diff --git a/all_robots.xml b/all_robots.xml index 0a95405d10..11b1be45e0 100644 --- a/all_robots.xml +++ b/all_robots.xml @@ -68,4 +68,5 @@ + diff --git a/ergoCubSN000/CMakeLists.txt b/ergoCubSN000/CMakeLists.txt new file mode 100644 index 0000000000..8d1694d98a --- /dev/null +++ b/ergoCubSN000/CMakeLists.txt @@ -0,0 +1,15 @@ +set(appname ergoCubSN000) + +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/ergoCubSN000/calibrators/face-calib.xml b/ergoCubSN000/calibrators/face-calib.xml new file mode 100644 index 0000000000..83ef4572ef --- /dev/null +++ b/ergoCubSN000/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/ergoCubSN000/calibrators/head-calib.xml b/ergoCubSN000/calibrators/head-calib.xml new file mode 100644 index 0000000000..24c6899ddb --- /dev/null +++ b/ergoCubSN000/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/ergoCubSN000/calibrators/left_arm-calib.xml b/ergoCubSN000/calibrators/left_arm-calib.xml new file mode 100644 index 0000000000..3c027b8886 --- /dev/null +++ b/ergoCubSN000/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/ergoCubSN000/calibrators/left_leg-calib.xml b/ergoCubSN000/calibrators/left_leg-calib.xml new file mode 100644 index 0000000000..10e6d9491e --- /dev/null +++ b/ergoCubSN000/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/ergoCubSN000/calibrators/right_arm-calib.xml b/ergoCubSN000/calibrators/right_arm-calib.xml new file mode 100644 index 0000000000..af942e0129 --- /dev/null +++ b/ergoCubSN000/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/ergoCubSN000/calibrators/right_leg-calib.xml b/ergoCubSN000/calibrators/right_leg-calib.xml new file mode 100644 index 0000000000..0c38732c8e --- /dev/null +++ b/ergoCubSN000/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/ergoCubSN000/calibrators/torso-calib.xml b/ergoCubSN000/calibrators/torso-calib.xml new file mode 100644 index 0000000000..1c49710822 --- /dev/null +++ b/ergoCubSN000/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/ergoCubSN000/camera/ServerGrabberDualDragon.ini b/ergoCubSN000/camera/ServerGrabberDualDragon.ini new file mode 100644 index 0000000000..6d9b0b953e --- /dev/null +++ b/ergoCubSN000/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/ergoCubSN000/camera/ServerGrabberDualDragon640_480.ini b/ergoCubSN000/camera/ServerGrabberDualDragon640_480.ini new file mode 100644 index 0000000000..24e2ca4617 --- /dev/null +++ b/ergoCubSN000/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/ergoCubSN000/camera/ServerGrabberDualDragonBayer.ini b/ergoCubSN000/camera/ServerGrabberDualDragonBayer.ini new file mode 100644 index 0000000000..d94d114ceb --- /dev/null +++ b/ergoCubSN000/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/ergoCubSN000/camera/ServerGrabberDualDragonBayer640_480.ini b/ergoCubSN000/camera/ServerGrabberDualDragonBayer640_480.ini new file mode 100644 index 0000000000..6cb9c9435b --- /dev/null +++ b/ergoCubSN000/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/ergoCubSN000/camera/dragonfly2_config_left.ini b/ergoCubSN000/camera/dragonfly2_config_left.ini new file mode 100644 index 0000000000..66a1aff7d7 --- /dev/null +++ b/ergoCubSN000/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/ergoCubSN000/camera/dragonfly2_config_left640_480.ini b/ergoCubSN000/camera/dragonfly2_config_left640_480.ini new file mode 100644 index 0000000000..a63b2e3148 --- /dev/null +++ b/ergoCubSN000/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/ergoCubSN000/camera/dragonfly2_config_leftLowRes.ini b/ergoCubSN000/camera/dragonfly2_config_leftLowRes.ini new file mode 100644 index 0000000000..67dd150838 --- /dev/null +++ b/ergoCubSN000/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/ergoCubSN000/camera/dragonfly2_config_left_bayer_320_240.ini b/ergoCubSN000/camera/dragonfly2_config_left_bayer_320_240.ini new file mode 100644 index 0000000000..6df2ee422e --- /dev/null +++ b/ergoCubSN000/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/ergoCubSN000/camera/dragonfly2_config_left_bayer_640_480.ini b/ergoCubSN000/camera/dragonfly2_config_left_bayer_640_480.ini new file mode 100644 index 0000000000..bd30720164 --- /dev/null +++ b/ergoCubSN000/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/ergoCubSN000/camera/dragonfly2_config_right.ini b/ergoCubSN000/camera/dragonfly2_config_right.ini new file mode 100644 index 0000000000..80a9fdce4b --- /dev/null +++ b/ergoCubSN000/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/ergoCubSN000/camera/dragonfly2_config_right640_480.ini b/ergoCubSN000/camera/dragonfly2_config_right640_480.ini new file mode 100644 index 0000000000..e85f5f7fed --- /dev/null +++ b/ergoCubSN000/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/ergoCubSN000/camera/dragonfly2_config_rightLowRes.ini b/ergoCubSN000/camera/dragonfly2_config_rightLowRes.ini new file mode 100644 index 0000000000..f948329a60 --- /dev/null +++ b/ergoCubSN000/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/ergoCubSN000/camera/dragonfly2_config_right_bayer_320_240.ini b/ergoCubSN000/camera/dragonfly2_config_right_bayer_320_240.ini new file mode 100644 index 0000000000..1ca322116e --- /dev/null +++ b/ergoCubSN000/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/ergoCubSN000/camera/dragonfly2_config_right_bayer_640_480.ini b/ergoCubSN000/camera/dragonfly2_config_right_bayer_640_480.ini new file mode 100644 index 0000000000..56b8fe7c3f --- /dev/null +++ b/ergoCubSN000/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/ergoCubSN000/cartesian/left_arm-cartesian.xml b/ergoCubSN000/cartesian/left_arm-cartesian.xml new file mode 100644 index 0000000000..26b163eabd --- /dev/null +++ b/ergoCubSN000/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/ergoCubSN000/cartesian/right_arm-cartesian.xml b/ergoCubSN000/cartesian/right_arm-cartesian.xml new file mode 100644 index 0000000000..410774aa4e --- /dev/null +++ b/ergoCubSN000/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/ergoCubSN000/cartesianSolver.ini b/ergoCubSN000/cartesianSolver.ini new file mode 100644 index 0000000000..2670d0f667 --- /dev/null +++ b/ergoCubSN000/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/ergoCubSN000/ergocub_all.xml b/ergoCubSN000/ergocub_all.xml new file mode 100644 index 0000000000..d66de0d686 --- /dev/null +++ b/ergoCubSN000/ergocub_all.xml @@ -0,0 +1,53 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/ergoCubSN000/estimators/wholebodydynamics.xml b/ergoCubSN000/estimators/wholebodydynamics.xml new file mode 100644 index 0000000000..8971f20b61 --- /dev/null +++ b/ergoCubSN000/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/ergoCubSN000/extra/JOINT_LIMITS.txt b/ergoCubSN000/extra/JOINT_LIMITS.txt new file mode 100644 index 0000000000..0ec85181f9 --- /dev/null +++ b/ergoCubSN000/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/ergoCubSN000/extra/applications/SFM.xml b/ergoCubSN000/extra/applications/SFM.xml new file mode 100644 index 0000000000..f515b742e3 --- /dev/null +++ b/ergoCubSN000/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/ergoCubSN000/extra/applications/cameras_calib.xml b/ergoCubSN000/extra/applications/cameras_calib.xml new file mode 100644 index 0000000000..fa533b383d --- /dev/null +++ b/ergoCubSN000/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/ergoCubSN000/extra/applications/cameras_calib_640_480.xml b/ergoCubSN000/extra/applications/cameras_calib_640_480.xml new file mode 100644 index 0000000000..e0c1ce3eca --- /dev/null +++ b/ergoCubSN000/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/ergoCubSN000/extra/applications/demoRedBall.xml b/ergoCubSN000/extra/applications/demoRedBall.xml new file mode 100644 index 0000000000..8c5420f356 --- /dev/null +++ b/ergoCubSN000/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/ergoCubSN000/extra/applications/faceExpressions.xml b/ergoCubSN000/extra/applications/faceExpressions.xml new file mode 100644 index 0000000000..4d7c00db34 --- /dev/null +++ b/ergoCubSN000/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/ergoCubSN000/extra/applications/funny_things.xml b/ergoCubSN000/extra/applications/funny_things.xml new file mode 100644 index 0000000000..18b5167659 --- /dev/null +++ b/ergoCubSN000/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/ergoCubSN000/extra/applications/grasp-processor.xml b/ergoCubSN000/extra/applications/grasp-processor.xml new file mode 100644 index 0000000000..51639178e2 --- /dev/null +++ b/ergoCubSN000/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/ergoCubSN000/extra/applications/iCub3SkinGui.xml b/ergoCubSN000/extra/applications/iCub3SkinGui.xml new file mode 100644 index 0000000000..cc015803ff --- /dev/null +++ b/ergoCubSN000/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/ergoCubSN000/extra/applications/iCubStartup.xml b/ergoCubSN000/extra/applications/iCubStartup.xml new file mode 100644 index 0000000000..020e5c632b --- /dev/null +++ b/ergoCubSN000/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/ergoCubSN000/extra/applications/iCubStartup_640_480.xml b/ergoCubSN000/extra/applications/iCubStartup_640_480.xml new file mode 100644 index 0000000000..aba36aaa52 --- /dev/null +++ b/ergoCubSN000/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/ergoCubSN000/extra/applications/iol.xml b/ergoCubSN000/extra/applications/iol.xml new file mode 100644 index 0000000000..2e3b5ce041 --- /dev/null +++ b/ergoCubSN000/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/ergoCubSN000/extra/applications/iol_egpu.xml b/ergoCubSN000/extra/applications/iol_egpu.xml new file mode 100644 index 0000000000..ab57cf1505 --- /dev/null +++ b/ergoCubSN000/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/ergoCubSN000/extra/applications/lbpExtract.xml b/ergoCubSN000/extra/applications/lbpExtract.xml new file mode 100644 index 0000000000..cb2ee248f5 --- /dev/null +++ b/ergoCubSN000/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/ergoCubSN000/extra/applications/robmo-icub-hand-iRC-collector.xml b/ergoCubSN000/extra/applications/robmo-icub-hand-iRC-collector.xml new file mode 100644 index 0000000000..ba0fee756a --- /dev/null +++ b/ergoCubSN000/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/ergoCubSN000/extra/applications/robmo-icub-hand-iRC-test-no-calibration.xml b/ergoCubSN000/extra/applications/robmo-icub-hand-iRC-test-no-calibration.xml new file mode 100644 index 0000000000..888fdac077 --- /dev/null +++ b/ergoCubSN000/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/ergoCubSN000/extra/applications/robmo-icub-hand-iRC-test.xml b/ergoCubSN000/extra/applications/robmo-icub-hand-iRC-test.xml new file mode 100644 index 0000000000..7b460e5f01 --- /dev/null +++ b/ergoCubSN000/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/ergoCubSN000/extra/applications/skinGuiAll.xml b/ergoCubSN000/extra/applications/skinGuiAll.xml new file mode 100644 index 0000000000..b75e27c2ae --- /dev/null +++ b/ergoCubSN000/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/ergoCubSN000/extra/applications/stereoCalib.xml b/ergoCubSN000/extra/applications/stereoCalib.xml new file mode 100644 index 0000000000..d71781c3b2 --- /dev/null +++ b/ergoCubSN000/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/ergoCubSN000/extra/contexts/yarpmanager/cluster-config.xml b/ergoCubSN000/extra/contexts/yarpmanager/cluster-config.xml new file mode 100644 index 0000000000..40d6e6265a --- /dev/null +++ b/ergoCubSN000/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/ergoCubSN000/extra/scripts/README.md b/ergoCubSN000/extra/scripts/README.md new file mode 100644 index 0000000000..34c9a88b59 --- /dev/null +++ b/ergoCubSN000/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 $additionalCommandsFile +fi +``` + +After opening a new terminal, you can type ``helpRobot`` to get a list of useful commands. diff --git a/ergoCubSN000/extra/scripts/additionalCommands.sh b/ergoCubSN000/extra/scripts/additionalCommands.sh new file mode 100644 index 0000000000..1ed97e3940 --- /dev/null +++ b/ergoCubSN000/extra/scripts/additionalCommands.sh @@ -0,0 +1,59 @@ +## Additional aliases and commands to use the robot + +getParentDir () { + SOURCE="${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/ergoCubSN000/extra/scripts/bluetoothConnect.sh b/ergoCubSN000/extra/scripts/bluetoothConnect.sh new file mode 100644 index 0000000000..d12c94b0dd --- /dev/null +++ b/ergoCubSN000/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/ergoCubSN000/extra/scripts/checkConfigurationFiles.sh b/ergoCubSN000/extra/scripts/checkConfigurationFiles.sh new file mode 100644 index 0000000000..defd0376e2 --- /dev/null +++ b/ergoCubSN000/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/ergoCubSN000/extra/scripts/installRobotsConfiguration.sh b/ergoCubSN000/extra/scripts/installRobotsConfiguration.sh new file mode 100644 index 0000000000..a09b681a39 --- /dev/null +++ b/ergoCubSN000/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/ergoCubSN000/firmwareupdater.ini b/ergoCubSN000/firmwareupdater.ini new file mode 100644 index 0000000000..c93b53ab35 --- /dev/null +++ b/ergoCubSN000/firmwareupdater.ini @@ -0,0 +1,2 @@ +[DRIVERS] +ETH "eth" diff --git a/ergoCubSN000/general.xml b/ergoCubSN000/general.xml new file mode 100644 index 0000000000..945c534622 --- /dev/null +++ b/ergoCubSN000/general.xml @@ -0,0 +1,12 @@ + + + + + + + true + false + false + false + + diff --git a/ergoCubSN000/hardware/FT/left_arm-eb1-j0_1-strain.xml b/ergoCubSN000/hardware/FT/left_arm-eb1-j0_1-strain.xml new file mode 100644 index 0000000000..0d034f459d --- /dev/null +++ b/ergoCubSN000/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/ergoCubSN000/hardware/FT/left_leg-eb7-j0_2-strain.xml b/ergoCubSN000/hardware/FT/left_leg-eb7-j0_2-strain.xml new file mode 100644 index 0000000000..7b47923328 --- /dev/null +++ b/ergoCubSN000/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/ergoCubSN000/hardware/FT/left_leg-eb8-j3_5-strain.xml b/ergoCubSN000/hardware/FT/left_leg-eb8-j3_5-strain.xml new file mode 100644 index 0000000000..de1551cab5 --- /dev/null +++ b/ergoCubSN000/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/ergoCubSN000/hardware/FT/right_arm-eb3-j0_1-strain.xml b/ergoCubSN000/hardware/FT/right_arm-eb3-j0_1-strain.xml new file mode 100644 index 0000000000..7e9bcb8562 --- /dev/null +++ b/ergoCubSN000/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/ergoCubSN000/hardware/FT/right_leg-eb11-j0_2-strain.xml b/ergoCubSN000/hardware/FT/right_leg-eb11-j0_2-strain.xml new file mode 100644 index 0000000000..8d4760a6b6 --- /dev/null +++ b/ergoCubSN000/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/ergoCubSN000/hardware/FT/right_leg-eb12-j3_5-strain.xml b/ergoCubSN000/hardware/FT/right_leg-eb12-j3_5-strain.xml new file mode 100644 index 0000000000..b7d3a2bcd8 --- /dev/null +++ b/ergoCubSN000/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/ergoCubSN000/hardware/MAIS/left_arm-eb26-j12_15-mais.xml b/ergoCubSN000/hardware/MAIS/left_arm-eb26-j12_15-mais.xml new file mode 100644 index 0000000000..fc5cc16a2b --- /dev/null +++ b/ergoCubSN000/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/ergoCubSN000/hardware/MAIS/right_arm-eb29-j12_15-mais.xml b/ergoCubSN000/hardware/MAIS/right_arm-eb29-j12_15-mais.xml new file mode 100644 index 0000000000..35ec78ac99 --- /dev/null +++ b/ergoCubSN000/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/ergoCubSN000/hardware/electronics/face-eb22-j0-eln.xml b/ergoCubSN000/hardware/electronics/face-eb22-j0-eln.xml new file mode 100644 index 0000000000..6349293a08 --- /dev/null +++ b/ergoCubSN000/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/ergoCubSN000/hardware/electronics/face-eb22-j0_1-eln.xml b/ergoCubSN000/hardware/electronics/face-eb22-j0_1-eln.xml new file mode 100644 index 0000000000..b44b284683 --- /dev/null +++ b/ergoCubSN000/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/ergoCubSN000/hardware/electronics/face-eb23-j2_5-eln.xml b/ergoCubSN000/hardware/electronics/face-eb23-j2_5-eln.xml new file mode 100644 index 0000000000..96b28de860 --- /dev/null +++ b/ergoCubSN000/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/ergoCubSN000/hardware/electronics/head-eb20-j0_1-eln.xml b/ergoCubSN000/hardware/electronics/head-eb20-j0_1-eln.xml new file mode 100644 index 0000000000..d8c1dcbdaf --- /dev/null +++ b/ergoCubSN000/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/ergoCubSN000/hardware/electronics/head-eb21-j2_5-eln.xml b/ergoCubSN000/hardware/electronics/head-eb21-j2_5-eln.xml new file mode 100644 index 0000000000..673ebd35ec --- /dev/null +++ b/ergoCubSN000/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/ergoCubSN000/hardware/electronics/left_arm-eb1-j0_1-eln.xml b/ergoCubSN000/hardware/electronics/left_arm-eb1-j0_1-eln.xml new file mode 100644 index 0000000000..ccbd1c8590 --- /dev/null +++ b/ergoCubSN000/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/ergoCubSN000/hardware/electronics/left_arm-eb24-j4_7-eln.xml b/ergoCubSN000/hardware/electronics/left_arm-eb24-j4_7-eln.xml new file mode 100644 index 0000000000..aabfdfd1b2 --- /dev/null +++ b/ergoCubSN000/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/ergoCubSN000/hardware/electronics/left_arm-eb25-j8_11-eln.xml b/ergoCubSN000/hardware/electronics/left_arm-eb25-j8_11-eln.xml new file mode 100644 index 0000000000..111529fe0f --- /dev/null +++ b/ergoCubSN000/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/ergoCubSN000/hardware/electronics/left_arm-eb26-j12_15-eln.xml b/ergoCubSN000/hardware/electronics/left_arm-eb26-j12_15-eln.xml new file mode 100644 index 0000000000..f450a186e7 --- /dev/null +++ b/ergoCubSN000/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/ergoCubSN000/hardware/electronics/left_arm-eb3-j2_3-eln.xml b/ergoCubSN000/hardware/electronics/left_arm-eb3-j2_3-eln.xml new file mode 100644 index 0000000000..75208d9632 --- /dev/null +++ b/ergoCubSN000/hardware/electronics/left_arm-eb3-j2_3-eln.xml @@ -0,0 +1,40 @@ + + + + + + + + + + + 10.0.1.2 + 12345 + ems4 + 768 + 384 + + + + "left_arm-eb3-j2_3" + + 1000 + 400 + 300 + 300 + 5 + + + + + + true + 0.020 + 60.0 + + + + + + + diff --git a/ergoCubSN000/hardware/electronics/left_leg-eb7-j0_2-eln.xml b/ergoCubSN000/hardware/electronics/left_leg-eb7-j0_2-eln.xml new file mode 100644 index 0000000000..c8a70b5437 --- /dev/null +++ b/ergoCubSN000/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/ergoCubSN000/hardware/electronics/left_leg-eb8-j3_5-eln.xml b/ergoCubSN000/hardware/electronics/left_leg-eb8-j3_5-eln.xml new file mode 100644 index 0000000000..cd512bd4b0 --- /dev/null +++ b/ergoCubSN000/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/ergoCubSN000/hardware/electronics/pc104.xml b/ergoCubSN000/hardware/electronics/pc104.xml new file mode 100644 index 0000000000..adfe2c6b41 --- /dev/null +++ b/ergoCubSN000/hardware/electronics/pc104.xml @@ -0,0 +1,18 @@ + + + + + + + 10.0.1.104 + 12345 + 1 + 5 + + + + 0 + + + + diff --git a/ergoCubSN000/hardware/electronics/right_arm-eb2-j0_1-eln.xml b/ergoCubSN000/hardware/electronics/right_arm-eb2-j0_1-eln.xml new file mode 100644 index 0000000000..ebf48d79e6 --- /dev/null +++ b/ergoCubSN000/hardware/electronics/right_arm-eb2-j0_1-eln.xml @@ -0,0 +1,40 @@ + + + + + + + + + + + 10.0.1.3 + 12345 + ems4 + 768 + 384 + + + + "right_arm-eb2-j0_1" + + 1000 + 400 + 300 + 300 + 5 + + + + + + true + 0.020 + 60.0 + + + + + + + diff --git a/ergoCubSN000/hardware/electronics/right_arm-eb27-j4_7-eln.xml b/ergoCubSN000/hardware/electronics/right_arm-eb27-j4_7-eln.xml new file mode 100644 index 0000000000..1965ff1762 --- /dev/null +++ b/ergoCubSN000/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/ergoCubSN000/hardware/electronics/right_arm-eb28-j8_11-eln.xml b/ergoCubSN000/hardware/electronics/right_arm-eb28-j8_11-eln.xml new file mode 100644 index 0000000000..a8296cf768 --- /dev/null +++ b/ergoCubSN000/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/ergoCubSN000/hardware/electronics/right_arm-eb29-j12_15-eln.xml b/ergoCubSN000/hardware/electronics/right_arm-eb29-j12_15-eln.xml new file mode 100644 index 0000000000..f23cbce599 --- /dev/null +++ b/ergoCubSN000/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/ergoCubSN000/hardware/electronics/right_arm-eb4-j2_3-eln.xml b/ergoCubSN000/hardware/electronics/right_arm-eb4-j2_3-eln.xml new file mode 100644 index 0000000000..9d482b4594 --- /dev/null +++ b/ergoCubSN000/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/ergoCubSN000/hardware/electronics/right_leg-eb10-j3_5-eln.xml b/ergoCubSN000/hardware/electronics/right_leg-eb10-j3_5-eln.xml new file mode 100644 index 0000000000..8e1d92b043 --- /dev/null +++ b/ergoCubSN000/hardware/electronics/right_leg-eb10-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/ergoCubSN000/hardware/electronics/right_leg-eb9-j0_2-eln.xml b/ergoCubSN000/hardware/electronics/right_leg-eb9-j0_2-eln.xml new file mode 100644 index 0000000000..778165571c --- /dev/null +++ b/ergoCubSN000/hardware/electronics/right_leg-eb9-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/ergoCubSN000/hardware/electronics/torso-eb5-j0_2-eln.xml b/ergoCubSN000/hardware/electronics/torso-eb5-j0_2-eln.xml new file mode 100644 index 0000000000..72ebef50c2 --- /dev/null +++ b/ergoCubSN000/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 a/ergoCubSN000/hardware/iCub_Calibration.xls b/ergoCubSN000/hardware/iCub_Calibration.xls new file mode 100644 index 0000000000..899e26bfa2 Binary files /dev/null and b/ergoCubSN000/hardware/iCub_Calibration.xls differ diff --git a/ergoCubSN000/hardware/inertials/head-inertial.xml b/ergoCubSN000/hardware/inertials/head-inertial.xml new file mode 100644 index 0000000000..67662b3a6a --- /dev/null +++ b/ergoCubSN000/hardware/inertials/head-inertial.xml @@ -0,0 +1,54 @@ + + + + + + + + + + + + + + eomn_serv_AS_inertials3 + + + + + rfe + + + 2 + 0 + + + 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/ergoCubSN000/hardware/inertials/left_arm-eb24-j4_7-inertials.xml b/ergoCubSN000/hardware/inertials/left_arm-eb24-j4_7-inertials.xml new file mode 100644 index 0000000000..df008caeb5 --- /dev/null +++ b/ergoCubSN000/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/ergoCubSN000/hardware/inertials/left_leg-eb10-inertials.xml b/ergoCubSN000/hardware/inertials/left_leg-eb10-inertials.xml new file mode 100644 index 0000000000..cbcffafce6 --- /dev/null +++ b/ergoCubSN000/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/ergoCubSN000/hardware/inertials/right_arm-eb27-j4_7-inertials.xml b/ergoCubSN000/hardware/inertials/right_arm-eb27-j4_7-inertials.xml new file mode 100644 index 0000000000..5a866a5ca7 --- /dev/null +++ b/ergoCubSN000/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/ergoCubSN000/hardware/inertials/right_leg-eb11-inertials.xml b/ergoCubSN000/hardware/inertials/right_leg-eb11-inertials.xml new file mode 100644 index 0000000000..664ad83bc8 --- /dev/null +++ b/ergoCubSN000/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/ergoCubSN000/hardware/mechanicals/face-eb22-j0-mec.xml b/ergoCubSN000/hardware/mechanicals/face-eb22-j0-mec.xml new file mode 100644 index 0000000000..c31210408f --- /dev/null +++ b/ergoCubSN000/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/ergoCubSN000/hardware/mechanicals/face-eb22-j0_1-mec.xml b/ergoCubSN000/hardware/mechanicals/face-eb22-j0_1-mec.xml new file mode 100644 index 0000000000..2e8e9df3e0 --- /dev/null +++ b/ergoCubSN000/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/ergoCubSN000/hardware/mechanicals/face-eb23-j2_5-mec.xml b/ergoCubSN000/hardware/mechanicals/face-eb23-j2_5-mec.xml new file mode 100644 index 0000000000..5ab165851d --- /dev/null +++ b/ergoCubSN000/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/ergoCubSN000/hardware/mechanicals/head-eb20-j0_1-mec.xml b/ergoCubSN000/hardware/mechanicals/head-eb20-j0_1-mec.xml new file mode 100644 index 0000000000..5ff6bec7a7 --- /dev/null +++ b/ergoCubSN000/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/ergoCubSN000/hardware/mechanicals/head-eb21-j2_5-mec.xml b/ergoCubSN000/hardware/mechanicals/head-eb21-j2_5-mec.xml new file mode 100644 index 0000000000..246a1b6371 --- /dev/null +++ b/ergoCubSN000/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/ergoCubSN000/hardware/mechanicals/left_arm-eb1-j0_1-mec.xml b/ergoCubSN000/hardware/mechanicals/left_arm-eb1-j0_1-mec.xml new file mode 100644 index 0000000000..2d1c0ee4df --- /dev/null +++ b/ergoCubSN000/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/ergoCubSN000/hardware/mechanicals/left_arm-eb24-j4_7-mec.xml b/ergoCubSN000/hardware/mechanicals/left_arm-eb24-j4_7-mec.xml new file mode 100644 index 0000000000..ca7a8e22cb --- /dev/null +++ b/ergoCubSN000/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/ergoCubSN000/hardware/mechanicals/left_arm-eb25-j8_11-mec.xml b/ergoCubSN000/hardware/mechanicals/left_arm-eb25-j8_11-mec.xml new file mode 100644 index 0000000000..b7730f5fc5 --- /dev/null +++ b/ergoCubSN000/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/ergoCubSN000/hardware/mechanicals/left_arm-eb26-j12_15-mec.xml b/ergoCubSN000/hardware/mechanicals/left_arm-eb26-j12_15-mec.xml new file mode 100644 index 0000000000..73fa0c18bf --- /dev/null +++ b/ergoCubSN000/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/ergoCubSN000/hardware/mechanicals/left_arm-eb3-j2_3-mec.xml b/ergoCubSN000/hardware/mechanicals/left_arm-eb3-j2_3-mec.xml new file mode 100644 index 0000000000..09a6970daf --- /dev/null +++ b/ergoCubSN000/hardware/mechanicals/left_arm-eb3-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/ergoCubSN000/hardware/mechanicals/left_leg-eb7-j0_2-mec.xml b/ergoCubSN000/hardware/mechanicals/left_leg-eb7-j0_2-mec.xml new file mode 100644 index 0000000000..9aaa631926 --- /dev/null +++ b/ergoCubSN000/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/ergoCubSN000/hardware/mechanicals/left_leg-eb8-j3_5-mec.xml b/ergoCubSN000/hardware/mechanicals/left_leg-eb8-j3_5-mec.xml new file mode 100644 index 0000000000..4c31f4d2e7 --- /dev/null +++ b/ergoCubSN000/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/ergoCubSN000/hardware/mechanicals/right_arm-eb2-j0_1-mec.xml b/ergoCubSN000/hardware/mechanicals/right_arm-eb2-j0_1-mec.xml new file mode 100644 index 0000000000..3af43c3ae7 --- /dev/null +++ b/ergoCubSN000/hardware/mechanicals/right_arm-eb2-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/ergoCubSN000/hardware/mechanicals/right_arm-eb27-j4_7-mec.xml b/ergoCubSN000/hardware/mechanicals/right_arm-eb27-j4_7-mec.xml new file mode 100644 index 0000000000..879055ae8d --- /dev/null +++ b/ergoCubSN000/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/ergoCubSN000/hardware/mechanicals/right_arm-eb28-j8_11-mec.xml b/ergoCubSN000/hardware/mechanicals/right_arm-eb28-j8_11-mec.xml new file mode 100644 index 0000000000..8dc158053f --- /dev/null +++ b/ergoCubSN000/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/ergoCubSN000/hardware/mechanicals/right_arm-eb29-j12_15-mec.xml b/ergoCubSN000/hardware/mechanicals/right_arm-eb29-j12_15-mec.xml new file mode 100644 index 0000000000..5b2afc90b7 --- /dev/null +++ b/ergoCubSN000/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/ergoCubSN000/hardware/mechanicals/right_arm-eb4-j2_3-mec.xml b/ergoCubSN000/hardware/mechanicals/right_arm-eb4-j2_3-mec.xml new file mode 100644 index 0000000000..0f470763fd --- /dev/null +++ b/ergoCubSN000/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/ergoCubSN000/hardware/mechanicals/right_leg-eb10-j3_5-mec.xml b/ergoCubSN000/hardware/mechanicals/right_leg-eb10-j3_5-mec.xml new file mode 100644 index 0000000000..94a45bfb66 --- /dev/null +++ b/ergoCubSN000/hardware/mechanicals/right_leg-eb10-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/ergoCubSN000/hardware/mechanicals/right_leg-eb9-j0_2-mec.xml b/ergoCubSN000/hardware/mechanicals/right_leg-eb9-j0_2-mec.xml new file mode 100644 index 0000000000..105e680b58 --- /dev/null +++ b/ergoCubSN000/hardware/mechanicals/right_leg-eb9-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/ergoCubSN000/hardware/mechanicals/torso-eb5-j0_2-mec.xml b/ergoCubSN000/hardware/mechanicals/torso-eb5-j0_2-mec.xml new file mode 100644 index 0000000000..f42d9def74 --- /dev/null +++ b/ergoCubSN000/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/ergoCubSN000/hardware/motorControl/face-eb22-j0-mc.xml b/ergoCubSN000/hardware/motorControl/face-eb22-j0-mc.xml new file mode 100644 index 0000000000..5ee2a2aad4 --- /dev/null +++ b/ergoCubSN000/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/ergoCubSN000/hardware/motorControl/face-eb22-j0-mc_service.xml b/ergoCubSN000/hardware/motorControl/face-eb22-j0-mc_service.xml new file mode 100644 index 0000000000..0311e6be2d --- /dev/null +++ b/ergoCubSN000/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/ergoCubSN000/hardware/motorControl/face-eb22-j0_1-mc.xml b/ergoCubSN000/hardware/motorControl/face-eb22-j0_1-mc.xml new file mode 100644 index 0000000000..23ad102f68 --- /dev/null +++ b/ergoCubSN000/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/ergoCubSN000/hardware/motorControl/face-eb22-j0_1-mc_service.xml b/ergoCubSN000/hardware/motorControl/face-eb22-j0_1-mc_service.xml new file mode 100644 index 0000000000..f1c566c5d3 --- /dev/null +++ b/ergoCubSN000/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/ergoCubSN000/hardware/motorControl/face-eb23-j2_5-mc.xml b/ergoCubSN000/hardware/motorControl/face-eb23-j2_5-mc.xml new file mode 100644 index 0000000000..bec8225716 --- /dev/null +++ b/ergoCubSN000/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/ergoCubSN000/hardware/motorControl/face-eb23-j2_5-mc_service.xml b/ergoCubSN000/hardware/motorControl/face-eb23-j2_5-mc_service.xml new file mode 100644 index 0000000000..0a4f00015d --- /dev/null +++ b/ergoCubSN000/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/ergoCubSN000/hardware/motorControl/head-eb20-j0_1-mc.xml b/ergoCubSN000/hardware/motorControl/head-eb20-j0_1-mc.xml new file mode 100644 index 0000000000..184d6e29d6 --- /dev/null +++ b/ergoCubSN000/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/ergoCubSN000/hardware/motorControl/head-eb20-j0_1-mc_service.xml b/ergoCubSN000/hardware/motorControl/head-eb20-j0_1-mc_service.xml new file mode 100644 index 0000000000..1afd55d843 --- /dev/null +++ b/ergoCubSN000/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/ergoCubSN000/hardware/motorControl/head-eb21-j2_5-mc.xml b/ergoCubSN000/hardware/motorControl/head-eb21-j2_5-mc.xml new file mode 100644 index 0000000000..4fe23db62c --- /dev/null +++ b/ergoCubSN000/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/ergoCubSN000/hardware/motorControl/head-eb21-j2_5-mc_service.xml b/ergoCubSN000/hardware/motorControl/head-eb21-j2_5-mc_service.xml new file mode 100644 index 0000000000..f30564ded1 --- /dev/null +++ b/ergoCubSN000/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/ergoCubSN000/hardware/motorControl/left_arm-eb1-j0_1-mc.xml b/ergoCubSN000/hardware/motorControl/left_arm-eb1-j0_1-mc.xml new file mode 100644 index 0000000000..ca143b9091 --- /dev/null +++ b/ergoCubSN000/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/ergoCubSN000/hardware/motorControl/left_arm-eb1-j0_1-mc_service.xml b/ergoCubSN000/hardware/motorControl/left_arm-eb1-j0_1-mc_service.xml new file mode 100644 index 0000000000..cca36688c1 --- /dev/null +++ b/ergoCubSN000/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/ergoCubSN000/hardware/motorControl/left_arm-eb24-j4_7-mc.xml b/ergoCubSN000/hardware/motorControl/left_arm-eb24-j4_7-mc.xml new file mode 100644 index 0000000000..b1bf317339 --- /dev/null +++ b/ergoCubSN000/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/ergoCubSN000/hardware/motorControl/left_arm-eb24-j4_7-mc_service.xml b/ergoCubSN000/hardware/motorControl/left_arm-eb24-j4_7-mc_service.xml new file mode 100644 index 0000000000..dfdab9e819 --- /dev/null +++ b/ergoCubSN000/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/ergoCubSN000/hardware/motorControl/left_arm-eb25-j8_11-mc.xml b/ergoCubSN000/hardware/motorControl/left_arm-eb25-j8_11-mc.xml new file mode 100644 index 0000000000..90be44be6e --- /dev/null +++ b/ergoCubSN000/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/ergoCubSN000/hardware/motorControl/left_arm-eb25-j8_11-mc_service.xml b/ergoCubSN000/hardware/motorControl/left_arm-eb25-j8_11-mc_service.xml new file mode 100644 index 0000000000..da13b06cd9 --- /dev/null +++ b/ergoCubSN000/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/ergoCubSN000/hardware/motorControl/left_arm-eb26-j12_15-mc.xml b/ergoCubSN000/hardware/motorControl/left_arm-eb26-j12_15-mc.xml new file mode 100644 index 0000000000..4ffe461c80 --- /dev/null +++ b/ergoCubSN000/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/ergoCubSN000/hardware/motorControl/left_arm-eb26-j12_15-mc_service.xml b/ergoCubSN000/hardware/motorControl/left_arm-eb26-j12_15-mc_service.xml new file mode 100644 index 0000000000..4611334cd9 --- /dev/null +++ b/ergoCubSN000/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/ergoCubSN000/hardware/motorControl/left_arm-eb3-j2_3-mc.xml b/ergoCubSN000/hardware/motorControl/left_arm-eb3-j2_3-mc.xml new file mode 100644 index 0000000000..e1937a3e38 --- /dev/null +++ b/ergoCubSN000/hardware/motorControl/left_arm-eb3-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/ergoCubSN000/hardware/motorControl/left_arm-eb3-j2_3-mc_service.xml b/ergoCubSN000/hardware/motorControl/left_arm-eb3-j2_3-mc_service.xml new file mode 100644 index 0000000000..b8da95e0c9 --- /dev/null +++ b/ergoCubSN000/hardware/motorControl/left_arm-eb3-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/ergoCubSN000/hardware/motorControl/left_leg-eb7-j0_2-mc.xml b/ergoCubSN000/hardware/motorControl/left_leg-eb7-j0_2-mc.xml new file mode 100644 index 0000000000..926015208f --- /dev/null +++ b/ergoCubSN000/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/ergoCubSN000/hardware/motorControl/left_leg-eb7-j0_2-mc_service.xml b/ergoCubSN000/hardware/motorControl/left_leg-eb7-j0_2-mc_service.xml new file mode 100644 index 0000000000..cefa1c7a95 --- /dev/null +++ b/ergoCubSN000/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/ergoCubSN000/hardware/motorControl/left_leg-eb8-j3_5-mc.xml b/ergoCubSN000/hardware/motorControl/left_leg-eb8-j3_5-mc.xml new file mode 100644 index 0000000000..36e5c4de9e --- /dev/null +++ b/ergoCubSN000/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/ergoCubSN000/hardware/motorControl/left_leg-eb8-j3_5-mc_service.xml b/ergoCubSN000/hardware/motorControl/left_leg-eb8-j3_5-mc_service.xml new file mode 100644 index 0000000000..748c58581a --- /dev/null +++ b/ergoCubSN000/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/ergoCubSN000/hardware/motorControl/right_arm-eb2-j0_1-mc.xml b/ergoCubSN000/hardware/motorControl/right_arm-eb2-j0_1-mc.xml new file mode 100644 index 0000000000..03d4895b6a --- /dev/null +++ b/ergoCubSN000/hardware/motorControl/right_arm-eb2-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/ergoCubSN000/hardware/motorControl/right_arm-eb2-j0_1-mc_service.xml b/ergoCubSN000/hardware/motorControl/right_arm-eb2-j0_1-mc_service.xml new file mode 100644 index 0000000000..62e251cb5d --- /dev/null +++ b/ergoCubSN000/hardware/motorControl/right_arm-eb2-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/ergoCubSN000/hardware/motorControl/right_arm-eb27-j4_7-mc.xml b/ergoCubSN000/hardware/motorControl/right_arm-eb27-j4_7-mc.xml new file mode 100644 index 0000000000..ab8753c1c6 --- /dev/null +++ b/ergoCubSN000/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/ergoCubSN000/hardware/motorControl/right_arm-eb27-j4_7-mc_service.xml b/ergoCubSN000/hardware/motorControl/right_arm-eb27-j4_7-mc_service.xml new file mode 100644 index 0000000000..9121bfbc6e --- /dev/null +++ b/ergoCubSN000/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/ergoCubSN000/hardware/motorControl/right_arm-eb28-j8_11-mc.xml b/ergoCubSN000/hardware/motorControl/right_arm-eb28-j8_11-mc.xml new file mode 100644 index 0000000000..064d3cb61c --- /dev/null +++ b/ergoCubSN000/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/ergoCubSN000/hardware/motorControl/right_arm-eb28-j8_11-mc_service.xml b/ergoCubSN000/hardware/motorControl/right_arm-eb28-j8_11-mc_service.xml new file mode 100644 index 0000000000..d9a2041eeb --- /dev/null +++ b/ergoCubSN000/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/ergoCubSN000/hardware/motorControl/right_arm-eb29-j12_15-mc.xml b/ergoCubSN000/hardware/motorControl/right_arm-eb29-j12_15-mc.xml new file mode 100644 index 0000000000..690ec8b1c1 --- /dev/null +++ b/ergoCubSN000/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/ergoCubSN000/hardware/motorControl/right_arm-eb29-j12_15-mc_service.xml b/ergoCubSN000/hardware/motorControl/right_arm-eb29-j12_15-mc_service.xml new file mode 100644 index 0000000000..55870a78c3 --- /dev/null +++ b/ergoCubSN000/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/ergoCubSN000/hardware/motorControl/right_arm-eb4-j2_3-mc.xml b/ergoCubSN000/hardware/motorControl/right_arm-eb4-j2_3-mc.xml new file mode 100644 index 0000000000..bce152b992 --- /dev/null +++ b/ergoCubSN000/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/ergoCubSN000/hardware/motorControl/right_arm-eb4-j2_3-mc_service.xml b/ergoCubSN000/hardware/motorControl/right_arm-eb4-j2_3-mc_service.xml new file mode 100644 index 0000000000..393cb0ea51 --- /dev/null +++ b/ergoCubSN000/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/ergoCubSN000/hardware/motorControl/right_leg-eb10-j3_5-mc.xml b/ergoCubSN000/hardware/motorControl/right_leg-eb10-j3_5-mc.xml new file mode 100644 index 0000000000..9b01ce4f3a --- /dev/null +++ b/ergoCubSN000/hardware/motorControl/right_leg-eb10-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/ergoCubSN000/hardware/motorControl/right_leg-eb10-j3_5-mc_service.xml b/ergoCubSN000/hardware/motorControl/right_leg-eb10-j3_5-mc_service.xml new file mode 100644 index 0000000000..4503b3a1e7 --- /dev/null +++ b/ergoCubSN000/hardware/motorControl/right_leg-eb10-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/ergoCubSN000/hardware/motorControl/right_leg-eb9-j0_2-mc.xml b/ergoCubSN000/hardware/motorControl/right_leg-eb9-j0_2-mc.xml new file mode 100644 index 0000000000..2d00c2e2ef --- /dev/null +++ b/ergoCubSN000/hardware/motorControl/right_leg-eb9-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/ergoCubSN000/hardware/motorControl/right_leg-eb9-j0_2-mc_service.xml b/ergoCubSN000/hardware/motorControl/right_leg-eb9-j0_2-mc_service.xml new file mode 100644 index 0000000000..9b8ae6e80b --- /dev/null +++ b/ergoCubSN000/hardware/motorControl/right_leg-eb9-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/ergoCubSN000/hardware/motorControl/torso-eb5-j0_2-mc.xml b/ergoCubSN000/hardware/motorControl/torso-eb5-j0_2-mc.xml new file mode 100644 index 0000000000..a9652bf2f0 --- /dev/null +++ b/ergoCubSN000/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/ergoCubSN000/hardware/motorControl/torso-eb5-j0_2-mc_service.xml b/ergoCubSN000/hardware/motorControl/torso-eb5-j0_2-mc_service.xml new file mode 100644 index 0000000000..4786953579 --- /dev/null +++ b/ergoCubSN000/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/ergoCubSN000/hardware/skin/left_arm-eb24-j4_7-skin.xml b/ergoCubSN000/hardware/skin/left_arm-eb24-j4_7-skin.xml new file mode 100644 index 0000000000..b8eba1997b --- /dev/null +++ b/ergoCubSN000/hardware/skin/left_arm-eb24-j4_7-skin.xml @@ -0,0 +1,15 @@ + + + + + + + + + + 14 13 12 11 10 9 8 + + + + + diff --git a/ergoCubSN000/hardware/skin/left_arm-eb24-j4_7-skinSpec.xml b/ergoCubSN000/hardware/skin/left_arm-eb24-j4_7-skinSpec.xml new file mode 100644 index 0000000000..54bfd3c064 --- /dev/null +++ b/ergoCubSN000/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/ergoCubSN000/hardware/skin/left_upperarm-eb2-skin.xml b/ergoCubSN000/hardware/skin/left_upperarm-eb2-skin.xml new file mode 100644 index 0000000000..f24dfa1799 --- /dev/null +++ b/ergoCubSN000/hardware/skin/left_upperarm-eb2-skin.xml @@ -0,0 +1,14 @@ + + + + + + + + + + 13 + + + + diff --git a/ergoCubSN000/hardware/skin/left_upperarm-eb2-skinSpec.xml b/ergoCubSN000/hardware/skin/left_upperarm-eb2-skinSpec.xml new file mode 100644 index 0000000000..4cb54586a9 --- /dev/null +++ b/ergoCubSN000/hardware/skin/left_upperarm-eb2-skinSpec.xml @@ -0,0 +1,38 @@ + + + + + + + 50 + 8 + + 0xf0 + false + + + + + true + 2 + 0x2200 + + + + + + diff --git a/ergoCubSN000/hardware/skin/right_arm-eb27-j4_7-skin.xml b/ergoCubSN000/hardware/skin/right_arm-eb27-j4_7-skin.xml new file mode 100644 index 0000000000..511934f45a --- /dev/null +++ b/ergoCubSN000/hardware/skin/right_arm-eb27-j4_7-skin.xml @@ -0,0 +1,14 @@ + + + + + + + + + + 14 13 12 11 10 9 8 + + + + diff --git a/ergoCubSN000/hardware/skin/right_arm-eb27-j4_7-skinSpec.xml b/ergoCubSN000/hardware/skin/right_arm-eb27-j4_7-skinSpec.xml new file mode 100644 index 0000000000..54bfd3c064 --- /dev/null +++ b/ergoCubSN000/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/ergoCubSN000/hardware/skin/right_upperarm-eb4-skin.xml b/ergoCubSN000/hardware/skin/right_upperarm-eb4-skin.xml new file mode 100644 index 0000000000..a070ff78b9 --- /dev/null +++ b/ergoCubSN000/hardware/skin/right_upperarm-eb4-skin.xml @@ -0,0 +1,14 @@ + + + + + + + + + + 13 + + + + diff --git a/ergoCubSN000/hardware/skin/right_upperarm-eb4-skinSpec.xml b/ergoCubSN000/hardware/skin/right_upperarm-eb4-skinSpec.xml new file mode 100644 index 0000000000..c0f7fec793 --- /dev/null +++ b/ergoCubSN000/hardware/skin/right_upperarm-eb4-skinSpec.xml @@ -0,0 +1,38 @@ + + + + + + + 50 + 8 + 0xf0 + false + + + + + true + 2 + 0x2200 + + + + + + diff --git a/ergoCubSN000/hardware/skin/torso-eb22-skin.xml b/ergoCubSN000/hardware/skin/torso-eb22-skin.xml new file mode 100644 index 0000000000..962796ab36 --- /dev/null +++ b/ergoCubSN000/hardware/skin/torso-eb22-skin.xml @@ -0,0 +1,15 @@ + + + + + + + + + + + 7 8 9 10 + + + + diff --git a/ergoCubSN000/hardware/skin/torso-eb22-skinSpec.xml b/ergoCubSN000/hardware/skin/torso-eb22-skinSpec.xml new file mode 100644 index 0000000000..7644775370 --- /dev/null +++ b/ergoCubSN000/hardware/skin/torso-eb22-skinSpec.xml @@ -0,0 +1,22 @@ + + + + + + + 50 + 0 + 0xf0 + false + + + + + true + 2 + 0x2200 + + + diff --git a/ergoCubSN000/hardware/skin/torso-ems5-inertial_gyro.xml b/ergoCubSN000/hardware/skin/torso-ems5-inertial_gyro.xml new file mode 100644 index 0000000000..979f35f78a --- /dev/null +++ b/ergoCubSN000/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/ergoCubSN000/la.xml b/ergoCubSN000/la.xml new file mode 100644 index 0000000000..7780cdad98 --- /dev/null +++ b/ergoCubSN000/la.xml @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/ergoCubSN000/network.ergoCubSN000.xml b/ergoCubSN000/network.ergoCubSN000.xml new file mode 100644 index 0000000000..6b2e46c543 --- /dev/null +++ b/ergoCubSN000/network.ergoCubSN000.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/ergoCubSN000/sensors/RealSense_conf.ini b/ergoCubSN000/sensors/RealSense_conf.ini new file mode 100644 index 0000000000..82f8b437dd --- /dev/null +++ b/ergoCubSN000/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/ergoCubSN000/telemetry/telemetryDeviceExternal.xml b/ergoCubSN000/telemetry/telemetryDeviceExternal.xml new file mode 100644 index 0000000000..f5d7121820 --- /dev/null +++ b/ergoCubSN000/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/ergoCubSN000/wrappers/FT/left_arm-FT_wrapper.xml b/ergoCubSN000/wrappers/FT/left_arm-FT_wrapper.xml new file mode 100644 index 0000000000..7277915ace --- /dev/null +++ b/ergoCubSN000/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/ergoCubSN000/wrappers/FT/left_foot_heel-FT_wrapper.xml b/ergoCubSN000/wrappers/FT/left_foot_heel-FT_wrapper.xml new file mode 100644 index 0000000000..d42d8f1012 --- /dev/null +++ b/ergoCubSN000/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/ergoCubSN000/wrappers/FT/left_foot_heel-FT_wrapper_multipleSens.xml b/ergoCubSN000/wrappers/FT/left_foot_heel-FT_wrapper_multipleSens.xml new file mode 100644 index 0000000000..75b518384b --- /dev/null +++ b/ergoCubSN000/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/ergoCubSN000/wrappers/FT/left_foot_tiptoe-FT_wrapper.xml b/ergoCubSN000/wrappers/FT/left_foot_tiptoe-FT_wrapper.xml new file mode 100644 index 0000000000..9d5273045b --- /dev/null +++ b/ergoCubSN000/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/ergoCubSN000/wrappers/FT/left_foot_tiptoe-FT_wrapper_multipleSens.xml b/ergoCubSN000/wrappers/FT/left_foot_tiptoe-FT_wrapper_multipleSens.xml new file mode 100644 index 0000000000..614fac4fbf --- /dev/null +++ b/ergoCubSN000/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/ergoCubSN000/wrappers/FT/right_arm-FT_wrapper.xml b/ergoCubSN000/wrappers/FT/right_arm-FT_wrapper.xml new file mode 100644 index 0000000000..d0eca5eab6 --- /dev/null +++ b/ergoCubSN000/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/ergoCubSN000/wrappers/FT/right_foot_heel-FT_wrapper.xml b/ergoCubSN000/wrappers/FT/right_foot_heel-FT_wrapper.xml new file mode 100644 index 0000000000..e8a5e6e7d3 --- /dev/null +++ b/ergoCubSN000/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/ergoCubSN000/wrappers/FT/right_foot_heel-FT_wrapper_multipleSens.xml b/ergoCubSN000/wrappers/FT/right_foot_heel-FT_wrapper_multipleSens.xml new file mode 100644 index 0000000000..eb6dc856a8 --- /dev/null +++ b/ergoCubSN000/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/ergoCubSN000/wrappers/FT/right_foot_tiptoe-FT_wrapper.xml b/ergoCubSN000/wrappers/FT/right_foot_tiptoe-FT_wrapper.xml new file mode 100644 index 0000000000..474134cfff --- /dev/null +++ b/ergoCubSN000/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/ergoCubSN000/wrappers/FT/right_foot_tiptoe-FT_wrapper_multipleSens.xml b/ergoCubSN000/wrappers/FT/right_foot_tiptoe-FT_wrapper_multipleSens.xml new file mode 100644 index 0000000000..dce17bfbd4 --- /dev/null +++ b/ergoCubSN000/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/ergoCubSN000/wrappers/MAIS/left_arm-mais_wrapper.xml b/ergoCubSN000/wrappers/MAIS/left_arm-mais_wrapper.xml new file mode 100644 index 0000000000..670c35bcb4 --- /dev/null +++ b/ergoCubSN000/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/ergoCubSN000/wrappers/MAIS/right_arm-mais_wrapper.xml b/ergoCubSN000/wrappers/MAIS/right_arm-mais_wrapper.xml new file mode 100644 index 0000000000..1b5213361e --- /dev/null +++ b/ergoCubSN000/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/ergoCubSN000/wrappers/VFT/left_arm-VFT_wrapper.xml b/ergoCubSN000/wrappers/VFT/left_arm-VFT_wrapper.xml new file mode 100644 index 0000000000..c901eada21 --- /dev/null +++ b/ergoCubSN000/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/ergoCubSN000/wrappers/VFT/left_leg-VFT_wrapper.xml b/ergoCubSN000/wrappers/VFT/left_leg-VFT_wrapper.xml new file mode 100644 index 0000000000..b982c8046c --- /dev/null +++ b/ergoCubSN000/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/ergoCubSN000/wrappers/VFT/right_arm-VFT_wrapper.xml b/ergoCubSN000/wrappers/VFT/right_arm-VFT_wrapper.xml new file mode 100644 index 0000000000..e4b8b7c401 --- /dev/null +++ b/ergoCubSN000/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/ergoCubSN000/wrappers/VFT/right_leg-VFT_wrapper.xml b/ergoCubSN000/wrappers/VFT/right_leg-VFT_wrapper.xml new file mode 100644 index 0000000000..deee9fbf66 --- /dev/null +++ b/ergoCubSN000/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/ergoCubSN000/wrappers/VFT/torso-VFT_wrapper.xml b/ergoCubSN000/wrappers/VFT/torso-VFT_wrapper.xml new file mode 100644 index 0000000000..81d2841d34 --- /dev/null +++ b/ergoCubSN000/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/ergoCubSN000/wrappers/inertials/head-imuFilter.xml b/ergoCubSN000/wrappers/inertials/head-imuFilter.xml new file mode 100644 index 0000000000..9070dff156 --- /dev/null +++ b/ergoCubSN000/wrappers/inertials/head-imuFilter.xml @@ -0,0 +1,20 @@ + + + + + + 20 + /imuFilter + + + + + + head-inertial + + + + + diff --git a/ergoCubSN000/wrappers/inertials/head-imuFilter_wrapper.xml b/ergoCubSN000/wrappers/inertials/head-imuFilter_wrapper.xml new file mode 100644 index 0000000000..840c87bab1 --- /dev/null +++ b/ergoCubSN000/wrappers/inertials/head-imuFilter_wrapper.xml @@ -0,0 +1,20 @@ + + + + + + 20 + /imuFilter + + + + + + head-imuFilter + + + + + diff --git a/ergoCubSN000/wrappers/inertials/head-inertials_wrapper-deprecated.xml b/ergoCubSN000/wrappers/inertials/head-inertials_wrapper-deprecated.xml new file mode 100644 index 0000000000..8a513a7bea --- /dev/null +++ b/ergoCubSN000/wrappers/inertials/head-inertials_wrapper-deprecated.xml @@ -0,0 +1,19 @@ + + + + + + /icub/inertial + + + + + + head-inertial + + + + + diff --git a/ergoCubSN000/wrappers/inertials/head-inertials_wrapper.xml b/ergoCubSN000/wrappers/inertials/head-inertials_wrapper.xml new file mode 100644 index 0000000000..ab266c8715 --- /dev/null +++ b/ergoCubSN000/wrappers/inertials/head-inertials_wrapper.xml @@ -0,0 +1,20 @@ + + + + + + 10 + /icub/head/inertials + + + + + + head-inertial + + + + + diff --git a/ergoCubSN000/wrappers/inertials/left_arm-inertials_wrapper.xml b/ergoCubSN000/wrappers/inertials/left_arm-inertials_wrapper.xml new file mode 100644 index 0000000000..f654cb77c3 --- /dev/null +++ b/ergoCubSN000/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/ergoCubSN000/wrappers/inertials/left_leg-inertials_wrapper.xml b/ergoCubSN000/wrappers/inertials/left_leg-inertials_wrapper.xml new file mode 100644 index 0000000000..49922cee21 --- /dev/null +++ b/ergoCubSN000/wrappers/inertials/left_leg-inertials_wrapper.xml @@ -0,0 +1,21 @@ + + + + + + 10 + /icub/left_leg/inertialMTB + + + + + + left_leg-eb10-inertials + + + + + + diff --git a/ergoCubSN000/wrappers/inertials/right_arm-inertials_wrapper.xml b/ergoCubSN000/wrappers/inertials/right_arm-inertials_wrapper.xml new file mode 100644 index 0000000000..ec039799b2 --- /dev/null +++ b/ergoCubSN000/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/ergoCubSN000/wrappers/inertials/right_leg-inertials_wrapper.xml b/ergoCubSN000/wrappers/inertials/right_leg-inertials_wrapper.xml new file mode 100644 index 0000000000..cca4c068ec --- /dev/null +++ b/ergoCubSN000/wrappers/inertials/right_leg-inertials_wrapper.xml @@ -0,0 +1,21 @@ + + + + + + 10 + /icub/right_leg/inertialMTB + + + + + + right_leg-eb11-inertials + + + + + + diff --git a/ergoCubSN000/wrappers/inertials/torso_inertial_wrapper.xml b/ergoCubSN000/wrappers/inertials/torso_inertial_wrapper.xml new file mode 100644 index 0000000000..6d855bd280 --- /dev/null +++ b/ergoCubSN000/wrappers/inertials/torso_inertial_wrapper.xml @@ -0,0 +1,19 @@ + + + + + + 10 + /icub/torso/inertialGYRO + + + + + + torso_inertialGYRO + + + + + + diff --git a/ergoCubSN000/wrappers/motorControl/alljoints-mc_remapper.xml b/ergoCubSN000/wrappers/motorControl/alljoints-mc_remapper.xml new file mode 100644 index 0000000000..5873b4fabc --- /dev/null +++ b/ergoCubSN000/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/ergoCubSN000/wrappers/motorControl/alljoints-mc_ros_wrapper.xml b/ergoCubSN000/wrappers/motorControl/alljoints-mc_ros_wrapper.xml new file mode 100644 index 0000000000..6aa7a31dc7 --- /dev/null +++ b/ergoCubSN000/wrappers/motorControl/alljoints-mc_ros_wrapper.xml @@ -0,0 +1,11 @@ + + + + + /yri_controlBoard_nws_ros + /all_joints + + alljoints-mc_remapper + + + diff --git a/ergoCubSN000/wrappers/motorControl/face-mc_remapper.xml b/ergoCubSN000/wrappers/motorControl/face-mc_remapper.xml new file mode 100644 index 0000000000..16f729d9a1 --- /dev/null +++ b/ergoCubSN000/wrappers/motorControl/face-mc_remapper.xml @@ -0,0 +1,15 @@ + + + + + + ( 0 0 0 0 ) + + 1 + + + face-eb22-j0-mc + + + + diff --git a/ergoCubSN000/wrappers/motorControl/face-mc_wrapper.xml b/ergoCubSN000/wrappers/motorControl/face-mc_wrapper.xml new file mode 100644 index 0000000000..d5c45c73bf --- /dev/null +++ b/ergoCubSN000/wrappers/motorControl/face-mc_wrapper.xml @@ -0,0 +1,10 @@ + + + + + /icub/face + + face-mc_remapper + + + diff --git a/ergoCubSN000/wrappers/motorControl/head-mc_remapper.xml b/ergoCubSN000/wrappers/motorControl/head-mc_remapper.xml new file mode 100644 index 0000000000..18ee4dd4f1 --- /dev/null +++ b/ergoCubSN000/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/ergoCubSN000/wrappers/motorControl/head-mc_wrapper.xml b/ergoCubSN000/wrappers/motorControl/head-mc_wrapper.xml new file mode 100644 index 0000000000..06e2825805 --- /dev/null +++ b/ergoCubSN000/wrappers/motorControl/head-mc_wrapper.xml @@ -0,0 +1,10 @@ + + + + + /icub/head + + head-mc_remapper + + + diff --git a/ergoCubSN000/wrappers/motorControl/left_arm-mc_remapper.xml b/ergoCubSN000/wrappers/motorControl/left_arm-mc_remapper.xml new file mode 100644 index 0000000000..736a8c6834 --- /dev/null +++ b/ergoCubSN000/wrappers/motorControl/left_arm-mc_remapper.xml @@ -0,0 +1,17 @@ + + + + + + ( 0 1 0 1 ) + ( 2 3 0 1 ) + + 4 + + + left_arm-eb1-j0_1-mc + left_arm-eb3-j2_3-mc + + + + diff --git a/ergoCubSN000/wrappers/motorControl/left_arm-mc_wrapper.xml b/ergoCubSN000/wrappers/motorControl/left_arm-mc_wrapper.xml new file mode 100644 index 0000000000..caf7f8bb4b --- /dev/null +++ b/ergoCubSN000/wrappers/motorControl/left_arm-mc_wrapper.xml @@ -0,0 +1,10 @@ + + + + + /icub/left_arm + + left_arm-mc_remapper + + + diff --git a/ergoCubSN000/wrappers/motorControl/left_leg-mc_remapper.xml b/ergoCubSN000/wrappers/motorControl/left_leg-mc_remapper.xml new file mode 100644 index 0000000000..88ef2eb0fb --- /dev/null +++ b/ergoCubSN000/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/ergoCubSN000/wrappers/motorControl/left_leg-mc_wrapper.xml b/ergoCubSN000/wrappers/motorControl/left_leg-mc_wrapper.xml new file mode 100644 index 0000000000..64e5ab7e13 --- /dev/null +++ b/ergoCubSN000/wrappers/motorControl/left_leg-mc_wrapper.xml @@ -0,0 +1,10 @@ + + + + + /icub/left_leg + + left_leg-mc_remapper + + + diff --git a/ergoCubSN000/wrappers/motorControl/right_arm-mc_remapper.xml b/ergoCubSN000/wrappers/motorControl/right_arm-mc_remapper.xml new file mode 100644 index 0000000000..e029b357b8 --- /dev/null +++ b/ergoCubSN000/wrappers/motorControl/right_arm-mc_remapper.xml @@ -0,0 +1,17 @@ + + + + + + ( 0 1 0 1 ) + ( 2 3 0 1 ) + + 4 + + + right_arm-eb2-j0_1-mc + right_arm-eb4-j2_3-mc + + + + diff --git a/ergoCubSN000/wrappers/motorControl/right_arm-mc_wrapper.xml b/ergoCubSN000/wrappers/motorControl/right_arm-mc_wrapper.xml new file mode 100644 index 0000000000..15bc4d3c12 --- /dev/null +++ b/ergoCubSN000/wrappers/motorControl/right_arm-mc_wrapper.xml @@ -0,0 +1,10 @@ + + + + + /icub/right_arm + + right_arm-mc_remapper + + + diff --git a/ergoCubSN000/wrappers/motorControl/right_leg-mc_remapper.xml b/ergoCubSN000/wrappers/motorControl/right_leg-mc_remapper.xml new file mode 100644 index 0000000000..107e6c31a5 --- /dev/null +++ b/ergoCubSN000/wrappers/motorControl/right_leg-mc_remapper.xml @@ -0,0 +1,16 @@ + + + + + ( 0 2 0 2 ) + ( 3 5 0 2 ) + + 6 + + + right_leg-eb9-j0_2-mc + right_leg-eb10-j3_5-mc + + + + diff --git a/ergoCubSN000/wrappers/motorControl/right_leg-mc_wrapper.xml b/ergoCubSN000/wrappers/motorControl/right_leg-mc_wrapper.xml new file mode 100644 index 0000000000..63ef3cb4a7 --- /dev/null +++ b/ergoCubSN000/wrappers/motorControl/right_leg-mc_wrapper.xml @@ -0,0 +1,10 @@ + + + + + /icub/right_leg + + right_leg-mc_remapper + + + diff --git a/ergoCubSN000/wrappers/motorControl/torso-mc_remapper.xml b/ergoCubSN000/wrappers/motorControl/torso-mc_remapper.xml new file mode 100644 index 0000000000..68c2555293 --- /dev/null +++ b/ergoCubSN000/wrappers/motorControl/torso-mc_remapper.xml @@ -0,0 +1,15 @@ + + + + + + ( 0 2 0 2 ) + + 3 + + + torso-eb5-j0_2-mc + + + + diff --git a/ergoCubSN000/wrappers/motorControl/torso-mc_wrapper.xml b/ergoCubSN000/wrappers/motorControl/torso-mc_wrapper.xml new file mode 100644 index 0000000000..89cf257cd6 --- /dev/null +++ b/ergoCubSN000/wrappers/motorControl/torso-mc_wrapper.xml @@ -0,0 +1,10 @@ + + + + + /icub/torso + + torso-mc_remapper + + + diff --git a/ergoCubSN000/wrappers/skin/left_arm-skin_wrapper.xml b/ergoCubSN000/wrappers/skin/left_arm-skin_wrapper.xml new file mode 100644 index 0000000000..370a7c56ff --- /dev/null +++ b/ergoCubSN000/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/ergoCubSN000/wrappers/skin/left_leg-skin_wrapper.xml b/ergoCubSN000/wrappers/skin/left_leg-skin_wrapper.xml new file mode 100644 index 0000000000..560ce45c94 --- /dev/null +++ b/ergoCubSN000/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/ergoCubSN000/wrappers/skin/left_upperarm-skin_wrapper.xml b/ergoCubSN000/wrappers/skin/left_upperarm-skin_wrapper.xml new file mode 100644 index 0000000000..3ea1bc0772 --- /dev/null +++ b/ergoCubSN000/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/ergoCubSN000/wrappers/skin/right_arm-skin_wrapper.xml b/ergoCubSN000/wrappers/skin/right_arm-skin_wrapper.xml new file mode 100644 index 0000000000..2bcf052de9 --- /dev/null +++ b/ergoCubSN000/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/ergoCubSN000/wrappers/skin/right_leg-skin_wrapper.xml b/ergoCubSN000/wrappers/skin/right_leg-skin_wrapper.xml new file mode 100644 index 0000000000..4053a02745 --- /dev/null +++ b/ergoCubSN000/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/ergoCubSN000/wrappers/skin/right_upperarm-skin_wrapper.xml b/ergoCubSN000/wrappers/skin/right_upperarm-skin_wrapper.xml new file mode 100644 index 0000000000..7d0b62d6bc --- /dev/null +++ b/ergoCubSN000/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/ergoCubSN000/wrappers/skin/torso-skin_wrapper.xml b/ergoCubSN000/wrappers/skin/torso-skin_wrapper.xml new file mode 100644 index 0000000000..e8e696c2a4 --- /dev/null +++ b/ergoCubSN000/wrappers/skin/torso-skin_wrapper.xml @@ -0,0 +1,24 @@ + + + + + + 20 + 768 + skinWrapper + + + 0 767 0 767 + + + + + + torso-eb22-skin + + + + + + diff --git a/ergoCubSN000/yarpmotorgui.ini b/ergoCubSN000/yarpmotorgui.ini new file mode 100644 index 0000000000..3ec981b8b6 --- /dev/null +++ b/ergoCubSN000/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/ergoCubSN000/yarprobotinterface.ini b/ergoCubSN000/yarprobotinterface.ini new file mode 100644 index 0000000000..79751db316 --- /dev/null +++ b/ergoCubSN000/yarprobotinterface.ini @@ -0,0 +1,2 @@ +config ./ergocub_all.xml +