From c96488e038143d6b1f0b3776c5ea86546b1402cd Mon Sep 17 00:00:00 2001 From: ale-git Date: Tue, 4 Jan 2022 17:43:09 +0100 Subject: [PATCH 1/3] added 5-setup --- experimentalSetups/5-setup/CMakeLists.txt | 15 + .../5-setup/calibrators/face-calib.xml | 61 +++ .../5-setup/calibrators/head-calib.xml | 52 +++ .../5-setup/calibrators/left_arm-calib.xml | 50 +++ .../5-setup/calibrators/left_leg-calib.xml | 46 +++ .../5-setup/calibrators/right_arm-calib.xml | 49 +++ .../5-setup/calibrators/right_leg-calib.xml | 47 +++ .../5-setup/calibrators/torso-calib.xml | 55 +++ .../camera/ServerGrabberDualDragon.ini | 9 + .../camera/ServerGrabberDualDragon640_480.ini | 7 + .../camera/ServerGrabberDualDragonBayer.ini | 9 + .../ServerGrabberDualDragonBayer640_480.ini | 9 + .../5-setup/camera/dragonfly2_config_left.ini | 19 + .../camera/dragonfly2_config_left640_480.ini | 18 + .../camera/dragonfly2_config_leftLowRes.ini | 19 + .../dragonfly2_config_left_bayer_320_240.ini | 20 + .../dragonfly2_config_left_bayer_640_480.ini | 20 + .../camera/dragonfly2_config_right.ini | 19 + .../camera/dragonfly2_config_right640_480.ini | 18 + .../camera/dragonfly2_config_rightLowRes.ini | 19 + .../dragonfly2_config_right_bayer_320_240.ini | 20 + .../dragonfly2_config_right_bayer_640_480.ini | 20 + .../5-setup/cartesian/left_arm-cartesian.xml | 56 +++ .../5-setup/cartesian/right_arm-cartesian.xml | 56 +++ .../5-setup/cartesianSolver.ini | 69 ++++ .../5-setup/estimators/wholebodydynamics.xml | 84 ++++ .../5-setup/extra/JOINT_LIMITS.txt | 33 ++ .../5-setup/extra/applications/SFM.xml | 48 +++ .../extra/applications/cameras_calib.xml | 67 +++ .../applications/cameras_calib_640_480.xml | 67 +++ .../extra/applications/demoRedBall.xml | 55 +++ .../extra/applications/faceExpressions.xml | 21 + .../extra/applications/funny_things.xml | 83 ++++ .../extra/applications/grasp-processor.xml | 91 +++++ .../extra/applications/iCub3SkinGui.xml | 33 ++ .../extra/applications/iCubStartup.xml | 51 +++ .../applications/iCubStartup_640_480.xml | 45 ++ .../5-setup/extra/applications/iol.xml | 347 ++++++++++++++++ .../5-setup/extra/applications/iol_egpu.xml | 353 ++++++++++++++++ .../5-setup/extra/applications/lbpExtract.xml | 68 +++ .../robmo-icub-hand-iRC-collector.xml | 112 +++++ ...obmo-icub-hand-iRC-test-no-calibration.xml | 65 +++ .../applications/robmo-icub-hand-iRC-test.xml | 89 ++++ .../5-setup/extra/applications/skinGuiAll.xml | 74 ++++ .../extra/applications/stereoCalib.xml | 57 +++ .../contexts/yarpmanager/cluster-config.xml | 17 + .../5-setup/extra/scripts/README.md | 14 + .../extra/scripts/additionalCommands.sh | 59 +++ .../5-setup/extra/scripts/bluetoothConnect.sh | 61 +++ .../extra/scripts/checkConfigurationFiles.sh | 14 + .../scripts/installRobotsConfiguration.sh | 12 + .../5-setup/firmwareupdater.ini | 2 + experimentalSetups/5-setup/general.xml | 12 + .../5-setup/graspTheBall_demoRedBall.ini | 53 +++ .../5-setup/graspTheBall_pf3dTracker.ini | 99 +++++ .../hardware/FT/left_arm-eb1-j0_1-strain.xml | 55 +++ .../hardware/FT/left_leg-eb7-j0_2-strain.xml | 57 +++ .../hardware/FT/left_leg-eb8-j3_5-strain.xml | 58 +++ .../hardware/FT/right_arm-eb3-j0_1-strain.xml | 55 +++ .../FT/right_leg-eb11-j0_2-strain.xml | 57 +++ .../FT/right_leg-eb12-j3_5-strain.xml | 58 +++ .../MAIS/left_arm-eb26-j12_15-mais.xml | 51 +++ .../MAIS/right_arm-eb29-j12_15-mais.xml | 51 +++ .../hardware/electronics/face-eb22-j0-eln.xml | 40 ++ .../electronics/face-eb22-j0_1-eln.xml | 40 ++ .../electronics/face-eb23-j2_5-eln.xml | 41 ++ .../electronics/head-eb20-j0_1-eln.xml | 40 ++ .../electronics/head-eb21-j2_5-eln.xml | 40 ++ .../electronics/left_arm-eb1-j0_1-eln.xml | 40 ++ .../electronics/left_arm-eb2-j2_3-eln.xml | 40 ++ .../electronics/left_arm-eb24-j4_7-eln.xml | 40 ++ .../electronics/left_arm-eb25-j8_11-eln.xml | 40 ++ .../electronics/left_arm-eb26-j12_15-eln.xml | 40 ++ .../electronics/left_leg-eb7-j0_2-eln.xml | 40 ++ .../electronics/left_leg-eb8-j3_5-eln.xml | 40 ++ .../5-setup/hardware/electronics/pc104.xml | 14 + .../electronics/right_arm-eb27-j4_7-eln.xml | 40 ++ .../electronics/right_arm-eb28-j8_11-eln.xml | 40 ++ .../electronics/right_arm-eb29-j12_15-eln.xml | 40 ++ .../electronics/right_arm-eb3-j0_1-eln.xml | 40 ++ .../electronics/right_arm-eb4-j2_3-eln.xml | 40 ++ .../electronics/right_leg-eb11-j0_2-eln.xml | 40 ++ .../electronics/right_leg-eb12-j3_5-eln.xml | 40 ++ .../electronics/torso-eb5-j0_2-eln.xml | 40 ++ .../5-setup/hardware/iCub_Calibration.xls | Bin 0 -> 131072 bytes .../hardware/inertials/head-inertial.xml | 54 +++ .../left_arm-eb24-j4_7-inertials.xml | 63 +++ .../inertials/left_leg-eb10-inertials.xml | 64 +++ .../right_arm-eb27-j4_7-inertials.xml | 61 +++ .../inertials/right_leg-eb11-inertials.xml | 64 +++ .../hardware/mechanicals/face-eb22-j0-mec.xml | 74 ++++ .../mechanicals/face-eb22-j0_1-mec.xml | 79 ++++ .../mechanicals/face-eb23-j2_5-mec.xml | 85 ++++ .../mechanicals/head-eb20-j0_1-mec.xml | 69 ++++ .../mechanicals/head-eb21-j2_5-mec.xml | 79 ++++ .../mechanicals/left_arm-eb1-j0_1-mec.xml | 83 ++++ .../mechanicals/left_arm-eb2-j2_3-mec.xml | 83 ++++ .../mechanicals/left_arm-eb24-j4_7-mec.xml | 79 ++++ .../mechanicals/left_arm-eb25-j8_11-mec.xml | 77 ++++ .../mechanicals/left_arm-eb26-j12_15-mec.xml | 82 ++++ .../mechanicals/left_leg-eb7-j0_2-mec.xml | 89 ++++ .../mechanicals/left_leg-eb8-j3_5-mec.xml | 88 ++++ .../mechanicals/right_arm-eb27-j4_7-mec.xml | 76 ++++ .../mechanicals/right_arm-eb28-j8_11-mec.xml | 76 ++++ .../mechanicals/right_arm-eb29-j12_15-mec.xml | 82 ++++ .../mechanicals/right_arm-eb3-j0_1-mec.xml | 83 ++++ .../mechanicals/right_arm-eb4-j2_3-mec.xml | 83 ++++ .../mechanicals/right_leg-eb11-j0_2-mec.xml | 90 ++++ .../mechanicals/right_leg-eb12-j3_5-mec.xml | 88 ++++ .../mechanicals/torso-eb5-j0_2-mec.xml | 85 ++++ .../hardware/motorControl/face-eb22-j0-mc.xml | 70 ++++ .../motorControl/face-eb22-j0-mc_service.xml | 48 +++ .../motorControl/face-eb22-j0_1-mc.xml | 72 ++++ .../face-eb22-j0_1-mc_service.xml | 48 +++ .../motorControl/face-eb23-j2_5-mc.xml | 72 ++++ .../face-eb23-j2_5-mc_service.xml | 47 +++ .../motorControl/head-eb20-j0_1-mc.xml | 70 ++++ .../head-eb20-j0_1-mc_service.xml | 48 +++ .../motorControl/head-eb21-j2_5-mc.xml | 76 ++++ .../head-eb21-j2_5-mc_service.xml | 49 +++ .../motorControl/left_arm-eb1-j0_1-mc.xml | 124 ++++++ .../left_arm-eb1-j0_1-mc_service.xml | 62 +++ .../motorControl/left_arm-eb2-j2_3-mc.xml | 124 ++++++ .../left_arm-eb2-j2_3-mc_service.xml | 62 +++ .../motorControl/left_arm-eb24-j4_7-mc.xml | 72 ++++ .../left_arm-eb24-j4_7-mc_service.xml | 51 +++ .../motorControl/left_arm-eb25-j8_11-mc.xml | 75 ++++ .../left_arm-eb25-j8_11-mc_service.xml | 66 +++ .../motorControl/left_arm-eb26-j12_15-mc.xml | 72 ++++ .../left_arm-eb26-j12_15-mc_service.xml | 64 +++ .../motorControl/left_leg-eb7-j0_2-mc.xml | 140 +++++++ .../left_leg-eb7-j0_2-mc_service.xml | 62 +++ .../motorControl/left_leg-eb8-j3_5-mc.xml | 139 +++++++ .../left_leg-eb8-j3_5-mc_service.xml | 61 +++ .../motorControl/right_arm-eb27-j4_7-mc.xml | 72 ++++ .../right_arm-eb27-j4_7-mc_service.xml | 47 +++ .../motorControl/right_arm-eb28-j8_11-mc.xml | 75 ++++ .../right_arm-eb28-j8_11-mc_service.xml | 65 +++ .../motorControl/right_arm-eb29-j12_15-mc.xml | 63 +++ .../right_arm-eb29-j12_15-mc_service.xml | 65 +++ .../motorControl/right_arm-eb3-j0_1-mc.xml | 126 ++++++ .../right_arm-eb3-j0_1-mc_service.xml | 62 +++ .../motorControl/right_arm-eb4-j2_3-mc.xml | 126 ++++++ .../right_arm-eb4-j2_3-mc_service.xml | 62 +++ .../motorControl/right_leg-eb11-j0_2-mc.xml | 140 +++++++ .../right_leg-eb11-j0_2-mc_service.xml | 62 +++ .../motorControl/right_leg-eb12-j3_5-mc.xml | 139 +++++++ .../right_leg-eb12-j3_5-mc_service.xml | 61 +++ .../motorControl/torso-eb5-j0_2-mc.xml | 126 ++++++ .../torso-eb5-j0_2-mc_service.xml | 65 +++ .../hardware/skin/left_arm-eb24-j4_7-skin.xml | 15 + .../skin/left_arm-eb24-j4_7-skinSpec.xml | 42 ++ .../hardware/skin/left_upperarm-eb2-skin.xml | 14 + .../skin/left_upperarm-eb2-skinSpec.xml | 38 ++ .../skin/right_arm-eb27-j4_7-skin.xml | 14 + .../skin/right_arm-eb27-j4_7-skinSpec.xml | 42 ++ .../hardware/skin/right_upperarm-eb4-skin.xml | 14 + .../skin/right_upperarm-eb4-skinSpec.xml | 38 ++ .../5-setup/hardware/skin/torso-eb22-skin.xml | 15 + .../hardware/skin/torso-eb22-skinSpec.xml | 22 + .../skin/torso-ems5-inertial_gyro.xml | 55 +++ experimentalSetups/5-setup/head-face.xml | 35 ++ experimentalSetups/5-setup/iCubStartup.xml | 90 ++++ experimentalSetups/5-setup/iKinGazeCtrl.ini | 11 + experimentalSetups/5-setup/icubEyes.ini | 63 +++ experimentalSetups/5-setup/icub_FT_arms.xml | 24 ++ experimentalSetups/5-setup/icub_FT_feet.xml | 28 ++ experimentalSetups/5-setup/icub_all.xml | 99 +++++ .../5-setup/icub_all_inertials.xml | 117 ++++++ .../5-setup/icub_all_no_legs.xml | 69 ++++ experimentalSetups/5-setup/icub_foc.xml | 54 +++ experimentalSetups/5-setup/icub_h_f_RL_a.xml | 77 ++++ experimentalSetups/5-setup/icub_left_leg.xml | 27 ++ experimentalSetups/5-setup/icub_legs.xml | 33 ++ .../5-setup/icub_legs_mcOnly.xml | 34 ++ experimentalSetups/5-setup/icub_legs_rarm.xml | 43 ++ experimentalSetups/5-setup/icub_right_leg.xml | 26 ++ experimentalSetups/5-setup/icub_torso.xml | 24 ++ experimentalSetups/5-setup/icub_wbd.xml | 129 ++++++ experimentalSetups/5-setup/legs-wbd.xml | 72 ++++ experimentalSetups/5-setup/ll.xml | 26 ++ .../5-setup/network.iCubGenova09.xml | 386 ++++++++++++++++++ experimentalSetups/5-setup/rfe.xml | 23 ++ experimentalSetups/5-setup/rl.xml | 26 ++ .../5-setup/sensors/RealSense_conf.ini | 13 + experimentalSetups/5-setup/setup.xml | 21 + experimentalSetups/5-setup/startaudio.ini | 5 + experimentalSetups/5-setup/telemetry.xml | 41 ++ .../telemetry/telemetryDeviceExternal.xml | 38 ++ experimentalSetups/5-setup/test_head.xml | 37 ++ experimentalSetups/5-setup/test_left_arm.xml | 54 +++ experimentalSetups/5-setup/test_right_arm.xml | 43 ++ experimentalSetups/5-setup/test_xsense.xml | 27 ++ experimentalSetups/5-setup/upper-body.xml | 81 ++++ .../wrappers/FT/left_arm-FT_wrapper.xml | 18 + .../wrappers/FT/left_foot_heel-FT_wrapper.xml | 18 + ...left_foot_heel-FT_wrapper_multipleSens.xml | 18 + .../FT/left_foot_tiptoe-FT_wrapper.xml | 18 + ...ft_foot_tiptoe-FT_wrapper_multipleSens.xml | 18 + .../wrappers/FT/right_arm-FT_wrapper.xml | 18 + .../FT/right_foot_heel-FT_wrapper.xml | 18 + ...ight_foot_heel-FT_wrapper_multipleSens.xml | 18 + .../FT/right_foot_tiptoe-FT_wrapper.xml | 18 + ...ht_foot_tiptoe-FT_wrapper_multipleSens.xml | 18 + .../wrappers/MAIS/left_arm-mais_wrapper.xml | 16 + .../wrappers/MAIS/right_arm-mais_wrapper.xml | 16 + .../wrappers/VFT/left_arm-VFT_wrapper.xml | 31 ++ .../wrappers/VFT/left_leg-VFT_wrapper.xml | 29 ++ .../wrappers/VFT/right_arm-VFT_wrapper.xml | 31 ++ .../wrappers/VFT/right_leg-VFT_wrapper.xml | 29 ++ .../wrappers/VFT/torso-VFT_wrapper.xml | 18 + .../wrappers/inertials/head-imuFilter.xml | 20 + .../inertials/head-imuFilter_wrapper.xml | 20 + .../head-inertials_wrapper-deprecated.xml | 19 + .../inertials/head-inertials_wrapper.xml | 20 + .../inertials/left_arm-inertials_wrapper.xml | 21 + .../inertials/left_leg-inertials_wrapper.xml | 21 + .../inertials/right_arm-inertials_wrapper.xml | 21 + .../inertials/right_leg-inertials_wrapper.xml | 21 + .../inertials/torso_inertial_wrapper.xml | 19 + .../motorControl/alljoints-mc_remapper.xml | 31 ++ .../motorControl/alljoints-mc_ros_wrapper.xml | 11 + .../motorControl/face-mc_remapper.xml | 15 + .../wrappers/motorControl/face-mc_wrapper.xml | 10 + .../motorControl/head-mc_remapper.xml | 17 + .../wrappers/motorControl/head-mc_wrapper.xml | 10 + .../motorControl/left_arm-mc_remapper.xml | 23 ++ .../motorControl/left_arm-mc_wrapper.xml | 10 + .../motorControl/left_leg-mc_remapper.xml | 16 + .../motorControl/left_leg-mc_wrapper.xml | 10 + .../motorControl/right_arm-mc_remapper.xml | 23 ++ .../motorControl/right_arm-mc_wrapper.xml | 10 + .../motorControl/right_leg-mc_remapper.xml | 16 + .../motorControl/right_leg-mc_wrapper.xml | 10 + .../motorControl/torso-mc_remapper.xml | 15 + .../motorControl/torso-mc_wrapper.xml | 10 + .../wrappers/skin/left_arm-skin_wrapper.xml | 26 ++ .../wrappers/skin/left_leg-skin_wrapper.xml | 26 ++ .../skin/left_upperarm-skin_wrapper.xml | 24 ++ .../wrappers/skin/right_arm-skin_wrapper.xml | 26 ++ .../wrappers/skin/right_leg-skin_wrapper.xml | 26 ++ .../skin/right_upperarm-skin_wrapper.xml | 24 ++ .../wrappers/skin/torso-skin_wrapper.xml | 24 ++ experimentalSetups/5-setup/yarpmotorgui.ini | 7 + .../5-setup/yarprobotinterface.ini | 2 + 245 files changed, 12430 insertions(+) create mode 100644 experimentalSetups/5-setup/CMakeLists.txt create mode 100644 experimentalSetups/5-setup/calibrators/face-calib.xml create mode 100644 experimentalSetups/5-setup/calibrators/head-calib.xml create mode 100644 experimentalSetups/5-setup/calibrators/left_arm-calib.xml create mode 100644 experimentalSetups/5-setup/calibrators/left_leg-calib.xml create mode 100644 experimentalSetups/5-setup/calibrators/right_arm-calib.xml create mode 100644 experimentalSetups/5-setup/calibrators/right_leg-calib.xml create mode 100644 experimentalSetups/5-setup/calibrators/torso-calib.xml create mode 100644 experimentalSetups/5-setup/camera/ServerGrabberDualDragon.ini create mode 100644 experimentalSetups/5-setup/camera/ServerGrabberDualDragon640_480.ini create mode 100644 experimentalSetups/5-setup/camera/ServerGrabberDualDragonBayer.ini create mode 100644 experimentalSetups/5-setup/camera/ServerGrabberDualDragonBayer640_480.ini create mode 100644 experimentalSetups/5-setup/camera/dragonfly2_config_left.ini create mode 100644 experimentalSetups/5-setup/camera/dragonfly2_config_left640_480.ini create mode 100644 experimentalSetups/5-setup/camera/dragonfly2_config_leftLowRes.ini create mode 100644 experimentalSetups/5-setup/camera/dragonfly2_config_left_bayer_320_240.ini create mode 100644 experimentalSetups/5-setup/camera/dragonfly2_config_left_bayer_640_480.ini create mode 100644 experimentalSetups/5-setup/camera/dragonfly2_config_right.ini create mode 100644 experimentalSetups/5-setup/camera/dragonfly2_config_right640_480.ini create mode 100644 experimentalSetups/5-setup/camera/dragonfly2_config_rightLowRes.ini create mode 100644 experimentalSetups/5-setup/camera/dragonfly2_config_right_bayer_320_240.ini create mode 100644 experimentalSetups/5-setup/camera/dragonfly2_config_right_bayer_640_480.ini create mode 100644 experimentalSetups/5-setup/cartesian/left_arm-cartesian.xml create mode 100644 experimentalSetups/5-setup/cartesian/right_arm-cartesian.xml create mode 100644 experimentalSetups/5-setup/cartesianSolver.ini create mode 100644 experimentalSetups/5-setup/estimators/wholebodydynamics.xml create mode 100644 experimentalSetups/5-setup/extra/JOINT_LIMITS.txt create mode 100644 experimentalSetups/5-setup/extra/applications/SFM.xml create mode 100644 experimentalSetups/5-setup/extra/applications/cameras_calib.xml create mode 100644 experimentalSetups/5-setup/extra/applications/cameras_calib_640_480.xml create mode 100644 experimentalSetups/5-setup/extra/applications/demoRedBall.xml create mode 100644 experimentalSetups/5-setup/extra/applications/faceExpressions.xml create mode 100644 experimentalSetups/5-setup/extra/applications/funny_things.xml create mode 100644 experimentalSetups/5-setup/extra/applications/grasp-processor.xml create mode 100644 experimentalSetups/5-setup/extra/applications/iCub3SkinGui.xml create mode 100644 experimentalSetups/5-setup/extra/applications/iCubStartup.xml create mode 100644 experimentalSetups/5-setup/extra/applications/iCubStartup_640_480.xml create mode 100644 experimentalSetups/5-setup/extra/applications/iol.xml create mode 100644 experimentalSetups/5-setup/extra/applications/iol_egpu.xml create mode 100644 experimentalSetups/5-setup/extra/applications/lbpExtract.xml create mode 100644 experimentalSetups/5-setup/extra/applications/robmo-icub-hand-iRC-collector.xml create mode 100644 experimentalSetups/5-setup/extra/applications/robmo-icub-hand-iRC-test-no-calibration.xml create mode 100644 experimentalSetups/5-setup/extra/applications/robmo-icub-hand-iRC-test.xml create mode 100644 experimentalSetups/5-setup/extra/applications/skinGuiAll.xml create mode 100644 experimentalSetups/5-setup/extra/applications/stereoCalib.xml create mode 100644 experimentalSetups/5-setup/extra/contexts/yarpmanager/cluster-config.xml create mode 100644 experimentalSetups/5-setup/extra/scripts/README.md create mode 100644 experimentalSetups/5-setup/extra/scripts/additionalCommands.sh create mode 100644 experimentalSetups/5-setup/extra/scripts/bluetoothConnect.sh create mode 100644 experimentalSetups/5-setup/extra/scripts/checkConfigurationFiles.sh create mode 100644 experimentalSetups/5-setup/extra/scripts/installRobotsConfiguration.sh create mode 100644 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mode 100644 experimentalSetups/5-setup/hardware/electronics/left_leg-eb8-j3_5-eln.xml create mode 100644 experimentalSetups/5-setup/hardware/electronics/pc104.xml create mode 100644 experimentalSetups/5-setup/hardware/electronics/right_arm-eb27-j4_7-eln.xml create mode 100644 experimentalSetups/5-setup/hardware/electronics/right_arm-eb28-j8_11-eln.xml create mode 100644 experimentalSetups/5-setup/hardware/electronics/right_arm-eb29-j12_15-eln.xml create mode 100644 experimentalSetups/5-setup/hardware/electronics/right_arm-eb3-j0_1-eln.xml create mode 100644 experimentalSetups/5-setup/hardware/electronics/right_arm-eb4-j2_3-eln.xml create mode 100644 experimentalSetups/5-setup/hardware/electronics/right_leg-eb11-j0_2-eln.xml create mode 100644 experimentalSetups/5-setup/hardware/electronics/right_leg-eb12-j3_5-eln.xml create mode 100644 experimentalSetups/5-setup/hardware/electronics/torso-eb5-j0_2-eln.xml create mode 100644 experimentalSetups/5-setup/hardware/iCub_Calibration.xls create mode 100644 experimentalSetups/5-setup/hardware/inertials/head-inertial.xml create mode 100644 experimentalSetups/5-setup/hardware/inertials/left_arm-eb24-j4_7-inertials.xml create mode 100644 experimentalSetups/5-setup/hardware/inertials/left_leg-eb10-inertials.xml create mode 100644 experimentalSetups/5-setup/hardware/inertials/right_arm-eb27-j4_7-inertials.xml create mode 100644 experimentalSetups/5-setup/hardware/inertials/right_leg-eb11-inertials.xml create mode 100644 experimentalSetups/5-setup/hardware/mechanicals/face-eb22-j0-mec.xml create mode 100644 experimentalSetups/5-setup/hardware/mechanicals/face-eb22-j0_1-mec.xml create mode 100644 experimentalSetups/5-setup/hardware/mechanicals/face-eb23-j2_5-mec.xml create mode 100644 experimentalSetups/5-setup/hardware/mechanicals/head-eb20-j0_1-mec.xml create mode 100644 experimentalSetups/5-setup/hardware/mechanicals/head-eb21-j2_5-mec.xml create mode 100644 experimentalSetups/5-setup/hardware/mechanicals/left_arm-eb1-j0_1-mec.xml create mode 100644 experimentalSetups/5-setup/hardware/mechanicals/left_arm-eb2-j2_3-mec.xml create mode 100644 experimentalSetups/5-setup/hardware/mechanicals/left_arm-eb24-j4_7-mec.xml create mode 100644 experimentalSetups/5-setup/hardware/mechanicals/left_arm-eb25-j8_11-mec.xml create mode 100644 experimentalSetups/5-setup/hardware/mechanicals/left_arm-eb26-j12_15-mec.xml create mode 100644 experimentalSetups/5-setup/hardware/mechanicals/left_leg-eb7-j0_2-mec.xml create mode 100644 experimentalSetups/5-setup/hardware/mechanicals/left_leg-eb8-j3_5-mec.xml create mode 100644 experimentalSetups/5-setup/hardware/mechanicals/right_arm-eb27-j4_7-mec.xml create mode 100644 experimentalSetups/5-setup/hardware/mechanicals/right_arm-eb28-j8_11-mec.xml create mode 100644 experimentalSetups/5-setup/hardware/mechanicals/right_arm-eb29-j12_15-mec.xml create mode 100644 experimentalSetups/5-setup/hardware/mechanicals/right_arm-eb3-j0_1-mec.xml create mode 100644 experimentalSetups/5-setup/hardware/mechanicals/right_arm-eb4-j2_3-mec.xml create mode 100644 experimentalSetups/5-setup/hardware/mechanicals/right_leg-eb11-j0_2-mec.xml create mode 100644 experimentalSetups/5-setup/hardware/mechanicals/right_leg-eb12-j3_5-mec.xml create mode 100644 experimentalSetups/5-setup/hardware/mechanicals/torso-eb5-j0_2-mec.xml create mode 100644 experimentalSetups/5-setup/hardware/motorControl/face-eb22-j0-mc.xml create mode 100644 experimentalSetups/5-setup/hardware/motorControl/face-eb22-j0-mc_service.xml create mode 100644 experimentalSetups/5-setup/hardware/motorControl/face-eb22-j0_1-mc.xml create mode 100644 experimentalSetups/5-setup/hardware/motorControl/face-eb22-j0_1-mc_service.xml create mode 100644 experimentalSetups/5-setup/hardware/motorControl/face-eb23-j2_5-mc.xml create mode 100644 experimentalSetups/5-setup/hardware/motorControl/face-eb23-j2_5-mc_service.xml create mode 100644 experimentalSetups/5-setup/hardware/motorControl/head-eb20-j0_1-mc.xml create mode 100644 experimentalSetups/5-setup/hardware/motorControl/head-eb20-j0_1-mc_service.xml create mode 100644 experimentalSetups/5-setup/hardware/motorControl/head-eb21-j2_5-mc.xml create mode 100644 experimentalSetups/5-setup/hardware/motorControl/head-eb21-j2_5-mc_service.xml create mode 100644 experimentalSetups/5-setup/hardware/motorControl/left_arm-eb1-j0_1-mc.xml create mode 100644 experimentalSetups/5-setup/hardware/motorControl/left_arm-eb1-j0_1-mc_service.xml create mode 100644 experimentalSetups/5-setup/hardware/motorControl/left_arm-eb2-j2_3-mc.xml create mode 100644 experimentalSetups/5-setup/hardware/motorControl/left_arm-eb2-j2_3-mc_service.xml create mode 100644 experimentalSetups/5-setup/hardware/motorControl/left_arm-eb24-j4_7-mc.xml create mode 100644 experimentalSetups/5-setup/hardware/motorControl/left_arm-eb24-j4_7-mc_service.xml create mode 100644 experimentalSetups/5-setup/hardware/motorControl/left_arm-eb25-j8_11-mc.xml create mode 100644 experimentalSetups/5-setup/hardware/motorControl/left_arm-eb25-j8_11-mc_service.xml create mode 100644 experimentalSetups/5-setup/hardware/motorControl/left_arm-eb26-j12_15-mc.xml create mode 100644 experimentalSetups/5-setup/hardware/motorControl/left_arm-eb26-j12_15-mc_service.xml create mode 100644 experimentalSetups/5-setup/hardware/motorControl/left_leg-eb7-j0_2-mc.xml create mode 100644 experimentalSetups/5-setup/hardware/motorControl/left_leg-eb7-j0_2-mc_service.xml create mode 100644 experimentalSetups/5-setup/hardware/motorControl/left_leg-eb8-j3_5-mc.xml create mode 100644 experimentalSetups/5-setup/hardware/motorControl/left_leg-eb8-j3_5-mc_service.xml create mode 100644 experimentalSetups/5-setup/hardware/motorControl/right_arm-eb27-j4_7-mc.xml create mode 100644 experimentalSetups/5-setup/hardware/motorControl/right_arm-eb27-j4_7-mc_service.xml create mode 100644 experimentalSetups/5-setup/hardware/motorControl/right_arm-eb28-j8_11-mc.xml create mode 100644 experimentalSetups/5-setup/hardware/motorControl/right_arm-eb28-j8_11-mc_service.xml create mode 100644 experimentalSetups/5-setup/hardware/motorControl/right_arm-eb29-j12_15-mc.xml create mode 100644 experimentalSetups/5-setup/hardware/motorControl/right_arm-eb29-j12_15-mc_service.xml create mode 100644 experimentalSetups/5-setup/hardware/motorControl/right_arm-eb3-j0_1-mc.xml create mode 100644 experimentalSetups/5-setup/hardware/motorControl/right_arm-eb3-j0_1-mc_service.xml create mode 100644 experimentalSetups/5-setup/hardware/motorControl/right_arm-eb4-j2_3-mc.xml create mode 100644 experimentalSetups/5-setup/hardware/motorControl/right_arm-eb4-j2_3-mc_service.xml create mode 100644 experimentalSetups/5-setup/hardware/motorControl/right_leg-eb11-j0_2-mc.xml create mode 100644 experimentalSetups/5-setup/hardware/motorControl/right_leg-eb11-j0_2-mc_service.xml create mode 100644 experimentalSetups/5-setup/hardware/motorControl/right_leg-eb12-j3_5-mc.xml create mode 100644 experimentalSetups/5-setup/hardware/motorControl/right_leg-eb12-j3_5-mc_service.xml create mode 100644 experimentalSetups/5-setup/hardware/motorControl/torso-eb5-j0_2-mc.xml create mode 100644 experimentalSetups/5-setup/hardware/motorControl/torso-eb5-j0_2-mc_service.xml create mode 100644 experimentalSetups/5-setup/hardware/skin/left_arm-eb24-j4_7-skin.xml create mode 100644 experimentalSetups/5-setup/hardware/skin/left_arm-eb24-j4_7-skinSpec.xml create mode 100644 experimentalSetups/5-setup/hardware/skin/left_upperarm-eb2-skin.xml create mode 100644 experimentalSetups/5-setup/hardware/skin/left_upperarm-eb2-skinSpec.xml create mode 100644 experimentalSetups/5-setup/hardware/skin/right_arm-eb27-j4_7-skin.xml create mode 100644 experimentalSetups/5-setup/hardware/skin/right_arm-eb27-j4_7-skinSpec.xml create mode 100644 experimentalSetups/5-setup/hardware/skin/right_upperarm-eb4-skin.xml create mode 100644 experimentalSetups/5-setup/hardware/skin/right_upperarm-eb4-skinSpec.xml create mode 100644 experimentalSetups/5-setup/hardware/skin/torso-eb22-skin.xml create mode 100644 experimentalSetups/5-setup/hardware/skin/torso-eb22-skinSpec.xml create mode 100644 experimentalSetups/5-setup/hardware/skin/torso-ems5-inertial_gyro.xml create mode 100644 experimentalSetups/5-setup/head-face.xml create mode 100644 experimentalSetups/5-setup/iCubStartup.xml create mode 100644 experimentalSetups/5-setup/iKinGazeCtrl.ini create mode 100644 experimentalSetups/5-setup/icubEyes.ini create mode 100644 experimentalSetups/5-setup/icub_FT_arms.xml create mode 100644 experimentalSetups/5-setup/icub_FT_feet.xml create mode 100644 experimentalSetups/5-setup/icub_all.xml create mode 100644 experimentalSetups/5-setup/icub_all_inertials.xml create mode 100644 experimentalSetups/5-setup/icub_all_no_legs.xml create mode 100644 experimentalSetups/5-setup/icub_foc.xml create mode 100644 experimentalSetups/5-setup/icub_h_f_RL_a.xml create mode 100644 experimentalSetups/5-setup/icub_left_leg.xml create mode 100644 experimentalSetups/5-setup/icub_legs.xml create mode 100644 experimentalSetups/5-setup/icub_legs_mcOnly.xml create mode 100644 experimentalSetups/5-setup/icub_legs_rarm.xml create mode 100644 experimentalSetups/5-setup/icub_right_leg.xml create mode 100644 experimentalSetups/5-setup/icub_torso.xml create mode 100644 experimentalSetups/5-setup/icub_wbd.xml create mode 100644 experimentalSetups/5-setup/legs-wbd.xml create mode 100644 experimentalSetups/5-setup/ll.xml create mode 100644 experimentalSetups/5-setup/network.iCubGenova09.xml create mode 100644 experimentalSetups/5-setup/rfe.xml create mode 100644 experimentalSetups/5-setup/rl.xml create mode 100644 experimentalSetups/5-setup/sensors/RealSense_conf.ini create mode 100644 experimentalSetups/5-setup/setup.xml create mode 100644 experimentalSetups/5-setup/startaudio.ini create mode 100644 experimentalSetups/5-setup/telemetry.xml create mode 100644 experimentalSetups/5-setup/telemetry/telemetryDeviceExternal.xml create mode 100644 experimentalSetups/5-setup/test_head.xml create mode 100644 experimentalSetups/5-setup/test_left_arm.xml create mode 100644 experimentalSetups/5-setup/test_right_arm.xml create mode 100644 experimentalSetups/5-setup/test_xsense.xml create mode 100644 experimentalSetups/5-setup/upper-body.xml create mode 100644 experimentalSetups/5-setup/wrappers/FT/left_arm-FT_wrapper.xml create mode 100644 experimentalSetups/5-setup/wrappers/FT/left_foot_heel-FT_wrapper.xml create mode 100644 experimentalSetups/5-setup/wrappers/FT/left_foot_heel-FT_wrapper_multipleSens.xml create mode 100644 experimentalSetups/5-setup/wrappers/FT/left_foot_tiptoe-FT_wrapper.xml create mode 100644 experimentalSetups/5-setup/wrappers/FT/left_foot_tiptoe-FT_wrapper_multipleSens.xml create mode 100644 experimentalSetups/5-setup/wrappers/FT/right_arm-FT_wrapper.xml create mode 100644 experimentalSetups/5-setup/wrappers/FT/right_foot_heel-FT_wrapper.xml create mode 100644 experimentalSetups/5-setup/wrappers/FT/right_foot_heel-FT_wrapper_multipleSens.xml create mode 100644 experimentalSetups/5-setup/wrappers/FT/right_foot_tiptoe-FT_wrapper.xml create mode 100644 experimentalSetups/5-setup/wrappers/FT/right_foot_tiptoe-FT_wrapper_multipleSens.xml create mode 100644 experimentalSetups/5-setup/wrappers/MAIS/left_arm-mais_wrapper.xml create mode 100644 experimentalSetups/5-setup/wrappers/MAIS/right_arm-mais_wrapper.xml create mode 100644 experimentalSetups/5-setup/wrappers/VFT/left_arm-VFT_wrapper.xml create mode 100644 experimentalSetups/5-setup/wrappers/VFT/left_leg-VFT_wrapper.xml create mode 100644 experimentalSetups/5-setup/wrappers/VFT/right_arm-VFT_wrapper.xml create mode 100644 experimentalSetups/5-setup/wrappers/VFT/right_leg-VFT_wrapper.xml create mode 100644 experimentalSetups/5-setup/wrappers/VFT/torso-VFT_wrapper.xml create mode 100644 experimentalSetups/5-setup/wrappers/inertials/head-imuFilter.xml create mode 100644 experimentalSetups/5-setup/wrappers/inertials/head-imuFilter_wrapper.xml create mode 100644 experimentalSetups/5-setup/wrappers/inertials/head-inertials_wrapper-deprecated.xml create mode 100644 experimentalSetups/5-setup/wrappers/inertials/head-inertials_wrapper.xml create mode 100644 experimentalSetups/5-setup/wrappers/inertials/left_arm-inertials_wrapper.xml create mode 100644 experimentalSetups/5-setup/wrappers/inertials/left_leg-inertials_wrapper.xml create mode 100644 experimentalSetups/5-setup/wrappers/inertials/right_arm-inertials_wrapper.xml create mode 100644 experimentalSetups/5-setup/wrappers/inertials/right_leg-inertials_wrapper.xml create mode 100644 experimentalSetups/5-setup/wrappers/inertials/torso_inertial_wrapper.xml create mode 100644 experimentalSetups/5-setup/wrappers/motorControl/alljoints-mc_remapper.xml create mode 100644 experimentalSetups/5-setup/wrappers/motorControl/alljoints-mc_ros_wrapper.xml create mode 100644 experimentalSetups/5-setup/wrappers/motorControl/face-mc_remapper.xml create mode 100644 experimentalSetups/5-setup/wrappers/motorControl/face-mc_wrapper.xml create mode 100644 experimentalSetups/5-setup/wrappers/motorControl/head-mc_remapper.xml create mode 100644 experimentalSetups/5-setup/wrappers/motorControl/head-mc_wrapper.xml create mode 100644 experimentalSetups/5-setup/wrappers/motorControl/left_arm-mc_remapper.xml create mode 100644 experimentalSetups/5-setup/wrappers/motorControl/left_arm-mc_wrapper.xml create mode 100644 experimentalSetups/5-setup/wrappers/motorControl/left_leg-mc_remapper.xml create mode 100644 experimentalSetups/5-setup/wrappers/motorControl/left_leg-mc_wrapper.xml create mode 100644 experimentalSetups/5-setup/wrappers/motorControl/right_arm-mc_remapper.xml create mode 100644 experimentalSetups/5-setup/wrappers/motorControl/right_arm-mc_wrapper.xml create mode 100644 experimentalSetups/5-setup/wrappers/motorControl/right_leg-mc_remapper.xml create mode 100644 experimentalSetups/5-setup/wrappers/motorControl/right_leg-mc_wrapper.xml create mode 100644 experimentalSetups/5-setup/wrappers/motorControl/torso-mc_remapper.xml create mode 100644 experimentalSetups/5-setup/wrappers/motorControl/torso-mc_wrapper.xml create mode 100644 experimentalSetups/5-setup/wrappers/skin/left_arm-skin_wrapper.xml create mode 100644 experimentalSetups/5-setup/wrappers/skin/left_leg-skin_wrapper.xml create mode 100644 experimentalSetups/5-setup/wrappers/skin/left_upperarm-skin_wrapper.xml create mode 100644 experimentalSetups/5-setup/wrappers/skin/right_arm-skin_wrapper.xml create mode 100644 experimentalSetups/5-setup/wrappers/skin/right_leg-skin_wrapper.xml create mode 100644 experimentalSetups/5-setup/wrappers/skin/right_upperarm-skin_wrapper.xml create mode 100644 experimentalSetups/5-setup/wrappers/skin/torso-skin_wrapper.xml create mode 100644 experimentalSetups/5-setup/yarpmotorgui.ini create mode 100644 experimentalSetups/5-setup/yarprobotinterface.ini diff --git a/experimentalSetups/5-setup/CMakeLists.txt b/experimentalSetups/5-setup/CMakeLists.txt new file mode 100644 index 0000000000..be461c6a9f --- /dev/null +++ b/experimentalSetups/5-setup/CMakeLists.txt @@ -0,0 +1,15 @@ +set(appname iCubGenova09) + +file(GLOB xml ${CMAKE_CURRENT_SOURCE_DIR}/*.xml) +file(GLOB ini ${CMAKE_CURRENT_SOURCE_DIR}/*.ini) + +yarp_install(FILES ${xml} DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname}) +yarp_install(FILES ${ini} DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname}) +yarp_install(DIRECTORY estimators DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname}) +yarp_install(DIRECTORY calibrators DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname}) +yarp_install(DIRECTORY cartesian DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname}) +yarp_install(DIRECTORY wrappers DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname}) +yarp_install(DIRECTORY hardware DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname}) +yarp_install(DIRECTORY camera DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname}) +yarp_install(DIRECTORY sensors DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname}) +yarp_install(DIRECTORY telemetry DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname}) diff --git a/experimentalSetups/5-setup/calibrators/face-calib.xml b/experimentalSetups/5-setup/calibrators/face-calib.xml new file mode 100644 index 0000000000..83ef4572ef --- /dev/null +++ b/experimentalSetups/5-setup/calibrators/face-calib.xml @@ -0,0 +1,61 @@ + + + + + + + + + + 1 + FaceV3_Calibrator + + + + 0 + 10 + + + + + + 12 + + -2800 + 0 + 0 + + 0 + 0 + + 0 + 0 + + 0 + 10 + 3360 + 90 + + + + (0) + + + face-mc_remapper + + + + face-mc_remapper + + + + + + diff --git a/experimentalSetups/5-setup/calibrators/head-calib.xml b/experimentalSetups/5-setup/calibrators/head-calib.xml new file mode 100644 index 0000000000..24c6899ddb --- /dev/null +++ b/experimentalSetups/5-setup/calibrators/head-calib.xml @@ -0,0 +1,52 @@ + + + + + + + + + + 6 + HeadV3_Calibrator + + + + 0 0 0 0 0 0 + 10 10 10 10 10 10 + + + + + + 12 12 12 12 5 5 + 19567 53471 4175 770 2000 2000 + 0 0 0 0 8192 8192 + 0 0 0 0 0 0 + + 0 0 0 0 0 0 + 0 0 0 0 0 0 + + 0.0 0.0 0.0 0.0 0.0 0.0 + 0.0 0.0 0.0 0.0 0.0 6.5 + + 0.0 0.0 0.0 0.0 0.0 0.0 + 10 10 20.0 20.0 20.0 20.0 + 1000 1000 1000 1000 0 0 + 90 90 2 2 2 2 + + + (0 1 2) (3) (4 5) + + + head-mc_remapper + + + + head-mc_remapper + + + + + + diff --git a/experimentalSetups/5-setup/calibrators/left_arm-calib.xml b/experimentalSetups/5-setup/calibrators/left_arm-calib.xml new file mode 100644 index 0000000000..3c027b8886 --- /dev/null +++ b/experimentalSetups/5-setup/calibrators/left_arm-calib.xml @@ -0,0 +1,50 @@ + + + + + + + + + 16 + Left_Arm_Calibrator + + + + 5 30 0 10 0 0 0 35 15 65 0 0 0 0 0 0 + 10 10 10 10 30 30 30 60 30 30 30 30 30 30 30 30 + + + + 12 12 12 12 5 12 12 7 7 6 6 6 6 6 6 6 + -54795 19668 44679 53215 -1500 -8335 10671 0 0 0 0 0 0 0 0 0 + 0 0 0 0 16384 0 0 0 0 9102 9102 9102 9102 9102 9102 10000 + 0 0 0 0 0 0 0 0 0 -1 1 -1 1 -1 1 1 + 0 0 0 0 0 0 0 2045 448 240 484 243 483 255 480 725 + 0 0 0 0 0 0 0 2140 2712 0 9 15 8 20 45 125 + 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 + 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 + + -35 30 0 45 0 0 0 25 45 0 0 0 0 0 0 0 + 10.0 10.0 10.0 10.0 30 30 30 60 100 100 100 100 100 100 100 100 + 8000 8000 8000 8000 2000 0 0 0 0 0 0 0 0 0 0 0 + 2 2 2 2 90 90 90 90 90 90 90 90 90 90 90 90 + + + (1) (0) (2) (3) (4) (5 6) (7) (8 9) (11 13) (10 12 14 15) + + + left_arm-mc_remapper + + + + left_arm-mc_remapper + + + + + + + + diff --git a/experimentalSetups/5-setup/calibrators/left_leg-calib.xml b/experimentalSetups/5-setup/calibrators/left_leg-calib.xml new file mode 100644 index 0000000000..10e6d9491e --- /dev/null +++ b/experimentalSetups/5-setup/calibrators/left_leg-calib.xml @@ -0,0 +1,46 @@ + + + + + + + 6 + Left_Leg_Calibrator + + + + 0.00 5.00 0.00 -5.00 0.00 0.00 + 10.00 10.00 10.00 10.00 10.00 10.00 + + + + + + 10 10 10 10 10 10 + -4500 4500 -2500 -4000 2500 -2000 + 0.0 0.0 0 0 0 0 + 0.0 0.0 0 0 0 0 + 0.0 0.0 0 0 0 0 + 0.0 0.0 0 0 0 0 + 93.0 119.90 80.761 5.817 -47.060 25.823 + 0 0 0 0 0 0 + + 90 20 0 -70 0 0 + 10.0 10.0 10.0 10 10 10 + 12000 8000 3000 8000 4000 3000 + 2 2 2 2 2 2 + + + (2) (4) (5) (3) (0) (1) + + + left_leg-mc_remapper + + + + left_leg-mc_remapper + + + + + diff --git a/experimentalSetups/5-setup/calibrators/right_arm-calib.xml b/experimentalSetups/5-setup/calibrators/right_arm-calib.xml new file mode 100644 index 0000000000..af942e0129 --- /dev/null +++ b/experimentalSetups/5-setup/calibrators/right_arm-calib.xml @@ -0,0 +1,49 @@ + + + + + + + + + 16 + Right_Arm_Calibrator + + + + 5 30 0 10 0 0 0 35 15 65 0 0 0 0 0 0 + 10 10 10 10 30 30 30 60 30 30 30 30 30 30 30 30 + + + + + 12 12 12 12 5 12 12 7 7 6 6 6 6 6 6 6 + 6576 -12912 -883 -47529 1500 36903 -12703 0 0 0 0 0 0 0 0 0 + 0 0 0 0 16384 0 0 0 0 9102 9102 9102 9102 9102 9102 10000 + 0 0 0 0 0 0 0 0 0 -1 1 -1 1 -1 1 1 + 0 0 0 0 0 0 0 2510 1470 255 510 255 510 200 510 748 + 0 0 0 0 0 0 0 2670 2350 22 40 18 30 10 30 120 + 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 + 0 0 -5.8 0 0 -5.5 -4 10 0 0 0 0 0 0 0 0 + + -35 30 0 45 0 0 15 25 45 10 0 0 0 0 0 0 + 10.0 10.0 10.0 10.0 30 30 30 60 100 100 100 100 100 100 100 100 + 8000 8000 8000 8000 1500 0 0 0 0 0 0 0 0 0 0 0 + 2 2 2 2 90 90 90 90 90 90 90 90 90 90 90 90 + + + + (1) (0) (2) (3) (4) (5 6) (7) (8 9) (11 13) (10 12 14 15) + + right_arm-mc_remapper + + + + right_arm-mc_remapper + + + + + + diff --git a/experimentalSetups/5-setup/calibrators/right_leg-calib.xml b/experimentalSetups/5-setup/calibrators/right_leg-calib.xml new file mode 100644 index 0000000000..0c38732c8e --- /dev/null +++ b/experimentalSetups/5-setup/calibrators/right_leg-calib.xml @@ -0,0 +1,47 @@ + + + + + + + 6 + Right_Leg_Calibrator + + + + 0.00 5.00 0.00 -5.00 0.00 0.00 + 10.00 10.00 10.00 10.00 10.00 10.00 + + + + + + 10 10 10 10 10 10 + 4500 -4500 2500 4000 -2500 2000 + 0.0 0.0 0 0 0 0 + 0.0 0.0 0 0 0 0 + 0.0 0.0 0 0 0 0 + 0.0 0.0 0 0 0 0 + 93.2 119 80.761 5.641 -46.329 24.137 + 0 0 0 0 0 0 + + 90 20 0 -70 0 0 + 10.0 10.0 10.0 10 10 10 + 12000 8000 3000 8000 4000 3000 + 2 2 2 2 2 2 + + + (4) (5) (2) (3) (0) (1) + + + + right_leg-mc_remapper + + + + right_leg-mc_remapper + + + + + diff --git a/experimentalSetups/5-setup/calibrators/torso-calib.xml b/experimentalSetups/5-setup/calibrators/torso-calib.xml new file mode 100644 index 0000000000..1c49710822 --- /dev/null +++ b/experimentalSetups/5-setup/calibrators/torso-calib.xml @@ -0,0 +1,55 @@ + + + + + + + + + 3 + Torso_Calibrator + + + + 0 -20 0 + 10 10 10 + + + + + + + 12 12 12 + + 58213 9527 35531 + 0 0 0 + 0 0 0 + + + 0 0 0 + 0 0 0 + 0 0 0 + 0 0 0 + + 0 0 0 + 10 10 10 + 5500 5500 5500 + 2 2 2 + + + + (0) (1) (2) + + + torso-mc_remapper + + + + torso-mc_remapper + + + + + + diff --git a/experimentalSetups/5-setup/camera/ServerGrabberDualDragon.ini b/experimentalSetups/5-setup/camera/ServerGrabberDualDragon.ini new file mode 100644 index 0000000000..6d9b0b953e --- /dev/null +++ b/experimentalSetups/5-setup/camera/ServerGrabberDualDragon.ini @@ -0,0 +1,9 @@ +device grabberDual +capabilities COLOR +name /icub/cam +split true +twoCameras true +left_config camera/dragonfly2_config_left.ini +right_config camera/dragonfly2_config_right.ini + + diff --git a/experimentalSetups/5-setup/camera/ServerGrabberDualDragon640_480.ini b/experimentalSetups/5-setup/camera/ServerGrabberDualDragon640_480.ini new file mode 100644 index 0000000000..24e2ca4617 --- /dev/null +++ b/experimentalSetups/5-setup/camera/ServerGrabberDualDragon640_480.ini @@ -0,0 +1,7 @@ +device grabberDual +capabilities COLOR +name /icub/cam +split true +twoCameras true +left_config camera/dragonfly2_config_left640_480.ini +right_config camera/dragonfly2_config_right640_480.ini diff --git a/experimentalSetups/5-setup/camera/ServerGrabberDualDragonBayer.ini b/experimentalSetups/5-setup/camera/ServerGrabberDualDragonBayer.ini new file mode 100644 index 0000000000..d94d114ceb --- /dev/null +++ b/experimentalSetups/5-setup/camera/ServerGrabberDualDragonBayer.ini @@ -0,0 +1,9 @@ +device grabberDual +capabilities RAW +name /icub/cam +split true +twoCameras true +left_config camera/dragonfly2_config_left_bayer_320_240.ini +right_config camera/dragonfly2_config_right_bayer_320_240.ini + + diff --git a/experimentalSetups/5-setup/camera/ServerGrabberDualDragonBayer640_480.ini b/experimentalSetups/5-setup/camera/ServerGrabberDualDragonBayer640_480.ini new file mode 100644 index 0000000000..6cb9c9435b --- /dev/null +++ b/experimentalSetups/5-setup/camera/ServerGrabberDualDragonBayer640_480.ini @@ -0,0 +1,9 @@ +device grabberDual +capabilities RAW +name /icub/cam +split true +twoCameras true +left_config camera/dragonfly2_config_left_bayer_640_480.ini +right_config camera/dragonfly2_config_right_bayer_640_480.ini + + diff --git a/experimentalSetups/5-setup/camera/dragonfly2_config_left.ini b/experimentalSetups/5-setup/camera/dragonfly2_config_left.ini new file mode 100644 index 0000000000..66a1aff7d7 --- /dev/null +++ b/experimentalSetups/5-setup/camera/dragonfly2_config_left.ini @@ -0,0 +1,19 @@ +device dragonfly2 +width 1024 +height 768 +video_type 10 +white_balance 0.561 0.631 +gain 0.0 +shutter 0.512 +name /icub/cam/left +brightness 0 +DR2 +stamp +sharpness 0.518 +hue 0.479 +gamma 0.399 +saturation 0.467 +framerate 15 +#d 1 +guid 00b09d0100c77485 +#<64bit global identifier, without the leading 0x> then remove the d option diff --git a/experimentalSetups/5-setup/camera/dragonfly2_config_left640_480.ini b/experimentalSetups/5-setup/camera/dragonfly2_config_left640_480.ini new file mode 100644 index 0000000000..a63b2e3148 --- /dev/null +++ b/experimentalSetups/5-setup/camera/dragonfly2_config_left640_480.ini @@ -0,0 +1,18 @@ +device dragonfly2 +width 640 +height 480 +video_type 2 +white_balance 0.514 0.610 +gain 0.0 +shutter 0.554 +name /icub/cam/left +brightness 0 +DR2 +stamp +sharpness 0.5 +hue 0.48 +gamma 0.4 +saturation 0.420 +framerate 25 +#d 1 +guid 00b09d0100c77485 diff --git a/experimentalSetups/5-setup/camera/dragonfly2_config_leftLowRes.ini b/experimentalSetups/5-setup/camera/dragonfly2_config_leftLowRes.ini new file mode 100644 index 0000000000..67dd150838 --- /dev/null +++ b/experimentalSetups/5-setup/camera/dragonfly2_config_leftLowRes.ini @@ -0,0 +1,19 @@ +device dragonfly2 +width 320 +height 240 +video_type 1 +white_balance 0.561 0.631 +gain 0.0 +shutter 0.512 +name /icub/cam/left +brightness 0 +DR2 +stamp +sharpness 0.518 +hue 0.479 +gamma 0.399 +saturation 0.467 +framerate 30 +#d 1 +guid 00b09d0100c77485 +#<64bit global identifier, without the leading 0x> then remove the d option diff --git a/experimentalSetups/5-setup/camera/dragonfly2_config_left_bayer_320_240.ini b/experimentalSetups/5-setup/camera/dragonfly2_config_left_bayer_320_240.ini new file mode 100644 index 0000000000..6df2ee422e --- /dev/null +++ b/experimentalSetups/5-setup/camera/dragonfly2_config_left_bayer_320_240.ini @@ -0,0 +1,20 @@ +device dragonfly2raw +width 320 +height 240 +video_type 3 +white_balance 0.477 0.514 +gain 0.0 +shutter 0.666 +name /icub/cam/left +brightness 0 +DR2 +stamp +sharpness 1.0 +hue 0.48 +gamma 0.4 +saturation 0.271 +framerate 30 +use_network_time 1 +#d 1 +guid 00b09d0100c77485 +#<64bit global identifier, without the leading 0x> then remove the d option diff --git a/experimentalSetups/5-setup/camera/dragonfly2_config_left_bayer_640_480.ini b/experimentalSetups/5-setup/camera/dragonfly2_config_left_bayer_640_480.ini new file mode 100644 index 0000000000..bd30720164 --- /dev/null +++ b/experimentalSetups/5-setup/camera/dragonfly2_config_left_bayer_640_480.ini @@ -0,0 +1,20 @@ +device dragonfly2raw +width 640 +height 480 +video_type 3 +white_balance 0.477 0.514 +gain 0.0 +shutter 0.666 +name /icub/cam/left +brightness 0 +DR2 +stamp +sharpness 1.0 +hue 0.48 +gamma 0.4 +saturation 0.271 +framerate 30 +use_network_time 1 +#d 1 +guid 00b09d0100c77485 +#<64bit global identifier, without the leading 0x> then remove the d option diff --git a/experimentalSetups/5-setup/camera/dragonfly2_config_right.ini b/experimentalSetups/5-setup/camera/dragonfly2_config_right.ini new file mode 100644 index 0000000000..80a9fdce4b --- /dev/null +++ b/experimentalSetups/5-setup/camera/dragonfly2_config_right.ini @@ -0,0 +1,19 @@ +device dragonfly2 +width 1024 +height 768 +video_type 10 +white_balance 0.561 0.627 +gain 0.0 +shutter 0.635 +name /icub/cam/right +brightness 0 +DR2 +stamp +sharpness 0.499 +hue 0.479 +gamma 0.399 +saturation 0.449 +framerate 15 +#d 0 +guid 00b09d0100bbb395 +#<64bit global identifier, without the leading 0x> then remove the d option diff --git a/experimentalSetups/5-setup/camera/dragonfly2_config_right640_480.ini b/experimentalSetups/5-setup/camera/dragonfly2_config_right640_480.ini new file mode 100644 index 0000000000..e85f5f7fed --- /dev/null +++ b/experimentalSetups/5-setup/camera/dragonfly2_config_right640_480.ini @@ -0,0 +1,18 @@ +device dragonfly2 +width 640 +height 480 +video_type 2 +white_balance 0.514 0.610 +gain 0.0 +shutter 0.554 +name /icub/cam/right +brightness 0 +DR2 +stamp +sharpness 0.5 +hue 0.48 +gamma 0.4 +saturation 0.420 +framerate 25 +#d 0 +guid 00b09d0100bbb395 diff --git a/experimentalSetups/5-setup/camera/dragonfly2_config_rightLowRes.ini b/experimentalSetups/5-setup/camera/dragonfly2_config_rightLowRes.ini new file mode 100644 index 0000000000..f948329a60 --- /dev/null +++ b/experimentalSetups/5-setup/camera/dragonfly2_config_rightLowRes.ini @@ -0,0 +1,19 @@ +device dragonfly2 +width 320 +height 240 +video_type 1 +white_balance 0.561 0.627 +gain 0.0 +shutter 0.635 +name /icub/cam/right +brightness 0 +DR2 +stamp +sharpness 0.499 +hue 0.479 +gamma 0.399 +saturation 0.449 +framerate 30 +#d 0 +guid 00b09d0100bbb395 +#<64bit global identifier, without the leading 0x> then remove the d option diff --git a/experimentalSetups/5-setup/camera/dragonfly2_config_right_bayer_320_240.ini b/experimentalSetups/5-setup/camera/dragonfly2_config_right_bayer_320_240.ini new file mode 100644 index 0000000000..1ca322116e --- /dev/null +++ b/experimentalSetups/5-setup/camera/dragonfly2_config_right_bayer_320_240.ini @@ -0,0 +1,20 @@ +device dragonfly2raw +width 320 +height 240 +video_type 3 +white_balance 0.477 0.514 +gain 0.0 +shutter 0.666 +name /icub/cam/right +brightness 0 +DR2 +stamp +sharpness 1.0 +hue 0.48 +gamma 0.4 +saturation 0.271 +framerate 30 +use_network_time 1 +#d 0 +guid 00b09d0100bbb395 +#<64bit global identifier, without the leading 0x> then remove the d option diff --git a/experimentalSetups/5-setup/camera/dragonfly2_config_right_bayer_640_480.ini b/experimentalSetups/5-setup/camera/dragonfly2_config_right_bayer_640_480.ini new file mode 100644 index 0000000000..56b8fe7c3f --- /dev/null +++ b/experimentalSetups/5-setup/camera/dragonfly2_config_right_bayer_640_480.ini @@ -0,0 +1,20 @@ +device dragonfly2raw +width 640 +height 480 +video_type 3 +white_balance 0.477 0.514 +gain 0.0 +shutter 0.666 +name /icub/cam/right +brightness 0 +DR2 +stamp +sharpness 1.0 +hue 0.48 +gamma 0.4 +saturation 0.271 +framerate 30 +use_network_time 1 +#d 0 +guid 00b09d0100bbb395 +#<64bit global identifier, without the leading 0x> then remove the d option diff --git a/experimentalSetups/5-setup/cartesian/left_arm-cartesian.xml b/experimentalSetups/5-setup/cartesian/left_arm-cartesian.xml new file mode 100644 index 0000000000..26b163eabd --- /dev/null +++ b/experimentalSetups/5-setup/cartesian/left_arm-cartesian.xml @@ -0,0 +1,56 @@ + + + + + + + icub/cartesianController/left_arm + 10 + 4 + cartesianSolver/left_arm + arm + left_v3 + on + 2 + + + + torso + direct + (0.35 0.35 0.35) + + + + left_arm + direct + (0.35 0.35 0.35 0.35 0.35 0.35 0.35) + + + + + off + off + + ((Kp 1.0) (Tz 0.0) (Tw 0.0) (Zeta 0.0) (Td 0.0)) + ((Kp 1.0) (Tz 0.0) (Tw 0.0) (Zeta 0.0) (Td 0.0)) + ((Kp 1.0) (Tz 0.0) (Tw 0.0) (Zeta 0.0) (Td 0.0)) + ((Kp 1.0) (Tz 0.0) (Tw 0.0) (Zeta 0.0) (Td 0.0)) + ((Kp 1.0) (Tz 0.0) (Tw 0.0) (Zeta 0.0) (Td 0.0)) + ((Kp 1.0) (Tz 0.0) (Tw 0.0) (Zeta 0.0) (Td 0.0)) + ((Kp 1.0) (Tz 0.0) (Tw 0.0) (Zeta 0.0) (Td 0.0)) + ((Kp 1.0) (Tz 0.0) (Tw 0.0) (Zeta 0.0) (Td 0.0)) + ((Kp 1.0) (Tz 0.0) (Tw 0.0) (Zeta 0.0) (Td 0.0)) + ((Kp 1.0) (Tz 0.0) (Tw 0.0) (Zeta 0.0) (Td 0.0)) + + + + + torso-mc_remapper + left_arm-mc_remapper + + + + + + + diff --git a/experimentalSetups/5-setup/cartesian/right_arm-cartesian.xml b/experimentalSetups/5-setup/cartesian/right_arm-cartesian.xml new file mode 100644 index 0000000000..410774aa4e --- /dev/null +++ b/experimentalSetups/5-setup/cartesian/right_arm-cartesian.xml @@ -0,0 +1,56 @@ + + + + + + + icub/cartesianController/right_arm + 10 + 4 + cartesianSolver/right_arm + arm + right_v3 + on + 2 + + + + torso + direct + (0.35 0.35 0.35) + + + + right_arm + direct + (0.35 0.35 0.35 0.35 0.35 0.35 0.35) + + + + + off + off + + ((Kp 1.0) (Tz 0.0) (Tw 0.0) (Zeta 0.0) (Td 0.0)) + ((Kp 1.0) (Tz 0.0) (Tw 0.0) (Zeta 0.0) (Td 0.0)) + ((Kp 1.0) (Tz 0.0) (Tw 0.0) (Zeta 0.0) (Td 0.0)) + ((Kp 1.0) (Tz 0.0) (Tw 0.0) (Zeta 0.0) (Td 0.0)) + ((Kp 1.0) (Tz 0.0) (Tw 0.0) (Zeta 0.0) (Td 0.0)) + ((Kp 1.0) (Tz 0.0) (Tw 0.0) (Zeta 0.0) (Td 0.0)) + ((Kp 1.0) (Tz 0.0) (Tw 0.0) (Zeta 0.0) (Td 0.0)) + ((Kp 1.0) (Tz 0.0) (Tw 0.0) (Zeta 0.0) (Td 0.0)) + ((Kp 1.0) (Tz 0.0) (Tw 0.0) (Zeta 0.0) (Td 0.0)) + ((Kp 1.0) (Tz 0.0) (Tw 0.0) (Zeta 0.0) (Td 0.0)) + + + + + torso-mc_remapper + right_arm-mc_remapper + + + + + + + diff --git a/experimentalSetups/5-setup/cartesianSolver.ini b/experimentalSetups/5-setup/cartesianSolver.ini new file mode 100644 index 0000000000..2670d0f667 --- /dev/null +++ b/experimentalSetups/5-setup/cartesianSolver.ini @@ -0,0 +1,69 @@ +[left_arm] +robot icub +name cartesianSolver/left_arm +type left_v3 +period 20 +dof (0 0 0 1 1 1 1 1 1 1) +rest_pos (0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0) +rest_weights (1.0 1.0 1.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0) +pose full +mode shot +verbosity off +maxIter 200 +tol 0.001 +xyzTol 0.000001 +interPoints off +ping_robot_tmo 40.0 + +[right_arm] +robot icub +name cartesianSolver/right_arm +type right_v3 +period 20 +dof (0 0 0 1 1 1 1 1 1 1) +rest_pos (0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0) +rest_weights (1.0 1.0 1.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0) +pose full +mode shot +verbosity off +maxIter 200 +tol 0.001 +xyzTol 0.000001 +interPoints off +ping_robot_tmo 40.0 + +[left_leg] +robot icub +name cartesianSolver/left_leg +type left_v3 +period 20 +dof (1 1 1 1 1 1) +rest_pos (0.0 0.0 0.0 0.0 0.0 0.0) +rest_weights (0.0 0.0 0.0 0.0 0.0 0.0) +pose full +mode shot +verbosity off +maxIter 200 +tol 0.001 +xyzTol 0.000001 +interPoints off +ping_robot_tmo 40.0 + +[right_leg] +robot icub +name cartesianSolver/right_leg +type right_v3 +period 20 +dof (1 1 1 1 1 1) +rest_pos (0.0 0.0 0.0 0.0 0.0 0.0) +rest_weights (0.0 0.0 0.0 0.0 0.0 0.0) +pose full +mode shot +verbosity off +maxIter 200 +tol 0.001 +xyzTol 0.000001 +interPoints off +ping_robot_tmo 40.0 + + diff --git a/experimentalSetups/5-setup/estimators/wholebodydynamics.xml b/experimentalSetups/5-setup/estimators/wholebodydynamics.xml new file mode 100644 index 0000000000..8971f20b61 --- /dev/null +++ b/experimentalSetups/5-setup/estimators/wholebodydynamics.xml @@ -0,0 +1,84 @@ + + + + + + (torso_pitch,torso_roll,torso_yaw,neck_pitch, neck_roll,neck_yaw,l_shoulder_pitch,l_shoulder_roll,l_shoulder_yaw,l_elbow,l_wrist_prosup,l_wrist_pitch,l_wrist_yaw,r_shoulder_pitch,r_shoulder_roll,r_shoulder_yaw,r_elbow,r_wrist_prosup,r_wrist_pitch,r_wrist_yaw,l_hip_pitch,l_hip_roll,l_hip_yaw,l_knee,l_ankle_pitch,l_ankle_roll,r_hip_pitch,r_hip_roll,r_hip_yaw,r_knee,r_ankle_pitch,r_ankle_roll) + model.urdf + (0,0,-9.81) + (l_hand,r_hand,root_link,l_foot_front,l_foot_rear,r_foot_front,r_foot_rear,l_lower_leg,r_lower_leg) + imu_frame + true + 2 + true + false + true + 3.0 + 3.0 + 3.0 + 3.0 + false + true + + + rfeimu_acc + rfeimu_gyro + + + + + true + root_link + (torso_roll,torso_pitch,torso_yaw,neck_pitch,neck_roll,neck_yaw,l_shoulder_pitch,l_shoulder_roll,l_shoulder_yaw,l_elbow,r_shoulder_pitch,r_shoulder_roll,r_shoulder_yaw,r_elbow,l_hip_pitch,l_hip_roll,l_hip_yaw,l_knee,l_ankle_pitch,l_ankle_roll,r_hip_pitch,r_hip_roll,r_hip_yaw,r_knee,r_ankle_pitch,r_ankle_roll) + + + + + (l_hand,l_hand,root_link) + (r_hand,r_hand,root_link) + (l_lower_leg,l_lower_leg,root_link) + (r_lower_leg,r_lower_leg,root_link) + (l_foot_front,l_sole,l_sole) + (l_foot_rear,l_sole,l_sole) + (r_foot_front,r_sole,r_sole) + (r_foot_rear,r_sole,r_sole) + + + + + + head-eb20-j0_1-mc + head-eb21-j2_5-mc + torso-eb5-j0_2-mc + left_arm-eb1-j0_1-mc + left_arm-eb2-j2_3-mc + left_arm-eb24-j4_7-mc + right_arm-eb3-j0_1-mc + right_arm-eb4-j2_3-mc + right_arm-eb27-j4_7-mc + left_leg-eb7-j0_2-mc + left_leg-eb8-j3_5-mc + right_leg-eb11-j0_2-mc + right_leg-eb12-j3_5-mc + + + head-inertial + + + + + + left_arm-eb1-j0_1-strain + right_arm-eb3-j0_1-strain + left_leg-eb8-j3_5-strain + left_leg-eb7-j0_2-strain + right_leg-eb12-j3_5-strain + right_leg-eb11-j0_2-strain + + + + + + diff --git a/experimentalSetups/5-setup/extra/JOINT_LIMITS.txt b/experimentalSetups/5-setup/extra/JOINT_LIMITS.txt new file mode 100644 index 0000000000..0ec85181f9 --- /dev/null +++ b/experimentalSetups/5-setup/extra/JOINT_LIMITS.txt @@ -0,0 +1,33 @@ +left hip pitch [-47.170, ...] +left hip roll [ ] +left hip yaw [-80.546 80.739] +left_knee [5.817, ...] +left_ankle_pitch [-47.060,....] +left_ankle_roll [-25.889 25.823] + +right hip pitch [-47.175, ...] +right hip yaw [-80.327 80.700] +right_knee [5.641, ...] +right_ankle_pitch [-46.329,] +right_ankle_roll [-27.598, 24.137] + + +left hip pitch +left hip roll +left hip yaw +left_knee +left_ankle_pitch +left_ankle_roll + + +right hip pitch +right hip roll +right hip yaw +right_knee +right_ankle_pitch +right_ankle_roll + + + +Delta = theta - theta_desired + diff --git a/experimentalSetups/5-setup/extra/applications/SFM.xml b/experimentalSetups/5-setup/extra/applications/SFM.xml new file mode 100644 index 0000000000..f515b742e3 --- /dev/null +++ b/experimentalSetups/5-setup/extra/applications/SFM.xml @@ -0,0 +1,48 @@ + + SFM Application + + SFM + + icub-console + + (Pos (x 283) (y 161.9)) + + + yarpview + --name /matchViewer --x 0 --p 50 + icub-console + + (Pos (x 310) (y 10)) + + + yarpview + --name /dispViewer --x 330 --p 50 + icub-console + + (Pos (x 610) (y 10)) + + + /icub/camcalib/right/out + /SFM/right:i + tcp + (Pos ((x 231) (y 214.5)) ((x 199) (y 224)) ((x 284) (y 205)) ) + + + /icub/camcalib/left/out + /SFM/left:i + tcp + (Pos ((x 227.5) (y 177)) ((x 192) (y 174)) ((x 284) (y 180)) ) + + + /SFM/match:o + /matchViewer + mjpeg + (Pos ((x 438.5) (y 226)) ((x 397) (y 217)) ((x 501) (y 235)) ) + + + /SFM/disp:o + /dispViewer + tcp + (Pos ((x 437.5) (y 190.5)) ((x 397) (y 192)) ((x 499) (y 189)) ) + + diff --git a/experimentalSetups/5-setup/extra/applications/cameras_calib.xml b/experimentalSetups/5-setup/extra/applications/cameras_calib.xml new file mode 100644 index 0000000000..fa533b383d --- /dev/null +++ b/experimentalSetups/5-setup/extra/applications/cameras_calib.xml @@ -0,0 +1,67 @@ + +(1)Calib Cameras + + + + yarpdev + --from camera/ServerGrabberDualDragon.ini --split true + icub-head + + + camCalib + --context cameraCalibration --from icubEyes.ini --group CAMERA_CALIBRATION_LEFT --name /icub/camcalib/left + icub-console + + + camCalib + --context cameraCalibration --from icubEyes.ini --group CAMERA_CALIBRATION_RIGHT --name /icub/camcalib/right + icub-console + + + yarpview + --name /icub/view/left --x 0 --y 0 --p 50 --w 320 --h 320 + icub-console + + + yarpview + --name /icub/view/right --x 400 --y 0 --p 50 --w 320 --h 320 + icub-console + + + frameGrabberGui2 + --local /icub/fggui/left --remote /icub/cam/left --x 0 --y 350 --width 350 --height 500 + icub-console + + /icub/cam/left + + + + frameGrabberGui2 + --local /icub/fggui/right --remote /icub/cam/right --x 320 --y 350 --width 350 --height 500 + icub-console + + /icub/cam/right + + + + /icub/cam/left + /icub/camcalib/left/in + tcp + + + /icub/cam/right + /icub/camcalib/right/in + tcp + + + /icub/camcalib/left/out + /icub/view/left + tcp + + + /icub/camcalib/right/out + /icub/view/right + tcp + + + diff --git a/experimentalSetups/5-setup/extra/applications/cameras_calib_640_480.xml b/experimentalSetups/5-setup/extra/applications/cameras_calib_640_480.xml new file mode 100644 index 0000000000..e0c1ce3eca --- /dev/null +++ b/experimentalSetups/5-setup/extra/applications/cameras_calib_640_480.xml @@ -0,0 +1,67 @@ + +(1)Calib Cameras 640x480 (no Bayer) + + + + yarpdev + --from camera/ServerGrabberDualDragon640_480.ini --split true + icub-head + + + camCalib + --context cameraCalibration --from icubEyes_640_480.ini --group CAMERA_CALIBRATION_LEFT --name /icub/camcalib/left + icub-console + + + camCalib + --context cameraCalibration --from icubEyes_640_480.ini --group CAMERA_CALIBRATION_RIGHT --name /icub/camcalib/right + icub-console + + + yarpview + --name /icub/view/left --x 0 --y 0 --p 50 --w 320 --h 320 + icub-console + + + yarpview + --name /icub/view/right --x 400 --y 0 --p 50 --w 320 --h 320 + icub-console + + + frameGrabberGui2 + --local /icub/fggui/left --remote /icub/cam/left --x 0 --y 350 --width 350 --height 500 + icub-console + + /icub/cam/left + + + + frameGrabberGui2 + --local /icub/fggui/right --remote /icub/cam/right --x 320 --y 350 --width 350 --height 500 + icub-console + + /icub/cam/right + + + + /icub/cam/left + /icub/camcalib/left/in + mjpeg + + + /icub/cam/right + /icub/camcalib/right/in + mjpeg + + + /icub/camcalib/left/out + /icub/view/left + mjpeg + + + /icub/camcalib/right/out + /icub/view/right + mjpeg + + + diff --git a/experimentalSetups/5-setup/extra/applications/demoRedBall.xml b/experimentalSetups/5-setup/extra/applications/demoRedBall.xml new file mode 100644 index 0000000000..8c5420f356 --- /dev/null +++ b/experimentalSetups/5-setup/extra/applications/demoRedBall.xml @@ -0,0 +1,55 @@ + +Red-Ball Demo + + + /icub/camcalib/left/out + /iKinGazeCtrl/rpc + /icub/cartesianController/right_arm/state:o + /icub/cartesianController/left_arm/state:o + /wholeBodyDynamics/right_arm/FT:i + /wholeBodyDynamics/left_arm/FT:i + + + + pf3dTracker + icub-console + + + + demoRedBall + icub-console + + + + yarpview + --name /PF3DTracker_viewer --x 320 --y 0 --p 50 --compact + icub-console-gui + + + + /icub/camcalib/left/out + /pf3dTracker/video:i + udp + + + /pf3dTracker/video:o + /PF3DTracker_viewer + mjpeg + + + /pf3dTracker/data:o + /demoRedBall/trackTarget:i + udp + + + /demoRedBall/cmdFace:rpc + /icub/face/emotions/in + tcp + + + /demoRedBall/gui:o + /iCubGui/objects + tcp + + + diff --git a/experimentalSetups/5-setup/extra/applications/faceExpressions.xml b/experimentalSetups/5-setup/extra/applications/faceExpressions.xml new file mode 100644 index 0000000000..4d7c00db34 --- /dev/null +++ b/experimentalSetups/5-setup/extra/applications/faceExpressions.xml @@ -0,0 +1,21 @@ + +Face Expressions + + yarpdev + --name /icub/face/raw --device serial --subdevice serialport --context faceExpressions --from serialport.ini + icub-head + face_device + + + emotionInterface + --name /icub/face/emotions --context faceExpressions --from emotions_rfe.ini + icub-head + emotions_interface + + + /icub/face/emotions/out + /icub/face/raw/in + tcp + + + diff --git a/experimentalSetups/5-setup/extra/applications/funny_things.xml b/experimentalSetups/5-setup/extra/applications/funny_things.xml new file mode 100644 index 0000000000..18b5167659 --- /dev/null +++ b/experimentalSetups/5-setup/extra/applications/funny_things.xml @@ -0,0 +1,83 @@ + + Funny Things + + + + iCubBlinker + --autoStart + icub-console + + + + gaze.lua + --look-around + lua + icub-console + + /iKinGazeCtrl/angles:i + /iKinGazeCtrl/angles:o + + + + + + yarpdev + --device speech --lingware-context speech --robot icub --default-language it-IT --pitch 90 --speed 100 + icub-head + + + iSpeak + --package speech-dev + icub-head + + + + + ctpService + --robot icub --part head + icub-console + + + ctpService + --robot icub --part left_arm + icub-console + + + ctpService + --robot icub --part right_arm + icub-console + + + ctpService + --robot icub --part torso + icub-console + + + + + /iCubBlinker/emotions/raw + /icub/face/raw/in + tcp + + + /iSpeak/speech-dev/rpc + /icub/speech:rpc + tcp + + + /iSpeak/emotions:o + /icub/face/emotions/in + tcp + + + /gaze/tx + /iKinGazeCtrl/angles:i + tcp + + + /iKinGazeCtrl/angles:o + /gaze/rx + tcp + + + diff --git a/experimentalSetups/5-setup/extra/applications/grasp-processor.xml b/experimentalSetups/5-setup/extra/applications/grasp-processor.xml new file mode 100644 index 0000000000..51639178e2 --- /dev/null +++ b/experimentalSetups/5-setup/extra/applications/grasp-processor.xml @@ -0,0 +1,91 @@ + + Grasp pose processor + + + /pointCloudRead/rpc + /actionsRenderingEngine/cmd:io + /actionsRenderingEngine/get:io + /iolReachingCalibration/rpc + /SFM/rpc + /memory/rpc + /icub/camcalib/left/out + /lbpExtract/rpc:i + + + + grasp-processor + icub-console-gui + + + + find-superquadric + --random-sample 0.2 --remove-outliers "(0.01 10)" --disable-viewer + icub-console + + + + point-cloud-read + icub-console + + + + /graspProcessor/superquadricRetrieve:rpc + /find-superquadric/points:rpc + fast_tcp + + + + /graspProcessor/pointCloud:rpc + /pointCloudRead/rpc + fast_tcp + + + + /graspProcessor/actionRenderer:rpc + /actionsRenderingEngine/cmd:io + fast_tcp + + + + /graspProcessor/tableCalib:rpc + /actionsRenderingEngine/get:io + fast_tcp + + + + /graspProcessor/reachingCalibration:rpc + /iolReachingCalibration/rpc + fast_tcp + + + + /icub/camcalib/left/out + /pointCloudRead/imgL:i + udp + + + + /pointCloudRead/OPCrpc + /memory/rpc + fast_tcp + + + + /pointCloudRead/SFMrpc + /SFM/rpc + fast_tcp + + + + /pointCloudRead/segmrpc + /lbpExtract/rpc:i + fast_tcp + + + + /iolStateMachineHandler/motor_grasp:rpc + /graspProcessor/cmd:rpc + fast_tcp + + + diff --git a/experimentalSetups/5-setup/extra/applications/iCub3SkinGui.xml b/experimentalSetups/5-setup/extra/applications/iCub3SkinGui.xml new file mode 100644 index 0000000000..cc015803ff --- /dev/null +++ b/experimentalSetups/5-setup/extra/applications/iCub3SkinGui.xml @@ -0,0 +1,33 @@ + + + iCub3SkinGui + Application for iCub3 skin gui visualization + + localhost + + + iCubSkinGui + --from left_upperarm_V3.ini + ${generic_node} + + + + iCubSkinGui + --from right_upperarm_V3.ini + ${generic_node} + yarpdatadumper + + + + /icub/skin/left_upperarm + /skinGui/left_upperarm:i + udp + + + + /icub/skin/right_upperarm + /skinGui/right_upperarm:i + udp + + + diff --git a/experimentalSetups/5-setup/extra/applications/iCubStartup.xml b/experimentalSetups/5-setup/extra/applications/iCubStartup.xml new file mode 100644 index 0000000000..020e5c632b --- /dev/null +++ b/experimentalSetups/5-setup/extra/applications/iCubStartup.xml @@ -0,0 +1,51 @@ + +(0)iCubStartup + + + + + + yarplogger + --start --no_stop + icub-console + + + + yarprobotinterface + icub-head + + + + iKinCartesianSolver + --part right_arm + icub-head + + /icub/yarprobotinterface + + + + + iKinCartesianSolver + --part left_arm + icub-head + + /icub/yarprobotinterface + + + + + iKinGazeCtrl + --from config_no_imu.ini + icub-head + + /icub/yarprobotinterface + + + + + yarpmotorgui + --from homePoseBalancing.ini + icub-console + + + diff --git a/experimentalSetups/5-setup/extra/applications/iCubStartup_640_480.xml b/experimentalSetups/5-setup/extra/applications/iCubStartup_640_480.xml new file mode 100644 index 0000000000..aba36aaa52 --- /dev/null +++ b/experimentalSetups/5-setup/extra/applications/iCubStartup_640_480.xml @@ -0,0 +1,45 @@ + +(0)iCubStartup (640x480) + + + + + + yarplogger + --start --no_stop + icub-console + + + + yarprobotinterface + icub-head + + + + iKinCartesianSolver + --part right_arm + icub-head + + /icub/yarprobotinterface + + + + + iKinCartesianSolver + --part left_arm + icub-head + + /icub/yarprobotinterface + + + + + iKinGazeCtrl + --from config_no_imu_640_480.ini + icub-head + + /icub/yarprobotinterface + + + + diff --git a/experimentalSetups/5-setup/extra/applications/iol.xml b/experimentalSetups/5-setup/extra/applications/iol.xml new file mode 100644 index 0000000000..2e3b5ce041 --- /dev/null +++ b/experimentalSetups/5-setup/extra/applications/iol.xml @@ -0,0 +1,347 @@ + +IOL (internal GPU) + + + /icub/camcalib/left/out + /icub/camcalib/right/out + /icub/cartesianController/left_arm/state:o + /icub/cartesianController/right_arm/state:o + /wholeBodyDynamics/left_arm/cartesianEndEffectorWrench:o + /wholeBodyDynamics/right_arm/cartesianEndEffectorWrench:o + /iKinGazeCtrl/rpc + + + + lbpExtract + icub-console-gui + + + motionCUT + icub-console-gui + + + SFM + icub-console-gui + + + + + caffeCoder + --from caffeCoder_resnet.ini + icub-console-gui + + + + + + + linearClassifierModule + --BufferSize 1 --CSVM 1.0 --databaseFolder IOLDatabase --WeightedSVM 1 + icub-console-gui + + + himrepClassifier + icub-console-gui + + + blobSelector + icub-console-gui + + + actionsRenderingEngine + --motor::block_eyes 5.0 + icub-console + + + iolReachingCalibration + icub-console + + + iolStateMachineHandler + icub-console + + + objectsPropertiesCollector + --name memory --db memory_iol.ini + icub-console + + + iSpeak + --package acapela-tts + icub-win + + + speechRecognizer + icub-win + + + iolHelper + icub-console + + + yarpview + --name /iolViewer/disparity --x 0 --y 0 --p 50 --compact + icub-console-gui + + + yarpview + --name /iolViewer/lbpSegmented --x 370 --y 0 --p 50 --compact + icub-console-gui + + + yarpview + --name /iolViewer/manager/snapshot --x 370 --y 720 --p 50 --compact + icub-console-gui + + + yarpview + --name /iolViewer/pointedBlobs --x 0 --y 720 --p 50 --compact + icub-console-gui + + + yarpview + --name /iolViewer/manager/tracker --x 0 --y 370 --p 50 --compact + icub-console-gui + + + yarpview + --name /iolViewer/manager/localizer --x 370 --y 370 --out /iolViewer/manager/localizer/out --p 50 --compact + icub-console-gui + + + yarpview + --name /iolViewer/manager/histogram --x 680 --y 220 --w 600 --h 600 --p 50 --compact + icub-console-gui + + + + + + rfsmGui + icub-console-gui + --rfsm iol_root_fsm.lua --context iol/lua --run + + /iSpeak + /speechRecognizer/rpc + /iolStateMachineHandler/human:rpc + /iolHelper/rpc + + + + + /icub/camcalib/left/out + /iolStateMachineHandler/img:i + mjpeg + + + /icub/camcalib/left/out + /lbpExtract/image:i + mjpeg + + + /iolStateMachineHandler/imgClassifier:o + /himrepClassifier/img:i + tcp + + + /icub/camcalib/left/out + /blobSelector/img:i + mjpeg + + + /icub/camcalib/left/out + /motionCUT/img:i + mjpeg + + + /motionCUT/blobs:o + /blobSelector/blobs:i + udp + + + /motionCUT/blobs:o + /actionsRenderingEngine/left/blobs:i + udp + + + /lbpExtract/blobs:o + /iolStateMachineHandler/blobs:i + udp + + + /iolStateMachineHandler/classify:rpc + /himrepClassifier/rpc + tcp + + + /SFM/disp:o + /iolViewer/disparity + udp + + + /lbpExtract/segmentedlbp:o + /iolViewer/lbpSegmented + mjpeg + + + /blobSelector/img:o + /iolViewer/pointedBlobs + mjpeg + + + /iolStateMachineHandler/img:o + /iolViewer/manager/snapshot + tcp + + + /iolStateMachineHandler/imgTrack:o + /iolViewer/manager/tracker + mjpeg + + + /iolStateMachineHandler/imgLoc:o + /iolViewer/manager/localizer + mjpeg + + + /iolStateMachineHandler/imgHistogram:o + /iolViewer/manager/histogram + mjpeg + + + /iolViewer/manager/localizer/out + /iolStateMachineHandler/histObjLocation:i + tcp + + + /iolStateMachineHandler/speak:o + /iSpeak + tcp + + + /iolReachingCalibration/opc + /memory/rpc + tcp + + + /iolReachingCalibration/are + /actionsRenderingEngine/cmd:io + tcp + + + /iolStateMachineHandler/reach_calib:rpc + /iolReachingCalibration/rpc + tcp + + + /iolStateMachineHandler/motor:rpc + /actionsRenderingEngine/cmd:io + tcp + + + /iolStateMachineHandler/motor_stop:rpc + /actionsRenderingEngine/rpc + tcp + + + /actionsRenderingEngine/wbd:rpc + /wholeBodyDynamics/rpc:i + tcp + + + /iolStateMachineHandler/memory:rpc + /memory/rpc + tcp + + + /actionsRenderingEngine/OPC:io + /memory/rpc + tcp + + + /iolHelper/opc + /memory/rpc + tcp + + + /speechRecognizer/recog/continuous:o + /iolStateMachineHandler/motor_stop:i + tcp + + + /blobSelector/point:o + /iolStateMachineHandler/point:i + tcp + + + /speechRecognizer/tts/iSpeak:o + /iSpeak + tcp + + + /iSpeak/emotions:o + /icub/face/emotions/in + tcp + + + /himrepClassifier/img:o + /caffeCoder/img:i + tcp + + + /caffeCoder/code:o + /himrepClassifier/features:i + tcp + + + /himrepClassifier/features:o + /linearClassifier/features:i + tcp + + + /linearClassifier/scores:o + /himrepClassifier/scores:i + tcp + + + /himrepClassifier/classify:rpc + /linearClassifier/rpc + tcp + + + /caffeCoder/img:o + /himrepClassifier/SIFTimg:i + tcp + + + /himrepClassifier/opc + /memory/rpc + tcp + + + /icub/camcalib/right/out + /SFM/right:i + tcp + + + /icub/camcalib/left/out + /SFM/left:i + tcp + + + /iolStateMachineHandler/get3d:rpc + /SFM/rpc + tcp + + diff --git a/experimentalSetups/5-setup/extra/applications/iol_egpu.xml b/experimentalSetups/5-setup/extra/applications/iol_egpu.xml new file mode 100644 index 0000000000..ab57cf1505 --- /dev/null +++ b/experimentalSetups/5-setup/extra/applications/iol_egpu.xml @@ -0,0 +1,353 @@ + +IOL (external GPU) + + + /icub/camcalib/left/out + /icub/camcalib/right/out + /icub/cartesianController/left_arm/state:o + /icub/cartesianController/right_arm/state:o + /wholeBodyDynamics/left_arm/cartesianEndEffectorWrench:o + /wholeBodyDynamics/right_arm/cartesianEndEffectorWrench:o + /iKinGazeCtrl/rpc + + + + lbpExtract + icub-console-gui + + + motionCUT + icub-console-gui + + + SFM + icub-console-gui + + + + + caffeCoder + --from caffeCoder_resnet.ini --device_id 0 + icub-cuda + + + linearClassifierModule + --BufferSize 1 --CSVM 1.0 --databaseFolder IOLDatabase --WeightedSVM 1 + icub-console-gui + + + himrepClassifier + icub-console-gui + + + blobSelector + icub-console-gui + + + actionsRenderingEngine + --motor::block_eyes 5.0 + icub-console + + + iolReachingCalibration + icub-console + + + iolStateMachineHandler + icub-console + + + objectsPropertiesCollector + --name memory --db memory_iol.ini + icub-console + + + iSpeak + --package speech-dev + icub-console + + + yarpdev + --device speech --lingware-context speech --default-language en-US --pitch 100 --speed 100 + icub-console + + + speechRecognizer + icub-win + + + iolHelper + icub-console + + + yarpview + --name /iolViewer/disparity --x 0 --y 0 --p 50 --compact + icub-console-gui + + + yarpview + --name /iolViewer/lbpSegmented --x 370 --y 0 --p 50 --compact + icub-console-gui + + + yarpview + --name /iolViewer/manager/snapshot --x 370 --y 720 --p 50 --compact + icub-console-gui + + + yarpview + --name /iolViewer/pointedBlobs --x 0 --y 720 --p 50 --compact + icub-console-gui + + + yarpview + --name /iolViewer/manager/tracker --x 0 --y 370 --p 50 --compact + icub-console-gui + + + yarpview + --name /iolViewer/manager/localizer --x 370 --y 370 --out /iolViewer/manager/localizer/out --p 50 --compact + icub-console-gui + + + yarpview + --name /iolViewer/manager/histogram --x 680 --y 220 --w 600 --h 600 --p 50 --compact + icub-console-gui + + + + + + rfsmGui + icub-console + --rfsm iol_root_fsm.lua --context iol/lua --run + + /iSpeak + /speechRecognizer/rpc + /iolStateMachineHandler/human:rpc + /iolHelper/rpc + + + + + /icub/camcalib/left/out + /iolStateMachineHandler/img:i + mjpeg + + + /icub/camcalib/left/out + /lbpExtract/image:i + mjpeg + + + /iolStateMachineHandler/imgClassifier:o + /himrepClassifier/img:i + tcp + + + /icub/camcalib/left/out + /blobSelector/img:i + mjpeg + + + /icub/camcalib/left/out + /motionCUT/img:i + mjpeg + + + /motionCUT/blobs:o + /blobSelector/blobs:i + udp + + + /motionCUT/blobs:o + /actionsRenderingEngine/left/blobs:i + udp + + + /lbpExtract/blobs:o + /iolStateMachineHandler/blobs:i + udp + + + /iolStateMachineHandler/classify:rpc + /himrepClassifier/rpc + tcp + + + /SFM/disp:o + /iolViewer/disparity + udp + + + /lbpExtract/segmentedlbp:o + /iolViewer/lbpSegmented + mjpeg + + + /blobSelector/img:o + /iolViewer/pointedBlobs + mjpeg + + + /iolStateMachineHandler/img:o + /iolViewer/manager/snapshot + tcp + + + /iolStateMachineHandler/imgTrack:o + /iolViewer/manager/tracker + mjpeg + + + /iolStateMachineHandler/imgLoc:o + /iolViewer/manager/localizer + mjpeg + + + /iolStateMachineHandler/imgHistogram:o + /iolViewer/manager/histogram + mjpeg + + + /iolViewer/manager/localizer/out + /iolStateMachineHandler/histObjLocation:i + tcp + + + /iolStateMachineHandler/speak:o + /iSpeak + tcp + + + /iolReachingCalibration/opc + /memory/rpc + tcp + + + /iolReachingCalibration/are + /actionsRenderingEngine/cmd:io + tcp + + + /iolStateMachineHandler/reach_calib:rpc + /iolReachingCalibration/rpc + tcp + + + /iolStateMachineHandler/motor:rpc + /actionsRenderingEngine/cmd:io + tcp + + + /iolStateMachineHandler/motor_stop:rpc + /actionsRenderingEngine/rpc + tcp + + + /actionsRenderingEngine/wbd:rpc + /wholeBodyDynamics/rpc:i + tcp + + + /iolStateMachineHandler/memory:rpc + /memory/rpc + tcp + + + /actionsRenderingEngine/OPC:io + /memory/rpc + tcp + + + /iolHelper/opc + /memory/rpc + tcp + + + /speechRecognizer/recog/continuous:o + /iolStateMachineHandler/motor_stop:i + tcp + + + /blobSelector/point:o + /iolStateMachineHandler/point:i + tcp + + + /speechRecognizer/tts/iSpeak:o + /iSpeak + tcp + + + /iSpeak/emotions:o + /icub/face/emotions/in + tcp + + + /iSpeak/speech-dev/rpc + /icub/speech:rpc + fast_tcp + + + /himrepClassifier/img:o + /caffeCoder/img:i + tcp + + + /caffeCoder/code:o + /himrepClassifier/features:i + tcp + + + /himrepClassifier/features:o + /linearClassifier/features:i + tcp + + + /linearClassifier/scores:o + /himrepClassifier/scores:i + tcp + + + /himrepClassifier/classify:rpc + /linearClassifier/rpc + tcp + + + /caffeCoder/img:o + /himrepClassifier/SIFTimg:i + tcp + + + /himrepClassifier/opc + /memory/rpc + tcp + + + /icub/camcalib/right/out + /SFM/right:i + tcp + + + /icub/camcalib/left/out + /SFM/left:i + tcp + + + /iolStateMachineHandler/get3d:rpc + /SFM/rpc + tcp + + diff --git a/experimentalSetups/5-setup/extra/applications/lbpExtract.xml b/experimentalSetups/5-setup/extra/applications/lbpExtract.xml new file mode 100644 index 0000000000..cb2ee248f5 --- /dev/null +++ b/experimentalSetups/5-setup/extra/applications/lbpExtract.xml @@ -0,0 +1,68 @@ + + Local Binary Pattern Blob Extraction + + + + + + lbpExtract + icub-console + + + + + yarpview + icub-console-gui + --name /lbps --x 0 --y 0 --RefreshTime 33 + + + + yarpview + icub-console-gui + --name /contourslbp --x 330 --y 0 --RefreshTime 33 + + + + yarpview + icub-console-gui + --name /extracted --x 0 --y 330 --RefreshTime 33 + + + + yarpview + icub-console-gui + --name /segmented --x 330 --y 330 --RefreshTime 33 + + + + + /icub/camcalib/left/out + /lbpExtract/image:i + udp + + + + /lbpExtract/lbp:o + /lbps + udp + + + + /lbpExtract/contourslbp:o + /contourslbp + mjpeg + + + + /lbpExtract/extractedlbp:o + /extracted + mjpeg + + + + /lbpExtract/segmentedlbp:o + /segmented + mjpeg + + + diff --git a/experimentalSetups/5-setup/extra/applications/robmo-icub-hand-iRC-collector.xml b/experimentalSetups/5-setup/extra/applications/robmo-icub-hand-iRC-collector.xml new file mode 100644 index 0000000000..ba0fee756a --- /dev/null +++ b/experimentalSetups/5-setup/extra/applications/robmo-icub-hand-iRC-collector.xml @@ -0,0 +1,112 @@ + + + iolReachingCalibrationCollector + + + robmo-icub-hand-iRC-collector + localhost + + + + robmo-icub-hand-si + localhost + icub left false left true false + + + + robmo-icub-hand-si + localhost + icub right false left true false + + + + yarpview + localhost + --name /iolReachingCalibrationCollector/viewer/left/aruco:i + + + + yarpview + localhost + --name /iolReachingCalibrationCollector/viewer/right/aruco:i + + + + yarpview + localhost + --name /iolReachingCalibrationCollector/viewer/left/si:i + + + + yarpview + localhost + --name /iolReachingCalibrationCollector/viewer/right/si:i + + + + /icub/cartesianController/left_arm/state:o + /iolReachingCalibrationCollector/left/hand_fk:i + fast_tcp + + + + /icub/cartesianController/right_arm/state:o + /iolReachingCalibrationCollector/right/hand_fk:i + fast_tcp + + + + /icub/camcalib/left/out + /robmo-icub-hand-si/left_camera/left_hand/rgbImage:i + fast_tcp + + + + /icub/camcalib/left/out + /robmo-icub-hand-si/left_camera/right_hand/rgbImage:i + fast_tcp + + + + /icub/camcalib/left/out + /iolReachingCalibrationCollector/left/rgbImage:i + fast_tcp + + + + /iolReachingCalibrationCollector/left/gt_image:o + /iolReachingCalibrationCollector/viewer/left/aruco:i + fast_tcp + + + + /iolReachingCalibrationCollector/right/gt_image:o + /iolReachingCalibrationCollector/viewer/right/aruco:i + fast_tcp + + + + /robmo-icub-hand-si/left_camera/left_hand/image:o + /iolReachingCalibrationCollector/viewer/left/si:i + fast_tcp + + + + /robmo-icub-hand-si/left_camera/right_hand/image:o + /iolReachingCalibrationCollector/viewer/right/si:i + fast_tcp + + + + /iolReachingCalibrationCollector/left/gt_pose:o + /robmo-icub-hand-si/left_camera/left_hand/si-icub-hand/left/state:i + fast_tcp + + + + /iolReachingCalibrationCollector/right/gt_pose:o + /robmo-icub-hand-si/left_camera/right_hand/si-icub-hand/right/state:i + fast_tcp + + + diff --git a/experimentalSetups/5-setup/extra/applications/robmo-icub-hand-iRC-test-no-calibration.xml b/experimentalSetups/5-setup/extra/applications/robmo-icub-hand-iRC-test-no-calibration.xml new file mode 100644 index 0000000000..888fdac077 --- /dev/null +++ b/experimentalSetups/5-setup/extra/applications/robmo-icub-hand-iRC-test-no-calibration.xml @@ -0,0 +1,65 @@ + + + iolReachingCalibrationTest (no calibration) + + + robmo-icub-hand-si + localhost + icub right false left true false + + + + robmo-icub-hand-si + localhost + icub left false left true false + + + + yarpview + localhost + --name /iolReachingCalibrationTest/viewer/left/si:i + + + + yarpview + localhost + --name /iolReachingCalibrationTest/viewer/right/si:i + + + + /icub/camcalib/left/out + /robmo-icub-hand-si/left_camera/left_hand/rgbImage:i + fast_tcp + + + + /icub/camcalib/left/out + /robmo-icub-hand-si/left_camera/right_hand/rgbImage:i + fast_tcp + + + + /robmo-icub-hand-si/left_camera/left_hand/image:o + /iolReachingCalibrationTest/viewer/left/si:i + fast_tcp + + + + /robmo-icub-hand-si/left_camera/right_hand/image:o + /iolReachingCalibrationTest/viewer/right/si:i + fast_tcp + + + + /icub/cartesianController/left_arm/state:o + /robmo-icub-hand-si/left_camera/left_hand/si-icub-hand/left/state:i + fast_tcp + + + + /icub/cartesianController/righ_arm/state:o + /robmo-icub-hand-si/left_camera/right_hand/si-icub-hand/right/state:i + fast_tcp + + + diff --git a/experimentalSetups/5-setup/extra/applications/robmo-icub-hand-iRC-test.xml b/experimentalSetups/5-setup/extra/applications/robmo-icub-hand-iRC-test.xml new file mode 100644 index 0000000000..7b460e5f01 --- /dev/null +++ b/experimentalSetups/5-setup/extra/applications/robmo-icub-hand-iRC-test.xml @@ -0,0 +1,89 @@ + + + iolReachingCalibrationTest + + + robmo-icub-hand-iRC-test + icub left + localhost + + + + robmo-icub-hand-iRC-test + icub right + localhost + + + + robmo-icub-hand-si + localhost + icub right false left true false + + + + robmo-icub-hand-si + localhost + icub left false left true false + + + + yarpview + localhost + --name /iolReachingCalibrationTest/viewer/left/si:i + + + + yarpview + localhost + --name /iolReachingCalibrationTest/viewer/right/si:i + + + + /icub/cartesianController/left_arm/state:o + /iolReachingCalibrationTest/left/hand_fk:i + fast_tcp + + + + /icub/cartesianController/right_arm/state:o + /iolReachingCalibrationTest/right/hand_fk:i + fast_tcp + + + + /icub/camcalib/left/out + /robmo-icub-hand-si/left_camera/left_hand/rgbImage:i + fast_tcp + + + + /icub/camcalib/left/out + /robmo-icub-hand-si/left_camera/right_hand/rgbImage:i + fast_tcp + + + + /robmo-icub-hand-si/left_camera/left_hand/image:o + /iolReachingCalibrationTest/viewer/left/si:i + fast_tcp + + + + /robmo-icub-hand-si/left_camera/right_hand/image:o + /iolReachingCalibrationTest/viewer/right/si:i + fast_tcp + + + + /iolReachingCalibrationTest/left_arm/state:o + /robmo-icub-hand-si/left_camera/left_hand/si-icub-hand/left/state:i + fast_tcp + + + + /iolReachingCalibrationTest/right_arm/state:o + /robmo-icub-hand-si/left_camera/right_hand/si-icub-hand/right/state:i + fast_tcp + + + diff --git a/experimentalSetups/5-setup/extra/applications/skinGuiAll.xml b/experimentalSetups/5-setup/extra/applications/skinGuiAll.xml new file mode 100644 index 0000000000..b75e27c2ae --- /dev/null +++ b/experimentalSetups/5-setup/extra/applications/skinGuiAll.xml @@ -0,0 +1,74 @@ + + Skin Gui All + + skinManager + --from skinManAll.ini --context skinGui + icub-console + skinMan + + + skinManagerGui + --from skinManGui.ini --context skinGui --xpos 1020 --ypos 350 + icub-console + skinManGui + + + + + iCubSkinGui + + --from left_hand_V2_1.ini --useCalibration --xpos 320 --ypos 0 --width 300 --height 300 + icub-console-gui + skinGuiLH + + + iCubSkinGui + + --from right_hand_V2_1.ini --useCalibration --xpos 960 --ypos 0 --width 300 --height 300 + icub-console-gui + skinGuiRH + + + + + /skinManager/skin_events:o + /wholeBodyDynamics/skin_contacts:i + udp + + + /skinManagerGui/rpc:o + /skinManager/rpc + tcp + + + /skinManager/monitor:o + /skinManagerGui/monitor:i + udp + + + /skinManager/info:o + /skinManagerGui/info:i + tcp + + + + /diagnostics/skin/errors:o + /skinManager/diagnostics/skin/errors:i + tcp + + + /skinManager/diagnostics/skin/errors:o + /skinManagerGui/diagnostics/skin/errors:i + tcp + + + /icub/skin/left_hand_comp + /skinGui/left_hand:i + udp + + + /icub/skin/right_hand_comp + /skinGui/right_hand:i + udp + + diff --git a/experimentalSetups/5-setup/extra/applications/stereoCalib.xml b/experimentalSetups/5-setup/extra/applications/stereoCalib.xml new file mode 100644 index 0000000000..d71781c3b2 --- /dev/null +++ b/experimentalSetups/5-setup/extra/applications/stereoCalib.xml @@ -0,0 +1,57 @@ + +Stereo Calibration + + /icub/cam/left + /icub/cam/right + /icub/head/state:o + + + + stereoCalib + --from icubEyes.ini + icub-console + icub-console + StereoCalib + + + + yarpview + --name /viewLeft --synch + icub-console + view1 + + + + yarpview + --name /viewRight --synch + icub-console + view2 + + + + /stereoCalib/cam/left:o + /viewLeft + tcp + + + + /stereoCalib/cam/right:o + /viewRight + tcp + + + + /icub/cam/right + /stereoCalib/cam/right:i + tcp + + + + /icub/cam/left + /stereoCalib/cam/left:i + tcp + + + + + diff --git a/experimentalSetups/5-setup/extra/contexts/yarpmanager/cluster-config.xml b/experimentalSetups/5-setup/extra/contexts/yarpmanager/cluster-config.xml new file mode 100644 index 0000000000..40d6e6265a --- /dev/null +++ b/experimentalSetups/5-setup/extra/contexts/yarpmanager/cluster-config.xml @@ -0,0 +1,17 @@ + + + + + + +icub-console +icub-console-gui +pi-ifeel +icub-cuda +icub-head +icub-virtualizer +icub29 + + + diff --git a/experimentalSetups/5-setup/extra/scripts/README.md b/experimentalSetups/5-setup/extra/scripts/README.md new file mode 100644 index 0000000000..34c9a88b59 --- /dev/null +++ b/experimentalSetups/5-setup/extra/scripts/README.md @@ -0,0 +1,14 @@ +# Additional Commands + +This folder contains a set of script and aliases that ease the use of the robot. +In order to use them, we assume that ``robots-configuration`` has been installed using the [``robotology-superbuild``](https://github.com/robotology/robotology-superbuild), and that the ``ROBOTOLOGY_SUPERBUILD_SOURCE_DIR`` and ``YARP_ROBOT_NAME`` environmental variables have been set. +Then, in the ``.bashrc_iCub`` file, append the following lines +```sh +additionalCommandsFile=${ROBOTOLOGY_SUPERBUILD_SOURCE_DIR}/src/robots-configuration/${YARP_ROBOT_NAME}/extra/scripts/additionalCommands.sh + +if [ -f "$additionalCommandsFile" ]; then + source $additionalCommandsFile +fi +``` + +After opening a new terminal, you can type ``helpRobot`` to get a list of useful commands. diff --git a/experimentalSetups/5-setup/extra/scripts/additionalCommands.sh b/experimentalSetups/5-setup/extra/scripts/additionalCommands.sh new file mode 100644 index 0000000000..1ed97e3940 --- /dev/null +++ b/experimentalSetups/5-setup/extra/scripts/additionalCommands.sh @@ -0,0 +1,59 @@ +## Additional aliases and commands to use the robot + +getParentDir () { + SOURCE="${1}" + while [ -h "$SOURCE" ]; do # resolve $SOURCE until the file is no longer a symlink + DIR="$( cd -P "$( dirname "$SOURCE" )" >/dev/null 2>&1 && pwd )" + SOURCE="$(readlink "$SOURCE")" + [[ $SOURCE != /* ]] && SOURCE="$DIR/$SOURCE" # if $SOURCE was a relative symlink, we need to resolve it relative to the path where the symlink file was located + done + DIR="$( cd -P "$( dirname "$SOURCE" )" >/dev/null 2>&1 && pwd )" +} + +getParentDir "${BASH_SOURCE[0]}" + +# The directory where this script is +export ADDITIONAL_COMMANDS_DIR="$DIR" + + +#Robots Configuration settings +alias robotsConfigurationInstaller='bash ${ADDITIONAL_COMMANDS_DIR}/installRobotsConfiguration.sh' +export ROBOTS_CONFIGURATION_DIR=${ROBOTOLOGY_SUPERBUILD_SOURCE_DIR}/src/robots-configuration/${YARP_ROBOT_NAME} +alias gotoRobotsConfigurationFolder='cd $ROBOTS_CONFIGURATION_DIR' + +#Automatic Joypad configuration +alias connectToJoypad='sudo expect ${ADDITIONAL_COMMANDS_DIR}/bluetoothConnect.sh 28:9A:4B:08:E1:1B' + +# Go to DCM folder +alias dcmFolder='cd ${ROBOTOLOGY_SUPERBUILD_SOURCE_DIR}/src/walking-controllers/src/WalkingModule/app/robots/${YARP_ROBOT_NAME}' + +# Go to the corresponding build folder in the superbuild +alias goToBuildSuperbuild='cd ../../build/src/${PWD##*/}' + +## Alias for running a diff between the source and the install of the configuration files +alias configurationSourceInstallDiff='bash ${ADDITIONAL_COMMANDS_DIR}/checkConfigurationFiles.sh' + +alias test-speaker='speaker-test -t wav -c 1' + +# Test if the microphone is working +test-microphone() { + arecord -vvv -f dat /dev/null +} + +GREEN='\033[0;32m' +NC='\033[0m' # No Color +## Alias for displaying info messages about the other aliases +alias helpRobot='echo -e "Here some useful commands: +${GREEN}robotsConfigurationInstaller${NC} Takes care of installing the robot configuration files from any folder. +${GREEN}gotoRobotsConfigurationFolder${NC} Go to the source folder of the robot configuration files. +${GREEN}configurationSourceInstallDiff${NC} Performs a diff between the source and install configuration files. If there is no difference, it prints nothing. +${GREEN}connectToJoypad${NC} To reconnect the bluetooth connection of the robot joypad. +${GREEN}test-speaker${NC} Test if the speaker is working. +${GREEN}test-microphone${NC} Test if the micorphone is working. +${GREEN}dcmFolder${NC} Go to the robot walking configuration files. +${GREEN}goToBuildSuperbuild${NC} Go to the corresponding build folder of the robotology superbuild."' + +if [ "$PS1" ]; then + echo -e "Type ${GREEN}helpRobot${NC} for a list of useful commands." +fi + diff --git a/experimentalSetups/5-setup/extra/scripts/bluetoothConnect.sh b/experimentalSetups/5-setup/extra/scripts/bluetoothConnect.sh new file mode 100644 index 0000000000..d12c94b0dd --- /dev/null +++ b/experimentalSetups/5-setup/extra/scripts/bluetoothConnect.sh @@ -0,0 +1,61 @@ + +#!/usr/bin/expect -f + +set address [lindex $argv 0] + +spawn sudo bluetoothctl + +# Set timeout to 30 sec (-1 for infinity) +set timeout 30 + +# Remove the device if it was already connected +send "remove $address\r" +expect { + -re "Device $address not available" {send_user \ + "\n--------------\nDevice was not paired before. Continuing.\n\n--------------\n"} + -re "Device has been removed" + } + +# Scan for the device +send "scan on\r" +expect { + timeout {send_user "\n!!!!!!!\nDevice does not seem to be available.\n\n!!!!!!!!\n" ; \ + send "quit\r" ; expect eof ; exit 1} + -re "$address" + } +send_user "\n--------------\n$address found!\n\n--------------\n" +send "scan off\r" + +# Trust the device (useful since we are not setting any PIN) +send "trust $address\r" +expect { + timeout {send_user "\n!!!!!!!\nUnable to trust the device.\n\n!!!!!!!!\n" ; \ + send "quit\r" ; expect eof ; exit 1} + -re "trust succeeded" + } +send_user "\n--------------\nTrust succeded!\n\n--------------\n" + +#Pair the device +send "pair $address\r" +expect { + timeout {send_user "\n!!!!!!!\nUnable to pair the device.\n\n!!!!!!!!\n" ; \ + send "quit\r" ; expect eof ; exit 1} + -re "Pairing successful" + } +send_user "\n--------------\nPairing succeded!\n\n--------------\n" + +#Connect the device +send "connect $address\r" +expect { + timeout {send_user "\n!!!!!!!\nUnable to connect to the device.\n\n!!!!!!!!\n" ; \ + send "quit\r" ; expect eof ; exit 1} + -re "Connection successful" + } +send_user "\n--------------\nConnection succeded! The Joystick is ready to be used!!\n\n--------------\n" + +#Exit +send "quit\r" +expect eof +exit 0 + +#iCubGenova04 joypad address: 28:9A:4B:0A:5F:6D diff --git a/experimentalSetups/5-setup/extra/scripts/checkConfigurationFiles.sh b/experimentalSetups/5-setup/extra/scripts/checkConfigurationFiles.sh new file mode 100644 index 0000000000..defd0376e2 --- /dev/null +++ b/experimentalSetups/5-setup/extra/scripts/checkConfigurationFiles.sh @@ -0,0 +1,14 @@ +#!/bin/bash + +diff -r --exclude="CMakeLists.txt" $ROBOTOLOGY_SUPERBUILD_SOURCE_DIR/src/robots-configuration/$YARP_ROBOT_NAME $ROBOTOLOGY_SUPERBUILD_SOURCE_DIR/build/install/share/ICUBcontrib/robots/$YARP_ROBOT_NAME | grep -ve dcm_walking -ve extra > /tmp/diff_out 2>&1 + +GREEN='\033[0;32m' +RED='\033[0;31m' +NC='\033[0m' # No Color + +if [[ -s /tmp/diff_out ]]; then + echo -e "${RED}There are differences.${NC}" + cat /tmp/diff_out +else + echo -e "${GREEN}The configuration files in the source and in the install folder coincide.${NC}" +fi diff --git a/experimentalSetups/5-setup/extra/scripts/installRobotsConfiguration.sh b/experimentalSetups/5-setup/extra/scripts/installRobotsConfiguration.sh new file mode 100644 index 0000000000..a09b681a39 --- /dev/null +++ b/experimentalSetups/5-setup/extra/scripts/installRobotsConfiguration.sh @@ -0,0 +1,12 @@ +#!/bin/bash + +if [[ -v "${ICUB_BUILD_PATHNAME}" ]]; then + BUILD_DIR=${ICUB_BUILD_PATHNAME} +else + BUILD_DIR='build'; +fi + +echo "Running make install in ${ROBOTOLOGY_SUPERBUILD_SOURCE_DIR}/${BUILD_DIR}/src/robots-configuration" + +cd ${ROBOTOLOGY_SUPERBUILD_SOURCE_DIR}/${BUILD_DIR}/src/robots-configuration +cmake . && make install diff --git a/experimentalSetups/5-setup/firmwareupdater.ini b/experimentalSetups/5-setup/firmwareupdater.ini new file mode 100644 index 0000000000..c93b53ab35 --- /dev/null +++ b/experimentalSetups/5-setup/firmwareupdater.ini @@ -0,0 +1,2 @@ +[DRIVERS] +ETH "eth" diff --git a/experimentalSetups/5-setup/general.xml b/experimentalSetups/5-setup/general.xml new file mode 100644 index 0000000000..e054d39259 --- /dev/null +++ b/experimentalSetups/5-setup/general.xml @@ -0,0 +1,12 @@ + + + + + + + false + false + false + false + + diff --git a/experimentalSetups/5-setup/graspTheBall_demoRedBall.ini b/experimentalSetups/5-setup/graspTheBall_demoRedBall.ini new file mode 100644 index 0000000000..f0be59a56b --- /dev/null +++ b/experimentalSetups/5-setup/graspTheBall_demoRedBall.ini @@ -0,0 +1,53 @@ + +[general] +robot icub +thread_period 20 +left_arm off +right_arm on +traj_time 1.0 +reach_tol 0.01 +eye left +idle_tmo 5.0 +use_network off +network network.ini +speech off + +[torso] +pitch on (min -10.0) (max 10.0) +roll off +yaw on + +[left_arm] +grasp_enable off +reach_offset 0.0 -0.05 0.0 +grasp_offset 0.0 0.00 0.0 +hand_orientation 0.0 -0.707106781186547 0.707106781186548 3.14159265358979 +impedance_velocity_mode off +impedance_stiffness 0.4 0.4 0.4 0.2 0.2 +impedance_damping 0.002 0.002 0.002 0.002 0.0 + +[right_arm] +grasp_enable on +reach_offset 0.05 0.18 0.05 +grasp_offset 0.05 0.05 0.05 +hand_orientation 0.0 -0.707106781186547 0.707106781186548 3.14159265358979 +impedance_velocity_mode off +impedance_stiffness 0.4 0.4 0.4 0.2 0.2 +impedance_damping 0.002 0.002 0.002 0.002 0.0 + +[home_arm] +poss -30.0 30.0 0.0 45.0 0.0 0.0 0.0 +vels 10.0 10.0 10.0 10.0 10.0 10.0 10.0 + +[arm_selection] +hysteresis_thres 0.15 + +[grasp] +sphere_radius 0.05 +sphere_tmo 2.0 +release_tmo 4.0 +open_hand 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 +close_hand 20.0 80.0 30.0 20.0 30.0 40.0 30.0 40.0 150.0 +vels_hand 20.0 40.0 50.0 50.0 50.0 50.0 50.0 50.0 80.0 + +[include speech "speech_English.ini"]application diff --git a/experimentalSetups/5-setup/graspTheBall_pf3dTracker.ini b/experimentalSetups/5-setup/graspTheBall_pf3dTracker.ini new file mode 100644 index 0000000000..863b25df00 --- /dev/null +++ b/experimentalSetups/5-setup/graspTheBall_pf3dTracker.ini @@ -0,0 +1,99 @@ +#################################### +#configuration file for PF3DTracker# +#################################### + + +############# +#module name# +############# +name /pf3dTracker + +############################# +#parameters of the algorithm# +############################# +nParticles 900 +#nParticles number of particles used +accelStDev 30 +#accelStDev 50 30 15 +#accelStDev standard deviation of the acceleration noise +insideOutsideDiffWeight 1.5 +#insideOutsideDiffWeight inside-outside difference weight for the likelihood function +colorTransfPolicy 1 +#colorTransfPolicy [0=transform the whole image | 1=only transform the pixels you need] + + + + +######################### +#port names and function# +######################### +inputVideoPort /pf3dTracker/video:i +#inputVideoPort receives images from the grabber or the rectifying program. +outputVideoPort /pf3dTracker/video:o +#outputVideoPort produces images in which the contour of the estimated ball is highlighted +outputDataPort /pf3dTracker/data:o +#outputDataPort produces a stream of data in the format: X, Y, Z, likelihood, U, V, seeing_object +outputParticlePort /pf3dTracker/particles:o +#outputParticlePort produces data for the plotter. it is usually not active for performance reasons. +inputParticlePort /pf3dTracker/particles:i +#inputParticlePort recives hypotheses on the ball position from pf3dBottomup. +outputAttentionPort /pf3dTracker/attention:o +#outputAttentionPort produces data for the attention system, in terms of a peak of saliency. + + +################################# +#projection model and parameters# +################################# +#projectionModel [perspective|equidistance|unified] +projectionModel perspective + +cameraContext cameraCalibration +cameraFile icubEyes.ini +cameraGroup CAMERA_CALIBRATION_LEFT + +####################### +#tracked object models# +####################### +#trackedObjectType [sphere|parallelogram] +trackedObjectType sphere +trackedObjectColorTemplate models/red_ball_iit.bmp +trackedObjectShapeTemplate models/initial_ball_points_31mm_20percent.csv + +motionModelMatrix models/motion_model_matrix.csv +trackedObjectTemp current_histogram.csv + +####################### +#initialization method# +####################### +#initialization method [search|3dEstimate|2dEstimate] +initializationMethod 3dEstimate +initialX 0 +initialY 0 +initialZ 0.5 + + +#################### +#visualization mode# +#################### +#circleVisualizationMode [0=inner and outer cirlce | 1=one circle with the correct radious] default 0. only applies to the sphere. +circleVisualizationMode 1 + + +######################### +#attention-related stuff# +######################### +#the tracker produces a value of likelihood at each time step. this value can be used to infer if the object it is tracking is the correct one. this is not a very robust way of doing so. +#if likelihood>this value, then probably I'm tracking the object. 20Millions is good, 12Millions is the likelihood of Jonas Hornsteins's PC screen (false positive). +#20Millions is a good threshold level when you have the right color model. 5M. +likelihoodThreshold 0.005 +attentionOutputMax 300 +attentionOutputDecrease 0.99 + + +########################## +#image saving preferences# +########################## +#save images with OpenCV? +saveImagesWithOpencv false +#always use the trailing slash here. +saveImagesWithOpencvDir ./graphical_results/ diff --git a/experimentalSetups/5-setup/hardware/FT/left_arm-eb1-j0_1-strain.xml b/experimentalSetups/5-setup/hardware/FT/left_arm-eb1-j0_1-strain.xml new file mode 100644 index 0000000000..0d034f459d --- /dev/null +++ b/experimentalSetups/5-setup/hardware/FT/left_arm-eb1-j0_1-strain.xml @@ -0,0 +1,55 @@ + + + + + + + + + + + + + + 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/experimentalSetups/5-setup/hardware/FT/left_leg-eb7-j0_2-strain.xml b/experimentalSetups/5-setup/hardware/FT/left_leg-eb7-j0_2-strain.xml new file mode 100644 index 0000000000..7b47923328 --- /dev/null +++ b/experimentalSetups/5-setup/hardware/FT/left_leg-eb7-j0_2-strain.xml @@ -0,0 +1,57 @@ + + + + + + + + + + + + + + eomn_serv_AS_strain + + + + + strain2 + + + 2 + 0 + + + 2 + 0 + 9 + + + + + id_l_heel_strain + eoas_strain + CAN2:13 + + + + + + 10 + id_l_heel_strain + 1000 + + + + true + + + + + + + + + + diff --git a/experimentalSetups/5-setup/hardware/FT/left_leg-eb8-j3_5-strain.xml b/experimentalSetups/5-setup/hardware/FT/left_leg-eb8-j3_5-strain.xml new file mode 100644 index 0000000000..de1551cab5 --- /dev/null +++ b/experimentalSetups/5-setup/hardware/FT/left_leg-eb8-j3_5-strain.xml @@ -0,0 +1,58 @@ + + + + + + + + + + + + + + eomn_serv_AS_strain + + + + + strain2 + + + 2 + 0 + + + 2 + 0 + 9 + + + + + id_l_tiptoe_strain + eoas_strain + CAN2:13 + + + + + + 10 + id_l_tiptoe_strain + 1000 + + + + true + + + + + + + + + + + diff --git a/experimentalSetups/5-setup/hardware/FT/right_arm-eb3-j0_1-strain.xml b/experimentalSetups/5-setup/hardware/FT/right_arm-eb3-j0_1-strain.xml new file mode 100644 index 0000000000..7e9bcb8562 --- /dev/null +++ b/experimentalSetups/5-setup/hardware/FT/right_arm-eb3-j0_1-strain.xml @@ -0,0 +1,55 @@ + + + + + + + + + + + + + + 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/experimentalSetups/5-setup/hardware/FT/right_leg-eb11-j0_2-strain.xml b/experimentalSetups/5-setup/hardware/FT/right_leg-eb11-j0_2-strain.xml new file mode 100644 index 0000000000..8d4760a6b6 --- /dev/null +++ b/experimentalSetups/5-setup/hardware/FT/right_leg-eb11-j0_2-strain.xml @@ -0,0 +1,57 @@ + + + + + + + + + + + + + + eomn_serv_AS_strain + + + + + strain2 + + + 2 + 0 + + + 2 + 0 + 9 + + + + + id_r_heel_strain + eoas_strain + CAN2:13 + + + + + + 10 + id_r_heel_strain + 1000 + + + + true + + + + + + + + + + diff --git a/experimentalSetups/5-setup/hardware/FT/right_leg-eb12-j3_5-strain.xml b/experimentalSetups/5-setup/hardware/FT/right_leg-eb12-j3_5-strain.xml new file mode 100644 index 0000000000..b7d3a2bcd8 --- /dev/null +++ b/experimentalSetups/5-setup/hardware/FT/right_leg-eb12-j3_5-strain.xml @@ -0,0 +1,58 @@ + + + + + + + + + + + + + + eomn_serv_AS_strain + + + + + strain2 + + + 2 + 0 + + + 2 + 0 + 9 + + + + + id_r_tiptoe_strain + eoas_strain + CAN2:13 + + + + + + 10 + id_r_tiptoe_strain + 1000 + + + + true + + + + + + + + + + + diff --git a/experimentalSetups/5-setup/hardware/MAIS/left_arm-eb26-j12_15-mais.xml b/experimentalSetups/5-setup/hardware/MAIS/left_arm-eb26-j12_15-mais.xml new file mode 100644 index 0000000000..fc5cc16a2b --- /dev/null +++ b/experimentalSetups/5-setup/hardware/MAIS/left_arm-eb26-j12_15-mais.xml @@ -0,0 +1,51 @@ + + + + + + + + + + + + + + eomn_serv_AS_mais + + + + + eobrd_mais + + + 0 + 0 + + + 0 + 0 + 0 + + + + + id_x_hand_mais + eoas_mais + CAN1:14 + + + + + + 10 + id_x_hand_mais + + + + + + + + + diff --git a/experimentalSetups/5-setup/hardware/MAIS/right_arm-eb29-j12_15-mais.xml b/experimentalSetups/5-setup/hardware/MAIS/right_arm-eb29-j12_15-mais.xml new file mode 100644 index 0000000000..35ec78ac99 --- /dev/null +++ b/experimentalSetups/5-setup/hardware/MAIS/right_arm-eb29-j12_15-mais.xml @@ -0,0 +1,51 @@ + + + + + + + + + + + + + + eomn_serv_AS_mais + + + + + eobrd_mais + + + 0 + 0 + + + 0 + 0 + 0 + + + + + id_x_hand_mais + eoas_mais + CAN1:14 + + + + + + 10 + id_x_hand_mais + + + + + + + + + diff --git a/experimentalSetups/5-setup/hardware/electronics/face-eb22-j0-eln.xml b/experimentalSetups/5-setup/hardware/electronics/face-eb22-j0-eln.xml new file mode 100644 index 0000000000..a99fb12210 --- /dev/null +++ b/experimentalSetups/5-setup/hardware/electronics/face-eb22-j0-eln.xml @@ -0,0 +1,40 @@ + + + + + + + + + + + 10.0.1.22 + 12345 + mc4plus + 768 + 384 + + + + "face-eb22-j0" + + 1000 + 400 + 300 + 300 + 3 + + + + + + true + 0.020 + 60.0 + + + + + + + diff --git a/experimentalSetups/5-setup/hardware/electronics/face-eb22-j0_1-eln.xml b/experimentalSetups/5-setup/hardware/electronics/face-eb22-j0_1-eln.xml new file mode 100644 index 0000000000..94013978b9 --- /dev/null +++ b/experimentalSetups/5-setup/hardware/electronics/face-eb22-j0_1-eln.xml @@ -0,0 +1,40 @@ + + + + + + + + + + + 10.0.1.22 + 12345 + mc4plus + 768 + 384 + + + + "face-eb22-j0_1" + + 1000 + 400 + 300 + 300 + 3 + + + + + + true + 0.020 + 60.0 + + + + + + + diff --git a/experimentalSetups/5-setup/hardware/electronics/face-eb23-j2_5-eln.xml b/experimentalSetups/5-setup/hardware/electronics/face-eb23-j2_5-eln.xml new file mode 100644 index 0000000000..6d0bc4018e --- /dev/null +++ b/experimentalSetups/5-setup/hardware/electronics/face-eb23-j2_5-eln.xml @@ -0,0 +1,41 @@ + + + + + + + + + + + 10.0.1.23 + 12345 + mc4plus + 768 + 384 + + + + "face-eb23-j2_5" + + 1000 + 400 + 300 + 300 + 5 + + + + + + true + 0.020 + 60.0 + + + + + + + + diff --git a/experimentalSetups/5-setup/hardware/electronics/head-eb20-j0_1-eln.xml b/experimentalSetups/5-setup/hardware/electronics/head-eb20-j0_1-eln.xml new file mode 100644 index 0000000000..0487cfa76c --- /dev/null +++ b/experimentalSetups/5-setup/hardware/electronics/head-eb20-j0_1-eln.xml @@ -0,0 +1,40 @@ + + + + + + + + + + + 10.0.1.20 + 12345 + mc4plus + 768 + 384 + + + + "head-eb20-j0_1" + + 1000 + 400 + 300 + 300 + 5 + + + + + + true + 0.020 + 60.0 + + + + + + + diff --git a/experimentalSetups/5-setup/hardware/electronics/head-eb21-j2_5-eln.xml b/experimentalSetups/5-setup/hardware/electronics/head-eb21-j2_5-eln.xml new file mode 100644 index 0000000000..be977ce193 --- /dev/null +++ b/experimentalSetups/5-setup/hardware/electronics/head-eb21-j2_5-eln.xml @@ -0,0 +1,40 @@ + + + + + + + + + + + 10.0.1.21 + 12345 + mc4plus + 768 + 384 + + + + "head-eb21-j2_5" + + 1000 + 400 + 300 + 300 + 5 + + + + + + true + 0.020 + 60.0 + + + + + + + diff --git a/experimentalSetups/5-setup/hardware/electronics/left_arm-eb1-j0_1-eln.xml b/experimentalSetups/5-setup/hardware/electronics/left_arm-eb1-j0_1-eln.xml new file mode 100644 index 0000000000..caa18c8413 --- /dev/null +++ b/experimentalSetups/5-setup/hardware/electronics/left_arm-eb1-j0_1-eln.xml @@ -0,0 +1,40 @@ + + + + + + + + + + + 10.0.1.1 + 12345 + ems4 + 768 + 384 + + + + "left_arm-eb1-j0_1" + + 1000 + 400 + 300 + 300 + 5 + + + + + + true + 0.020 + 60.0 + + + + + + + diff --git a/experimentalSetups/5-setup/hardware/electronics/left_arm-eb2-j2_3-eln.xml b/experimentalSetups/5-setup/hardware/electronics/left_arm-eb2-j2_3-eln.xml new file mode 100644 index 0000000000..b14c418c16 --- /dev/null +++ b/experimentalSetups/5-setup/hardware/electronics/left_arm-eb2-j2_3-eln.xml @@ -0,0 +1,40 @@ + + + + + + + + + + + 10.0.1.2 + 12345 + ems4 + 768 + 384 + + + + "left_arm-eb2-j2_3" + + 1000 + 400 + 300 + 300 + 5 + + + + + + true + 0.020 + 60.0 + + + + + + + diff --git a/experimentalSetups/5-setup/hardware/electronics/left_arm-eb24-j4_7-eln.xml b/experimentalSetups/5-setup/hardware/electronics/left_arm-eb24-j4_7-eln.xml new file mode 100644 index 0000000000..886337cbd1 --- /dev/null +++ b/experimentalSetups/5-setup/hardware/electronics/left_arm-eb24-j4_7-eln.xml @@ -0,0 +1,40 @@ + + + + + + + + + + + 10.0.1.24 + 12345 + mc4plus + 768 + 384 + + + + "left_arm-eb24-j4_7" + + 1000 + 400 + 300 + 300 + 3 + + + + + + true + 0.020 + 60.0 + + + + + + + diff --git a/experimentalSetups/5-setup/hardware/electronics/left_arm-eb25-j8_11-eln.xml b/experimentalSetups/5-setup/hardware/electronics/left_arm-eb25-j8_11-eln.xml new file mode 100644 index 0000000000..4f18d9ab45 --- /dev/null +++ b/experimentalSetups/5-setup/hardware/electronics/left_arm-eb25-j8_11-eln.xml @@ -0,0 +1,40 @@ + + + + + + + + + + + 10.0.1.25 + 12345 + mc4plus + 768 + 384 + + + + "left_arm-eb25-j8_11" + + 1000 + 400 + 300 + 300 + 5 + + + + + + true + 0.020 + 60.0 + + + + + + + diff --git a/experimentalSetups/5-setup/hardware/electronics/left_arm-eb26-j12_15-eln.xml b/experimentalSetups/5-setup/hardware/electronics/left_arm-eb26-j12_15-eln.xml new file mode 100644 index 0000000000..2d711112e1 --- /dev/null +++ b/experimentalSetups/5-setup/hardware/electronics/left_arm-eb26-j12_15-eln.xml @@ -0,0 +1,40 @@ + + + + + + + + + + + 10.0.1.26 + 12345 + mc4plus + 768 + 384 + + + + "left_arm-eb26-j12_15" + + 1000 + 400 + 300 + 300 + 5 + + + + + + true + 0.020 + 60.0 + + + + + + + diff --git a/experimentalSetups/5-setup/hardware/electronics/left_leg-eb7-j0_2-eln.xml b/experimentalSetups/5-setup/hardware/electronics/left_leg-eb7-j0_2-eln.xml new file mode 100644 index 0000000000..b164ffa043 --- /dev/null +++ b/experimentalSetups/5-setup/hardware/electronics/left_leg-eb7-j0_2-eln.xml @@ -0,0 +1,40 @@ + + + + + + + + + + + 10.0.1.7 + 12345 + ems4 + 768 + 384 + + + + "left_leg-eb7-j0_2" + + 1000 + 400 + 300 + 300 + 5 + + + + + + true + 0.020 + 60.0 + + + + + + + diff --git a/experimentalSetups/5-setup/hardware/electronics/left_leg-eb8-j3_5-eln.xml b/experimentalSetups/5-setup/hardware/electronics/left_leg-eb8-j3_5-eln.xml new file mode 100644 index 0000000000..5399db3f70 --- /dev/null +++ b/experimentalSetups/5-setup/hardware/electronics/left_leg-eb8-j3_5-eln.xml @@ -0,0 +1,40 @@ + + + + + + + + + + + 10.0.1.8 + 12345 + ems4 + 768 + 384 + + + + "left_leg-eb8-j3_5" + + 1000 + 400 + 300 + 300 + 5 + + + + + + true + 0.020 + 60.0 + + + + + + + diff --git a/experimentalSetups/5-setup/hardware/electronics/pc104.xml b/experimentalSetups/5-setup/hardware/electronics/pc104.xml new file mode 100644 index 0000000000..53acc04717 --- /dev/null +++ b/experimentalSetups/5-setup/hardware/electronics/pc104.xml @@ -0,0 +1,14 @@ + + + + + + + 10.0.1.104 + 12345 + 1 + 5 + + + + diff --git a/experimentalSetups/5-setup/hardware/electronics/right_arm-eb27-j4_7-eln.xml b/experimentalSetups/5-setup/hardware/electronics/right_arm-eb27-j4_7-eln.xml new file mode 100644 index 0000000000..a23dddd1cb --- /dev/null +++ b/experimentalSetups/5-setup/hardware/electronics/right_arm-eb27-j4_7-eln.xml @@ -0,0 +1,40 @@ + + + + + + + + + + + 10.0.1.27 + 12345 + mc4plus + 768 + 384 + + + + "right_arm-eb27-j4_7" + + 1000 + 400 + 300 + 300 + 3 + + + + + + true + 0.020 + 60.0 + + + + + + + diff --git a/experimentalSetups/5-setup/hardware/electronics/right_arm-eb28-j8_11-eln.xml b/experimentalSetups/5-setup/hardware/electronics/right_arm-eb28-j8_11-eln.xml new file mode 100644 index 0000000000..dc510847fb --- /dev/null +++ b/experimentalSetups/5-setup/hardware/electronics/right_arm-eb28-j8_11-eln.xml @@ -0,0 +1,40 @@ + + + + + + + + + + + 10.0.1.28 + 12345 + mc4plus + 768 + 384 + + + + "right_arm-eb28-j8_11" + + 1000 + 400 + 300 + 300 + 5 + + + + + + true + 0.020 + 60.0 + + + + + + + diff --git a/experimentalSetups/5-setup/hardware/electronics/right_arm-eb29-j12_15-eln.xml b/experimentalSetups/5-setup/hardware/electronics/right_arm-eb29-j12_15-eln.xml new file mode 100644 index 0000000000..8c06ca92b4 --- /dev/null +++ b/experimentalSetups/5-setup/hardware/electronics/right_arm-eb29-j12_15-eln.xml @@ -0,0 +1,40 @@ + + + + + + + + + + + 10.0.1.29 + 12345 + mc4plus + 768 + 384 + + + + "right_arm-eb29-j12_15" + + 1000 + 400 + 300 + 300 + 5 + + + + + + true + 0.020 + 60.0 + + + + + + + diff --git a/experimentalSetups/5-setup/hardware/electronics/right_arm-eb3-j0_1-eln.xml b/experimentalSetups/5-setup/hardware/electronics/right_arm-eb3-j0_1-eln.xml new file mode 100644 index 0000000000..f617ad2a04 --- /dev/null +++ b/experimentalSetups/5-setup/hardware/electronics/right_arm-eb3-j0_1-eln.xml @@ -0,0 +1,40 @@ + + + + + + + + + + + 10.0.1.3 + 12345 + ems4 + 768 + 384 + + + + "right_arm-eb3-j0_1" + + 1000 + 400 + 300 + 300 + 5 + + + + + + true + 0.020 + 60.0 + + + + + + + diff --git a/experimentalSetups/5-setup/hardware/electronics/right_arm-eb4-j2_3-eln.xml b/experimentalSetups/5-setup/hardware/electronics/right_arm-eb4-j2_3-eln.xml new file mode 100644 index 0000000000..283663eb3f --- /dev/null +++ b/experimentalSetups/5-setup/hardware/electronics/right_arm-eb4-j2_3-eln.xml @@ -0,0 +1,40 @@ + + + + + + + + + + + 10.0.1.4 + 12345 + ems4 + 768 + 384 + + + + "right_arm-eb4-j2_3" + + 1000 + 400 + 300 + 300 + 5 + + + + + + true + 0.020 + 60.0 + + + + + + + diff --git a/experimentalSetups/5-setup/hardware/electronics/right_leg-eb11-j0_2-eln.xml b/experimentalSetups/5-setup/hardware/electronics/right_leg-eb11-j0_2-eln.xml new file mode 100644 index 0000000000..a2ff39d192 --- /dev/null +++ b/experimentalSetups/5-setup/hardware/electronics/right_leg-eb11-j0_2-eln.xml @@ -0,0 +1,40 @@ + + + + + + + + + + + 10.0.1.11 + 12345 + ems4 + 768 + 384 + + + + "right_leg-eb11-j0_2" + + 1000 + 400 + 300 + 300 + 5 + + + + + + true + 0.020 + 60.0 + + + + + + + diff --git a/experimentalSetups/5-setup/hardware/electronics/right_leg-eb12-j3_5-eln.xml b/experimentalSetups/5-setup/hardware/electronics/right_leg-eb12-j3_5-eln.xml new file mode 100644 index 0000000000..c0d69ba6ff --- /dev/null +++ b/experimentalSetups/5-setup/hardware/electronics/right_leg-eb12-j3_5-eln.xml @@ -0,0 +1,40 @@ + + + + + + + + + + + 10.0.1.12 + 12345 + ems4 + 768 + 384 + + + + "right_leg-eb12-j3_5" + + 1000 + 400 + 300 + 300 + 5 + + + + + + true + 0.020 + 60.0 + + + + + + + diff --git a/experimentalSetups/5-setup/hardware/electronics/torso-eb5-j0_2-eln.xml b/experimentalSetups/5-setup/hardware/electronics/torso-eb5-j0_2-eln.xml new file mode 100644 index 0000000000..9983fc2609 --- /dev/null +++ b/experimentalSetups/5-setup/hardware/electronics/torso-eb5-j0_2-eln.xml @@ -0,0 +1,40 @@ + + + + + + + + + + + 10.0.1.5 + 12345 + ems4 + 768 + 384 + + + + "torso-eb5-j0_2" + + 1000 + 400 + 300 + 300 + 5 + + + + + + true + 0.020 + 60.0 + + + + + + + diff --git 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b/experimentalSetups/5-setup/hardware/inertials/left_arm-eb24-j4_7-inertials.xml @@ -0,0 +1,63 @@ + + + + + + + + + + + + + + eomn_serv_AS_inertials + + + + + eobrd_mtb + + + 0 + 0 + + + 0 + 0 + 0 + + + + + on_ems2_accel on_ems2_gyros + l_upper_arm_4 l_upper_arm_1 l_upper_arm_3 l_upper_arm_2 + l_forearm_1 l_forearm_2 l_hand l_hand_gyro + + + eoas_accel_st_lis3x eoas_gyros_st_l3g4200d + eoas_accel_mtb_int eoas_accel_mtb_int eoas_accel_mtb_int eoas_accel_mtb_int + eoas_accel_mtb_int eoas_accel_mtb_int eoas_accel_mtb_int eoas_gyros_mtb_ext + + + ETH:0 ETH:0 + CAN1:8 CAN1:9 CAN1:10 CAN1:11 + CAN1:12 CAN1:13 CAN1:14 CAN1:14 + + + + + + + 50 + l_hand l_forearm_1 l_forearm_2 l_hand_gyro + + + + + + + + + + diff --git a/experimentalSetups/5-setup/hardware/inertials/left_leg-eb10-inertials.xml b/experimentalSetups/5-setup/hardware/inertials/left_leg-eb10-inertials.xml new file mode 100644 index 0000000000..cbcffafce6 --- /dev/null +++ b/experimentalSetups/5-setup/hardware/inertials/left_leg-eb10-inertials.xml @@ -0,0 +1,64 @@ + + + + + + + + + + + + + + eomn_serv_AS_inertials + + + + + eobrd_mtb + + + 0 + 0 + + + 0 + 0 + 0 + + + + + on_ems10_accel on_ems10_gyros l_upper_leg_1_10B1 + l_upper_leg_2_10B2 l_upper_leg_3_10B3 l_upper_leg_4_10B4 l_upper_leg_5_10B5 + l_upper_leg_6_10B6 l_upper_leg_7_10B7 l_lower_leg_1_10B8 l_lower_leg_2_10B9 + l_lower_leg_3_10B10 l_lower_leg_4_10B11 l_foot_1_10B12 l_foot_2_10B13 + + + eoas_accel_st_lis3x eoas_gyros_st_l3g4200d eoas_accel_mtb_int + eoas_accel_mtb_int eoas_accel_mtb_int eoas_accel_mtb_int eoas_accel_mtb_int + eoas_accel_mtb_int eoas_accel_mtb_int eoas_accel_mtb_int eoas_accel_mtb_int + eoas_accel_mtb_int eoas_accel_mtb_int eoas_accel_mtb_int eoas_accel_mtb_int + + + ETH:0 ETH:0 CAN1:1 + CAN1:2 CAN1:3 CAN1:4 CAN1:5 + CAN1:6 CAN1:7 CAN2:8 CAN2:9 + CAN2:10 CAN2:11 CAN2:13 CAN2:12 + + + + + + + 50 + l_upper_leg_1_10B1 l_upper_leg_2_10B2 l_upper_leg_3_10B3 l_upper_leg_4_10B4 + + + + + + + + diff --git a/experimentalSetups/5-setup/hardware/inertials/right_arm-eb27-j4_7-inertials.xml b/experimentalSetups/5-setup/hardware/inertials/right_arm-eb27-j4_7-inertials.xml new file mode 100644 index 0000000000..5a866a5ca7 --- /dev/null +++ b/experimentalSetups/5-setup/hardware/inertials/right_arm-eb27-j4_7-inertials.xml @@ -0,0 +1,61 @@ + + + + + + + + + + + + + + eomn_serv_AS_inertials + + + + + eobrd_mtb + + + 0 + 0 + + + 0 + 0 + 0 + + + + + on_ems4_accel on_ems4_gyros + r_upper_arm_4 r_upper_arm_1 r_upper_arm_3 r_upper_arm_2 + r_forearm_1 r_forearm_2 r_hand r_hand_gyro + + + eoas_accel_st_lis3x eoas_gyros_st_l3g4200d + eoas_accel_mtb_int eoas_accel_mtb_int eoas_accel_mtb_int eoas_accel_mtb_int + eoas_accel_mtb_int eoas_accel_mtb_int eoas_accel_mtb_int eoas_gyros_mtb_ext + + + ETH:0 ETH:0 + CAN1:8 CAN1:9 CAN1:10 CAN1:11 + CAN1:12 CAN1:13 CAN1:14 CAN1:14 + + + + + + + 50 + r_hand r_forearm_1 r_forearm_2 r_hand_gyro + + + + + + + + diff --git a/experimentalSetups/5-setup/hardware/inertials/right_leg-eb11-inertials.xml b/experimentalSetups/5-setup/hardware/inertials/right_leg-eb11-inertials.xml new file mode 100644 index 0000000000..664ad83bc8 --- /dev/null +++ b/experimentalSetups/5-setup/hardware/inertials/right_leg-eb11-inertials.xml @@ -0,0 +1,64 @@ + + + + + + + + + + + + + + eomn_serv_AS_inertials + + + + + eobrd_mtb + + + 0 + 0 + + + 0 + 0 + 0 + + + + + on_ems11_accel on_ems11_gyros r_upper_leg_1_10B1 + r_upper_leg_2_10B2 r_upper_leg_3_10B3 r_upper_leg_4_10B4 r_upper_leg_5_10B5 + r_upper_leg_6_10B6 r_upper_leg_7_10B7 r_lower_leg_1_10B8 r_lower_leg_2_10B9 + r_lower_leg_3_10B10 r_lower_leg_4_10B11 r_foot_1_10B12 r_foot_2_10B13 + + + eoas_accel_st_lis3x eoas_gyros_st_l3g4200d eoas_accel_mtb_int + eoas_accel_mtb_int eoas_accel_mtb_int eoas_accel_mtb_int eoas_accel_mtb_int + eoas_accel_mtb_int eoas_accel_mtb_int eoas_accel_mtb_int eoas_accel_mtb_int + eoas_accel_mtb_int eoas_accel_mtb_int eoas_accel_mtb_int eoas_accel_mtb_int + + + ETH:0 ETH:0 CAN1:1 + CAN1:2 CAN1:3 CAN1:4 CAN1:5 + CAN1:6 CAN1:7 CAN2:8 CAN2:9 + CAN2:10 CAN2:11 CAN2:12 CAN2:13 + + + + + + + 50 + r_upper_leg_1_10B1 r_upper_leg_2_10B2 r_upper_leg_3_10B3 r_upper_leg_4_10B4 + + + + + + + + diff --git a/experimentalSetups/5-setup/hardware/mechanicals/face-eb22-j0-mec.xml b/experimentalSetups/5-setup/hardware/mechanicals/face-eb22-j0-mec.xml new file mode 100644 index 0000000000..455aa22a3a --- /dev/null +++ b/experimentalSetups/5-setup/hardware/mechanicals/face-eb22-j0-mec.xml @@ -0,0 +1,74 @@ + + + + + + + + + 6 + 1 + + 0 + "eyelids" + "revolute" + 182.044 + 3360 + 1000.0 + -16 + 2.38 + 1 + "DC" + 0 + + + + -5 + +65 + 0 + 0 + + + + + + 1.000 0.000 0.000 0.000 + 0.000 1.000 0.000 0.000 + 0.000 0.000 1.000 0.000 + 0.000 0.000 0.000 1.000 + + + + 1.000 0.000 0.000 0.000 + 0.000 1.000 0.000 0.000 + 0.000 0.000 1.000 0.000 + 0.000 0.000 0.000 1.000 + + + + 1.00 0.00 0.00 0.00 0.00 0.00 + 0.00 1.00 0.00 0.00 0.00 0.00 + 0.00 0.00 1.00 0.00 0.00 0.00 + 0.00 0.00 0.00 1.00 0.00 0.00 + + + + + + 1 + + 0 + none + 0 + 0 + + + + + + + + + diff --git a/experimentalSetups/5-setup/hardware/mechanicals/face-eb22-j0_1-mec.xml b/experimentalSetups/5-setup/hardware/mechanicals/face-eb22-j0_1-mec.xml new file mode 100644 index 0000000000..6a63481187 --- /dev/null +++ b/experimentalSetups/5-setup/hardware/mechanicals/face-eb22-j0_1-mec.xml @@ -0,0 +1,79 @@ + + + + + + + + + 6 + 2 + + 0 1 + "jaw" "eyelids" + "revolute" "revolute" + 182.044 182.044 + 3360 3360 + 1000.0 1000.0 + 1 -16 + 1 2.38 + 1 1 + "DC" "DC" + 0 + + + + +0 -5 + +22 +65 + 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 + + + + 1.00 0.00 0.00 0.00 0.00 0.00 + 0.00 1.00 0.00 0.00 0.00 0.00 + 0.00 0.00 1.00 0.00 0.00 0.00 + 0.00 0.00 0.00 1.00 0.00 0.00 + + + + + + 2 + + 0 + none + 0 + 0 + + + + 1 + none + 0 + 0 + + + + + + + diff --git a/experimentalSetups/5-setup/hardware/mechanicals/face-eb23-j2_5-mec.xml b/experimentalSetups/5-setup/hardware/mechanicals/face-eb23-j2_5-mec.xml new file mode 100644 index 0000000000..e8c446668e --- /dev/null +++ b/experimentalSetups/5-setup/hardware/mechanicals/face-eb23-j2_5-mec.xml @@ -0,0 +1,85 @@ + + + + + + + 6 + 4 + 0 1 2 3 + "lip-right" "lip-high" "lip-left" "lip-bottom" + "revolute" "revolute" "revolute" "revolute" + 182.044 182.044 182.044 182.044 + 3360 3360 3360 3360 + 1000.0 1000.0 1000.0 1000.0 + -66 66 66 -66 + 1 1 1 1 + 1 1 1 1 + "DC" "DC" "DC" "DC" + 0 + + + + -35 -28 -35 0 + +35 +28 +35 +28 + 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 + + + + 1.00 0.00 0.00 0.00 0.00 0.00 + 0.00 1.00 0.00 0.00 0.00 0.00 + 0.00 0.00 1.00 0.00 0.00 0.00 + 0.00 0.00 0.00 1.00 0.00 0.00 + + + + + + 4 + + 0 + none + 0 + 0 + + + + 1 + none + 0 + 0 + + + + 2 + none + 0 + 0 + + + + 3 + none + 0 + 0 + + + + diff --git a/experimentalSetups/5-setup/hardware/mechanicals/head-eb20-j0_1-mec.xml b/experimentalSetups/5-setup/hardware/mechanicals/head-eb20-j0_1-mec.xml new file mode 100644 index 0000000000..0448c74f95 --- /dev/null +++ b/experimentalSetups/5-setup/hardware/mechanicals/head-eb20-j0_1-mec.xml @@ -0,0 +1,69 @@ + + + + + + + + 6 + 2 + + + + + 0 1 + "neck_pitch" "neck_roll" + "revolute" "revolute" + 182.044 182.044 + 3360 3360 + 1000.0 1000.0 + 161.68 161.68 + 1 1 + 1 1 + "DC" "DC" + 0 + + + + -45 -20 + +22 +20 + 0 0 + 0 0 + + + + + + 1.000 1.000 0.000 0.000 + -1.000 1.000 0.000 0.000 + 0.000 0.000 1.000 0.000 + 0.000 0.000 0.000 1.000 + + + + 0.500 -0.500 0.000 0.000 + 0.500 0.500 0.000 0.000 + 0.000 0.000 1.000 0.000 + 0.000 0.000 0.000 1.000 + + + + 1.00 0.00 0.00 0.00 0.00 0.00 + 0.00 1.00 0.00 0.00 0.00 0.00 + 0.00 0.00 1.00 0.00 0.00 0.00 + 0.00 0.00 0.00 1.00 0.00 0.00 + + + + + + 1 + + 0 1 + none + 0 + 0 + + + + diff --git a/experimentalSetups/5-setup/hardware/mechanicals/head-eb21-j2_5-mec.xml b/experimentalSetups/5-setup/hardware/mechanicals/head-eb21-j2_5-mec.xml new file mode 100644 index 0000000000..12750dfc54 --- /dev/null +++ b/experimentalSetups/5-setup/hardware/mechanicals/head-eb21-j2_5-mec.xml @@ -0,0 +1,79 @@ + + + + + + 6 + 4 + + + + 0 1 2 3 + "neck_yaw" "eyes_tilt" "eyes_version" "eyes_vergence" + "revolute" "revolute" "revolute" "revolute" + 182.044 182.044 182.044 182.044 + 3360 3360 3360 3360 + 1000.0 1000.0 1000.0 1000.0 + 100 -141 50 50 + 1 1 1 1 + 1 1 1 1 + "DC" "DC" "DC" "DC" + + 0 + + + + -45 -30 -45 0 + +45 +30 +45 +45 + 0 0 0 0 + 0 0 0 0 + + + + + + 1.000 0.000 0.000 0.000 + 0.000 1.000 0.000 0.000 + 0.000 0.000 1.000 -1.000 + 0.000 0.000 1.000 1.000 + + + + 1.000 0.000 0.000 0.000 + 0.000 1.000 0.000 0.000 + 0.000 0.000 0.500 0.500 + 0.000 0.000 -0.500 0.500 + + + + 1.000 0.000 0.000 0.000 0.000 0.000 + 0.000 1.000 0.000 0.000 0.000 0.000 + 0.000 0.000 1.000 0.000 0.000 0.000 + 0.000 0.000 0.000 1.000 0.000 0.000 + + + + + + 3 + + 0 + none + 0 + 0 + + + 1 + none + 0 + 0 + + + 2 3 + none + 0 + 0 + + + + diff --git a/experimentalSetups/5-setup/hardware/mechanicals/left_arm-eb1-j0_1-mec.xml b/experimentalSetups/5-setup/hardware/mechanicals/left_arm-eb1-j0_1-mec.xml new file mode 100644 index 0000000000..54a333f769 --- /dev/null +++ b/experimentalSetups/5-setup/hardware/mechanicals/left_arm-eb1-j0_1-mec.xml @@ -0,0 +1,83 @@ + + + + + + 6 + 2 + 0 1 + "l_shoulder_pitch" "l_shoulder_roll" + "revolute" "revolute" + 182.044 182.044 + 32000 32000 + 1000.0 1000.0 + 100.00 100.00 + 1 1 + 1 1 + "MOOG-BL-C2900576" "MOOG-BL-C2900576" + 0 + + + + + 16 165 + -90 0 + 0 0 + 0 0 + + + + 0 0 + 0 0 + 0 0 + 0 0 + 1 1 + 1 1 + 0 0 + 154 250 + 8 8 + + + + + + + 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 + none + 0 + 0 + + + 1 + none + 0 + 0 + + + + diff --git a/experimentalSetups/5-setup/hardware/mechanicals/left_arm-eb2-j2_3-mec.xml b/experimentalSetups/5-setup/hardware/mechanicals/left_arm-eb2-j2_3-mec.xml new file mode 100644 index 0000000000..708056c3c5 --- /dev/null +++ b/experimentalSetups/5-setup/hardware/mechanicals/left_arm-eb2-j2_3-mec.xml @@ -0,0 +1,83 @@ + + + + + + 6 + 2 + 0 1 + "l_shoulder_yaw" "l_elbow" + "revolute" "revolute" + 182.044 182.044 + 32000 32000 + 1000.0 1000.0 + 100.00 -100.00 + 1 1 + 1 1 + "MOOG-BL-C2900575" "MOOG-BL-C2900575" + 0 + + + + + 82 105 + -52 -5 + 0 0 + 0 0 + + + + 0 0 + 0 0 + 0 0 + 0 0 + 1 1 + 1 1 + 0 0 + 301 324 + 8 8 + + + + + + + 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 + none + 0 + 0 + + + 1 + none + 0 + 0 + + + + diff --git a/experimentalSetups/5-setup/hardware/mechanicals/left_arm-eb24-j4_7-mec.xml b/experimentalSetups/5-setup/hardware/mechanicals/left_arm-eb24-j4_7-mec.xml new file mode 100644 index 0000000000..e37f0643db --- /dev/null +++ b/experimentalSetups/5-setup/hardware/mechanicals/left_arm-eb24-j4_7-mec.xml @@ -0,0 +1,79 @@ + + + + + + 6 + 4 + + + "l_wrist_prosup" "l_wrist_pitch" "l_wrist_yaw" "l_hand_finger" + "revolute" "revolute" "revolute" "revolute" + 0 1 2 3 + 182.044 182.044 182.044 182.044 + 3360 3360 3360 3360 + 1000.0 1000.0 1000.0 1000.0 + -100 159 159 256 + 1 1 1 1 + 1 1 1 1 + "DC" "DC" "DC" "DC" + 0 + + + + 90 30 35 60 + -90 -80 -15 10 + 0 0 0 0 + 0 0 0 0 + + + + + + + 1.000 0.000 0.000 0.000 + 0.000 1.000 0.000 0.000 + 0.000 -1.000 +1.000 0.000 + 0.000 0.000 0.000 1.000 + + + + 1.000 0.000 0.000 0.000 + 0.000 1.000 +1.000 0.000 + 0.000 0.000 +1.000 0.000 + 0.000 0.000 0.000 1.000 + + + + 1.000 0.000 0.000 0.000 0.000 0.000 + 0.000 1.000 0.000 0.000 0.000 0.000 + 0.000 0.000 1.000 0.000 0.000 0.000 + 0.000 0.000 0.000 1.000 0.000 0.000 + + + + + + 3 + + 0 + none + 0 + 0 + + + 1 2 + none + 0 + 0 + + + 3 + none + 0 + 0 + + + + + diff --git a/experimentalSetups/5-setup/hardware/mechanicals/left_arm-eb25-j8_11-mec.xml b/experimentalSetups/5-setup/hardware/mechanicals/left_arm-eb25-j8_11-mec.xml new file mode 100644 index 0000000000..4089a83ad5 --- /dev/null +++ b/experimentalSetups/5-setup/hardware/mechanicals/left_arm-eb25-j8_11-mec.xml @@ -0,0 +1,77 @@ + + + + + + 6 + 4 + + + "l_thumb_oppose" "l_thumb_proximal" "l_thumb_distal" "l_index_proximal" + "revolute" "revolute" "revolute" "revolute" + 0 1 2 3 + 182.044 182.044 182.044 182.044 + 3360 3360 3360 3360 + 1000.0 1000.0 1000.0 1000.0 + 256 256 256 256 + 1 1 1 1 + 0 0 0 0 + "DC" "DC" "DC" "DC" + 0 + + + + 110 90 180 90 + 10 0 0 0 + 0 0 -70000 -5120 + 0 0 5120 32000 + + + + + + 1.000 0.000 0.000 0.000 + -1.000 +1.000 0.000 0.000 + 0.000 0.000 1.000 0.000 + 0.000 0.000 0.000 1.000 + + + + 1.000 0.000 0.000 0.000 + +1.000 +1.000 0.000 0.000 + 0.000 0.000 1.000 0.000 + 0.000 0.000 0.000 1.000 + + + + 1.000 0.000 0.000 0.000 0.000 0.000 + 0.000 1.000 0.000 0.000 0.000 0.000 + 0.000 0.000 1.000 0.000 0.000 0.000 + 0.000 0.000 0.000 1.000 0.000 0.000 + + + + + 3 + + 0 1 + none + 0 + 0 + + + 2 + none + 0 + 0 + + + 3 + none + 0 + 0 + + + + + diff --git a/experimentalSetups/5-setup/hardware/mechanicals/left_arm-eb26-j12_15-mec.xml b/experimentalSetups/5-setup/hardware/mechanicals/left_arm-eb26-j12_15-mec.xml new file mode 100644 index 0000000000..c92a5ac9f4 --- /dev/null +++ b/experimentalSetups/5-setup/hardware/mechanicals/left_arm-eb26-j12_15-mec.xml @@ -0,0 +1,82 @@ + + + + + + 6 + 4 + + + "l_index_distal" "l_middle_proximal" "l_middle_distal" "l_pinky" + "revolute" "revolute" "revolute" "revolute" + 0 1 2 3 + 182.044 182.044 182.044 182.044 + 3360 3360 3360 3360 + 1000.0 1000.0 1000.0 1000.0 + 256 256 256 256 + 1 1 1 1 + 0 0 0 0 + "DC" "DC" "DC" "DC" + 0 + + + + 180 90 180 270 + 0 0 0 0 + -5120 -5120 -65000 -5120 + 65000 32000 5120 65000 + + + + + + 1.000 0.000 0.000 0.000 + 0.000 1.000 0.000 0.000 + 0.000 0.000 1.000 0.000 + 0.000 0.000 0.000 1.000 + + + + 1.000 0.000 0.000 0.000 + 1.000 1.000 0.000 0.000 + 0.000 0.000 1.000 0.000 + 0.000 0.000 0.000 1.000 + + + + 1.000 0.000 0.000 0.000 0.000 0.000 + 0.000 1.000 0.000 0.000 0.000 0.000 + 0.000 0.000 1.000 0.000 0.000 0.000 + 0.000 0.000 0.000 1.000 0.000 0.000 + + + + + + 4 + + 0 + none + 0 + 0 + + + 1 + none + 0 + 0 + + + 2 + none + 0 + 0 + + + 3 + none + 0 + 0 + + + diff --git a/experimentalSetups/5-setup/hardware/mechanicals/left_leg-eb7-j0_2-mec.xml b/experimentalSetups/5-setup/hardware/mechanicals/left_leg-eb7-j0_2-mec.xml new file mode 100644 index 0000000000..eaca05bd24 --- /dev/null +++ b/experimentalSetups/5-setup/hardware/mechanicals/left_leg-eb7-j0_2-mec.xml @@ -0,0 +1,89 @@ + + + + + + 6 + 3 + 0 1 2 + "l_hip_pitch" "l_hip_roll" "l_hip_yaw" + "revolute" "revolute" "revolute" + 182.044 182.044 182.044 + 32000 32000 32000 + 1000.0 1000.0 1000.0 + -100.0 100.0 -100.0 + 64 64 64 + 1 1 1 + "MOOG_C2900580" "MOOG_C2900576" "MOOG_C2900576" + 0 + + + + 94 120 80.5 + -47 -20 -80.5 + 0 0 0 + 0 0 0 + + + + 0 0 0 + 0 0 0 + 0 0 0 + 0 0 0 + 1 1 1 + 1 1 1 + 0 0 0 + 189 7 64 + 12 8 8 + + + + + + 1.00 0.00 0.00 0.00 + 0.00 1.00 0.00 0.00 + 0.00 0.00 1.00 0.00 + 0.00 0.00 0.00 1.00 + + + + 1.00 0.00 0.00 0.00 + 0.00 1.00 0.00 0.00 + 0.00 0.00 1.00 0.00 + 0.00 0.00 0.00 1.00 + + + + 1.00 0.00 0.00 0.00 0.00 0.00 + 0.00 1.00 0.00 0.00 0.00 0.00 + 0.00 0.00 1.00 0.00 0.00 0.00 + 0.00 0.00 0.00 1.00 0.00 0.00 + + + + + + 3 + + 0 + none + 0 + 0 + + + 1 + none + 0 + 0 + + + 2 + none + 0 + 0 + + + + + + diff --git a/experimentalSetups/5-setup/hardware/mechanicals/left_leg-eb8-j3_5-mec.xml b/experimentalSetups/5-setup/hardware/mechanicals/left_leg-eb8-j3_5-mec.xml new file mode 100644 index 0000000000..767689cc15 --- /dev/null +++ b/experimentalSetups/5-setup/hardware/mechanicals/left_leg-eb8-j3_5-mec.xml @@ -0,0 +1,88 @@ + + + + + + 6 + 3 + 0 1 2 + "l_knee" "l_ankle_pitch" "l_ankle_roll" + "revolute" "revolute" "revolute" + 182.044 182.044 182.044 + 32000 32000 32000 + 1000.0 1000.0 1000.0 + -100.0 -100.00 -100.00 + 64 64 32 + 1 1 1 + "MOOG_C2900580" "MOOG_C2900580" "MOOG_C2900575" + + 0 + + + + 6 45.00 25.00 + -80 -45.00 -25.00 + 0 0 0 + 0 0 0 + + + + 0 0 0 + 0 0 0 + 0 0 0 + 0 0 0 + 1 1 1 + 1 1 1 + 146 242 151 + 0 0 0 + 12 12 8 + + + + + + 1.00 0.00 0.00 0.00 + 0.00 1.00 0.00 0.00 + 0.00 0.00 1.00 0.00 + 0.00 0.00 0.00 1.00 + + + + 1.00 0.00 0.00 0.00 + 0.00 1.00 0.00 0.00 + 0.00 0.00 1.00 0.00 + 0.00 0.00 0.00 1.00 + + + + 1.00 0.00 0.00 0.00 0.00 0.00 + 0.00 1.00 0.00 0.00 0.00 0.00 + 0.00 0.00 1.00 0.00 0.00 0.00 + 0.00 0.00 0.00 1.00 0.00 0.00 + + + + + + 3 + + 0 + none + 0 + 0 + + + 1 + none + 0 + 0 + + + 2 + none + 0 + 0 + + + + diff --git a/experimentalSetups/5-setup/hardware/mechanicals/right_arm-eb27-j4_7-mec.xml b/experimentalSetups/5-setup/hardware/mechanicals/right_arm-eb27-j4_7-mec.xml new file mode 100644 index 0000000000..d92f0ef05d --- /dev/null +++ b/experimentalSetups/5-setup/hardware/mechanicals/right_arm-eb27-j4_7-mec.xml @@ -0,0 +1,76 @@ + + + + + + 6 + 4 + + + "r_wrist_prosup" "r_wrist_pitch" "r_wrist_yaw" "r_hand_finger" + "revolute" "revolute" "revolute" "revolute" + 0 1 2 3 + 182.044 182.044 182.044 182.044 + 3360 3360 3360 3360 + 1000.0 1000.0 1000.0 1000.0 + 100 159 159 256 + 1 1 1 1 + 1 1 1 1 + "DC" "DC" "DC" "DC" + 0 + + + + 90 30 35 60 + -97 -80 -15 10 + 0 0 0 0 + 0 0 0 0 + + + + + + 1.000 0.000 0.000 0.000 + 0.000 1.000 0.000 0.000 + 0.000 -1.000 +1.000 0.000 + 0.000 0.000 0.000 1.000 + + + + 1.000 0.000 0.000 0.000 + 0.000 1.000 +1.000 0.000 + 0.000 0.000 +1.000 0.000 + 0.000 0.000 0.000 1.000 + + + + 1.000 0.000 0.000 0.000 0.000 0.000 + 0.000 1.000 0.000 0.000 0.000 0.000 + 0.000 0.000 1.000 0.000 0.000 0.000 + 0.000 0.000 0.000 1.000 0.000 0.000 + + + + + + 3 + + 0 + none + 0 + 0 + + + 1 2 + none + 0 + 0 + + + 3 + none + 0 + 0 + + + diff --git a/experimentalSetups/5-setup/hardware/mechanicals/right_arm-eb28-j8_11-mec.xml b/experimentalSetups/5-setup/hardware/mechanicals/right_arm-eb28-j8_11-mec.xml new file mode 100644 index 0000000000..c8222e4f37 --- /dev/null +++ b/experimentalSetups/5-setup/hardware/mechanicals/right_arm-eb28-j8_11-mec.xml @@ -0,0 +1,76 @@ + + + + + + 6 + 4 + + + "r_thumb_oppose" "r_thumb_proximal" "r_thumb_distal" "r_index_proximal" + "revolute" "revolute" "revolute" "revolute" + 0 1 2 3 + 182.044 182.044 182.044 182.044 + 3360 3360 3360 3360 + 1000.0 1000.0 1000.0 1000.0 + 256 256 256 256 + 1 1 1 1 + 0 0 0 0 + "DC" "DC" "DC" "DC" + 0 + + + + 110 90 180 90 + 10 0 0 0 + 0 0 -5120 -5120 + 0 0 70000 32000 + + + + + + 1.000 0.000 0.000 0.000 + 1.000 +1.000 0.000 0.000 + 0.000 0.000 1.000 0.000 + 0.000 0.000 0.000 1.000 + + + + 1.000 0.000 0.000 0.000 + -1.000 +1.000 0.000 0.000 + 0.000 0.000 1.000 0.000 + 0.000 0.000 0.000 1.000 + + + + 1.000 0.000 0.000 0.000 0.000 0.000 + 0.000 1.000 0.000 0.000 0.000 0.000 + 0.000 0.000 1.000 0.000 0.000 0.000 + 0.000 0.000 0.000 1.000 0.000 0.000 + + + + + + 3 + + 0 1 + none + 0 + 0 + + + 2 + none + 0 + 0 + + + 3 + none + 0 + 0 + + + diff --git a/experimentalSetups/5-setup/hardware/mechanicals/right_arm-eb29-j12_15-mec.xml b/experimentalSetups/5-setup/hardware/mechanicals/right_arm-eb29-j12_15-mec.xml new file mode 100644 index 0000000000..4a5e026dba --- /dev/null +++ b/experimentalSetups/5-setup/hardware/mechanicals/right_arm-eb29-j12_15-mec.xml @@ -0,0 +1,82 @@ + + + + + + 6 + 4 + + + "r_index_distal" "r_middle_proximal" "r_middle_distal" "r_pinky" + "revolute" "revolute" "revolute" "revolute" + 0 1 2 3 + 182.044 182.044 182.044 182.044 + 3360 3360 3360 3360 + 1000.0 1000.0 1000.0 1000.0 + 256 256 256 256 + 1 1 1 1 + 0 0 0 0 + "DC" "DC" "DC" "DC" + 0 + + + + 180 90 180 270 + 0 0 0 0 + -65000 -5120 -5120 -65000 + 5120 32000 65000 5120 + + + + + + 1.000 0.000 0.000 0.000 + 0.000 1.000 0.000 0.000 + 0.000 0.000 1.000 0.000 + 0.000 0.000 0.000 1.000 + + + + 1.000 0.000 0.000 0.000 + 1.000 1.000 0.000 0.000 + 0.000 0.000 1.000 0.000 + 0.000 0.000 0.000 1.000 + + + + 1.000 0.000 0.000 0.000 0.000 0.000 + 0.000 1.000 0.000 0.000 0.000 0.000 + 0.000 0.000 1.000 0.000 0.000 0.000 + 0.000 0.000 0.000 1.000 0.000 0.000 + + + + + + 4 + + 0 + none + 0 + 0 + + + 1 + none + 0 + 0 + + + 2 + none + 0 + 0 + + + 3 + none + 0 + 0 + + + diff --git a/experimentalSetups/5-setup/hardware/mechanicals/right_arm-eb3-j0_1-mec.xml b/experimentalSetups/5-setup/hardware/mechanicals/right_arm-eb3-j0_1-mec.xml new file mode 100644 index 0000000000..86d3146e87 --- /dev/null +++ b/experimentalSetups/5-setup/hardware/mechanicals/right_arm-eb3-j0_1-mec.xml @@ -0,0 +1,83 @@ + + + + + + 6 + 2 + 0 1 + "r_shoulder_pitch" "r_shoulder_roll" + "revolute" "revolute" + 182.044 182.044 + 32000 32000 + 1000.0 1000.0 + -100.00 -100.00 + 1 1 + 1 1 + "MOOG-BL-C2900576" "MOOG-BL-C2900576" + 0 + + + + + 16 165 + -90 0 + 0 0 + 0 0 + + + + 0 0 + 0 0 + 0 0 + 0 0 + 1 1 + 1 1 + 0 0 + 157 78 + 8 8 + + + + + + + 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 + none + 0 + 0 + + + 1 + none + 0 + 0 + + + + diff --git a/experimentalSetups/5-setup/hardware/mechanicals/right_arm-eb4-j2_3-mec.xml b/experimentalSetups/5-setup/hardware/mechanicals/right_arm-eb4-j2_3-mec.xml new file mode 100644 index 0000000000..ac9938a812 --- /dev/null +++ b/experimentalSetups/5-setup/hardware/mechanicals/right_arm-eb4-j2_3-mec.xml @@ -0,0 +1,83 @@ + + + + + + 6 + 2 + 0 1 + "r_shoulder_yaw" "r_elbow" + "revolute" "revolute" + 182.044 182.044 + 32000 32000 + 1000.0 1000.0 + -100.00 100.00 + 1 1 + 1 1 + "MOOG-BL-C2900575" "MOOG-BL-C2900575" + 0 + + + + + 82 105 + -52 -5 + 0 0 + 0 0 + + + + 0 0 + 0 0 + 0 0 + 0 0 + 1 1 + 1 1 + 0 0 + 250 117 + 8 8 + + + + + + + 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 + none + 0 + 0 + + + 1 + none + 0 + 0 + + + + diff --git a/experimentalSetups/5-setup/hardware/mechanicals/right_leg-eb11-j0_2-mec.xml b/experimentalSetups/5-setup/hardware/mechanicals/right_leg-eb11-j0_2-mec.xml new file mode 100644 index 0000000000..1a2290048a --- /dev/null +++ b/experimentalSetups/5-setup/hardware/mechanicals/right_leg-eb11-j0_2-mec.xml @@ -0,0 +1,90 @@ + + + + + + 6 + 3 + + 0 1 2 + "r_hip_pitch" "r_hip_roll" "r_hip_yaw" + "revolute" "revolute" "revolute" + 182.044 182.044 182.044 + 32000 32000 32000 + 1000.0 1000.0 1000.0 + 100.00 -100.00 100.0 + 64 64 64 + 1 1 1 + "MOOG_C2900580" "MOOG_C2900576" "MOOG_C2900576" + + 0 + + + + + 94 120 80.5 + -47 -20 -80.5 + 0 0 0 + 0 0 0 + + + + 0 0 0 + 0 0 0 + 0 0 0 + 0 0 0 + 1 1 1 + 1 1 1 + 0 0 0 + 123 0 27 + 12 8 8 + + + + + + 1.00 0.00 0.00 0.00 + 0.00 1.00 0.00 0.00 + 0.00 0.00 1.00 0.00 + 0.00 0.00 0.00 1.00 + + + + 1.00 0.00 0.00 0.00 + 0.00 1.00 0.00 0.00 + 0.00 0.00 1.00 0.00 + 0.00 0.00 0.00 1.00 + + + + 1.00 0.00 0.00 0.00 0.00 0.00 + 0.00 1.00 0.00 0.00 0.00 0.00 + 0.00 0.00 1.00 0.00 0.00 0.00 + 0.00 0.00 0.00 1.00 0.00 0.00 + + + + + + 3 + + 0 + none + 0 + 0 + + + 1 + none + 0 + 0 + + + 2 + none + 0 + 0 + + + + diff --git a/experimentalSetups/5-setup/hardware/mechanicals/right_leg-eb12-j3_5-mec.xml b/experimentalSetups/5-setup/hardware/mechanicals/right_leg-eb12-j3_5-mec.xml new file mode 100644 index 0000000000..ef4d7f4c11 --- /dev/null +++ b/experimentalSetups/5-setup/hardware/mechanicals/right_leg-eb12-j3_5-mec.xml @@ -0,0 +1,88 @@ + + + + + + 6 + 3 + 0 1 2 + "r_knee" "r_ankle_pitch" "r_ankle_roll" + "revolute" "revolute" "revolute" + 182.044 182.044 182.044 + 32000 32000 32000 + 1000.0 1000.0 1000.0 + 100.0 100.0 100.0 + 64 64 32 + 1 1 1 + "MOOG_C2900580" "MOOG_C2900580" "MOOG_C2900575" + 0 + + + + 6 45 25 + -80 -45 -25 + 0 0 0 + 0 0 0 + + + + 0 0 0 + 0 0 0 + 0 0 0 + 0 0 0 + 1 1 1 + 1 1 1 + 0 0 0 + 157 155 180 + 12 12 8 + + + + + + 1.00 0.00 0.00 0.00 + 0.00 1.00 0.00 0.00 + 0.00 0.00 1.00 0.00 + 0.00 0.00 0.00 1.00 + + + + 1.00 0.00 0.00 0.00 + 0.00 1.00 0.00 0.00 + 0.00 0.00 1.00 0.00 + 0.00 0.00 0.00 1.00 + + + + 1.00 0.00 0.00 0.00 0.00 0.00 + 0.00 1.00 0.00 0.00 0.00 0.00 + 0.00 0.00 1.00 0.00 0.00 0.00 + 0.00 0.00 0.00 1.00 0.00 0.00 + + + + + + 3 + + 0 + none + 0 + 0 + + + 1 + none + 0 + 0 + + + 2 + none + 0 + 0 + + + + + diff --git a/experimentalSetups/5-setup/hardware/mechanicals/torso-eb5-j0_2-mec.xml b/experimentalSetups/5-setup/hardware/mechanicals/torso-eb5-j0_2-mec.xml new file mode 100644 index 0000000000..c40827095d --- /dev/null +++ b/experimentalSetups/5-setup/hardware/mechanicals/torso-eb5-j0_2-mec.xml @@ -0,0 +1,85 @@ + + + + + + 6 + 3 + 0 1 2 + "torso_roll" "torso_pitch" "torso_yaw" + "revolute" "revolute" "revolute" + 182.044 182.044 182.044 + 32000 32000 32000 + 1000.0 1000.0 1000.0 + 100.0 100.0 -100.0 + 1 1 1 + 1 1 1 + "MOOG_C2900576" "MOOG_C290057" "MOOG_C2900576" + 0 + + + + 25 65 45 + -25 -20 -45 + 0 0 0 + 0 0 0 + + + + 0 0 0 + 0 0 0 + 0 0 0 + 0 0 0 + 1 1 1 + 1 1 1 + 0 0 0 + 48 33 122 + 8 8 8 + + + + + 1.000 0.000 0.000 0.000 + 0.000 1.000 0.000 0.000 + 0.000 0.000 1.000 0.000 + 0.000 0.000 0.000 1.000 + + + + 1.000 0.000 0.000 0.000 + 0.000 1.000 0.000 0.000 + 0.000 0.000 1.000 0.000 + 0.000 0.000 0.000 1.000 + + + + 1.00 0.00 0.00 0.00 0.00 0.00 + 0.00 1.00 0.00 0.00 0.00 0.00 + 0.00 0.00 1.00 0.00 0.00 0.00 + 0.00 0.00 0.00 1.00 0.00 0.00 + + + + + 3 + + 0 + none + 0 + 0 + + + 1 + none + 0 + 0 + + + 2 + none + 0 + 0 + + + + diff --git a/experimentalSetups/5-setup/hardware/motorControl/face-eb22-j0-mc.xml b/experimentalSetups/5-setup/hardware/motorControl/face-eb22-j0-mc.xml new file mode 100644 index 0000000000..5ee2a2aad4 --- /dev/null +++ b/experimentalSetups/5-setup/hardware/motorControl/face-eb22-j0-mc.xml @@ -0,0 +1,70 @@ + + + + + + + + + + + + + + + -5 + +65 + 2000 + 700 + 1000 + 1000 + 3300 + + + + 100 + + + + 0.0 + 0.0 + + + + POS_PID_DEFAULT + POS_PID_DEFAULT + POS_PID_DEFAULT + none + none + none + + + + + + + minjerk + pwm + metric_units + machine_units + 700.00 + 0.0 + 700.0 + 3360 + 3360 + 0 + 0 + 0 + + + + + + + + + + + + + diff --git a/experimentalSetups/5-setup/hardware/motorControl/face-eb22-j0-mc_service.xml b/experimentalSetups/5-setup/hardware/motorControl/face-eb22-j0-mc_service.xml new file mode 100644 index 0000000000..f4ba011946 --- /dev/null +++ b/experimentalSetups/5-setup/hardware/motorControl/face-eb22-j0-mc_service.xml @@ -0,0 +1,48 @@ + + + + + + + + eomn_serv_MC_mc4plus + + + + + mc4plus + + + + + + + pwm + CONN:P2 + + + + aea + CONN:P10 + atjoint + -4096 + 0.703 + + + + none + none + none + 0 + 0 + + + + + + + + + + + diff --git a/experimentalSetups/5-setup/hardware/motorControl/face-eb22-j0_1-mc.xml b/experimentalSetups/5-setup/hardware/motorControl/face-eb22-j0_1-mc.xml new file mode 100644 index 0000000000..23ad102f68 --- /dev/null +++ b/experimentalSetups/5-setup/hardware/motorControl/face-eb22-j0_1-mc.xml @@ -0,0 +1,72 @@ + + + + + + + + + + + + + + 22 65 + 0 -5 + 1000 1000 + 700 700 + 1000 1000 + 2000 2000 + 3300 3300 + + + + 100 100 + + + + 0.1 0.1 + 0.05 0.05 + + + + POS_PID_DEFAULT POS_PID_DEFAULT + POS_PID_DEFAULT POS_PID_DEFAULT + POS_PID_DEFAULT POS_PID_DEFAULT + none none + none none + none none + + + + + + + minjerk + pwm + metric_units + machine_units + -400 400 + 0 0 + 0 0 + 3360 3360 + 3360 3360 + 0 0 + 0 0 + 0 0 + + + + + + + + + + + + + + + diff --git a/experimentalSetups/5-setup/hardware/motorControl/face-eb22-j0_1-mc_service.xml b/experimentalSetups/5-setup/hardware/motorControl/face-eb22-j0_1-mc_service.xml new file mode 100644 index 0000000000..15e7ed7346 --- /dev/null +++ b/experimentalSetups/5-setup/hardware/motorControl/face-eb22-j0_1-mc_service.xml @@ -0,0 +1,48 @@ + + + + + + + + eomn_serv_MC_mc4plus + + + + + mc4plus + + + + + + + pwm pwm + CONN:P3 CONN:P2 + + + + aea aea + CONN:P11 CONN:P10 + atjoint atjoint + 4096 -4096 + 0.703 0.703 + + + + none qenc + none CONN:P2 + none atmotor + 0 40 + 0 0 + + + + + + + + + + + diff --git a/experimentalSetups/5-setup/hardware/motorControl/face-eb23-j2_5-mc.xml b/experimentalSetups/5-setup/hardware/motorControl/face-eb23-j2_5-mc.xml new file mode 100644 index 0000000000..bec8225716 --- /dev/null +++ b/experimentalSetups/5-setup/hardware/motorControl/face-eb23-j2_5-mc.xml @@ -0,0 +1,72 @@ + + + + + + + + + + + + + + +35 +28 +35 +28 + -35 -28 -35 0 + 1000 1000 1000 1000 + 700 700 700 700 + 1000 1000 1000 1000 + 2000 2000 2000 2000 + 1300 1300 1300 1300 + + + + 100 100 100 100 + + + + 0.1 0.1 0.1 0.1 + 0.05 0.05 0.05 0.05 + + + + POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT + POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT + POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT + none none none none + none none none none + none none none none + + + + + + + minjerk + pwm + metric_units + machine_units + -3500 2000 3500 -4500 + 0 0 0 0 + 0 0 0 0 + 3360 3360 3360 3360 + 3360 3360 3360 3360 + 0 0 0 0 + 0 0 0 0 + 0 0 0 0 + + + + + + + + + + + + + + + diff --git a/experimentalSetups/5-setup/hardware/motorControl/face-eb23-j2_5-mc_service.xml b/experimentalSetups/5-setup/hardware/motorControl/face-eb23-j2_5-mc_service.xml new file mode 100644 index 0000000000..d5d0711c23 --- /dev/null +++ b/experimentalSetups/5-setup/hardware/motorControl/face-eb23-j2_5-mc_service.xml @@ -0,0 +1,47 @@ + + + + + + + + eomn_serv_MC_mc4plus + + + + + mc4plus + + + + + + pwm pwm pwm pwm + CONN:P3 CONN:P2 CONN:P4 CONN:P5 + + + + qenc qenc qenc qenc + CONN:P3 CONN:P2 CONN:P4 CONN:P5 + atmotor atmotor atmotor atmotor + 1600 1600 1600 1600 + 0.703 0.703 0.703 0.703 + + + + + none none none none + none none none none + none none none none + none none none none + 0 0 0 0 + + + + + + + + + + diff --git a/experimentalSetups/5-setup/hardware/motorControl/head-eb20-j0_1-mc.xml b/experimentalSetups/5-setup/hardware/motorControl/head-eb20-j0_1-mc.xml new file mode 100644 index 0000000000..184d6e29d6 --- /dev/null +++ b/experimentalSetups/5-setup/hardware/motorControl/head-eb20-j0_1-mc.xml @@ -0,0 +1,70 @@ + + + + + + + + + + + + + + + -40 -20 + +22 +20 + 1000 1000 + 5000 5000 + 1500 1500 + 3000 3000 + 3360 3360 + + + + 100 100 + + + + 0.0 0.0 + 0.0 0.0 + + + + POS_PID_DEFAULT POS_PID_DEFAULT + POS_PID_DEFAULT POS_PID_DEFAULT + POS_PID_DEFAULT POS_PID_DEFAULT + none none + none none + none none + + + + + + + minjerk + pwm + metric_units + machine_units + -300 +300 + -10 +10 + -100 +100 + 3360 3360 + 3360 3360 + 0 0 + 0 0 + 0 0 + + + + + + + + + + + + + diff --git a/experimentalSetups/5-setup/hardware/motorControl/head-eb20-j0_1-mc_service.xml b/experimentalSetups/5-setup/hardware/motorControl/head-eb20-j0_1-mc_service.xml new file mode 100644 index 0000000000..6e1b0a23a5 --- /dev/null +++ b/experimentalSetups/5-setup/hardware/motorControl/head-eb20-j0_1-mc_service.xml @@ -0,0 +1,48 @@ + + + + + + + + eomn_serv_MC_mc4plus + + + + + mc4plus + + + + + + + pwm pwm + CONN:P3 CONN:P4 + + + + aea aea + CONN:P11 CONN:P10 + atjoint atjoint + 4096 -4096 + 0.703 0.703 + + + + qenc qenc + CONN:P3 CONN:P4 + atmotor atmotor + 2048 2048 + 0 0 + + + + + + + + + + + diff --git a/experimentalSetups/5-setup/hardware/motorControl/head-eb21-j2_5-mc.xml b/experimentalSetups/5-setup/hardware/motorControl/head-eb21-j2_5-mc.xml new file mode 100644 index 0000000000..4fe23db62c --- /dev/null +++ b/experimentalSetups/5-setup/hardware/motorControl/head-eb21-j2_5-mc.xml @@ -0,0 +1,76 @@ + + + + + + + + + + + + + + + -45 -30 -30 0 + +45 +30 +30 +45 + 1000 1000 1000 1000 + 2000 2000 2500 2500 + 700 700 700 700 + 1500 1500 1500 1500 + + 3360 3360 3360 3360 + + + + 100 100 100 100 + + + + 0.0 0.0 0.0 0.0 + 0.0 0.0 0.0 0.0 + + + + POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT + POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT + POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT + none none none none + none none none none + none none none none + + + + + + + minjerk + pwm + metric_units + machine_units + 1100 -1000 3500 3500 + 0 0 0 0 + 0 -100 600 600 + 3360 3360 3360 3360 + 3360 3360 3360 3360 + 0 0 0 0 + 0 0 0 0 + 0 0 0 0 + + + + + + + + + + + + + + + 0.0495 0.0495 0.0495 0.0495 + + + diff --git a/experimentalSetups/5-setup/hardware/motorControl/head-eb21-j2_5-mc_service.xml b/experimentalSetups/5-setup/hardware/motorControl/head-eb21-j2_5-mc_service.xml new file mode 100644 index 0000000000..6e59b9123e --- /dev/null +++ b/experimentalSetups/5-setup/hardware/motorControl/head-eb21-j2_5-mc_service.xml @@ -0,0 +1,49 @@ + + + + + + + + eomn_serv_MC_mc4plus + + + + + mc4plus + + + + + + + + + pwm pwm pwm pwm + CONN:P3 CONN:P2 CONN:P5 CONN:P4 + + + + aea aea none none + CONN:P11 CONN:P10 CONN:none CONN:none + atjoint atjoint none none + 4096 4096 0 0 + 0.703 0.703 0 0 + + + + qenc qenc qenc qenc + CONN:P3 CONN:P2 CONN:P5 CONN:P4 + atmotor atmotor atmotor atmotor + 2048 2048 2048 2048 + 0 0 0 0 + + + + + + + + + + diff --git a/experimentalSetups/5-setup/hardware/motorControl/left_arm-eb1-j0_1-mc.xml b/experimentalSetups/5-setup/hardware/motorControl/left_arm-eb1-j0_1-mc.xml new file mode 100644 index 0000000000..ca143b9091 --- /dev/null +++ b/experimentalSetups/5-setup/hardware/motorControl/left_arm-eb1-j0_1-mc.xml @@ -0,0 +1,124 @@ + + + + + + + + + + + + + + 14 163 + -88 17 + 120 120 + 5000 5000 + 12000 12000 + 15000 15000 + 8000 8000 + + + + 100 100 + + + + 0.3 0.3 + 0.05 0.05 + + + + POS_PID_DEFAULT POS_PID_DEFAULT + POS_PID_DEFAULT POS_PID_DEFAULT + POS_PID_DEFAULT POS_PID_DEFAULT + TRQ_PID_DEFAULT TRQ_PID_DEFAULT + 2FOC_CUR_CONTROL 2FOC_CUR_CONTROL + 2FOC_VEL_CONTROL 2FOC_VEL_CONTROL + + + + + + + minjerk + pwm + metric_units + machine_units + 0 0 + 1500 1000 + 0 0 + 1000 1000 + 8000 8000 + 2000 2000 + 0 0 + 0 0 + + + + + + + torque + pwm + metric_units + dutycycle_percent + 3 1.8 + 0 0 + 6 4 + 25 25 + 1.56 1.56 + 0 0 + 0 0 + 0 0 + 1 1 + 0.0043 0.0037 + 0 0 + 0.86 0.7 + + + + + + + + low_lev_current + machine_units + machine_units + 8 8 + 0 0 + 2 2 + 10 10 + 32000 32000 + 32000 32000 + 0 0 + + + + low_lev_speed + machine_units + machine_units + 0 0 + 12 12 + 0 0 + 16 16 + 10 10 + 32000 32000 + 32000 32000 + + + + + + + + + + 0.0049 0.0049 + + + + + + diff --git a/experimentalSetups/5-setup/hardware/motorControl/left_arm-eb1-j0_1-mc_service.xml b/experimentalSetups/5-setup/hardware/motorControl/left_arm-eb1-j0_1-mc_service.xml new file mode 100644 index 0000000000..34aa9cc83a --- /dev/null +++ b/experimentalSetups/5-setup/hardware/motorControl/left_arm-eb1-j0_1-mc_service.xml @@ -0,0 +1,62 @@ + + + + + + + + eomn_serv_MC_foc + + + + + ems4 + + + + foc + + 1 + 6 + + + 3 + 3 + 3 + + + + + + + + + foc foc + CAN1:1:0 CAN1:2:0 + + + + amo amo + CONN:P6 CONN:P8 + atjoint atjoint + -1048576 1048576 + 0.703 0.703 + + + + roie roie + CAN1:1:0 CAN1:2:0 + atmotor atmotor + 14400 14400 + 3.6 3.6 + + + + + + + + + + + diff --git a/experimentalSetups/5-setup/hardware/motorControl/left_arm-eb2-j2_3-mc.xml b/experimentalSetups/5-setup/hardware/motorControl/left_arm-eb2-j2_3-mc.xml new file mode 100644 index 0000000000..fb65e49836 --- /dev/null +++ b/experimentalSetups/5-setup/hardware/motorControl/left_arm-eb2-j2_3-mc.xml @@ -0,0 +1,124 @@ + + + + + + + + + + + + + + 80 105 + -50 -3 + 120 120 + 5000 5000 + 9000 9000 + 15000 15000 + 8000 8000 + + + + 100 100 + + + + 0.2 0.1 + 0.05 0.05 + + + + POS_PID_DEFAULT POS_PID_DEFAULT + POS_PID_DEFAULT POS_PID_DEFAULT + POS_PID_DEFAULT POS_PID_DEFAULT + TRQ_PID_DEFAULT TRQ_PID_DEFAULT + 2FOC_CUR_CONTROL 2FOC_CUR_CONTROL + 2FOC_VEL_CONTROL 2FOC_VEL_CONTROL + + + + + + + minjerk + pwm + metric_units + machine_units + 0 0 + 1000 -1000 + 0 0 + 1000 -1000 + 8000 8000 + 1000 1000 + 0 0 + 0 0 + + + + + + + torque + pwm + metric_units + dutycycle_percent + 2.5 -3 + 0 0 + 3.5 -4 + 25 25 + 1.56 1.56 + 0 0 + 0 0 + 0 0 + 1 1 + 0.003 -0.0023 + 0 0 + 0.9 -0.7 + + + + + + + + low_lev_current + machine_units + machine_units + 8 8 + 0 0 + 2 2 + 10 10 + 32000 32000 + 32000 32000 + 0 0 + + + + low_lev_speed + machine_units + machine_units + 0 0 + 12 12 + 0 0 + 16 16 + 10 10 + 32000 32000 + 32000 32000 + + + + + + + + + + 0.0049 0.0049 + + + + + + diff --git a/experimentalSetups/5-setup/hardware/motorControl/left_arm-eb2-j2_3-mc_service.xml b/experimentalSetups/5-setup/hardware/motorControl/left_arm-eb2-j2_3-mc_service.xml new file mode 100644 index 0000000000..9224b5b7d4 --- /dev/null +++ b/experimentalSetups/5-setup/hardware/motorControl/left_arm-eb2-j2_3-mc_service.xml @@ -0,0 +1,62 @@ + + + + + + + + eomn_serv_MC_foc + + + + + ems4 + + + + foc + + 1 + 6 + + + 3 + 3 + 3 + + + + + + + + + foc foc + CAN1:3:0 CAN1:4:0 + + + + amo amo + CONN:P6 CONN:P8 + atjoint atjoint + 1048576 1048576 + 0.703 0.703 + + + + roie roie + CAN1:3:0 CAN1:4:0 + atmotor atmotor + 14400 14400 + 3.6 3.6 + + + + + + + + + + + diff --git a/experimentalSetups/5-setup/hardware/motorControl/left_arm-eb24-j4_7-mc.xml b/experimentalSetups/5-setup/hardware/motorControl/left_arm-eb24-j4_7-mc.xml new file mode 100644 index 0000000000..b1bf317339 --- /dev/null +++ b/experimentalSetups/5-setup/hardware/motorControl/left_arm-eb24-j4_7-mc.xml @@ -0,0 +1,72 @@ + + + + + + + + + + + + + + + 88 25 35 60 + -88 -70 -15 10 + 1000 1000 1000 1000 + 10000 2000 2000 2000 + 5000 1000 1000 600 + 5000 2000 2000 1000 + 3360 3360 3360 3360 + + + + 100 100 100 100 + + + + 0.0 0.0 0.0 0.0 + 0.0 0.0 0.0 0.0 + + + + POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT + POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT + POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT + none none none none + none none none none + none none none none + + + + + + + minjerk + pwm + metric_units + machine_units + -200.0 -500.0 -500.0 -500.0 + 0 0 0 0 + -200.0 -50.0 -50.0 -50.0 + 3360 3360 3360 3360 + 3360 3360 3360 3360 + 0 0 0 0 + 0 0 0 0 + 0 0 0 0 + + + + + + + + + + + + + + + diff --git a/experimentalSetups/5-setup/hardware/motorControl/left_arm-eb24-j4_7-mc_service.xml b/experimentalSetups/5-setup/hardware/motorControl/left_arm-eb24-j4_7-mc_service.xml new file mode 100644 index 0000000000..64f22219b9 --- /dev/null +++ b/experimentalSetups/5-setup/hardware/motorControl/left_arm-eb24-j4_7-mc_service.xml @@ -0,0 +1,51 @@ + + + + + + + + eomn_serv_MC_mc4plus + + + + + mc4plus + + + + + + + + + pwm pwm pwm pwm + CONN:P5 CONN:P2 CONN:P4 CONN:P3 + + + + none aea aea absanalog + CONN:none CONN:P10 CONN:P11 CONN:P3 + none atjoint atjoint atjoint + 1 -4096 4096 65535 + 0 0.703 0.703 0 + + + + + qenc qenc qenc none + CONN:P5 CONN:P2 CONN:P4 CONN:none + atmotor atmotor atmotor none + -2048 1600 1600 1 + 0 0 0 0 + + + + + + + + + + + diff --git a/experimentalSetups/5-setup/hardware/motorControl/left_arm-eb25-j8_11-mc.xml b/experimentalSetups/5-setup/hardware/motorControl/left_arm-eb25-j8_11-mc.xml new file mode 100644 index 0000000000..90be44be6e --- /dev/null +++ b/experimentalSetups/5-setup/hardware/motorControl/left_arm-eb25-j8_11-mc.xml @@ -0,0 +1,75 @@ + + + + + + + + + + + + + + + 110 90 180 90 + 10 0 0 0 + 1000 1000 1000 1000 + 2000 2000 2000 2000 + 600 600 600 600 + 1000 1000 1000 1000 + + 1800 1800 1800 1800 + + + + 100 100 100 100 + + + + 0.0 0.0 0.0 0.0 + 0.0 0.0 0.0 0.0 + + + + POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT + POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT + POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT + none none none none + none none none none + none none none none + + + + + + + minjerk + pwm + metric_units + machine_units + -500 500 500 500 + 0 0 0 0 + -50 50 50 50 + + 1800 1800 1800 1800 + 1800 1800 1800 1800 + 0 0 0 0 + 0 0 0 0 + 0 0 0 0 + + + + + + + + + + + + + + + + diff --git a/experimentalSetups/5-setup/hardware/motorControl/left_arm-eb25-j8_11-mc_service.xml b/experimentalSetups/5-setup/hardware/motorControl/left_arm-eb25-j8_11-mc_service.xml new file mode 100644 index 0000000000..2c71be2626 --- /dev/null +++ b/experimentalSetups/5-setup/hardware/motorControl/left_arm-eb25-j8_11-mc_service.xml @@ -0,0 +1,66 @@ + + + + + + + + eomn_serv_MC_mc4plusmais + + + + + mc4plus + + + + mais + + 0 + 0 + + + 0 + 0 + 0 + + + + + CAN1:14 + + + + + + + + pwm pwm pwm pwm + CONN:P3 CONN:P2 CONN:P4 CONN:P5 + + + + absanalog mais mais mais + CONN:P3 MAIS:thumbproximal MAIS:thumbdistal MAIS:indexproximal + atjoint atjoint atjoint atjoint + 65535 65535 65535 65535 + 0 0 0 0 + + + + none qenc qenc qenc + CONN:none CONN:P2 CONN:P4 CONN:P5 + none atmotor atmotor atmotor + 1 40 40 40 + 0 0 0 0 + + + + + + + + + + + diff --git a/experimentalSetups/5-setup/hardware/motorControl/left_arm-eb26-j12_15-mc.xml b/experimentalSetups/5-setup/hardware/motorControl/left_arm-eb26-j12_15-mc.xml new file mode 100644 index 0000000000..4ffe461c80 --- /dev/null +++ b/experimentalSetups/5-setup/hardware/motorControl/left_arm-eb26-j12_15-mc.xml @@ -0,0 +1,72 @@ + + + + + + + + + + + + + + + 180 90 180 270 + 0 0 0 0 + 1000 1000 1000 1000 + 2000 2000 2000 2000 + 600 600 600 600 + 1000 1000 1000 1000 + 3360 3360 3360 3360 + + + + 100 100 100 100 + + + + 0.0 0.0 0.0 0.0 + 0.0 0.0 0.0 0.0 + + + + POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT + POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT + POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT + none none none none + none none none none + none none none none + + + + + + + minjerk + pwm + metric_units + machine_units + -500 300 500 -200 + 0 0 0 0 + -50 50 50 -30 + 3360 3360 3360 3360 + 3360 3360 3360 3360 + 0 0 0 0 + 0 0 0 0 + 0 0 0 0 + + + + + + + + + + + + + + + diff --git a/experimentalSetups/5-setup/hardware/motorControl/left_arm-eb26-j12_15-mc_service.xml b/experimentalSetups/5-setup/hardware/motorControl/left_arm-eb26-j12_15-mc_service.xml new file mode 100644 index 0000000000..1697a92dd2 --- /dev/null +++ b/experimentalSetups/5-setup/hardware/motorControl/left_arm-eb26-j12_15-mc_service.xml @@ -0,0 +1,64 @@ + + + + + + + + eomn_serv_MC_mc4plusmais + + + + + mc4plus + + + + mais + + 0 + 0 + + + 0 + 0 + 0 + + + + + CAN1:14 + + + + + + + pwm pwm pwm pwm + CONN:P3 CONN:P2 CONN:P4 CONN:P5 + + + + mais mais mais mais + MAIS:indexdistal MAIS:mediumproximal MAIS:mediumdistal MAIS:littlefingers + atjoint atjoint atjoint atjoint + 65535 65535 65535 65535 + 0 0 0 0 + + + + qenc qenc qenc qenc + CONN:P3 CONN:P2 CONN:P4 CONN:P5 + atmotor atmotor atmotor atmotor + 40 40 40 40 + 0 0 0 0 + + + + + + + + + + diff --git a/experimentalSetups/5-setup/hardware/motorControl/left_leg-eb7-j0_2-mc.xml b/experimentalSetups/5-setup/hardware/motorControl/left_leg-eb7-j0_2-mc.xml new file mode 100644 index 0000000000..926015208f --- /dev/null +++ b/experimentalSetups/5-setup/hardware/motorControl/left_leg-eb7-j0_2-mc.xml @@ -0,0 +1,140 @@ + + + + + + + + + + + + + + + 90 100 70 + -40 -15 -70 + 240 240 240 + 15000 15000 5000 + 20000 20000 10000 + 30000 30000 15000 + 16000 16000 16000 + + + + 100 100 100 + + + + 0.1 0.1 0.1 + 0.05 0.05 0.05 + + + + POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT + POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT + POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT + TRQ_PID_DEFAULT TRQ_PID_DEFAULT TRQ_PID_DEFAULT + 2FOC_CUR_CONTROL 2FOC_CUR_CONTROL 2FOC_CUR_CONTROL + 2FOC_VEL_CONTROL 2FOC_VEL_CONTROL 2FOC_VEL_CONTROL + + + + + + + minjerk + pwm + metric_units + machine_units + 0 0 0 + -3000 7000 -711 + 0 0 0 + -1500 5000 -7111 + 12000 12000 12000 + 1500 5000 750 + 0 0 0 + 0 0 0 + + + + + + + torque + pwm + metric_units + dutycycle_percent + 0 0 0 + 0 0 0 + 0 0 0 + 25 25 25 + 1.56 1.56 1.56 + 0 0 0 + 0 0 0 + 0 0 0 + 1 1 1 + 0 0 0 + 0 0 0 + -0.51 0.56 -0.62 + + + + + + + low_lev_current + machine_units + machine_units + 8 8 8 + 0 0 0 + 2 2 2 + 10 10 10 + 32000 32000 32000 + 32000 32000 32000 + 0 0 0 + + + + low_lev_speed + machine_units + machine_units + 0 0 0 + 12 12 12 + 0 0 0 + 16 16 16 + 10 10 10 + 32000 32000 32000 + 32000 32000 32000 + + + + + + + + torque + current + metric_units + machine_units + -150.00 150.00 -200.00 + 0 0 0 + -80 50 -80 + 2500 2500 2500 + 200 200 200 + 0 0 0 + 0 0 0 + 0 0 0 + 1 1 1 + -0.0003 0.0004 -0.0003 + 0 0 0 + -175.56 177.83 -175.74 + + + + + + 0.0049 0.0049 0.0049 + + + diff --git a/experimentalSetups/5-setup/hardware/motorControl/left_leg-eb7-j0_2-mc_service.xml b/experimentalSetups/5-setup/hardware/motorControl/left_leg-eb7-j0_2-mc_service.xml new file mode 100644 index 0000000000..c9ac1f2b4c --- /dev/null +++ b/experimentalSetups/5-setup/hardware/motorControl/left_leg-eb7-j0_2-mc_service.xml @@ -0,0 +1,62 @@ + + + + + + + + eomn_serv_MC_foc + + + + + ems4 + + + + foc + + 1 + 6 + + + 3 + 3 + 3 + + + + + + + + + foc foc foc + CAN1:1:0 CAN1:2:0 CAN1:3:0 + + + + amo amo amo + CONN:P6 CONN:P7 CONN:P8 + atjoint atjoint atjoint + 16384 16384 16384 + 0.703 0.703 0.703 + + + + roie roie roie + CAN1:1:0 CAN1:2:0 CAN1:3:0 + atmotor atmotor atmotor + 14400 14400 14400 + 3.6 3.6 3.6 + + + + + + + + + + + diff --git a/experimentalSetups/5-setup/hardware/motorControl/left_leg-eb8-j3_5-mc.xml b/experimentalSetups/5-setup/hardware/motorControl/left_leg-eb8-j3_5-mc.xml new file mode 100644 index 0000000000..36e5c4de9e --- /dev/null +++ b/experimentalSetups/5-setup/hardware/motorControl/left_leg-eb8-j3_5-mc.xml @@ -0,0 +1,139 @@ + + + + + + + + + + + + + + 3 32 23 + -70 -43 -23 + 240 240 240 + 10000 10000 10000 + 15000 15000 15000 + 20000 30000 30000 + 16000 16000 16000 + + + + 100 100 100 + + + + 0.1 0.1 0.1 + 0.05 0.05 0.05 + + + + POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT + POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT + POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT + TRQ_PID_DEFAULT TRQ_PID_DEFAULT TRQ_PID_DEFAULT + 2FOC_CUR_CONTROL 2FOC_CUR_CONTROL 2FOC_CUR_CONTROL + 2FOC_VEL_CONTROL 2FOC_VEL_CONTROL 2FOC_VEL_CONTROL + + + + + + + minjerk + pwm + metric_units + machine_units + 0 0 0 + -5000 -5000 -3000 + 0 0 0 + -1500 -1000 -1000 + 12000 12000 12000 + 2000 1000 1000 + 0 0 0 + 0 0 0 + + + + + + + torque + pwm + metric_units + dutycycle_percent + 0 0 0 + 0 0 0 + 0 0 0 + 25 25 25 + 1.56 1.56 1.56 + 0 0 0 + 0 0 0 + 0 0 0 + 1 1 1 + 0 0 0 + 0 0 0 + -0.52 -0.65 -0.50 + + + + + + + low_lev_current + machine_units + machine_units + 8 8 8 + 0 0 0 + 2 2 2 + 10 10 10 + 32000 32000 32000 + 32000 32000 32000 + 0 0 0 + + + + low_lev_speed + machine_units + machine_units + 0 0 0 + 12 12 12 + 0 0 0 + 16 16 16 + 10 10 10 + 32000 32000 32000 + 32000 32000 32000 + + + + + + + + torque + current + metric_units + machine_units + -150.00 -36.21 -26.77 + 0 0 0 + -80.00 0 0 + 2500 2500 2500 + 200 200 200 + 0 0 0 + 0 0 0 + 0 0 0 + 1 1 1 + -0.0002 -0.0003 -0.0003 + 0 0 0 + -230.10 -162.24 -163.96 + + + + + 0.0049 0.0049 0.0049 + + + + diff --git a/experimentalSetups/5-setup/hardware/motorControl/left_leg-eb8-j3_5-mc_service.xml b/experimentalSetups/5-setup/hardware/motorControl/left_leg-eb8-j3_5-mc_service.xml new file mode 100644 index 0000000000..bb4439b553 --- /dev/null +++ b/experimentalSetups/5-setup/hardware/motorControl/left_leg-eb8-j3_5-mc_service.xml @@ -0,0 +1,61 @@ + + + + + + + + eomn_serv_MC_foc + + + + + ems4 + + + + foc + + 1 + 6 + + + 3 + 3 + 3 + + + + + + + + foc eomc_act_foc foc + CAN1:3:0 CAN1:1:0 CAN1:2:0 + + + + amo amo amo + CONN:P7 CONN:P6 CONN:P8 + atjoint atjoint atjoint + -16384 16384 -16384 + 0.703 0.703 0.703 + + + + roie roie roie + CAN3::0 CAN1::0 CAN1:2:0 + atmotor atmotor atmotor + 14400 14400 14400 + 3.6 3.6 3.6 + + + + + + + + + + + diff --git a/experimentalSetups/5-setup/hardware/motorControl/right_arm-eb27-j4_7-mc.xml b/experimentalSetups/5-setup/hardware/motorControl/right_arm-eb27-j4_7-mc.xml new file mode 100644 index 0000000000..ab8753c1c6 --- /dev/null +++ b/experimentalSetups/5-setup/hardware/motorControl/right_arm-eb27-j4_7-mc.xml @@ -0,0 +1,72 @@ + + + + + + + + + + + + + + + 88 25 35 60 + -88 -70 -15 10 + 1000 1000 1000 1000 + 10000 2000 2000 2000 + 5000 1000 1000 600 + 5000 2000 2000 1000 + 3360 3360 3360 3360 + + + + 100 100 100 100 + + + + 0.0 0.0 0.0 0.0 + 0.0 0.0 0.0 0.0 + + + + POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT + POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT + POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT + none none none none + none none none none + none none none none + + + + + + + minjerk + pwm + metric_units + machine_units + 200.0 500.0 500.0 500.0 + 0.0 0.0 0.0 0.0 + 200.0 50.0 50.0 50.0 + 3360 3360 3360 3360 + 3360 3360 3360 3360 + 0 0 0 0 + 0 0 0 0 + 0 0 0 0 + + + + + + + + + + + + + + + diff --git a/experimentalSetups/5-setup/hardware/motorControl/right_arm-eb27-j4_7-mc_service.xml b/experimentalSetups/5-setup/hardware/motorControl/right_arm-eb27-j4_7-mc_service.xml new file mode 100644 index 0000000000..18d9e21def --- /dev/null +++ b/experimentalSetups/5-setup/hardware/motorControl/right_arm-eb27-j4_7-mc_service.xml @@ -0,0 +1,47 @@ + + + + + + + + eomn_serv_MC_mc4plus + + + + + mc4plus + + + + + + + pwm pwm pwm pwm + CONN:P5 CONN:P2 CONN:P4 CONN:P3 + + + + none aea aea absanalog + CONN:none CONN:P10 CONN:P11 CONN:P3 + none atjoint atjoint atjoint + 1 4096 -4096 65535 + 0 0.703 0.703 0 + + + + qenc qenc qenc none + CONN:P5 CONN:P2 CONN:P4 CONN:none + atmotor atmotor atmotor none + -2048 1600 1600 1 + 0 0 0 0 + + + + + + + + + + diff --git a/experimentalSetups/5-setup/hardware/motorControl/right_arm-eb28-j8_11-mc.xml b/experimentalSetups/5-setup/hardware/motorControl/right_arm-eb28-j8_11-mc.xml new file mode 100644 index 0000000000..064d3cb61c --- /dev/null +++ b/experimentalSetups/5-setup/hardware/motorControl/right_arm-eb28-j8_11-mc.xml @@ -0,0 +1,75 @@ + + + + + + + + + + + + + + + 110 90 180 90 + 10 0 0 0 + 1000 1000 1000 1000 + 2000 2000 2000 2000 + 600 600 600 600 + 1000 1000 1000 1000 + + 3360 3360 3360 3360 + + + + 100 100 100 100 + + + + 0.0 0.0 0.0 0.0 + 0.0 0.0 0.0 0.0 + + + + POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT + POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT + POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT + none none none none + none none none none + none none none none + + + + + + + minjerk + pwm + metric_units + machine_units + -150 150 -500 500 + 0 0 0 0 + -50 50 -50 50 + + 3360 3360 3360 3360 + 3360 3360 3360 3360 + 0 0 0 0 + 0 0 0 0 + 0 0 0 0 + + + + + + + + + + + + + + + + diff --git a/experimentalSetups/5-setup/hardware/motorControl/right_arm-eb28-j8_11-mc_service.xml b/experimentalSetups/5-setup/hardware/motorControl/right_arm-eb28-j8_11-mc_service.xml new file mode 100644 index 0000000000..509723c692 --- /dev/null +++ b/experimentalSetups/5-setup/hardware/motorControl/right_arm-eb28-j8_11-mc_service.xml @@ -0,0 +1,65 @@ + + + + + + + + eomn_serv_MC_mc4plusmais + + + + + mc4plus + + + + mais + + 0 + 0 + + + 0 + 0 + 0 + + + + + CAN1:14 + + + + + + + pwm pwm pwm pwm + CONN:P3 CONN:P2 CONN:P4 CONN:P5 + + + + absanalog mais mais mais + CONN:P3 MAIS:thumbproximal MAIS:thumbdistal MAIS:indexproximal + atjoint atjoint atjoint atjoint + 65535 65535 65535 65535 + 0 0 0 0 + + + + none qenc qenc qenc + CONN:none CONN:P2 CONN:P4 CONN:P5 + none atmotor atmotor atmotor + 1 40 40 40 + 0 0 0 0 + + + + + + + + + + + diff --git a/experimentalSetups/5-setup/hardware/motorControl/right_arm-eb29-j12_15-mc.xml b/experimentalSetups/5-setup/hardware/motorControl/right_arm-eb29-j12_15-mc.xml new file mode 100644 index 0000000000..690ec8b1c1 --- /dev/null +++ b/experimentalSetups/5-setup/hardware/motorControl/right_arm-eb29-j12_15-mc.xml @@ -0,0 +1,63 @@ + + + + + + + + + + + + + + + 180 90 180 270 + 0 0 0 0 + 1000 1000 1000 1000 + 2000 2000 2000 2000 + 600 600 600 600 + 1000 1000 1000 1000 + 3360 3360 3360 3360 + + + + 100 100 100 100 + + + + 0.0 0.0 0.0 0.0 + 0.0 0.0 0.0 0.0 + + + + POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT + POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT + POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT + none none none none + none none none none + none none none none + + + + minjerk + pwm + metric_units + machine_units + 500 500 -500 200 + 0 0 0 0 + 50 50 -50 20 + 3360 3360 3360 3360 + 3360 3360 3360 3360 + 0 0 0 0 + 0 0 0 0 + 0 0 0 0 + + + + + + + + + diff --git a/experimentalSetups/5-setup/hardware/motorControl/right_arm-eb29-j12_15-mc_service.xml b/experimentalSetups/5-setup/hardware/motorControl/right_arm-eb29-j12_15-mc_service.xml new file mode 100644 index 0000000000..f5a536f2f2 --- /dev/null +++ b/experimentalSetups/5-setup/hardware/motorControl/right_arm-eb29-j12_15-mc_service.xml @@ -0,0 +1,65 @@ + + + + + + + + eomn_serv_MC_mc4plusmais + + + + + mc4plus + + + + mais + + 0 + 0 + + + 0 + 0 + 0 + + + + + CAN1:14 + + + + + + + + pwm pwm pwm pwm + CONN:P3 CONN:P2 CONN:P4 CONN:P5 + + + + mais mais mais mais + MAIS:indexdistal MAIS:mediumproximal MAIS:mediumdistal MAIS:littlefingers + atjoint atjoint atjoint atjoint + 65535 65535 65535 65535 + 0 0 0 0 + + + + qenc qenc qenc qenc + CONN:P3 CONN:P2 CONN:P4 CONN:P5 + atmotor atmotor atmotor atmotor + 40 40 40 40 + 0 0 0 0 + + + + + + + + + + diff --git a/experimentalSetups/5-setup/hardware/motorControl/right_arm-eb3-j0_1-mc.xml b/experimentalSetups/5-setup/hardware/motorControl/right_arm-eb3-j0_1-mc.xml new file mode 100644 index 0000000000..a2628d1019 --- /dev/null +++ b/experimentalSetups/5-setup/hardware/motorControl/right_arm-eb3-j0_1-mc.xml @@ -0,0 +1,126 @@ + + + + + + + + + + + + + + + 14 163 + -88 17 + 120 120 + 5000 5000 + 12000 12000 + 15000 15000 + 8000 8000 + + + + 100 100 + + + + 0.3 0.3 + 0.05 0.05 + + + + POS_PID_DEFAULT POS_PID_DEFAULT + POS_PID_DEFAULT POS_PID_DEFAULT + POS_PID_DEFAULT POS_PID_DEFAULT + TRQ_PID_DEFAULT TRQ_PID_DEFAULT + 2FOC_CUR_CONTROL 2FOC_CUR_CONTROL + 2FOC_VEL_CONTROL 2FOC_VEL_CONTROL + + + + + + + minjerk + pwm + metric_units + machine_units + 0 0 + -1500 -1000 + 0 0 + -1000 -1000 + 8000 8000 + 2000 2000 + 0 0 + 0 0 + + + + + + + + + low_lev_current + machine_units + machine_units + 8 8 + 0 0 + 2 2 + 10 10 + 32000 32000 + 32000 32000 + 0 0 + + + + low_lev_speed + machine_units + machine_units + 0 0 + 12 12 + 0 0 + 16 16 + 10 10 + 32000 32000 + 32000 32000 + + + + + + + + torque + pwm + metric_units + dutycycle_percent + -3 -2 + 0 0 + -6 -4 + 25 25 + 1.56 1.56 + 0 0 + 0 0 + 0 0 + 1 1 + -0.004 -0.004 + 0 0 + -0.86 -0.72 + + + + + + + + + 0.0049 0.0049 + + + + + + diff --git a/experimentalSetups/5-setup/hardware/motorControl/right_arm-eb3-j0_1-mc_service.xml b/experimentalSetups/5-setup/hardware/motorControl/right_arm-eb3-j0_1-mc_service.xml new file mode 100644 index 0000000000..93ff46ebef --- /dev/null +++ b/experimentalSetups/5-setup/hardware/motorControl/right_arm-eb3-j0_1-mc_service.xml @@ -0,0 +1,62 @@ + + + + + + + + eomn_serv_MC_foc + + + + + ems4 + + + + foc + + 1 + 6 + + + 3 + 3 + 3 + + + + + + + + + foc foc + CAN1:1:0 CAN1:2:0 + + + + amo amo + CONN:P6 CONN:P8 + atjoint atjoint + 1048576 -1048576 + 0.703 0.703 + + + + roie roie + CAN1:1:0 CAN1:2:0 + atmotor atmotor + 14400 14400 + 3.6 3.6 + + + + + + + + + + + diff --git a/experimentalSetups/5-setup/hardware/motorControl/right_arm-eb4-j2_3-mc.xml b/experimentalSetups/5-setup/hardware/motorControl/right_arm-eb4-j2_3-mc.xml new file mode 100644 index 0000000000..bce152b992 --- /dev/null +++ b/experimentalSetups/5-setup/hardware/motorControl/right_arm-eb4-j2_3-mc.xml @@ -0,0 +1,126 @@ + + + + + + + + + + + + + + 80 105 + -50 -3 + 120 120 + 5000 5000 + 9000 9000 + 15000 15000 + 8000 8000 + + + + 100 100 + + + + 0.2 0.1 + 0.05 0.05 + + + + POS_PID_DEFAULT POS_PID_DEFAULT + POS_PID_DEFAULT POS_PID_DEFAULT + POS_PID_DEFAULT POS_PID_DEFAULT + TRQ_PID_DEFAULT TRQ_PID_DEFAULT + 2FOC_CUR_CONTROL 2FOC_CUR_CONTROL + 2FOC_VEL_CONTROL 2FOC_VEL_CONTROL + + + + + + + minjerk + pwm + metric_units + machine_units + 0 0 + -1000 1000 + 0 0 + -1000 1000 + 8000 8000 + 2000 2000 + 0 0 + 0 0 + + + + + + + + torque + pwm + metric_units + dutycycle_percent + -2.5 3 + 0 0 + -3.5 4 + 25 25 + 1.56 1.56 + 0 0 + 0 0 + 0 0 + 1 1 + -0.003 0.0023 + 0 0 + -0.9 0.7 + + + + + + + + + low_lev_current + machine_units + machine_units + 8 8 + 0 0 + 2 2 + 10 10 + 32000 32000 + 32000 32000 + 0 0 + + + + low_lev_speed + machine_units + machine_units + 0 0 + 12 12 + 0 0 + 16 16 + 10 10 + 32000 32000 + 32000 32000 + + + + + + + + + + 0.0049 0.0049 + + + + + + diff --git a/experimentalSetups/5-setup/hardware/motorControl/right_arm-eb4-j2_3-mc_service.xml b/experimentalSetups/5-setup/hardware/motorControl/right_arm-eb4-j2_3-mc_service.xml new file mode 100644 index 0000000000..a0dafb4186 --- /dev/null +++ b/experimentalSetups/5-setup/hardware/motorControl/right_arm-eb4-j2_3-mc_service.xml @@ -0,0 +1,62 @@ + + + + + + + + eomn_serv_MC_foc + + + + + ems4 + + + + foc + + 1 + 6 + + + 3 + 3 + 3 + + + + + + + + + foc foc + CAN1:3:0 CAN1:4:0 + + + + amo amo + CONN:P6 CONN:P8 + atjoint atjoint + -1048576 -1048576 + 0.703 0.703 + + + + roie roie + CAN1:3:0 CAN1:4:0 + atmotor atmotor + 14400 14400 + 3.6 3.6 + + + + + + + + + + + diff --git a/experimentalSetups/5-setup/hardware/motorControl/right_leg-eb11-j0_2-mc.xml b/experimentalSetups/5-setup/hardware/motorControl/right_leg-eb11-j0_2-mc.xml new file mode 100644 index 0000000000..5600b6791d --- /dev/null +++ b/experimentalSetups/5-setup/hardware/motorControl/right_leg-eb11-j0_2-mc.xml @@ -0,0 +1,140 @@ + + + + + + + + + + + + + + + 90 100 70 + -40 -15 -70 + 240 240 240 + 15000 15000 5000 + 20000 20000 10000 + 30000 30000 15000 + 16000 16000 16000 + + + + 100 100 100 + + + + 0.1 0.1 0.1 + 0.05 0.05 0.05 + + + + POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT + POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT + POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT + TRQ_PID_DEFAULT TRQ_PID_DEFAULT TRQ_PID_DEFAULT + 2FOC_CUR_CONTROL 2FOC_CUR_CONTROL 2FOC_CUR_CONTROL + 2FOC_VEL_CONTROL 2FOC_VEL_CONTROL 2FOC_VEL_CONTROL + + + + + + + minjerk + pwm + metric_units + machine_units + 0 0 0 + 5000 -25000 3000 + 0 0 0 + 1500 -5000 2000 + 12000 11000 12000 + 1500 5000 2000 + 0 0 0 + 0 0 0 + + + + + + + torque + pwm + metric_units + dutycycle_percent + 0 0 0 + 0 0 0 + 0 0 0 + 25 25 25 + 1.56 1.56 1.56 + 0 0 0 + 0 0 0 + 0 0 0 + 1 1 1 + 0 0 0 + 0 0 0 + 0.46 -0.56 0.68 + + + + + + + low_lev_current + machine_units + machine_units + 8 8 8 + 0 0 0 + 2 2 2 + 10 10 10 + 32000 32000 32000 + 32000 32000 32000 + 0 0 0 + + + + low_lev_speed + machine_units + machine_units + 0 0 0 + 12 12 12 + 0 0 0 + 16 16 16 + 10 10 10 + 32000 32000 32000 + 32000 32000 32000 + + + + + + + + torque + current + metric_units + machine_units + 150.00 -150.00 200.00 + 0 0 0 + 80 -50 80 + 2500 2500 2500 + 200 200 200 + 0 0 0 + 0 0 0 + 0 0 0 + 1 1 1 + 0.0002 -0.0003 0.0003 + 0 0 0 + 196.52 -185.41 185.70 + + + + + + 0.0049 0.0049 0.0049 + + + diff --git a/experimentalSetups/5-setup/hardware/motorControl/right_leg-eb11-j0_2-mc_service.xml b/experimentalSetups/5-setup/hardware/motorControl/right_leg-eb11-j0_2-mc_service.xml new file mode 100644 index 0000000000..8340e4441d --- /dev/null +++ b/experimentalSetups/5-setup/hardware/motorControl/right_leg-eb11-j0_2-mc_service.xml @@ -0,0 +1,62 @@ + + + + + + + + eomn_serv_MC_foc + + + + + ems4 + + + + foc + + 1 + 6 + + + 3 + 3 + 3 + + + + + + + + + foc foc foc + CAN1:1:0 CAN1:2:0 CAN1:3:0 + + + + amo amo amo + CONN:P6 CONN:P7 CONN:P8 + atjoint atjoint atjoint + -16384 -16384 -16384 + 0.703 0.703 0.703 + + + + roie roie roie + CAN1:1:0 CAN1:2:0 CAN1:3:0 + atmotor atmotor atmotor + 14400 14400 14400 + 3.6 3.6 3.6 + + + + + + + + + + + diff --git a/experimentalSetups/5-setup/hardware/motorControl/right_leg-eb12-j3_5-mc.xml b/experimentalSetups/5-setup/hardware/motorControl/right_leg-eb12-j3_5-mc.xml new file mode 100644 index 0000000000..eba4c88c06 --- /dev/null +++ b/experimentalSetups/5-setup/hardware/motorControl/right_leg-eb12-j3_5-mc.xml @@ -0,0 +1,139 @@ + + + + + + + + + + + + + + 3 32 23 + -70 -45 -23 + 240 240 240 + 10000 10000 10000 + 15000 15000 15000 + 20000 30000 30000 + 16000 16000 16000 + + + + 100 100 100 + + + + 0.1 0.1 0.1 + 0.05 0.05 0.05 + + + + POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT + POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT + POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT + TRQ_PID_DEFAULT TRQ_PID_DEFAULT TRQ_PID_DEFAULT + 2FOC_CUR_CONTROL 2FOC_CUR_CONTROL 2FOC_CUR_CONTROL + 2FOC_VEL_CONTROL 2FOC_VEL_CONTROL 2FOC_VEL_CONTROL + + + + + + + minjerk + pwm + metric_units + machine_units + 0 0 0 + 5000 5000 2310 + 0 0 0 + 1500 1000 1000 + 12000 12000 12000 + 2000 1000 1000 + 0 0 0 + 0 0 0 + + + + + + + torque + pwm + metric_units + dutycycle_percent + 0 0 0 + 0 0 0 + 0 0 0 + 25 25 25 + 1.56 1.56 1.56 + 0 0 0 + 0 0 0 + 0 0 0 + 1 1 1 + 0 0 0 + 0 0 0 + -0.52 0.72 0.56 + + + + + + + low_lev_current + machine_units + machine_units + 8 8 8 + 0 0 0 + 2 2 2 + 10 10 10 + 32000 32000 32000 + 32000 32000 32000 + 0 0 0 + + + + low_lev_speed + machine_units + machine_units + 0 0 0 + 12 12 12 + 0 0 0 + 16 16 16 + 10 10 10 + 32000 32000 32000 + 32000 32000 32000 + + + + + + + + torque + current + metric_units + machine_units + 150.00 40.44 28.27 + 0 0 0 + 80.00 0 0 + 2500 2500 2500 + 200 200 200 + 0 0 0 + 0 0 0 + 0 0 0 + 1 1 1 + 0.0001 0.0003 0.0004 + 0 0 0 + 270.78 181.17 230.00 + + + + + 0.011 0.011 0.011 + + + + diff --git a/experimentalSetups/5-setup/hardware/motorControl/right_leg-eb12-j3_5-mc_service.xml b/experimentalSetups/5-setup/hardware/motorControl/right_leg-eb12-j3_5-mc_service.xml new file mode 100644 index 0000000000..b16e40c91b --- /dev/null +++ b/experimentalSetups/5-setup/hardware/motorControl/right_leg-eb12-j3_5-mc_service.xml @@ -0,0 +1,61 @@ + + + + + + + + eomn_serv_MC_foc + + + + + ems4 + + + + foc + + 1 + 6 + + + 3 + 3 + 3 + + + + + + + + foc foc foc + CAN1:3:0 CAN1:1:0 CAN1:2:0 + + + + amo amo amo + CONN:P7 CONN:P6 CONN:P8 + atjoint atjoint atjoint + 16384 -16384 16384 + 0.703 0.703 0.703 + + + + roie roie roie + CAN3::0 CAN1::0 CAN1:2:0 + atmotor atmotor atmotor + 14400 14400 14400 + 3.6 3.6 3.6 + + + + + + + + + + + diff --git a/experimentalSetups/5-setup/hardware/motorControl/torso-eb5-j0_2-mc.xml b/experimentalSetups/5-setup/hardware/motorControl/torso-eb5-j0_2-mc.xml new file mode 100644 index 0000000000..a9652bf2f0 --- /dev/null +++ b/experimentalSetups/5-setup/hardware/motorControl/torso-eb5-j0_2-mc.xml @@ -0,0 +1,126 @@ + + + + + + + + + + + + + + + + 23 45 43 + -23 -18 -43 + 120 120 120 + 5000 8000 5000 + 10000 16000 10000 + 15000 20000 15000 + 10000 10000 10000 + + + + 100 100 100 + + + + 0 0 0 + 0 0 0 + + + + POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT + POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT + POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT + TRQ_PID_DEFAULT TRQ_PID_DEFAULT TRQ_PID_DEFAULT + 2FOC_CUR_CONTROL 2FOC_CUR_CONTROL 2FOC_CUR_CONTROL + 2FOC_VEL_CONTROL 2FOC_VEL_CONTROL 2FOC_VEL_CONTROL + + + + + + + minjerk + pwm + metric_units + machine_units + 7000 4000 -1500 + 0 0 0 + 3000 2000 -1000 + 8000 8000 8000 + 3000 2000 1000 + 0 0 0 + 0 0 0 + 0 0 0 + + + + + + + + torque + pwm + metric_units + dutycycle_percent + 0 0 0 + 0 0 0 + 0 0 0 + 25 25 25 + 1.56 1.56 1.56 + 0 0 0 + 0 0 0 + 0 0 0 + 1 1 1 + 0.0016 0.003 -0.003 + 0 0 0 + 0.63 0.63 -0.63 + + + + + + + + low_lev_current + machine_units + machine_units + 8 8 8 + 0 0 0 + 2 2 2 + 10 10 10 + 32000 32000 32000 + 32000 32000 32000 + 0 0 0 + + + + low_lev_speed + machine_units + machine_units + 0 0 0 + 12 12 12 + 0 0 0 + 16 16 16 + 10 10 10 + 32000 32000 32000 + 32000 32000 32000 + + + + + + + + + + 0.0049 0.0049 0.0049 + + + + + diff --git a/experimentalSetups/5-setup/hardware/motorControl/torso-eb5-j0_2-mc_service.xml b/experimentalSetups/5-setup/hardware/motorControl/torso-eb5-j0_2-mc_service.xml new file mode 100644 index 0000000000..6ceaa0ea1d --- /dev/null +++ b/experimentalSetups/5-setup/hardware/motorControl/torso-eb5-j0_2-mc_service.xml @@ -0,0 +1,65 @@ + + + + + + + + eomn_serv_MC_foc + + + + + ems4 + + + + foc + + 1 + 6 + + + 3 + 3 + 3 + + + + + + + + + + eomc_act_foc eomc_act_foc eomc_act_foc + CAN1:1:0 CAN1:4:0 CAN1:3:0 + + + + amo amo amo + CONN:P7 CONN:P8 CONN:P6 + atjoint atjoint atjoint + 1048576 1048576 1048576 + 0.703 0.703 0.703 + + + + roie roie roie + CAN1:1:0 CAN1:4:0 CAN1:3:0 + atmotor atmotor atmotor + 14400 14400 14400 + 3.6 3.6 3.6 + + + + + + + + + + + + + diff --git a/experimentalSetups/5-setup/hardware/skin/left_arm-eb24-j4_7-skin.xml b/experimentalSetups/5-setup/hardware/skin/left_arm-eb24-j4_7-skin.xml new file mode 100644 index 0000000000..b8eba1997b --- /dev/null +++ b/experimentalSetups/5-setup/hardware/skin/left_arm-eb24-j4_7-skin.xml @@ -0,0 +1,15 @@ + + + + + + + + + + 14 13 12 11 10 9 8 + + + + + diff --git a/experimentalSetups/5-setup/hardware/skin/left_arm-eb24-j4_7-skinSpec.xml b/experimentalSetups/5-setup/hardware/skin/left_arm-eb24-j4_7-skinSpec.xml new file mode 100644 index 0000000000..442744d04d --- /dev/null +++ b/experimentalSetups/5-setup/hardware/skin/left_arm-eb24-j4_7-skinSpec.xml @@ -0,0 +1,42 @@ + + + + + + + 50 + 0 + 0xf0 + false + + + + + 1 + + 1 14 14 50 1 0xf0 + + + + + + false + 2 + 0x2200 + + + + 2 + 1 14 0 6 1 0 0x2000 + 1 14 8 11 1 2 0x2200 + + + + + + diff --git a/experimentalSetups/5-setup/hardware/skin/left_upperarm-eb2-skin.xml b/experimentalSetups/5-setup/hardware/skin/left_upperarm-eb2-skin.xml new file mode 100644 index 0000000000..f24dfa1799 --- /dev/null +++ b/experimentalSetups/5-setup/hardware/skin/left_upperarm-eb2-skin.xml @@ -0,0 +1,14 @@ + + + + + + + + + + 13 + + + + diff --git a/experimentalSetups/5-setup/hardware/skin/left_upperarm-eb2-skinSpec.xml b/experimentalSetups/5-setup/hardware/skin/left_upperarm-eb2-skinSpec.xml new file mode 100644 index 0000000000..13b3bc1bdb --- /dev/null +++ b/experimentalSetups/5-setup/hardware/skin/left_upperarm-eb2-skinSpec.xml @@ -0,0 +1,38 @@ + + + + + + + 50 + 8 + + 0xf0 + false + + + + + true + 2 + 0x2200 + + + + + + diff --git a/experimentalSetups/5-setup/hardware/skin/right_arm-eb27-j4_7-skin.xml b/experimentalSetups/5-setup/hardware/skin/right_arm-eb27-j4_7-skin.xml new file mode 100644 index 0000000000..511934f45a --- /dev/null +++ b/experimentalSetups/5-setup/hardware/skin/right_arm-eb27-j4_7-skin.xml @@ -0,0 +1,14 @@ + + + + + + + + + + 14 13 12 11 10 9 8 + + + + diff --git a/experimentalSetups/5-setup/hardware/skin/right_arm-eb27-j4_7-skinSpec.xml b/experimentalSetups/5-setup/hardware/skin/right_arm-eb27-j4_7-skinSpec.xml new file mode 100644 index 0000000000..442744d04d --- /dev/null +++ b/experimentalSetups/5-setup/hardware/skin/right_arm-eb27-j4_7-skinSpec.xml @@ -0,0 +1,42 @@ + + + + + + + 50 + 0 + 0xf0 + false + + + + + 1 + + 1 14 14 50 1 0xf0 + + + + + + false + 2 + 0x2200 + + + + 2 + 1 14 0 6 1 0 0x2000 + 1 14 8 11 1 2 0x2200 + + + + + + diff --git a/experimentalSetups/5-setup/hardware/skin/right_upperarm-eb4-skin.xml b/experimentalSetups/5-setup/hardware/skin/right_upperarm-eb4-skin.xml new file mode 100644 index 0000000000..a070ff78b9 --- /dev/null +++ b/experimentalSetups/5-setup/hardware/skin/right_upperarm-eb4-skin.xml @@ -0,0 +1,14 @@ + + + + + + + + + + 13 + + + + diff --git a/experimentalSetups/5-setup/hardware/skin/right_upperarm-eb4-skinSpec.xml b/experimentalSetups/5-setup/hardware/skin/right_upperarm-eb4-skinSpec.xml new file mode 100644 index 0000000000..63a97aaa0c --- /dev/null +++ b/experimentalSetups/5-setup/hardware/skin/right_upperarm-eb4-skinSpec.xml @@ -0,0 +1,38 @@ + + + + + + + 50 + 8 + 0xf0 + false + + + + + true + 2 + 0x2200 + + + + + + diff --git a/experimentalSetups/5-setup/hardware/skin/torso-eb22-skin.xml b/experimentalSetups/5-setup/hardware/skin/torso-eb22-skin.xml new file mode 100644 index 0000000000..962796ab36 --- /dev/null +++ b/experimentalSetups/5-setup/hardware/skin/torso-eb22-skin.xml @@ -0,0 +1,15 @@ + + + + + + + + + + + 7 8 9 10 + + + + diff --git a/experimentalSetups/5-setup/hardware/skin/torso-eb22-skinSpec.xml b/experimentalSetups/5-setup/hardware/skin/torso-eb22-skinSpec.xml new file mode 100644 index 0000000000..b651dd1486 --- /dev/null +++ b/experimentalSetups/5-setup/hardware/skin/torso-eb22-skinSpec.xml @@ -0,0 +1,22 @@ + + + + + + + 50 + 0 + 0xf0 + false + + + + + true + 2 + 0x2200 + + + diff --git a/experimentalSetups/5-setup/hardware/skin/torso-ems5-inertial_gyro.xml b/experimentalSetups/5-setup/hardware/skin/torso-ems5-inertial_gyro.xml new file mode 100644 index 0000000000..979f35f78a --- /dev/null +++ b/experimentalSetups/5-setup/hardware/skin/torso-ems5-inertial_gyro.xml @@ -0,0 +1,55 @@ + + + + + + + + + + + + + + eomn_serv_AS_inertials + + + + + eobrd_mtb + + + 0 + 0 + + + 0 + 0 + 0 + + + + + on_ems10_gyros + + + eoas_gyros_st_l3g4200d + + + ETH:0 + + + + + + + 50 + on_ems10_gyros + + + + + + + + diff --git a/experimentalSetups/5-setup/head-face.xml b/experimentalSetups/5-setup/head-face.xml new file mode 100644 index 0000000000..a74f5da452 --- /dev/null +++ b/experimentalSetups/5-setup/head-face.xml @@ -0,0 +1,35 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/experimentalSetups/5-setup/iCubStartup.xml b/experimentalSetups/5-setup/iCubStartup.xml new file mode 100644 index 0000000000..4559fe6b09 --- /dev/null +++ b/experimentalSetups/5-setup/iCubStartup.xml @@ -0,0 +1,90 @@ + +iCubStartup + + + + + + yarplogger + --start --no_stop + console + + + + yarprobotinterface + pc104 + + + + iKinCartesianSolver + --from cartesianSolver.ini --part right_arm + console + + /icub/yarprobotinterface + + + + + iKinCartesianSolver + --from cartesianSolver.ini --part left_arm + console + + /icub/yarprobotinterface + + + + + iKinGazeCtrl + --from configv3.ini + console + + /icub/yarprobotinterface + /imuFilter/inertial:o + + + + + + wholeBodyDynamics + + --autoconnect + pwrNode6 + + /icub/yarprobotinterface + + + + + + gravityCompensator + + + pwrNode6 + + /wholeBodyDynamics/rpc:i + + + + + fingersTuner + console + + /icub/yarprobotinterface + + + + + imuFilter + pc104 + + /icub/inertial + + + + + /icub/inertial + /imuFilter/inertial:i + tcp + + + diff --git a/experimentalSetups/5-setup/iKinGazeCtrl.ini b/experimentalSetups/5-setup/iKinGazeCtrl.ini new file mode 100644 index 0000000000..f1db0b8ce8 --- /dev/null +++ b/experimentalSetups/5-setup/iKinGazeCtrl.ini @@ -0,0 +1,11 @@ +robot icub +head_version 3.0 +saccades off + +[cameras] +context cameraCalibration +file icubEyes.ini + +[imu] +mode off +source_port_name /imuFilter diff --git a/experimentalSetups/5-setup/icubEyes.ini b/experimentalSetups/5-setup/icubEyes.ini new file mode 100644 index 0000000000..2e43e322c5 --- /dev/null +++ b/experimentalSetups/5-setup/icubEyes.ini @@ -0,0 +1,63 @@ +[CAMERA_CALIBRATION_RIGHT] + +projection pinhole +drawCenterCross 0 + +w 1024 +h 768 +fx 746.539 +fy 751.274 +cx 559.26 +cy 355.631 +k1 -0.467452 +k2 0.245837 +p1 0.00379421 +p2 0.00670889 + +[CAMERA_CALIBRATION_LEFT] + +projection pinhole +drawCenterCross 0 + +w 1024 +h 768 +fx 726.389 +fy 728.673 +cx 548.169 +cy 371.598 +k1 -0.434368 +k2 0.219995 +p1 0.00347889 +p2 -0.0014471 + +[CAMERA_CALIBRATION_CONFIGURATION_LEFT] + +numPatternImagesRequired 10 +numPatternInnerCornersX 8 +numPatternInnerCornersY 6 +patternSquareSideLength 25 +outputFilename /tmp/results.ini +outputGroupname CAMERA_CALIBRATION_LEFT + + + +[CAMERA_CALIBRATION_CONFIGURATION_RIGHT] + +numPatternImagesRequired 10 +numPatternInnerCornersX 8 +numPatternInnerCornersY 6 +patternSquareSideLength 25 +outputFilename /tmp/results.ini +outputGroupname CAMERA_CALIBRATION_RIGHT + + +[STEREO_CALIBRATION_CONFIGURATION] +boardWidth 8 +boardHeight 6 +boardSize 0.09241 +numberOfPairs 30 + +[STEREO_DISPARITY] +HN (0.998748 0.0418866 0.0273391 -0.232222 -0.0416763 0.999097 -0.00821842 -0.0045673 -0.0276587 0.00706874 0.999592 0.014123 0 0 0 1) +QL ( 0.000000 0.000000 0.000000 0.000000 0.000000 -0.004602 0.000000 -0.000863) +QR ( 0.000000 0.000000 0.000000 0.000000 0.000000 -0.004602 0.000000 -0.000863) diff --git a/experimentalSetups/5-setup/icub_FT_arms.xml b/experimentalSetups/5-setup/icub_FT_arms.xml new file mode 100644 index 0000000000..333969f760 --- /dev/null +++ b/experimentalSetups/5-setup/icub_FT_arms.xml @@ -0,0 +1,24 @@ + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/experimentalSetups/5-setup/icub_FT_feet.xml b/experimentalSetups/5-setup/icub_FT_feet.xml new file mode 100644 index 0000000000..e054bafec4 --- /dev/null +++ b/experimentalSetups/5-setup/icub_FT_feet.xml @@ -0,0 +1,28 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/experimentalSetups/5-setup/icub_all.xml b/experimentalSetups/5-setup/icub_all.xml new file mode 100644 index 0000000000..869b860782 --- /dev/null +++ b/experimentalSetups/5-setup/icub_all.xml @@ -0,0 +1,99 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/experimentalSetups/5-setup/icub_all_inertials.xml b/experimentalSetups/5-setup/icub_all_inertials.xml new file mode 100644 index 0000000000..39e04bf3db --- /dev/null +++ b/experimentalSetups/5-setup/icub_all_inertials.xml @@ -0,0 +1,117 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/experimentalSetups/5-setup/icub_all_no_legs.xml b/experimentalSetups/5-setup/icub_all_no_legs.xml new file mode 100644 index 0000000000..61c7d1b7d3 --- /dev/null +++ b/experimentalSetups/5-setup/icub_all_no_legs.xml @@ -0,0 +1,69 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/experimentalSetups/5-setup/icub_foc.xml b/experimentalSetups/5-setup/icub_foc.xml new file mode 100644 index 0000000000..3e2d518092 --- /dev/null +++ b/experimentalSetups/5-setup/icub_foc.xml @@ -0,0 +1,54 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/experimentalSetups/5-setup/icub_h_f_RL_a.xml b/experimentalSetups/5-setup/icub_h_f_RL_a.xml new file mode 100644 index 0000000000..4114736f82 --- /dev/null +++ b/experimentalSetups/5-setup/icub_h_f_RL_a.xml @@ -0,0 +1,77 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/experimentalSetups/5-setup/icub_left_leg.xml b/experimentalSetups/5-setup/icub_left_leg.xml new file mode 100644 index 0000000000..4ec538a186 --- /dev/null +++ b/experimentalSetups/5-setup/icub_left_leg.xml @@ -0,0 +1,27 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/experimentalSetups/5-setup/icub_legs.xml b/experimentalSetups/5-setup/icub_legs.xml new file mode 100644 index 0000000000..aa0fe73dbe --- /dev/null +++ b/experimentalSetups/5-setup/icub_legs.xml @@ -0,0 +1,33 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/experimentalSetups/5-setup/icub_legs_mcOnly.xml b/experimentalSetups/5-setup/icub_legs_mcOnly.xml new file mode 100644 index 0000000000..537523c6fe --- /dev/null +++ b/experimentalSetups/5-setup/icub_legs_mcOnly.xml @@ -0,0 +1,34 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/experimentalSetups/5-setup/icub_legs_rarm.xml b/experimentalSetups/5-setup/icub_legs_rarm.xml new file mode 100644 index 0000000000..1bcd58c65e --- /dev/null +++ b/experimentalSetups/5-setup/icub_legs_rarm.xml @@ -0,0 +1,43 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/experimentalSetups/5-setup/icub_right_leg.xml b/experimentalSetups/5-setup/icub_right_leg.xml new file mode 100644 index 0000000000..cb7afaf83e --- /dev/null +++ b/experimentalSetups/5-setup/icub_right_leg.xml @@ -0,0 +1,26 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/experimentalSetups/5-setup/icub_torso.xml b/experimentalSetups/5-setup/icub_torso.xml new file mode 100644 index 0000000000..9b7219e21e --- /dev/null +++ b/experimentalSetups/5-setup/icub_torso.xml @@ -0,0 +1,24 @@ + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/experimentalSetups/5-setup/icub_wbd.xml b/experimentalSetups/5-setup/icub_wbd.xml new file mode 100644 index 0000000000..ae9bd425e7 --- /dev/null +++ b/experimentalSetups/5-setup/icub_wbd.xml @@ -0,0 +1,129 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/experimentalSetups/5-setup/legs-wbd.xml b/experimentalSetups/5-setup/legs-wbd.xml new file mode 100644 index 0000000000..7503a7057e --- /dev/null +++ b/experimentalSetups/5-setup/legs-wbd.xml @@ -0,0 +1,72 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/experimentalSetups/5-setup/ll.xml b/experimentalSetups/5-setup/ll.xml new file mode 100644 index 0000000000..bcbe79ee59 --- /dev/null +++ b/experimentalSetups/5-setup/ll.xml @@ -0,0 +1,26 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/experimentalSetups/5-setup/network.iCubGenova09.xml b/experimentalSetups/5-setup/network.iCubGenova09.xml new file mode 100644 index 0000000000..6b2e46c543 --- /dev/null +++ b/experimentalSetups/5-setup/network.iCubGenova09.xml @@ -0,0 +1,386 @@ + + + + + + + + + + + + + + ETH + + + + + + ETH + + + + + + + + + + ETH + + + + + + ETH + + + + + + + + + + ETH + + + + + + ETH + + + + + + ETH + + + + + + ETH + + + + + + ETH + + + + + + + ETH + + + + + + ETH + + + + + + ETH + + + + + + ETH + + + + + + ETH + + + + + + ETH + + + + + + + + + + ETH + + + + + + ETH + + + + + + ETH + + + + + + ETH + + + + + + ETH + + + + + + ETH + + + + + + ETH + + + + + + ETH + + + + + + ETH + + + + + + ETH + + + + + + ETH + + + + + + + + + + ETH + + + + + + ETH + + + + + + ETH + + + + + + ETH + + + + + + + + + + ETH + + + + + + ETH + + + + + + ETH + + + + + + ETH + + + + + + ETH + + + + + + ETH + + + + + + ETH + + + + + + ETH + + + + + + ETH + + + + + + ETH + + + + + + + + + + + ETH + + + + + + ETH + + + + + + ETH + + + + + + ETH + + + + + + ETH + + + + + + ETH + + + + + + ETH + + + + + + ETH + + + + + + ETH + + + + + + ETH + + + + + + + + + + + + + + + + + + diff --git a/experimentalSetups/5-setup/rfe.xml b/experimentalSetups/5-setup/rfe.xml new file mode 100644 index 0000000000..530d43ec16 --- /dev/null +++ b/experimentalSetups/5-setup/rfe.xml @@ -0,0 +1,23 @@ + + + + + + + + + + + + + + + + + + + + + + + diff --git a/experimentalSetups/5-setup/rl.xml b/experimentalSetups/5-setup/rl.xml new file mode 100644 index 0000000000..bdf0e68b33 --- /dev/null +++ b/experimentalSetups/5-setup/rl.xml @@ -0,0 +1,26 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/experimentalSetups/5-setup/sensors/RealSense_conf.ini b/experimentalSetups/5-setup/sensors/RealSense_conf.ini new file mode 100644 index 0000000000..82f8b437dd --- /dev/null +++ b/experimentalSetups/5-setup/sensors/RealSense_conf.ini @@ -0,0 +1,13 @@ +device RGBDSensorWrapper +subdevice realsense2withIMU +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/experimentalSetups/5-setup/setup.xml b/experimentalSetups/5-setup/setup.xml new file mode 100644 index 0000000000..14263c1dd3 --- /dev/null +++ b/experimentalSetups/5-setup/setup.xml @@ -0,0 +1,21 @@ + + + + + + + + + + + + + + + + + + + + + diff --git a/experimentalSetups/5-setup/startaudio.ini b/experimentalSetups/5-setup/startaudio.ini new file mode 100644 index 0000000000..fb78606211 --- /dev/null +++ b/experimentalSetups/5-setup/startaudio.ini @@ -0,0 +1,5 @@ +device AudioRecorderWrapper + subdevice portaudioRecorder + name /microphone + min_samples_over_network 4000 + max_samples_over_network 4000 diff --git a/experimentalSetups/5-setup/telemetry.xml b/experimentalSetups/5-setup/telemetry.xml new file mode 100644 index 0000000000..63f1f77d12 --- /dev/null +++ b/experimentalSetups/5-setup/telemetry.xml @@ -0,0 +1,41 @@ + + + + + + + + /icub/torso + /telemetry/torso + + + + /icub/left_arm + /telemetry/left_arm + + + + /icub/right_arm + /telemetry/right_arm + + + + /icub/left_leg + /telemetry/left_leg + + + + /icub/right_leg + /telemetry/right_leg + + + + /icub/head + /telemetry/head + + + + + + + diff --git a/experimentalSetups/5-setup/telemetry/telemetryDeviceExternal.xml b/experimentalSetups/5-setup/telemetry/telemetryDeviceExternal.xml new file mode 100644 index 0000000000..f5d7121820 --- /dev/null +++ b/experimentalSetups/5-setup/telemetry/telemetryDeviceExternal.xml @@ -0,0 +1,38 @@ + + + + + + (torso_pitch,torso_roll,torso_yaw,neck_pitch, neck_roll,neck_yaw,l_shoulder_pitch,l_shoulder_roll,l_shoulder_yaw,l_elbow,l_wrist_prosup,l_wrist_pitch,l_wrist_yaw,r_shoulder_pitch,r_shoulder_roll,r_shoulder_yaw,r_elbow,r_wrist_prosup,r_wrist_pitch,r_wrist_yaw,l_hip_pitch,l_hip_roll,l_hip_yaw,l_knee,l_ankle_pitch,l_ankle_roll,r_hip_pitch,r_hip_roll,r_hip_yaw,r_knee,r_ankle_pitch,r_ankle_roll) + true + true + true + true + true + false + true + true + telemetry_iCub3 + /home/icub/telemetry_logs/ + 100000 + true + 120.0 + 300 + true + + + + + head_mc + torso_mc + left_arm_mc + right_arm_mc + left_leg_mc + right_leg_mc + + + + + + + diff --git a/experimentalSetups/5-setup/test_head.xml b/experimentalSetups/5-setup/test_head.xml new file mode 100644 index 0000000000..bb17b9e11d --- /dev/null +++ b/experimentalSetups/5-setup/test_head.xml @@ -0,0 +1,37 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/experimentalSetups/5-setup/test_left_arm.xml b/experimentalSetups/5-setup/test_left_arm.xml new file mode 100644 index 0000000000..ccbeac784c --- /dev/null +++ b/experimentalSetups/5-setup/test_left_arm.xml @@ -0,0 +1,54 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/experimentalSetups/5-setup/test_right_arm.xml b/experimentalSetups/5-setup/test_right_arm.xml new file mode 100644 index 0000000000..09e9926376 --- /dev/null +++ b/experimentalSetups/5-setup/test_right_arm.xml @@ -0,0 +1,43 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/experimentalSetups/5-setup/test_xsense.xml b/experimentalSetups/5-setup/test_xsense.xml new file mode 100644 index 0000000000..63c860ad7a --- /dev/null +++ b/experimentalSetups/5-setup/test_xsense.xml @@ -0,0 +1,27 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/experimentalSetups/5-setup/upper-body.xml b/experimentalSetups/5-setup/upper-body.xml new file mode 100644 index 0000000000..60128d7a72 --- /dev/null +++ b/experimentalSetups/5-setup/upper-body.xml @@ -0,0 +1,81 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/experimentalSetups/5-setup/wrappers/FT/left_arm-FT_wrapper.xml b/experimentalSetups/5-setup/wrappers/FT/left_arm-FT_wrapper.xml new file mode 100644 index 0000000000..7277915ace --- /dev/null +++ b/experimentalSetups/5-setup/wrappers/FT/left_arm-FT_wrapper.xml @@ -0,0 +1,18 @@ + + + + + + 10 + /icub/left_arm/analog:o + + + + + left_arm-eb1-j0_1-strain + + + + + + diff --git a/experimentalSetups/5-setup/wrappers/FT/left_foot_heel-FT_wrapper.xml b/experimentalSetups/5-setup/wrappers/FT/left_foot_heel-FT_wrapper.xml new file mode 100644 index 0000000000..d42d8f1012 --- /dev/null +++ b/experimentalSetups/5-setup/wrappers/FT/left_foot_heel-FT_wrapper.xml @@ -0,0 +1,18 @@ + + + + + + 10 + /icub/left_foot_heel/analog:o + + + + + left_leg-eb7-j0_2-strain + + + + + + diff --git a/experimentalSetups/5-setup/wrappers/FT/left_foot_heel-FT_wrapper_multipleSens.xml b/experimentalSetups/5-setup/wrappers/FT/left_foot_heel-FT_wrapper_multipleSens.xml new file mode 100644 index 0000000000..75b518384b --- /dev/null +++ b/experimentalSetups/5-setup/wrappers/FT/left_foot_heel-FT_wrapper_multipleSens.xml @@ -0,0 +1,18 @@ + + + + + + 10 + /icub/left_foot_heel + + + + + left_leg-eb7-j0_2-strain + + + + + + diff --git a/experimentalSetups/5-setup/wrappers/FT/left_foot_tiptoe-FT_wrapper.xml b/experimentalSetups/5-setup/wrappers/FT/left_foot_tiptoe-FT_wrapper.xml new file mode 100644 index 0000000000..9d5273045b --- /dev/null +++ b/experimentalSetups/5-setup/wrappers/FT/left_foot_tiptoe-FT_wrapper.xml @@ -0,0 +1,18 @@ + + + + + + 10 + /icub/left_foot_tiptoe/analog:o + + + + + left_leg-eb8-j3_5-strain + + + + + + diff --git a/experimentalSetups/5-setup/wrappers/FT/left_foot_tiptoe-FT_wrapper_multipleSens.xml b/experimentalSetups/5-setup/wrappers/FT/left_foot_tiptoe-FT_wrapper_multipleSens.xml new file mode 100644 index 0000000000..614fac4fbf --- /dev/null +++ b/experimentalSetups/5-setup/wrappers/FT/left_foot_tiptoe-FT_wrapper_multipleSens.xml @@ -0,0 +1,18 @@ + + + + + + 10 + /icub/left_foot_tiptoe + + + + + left_leg-eb8-j3_5-strain + + + + + + diff --git a/experimentalSetups/5-setup/wrappers/FT/right_arm-FT_wrapper.xml b/experimentalSetups/5-setup/wrappers/FT/right_arm-FT_wrapper.xml new file mode 100644 index 0000000000..d0eca5eab6 --- /dev/null +++ b/experimentalSetups/5-setup/wrappers/FT/right_arm-FT_wrapper.xml @@ -0,0 +1,18 @@ + + + + + + 10 + /icub/right_arm/analog:o + + + + + right_arm-eb3-j0_1-strain + + + + + + diff --git a/experimentalSetups/5-setup/wrappers/FT/right_foot_heel-FT_wrapper.xml b/experimentalSetups/5-setup/wrappers/FT/right_foot_heel-FT_wrapper.xml new file mode 100644 index 0000000000..e8a5e6e7d3 --- /dev/null +++ b/experimentalSetups/5-setup/wrappers/FT/right_foot_heel-FT_wrapper.xml @@ -0,0 +1,18 @@ + + + + + + 10 + /icub/right_foot_heel/analog:o + + + + + right_leg-eb11-j0_2-strain + + + + + + diff --git a/experimentalSetups/5-setup/wrappers/FT/right_foot_heel-FT_wrapper_multipleSens.xml b/experimentalSetups/5-setup/wrappers/FT/right_foot_heel-FT_wrapper_multipleSens.xml new file mode 100644 index 0000000000..eb6dc856a8 --- /dev/null +++ b/experimentalSetups/5-setup/wrappers/FT/right_foot_heel-FT_wrapper_multipleSens.xml @@ -0,0 +1,18 @@ + + + + + + 10 + /icub/right_foot_heel + + + + + right_leg-eb11-j0_2-strain + + + + + + diff --git a/experimentalSetups/5-setup/wrappers/FT/right_foot_tiptoe-FT_wrapper.xml b/experimentalSetups/5-setup/wrappers/FT/right_foot_tiptoe-FT_wrapper.xml new file mode 100644 index 0000000000..474134cfff --- /dev/null +++ b/experimentalSetups/5-setup/wrappers/FT/right_foot_tiptoe-FT_wrapper.xml @@ -0,0 +1,18 @@ + + + + + + 10 + /icub/right_foot_tiptoe/analog:o + + + + + right_leg-eb12-j3_5-strain + + + + + + diff --git a/experimentalSetups/5-setup/wrappers/FT/right_foot_tiptoe-FT_wrapper_multipleSens.xml b/experimentalSetups/5-setup/wrappers/FT/right_foot_tiptoe-FT_wrapper_multipleSens.xml new file mode 100644 index 0000000000..dce17bfbd4 --- /dev/null +++ b/experimentalSetups/5-setup/wrappers/FT/right_foot_tiptoe-FT_wrapper_multipleSens.xml @@ -0,0 +1,18 @@ + + + + + + 10 + /icub/right_foot_tiptoe + + + + + right_leg-eb12-j3_5-strain + + + + + + diff --git a/experimentalSetups/5-setup/wrappers/MAIS/left_arm-mais_wrapper.xml b/experimentalSetups/5-setup/wrappers/MAIS/left_arm-mais_wrapper.xml new file mode 100644 index 0000000000..670c35bcb4 --- /dev/null +++ b/experimentalSetups/5-setup/wrappers/MAIS/left_arm-mais_wrapper.xml @@ -0,0 +1,16 @@ + + + + + 10 + /icub/left_hand/analog:o + + + + left_arm-eb26-j12_15-mais + + + + + + diff --git a/experimentalSetups/5-setup/wrappers/MAIS/right_arm-mais_wrapper.xml b/experimentalSetups/5-setup/wrappers/MAIS/right_arm-mais_wrapper.xml new file mode 100644 index 0000000000..1b5213361e --- /dev/null +++ b/experimentalSetups/5-setup/wrappers/MAIS/right_arm-mais_wrapper.xml @@ -0,0 +1,16 @@ + + + + + 10 + /icub/right_hand/analog:o + + + + right_arm-eb29-j12_15-mais + + + + + + diff --git a/experimentalSetups/5-setup/wrappers/VFT/left_arm-VFT_wrapper.xml b/experimentalSetups/5-setup/wrappers/VFT/left_arm-VFT_wrapper.xml new file mode 100644 index 0000000000..c901eada21 --- /dev/null +++ b/experimentalSetups/5-setup/wrappers/VFT/left_arm-VFT_wrapper.xml @@ -0,0 +1,31 @@ + + + + + + 10 + + + + 0 1 0 1 + 2 3 0 1 + 4 6 0 2 + + + 7 + /icub/joint_vsens/left_arm:i + + + + + left_arm-eb1-j0_1-mc + left_arm-eb2-j2_3-mc + left_arm-eb24-j4_7-mc + + + + + + + + diff --git a/experimentalSetups/5-setup/wrappers/VFT/left_leg-VFT_wrapper.xml b/experimentalSetups/5-setup/wrappers/VFT/left_leg-VFT_wrapper.xml new file mode 100644 index 0000000000..b982c8046c --- /dev/null +++ b/experimentalSetups/5-setup/wrappers/VFT/left_leg-VFT_wrapper.xml @@ -0,0 +1,29 @@ + + + + + + 10 + + + + 0 2 0 2 + 3 5 0 2 + + + 6 + /icub/joint_vsens/left_leg:i + + + + + left_leg-eb7-j0_2-mc + left_leg-eb8-j3_5-mc + + + + + + + + diff --git a/experimentalSetups/5-setup/wrappers/VFT/right_arm-VFT_wrapper.xml b/experimentalSetups/5-setup/wrappers/VFT/right_arm-VFT_wrapper.xml new file mode 100644 index 0000000000..e4b8b7c401 --- /dev/null +++ b/experimentalSetups/5-setup/wrappers/VFT/right_arm-VFT_wrapper.xml @@ -0,0 +1,31 @@ + + + + + + 10 + + + + 0 1 0 1 + 2 3 0 1 + 4 6 0 2 + + + 7 + /icub/joint_vsens/right_arm:i + + + + + right_arm-eb3-j0_1-mc + right_arm-eb4-j2_3-mc + right_arm-eb27-j4_7-mc + + + + + + + + diff --git a/experimentalSetups/5-setup/wrappers/VFT/right_leg-VFT_wrapper.xml b/experimentalSetups/5-setup/wrappers/VFT/right_leg-VFT_wrapper.xml new file mode 100644 index 0000000000..deee9fbf66 --- /dev/null +++ b/experimentalSetups/5-setup/wrappers/VFT/right_leg-VFT_wrapper.xml @@ -0,0 +1,29 @@ + + + + + + 10 + + + + 0 2 0 2 + 3 5 0 2 + + + 6 + /icub/joint_vsens/right_leg:i + + + + + right_leg-eb11-j0_2-mc + right_leg-eb12-j3_5-mc + + + + + + + + diff --git a/experimentalSetups/5-setup/wrappers/VFT/torso-VFT_wrapper.xml b/experimentalSetups/5-setup/wrappers/VFT/torso-VFT_wrapper.xml new file mode 100644 index 0000000000..81d2841d34 --- /dev/null +++ b/experimentalSetups/5-setup/wrappers/VFT/torso-VFT_wrapper.xml @@ -0,0 +1,18 @@ + + + + 10 + + + ( 0 2 0 2 ) + + 3 + /icub/joint_vsens/torso:i + + + + torso-eb5-j0_2-mc + + + + diff --git a/experimentalSetups/5-setup/wrappers/inertials/head-imuFilter.xml b/experimentalSetups/5-setup/wrappers/inertials/head-imuFilter.xml new file mode 100644 index 0000000000..9070dff156 --- /dev/null +++ b/experimentalSetups/5-setup/wrappers/inertials/head-imuFilter.xml @@ -0,0 +1,20 @@ + + + + + + 20 + /imuFilter + + + + + + head-inertial + + + + + diff --git a/experimentalSetups/5-setup/wrappers/inertials/head-imuFilter_wrapper.xml b/experimentalSetups/5-setup/wrappers/inertials/head-imuFilter_wrapper.xml new file mode 100644 index 0000000000..840c87bab1 --- /dev/null +++ b/experimentalSetups/5-setup/wrappers/inertials/head-imuFilter_wrapper.xml @@ -0,0 +1,20 @@ + + + + + + 20 + /imuFilter + + + + + + head-imuFilter + + + + + diff --git a/experimentalSetups/5-setup/wrappers/inertials/head-inertials_wrapper-deprecated.xml b/experimentalSetups/5-setup/wrappers/inertials/head-inertials_wrapper-deprecated.xml new file mode 100644 index 0000000000..8a513a7bea --- /dev/null +++ b/experimentalSetups/5-setup/wrappers/inertials/head-inertials_wrapper-deprecated.xml @@ -0,0 +1,19 @@ + + + + + + /icub/inertial + + + + + + head-inertial + + + + + diff --git a/experimentalSetups/5-setup/wrappers/inertials/head-inertials_wrapper.xml b/experimentalSetups/5-setup/wrappers/inertials/head-inertials_wrapper.xml new file mode 100644 index 0000000000..ab266c8715 --- /dev/null +++ b/experimentalSetups/5-setup/wrappers/inertials/head-inertials_wrapper.xml @@ -0,0 +1,20 @@ + + + + + + 10 + /icub/head/inertials + + + + + + head-inertial + + + + + diff --git a/experimentalSetups/5-setup/wrappers/inertials/left_arm-inertials_wrapper.xml b/experimentalSetups/5-setup/wrappers/inertials/left_arm-inertials_wrapper.xml new file mode 100644 index 0000000000..f654cb77c3 --- /dev/null +++ b/experimentalSetups/5-setup/wrappers/inertials/left_arm-inertials_wrapper.xml @@ -0,0 +1,21 @@ + + + + + + 10 + /icub/left_hand/inertialMTB + + + + + + left_arm-eb24-j4_7-inertials + + + + + + diff --git a/experimentalSetups/5-setup/wrappers/inertials/left_leg-inertials_wrapper.xml b/experimentalSetups/5-setup/wrappers/inertials/left_leg-inertials_wrapper.xml new file mode 100644 index 0000000000..49922cee21 --- /dev/null +++ b/experimentalSetups/5-setup/wrappers/inertials/left_leg-inertials_wrapper.xml @@ -0,0 +1,21 @@ + + + + + + 10 + /icub/left_leg/inertialMTB + + + + + + left_leg-eb10-inertials + + + + + + diff --git a/experimentalSetups/5-setup/wrappers/inertials/right_arm-inertials_wrapper.xml b/experimentalSetups/5-setup/wrappers/inertials/right_arm-inertials_wrapper.xml new file mode 100644 index 0000000000..ec039799b2 --- /dev/null +++ b/experimentalSetups/5-setup/wrappers/inertials/right_arm-inertials_wrapper.xml @@ -0,0 +1,21 @@ + + + + + + 10 + /icub/right_hand/inertialMTB + + + + + + right_arm-eb27-j4_7-inertials + + + + + + diff --git a/experimentalSetups/5-setup/wrappers/inertials/right_leg-inertials_wrapper.xml b/experimentalSetups/5-setup/wrappers/inertials/right_leg-inertials_wrapper.xml new file mode 100644 index 0000000000..cca4c068ec --- /dev/null +++ b/experimentalSetups/5-setup/wrappers/inertials/right_leg-inertials_wrapper.xml @@ -0,0 +1,21 @@ + + + + + + 10 + /icub/right_leg/inertialMTB + + + + + + right_leg-eb11-inertials + + + + + + diff --git a/experimentalSetups/5-setup/wrappers/inertials/torso_inertial_wrapper.xml b/experimentalSetups/5-setup/wrappers/inertials/torso_inertial_wrapper.xml new file mode 100644 index 0000000000..6d855bd280 --- /dev/null +++ b/experimentalSetups/5-setup/wrappers/inertials/torso_inertial_wrapper.xml @@ -0,0 +1,19 @@ + + + + + + 10 + /icub/torso/inertialGYRO + + + + + + torso_inertialGYRO + + + + + + diff --git a/experimentalSetups/5-setup/wrappers/motorControl/alljoints-mc_remapper.xml b/experimentalSetups/5-setup/wrappers/motorControl/alljoints-mc_remapper.xml new file mode 100644 index 0000000000..5873b4fabc --- /dev/null +++ b/experimentalSetups/5-setup/wrappers/motorControl/alljoints-mc_remapper.xml @@ -0,0 +1,31 @@ + + + + + + ( 0 5 0 5 ) + ( 0 1 0 1 ) + ( 6 12 0 6 ) + ( 13 21 0 8 ) + ( 22 28 0 6 ) + ( 29 37 0 8 ) + ( 38 40 0 2 ) + ( 41 46 0 5 ) + ( 47 52 0 5 ) + + 53 + + + head_mc + face_mc + left_arm_mc + left_hand_mc + right_arm_mc + right_hand_mc + torso_mc + left_leg_mc + right_leg_mc + + + + diff --git a/experimentalSetups/5-setup/wrappers/motorControl/alljoints-mc_ros_wrapper.xml b/experimentalSetups/5-setup/wrappers/motorControl/alljoints-mc_ros_wrapper.xml new file mode 100644 index 0000000000..6aa7a31dc7 --- /dev/null +++ b/experimentalSetups/5-setup/wrappers/motorControl/alljoints-mc_ros_wrapper.xml @@ -0,0 +1,11 @@ + + + + + /yri_controlBoard_nws_ros + /all_joints + + alljoints-mc_remapper + + + diff --git a/experimentalSetups/5-setup/wrappers/motorControl/face-mc_remapper.xml b/experimentalSetups/5-setup/wrappers/motorControl/face-mc_remapper.xml new file mode 100644 index 0000000000..16f729d9a1 --- /dev/null +++ b/experimentalSetups/5-setup/wrappers/motorControl/face-mc_remapper.xml @@ -0,0 +1,15 @@ + + + + + + ( 0 0 0 0 ) + + 1 + + + face-eb22-j0-mc + + + + diff --git a/experimentalSetups/5-setup/wrappers/motorControl/face-mc_wrapper.xml b/experimentalSetups/5-setup/wrappers/motorControl/face-mc_wrapper.xml new file mode 100644 index 0000000000..d5c45c73bf --- /dev/null +++ b/experimentalSetups/5-setup/wrappers/motorControl/face-mc_wrapper.xml @@ -0,0 +1,10 @@ + + + + + /icub/face + + face-mc_remapper + + + diff --git a/experimentalSetups/5-setup/wrappers/motorControl/head-mc_remapper.xml b/experimentalSetups/5-setup/wrappers/motorControl/head-mc_remapper.xml new file mode 100644 index 0000000000..18ee4dd4f1 --- /dev/null +++ b/experimentalSetups/5-setup/wrappers/motorControl/head-mc_remapper.xml @@ -0,0 +1,17 @@ + + + + + + ( 0 1 0 1 ) + ( 2 5 0 3 ) + + 6 + + + head-eb20-j0_1-mc + head-eb21-j2_5-mc + + + + diff --git a/experimentalSetups/5-setup/wrappers/motorControl/head-mc_wrapper.xml b/experimentalSetups/5-setup/wrappers/motorControl/head-mc_wrapper.xml new file mode 100644 index 0000000000..06e2825805 --- /dev/null +++ b/experimentalSetups/5-setup/wrappers/motorControl/head-mc_wrapper.xml @@ -0,0 +1,10 @@ + + + + + /icub/head + + head-mc_remapper + + + diff --git a/experimentalSetups/5-setup/wrappers/motorControl/left_arm-mc_remapper.xml b/experimentalSetups/5-setup/wrappers/motorControl/left_arm-mc_remapper.xml new file mode 100644 index 0000000000..7babdbde9e --- /dev/null +++ b/experimentalSetups/5-setup/wrappers/motorControl/left_arm-mc_remapper.xml @@ -0,0 +1,23 @@ + + + + + + ( 0 1 0 1 ) + ( 2 3 0 1 ) + ( 4 7 0 3 ) + ( 8 11 0 3 ) + ( 12 15 0 3 ) + + 16 + + + left_arm-eb1-j0_1-mc + left_arm-eb2-j2_3-mc + left_arm-eb24-j4_7-mc + left_arm-eb25-j8_11-mc + left_arm-eb26-j12_15-mc + + + + diff --git a/experimentalSetups/5-setup/wrappers/motorControl/left_arm-mc_wrapper.xml b/experimentalSetups/5-setup/wrappers/motorControl/left_arm-mc_wrapper.xml new file mode 100644 index 0000000000..caf7f8bb4b --- /dev/null +++ b/experimentalSetups/5-setup/wrappers/motorControl/left_arm-mc_wrapper.xml @@ -0,0 +1,10 @@ + + + + + /icub/left_arm + + left_arm-mc_remapper + + + diff --git a/experimentalSetups/5-setup/wrappers/motorControl/left_leg-mc_remapper.xml b/experimentalSetups/5-setup/wrappers/motorControl/left_leg-mc_remapper.xml new file mode 100644 index 0000000000..88ef2eb0fb --- /dev/null +++ b/experimentalSetups/5-setup/wrappers/motorControl/left_leg-mc_remapper.xml @@ -0,0 +1,16 @@ + + + + + ( 0 2 0 2 ) + ( 3 5 0 2 ) + + 6 + + + left_leg-eb7-j0_2-mc + left_leg-eb8-j3_5-mc + + + + diff --git a/experimentalSetups/5-setup/wrappers/motorControl/left_leg-mc_wrapper.xml b/experimentalSetups/5-setup/wrappers/motorControl/left_leg-mc_wrapper.xml new file mode 100644 index 0000000000..64e5ab7e13 --- /dev/null +++ b/experimentalSetups/5-setup/wrappers/motorControl/left_leg-mc_wrapper.xml @@ -0,0 +1,10 @@ + + + + + /icub/left_leg + + left_leg-mc_remapper + + + diff --git a/experimentalSetups/5-setup/wrappers/motorControl/right_arm-mc_remapper.xml b/experimentalSetups/5-setup/wrappers/motorControl/right_arm-mc_remapper.xml new file mode 100644 index 0000000000..604b8dd3ec --- /dev/null +++ b/experimentalSetups/5-setup/wrappers/motorControl/right_arm-mc_remapper.xml @@ -0,0 +1,23 @@ + + + + + + ( 0 1 0 1 ) + ( 2 3 0 1 ) + ( 4 7 0 3 ) + ( 8 11 0 3 ) + ( 12 15 0 3 ) + + 16 + + + right_arm-eb3-j0_1-mc + right_arm-eb4-j2_3-mc + right_arm-eb27-j4_7-mc + right_arm-eb28-j8_11-mc + right_arm-eb29-j12_15-mc + + + + diff --git a/experimentalSetups/5-setup/wrappers/motorControl/right_arm-mc_wrapper.xml b/experimentalSetups/5-setup/wrappers/motorControl/right_arm-mc_wrapper.xml new file mode 100644 index 0000000000..15bc4d3c12 --- /dev/null +++ b/experimentalSetups/5-setup/wrappers/motorControl/right_arm-mc_wrapper.xml @@ -0,0 +1,10 @@ + + + + + /icub/right_arm + + right_arm-mc_remapper + + + diff --git a/experimentalSetups/5-setup/wrappers/motorControl/right_leg-mc_remapper.xml b/experimentalSetups/5-setup/wrappers/motorControl/right_leg-mc_remapper.xml new file mode 100644 index 0000000000..605ba79306 --- /dev/null +++ b/experimentalSetups/5-setup/wrappers/motorControl/right_leg-mc_remapper.xml @@ -0,0 +1,16 @@ + + + + + ( 0 2 0 2 ) + ( 3 5 0 2 ) + + 6 + + + right_leg-eb11-j0_2-mc + right_leg-eb12-j3_5-mc + + + + diff --git a/experimentalSetups/5-setup/wrappers/motorControl/right_leg-mc_wrapper.xml b/experimentalSetups/5-setup/wrappers/motorControl/right_leg-mc_wrapper.xml new file mode 100644 index 0000000000..63ef3cb4a7 --- /dev/null +++ b/experimentalSetups/5-setup/wrappers/motorControl/right_leg-mc_wrapper.xml @@ -0,0 +1,10 @@ + + + + + /icub/right_leg + + right_leg-mc_remapper + + + diff --git a/experimentalSetups/5-setup/wrappers/motorControl/torso-mc_remapper.xml b/experimentalSetups/5-setup/wrappers/motorControl/torso-mc_remapper.xml new file mode 100644 index 0000000000..fbc0192874 --- /dev/null +++ b/experimentalSetups/5-setup/wrappers/motorControl/torso-mc_remapper.xml @@ -0,0 +1,15 @@ + + + + + + ( 0 0 0 0 ) + + 1 + + + torso-eb5-j0_2-mc + + + + diff --git a/experimentalSetups/5-setup/wrappers/motorControl/torso-mc_wrapper.xml b/experimentalSetups/5-setup/wrappers/motorControl/torso-mc_wrapper.xml new file mode 100644 index 0000000000..89cf257cd6 --- /dev/null +++ b/experimentalSetups/5-setup/wrappers/motorControl/torso-mc_wrapper.xml @@ -0,0 +1,10 @@ + + + + + /icub/torso + + torso-mc_remapper + + + diff --git a/experimentalSetups/5-setup/wrappers/skin/left_arm-skin_wrapper.xml b/experimentalSetups/5-setup/wrappers/skin/left_arm-skin_wrapper.xml new file mode 100644 index 0000000000..370a7c56ff --- /dev/null +++ b/experimentalSetups/5-setup/wrappers/skin/left_arm-skin_wrapper.xml @@ -0,0 +1,26 @@ + + + + + + 20 + 1344 + skinWrapper + + + 0 191 0 191 + 192 575 0 383 + 576 1343 0 767 + + + + + + left_arm-eb24-j4_7-skin + + + + + + diff --git a/experimentalSetups/5-setup/wrappers/skin/left_leg-skin_wrapper.xml b/experimentalSetups/5-setup/wrappers/skin/left_leg-skin_wrapper.xml new file mode 100644 index 0000000000..560ce45c94 --- /dev/null +++ b/experimentalSetups/5-setup/wrappers/skin/left_leg-skin_wrapper.xml @@ -0,0 +1,26 @@ + + + + + + 20 + 2496 + skinWrapper + + + 1152 2495 0 1343 + 384 1151 0 767 + 0 383 0 383 + + + + + + left_leg-eb9-skin + + + + + + diff --git a/experimentalSetups/5-setup/wrappers/skin/left_upperarm-skin_wrapper.xml b/experimentalSetups/5-setup/wrappers/skin/left_upperarm-skin_wrapper.xml new file mode 100644 index 0000000000..3ea1bc0772 --- /dev/null +++ b/experimentalSetups/5-setup/wrappers/skin/left_upperarm-skin_wrapper.xml @@ -0,0 +1,24 @@ + + + + + + 20 + 192 + skinWrapper + + + 0 191 0 191 + + + + + + left_upperarm-eb2-skin + + + + + + diff --git a/experimentalSetups/5-setup/wrappers/skin/right_arm-skin_wrapper.xml b/experimentalSetups/5-setup/wrappers/skin/right_arm-skin_wrapper.xml new file mode 100644 index 0000000000..2bcf052de9 --- /dev/null +++ b/experimentalSetups/5-setup/wrappers/skin/right_arm-skin_wrapper.xml @@ -0,0 +1,26 @@ + + + + + + 20 + 1344 + skinWrapper + + + 0 191 0 191 + 192 575 0 383 + 576 1343 0 767 + + + + + + right_arm-eb27-j4_7-skin + + + + + + diff --git a/experimentalSetups/5-setup/wrappers/skin/right_leg-skin_wrapper.xml b/experimentalSetups/5-setup/wrappers/skin/right_leg-skin_wrapper.xml new file mode 100644 index 0000000000..4053a02745 --- /dev/null +++ b/experimentalSetups/5-setup/wrappers/skin/right_leg-skin_wrapper.xml @@ -0,0 +1,26 @@ + + + + + + 20 + 2496 + skinWrapper + + + 1152 2495 0 1343 + 384 1151 0 767 + 0 383 0 383 + + + + + + right_leg-eb13-skin + + + + + + diff --git a/experimentalSetups/5-setup/wrappers/skin/right_upperarm-skin_wrapper.xml b/experimentalSetups/5-setup/wrappers/skin/right_upperarm-skin_wrapper.xml new file mode 100644 index 0000000000..7d0b62d6bc --- /dev/null +++ b/experimentalSetups/5-setup/wrappers/skin/right_upperarm-skin_wrapper.xml @@ -0,0 +1,24 @@ + + + + + + 20 + 192 + skinWrapper + + + 0 191 0 191 + + + + + + right_upperarm-eb4-skin + + + + + + diff --git a/experimentalSetups/5-setup/wrappers/skin/torso-skin_wrapper.xml b/experimentalSetups/5-setup/wrappers/skin/torso-skin_wrapper.xml new file mode 100644 index 0000000000..e8e696c2a4 --- /dev/null +++ b/experimentalSetups/5-setup/wrappers/skin/torso-skin_wrapper.xml @@ -0,0 +1,24 @@ + + + + + + 20 + 768 + skinWrapper + + + 0 767 0 767 + + + + + + torso-eb22-skin + + + + + + diff --git a/experimentalSetups/5-setup/yarpmotorgui.ini b/experimentalSetups/5-setup/yarpmotorgui.ini new file mode 100644 index 0000000000..3ec981b8b6 --- /dev/null +++ b/experimentalSetups/5-setup/yarpmotorgui.ini @@ -0,0 +1,7 @@ +//name of the robot +robot icub +//parts to be opened by the GUI +parts (head face torso left_arm right_arm right_leg left_leg) + + //DO NOT REMOVE THIS LINE + diff --git a/experimentalSetups/5-setup/yarprobotinterface.ini b/experimentalSetups/5-setup/yarprobotinterface.ini new file mode 100644 index 0000000000..0ef86b2392 --- /dev/null +++ b/experimentalSetups/5-setup/yarprobotinterface.ini @@ -0,0 +1,2 @@ +config ./icub_wbd.xml + From 3b9320b422ae4a814c65c43a715962ffc5e9040b Mon Sep 17 00:00:00 2001 From: Alessandro Scalzo Date: Mon, 10 Jan 2022 16:16:07 +0100 Subject: [PATCH 2/3] Configuration for team 5 setup work in progress --- experimentalSetups/5-setup/5-setup.xml | 21 + experimentalSetups/5-setup/CMakeLists.txt | 8 +- .../{torso-calib.xml => 5-setup-calib.xml} | 62 +-- .../5-setup/calibrators/face-calib.xml | 61 --- .../5-setup/calibrators/head-calib.xml | 52 --- .../5-setup/calibrators/left_arm-calib.xml | 50 --- .../5-setup/calibrators/left_leg-calib.xml | 46 --- .../5-setup/calibrators/right_arm-calib.xml | 49 --- .../5-setup/calibrators/right_leg-calib.xml | 47 --- .../camera/ServerGrabberDualDragon.ini | 9 - .../camera/ServerGrabberDualDragon640_480.ini | 7 - .../camera/ServerGrabberDualDragonBayer.ini | 9 - .../ServerGrabberDualDragonBayer640_480.ini | 9 - .../5-setup/camera/dragonfly2_config_left.ini | 19 - .../camera/dragonfly2_config_left640_480.ini | 18 - .../camera/dragonfly2_config_leftLowRes.ini | 19 - .../dragonfly2_config_left_bayer_320_240.ini | 20 - .../dragonfly2_config_left_bayer_640_480.ini | 20 - .../camera/dragonfly2_config_right.ini | 19 - .../camera/dragonfly2_config_right640_480.ini | 18 - .../camera/dragonfly2_config_rightLowRes.ini | 19 - .../dragonfly2_config_right_bayer_320_240.ini | 20 - .../dragonfly2_config_right_bayer_640_480.ini | 20 - .../5-setup/cartesian/left_arm-cartesian.xml | 56 --- .../5-setup/cartesian/right_arm-cartesian.xml | 56 --- .../5-setup/cartesianSolver.ini | 69 ---- .../5-setup/estimators/wholebodydynamics.xml | 84 ---- .../5-setup/extra/JOINT_LIMITS.txt | 33 -- .../5-setup/extra/applications/SFM.xml | 48 --- .../extra/applications/cameras_calib.xml | 67 --- .../applications/cameras_calib_640_480.xml | 67 --- .../extra/applications/demoRedBall.xml | 55 --- .../extra/applications/faceExpressions.xml | 21 - .../extra/applications/funny_things.xml | 83 ---- .../extra/applications/grasp-processor.xml | 91 ----- .../extra/applications/iCub3SkinGui.xml | 33 -- .../extra/applications/iCubStartup.xml | 51 --- .../applications/iCubStartup_640_480.xml | 45 -- .../5-setup/extra/applications/iol.xml | 347 ---------------- .../5-setup/extra/applications/iol_egpu.xml | 353 ---------------- .../5-setup/extra/applications/lbpExtract.xml | 68 --- .../robmo-icub-hand-iRC-collector.xml | 112 ----- ...obmo-icub-hand-iRC-test-no-calibration.xml | 65 --- .../applications/robmo-icub-hand-iRC-test.xml | 89 ---- .../5-setup/extra/applications/skinGuiAll.xml | 74 ---- .../extra/applications/stereoCalib.xml | 57 --- .../contexts/yarpmanager/cluster-config.xml | 17 - .../5-setup/extra/scripts/README.md | 14 - .../extra/scripts/additionalCommands.sh | 59 --- .../5-setup/extra/scripts/bluetoothConnect.sh | 61 --- .../extra/scripts/checkConfigurationFiles.sh | 14 - .../scripts/installRobotsConfiguration.sh | 12 - .../5-setup/graspTheBall_demoRedBall.ini | 53 --- .../5-setup/graspTheBall_pf3dTracker.ini | 99 ----- .../hardware/FT/left_arm-eb1-j0_1-strain.xml | 55 --- .../hardware/FT/left_leg-eb7-j0_2-strain.xml | 57 --- .../hardware/FT/left_leg-eb8-j3_5-strain.xml | 58 --- .../hardware/FT/right_arm-eb3-j0_1-strain.xml | 55 --- .../FT/right_leg-eb11-j0_2-strain.xml | 57 --- .../FT/right_leg-eb12-j3_5-strain.xml | 58 --- .../MAIS/left_arm-eb26-j12_15-mais.xml | 51 --- .../MAIS/right_arm-eb29-j12_15-mais.xml | 51 --- ...torso-eb5-j0_2-eln.xml => 5-setup-eln.xml} | 4 +- .../hardware/electronics/face-eb22-j0-eln.xml | 40 -- .../electronics/face-eb22-j0_1-eln.xml | 40 -- .../electronics/face-eb23-j2_5-eln.xml | 41 -- .../electronics/head-eb20-j0_1-eln.xml | 40 -- .../electronics/head-eb21-j2_5-eln.xml | 40 -- .../electronics/left_arm-eb1-j0_1-eln.xml | 40 -- .../electronics/left_arm-eb2-j2_3-eln.xml | 40 -- .../electronics/left_arm-eb24-j4_7-eln.xml | 40 -- .../electronics/left_arm-eb25-j8_11-eln.xml | 40 -- .../electronics/left_arm-eb26-j12_15-eln.xml | 40 -- .../electronics/left_leg-eb7-j0_2-eln.xml | 40 -- .../electronics/left_leg-eb8-j3_5-eln.xml | 40 -- .../5-setup/hardware/electronics/pc104.xml | 14 - .../electronics/right_arm-eb27-j4_7-eln.xml | 40 -- .../electronics/right_arm-eb28-j8_11-eln.xml | 40 -- .../electronics/right_arm-eb29-j12_15-eln.xml | 40 -- .../electronics/right_arm-eb3-j0_1-eln.xml | 40 -- .../electronics/right_arm-eb4-j2_3-eln.xml | 40 -- .../electronics/right_leg-eb11-j0_2-eln.xml | 40 -- .../electronics/right_leg-eb12-j3_5-eln.xml | 40 -- .../5-setup/hardware/iCub_Calibration.xls | Bin 131072 -> 0 bytes .../hardware/inertials/head-inertial.xml | 54 --- .../left_arm-eb24-j4_7-inertials.xml | 63 --- .../inertials/left_leg-eb10-inertials.xml | 64 --- .../right_arm-eb27-j4_7-inertials.xml | 61 --- .../inertials/right_leg-eb11-inertials.xml | 64 --- ...torso-eb5-j0_2-mec.xml => 5-setup-mec.xml} | 78 ++-- .../hardware/mechanicals/face-eb22-j0-mec.xml | 74 ---- .../mechanicals/face-eb22-j0_1-mec.xml | 79 ---- .../mechanicals/face-eb23-j2_5-mec.xml | 85 ---- .../mechanicals/head-eb20-j0_1-mec.xml | 69 ---- .../mechanicals/head-eb21-j2_5-mec.xml | 79 ---- .../mechanicals/left_arm-eb1-j0_1-mec.xml | 83 ---- .../mechanicals/left_arm-eb2-j2_3-mec.xml | 83 ---- .../mechanicals/left_arm-eb24-j4_7-mec.xml | 79 ---- .../mechanicals/left_arm-eb25-j8_11-mec.xml | 77 ---- .../mechanicals/left_arm-eb26-j12_15-mec.xml | 82 ---- .../mechanicals/left_leg-eb7-j0_2-mec.xml | 89 ---- .../mechanicals/left_leg-eb8-j3_5-mec.xml | 88 ---- .../mechanicals/right_arm-eb27-j4_7-mec.xml | 76 ---- .../mechanicals/right_arm-eb28-j8_11-mec.xml | 76 ---- .../mechanicals/right_arm-eb29-j12_15-mec.xml | 82 ---- .../mechanicals/right_arm-eb3-j0_1-mec.xml | 83 ---- .../mechanicals/right_arm-eb4-j2_3-mec.xml | 83 ---- .../mechanicals/right_leg-eb11-j0_2-mec.xml | 90 ---- .../mechanicals/right_leg-eb12-j3_5-mec.xml | 88 ---- .../hardware/motorControl/5-setup-mc.xml | 125 ++++++ ...-mc_service.xml => 5-setup-mc_service.xml} | 40 +- .../hardware/motorControl/face-eb22-j0-mc.xml | 70 ---- .../motorControl/face-eb22-j0-mc_service.xml | 48 --- .../motorControl/face-eb22-j0_1-mc.xml | 72 ---- .../face-eb22-j0_1-mc_service.xml | 48 --- .../motorControl/face-eb23-j2_5-mc.xml | 72 ---- .../face-eb23-j2_5-mc_service.xml | 47 --- .../motorControl/head-eb20-j0_1-mc.xml | 70 ---- .../head-eb20-j0_1-mc_service.xml | 48 --- .../motorControl/head-eb21-j2_5-mc.xml | 76 ---- .../head-eb21-j2_5-mc_service.xml | 49 --- .../motorControl/left_arm-eb1-j0_1-mc.xml | 124 ------ .../left_arm-eb1-j0_1-mc_service.xml | 62 --- .../motorControl/left_arm-eb2-j2_3-mc.xml | 124 ------ .../left_arm-eb2-j2_3-mc_service.xml | 62 --- .../motorControl/left_arm-eb24-j4_7-mc.xml | 72 ---- .../left_arm-eb24-j4_7-mc_service.xml | 51 --- .../motorControl/left_arm-eb25-j8_11-mc.xml | 75 ---- .../left_arm-eb25-j8_11-mc_service.xml | 66 --- .../motorControl/left_arm-eb26-j12_15-mc.xml | 72 ---- .../left_arm-eb26-j12_15-mc_service.xml | 64 --- .../motorControl/left_leg-eb7-j0_2-mc.xml | 140 ------- .../left_leg-eb7-j0_2-mc_service.xml | 62 --- .../motorControl/left_leg-eb8-j3_5-mc.xml | 139 ------- .../left_leg-eb8-j3_5-mc_service.xml | 61 --- .../motorControl/right_arm-eb27-j4_7-mc.xml | 72 ---- .../right_arm-eb27-j4_7-mc_service.xml | 47 --- .../motorControl/right_arm-eb28-j8_11-mc.xml | 75 ---- .../right_arm-eb28-j8_11-mc_service.xml | 65 --- .../motorControl/right_arm-eb29-j12_15-mc.xml | 63 --- .../right_arm-eb29-j12_15-mc_service.xml | 65 --- .../motorControl/right_arm-eb3-j0_1-mc.xml | 126 ------ .../right_arm-eb3-j0_1-mc_service.xml | 62 --- .../motorControl/right_arm-eb4-j2_3-mc.xml | 126 ------ .../right_arm-eb4-j2_3-mc_service.xml | 62 --- .../motorControl/right_leg-eb11-j0_2-mc.xml | 140 ------- .../right_leg-eb11-j0_2-mc_service.xml | 62 --- .../motorControl/right_leg-eb12-j3_5-mc.xml | 139 ------- .../right_leg-eb12-j3_5-mc_service.xml | 61 --- .../motorControl/torso-eb5-j0_2-mc.xml | 126 ------ .../hardware/skin/left_arm-eb24-j4_7-skin.xml | 15 - .../skin/left_arm-eb24-j4_7-skinSpec.xml | 42 -- .../hardware/skin/left_upperarm-eb2-skin.xml | 14 - .../skin/left_upperarm-eb2-skinSpec.xml | 38 -- .../skin/right_arm-eb27-j4_7-skin.xml | 14 - .../skin/right_arm-eb27-j4_7-skinSpec.xml | 42 -- .../hardware/skin/right_upperarm-eb4-skin.xml | 14 - .../skin/right_upperarm-eb4-skinSpec.xml | 38 -- .../5-setup/hardware/skin/torso-eb22-skin.xml | 15 - .../hardware/skin/torso-eb22-skinSpec.xml | 22 - .../skin/torso-ems5-inertial_gyro.xml | 55 --- experimentalSetups/5-setup/head-face.xml | 35 -- experimentalSetups/5-setup/iCubStartup.xml | 90 ---- experimentalSetups/5-setup/iKinGazeCtrl.ini | 11 - experimentalSetups/5-setup/icubEyes.ini | 63 --- experimentalSetups/5-setup/icub_FT_arms.xml | 24 -- experimentalSetups/5-setup/icub_FT_feet.xml | 28 -- experimentalSetups/5-setup/icub_all.xml | 99 ----- .../5-setup/icub_all_inertials.xml | 117 ------ .../5-setup/icub_all_no_legs.xml | 69 ---- experimentalSetups/5-setup/icub_foc.xml | 54 --- experimentalSetups/5-setup/icub_h_f_RL_a.xml | 77 ---- experimentalSetups/5-setup/icub_left_leg.xml | 27 -- experimentalSetups/5-setup/icub_legs.xml | 33 -- .../5-setup/icub_legs_mcOnly.xml | 34 -- experimentalSetups/5-setup/icub_legs_rarm.xml | 43 -- experimentalSetups/5-setup/icub_right_leg.xml | 26 -- experimentalSetups/5-setup/icub_torso.xml | 24 -- experimentalSetups/5-setup/icub_wbd.xml | 129 ------ experimentalSetups/5-setup/legs-wbd.xml | 72 ---- experimentalSetups/5-setup/ll.xml | 26 -- .../5-setup/network.5-setup.xml | 70 ++++ .../5-setup/network.iCubGenova09.xml | 386 ------------------ experimentalSetups/5-setup/rfe.xml | 23 -- experimentalSetups/5-setup/rl.xml | 26 -- .../5-setup/sensors/RealSense_conf.ini | 13 - experimentalSetups/5-setup/setup.xml | 21 - experimentalSetups/5-setup/startaudio.ini | 5 - experimentalSetups/5-setup/telemetry.xml | 41 -- .../telemetry/telemetryDeviceExternal.xml | 38 -- experimentalSetups/5-setup/test_head.xml | 37 -- experimentalSetups/5-setup/test_left_arm.xml | 54 --- experimentalSetups/5-setup/test_right_arm.xml | 43 -- experimentalSetups/5-setup/test_xsense.xml | 27 -- experimentalSetups/5-setup/upper-body.xml | 81 ---- .../wrappers/FT/left_arm-FT_wrapper.xml | 18 - .../wrappers/FT/left_foot_heel-FT_wrapper.xml | 18 - ...left_foot_heel-FT_wrapper_multipleSens.xml | 18 - .../FT/left_foot_tiptoe-FT_wrapper.xml | 18 - ...ft_foot_tiptoe-FT_wrapper_multipleSens.xml | 18 - .../wrappers/FT/right_arm-FT_wrapper.xml | 18 - .../FT/right_foot_heel-FT_wrapper.xml | 18 - ...ight_foot_heel-FT_wrapper_multipleSens.xml | 18 - .../FT/right_foot_tiptoe-FT_wrapper.xml | 18 - ...ht_foot_tiptoe-FT_wrapper_multipleSens.xml | 18 - .../wrappers/MAIS/left_arm-mais_wrapper.xml | 16 - .../wrappers/MAIS/right_arm-mais_wrapper.xml | 16 - .../wrappers/VFT/left_arm-VFT_wrapper.xml | 31 -- .../wrappers/VFT/left_leg-VFT_wrapper.xml | 29 -- .../wrappers/VFT/right_arm-VFT_wrapper.xml | 31 -- .../wrappers/VFT/right_leg-VFT_wrapper.xml | 29 -- .../wrappers/VFT/torso-VFT_wrapper.xml | 18 - .../wrappers/inertials/head-imuFilter.xml | 20 - .../inertials/head-imuFilter_wrapper.xml | 20 - .../head-inertials_wrapper-deprecated.xml | 19 - .../inertials/head-inertials_wrapper.xml | 20 - .../inertials/left_arm-inertials_wrapper.xml | 21 - .../inertials/left_leg-inertials_wrapper.xml | 21 - .../inertials/right_arm-inertials_wrapper.xml | 21 - .../inertials/right_leg-inertials_wrapper.xml | 21 - .../inertials/torso_inertial_wrapper.xml | 19 - ...c_remapper.xml => 5-setup-mc_remapper.xml} | 6 +- ...-mc_wrapper.xml => 5-setup-mc_wrapper.xml} | 6 +- .../motorControl/alljoints-mc_remapper.xml | 31 -- .../motorControl/alljoints-mc_ros_wrapper.xml | 11 - .../motorControl/face-mc_remapper.xml | 15 - .../wrappers/motorControl/face-mc_wrapper.xml | 10 - .../motorControl/head-mc_remapper.xml | 17 - .../wrappers/motorControl/head-mc_wrapper.xml | 10 - .../motorControl/left_arm-mc_remapper.xml | 23 -- .../motorControl/left_arm-mc_wrapper.xml | 10 - .../motorControl/left_leg-mc_remapper.xml | 16 - .../motorControl/left_leg-mc_wrapper.xml | 10 - .../motorControl/right_arm-mc_remapper.xml | 23 -- .../motorControl/right_arm-mc_wrapper.xml | 10 - .../motorControl/right_leg-mc_remapper.xml | 16 - .../motorControl/right_leg-mc_wrapper.xml | 10 - .../wrappers/skin/left_arm-skin_wrapper.xml | 26 -- .../wrappers/skin/left_leg-skin_wrapper.xml | 26 -- .../skin/left_upperarm-skin_wrapper.xml | 24 -- .../wrappers/skin/right_arm-skin_wrapper.xml | 26 -- .../wrappers/skin/right_leg-skin_wrapper.xml | 26 -- .../skin/right_upperarm-skin_wrapper.xml | 24 -- .../wrappers/skin/torso-skin_wrapper.xml | 24 -- experimentalSetups/5-setup/yarpmotorgui.ini | 2 +- .../5-setup/yarprobotinterface.ini | 2 +- 246 files changed, 312 insertions(+), 12234 deletions(-) create mode 100644 experimentalSetups/5-setup/5-setup.xml rename experimentalSetups/5-setup/calibrators/{torso-calib.xml => 5-setup-calib.xml} (54%) delete mode 100644 experimentalSetups/5-setup/calibrators/face-calib.xml delete mode 100644 experimentalSetups/5-setup/calibrators/head-calib.xml delete mode 100644 experimentalSetups/5-setup/calibrators/left_arm-calib.xml delete mode 100644 experimentalSetups/5-setup/calibrators/left_leg-calib.xml delete mode 100644 experimentalSetups/5-setup/calibrators/right_arm-calib.xml delete mode 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delete mode 100644 experimentalSetups/5-setup/hardware/FT/left_arm-eb1-j0_1-strain.xml delete mode 100644 experimentalSetups/5-setup/hardware/FT/left_leg-eb7-j0_2-strain.xml delete mode 100644 experimentalSetups/5-setup/hardware/FT/left_leg-eb8-j3_5-strain.xml delete mode 100644 experimentalSetups/5-setup/hardware/FT/right_arm-eb3-j0_1-strain.xml delete mode 100644 experimentalSetups/5-setup/hardware/FT/right_leg-eb11-j0_2-strain.xml delete mode 100644 experimentalSetups/5-setup/hardware/FT/right_leg-eb12-j3_5-strain.xml delete mode 100644 experimentalSetups/5-setup/hardware/MAIS/left_arm-eb26-j12_15-mais.xml delete mode 100644 experimentalSetups/5-setup/hardware/MAIS/right_arm-eb29-j12_15-mais.xml rename experimentalSetups/5-setup/hardware/electronics/{torso-eb5-j0_2-eln.xml => 5-setup-eln.xml} (91%) delete mode 100644 experimentalSetups/5-setup/hardware/electronics/face-eb22-j0-eln.xml delete mode 100644 experimentalSetups/5-setup/hardware/electronics/face-eb22-j0_1-eln.xml delete 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experimentalSetups/5-setup/wrappers/VFT/torso-VFT_wrapper.xml delete mode 100644 experimentalSetups/5-setup/wrappers/inertials/head-imuFilter.xml delete mode 100644 experimentalSetups/5-setup/wrappers/inertials/head-imuFilter_wrapper.xml delete mode 100644 experimentalSetups/5-setup/wrappers/inertials/head-inertials_wrapper-deprecated.xml delete mode 100644 experimentalSetups/5-setup/wrappers/inertials/head-inertials_wrapper.xml delete mode 100644 experimentalSetups/5-setup/wrappers/inertials/left_arm-inertials_wrapper.xml delete mode 100644 experimentalSetups/5-setup/wrappers/inertials/left_leg-inertials_wrapper.xml delete mode 100644 experimentalSetups/5-setup/wrappers/inertials/right_arm-inertials_wrapper.xml delete mode 100644 experimentalSetups/5-setup/wrappers/inertials/right_leg-inertials_wrapper.xml delete mode 100644 experimentalSetups/5-setup/wrappers/inertials/torso_inertial_wrapper.xml rename experimentalSetups/5-setup/wrappers/motorControl/{torso-mc_remapper.xml => 5-setup-mc_remapper.xml} (66%) rename experimentalSetups/5-setup/wrappers/motorControl/{torso-mc_wrapper.xml => 5-setup-mc_wrapper.xml} (58%) delete mode 100644 experimentalSetups/5-setup/wrappers/motorControl/alljoints-mc_remapper.xml delete mode 100644 experimentalSetups/5-setup/wrappers/motorControl/alljoints-mc_ros_wrapper.xml delete mode 100644 experimentalSetups/5-setup/wrappers/motorControl/face-mc_remapper.xml delete mode 100644 experimentalSetups/5-setup/wrappers/motorControl/face-mc_wrapper.xml delete mode 100644 experimentalSetups/5-setup/wrappers/motorControl/head-mc_remapper.xml delete mode 100644 experimentalSetups/5-setup/wrappers/motorControl/head-mc_wrapper.xml delete mode 100644 experimentalSetups/5-setup/wrappers/motorControl/left_arm-mc_remapper.xml delete mode 100644 experimentalSetups/5-setup/wrappers/motorControl/left_arm-mc_wrapper.xml delete mode 100644 experimentalSetups/5-setup/wrappers/motorControl/left_leg-mc_remapper.xml delete mode 100644 experimentalSetups/5-setup/wrappers/motorControl/left_leg-mc_wrapper.xml delete mode 100644 experimentalSetups/5-setup/wrappers/motorControl/right_arm-mc_remapper.xml delete mode 100644 experimentalSetups/5-setup/wrappers/motorControl/right_arm-mc_wrapper.xml delete mode 100644 experimentalSetups/5-setup/wrappers/motorControl/right_leg-mc_remapper.xml delete mode 100644 experimentalSetups/5-setup/wrappers/motorControl/right_leg-mc_wrapper.xml delete mode 100644 experimentalSetups/5-setup/wrappers/skin/left_arm-skin_wrapper.xml delete mode 100644 experimentalSetups/5-setup/wrappers/skin/left_leg-skin_wrapper.xml delete mode 100644 experimentalSetups/5-setup/wrappers/skin/left_upperarm-skin_wrapper.xml delete mode 100644 experimentalSetups/5-setup/wrappers/skin/right_arm-skin_wrapper.xml delete mode 100644 experimentalSetups/5-setup/wrappers/skin/right_leg-skin_wrapper.xml delete mode 100644 experimentalSetups/5-setup/wrappers/skin/right_upperarm-skin_wrapper.xml delete mode 100644 experimentalSetups/5-setup/wrappers/skin/torso-skin_wrapper.xml diff --git a/experimentalSetups/5-setup/5-setup.xml b/experimentalSetups/5-setup/5-setup.xml new file mode 100644 index 0000000000..03cf3afa2a --- /dev/null +++ b/experimentalSetups/5-setup/5-setup.xml @@ -0,0 +1,21 @@ + + + + + + + + + + + + + + + + + + + + + diff --git a/experimentalSetups/5-setup/CMakeLists.txt b/experimentalSetups/5-setup/CMakeLists.txt index be461c6a9f..565d051a9d 100644 --- a/experimentalSetups/5-setup/CMakeLists.txt +++ b/experimentalSetups/5-setup/CMakeLists.txt @@ -1,15 +1,11 @@ -set(appname iCubGenova09) +set(appname 5-setup) file(GLOB xml ${CMAKE_CURRENT_SOURCE_DIR}/*.xml) file(GLOB ini ${CMAKE_CURRENT_SOURCE_DIR}/*.ini) yarp_install(FILES ${xml} DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname}) yarp_install(FILES ${ini} DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname}) -yarp_install(DIRECTORY estimators DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname}) yarp_install(DIRECTORY calibrators DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname}) -yarp_install(DIRECTORY cartesian DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname}) yarp_install(DIRECTORY wrappers DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname}) yarp_install(DIRECTORY hardware DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname}) -yarp_install(DIRECTORY camera DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname}) -yarp_install(DIRECTORY sensors DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname}) -yarp_install(DIRECTORY telemetry DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname}) + diff --git a/experimentalSetups/5-setup/calibrators/torso-calib.xml b/experimentalSetups/5-setup/calibrators/5-setup-calib.xml similarity index 54% rename from experimentalSetups/5-setup/calibrators/torso-calib.xml rename to experimentalSetups/5-setup/calibrators/5-setup-calib.xml index 1c49710822..2f07dbd5ed 100644 --- a/experimentalSetups/5-setup/calibrators/torso-calib.xml +++ b/experimentalSetups/5-setup/calibrators/5-setup-calib.xml @@ -2,51 +2,51 @@ - + - 3 - Torso_Calibrator + 1 + 5-Setup_Calibrator - 0 -20 0 - 10 10 10 - - - - - - - 12 12 12 - - 58213 9527 35531 - 0 0 0 - 0 0 0 - - - 0 0 0 - 0 0 0 - 0 0 0 - 0 0 0 - - 0 0 0 - 10 10 10 - 5500 5500 5500 - 2 2 2 + 0 + 10 + + + + + + + 12 + + 58213 + 0 + 0 + + + 0 + 0 + 0 + 0 + + 0 + 10 + 5500 + 2 - (0) (1) (2) + (0) - torso-mc_remapper + 5-setup-mc_remapper - torso-mc_remapper + 5-setup-mc_remapper diff --git a/experimentalSetups/5-setup/calibrators/face-calib.xml b/experimentalSetups/5-setup/calibrators/face-calib.xml deleted file mode 100644 index 83ef4572ef..0000000000 --- a/experimentalSetups/5-setup/calibrators/face-calib.xml +++ /dev/null @@ -1,61 +0,0 @@ - - - - - - - - - - 1 - FaceV3_Calibrator - - - - 0 - 10 - - - - - - 12 - - -2800 - 0 - 0 - - 0 - 0 - - 0 - 0 - - 0 - 10 - 3360 - 90 - - - - (0) - - - face-mc_remapper - - - - face-mc_remapper - - - - - - diff --git a/experimentalSetups/5-setup/calibrators/head-calib.xml b/experimentalSetups/5-setup/calibrators/head-calib.xml deleted file mode 100644 index 24c6899ddb..0000000000 --- a/experimentalSetups/5-setup/calibrators/head-calib.xml +++ /dev/null @@ -1,52 +0,0 @@ - - - - - - - - - - 6 - HeadV3_Calibrator - - - - 0 0 0 0 0 0 - 10 10 10 10 10 10 - - - - - - 12 12 12 12 5 5 - 19567 53471 4175 770 2000 2000 - 0 0 0 0 8192 8192 - 0 0 0 0 0 0 - - 0 0 0 0 0 0 - 0 0 0 0 0 0 - - 0.0 0.0 0.0 0.0 0.0 0.0 - 0.0 0.0 0.0 0.0 0.0 6.5 - - 0.0 0.0 0.0 0.0 0.0 0.0 - 10 10 20.0 20.0 20.0 20.0 - 1000 1000 1000 1000 0 0 - 90 90 2 2 2 2 - - - (0 1 2) (3) (4 5) - - - head-mc_remapper - - - - head-mc_remapper - - - - - - diff --git a/experimentalSetups/5-setup/calibrators/left_arm-calib.xml b/experimentalSetups/5-setup/calibrators/left_arm-calib.xml deleted file mode 100644 index 3c027b8886..0000000000 --- a/experimentalSetups/5-setup/calibrators/left_arm-calib.xml +++ /dev/null @@ -1,50 +0,0 @@ - - - - - - - - - 16 - Left_Arm_Calibrator - - - - 5 30 0 10 0 0 0 35 15 65 0 0 0 0 0 0 - 10 10 10 10 30 30 30 60 30 30 30 30 30 30 30 30 - - - - 12 12 12 12 5 12 12 7 7 6 6 6 6 6 6 6 - -54795 19668 44679 53215 -1500 -8335 10671 0 0 0 0 0 0 0 0 0 - 0 0 0 0 16384 0 0 0 0 9102 9102 9102 9102 9102 9102 10000 - 0 0 0 0 0 0 0 0 0 -1 1 -1 1 -1 1 1 - 0 0 0 0 0 0 0 2045 448 240 484 243 483 255 480 725 - 0 0 0 0 0 0 0 2140 2712 0 9 15 8 20 45 125 - 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 - 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 - - -35 30 0 45 0 0 0 25 45 0 0 0 0 0 0 0 - 10.0 10.0 10.0 10.0 30 30 30 60 100 100 100 100 100 100 100 100 - 8000 8000 8000 8000 2000 0 0 0 0 0 0 0 0 0 0 0 - 2 2 2 2 90 90 90 90 90 90 90 90 90 90 90 90 - - - (1) (0) (2) (3) (4) (5 6) (7) (8 9) (11 13) (10 12 14 15) - - - left_arm-mc_remapper - - - - left_arm-mc_remapper - - - - - - - - diff --git a/experimentalSetups/5-setup/calibrators/left_leg-calib.xml b/experimentalSetups/5-setup/calibrators/left_leg-calib.xml deleted file mode 100644 index 10e6d9491e..0000000000 --- a/experimentalSetups/5-setup/calibrators/left_leg-calib.xml +++ /dev/null @@ -1,46 +0,0 @@ - - - - - - - 6 - Left_Leg_Calibrator - - - - 0.00 5.00 0.00 -5.00 0.00 0.00 - 10.00 10.00 10.00 10.00 10.00 10.00 - - - - - - 10 10 10 10 10 10 - -4500 4500 -2500 -4000 2500 -2000 - 0.0 0.0 0 0 0 0 - 0.0 0.0 0 0 0 0 - 0.0 0.0 0 0 0 0 - 0.0 0.0 0 0 0 0 - 93.0 119.90 80.761 5.817 -47.060 25.823 - 0 0 0 0 0 0 - - 90 20 0 -70 0 0 - 10.0 10.0 10.0 10 10 10 - 12000 8000 3000 8000 4000 3000 - 2 2 2 2 2 2 - - - (2) (4) (5) (3) (0) (1) - - - left_leg-mc_remapper - - - - left_leg-mc_remapper - - - - - diff --git a/experimentalSetups/5-setup/calibrators/right_arm-calib.xml b/experimentalSetups/5-setup/calibrators/right_arm-calib.xml deleted file mode 100644 index af942e0129..0000000000 --- a/experimentalSetups/5-setup/calibrators/right_arm-calib.xml +++ /dev/null @@ -1,49 +0,0 @@ - - - - - - - - - 16 - Right_Arm_Calibrator - - - - 5 30 0 10 0 0 0 35 15 65 0 0 0 0 0 0 - 10 10 10 10 30 30 30 60 30 30 30 30 30 30 30 30 - - - - - 12 12 12 12 5 12 12 7 7 6 6 6 6 6 6 6 - 6576 -12912 -883 -47529 1500 36903 -12703 0 0 0 0 0 0 0 0 0 - 0 0 0 0 16384 0 0 0 0 9102 9102 9102 9102 9102 9102 10000 - 0 0 0 0 0 0 0 0 0 -1 1 -1 1 -1 1 1 - 0 0 0 0 0 0 0 2510 1470 255 510 255 510 200 510 748 - 0 0 0 0 0 0 0 2670 2350 22 40 18 30 10 30 120 - 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 - 0 0 -5.8 0 0 -5.5 -4 10 0 0 0 0 0 0 0 0 - - -35 30 0 45 0 0 15 25 45 10 0 0 0 0 0 0 - 10.0 10.0 10.0 10.0 30 30 30 60 100 100 100 100 100 100 100 100 - 8000 8000 8000 8000 1500 0 0 0 0 0 0 0 0 0 0 0 - 2 2 2 2 90 90 90 90 90 90 90 90 90 90 90 90 - - - - (1) (0) (2) (3) (4) (5 6) (7) (8 9) (11 13) (10 12 14 15) - - right_arm-mc_remapper - - - - right_arm-mc_remapper - - - - - - diff --git a/experimentalSetups/5-setup/calibrators/right_leg-calib.xml b/experimentalSetups/5-setup/calibrators/right_leg-calib.xml deleted file mode 100644 index 0c38732c8e..0000000000 --- a/experimentalSetups/5-setup/calibrators/right_leg-calib.xml +++ /dev/null @@ -1,47 +0,0 @@ - - - - - - - 6 - Right_Leg_Calibrator - - - - 0.00 5.00 0.00 -5.00 0.00 0.00 - 10.00 10.00 10.00 10.00 10.00 10.00 - - - - - - 10 10 10 10 10 10 - 4500 -4500 2500 4000 -2500 2000 - 0.0 0.0 0 0 0 0 - 0.0 0.0 0 0 0 0 - 0.0 0.0 0 0 0 0 - 0.0 0.0 0 0 0 0 - 93.2 119 80.761 5.641 -46.329 24.137 - 0 0 0 0 0 0 - - 90 20 0 -70 0 0 - 10.0 10.0 10.0 10 10 10 - 12000 8000 3000 8000 4000 3000 - 2 2 2 2 2 2 - - - (4) (5) (2) (3) (0) (1) - - - - right_leg-mc_remapper - - - - right_leg-mc_remapper - - - - - diff --git a/experimentalSetups/5-setup/camera/ServerGrabberDualDragon.ini b/experimentalSetups/5-setup/camera/ServerGrabberDualDragon.ini deleted file mode 100644 index 6d9b0b953e..0000000000 --- a/experimentalSetups/5-setup/camera/ServerGrabberDualDragon.ini +++ /dev/null @@ -1,9 +0,0 @@ -device grabberDual -capabilities COLOR -name /icub/cam -split true -twoCameras true -left_config camera/dragonfly2_config_left.ini -right_config camera/dragonfly2_config_right.ini - - diff --git a/experimentalSetups/5-setup/camera/ServerGrabberDualDragon640_480.ini b/experimentalSetups/5-setup/camera/ServerGrabberDualDragon640_480.ini deleted file mode 100644 index 24e2ca4617..0000000000 --- a/experimentalSetups/5-setup/camera/ServerGrabberDualDragon640_480.ini +++ /dev/null @@ -1,7 +0,0 @@ -device grabberDual -capabilities COLOR -name /icub/cam -split true -twoCameras true -left_config camera/dragonfly2_config_left640_480.ini -right_config camera/dragonfly2_config_right640_480.ini diff --git a/experimentalSetups/5-setup/camera/ServerGrabberDualDragonBayer.ini b/experimentalSetups/5-setup/camera/ServerGrabberDualDragonBayer.ini deleted file mode 100644 index d94d114ceb..0000000000 --- a/experimentalSetups/5-setup/camera/ServerGrabberDualDragonBayer.ini +++ /dev/null @@ -1,9 +0,0 @@ -device grabberDual -capabilities RAW -name /icub/cam -split true -twoCameras true -left_config camera/dragonfly2_config_left_bayer_320_240.ini -right_config camera/dragonfly2_config_right_bayer_320_240.ini - - diff --git a/experimentalSetups/5-setup/camera/ServerGrabberDualDragonBayer640_480.ini b/experimentalSetups/5-setup/camera/ServerGrabberDualDragonBayer640_480.ini deleted file mode 100644 index 6cb9c9435b..0000000000 --- a/experimentalSetups/5-setup/camera/ServerGrabberDualDragonBayer640_480.ini +++ /dev/null @@ -1,9 +0,0 @@ -device grabberDual -capabilities RAW -name /icub/cam -split true -twoCameras true -left_config camera/dragonfly2_config_left_bayer_640_480.ini -right_config camera/dragonfly2_config_right_bayer_640_480.ini - - diff --git a/experimentalSetups/5-setup/camera/dragonfly2_config_left.ini b/experimentalSetups/5-setup/camera/dragonfly2_config_left.ini deleted file mode 100644 index 66a1aff7d7..0000000000 --- a/experimentalSetups/5-setup/camera/dragonfly2_config_left.ini +++ /dev/null @@ -1,19 +0,0 @@ -device dragonfly2 -width 1024 -height 768 -video_type 10 -white_balance 0.561 0.631 -gain 0.0 -shutter 0.512 -name /icub/cam/left -brightness 0 -DR2 -stamp -sharpness 0.518 -hue 0.479 -gamma 0.399 -saturation 0.467 -framerate 15 -#d 1 -guid 00b09d0100c77485 -#<64bit global identifier, without the leading 0x> then remove the d option diff --git a/experimentalSetups/5-setup/camera/dragonfly2_config_left640_480.ini b/experimentalSetups/5-setup/camera/dragonfly2_config_left640_480.ini deleted file mode 100644 index a63b2e3148..0000000000 --- a/experimentalSetups/5-setup/camera/dragonfly2_config_left640_480.ini +++ /dev/null @@ -1,18 +0,0 @@ -device dragonfly2 -width 640 -height 480 -video_type 2 -white_balance 0.514 0.610 -gain 0.0 -shutter 0.554 -name /icub/cam/left -brightness 0 -DR2 -stamp -sharpness 0.5 -hue 0.48 -gamma 0.4 -saturation 0.420 -framerate 25 -#d 1 -guid 00b09d0100c77485 diff --git a/experimentalSetups/5-setup/camera/dragonfly2_config_leftLowRes.ini b/experimentalSetups/5-setup/camera/dragonfly2_config_leftLowRes.ini deleted file mode 100644 index 67dd150838..0000000000 --- a/experimentalSetups/5-setup/camera/dragonfly2_config_leftLowRes.ini +++ /dev/null @@ -1,19 +0,0 @@ -device dragonfly2 -width 320 -height 240 -video_type 1 -white_balance 0.561 0.631 -gain 0.0 -shutter 0.512 -name /icub/cam/left -brightness 0 -DR2 -stamp -sharpness 0.518 -hue 0.479 -gamma 0.399 -saturation 0.467 -framerate 30 -#d 1 -guid 00b09d0100c77485 -#<64bit global identifier, without the leading 0x> then remove the d option diff --git a/experimentalSetups/5-setup/camera/dragonfly2_config_left_bayer_320_240.ini b/experimentalSetups/5-setup/camera/dragonfly2_config_left_bayer_320_240.ini deleted file mode 100644 index 6df2ee422e..0000000000 --- a/experimentalSetups/5-setup/camera/dragonfly2_config_left_bayer_320_240.ini +++ /dev/null @@ -1,20 +0,0 @@ -device dragonfly2raw -width 320 -height 240 -video_type 3 -white_balance 0.477 0.514 -gain 0.0 -shutter 0.666 -name /icub/cam/left -brightness 0 -DR2 -stamp -sharpness 1.0 -hue 0.48 -gamma 0.4 -saturation 0.271 -framerate 30 -use_network_time 1 -#d 1 -guid 00b09d0100c77485 -#<64bit global identifier, without the leading 0x> then remove the d option diff --git a/experimentalSetups/5-setup/camera/dragonfly2_config_left_bayer_640_480.ini b/experimentalSetups/5-setup/camera/dragonfly2_config_left_bayer_640_480.ini deleted file mode 100644 index bd30720164..0000000000 --- a/experimentalSetups/5-setup/camera/dragonfly2_config_left_bayer_640_480.ini +++ /dev/null @@ -1,20 +0,0 @@ -device dragonfly2raw -width 640 -height 480 -video_type 3 -white_balance 0.477 0.514 -gain 0.0 -shutter 0.666 -name /icub/cam/left -brightness 0 -DR2 -stamp -sharpness 1.0 -hue 0.48 -gamma 0.4 -saturation 0.271 -framerate 30 -use_network_time 1 -#d 1 -guid 00b09d0100c77485 -#<64bit global identifier, without the leading 0x> then remove the d option diff --git a/experimentalSetups/5-setup/camera/dragonfly2_config_right.ini b/experimentalSetups/5-setup/camera/dragonfly2_config_right.ini deleted file mode 100644 index 80a9fdce4b..0000000000 --- a/experimentalSetups/5-setup/camera/dragonfly2_config_right.ini +++ /dev/null @@ -1,19 +0,0 @@ -device dragonfly2 -width 1024 -height 768 -video_type 10 -white_balance 0.561 0.627 -gain 0.0 -shutter 0.635 -name /icub/cam/right -brightness 0 -DR2 -stamp -sharpness 0.499 -hue 0.479 -gamma 0.399 -saturation 0.449 -framerate 15 -#d 0 -guid 00b09d0100bbb395 -#<64bit global identifier, without the leading 0x> then remove the d option diff --git a/experimentalSetups/5-setup/camera/dragonfly2_config_right640_480.ini b/experimentalSetups/5-setup/camera/dragonfly2_config_right640_480.ini deleted file mode 100644 index e85f5f7fed..0000000000 --- a/experimentalSetups/5-setup/camera/dragonfly2_config_right640_480.ini +++ /dev/null @@ -1,18 +0,0 @@ -device dragonfly2 -width 640 -height 480 -video_type 2 -white_balance 0.514 0.610 -gain 0.0 -shutter 0.554 -name /icub/cam/right -brightness 0 -DR2 -stamp -sharpness 0.5 -hue 0.48 -gamma 0.4 -saturation 0.420 -framerate 25 -#d 0 -guid 00b09d0100bbb395 diff --git a/experimentalSetups/5-setup/camera/dragonfly2_config_rightLowRes.ini b/experimentalSetups/5-setup/camera/dragonfly2_config_rightLowRes.ini deleted file mode 100644 index f948329a60..0000000000 --- a/experimentalSetups/5-setup/camera/dragonfly2_config_rightLowRes.ini +++ /dev/null @@ -1,19 +0,0 @@ -device dragonfly2 -width 320 -height 240 -video_type 1 -white_balance 0.561 0.627 -gain 0.0 -shutter 0.635 -name /icub/cam/right -brightness 0 -DR2 -stamp -sharpness 0.499 -hue 0.479 -gamma 0.399 -saturation 0.449 -framerate 30 -#d 0 -guid 00b09d0100bbb395 -#<64bit global identifier, without the leading 0x> then remove the d option diff --git a/experimentalSetups/5-setup/camera/dragonfly2_config_right_bayer_320_240.ini b/experimentalSetups/5-setup/camera/dragonfly2_config_right_bayer_320_240.ini deleted file mode 100644 index 1ca322116e..0000000000 --- a/experimentalSetups/5-setup/camera/dragonfly2_config_right_bayer_320_240.ini +++ /dev/null @@ -1,20 +0,0 @@ -device dragonfly2raw -width 320 -height 240 -video_type 3 -white_balance 0.477 0.514 -gain 0.0 -shutter 0.666 -name /icub/cam/right -brightness 0 -DR2 -stamp -sharpness 1.0 -hue 0.48 -gamma 0.4 -saturation 0.271 -framerate 30 -use_network_time 1 -#d 0 -guid 00b09d0100bbb395 -#<64bit global identifier, without the leading 0x> then remove the d option diff --git a/experimentalSetups/5-setup/camera/dragonfly2_config_right_bayer_640_480.ini b/experimentalSetups/5-setup/camera/dragonfly2_config_right_bayer_640_480.ini deleted file mode 100644 index 56b8fe7c3f..0000000000 --- a/experimentalSetups/5-setup/camera/dragonfly2_config_right_bayer_640_480.ini +++ /dev/null @@ -1,20 +0,0 @@ -device dragonfly2raw -width 640 -height 480 -video_type 3 -white_balance 0.477 0.514 -gain 0.0 -shutter 0.666 -name /icub/cam/right -brightness 0 -DR2 -stamp -sharpness 1.0 -hue 0.48 -gamma 0.4 -saturation 0.271 -framerate 30 -use_network_time 1 -#d 0 -guid 00b09d0100bbb395 -#<64bit global identifier, without the leading 0x> then remove the d option diff --git a/experimentalSetups/5-setup/cartesian/left_arm-cartesian.xml b/experimentalSetups/5-setup/cartesian/left_arm-cartesian.xml deleted file mode 100644 index 26b163eabd..0000000000 --- a/experimentalSetups/5-setup/cartesian/left_arm-cartesian.xml +++ /dev/null @@ -1,56 +0,0 @@ - - - - - - - icub/cartesianController/left_arm - 10 - 4 - cartesianSolver/left_arm - arm - left_v3 - on - 2 - - - - torso - direct - (0.35 0.35 0.35) - - - - left_arm - direct - (0.35 0.35 0.35 0.35 0.35 0.35 0.35) - - - - - off - off - - ((Kp 1.0) (Tz 0.0) (Tw 0.0) (Zeta 0.0) (Td 0.0)) - ((Kp 1.0) (Tz 0.0) (Tw 0.0) (Zeta 0.0) (Td 0.0)) - ((Kp 1.0) (Tz 0.0) (Tw 0.0) (Zeta 0.0) (Td 0.0)) - ((Kp 1.0) (Tz 0.0) (Tw 0.0) (Zeta 0.0) (Td 0.0)) - ((Kp 1.0) (Tz 0.0) (Tw 0.0) (Zeta 0.0) (Td 0.0)) - ((Kp 1.0) (Tz 0.0) (Tw 0.0) (Zeta 0.0) (Td 0.0)) - ((Kp 1.0) (Tz 0.0) (Tw 0.0) (Zeta 0.0) (Td 0.0)) - ((Kp 1.0) (Tz 0.0) (Tw 0.0) (Zeta 0.0) (Td 0.0)) - ((Kp 1.0) (Tz 0.0) (Tw 0.0) (Zeta 0.0) (Td 0.0)) - ((Kp 1.0) (Tz 0.0) (Tw 0.0) (Zeta 0.0) (Td 0.0)) - - - - - torso-mc_remapper - left_arm-mc_remapper - - - - - - - diff --git a/experimentalSetups/5-setup/cartesian/right_arm-cartesian.xml b/experimentalSetups/5-setup/cartesian/right_arm-cartesian.xml deleted file mode 100644 index 410774aa4e..0000000000 --- a/experimentalSetups/5-setup/cartesian/right_arm-cartesian.xml +++ /dev/null @@ -1,56 +0,0 @@ - - - - - - - icub/cartesianController/right_arm - 10 - 4 - cartesianSolver/right_arm - arm - right_v3 - on - 2 - - - - torso - direct - (0.35 0.35 0.35) - - - - right_arm - direct - (0.35 0.35 0.35 0.35 0.35 0.35 0.35) - - - - - off - off - - ((Kp 1.0) (Tz 0.0) (Tw 0.0) (Zeta 0.0) (Td 0.0)) - ((Kp 1.0) (Tz 0.0) (Tw 0.0) (Zeta 0.0) (Td 0.0)) - ((Kp 1.0) (Tz 0.0) (Tw 0.0) (Zeta 0.0) (Td 0.0)) - ((Kp 1.0) (Tz 0.0) (Tw 0.0) (Zeta 0.0) (Td 0.0)) - ((Kp 1.0) (Tz 0.0) (Tw 0.0) (Zeta 0.0) (Td 0.0)) - ((Kp 1.0) (Tz 0.0) (Tw 0.0) (Zeta 0.0) (Td 0.0)) - ((Kp 1.0) (Tz 0.0) (Tw 0.0) (Zeta 0.0) (Td 0.0)) - ((Kp 1.0) (Tz 0.0) (Tw 0.0) (Zeta 0.0) (Td 0.0)) - ((Kp 1.0) (Tz 0.0) (Tw 0.0) (Zeta 0.0) (Td 0.0)) - ((Kp 1.0) (Tz 0.0) (Tw 0.0) (Zeta 0.0) (Td 0.0)) - - - - - torso-mc_remapper - right_arm-mc_remapper - - - - - - - diff --git a/experimentalSetups/5-setup/cartesianSolver.ini b/experimentalSetups/5-setup/cartesianSolver.ini deleted file mode 100644 index 2670d0f667..0000000000 --- a/experimentalSetups/5-setup/cartesianSolver.ini +++ /dev/null @@ -1,69 +0,0 @@ -[left_arm] -robot icub -name cartesianSolver/left_arm -type left_v3 -period 20 -dof (0 0 0 1 1 1 1 1 1 1) -rest_pos (0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0) -rest_weights (1.0 1.0 1.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0) -pose full -mode shot -verbosity off -maxIter 200 -tol 0.001 -xyzTol 0.000001 -interPoints off -ping_robot_tmo 40.0 - -[right_arm] -robot icub -name cartesianSolver/right_arm -type right_v3 -period 20 -dof (0 0 0 1 1 1 1 1 1 1) -rest_pos (0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0) -rest_weights (1.0 1.0 1.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0) -pose full -mode shot -verbosity off -maxIter 200 -tol 0.001 -xyzTol 0.000001 -interPoints off -ping_robot_tmo 40.0 - -[left_leg] -robot icub -name cartesianSolver/left_leg -type left_v3 -period 20 -dof (1 1 1 1 1 1) -rest_pos (0.0 0.0 0.0 0.0 0.0 0.0) -rest_weights (0.0 0.0 0.0 0.0 0.0 0.0) -pose full -mode shot -verbosity off -maxIter 200 -tol 0.001 -xyzTol 0.000001 -interPoints off -ping_robot_tmo 40.0 - -[right_leg] -robot icub -name cartesianSolver/right_leg -type right_v3 -period 20 -dof (1 1 1 1 1 1) -rest_pos (0.0 0.0 0.0 0.0 0.0 0.0) -rest_weights (0.0 0.0 0.0 0.0 0.0 0.0) -pose full -mode shot -verbosity off -maxIter 200 -tol 0.001 -xyzTol 0.000001 -interPoints off -ping_robot_tmo 40.0 - - diff --git a/experimentalSetups/5-setup/estimators/wholebodydynamics.xml b/experimentalSetups/5-setup/estimators/wholebodydynamics.xml deleted file mode 100644 index 8971f20b61..0000000000 --- a/experimentalSetups/5-setup/estimators/wholebodydynamics.xml +++ /dev/null @@ -1,84 +0,0 @@ - - - - - - (torso_pitch,torso_roll,torso_yaw,neck_pitch, neck_roll,neck_yaw,l_shoulder_pitch,l_shoulder_roll,l_shoulder_yaw,l_elbow,l_wrist_prosup,l_wrist_pitch,l_wrist_yaw,r_shoulder_pitch,r_shoulder_roll,r_shoulder_yaw,r_elbow,r_wrist_prosup,r_wrist_pitch,r_wrist_yaw,l_hip_pitch,l_hip_roll,l_hip_yaw,l_knee,l_ankle_pitch,l_ankle_roll,r_hip_pitch,r_hip_roll,r_hip_yaw,r_knee,r_ankle_pitch,r_ankle_roll) - model.urdf - (0,0,-9.81) - (l_hand,r_hand,root_link,l_foot_front,l_foot_rear,r_foot_front,r_foot_rear,l_lower_leg,r_lower_leg) - imu_frame - true - 2 - true - false - true - 3.0 - 3.0 - 3.0 - 3.0 - false - true - - - rfeimu_acc - rfeimu_gyro - - - - - true - root_link - (torso_roll,torso_pitch,torso_yaw,neck_pitch,neck_roll,neck_yaw,l_shoulder_pitch,l_shoulder_roll,l_shoulder_yaw,l_elbow,r_shoulder_pitch,r_shoulder_roll,r_shoulder_yaw,r_elbow,l_hip_pitch,l_hip_roll,l_hip_yaw,l_knee,l_ankle_pitch,l_ankle_roll,r_hip_pitch,r_hip_roll,r_hip_yaw,r_knee,r_ankle_pitch,r_ankle_roll) - - - - - (l_hand,l_hand,root_link) - (r_hand,r_hand,root_link) - (l_lower_leg,l_lower_leg,root_link) - (r_lower_leg,r_lower_leg,root_link) - (l_foot_front,l_sole,l_sole) - (l_foot_rear,l_sole,l_sole) - (r_foot_front,r_sole,r_sole) - (r_foot_rear,r_sole,r_sole) - - - - - - head-eb20-j0_1-mc - head-eb21-j2_5-mc - torso-eb5-j0_2-mc - left_arm-eb1-j0_1-mc - left_arm-eb2-j2_3-mc - left_arm-eb24-j4_7-mc - right_arm-eb3-j0_1-mc - right_arm-eb4-j2_3-mc - right_arm-eb27-j4_7-mc - left_leg-eb7-j0_2-mc - left_leg-eb8-j3_5-mc - right_leg-eb11-j0_2-mc - right_leg-eb12-j3_5-mc - - - head-inertial - - - - - - left_arm-eb1-j0_1-strain - right_arm-eb3-j0_1-strain - left_leg-eb8-j3_5-strain - left_leg-eb7-j0_2-strain - right_leg-eb12-j3_5-strain - right_leg-eb11-j0_2-strain - - - - - - diff --git a/experimentalSetups/5-setup/extra/JOINT_LIMITS.txt b/experimentalSetups/5-setup/extra/JOINT_LIMITS.txt deleted file mode 100644 index 0ec85181f9..0000000000 --- a/experimentalSetups/5-setup/extra/JOINT_LIMITS.txt +++ /dev/null @@ -1,33 +0,0 @@ -left hip pitch [-47.170, ...] -left hip roll [ ] -left hip yaw [-80.546 80.739] -left_knee [5.817, ...] -left_ankle_pitch [-47.060,....] -left_ankle_roll [-25.889 25.823] - -right hip pitch [-47.175, ...] -right hip yaw [-80.327 80.700] -right_knee [5.641, ...] -right_ankle_pitch [-46.329,] -right_ankle_roll [-27.598, 24.137] - - -left hip pitch -left hip roll -left hip yaw -left_knee -left_ankle_pitch -left_ankle_roll - - -right hip pitch -right hip roll -right hip yaw -right_knee -right_ankle_pitch -right_ankle_roll - - - -Delta = theta - theta_desired - diff --git a/experimentalSetups/5-setup/extra/applications/SFM.xml b/experimentalSetups/5-setup/extra/applications/SFM.xml deleted file mode 100644 index f515b742e3..0000000000 --- a/experimentalSetups/5-setup/extra/applications/SFM.xml +++ /dev/null @@ -1,48 +0,0 @@ - - SFM Application - - SFM - - icub-console - - (Pos (x 283) (y 161.9)) - - - yarpview - --name /matchViewer --x 0 --p 50 - icub-console - - (Pos (x 310) (y 10)) - - - yarpview - --name /dispViewer --x 330 --p 50 - icub-console - - (Pos (x 610) (y 10)) - - - /icub/camcalib/right/out - /SFM/right:i - tcp - (Pos ((x 231) (y 214.5)) ((x 199) (y 224)) ((x 284) (y 205)) ) - - - /icub/camcalib/left/out - /SFM/left:i - tcp - (Pos ((x 227.5) (y 177)) ((x 192) (y 174)) ((x 284) (y 180)) ) - - - /SFM/match:o - /matchViewer - mjpeg - (Pos ((x 438.5) (y 226)) ((x 397) (y 217)) ((x 501) (y 235)) ) - - - /SFM/disp:o - /dispViewer - tcp - (Pos ((x 437.5) (y 190.5)) ((x 397) (y 192)) ((x 499) (y 189)) ) - - diff --git a/experimentalSetups/5-setup/extra/applications/cameras_calib.xml b/experimentalSetups/5-setup/extra/applications/cameras_calib.xml deleted file mode 100644 index fa533b383d..0000000000 --- a/experimentalSetups/5-setup/extra/applications/cameras_calib.xml +++ /dev/null @@ -1,67 +0,0 @@ - -(1)Calib Cameras - - - - yarpdev - --from camera/ServerGrabberDualDragon.ini --split true - icub-head - - - camCalib - --context cameraCalibration --from icubEyes.ini --group CAMERA_CALIBRATION_LEFT --name /icub/camcalib/left - icub-console - - - camCalib - --context cameraCalibration --from icubEyes.ini --group CAMERA_CALIBRATION_RIGHT --name /icub/camcalib/right - icub-console - - - yarpview - --name /icub/view/left --x 0 --y 0 --p 50 --w 320 --h 320 - icub-console - - - yarpview - --name /icub/view/right --x 400 --y 0 --p 50 --w 320 --h 320 - icub-console - - - frameGrabberGui2 - --local /icub/fggui/left --remote /icub/cam/left --x 0 --y 350 --width 350 --height 500 - icub-console - - /icub/cam/left - - - - frameGrabberGui2 - --local /icub/fggui/right --remote /icub/cam/right --x 320 --y 350 --width 350 --height 500 - icub-console - - /icub/cam/right - - - - /icub/cam/left - /icub/camcalib/left/in - tcp - - - /icub/cam/right - /icub/camcalib/right/in - tcp - - - /icub/camcalib/left/out - /icub/view/left - tcp - - - /icub/camcalib/right/out - /icub/view/right - tcp - - - diff --git a/experimentalSetups/5-setup/extra/applications/cameras_calib_640_480.xml b/experimentalSetups/5-setup/extra/applications/cameras_calib_640_480.xml deleted file mode 100644 index e0c1ce3eca..0000000000 --- a/experimentalSetups/5-setup/extra/applications/cameras_calib_640_480.xml +++ /dev/null @@ -1,67 +0,0 @@ - -(1)Calib Cameras 640x480 (no Bayer) - - - - yarpdev - --from camera/ServerGrabberDualDragon640_480.ini --split true - icub-head - - - camCalib - --context cameraCalibration --from icubEyes_640_480.ini --group CAMERA_CALIBRATION_LEFT --name /icub/camcalib/left - icub-console - - - camCalib - --context cameraCalibration --from icubEyes_640_480.ini --group CAMERA_CALIBRATION_RIGHT --name /icub/camcalib/right - icub-console - - - yarpview - --name /icub/view/left --x 0 --y 0 --p 50 --w 320 --h 320 - icub-console - - - yarpview - --name /icub/view/right --x 400 --y 0 --p 50 --w 320 --h 320 - icub-console - - - frameGrabberGui2 - --local /icub/fggui/left --remote /icub/cam/left --x 0 --y 350 --width 350 --height 500 - icub-console - - /icub/cam/left - - - - frameGrabberGui2 - --local /icub/fggui/right --remote /icub/cam/right --x 320 --y 350 --width 350 --height 500 - icub-console - - /icub/cam/right - - - - /icub/cam/left - /icub/camcalib/left/in - mjpeg - - - /icub/cam/right - /icub/camcalib/right/in - mjpeg - - - /icub/camcalib/left/out - /icub/view/left - mjpeg - - - /icub/camcalib/right/out - /icub/view/right - mjpeg - - - diff --git a/experimentalSetups/5-setup/extra/applications/demoRedBall.xml b/experimentalSetups/5-setup/extra/applications/demoRedBall.xml deleted file mode 100644 index 8c5420f356..0000000000 --- a/experimentalSetups/5-setup/extra/applications/demoRedBall.xml +++ /dev/null @@ -1,55 +0,0 @@ - -Red-Ball Demo - - - /icub/camcalib/left/out - /iKinGazeCtrl/rpc - /icub/cartesianController/right_arm/state:o - /icub/cartesianController/left_arm/state:o - /wholeBodyDynamics/right_arm/FT:i - /wholeBodyDynamics/left_arm/FT:i - - - - pf3dTracker - icub-console - - - - demoRedBall - icub-console - - - - yarpview - --name /PF3DTracker_viewer --x 320 --y 0 --p 50 --compact - icub-console-gui - - - - /icub/camcalib/left/out - /pf3dTracker/video:i - udp - - - /pf3dTracker/video:o - /PF3DTracker_viewer - mjpeg - - - /pf3dTracker/data:o - /demoRedBall/trackTarget:i - udp - - - /demoRedBall/cmdFace:rpc - /icub/face/emotions/in - tcp - - - /demoRedBall/gui:o - /iCubGui/objects - tcp - - - diff --git a/experimentalSetups/5-setup/extra/applications/faceExpressions.xml b/experimentalSetups/5-setup/extra/applications/faceExpressions.xml deleted file mode 100644 index 4d7c00db34..0000000000 --- a/experimentalSetups/5-setup/extra/applications/faceExpressions.xml +++ /dev/null @@ -1,21 +0,0 @@ - -Face Expressions - - yarpdev - --name /icub/face/raw --device serial --subdevice serialport --context faceExpressions --from serialport.ini - icub-head - face_device - - - emotionInterface - --name /icub/face/emotions --context faceExpressions --from emotions_rfe.ini - icub-head - emotions_interface - - - /icub/face/emotions/out - /icub/face/raw/in - tcp - - - diff --git a/experimentalSetups/5-setup/extra/applications/funny_things.xml b/experimentalSetups/5-setup/extra/applications/funny_things.xml deleted file mode 100644 index 18b5167659..0000000000 --- a/experimentalSetups/5-setup/extra/applications/funny_things.xml +++ /dev/null @@ -1,83 +0,0 @@ - - Funny Things - - - - iCubBlinker - --autoStart - icub-console - - - - gaze.lua - --look-around - lua - icub-console - - /iKinGazeCtrl/angles:i - /iKinGazeCtrl/angles:o - - - - - - yarpdev - --device speech --lingware-context speech --robot icub --default-language it-IT --pitch 90 --speed 100 - icub-head - - - iSpeak - --package speech-dev - icub-head - - - - - ctpService - --robot icub --part head - icub-console - - - ctpService - --robot icub --part left_arm - icub-console - - - ctpService - --robot icub --part right_arm - icub-console - - - ctpService - --robot icub --part torso - icub-console - - - - - /iCubBlinker/emotions/raw - /icub/face/raw/in - tcp - - - /iSpeak/speech-dev/rpc - /icub/speech:rpc - tcp - - - /iSpeak/emotions:o - /icub/face/emotions/in - tcp - - - /gaze/tx - /iKinGazeCtrl/angles:i - tcp - - - /iKinGazeCtrl/angles:o - /gaze/rx - tcp - - - diff --git a/experimentalSetups/5-setup/extra/applications/grasp-processor.xml b/experimentalSetups/5-setup/extra/applications/grasp-processor.xml deleted file mode 100644 index 51639178e2..0000000000 --- a/experimentalSetups/5-setup/extra/applications/grasp-processor.xml +++ /dev/null @@ -1,91 +0,0 @@ - - Grasp pose processor - - - /pointCloudRead/rpc - /actionsRenderingEngine/cmd:io - /actionsRenderingEngine/get:io - /iolReachingCalibration/rpc - /SFM/rpc - /memory/rpc - /icub/camcalib/left/out - /lbpExtract/rpc:i - - - - grasp-processor - icub-console-gui - - - - find-superquadric - --random-sample 0.2 --remove-outliers "(0.01 10)" --disable-viewer - icub-console - - - - point-cloud-read - icub-console - - - - /graspProcessor/superquadricRetrieve:rpc - /find-superquadric/points:rpc - fast_tcp - - - - /graspProcessor/pointCloud:rpc - /pointCloudRead/rpc - fast_tcp - - - - /graspProcessor/actionRenderer:rpc - /actionsRenderingEngine/cmd:io - fast_tcp - - - - /graspProcessor/tableCalib:rpc - /actionsRenderingEngine/get:io - fast_tcp - - - - /graspProcessor/reachingCalibration:rpc - /iolReachingCalibration/rpc - fast_tcp - - - - /icub/camcalib/left/out - /pointCloudRead/imgL:i - udp - - - - /pointCloudRead/OPCrpc - /memory/rpc - fast_tcp - - - - /pointCloudRead/SFMrpc - /SFM/rpc - fast_tcp - - - - /pointCloudRead/segmrpc - /lbpExtract/rpc:i - fast_tcp - - - - /iolStateMachineHandler/motor_grasp:rpc - /graspProcessor/cmd:rpc - fast_tcp - - - diff --git a/experimentalSetups/5-setup/extra/applications/iCub3SkinGui.xml b/experimentalSetups/5-setup/extra/applications/iCub3SkinGui.xml deleted file mode 100644 index cc015803ff..0000000000 --- a/experimentalSetups/5-setup/extra/applications/iCub3SkinGui.xml +++ /dev/null @@ -1,33 +0,0 @@ - - - iCub3SkinGui - Application for iCub3 skin gui visualization - - localhost - - - iCubSkinGui - --from left_upperarm_V3.ini - ${generic_node} - - - - iCubSkinGui - --from right_upperarm_V3.ini - ${generic_node} - yarpdatadumper - - - - /icub/skin/left_upperarm - /skinGui/left_upperarm:i - udp - - - - /icub/skin/right_upperarm - /skinGui/right_upperarm:i - udp - - - diff --git a/experimentalSetups/5-setup/extra/applications/iCubStartup.xml b/experimentalSetups/5-setup/extra/applications/iCubStartup.xml deleted file mode 100644 index 020e5c632b..0000000000 --- a/experimentalSetups/5-setup/extra/applications/iCubStartup.xml +++ /dev/null @@ -1,51 +0,0 @@ - -(0)iCubStartup - - - - - - yarplogger - --start --no_stop - icub-console - - - - yarprobotinterface - icub-head - - - - iKinCartesianSolver - --part right_arm - icub-head - - /icub/yarprobotinterface - - - - - iKinCartesianSolver - --part left_arm - icub-head - - /icub/yarprobotinterface - - - - - iKinGazeCtrl - --from config_no_imu.ini - icub-head - - /icub/yarprobotinterface - - - - - yarpmotorgui - --from homePoseBalancing.ini - icub-console - - - diff --git a/experimentalSetups/5-setup/extra/applications/iCubStartup_640_480.xml b/experimentalSetups/5-setup/extra/applications/iCubStartup_640_480.xml deleted file mode 100644 index aba36aaa52..0000000000 --- a/experimentalSetups/5-setup/extra/applications/iCubStartup_640_480.xml +++ /dev/null @@ -1,45 +0,0 @@ - -(0)iCubStartup (640x480) - - - - - - yarplogger - --start --no_stop - icub-console - - - - yarprobotinterface - icub-head - - - - iKinCartesianSolver - --part right_arm - icub-head - - /icub/yarprobotinterface - - - - - iKinCartesianSolver - --part left_arm - icub-head - - /icub/yarprobotinterface - - - - - iKinGazeCtrl - --from config_no_imu_640_480.ini - icub-head - - /icub/yarprobotinterface - - - - diff --git a/experimentalSetups/5-setup/extra/applications/iol.xml b/experimentalSetups/5-setup/extra/applications/iol.xml deleted file mode 100644 index 2e3b5ce041..0000000000 --- a/experimentalSetups/5-setup/extra/applications/iol.xml +++ /dev/null @@ -1,347 +0,0 @@ - -IOL (internal GPU) - - - /icub/camcalib/left/out - /icub/camcalib/right/out - /icub/cartesianController/left_arm/state:o - /icub/cartesianController/right_arm/state:o - /wholeBodyDynamics/left_arm/cartesianEndEffectorWrench:o - /wholeBodyDynamics/right_arm/cartesianEndEffectorWrench:o - /iKinGazeCtrl/rpc - - - - lbpExtract - icub-console-gui - - - motionCUT - icub-console-gui - - - SFM - icub-console-gui - - - - - caffeCoder - --from caffeCoder_resnet.ini - icub-console-gui - - - - - - - linearClassifierModule - --BufferSize 1 --CSVM 1.0 --databaseFolder IOLDatabase --WeightedSVM 1 - icub-console-gui - - - himrepClassifier - icub-console-gui - - - blobSelector - icub-console-gui - - - actionsRenderingEngine - --motor::block_eyes 5.0 - icub-console - - - iolReachingCalibration - icub-console - - - iolStateMachineHandler - icub-console - - - objectsPropertiesCollector - --name memory --db memory_iol.ini - icub-console - - - iSpeak - --package acapela-tts - icub-win - - - speechRecognizer - icub-win - - - iolHelper - icub-console - - - yarpview - --name /iolViewer/disparity --x 0 --y 0 --p 50 --compact - icub-console-gui - - - yarpview - --name /iolViewer/lbpSegmented --x 370 --y 0 --p 50 --compact - icub-console-gui - - - yarpview - --name /iolViewer/manager/snapshot --x 370 --y 720 --p 50 --compact - icub-console-gui - - - yarpview - --name /iolViewer/pointedBlobs --x 0 --y 720 --p 50 --compact - icub-console-gui - - - yarpview - --name /iolViewer/manager/tracker --x 0 --y 370 --p 50 --compact - icub-console-gui - - - yarpview - --name /iolViewer/manager/localizer --x 370 --y 370 --out /iolViewer/manager/localizer/out --p 50 --compact - icub-console-gui - - - yarpview - --name /iolViewer/manager/histogram --x 680 --y 220 --w 600 --h 600 --p 50 --compact - icub-console-gui - - - - - - rfsmGui - icub-console-gui - --rfsm iol_root_fsm.lua --context iol/lua --run - - /iSpeak - /speechRecognizer/rpc - /iolStateMachineHandler/human:rpc - /iolHelper/rpc - - - - - /icub/camcalib/left/out - /iolStateMachineHandler/img:i - mjpeg - - - /icub/camcalib/left/out - /lbpExtract/image:i - mjpeg - - - /iolStateMachineHandler/imgClassifier:o - /himrepClassifier/img:i - tcp - - - /icub/camcalib/left/out - /blobSelector/img:i - mjpeg - - - /icub/camcalib/left/out - /motionCUT/img:i - mjpeg - - - /motionCUT/blobs:o - /blobSelector/blobs:i - udp - - - /motionCUT/blobs:o - /actionsRenderingEngine/left/blobs:i - udp - - - /lbpExtract/blobs:o - /iolStateMachineHandler/blobs:i - udp - - - /iolStateMachineHandler/classify:rpc - /himrepClassifier/rpc - tcp - - - /SFM/disp:o - /iolViewer/disparity - udp - - - /lbpExtract/segmentedlbp:o - /iolViewer/lbpSegmented - mjpeg - - - /blobSelector/img:o - /iolViewer/pointedBlobs - mjpeg - - - /iolStateMachineHandler/img:o - /iolViewer/manager/snapshot - tcp - - - /iolStateMachineHandler/imgTrack:o - /iolViewer/manager/tracker - mjpeg - - - /iolStateMachineHandler/imgLoc:o - /iolViewer/manager/localizer - mjpeg - - - /iolStateMachineHandler/imgHistogram:o - /iolViewer/manager/histogram - mjpeg - - - /iolViewer/manager/localizer/out - /iolStateMachineHandler/histObjLocation:i - tcp - - - /iolStateMachineHandler/speak:o - /iSpeak - tcp - - - /iolReachingCalibration/opc - /memory/rpc - tcp - - - /iolReachingCalibration/are - /actionsRenderingEngine/cmd:io - tcp - - - /iolStateMachineHandler/reach_calib:rpc - /iolReachingCalibration/rpc - tcp - - - /iolStateMachineHandler/motor:rpc - /actionsRenderingEngine/cmd:io - tcp - - - /iolStateMachineHandler/motor_stop:rpc - /actionsRenderingEngine/rpc - tcp - - - /actionsRenderingEngine/wbd:rpc - /wholeBodyDynamics/rpc:i - tcp - - - /iolStateMachineHandler/memory:rpc - /memory/rpc - tcp - - - /actionsRenderingEngine/OPC:io - /memory/rpc - tcp - - - /iolHelper/opc - /memory/rpc - tcp - - - /speechRecognizer/recog/continuous:o - /iolStateMachineHandler/motor_stop:i - tcp - - - /blobSelector/point:o - /iolStateMachineHandler/point:i - tcp - - - /speechRecognizer/tts/iSpeak:o - /iSpeak - tcp - - - /iSpeak/emotions:o - /icub/face/emotions/in - tcp - - - /himrepClassifier/img:o - /caffeCoder/img:i - tcp - - - /caffeCoder/code:o - /himrepClassifier/features:i - tcp - - - /himrepClassifier/features:o - /linearClassifier/features:i - tcp - - - /linearClassifier/scores:o - /himrepClassifier/scores:i - tcp - - - /himrepClassifier/classify:rpc - /linearClassifier/rpc - tcp - - - /caffeCoder/img:o - /himrepClassifier/SIFTimg:i - tcp - - - /himrepClassifier/opc - /memory/rpc - tcp - - - /icub/camcalib/right/out - /SFM/right:i - tcp - - - /icub/camcalib/left/out - /SFM/left:i - tcp - - - /iolStateMachineHandler/get3d:rpc - /SFM/rpc - tcp - - diff --git a/experimentalSetups/5-setup/extra/applications/iol_egpu.xml b/experimentalSetups/5-setup/extra/applications/iol_egpu.xml deleted file mode 100644 index ab57cf1505..0000000000 --- a/experimentalSetups/5-setup/extra/applications/iol_egpu.xml +++ /dev/null @@ -1,353 +0,0 @@ - -IOL (external GPU) - - - /icub/camcalib/left/out - /icub/camcalib/right/out - /icub/cartesianController/left_arm/state:o - /icub/cartesianController/right_arm/state:o - /wholeBodyDynamics/left_arm/cartesianEndEffectorWrench:o - /wholeBodyDynamics/right_arm/cartesianEndEffectorWrench:o - /iKinGazeCtrl/rpc - - - - lbpExtract - icub-console-gui - - - motionCUT - icub-console-gui - - - SFM - icub-console-gui - - - - - caffeCoder - --from caffeCoder_resnet.ini --device_id 0 - icub-cuda - - - linearClassifierModule - --BufferSize 1 --CSVM 1.0 --databaseFolder IOLDatabase --WeightedSVM 1 - icub-console-gui - - - himrepClassifier - icub-console-gui - - - blobSelector - icub-console-gui - - - actionsRenderingEngine - --motor::block_eyes 5.0 - icub-console - - - iolReachingCalibration - icub-console - - - iolStateMachineHandler - icub-console - - - objectsPropertiesCollector - --name memory --db memory_iol.ini - icub-console - - - iSpeak - --package speech-dev - icub-console - - - yarpdev - --device speech --lingware-context speech --default-language en-US --pitch 100 --speed 100 - icub-console - - - speechRecognizer - icub-win - - - iolHelper - icub-console - - - yarpview - --name /iolViewer/disparity --x 0 --y 0 --p 50 --compact - icub-console-gui - - - yarpview - --name /iolViewer/lbpSegmented --x 370 --y 0 --p 50 --compact - icub-console-gui - - - yarpview - --name /iolViewer/manager/snapshot --x 370 --y 720 --p 50 --compact - icub-console-gui - - - yarpview - --name /iolViewer/pointedBlobs --x 0 --y 720 --p 50 --compact - icub-console-gui - - - yarpview - --name /iolViewer/manager/tracker --x 0 --y 370 --p 50 --compact - icub-console-gui - - - yarpview - --name /iolViewer/manager/localizer --x 370 --y 370 --out /iolViewer/manager/localizer/out --p 50 --compact - icub-console-gui - - - yarpview - --name /iolViewer/manager/histogram --x 680 --y 220 --w 600 --h 600 --p 50 --compact - icub-console-gui - - - - - - rfsmGui - icub-console - --rfsm iol_root_fsm.lua --context iol/lua --run - - /iSpeak - /speechRecognizer/rpc - /iolStateMachineHandler/human:rpc - /iolHelper/rpc - - - - - /icub/camcalib/left/out - /iolStateMachineHandler/img:i - mjpeg - - - /icub/camcalib/left/out - /lbpExtract/image:i - mjpeg - - - /iolStateMachineHandler/imgClassifier:o - /himrepClassifier/img:i - tcp - - - /icub/camcalib/left/out - /blobSelector/img:i - mjpeg - - - /icub/camcalib/left/out - /motionCUT/img:i - mjpeg - - - /motionCUT/blobs:o - /blobSelector/blobs:i - udp - - - /motionCUT/blobs:o - /actionsRenderingEngine/left/blobs:i - udp - - - /lbpExtract/blobs:o - /iolStateMachineHandler/blobs:i - udp - - - /iolStateMachineHandler/classify:rpc - /himrepClassifier/rpc - tcp - - - /SFM/disp:o - /iolViewer/disparity - udp - - - /lbpExtract/segmentedlbp:o - /iolViewer/lbpSegmented - mjpeg - - - /blobSelector/img:o - /iolViewer/pointedBlobs - mjpeg - - - /iolStateMachineHandler/img:o - /iolViewer/manager/snapshot - tcp - - - /iolStateMachineHandler/imgTrack:o - /iolViewer/manager/tracker - mjpeg - - - /iolStateMachineHandler/imgLoc:o - /iolViewer/manager/localizer - mjpeg - - - /iolStateMachineHandler/imgHistogram:o - /iolViewer/manager/histogram - mjpeg - - - /iolViewer/manager/localizer/out - /iolStateMachineHandler/histObjLocation:i - tcp - - - /iolStateMachineHandler/speak:o - /iSpeak - tcp - - - /iolReachingCalibration/opc - /memory/rpc - tcp - - - /iolReachingCalibration/are - /actionsRenderingEngine/cmd:io - tcp - - - /iolStateMachineHandler/reach_calib:rpc - /iolReachingCalibration/rpc - tcp - - - /iolStateMachineHandler/motor:rpc - /actionsRenderingEngine/cmd:io - tcp - - - /iolStateMachineHandler/motor_stop:rpc - /actionsRenderingEngine/rpc - tcp - - - /actionsRenderingEngine/wbd:rpc - /wholeBodyDynamics/rpc:i - tcp - - - /iolStateMachineHandler/memory:rpc - /memory/rpc - tcp - - - /actionsRenderingEngine/OPC:io - /memory/rpc - tcp - - - /iolHelper/opc - /memory/rpc - tcp - - - /speechRecognizer/recog/continuous:o - /iolStateMachineHandler/motor_stop:i - tcp - - - /blobSelector/point:o - /iolStateMachineHandler/point:i - tcp - - - /speechRecognizer/tts/iSpeak:o - /iSpeak - tcp - - - /iSpeak/emotions:o - /icub/face/emotions/in - tcp - - - /iSpeak/speech-dev/rpc - /icub/speech:rpc - fast_tcp - - - /himrepClassifier/img:o - /caffeCoder/img:i - tcp - - - /caffeCoder/code:o - /himrepClassifier/features:i - tcp - - - /himrepClassifier/features:o - /linearClassifier/features:i - tcp - - - /linearClassifier/scores:o - /himrepClassifier/scores:i - tcp - - - /himrepClassifier/classify:rpc - /linearClassifier/rpc - tcp - - - /caffeCoder/img:o - /himrepClassifier/SIFTimg:i - tcp - - - /himrepClassifier/opc - /memory/rpc - tcp - - - /icub/camcalib/right/out - /SFM/right:i - tcp - - - /icub/camcalib/left/out - /SFM/left:i - tcp - - - /iolStateMachineHandler/get3d:rpc - /SFM/rpc - tcp - - diff --git a/experimentalSetups/5-setup/extra/applications/lbpExtract.xml b/experimentalSetups/5-setup/extra/applications/lbpExtract.xml deleted file mode 100644 index cb2ee248f5..0000000000 --- a/experimentalSetups/5-setup/extra/applications/lbpExtract.xml +++ /dev/null @@ -1,68 +0,0 @@ - - Local Binary Pattern Blob Extraction - - - - - - lbpExtract - icub-console - - - - - yarpview - icub-console-gui - --name /lbps --x 0 --y 0 --RefreshTime 33 - - - - yarpview - icub-console-gui - --name /contourslbp --x 330 --y 0 --RefreshTime 33 - - - - yarpview - icub-console-gui - --name /extracted --x 0 --y 330 --RefreshTime 33 - - - - yarpview - icub-console-gui - --name /segmented --x 330 --y 330 --RefreshTime 33 - - - - - /icub/camcalib/left/out - /lbpExtract/image:i - udp - - - - /lbpExtract/lbp:o - /lbps - udp - - - - /lbpExtract/contourslbp:o - /contourslbp - mjpeg - - - - /lbpExtract/extractedlbp:o - /extracted - mjpeg - - - - /lbpExtract/segmentedlbp:o - /segmented - mjpeg - - - diff --git a/experimentalSetups/5-setup/extra/applications/robmo-icub-hand-iRC-collector.xml b/experimentalSetups/5-setup/extra/applications/robmo-icub-hand-iRC-collector.xml deleted file mode 100644 index ba0fee756a..0000000000 --- a/experimentalSetups/5-setup/extra/applications/robmo-icub-hand-iRC-collector.xml +++ /dev/null @@ -1,112 +0,0 @@ - - - iolReachingCalibrationCollector - - - robmo-icub-hand-iRC-collector - localhost - - - - robmo-icub-hand-si - localhost - icub left false left true false - - - - robmo-icub-hand-si - localhost - icub right false left true false - - - - yarpview - localhost - --name /iolReachingCalibrationCollector/viewer/left/aruco:i - - - - yarpview - localhost - --name /iolReachingCalibrationCollector/viewer/right/aruco:i - - - - yarpview - localhost - --name /iolReachingCalibrationCollector/viewer/left/si:i - - - - yarpview - localhost - --name /iolReachingCalibrationCollector/viewer/right/si:i - - - - /icub/cartesianController/left_arm/state:o - /iolReachingCalibrationCollector/left/hand_fk:i - fast_tcp - - - - /icub/cartesianController/right_arm/state:o - /iolReachingCalibrationCollector/right/hand_fk:i - fast_tcp - - - - /icub/camcalib/left/out - /robmo-icub-hand-si/left_camera/left_hand/rgbImage:i - fast_tcp - - - - /icub/camcalib/left/out - /robmo-icub-hand-si/left_camera/right_hand/rgbImage:i - fast_tcp - - - - /icub/camcalib/left/out - /iolReachingCalibrationCollector/left/rgbImage:i - fast_tcp - - - - /iolReachingCalibrationCollector/left/gt_image:o - /iolReachingCalibrationCollector/viewer/left/aruco:i - fast_tcp - - - - /iolReachingCalibrationCollector/right/gt_image:o - /iolReachingCalibrationCollector/viewer/right/aruco:i - fast_tcp - - - - /robmo-icub-hand-si/left_camera/left_hand/image:o - /iolReachingCalibrationCollector/viewer/left/si:i - fast_tcp - - - - /robmo-icub-hand-si/left_camera/right_hand/image:o - /iolReachingCalibrationCollector/viewer/right/si:i - fast_tcp - - - - /iolReachingCalibrationCollector/left/gt_pose:o - /robmo-icub-hand-si/left_camera/left_hand/si-icub-hand/left/state:i - fast_tcp - - - - /iolReachingCalibrationCollector/right/gt_pose:o - /robmo-icub-hand-si/left_camera/right_hand/si-icub-hand/right/state:i - fast_tcp - - - diff --git a/experimentalSetups/5-setup/extra/applications/robmo-icub-hand-iRC-test-no-calibration.xml b/experimentalSetups/5-setup/extra/applications/robmo-icub-hand-iRC-test-no-calibration.xml deleted file mode 100644 index 888fdac077..0000000000 --- a/experimentalSetups/5-setup/extra/applications/robmo-icub-hand-iRC-test-no-calibration.xml +++ /dev/null @@ -1,65 +0,0 @@ - - - iolReachingCalibrationTest (no calibration) - - - robmo-icub-hand-si - localhost - icub right false left true false - - - - robmo-icub-hand-si - localhost - icub left false left true false - - - - yarpview - localhost - --name /iolReachingCalibrationTest/viewer/left/si:i - - - - yarpview - localhost - --name /iolReachingCalibrationTest/viewer/right/si:i - - - - /icub/camcalib/left/out - /robmo-icub-hand-si/left_camera/left_hand/rgbImage:i - fast_tcp - - - - /icub/camcalib/left/out - /robmo-icub-hand-si/left_camera/right_hand/rgbImage:i - fast_tcp - - - - /robmo-icub-hand-si/left_camera/left_hand/image:o - /iolReachingCalibrationTest/viewer/left/si:i - fast_tcp - - - - /robmo-icub-hand-si/left_camera/right_hand/image:o - /iolReachingCalibrationTest/viewer/right/si:i - fast_tcp - - - - /icub/cartesianController/left_arm/state:o - /robmo-icub-hand-si/left_camera/left_hand/si-icub-hand/left/state:i - fast_tcp - - - - /icub/cartesianController/righ_arm/state:o - /robmo-icub-hand-si/left_camera/right_hand/si-icub-hand/right/state:i - fast_tcp - - - diff --git a/experimentalSetups/5-setup/extra/applications/robmo-icub-hand-iRC-test.xml b/experimentalSetups/5-setup/extra/applications/robmo-icub-hand-iRC-test.xml deleted file mode 100644 index 7b460e5f01..0000000000 --- a/experimentalSetups/5-setup/extra/applications/robmo-icub-hand-iRC-test.xml +++ /dev/null @@ -1,89 +0,0 @@ - - - iolReachingCalibrationTest - - - robmo-icub-hand-iRC-test - icub left - localhost - - - - robmo-icub-hand-iRC-test - icub right - localhost - - - - robmo-icub-hand-si - localhost - icub right false left true false - - - - robmo-icub-hand-si - localhost - icub left false left true false - - - - yarpview - localhost - --name /iolReachingCalibrationTest/viewer/left/si:i - - - - yarpview - localhost - --name /iolReachingCalibrationTest/viewer/right/si:i - - - - /icub/cartesianController/left_arm/state:o - /iolReachingCalibrationTest/left/hand_fk:i - fast_tcp - - - - /icub/cartesianController/right_arm/state:o - /iolReachingCalibrationTest/right/hand_fk:i - fast_tcp - - - - /icub/camcalib/left/out - /robmo-icub-hand-si/left_camera/left_hand/rgbImage:i - fast_tcp - - - - /icub/camcalib/left/out - /robmo-icub-hand-si/left_camera/right_hand/rgbImage:i - fast_tcp - - - - /robmo-icub-hand-si/left_camera/left_hand/image:o - /iolReachingCalibrationTest/viewer/left/si:i - fast_tcp - - - - /robmo-icub-hand-si/left_camera/right_hand/image:o - /iolReachingCalibrationTest/viewer/right/si:i - fast_tcp - - - - /iolReachingCalibrationTest/left_arm/state:o - /robmo-icub-hand-si/left_camera/left_hand/si-icub-hand/left/state:i - fast_tcp - - - - /iolReachingCalibrationTest/right_arm/state:o - /robmo-icub-hand-si/left_camera/right_hand/si-icub-hand/right/state:i - fast_tcp - - - diff --git a/experimentalSetups/5-setup/extra/applications/skinGuiAll.xml b/experimentalSetups/5-setup/extra/applications/skinGuiAll.xml deleted file mode 100644 index b75e27c2ae..0000000000 --- a/experimentalSetups/5-setup/extra/applications/skinGuiAll.xml +++ /dev/null @@ -1,74 +0,0 @@ - - Skin Gui All - - skinManager - --from skinManAll.ini --context skinGui - icub-console - skinMan - - - skinManagerGui - --from skinManGui.ini --context skinGui --xpos 1020 --ypos 350 - icub-console - skinManGui - - - - - iCubSkinGui - - --from left_hand_V2_1.ini --useCalibration --xpos 320 --ypos 0 --width 300 --height 300 - icub-console-gui - skinGuiLH - - - iCubSkinGui - - --from right_hand_V2_1.ini --useCalibration --xpos 960 --ypos 0 --width 300 --height 300 - icub-console-gui - skinGuiRH - - - - - /skinManager/skin_events:o - /wholeBodyDynamics/skin_contacts:i - udp - - - /skinManagerGui/rpc:o - /skinManager/rpc - tcp - - - /skinManager/monitor:o - /skinManagerGui/monitor:i - udp - - - /skinManager/info:o - /skinManagerGui/info:i - tcp - - - - /diagnostics/skin/errors:o - /skinManager/diagnostics/skin/errors:i - tcp - - - /skinManager/diagnostics/skin/errors:o - /skinManagerGui/diagnostics/skin/errors:i - tcp - - - /icub/skin/left_hand_comp - /skinGui/left_hand:i - udp - - - /icub/skin/right_hand_comp - /skinGui/right_hand:i - udp - - diff --git a/experimentalSetups/5-setup/extra/applications/stereoCalib.xml b/experimentalSetups/5-setup/extra/applications/stereoCalib.xml deleted file mode 100644 index d71781c3b2..0000000000 --- a/experimentalSetups/5-setup/extra/applications/stereoCalib.xml +++ /dev/null @@ -1,57 +0,0 @@ - -Stereo Calibration - - /icub/cam/left - /icub/cam/right - /icub/head/state:o - - - - stereoCalib - --from icubEyes.ini - icub-console - icub-console - StereoCalib - - - - yarpview - --name /viewLeft --synch - icub-console - view1 - - - - yarpview - --name /viewRight --synch - icub-console - view2 - - - - /stereoCalib/cam/left:o - /viewLeft - tcp - - - - /stereoCalib/cam/right:o - /viewRight - tcp - - - - /icub/cam/right - /stereoCalib/cam/right:i - tcp - - - - /icub/cam/left - /stereoCalib/cam/left:i - tcp - - - - - diff --git a/experimentalSetups/5-setup/extra/contexts/yarpmanager/cluster-config.xml b/experimentalSetups/5-setup/extra/contexts/yarpmanager/cluster-config.xml deleted file mode 100644 index 40d6e6265a..0000000000 --- a/experimentalSetups/5-setup/extra/contexts/yarpmanager/cluster-config.xml +++ /dev/null @@ -1,17 +0,0 @@ - - - - - - -icub-console -icub-console-gui -pi-ifeel -icub-cuda -icub-head -icub-virtualizer -icub29 - - - diff --git a/experimentalSetups/5-setup/extra/scripts/README.md b/experimentalSetups/5-setup/extra/scripts/README.md deleted file mode 100644 index 34c9a88b59..0000000000 --- a/experimentalSetups/5-setup/extra/scripts/README.md +++ /dev/null @@ -1,14 +0,0 @@ -# Additional Commands - -This folder contains a set of script and aliases that ease the use of the robot. -In order to use them, we assume that ``robots-configuration`` has been installed using the [``robotology-superbuild``](https://github.com/robotology/robotology-superbuild), and that the ``ROBOTOLOGY_SUPERBUILD_SOURCE_DIR`` and ``YARP_ROBOT_NAME`` environmental variables have been set. -Then, in the ``.bashrc_iCub`` file, append the following lines -```sh -additionalCommandsFile=${ROBOTOLOGY_SUPERBUILD_SOURCE_DIR}/src/robots-configuration/${YARP_ROBOT_NAME}/extra/scripts/additionalCommands.sh - -if [ -f "$additionalCommandsFile" ]; then - source $additionalCommandsFile -fi -``` - -After opening a new terminal, you can type ``helpRobot`` to get a list of useful commands. diff --git a/experimentalSetups/5-setup/extra/scripts/additionalCommands.sh b/experimentalSetups/5-setup/extra/scripts/additionalCommands.sh deleted file mode 100644 index 1ed97e3940..0000000000 --- a/experimentalSetups/5-setup/extra/scripts/additionalCommands.sh +++ /dev/null @@ -1,59 +0,0 @@ -## Additional aliases and commands to use the robot - -getParentDir () { - SOURCE="${1}" - while [ -h "$SOURCE" ]; do # resolve $SOURCE until the file is no longer a symlink - DIR="$( cd -P "$( dirname "$SOURCE" )" >/dev/null 2>&1 && pwd )" - SOURCE="$(readlink "$SOURCE")" - [[ $SOURCE != /* ]] && SOURCE="$DIR/$SOURCE" # if $SOURCE was a relative symlink, we need to resolve it relative to the path where the symlink file was located - done - DIR="$( cd -P "$( dirname "$SOURCE" )" >/dev/null 2>&1 && pwd )" -} - -getParentDir "${BASH_SOURCE[0]}" - -# The directory where this script is -export ADDITIONAL_COMMANDS_DIR="$DIR" - - -#Robots Configuration settings -alias robotsConfigurationInstaller='bash ${ADDITIONAL_COMMANDS_DIR}/installRobotsConfiguration.sh' -export ROBOTS_CONFIGURATION_DIR=${ROBOTOLOGY_SUPERBUILD_SOURCE_DIR}/src/robots-configuration/${YARP_ROBOT_NAME} -alias gotoRobotsConfigurationFolder='cd $ROBOTS_CONFIGURATION_DIR' - -#Automatic Joypad configuration -alias connectToJoypad='sudo expect ${ADDITIONAL_COMMANDS_DIR}/bluetoothConnect.sh 28:9A:4B:08:E1:1B' - -# Go to DCM folder -alias dcmFolder='cd ${ROBOTOLOGY_SUPERBUILD_SOURCE_DIR}/src/walking-controllers/src/WalkingModule/app/robots/${YARP_ROBOT_NAME}' - -# Go to the corresponding build folder in the superbuild -alias goToBuildSuperbuild='cd ../../build/src/${PWD##*/}' - -## Alias for running a diff between the source and the install of the configuration files -alias configurationSourceInstallDiff='bash ${ADDITIONAL_COMMANDS_DIR}/checkConfigurationFiles.sh' - -alias test-speaker='speaker-test -t wav -c 1' - -# Test if the microphone is working -test-microphone() { - arecord -vvv -f dat /dev/null -} - -GREEN='\033[0;32m' -NC='\033[0m' # No Color -## Alias for displaying info messages about the other aliases -alias helpRobot='echo -e "Here some useful commands: -${GREEN}robotsConfigurationInstaller${NC} Takes care of installing the robot configuration files from any folder. -${GREEN}gotoRobotsConfigurationFolder${NC} Go to the source folder of the robot configuration files. -${GREEN}configurationSourceInstallDiff${NC} Performs a diff between the source and install configuration files. If there is no difference, it prints nothing. -${GREEN}connectToJoypad${NC} To reconnect the bluetooth connection of the robot joypad. -${GREEN}test-speaker${NC} Test if the speaker is working. -${GREEN}test-microphone${NC} Test if the micorphone is working. -${GREEN}dcmFolder${NC} Go to the robot walking configuration files. -${GREEN}goToBuildSuperbuild${NC} Go to the corresponding build folder of the robotology superbuild."' - -if [ "$PS1" ]; then - echo -e "Type ${GREEN}helpRobot${NC} for a list of useful commands." -fi - diff --git a/experimentalSetups/5-setup/extra/scripts/bluetoothConnect.sh b/experimentalSetups/5-setup/extra/scripts/bluetoothConnect.sh deleted file mode 100644 index d12c94b0dd..0000000000 --- a/experimentalSetups/5-setup/extra/scripts/bluetoothConnect.sh +++ /dev/null @@ -1,61 +0,0 @@ - -#!/usr/bin/expect -f - -set address [lindex $argv 0] - -spawn sudo bluetoothctl - -# Set timeout to 30 sec (-1 for infinity) -set timeout 30 - -# Remove the device if it was already connected -send "remove $address\r" -expect { - -re "Device $address not available" {send_user \ - "\n--------------\nDevice was not paired before. Continuing.\n\n--------------\n"} - -re "Device has been removed" - } - -# Scan for the device -send "scan on\r" -expect { - timeout {send_user "\n!!!!!!!\nDevice does not seem to be available.\n\n!!!!!!!!\n" ; \ - send "quit\r" ; expect eof ; exit 1} - -re "$address" - } -send_user "\n--------------\n$address found!\n\n--------------\n" -send "scan off\r" - -# Trust the device (useful since we are not setting any PIN) -send "trust $address\r" -expect { - timeout {send_user "\n!!!!!!!\nUnable to trust the device.\n\n!!!!!!!!\n" ; \ - send "quit\r" ; expect eof ; exit 1} - -re "trust succeeded" - } -send_user "\n--------------\nTrust succeded!\n\n--------------\n" - -#Pair the device -send "pair $address\r" -expect { - timeout {send_user "\n!!!!!!!\nUnable to pair the device.\n\n!!!!!!!!\n" ; \ - send "quit\r" ; expect eof ; exit 1} - -re "Pairing successful" - } -send_user "\n--------------\nPairing succeded!\n\n--------------\n" - -#Connect the device -send "connect $address\r" -expect { - timeout {send_user "\n!!!!!!!\nUnable to connect to the device.\n\n!!!!!!!!\n" ; \ - send "quit\r" ; expect eof ; exit 1} - -re "Connection successful" - } -send_user "\n--------------\nConnection succeded! The Joystick is ready to be used!!\n\n--------------\n" - -#Exit -send "quit\r" -expect eof -exit 0 - -#iCubGenova04 joypad address: 28:9A:4B:0A:5F:6D diff --git a/experimentalSetups/5-setup/extra/scripts/checkConfigurationFiles.sh b/experimentalSetups/5-setup/extra/scripts/checkConfigurationFiles.sh deleted file mode 100644 index defd0376e2..0000000000 --- a/experimentalSetups/5-setup/extra/scripts/checkConfigurationFiles.sh +++ /dev/null @@ -1,14 +0,0 @@ -#!/bin/bash - -diff -r --exclude="CMakeLists.txt" $ROBOTOLOGY_SUPERBUILD_SOURCE_DIR/src/robots-configuration/$YARP_ROBOT_NAME $ROBOTOLOGY_SUPERBUILD_SOURCE_DIR/build/install/share/ICUBcontrib/robots/$YARP_ROBOT_NAME | grep -ve dcm_walking -ve extra > /tmp/diff_out 2>&1 - -GREEN='\033[0;32m' -RED='\033[0;31m' -NC='\033[0m' # No Color - -if [[ -s /tmp/diff_out ]]; then - echo -e "${RED}There are differences.${NC}" - cat /tmp/diff_out -else - echo -e "${GREEN}The configuration files in the source and in the install folder coincide.${NC}" -fi diff --git a/experimentalSetups/5-setup/extra/scripts/installRobotsConfiguration.sh b/experimentalSetups/5-setup/extra/scripts/installRobotsConfiguration.sh deleted file mode 100644 index a09b681a39..0000000000 --- a/experimentalSetups/5-setup/extra/scripts/installRobotsConfiguration.sh +++ /dev/null @@ -1,12 +0,0 @@ -#!/bin/bash - -if [[ -v "${ICUB_BUILD_PATHNAME}" ]]; then - BUILD_DIR=${ICUB_BUILD_PATHNAME} -else - BUILD_DIR='build'; -fi - -echo "Running make install in ${ROBOTOLOGY_SUPERBUILD_SOURCE_DIR}/${BUILD_DIR}/src/robots-configuration" - -cd ${ROBOTOLOGY_SUPERBUILD_SOURCE_DIR}/${BUILD_DIR}/src/robots-configuration -cmake . && make install diff --git a/experimentalSetups/5-setup/graspTheBall_demoRedBall.ini b/experimentalSetups/5-setup/graspTheBall_demoRedBall.ini deleted file mode 100644 index f0be59a56b..0000000000 --- a/experimentalSetups/5-setup/graspTheBall_demoRedBall.ini +++ /dev/null @@ -1,53 +0,0 @@ - -[general] -robot icub -thread_period 20 -left_arm off -right_arm on -traj_time 1.0 -reach_tol 0.01 -eye left -idle_tmo 5.0 -use_network off -network network.ini -speech off - -[torso] -pitch on (min -10.0) (max 10.0) -roll off -yaw on - -[left_arm] -grasp_enable off -reach_offset 0.0 -0.05 0.0 -grasp_offset 0.0 0.00 0.0 -hand_orientation 0.0 -0.707106781186547 0.707106781186548 3.14159265358979 -impedance_velocity_mode off -impedance_stiffness 0.4 0.4 0.4 0.2 0.2 -impedance_damping 0.002 0.002 0.002 0.002 0.0 - -[right_arm] -grasp_enable on -reach_offset 0.05 0.18 0.05 -grasp_offset 0.05 0.05 0.05 -hand_orientation 0.0 -0.707106781186547 0.707106781186548 3.14159265358979 -impedance_velocity_mode off -impedance_stiffness 0.4 0.4 0.4 0.2 0.2 -impedance_damping 0.002 0.002 0.002 0.002 0.0 - -[home_arm] -poss -30.0 30.0 0.0 45.0 0.0 0.0 0.0 -vels 10.0 10.0 10.0 10.0 10.0 10.0 10.0 - -[arm_selection] -hysteresis_thres 0.15 - -[grasp] -sphere_radius 0.05 -sphere_tmo 2.0 -release_tmo 4.0 -open_hand 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 -close_hand 20.0 80.0 30.0 20.0 30.0 40.0 30.0 40.0 150.0 -vels_hand 20.0 40.0 50.0 50.0 50.0 50.0 50.0 50.0 80.0 - -[include speech "speech_English.ini"]application diff --git a/experimentalSetups/5-setup/graspTheBall_pf3dTracker.ini b/experimentalSetups/5-setup/graspTheBall_pf3dTracker.ini deleted file mode 100644 index 863b25df00..0000000000 --- a/experimentalSetups/5-setup/graspTheBall_pf3dTracker.ini +++ /dev/null @@ -1,99 +0,0 @@ -#################################### -#configuration file for PF3DTracker# -#################################### - - -############# -#module name# -############# -name /pf3dTracker - -############################# -#parameters of the algorithm# -############################# -nParticles 900 -#nParticles number of particles used -accelStDev 30 -#accelStDev 50 30 15 -#accelStDev standard deviation of the acceleration noise -insideOutsideDiffWeight 1.5 -#insideOutsideDiffWeight inside-outside difference weight for the likelihood function -colorTransfPolicy 1 -#colorTransfPolicy [0=transform the whole image | 1=only transform the pixels you need] - - - - -######################### -#port names and function# -######################### -inputVideoPort /pf3dTracker/video:i -#inputVideoPort receives images from the grabber or the rectifying program. -outputVideoPort /pf3dTracker/video:o -#outputVideoPort produces images in which the contour of the estimated ball is highlighted -outputDataPort /pf3dTracker/data:o -#outputDataPort produces a stream of data in the format: X, Y, Z, likelihood, U, V, seeing_object -outputParticlePort /pf3dTracker/particles:o -#outputParticlePort produces data for the plotter. it is usually not active for performance reasons. -inputParticlePort /pf3dTracker/particles:i -#inputParticlePort recives hypotheses on the ball position from pf3dBottomup. -outputAttentionPort /pf3dTracker/attention:o -#outputAttentionPort produces data for the attention system, in terms of a peak of saliency. - - -################################# -#projection model and parameters# -################################# -#projectionModel [perspective|equidistance|unified] -projectionModel perspective - -cameraContext cameraCalibration -cameraFile icubEyes.ini -cameraGroup CAMERA_CALIBRATION_LEFT - -####################### -#tracked object models# -####################### -#trackedObjectType [sphere|parallelogram] -trackedObjectType sphere -trackedObjectColorTemplate models/red_ball_iit.bmp -trackedObjectShapeTemplate models/initial_ball_points_31mm_20percent.csv - -motionModelMatrix models/motion_model_matrix.csv -trackedObjectTemp current_histogram.csv - -####################### -#initialization method# -####################### -#initialization method [search|3dEstimate|2dEstimate] -initializationMethod 3dEstimate -initialX 0 -initialY 0 -initialZ 0.5 - - -#################### -#visualization mode# -#################### -#circleVisualizationMode [0=inner and outer cirlce | 1=one circle with the correct radious] default 0. only applies to the sphere. -circleVisualizationMode 1 - - -######################### -#attention-related stuff# -######################### -#the tracker produces a value of likelihood at each time step. this value can be used to infer if the object it is tracking is the correct one. this is not a very robust way of doing so. -#if likelihood>this value, then probably I'm tracking the object. 20Millions is good, 12Millions is the likelihood of Jonas Hornsteins's PC screen (false positive). -#20Millions is a good threshold level when you have the right color model. 5M. -likelihoodThreshold 0.005 -attentionOutputMax 300 -attentionOutputDecrease 0.99 - - -########################## -#image saving preferences# -########################## -#save images with OpenCV? -saveImagesWithOpencv false -#always use the trailing slash here. -saveImagesWithOpencvDir ./graphical_results/ diff --git a/experimentalSetups/5-setup/hardware/FT/left_arm-eb1-j0_1-strain.xml b/experimentalSetups/5-setup/hardware/FT/left_arm-eb1-j0_1-strain.xml deleted file mode 100644 index 0d034f459d..0000000000 --- a/experimentalSetups/5-setup/hardware/FT/left_arm-eb1-j0_1-strain.xml +++ /dev/null @@ -1,55 +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/experimentalSetups/5-setup/hardware/FT/left_leg-eb7-j0_2-strain.xml b/experimentalSetups/5-setup/hardware/FT/left_leg-eb7-j0_2-strain.xml deleted file mode 100644 index 7b47923328..0000000000 --- a/experimentalSetups/5-setup/hardware/FT/left_leg-eb7-j0_2-strain.xml +++ /dev/null @@ -1,57 +0,0 @@ - - - - - - - - - - - - - - eomn_serv_AS_strain - - - - - strain2 - - - 2 - 0 - - - 2 - 0 - 9 - - - - - id_l_heel_strain - eoas_strain - CAN2:13 - - - - - - 10 - id_l_heel_strain - 1000 - - - - true - - - - - - - - - - diff --git a/experimentalSetups/5-setup/hardware/FT/left_leg-eb8-j3_5-strain.xml b/experimentalSetups/5-setup/hardware/FT/left_leg-eb8-j3_5-strain.xml deleted file mode 100644 index de1551cab5..0000000000 --- a/experimentalSetups/5-setup/hardware/FT/left_leg-eb8-j3_5-strain.xml +++ /dev/null @@ -1,58 +0,0 @@ - - - - - - - - - - - - - - eomn_serv_AS_strain - - - - - strain2 - - - 2 - 0 - - - 2 - 0 - 9 - - - - - id_l_tiptoe_strain - eoas_strain - CAN2:13 - - - - - - 10 - id_l_tiptoe_strain - 1000 - - - - true - - - - - - - - - - - diff --git a/experimentalSetups/5-setup/hardware/FT/right_arm-eb3-j0_1-strain.xml b/experimentalSetups/5-setup/hardware/FT/right_arm-eb3-j0_1-strain.xml deleted file mode 100644 index 7e9bcb8562..0000000000 --- a/experimentalSetups/5-setup/hardware/FT/right_arm-eb3-j0_1-strain.xml +++ /dev/null @@ -1,55 +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/experimentalSetups/5-setup/hardware/FT/right_leg-eb11-j0_2-strain.xml b/experimentalSetups/5-setup/hardware/FT/right_leg-eb11-j0_2-strain.xml deleted file mode 100644 index 8d4760a6b6..0000000000 --- a/experimentalSetups/5-setup/hardware/FT/right_leg-eb11-j0_2-strain.xml +++ /dev/null @@ -1,57 +0,0 @@ - - - - - - - - - - - - - - eomn_serv_AS_strain - - - - - strain2 - - - 2 - 0 - - - 2 - 0 - 9 - - - - - id_r_heel_strain - eoas_strain - CAN2:13 - - - - - - 10 - id_r_heel_strain - 1000 - - - - true - - - - - - - - - - diff --git a/experimentalSetups/5-setup/hardware/FT/right_leg-eb12-j3_5-strain.xml b/experimentalSetups/5-setup/hardware/FT/right_leg-eb12-j3_5-strain.xml deleted file mode 100644 index b7d3a2bcd8..0000000000 --- a/experimentalSetups/5-setup/hardware/FT/right_leg-eb12-j3_5-strain.xml +++ /dev/null @@ -1,58 +0,0 @@ - - - - - - - - - - - - - - eomn_serv_AS_strain - - - - - strain2 - - - 2 - 0 - - - 2 - 0 - 9 - - - - - id_r_tiptoe_strain - eoas_strain - CAN2:13 - - - - - - 10 - id_r_tiptoe_strain - 1000 - - - - true - - - - - - - - - - - diff --git a/experimentalSetups/5-setup/hardware/MAIS/left_arm-eb26-j12_15-mais.xml b/experimentalSetups/5-setup/hardware/MAIS/left_arm-eb26-j12_15-mais.xml deleted file mode 100644 index fc5cc16a2b..0000000000 --- a/experimentalSetups/5-setup/hardware/MAIS/left_arm-eb26-j12_15-mais.xml +++ /dev/null @@ -1,51 +0,0 @@ - - - - - - - - - - - - - - eomn_serv_AS_mais - - - - - eobrd_mais - - - 0 - 0 - - - 0 - 0 - 0 - - - - - id_x_hand_mais - eoas_mais - CAN1:14 - - - - - - 10 - id_x_hand_mais - - - - - - - - - diff --git a/experimentalSetups/5-setup/hardware/MAIS/right_arm-eb29-j12_15-mais.xml b/experimentalSetups/5-setup/hardware/MAIS/right_arm-eb29-j12_15-mais.xml deleted file mode 100644 index 35ec78ac99..0000000000 --- a/experimentalSetups/5-setup/hardware/MAIS/right_arm-eb29-j12_15-mais.xml +++ /dev/null @@ -1,51 +0,0 @@ - - - - - - - - - - - - - - eomn_serv_AS_mais - - - - - eobrd_mais - - - 0 - 0 - - - 0 - 0 - 0 - - - - - id_x_hand_mais - eoas_mais - CAN1:14 - - - - - - 10 - id_x_hand_mais - - - - - - - - - diff --git a/experimentalSetups/5-setup/hardware/electronics/torso-eb5-j0_2-eln.xml b/experimentalSetups/5-setup/hardware/electronics/5-setup-eln.xml similarity index 91% rename from experimentalSetups/5-setup/hardware/electronics/torso-eb5-j0_2-eln.xml rename to experimentalSetups/5-setup/hardware/electronics/5-setup-eln.xml index 9983fc2609..8071a6c1f1 100644 --- a/experimentalSetups/5-setup/hardware/electronics/torso-eb5-j0_2-eln.xml +++ b/experimentalSetups/5-setup/hardware/electronics/5-setup-eln.xml @@ -1,7 +1,7 @@ - + @@ -16,7 +16,7 @@ - "torso-eb5-j0_2" + "5-setup" 1000 400 diff --git a/experimentalSetups/5-setup/hardware/electronics/face-eb22-j0-eln.xml b/experimentalSetups/5-setup/hardware/electronics/face-eb22-j0-eln.xml deleted file mode 100644 index a99fb12210..0000000000 --- a/experimentalSetups/5-setup/hardware/electronics/face-eb22-j0-eln.xml +++ /dev/null @@ -1,40 +0,0 @@ - - - - - - - - - - - 10.0.1.22 - 12345 - mc4plus - 768 - 384 - - - - "face-eb22-j0" - - 1000 - 400 - 300 - 300 - 3 - - - - - - true - 0.020 - 60.0 - - - - - - - diff --git a/experimentalSetups/5-setup/hardware/electronics/face-eb22-j0_1-eln.xml b/experimentalSetups/5-setup/hardware/electronics/face-eb22-j0_1-eln.xml deleted file mode 100644 index 94013978b9..0000000000 --- a/experimentalSetups/5-setup/hardware/electronics/face-eb22-j0_1-eln.xml +++ /dev/null @@ -1,40 +0,0 @@ - - - - - - - - - - - 10.0.1.22 - 12345 - mc4plus - 768 - 384 - - - - "face-eb22-j0_1" - - 1000 - 400 - 300 - 300 - 3 - - - - - - true - 0.020 - 60.0 - - - - - - - diff --git a/experimentalSetups/5-setup/hardware/electronics/face-eb23-j2_5-eln.xml b/experimentalSetups/5-setup/hardware/electronics/face-eb23-j2_5-eln.xml deleted file mode 100644 index 6d0bc4018e..0000000000 --- a/experimentalSetups/5-setup/hardware/electronics/face-eb23-j2_5-eln.xml +++ /dev/null @@ -1,41 +0,0 @@ - - - - - - - - - - - 10.0.1.23 - 12345 - mc4plus - 768 - 384 - - - - "face-eb23-j2_5" - - 1000 - 400 - 300 - 300 - 5 - - - - - - true - 0.020 - 60.0 - - - - - - - - diff --git a/experimentalSetups/5-setup/hardware/electronics/head-eb20-j0_1-eln.xml b/experimentalSetups/5-setup/hardware/electronics/head-eb20-j0_1-eln.xml deleted file mode 100644 index 0487cfa76c..0000000000 --- a/experimentalSetups/5-setup/hardware/electronics/head-eb20-j0_1-eln.xml +++ /dev/null @@ -1,40 +0,0 @@ - - - - - - - - - - - 10.0.1.20 - 12345 - mc4plus - 768 - 384 - - - - "head-eb20-j0_1" - - 1000 - 400 - 300 - 300 - 5 - - - - - - true - 0.020 - 60.0 - - - - - - - diff --git a/experimentalSetups/5-setup/hardware/electronics/head-eb21-j2_5-eln.xml b/experimentalSetups/5-setup/hardware/electronics/head-eb21-j2_5-eln.xml deleted file mode 100644 index be977ce193..0000000000 --- a/experimentalSetups/5-setup/hardware/electronics/head-eb21-j2_5-eln.xml +++ /dev/null @@ -1,40 +0,0 @@ - - - - - - - - - - - 10.0.1.21 - 12345 - mc4plus - 768 - 384 - - - - "head-eb21-j2_5" - - 1000 - 400 - 300 - 300 - 5 - - - - - - true - 0.020 - 60.0 - - - - - - - diff --git a/experimentalSetups/5-setup/hardware/electronics/left_arm-eb1-j0_1-eln.xml b/experimentalSetups/5-setup/hardware/electronics/left_arm-eb1-j0_1-eln.xml deleted file mode 100644 index caa18c8413..0000000000 --- a/experimentalSetups/5-setup/hardware/electronics/left_arm-eb1-j0_1-eln.xml +++ /dev/null @@ -1,40 +0,0 @@ - - - - - - - - - - - 10.0.1.1 - 12345 - ems4 - 768 - 384 - - - - "left_arm-eb1-j0_1" - - 1000 - 400 - 300 - 300 - 5 - - - - - - true - 0.020 - 60.0 - - - - - - - diff --git a/experimentalSetups/5-setup/hardware/electronics/left_arm-eb2-j2_3-eln.xml b/experimentalSetups/5-setup/hardware/electronics/left_arm-eb2-j2_3-eln.xml deleted file mode 100644 index b14c418c16..0000000000 --- a/experimentalSetups/5-setup/hardware/electronics/left_arm-eb2-j2_3-eln.xml +++ /dev/null @@ -1,40 +0,0 @@ - - - - - - - - - - - 10.0.1.2 - 12345 - ems4 - 768 - 384 - - - - "left_arm-eb2-j2_3" - - 1000 - 400 - 300 - 300 - 5 - - - - - - true - 0.020 - 60.0 - - - - - - - diff --git a/experimentalSetups/5-setup/hardware/electronics/left_arm-eb24-j4_7-eln.xml b/experimentalSetups/5-setup/hardware/electronics/left_arm-eb24-j4_7-eln.xml deleted file mode 100644 index 886337cbd1..0000000000 --- a/experimentalSetups/5-setup/hardware/electronics/left_arm-eb24-j4_7-eln.xml +++ /dev/null @@ -1,40 +0,0 @@ - - - - - - - - - - - 10.0.1.24 - 12345 - mc4plus - 768 - 384 - - - - "left_arm-eb24-j4_7" - - 1000 - 400 - 300 - 300 - 3 - - - - - - true - 0.020 - 60.0 - - - - - - - diff --git a/experimentalSetups/5-setup/hardware/electronics/left_arm-eb25-j8_11-eln.xml b/experimentalSetups/5-setup/hardware/electronics/left_arm-eb25-j8_11-eln.xml deleted file mode 100644 index 4f18d9ab45..0000000000 --- a/experimentalSetups/5-setup/hardware/electronics/left_arm-eb25-j8_11-eln.xml +++ /dev/null @@ -1,40 +0,0 @@ - - - - - - - - - - - 10.0.1.25 - 12345 - mc4plus - 768 - 384 - - - - "left_arm-eb25-j8_11" - - 1000 - 400 - 300 - 300 - 5 - - - - - - true - 0.020 - 60.0 - - - - - - - diff --git a/experimentalSetups/5-setup/hardware/electronics/left_arm-eb26-j12_15-eln.xml b/experimentalSetups/5-setup/hardware/electronics/left_arm-eb26-j12_15-eln.xml deleted file mode 100644 index 2d711112e1..0000000000 --- a/experimentalSetups/5-setup/hardware/electronics/left_arm-eb26-j12_15-eln.xml +++ /dev/null @@ -1,40 +0,0 @@ - - - - - - - - - - - 10.0.1.26 - 12345 - mc4plus - 768 - 384 - - - - "left_arm-eb26-j12_15" - - 1000 - 400 - 300 - 300 - 5 - - - - - - true - 0.020 - 60.0 - - - - - - - diff --git a/experimentalSetups/5-setup/hardware/electronics/left_leg-eb7-j0_2-eln.xml b/experimentalSetups/5-setup/hardware/electronics/left_leg-eb7-j0_2-eln.xml deleted file mode 100644 index b164ffa043..0000000000 --- a/experimentalSetups/5-setup/hardware/electronics/left_leg-eb7-j0_2-eln.xml +++ /dev/null @@ -1,40 +0,0 @@ - - - - - - - - - - - 10.0.1.7 - 12345 - ems4 - 768 - 384 - - - - "left_leg-eb7-j0_2" - - 1000 - 400 - 300 - 300 - 5 - - - - - - true - 0.020 - 60.0 - - - - - - - diff --git a/experimentalSetups/5-setup/hardware/electronics/left_leg-eb8-j3_5-eln.xml b/experimentalSetups/5-setup/hardware/electronics/left_leg-eb8-j3_5-eln.xml deleted file mode 100644 index 5399db3f70..0000000000 --- a/experimentalSetups/5-setup/hardware/electronics/left_leg-eb8-j3_5-eln.xml +++ /dev/null @@ -1,40 +0,0 @@ - - - - - - - - - - - 10.0.1.8 - 12345 - ems4 - 768 - 384 - - - - "left_leg-eb8-j3_5" - - 1000 - 400 - 300 - 300 - 5 - - - - - - true - 0.020 - 60.0 - - - - - - - diff --git a/experimentalSetups/5-setup/hardware/electronics/pc104.xml b/experimentalSetups/5-setup/hardware/electronics/pc104.xml deleted file mode 100644 index 53acc04717..0000000000 --- a/experimentalSetups/5-setup/hardware/electronics/pc104.xml +++ /dev/null @@ -1,14 +0,0 @@ - - - - - - - 10.0.1.104 - 12345 - 1 - 5 - - - - diff --git a/experimentalSetups/5-setup/hardware/electronics/right_arm-eb27-j4_7-eln.xml b/experimentalSetups/5-setup/hardware/electronics/right_arm-eb27-j4_7-eln.xml deleted file mode 100644 index a23dddd1cb..0000000000 --- a/experimentalSetups/5-setup/hardware/electronics/right_arm-eb27-j4_7-eln.xml +++ /dev/null @@ -1,40 +0,0 @@ - - - - - - - - - - - 10.0.1.27 - 12345 - mc4plus - 768 - 384 - - - - "right_arm-eb27-j4_7" - - 1000 - 400 - 300 - 300 - 3 - - - - - - true - 0.020 - 60.0 - - - - - - - diff --git a/experimentalSetups/5-setup/hardware/electronics/right_arm-eb28-j8_11-eln.xml b/experimentalSetups/5-setup/hardware/electronics/right_arm-eb28-j8_11-eln.xml deleted file mode 100644 index dc510847fb..0000000000 --- a/experimentalSetups/5-setup/hardware/electronics/right_arm-eb28-j8_11-eln.xml +++ /dev/null @@ -1,40 +0,0 @@ - - - - - - - - - - - 10.0.1.28 - 12345 - mc4plus - 768 - 384 - - - - "right_arm-eb28-j8_11" - - 1000 - 400 - 300 - 300 - 5 - - - - - - true - 0.020 - 60.0 - - - - - - - diff --git a/experimentalSetups/5-setup/hardware/electronics/right_arm-eb29-j12_15-eln.xml b/experimentalSetups/5-setup/hardware/electronics/right_arm-eb29-j12_15-eln.xml deleted file mode 100644 index 8c06ca92b4..0000000000 --- a/experimentalSetups/5-setup/hardware/electronics/right_arm-eb29-j12_15-eln.xml +++ /dev/null @@ -1,40 +0,0 @@ - - - - - - - - - - - 10.0.1.29 - 12345 - mc4plus - 768 - 384 - - - - "right_arm-eb29-j12_15" - - 1000 - 400 - 300 - 300 - 5 - - - - - - true - 0.020 - 60.0 - - - - - - - diff --git a/experimentalSetups/5-setup/hardware/electronics/right_arm-eb3-j0_1-eln.xml b/experimentalSetups/5-setup/hardware/electronics/right_arm-eb3-j0_1-eln.xml deleted file mode 100644 index f617ad2a04..0000000000 --- a/experimentalSetups/5-setup/hardware/electronics/right_arm-eb3-j0_1-eln.xml +++ /dev/null @@ -1,40 +0,0 @@ - - - - - - - - - - - 10.0.1.3 - 12345 - ems4 - 768 - 384 - - - - "right_arm-eb3-j0_1" - - 1000 - 400 - 300 - 300 - 5 - - - - - - true - 0.020 - 60.0 - - - - - - - diff --git a/experimentalSetups/5-setup/hardware/electronics/right_arm-eb4-j2_3-eln.xml b/experimentalSetups/5-setup/hardware/electronics/right_arm-eb4-j2_3-eln.xml deleted file mode 100644 index 283663eb3f..0000000000 --- a/experimentalSetups/5-setup/hardware/electronics/right_arm-eb4-j2_3-eln.xml +++ /dev/null @@ -1,40 +0,0 @@ - - - - - - - - - - - 10.0.1.4 - 12345 - ems4 - 768 - 384 - - - - "right_arm-eb4-j2_3" - - 1000 - 400 - 300 - 300 - 5 - - - - - - true - 0.020 - 60.0 - - - - - - - diff --git a/experimentalSetups/5-setup/hardware/electronics/right_leg-eb11-j0_2-eln.xml b/experimentalSetups/5-setup/hardware/electronics/right_leg-eb11-j0_2-eln.xml deleted file mode 100644 index a2ff39d192..0000000000 --- a/experimentalSetups/5-setup/hardware/electronics/right_leg-eb11-j0_2-eln.xml +++ /dev/null @@ -1,40 +0,0 @@ - - - - - - - - - - - 10.0.1.11 - 12345 - ems4 - 768 - 384 - - - - "right_leg-eb11-j0_2" - - 1000 - 400 - 300 - 300 - 5 - - - - - - true - 0.020 - 60.0 - - - - - - - diff --git a/experimentalSetups/5-setup/hardware/electronics/right_leg-eb12-j3_5-eln.xml b/experimentalSetups/5-setup/hardware/electronics/right_leg-eb12-j3_5-eln.xml deleted file mode 100644 index c0d69ba6ff..0000000000 --- a/experimentalSetups/5-setup/hardware/electronics/right_leg-eb12-j3_5-eln.xml +++ /dev/null @@ -1,40 +0,0 @@ - - - - - - - - - - - 10.0.1.12 - 12345 - ems4 - 768 - 384 - - - - "right_leg-eb12-j3_5" - - 1000 - 400 - 300 - 300 - 5 - - - - - - true - 0.020 - 60.0 - - - - - - - diff --git a/experimentalSetups/5-setup/hardware/iCub_Calibration.xls b/experimentalSetups/5-setup/hardware/iCub_Calibration.xls deleted file mode 100644 index 899e26bfa28f57156632e7c10728b7e0215b467f..0000000000000000000000000000000000000000 GIT binary patch literal 0 HcmV?d00001 literal 131072 zcmeFa37lLg~|7Nf;lZDfN< 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- - 0 - 0 - 0 - - - - - rfeimu_acc rfeimu_gyro rfeimu_mag rfeimu_eul rfeimu_status - - eoas_imu_acc eoas_imu_gyr eoas_imu_mag eoas_imu_eul eoas_imu_status - - rfe rfe rfe rfe rfe - - CAN1:1 CAN1:1 CAN1:1 CAN1:1 CAN1:1 - - - - - - - 10 - rfeimu_acc rfeimu_gyro rfeimu_mag rfeimu_eul rfeimu_status - - - - - - - diff --git a/experimentalSetups/5-setup/hardware/inertials/left_arm-eb24-j4_7-inertials.xml b/experimentalSetups/5-setup/hardware/inertials/left_arm-eb24-j4_7-inertials.xml deleted file mode 100644 index df008caeb5..0000000000 --- a/experimentalSetups/5-setup/hardware/inertials/left_arm-eb24-j4_7-inertials.xml +++ /dev/null @@ -1,63 +0,0 @@ - - - - - - - - - - - - - - eomn_serv_AS_inertials - - - - - eobrd_mtb - - - 0 - 0 - - - 0 - 0 - 0 - - - - - on_ems2_accel on_ems2_gyros - l_upper_arm_4 l_upper_arm_1 l_upper_arm_3 l_upper_arm_2 - l_forearm_1 l_forearm_2 l_hand l_hand_gyro - - - eoas_accel_st_lis3x eoas_gyros_st_l3g4200d - eoas_accel_mtb_int eoas_accel_mtb_int eoas_accel_mtb_int eoas_accel_mtb_int - eoas_accel_mtb_int eoas_accel_mtb_int eoas_accel_mtb_int eoas_gyros_mtb_ext - - - ETH:0 ETH:0 - CAN1:8 CAN1:9 CAN1:10 CAN1:11 - CAN1:12 CAN1:13 CAN1:14 CAN1:14 - - - - - - - 50 - l_hand l_forearm_1 l_forearm_2 l_hand_gyro - - - - - - - - - - diff --git a/experimentalSetups/5-setup/hardware/inertials/left_leg-eb10-inertials.xml b/experimentalSetups/5-setup/hardware/inertials/left_leg-eb10-inertials.xml deleted file mode 100644 index cbcffafce6..0000000000 --- a/experimentalSetups/5-setup/hardware/inertials/left_leg-eb10-inertials.xml +++ /dev/null @@ -1,64 +0,0 @@ - - - - - - - - - - - - - - eomn_serv_AS_inertials - - - - - eobrd_mtb - - - 0 - 0 - - - 0 - 0 - 0 - - - - - on_ems10_accel on_ems10_gyros l_upper_leg_1_10B1 - l_upper_leg_2_10B2 l_upper_leg_3_10B3 l_upper_leg_4_10B4 l_upper_leg_5_10B5 - l_upper_leg_6_10B6 l_upper_leg_7_10B7 l_lower_leg_1_10B8 l_lower_leg_2_10B9 - l_lower_leg_3_10B10 l_lower_leg_4_10B11 l_foot_1_10B12 l_foot_2_10B13 - - - eoas_accel_st_lis3x eoas_gyros_st_l3g4200d eoas_accel_mtb_int - eoas_accel_mtb_int eoas_accel_mtb_int eoas_accel_mtb_int eoas_accel_mtb_int - eoas_accel_mtb_int eoas_accel_mtb_int eoas_accel_mtb_int eoas_accel_mtb_int - eoas_accel_mtb_int eoas_accel_mtb_int eoas_accel_mtb_int eoas_accel_mtb_int - - - ETH:0 ETH:0 CAN1:1 - CAN1:2 CAN1:3 CAN1:4 CAN1:5 - CAN1:6 CAN1:7 CAN2:8 CAN2:9 - CAN2:10 CAN2:11 CAN2:13 CAN2:12 - - - - - - - 50 - l_upper_leg_1_10B1 l_upper_leg_2_10B2 l_upper_leg_3_10B3 l_upper_leg_4_10B4 - - - - - - - - diff --git a/experimentalSetups/5-setup/hardware/inertials/right_arm-eb27-j4_7-inertials.xml b/experimentalSetups/5-setup/hardware/inertials/right_arm-eb27-j4_7-inertials.xml deleted file mode 100644 index 5a866a5ca7..0000000000 --- a/experimentalSetups/5-setup/hardware/inertials/right_arm-eb27-j4_7-inertials.xml +++ /dev/null @@ -1,61 +0,0 @@ - - - - - - - - - - - - - - eomn_serv_AS_inertials - - - - - eobrd_mtb - - - 0 - 0 - - - 0 - 0 - 0 - - - - - on_ems4_accel on_ems4_gyros - r_upper_arm_4 r_upper_arm_1 r_upper_arm_3 r_upper_arm_2 - r_forearm_1 r_forearm_2 r_hand r_hand_gyro - - - eoas_accel_st_lis3x eoas_gyros_st_l3g4200d - eoas_accel_mtb_int eoas_accel_mtb_int eoas_accel_mtb_int eoas_accel_mtb_int - eoas_accel_mtb_int eoas_accel_mtb_int eoas_accel_mtb_int eoas_gyros_mtb_ext - - - ETH:0 ETH:0 - CAN1:8 CAN1:9 CAN1:10 CAN1:11 - CAN1:12 CAN1:13 CAN1:14 CAN1:14 - - - - - - - 50 - r_hand r_forearm_1 r_forearm_2 r_hand_gyro - - - - - - - - diff --git a/experimentalSetups/5-setup/hardware/inertials/right_leg-eb11-inertials.xml b/experimentalSetups/5-setup/hardware/inertials/right_leg-eb11-inertials.xml deleted file mode 100644 index 664ad83bc8..0000000000 --- a/experimentalSetups/5-setup/hardware/inertials/right_leg-eb11-inertials.xml +++ /dev/null @@ -1,64 +0,0 @@ - - - - - - - - - - - - - - eomn_serv_AS_inertials - - - - - eobrd_mtb - - - 0 - 0 - - - 0 - 0 - 0 - - - - - on_ems11_accel on_ems11_gyros r_upper_leg_1_10B1 - r_upper_leg_2_10B2 r_upper_leg_3_10B3 r_upper_leg_4_10B4 r_upper_leg_5_10B5 - r_upper_leg_6_10B6 r_upper_leg_7_10B7 r_lower_leg_1_10B8 r_lower_leg_2_10B9 - r_lower_leg_3_10B10 r_lower_leg_4_10B11 r_foot_1_10B12 r_foot_2_10B13 - - - eoas_accel_st_lis3x eoas_gyros_st_l3g4200d eoas_accel_mtb_int - eoas_accel_mtb_int eoas_accel_mtb_int eoas_accel_mtb_int eoas_accel_mtb_int - eoas_accel_mtb_int eoas_accel_mtb_int eoas_accel_mtb_int eoas_accel_mtb_int - eoas_accel_mtb_int eoas_accel_mtb_int eoas_accel_mtb_int eoas_accel_mtb_int - - - ETH:0 ETH:0 CAN1:1 - CAN1:2 CAN1:3 CAN1:4 CAN1:5 - CAN1:6 CAN1:7 CAN2:8 CAN2:9 - CAN2:10 CAN2:11 CAN2:12 CAN2:13 - - - - - - - 50 - r_upper_leg_1_10B1 r_upper_leg_2_10B2 r_upper_leg_3_10B3 r_upper_leg_4_10B4 - - - - - - - - diff --git a/experimentalSetups/5-setup/hardware/mechanicals/torso-eb5-j0_2-mec.xml b/experimentalSetups/5-setup/hardware/mechanicals/5-setup-mec.xml similarity index 51% rename from experimentalSetups/5-setup/hardware/mechanicals/torso-eb5-j0_2-mec.xml rename to experimentalSetups/5-setup/hardware/mechanicals/5-setup-mec.xml index c40827095d..01ad00f7ba 100644 --- a/experimentalSetups/5-setup/hardware/mechanicals/torso-eb5-j0_2-mec.xml +++ b/experimentalSetups/5-setup/hardware/mechanicals/5-setup-mec.xml @@ -1,40 +1,40 @@ - + 6 - 3 - 0 1 2 - "torso_roll" "torso_pitch" "torso_yaw" - "revolute" "revolute" "revolute" - 182.044 182.044 182.044 - 32000 32000 32000 - 1000.0 1000.0 1000.0 - 100.0 100.0 -100.0 - 1 1 1 - 1 1 1 - "MOOG_C2900576" "MOOG_C290057" "MOOG_C2900576" - 0 - - - - 25 65 45 - -25 -20 -45 - 0 0 0 - 0 0 0 - - - - 0 0 0 - 0 0 0 - 0 0 0 - 0 0 0 - 1 1 1 - 1 1 1 - 0 0 0 - 48 33 122 - 8 8 8 + 1 + 0 + "setup" + "revolute" + 182.044 + 32000 + 1000.0 + 100.0 + 1 + 1 + "MOOG_C2900576" + 0 + + + + 25 + -25 + 0 + 0 + + + + 0 + 0 + 0 + 0 + 1 + 1 + 0 + 48 + 8 @@ -61,25 +61,13 @@ - 3 + 1 0 none 0 0 - - 1 - none - 0 - 0 - - - 2 - none - 0 - 0 - diff --git a/experimentalSetups/5-setup/hardware/mechanicals/face-eb22-j0-mec.xml b/experimentalSetups/5-setup/hardware/mechanicals/face-eb22-j0-mec.xml deleted file mode 100644 index 455aa22a3a..0000000000 --- a/experimentalSetups/5-setup/hardware/mechanicals/face-eb22-j0-mec.xml +++ /dev/null @@ -1,74 +0,0 @@ - - - - - - - - - 6 - 1 - - 0 - "eyelids" - "revolute" - 182.044 - 3360 - 1000.0 - -16 - 2.38 - 1 - "DC" - 0 - - - - -5 - +65 - 0 - 0 - - - - - - 1.000 0.000 0.000 0.000 - 0.000 1.000 0.000 0.000 - 0.000 0.000 1.000 0.000 - 0.000 0.000 0.000 1.000 - - - - 1.000 0.000 0.000 0.000 - 0.000 1.000 0.000 0.000 - 0.000 0.000 1.000 0.000 - 0.000 0.000 0.000 1.000 - - - - 1.00 0.00 0.00 0.00 0.00 0.00 - 0.00 1.00 0.00 0.00 0.00 0.00 - 0.00 0.00 1.00 0.00 0.00 0.00 - 0.00 0.00 0.00 1.00 0.00 0.00 - - - - - - 1 - - 0 - none - 0 - 0 - - - - - - - - - diff --git a/experimentalSetups/5-setup/hardware/mechanicals/face-eb22-j0_1-mec.xml b/experimentalSetups/5-setup/hardware/mechanicals/face-eb22-j0_1-mec.xml deleted file mode 100644 index 6a63481187..0000000000 --- a/experimentalSetups/5-setup/hardware/mechanicals/face-eb22-j0_1-mec.xml +++ /dev/null @@ -1,79 +0,0 @@ - - - - - - - - - 6 - 2 - - 0 1 - "jaw" "eyelids" - "revolute" "revolute" - 182.044 182.044 - 3360 3360 - 1000.0 1000.0 - 1 -16 - 1 2.38 - 1 1 - "DC" "DC" - 0 - - - - +0 -5 - +22 +65 - 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 - - - - 1.00 0.00 0.00 0.00 0.00 0.00 - 0.00 1.00 0.00 0.00 0.00 0.00 - 0.00 0.00 1.00 0.00 0.00 0.00 - 0.00 0.00 0.00 1.00 0.00 0.00 - - - - - - 2 - - 0 - none - 0 - 0 - - - - 1 - none - 0 - 0 - - - - - - - diff --git a/experimentalSetups/5-setup/hardware/mechanicals/face-eb23-j2_5-mec.xml b/experimentalSetups/5-setup/hardware/mechanicals/face-eb23-j2_5-mec.xml deleted file mode 100644 index e8c446668e..0000000000 --- a/experimentalSetups/5-setup/hardware/mechanicals/face-eb23-j2_5-mec.xml +++ /dev/null @@ -1,85 +0,0 @@ - - - - - - - 6 - 4 - 0 1 2 3 - "lip-right" "lip-high" "lip-left" "lip-bottom" - "revolute" "revolute" "revolute" "revolute" - 182.044 182.044 182.044 182.044 - 3360 3360 3360 3360 - 1000.0 1000.0 1000.0 1000.0 - -66 66 66 -66 - 1 1 1 1 - 1 1 1 1 - "DC" "DC" "DC" "DC" - 0 - - - - -35 -28 -35 0 - +35 +28 +35 +28 - 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 - - - - 1.00 0.00 0.00 0.00 0.00 0.00 - 0.00 1.00 0.00 0.00 0.00 0.00 - 0.00 0.00 1.00 0.00 0.00 0.00 - 0.00 0.00 0.00 1.00 0.00 0.00 - - - - - - 4 - - 0 - none - 0 - 0 - - - - 1 - none - 0 - 0 - - - - 2 - none - 0 - 0 - - - - 3 - none - 0 - 0 - - - - diff --git a/experimentalSetups/5-setup/hardware/mechanicals/head-eb20-j0_1-mec.xml b/experimentalSetups/5-setup/hardware/mechanicals/head-eb20-j0_1-mec.xml deleted file mode 100644 index 0448c74f95..0000000000 --- a/experimentalSetups/5-setup/hardware/mechanicals/head-eb20-j0_1-mec.xml +++ /dev/null @@ -1,69 +0,0 @@ - - - - - - - - 6 - 2 - - - - - 0 1 - "neck_pitch" "neck_roll" - "revolute" "revolute" - 182.044 182.044 - 3360 3360 - 1000.0 1000.0 - 161.68 161.68 - 1 1 - 1 1 - "DC" "DC" - 0 - - - - -45 -20 - +22 +20 - 0 0 - 0 0 - - - - - - 1.000 1.000 0.000 0.000 - -1.000 1.000 0.000 0.000 - 0.000 0.000 1.000 0.000 - 0.000 0.000 0.000 1.000 - - - - 0.500 -0.500 0.000 0.000 - 0.500 0.500 0.000 0.000 - 0.000 0.000 1.000 0.000 - 0.000 0.000 0.000 1.000 - - - - 1.00 0.00 0.00 0.00 0.00 0.00 - 0.00 1.00 0.00 0.00 0.00 0.00 - 0.00 0.00 1.00 0.00 0.00 0.00 - 0.00 0.00 0.00 1.00 0.00 0.00 - - - - - - 1 - - 0 1 - none - 0 - 0 - - - - diff --git a/experimentalSetups/5-setup/hardware/mechanicals/head-eb21-j2_5-mec.xml b/experimentalSetups/5-setup/hardware/mechanicals/head-eb21-j2_5-mec.xml deleted file mode 100644 index 12750dfc54..0000000000 --- a/experimentalSetups/5-setup/hardware/mechanicals/head-eb21-j2_5-mec.xml +++ /dev/null @@ -1,79 +0,0 @@ - - - - - - 6 - 4 - - - - 0 1 2 3 - "neck_yaw" "eyes_tilt" "eyes_version" "eyes_vergence" - "revolute" "revolute" "revolute" "revolute" - 182.044 182.044 182.044 182.044 - 3360 3360 3360 3360 - 1000.0 1000.0 1000.0 1000.0 - 100 -141 50 50 - 1 1 1 1 - 1 1 1 1 - "DC" "DC" "DC" "DC" - - 0 - - - - -45 -30 -45 0 - +45 +30 +45 +45 - 0 0 0 0 - 0 0 0 0 - - - - - - 1.000 0.000 0.000 0.000 - 0.000 1.000 0.000 0.000 - 0.000 0.000 1.000 -1.000 - 0.000 0.000 1.000 1.000 - - - - 1.000 0.000 0.000 0.000 - 0.000 1.000 0.000 0.000 - 0.000 0.000 0.500 0.500 - 0.000 0.000 -0.500 0.500 - - - - 1.000 0.000 0.000 0.000 0.000 0.000 - 0.000 1.000 0.000 0.000 0.000 0.000 - 0.000 0.000 1.000 0.000 0.000 0.000 - 0.000 0.000 0.000 1.000 0.000 0.000 - - - - - - 3 - - 0 - none - 0 - 0 - - - 1 - none - 0 - 0 - - - 2 3 - none - 0 - 0 - - - - diff --git a/experimentalSetups/5-setup/hardware/mechanicals/left_arm-eb1-j0_1-mec.xml b/experimentalSetups/5-setup/hardware/mechanicals/left_arm-eb1-j0_1-mec.xml deleted file mode 100644 index 54a333f769..0000000000 --- a/experimentalSetups/5-setup/hardware/mechanicals/left_arm-eb1-j0_1-mec.xml +++ /dev/null @@ -1,83 +0,0 @@ - - - - - - 6 - 2 - 0 1 - "l_shoulder_pitch" "l_shoulder_roll" - "revolute" "revolute" - 182.044 182.044 - 32000 32000 - 1000.0 1000.0 - 100.00 100.00 - 1 1 - 1 1 - "MOOG-BL-C2900576" "MOOG-BL-C2900576" - 0 - - - - - 16 165 - -90 0 - 0 0 - 0 0 - - - - 0 0 - 0 0 - 0 0 - 0 0 - 1 1 - 1 1 - 0 0 - 154 250 - 8 8 - - - - - - - 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 - none - 0 - 0 - - - 1 - none - 0 - 0 - - - - diff --git a/experimentalSetups/5-setup/hardware/mechanicals/left_arm-eb2-j2_3-mec.xml b/experimentalSetups/5-setup/hardware/mechanicals/left_arm-eb2-j2_3-mec.xml deleted file mode 100644 index 708056c3c5..0000000000 --- a/experimentalSetups/5-setup/hardware/mechanicals/left_arm-eb2-j2_3-mec.xml +++ /dev/null @@ -1,83 +0,0 @@ - - - - - - 6 - 2 - 0 1 - "l_shoulder_yaw" "l_elbow" - "revolute" "revolute" - 182.044 182.044 - 32000 32000 - 1000.0 1000.0 - 100.00 -100.00 - 1 1 - 1 1 - "MOOG-BL-C2900575" "MOOG-BL-C2900575" - 0 - - - - - 82 105 - -52 -5 - 0 0 - 0 0 - - - - 0 0 - 0 0 - 0 0 - 0 0 - 1 1 - 1 1 - 0 0 - 301 324 - 8 8 - - - - - - - 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 - none - 0 - 0 - - - 1 - none - 0 - 0 - - - - diff --git a/experimentalSetups/5-setup/hardware/mechanicals/left_arm-eb24-j4_7-mec.xml b/experimentalSetups/5-setup/hardware/mechanicals/left_arm-eb24-j4_7-mec.xml deleted file mode 100644 index e37f0643db..0000000000 --- a/experimentalSetups/5-setup/hardware/mechanicals/left_arm-eb24-j4_7-mec.xml +++ /dev/null @@ -1,79 +0,0 @@ - - - - - - 6 - 4 - - - "l_wrist_prosup" "l_wrist_pitch" "l_wrist_yaw" "l_hand_finger" - "revolute" "revolute" "revolute" "revolute" - 0 1 2 3 - 182.044 182.044 182.044 182.044 - 3360 3360 3360 3360 - 1000.0 1000.0 1000.0 1000.0 - -100 159 159 256 - 1 1 1 1 - 1 1 1 1 - "DC" "DC" "DC" "DC" - 0 - - - - 90 30 35 60 - -90 -80 -15 10 - 0 0 0 0 - 0 0 0 0 - - - - - - - 1.000 0.000 0.000 0.000 - 0.000 1.000 0.000 0.000 - 0.000 -1.000 +1.000 0.000 - 0.000 0.000 0.000 1.000 - - - - 1.000 0.000 0.000 0.000 - 0.000 1.000 +1.000 0.000 - 0.000 0.000 +1.000 0.000 - 0.000 0.000 0.000 1.000 - - - - 1.000 0.000 0.000 0.000 0.000 0.000 - 0.000 1.000 0.000 0.000 0.000 0.000 - 0.000 0.000 1.000 0.000 0.000 0.000 - 0.000 0.000 0.000 1.000 0.000 0.000 - - - - - - 3 - - 0 - none - 0 - 0 - - - 1 2 - none - 0 - 0 - - - 3 - none - 0 - 0 - - - - - diff --git a/experimentalSetups/5-setup/hardware/mechanicals/left_arm-eb25-j8_11-mec.xml b/experimentalSetups/5-setup/hardware/mechanicals/left_arm-eb25-j8_11-mec.xml deleted file mode 100644 index 4089a83ad5..0000000000 --- a/experimentalSetups/5-setup/hardware/mechanicals/left_arm-eb25-j8_11-mec.xml +++ /dev/null @@ -1,77 +0,0 @@ - - - - - - 6 - 4 - - - "l_thumb_oppose" "l_thumb_proximal" "l_thumb_distal" "l_index_proximal" - "revolute" "revolute" "revolute" "revolute" - 0 1 2 3 - 182.044 182.044 182.044 182.044 - 3360 3360 3360 3360 - 1000.0 1000.0 1000.0 1000.0 - 256 256 256 256 - 1 1 1 1 - 0 0 0 0 - "DC" "DC" "DC" "DC" - 0 - - - - 110 90 180 90 - 10 0 0 0 - 0 0 -70000 -5120 - 0 0 5120 32000 - - - - - - 1.000 0.000 0.000 0.000 - -1.000 +1.000 0.000 0.000 - 0.000 0.000 1.000 0.000 - 0.000 0.000 0.000 1.000 - - - - 1.000 0.000 0.000 0.000 - +1.000 +1.000 0.000 0.000 - 0.000 0.000 1.000 0.000 - 0.000 0.000 0.000 1.000 - - - - 1.000 0.000 0.000 0.000 0.000 0.000 - 0.000 1.000 0.000 0.000 0.000 0.000 - 0.000 0.000 1.000 0.000 0.000 0.000 - 0.000 0.000 0.000 1.000 0.000 0.000 - - - - - 3 - - 0 1 - none - 0 - 0 - - - 2 - none - 0 - 0 - - - 3 - none - 0 - 0 - - - - - diff --git a/experimentalSetups/5-setup/hardware/mechanicals/left_arm-eb26-j12_15-mec.xml b/experimentalSetups/5-setup/hardware/mechanicals/left_arm-eb26-j12_15-mec.xml deleted file mode 100644 index c92a5ac9f4..0000000000 --- a/experimentalSetups/5-setup/hardware/mechanicals/left_arm-eb26-j12_15-mec.xml +++ /dev/null @@ -1,82 +0,0 @@ - - - - - - 6 - 4 - - - "l_index_distal" "l_middle_proximal" "l_middle_distal" "l_pinky" - "revolute" "revolute" "revolute" "revolute" - 0 1 2 3 - 182.044 182.044 182.044 182.044 - 3360 3360 3360 3360 - 1000.0 1000.0 1000.0 1000.0 - 256 256 256 256 - 1 1 1 1 - 0 0 0 0 - "DC" "DC" "DC" "DC" - 0 - - - - 180 90 180 270 - 0 0 0 0 - -5120 -5120 -65000 -5120 - 65000 32000 5120 65000 - - - - - - 1.000 0.000 0.000 0.000 - 0.000 1.000 0.000 0.000 - 0.000 0.000 1.000 0.000 - 0.000 0.000 0.000 1.000 - - - - 1.000 0.000 0.000 0.000 - 1.000 1.000 0.000 0.000 - 0.000 0.000 1.000 0.000 - 0.000 0.000 0.000 1.000 - - - - 1.000 0.000 0.000 0.000 0.000 0.000 - 0.000 1.000 0.000 0.000 0.000 0.000 - 0.000 0.000 1.000 0.000 0.000 0.000 - 0.000 0.000 0.000 1.000 0.000 0.000 - - - - - - 4 - - 0 - none - 0 - 0 - - - 1 - none - 0 - 0 - - - 2 - none - 0 - 0 - - - 3 - none - 0 - 0 - - - diff --git a/experimentalSetups/5-setup/hardware/mechanicals/left_leg-eb7-j0_2-mec.xml b/experimentalSetups/5-setup/hardware/mechanicals/left_leg-eb7-j0_2-mec.xml deleted file mode 100644 index eaca05bd24..0000000000 --- a/experimentalSetups/5-setup/hardware/mechanicals/left_leg-eb7-j0_2-mec.xml +++ /dev/null @@ -1,89 +0,0 @@ - - - - - - 6 - 3 - 0 1 2 - "l_hip_pitch" "l_hip_roll" "l_hip_yaw" - "revolute" "revolute" "revolute" - 182.044 182.044 182.044 - 32000 32000 32000 - 1000.0 1000.0 1000.0 - -100.0 100.0 -100.0 - 64 64 64 - 1 1 1 - "MOOG_C2900580" "MOOG_C2900576" "MOOG_C2900576" - 0 - - - - 94 120 80.5 - -47 -20 -80.5 - 0 0 0 - 0 0 0 - - - - 0 0 0 - 0 0 0 - 0 0 0 - 0 0 0 - 1 1 1 - 1 1 1 - 0 0 0 - 189 7 64 - 12 8 8 - - - - - - 1.00 0.00 0.00 0.00 - 0.00 1.00 0.00 0.00 - 0.00 0.00 1.00 0.00 - 0.00 0.00 0.00 1.00 - - - - 1.00 0.00 0.00 0.00 - 0.00 1.00 0.00 0.00 - 0.00 0.00 1.00 0.00 - 0.00 0.00 0.00 1.00 - - - - 1.00 0.00 0.00 0.00 0.00 0.00 - 0.00 1.00 0.00 0.00 0.00 0.00 - 0.00 0.00 1.00 0.00 0.00 0.00 - 0.00 0.00 0.00 1.00 0.00 0.00 - - - - - - 3 - - 0 - none - 0 - 0 - - - 1 - none - 0 - 0 - - - 2 - none - 0 - 0 - - - - - - diff --git a/experimentalSetups/5-setup/hardware/mechanicals/left_leg-eb8-j3_5-mec.xml b/experimentalSetups/5-setup/hardware/mechanicals/left_leg-eb8-j3_5-mec.xml deleted file mode 100644 index 767689cc15..0000000000 --- a/experimentalSetups/5-setup/hardware/mechanicals/left_leg-eb8-j3_5-mec.xml +++ /dev/null @@ -1,88 +0,0 @@ - - - - - - 6 - 3 - 0 1 2 - "l_knee" "l_ankle_pitch" "l_ankle_roll" - "revolute" "revolute" "revolute" - 182.044 182.044 182.044 - 32000 32000 32000 - 1000.0 1000.0 1000.0 - -100.0 -100.00 -100.00 - 64 64 32 - 1 1 1 - "MOOG_C2900580" "MOOG_C2900580" "MOOG_C2900575" - - 0 - - - - 6 45.00 25.00 - -80 -45.00 -25.00 - 0 0 0 - 0 0 0 - - - - 0 0 0 - 0 0 0 - 0 0 0 - 0 0 0 - 1 1 1 - 1 1 1 - 146 242 151 - 0 0 0 - 12 12 8 - - - - - - 1.00 0.00 0.00 0.00 - 0.00 1.00 0.00 0.00 - 0.00 0.00 1.00 0.00 - 0.00 0.00 0.00 1.00 - - - - 1.00 0.00 0.00 0.00 - 0.00 1.00 0.00 0.00 - 0.00 0.00 1.00 0.00 - 0.00 0.00 0.00 1.00 - - - - 1.00 0.00 0.00 0.00 0.00 0.00 - 0.00 1.00 0.00 0.00 0.00 0.00 - 0.00 0.00 1.00 0.00 0.00 0.00 - 0.00 0.00 0.00 1.00 0.00 0.00 - - - - - - 3 - - 0 - none - 0 - 0 - - - 1 - none - 0 - 0 - - - 2 - none - 0 - 0 - - - - diff --git a/experimentalSetups/5-setup/hardware/mechanicals/right_arm-eb27-j4_7-mec.xml b/experimentalSetups/5-setup/hardware/mechanicals/right_arm-eb27-j4_7-mec.xml deleted file mode 100644 index d92f0ef05d..0000000000 --- a/experimentalSetups/5-setup/hardware/mechanicals/right_arm-eb27-j4_7-mec.xml +++ /dev/null @@ -1,76 +0,0 @@ - - - - - - 6 - 4 - - - "r_wrist_prosup" "r_wrist_pitch" "r_wrist_yaw" "r_hand_finger" - "revolute" "revolute" "revolute" "revolute" - 0 1 2 3 - 182.044 182.044 182.044 182.044 - 3360 3360 3360 3360 - 1000.0 1000.0 1000.0 1000.0 - 100 159 159 256 - 1 1 1 1 - 1 1 1 1 - "DC" "DC" "DC" "DC" - 0 - - - - 90 30 35 60 - -97 -80 -15 10 - 0 0 0 0 - 0 0 0 0 - - - - - - 1.000 0.000 0.000 0.000 - 0.000 1.000 0.000 0.000 - 0.000 -1.000 +1.000 0.000 - 0.000 0.000 0.000 1.000 - - - - 1.000 0.000 0.000 0.000 - 0.000 1.000 +1.000 0.000 - 0.000 0.000 +1.000 0.000 - 0.000 0.000 0.000 1.000 - - - - 1.000 0.000 0.000 0.000 0.000 0.000 - 0.000 1.000 0.000 0.000 0.000 0.000 - 0.000 0.000 1.000 0.000 0.000 0.000 - 0.000 0.000 0.000 1.000 0.000 0.000 - - - - - - 3 - - 0 - none - 0 - 0 - - - 1 2 - none - 0 - 0 - - - 3 - none - 0 - 0 - - - diff --git a/experimentalSetups/5-setup/hardware/mechanicals/right_arm-eb28-j8_11-mec.xml b/experimentalSetups/5-setup/hardware/mechanicals/right_arm-eb28-j8_11-mec.xml deleted file mode 100644 index c8222e4f37..0000000000 --- a/experimentalSetups/5-setup/hardware/mechanicals/right_arm-eb28-j8_11-mec.xml +++ /dev/null @@ -1,76 +0,0 @@ - - - - - - 6 - 4 - - - "r_thumb_oppose" "r_thumb_proximal" "r_thumb_distal" "r_index_proximal" - "revolute" "revolute" "revolute" "revolute" - 0 1 2 3 - 182.044 182.044 182.044 182.044 - 3360 3360 3360 3360 - 1000.0 1000.0 1000.0 1000.0 - 256 256 256 256 - 1 1 1 1 - 0 0 0 0 - "DC" "DC" "DC" "DC" - 0 - - - - 110 90 180 90 - 10 0 0 0 - 0 0 -5120 -5120 - 0 0 70000 32000 - - - - - - 1.000 0.000 0.000 0.000 - 1.000 +1.000 0.000 0.000 - 0.000 0.000 1.000 0.000 - 0.000 0.000 0.000 1.000 - - - - 1.000 0.000 0.000 0.000 - -1.000 +1.000 0.000 0.000 - 0.000 0.000 1.000 0.000 - 0.000 0.000 0.000 1.000 - - - - 1.000 0.000 0.000 0.000 0.000 0.000 - 0.000 1.000 0.000 0.000 0.000 0.000 - 0.000 0.000 1.000 0.000 0.000 0.000 - 0.000 0.000 0.000 1.000 0.000 0.000 - - - - - - 3 - - 0 1 - none - 0 - 0 - - - 2 - none - 0 - 0 - - - 3 - none - 0 - 0 - - - diff --git a/experimentalSetups/5-setup/hardware/mechanicals/right_arm-eb29-j12_15-mec.xml b/experimentalSetups/5-setup/hardware/mechanicals/right_arm-eb29-j12_15-mec.xml deleted file mode 100644 index 4a5e026dba..0000000000 --- a/experimentalSetups/5-setup/hardware/mechanicals/right_arm-eb29-j12_15-mec.xml +++ /dev/null @@ -1,82 +0,0 @@ - - - - - - 6 - 4 - - - "r_index_distal" "r_middle_proximal" "r_middle_distal" "r_pinky" - "revolute" "revolute" "revolute" "revolute" - 0 1 2 3 - 182.044 182.044 182.044 182.044 - 3360 3360 3360 3360 - 1000.0 1000.0 1000.0 1000.0 - 256 256 256 256 - 1 1 1 1 - 0 0 0 0 - "DC" "DC" "DC" "DC" - 0 - - - - 180 90 180 270 - 0 0 0 0 - -65000 -5120 -5120 -65000 - 5120 32000 65000 5120 - - - - - - 1.000 0.000 0.000 0.000 - 0.000 1.000 0.000 0.000 - 0.000 0.000 1.000 0.000 - 0.000 0.000 0.000 1.000 - - - - 1.000 0.000 0.000 0.000 - 1.000 1.000 0.000 0.000 - 0.000 0.000 1.000 0.000 - 0.000 0.000 0.000 1.000 - - - - 1.000 0.000 0.000 0.000 0.000 0.000 - 0.000 1.000 0.000 0.000 0.000 0.000 - 0.000 0.000 1.000 0.000 0.000 0.000 - 0.000 0.000 0.000 1.000 0.000 0.000 - - - - - - 4 - - 0 - none - 0 - 0 - - - 1 - none - 0 - 0 - - - 2 - none - 0 - 0 - - - 3 - none - 0 - 0 - - - diff --git a/experimentalSetups/5-setup/hardware/mechanicals/right_arm-eb3-j0_1-mec.xml b/experimentalSetups/5-setup/hardware/mechanicals/right_arm-eb3-j0_1-mec.xml deleted file mode 100644 index 86d3146e87..0000000000 --- a/experimentalSetups/5-setup/hardware/mechanicals/right_arm-eb3-j0_1-mec.xml +++ /dev/null @@ -1,83 +0,0 @@ - - - - - - 6 - 2 - 0 1 - "r_shoulder_pitch" "r_shoulder_roll" - "revolute" "revolute" - 182.044 182.044 - 32000 32000 - 1000.0 1000.0 - -100.00 -100.00 - 1 1 - 1 1 - "MOOG-BL-C2900576" "MOOG-BL-C2900576" - 0 - - - - - 16 165 - -90 0 - 0 0 - 0 0 - - - - 0 0 - 0 0 - 0 0 - 0 0 - 1 1 - 1 1 - 0 0 - 157 78 - 8 8 - - - - - - - 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 - none - 0 - 0 - - - 1 - none - 0 - 0 - - - - diff --git a/experimentalSetups/5-setup/hardware/mechanicals/right_arm-eb4-j2_3-mec.xml b/experimentalSetups/5-setup/hardware/mechanicals/right_arm-eb4-j2_3-mec.xml deleted file mode 100644 index ac9938a812..0000000000 --- a/experimentalSetups/5-setup/hardware/mechanicals/right_arm-eb4-j2_3-mec.xml +++ /dev/null @@ -1,83 +0,0 @@ - - - - - - 6 - 2 - 0 1 - "r_shoulder_yaw" "r_elbow" - "revolute" "revolute" - 182.044 182.044 - 32000 32000 - 1000.0 1000.0 - -100.00 100.00 - 1 1 - 1 1 - "MOOG-BL-C2900575" "MOOG-BL-C2900575" - 0 - - - - - 82 105 - -52 -5 - 0 0 - 0 0 - - - - 0 0 - 0 0 - 0 0 - 0 0 - 1 1 - 1 1 - 0 0 - 250 117 - 8 8 - - - - - - - 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 - none - 0 - 0 - - - 1 - none - 0 - 0 - - - - diff --git a/experimentalSetups/5-setup/hardware/mechanicals/right_leg-eb11-j0_2-mec.xml b/experimentalSetups/5-setup/hardware/mechanicals/right_leg-eb11-j0_2-mec.xml deleted file mode 100644 index 1a2290048a..0000000000 --- a/experimentalSetups/5-setup/hardware/mechanicals/right_leg-eb11-j0_2-mec.xml +++ /dev/null @@ -1,90 +0,0 @@ - - - - - - 6 - 3 - - 0 1 2 - "r_hip_pitch" "r_hip_roll" "r_hip_yaw" - "revolute" "revolute" "revolute" - 182.044 182.044 182.044 - 32000 32000 32000 - 1000.0 1000.0 1000.0 - 100.00 -100.00 100.0 - 64 64 64 - 1 1 1 - "MOOG_C2900580" "MOOG_C2900576" "MOOG_C2900576" - - 0 - - - - - 94 120 80.5 - -47 -20 -80.5 - 0 0 0 - 0 0 0 - - - - 0 0 0 - 0 0 0 - 0 0 0 - 0 0 0 - 1 1 1 - 1 1 1 - 0 0 0 - 123 0 27 - 12 8 8 - - - - - - 1.00 0.00 0.00 0.00 - 0.00 1.00 0.00 0.00 - 0.00 0.00 1.00 0.00 - 0.00 0.00 0.00 1.00 - - - - 1.00 0.00 0.00 0.00 - 0.00 1.00 0.00 0.00 - 0.00 0.00 1.00 0.00 - 0.00 0.00 0.00 1.00 - - - - 1.00 0.00 0.00 0.00 0.00 0.00 - 0.00 1.00 0.00 0.00 0.00 0.00 - 0.00 0.00 1.00 0.00 0.00 0.00 - 0.00 0.00 0.00 1.00 0.00 0.00 - - - - - - 3 - - 0 - none - 0 - 0 - - - 1 - none - 0 - 0 - - - 2 - none - 0 - 0 - - - - diff --git a/experimentalSetups/5-setup/hardware/mechanicals/right_leg-eb12-j3_5-mec.xml b/experimentalSetups/5-setup/hardware/mechanicals/right_leg-eb12-j3_5-mec.xml deleted file mode 100644 index ef4d7f4c11..0000000000 --- a/experimentalSetups/5-setup/hardware/mechanicals/right_leg-eb12-j3_5-mec.xml +++ /dev/null @@ -1,88 +0,0 @@ - - - - - - 6 - 3 - 0 1 2 - "r_knee" "r_ankle_pitch" "r_ankle_roll" - "revolute" "revolute" "revolute" - 182.044 182.044 182.044 - 32000 32000 32000 - 1000.0 1000.0 1000.0 - 100.0 100.0 100.0 - 64 64 32 - 1 1 1 - "MOOG_C2900580" "MOOG_C2900580" "MOOG_C2900575" - 0 - - - - 6 45 25 - -80 -45 -25 - 0 0 0 - 0 0 0 - - - - 0 0 0 - 0 0 0 - 0 0 0 - 0 0 0 - 1 1 1 - 1 1 1 - 0 0 0 - 157 155 180 - 12 12 8 - - - - - - 1.00 0.00 0.00 0.00 - 0.00 1.00 0.00 0.00 - 0.00 0.00 1.00 0.00 - 0.00 0.00 0.00 1.00 - - - - 1.00 0.00 0.00 0.00 - 0.00 1.00 0.00 0.00 - 0.00 0.00 1.00 0.00 - 0.00 0.00 0.00 1.00 - - - - 1.00 0.00 0.00 0.00 0.00 0.00 - 0.00 1.00 0.00 0.00 0.00 0.00 - 0.00 0.00 1.00 0.00 0.00 0.00 - 0.00 0.00 0.00 1.00 0.00 0.00 - - - - - - 3 - - 0 - none - 0 - 0 - - - 1 - none - 0 - 0 - - - 2 - none - 0 - 0 - - - - - diff --git a/experimentalSetups/5-setup/hardware/motorControl/5-setup-mc.xml b/experimentalSetups/5-setup/hardware/motorControl/5-setup-mc.xml new file mode 100644 index 0000000000..36e3bbd49f --- /dev/null +++ b/experimentalSetups/5-setup/hardware/motorControl/5-setup-mc.xml @@ -0,0 +1,125 @@ + + + + + + + + + + + + + + 23 + -23 + 120 + 5000 + 10000 + 15000 + 10000 + + + + 100 + + + + 0 + 0 + + + + POS_PID_DEFAULT + POS_PID_DEFAULT + POS_PID_DEFAULT + TRQ_PID_DEFAULT + 2FOC_CUR_CONTROL + 2FOC_VEL_CONTROL + + + + + + + minjerk + pwm + metric_units + machine_units + 7000 + 0 + 3000 + 8000 + 3000 + 0 + 0 + 0 + + + + + + + + torque + pwm + metric_units + dutycycle_percent + 0 + 0 + 0 + 25 + 1.56 + 0 + 0 + 0 + 1 + 0.0016 + 0 + 0.63 + + + + + + + + low_lev_current + machine_units + machine_units + 8 + 0 + 2 + 10 + 32000 + 32000 + 0 + + + + low_lev_speed + machine_units + machine_units + 0 + 12 + 0 + 16 + 10 + 32000 + 32000 + + + + + + + + + + 0.0049 + + + + + diff --git a/experimentalSetups/5-setup/hardware/motorControl/torso-eb5-j0_2-mc_service.xml b/experimentalSetups/5-setup/hardware/motorControl/5-setup-mc_service.xml similarity index 62% rename from experimentalSetups/5-setup/hardware/motorControl/torso-eb5-j0_2-mc_service.xml rename to experimentalSetups/5-setup/hardware/motorControl/5-setup-mc_service.xml index 6ceaa0ea1d..5f9667bbca 100644 --- a/experimentalSetups/5-setup/hardware/motorControl/torso-eb5-j0_2-mc_service.xml +++ b/experimentalSetups/5-setup/hardware/motorControl/5-setup-mc_service.xml @@ -1,7 +1,7 @@ - + @@ -31,25 +31,25 @@ - - eomc_act_foc eomc_act_foc eomc_act_foc - CAN1:1:0 CAN1:4:0 CAN1:3:0 - - - - amo amo amo - CONN:P7 CONN:P8 CONN:P6 - atjoint atjoint atjoint - 1048576 1048576 1048576 - 0.703 0.703 0.703 - - - - roie roie roie - CAN1:1:0 CAN1:4:0 CAN1:3:0 - atmotor atmotor atmotor - 14400 14400 14400 - 3.6 3.6 3.6 + + eomc_act_foc + CAN1:1:0 + + + + none + CONN:none + none + 0 + 0 + + + + roie + CAN1:1:0 + atmotor + 14400 + 3.6 diff --git a/experimentalSetups/5-setup/hardware/motorControl/face-eb22-j0-mc.xml b/experimentalSetups/5-setup/hardware/motorControl/face-eb22-j0-mc.xml deleted file mode 100644 index 5ee2a2aad4..0000000000 --- a/experimentalSetups/5-setup/hardware/motorControl/face-eb22-j0-mc.xml +++ /dev/null @@ -1,70 +0,0 @@ - - - - - - - - - - - - - - - -5 - +65 - 2000 - 700 - 1000 - 1000 - 3300 - - - - 100 - - - - 0.0 - 0.0 - - - - POS_PID_DEFAULT - POS_PID_DEFAULT - POS_PID_DEFAULT - none - none - none - - - - - - - minjerk - pwm - metric_units - machine_units - 700.00 - 0.0 - 700.0 - 3360 - 3360 - 0 - 0 - 0 - - - - - - - - - - - - - diff --git a/experimentalSetups/5-setup/hardware/motorControl/face-eb22-j0-mc_service.xml b/experimentalSetups/5-setup/hardware/motorControl/face-eb22-j0-mc_service.xml deleted file mode 100644 index f4ba011946..0000000000 --- a/experimentalSetups/5-setup/hardware/motorControl/face-eb22-j0-mc_service.xml +++ /dev/null @@ -1,48 +0,0 @@ - - - - - - - - eomn_serv_MC_mc4plus - - - - - mc4plus - - - - - - - pwm - CONN:P2 - - - - aea - CONN:P10 - atjoint - -4096 - 0.703 - - - - none - none - none - 0 - 0 - - - - - - - - - - - diff --git a/experimentalSetups/5-setup/hardware/motorControl/face-eb22-j0_1-mc.xml b/experimentalSetups/5-setup/hardware/motorControl/face-eb22-j0_1-mc.xml deleted file mode 100644 index 23ad102f68..0000000000 --- a/experimentalSetups/5-setup/hardware/motorControl/face-eb22-j0_1-mc.xml +++ /dev/null @@ -1,72 +0,0 @@ - - - - - - - - - - - - - - 22 65 - 0 -5 - 1000 1000 - 700 700 - 1000 1000 - 2000 2000 - 3300 3300 - - - - 100 100 - - - - 0.1 0.1 - 0.05 0.05 - - - - POS_PID_DEFAULT POS_PID_DEFAULT - POS_PID_DEFAULT POS_PID_DEFAULT - POS_PID_DEFAULT POS_PID_DEFAULT - none none - none none - none none - - - - - - - minjerk - pwm - metric_units - machine_units - -400 400 - 0 0 - 0 0 - 3360 3360 - 3360 3360 - 0 0 - 0 0 - 0 0 - - - - - - - - - - - - - - - diff --git a/experimentalSetups/5-setup/hardware/motorControl/face-eb22-j0_1-mc_service.xml b/experimentalSetups/5-setup/hardware/motorControl/face-eb22-j0_1-mc_service.xml deleted file mode 100644 index 15e7ed7346..0000000000 --- a/experimentalSetups/5-setup/hardware/motorControl/face-eb22-j0_1-mc_service.xml +++ /dev/null @@ -1,48 +0,0 @@ - - - - - - - - eomn_serv_MC_mc4plus - - - - - mc4plus - - - - - - - pwm pwm - CONN:P3 CONN:P2 - - - - aea aea - CONN:P11 CONN:P10 - atjoint atjoint - 4096 -4096 - 0.703 0.703 - - - - none qenc - none CONN:P2 - none atmotor - 0 40 - 0 0 - - - - - - - - - - - diff --git a/experimentalSetups/5-setup/hardware/motorControl/face-eb23-j2_5-mc.xml b/experimentalSetups/5-setup/hardware/motorControl/face-eb23-j2_5-mc.xml deleted file mode 100644 index bec8225716..0000000000 --- a/experimentalSetups/5-setup/hardware/motorControl/face-eb23-j2_5-mc.xml +++ /dev/null @@ -1,72 +0,0 @@ - - - - - - - - - - - - - - +35 +28 +35 +28 - -35 -28 -35 0 - 1000 1000 1000 1000 - 700 700 700 700 - 1000 1000 1000 1000 - 2000 2000 2000 2000 - 1300 1300 1300 1300 - - - - 100 100 100 100 - - - - 0.1 0.1 0.1 0.1 - 0.05 0.05 0.05 0.05 - - - - POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT - POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT - POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT - none none none none - none none none none - none none none none - - - - - - - minjerk - pwm - metric_units - machine_units - -3500 2000 3500 -4500 - 0 0 0 0 - 0 0 0 0 - 3360 3360 3360 3360 - 3360 3360 3360 3360 - 0 0 0 0 - 0 0 0 0 - 0 0 0 0 - - - - - - - - - - - - - - - diff --git a/experimentalSetups/5-setup/hardware/motorControl/face-eb23-j2_5-mc_service.xml b/experimentalSetups/5-setup/hardware/motorControl/face-eb23-j2_5-mc_service.xml deleted file mode 100644 index d5d0711c23..0000000000 --- a/experimentalSetups/5-setup/hardware/motorControl/face-eb23-j2_5-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 - - - - qenc qenc qenc qenc - CONN:P3 CONN:P2 CONN:P4 CONN:P5 - atmotor atmotor atmotor atmotor - 1600 1600 1600 1600 - 0.703 0.703 0.703 0.703 - - - - - none none none none - none none none none - none none none none - none none none none - 0 0 0 0 - - - - - - - - - - diff --git a/experimentalSetups/5-setup/hardware/motorControl/head-eb20-j0_1-mc.xml b/experimentalSetups/5-setup/hardware/motorControl/head-eb20-j0_1-mc.xml deleted file mode 100644 index 184d6e29d6..0000000000 --- a/experimentalSetups/5-setup/hardware/motorControl/head-eb20-j0_1-mc.xml +++ /dev/null @@ -1,70 +0,0 @@ - - - - - - - - - - - - - - - -40 -20 - +22 +20 - 1000 1000 - 5000 5000 - 1500 1500 - 3000 3000 - 3360 3360 - - - - 100 100 - - - - 0.0 0.0 - 0.0 0.0 - - - - POS_PID_DEFAULT POS_PID_DEFAULT - POS_PID_DEFAULT POS_PID_DEFAULT - POS_PID_DEFAULT POS_PID_DEFAULT - none none - none none - none none - - - - - - - minjerk - pwm - metric_units - machine_units - -300 +300 - -10 +10 - -100 +100 - 3360 3360 - 3360 3360 - 0 0 - 0 0 - 0 0 - - - - - - - - - - - - - diff --git a/experimentalSetups/5-setup/hardware/motorControl/head-eb20-j0_1-mc_service.xml b/experimentalSetups/5-setup/hardware/motorControl/head-eb20-j0_1-mc_service.xml deleted file mode 100644 index 6e1b0a23a5..0000000000 --- a/experimentalSetups/5-setup/hardware/motorControl/head-eb20-j0_1-mc_service.xml +++ /dev/null @@ -1,48 +0,0 @@ - - - - - - - - eomn_serv_MC_mc4plus - - - - - mc4plus - - - - - - - pwm pwm - CONN:P3 CONN:P4 - - - - aea aea - CONN:P11 CONN:P10 - atjoint atjoint - 4096 -4096 - 0.703 0.703 - - - - qenc qenc - CONN:P3 CONN:P4 - atmotor atmotor - 2048 2048 - 0 0 - - - - - - - - - - - diff --git a/experimentalSetups/5-setup/hardware/motorControl/head-eb21-j2_5-mc.xml b/experimentalSetups/5-setup/hardware/motorControl/head-eb21-j2_5-mc.xml deleted file mode 100644 index 4fe23db62c..0000000000 --- a/experimentalSetups/5-setup/hardware/motorControl/head-eb21-j2_5-mc.xml +++ /dev/null @@ -1,76 +0,0 @@ - - - - - - - - - - - - - - - -45 -30 -30 0 - +45 +30 +30 +45 - 1000 1000 1000 1000 - 2000 2000 2500 2500 - 700 700 700 700 - 1500 1500 1500 1500 - - 3360 3360 3360 3360 - - - - 100 100 100 100 - - - - 0.0 0.0 0.0 0.0 - 0.0 0.0 0.0 0.0 - - - - POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT - POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT - POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT - none none none none - none none none none - none none none none - - - - - - - minjerk - pwm - metric_units - machine_units - 1100 -1000 3500 3500 - 0 0 0 0 - 0 -100 600 600 - 3360 3360 3360 3360 - 3360 3360 3360 3360 - 0 0 0 0 - 0 0 0 0 - 0 0 0 0 - - - - - - - - - - - - - - - 0.0495 0.0495 0.0495 0.0495 - - - diff --git a/experimentalSetups/5-setup/hardware/motorControl/head-eb21-j2_5-mc_service.xml b/experimentalSetups/5-setup/hardware/motorControl/head-eb21-j2_5-mc_service.xml deleted file mode 100644 index 6e59b9123e..0000000000 --- a/experimentalSetups/5-setup/hardware/motorControl/head-eb21-j2_5-mc_service.xml +++ /dev/null @@ -1,49 +0,0 @@ - - - - - - - - eomn_serv_MC_mc4plus - - - - - mc4plus - - - - - - - - - pwm pwm pwm pwm - CONN:P3 CONN:P2 CONN:P5 CONN:P4 - - - - aea aea none none - CONN:P11 CONN:P10 CONN:none CONN:none - atjoint atjoint none none - 4096 4096 0 0 - 0.703 0.703 0 0 - - - - qenc qenc qenc qenc - CONN:P3 CONN:P2 CONN:P5 CONN:P4 - atmotor atmotor atmotor atmotor - 2048 2048 2048 2048 - 0 0 0 0 - - - - - - - - - - diff --git a/experimentalSetups/5-setup/hardware/motorControl/left_arm-eb1-j0_1-mc.xml b/experimentalSetups/5-setup/hardware/motorControl/left_arm-eb1-j0_1-mc.xml deleted file mode 100644 index ca143b9091..0000000000 --- a/experimentalSetups/5-setup/hardware/motorControl/left_arm-eb1-j0_1-mc.xml +++ /dev/null @@ -1,124 +0,0 @@ - - - - - - - - - - - - - - 14 163 - -88 17 - 120 120 - 5000 5000 - 12000 12000 - 15000 15000 - 8000 8000 - - - - 100 100 - - - - 0.3 0.3 - 0.05 0.05 - - - - POS_PID_DEFAULT POS_PID_DEFAULT - POS_PID_DEFAULT POS_PID_DEFAULT - POS_PID_DEFAULT POS_PID_DEFAULT - TRQ_PID_DEFAULT TRQ_PID_DEFAULT - 2FOC_CUR_CONTROL 2FOC_CUR_CONTROL - 2FOC_VEL_CONTROL 2FOC_VEL_CONTROL - - - - - - - minjerk - pwm - metric_units - machine_units - 0 0 - 1500 1000 - 0 0 - 1000 1000 - 8000 8000 - 2000 2000 - 0 0 - 0 0 - - - - - - - torque - pwm - metric_units - dutycycle_percent - 3 1.8 - 0 0 - 6 4 - 25 25 - 1.56 1.56 - 0 0 - 0 0 - 0 0 - 1 1 - 0.0043 0.0037 - 0 0 - 0.86 0.7 - - - - - - - - low_lev_current - machine_units - machine_units - 8 8 - 0 0 - 2 2 - 10 10 - 32000 32000 - 32000 32000 - 0 0 - - - - low_lev_speed - machine_units - machine_units - 0 0 - 12 12 - 0 0 - 16 16 - 10 10 - 32000 32000 - 32000 32000 - - - - - - - - - - 0.0049 0.0049 - - - - - - diff --git a/experimentalSetups/5-setup/hardware/motorControl/left_arm-eb1-j0_1-mc_service.xml b/experimentalSetups/5-setup/hardware/motorControl/left_arm-eb1-j0_1-mc_service.xml deleted file mode 100644 index 34aa9cc83a..0000000000 --- a/experimentalSetups/5-setup/hardware/motorControl/left_arm-eb1-j0_1-mc_service.xml +++ /dev/null @@ -1,62 +0,0 @@ - - - - - - - - eomn_serv_MC_foc - - - - - ems4 - - - - foc - - 1 - 6 - - - 3 - 3 - 3 - - - - - - - - - foc foc - CAN1:1:0 CAN1:2:0 - - - - amo amo - CONN:P6 CONN:P8 - atjoint atjoint - -1048576 1048576 - 0.703 0.703 - - - - roie roie - CAN1:1:0 CAN1:2:0 - atmotor atmotor - 14400 14400 - 3.6 3.6 - - - - - - - - - - - diff --git a/experimentalSetups/5-setup/hardware/motorControl/left_arm-eb2-j2_3-mc.xml b/experimentalSetups/5-setup/hardware/motorControl/left_arm-eb2-j2_3-mc.xml deleted file mode 100644 index fb65e49836..0000000000 --- a/experimentalSetups/5-setup/hardware/motorControl/left_arm-eb2-j2_3-mc.xml +++ /dev/null @@ -1,124 +0,0 @@ - - - - - - - - - - - - - - 80 105 - -50 -3 - 120 120 - 5000 5000 - 9000 9000 - 15000 15000 - 8000 8000 - - - - 100 100 - - - - 0.2 0.1 - 0.05 0.05 - - - - POS_PID_DEFAULT POS_PID_DEFAULT - POS_PID_DEFAULT POS_PID_DEFAULT - POS_PID_DEFAULT POS_PID_DEFAULT - TRQ_PID_DEFAULT TRQ_PID_DEFAULT - 2FOC_CUR_CONTROL 2FOC_CUR_CONTROL - 2FOC_VEL_CONTROL 2FOC_VEL_CONTROL - - - - - - - minjerk - pwm - metric_units - machine_units - 0 0 - 1000 -1000 - 0 0 - 1000 -1000 - 8000 8000 - 1000 1000 - 0 0 - 0 0 - - - - - - - torque - pwm - metric_units - dutycycle_percent - 2.5 -3 - 0 0 - 3.5 -4 - 25 25 - 1.56 1.56 - 0 0 - 0 0 - 0 0 - 1 1 - 0.003 -0.0023 - 0 0 - 0.9 -0.7 - - - - - - - - low_lev_current - machine_units - machine_units - 8 8 - 0 0 - 2 2 - 10 10 - 32000 32000 - 32000 32000 - 0 0 - - - - low_lev_speed - machine_units - machine_units - 0 0 - 12 12 - 0 0 - 16 16 - 10 10 - 32000 32000 - 32000 32000 - - - - - - - - - - 0.0049 0.0049 - - - - - - diff --git a/experimentalSetups/5-setup/hardware/motorControl/left_arm-eb2-j2_3-mc_service.xml b/experimentalSetups/5-setup/hardware/motorControl/left_arm-eb2-j2_3-mc_service.xml deleted file mode 100644 index 9224b5b7d4..0000000000 --- a/experimentalSetups/5-setup/hardware/motorControl/left_arm-eb2-j2_3-mc_service.xml +++ /dev/null @@ -1,62 +0,0 @@ - - - - - - - - eomn_serv_MC_foc - - - - - ems4 - - - - foc - - 1 - 6 - - - 3 - 3 - 3 - - - - - - - - - foc foc - CAN1:3:0 CAN1:4:0 - - - - amo amo - CONN:P6 CONN:P8 - atjoint atjoint - 1048576 1048576 - 0.703 0.703 - - - - roie roie - CAN1:3:0 CAN1:4:0 - atmotor atmotor - 14400 14400 - 3.6 3.6 - - - - - - - - - - - diff --git a/experimentalSetups/5-setup/hardware/motorControl/left_arm-eb24-j4_7-mc.xml b/experimentalSetups/5-setup/hardware/motorControl/left_arm-eb24-j4_7-mc.xml deleted file mode 100644 index b1bf317339..0000000000 --- a/experimentalSetups/5-setup/hardware/motorControl/left_arm-eb24-j4_7-mc.xml +++ /dev/null @@ -1,72 +0,0 @@ - - - - - - - - - - - - - - - 88 25 35 60 - -88 -70 -15 10 - 1000 1000 1000 1000 - 10000 2000 2000 2000 - 5000 1000 1000 600 - 5000 2000 2000 1000 - 3360 3360 3360 3360 - - - - 100 100 100 100 - - - - 0.0 0.0 0.0 0.0 - 0.0 0.0 0.0 0.0 - - - - POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT - POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT - POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT - none none none none - none none none none - none none none none - - - - - - - minjerk - pwm - metric_units - machine_units - -200.0 -500.0 -500.0 -500.0 - 0 0 0 0 - -200.0 -50.0 -50.0 -50.0 - 3360 3360 3360 3360 - 3360 3360 3360 3360 - 0 0 0 0 - 0 0 0 0 - 0 0 0 0 - - - - - - - - - - - - - - - diff --git a/experimentalSetups/5-setup/hardware/motorControl/left_arm-eb24-j4_7-mc_service.xml b/experimentalSetups/5-setup/hardware/motorControl/left_arm-eb24-j4_7-mc_service.xml deleted file mode 100644 index 64f22219b9..0000000000 --- a/experimentalSetups/5-setup/hardware/motorControl/left_arm-eb24-j4_7-mc_service.xml +++ /dev/null @@ -1,51 +0,0 @@ - - - - - - - - eomn_serv_MC_mc4plus - - - - - mc4plus - - - - - - - - - pwm pwm pwm pwm - CONN:P5 CONN:P2 CONN:P4 CONN:P3 - - - - none aea aea absanalog - CONN:none CONN:P10 CONN:P11 CONN:P3 - none atjoint atjoint atjoint - 1 -4096 4096 65535 - 0 0.703 0.703 0 - - - - - qenc qenc qenc none - CONN:P5 CONN:P2 CONN:P4 CONN:none - atmotor atmotor atmotor none - -2048 1600 1600 1 - 0 0 0 0 - - - - - - - - - - - diff --git a/experimentalSetups/5-setup/hardware/motorControl/left_arm-eb25-j8_11-mc.xml b/experimentalSetups/5-setup/hardware/motorControl/left_arm-eb25-j8_11-mc.xml deleted file mode 100644 index 90be44be6e..0000000000 --- a/experimentalSetups/5-setup/hardware/motorControl/left_arm-eb25-j8_11-mc.xml +++ /dev/null @@ -1,75 +0,0 @@ - - - - - - - - - - - - - - - 110 90 180 90 - 10 0 0 0 - 1000 1000 1000 1000 - 2000 2000 2000 2000 - 600 600 600 600 - 1000 1000 1000 1000 - - 1800 1800 1800 1800 - - - - 100 100 100 100 - - - - 0.0 0.0 0.0 0.0 - 0.0 0.0 0.0 0.0 - - - - POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT - POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT - POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT - none none none none - none none none none - none none none none - - - - - - - minjerk - pwm - metric_units - machine_units - -500 500 500 500 - 0 0 0 0 - -50 50 50 50 - - 1800 1800 1800 1800 - 1800 1800 1800 1800 - 0 0 0 0 - 0 0 0 0 - 0 0 0 0 - - - - - - - - - - - - - - - - diff --git a/experimentalSetups/5-setup/hardware/motorControl/left_arm-eb25-j8_11-mc_service.xml b/experimentalSetups/5-setup/hardware/motorControl/left_arm-eb25-j8_11-mc_service.xml deleted file mode 100644 index 2c71be2626..0000000000 --- a/experimentalSetups/5-setup/hardware/motorControl/left_arm-eb25-j8_11-mc_service.xml +++ /dev/null @@ -1,66 +0,0 @@ - - - - - - - - eomn_serv_MC_mc4plusmais - - - - - mc4plus - - - - mais - - 0 - 0 - - - 0 - 0 - 0 - - - - - CAN1:14 - - - - - - - - pwm pwm pwm pwm - CONN:P3 CONN:P2 CONN:P4 CONN:P5 - - - - absanalog mais mais mais - CONN:P3 MAIS:thumbproximal MAIS:thumbdistal MAIS:indexproximal - atjoint atjoint atjoint atjoint - 65535 65535 65535 65535 - 0 0 0 0 - - - - none qenc qenc qenc - CONN:none CONN:P2 CONN:P4 CONN:P5 - none atmotor atmotor atmotor - 1 40 40 40 - 0 0 0 0 - - - - - - - - - - - diff --git a/experimentalSetups/5-setup/hardware/motorControl/left_arm-eb26-j12_15-mc.xml b/experimentalSetups/5-setup/hardware/motorControl/left_arm-eb26-j12_15-mc.xml deleted file mode 100644 index 4ffe461c80..0000000000 --- a/experimentalSetups/5-setup/hardware/motorControl/left_arm-eb26-j12_15-mc.xml +++ /dev/null @@ -1,72 +0,0 @@ - - - - - - - - - - - - - - - 180 90 180 270 - 0 0 0 0 - 1000 1000 1000 1000 - 2000 2000 2000 2000 - 600 600 600 600 - 1000 1000 1000 1000 - 3360 3360 3360 3360 - - - - 100 100 100 100 - - - - 0.0 0.0 0.0 0.0 - 0.0 0.0 0.0 0.0 - - - - POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT - POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT - POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT - none none none none - none none none none - none none none none - - - - - - - minjerk - pwm - metric_units - machine_units - -500 300 500 -200 - 0 0 0 0 - -50 50 50 -30 - 3360 3360 3360 3360 - 3360 3360 3360 3360 - 0 0 0 0 - 0 0 0 0 - 0 0 0 0 - - - - - - - - - - - - - - - diff --git a/experimentalSetups/5-setup/hardware/motorControl/left_arm-eb26-j12_15-mc_service.xml b/experimentalSetups/5-setup/hardware/motorControl/left_arm-eb26-j12_15-mc_service.xml deleted file mode 100644 index 1697a92dd2..0000000000 --- a/experimentalSetups/5-setup/hardware/motorControl/left_arm-eb26-j12_15-mc_service.xml +++ /dev/null @@ -1,64 +0,0 @@ - - - - - - - - eomn_serv_MC_mc4plusmais - - - - - mc4plus - - - - mais - - 0 - 0 - - - 0 - 0 - 0 - - - - - CAN1:14 - - - - - - - pwm pwm pwm pwm - CONN:P3 CONN:P2 CONN:P4 CONN:P5 - - - - mais mais mais mais - MAIS:indexdistal MAIS:mediumproximal MAIS:mediumdistal MAIS:littlefingers - atjoint atjoint atjoint atjoint - 65535 65535 65535 65535 - 0 0 0 0 - - - - qenc qenc qenc qenc - CONN:P3 CONN:P2 CONN:P4 CONN:P5 - atmotor atmotor atmotor atmotor - 40 40 40 40 - 0 0 0 0 - - - - - - - - - - diff --git a/experimentalSetups/5-setup/hardware/motorControl/left_leg-eb7-j0_2-mc.xml b/experimentalSetups/5-setup/hardware/motorControl/left_leg-eb7-j0_2-mc.xml deleted file mode 100644 index 926015208f..0000000000 --- a/experimentalSetups/5-setup/hardware/motorControl/left_leg-eb7-j0_2-mc.xml +++ /dev/null @@ -1,140 +0,0 @@ - - - - - - - - - - - - - - - 90 100 70 - -40 -15 -70 - 240 240 240 - 15000 15000 5000 - 20000 20000 10000 - 30000 30000 15000 - 16000 16000 16000 - - - - 100 100 100 - - - - 0.1 0.1 0.1 - 0.05 0.05 0.05 - - - - POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT - POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT - POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT - TRQ_PID_DEFAULT TRQ_PID_DEFAULT TRQ_PID_DEFAULT - 2FOC_CUR_CONTROL 2FOC_CUR_CONTROL 2FOC_CUR_CONTROL - 2FOC_VEL_CONTROL 2FOC_VEL_CONTROL 2FOC_VEL_CONTROL - - - - - - - minjerk - pwm - metric_units - machine_units - 0 0 0 - -3000 7000 -711 - 0 0 0 - -1500 5000 -7111 - 12000 12000 12000 - 1500 5000 750 - 0 0 0 - 0 0 0 - - - - - - - torque - pwm - metric_units - dutycycle_percent - 0 0 0 - 0 0 0 - 0 0 0 - 25 25 25 - 1.56 1.56 1.56 - 0 0 0 - 0 0 0 - 0 0 0 - 1 1 1 - 0 0 0 - 0 0 0 - -0.51 0.56 -0.62 - - - - - - - low_lev_current - machine_units - machine_units - 8 8 8 - 0 0 0 - 2 2 2 - 10 10 10 - 32000 32000 32000 - 32000 32000 32000 - 0 0 0 - - - - low_lev_speed - machine_units - machine_units - 0 0 0 - 12 12 12 - 0 0 0 - 16 16 16 - 10 10 10 - 32000 32000 32000 - 32000 32000 32000 - - - - - - - - torque - current - metric_units - machine_units - -150.00 150.00 -200.00 - 0 0 0 - -80 50 -80 - 2500 2500 2500 - 200 200 200 - 0 0 0 - 0 0 0 - 0 0 0 - 1 1 1 - -0.0003 0.0004 -0.0003 - 0 0 0 - -175.56 177.83 -175.74 - - - - - - 0.0049 0.0049 0.0049 - - - diff --git a/experimentalSetups/5-setup/hardware/motorControl/left_leg-eb7-j0_2-mc_service.xml b/experimentalSetups/5-setup/hardware/motorControl/left_leg-eb7-j0_2-mc_service.xml deleted file mode 100644 index c9ac1f2b4c..0000000000 --- a/experimentalSetups/5-setup/hardware/motorControl/left_leg-eb7-j0_2-mc_service.xml +++ /dev/null @@ -1,62 +0,0 @@ - - - - - - - - eomn_serv_MC_foc - - - - - ems4 - - - - foc - - 1 - 6 - - - 3 - 3 - 3 - - - - - - - - - foc foc foc - CAN1:1:0 CAN1:2:0 CAN1:3:0 - - - - amo amo amo - CONN:P6 CONN:P7 CONN:P8 - atjoint atjoint atjoint - 16384 16384 16384 - 0.703 0.703 0.703 - - - - roie roie roie - CAN1:1:0 CAN1:2:0 CAN1:3:0 - atmotor atmotor atmotor - 14400 14400 14400 - 3.6 3.6 3.6 - - - - - - - - - - - diff --git a/experimentalSetups/5-setup/hardware/motorControl/left_leg-eb8-j3_5-mc.xml b/experimentalSetups/5-setup/hardware/motorControl/left_leg-eb8-j3_5-mc.xml deleted file mode 100644 index 36e5c4de9e..0000000000 --- a/experimentalSetups/5-setup/hardware/motorControl/left_leg-eb8-j3_5-mc.xml +++ /dev/null @@ -1,139 +0,0 @@ - - - - - - - - - - - - - - 3 32 23 - -70 -43 -23 - 240 240 240 - 10000 10000 10000 - 15000 15000 15000 - 20000 30000 30000 - 16000 16000 16000 - - - - 100 100 100 - - - - 0.1 0.1 0.1 - 0.05 0.05 0.05 - - - - POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT - POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT - POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT - TRQ_PID_DEFAULT TRQ_PID_DEFAULT TRQ_PID_DEFAULT - 2FOC_CUR_CONTROL 2FOC_CUR_CONTROL 2FOC_CUR_CONTROL - 2FOC_VEL_CONTROL 2FOC_VEL_CONTROL 2FOC_VEL_CONTROL - - - - - - - minjerk - pwm - metric_units - machine_units - 0 0 0 - -5000 -5000 -3000 - 0 0 0 - -1500 -1000 -1000 - 12000 12000 12000 - 2000 1000 1000 - 0 0 0 - 0 0 0 - - - - - - - torque - pwm - metric_units - dutycycle_percent - 0 0 0 - 0 0 0 - 0 0 0 - 25 25 25 - 1.56 1.56 1.56 - 0 0 0 - 0 0 0 - 0 0 0 - 1 1 1 - 0 0 0 - 0 0 0 - -0.52 -0.65 -0.50 - - - - - - - low_lev_current - machine_units - machine_units - 8 8 8 - 0 0 0 - 2 2 2 - 10 10 10 - 32000 32000 32000 - 32000 32000 32000 - 0 0 0 - - - - low_lev_speed - machine_units - machine_units - 0 0 0 - 12 12 12 - 0 0 0 - 16 16 16 - 10 10 10 - 32000 32000 32000 - 32000 32000 32000 - - - - - - - - torque - current - metric_units - machine_units - -150.00 -36.21 -26.77 - 0 0 0 - -80.00 0 0 - 2500 2500 2500 - 200 200 200 - 0 0 0 - 0 0 0 - 0 0 0 - 1 1 1 - -0.0002 -0.0003 -0.0003 - 0 0 0 - -230.10 -162.24 -163.96 - - - - - 0.0049 0.0049 0.0049 - - - - diff --git a/experimentalSetups/5-setup/hardware/motorControl/left_leg-eb8-j3_5-mc_service.xml b/experimentalSetups/5-setup/hardware/motorControl/left_leg-eb8-j3_5-mc_service.xml deleted file mode 100644 index bb4439b553..0000000000 --- a/experimentalSetups/5-setup/hardware/motorControl/left_leg-eb8-j3_5-mc_service.xml +++ /dev/null @@ -1,61 +0,0 @@ - - - - - - - - eomn_serv_MC_foc - - - - - ems4 - - - - foc - - 1 - 6 - - - 3 - 3 - 3 - - - - - - - - foc eomc_act_foc foc - CAN1:3:0 CAN1:1:0 CAN1:2:0 - - - - amo amo amo - CONN:P7 CONN:P6 CONN:P8 - atjoint atjoint atjoint - -16384 16384 -16384 - 0.703 0.703 0.703 - - - - roie roie roie - CAN3::0 CAN1::0 CAN1:2:0 - atmotor atmotor atmotor - 14400 14400 14400 - 3.6 3.6 3.6 - - - - - - - - - - - diff --git a/experimentalSetups/5-setup/hardware/motorControl/right_arm-eb27-j4_7-mc.xml b/experimentalSetups/5-setup/hardware/motorControl/right_arm-eb27-j4_7-mc.xml deleted file mode 100644 index ab8753c1c6..0000000000 --- a/experimentalSetups/5-setup/hardware/motorControl/right_arm-eb27-j4_7-mc.xml +++ /dev/null @@ -1,72 +0,0 @@ - - - - - - - - - - - - - - - 88 25 35 60 - -88 -70 -15 10 - 1000 1000 1000 1000 - 10000 2000 2000 2000 - 5000 1000 1000 600 - 5000 2000 2000 1000 - 3360 3360 3360 3360 - - - - 100 100 100 100 - - - - 0.0 0.0 0.0 0.0 - 0.0 0.0 0.0 0.0 - - - - POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT - POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT - POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT - none none none none - none none none none - none none none none - - - - - - - minjerk - pwm - metric_units - machine_units - 200.0 500.0 500.0 500.0 - 0.0 0.0 0.0 0.0 - 200.0 50.0 50.0 50.0 - 3360 3360 3360 3360 - 3360 3360 3360 3360 - 0 0 0 0 - 0 0 0 0 - 0 0 0 0 - - - - - - - - - - - - - - - diff --git a/experimentalSetups/5-setup/hardware/motorControl/right_arm-eb27-j4_7-mc_service.xml b/experimentalSetups/5-setup/hardware/motorControl/right_arm-eb27-j4_7-mc_service.xml deleted file mode 100644 index 18d9e21def..0000000000 --- a/experimentalSetups/5-setup/hardware/motorControl/right_arm-eb27-j4_7-mc_service.xml +++ /dev/null @@ -1,47 +0,0 @@ - - - - - - - - eomn_serv_MC_mc4plus - - - - - mc4plus - - - - - - - pwm pwm pwm pwm - CONN:P5 CONN:P2 CONN:P4 CONN:P3 - - - - none aea aea absanalog - CONN:none CONN:P10 CONN:P11 CONN:P3 - none atjoint atjoint atjoint - 1 4096 -4096 65535 - 0 0.703 0.703 0 - - - - qenc qenc qenc none - CONN:P5 CONN:P2 CONN:P4 CONN:none - atmotor atmotor atmotor none - -2048 1600 1600 1 - 0 0 0 0 - - - - - - - - - - diff --git a/experimentalSetups/5-setup/hardware/motorControl/right_arm-eb28-j8_11-mc.xml b/experimentalSetups/5-setup/hardware/motorControl/right_arm-eb28-j8_11-mc.xml deleted file mode 100644 index 064d3cb61c..0000000000 --- a/experimentalSetups/5-setup/hardware/motorControl/right_arm-eb28-j8_11-mc.xml +++ /dev/null @@ -1,75 +0,0 @@ - - - - - - - - - - - - - - - 110 90 180 90 - 10 0 0 0 - 1000 1000 1000 1000 - 2000 2000 2000 2000 - 600 600 600 600 - 1000 1000 1000 1000 - - 3360 3360 3360 3360 - - - - 100 100 100 100 - - - - 0.0 0.0 0.0 0.0 - 0.0 0.0 0.0 0.0 - - - - POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT - POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT - POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT - none none none none - none none none none - none none none none - - - - - - - minjerk - pwm - metric_units - machine_units - -150 150 -500 500 - 0 0 0 0 - -50 50 -50 50 - - 3360 3360 3360 3360 - 3360 3360 3360 3360 - 0 0 0 0 - 0 0 0 0 - 0 0 0 0 - - - - - - - - - - - - - - - - diff --git a/experimentalSetups/5-setup/hardware/motorControl/right_arm-eb28-j8_11-mc_service.xml b/experimentalSetups/5-setup/hardware/motorControl/right_arm-eb28-j8_11-mc_service.xml deleted file mode 100644 index 509723c692..0000000000 --- a/experimentalSetups/5-setup/hardware/motorControl/right_arm-eb28-j8_11-mc_service.xml +++ /dev/null @@ -1,65 +0,0 @@ - - - - - - - - eomn_serv_MC_mc4plusmais - - - - - mc4plus - - - - mais - - 0 - 0 - - - 0 - 0 - 0 - - - - - CAN1:14 - - - - - - - pwm pwm pwm pwm - CONN:P3 CONN:P2 CONN:P4 CONN:P5 - - - - absanalog mais mais mais - CONN:P3 MAIS:thumbproximal MAIS:thumbdistal MAIS:indexproximal - atjoint atjoint atjoint atjoint - 65535 65535 65535 65535 - 0 0 0 0 - - - - none qenc qenc qenc - CONN:none CONN:P2 CONN:P4 CONN:P5 - none atmotor atmotor atmotor - 1 40 40 40 - 0 0 0 0 - - - - - - - - - - - diff --git a/experimentalSetups/5-setup/hardware/motorControl/right_arm-eb29-j12_15-mc.xml b/experimentalSetups/5-setup/hardware/motorControl/right_arm-eb29-j12_15-mc.xml deleted file mode 100644 index 690ec8b1c1..0000000000 --- a/experimentalSetups/5-setup/hardware/motorControl/right_arm-eb29-j12_15-mc.xml +++ /dev/null @@ -1,63 +0,0 @@ - - - - - - - - - - - - - - - 180 90 180 270 - 0 0 0 0 - 1000 1000 1000 1000 - 2000 2000 2000 2000 - 600 600 600 600 - 1000 1000 1000 1000 - 3360 3360 3360 3360 - - - - 100 100 100 100 - - - - 0.0 0.0 0.0 0.0 - 0.0 0.0 0.0 0.0 - - - - POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT - POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT - POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT - none none none none - none none none none - none none none none - - - - minjerk - pwm - metric_units - machine_units - 500 500 -500 200 - 0 0 0 0 - 50 50 -50 20 - 3360 3360 3360 3360 - 3360 3360 3360 3360 - 0 0 0 0 - 0 0 0 0 - 0 0 0 0 - - - - - - - - - diff --git a/experimentalSetups/5-setup/hardware/motorControl/right_arm-eb29-j12_15-mc_service.xml b/experimentalSetups/5-setup/hardware/motorControl/right_arm-eb29-j12_15-mc_service.xml deleted file mode 100644 index f5a536f2f2..0000000000 --- a/experimentalSetups/5-setup/hardware/motorControl/right_arm-eb29-j12_15-mc_service.xml +++ /dev/null @@ -1,65 +0,0 @@ - - - - - - - - eomn_serv_MC_mc4plusmais - - - - - mc4plus - - - - mais - - 0 - 0 - - - 0 - 0 - 0 - - - - - CAN1:14 - - - - - - - - pwm pwm pwm pwm - CONN:P3 CONN:P2 CONN:P4 CONN:P5 - - - - mais mais mais mais - MAIS:indexdistal MAIS:mediumproximal MAIS:mediumdistal MAIS:littlefingers - atjoint atjoint atjoint atjoint - 65535 65535 65535 65535 - 0 0 0 0 - - - - qenc qenc qenc qenc - CONN:P3 CONN:P2 CONN:P4 CONN:P5 - atmotor atmotor atmotor atmotor - 40 40 40 40 - 0 0 0 0 - - - - - - - - - - diff --git a/experimentalSetups/5-setup/hardware/motorControl/right_arm-eb3-j0_1-mc.xml b/experimentalSetups/5-setup/hardware/motorControl/right_arm-eb3-j0_1-mc.xml deleted file mode 100644 index a2628d1019..0000000000 --- a/experimentalSetups/5-setup/hardware/motorControl/right_arm-eb3-j0_1-mc.xml +++ /dev/null @@ -1,126 +0,0 @@ - - - - - - - - - - - - - - - 14 163 - -88 17 - 120 120 - 5000 5000 - 12000 12000 - 15000 15000 - 8000 8000 - - - - 100 100 - - - - 0.3 0.3 - 0.05 0.05 - - - - POS_PID_DEFAULT POS_PID_DEFAULT - POS_PID_DEFAULT POS_PID_DEFAULT - POS_PID_DEFAULT POS_PID_DEFAULT - TRQ_PID_DEFAULT TRQ_PID_DEFAULT - 2FOC_CUR_CONTROL 2FOC_CUR_CONTROL - 2FOC_VEL_CONTROL 2FOC_VEL_CONTROL - - - - - - - minjerk - pwm - metric_units - machine_units - 0 0 - -1500 -1000 - 0 0 - -1000 -1000 - 8000 8000 - 2000 2000 - 0 0 - 0 0 - - - - - - - - - low_lev_current - machine_units - machine_units - 8 8 - 0 0 - 2 2 - 10 10 - 32000 32000 - 32000 32000 - 0 0 - - - - low_lev_speed - machine_units - machine_units - 0 0 - 12 12 - 0 0 - 16 16 - 10 10 - 32000 32000 - 32000 32000 - - - - - - - - torque - pwm - metric_units - dutycycle_percent - -3 -2 - 0 0 - -6 -4 - 25 25 - 1.56 1.56 - 0 0 - 0 0 - 0 0 - 1 1 - -0.004 -0.004 - 0 0 - -0.86 -0.72 - - - - - - - - - 0.0049 0.0049 - - - - - - diff --git a/experimentalSetups/5-setup/hardware/motorControl/right_arm-eb3-j0_1-mc_service.xml b/experimentalSetups/5-setup/hardware/motorControl/right_arm-eb3-j0_1-mc_service.xml deleted file mode 100644 index 93ff46ebef..0000000000 --- a/experimentalSetups/5-setup/hardware/motorControl/right_arm-eb3-j0_1-mc_service.xml +++ /dev/null @@ -1,62 +0,0 @@ - - - - - - - - eomn_serv_MC_foc - - - - - ems4 - - - - foc - - 1 - 6 - - - 3 - 3 - 3 - - - - - - - - - foc foc - CAN1:1:0 CAN1:2:0 - - - - amo amo - CONN:P6 CONN:P8 - atjoint atjoint - 1048576 -1048576 - 0.703 0.703 - - - - roie roie - CAN1:1:0 CAN1:2:0 - atmotor atmotor - 14400 14400 - 3.6 3.6 - - - - - - - - - - - diff --git a/experimentalSetups/5-setup/hardware/motorControl/right_arm-eb4-j2_3-mc.xml b/experimentalSetups/5-setup/hardware/motorControl/right_arm-eb4-j2_3-mc.xml deleted file mode 100644 index bce152b992..0000000000 --- a/experimentalSetups/5-setup/hardware/motorControl/right_arm-eb4-j2_3-mc.xml +++ /dev/null @@ -1,126 +0,0 @@ - - - - - - - - - - - - - - 80 105 - -50 -3 - 120 120 - 5000 5000 - 9000 9000 - 15000 15000 - 8000 8000 - - - - 100 100 - - - - 0.2 0.1 - 0.05 0.05 - - - - POS_PID_DEFAULT POS_PID_DEFAULT - POS_PID_DEFAULT POS_PID_DEFAULT - POS_PID_DEFAULT POS_PID_DEFAULT - TRQ_PID_DEFAULT TRQ_PID_DEFAULT - 2FOC_CUR_CONTROL 2FOC_CUR_CONTROL - 2FOC_VEL_CONTROL 2FOC_VEL_CONTROL - - - - - - - minjerk - pwm - metric_units - machine_units - 0 0 - -1000 1000 - 0 0 - -1000 1000 - 8000 8000 - 2000 2000 - 0 0 - 0 0 - - - - - - - - torque - pwm - metric_units - dutycycle_percent - -2.5 3 - 0 0 - -3.5 4 - 25 25 - 1.56 1.56 - 0 0 - 0 0 - 0 0 - 1 1 - -0.003 0.0023 - 0 0 - -0.9 0.7 - - - - - - - - - low_lev_current - machine_units - machine_units - 8 8 - 0 0 - 2 2 - 10 10 - 32000 32000 - 32000 32000 - 0 0 - - - - low_lev_speed - machine_units - machine_units - 0 0 - 12 12 - 0 0 - 16 16 - 10 10 - 32000 32000 - 32000 32000 - - - - - - - - - - 0.0049 0.0049 - - - - - - diff --git a/experimentalSetups/5-setup/hardware/motorControl/right_arm-eb4-j2_3-mc_service.xml b/experimentalSetups/5-setup/hardware/motorControl/right_arm-eb4-j2_3-mc_service.xml deleted file mode 100644 index a0dafb4186..0000000000 --- a/experimentalSetups/5-setup/hardware/motorControl/right_arm-eb4-j2_3-mc_service.xml +++ /dev/null @@ -1,62 +0,0 @@ - - - - - - - - eomn_serv_MC_foc - - - - - ems4 - - - - foc - - 1 - 6 - - - 3 - 3 - 3 - - - - - - - - - foc foc - CAN1:3:0 CAN1:4:0 - - - - amo amo - CONN:P6 CONN:P8 - atjoint atjoint - -1048576 -1048576 - 0.703 0.703 - - - - roie roie - CAN1:3:0 CAN1:4:0 - atmotor atmotor - 14400 14400 - 3.6 3.6 - - - - - - - - - - - diff --git a/experimentalSetups/5-setup/hardware/motorControl/right_leg-eb11-j0_2-mc.xml b/experimentalSetups/5-setup/hardware/motorControl/right_leg-eb11-j0_2-mc.xml deleted file mode 100644 index 5600b6791d..0000000000 --- a/experimentalSetups/5-setup/hardware/motorControl/right_leg-eb11-j0_2-mc.xml +++ /dev/null @@ -1,140 +0,0 @@ - - - - - - - - - - - - - - - 90 100 70 - -40 -15 -70 - 240 240 240 - 15000 15000 5000 - 20000 20000 10000 - 30000 30000 15000 - 16000 16000 16000 - - - - 100 100 100 - - - - 0.1 0.1 0.1 - 0.05 0.05 0.05 - - - - POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT - POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT - POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT - TRQ_PID_DEFAULT TRQ_PID_DEFAULT TRQ_PID_DEFAULT - 2FOC_CUR_CONTROL 2FOC_CUR_CONTROL 2FOC_CUR_CONTROL - 2FOC_VEL_CONTROL 2FOC_VEL_CONTROL 2FOC_VEL_CONTROL - - - - - - - minjerk - pwm - metric_units - machine_units - 0 0 0 - 5000 -25000 3000 - 0 0 0 - 1500 -5000 2000 - 12000 11000 12000 - 1500 5000 2000 - 0 0 0 - 0 0 0 - - - - - - - torque - pwm - metric_units - dutycycle_percent - 0 0 0 - 0 0 0 - 0 0 0 - 25 25 25 - 1.56 1.56 1.56 - 0 0 0 - 0 0 0 - 0 0 0 - 1 1 1 - 0 0 0 - 0 0 0 - 0.46 -0.56 0.68 - - - - - - - low_lev_current - machine_units - machine_units - 8 8 8 - 0 0 0 - 2 2 2 - 10 10 10 - 32000 32000 32000 - 32000 32000 32000 - 0 0 0 - - - - low_lev_speed - machine_units - machine_units - 0 0 0 - 12 12 12 - 0 0 0 - 16 16 16 - 10 10 10 - 32000 32000 32000 - 32000 32000 32000 - - - - - - - - torque - current - metric_units - machine_units - 150.00 -150.00 200.00 - 0 0 0 - 80 -50 80 - 2500 2500 2500 - 200 200 200 - 0 0 0 - 0 0 0 - 0 0 0 - 1 1 1 - 0.0002 -0.0003 0.0003 - 0 0 0 - 196.52 -185.41 185.70 - - - - - - 0.0049 0.0049 0.0049 - - - diff --git a/experimentalSetups/5-setup/hardware/motorControl/right_leg-eb11-j0_2-mc_service.xml b/experimentalSetups/5-setup/hardware/motorControl/right_leg-eb11-j0_2-mc_service.xml deleted file mode 100644 index 8340e4441d..0000000000 --- a/experimentalSetups/5-setup/hardware/motorControl/right_leg-eb11-j0_2-mc_service.xml +++ /dev/null @@ -1,62 +0,0 @@ - - - - - - - - eomn_serv_MC_foc - - - - - ems4 - - - - foc - - 1 - 6 - - - 3 - 3 - 3 - - - - - - - - - foc foc foc - CAN1:1:0 CAN1:2:0 CAN1:3:0 - - - - amo amo amo - CONN:P6 CONN:P7 CONN:P8 - atjoint atjoint atjoint - -16384 -16384 -16384 - 0.703 0.703 0.703 - - - - roie roie roie - CAN1:1:0 CAN1:2:0 CAN1:3:0 - atmotor atmotor atmotor - 14400 14400 14400 - 3.6 3.6 3.6 - - - - - - - - - - - diff --git a/experimentalSetups/5-setup/hardware/motorControl/right_leg-eb12-j3_5-mc.xml b/experimentalSetups/5-setup/hardware/motorControl/right_leg-eb12-j3_5-mc.xml deleted file mode 100644 index eba4c88c06..0000000000 --- a/experimentalSetups/5-setup/hardware/motorControl/right_leg-eb12-j3_5-mc.xml +++ /dev/null @@ -1,139 +0,0 @@ - - - - - - - - - - - - - - 3 32 23 - -70 -45 -23 - 240 240 240 - 10000 10000 10000 - 15000 15000 15000 - 20000 30000 30000 - 16000 16000 16000 - - - - 100 100 100 - - - - 0.1 0.1 0.1 - 0.05 0.05 0.05 - - - - POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT - POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT - POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT - TRQ_PID_DEFAULT TRQ_PID_DEFAULT TRQ_PID_DEFAULT - 2FOC_CUR_CONTROL 2FOC_CUR_CONTROL 2FOC_CUR_CONTROL - 2FOC_VEL_CONTROL 2FOC_VEL_CONTROL 2FOC_VEL_CONTROL - - - - - - - minjerk - pwm - metric_units - machine_units - 0 0 0 - 5000 5000 2310 - 0 0 0 - 1500 1000 1000 - 12000 12000 12000 - 2000 1000 1000 - 0 0 0 - 0 0 0 - - - - - - - torque - pwm - metric_units - dutycycle_percent - 0 0 0 - 0 0 0 - 0 0 0 - 25 25 25 - 1.56 1.56 1.56 - 0 0 0 - 0 0 0 - 0 0 0 - 1 1 1 - 0 0 0 - 0 0 0 - -0.52 0.72 0.56 - - - - - - - low_lev_current - machine_units - machine_units - 8 8 8 - 0 0 0 - 2 2 2 - 10 10 10 - 32000 32000 32000 - 32000 32000 32000 - 0 0 0 - - - - low_lev_speed - machine_units - machine_units - 0 0 0 - 12 12 12 - 0 0 0 - 16 16 16 - 10 10 10 - 32000 32000 32000 - 32000 32000 32000 - - - - - - - - torque - current - metric_units - machine_units - 150.00 40.44 28.27 - 0 0 0 - 80.00 0 0 - 2500 2500 2500 - 200 200 200 - 0 0 0 - 0 0 0 - 0 0 0 - 1 1 1 - 0.0001 0.0003 0.0004 - 0 0 0 - 270.78 181.17 230.00 - - - - - 0.011 0.011 0.011 - - - - diff --git a/experimentalSetups/5-setup/hardware/motorControl/right_leg-eb12-j3_5-mc_service.xml b/experimentalSetups/5-setup/hardware/motorControl/right_leg-eb12-j3_5-mc_service.xml deleted file mode 100644 index b16e40c91b..0000000000 --- a/experimentalSetups/5-setup/hardware/motorControl/right_leg-eb12-j3_5-mc_service.xml +++ /dev/null @@ -1,61 +0,0 @@ - - - - - - - - eomn_serv_MC_foc - - - - - ems4 - - - - foc - - 1 - 6 - - - 3 - 3 - 3 - - - - - - - - foc foc foc - CAN1:3:0 CAN1:1:0 CAN1:2:0 - - - - amo amo amo - CONN:P7 CONN:P6 CONN:P8 - atjoint atjoint atjoint - 16384 -16384 16384 - 0.703 0.703 0.703 - - - - roie roie roie - CAN3::0 CAN1::0 CAN1:2:0 - atmotor atmotor atmotor - 14400 14400 14400 - 3.6 3.6 3.6 - - - - - - - - - - - diff --git a/experimentalSetups/5-setup/hardware/motorControl/torso-eb5-j0_2-mc.xml b/experimentalSetups/5-setup/hardware/motorControl/torso-eb5-j0_2-mc.xml deleted file mode 100644 index a9652bf2f0..0000000000 --- a/experimentalSetups/5-setup/hardware/motorControl/torso-eb5-j0_2-mc.xml +++ /dev/null @@ -1,126 +0,0 @@ - - - - - - - - - - - - - - - - 23 45 43 - -23 -18 -43 - 120 120 120 - 5000 8000 5000 - 10000 16000 10000 - 15000 20000 15000 - 10000 10000 10000 - - - - 100 100 100 - - - - 0 0 0 - 0 0 0 - - - - POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT - POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT - POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT - TRQ_PID_DEFAULT TRQ_PID_DEFAULT TRQ_PID_DEFAULT - 2FOC_CUR_CONTROL 2FOC_CUR_CONTROL 2FOC_CUR_CONTROL - 2FOC_VEL_CONTROL 2FOC_VEL_CONTROL 2FOC_VEL_CONTROL - - - - - - - minjerk - pwm - metric_units - machine_units - 7000 4000 -1500 - 0 0 0 - 3000 2000 -1000 - 8000 8000 8000 - 3000 2000 1000 - 0 0 0 - 0 0 0 - 0 0 0 - - - - - - - - torque - pwm - metric_units - dutycycle_percent - 0 0 0 - 0 0 0 - 0 0 0 - 25 25 25 - 1.56 1.56 1.56 - 0 0 0 - 0 0 0 - 0 0 0 - 1 1 1 - 0.0016 0.003 -0.003 - 0 0 0 - 0.63 0.63 -0.63 - - - - - - - - low_lev_current - machine_units - machine_units - 8 8 8 - 0 0 0 - 2 2 2 - 10 10 10 - 32000 32000 32000 - 32000 32000 32000 - 0 0 0 - - - - low_lev_speed - machine_units - machine_units - 0 0 0 - 12 12 12 - 0 0 0 - 16 16 16 - 10 10 10 - 32000 32000 32000 - 32000 32000 32000 - - - - - - - - - - 0.0049 0.0049 0.0049 - - - - - diff --git a/experimentalSetups/5-setup/hardware/skin/left_arm-eb24-j4_7-skin.xml b/experimentalSetups/5-setup/hardware/skin/left_arm-eb24-j4_7-skin.xml deleted file mode 100644 index b8eba1997b..0000000000 --- a/experimentalSetups/5-setup/hardware/skin/left_arm-eb24-j4_7-skin.xml +++ /dev/null @@ -1,15 +0,0 @@ - - - - - - - - - - 14 13 12 11 10 9 8 - - - - - diff --git a/experimentalSetups/5-setup/hardware/skin/left_arm-eb24-j4_7-skinSpec.xml b/experimentalSetups/5-setup/hardware/skin/left_arm-eb24-j4_7-skinSpec.xml deleted file mode 100644 index 442744d04d..0000000000 --- a/experimentalSetups/5-setup/hardware/skin/left_arm-eb24-j4_7-skinSpec.xml +++ /dev/null @@ -1,42 +0,0 @@ - - - - - - - 50 - 0 - 0xf0 - false - - - - - 1 - - 1 14 14 50 1 0xf0 - - - - - - false - 2 - 0x2200 - - - - 2 - 1 14 0 6 1 0 0x2000 - 1 14 8 11 1 2 0x2200 - - - - - - diff --git a/experimentalSetups/5-setup/hardware/skin/left_upperarm-eb2-skin.xml b/experimentalSetups/5-setup/hardware/skin/left_upperarm-eb2-skin.xml deleted file mode 100644 index f24dfa1799..0000000000 --- a/experimentalSetups/5-setup/hardware/skin/left_upperarm-eb2-skin.xml +++ /dev/null @@ -1,14 +0,0 @@ - - - - - - - - - - 13 - - - - diff --git a/experimentalSetups/5-setup/hardware/skin/left_upperarm-eb2-skinSpec.xml b/experimentalSetups/5-setup/hardware/skin/left_upperarm-eb2-skinSpec.xml deleted file mode 100644 index 13b3bc1bdb..0000000000 --- a/experimentalSetups/5-setup/hardware/skin/left_upperarm-eb2-skinSpec.xml +++ /dev/null @@ -1,38 +0,0 @@ - - - - - - - 50 - 8 - - 0xf0 - false - - - - - true - 2 - 0x2200 - - - - - - diff --git a/experimentalSetups/5-setup/hardware/skin/right_arm-eb27-j4_7-skin.xml b/experimentalSetups/5-setup/hardware/skin/right_arm-eb27-j4_7-skin.xml deleted file mode 100644 index 511934f45a..0000000000 --- a/experimentalSetups/5-setup/hardware/skin/right_arm-eb27-j4_7-skin.xml +++ /dev/null @@ -1,14 +0,0 @@ - - - - - - - - - - 14 13 12 11 10 9 8 - - - - diff --git a/experimentalSetups/5-setup/hardware/skin/right_arm-eb27-j4_7-skinSpec.xml b/experimentalSetups/5-setup/hardware/skin/right_arm-eb27-j4_7-skinSpec.xml deleted file mode 100644 index 442744d04d..0000000000 --- a/experimentalSetups/5-setup/hardware/skin/right_arm-eb27-j4_7-skinSpec.xml +++ /dev/null @@ -1,42 +0,0 @@ - - - - - - - 50 - 0 - 0xf0 - false - - - - - 1 - - 1 14 14 50 1 0xf0 - - - - - - false - 2 - 0x2200 - - - - 2 - 1 14 0 6 1 0 0x2000 - 1 14 8 11 1 2 0x2200 - - - - - - diff --git a/experimentalSetups/5-setup/hardware/skin/right_upperarm-eb4-skin.xml b/experimentalSetups/5-setup/hardware/skin/right_upperarm-eb4-skin.xml deleted file mode 100644 index a070ff78b9..0000000000 --- a/experimentalSetups/5-setup/hardware/skin/right_upperarm-eb4-skin.xml +++ /dev/null @@ -1,14 +0,0 @@ - - - - - - - - - - 13 - - - - diff --git a/experimentalSetups/5-setup/hardware/skin/right_upperarm-eb4-skinSpec.xml b/experimentalSetups/5-setup/hardware/skin/right_upperarm-eb4-skinSpec.xml deleted file mode 100644 index 63a97aaa0c..0000000000 --- a/experimentalSetups/5-setup/hardware/skin/right_upperarm-eb4-skinSpec.xml +++ /dev/null @@ -1,38 +0,0 @@ - - - - - - - 50 - 8 - 0xf0 - false - - - - - true - 2 - 0x2200 - - - - - - diff --git a/experimentalSetups/5-setup/hardware/skin/torso-eb22-skin.xml b/experimentalSetups/5-setup/hardware/skin/torso-eb22-skin.xml deleted file mode 100644 index 962796ab36..0000000000 --- a/experimentalSetups/5-setup/hardware/skin/torso-eb22-skin.xml +++ /dev/null @@ -1,15 +0,0 @@ - - - - - - - - - - - 7 8 9 10 - - - - diff --git a/experimentalSetups/5-setup/hardware/skin/torso-eb22-skinSpec.xml b/experimentalSetups/5-setup/hardware/skin/torso-eb22-skinSpec.xml deleted file mode 100644 index b651dd1486..0000000000 --- a/experimentalSetups/5-setup/hardware/skin/torso-eb22-skinSpec.xml +++ /dev/null @@ -1,22 +0,0 @@ - - - - - - - 50 - 0 - 0xf0 - false - - - - - true - 2 - 0x2200 - - - diff --git a/experimentalSetups/5-setup/hardware/skin/torso-ems5-inertial_gyro.xml b/experimentalSetups/5-setup/hardware/skin/torso-ems5-inertial_gyro.xml deleted file mode 100644 index 979f35f78a..0000000000 --- a/experimentalSetups/5-setup/hardware/skin/torso-ems5-inertial_gyro.xml +++ /dev/null @@ -1,55 +0,0 @@ - - - - - - - - - - - - - - eomn_serv_AS_inertials - - - - - eobrd_mtb - - - 0 - 0 - - - 0 - 0 - 0 - - - - - on_ems10_gyros - - - eoas_gyros_st_l3g4200d - - - ETH:0 - - - - - - - 50 - on_ems10_gyros - - - - - - - - diff --git a/experimentalSetups/5-setup/head-face.xml b/experimentalSetups/5-setup/head-face.xml deleted file mode 100644 index a74f5da452..0000000000 --- a/experimentalSetups/5-setup/head-face.xml +++ /dev/null @@ -1,35 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/experimentalSetups/5-setup/iCubStartup.xml b/experimentalSetups/5-setup/iCubStartup.xml deleted file mode 100644 index 4559fe6b09..0000000000 --- a/experimentalSetups/5-setup/iCubStartup.xml +++ /dev/null @@ -1,90 +0,0 @@ - -iCubStartup - - - - - - yarplogger - --start --no_stop - console - - - - yarprobotinterface - pc104 - - - - iKinCartesianSolver - --from cartesianSolver.ini --part right_arm - console - - /icub/yarprobotinterface - - - - - iKinCartesianSolver - --from cartesianSolver.ini --part left_arm - console - - /icub/yarprobotinterface - - - - - iKinGazeCtrl - --from configv3.ini - console - - /icub/yarprobotinterface - /imuFilter/inertial:o - - - - - - wholeBodyDynamics - - --autoconnect - pwrNode6 - - /icub/yarprobotinterface - - - - - - gravityCompensator - - - pwrNode6 - - /wholeBodyDynamics/rpc:i - - - - - fingersTuner - console - - /icub/yarprobotinterface - - - - - imuFilter - pc104 - - /icub/inertial - - - - - /icub/inertial - /imuFilter/inertial:i - tcp - - - diff --git a/experimentalSetups/5-setup/iKinGazeCtrl.ini b/experimentalSetups/5-setup/iKinGazeCtrl.ini deleted file mode 100644 index f1db0b8ce8..0000000000 --- a/experimentalSetups/5-setup/iKinGazeCtrl.ini +++ /dev/null @@ -1,11 +0,0 @@ -robot icub -head_version 3.0 -saccades off - -[cameras] -context cameraCalibration -file icubEyes.ini - -[imu] -mode off -source_port_name /imuFilter diff --git a/experimentalSetups/5-setup/icubEyes.ini b/experimentalSetups/5-setup/icubEyes.ini deleted file mode 100644 index 2e43e322c5..0000000000 --- a/experimentalSetups/5-setup/icubEyes.ini +++ /dev/null @@ -1,63 +0,0 @@ -[CAMERA_CALIBRATION_RIGHT] - -projection pinhole -drawCenterCross 0 - -w 1024 -h 768 -fx 746.539 -fy 751.274 -cx 559.26 -cy 355.631 -k1 -0.467452 -k2 0.245837 -p1 0.00379421 -p2 0.00670889 - -[CAMERA_CALIBRATION_LEFT] - -projection pinhole -drawCenterCross 0 - -w 1024 -h 768 -fx 726.389 -fy 728.673 -cx 548.169 -cy 371.598 -k1 -0.434368 -k2 0.219995 -p1 0.00347889 -p2 -0.0014471 - -[CAMERA_CALIBRATION_CONFIGURATION_LEFT] - -numPatternImagesRequired 10 -numPatternInnerCornersX 8 -numPatternInnerCornersY 6 -patternSquareSideLength 25 -outputFilename /tmp/results.ini -outputGroupname CAMERA_CALIBRATION_LEFT - - - -[CAMERA_CALIBRATION_CONFIGURATION_RIGHT] - -numPatternImagesRequired 10 -numPatternInnerCornersX 8 -numPatternInnerCornersY 6 -patternSquareSideLength 25 -outputFilename /tmp/results.ini -outputGroupname CAMERA_CALIBRATION_RIGHT - - -[STEREO_CALIBRATION_CONFIGURATION] -boardWidth 8 -boardHeight 6 -boardSize 0.09241 -numberOfPairs 30 - -[STEREO_DISPARITY] -HN (0.998748 0.0418866 0.0273391 -0.232222 -0.0416763 0.999097 -0.00821842 -0.0045673 -0.0276587 0.00706874 0.999592 0.014123 0 0 0 1) -QL ( 0.000000 0.000000 0.000000 0.000000 0.000000 -0.004602 0.000000 -0.000863) -QR ( 0.000000 0.000000 0.000000 0.000000 0.000000 -0.004602 0.000000 -0.000863) diff --git a/experimentalSetups/5-setup/icub_FT_arms.xml b/experimentalSetups/5-setup/icub_FT_arms.xml deleted file mode 100644 index 333969f760..0000000000 --- a/experimentalSetups/5-setup/icub_FT_arms.xml +++ /dev/null @@ -1,24 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/experimentalSetups/5-setup/icub_FT_feet.xml b/experimentalSetups/5-setup/icub_FT_feet.xml deleted file mode 100644 index e054bafec4..0000000000 --- a/experimentalSetups/5-setup/icub_FT_feet.xml +++ /dev/null @@ -1,28 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/experimentalSetups/5-setup/icub_all.xml b/experimentalSetups/5-setup/icub_all.xml deleted file mode 100644 index 869b860782..0000000000 --- a/experimentalSetups/5-setup/icub_all.xml +++ /dev/null @@ -1,99 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/experimentalSetups/5-setup/icub_all_inertials.xml b/experimentalSetups/5-setup/icub_all_inertials.xml deleted file mode 100644 index 39e04bf3db..0000000000 --- a/experimentalSetups/5-setup/icub_all_inertials.xml +++ /dev/null @@ -1,117 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/experimentalSetups/5-setup/icub_all_no_legs.xml b/experimentalSetups/5-setup/icub_all_no_legs.xml deleted file mode 100644 index 61c7d1b7d3..0000000000 --- a/experimentalSetups/5-setup/icub_all_no_legs.xml +++ /dev/null @@ -1,69 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/experimentalSetups/5-setup/icub_foc.xml b/experimentalSetups/5-setup/icub_foc.xml deleted file mode 100644 index 3e2d518092..0000000000 --- a/experimentalSetups/5-setup/icub_foc.xml +++ /dev/null @@ -1,54 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/experimentalSetups/5-setup/icub_h_f_RL_a.xml b/experimentalSetups/5-setup/icub_h_f_RL_a.xml deleted file mode 100644 index 4114736f82..0000000000 --- a/experimentalSetups/5-setup/icub_h_f_RL_a.xml +++ /dev/null @@ -1,77 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/experimentalSetups/5-setup/icub_left_leg.xml b/experimentalSetups/5-setup/icub_left_leg.xml deleted file mode 100644 index 4ec538a186..0000000000 --- a/experimentalSetups/5-setup/icub_left_leg.xml +++ /dev/null @@ -1,27 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/experimentalSetups/5-setup/icub_legs.xml b/experimentalSetups/5-setup/icub_legs.xml deleted file mode 100644 index aa0fe73dbe..0000000000 --- a/experimentalSetups/5-setup/icub_legs.xml +++ /dev/null @@ -1,33 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/experimentalSetups/5-setup/icub_legs_mcOnly.xml b/experimentalSetups/5-setup/icub_legs_mcOnly.xml deleted file mode 100644 index 537523c6fe..0000000000 --- a/experimentalSetups/5-setup/icub_legs_mcOnly.xml +++ /dev/null @@ -1,34 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/experimentalSetups/5-setup/icub_legs_rarm.xml b/experimentalSetups/5-setup/icub_legs_rarm.xml deleted file mode 100644 index 1bcd58c65e..0000000000 --- a/experimentalSetups/5-setup/icub_legs_rarm.xml +++ /dev/null @@ -1,43 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/experimentalSetups/5-setup/icub_right_leg.xml b/experimentalSetups/5-setup/icub_right_leg.xml deleted file mode 100644 index cb7afaf83e..0000000000 --- a/experimentalSetups/5-setup/icub_right_leg.xml +++ /dev/null @@ -1,26 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/experimentalSetups/5-setup/icub_torso.xml b/experimentalSetups/5-setup/icub_torso.xml deleted file mode 100644 index 9b7219e21e..0000000000 --- a/experimentalSetups/5-setup/icub_torso.xml +++ /dev/null @@ -1,24 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/experimentalSetups/5-setup/icub_wbd.xml b/experimentalSetups/5-setup/icub_wbd.xml deleted file mode 100644 index ae9bd425e7..0000000000 --- a/experimentalSetups/5-setup/icub_wbd.xml +++ /dev/null @@ -1,129 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/experimentalSetups/5-setup/legs-wbd.xml b/experimentalSetups/5-setup/legs-wbd.xml deleted file mode 100644 index 7503a7057e..0000000000 --- a/experimentalSetups/5-setup/legs-wbd.xml +++ /dev/null @@ -1,72 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/experimentalSetups/5-setup/ll.xml b/experimentalSetups/5-setup/ll.xml deleted file mode 100644 index bcbe79ee59..0000000000 --- a/experimentalSetups/5-setup/ll.xml +++ /dev/null @@ -1,26 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/experimentalSetups/5-setup/network.5-setup.xml b/experimentalSetups/5-setup/network.5-setup.xml new file mode 100644 index 0000000000..9a964e77b7 --- /dev/null +++ b/experimentalSetups/5-setup/network.5-setup.xml @@ -0,0 +1,70 @@ + + + + + + + + + + + + + ETH + + + + + + ETH + + + + + + + + + + + + + + + + + diff --git a/experimentalSetups/5-setup/network.iCubGenova09.xml b/experimentalSetups/5-setup/network.iCubGenova09.xml deleted file mode 100644 index 6b2e46c543..0000000000 --- a/experimentalSetups/5-setup/network.iCubGenova09.xml +++ /dev/null @@ -1,386 +0,0 @@ - - - - - - - - - - - - - - ETH - - - - - - ETH - - - - - - - - - - ETH - - - - - - ETH - - - - - - - - - - ETH - - - - - - ETH - - - - - - ETH - - - - - - ETH - - - - - - ETH - - - - - - - ETH - - - - - - ETH - - - - - - ETH - - - - - - ETH - - - - - - ETH - - - - - - ETH - - - - - - - - - - ETH - - - - - - ETH - - - - - - ETH - - - - - - ETH - - - - - - ETH - - - - - - ETH - - - - - - ETH - - - - - - ETH - - - - - - ETH - - - - - - ETH - - - - - - ETH - - - - - - - - - - ETH - - - - - - ETH - - - - - - ETH - - - - - - ETH - - - - - - - - - - ETH - - - - - - ETH - - - - - - ETH - - - - - - ETH - - - - - - ETH - - - - - - ETH - - - - - - ETH - - - - - - ETH - - - - - - ETH - - - - - - ETH - - - - - - - - - - - ETH - - - - - - ETH - - - - - - ETH - - - - - - ETH - - - - - - ETH - - - - - - ETH - - - - - - ETH - - - - - - ETH - - - - - - ETH - - - - - - ETH - - - - - - - - - - - - - - - - - - diff --git a/experimentalSetups/5-setup/rfe.xml b/experimentalSetups/5-setup/rfe.xml deleted file mode 100644 index 530d43ec16..0000000000 --- a/experimentalSetups/5-setup/rfe.xml +++ /dev/null @@ -1,23 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - diff --git a/experimentalSetups/5-setup/rl.xml b/experimentalSetups/5-setup/rl.xml deleted file mode 100644 index bdf0e68b33..0000000000 --- a/experimentalSetups/5-setup/rl.xml +++ /dev/null @@ -1,26 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/experimentalSetups/5-setup/sensors/RealSense_conf.ini b/experimentalSetups/5-setup/sensors/RealSense_conf.ini deleted file mode 100644 index 82f8b437dd..0000000000 --- a/experimentalSetups/5-setup/sensors/RealSense_conf.ini +++ /dev/null @@ -1,13 +0,0 @@ -device RGBDSensorWrapper -subdevice realsense2withIMU -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/experimentalSetups/5-setup/setup.xml b/experimentalSetups/5-setup/setup.xml deleted file mode 100644 index 14263c1dd3..0000000000 --- a/experimentalSetups/5-setup/setup.xml +++ /dev/null @@ -1,21 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - diff --git a/experimentalSetups/5-setup/startaudio.ini b/experimentalSetups/5-setup/startaudio.ini deleted file mode 100644 index fb78606211..0000000000 --- a/experimentalSetups/5-setup/startaudio.ini +++ /dev/null @@ -1,5 +0,0 @@ -device AudioRecorderWrapper - subdevice portaudioRecorder - name /microphone - min_samples_over_network 4000 - max_samples_over_network 4000 diff --git a/experimentalSetups/5-setup/telemetry.xml b/experimentalSetups/5-setup/telemetry.xml deleted file mode 100644 index 63f1f77d12..0000000000 --- a/experimentalSetups/5-setup/telemetry.xml +++ /dev/null @@ -1,41 +0,0 @@ - - - - - - - - /icub/torso - /telemetry/torso - - - - /icub/left_arm - /telemetry/left_arm - - - - /icub/right_arm - /telemetry/right_arm - - - - /icub/left_leg - /telemetry/left_leg - - - - /icub/right_leg - /telemetry/right_leg - - - - /icub/head - /telemetry/head - - - - - - - diff --git a/experimentalSetups/5-setup/telemetry/telemetryDeviceExternal.xml b/experimentalSetups/5-setup/telemetry/telemetryDeviceExternal.xml deleted file mode 100644 index f5d7121820..0000000000 --- a/experimentalSetups/5-setup/telemetry/telemetryDeviceExternal.xml +++ /dev/null @@ -1,38 +0,0 @@ - - - - - - (torso_pitch,torso_roll,torso_yaw,neck_pitch, neck_roll,neck_yaw,l_shoulder_pitch,l_shoulder_roll,l_shoulder_yaw,l_elbow,l_wrist_prosup,l_wrist_pitch,l_wrist_yaw,r_shoulder_pitch,r_shoulder_roll,r_shoulder_yaw,r_elbow,r_wrist_prosup,r_wrist_pitch,r_wrist_yaw,l_hip_pitch,l_hip_roll,l_hip_yaw,l_knee,l_ankle_pitch,l_ankle_roll,r_hip_pitch,r_hip_roll,r_hip_yaw,r_knee,r_ankle_pitch,r_ankle_roll) - true - true - true - true - true - false - true - true - telemetry_iCub3 - /home/icub/telemetry_logs/ - 100000 - true - 120.0 - 300 - true - - - - - head_mc - torso_mc - left_arm_mc - right_arm_mc - left_leg_mc - right_leg_mc - - - - - - - diff --git a/experimentalSetups/5-setup/test_head.xml b/experimentalSetups/5-setup/test_head.xml deleted file mode 100644 index bb17b9e11d..0000000000 --- a/experimentalSetups/5-setup/test_head.xml +++ /dev/null @@ -1,37 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/experimentalSetups/5-setup/test_left_arm.xml b/experimentalSetups/5-setup/test_left_arm.xml deleted file mode 100644 index ccbeac784c..0000000000 --- a/experimentalSetups/5-setup/test_left_arm.xml +++ /dev/null @@ -1,54 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/experimentalSetups/5-setup/test_right_arm.xml b/experimentalSetups/5-setup/test_right_arm.xml deleted file mode 100644 index 09e9926376..0000000000 --- a/experimentalSetups/5-setup/test_right_arm.xml +++ /dev/null @@ -1,43 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/experimentalSetups/5-setup/test_xsense.xml b/experimentalSetups/5-setup/test_xsense.xml deleted file mode 100644 index 63c860ad7a..0000000000 --- a/experimentalSetups/5-setup/test_xsense.xml +++ /dev/null @@ -1,27 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/experimentalSetups/5-setup/upper-body.xml b/experimentalSetups/5-setup/upper-body.xml deleted file mode 100644 index 60128d7a72..0000000000 --- a/experimentalSetups/5-setup/upper-body.xml +++ /dev/null @@ -1,81 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/experimentalSetups/5-setup/wrappers/FT/left_arm-FT_wrapper.xml b/experimentalSetups/5-setup/wrappers/FT/left_arm-FT_wrapper.xml deleted file mode 100644 index 7277915ace..0000000000 --- a/experimentalSetups/5-setup/wrappers/FT/left_arm-FT_wrapper.xml +++ /dev/null @@ -1,18 +0,0 @@ - - - - - - 10 - /icub/left_arm/analog:o - - - - - left_arm-eb1-j0_1-strain - - - - - - diff --git a/experimentalSetups/5-setup/wrappers/FT/left_foot_heel-FT_wrapper.xml b/experimentalSetups/5-setup/wrappers/FT/left_foot_heel-FT_wrapper.xml deleted file mode 100644 index d42d8f1012..0000000000 --- a/experimentalSetups/5-setup/wrappers/FT/left_foot_heel-FT_wrapper.xml +++ /dev/null @@ -1,18 +0,0 @@ - - - - - - 10 - /icub/left_foot_heel/analog:o - - - - - left_leg-eb7-j0_2-strain - - - - - - diff --git a/experimentalSetups/5-setup/wrappers/FT/left_foot_heel-FT_wrapper_multipleSens.xml b/experimentalSetups/5-setup/wrappers/FT/left_foot_heel-FT_wrapper_multipleSens.xml deleted file mode 100644 index 75b518384b..0000000000 --- a/experimentalSetups/5-setup/wrappers/FT/left_foot_heel-FT_wrapper_multipleSens.xml +++ /dev/null @@ -1,18 +0,0 @@ - - - - - - 10 - /icub/left_foot_heel - - - - - left_leg-eb7-j0_2-strain - - - - - - diff --git a/experimentalSetups/5-setup/wrappers/FT/left_foot_tiptoe-FT_wrapper.xml b/experimentalSetups/5-setup/wrappers/FT/left_foot_tiptoe-FT_wrapper.xml deleted file mode 100644 index 9d5273045b..0000000000 --- a/experimentalSetups/5-setup/wrappers/FT/left_foot_tiptoe-FT_wrapper.xml +++ /dev/null @@ -1,18 +0,0 @@ - - - - - - 10 - /icub/left_foot_tiptoe/analog:o - - - - - left_leg-eb8-j3_5-strain - - - - - - diff --git a/experimentalSetups/5-setup/wrappers/FT/left_foot_tiptoe-FT_wrapper_multipleSens.xml b/experimentalSetups/5-setup/wrappers/FT/left_foot_tiptoe-FT_wrapper_multipleSens.xml deleted file mode 100644 index 614fac4fbf..0000000000 --- a/experimentalSetups/5-setup/wrappers/FT/left_foot_tiptoe-FT_wrapper_multipleSens.xml +++ /dev/null @@ -1,18 +0,0 @@ - - - - - - 10 - /icub/left_foot_tiptoe - - - - - left_leg-eb8-j3_5-strain - - - - - - diff --git a/experimentalSetups/5-setup/wrappers/FT/right_arm-FT_wrapper.xml b/experimentalSetups/5-setup/wrappers/FT/right_arm-FT_wrapper.xml deleted file mode 100644 index d0eca5eab6..0000000000 --- a/experimentalSetups/5-setup/wrappers/FT/right_arm-FT_wrapper.xml +++ /dev/null @@ -1,18 +0,0 @@ - - - - - - 10 - /icub/right_arm/analog:o - - - - - right_arm-eb3-j0_1-strain - - - - - - diff --git a/experimentalSetups/5-setup/wrappers/FT/right_foot_heel-FT_wrapper.xml b/experimentalSetups/5-setup/wrappers/FT/right_foot_heel-FT_wrapper.xml deleted file mode 100644 index e8a5e6e7d3..0000000000 --- a/experimentalSetups/5-setup/wrappers/FT/right_foot_heel-FT_wrapper.xml +++ /dev/null @@ -1,18 +0,0 @@ - - - - - - 10 - /icub/right_foot_heel/analog:o - - - - - right_leg-eb11-j0_2-strain - - - - - - diff --git a/experimentalSetups/5-setup/wrappers/FT/right_foot_heel-FT_wrapper_multipleSens.xml b/experimentalSetups/5-setup/wrappers/FT/right_foot_heel-FT_wrapper_multipleSens.xml deleted file mode 100644 index eb6dc856a8..0000000000 --- a/experimentalSetups/5-setup/wrappers/FT/right_foot_heel-FT_wrapper_multipleSens.xml +++ /dev/null @@ -1,18 +0,0 @@ - - - - - - 10 - /icub/right_foot_heel - - - - - right_leg-eb11-j0_2-strain - - - - - - diff --git a/experimentalSetups/5-setup/wrappers/FT/right_foot_tiptoe-FT_wrapper.xml b/experimentalSetups/5-setup/wrappers/FT/right_foot_tiptoe-FT_wrapper.xml deleted file mode 100644 index 474134cfff..0000000000 --- a/experimentalSetups/5-setup/wrappers/FT/right_foot_tiptoe-FT_wrapper.xml +++ /dev/null @@ -1,18 +0,0 @@ - - - - - - 10 - /icub/right_foot_tiptoe/analog:o - - - - - right_leg-eb12-j3_5-strain - - - - - - diff --git a/experimentalSetups/5-setup/wrappers/FT/right_foot_tiptoe-FT_wrapper_multipleSens.xml b/experimentalSetups/5-setup/wrappers/FT/right_foot_tiptoe-FT_wrapper_multipleSens.xml deleted file mode 100644 index dce17bfbd4..0000000000 --- a/experimentalSetups/5-setup/wrappers/FT/right_foot_tiptoe-FT_wrapper_multipleSens.xml +++ /dev/null @@ -1,18 +0,0 @@ - - - - - - 10 - /icub/right_foot_tiptoe - - - - - right_leg-eb12-j3_5-strain - - - - - - diff --git a/experimentalSetups/5-setup/wrappers/MAIS/left_arm-mais_wrapper.xml b/experimentalSetups/5-setup/wrappers/MAIS/left_arm-mais_wrapper.xml deleted file mode 100644 index 670c35bcb4..0000000000 --- a/experimentalSetups/5-setup/wrappers/MAIS/left_arm-mais_wrapper.xml +++ /dev/null @@ -1,16 +0,0 @@ - - - - - 10 - /icub/left_hand/analog:o - - - - left_arm-eb26-j12_15-mais - - - - - - diff --git a/experimentalSetups/5-setup/wrappers/MAIS/right_arm-mais_wrapper.xml b/experimentalSetups/5-setup/wrappers/MAIS/right_arm-mais_wrapper.xml deleted file mode 100644 index 1b5213361e..0000000000 --- a/experimentalSetups/5-setup/wrappers/MAIS/right_arm-mais_wrapper.xml +++ /dev/null @@ -1,16 +0,0 @@ - - - - - 10 - /icub/right_hand/analog:o - - - - right_arm-eb29-j12_15-mais - - - - - - diff --git a/experimentalSetups/5-setup/wrappers/VFT/left_arm-VFT_wrapper.xml b/experimentalSetups/5-setup/wrappers/VFT/left_arm-VFT_wrapper.xml deleted file mode 100644 index c901eada21..0000000000 --- a/experimentalSetups/5-setup/wrappers/VFT/left_arm-VFT_wrapper.xml +++ /dev/null @@ -1,31 +0,0 @@ - - - - - - 10 - - - - 0 1 0 1 - 2 3 0 1 - 4 6 0 2 - - - 7 - /icub/joint_vsens/left_arm:i - - - - - left_arm-eb1-j0_1-mc - left_arm-eb2-j2_3-mc - left_arm-eb24-j4_7-mc - - - - - - - - diff --git a/experimentalSetups/5-setup/wrappers/VFT/left_leg-VFT_wrapper.xml b/experimentalSetups/5-setup/wrappers/VFT/left_leg-VFT_wrapper.xml deleted file mode 100644 index b982c8046c..0000000000 --- a/experimentalSetups/5-setup/wrappers/VFT/left_leg-VFT_wrapper.xml +++ /dev/null @@ -1,29 +0,0 @@ - - - - - - 10 - - - - 0 2 0 2 - 3 5 0 2 - - - 6 - /icub/joint_vsens/left_leg:i - - - - - left_leg-eb7-j0_2-mc - left_leg-eb8-j3_5-mc - - - - - - - - diff --git a/experimentalSetups/5-setup/wrappers/VFT/right_arm-VFT_wrapper.xml b/experimentalSetups/5-setup/wrappers/VFT/right_arm-VFT_wrapper.xml deleted file mode 100644 index e4b8b7c401..0000000000 --- a/experimentalSetups/5-setup/wrappers/VFT/right_arm-VFT_wrapper.xml +++ /dev/null @@ -1,31 +0,0 @@ - - - - - - 10 - - - - 0 1 0 1 - 2 3 0 1 - 4 6 0 2 - - - 7 - /icub/joint_vsens/right_arm:i - - - - - right_arm-eb3-j0_1-mc - right_arm-eb4-j2_3-mc - right_arm-eb27-j4_7-mc - - - - - - - - diff --git a/experimentalSetups/5-setup/wrappers/VFT/right_leg-VFT_wrapper.xml b/experimentalSetups/5-setup/wrappers/VFT/right_leg-VFT_wrapper.xml deleted file mode 100644 index deee9fbf66..0000000000 --- a/experimentalSetups/5-setup/wrappers/VFT/right_leg-VFT_wrapper.xml +++ /dev/null @@ -1,29 +0,0 @@ - - - - - - 10 - - - - 0 2 0 2 - 3 5 0 2 - - - 6 - /icub/joint_vsens/right_leg:i - - - - - right_leg-eb11-j0_2-mc - right_leg-eb12-j3_5-mc - - - - - - - - diff --git a/experimentalSetups/5-setup/wrappers/VFT/torso-VFT_wrapper.xml b/experimentalSetups/5-setup/wrappers/VFT/torso-VFT_wrapper.xml deleted file mode 100644 index 81d2841d34..0000000000 --- a/experimentalSetups/5-setup/wrappers/VFT/torso-VFT_wrapper.xml +++ /dev/null @@ -1,18 +0,0 @@ - - - - 10 - - - ( 0 2 0 2 ) - - 3 - /icub/joint_vsens/torso:i - - - - torso-eb5-j0_2-mc - - - - diff --git a/experimentalSetups/5-setup/wrappers/inertials/head-imuFilter.xml b/experimentalSetups/5-setup/wrappers/inertials/head-imuFilter.xml deleted file mode 100644 index 9070dff156..0000000000 --- a/experimentalSetups/5-setup/wrappers/inertials/head-imuFilter.xml +++ /dev/null @@ -1,20 +0,0 @@ - - - - - - 20 - /imuFilter - - - - - - head-inertial - - - - - diff --git a/experimentalSetups/5-setup/wrappers/inertials/head-imuFilter_wrapper.xml b/experimentalSetups/5-setup/wrappers/inertials/head-imuFilter_wrapper.xml deleted file mode 100644 index 840c87bab1..0000000000 --- a/experimentalSetups/5-setup/wrappers/inertials/head-imuFilter_wrapper.xml +++ /dev/null @@ -1,20 +0,0 @@ - - - - - - 20 - /imuFilter - - - - - - head-imuFilter - - - - - diff --git a/experimentalSetups/5-setup/wrappers/inertials/head-inertials_wrapper-deprecated.xml b/experimentalSetups/5-setup/wrappers/inertials/head-inertials_wrapper-deprecated.xml deleted file mode 100644 index 8a513a7bea..0000000000 --- a/experimentalSetups/5-setup/wrappers/inertials/head-inertials_wrapper-deprecated.xml +++ /dev/null @@ -1,19 +0,0 @@ - - - - - - /icub/inertial - - - - - - head-inertial - - - - - diff --git a/experimentalSetups/5-setup/wrappers/inertials/head-inertials_wrapper.xml b/experimentalSetups/5-setup/wrappers/inertials/head-inertials_wrapper.xml deleted file mode 100644 index ab266c8715..0000000000 --- a/experimentalSetups/5-setup/wrappers/inertials/head-inertials_wrapper.xml +++ /dev/null @@ -1,20 +0,0 @@ - - - - - - 10 - /icub/head/inertials - - - - - - head-inertial - - - - - diff --git a/experimentalSetups/5-setup/wrappers/inertials/left_arm-inertials_wrapper.xml b/experimentalSetups/5-setup/wrappers/inertials/left_arm-inertials_wrapper.xml deleted file mode 100644 index f654cb77c3..0000000000 --- a/experimentalSetups/5-setup/wrappers/inertials/left_arm-inertials_wrapper.xml +++ /dev/null @@ -1,21 +0,0 @@ - - - - - - 10 - /icub/left_hand/inertialMTB - - - - - - left_arm-eb24-j4_7-inertials - - - - - - diff --git a/experimentalSetups/5-setup/wrappers/inertials/left_leg-inertials_wrapper.xml b/experimentalSetups/5-setup/wrappers/inertials/left_leg-inertials_wrapper.xml deleted file mode 100644 index 49922cee21..0000000000 --- a/experimentalSetups/5-setup/wrappers/inertials/left_leg-inertials_wrapper.xml +++ /dev/null @@ -1,21 +0,0 @@ - - - - - - 10 - /icub/left_leg/inertialMTB - - - - - - left_leg-eb10-inertials - - - - - - diff --git a/experimentalSetups/5-setup/wrappers/inertials/right_arm-inertials_wrapper.xml b/experimentalSetups/5-setup/wrappers/inertials/right_arm-inertials_wrapper.xml deleted file mode 100644 index ec039799b2..0000000000 --- a/experimentalSetups/5-setup/wrappers/inertials/right_arm-inertials_wrapper.xml +++ /dev/null @@ -1,21 +0,0 @@ - - - - - - 10 - /icub/right_hand/inertialMTB - - - - - - right_arm-eb27-j4_7-inertials - - - - - - diff --git a/experimentalSetups/5-setup/wrappers/inertials/right_leg-inertials_wrapper.xml b/experimentalSetups/5-setup/wrappers/inertials/right_leg-inertials_wrapper.xml deleted file mode 100644 index cca4c068ec..0000000000 --- a/experimentalSetups/5-setup/wrappers/inertials/right_leg-inertials_wrapper.xml +++ /dev/null @@ -1,21 +0,0 @@ - - - - - - 10 - /icub/right_leg/inertialMTB - - - - - - right_leg-eb11-inertials - - - - - - diff --git a/experimentalSetups/5-setup/wrappers/inertials/torso_inertial_wrapper.xml b/experimentalSetups/5-setup/wrappers/inertials/torso_inertial_wrapper.xml deleted file mode 100644 index 6d855bd280..0000000000 --- a/experimentalSetups/5-setup/wrappers/inertials/torso_inertial_wrapper.xml +++ /dev/null @@ -1,19 +0,0 @@ - - - - - - 10 - /icub/torso/inertialGYRO - - - - - - torso_inertialGYRO - - - - - - diff --git a/experimentalSetups/5-setup/wrappers/motorControl/torso-mc_remapper.xml b/experimentalSetups/5-setup/wrappers/motorControl/5-setup-mc_remapper.xml similarity index 66% rename from experimentalSetups/5-setup/wrappers/motorControl/torso-mc_remapper.xml rename to experimentalSetups/5-setup/wrappers/motorControl/5-setup-mc_remapper.xml index fbc0192874..781ca0e59c 100644 --- a/experimentalSetups/5-setup/wrappers/motorControl/torso-mc_remapper.xml +++ b/experimentalSetups/5-setup/wrappers/motorControl/5-setup-mc_remapper.xml @@ -1,14 +1,14 @@ - + - ( 0 0 0 0 ) + ( 0 0 0 0 ) 1 - torso-eb5-j0_2-mc + 5-setup-mc diff --git a/experimentalSetups/5-setup/wrappers/motorControl/torso-mc_wrapper.xml b/experimentalSetups/5-setup/wrappers/motorControl/5-setup-mc_wrapper.xml similarity index 58% rename from experimentalSetups/5-setup/wrappers/motorControl/torso-mc_wrapper.xml rename to experimentalSetups/5-setup/wrappers/motorControl/5-setup-mc_wrapper.xml index 89cf257cd6..7255f5149d 100644 --- a/experimentalSetups/5-setup/wrappers/motorControl/torso-mc_wrapper.xml +++ b/experimentalSetups/5-setup/wrappers/motorControl/5-setup-mc_wrapper.xml @@ -1,10 +1,10 @@ - - /icub/torso + + /icub/5-setup - torso-mc_remapper + 5-setup-mc_remapper diff --git a/experimentalSetups/5-setup/wrappers/motorControl/alljoints-mc_remapper.xml b/experimentalSetups/5-setup/wrappers/motorControl/alljoints-mc_remapper.xml deleted file mode 100644 index 5873b4fabc..0000000000 --- a/experimentalSetups/5-setup/wrappers/motorControl/alljoints-mc_remapper.xml +++ /dev/null @@ -1,31 +0,0 @@ - - - - - - ( 0 5 0 5 ) - ( 0 1 0 1 ) - ( 6 12 0 6 ) - ( 13 21 0 8 ) - ( 22 28 0 6 ) - ( 29 37 0 8 ) - ( 38 40 0 2 ) - ( 41 46 0 5 ) - ( 47 52 0 5 ) - - 53 - - - head_mc - face_mc - left_arm_mc - left_hand_mc - right_arm_mc - right_hand_mc - torso_mc - left_leg_mc - right_leg_mc - - - - diff --git a/experimentalSetups/5-setup/wrappers/motorControl/alljoints-mc_ros_wrapper.xml b/experimentalSetups/5-setup/wrappers/motorControl/alljoints-mc_ros_wrapper.xml deleted file mode 100644 index 6aa7a31dc7..0000000000 --- a/experimentalSetups/5-setup/wrappers/motorControl/alljoints-mc_ros_wrapper.xml +++ /dev/null @@ -1,11 +0,0 @@ - - - - - /yri_controlBoard_nws_ros - /all_joints - - alljoints-mc_remapper - - - diff --git a/experimentalSetups/5-setup/wrappers/motorControl/face-mc_remapper.xml b/experimentalSetups/5-setup/wrappers/motorControl/face-mc_remapper.xml deleted file mode 100644 index 16f729d9a1..0000000000 --- a/experimentalSetups/5-setup/wrappers/motorControl/face-mc_remapper.xml +++ /dev/null @@ -1,15 +0,0 @@ - - - - - - ( 0 0 0 0 ) - - 1 - - - face-eb22-j0-mc - - - - diff --git a/experimentalSetups/5-setup/wrappers/motorControl/face-mc_wrapper.xml b/experimentalSetups/5-setup/wrappers/motorControl/face-mc_wrapper.xml deleted file mode 100644 index d5c45c73bf..0000000000 --- a/experimentalSetups/5-setup/wrappers/motorControl/face-mc_wrapper.xml +++ /dev/null @@ -1,10 +0,0 @@ - - - - - /icub/face - - face-mc_remapper - - - diff --git a/experimentalSetups/5-setup/wrappers/motorControl/head-mc_remapper.xml b/experimentalSetups/5-setup/wrappers/motorControl/head-mc_remapper.xml deleted file mode 100644 index 18ee4dd4f1..0000000000 --- a/experimentalSetups/5-setup/wrappers/motorControl/head-mc_remapper.xml +++ /dev/null @@ -1,17 +0,0 @@ - - - - - - ( 0 1 0 1 ) - ( 2 5 0 3 ) - - 6 - - - head-eb20-j0_1-mc - head-eb21-j2_5-mc - - - - diff --git a/experimentalSetups/5-setup/wrappers/motorControl/head-mc_wrapper.xml b/experimentalSetups/5-setup/wrappers/motorControl/head-mc_wrapper.xml deleted file mode 100644 index 06e2825805..0000000000 --- a/experimentalSetups/5-setup/wrappers/motorControl/head-mc_wrapper.xml +++ /dev/null @@ -1,10 +0,0 @@ - - - - - /icub/head - - head-mc_remapper - - - diff --git a/experimentalSetups/5-setup/wrappers/motorControl/left_arm-mc_remapper.xml b/experimentalSetups/5-setup/wrappers/motorControl/left_arm-mc_remapper.xml deleted file mode 100644 index 7babdbde9e..0000000000 --- a/experimentalSetups/5-setup/wrappers/motorControl/left_arm-mc_remapper.xml +++ /dev/null @@ -1,23 +0,0 @@ - - - - - - ( 0 1 0 1 ) - ( 2 3 0 1 ) - ( 4 7 0 3 ) - ( 8 11 0 3 ) - ( 12 15 0 3 ) - - 16 - - - left_arm-eb1-j0_1-mc - left_arm-eb2-j2_3-mc - left_arm-eb24-j4_7-mc - left_arm-eb25-j8_11-mc - left_arm-eb26-j12_15-mc - - - - diff --git a/experimentalSetups/5-setup/wrappers/motorControl/left_arm-mc_wrapper.xml b/experimentalSetups/5-setup/wrappers/motorControl/left_arm-mc_wrapper.xml deleted file mode 100644 index caf7f8bb4b..0000000000 --- a/experimentalSetups/5-setup/wrappers/motorControl/left_arm-mc_wrapper.xml +++ /dev/null @@ -1,10 +0,0 @@ - - - - - /icub/left_arm - - left_arm-mc_remapper - - - diff --git a/experimentalSetups/5-setup/wrappers/motorControl/left_leg-mc_remapper.xml b/experimentalSetups/5-setup/wrappers/motorControl/left_leg-mc_remapper.xml deleted file mode 100644 index 88ef2eb0fb..0000000000 --- a/experimentalSetups/5-setup/wrappers/motorControl/left_leg-mc_remapper.xml +++ /dev/null @@ -1,16 +0,0 @@ - - - - - ( 0 2 0 2 ) - ( 3 5 0 2 ) - - 6 - - - left_leg-eb7-j0_2-mc - left_leg-eb8-j3_5-mc - - - - diff --git a/experimentalSetups/5-setup/wrappers/motorControl/left_leg-mc_wrapper.xml b/experimentalSetups/5-setup/wrappers/motorControl/left_leg-mc_wrapper.xml deleted file mode 100644 index 64e5ab7e13..0000000000 --- a/experimentalSetups/5-setup/wrappers/motorControl/left_leg-mc_wrapper.xml +++ /dev/null @@ -1,10 +0,0 @@ - - - - - /icub/left_leg - - left_leg-mc_remapper - - - diff --git a/experimentalSetups/5-setup/wrappers/motorControl/right_arm-mc_remapper.xml b/experimentalSetups/5-setup/wrappers/motorControl/right_arm-mc_remapper.xml deleted file mode 100644 index 604b8dd3ec..0000000000 --- a/experimentalSetups/5-setup/wrappers/motorControl/right_arm-mc_remapper.xml +++ /dev/null @@ -1,23 +0,0 @@ - - - - - - ( 0 1 0 1 ) - ( 2 3 0 1 ) - ( 4 7 0 3 ) - ( 8 11 0 3 ) - ( 12 15 0 3 ) - - 16 - - - right_arm-eb3-j0_1-mc - right_arm-eb4-j2_3-mc - right_arm-eb27-j4_7-mc - right_arm-eb28-j8_11-mc - right_arm-eb29-j12_15-mc - - - - diff --git a/experimentalSetups/5-setup/wrappers/motorControl/right_arm-mc_wrapper.xml b/experimentalSetups/5-setup/wrappers/motorControl/right_arm-mc_wrapper.xml deleted file mode 100644 index 15bc4d3c12..0000000000 --- a/experimentalSetups/5-setup/wrappers/motorControl/right_arm-mc_wrapper.xml +++ /dev/null @@ -1,10 +0,0 @@ - - - - - /icub/right_arm - - right_arm-mc_remapper - - - diff --git a/experimentalSetups/5-setup/wrappers/motorControl/right_leg-mc_remapper.xml b/experimentalSetups/5-setup/wrappers/motorControl/right_leg-mc_remapper.xml deleted file mode 100644 index 605ba79306..0000000000 --- a/experimentalSetups/5-setup/wrappers/motorControl/right_leg-mc_remapper.xml +++ /dev/null @@ -1,16 +0,0 @@ - - - - - ( 0 2 0 2 ) - ( 3 5 0 2 ) - - 6 - - - right_leg-eb11-j0_2-mc - right_leg-eb12-j3_5-mc - - - - diff --git a/experimentalSetups/5-setup/wrappers/motorControl/right_leg-mc_wrapper.xml b/experimentalSetups/5-setup/wrappers/motorControl/right_leg-mc_wrapper.xml deleted file mode 100644 index 63ef3cb4a7..0000000000 --- a/experimentalSetups/5-setup/wrappers/motorControl/right_leg-mc_wrapper.xml +++ /dev/null @@ -1,10 +0,0 @@ - - - - - /icub/right_leg - - right_leg-mc_remapper - - - diff --git a/experimentalSetups/5-setup/wrappers/skin/left_arm-skin_wrapper.xml b/experimentalSetups/5-setup/wrappers/skin/left_arm-skin_wrapper.xml deleted file mode 100644 index 370a7c56ff..0000000000 --- a/experimentalSetups/5-setup/wrappers/skin/left_arm-skin_wrapper.xml +++ /dev/null @@ -1,26 +0,0 @@ - - - - - - 20 - 1344 - skinWrapper - - - 0 191 0 191 - 192 575 0 383 - 576 1343 0 767 - - - - - - left_arm-eb24-j4_7-skin - - - - - - diff --git a/experimentalSetups/5-setup/wrappers/skin/left_leg-skin_wrapper.xml b/experimentalSetups/5-setup/wrappers/skin/left_leg-skin_wrapper.xml deleted file mode 100644 index 560ce45c94..0000000000 --- a/experimentalSetups/5-setup/wrappers/skin/left_leg-skin_wrapper.xml +++ /dev/null @@ -1,26 +0,0 @@ - - - - - - 20 - 2496 - skinWrapper - - - 1152 2495 0 1343 - 384 1151 0 767 - 0 383 0 383 - - - - - - left_leg-eb9-skin - - - - - - diff --git a/experimentalSetups/5-setup/wrappers/skin/left_upperarm-skin_wrapper.xml b/experimentalSetups/5-setup/wrappers/skin/left_upperarm-skin_wrapper.xml deleted file mode 100644 index 3ea1bc0772..0000000000 --- a/experimentalSetups/5-setup/wrappers/skin/left_upperarm-skin_wrapper.xml +++ /dev/null @@ -1,24 +0,0 @@ - - - - - - 20 - 192 - skinWrapper - - - 0 191 0 191 - - - - - - left_upperarm-eb2-skin - - - - - - diff --git a/experimentalSetups/5-setup/wrappers/skin/right_arm-skin_wrapper.xml b/experimentalSetups/5-setup/wrappers/skin/right_arm-skin_wrapper.xml deleted file mode 100644 index 2bcf052de9..0000000000 --- a/experimentalSetups/5-setup/wrappers/skin/right_arm-skin_wrapper.xml +++ /dev/null @@ -1,26 +0,0 @@ - - - - - - 20 - 1344 - skinWrapper - - - 0 191 0 191 - 192 575 0 383 - 576 1343 0 767 - - - - - - right_arm-eb27-j4_7-skin - - - - - - diff --git a/experimentalSetups/5-setup/wrappers/skin/right_leg-skin_wrapper.xml b/experimentalSetups/5-setup/wrappers/skin/right_leg-skin_wrapper.xml deleted file mode 100644 index 4053a02745..0000000000 --- a/experimentalSetups/5-setup/wrappers/skin/right_leg-skin_wrapper.xml +++ /dev/null @@ -1,26 +0,0 @@ - - - - - - 20 - 2496 - skinWrapper - - - 1152 2495 0 1343 - 384 1151 0 767 - 0 383 0 383 - - - - - - right_leg-eb13-skin - - - - - - diff --git a/experimentalSetups/5-setup/wrappers/skin/right_upperarm-skin_wrapper.xml b/experimentalSetups/5-setup/wrappers/skin/right_upperarm-skin_wrapper.xml deleted file mode 100644 index 7d0b62d6bc..0000000000 --- a/experimentalSetups/5-setup/wrappers/skin/right_upperarm-skin_wrapper.xml +++ /dev/null @@ -1,24 +0,0 @@ - - - - - - 20 - 192 - skinWrapper - - - 0 191 0 191 - - - - - - right_upperarm-eb4-skin - - - - - - diff --git a/experimentalSetups/5-setup/wrappers/skin/torso-skin_wrapper.xml b/experimentalSetups/5-setup/wrappers/skin/torso-skin_wrapper.xml deleted file mode 100644 index e8e696c2a4..0000000000 --- a/experimentalSetups/5-setup/wrappers/skin/torso-skin_wrapper.xml +++ /dev/null @@ -1,24 +0,0 @@ - - - - - - 20 - 768 - skinWrapper - - - 0 767 0 767 - - - - - - torso-eb22-skin - - - - - - diff --git a/experimentalSetups/5-setup/yarpmotorgui.ini b/experimentalSetups/5-setup/yarpmotorgui.ini index 3ec981b8b6..b0ceba895b 100644 --- a/experimentalSetups/5-setup/yarpmotorgui.ini +++ b/experimentalSetups/5-setup/yarpmotorgui.ini @@ -1,7 +1,7 @@ //name of the robot robot icub //parts to be opened by the GUI -parts (head face torso left_arm right_arm right_leg left_leg) +parts (5-setup) //DO NOT REMOVE THIS LINE diff --git a/experimentalSetups/5-setup/yarprobotinterface.ini b/experimentalSetups/5-setup/yarprobotinterface.ini index 0ef86b2392..1316cb9359 100644 --- a/experimentalSetups/5-setup/yarprobotinterface.ini +++ b/experimentalSetups/5-setup/yarprobotinterface.ini @@ -1,2 +1,2 @@ -config ./icub_wbd.xml +config ./5-setup.xml From e127eb8b76c3cdc96e1ae223317bdb80efab1d09 Mon Sep 17 00:00:00 2001 From: ale-git Date: Wed, 26 Jan 2022 17:24:36 +0100 Subject: [PATCH 3/3] Team 5 setup configuration done --- experimentalSetups/5-setup/5-setup.xml | 1 + .../5-setup/calibrators/5-setup-calib.xml | 2 +- .../hardware/electronics/5-setup-eln.xml | 2 +- .../5-setup/hardware/electronics/pc104.xml | 14 ++++++++++++++ .../hardware/mechanicals/5-setup-mec.xml | 10 +++++----- .../hardware/motorControl/5-setup-mc.xml | 18 +++++++++--------- .../motorControl/5-setup-mc_service.xml | 2 +- 7 files changed, 32 insertions(+), 17 deletions(-) create mode 100644 experimentalSetups/5-setup/hardware/electronics/pc104.xml diff --git a/experimentalSetups/5-setup/5-setup.xml b/experimentalSetups/5-setup/5-setup.xml index 03cf3afa2a..f36e837c90 100644 --- a/experimentalSetups/5-setup/5-setup.xml +++ b/experimentalSetups/5-setup/5-setup.xml @@ -3,6 +3,7 @@ + diff --git a/experimentalSetups/5-setup/calibrators/5-setup-calib.xml b/experimentalSetups/5-setup/calibrators/5-setup-calib.xml index 2f07dbd5ed..b17dac04db 100644 --- a/experimentalSetups/5-setup/calibrators/5-setup-calib.xml +++ b/experimentalSetups/5-setup/calibrators/5-setup-calib.xml @@ -22,7 +22,7 @@ 12 - 58213 + 0 0 0 diff --git a/experimentalSetups/5-setup/hardware/electronics/5-setup-eln.xml b/experimentalSetups/5-setup/hardware/electronics/5-setup-eln.xml index 8071a6c1f1..98ec238ff7 100644 --- a/experimentalSetups/5-setup/hardware/electronics/5-setup-eln.xml +++ b/experimentalSetups/5-setup/hardware/electronics/5-setup-eln.xml @@ -8,7 +8,7 @@ - 10.0.1.5 + 10.0.1.1 12345 ems4 768 diff --git a/experimentalSetups/5-setup/hardware/electronics/pc104.xml b/experimentalSetups/5-setup/hardware/electronics/pc104.xml new file mode 100644 index 0000000000..53acc04717 --- /dev/null +++ b/experimentalSetups/5-setup/hardware/electronics/pc104.xml @@ -0,0 +1,14 @@ + + + + + + + 10.0.1.104 + 12345 + 1 + 5 + + + + diff --git a/experimentalSetups/5-setup/hardware/mechanicals/5-setup-mec.xml b/experimentalSetups/5-setup/hardware/mechanicals/5-setup-mec.xml index 01ad00f7ba..e1ab322742 100644 --- a/experimentalSetups/5-setup/hardware/mechanicals/5-setup-mec.xml +++ b/experimentalSetups/5-setup/hardware/mechanicals/5-setup-mec.xml @@ -11,7 +11,7 @@ 182.044 32000 1000.0 - 100.0 + 1 1 1 "MOOG_C2900576" @@ -19,8 +19,8 @@ - 25 - -25 + 1800 + -1800 0 0 @@ -33,8 +33,8 @@ 1 1 0 - 48 - 8 + 2 + 20 diff --git a/experimentalSetups/5-setup/hardware/motorControl/5-setup-mc.xml b/experimentalSetups/5-setup/hardware/motorControl/5-setup-mc.xml index 36e3bbd49f..41f63f25d4 100644 --- a/experimentalSetups/5-setup/hardware/motorControl/5-setup-mc.xml +++ b/experimentalSetups/5-setup/hardware/motorControl/5-setup-mc.xml @@ -12,13 +12,13 @@ - 23 - -23 - 120 - 5000 - 10000 + 1800 + -1800 + 720 + 1000 + 2000 15000 - 10000 + 8000 @@ -47,9 +47,9 @@ pwm metric_units machine_units - 7000 - 0 - 3000 + 500 + 0 + 100 8000 3000 0 diff --git a/experimentalSetups/5-setup/hardware/motorControl/5-setup-mc_service.xml b/experimentalSetups/5-setup/hardware/motorControl/5-setup-mc_service.xml index 5f9667bbca..f3c76154fd 100644 --- a/experimentalSetups/5-setup/hardware/motorControl/5-setup-mc_service.xml +++ b/experimentalSetups/5-setup/hardware/motorControl/5-setup-mc_service.xml @@ -48,7 +48,7 @@ roie CAN1:1:0 atmotor - 14400 + 32768 3.6