_install(DIRECTORY wrappers DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname}) -yarp_install(DIRECTORY hardware DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname}) -yarp_install(DIRECTORY sensors DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname}) -yarp_install(DIRECTORY camera DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname}) - diff --git a/R1SN003nws/calibrators/cer_base-calib.xml b/R1SN003nws/calibrators/cer_base-calib.xml deleted file mode 100644 index 3d3d9f0396..0000000000 --- a/R1SN003nws/calibrators/cer_base-calib.xml +++ /dev/null @@ -1,50 +0,0 @@ - - - - - - - - - 2 - Mobile_Base_Calibrator - - - - - - 0 - - - - - 3 3 - 0 0 - 10.0 10.0 - 0 0 - 0 0 - 0 0 - 0 0 - 0.0 0.0 - 0.0 0.0 - 1.0 1.0 - 5000 5000 - 2 2 - 1.0 1.0 - 1 1 - - - (0 1) - - - cer_mobile_base_mc_remapper - - - - cer_mobile_base_mc_remapper - - - - - - diff --git a/R1SN003nws/calibrators/cer_head-calib.xml b/R1SN003nws/calibrators/cer_head-calib.xml deleted file mode 100644 index 7adfdc4086..0000000000 --- a/R1SN003nws/calibrators/cer_head-calib.xml +++ /dev/null @@ -1,52 +0,0 @@ - - - - - - - - - 2 - Head_Calibrator - - - - - 1 - - - 0.00 0.00 - 10 10.00 - - - - - 12 12 - 15535 47167 - 0 0 - 0 0 - 0 0 - 0 0 - 0 0 - 0.0 0.0 - - 0.0 0.0 - 10.0 10.0 - 2000 1800 - 4 4 - - - (0 1) - - - cer_head_mc_remapper - - - - cer_head_mc_remapper - - - - - - diff --git a/R1SN003nws/calibrators/cer_left_arm_no_hand-calib.xml b/R1SN003nws/calibrators/cer_left_arm_no_hand-calib.xml deleted file mode 100644 index e8ca7994db..0000000000 --- a/R1SN003nws/calibrators/cer_left_arm_no_hand-calib.xml +++ /dev/null @@ -1,62 +0,0 @@ - - - - - - - - - 8 - Left_Arm_No_Hand_Calibrator - - - - - 2 - - - 25.00 16.00 -9.00 15.00 0.00 0.03 -5.0 0.0 - 10 10.00 10.00 10.00 10.00 0.005 10.0 10.0 - - - -10.85 4.15 -10.2 49.5 -78.3 0.03 0.68 0.68 - 3.00 5.00 10.00 10.00 10.00 0.005 10.0 10.0 - - - - - - - 12 12 12 12 10 8 8 8 - 9663 -28287 -19375 -36927 550 1500 1500 1500 - 0 0 0 0 0 700 700 700 - 0 0 0 0 0 0 0 0 - 0 0 0 0 0 0 0 0 - 0 0 0 0 0 0 0 0 - 0 0 0 0 91 0 0 0 - 0 0 0 0 0 0 0 0 - - -10 20 -10 35 0 0.03 0.0 0.0 - 10 10 10 10 15.0 0.007 10 10 - 32000 32000 32000 32000 2000 2000 2000 2000 - 2 2 2 2 2 0.002 2 2 - - - (0 1 2) (3) (4) (5 6 7) - - - cer_left_arm_no_hand_mc_remapper - - - - cer_left_arm_no_hand_mc_remapper - - - cer_left_arm_no_hand_mc_remapper - - - - - - - diff --git a/R1SN003nws/calibrators/cer_left_hand-calib.xml b/R1SN003nws/calibrators/cer_left_hand-calib.xml deleted file mode 100644 index 36a0016dc8..0000000000 --- a/R1SN003nws/calibrators/cer_left_hand-calib.xml +++ /dev/null @@ -1,52 +0,0 @@ - - - - - - - - - 2 - Left_Hand_Calibrator - - - - - 1 - - - 30.00 30.00 - 40 40.00 - - - - - 13 13 - 19715 52239 - 28744 35280 - 37155 0 - 21262 0 - -1500 1500 - 0 0 - 0 0 - 30.0 30.0 - 40.0 40.0 - 1500 1500 - 10 10 - - - (0 1) - - - cer_left_hand_mc_remapper - - - - cer_left_hand_mc_remapper - - - - - - - diff --git a/R1SN003nws/calibrators/cer_right_arm_no_hand-calib.xml b/R1SN003nws/calibrators/cer_right_arm_no_hand-calib.xml deleted file mode 100644 index 21230e104e..0000000000 --- a/R1SN003nws/calibrators/cer_right_arm_no_hand-calib.xml +++ /dev/null @@ -1,60 +0,0 @@ - - - - - - - - - 8 - Right_Arm_No_Hand_Calibrator - - - - 2 - - - 25.00 16.00 -9.00 15.00 0.00 0.01 -5.0 0.0 - 10 10.00 10.00 10.00 10.00 0.005 10.0 10.0 - - - -9.29 5.8 -10.2 49.50 -80.0 0.03 0.34 -0.34 - 3.00 5.00 10.00 10.00 10.00 0.005 10.0 10.0 - - - - - - 12 12 12 12 10 8 8 8 - -5487 40831 61039 -27439 -550 1500 1500 1500 - 0 0 0 0 0 700 700 700 - 0 0 0 0 0 0 0 0 - 0 0 0 0 0 0 0 0 - 0 0 0 0 0 0 0 0 - 0 0 0 0 90 0 0 0 - 0 0 0 0 0 0 0 0 - - -10 20 -10 35 0 0.03 0.0 0.0 - 10 10 10 10 10 0.007 10 10 - 32000 32000 32000 32000 2000 2000 2000 2000 - 2 2 2 2 2 0.002 2 2 - - - (0 1 2) (3) (4) (5 6 7) - - - cer_right_arm_no_hand_mc_remapper - - - - cer_right_arm_no_hand_mc_remapper - - - cer_right_arm_no_hand_mc_remapper - - - - - - - diff --git a/R1SN003nws/calibrators/cer_right_hand-calib.xml b/R1SN003nws/calibrators/cer_right_hand-calib.xml deleted file mode 100644 index 9713a88242..0000000000 --- a/R1SN003nws/calibrators/cer_right_hand-calib.xml +++ /dev/null @@ -1,51 +0,0 @@ - - - - - - - - - 2 - Right_Hand_Calibrator - - - - 1 - - - 30.00 30.00 - 40 40.00 - - - - - 13 13 - 8046 1693 - 57489 51919 - 48150 0 - 50972 0 - -1500 1500 - 0 0 - 0 0 - 30.0 30.0 - 40.0 40.0 - 1500 1500 - 10 10 - - - (0 1) - - - cer_right_hand_mc_remapper - - - - cer_right_hand_mc_remapper - - - - - - - diff --git a/R1SN003nws/calibrators/cer_torso-calib.xml b/R1SN003nws/calibrators/cer_torso-calib.xml deleted file mode 100644 index 255539b8b5..0000000000 --- a/R1SN003nws/calibrators/cer_torso-calib.xml +++ /dev/null @@ -1,61 +0,0 @@ - - - - - - - - - 4 - Torso_Calibrator - - - - 2 - - - 0.14 0.00 0.00 0.00 - 0.01 10.00 10.00 10.00 - - - 0.029 0.00 0.00 0.00 - 0.01 10.00 10.00 10.00 - - - - - - 9 9 9 12 - 15000 15000 15000 -47919 - 280 280 280 0 - 0 0 0 0 - 0 0 0 0 - 0 0 0 0 - 1500 1500 1500 0 - 0.0 0.0 0.0 0.0 - - 0.12 0.0 0.0 0.0 - 0.01 10 10 10.0 - 30 30 30 20 - 20000 20000 20000 5000 - 0.005 2 2 2 - - - (0 1 2 3) - - - cer_torso_mc_remapper - - - - cer_torso_mc_remapper - - - cer_torso_mc_remapper - - - - - - - diff --git a/R1SN003nws/camera/ServerGrabberDual.ini b/R1SN003nws/camera/ServerGrabberDual.ini deleted file mode 100644 index 4d6a0d043e..0000000000 --- a/R1SN003nws/camera/ServerGrabberDual.ini +++ /dev/null @@ -1,8 +0,0 @@ -device grabberDual -subdevice usbCamera -capabilities COLOR -name /cer/cam -d /dev/video0 -width 1280 -height 480 - diff --git a/R1SN003nws/cer.urdf b/R1SN003nws/cer.urdf deleted file mode 100644 index 554bfd24f9..0000000000 --- a/R1SN003nws/cer.urdf +++ /dev/null @@ -1,1547 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1 - 100 - - child - child_to_parent - - - - - - - child - child_to_parent - - - - - 1 - 100 - - child - child_to_parent - - - - - - - child - child_to_parent - - - - - 1 - 40 - 0.07 0.0 0.031 0.0 -0.0 0.0 - - - - 360 - 1 - -3.14 - 3.14 - - - - 0.10 - 5.0 - 0.01 - - - gaussian - 0.0 - 0.005 - - - - package://cer/conf/gazebo_cer_laser_sensor.ini - - - - - - - - - - 1 - 30 - 0.0521666 0.0 -0.06748 -1.57079632679 -0.0 -1.57079632679 - - -0.0325 0 0 -1.57079 -1.57079 3.14159 - 1.5708 - - 640 - 480 - - - 0.1 - 100 - - - - 0.0325 0 0 -1.57079 -1.57079 3.14159 - 1.5708 - - 640 - 480 - - - 0.1 - 100 - - - - package://cer/conf/gazebo_cer_multicamera.ini - - - - - - - - - - 1 - 30 - 0.0598814 0.0444871 0.04402 -1.57079632679 -0.0 -1.57079632679 - - 0 0 0 -1.57079 -1.57079 3.14159 - 1.02259 - - 0 - 0 - 0 - 0 - 0 -
319.5 239.5
- - - 640 - 480 - R8G8B8 - - - 0.02 - 3000 - - - - package://cer/conf/gazebo_cer_depthCamera.ini - - - - - - - - - - 1 - 30 - 0.0598814 0.0184871 0.04402 -1.57079632679 -0.0 -1.57079632679 - - 0 0 0 -1.57079 -1.57079 3.14159 - 1.02259 - - 0 - 0 - 0 - 0 - 0 -
319.5 239.5
- - - 640 - 480 - R8G8B8 - - - 0.02 - 3000 - - - - package://cer/conf/gazebo_cer_xtion_camera_rgb.ini - - - - - - - - - - - package://cer/conf/gazebo_cer_torso.ini - - - - package://cer/conf/gazebo_cer_torso_tripod.ini - - - - package://cer/conf/gazebo_cer_left_upper_arm.ini - - - - package://cer/conf/gazebo_cer_left_wrist.ini - - - - package://cer/conf/gazebo_cer_left_wrist_tripod.ini - - - - package://cer/conf/gazebo_cer_right_upper_arm.ini - - - - package://cer/conf/gazebo_cer_right_wrist.ini - - - - package://cer/conf/gazebo_cer_right_wrist_tripod.ini - - - - package://cer/conf/gazebo_cer_right_arm.ini - - - package://cer/conf/gazebo_cer_left_arm.ini - - - - package://cer/conf/gazebo_cer_head.ini - - - - package://cer/conf/gazebo_cer_left_hand.ini - - - - package://cer/conf/gazebo_cer_right_hand.ini - - - - package://cer/conf/gazebo_cer_left_hand_mais.ini - - - package://cer/conf/gazebo_cer_right_hand_mais.ini - - - - package://cer/conf/gazebo_cer_mobile_base.ini - - - package://cer/conf/gazebo_cer_all.ini - - - package://cer/conf/worldInterface.ini - - - - - - - - - - - 0.0 - 0.0 - - - - - - - 0 0 0.16 0 0 0 - - - 1 - - - 1 - - - 1 - - - 1 - - - 1 - - - 1 - - - 1 - - - 1 - - - 1 - - - 1 - - - 1 - - - 1 - - - 1 - - - 1 - - - 1 - - - 1 - - - 1 - - - 1 - - - 1 - - - 1 - - - 1 - - - 1 - - - 1 - - - 1 - - - 1 - - - 1 - - - 1 - - - 1 - - - 1 - - - 1 - - - 1 - - - 1 - - - diff --git a/R1SN003nws/firmwareupdater.ini b/R1SN003nws/firmwareupdater.ini deleted file mode 100644 index c93b53ab35..0000000000 --- a/R1SN003nws/firmwareupdater.ini +++ /dev/null @@ -1,2 +0,0 @@ -[DRIVERS] -ETH "eth" diff --git a/R1SN003nws/fw_notes.txt b/R1SN003nws/fw_notes.txt deleted file mode 100644 index 24ac885783..0000000000 --- a/R1SN003nws/fw_notes.txt +++ /dev/null @@ -1,17 +0,0 @@ - -#MK3 - - -Base (EMS1): standard iCub SW on all 2FOC - -Torso (EMS3): 2FOC-DC.hex on 2FOC 1,2,3 - 2FOC-WORM.hex on 2FOC 4 - -Left shoulder (EMS5): 2FOC-WORM.hex on all 2FOC - -Right shoulder (EMS4): 2FOC-WORM.hex on all 2FOC - -Left upper arm (EMS12): 2FOC-UARM.hex on all 2FOC - -Right upper arm (EMS11): 2FOC-UARM.hex on all 2FOC - diff --git a/R1SN003nws/general.xml b/R1SN003nws/general.xml deleted file mode 100644 index c035458613..0000000000 --- a/R1SN003nws/general.xml +++ /dev/null @@ -1,12 +0,0 @@ - - - - - - - false - false - false - false - - diff --git a/R1SN003nws/hardware/FT/cer_left_shoulder-ems5-strain.xml b/R1SN003nws/hardware/FT/cer_left_shoulder-ems5-strain.xml deleted file mode 100644 index 017b584ec5..0000000000 --- a/R1SN003nws/hardware/FT/cer_left_shoulder-ems5-strain.xml +++ /dev/null @@ -1,52 +0,0 @@ - - - - - - - - - - - - - eomn_serv_AS_strain - - - - - eobrd_strain - - - 1 - 0 - - - 0 - 0 - 0 - - - - - id_l_upper_arm_strain - eoas_strain - CAN2:13 - - - - - - 10 - id_l_upper_arm_strain - - - - true - - - - - - - diff --git a/R1SN003nws/hardware/FT/cer_right_shoulder-ems4-strain.xml b/R1SN003nws/hardware/FT/cer_right_shoulder-ems4-strain.xml deleted file mode 100644 index 80184eb9ba..0000000000 --- a/R1SN003nws/hardware/FT/cer_right_shoulder-ems4-strain.xml +++ /dev/null @@ -1,52 +0,0 @@ - - - - - - - - - - - - - eomn_serv_AS_strain - - - - - eobrd_strain - - - 1 - 0 - - - 0 - 0 - 0 - - - - - id_r_upper_arm_strain - eoas_strain - CAN2:13 - - - - - - 10 - id_r_upper_arm_strain - - - - true - - - - - - - diff --git a/R1SN003nws/hardware/MAIS/left_hand-multi_enc.xml b/R1SN003nws/hardware/MAIS/left_hand-multi_enc.xml deleted file mode 100644 index 6015e1ec56..0000000000 --- a/R1SN003nws/hardware/MAIS/left_hand-multi_enc.xml +++ /dev/null @@ -1,15 +0,0 @@ - - - - - - - - - 0 1 - -182.044 182.044 1.0 -182.044 182.044 1.0 - - - - - diff --git a/R1SN003nws/hardware/MAIS/right_hand-multi_enc.xml b/R1SN003nws/hardware/MAIS/right_hand-multi_enc.xml deleted file mode 100644 index a03bd1bb4f..0000000000 --- a/R1SN003nws/hardware/MAIS/right_hand-multi_enc.xml +++ /dev/null @@ -1,15 +0,0 @@ - - - - - - - - - 0 1 - -182.044 182.044 1.0 -182.044 182.044 1.0 - - - - - diff --git a/R1SN003nws/hardware/PSC/left_hand-psc.xml b/R1SN003nws/hardware/PSC/left_hand-psc.xml deleted file mode 100644 index 57e27174f8..0000000000 --- a/R1SN003nws/hardware/PSC/left_hand-psc.xml +++ /dev/null @@ -1,52 +0,0 @@ - - - - - - - - - - - - - eomn_serv_AS_psc - - - - - eobrd_psc - - - 2 - 0 - - - 0 - 0 - 0 - - - - - id_left_hand1 id_left_hand2 id_left_hand3 - eoas_psc_angle eoas_psc_angle eoas_psc_angle - CAN1:1 CAN1:2 CAN1:3 - - - - - - 50 - id_left_hand1 id_left_hand2 id_left_hand3 - - - - - - - - - - - diff --git a/R1SN003nws/hardware/PSC/right_hand-psc.xml b/R1SN003nws/hardware/PSC/right_hand-psc.xml deleted file mode 100644 index 05e27fb852..0000000000 --- a/R1SN003nws/hardware/PSC/right_hand-psc.xml +++ /dev/null @@ -1,52 +0,0 @@ - - - - - - - - - - - - - eomn_serv_AS_psc - - - - - eobrd_psc - - - 2 - 0 - - - 0 - 0 - 0 - - - - - id_right_hand1 id_right_hand2 id_right_hand3 - eoas_psc_angle eoas_psc_angle eoas_psc_angle - CAN1:1 CAN1:2 CAN1:3 - - - - - - 50 - id_right_hand1 id_right_hand2 id_right_hand3 - - - - - - - - - - - diff --git a/R1SN003nws/hardware/electronics/cer_base-ems1-eln.xml b/R1SN003nws/hardware/electronics/cer_base-ems1-eln.xml deleted file mode 100644 index caeb52e006..0000000000 --- a/R1SN003nws/hardware/electronics/cer_base-ems1-eln.xml +++ /dev/null @@ -1,38 +0,0 @@ - - - - - - - - - - 10.0.1.1 - 12345 - ems4 - 768 - 384 - - - - "EB1" - - 1000 - 400 - 300 - 300 - 3 - - - - - - true - 0.020 - 60.0 - - - - - - diff --git a/R1SN003nws/hardware/electronics/cer_head-mcp10-eln.xml b/R1SN003nws/hardware/electronics/cer_head-mcp10-eln.xml deleted file mode 100644 index 930c2225f8..0000000000 --- a/R1SN003nws/hardware/electronics/cer_head-mcp10-eln.xml +++ /dev/null @@ -1,39 +0,0 @@ - - - - - - - - - - - 10.0.1.10 - 12345 - mc4plus - 768 - 384 - - - - "EB10" - - 1000 - 400 - 300 - 300 - 5 - - - - - - true - 0.020 - 60.0 - - - - - - diff --git a/R1SN003nws/hardware/electronics/cer_left_hand-mcp9-eln.xml b/R1SN003nws/hardware/electronics/cer_left_hand-mcp9-eln.xml deleted file mode 100644 index 06cc685ace..0000000000 --- a/R1SN003nws/hardware/electronics/cer_left_hand-mcp9-eln.xml +++ /dev/null @@ -1,39 +0,0 @@ - - - - - - - - - - - 10.0.1.9 - 12345 - mc2plus - 768 - 384 - - - - "EB9" - - 1000 - 300 - 400 - 300 - 5 - - - - - - true - 0.020 - 60.0 - - - - - - diff --git a/R1SN003nws/hardware/electronics/cer_left_lower_arm-mcp8-eln.xml b/R1SN003nws/hardware/electronics/cer_left_lower_arm-mcp8-eln.xml deleted file mode 100644 index 8c0cc36885..0000000000 --- a/R1SN003nws/hardware/electronics/cer_left_lower_arm-mcp8-eln.xml +++ /dev/null @@ -1,39 +0,0 @@ - - - - - - - - - - - 10.0.1.8 - 12345 - mc4plus - 768 - 384 - - - - "EB8" - - 1000 - 400 - 300 - 300 - 5 - - - - - - true - 0.020 - 60.0 - - - - - - diff --git a/R1SN003nws/hardware/electronics/cer_left_shoulder-ems5-eln.xml b/R1SN003nws/hardware/electronics/cer_left_shoulder-ems5-eln.xml deleted file mode 100644 index 3a2c290eab..0000000000 --- a/R1SN003nws/hardware/electronics/cer_left_shoulder-ems5-eln.xml +++ /dev/null @@ -1,39 +0,0 @@ - - - - - - - - - - - 10.0.1.5 - 12345 - ems4 - 768 - 384 - - - - "EB5" - - 1000 - 400 - 300 - 300 - 5 - - - - - - true - 0.020 - 60.0 - - - - - - diff --git a/R1SN003nws/hardware/electronics/cer_left_upper_arm-ems12-eln.xml b/R1SN003nws/hardware/electronics/cer_left_upper_arm-ems12-eln.xml deleted file mode 100644 index 37619e2943..0000000000 --- a/R1SN003nws/hardware/electronics/cer_left_upper_arm-ems12-eln.xml +++ /dev/null @@ -1,39 +0,0 @@ - - - - - - - - - - - 10.0.1.12 - 12345 - ems4 - 768 - 384 - - - - "EB12" - - 1000 - 400 - 300 - 300 - 5 - - - - - - true - 0.020 - 60.0 - - - - - - diff --git a/R1SN003nws/hardware/electronics/cer_right_hand-mcp7-eln.xml b/R1SN003nws/hardware/electronics/cer_right_hand-mcp7-eln.xml deleted file mode 100644 index 29f2e92d1f..0000000000 --- a/R1SN003nws/hardware/electronics/cer_right_hand-mcp7-eln.xml +++ /dev/null @@ -1,39 +0,0 @@ - - - - - - - - - - - 10.0.1.7 - 12345 - mc2plus - 768 - 384 - - - - "EB7" - - 1000 - 300 - 400 - 300 - 5 - - - - - - true - 0.020 - 60.0 - - - - - - diff --git a/R1SN003nws/hardware/electronics/cer_right_lower_arm-mcp6-eln.xml b/R1SN003nws/hardware/electronics/cer_right_lower_arm-mcp6-eln.xml deleted file mode 100644 index cfa1e9010e..0000000000 --- a/R1SN003nws/hardware/electronics/cer_right_lower_arm-mcp6-eln.xml +++ /dev/null @@ -1,39 +0,0 @@ - - - - - - - - - - - 10.0.1.6 - 12345 - mc4plus - 768 - 384 - - - - "EB6" - - 1000 - 400 - 300 - 300 - 5 - - - - - - true - 0.020 - 60.0 - - - - - - diff --git a/R1SN003nws/hardware/electronics/cer_right_shoulder-ems4-eln.xml b/R1SN003nws/hardware/electronics/cer_right_shoulder-ems4-eln.xml deleted file mode 100644 index 5a25fa57bf..0000000000 --- a/R1SN003nws/hardware/electronics/cer_right_shoulder-ems4-eln.xml +++ /dev/null @@ -1,39 +0,0 @@ - - - - - - - - - - - 10.0.1.4 - 12345 - ems4 - 768 - 384 - - - - "EB4" - - 1000 - 400 - 300 - 300 - 5 - - - - - - true - 0.020 - 60.0 - - - - - - diff --git a/R1SN003nws/hardware/electronics/cer_right_upper_arm-ems11-eln.xml b/R1SN003nws/hardware/electronics/cer_right_upper_arm-ems11-eln.xml deleted file mode 100644 index ac276f82b2..0000000000 --- a/R1SN003nws/hardware/electronics/cer_right_upper_arm-ems11-eln.xml +++ /dev/null @@ -1,39 +0,0 @@ - - - - - - - - - - - 10.0.1.11 - 12345 - ems4 - 768 - 384 - - - - "EB11" - - 1000 - 400 - 300 - 300 - 5 - - - - - - true - 0.020 - 60.0 - - - - - - diff --git a/R1SN003nws/hardware/electronics/cer_torso-ems3-eln.xml b/R1SN003nws/hardware/electronics/cer_torso-ems3-eln.xml deleted file mode 100644 index bd2f22d144..0000000000 --- a/R1SN003nws/hardware/electronics/cer_torso-ems3-eln.xml +++ /dev/null @@ -1,39 +0,0 @@ - - - - - - - - - - - 10.0.1.3 - 12345 - ems4 - 768 - 384 - - - - "EB3" - - 1000 - 400 - 300 - 300 - 5 - - - - - - true - 0.020 - 60.0 - - - - - - diff --git a/R1SN003nws/hardware/electronics/pc104.xml b/R1SN003nws/hardware/electronics/pc104.xml deleted file mode 100644 index 06a7a2904d..0000000000 --- a/R1SN003nws/hardware/electronics/pc104.xml +++ /dev/null @@ -1,11 +0,0 @@ - - - - - - 10.0.1.104 - 12345 - 1 - 5 - - diff --git a/R1SN003nws/hardware/mechanicals/cer_base-ems1-mec.xml b/R1SN003nws/hardware/mechanicals/cer_base-ems1-mec.xml deleted file mode 100644 index 33adead9ef..0000000000 --- a/R1SN003nws/hardware/mechanicals/cer_base-ems1-mec.xml +++ /dev/null @@ -1,82 +0,0 @@ - - - - - - 6 - 2 - "mobile_base_l_wheel_joint" "mobile_base_r_wheel_joint" - 0 1 - "revolute" "revolute" - 182.044 182.044 - 32000 32000 - 1000.0 1000.0 - 17 17 - 1 1 - 1 1 - - 0 - - - - 0 0 - 0 0 - 0 0 - 0 0 - - - - - 0 0 - 0 0 - 1 1 - 0 0 - 1 1 - 0 0 - 0 0 - 0 0 - 8 8 - - - - - - 1.00 0.00 0.00 0.00 - 0.00 1.00 0.00 0.00 - 0.00 0.00 1.00 0.00 - 0.00 0.00 0.00 1.00 - - - - 1.00 0.00 0.00 0.00 - 0.00 1.00 0.00 0.00 - 0.00 0.00 1.00 0.00 - 0.00 0.00 0.00 1.00 - - - - 1.000 0.000 0.000 0.000 0.000 0.000 - 0.000 1.000 0.000 0.000 0.000 0.000 - 0.000 0.000 1.000 0.000 0.000 0.000 - 0.000 0.000 0.000 1.000 0.000 0.000 - - - - - - 2 - - 0 - none - 0 - 0 - - - 1 - none - 0 - 0 - - - - diff --git a/R1SN003nws/hardware/mechanicals/cer_head-mcp10-mec.xml b/R1SN003nws/hardware/mechanicals/cer_head-mcp10-mec.xml deleted file mode 100644 index 362498e7b0..0000000000 --- a/R1SN003nws/hardware/mechanicals/cer_head-mcp10-mec.xml +++ /dev/null @@ -1,70 +0,0 @@ - - - - - - 6 - 2 - "neck_pitch_joint" "neck_yaw_joint" - 0 1 - "revolute" "revolute" - 182.044 182.044 - -1 125 - 1 1 - 3360 3360 - 1000.0 1000.0 - "DC" "DC" - 1 1 - 0 - - - - 40 51 - -30.0 -51 - - 0 0 - 0 0 - - - - - - 1.00 0.00 0.00 0.00 - 0.00 1.00 0.00 0.00 - 0.00 0.00 1.00 0.00 - 0.00 0.00 0.00 1.00 - - - - 1.00 0.00 0.00 0.00 - 0.00 1.00 0.00 0.00 - 0.00 0.00 1.00 0.00 - 0.00 0.00 0.00 1.00 - - - - 1.000 0.000 0.000 0.000 0.000 0.000 - 0.000 1.000 0.000 0.000 0.000 0.000 - 0.000 0.000 1.000 0.000 0.000 0.000 - 0.000 0.000 0.000 1.000 0.000 0.000 - - - - - - 2 - - 0 - none - 0 - 0 - - - 1 - none - 0 - 0 - - - - diff --git a/R1SN003nws/hardware/mechanicals/cer_left_hand-mcp9-mec.xml b/R1SN003nws/hardware/mechanicals/cer_left_hand-mcp9-mec.xml deleted file mode 100644 index 7bdb7df7e7..0000000000 --- a/R1SN003nws/hardware/mechanicals/cer_left_hand-mcp9-mec.xml +++ /dev/null @@ -1,69 +0,0 @@ - - - - - - 6 - 2 - "l_palm" "l_thumb" - 0 1 - "revolute" "revolute" - 182.044 182.044 - 1 -1 - 1 1 - 0 0 - "DC" "DC" - 3360 3360 - 1000.0 1000.0 - 0 - - - - 145 135 - 0 -5 - 0 0 - 0 0 - - - - - - 1.000 0.000 0.000 0.000 - 0.000 1.000 0.000 0.000 - 0.000 0.000 1.000 0.000 - 0.000 0.000 0.000 1.000 - - - - 1.000 0.000 0.000 0.000 - 0.000 1.000 0.000 0.000 - 0.000 0.000 1.000 0.000 - 0.000 0.000 0.000 1.000 - - - - -0.5 0.5 0.5 -0.5 0.000 0.000 - 0.000 0.000 0.000 0.000 -1.000 1.000 - 0.000 0.000 0.000 0.000 0.000 0.000 - 0.000 0.000 0.000 0.000 0.000 0.000 - - - - - - 2 - - 0 - cerhand2 - 0 - 0 - - - 1 - cerhand2 - 0 - 0 - - - - diff --git a/R1SN003nws/hardware/mechanicals/cer_left_lower_arm-mcp8-mec.xml b/R1SN003nws/hardware/mechanicals/cer_left_lower_arm-mcp8-mec.xml deleted file mode 100644 index ce0f768be1..0000000000 --- a/R1SN003nws/hardware/mechanicals/cer_left_lower_arm-mcp8-mec.xml +++ /dev/null @@ -1,72 +0,0 @@ - - - - - - 6 - 4 - "l_wrist_tripod_0" "l_wrist_tripod_1" "l_wrist_tripod_2" "l_wrist_pronosupination_joint" - 0 1 2 3 - "prismatic" "prismatic" "prismatic" "revolute" - 56333.333 56333.333 56333.333 182.044 - 1 1 1 1 - 1 1 1 64 - 1 1 1 1 - 3360 3360 3360 3360 - 1000.0 1000.0 1000.0 1000.0 - "DC" "DC" "DC" "DC" - 0 - - - - 0.125 0.125 0.125 90 - -0.005 -0.005 -0.005 -90 - 0 0 0 0 - 0 0 0 0 - - - - - - - 1.000 0.000 0.000 0.000 - 0.000 1.000 0.000 0.000 - 0.000 0.000 1.000 0.000 - 0.000 0.000 0.000 1.000 - - - - - 1.000 0.000 0.000 0.000 - 0.000 1.000 0.000 0.000 - 0.000 0.000 1.000 0.000 - 0.000 0.000 0.000 1.000 - - - - 1.000 0.000 0.000 0.000 0.000 0.000 - 0.000 1.000 0.000 0.000 0.000 0.000 - 0.000 0.000 1.000 0.000 0.000 0.000 - 0.000 0.000 0.000 1.000 0.000 0.000 - - - - - - 2 - - 0 1 2 - trifid - - 244236 - 0 - - - 3 - none - 0 - 0 - - - - diff --git a/R1SN003nws/hardware/mechanicals/cer_left_shoulder-ems5-mec.xml b/R1SN003nws/hardware/mechanicals/cer_left_shoulder-ems5-mec.xml deleted file mode 100644 index 2504e5daef..0000000000 --- a/R1SN003nws/hardware/mechanicals/cer_left_shoulder-ems5-mec.xml +++ /dev/null @@ -1,81 +0,0 @@ - - - - - - 6 - 2 - 0 1 - "l_shoulder_pitch_joint" "l_shoulder_roll_joint" - "revolute" "revolute" - 182.044 182.044 - 117.333 -117.333 - 1 1 - 1 1 - "BLL_MECAP" "BLL_MECAP" - 32000 32000 - 1000.0 1000.0 - 0 - - - - 90 90 - -75 0 - 0 0 - 0 0 - - - - 0 0 - 0 0 - 1 1 - 0 0 - 1 1 - 0 0 - 0 0 - 0 0 - 8 8 - - - - - - 1.00 0.00 0.00 0.00 - 0.00 1.00 0.00 0.00 - 0.00 0.00 1.00 0.00 - 0.00 0.00 0.00 1.00 - - - - 1.00 0.00 0.00 0.00 - 0.00 1.00 0.00 0.00 - 0.00 0.00 1.00 0.00 - 0.00 0.00 0.00 1.00 - - - - 1.000 0.000 0.000 0.000 0.000 0.000 - 0.000 1.000 0.000 0.000 0.000 0.000 - 0.000 0.000 1.000 0.000 0.000 0.000 - 0.000 0.000 0.000 1.000 0.000 0.000 - - - - - - 2 - - 0 - none - 0 - 0 - - - 1 - none - 0 - 0 - - - - diff --git a/R1SN003nws/hardware/mechanicals/cer_left_upper_arm-ems12-mec.xml b/R1SN003nws/hardware/mechanicals/cer_left_upper_arm-ems12-mec.xml deleted file mode 100644 index 2f0751e713..0000000000 --- a/R1SN003nws/hardware/mechanicals/cer_left_upper_arm-ems12-mec.xml +++ /dev/null @@ -1,81 +0,0 @@ - - - - - - 6 - 2 - 0 1 - "l_shoulder_yaw_joint" "l_elbow_joint" - "revolute" "revolute" - 182.044 182.044 - 159.438 159.438 - 1 1 - 1 1 - "BLL_MECAP" "BLL_MECAP" - 32000 32000 - 1000.0 1000.0 - 0 - - - - 92 100 - -92 0 - 0 0 - 0 0 - - - - 0 0 - 0 0 - 1 1 - 0 0 - 1 1 - 0 0 - 0 0 - 0 0 - 16 16 - - - - - - 1.00 0.00 0.00 0.00 - 0.00 1.00 0.00 0.00 - 0.00 0.00 1.00 0.00 - 0.00 0.00 0.00 1.00 - - - - 1.00 0.00 0.00 0.00 - 0.00 1.00 0.00 0.00 - 0.00 0.00 1.00 0.00 - 0.00 0.00 0.00 1.00 - - - - 1.000 0.000 0.000 0.000 0.000 0.000 - 0.000 1.000 0.000 0.000 0.000 0.000 - 0.000 0.000 1.000 0.000 0.000 0.000 - 0.000 0.000 0.000 1.000 0.000 0.000 - - - - - - 2 - - 0 - none - 0 - 0 - - - 1 - none - 0 - 0 - - - - diff --git a/R1SN003nws/hardware/mechanicals/cer_right_hand-mcp7-mec.xml b/R1SN003nws/hardware/mechanicals/cer_right_hand-mcp7-mec.xml deleted file mode 100644 index 1f2faabe7e..0000000000 --- a/R1SN003nws/hardware/mechanicals/cer_right_hand-mcp7-mec.xml +++ /dev/null @@ -1,71 +0,0 @@ - - - - - - 6 - 2 - "r_palm" "r_thumb" - 0 1 - "revolute" "revolute" - 182.044 182.044 - 3360 3360 - 1000.0 1000.0 - 1 -1 - 1 1 - 0 0 - "DC" "DC" - 0 - - - - 145 135 - -5 -5 - 0 0 - 0 0 - - - - - - - 1.00 0.00 0.00 0.00 - 0.00 1.00 0.00 0.00 - 0.00 0.00 1.00 0.00 - 0.00 0.00 0.00 1.00 - - - - 1.00 0.00 0.00 0.00 - 0.00 1.00 0.00 0.00 - 0.00 0.00 1.00 0.00 - 0.00 0.00 0.00 1.00 - - - - 0.5 -0.5 -0.5 0.5 0.000 0.000 - 0.000 0.000 0.000 0.000 1.0 -1.0 - 0.000 0.000 0.000 0.000 0.000 0.000 - 0.000 0.000 0.000 0.000 0.000 0.000 - - - - - - 2 - - 0 - cerhand2 - 0 - 0 - - - 1 - cerhand2 - 0 - 0 - - - - - diff --git a/R1SN003nws/hardware/mechanicals/cer_right_lower_arm-mcp6-mec.xml b/R1SN003nws/hardware/mechanicals/cer_right_lower_arm-mcp6-mec.xml deleted file mode 100644 index 27aa652881..0000000000 --- a/R1SN003nws/hardware/mechanicals/cer_right_lower_arm-mcp6-mec.xml +++ /dev/null @@ -1,70 +0,0 @@ - - - - - - 6 - 4 - "r_wrist_tripod_0" "r_wrist_tripod_1" "r_wrist_tripod_2" "r_wrist_pronosupination_joint" - 0 1 2 3 - "prismatic" "prismatic" "prismatic" "revolute" - 56333.333 56333.333 56333.333 182.044 - 1 1 1 1 - 1 1 1 64 - 1 1 1 1 - 3360 3360 3360 3360 - 1000.0 1000.0 1000.0 1000.0 - "DC" "DC" "DC" "DC" - 0 - - - - 0.125 0.125 0.125 90 - -0.005 -0.005 -0.005 -90 - 0 0 0 0 - 0 0 0 0 - - - - - - 1.00 0.00 0.00 0.00 - 0.00 1.00 0.00 0.00 - 0.00 0.00 1.00 0.00 - 0.00 0.00 0.00 1.00 - - - - 1.00 0.00 0.00 0.00 - 0.00 1.00 0.00 0.00 - 0.00 0.00 1.00 0.00 - 0.00 0.00 0.00 1.00 - - - - 1.000 0.000 0.000 0.000 0.000 0.000 - 0.000 1.000 0.000 0.000 0.000 0.000 - 0.000 0.000 1.000 0.000 0.000 0.000 - 0.000 0.000 0.000 1.000 0.000 0.000 - - - - - - 2 - - 0 1 2 - trifid - - 244236 - 0 - - - 3 - none - 0 - 0 - - - - diff --git a/R1SN003nws/hardware/mechanicals/cer_right_shoulder-ems4-mec.xml b/R1SN003nws/hardware/mechanicals/cer_right_shoulder-ems4-mec.xml deleted file mode 100644 index 03941d7e72..0000000000 --- a/R1SN003nws/hardware/mechanicals/cer_right_shoulder-ems4-mec.xml +++ /dev/null @@ -1,81 +0,0 @@ - - - - - - 6 - 2 - 0 1 - "r_shoulder_pitch_joint" "r_shoulder_roll_joint" - "revolute" "revolute" - 182.044 182.044 - 117.333 -117.333 - 1 1 - 1 1 - 32000 32000 - 1000.0 1000.0 - "BLL_MECAP" "BLL_MECAP" - 0 - - - - 90 90 - -75 0 - 0 0 - 0 0 - - - - 0 0 - 0 0 - 1 1 - 0 0 - 1 1 - 0 0 - 0 0 - 0 0 - 8 8 - - - - - - 1.00 0.00 0.00 0.00 - 0.00 1.00 0.00 0.00 - 0.00 0.00 1.00 0.00 - 0.00 0.00 0.00 1.00 - - - - 1.00 0.00 0.00 0.00 - 0.00 1.00 0.00 0.00 - 0.00 0.00 1.00 0.00 - 0.00 0.00 0.00 1.00 - - - - 1.000 0.000 0.000 0.000 0.000 0.000 - 0.000 1.000 0.000 0.000 0.000 0.000 - 0.000 0.000 1.000 0.000 0.000 0.000 - 0.000 0.000 0.000 1.000 0.000 0.000 - - - - - - 2 - - 0 - none - 0 - 0 - - - 1 - none - 0 - 0 - - - - diff --git a/R1SN003nws/hardware/mechanicals/cer_right_upper_arm-ems11-mec.xml b/R1SN003nws/hardware/mechanicals/cer_right_upper_arm-ems11-mec.xml deleted file mode 100644 index 9f8e1a1d70..0000000000 --- a/R1SN003nws/hardware/mechanicals/cer_right_upper_arm-ems11-mec.xml +++ /dev/null @@ -1,81 +0,0 @@ - - - - - - 6 - 2 - 0 1 - "r_shoulder_yaw_joint" "r_elbow_joint" - "revolute" "revolute" - 182.044 182.044 - -159.438 159.438 - 1 1 - 1 1 - 32000 32000 - 1000.0 1000.0 - "BLL_MECAP" "BLL_MECAP" - 0 - - - - 92 100 - -92 0 - 0 0 - 0 0 - - - - 0 0 - 0 0 - 1 1 - 0 0 - 1 1 - 0 0 - 0 0 - 0 0 - 16 16 - - - - - - 1.00 0.00 0.00 0.00 - 0.00 1.00 0.00 0.00 - 0.00 0.00 1.00 0.00 - 0.00 0.00 0.00 1.00 - - - - 1.00 0.00 0.00 0.00 - 0.00 1.00 0.00 0.00 - 0.00 0.00 1.00 0.00 - 0.00 0.00 0.00 1.00 - - - - 1.000 0.000 0.000 0.000 0.000 0.000 - 0.000 1.000 0.000 0.000 0.000 0.000 - 0.000 0.000 1.000 0.000 0.000 0.000 - 0.000 0.000 0.000 1.000 0.000 0.000 - - - - - - 2 - - 0 - none - 0 - 0 - - - 1 - none - 0 - 0 - - - - diff --git a/R1SN003nws/hardware/mechanicals/cer_torso-ems3-mec.xml b/R1SN003nws/hardware/mechanicals/cer_torso-ems3-mec.xml deleted file mode 100644 index 106e3d628d..0000000000 --- a/R1SN003nws/hardware/mechanicals/cer_torso-ems3-mec.xml +++ /dev/null @@ -1,83 +0,0 @@ - - - - - - 6 - 4 - "torso_tripod_0" "torso_tripod_1" "torso_tripod_2" "torso_yaw_joint" - 0 1 2 3 - "prismatic" "prismatic" "prismatic" "revolute" - 10000 10000 10000 182.044 - 1 1 1 117.333 - 1 1 1 1 - 1 1 1 1 - "DC" "DC" "DC" "BLL_MECAP" - 32000 32000 32000 32000 - 1000.0 1000.0 1000.0 1000.0 - 0 - - - - 0.155 0.155 0.155 31 - -0.04 -0.04 -0.04 -31 - 0 0 0 0 - 0 0 0 0 - - - - - 0 0 0 0 - 0 0 0 0 - 0 0 0 1 - 0 0 0 0 - 1 1 1 1 - 0 0 0 0 - 0 0 0 0 - 0 0 0 0 - 2 2 2 8 - - - - - - - 1.00 0.00 0.00 0.00 - 0.00 1.00 0.00 0.00 - 0.00 0.00 1.00 0.00 - 0.00 0.00 0.00 1.00 - - - - 1.00 0.00 0.00 0.00 - 0.00 1.00 0.00 0.00 - 0.00 0.00 1.00 0.00 - 0.00 0.00 0.00 1.00 - - - - 1.000 0.000 0.000 0.000 0.000 0.000 - 0.000 1.000 0.000 0.000 0.000 0.000 - 0.000 0.000 1.000 0.000 0.000 0.000 - 0.000 0.000 0.000 1.000 0.000 0.000 - - - - - - 2 - - 0 1 2 - trifid - 658000 - 0 - - - 3 - none - 0 - 0 - - - - diff --git a/R1SN003nws/hardware/motorControl/cer_base-ems1-mc-service.xml b/R1SN003nws/hardware/motorControl/cer_base-ems1-mc-service.xml deleted file mode 100644 index 9708bf179d..0000000000 --- a/R1SN003nws/hardware/motorControl/cer_base-ems1-mc-service.xml +++ /dev/null @@ -1,61 +0,0 @@ - - - - - - - - eomn_serv_MC_foc - - - - - ems4 - - - - foc - - 1 - 6 - - - 0 - 0 - 0 - - - - - - - - foc foc - CAN1:1:0 CAN1:2:0 - - - - hallmotor hallmotor - CAN1:4:0 CAN1:2:0 - atmotor atmotor - 14400 -14400 - 0 0 - - - - none none - CONN:none CONN:none - none none - 0 0 - 0 0 - - - - - - - - - - - diff --git a/R1SN003nws/hardware/motorControl/cer_base-ems1-mc.xml b/R1SN003nws/hardware/motorControl/cer_base-ems1-mc.xml deleted file mode 100644 index 30243c58bd..0000000000 --- a/R1SN003nws/hardware/motorControl/cer_base-ems1-mc.xml +++ /dev/null @@ -1,98 +0,0 @@ - - - - - - - - - - - - 0 0 - 0 0 - 360 360 - 15000 15000 - 10000 10000 - 15000 15000 - 10000 10000 - - - - - 100 100 - - - - JOINT_MINJERK_OUT_VEL_CTRL JOINT_MINJERK_OUT_VEL_CTRL - JOINT_MINJERK_OUT_VEL_CTRL JOINT_MINJERK_OUT_VEL_CTRL - JOINT_MINJERK_OUT_VEL_CTRL JOINT_MINJERK_OUT_VEL_CTRL - JOINT_DIRECT_OUT_VEL_CTRL JOINT_DIRECT_OUT_VEL_CTRL - JOINT_DIRECT_OUT_VEL_CTRL JOINT_DIRECT_OUT_VEL_CTRL - none none - - 2FOC_CUR_CONTROL 2FOC_CUR_CONTROL - 2FOC_VEL_CONTROL 2FOC_VEL_CONTROL - - - - minjerk - velocity - machine_units - machine_units - 1 1 - 5 5 - 0 0 - 32000 32000 - - - - direct - velocity - machine_units - machine_units - 1 1 - 5 5 - 0 0 - 32000 32000 - - - - low_lev_current - machine_units - machine_units - 0 0 - 8 8 - 0 0 - 2 2 - 10 10 - 32000 32000 - 32000 32000 - - - - low_lev_speed - machine_units - machine_units - 0 0 - 12 12 - 0 0 - 16 16 - 10 10 - 32000 32000 - 32000 32000 - - - - - 0 0 - 0 0 - - - - 0.025 0.025 - - - - - diff --git a/R1SN003nws/hardware/motorControl/cer_head-mcp10-mc-service.xml b/R1SN003nws/hardware/motorControl/cer_head-mcp10-mc-service.xml deleted file mode 100644 index 2e512fc1f9..0000000000 --- a/R1SN003nws/hardware/motorControl/cer_head-mcp10-mc-service.xml +++ /dev/null @@ -1,59 +0,0 @@ - - - - - - - - eomn_serv_MC_mc4plus - - - - - mc4plus - - - - - - - pwm pwm - CONN:P5 CONN:P2 - - - - - - eomc_enc_aea aea - CONN:P11 CONN:P10 - eomc_pos_atjoint atjoint - 4096 4096 - 0.703 0.703 - - - - eomc_enc_none none - CONN:none CONN:none - eomc_pos_none none - 0 0 - 0 0 - - - - - - - - - - 0.0495 0.0495 - - - - diff --git a/R1SN003nws/hardware/motorControl/cer_head-mcp10-mc.xml b/R1SN003nws/hardware/motorControl/cer_head-mcp10-mc.xml deleted file mode 100644 index 7b6479a7ca..0000000000 --- a/R1SN003nws/hardware/motorControl/cer_head-mcp10-mc.xml +++ /dev/null @@ -1,76 +0,0 @@ - - - - - - - - - - - - - - 38 49 - -28 -49 - 50 50 - 5000 5000 - 8000 8000 - 8000 8000 - 3360 3360 - - - - - 100 100 - - - - JOINT_MINJERK_OUT_PWM_CTRL JOINT_MINJERK_OUT_PWM_CTRL - JOINT_MINJERK_OUT_PWM_CTRL JOINT_MINJERK_OUT_PWM_CTRL - JOINT_MINJERK_OUT_PWM_CTRL JOINT_MINJERK_OUT_PWM_CTRL - JOINT_DIRECT_OUT_PWM_CTRL JOINT_DIRECT_OUT_PWM_CTRL - JOINT_DIRECT_OUT_PWM_CTRL JOINT_DIRECT_OUT_PWM_CTRL - none none - - none none - none none - - - - minjerk - pwm - machine_units - machine_units - 0 0 - 2 -0.75 - 0 0 - 5 -2 - 3360 3360 - 3360 1500 - 0 0 - 0 0 - - - - direct - pwm - machine_units - machine_units - 0 0 - 2 -1.5 - 0 0 - 1 -5 - 3360 3360 - 3360 1500 - 0 0 - 0 0 - - - - 0 0 - 0 0 - - - - diff --git a/R1SN003nws/hardware/motorControl/cer_left_hand-mcp9-mc-service.xml b/R1SN003nws/hardware/motorControl/cer_left_hand-mcp9-mc-service.xml deleted file mode 100644 index 3c06e8ad0e..0000000000 --- a/R1SN003nws/hardware/motorControl/cer_left_hand-mcp9-mc-service.xml +++ /dev/null @@ -1,66 +0,0 @@ - - - - - - - - eomn_serv_MC_mc2pluspsc - - - - - mc2plus - - - - psc - - 2 - 0 - - - 0 - 0 - 0 - - - - - CAN1:1 CAN1:2 CAN1:3 - - - - - - - - pwm pwm - CONN:P2 CONN:P3 - - - - psc psc - finger0 finger1 - atjoint atjoint - 65535 65535 - 5 5 - - - - qenc qenc - CONN:P2 CONN:P3 - atmotor atmotor - 1024 1024 - 0 0 - - - - - - - - - - - diff --git a/R1SN003nws/hardware/motorControl/cer_left_hand-mcp9-mc.xml b/R1SN003nws/hardware/motorControl/cer_left_hand-mcp9-mc.xml deleted file mode 100644 index 52588fa9a6..0000000000 --- a/R1SN003nws/hardware/motorControl/cer_left_hand-mcp9-mc.xml +++ /dev/null @@ -1,83 +0,0 @@ - - - - - - - - - - - - - - 140 130 - 6 0 - 150 150 - 5000 5000 - 1500 1500 - 2500 2500 - 3360 3360 - - - - - 100 100 - - - - - JOINT_MINJERK_OUT_PWM_CTRL JOINT_MINJERK_OUT_PWM_CTRL - JOINT_MINJERK_OUT_PWM_CTRL JOINT_MINJERK_OUT_PWM_CTRL - JOINT_MINJERK_OUT_PWM_CTRL JOINT_MINJERK_OUT_PWM_CTRL - JOINT_DIRECT_OUT_PWM_CTRL JOINT_DIRECT_OUT_PWM_CTRL - JOINT_DIRECT_OUT_PWM_CTRL JOINT_DIRECT_OUT_PWM_CTRL - none none - - none none - none none - - - - minjerk - pwm - machine_units - machine_units - 0 0 - 100 100 - 0 0 - 300 300 - 1200 800 - 1200 800 - 0 0 - 0 0 - - - - direct - pwm - machine_units - machine_units - 0 0 - 100 100 - 0 0 - 300 300 - 1200 800 - 1200 800 - 0 0 - 0 0 - - - - 0 0 - 0 0 - - - - 4.20 4.20 - - - - - - diff --git a/R1SN003nws/hardware/motorControl/cer_left_lower_arm-mcp8-mc-service.xml b/R1SN003nws/hardware/motorControl/cer_left_lower_arm-mcp8-mc-service.xml deleted file mode 100644 index 5cd22288fe..0000000000 --- a/R1SN003nws/hardware/motorControl/cer_left_lower_arm-mcp8-mc-service.xml +++ /dev/null @@ -1,51 +0,0 @@ - - - - - - - - eomn_serv_MC_mc4plus - - - - - mc4plus - - - - - - - pwm pwm pwm pwm - CONN:P3 CONN:P2 CONN:P4 CONN:P5 - - - - none none none aea - CONN:none CONN:none CONN:none CONN:P10 - none none none atjoint - 65535 65535 65535 -4096 - 0 0 0 0.703 - - - - qenc qenc qenc none - CONN:P3 CONN:P2 CONN:P4 CONN:none - atmotor atmotor atmotor none - 65535 65535 65535 0 - 0 0 0 0 - - - - - - - - - - 0.00002 0.00002 0.00002 0.0055 - - - - diff --git a/R1SN003nws/hardware/motorControl/cer_left_lower_arm-mcp8-mc.xml b/R1SN003nws/hardware/motorControl/cer_left_lower_arm-mcp8-mc.xml deleted file mode 100644 index 492a573ead..0000000000 --- a/R1SN003nws/hardware/motorControl/cer_left_lower_arm-mcp8-mc.xml +++ /dev/null @@ -1,77 +0,0 @@ - - - - - - - - - - - - - - 0.12 0.12 0.12 89 - 0 0 0 -89 - 0.02 0.02 0.02 3000 - 10000 10000 10000 10000 - 5000 5000 5000 5000 - 5000 5000 5000 5000 - 3360 3360 3360 3360 - - - - 100 100 100 100 - - - - - JOINT_MINJERK_OUT_PWM_CTRL JOINT_MINJERK_OUT_PWM_CTRL JOINT_MINJERK_OUT_PWM_CTRL JOINT_MINJERK_OUT_PWM_CTRL - JOINT_MINJERK_OUT_PWM_CTRL JOINT_MINJERK_OUT_PWM_CTRL JOINT_MINJERK_OUT_PWM_CTRL JOINT_MINJERK_OUT_PWM_CTRL - JOINT_MINJERK_OUT_PWM_CTRL JOINT_MINJERK_OUT_PWM_CTRL JOINT_MINJERK_OUT_PWM_CTRL JOINT_MINJERK_OUT_PWM_CTRL - JOINT_DIRECT_OUT_PWM_CTRL JOINT_DIRECT_OUT_PWM_CTRL JOINT_DIRECT_OUT_PWM_CTRL JOINT_DIRECT_OUT_PWM_CTRL - JOINT_DIRECT_OUT_PWM_CTRL JOINT_DIRECT_OUT_PWM_CTRL JOINT_DIRECT_OUT_PWM_CTRL JOINT_DIRECT_OUT_PWM_CTRL - none none none none - - none none none none - none none none none - - - - minjerk - pwm - machine_units - machine_units - 0 0 0 0 - -20 -20 -20 0.7 - 0 0 0 0 - 0 0 0 0 - 3000 3000 3000 2000 - 0 0 0 0 - 0 0 0 0 - 0 0 0 0 - - - - direct - pwm - machine_units - machine_units - 0 0 0 0 - -20 -20 -20 0.7 - 0 0 0 0 - 0 0 0 0 - 3000 3000 3000 2000 - 0 0 0 0 - 0 0 0 0 - 0 0 0 0 - - - - 0 0 0 0 - 0 0 0 0 - - - - - diff --git a/R1SN003nws/hardware/motorControl/cer_left_shoulder-ems5-mc-service.xml b/R1SN003nws/hardware/motorControl/cer_left_shoulder-ems5-mc-service.xml deleted file mode 100644 index 51045b958f..0000000000 --- a/R1SN003nws/hardware/motorControl/cer_left_shoulder-ems5-mc-service.xml +++ /dev/null @@ -1,60 +0,0 @@ - - - - - - - - eomn_serv_MC_foc - - - - - ems4 - - - - foc - - 1 - 6 - - - 0 - 0 - 0 - - - - - - - foc foc - CAN1:1:0 CAN1:2:0 - - - - aea aea - CONN:P8 CONN:P6 - atjoint atjoint - 4096 -4096 - 0.703 0.703 - - - - roie roie - CAN1:1:0 CAN1:2:0 - atmotor atmotor - 8192 8192 - 0 0 - - - - - - - - - - - diff --git a/R1SN003nws/hardware/motorControl/cer_left_shoulder-ems5-mc.xml b/R1SN003nws/hardware/motorControl/cer_left_shoulder-ems5-mc.xml deleted file mode 100644 index e46fc1769e..0000000000 --- a/R1SN003nws/hardware/motorControl/cer_left_shoulder-ems5-mc.xml +++ /dev/null @@ -1,97 +0,0 @@ - - - - - - - - - - - - 85 85 - -70 2 - 5000 5000 - 2500 2500 - 5000 5000 - 50 50 - 32000 32000 - - - - 100 100 - - - - - JOINT_MINJERK_OUT_WORM_VEL_CTRL JOINT_MINJERK_OUT_WORM_VEL_CTRL - JOINT_MINJERK_OUT_WORM_VEL_CTRL JOINT_MINJERK_OUT_WORM_VEL_CTRL - JOINT_MINJERK_OUT_WORM_VEL_CTRL JOINT_MINJERK_OUT_WORM_VEL_CTRL - JOINT_DIRECT_OUT_WORM_VEL_CTRL JOINT_DIRECT_OUT_WORM_VEL_CTRL - JOINT_DIRECT_OUT_WORM_VEL_CTRL JOINT_DIRECT_OUT_WORM_VEL_CTRL - none none - - 2FOC_CUR_CONTROL 2FOC_CUR_CONTROL - 2FOC_VEL_CONTROL 2FOC_VEL_CONTROL - - - - minjerk - velocity - machine_units - machine_units - 1 1 - 5 5 - 0 0 - 32000 32000 - - - - direct - velocity - machine_units - machine_units - 1 1 - 5 5 - 0 0 - 32000 32000 - - - - low_lev_current - machine_units - machine_units - 0 0 - 8 8 - 0 0 - 2 2 - 10 10 - 32000 32000 - 32000 32000 - - - - low_lev_speed - machine_units - machine_units - 0 0 - 1280 1280 - 6144 6144 - 1 1 - 14 14 - 32000 32000 - 32000 32000 - - - - 0 0 - 0 0 - - - - - 0.0495 0.0495 - - - - diff --git a/R1SN003nws/hardware/motorControl/cer_left_upper_arm-ems12-mc-service.xml b/R1SN003nws/hardware/motorControl/cer_left_upper_arm-ems12-mc-service.xml deleted file mode 100644 index f16243df76..0000000000 --- a/R1SN003nws/hardware/motorControl/cer_left_upper_arm-ems12-mc-service.xml +++ /dev/null @@ -1,60 +0,0 @@ - - - - - - - - eomn_serv_MC_foc - - - - - ems4 - - - - foc - - 1 - 6 - - - 0 - 0 - 0 - - - - - - - foc foc - CAN1:1:0 CAN1:2:0 - - - - aea aea - CONN:P8 CONN:P6 - atjoint atjoint - -4096 -4096 - 0.703 0.703 - - - - roie roie - CAN1:1:0 CAN1:2:0 - atmotor atmotor - 8192 8192 - 0 0 - - - - - - - - - - - diff --git a/R1SN003nws/hardware/motorControl/cer_left_upper_arm-ems12-mc.xml b/R1SN003nws/hardware/motorControl/cer_left_upper_arm-ems12-mc.xml deleted file mode 100644 index c8269f876a..0000000000 --- a/R1SN003nws/hardware/motorControl/cer_left_upper_arm-ems12-mc.xml +++ /dev/null @@ -1,95 +0,0 @@ - - - - - - - - - - - - 85 95 - -85 5 - 9000 9000 - 3000 3000 - 6000 6000 - 90 90 - 32000 32000 - - - - 100 100 - - - - JOINT_MINJERK_OUT_WORM_VEL_CTRL JOINT_MINJERK_OUT_WORM_VEL_CTRL - JOINT_MINJERK_OUT_WORM_VEL_CTRL JOINT_MINJERK_OUT_WORM_VEL_CTRL - JOINT_MINJERK_OUT_WORM_VEL_CTRL JOINT_MINJERK_OUT_WORM_VEL_CTRL - JOINT_DIRECT_OUT_WORM_VEL_CTRL JOINT_DIRECT_OUT_WORM_VEL_CTRL - JOINT_DIRECT_OUT_WORM_VEL_CTRL JOINT_DIRECT_OUT_WORM_VEL_CTRL - none none - - 2FOC_CUR_CONTROL 2FOC_CUR_CONTROL - 2FOC_VEL_CONTROL 2FOC_VEL_CONTROL - - - - minjerk - velocity - machine_units - machine_units - 1 1 - 5 5 - 0 0 - 32000 32000 - - - - direct - velocity - machine_units - machine_units - 1 1 - 5 5 - 0 0 - 32000 32000 - - - - low_lev_current - machine_units - machine_units - 0 0 - 8 8 - 0 0 - 2 2 - 10 10 - 32000 32000 - 32000 32000 - - - - low_lev_speed - machine_units - machine_units - 0 0 - 12 12 - 0 0 - 16 16 - 10 10 - 32000 32000 - 32000 32000 - - - - 0 0 - 0 0 - - - - 0.0495 0.0495 - - - - diff --git a/R1SN003nws/hardware/motorControl/cer_left_wrist_equivalent-mc.xml b/R1SN003nws/hardware/motorControl/cer_left_wrist_equivalent-mc.xml deleted file mode 100644 index 303b022455..0000000000 --- a/R1SN003nws/hardware/motorControl/cer_left_wrist_equivalent-mc.xml +++ /dev/null @@ -1,43 +0,0 @@ - - - - - - - - "l_wrist_heave_eq_joint" "l_wrist_roll_eq_joint" "l_wrist_pitch_eq_joint" - - - 3 - - - 1 1 1 - - - - 0.018 - 0.112 - 0.0 - 17.0 - - 1.0 0.0 0.0 0.0 - 0.0 1.0 0.0 0.0 - 0.0 0.0 1.0 0.0 - 0.0 0.0 0.0 1.0 - - - - - 0.05 - - - - - cer_left_lower_arm_mc - - - - - - - diff --git a/R1SN003nws/hardware/motorControl/cer_right_hand-mcp7-mc-service.xml b/R1SN003nws/hardware/motorControl/cer_right_hand-mcp7-mc-service.xml deleted file mode 100644 index 0c7fbe973c..0000000000 --- a/R1SN003nws/hardware/motorControl/cer_right_hand-mcp7-mc-service.xml +++ /dev/null @@ -1,66 +0,0 @@ - - - - - - - - eomn_serv_MC_mc2pluspsc - - - - - mc2plus - - - - psc - - 2 - 0 - - - 0 - 0 - 0 - - - - - CAN1:1 CAN1:2 CAN1:3 - - - - - - - - pwm pwm - CONN:P2 CONN:P3 - - - - psc psc - finger0 finger1 - atjoint atjoint - 65535 65535 - 5 5 - - - - qenc qenc - CONN:P2 CONN:P3 - atmotor atmotor - 1024 1024 - 0 0 - - - - - - - - - - - diff --git a/R1SN003nws/hardware/motorControl/cer_right_hand-mcp7-mc.xml b/R1SN003nws/hardware/motorControl/cer_right_hand-mcp7-mc.xml deleted file mode 100644 index 4dcff99c41..0000000000 --- a/R1SN003nws/hardware/motorControl/cer_right_hand-mcp7-mc.xml +++ /dev/null @@ -1,84 +0,0 @@ - - - - - - - - - - - - - - 140 130 - 8 0 - 150 150 - 5000 5000 - 1500 1500 - 2500 2500 - 3360 3360 - - - - - 100 100 - - - - - JOINT_MINJERK_OUT_PWM_CTRL JOINT_MINJERK_OUT_PWM_CTRL - JOINT_MINJERK_OUT_PWM_CTRL JOINT_MINJERK_OUT_PWM_CTRL - JOINT_MINJERK_OUT_PWM_CTRL JOINT_MINJERK_OUT_PWM_CTRL - JOINT_DIRECT_OUT_PWM_CTRL JOINT_DIRECT_OUT_PWM_CTRL - JOINT_DIRECT_OUT_PWM_CTRL JOINT_DIRECT_OUT_PWM_CTRL - none none - - none none - none none - - - - minjerk - pwm - machine_units - machine_units - 0 0 - -100 -100 - 0 0 - -300 -300 - 1200 800 - 1200 800 - 0 0 - 0 0 - - - - direct - pwm - machine_units - machine_units - 0 0 - -100 -100 - 0 0 - -300 -300 - 800 800 - 800 800 - 0 0 - 0 0 - - - - 0 0 - 0 0 - - - - 4.20 4.20 - - - - - - - diff --git a/R1SN003nws/hardware/motorControl/cer_right_lower_arm-mcp6-mc-service.xml b/R1SN003nws/hardware/motorControl/cer_right_lower_arm-mcp6-mc-service.xml deleted file mode 100644 index 0c9ad763cd..0000000000 --- a/R1SN003nws/hardware/motorControl/cer_right_lower_arm-mcp6-mc-service.xml +++ /dev/null @@ -1,47 +0,0 @@ - - - - - - - - eomn_serv_MC_mc4plus - - - - - mc4plus - - - - - - - pwm pwm pwm pwm - CONN:P3 CONN:P2 CONN:P4 CONN:P5 - - - - none none none aea - CONN:none CONN:none CONN:none CONN:P10 - none none none atjoint - 65535 65535 65535 4096 - 0 0 0 0.703 - - - - qenc qenc qenc none - CONN:P3 CONN:P2 CONN:P4 CONN:none - atmotor atmotor atmotor none - 65535 65535 65535 0 - 0 0 0 0 - - - - - - - - - - diff --git a/R1SN003nws/hardware/motorControl/cer_right_lower_arm-mcp6-mc.xml b/R1SN003nws/hardware/motorControl/cer_right_lower_arm-mcp6-mc.xml deleted file mode 100644 index 76f140bc23..0000000000 --- a/R1SN003nws/hardware/motorControl/cer_right_lower_arm-mcp6-mc.xml +++ /dev/null @@ -1,82 +0,0 @@ - - - - - - - - - - - - - - 0.12 0.12 0.12 89 - 0 0 0 -89 - 0.02 0.02 0.02 3000 - 10000 10000 10000 10000 - 5000 5000 5000 5000 - 5000 5000 5000 5000 - 3360 3360 3360 3360 - - - - - 100 100 100 100 - - - - - JOINT_MINJERK_OUT_PWM_CTRL JOINT_MINJERK_OUT_PWM_CTRL JOINT_MINJERK_OUT_PWM_CTRL JOINT_MINJERK_OUT_PWM_CTRL - JOINT_MINJERK_OUT_PWM_CTRL JOINT_MINJERK_OUT_PWM_CTRL JOINT_MINJERK_OUT_PWM_CTRL JOINT_MINJERK_OUT_PWM_CTRL - JOINT_MINJERK_OUT_PWM_CTRL JOINT_MINJERK_OUT_PWM_CTRL JOINT_MINJERK_OUT_PWM_CTRL JOINT_MINJERK_OUT_PWM_CTRL - JOINT_DIRECT_OUT_PWM_CTRL JOINT_DIRECT_OUT_PWM_CTRL JOINT_DIRECT_OUT_PWM_CTRL JOINT_DIRECT_OUT_PWM_CTRL - JOINT_DIRECT_OUT_PWM_CTRL JOINT_DIRECT_OUT_PWM_CTRL JOINT_DIRECT_OUT_PWM_CTRL JOINT_DIRECT_OUT_PWM_CTRL - none none none none - - none none none none - none none none none - - - - minjerk - pwm - machine_units - machine_units - 0 0 0 0 - -20 -20 -20 -0.7 - 0 0 0 0 - 0 0 0 0 - 3000 3000 3000 2000 - 0 0 0 0 - 0 0 0 0 - 0 0 0 0 - - - - direct - pwm - machine_units - machine_units - 0 0 0 0 - -20 -20 -20 -0.7 - 0 0 0 0 - 0 0 0 0 - 3000 3000 3000 2000 - 0 0 0 0 - 0 0 0 0 - 0 0 0 0 - - - - 0 0 0 0 - 0 0 0 0 - - - - 0.00002 0.00002 0.00002 0.0055 - - - - - diff --git a/R1SN003nws/hardware/motorControl/cer_right_shoulder-ems4-mc-service.xml b/R1SN003nws/hardware/motorControl/cer_right_shoulder-ems4-mc-service.xml deleted file mode 100644 index e9fa05bd42..0000000000 --- a/R1SN003nws/hardware/motorControl/cer_right_shoulder-ems4-mc-service.xml +++ /dev/null @@ -1,61 +0,0 @@ - - - - - - - - eomn_serv_MC_foc - - - - - ems4 - - - - foc - - 1 - 6 - - - 0 - 0 - 0 - - - - - - - - foc foc - CAN1:1:0 CAN1:2:0 - - - - aea aea - CONN:P8 CONN:P6 - atjoint atjoint - -4096 4096 - 0.703 0.703 - - - - roie roie - CAN1:1:0 CAN1:2:0 - atmotor atmotor - 8192 8192 - 0 0 - - - - - - - - - - - diff --git a/R1SN003nws/hardware/motorControl/cer_right_shoulder-ems4-mc.xml b/R1SN003nws/hardware/motorControl/cer_right_shoulder-ems4-mc.xml deleted file mode 100644 index e886e4e600..0000000000 --- a/R1SN003nws/hardware/motorControl/cer_right_shoulder-ems4-mc.xml +++ /dev/null @@ -1,96 +0,0 @@ - - - - - - - - - - - - 85 85 - -70 2 - 5000 5000 - 2500 2500 - 5000 5000 - 50 50 - 32000 32000 - - - - 100 100 - - - - JOINT_MINJERK_OUT_WORM_VEL_CTRL JOINT_MINJERK_OUT_WORM_VEL_CTRL - JOINT_MINJERK_OUT_WORM_VEL_CTRL JOINT_MINJERK_OUT_WORM_VEL_CTRL - JOINT_MINJERK_OUT_WORM_VEL_CTRL JOINT_MINJERK_OUT_WORM_VEL_CTRL - JOINT_DIRECT_OUT_WORM_VEL_CTRL JOINT_DIRECT_OUT_WORM_VEL_CTRL - JOINT_DIRECT_OUT_WORM_VEL_CTRL JOINT_DIRECT_OUT_WORM_VEL_CTRL - none none - - 2FOC_CUR_CONTROL 2FOC_CUR_CONTROL - 2FOC_VEL_CONTROL 2FOC_VEL_CONTROL - - - - minjerk - velocity - machine_units - machine_units - 1 1 - 5 5 - 0 0 - 32000 32000 - - - - direct - velocity - machine_units - machine_units - 1 1 - 5 5 - 0 0 - 32000 32000 - - - - low_lev_current - machine_units - machine_units - 0 0 - 8 8 - 0 0 - 2 2 - 10 10 - 32000 32000 - 32000 32000 - - - - low_lev_speed - machine_units - machine_units - 0 0 - 1280 1280 - 6144 6144 - 1 1 - 14 14 - 32000 32000 - 32000 32000 - - - - - 0 0 - 0 0 - - - - 0.0495 0.0495 - - - - diff --git a/R1SN003nws/hardware/motorControl/cer_right_upper_arm-ems11-mc-service.xml b/R1SN003nws/hardware/motorControl/cer_right_upper_arm-ems11-mc-service.xml deleted file mode 100644 index 52b4fb56da..0000000000 --- a/R1SN003nws/hardware/motorControl/cer_right_upper_arm-ems11-mc-service.xml +++ /dev/null @@ -1,62 +0,0 @@ - - - - - - - - eomn_serv_MC_foc - - - - - ems4 - - - - foc - - 1 - 6 - - - 0 - 0 - 0 - - - - - - - - foc foc - CAN1:1:0 CAN1:2:0 - - - - aea aea - CONN:P8 CONN:P6 - - atjoint atjoint - 4096 -4096 - 0.703 0.703 - - - - roie roie - CAN1:1:0 CAN1:2:0 - atmotor atmotor - 8192 8192 - 0 0 - - - - - - - - - - - diff --git a/R1SN003nws/hardware/motorControl/cer_right_upper_arm-ems11-mc.xml b/R1SN003nws/hardware/motorControl/cer_right_upper_arm-ems11-mc.xml deleted file mode 100644 index 1c025eae09..0000000000 --- a/R1SN003nws/hardware/motorControl/cer_right_upper_arm-ems11-mc.xml +++ /dev/null @@ -1,95 +0,0 @@ - - - - - - - - - - - - 85 95 - -85 5 - 9000 9000 - 3000 3000 - 6000 6000 - 90 90 - 32000 32000 - - - - 100 100 - - - - JOINT_MINJERK_OUT_WORM_VEL_CTRL JOINT_MINJERK_OUT_WORM_VEL_CTRL - JOINT_MINJERK_OUT_WORM_VEL_CTRL JOINT_MINJERK_OUT_WORM_VEL_CTRL - JOINT_MINJERK_OUT_WORM_VEL_CTRL JOINT_MINJERK_OUT_WORM_VEL_CTRL - JOINT_DIRECT_OUT_WORM_VEL_CTRL JOINT_DIRECT_OUT_WORM_VEL_CTRL - JOINT_DIRECT_OUT_WORM_VEL_CTRL JOINT_DIRECT_OUT_WORM_VEL_CTRL - none none - - 2FOC_CUR_CONTROL 2FOC_CUR_CONTROL - 2FOC_VEL_CONTROL 2FOC_VEL_CONTROL - - - - minjerk - velocity - machine_units - machine_units - 1 1 - 5 5 - 0 0 - 32000 32000 - - - - direct - velocity - machine_units - machine_units - 1 1 - 5 5 - 0 0 - 32000 32000 - - - - low_lev_current - machine_units - machine_units - 0 0 - 8 8 - 0 0 - 2 2 - 10 10 - 32000 32000 - 32000 32000 - - - - low_lev_speed - machine_units - machine_units - 0 0 - 12 12 - 0 0 - 16 16 - 10 10 - 32000 32000 - 32000 32000 - - - - 0 0 - 0 0 - - - - 0.0495 0.0495 - - - - diff --git a/R1SN003nws/hardware/motorControl/cer_right_wrist_equivalent-mc.xml b/R1SN003nws/hardware/motorControl/cer_right_wrist_equivalent-mc.xml deleted file mode 100644 index 8ba45f8582..0000000000 --- a/R1SN003nws/hardware/motorControl/cer_right_wrist_equivalent-mc.xml +++ /dev/null @@ -1,43 +0,0 @@ - - - - - - - - "r_wrist_heave_eq_joint" "r_wrist_roll_eq_joint" "r_wrist_pitch_eq_joint" - - - 3 - - - 1 1 1 - - - - 0.018 - 0.112 - 0.0 - 17.0 - - 1.0 0.0 0.0 0.0 - 0.0 1.0 0.0 0.0 - 0.0 0.0 1.0 0.0 - 0.0 0.0 0.0 1.0 - - - - - 0.05 - - - - - cer_right_lower_arm_mc - - - - - - - diff --git a/R1SN003nws/hardware/motorControl/cer_torso-ems3-mc-service.xml b/R1SN003nws/hardware/motorControl/cer_torso-ems3-mc-service.xml deleted file mode 100644 index 7710421d8a..0000000000 --- a/R1SN003nws/hardware/motorControl/cer_torso-ems3-mc-service.xml +++ /dev/null @@ -1,61 +0,0 @@ - - - - - - - - eomn_serv_MC_foc - - - - - ems4 - - - - foc - - 1 - 6 - - - 0 - 0 - 0 - - - - - - - - eomc_act_foc foc foc foc - CAN1:1:0 CAN1:2:0 CAN1:3:0 CAN1:4:0 - - - - none none none aea - CONN:none CONN:none CONN:none CONN:P8 - none none none atjoint - 0 0 0 -4096 - 0 0 0 0.703 - - - - roie roie roie roie - CAN1:1:0 CAN1:2:0 CAN1:3:0 CAN1:4:0 - atmotor atmotor atmotor atmotor - 65535 65535 65535 8192 - 0 0 0 0 - - - - - - - - - - - diff --git a/R1SN003nws/hardware/motorControl/cer_torso-ems3-mc.xml b/R1SN003nws/hardware/motorControl/cer_torso-ems3-mc.xml deleted file mode 100644 index 025e928c0f..0000000000 --- a/R1SN003nws/hardware/motorControl/cer_torso-ems3-mc.xml +++ /dev/null @@ -1,132 +0,0 @@ - - - - - - - - - - - - - - 0.15 0.15 0.15 30 - -0.04 -0.04 -0.04 -30 - 0.05 0.05 0.05 30000 - 5000 5000 5000 5000 - 2500 2500 2500 2500 - 5000 5000 5000 5000 - 32000 32000 32000 32000 - - - - - 100 100 100 100 - - - - - JOINT_MINJERK_OUT_DC_PWM_CTRL JOINT_MINJERK_OUT_DC_PWM_CTRL JOINT_MINJERK_OUT_DC_PWM_CTRL JOINT_MINJERK_OUT_WORM_VEL_CTRL - JOINT_MINJERK_OUT_DC_PWM_CTRL JOINT_MINJERK_OUT_DC_PWM_CTRL JOINT_MINJERK_OUT_DC_PWM_CTRL JOINT_MINJERK_OUT_WORM_VEL_CTRL - JOINT_MINJERK_OUT_DC_PWM_CTRL JOINT_MINJERK_OUT_DC_PWM_CTRL JOINT_MINJERK_OUT_DC_PWM_CTRL JOINT_MINJERK_OUT_WORM_VEL_CTRL - JOINT_DIRECT_OUT_DC_PWM_CTRL JOINT_DIRECT_OUT_DC_PWM_CTRL JOINT_DIRECT_OUT_DC_PWM_CTRL JOINT_DIRECT_OUT_WORM_VEL_CTRL - JOINT_DIRECT_OUT_DC_PWM_CTRL JOINT_DIRECT_OUT_DC_PWM_CTRL JOINT_DIRECT_OUT_DC_PWM_CTRL JOINT_DIRECT_OUT_WORM_VEL_CTRL - none none none none - - 2FOC_CUR_CONTROL 2FOC_CUR_CONTROL 2FOC_CUR_CONTROL 2FOC_CUR_CONTROL - 2FOC_VEL_CONTROL 2FOC_VEL_CONTROL 2FOC_VEL_CONTROL 2FOC_VEL_CONTROL - - - - - minjerk - pwm - machine_units - machine_units - 0 0 0 0 - 3000 3000 3000 0 - 0 0 0 0 - 5000 5000 5000 0 - 32000 32000 32000 0 - 4000 4000 4000 0 - 0 0 0 0 - 0 0 0 0 - - - - direct - pwm - machine_units - machine_units - 0 0 0 0 - 3000 3000 3000 0 - 0 0 0 0 - 5000 5000 5000 0 - 32000 32000 32000 0 - 4000 4000 4000 0 - 0 0 0 0 - 0 0 0 0 - - - - minjerk - velocity - machine_units - machine_units - 0 0 0 1 - 0 0 0 5 - 0 0 0 0 - 0 0 0 32000 - - - - direct - velocity - machine_units - machine_units - 0 0 0 1 - 0 0 0 5 - 0 0 0 0 - 0 0 0 32000 - - - - low_lev_current - machine_units - machine_units - 0 0 0 0 - 8 8 8 8 - 0 0 0 0 - 2 2 2 2 - 10 10 10 10 - 32000 32000 32000 32000 - 32000 32000 32000 32000 - - - - low_lev_speed - machine_units - machine_units - 0 0 0 0 - 12 12 12 1280 - 0 0 0 6144 - 16 16 16 1 - 10 10 10 14 - 32000 32000 32000 32000 - 32000 32000 32000 32000 - - - - - 0 0 0 0 - 0 0 0 0 - - - - 0.0001 0.0001 0.0001 0.0495 - - - - - diff --git a/R1SN003nws/hardware/motorControl/cer_torso_equivalent-mc.xml b/R1SN003nws/hardware/motorControl/cer_torso_equivalent-mc.xml deleted file mode 100644 index 43bb77bf12..0000000000 --- a/R1SN003nws/hardware/motorControl/cer_torso_equivalent-mc.xml +++ /dev/null @@ -1,43 +0,0 @@ - - - - - - - - "torso_heave_eq_joint" "torso_pitch_eq_joint" "torso_roll_eq_joint" - - - 3 - - - 1 -1 1 - - - - 0.09 - 0.15 - -0.04 - 25.0 - - 1.0 0.0 0.0 0.0 - 0.0 1.0 0.0 0.0 - 0.0 0.0 1.0 0.0 - 0.0 0.0 0.0 1.0 - - - - - 0.05 - - - - - cer_torso_mc - - - - - - - diff --git a/R1SN003nws/hardware/rpLidar/laserA2_hw.xml b/R1SN003nws/hardware/rpLidar/laserA2_hw.xml deleted file mode 100644 index 7f1175a617..0000000000 --- a/R1SN003nws/hardware/rpLidar/laserA2_hw.xml +++ /dev/null @@ -1,46 +0,0 @@ - - - - - - 7.0 - 0.1 - 360 - 0 - 0.5 - 1 - - - cer_laser - 115200 - /dev/ttyUSB1 - 1 - - - 35 - 325 - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/R1SN003nws/hardware/rpLidar/laserA2_hw_back.xml b/R1SN003nws/hardware/rpLidar/laserA2_hw_back.xml deleted file mode 100644 index cd84e5ff81..0000000000 --- a/R1SN003nws/hardware/rpLidar/laserA2_hw_back.xml +++ /dev/null @@ -1,23 +0,0 @@ - - - - - - cer_laserBack - 115200 - /dev/ttyUSB1 - 1 - - - 7.0 - 0.1 - 360 - 0 - 0.5 - 1 - - - 60 - 300 - - diff --git a/R1SN003nws/hardware/rpLidar/laserA2_hw_double.xml b/R1SN003nws/hardware/rpLidar/laserA2_hw_double.xml deleted file mode 100644 index 85cb7e1d71..0000000000 --- a/R1SN003nws/hardware/rpLidar/laserA2_hw_double.xml +++ /dev/null @@ -1,36 +0,0 @@ - - - - - - - L_Front - 0.070 0.0 0.031 0.0 - laserA2_hw_front.xml - - - L_Back - -0.070 0.0 0.031 3.14159 - laserA2_hw_back.xml - - - 7.0 - 0.1 - 360 - 0 - 0.5 - 1 - - - - - cer_laser_front_device - cer_laser_back_device - - - - - - - - diff --git a/R1SN003nws/hardware/rpLidar/laserA2_hw_front.xml b/R1SN003nws/hardware/rpLidar/laserA2_hw_front.xml deleted file mode 100644 index 44539d98ed..0000000000 --- a/R1SN003nws/hardware/rpLidar/laserA2_hw_front.xml +++ /dev/null @@ -1,24 +0,0 @@ - - - - - - cer_laserFront - 115200 - /dev/ttyUSB0 - 1 - - - 7.0 - 0.1 - 360 - 0 - 0.5 - 1 - - - 35 - 325 - - - diff --git a/R1SN003nws/hardware/skin/left_hand-mc9-skin.xml b/R1SN003nws/hardware/skin/left_hand-mc9-skin.xml deleted file mode 100644 index 2c4a4eecdf..0000000000 --- a/R1SN003nws/hardware/skin/left_hand-mc9-skin.xml +++ /dev/null @@ -1,40 +0,0 @@ - - - - - - - - - - - - eomn_serv_SK_skin - - - - - psc - - - 2 - 0 - - - 0 - 0 - 0 - - - - - - - - - 1 2 3 - - - - - diff --git a/R1SN003nws/hardware/skin/left_hand-mc9-skinSpec.xml b/R1SN003nws/hardware/skin/left_hand-mc9-skinSpec.xml deleted file mode 100644 index 2534f87c52..0000000000 --- a/R1SN003nws/hardware/skin/left_hand-mc9-skinSpec.xml +++ /dev/null @@ -1,36 +0,0 @@ - - - - - - - 50 - 0 - 0xf0 - false - - - - - true - 2 - 0x0000 - - - - - - - - diff --git a/R1SN003nws/hardware/skin/right_hand-mc7-skin.xml b/R1SN003nws/hardware/skin/right_hand-mc7-skin.xml deleted file mode 100644 index 8bdbb9d46d..0000000000 --- a/R1SN003nws/hardware/skin/right_hand-mc7-skin.xml +++ /dev/null @@ -1,40 +0,0 @@ - - - - - - - - - - - - eomn_serv_SK_skin - - - - - psc - - - 2 - 0 - - - 0 - 0 - 0 - - - - - - - - - 1 2 3 - - - - - diff --git a/R1SN003nws/hardware/skin/right_hand-mc7-skinSpec.xml b/R1SN003nws/hardware/skin/right_hand-mc7-skinSpec.xml deleted file mode 100644 index f1d83a8dd0..0000000000 --- a/R1SN003nws/hardware/skin/right_hand-mc7-skinSpec.xml +++ /dev/null @@ -1,36 +0,0 @@ - - - - - - - 50 - 0 - 0xf0 - false - - - - - true - 2 - 0x0000 - - - - - - - - diff --git a/R1SN003nws/realsense2.xml b/R1SN003nws/realsense2.xml deleted file mode 100644 index 398d756c39..0000000000 --- a/R1SN003nws/realsense2.xml +++ /dev/null @@ -1,11 +0,0 @@ - - - - - - - - - - - diff --git a/R1SN003nws/robotStatePublisher.launch b/R1SN003nws/robotStatePublisher.launch deleted file mode 100644 index 6e425de645..0000000000 --- a/R1SN003nws/robotStatePublisher.launch +++ /dev/null @@ -1,9 +0,0 @@ - - - - - - - - - diff --git a/R1SN003nws/sensors/Orbecc_Astra.ini b/R1SN003nws/sensors/Orbecc_Astra.ini deleted file mode 100644 index d2923be0c5..0000000000 --- a/R1SN003nws/sensors/Orbecc_Astra.ini +++ /dev/null @@ -1,58 +0,0 @@ -device RGBDSensorWrapper -subdevice depthCamera -name /depthCamera -[ROS] -use_ROS true -forceInfoSync true -ROS_frame_Id depth_center -ROS_nodeName /YarpRGBDSensor -ROS_colorTopicName /yarpColor -ROS_depthTopicName /yarpDepth -ROS_colorInfoTopicName /yarpColor_info -ROS_depthinfoTopicName /yarpDepth_info -[SETTINGS] - -rgbMirroring false -depthMirroring false - -[HW_DESCRIPTION] - - -[RGB_INTRINSIC_PARAMETERS] - -focalLengthX 570.3422241210938 -focalLengthY 570.3422241210938 -principalPointX 314.5 -principalPointY 235.5 -distortionModel rgb_distortion - -[rgb_distortion] -name plumb_bob -k1 0.0 -k2 0.0 -t1 0.0 -t2 0.0 -k3 0.0 - - -[DEPTH_INTRINSIC_PARAMETERS] - -focalLengthX 570.3422241210938 -focalLengthY 570.3422241210938 -principalPointX 314.5 -principalPointY 235.5 -distortionModel depth_distortion - -[depth_distortion] -name plumb_bob -k1 0.0 -k2 0.0 -t1 0.0 -t2 0.0 -k3 0.0 - - -[EXTRINSIC_PARAMETERS] -transformation (1.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 1.0) - - diff --git a/R1SN003nws/sensors/RealSenseStereo_conf.ini b/R1SN003nws/sensors/RealSenseStereo_conf.ini deleted file mode 100644 index eaf03afad3..0000000000 --- a/R1SN003nws/sensors/RealSenseStereo_conf.ini +++ /dev/null @@ -1,13 +0,0 @@ -device grabberDual -subdevice realsense2 -capabilities RAW -stereoMode true -split false - -[SETTINGS] -rgbResolution (640 480) -depthResolution (640 480) -framerate 30 -enableEmitter false - -[HW_DESCRIPTION] diff --git a/R1SN003nws/sensors/RealSense_conf.ini b/R1SN003nws/sensors/RealSense_conf.ini deleted file mode 100644 index 43c51b03f3..0000000000 --- a/R1SN003nws/sensors/RealSense_conf.ini +++ /dev/null @@ -1,14 +0,0 @@ - -device RGBDSensorWrapper -subdevice realsense2 -name /depthCamera - -[SETTINGS] -depthResolution (640 480) #Note the parentesys -rgbResolution (640 480) -framerate 30 -enableEmitter true -alignmentFrame RGB - -[HW_DESCRIPTION] -clipPlanes (0.2 10.0) diff --git a/R1SN003nws/sensors/Xtion_depthCamera.ini b/R1SN003nws/sensors/Xtion_depthCamera.ini deleted file mode 100644 index 5c28aff412..0000000000 --- a/R1SN003nws/sensors/Xtion_depthCamera.ini +++ /dev/null @@ -1,48 +0,0 @@ -device RGBDSensorWrapper -subdevice depthCamera -name /depthCamera - -[SETTINGS] -accuracy 0.001 -depthResolution (320 240) #Note the parentesys -rgbResolution (320 240) -#enable mirroring for back compatibility with old driver version -rgbMirroring true -depthMirroring true - -[HW_DESCRIPTION] -clipPlanes (0.4 4.5) - -[RGB_INTRINSIC_PARAMETERS] -focalLengthX 1.0 -focalLengthY 2.0 -principalPointX 256.0 -principalPointY 128.0 -distortionModel rgb_distortion - -[rgb_distortion] -name plumb_bob -k1 1.0 -k2 2.0 -t1 3.0 -t2 4.0 -k3 5.0 - -[DEPTH_INTRINSIC_PARAMETERS] -focalLengthX 1.0 -focalLengthY 2.0 -principalPointX 256.0 -principalPointY 128.0 -distortionModel depth_distortion - -[depth_distortion] -name plumb_bob -k1 1.0 -k2 2.0 -t1 3.0 -t2 4.0 -k3 5.0 - -[EXTRINSIC_PARAMETERS] -transformation (1.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 1.0) - diff --git a/R1SN003nws/sensors/realsense2.xml b/R1SN003nws/sensors/realsense2.xml deleted file mode 100644 index 24bf9c44e0..0000000000 --- a/R1SN003nws/sensors/realsense2.xml +++ /dev/null @@ -1,17 +0,0 @@ - - - - - - - (640 480) - (640 480) - 30 - true - true - RGB - - - (0.2 10.0) - - diff --git a/R1SN003nws/wrappers/FT/cer_left_arm-FT_wrapper.xml b/R1SN003nws/wrappers/FT/cer_left_arm-FT_wrapper.xml deleted file mode 100644 index fb14520cb5..0000000000 --- a/R1SN003nws/wrappers/FT/cer_left_arm-FT_wrapper.xml +++ /dev/null @@ -1,26 +0,0 @@ - - - - - - 10 - /cer/left_arm/FT:o - - - - - cer_left_arm-eb5-strain - - - - - - - - diff --git a/R1SN003nws/wrappers/FT/cer_right_arm-FT_wrapper.xml b/R1SN003nws/wrappers/FT/cer_right_arm-FT_wrapper.xml deleted file mode 100644 index 65fe970a0a..0000000000 --- a/R1SN003nws/wrappers/FT/cer_right_arm-FT_wrapper.xml +++ /dev/null @@ -1,28 +0,0 @@ - - - - - - 10 - /cer/right_arm/FT:o - - - - - cer_right_arm-eb4-strain - - - - - - - - diff --git a/R1SN003nws/wrappers/MAIS/left_hand-mais_wrapper.xml b/R1SN003nws/wrappers/MAIS/left_hand-mais_wrapper.xml deleted file mode 100644 index e7d456c746..0000000000 --- a/R1SN003nws/wrappers/MAIS/left_hand-mais_wrapper.xml +++ /dev/null @@ -1,24 +0,0 @@ - - - - - 10 - /cer/left_hand/analog:o - - - - left_hand_multienc - - - - - true - /cer-left_hand_MAIS - /joint_states - sensor_msgs/JointState - l_hand_paddle_distal_joint l_hand_paddle_proximal_joint l_dummy_1 l_hand_thumb_proximal_joint l_hand_thumb_distal_joint l_dummy_2 - - - - - diff --git a/R1SN003nws/wrappers/MAIS/right_hand-mais_wrapper.xml b/R1SN003nws/wrappers/MAIS/right_hand-mais_wrapper.xml deleted file mode 100644 index 9a5222fa18..0000000000 --- a/R1SN003nws/wrappers/MAIS/right_hand-mais_wrapper.xml +++ /dev/null @@ -1,24 +0,0 @@ - - - - - 10 - /cer/right_hand/analog:o - - - - right_hand_multienc - - - - - true - /cer-right_hand_MAIS - /joint_states - sensor_msgs/JointState - r_hand_paddle_distal_joint r_hand_paddle_proximal_joint r_dummy_1 r_hand_thumb_distal_joint r_hand_thumb_proximal_joint r_dummy_2 - - - - - diff --git a/R1SN003nws/wrappers/PSC/cer_left_arm-PSC_wrapper.xml b/R1SN003nws/wrappers/PSC/cer_left_arm-PSC_wrapper.xml deleted file mode 100644 index 7836399993..0000000000 --- a/R1SN003nws/wrappers/PSC/cer_left_arm-PSC_wrapper.xml +++ /dev/null @@ -1,17 +0,0 @@ - - - - - 10 - /cer/left_hand/PSC:o - - - - - left_hand-psc - - - - - - diff --git a/R1SN003nws/wrappers/PSC/cer_right_arm-PSC_wrapper.xml b/R1SN003nws/wrappers/PSC/cer_right_arm-PSC_wrapper.xml deleted file mode 100644 index fa923e9a67..0000000000 --- a/R1SN003nws/wrappers/PSC/cer_right_arm-PSC_wrapper.xml +++ /dev/null @@ -1,17 +0,0 @@ - - - - - 10 - /cer/right_hand/PSC:o - - - - - right_hand-psc - - - - - - diff --git a/R1SN003nws/wrappers/VFT/left_arm-VFT_wrapper.xml b/R1SN003nws/wrappers/VFT/left_arm-VFT_wrapper.xml deleted file mode 100644 index d1030c0603..0000000000 --- a/R1SN003nws/wrappers/VFT/left_arm-VFT_wrapper.xml +++ /dev/null @@ -1,23 +0,0 @@ - - - - - 10 - left_arm - - - ( 0 3 0 3 ) - ( 4 6 0 2 ) - - 7 - /left_arm - - - - left_upper_arm_mc - left_lower_arm_mc - - - - - diff --git a/R1SN003nws/wrappers/VFT/left_leg-VFT_wrapper.xml b/R1SN003nws/wrappers/VFT/left_leg-VFT_wrapper.xml deleted file mode 100644 index 68b3161230..0000000000 --- a/R1SN003nws/wrappers/VFT/left_leg-VFT_wrapper.xml +++ /dev/null @@ -1,23 +0,0 @@ - - - - - 10 - left_leg - - - ( 0 3 0 3 ) - ( 4 5 0 1 ) - - 6 - /left_leg - - - - left_upper_leg_mc - left_lower_leg_mc - - - - - diff --git a/R1SN003nws/wrappers/VFT/right_arm-VFT_wrapper.xml b/R1SN003nws/wrappers/VFT/right_arm-VFT_wrapper.xml deleted file mode 100644 index af74cf72c1..0000000000 --- a/R1SN003nws/wrappers/VFT/right_arm-VFT_wrapper.xml +++ /dev/null @@ -1,23 +0,0 @@ - - - - - 10 - right_arm - - - ( 0 3 0 3 ) - ( 4 6 0 2 ) - - 7 - /right_arm - - - - right_upper_arm_mc - right_lower_arm_mc - - - - - diff --git a/R1SN003nws/wrappers/VFT/right_leg-VFT_wrapper.xml b/R1SN003nws/wrappers/VFT/right_leg-VFT_wrapper.xml deleted file mode 100644 index 267b629906..0000000000 --- a/R1SN003nws/wrappers/VFT/right_leg-VFT_wrapper.xml +++ /dev/null @@ -1,23 +0,0 @@ - - - - - 10 - right_leg - - - ( 0 3 0 3 ) - ( 4 5 0 1 ) - - 6 - /right_leg - - - - right_upper_leg_mc - right_lower_leg_mc - - - - - diff --git a/R1SN003nws/wrappers/VFT/torso-VFT_wrapper.xml b/R1SN003nws/wrappers/VFT/torso-VFT_wrapper.xml deleted file mode 100644 index 38c89f8ad9..0000000000 --- a/R1SN003nws/wrappers/VFT/torso-VFT_wrapper.xml +++ /dev/null @@ -1,21 +0,0 @@ - - - - - 10 - torso - - - ( 0 2 0 2 ) - - 3 - /torso - - - - torso_mc - - - - - diff --git a/R1SN003nws/wrappers/camera/pointcloudsensor_ros.xml b/R1SN003nws/wrappers/camera/pointcloudsensor_ros.xml deleted file mode 100644 index 5264f5404b..0000000000 --- a/R1SN003nws/wrappers/camera/pointcloudsensor_ros.xml +++ /dev/null @@ -1,15 +0,0 @@ - - - - - 0.033 - /camera/rgbdPointCloud_nws_ros - /camera/depth/color/points - depth_center - - - realsense2dev - - - - diff --git a/R1SN003nws/wrappers/camera/rgbdsensor_ros.xml b/R1SN003nws/wrappers/camera/rgbdsensor_ros.xml deleted file mode 100644 index 0fb7735b33..0000000000 --- a/R1SN003nws/wrappers/camera/rgbdsensor_ros.xml +++ /dev/null @@ -1,18 +0,0 @@ - - - - - 0.033 - /camera_rgbd/color/image_rect_color - /camera_rgbd/depth/image_rect - depth_center - depth_center - /rgbdsensor_ros_node - - - - realsense2dev - - - - diff --git a/R1SN003nws/wrappers/camera/rgbdsensor_yarp.xml b/R1SN003nws/wrappers/camera/rgbdsensor_yarp.xml deleted file mode 100644 index 11087235f8..0000000000 --- a/R1SN003nws/wrappers/camera/rgbdsensor_yarp.xml +++ /dev/null @@ -1,13 +0,0 @@ - - - - - 0.033 - /cer/realsense - - - realsense2dev - - - - diff --git a/R1SN003nws/wrappers/motorControl/cer_base-mc_wrapper.xml b/R1SN003nws/wrappers/motorControl/cer_base-mc_wrapper.xml deleted file mode 100644 index 78ede339a3..0000000000 --- a/R1SN003nws/wrappers/motorControl/cer_base-mc_wrapper.xml +++ /dev/null @@ -1,10 +0,0 @@ - - - - - /cer/mobile_base - - cer_mobile_base_mc_remapper - - - diff --git a/R1SN003nws/wrappers/motorControl/cer_head-mc_wrapper.xml b/R1SN003nws/wrappers/motorControl/cer_head-mc_wrapper.xml deleted file mode 100644 index 9215d8f0a5..0000000000 --- a/R1SN003nws/wrappers/motorControl/cer_head-mc_wrapper.xml +++ /dev/null @@ -1,10 +0,0 @@ - - - - - /cer/head - - cer_head_mc_remapper - - - diff --git a/R1SN003nws/wrappers/motorControl/cer_left_arm_no_hand-mc_wrapper.xml b/R1SN003nws/wrappers/motorControl/cer_left_arm_no_hand-mc_wrapper.xml deleted file mode 100644 index 64a778b05f..0000000000 --- a/R1SN003nws/wrappers/motorControl/cer_left_arm_no_hand-mc_wrapper.xml +++ /dev/null @@ -1,9 +0,0 @@ - - - - /cer/left_arm - - cer_left_arm_no_hand_mc_remapper - - - diff --git a/R1SN003nws/wrappers/motorControl/cer_left_hand-mc_wrapper.xml b/R1SN003nws/wrappers/motorControl/cer_left_hand-mc_wrapper.xml deleted file mode 100644 index 6eaec7525c..0000000000 --- a/R1SN003nws/wrappers/motorControl/cer_left_hand-mc_wrapper.xml +++ /dev/null @@ -1,10 +0,0 @@ - - - - - /cer/left_hand - - cer_left_hand_mc_remapper - - - diff --git a/R1SN003nws/wrappers/motorControl/cer_left_wrist-mc_wrapper.xml b/R1SN003nws/wrappers/motorControl/cer_left_wrist-mc_wrapper.xml deleted file mode 100644 index 4e17e67a4e..0000000000 --- a/R1SN003nws/wrappers/motorControl/cer_left_wrist-mc_wrapper.xml +++ /dev/null @@ -1,10 +0,0 @@ - - - - - /cer/left_wrist_tripod - - cer_left_wrist_tripod_mc_remapper - - - diff --git a/R1SN003nws/wrappers/motorControl/cer_left_wrist_tripod-mc_wrapper.xml b/R1SN003nws/wrappers/motorControl/cer_left_wrist_tripod-mc_wrapper.xml deleted file mode 100644 index c00cc2571f..0000000000 --- a/R1SN003nws/wrappers/motorControl/cer_left_wrist_tripod-mc_wrapper.xml +++ /dev/null @@ -1,10 +0,0 @@ - - - - - /cer/left_wrist_tripod - - cer_left_wrist_tripod_mc_remapper - - - diff --git a/R1SN003nws/wrappers/motorControl/cer_right_arm_no_hand-mc_wrapper.xml b/R1SN003nws/wrappers/motorControl/cer_right_arm_no_hand-mc_wrapper.xml deleted file mode 100644 index a376b727b1..0000000000 --- a/R1SN003nws/wrappers/motorControl/cer_right_arm_no_hand-mc_wrapper.xml +++ /dev/null @@ -1,9 +0,0 @@ - - - - /cer/right_arm - - cer_right_arm_no_hand_mc_remapper - - - diff --git a/R1SN003nws/wrappers/motorControl/cer_right_hand-mc_wrapper.xml b/R1SN003nws/wrappers/motorControl/cer_right_hand-mc_wrapper.xml deleted file mode 100644 index 06c8f56999..0000000000 --- a/R1SN003nws/wrappers/motorControl/cer_right_hand-mc_wrapper.xml +++ /dev/null @@ -1,10 +0,0 @@ - - - - - /cer/right_hand - - cer_right_hand_mc_remapper - - - diff --git a/R1SN003nws/wrappers/motorControl/cer_right_wrist-mc_wrapper.xml b/R1SN003nws/wrappers/motorControl/cer_right_wrist-mc_wrapper.xml deleted file mode 100644 index 510d7daca2..0000000000 --- a/R1SN003nws/wrappers/motorControl/cer_right_wrist-mc_wrapper.xml +++ /dev/null @@ -1,10 +0,0 @@ - - - - - /cer/right_wrist - - cer_right_lower_arm_mc_remapper - - - diff --git a/R1SN003nws/wrappers/motorControl/cer_right_wrist_tripod-mc_wrapper.xml b/R1SN003nws/wrappers/motorControl/cer_right_wrist_tripod-mc_wrapper.xml deleted file mode 100644 index 6c15a31e22..0000000000 --- a/R1SN003nws/wrappers/motorControl/cer_right_wrist_tripod-mc_wrapper.xml +++ /dev/null @@ -1,10 +0,0 @@ - - - - - /cer/right_wrist_tripod - - cer_right_wrist_tripod_mc_remapper - - - diff --git a/R1SN003nws/wrappers/motorControl/cer_torso-mc_wrapper.xml b/R1SN003nws/wrappers/motorControl/cer_torso-mc_wrapper.xml deleted file mode 100644 index 47dcc70220..0000000000 --- a/R1SN003nws/wrappers/motorControl/cer_torso-mc_wrapper.xml +++ /dev/null @@ -1,10 +0,0 @@ - - - - - /cer/torso - - cer_torso_mc_remapper - - - diff --git a/R1SN003nws/wrappers/motorControl/cer_torso_tripod-mc_wrapper.xml b/R1SN003nws/wrappers/motorControl/cer_torso_tripod-mc_wrapper.xml deleted file mode 100644 index 78c1efb16f..0000000000 --- a/R1SN003nws/wrappers/motorControl/cer_torso_tripod-mc_wrapper.xml +++ /dev/null @@ -1,10 +0,0 @@ - - - - - /cer/torso_tripod - - cer_torso_tripod_mc_remapper - - - diff --git a/R1SN003nws/wrappers/skin/left_hand-skin_wrapper.xml b/R1SN003nws/wrappers/skin/left_hand-skin_wrapper.xml deleted file mode 100644 index c13763ec4c..0000000000 --- a/R1SN003nws/wrappers/skin/left_hand-skin_wrapper.xml +++ /dev/null @@ -1,34 +0,0 @@ - - - - - - 20 - 576 - skinWrapper - - - 0 191 0 191 - 192 383 0 191 - 384 575 0 191 - - - - - - - - left_hand_skin - - - - - - diff --git a/R1SN003nws/wrappers/skin/right_hand-skin_wrapper.xml b/R1SN003nws/wrappers/skin/right_hand-skin_wrapper.xml deleted file mode 100644 index 796cc5b901..0000000000 --- a/R1SN003nws/wrappers/skin/right_hand-skin_wrapper.xml +++ /dev/null @@ -1,34 +0,0 @@ - - - - - - 20 - 576 - skinWrapper - - - 0 191 0 191 - 192 383 0 191 - 384 575 0 191 - - - - - - - - right_hand_skin - - - - - - diff --git a/R1SN003nws/yarplaserscannergui.ini b/R1SN003nws/yarplaserscannergui.ini deleted file mode 100644 index 82411b4fb6..0000000000 --- a/R1SN003nws/yarplaserscannergui.ini +++ /dev/null @@ -1,5 +0,0 @@ -scale 100 -robot_radius 0.3575 // 715.0 / 2.0 / 1000.0m -laser_position 0.245 // 245.0 / 1000.0m -period 50 -sens_port /cer/laser:o diff --git a/R1SN003nws/yarpmotorgui.ini b/R1SN003nws/yarpmotorgui.ini deleted file mode 100644 index 1eb77da13f..0000000000 --- a/R1SN003nws/yarpmotorgui.ini +++ /dev/null @@ -1,4 +0,0 @@ -robot cer - -parts (torso torso_tripod mobile_base head left_arm right_arm left_wrist_tripod right_wrist_tripod left_hand right_hand all_joints) - diff --git a/R1SN003nws/yarprobotinterface.ini b/R1SN003nws/yarprobotinterface.ini deleted file mode 100644 index 2a38d22b09..0000000000 --- a/R1SN003nws/yarprobotinterface.ini +++ /dev/null @@ -1,2 +0,0 @@ -config ./CER.xml -