diff --git a/iCubTemplates/iCubTemplateV6_0/calibrators/ToBeDone.txt b/iCubTemplates/iCubTemplateV6_0/calibrators/ToBeDone.txt new file mode 100644 index 0000000000..e69de29bb2 diff --git a/iCubTemplates/iCubTemplateV6_0/calibrators/body_part-calib.xml b/iCubTemplates/iCubTemplateV6_0/calibrators/body_part-calib.xml new file mode 100644 index 0000000000..c4ec92439b --- /dev/null +++ b/iCubTemplates/iCubTemplateV6_0/calibrators/body_part-calib.xml @@ -0,0 +1,52 @@ + + + + + + + + + + number of joints of the robot part + name choosen my user. It can be used for debug + + + + position used to park the robot during shut down or used by by yarpmotorgui application to set "safe position" + the velocity used to move to home position. [degree/sec] + + + + Type of calibration: currently are available 12 type of calibration + its meaning depending from calibration type. See documennt about calibration type. + its meaning depending from calibration type. See documennt about calibration type. + its meaning depending from calibration type. See documennt about calibration type. + + its meaning depending from calibration type. See documennt about calibration type. + its meaning depending from calibration type. See documennt about calibration type. + + the zero of calibration [degree] . see documennt about calibration type. + the dalta to apply to calibrationZero. The user can change this value to tuning the calibration. [degree] See documennt about calibration type for more details + + + When the joint is calibrated, the calibrator moves the joint in this position. [degree] + the velocity used to move to joints to startup position [degree/sec] + the safe maximum value of pwm that the motor can uses during calibration procedure. [pwm raw value] + this is the tolernace of startupPosition. [degree] + + + this is the order of joint in which the joints are calibrated. + The joints put in round bracket belong to the same joint set; the calibrantor sends command to joints in the same sets at the same time. + + + body_part-mc_wrapper + + + + body_part-mc_wrapper + + + + + + diff --git a/iCubTemplates/iCubTemplateV6_0/camera/ToBeDone.txt b/iCubTemplates/iCubTemplateV6_0/camera/ToBeDone.txt new file mode 100644 index 0000000000..e69de29bb2 diff --git a/iCubTemplates/iCubTemplateV6_0/cartesian/ToBeDone.txt b/iCubTemplates/iCubTemplateV6_0/cartesian/ToBeDone.txt new file mode 100644 index 0000000000..e69de29bb2 diff --git a/iCubTemplates/iCubTemplateV6_0/estimators/ToBeDone.txt b/iCubTemplates/iCubTemplateV6_0/estimators/ToBeDone.txt new file mode 100644 index 0000000000..e69de29bb2 diff --git a/iCubTemplates/iCubTemplateV6_0/firmwareupdater.ini b/iCubTemplates/iCubTemplateV6_0/firmwareupdater.ini new file mode 100644 index 0000000000..c93b53ab35 --- /dev/null +++ b/iCubTemplates/iCubTemplateV6_0/firmwareupdater.ini @@ -0,0 +1,2 @@ +[DRIVERS] +ETH "eth" diff --git a/iCubTemplates/iCubTemplateV6_0/general.xml b/iCubTemplates/iCubTemplateV6_0/general.xml new file mode 100644 index 0000000000..ac4a494029 --- /dev/null +++ b/iCubTemplates/iCubTemplateV6_0/general.xml @@ -0,0 +1,15 @@ + + + + + + + If true, the motion control devices are running, but the calibration procedure is not performed; this means that it is not possible to move joints. + Note: joints have the pwm limited to the values written in "startupMaxPwm" parameter in calibration file. + Usually this parameter is false. + It is used to read the raw value of joints encoders. Only maintainers should change this parameter. + ATTENTION: make sure you have pressed the fault button and have set "skipCalibration" parameter to true. + Deprecated + Enable some more debug prints + + diff --git a/iCubTemplates/iCubTemplateV6_0/hardware/FT/body_part-ebX-strain.xml b/iCubTemplates/iCubTemplateV6_0/hardware/FT/body_part-ebX-strain.xml new file mode 100644 index 0000000000..237960035d --- /dev/null +++ b/iCubTemplates/iCubTemplateV6_0/hardware/FT/body_part-ebX-strain.xml @@ -0,0 +1,90 @@ + + + + + + + + + + + + + + + + + + + + eomn_serv_AS_strain + + + + + + + + + eobrd_strain + + + + 0 + 0 + + + + + 0 + 0 + 0 + + + + + + + + + id_l_arm_strain + + eoas_strain + + CAN2:7 + + + + + + + + + + + 10 + + id_l_arm_strain + + + + + + + + true + + + + + + + + + + diff --git a/iCubTemplates/iCubTemplateV6_0/hardware/FT/body_part-ebX-strain2.xml b/iCubTemplates/iCubTemplateV6_0/hardware/FT/body_part-ebX-strain2.xml new file mode 100644 index 0000000000..b8fe8c5741 --- /dev/null +++ b/iCubTemplates/iCubTemplateV6_0/hardware/FT/body_part-ebX-strain2.xml @@ -0,0 +1,86 @@ + + + + + + + + + + + + + + + + + + + + eomn_serv_AS_strain + + + + + + + + + eobrd_strain2 + + + + 0 + 0 + + + + + 0 + 0 + 0 + + + + + + + + + id_l_arm_strain + + eoas_strain2 + + CAN2:7 + + + + + + + + + + 10 + + id_l_arm_strain + + 1000 //1 seconds + + + + + + true + + + + + + + diff --git a/iCubTemplates/iCubTemplateV6_0/hardware/MAIS/body_part-ebX-mais.xml b/iCubTemplates/iCubTemplateV6_0/hardware/MAIS/body_part-ebX-mais.xml new file mode 100644 index 0000000000..24a4093065 --- /dev/null +++ b/iCubTemplates/iCubTemplateV6_0/hardware/MAIS/body_part-ebX-mais.xml @@ -0,0 +1,81 @@ + + + + + + + + + + + + + + + + + + + + eomn_serv_AS_mais + + + + + + + + + eobrd_mais + + + + 0 + 0 + + + + + 0 + 0 + 0 + + + + + + + + + id_l_hand_mais + + eoas_mais + + CAN1:14 + + + + + + + + + + 10 + + id_l_hand_mais + + + + + + + + + + diff --git a/iCubTemplates/iCubTemplateV6_0/hardware/electronics/body_part--ebX-jA_B-eln.xml b/iCubTemplates/iCubTemplateV6_0/hardware/electronics/body_part--ebX-jA_B-eln.xml new file mode 100644 index 0000000000..26e4f07b17 --- /dev/null +++ b/iCubTemplates/iCubTemplateV6_0/hardware/electronics/body_part--ebX-jA_B-eln.xml @@ -0,0 +1,111 @@ + + + + + + + + + + + + + + + + + + 10.0.1.X + + + 12345 + + + ems4 + + + 768 + + + 384 + + + + + + + + "body_part-ebX-jA_B" + + + + + + 1000 + + + 400 + + + 300 + + + 300 + + + 5 + + + + + + + + + + + + + + true + + + 0.020 + + + 60.0 + + + + + + + + + diff --git a/iCubTemplates/iCubTemplateV6_0/hardware/electronics/communication-howto.txt b/iCubTemplates/iCubTemplateV6_0/hardware/electronics/communication-howto.txt new file mode 100644 index 0000000000..fc02a5a542 --- /dev/null +++ b/iCubTemplates/iCubTemplateV6_0/hardware/electronics/communication-howto.txt @@ -0,0 +1,400 @@ + + + \ No newline at end of file diff --git a/iCubTemplates/iCubTemplateV6_0/hardware/electronics/pc104.xml b/iCubTemplates/iCubTemplateV6_0/hardware/electronics/pc104.xml new file mode 100644 index 0000000000..6fba8c27bb --- /dev/null +++ b/iCubTemplates/iCubTemplateV6_0/hardware/electronics/pc104.xml @@ -0,0 +1,38 @@ + + + + + + + + + + 10.0.1.104 + + + 12345 + + + 1 + + + 5 + + + + + diff --git a/iCubTemplates/iCubTemplateV6_0/hardware/inertials/body_part-ebX-IMU.xml b/iCubTemplates/iCubTemplateV6_0/hardware/inertials/body_part-ebX-IMU.xml new file mode 100644 index 0000000000..79c2382114 --- /dev/null +++ b/iCubTemplates/iCubTemplateV6_0/hardware/inertials/body_part-ebX-IMU.xml @@ -0,0 +1,77 @@ + + + + + + + + + + + + + + + + + + + + + eomn_serv_AS_inertial3 + + + + + + + + + eobrd_strain2 + + + + 0 + 0 + + + + + 0 + 0 + 0 + + + + + + + + acc1 gyr1 eul1 mag1 st1 + + eoas_imu_acc eoas_imu_gyr eoas_imu_eul eoas_imu_mag eoas_imu_status + + strain2 strain2 strain2 strain2 strain2 + + CAN2:13 CAN2:13 CAN2:13 CAN2:13 CAN2:13 + + + + + + 50 + + acc1 gyr1 eul1 mag1 st1 + + + + + + + + diff --git a/iCubTemplates/iCubTemplateV6_0/hardware/inertials/body_part-ebX-inertials.xml b/iCubTemplates/iCubTemplateV6_0/hardware/inertials/body_part-ebX-inertials.xml new file mode 100644 index 0000000000..d31fa93512 --- /dev/null +++ b/iCubTemplates/iCubTemplateV6_0/hardware/inertials/body_part-ebX-inertials.xml @@ -0,0 +1,104 @@ + + + + + + + + + + + + + + + + + + + + eomn_serv_AS_inertials + + + + + + + + + eobrd_mtb + + + + 0 + 0 + + + + + 0 + 0 + 0 + + + + + + + + + on_eb2_accel on_eb2_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 + CAN2:8 CAN2:9 CAN2:10 CAN2:11 + CAN2:12 CAN2:13 CAN2:14 CAN2:14 + + + + + + + + + + + 50 + + + l_hand l_forearm_1 l_forearm_2 l_hand_gyro + + 19.62 19.62 19.62 500 + + + + + + + + + + + diff --git a/iCubTemplates/iCubTemplateV6_0/hardware/mechanicals/body_part-ebX-jA_B-mec.xml b/iCubTemplates/iCubTemplateV6_0/hardware/mechanicals/body_part-ebX-jA_B-mec.xml new file mode 100644 index 0000000000..ccac79279f --- /dev/null +++ b/iCubTemplates/iCubTemplateV6_0/hardware/mechanicals/body_part-ebX-jA_B-mec.xml @@ -0,0 +1,91 @@ + + + + + + 5 + 1 + 0 + "Joint0" + "revolute" + 1 + 100 + 1 + 1 + 1 + 1 + "motor" + 0 + + + + + -10 + 10 + -100 + 100 + + + + + 0 + 0 + 0 + 0 + 0 + 0 + 0 + 0 + 1 + + + + + + + 0.00 0.00 0.00 0.00 + 0.00 0.00 0.00 0.00 + 0.00 0.00 0.00 0.00 + 0.00 0.00 0.00 0.00 + + + + + + 0.00 0.00 0.00 0.00 + 0.00 0.00 0.00 0.00 + 0.00 0.00 0.00 0.00 + 0.00 0.00 0.00 0.00 + + + + + + 1.000 0.000 0.000 0.000 0.000 0.000 + 0.000 1.000 0.000 0.000 0.000 0.000 + 0.000 0.000 1.000 0.000 0.000 0.000 + 0.000 0.000 0.000 1.000 0.000 0.000 + + + + + + 2 + + 0 + none + 0 + 0 + + + 3 + none + 0 + 0 + + + + diff --git a/iCubTemplates/iCubTemplateV6_0/hardware/motorControl/body_part--ebX-jA_B-mc-service.xml b/iCubTemplates/iCubTemplateV6_0/hardware/motorControl/body_part--ebX-jA_B-mc-service.xml new file mode 100644 index 0000000000..8cd00bbafe --- /dev/null +++ b/iCubTemplates/iCubTemplateV6_0/hardware/motorControl/body_part--ebX-jA_B-mc-service.xml @@ -0,0 +1,84 @@ + + + + + + + + eomn_serv_MC_foc + + + ems4 + + + + foc + + 1 + 1 + + + 1 + 1 + 1 + + + + + + + foc + + + + 1:1:1 + + + + + aea + + 0 + 0 + 0 + + + + none none none none + CONN:none CONN:none CONN:none CONN:none + none none none none + 0 0 0 0 + 0 0 0 0 + + + + + + diff --git a/iCubTemplates/iCubTemplateV6_0/hardware/motorControl/body_part--ebX-jA_B-mc.xml b/iCubTemplates/iCubTemplateV6_0/hardware/motorControl/body_part--ebX-jA_B-mc.xml new file mode 100644 index 0000000000..83105f5150 --- /dev/null +++ b/iCubTemplates/iCubTemplateV6_0/hardware/motorControl/body_part--ebX-jA_B-mc.xml @@ -0,0 +1,157 @@ + + + + + + + + + + + -10 + 10 + 10 + 100 + 100 + 100 + 100 + + + + 10 + + + + + + + + user_name_tag_of_position_control + user_name_tag_of_position_control + user_name_tag_of_position_control + + user_name_tag_of_torque_control + user_name_tag_of_current_control + user_name_tag_of_low-level_speed_control + + + + + + minjerk + pwm + metric_units + machine_units + 0 + 0 + 0 + 0 + 0 + 0 + 0 + 0 + + + + + minjerk + current + metric_units + machine_units + 0 + 0 + 0 + 0 + 0 + 0 + 0 + 0 + + + + minjerk + velocity + machine_units + machine_units + 5 + 0 + 0 + 0 + 0 + 1 + + + + + torque + pwm + metric_units + machine_units + 0 + 0 + 0 + 0 + 0 + 0 + 0 + 0 + 0 + 0 + 0 + 0 + + + + 1 + 1 + + + + + low_lev_current + machine_units + machine_units + 0 + 0 + 0 + 0 + 0 + 0 + 0 + + + + low_lev_speed + machine_units + machine_units + 0 + 0 + 0 + 0 + 0 + 0 + 0 + + + + + + + + diff --git a/iCubTemplates/iCubTemplateV6_0/hardware/skin/body_part-ebX-skin.xml b/iCubTemplates/iCubTemplateV6_0/hardware/skin/body_part-ebX-skin.xml new file mode 100644 index 0000000000..7213bba6b2 --- /dev/null +++ b/iCubTemplates/iCubTemplateV6_0/hardware/skin/body_part-ebX-skin.xml @@ -0,0 +1,68 @@ + + + + + + + + + + + + + + + + + + + + + eomn_serv_SK_skin + + + + + + + mtb + + + 0 + 0 + + + + 0 + 0 + 0 + + + + + + + + + + + 1 2 3 + + 6 7 8 + + + + + + + + + + diff --git a/iCubTemplates/iCubTemplateV6_0/hardware/skin/body_part-ebX-skinSpec.xml b/iCubTemplates/iCubTemplateV6_0/hardware/skin/body_part-ebX-skinSpec.xml new file mode 100644 index 0000000000..b8b246658c --- /dev/null +++ b/iCubTemplates/iCubTemplateV6_0/hardware/skin/body_part-ebX-skinSpec.xml @@ -0,0 +1,82 @@ + + + + + + + + + + time period of sending of skin data. [milliseconds] Usually is 50 + [0 / 1 / 2] type of skin : + - 0 ==> new skin + - 1 ==> palm and fingertips skin. This value is OBSOLETE. + - 2 ==> old skin without temperature compensation. This value is OBSOLETE. + + it is the value of the output at zero pressure. Usually its value is 0xf0 + [true/false]. It enables or disables high level diagnostic + + + + + [true/false]. It enables or disables the triangle. This value should be true. + number of bit for removing noise. Usually it is 2. + 0x2200 + + + + + + + 2 + + + + 2 12 14 30 1 0xff + + 1 10 10 30 1 0xf2 + + + + + + + + 1 + + + + 2 14 0 6 1 2 0x2000 + + + + + + diff --git a/iCubTemplates/iCubTemplateV6_0/icub_all.xml b/iCubTemplates/iCubTemplateV6_0/icub_all.xml new file mode 100644 index 0000000000..c66d3d2445 --- /dev/null +++ b/iCubTemplates/iCubTemplateV6_0/icub_all.xml @@ -0,0 +1,103 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/iCubTemplates/iCubTemplateV6_0/network.YARP_ROBOT_NAME.xml b/iCubTemplates/iCubTemplateV6_0/network.YARP_ROBOT_NAME.xml new file mode 100644 index 0000000000..9bdd639650 --- /dev/null +++ b/iCubTemplates/iCubTemplateV6_0/network.YARP_ROBOT_NAME.xml @@ -0,0 +1,143 @@ + + + + + + + + + + + + + + + + + ETH + + + + + + ETH + + + + + + + + + + + ETH + + + + + + + + + + + ETH + + + + + + ETH + + + + + + ETH + + + + + + ETH + + + + + + ETH + + + + + + ETH + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/iCubTemplates/iCubTemplateV6_0/wrappers/FT/body_part-FT-wrapper_multipleSens.xml b/iCubTemplates/iCubTemplateV6_0/wrappers/FT/body_part-FT-wrapper_multipleSens.xml new file mode 100644 index 0000000000..312bc7f427 --- /dev/null +++ b/iCubTemplates/iCubTemplateV6_0/wrappers/FT/body_part-FT-wrapper_multipleSens.xml @@ -0,0 +1,18 @@ + + + + + + 10 + /icub/part_name + + + + + body_part-ebX-FTsensor + + + + + + diff --git a/iCubTemplates/iCubTemplateV6_0/wrappers/ToBeDone.txt b/iCubTemplates/iCubTemplateV6_0/wrappers/ToBeDone.txt new file mode 100644 index 0000000000..e69de29bb2 diff --git a/iCubTemplates/iCubTemplateV6_0/wrappers/inertials/body_part-imu-wrapper.xml b/iCubTemplates/iCubTemplateV6_0/wrappers/inertials/body_part-imu-wrapper.xml new file mode 100644 index 0000000000..fc7ec5a300 --- /dev/null +++ b/iCubTemplates/iCubTemplateV6_0/wrappers/inertials/body_part-imu-wrapper.xml @@ -0,0 +1,20 @@ + + + + + + 10 + /icub/body_part + + + + + + body_part-ebX-imu + + + + + + diff --git a/iCubTemplates/iCubTemplateV6_0/yarprobotinterface.ini b/iCubTemplates/iCubTemplateV6_0/yarprobotinterface.ini new file mode 100644 index 0000000000..b970b6bdab --- /dev/null +++ b/iCubTemplates/iCubTemplateV6_0/yarprobotinterface.ini @@ -0,0 +1,2 @@ +config ./icub_all.xml +