From 156a0d29fee0e753615b4bc57f37c7bf865abb93 Mon Sep 17 00:00:00 2001 From: Ugo Pattacini Date: Thu, 23 Dec 2021 18:44:58 +0100 Subject: [PATCH 1/8] Update `iCubGenova09` to the use of the latest NWS/NWC layers (#319) --- iCubGenova09/calibrators/face-calib.xml | 4 +- iCubGenova09/calibrators/head-calib.xml | 4 +- iCubGenova09/calibrators/left_arm-calib.xml | 4 +- .../calibrators/left_forearm-calib.xml | 49 ----------- iCubGenova09/calibrators/left_leg-calib.xml | 4 +- .../calibrators/left_upperarm-calib.xml | 49 ----------- iCubGenova09/calibrators/right_arm-calib.xml | 4 +- .../calibrators/right_forearm-calib.xml | 48 ----------- iCubGenova09/calibrators/right_leg-calib.xml | 4 +- .../calibrators/right_upperarm-calib.xml | 49 ----------- iCubGenova09/calibrators/torso-calib.xml | 4 +- iCubGenova09/cartesian/left_arm-cartesian.xml | 4 +- .../cartesian/right_arm-cartesian.xml | 4 +- iCubGenova09/head-face.xml | 10 ++- iCubGenova09/icub_all.xml | 83 +++++++++++-------- iCubGenova09/icub_all_inertials.xml | 53 ++++++------ iCubGenova09/icub_all_no_legs.xml | 22 +++-- iCubGenova09/icub_foc.xml | 45 ++++++---- iCubGenova09/icub_h_f_RL_a.xml | 20 +++-- iCubGenova09/icub_left_leg.xml | 6 +- iCubGenova09/icub_legs.xml | 9 +- iCubGenova09/icub_legs_mcOnly.xml | 9 +- iCubGenova09/icub_legs_rarm.xml | 11 ++- iCubGenova09/icub_right_leg.xml | 12 +-- iCubGenova09/icub_torso.xml | 9 +- iCubGenova09/icub_wbd.xml | 51 +++++++----- iCubGenova09/legs-wbd.xml | 27 +++--- iCubGenova09/ll.xml | 10 ++- iCubGenova09/rl.xml | 10 ++- iCubGenova09/test_head.xml | 9 +- iCubGenova09/test_left_arm.xml | 6 +- iCubGenova09/test_left_forearm.xml | 49 ----------- iCubGenova09/test_left_upperarm.xml | 48 ----------- iCubGenova09/test_right_arm.xml | 6 +- iCubGenova09/test_right_forearm.xml | 49 ----------- iCubGenova09/test_right_upperarm.xml | 49 ----------- iCubGenova09/test_upper_body.xml | 53 ------------ iCubGenova09/test_upper_norightshoulder.xml | 48 ----------- iCubGenova09/upper-body.xml | 20 +++-- .../motorControl/alljoints-mc_remapper.xml | 31 +++++++ .../motorControl/alljoints-mc_ros_wrapper.xml | 11 +++ .../motorControl/face-mc_remapper.xml | 15 ++++ .../wrappers/motorControl/face-mc_wrapper.xml | 35 ++------ .../motorControl/head-mc_remapper.xml | 17 ++++ .../wrappers/motorControl/head-mc_wrapper.xml | 34 ++------ .../motorControl/left_arm-mc_remapper.xml | 23 +++++ .../motorControl/left_arm-mc_wrapper.xml | 43 ++-------- .../motorControl/left_forearm-mc_wrapper.xml | 31 ------- .../motorControl/left_leg-mc_remapper.xml | 16 ++++ .../motorControl/left_leg-mc_wrapper.xml | 40 ++------- .../motorControl/left_upperarm-mc_wrapper.xml | 29 ------- .../motorControl/right_arm-mc_remapper.xml | 23 +++++ .../motorControl/right_arm-mc_wrapper.xml | 43 ++-------- .../motorControl/right_forearm-mc_wrapper.xml | 29 ------- .../motorControl/right_leg-mc_remapper.xml | 16 ++++ .../motorControl/right_leg-mc_wrapper.xml | 38 ++------- .../right_upperarm-mc_wrapper.xml | 29 ------- .../motorControl/torso-mc_remapper.xml | 15 ++++ .../motorControl/torso-mc_wrapper.xml | 36 ++------ 59 files changed, 510 insertions(+), 999 deletions(-) delete mode 100644 iCubGenova09/calibrators/left_forearm-calib.xml delete mode 100644 iCubGenova09/calibrators/left_upperarm-calib.xml delete mode 100644 iCubGenova09/calibrators/right_forearm-calib.xml delete mode 100644 iCubGenova09/calibrators/right_upperarm-calib.xml delete mode 100644 iCubGenova09/test_left_forearm.xml delete mode 100644 iCubGenova09/test_left_upperarm.xml delete mode 100644 iCubGenova09/test_right_forearm.xml delete mode 100644 iCubGenova09/test_right_upperarm.xml delete mode 100644 iCubGenova09/test_upper_body.xml delete mode 100644 iCubGenova09/test_upper_norightshoulder.xml create mode 100644 iCubGenova09/wrappers/motorControl/alljoints-mc_remapper.xml create mode 100644 iCubGenova09/wrappers/motorControl/alljoints-mc_ros_wrapper.xml create mode 100644 iCubGenova09/wrappers/motorControl/face-mc_remapper.xml create mode 100644 iCubGenova09/wrappers/motorControl/head-mc_remapper.xml create mode 100644 iCubGenova09/wrappers/motorControl/left_arm-mc_remapper.xml delete mode 100644 iCubGenova09/wrappers/motorControl/left_forearm-mc_wrapper.xml create mode 100644 iCubGenova09/wrappers/motorControl/left_leg-mc_remapper.xml delete mode 100644 iCubGenova09/wrappers/motorControl/left_upperarm-mc_wrapper.xml create mode 100644 iCubGenova09/wrappers/motorControl/right_arm-mc_remapper.xml delete mode 100644 iCubGenova09/wrappers/motorControl/right_forearm-mc_wrapper.xml create mode 100644 iCubGenova09/wrappers/motorControl/right_leg-mc_remapper.xml delete mode 100644 iCubGenova09/wrappers/motorControl/right_upperarm-mc_wrapper.xml create mode 100644 iCubGenova09/wrappers/motorControl/torso-mc_remapper.xml diff --git a/iCubGenova09/calibrators/face-calib.xml b/iCubGenova09/calibrators/face-calib.xml index 9e22bb918b..83ef4572ef 100644 --- a/iCubGenova09/calibrators/face-calib.xml +++ b/iCubGenova09/calibrators/face-calib.xml @@ -48,11 +48,11 @@ (0) - face-mc_wrapper + face-mc_remapper - face-mc_wrapper + face-mc_remapper diff --git a/iCubGenova09/calibrators/head-calib.xml b/iCubGenova09/calibrators/head-calib.xml index 7cf3a2a9da..24c6899ddb 100644 --- a/iCubGenova09/calibrators/head-calib.xml +++ b/iCubGenova09/calibrators/head-calib.xml @@ -39,11 +39,11 @@ (0 1 2) (3) (4 5) - head-mc_wrapper + head-mc_remapper - head-mc_wrapper + head-mc_remapper diff --git a/iCubGenova09/calibrators/left_arm-calib.xml b/iCubGenova09/calibrators/left_arm-calib.xml index af166c10d2..3c027b8886 100644 --- a/iCubGenova09/calibrators/left_arm-calib.xml +++ b/iCubGenova09/calibrators/left_arm-calib.xml @@ -35,11 +35,11 @@ (1) (0) (2) (3) (4) (5 6) (7) (8 9) (11 13) (10 12 14 15) - left_arm-mc_wrapper + left_arm-mc_remapper - left_arm-mc_wrapper + left_arm-mc_remapper diff --git a/iCubGenova09/calibrators/left_forearm-calib.xml b/iCubGenova09/calibrators/left_forearm-calib.xml deleted file mode 100644 index ccf05a3e4a..0000000000 --- a/iCubGenova09/calibrators/left_forearm-calib.xml +++ /dev/null @@ -1,49 +0,0 @@ - - - - - - - - - 12 - Left_Forearm_Calibrator - - - - 0 0 0 35 65 0 0 0 0 0 0 0 - 30 30 30 60 30 30 30 30 30 30 30 30 - - - - 5 12 12 7 7 6 6 6 6 6 6 6 - -1500 8335 10671 0 0 0 0 0 0 0 0 0 - 16384 0 0 0 0 9102 9102 9102 9102 9102 9102 3640 - 0 0 0 0 0 -1 1 -1 1 -1 1 1 - 0 0 0 2140 334 251 484 243 476 255 480 689 - 0 0 0 2407 2576 84 9 15 12 20 45 93 - 0 0 0 0 0 0 0 0 0 0 0 0 - 0 0 0 0 0 0 0 0 0 0 0 0 - - 0 0 0 25 65 0 0 0 0 0 0 0 - 30 30 30 60 100 100 100 100 100 100 100 100 - 2000 0 0 0 0 0 0 0 0 0 0 0 - 90 90 90 90 90 0 90 90 90 90 90 90 - - - (0) (1 2 3) (4 5 7 9) (6 8 10 11) - - - left_forearm-mc_wrapper - - - - left_forearm-mc_wrapper - - - - - - - - diff --git a/iCubGenova09/calibrators/left_leg-calib.xml b/iCubGenova09/calibrators/left_leg-calib.xml index e85749daf7..10e6d9491e 100644 --- a/iCubGenova09/calibrators/left_leg-calib.xml +++ b/iCubGenova09/calibrators/left_leg-calib.xml @@ -34,11 +34,11 @@ (2) (4) (5) (3) (0) (1) - left_leg-mc_wrapper + left_leg-mc_remapper - left_leg-mc_wrapper + left_leg-mc_remapper diff --git a/iCubGenova09/calibrators/left_upperarm-calib.xml b/iCubGenova09/calibrators/left_upperarm-calib.xml deleted file mode 100644 index 7ab9263c0b..0000000000 --- a/iCubGenova09/calibrators/left_upperarm-calib.xml +++ /dev/null @@ -1,49 +0,0 @@ - - - - - - - - - 4 - Left_UpperArm_Calibrator - - - - -30 30 0 45 - 10 10 10 10 - - - - 12 12 12 12 - 54678 18551 44500 52646 - 0 0 0 0 - 0 0 0 0 - 0 0 0 0 - 0 0 0 0 - 0 0 0 0 - 0 0 0 0 - - -35.97 29.97 0.06 50.00 - 10.0 10.0 10.0 10.0 - 8000 8000 8000 8000 - 2 2 2 2 - - -(0 1 2 3) - - - left_upperarm-mc_wrapper - - - - left_upperarm-mc_wrapper - - - - - - - - diff --git a/iCubGenova09/calibrators/right_arm-calib.xml b/iCubGenova09/calibrators/right_arm-calib.xml index b6a008ae02..af942e0129 100644 --- a/iCubGenova09/calibrators/right_arm-calib.xml +++ b/iCubGenova09/calibrators/right_arm-calib.xml @@ -36,11 +36,11 @@ (1) (0) (2) (3) (4) (5 6) (7) (8 9) (11 13) (10 12 14 15) - right_arm-mc_wrapper + right_arm-mc_remapper - right_arm-mc_wrapper + right_arm-mc_remapper diff --git a/iCubGenova09/calibrators/right_forearm-calib.xml b/iCubGenova09/calibrators/right_forearm-calib.xml deleted file mode 100644 index c966d1d75b..0000000000 --- a/iCubGenova09/calibrators/right_forearm-calib.xml +++ /dev/null @@ -1,48 +0,0 @@ - - - - - - - - - 12 - Right_Forearm_Calibrator - - - - 0 0 0 35 65 0 0 0 0 0 0 0 - 30 30 30 60 30 30 30 30 30 30 30 30 - - - - - 5 12 12 7 7 6 6 6 6 6 6 6 - 1500 36903 -12703 0 0 0 0 0 0 0 0 0 - 16384 0 0 0 0 9102 9102 9102 9102 9102 9102 3640 - 0 0 0 0 0 -1 1 -1 1 -1 1 1 - 0 0 0 2295 1495 182 510 255 510 255 510 747 - 0 0 0 2550 2280 34 40 18 30 0 30 115 - 0 0 0 0 0 0 0 0 0 0 0 0 - 0 0 0 0 0 0 0 0 0 0 0 0 - - 0 0 0 25 65 0 0 0 0 0 0 0 - 30 30 30 60 100 100 100 100 100 100 100 100 - 1500 0 0 0 0 0 0 0 0 0 0 0 - 90 0 90 90 90 90 90 90 90 90 90 90 - - - (0) (1 2 3) (4 5 7 9) (6 8 10 11) - - right_forearm-mc_wrapper - - - - right_forearm-mc_wrapper - - - - - - - diff --git a/iCubGenova09/calibrators/right_leg-calib.xml b/iCubGenova09/calibrators/right_leg-calib.xml index 8cfc5c0449..0c38732c8e 100644 --- a/iCubGenova09/calibrators/right_leg-calib.xml +++ b/iCubGenova09/calibrators/right_leg-calib.xml @@ -35,11 +35,11 @@ - right_leg-mc_wrapper + right_leg-mc_remapper - right_leg-mc_wrapper + right_leg-mc_remapper diff --git a/iCubGenova09/calibrators/right_upperarm-calib.xml b/iCubGenova09/calibrators/right_upperarm-calib.xml deleted file mode 100644 index d28366ce50..0000000000 --- a/iCubGenova09/calibrators/right_upperarm-calib.xml +++ /dev/null @@ -1,49 +0,0 @@ - - - - - - - - - 4 - Right_UpperArm_Calibrator - - - - -30 30 0 45 - 10 10 10 10 - - - - 12 12 12 12 - 6074 11385 2211 47713 - 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 0.06 50.00 - 10.0 10.0 10.0 10.0 - 8000 8000 8000 8000 - 2 2 2 2 - - -(0 1 2 3) - - - right_upperarm-mc_wrapper - - - - right_upperarm-mc_wrapper - - - - - - - - diff --git a/iCubGenova09/calibrators/torso-calib.xml b/iCubGenova09/calibrators/torso-calib.xml index 9a2a0dce73..1c49710822 100644 --- a/iCubGenova09/calibrators/torso-calib.xml +++ b/iCubGenova09/calibrators/torso-calib.xml @@ -42,11 +42,11 @@ (0) (1) (2) - torso-mc_wrapper + torso-mc_remapper - torso-mc_wrapper + torso-mc_remapper diff --git a/iCubGenova09/cartesian/left_arm-cartesian.xml b/iCubGenova09/cartesian/left_arm-cartesian.xml index 702507b87e..26b163eabd 100644 --- a/iCubGenova09/cartesian/left_arm-cartesian.xml +++ b/iCubGenova09/cartesian/left_arm-cartesian.xml @@ -45,8 +45,8 @@ - torso-mc_wrapper - left_arm-mc_wrapper + torso-mc_remapper + left_arm-mc_remapper diff --git a/iCubGenova09/cartesian/right_arm-cartesian.xml b/iCubGenova09/cartesian/right_arm-cartesian.xml index 5f2bf0d2ea..410774aa4e 100644 --- a/iCubGenova09/cartesian/right_arm-cartesian.xml +++ b/iCubGenova09/cartesian/right_arm-cartesian.xml @@ -45,8 +45,8 @@ - torso-mc_wrapper - right_arm-mc_wrapper + torso-mc_remapper + right_arm-mc_remapper diff --git a/iCubGenova09/head-face.xml b/iCubGenova09/head-face.xml index f7e938c4b9..a74f5da452 100644 --- a/iCubGenova09/head-face.xml +++ b/iCubGenova09/head-face.xml @@ -9,14 +9,20 @@ + + + + + + + + - - diff --git a/iCubGenova09/icub_all.xml b/iCubGenova09/icub_all.xml index 04f0decfee..869b860782 100644 --- a/iCubGenova09/icub_all.xml +++ b/iCubGenova09/icub_all.xml @@ -7,34 +7,31 @@ - + + - - - - - - - - - - - - + + - - - - - - - - - - - + + + + + + + + + + + + + + + + @@ -42,7 +39,6 @@ - @@ -50,20 +46,37 @@ - - - - - + + - - - - + + + + + + + + + + + + + + + + + + + + + + + + @@ -73,7 +86,7 @@ - --> + diff --git a/iCubGenova09/icub_all_inertials.xml b/iCubGenova09/icub_all_inertials.xml index ca504dcf48..39e04bf3db 100644 --- a/iCubGenova09/icub_all_inertials.xml +++ b/iCubGenova09/icub_all_inertials.xml @@ -8,38 +8,34 @@ - - - - - - - - + + - - - - - + - - - - - - - - - - - - - - - + + + + + + + + + + + + + + + + + + + + @@ -107,6 +103,7 @@ + diff --git a/iCubGenova09/icub_all_no_legs.xml b/iCubGenova09/icub_all_no_legs.xml index 9b4dcecca0..61c7d1b7d3 100644 --- a/iCubGenova09/icub_all_no_legs.xml +++ b/iCubGenova09/icub_all_no_legs.xml @@ -12,18 +12,30 @@ + + + + + + + + + + + + + + - + --> + - @@ -37,7 +49,6 @@ - @@ -45,7 +56,6 @@ - diff --git a/iCubGenova09/icub_foc.xml b/iCubGenova09/icub_foc.xml index ced93c4662..3e2d518092 100644 --- a/iCubGenova09/icub_foc.xml +++ b/iCubGenova09/icub_foc.xml @@ -3,33 +3,42 @@ - + + + + + + + + + + + + + + + - - - - - - - - - + + + + + - - - - - - - + + + + + + @@ -40,6 +49,6 @@ - + diff --git a/iCubGenova09/icub_h_f_RL_a.xml b/iCubGenova09/icub_h_f_RL_a.xml index e9a34ca608..4114736f82 100644 --- a/iCubGenova09/icub_h_f_RL_a.xml +++ b/iCubGenova09/icub_h_f_RL_a.xml @@ -12,20 +12,28 @@ + + + + + + + + + + + + + - - - - - @@ -33,7 +41,6 @@ - @@ -41,7 +48,6 @@ - diff --git a/iCubGenova09/icub_left_leg.xml b/iCubGenova09/icub_left_leg.xml index 32e88472f0..4ec538a186 100644 --- a/iCubGenova09/icub_left_leg.xml +++ b/iCubGenova09/icub_left_leg.xml @@ -8,10 +8,14 @@ + + + + + - diff --git a/iCubGenova09/icub_legs.xml b/iCubGenova09/icub_legs.xml index 6e04dbe3b4..aa0fe73dbe 100644 --- a/iCubGenova09/icub_legs.xml +++ b/iCubGenova09/icub_legs.xml @@ -8,15 +8,20 @@ + + + + + + + - - diff --git a/iCubGenova09/icub_legs_mcOnly.xml b/iCubGenova09/icub_legs_mcOnly.xml index 7168c0d421..537523c6fe 100644 --- a/iCubGenova09/icub_legs_mcOnly.xml +++ b/iCubGenova09/icub_legs_mcOnly.xml @@ -7,17 +7,22 @@ + + + + + + + - - diff --git a/iCubGenova09/icub_legs_rarm.xml b/iCubGenova09/icub_legs_rarm.xml index ca79eee2fd..1bcd58c65e 100644 --- a/iCubGenova09/icub_legs_rarm.xml +++ b/iCubGenova09/icub_legs_rarm.xml @@ -7,26 +7,31 @@ + + + + + + + + - - - diff --git a/iCubGenova09/icub_right_leg.xml b/iCubGenova09/icub_right_leg.xml index bb9f52effb..cb7afaf83e 100644 --- a/iCubGenova09/icub_right_leg.xml +++ b/iCubGenova09/icub_right_leg.xml @@ -8,17 +8,17 @@ - + + + + - - - - - + + diff --git a/iCubGenova09/icub_torso.xml b/iCubGenova09/icub_torso.xml index 5444bfdf1f..9b7219e21e 100644 --- a/iCubGenova09/icub_torso.xml +++ b/iCubGenova09/icub_torso.xml @@ -8,10 +8,15 @@ - + + + + + + - + diff --git a/iCubGenova09/icub_wbd.xml b/iCubGenova09/icub_wbd.xml index f9711c3c05..ae9bd425e7 100644 --- a/iCubGenova09/icub_wbd.xml +++ b/iCubGenova09/icub_wbd.xml @@ -7,26 +7,31 @@ - - - - - - - - - - - + + + + + - - - + + + + + + + + + + + + + + + @@ -34,7 +39,6 @@ - @@ -42,17 +46,24 @@ - - - + + + + + + + + + + diff --git a/iCubGenova09/legs-wbd.xml b/iCubGenova09/legs-wbd.xml index 5644b11d97..7503a7057e 100644 --- a/iCubGenova09/legs-wbd.xml +++ b/iCubGenova09/legs-wbd.xml @@ -13,28 +13,31 @@ --> + + + + + + + + + + + - - - - - - + + - - - - + + - - + + + + - - - - + diff --git a/iCubGenova09/rl.xml b/iCubGenova09/rl.xml index c44238140a..bdf0e68b33 100644 --- a/iCubGenova09/rl.xml +++ b/iCubGenova09/rl.xml @@ -8,14 +8,16 @@ + + + + + - - - - + diff --git a/iCubGenova09/test_head.xml b/iCubGenova09/test_head.xml index 3d552a8918..bb17b9e11d 100644 --- a/iCubGenova09/test_head.xml +++ b/iCubGenova09/test_head.xml @@ -8,14 +8,19 @@ + + + + + + + - - diff --git a/iCubGenova09/test_left_arm.xml b/iCubGenova09/test_left_arm.xml index 4a99289f24..ccbeac784c 100644 --- a/iCubGenova09/test_left_arm.xml +++ b/iCubGenova09/test_left_arm.xml @@ -7,13 +7,17 @@ + + + + + - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/iCubGenova09/test_left_upperarm.xml b/iCubGenova09/test_left_upperarm.xml deleted file mode 100644 index 56e4b72bf6..0000000000 --- a/iCubGenova09/test_left_upperarm.xml +++ /dev/null @@ -1,48 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/iCubGenova09/test_right_arm.xml b/iCubGenova09/test_right_arm.xml index 5acc68ca8f..09e9926376 100644 --- a/iCubGenova09/test_right_arm.xml +++ b/iCubGenova09/test_right_arm.xml @@ -7,7 +7,10 @@ - + + + + @@ -15,7 +18,6 @@ - diff --git a/iCubGenova09/test_right_forearm.xml b/iCubGenova09/test_right_forearm.xml deleted file mode 100644 index b26e716ff3..0000000000 --- a/iCubGenova09/test_right_forearm.xml +++ /dev/null @@ -1,49 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/iCubGenova09/test_right_upperarm.xml b/iCubGenova09/test_right_upperarm.xml deleted file mode 100644 index 54300d9b26..0000000000 --- a/iCubGenova09/test_right_upperarm.xml +++ /dev/null @@ -1,49 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/iCubGenova09/test_upper_body.xml b/iCubGenova09/test_upper_body.xml deleted file mode 100644 index c93f0bf5a8..0000000000 --- a/iCubGenova09/test_upper_body.xml +++ /dev/null @@ -1,53 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/iCubGenova09/test_upper_norightshoulder.xml b/iCubGenova09/test_upper_norightshoulder.xml deleted file mode 100644 index 029a2db079..0000000000 --- a/iCubGenova09/test_upper_norightshoulder.xml +++ /dev/null @@ -1,48 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/iCubGenova09/upper-body.xml b/iCubGenova09/upper-body.xml index 691b12f1d2..60128d7a72 100644 --- a/iCubGenova09/upper-body.xml +++ b/iCubGenova09/upper-body.xml @@ -13,20 +13,28 @@ --> + + + + + + + + + + + + + - - - - - @@ -34,7 +42,6 @@ - @@ -42,7 +49,6 @@ - diff --git a/iCubGenova09/wrappers/motorControl/alljoints-mc_remapper.xml b/iCubGenova09/wrappers/motorControl/alljoints-mc_remapper.xml new file mode 100644 index 0000000000..5873b4fabc --- /dev/null +++ b/iCubGenova09/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/iCubGenova09/wrappers/motorControl/alljoints-mc_ros_wrapper.xml b/iCubGenova09/wrappers/motorControl/alljoints-mc_ros_wrapper.xml new file mode 100644 index 0000000000..6aa7a31dc7 --- /dev/null +++ b/iCubGenova09/wrappers/motorControl/alljoints-mc_ros_wrapper.xml @@ -0,0 +1,11 @@ + + + + + /yri_controlBoard_nws_ros + /all_joints + + alljoints-mc_remapper + + + diff --git a/iCubGenova09/wrappers/motorControl/face-mc_remapper.xml b/iCubGenova09/wrappers/motorControl/face-mc_remapper.xml new file mode 100644 index 0000000000..16f729d9a1 --- /dev/null +++ b/iCubGenova09/wrappers/motorControl/face-mc_remapper.xml @@ -0,0 +1,15 @@ + + + + + + ( 0 0 0 0 ) + + 1 + + + face-eb22-j0-mc + + + + diff --git a/iCubGenova09/wrappers/motorControl/face-mc_wrapper.xml b/iCubGenova09/wrappers/motorControl/face-mc_wrapper.xml index f9adc60ffb..d5c45c73bf 100644 --- a/iCubGenova09/wrappers/motorControl/face-mc_wrapper.xml +++ b/iCubGenova09/wrappers/motorControl/face-mc_wrapper.xml @@ -1,29 +1,10 @@ - + - - - - - (0 0 0 0) - - - - 10 - /icub/face - face - 1 - - - - - face-eb22-j0-mc - face-calibrator - - - - - - - - + + /icub/face + + face-mc_remapper + + + diff --git a/iCubGenova09/wrappers/motorControl/head-mc_remapper.xml b/iCubGenova09/wrappers/motorControl/head-mc_remapper.xml new file mode 100644 index 0000000000..18ee4dd4f1 --- /dev/null +++ b/iCubGenova09/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/iCubGenova09/wrappers/motorControl/head-mc_wrapper.xml b/iCubGenova09/wrappers/motorControl/head-mc_wrapper.xml index 3db3d9823a..06e2825805 100644 --- a/iCubGenova09/wrappers/motorControl/head-mc_wrapper.xml +++ b/iCubGenova09/wrappers/motorControl/head-mc_wrapper.xml @@ -1,28 +1,10 @@ - + - - - - (0 1 0 1) - (2 5 0 3) - - - 10 - /icub/head - head - 6 - - - - - head-eb20-j0_1-mc - head-eb21-j2_5-mc - head-calibrator - - - - - - - + + /icub/head + + head-mc_remapper + + + diff --git a/iCubGenova09/wrappers/motorControl/left_arm-mc_remapper.xml b/iCubGenova09/wrappers/motorControl/left_arm-mc_remapper.xml new file mode 100644 index 0000000000..7babdbde9e --- /dev/null +++ b/iCubGenova09/wrappers/motorControl/left_arm-mc_remapper.xml @@ -0,0 +1,23 @@ + + + + + + ( 0 1 0 1 ) + ( 2 3 0 1 ) + ( 4 7 0 3 ) + ( 8 11 0 3 ) + ( 12 15 0 3 ) + + 16 + + + left_arm-eb1-j0_1-mc + left_arm-eb2-j2_3-mc + left_arm-eb24-j4_7-mc + left_arm-eb25-j8_11-mc + left_arm-eb26-j12_15-mc + + + + diff --git a/iCubGenova09/wrappers/motorControl/left_arm-mc_wrapper.xml b/iCubGenova09/wrappers/motorControl/left_arm-mc_wrapper.xml index 7d3206a54f..caf7f8bb4b 100644 --- a/iCubGenova09/wrappers/motorControl/left_arm-mc_wrapper.xml +++ b/iCubGenova09/wrappers/motorControl/left_arm-mc_wrapper.xml @@ -1,35 +1,10 @@ - + - - - - - - (0 1 0 1) - (2 3 0 1) - (4 7 0 3) - (8 11 0 3) - (12 15 0 3) - - - 10 - /icub/left_arm - left_arm - 16 - - - - - left_arm-eb1-j0_1-mc - left_arm-eb2-j2_3-mc - left_arm-eb24-j4_7-mc - left_arm-eb25-j8_11-mc - left_arm-eb26-j12_15-mc - left_arm-calibrator - - - - - - - + + + /icub/left_arm + + left_arm-mc_remapper + + + diff --git a/iCubGenova09/wrappers/motorControl/left_forearm-mc_wrapper.xml b/iCubGenova09/wrappers/motorControl/left_forearm-mc_wrapper.xml deleted file mode 100644 index f62cf74861..0000000000 --- a/iCubGenova09/wrappers/motorControl/left_forearm-mc_wrapper.xml +++ /dev/null @@ -1,31 +0,0 @@ - - - - - - - - (0 3 0 3) - (4 7 0 3) - (8 11 0 3) - - - 10 - /icub/left_forearm - left_forearm - 12 - - - - - left_arm-eb24-j4_7-mc - left_arm-eb25-j8_11-mc - left_arm-eb26-j12_15-mc - left_forearm-calibrator - - - - - - - diff --git a/iCubGenova09/wrappers/motorControl/left_leg-mc_remapper.xml b/iCubGenova09/wrappers/motorControl/left_leg-mc_remapper.xml new file mode 100644 index 0000000000..88ef2eb0fb --- /dev/null +++ b/iCubGenova09/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/iCubGenova09/wrappers/motorControl/left_leg-mc_wrapper.xml b/iCubGenova09/wrappers/motorControl/left_leg-mc_wrapper.xml index 27d32aac00..64e5ab7e13 100644 --- a/iCubGenova09/wrappers/motorControl/left_leg-mc_wrapper.xml +++ b/iCubGenova09/wrappers/motorControl/left_leg-mc_wrapper.xml @@ -1,32 +1,10 @@ - + - - - - - - (0 2 0 2) - (3 5 0 2) - - - - 10 - /icub/left_leg - left_leg - 6 - - - - - - left_leg-eb7-j0_2-mc - left_leg-eb8-j3_5-mc - - left_leg-calibrator - - - - - - - + + + /icub/left_leg + + left_leg-mc_remapper + + + diff --git a/iCubGenova09/wrappers/motorControl/left_upperarm-mc_wrapper.xml b/iCubGenova09/wrappers/motorControl/left_upperarm-mc_wrapper.xml deleted file mode 100644 index ff04e90aec..0000000000 --- a/iCubGenova09/wrappers/motorControl/left_upperarm-mc_wrapper.xml +++ /dev/null @@ -1,29 +0,0 @@ - - - - - - - - (0 1 0 1) - (2 3 0 1) - - - 10 - /icub/left_upperarm - left_upperarm - 4 - - - - - left_arm-eb1-j0_1-mc - left_arm-eb2-j2_3-mc - left_upperarm-calibrator - - - - - - - diff --git a/iCubGenova09/wrappers/motorControl/right_arm-mc_remapper.xml b/iCubGenova09/wrappers/motorControl/right_arm-mc_remapper.xml new file mode 100644 index 0000000000..604b8dd3ec --- /dev/null +++ b/iCubGenova09/wrappers/motorControl/right_arm-mc_remapper.xml @@ -0,0 +1,23 @@ + + + + + + ( 0 1 0 1 ) + ( 2 3 0 1 ) + ( 4 7 0 3 ) + ( 8 11 0 3 ) + ( 12 15 0 3 ) + + 16 + + + right_arm-eb3-j0_1-mc + right_arm-eb4-j2_3-mc + right_arm-eb27-j4_7-mc + right_arm-eb28-j8_11-mc + right_arm-eb29-j12_15-mc + + + + diff --git a/iCubGenova09/wrappers/motorControl/right_arm-mc_wrapper.xml b/iCubGenova09/wrappers/motorControl/right_arm-mc_wrapper.xml index 0b0adb0daa..15bc4d3c12 100644 --- a/iCubGenova09/wrappers/motorControl/right_arm-mc_wrapper.xml +++ b/iCubGenova09/wrappers/motorControl/right_arm-mc_wrapper.xml @@ -1,35 +1,10 @@ - + - - - - - - (0 1 0 1) - (2 3 0 1) - (4 7 0 3) - (8 11 0 3) - (12 15 0 3) - - - 10 - /icub/right_arm - right_arm - 16 - - - - - right_arm-eb3-j0_1-mc - right_arm-eb4-j2_3-mc - right_arm-eb27-j4_7-mc - right_arm-eb28-j8_11-mc - right_arm-eb29-j12_15-mc - right_arm-calibrator - - - - - - - + + + /icub/right_arm + + right_arm-mc_remapper + + + diff --git a/iCubGenova09/wrappers/motorControl/right_forearm-mc_wrapper.xml b/iCubGenova09/wrappers/motorControl/right_forearm-mc_wrapper.xml deleted file mode 100644 index 523e3f4f04..0000000000 --- a/iCubGenova09/wrappers/motorControl/right_forearm-mc_wrapper.xml +++ /dev/null @@ -1,29 +0,0 @@ - - - - - - - (0 3 0 3) - (4 7 0 3) - (8 11 0 3) - - - 10 - /icub/right_forearm - right_forearm - 12 - - - - right_arm-eb27-j4_7-mc - right_arm-eb28-j8_11-mc - right_arm-eb29-j12_15-mc - right_forearm-calibrator - - - - - - - diff --git a/iCubGenova09/wrappers/motorControl/right_leg-mc_remapper.xml b/iCubGenova09/wrappers/motorControl/right_leg-mc_remapper.xml new file mode 100644 index 0000000000..605ba79306 --- /dev/null +++ b/iCubGenova09/wrappers/motorControl/right_leg-mc_remapper.xml @@ -0,0 +1,16 @@ + + + + + ( 0 2 0 2 ) + ( 3 5 0 2 ) + + 6 + + + right_leg-eb11-j0_2-mc + right_leg-eb12-j3_5-mc + + + + diff --git a/iCubGenova09/wrappers/motorControl/right_leg-mc_wrapper.xml b/iCubGenova09/wrappers/motorControl/right_leg-mc_wrapper.xml index 997b4e21ed..63ef3cb4a7 100644 --- a/iCubGenova09/wrappers/motorControl/right_leg-mc_wrapper.xml +++ b/iCubGenova09/wrappers/motorControl/right_leg-mc_wrapper.xml @@ -1,30 +1,10 @@ - + - - - - - - (0 2 0 2) - (3 5 0 2) - - - 10 - /icub/right_leg - right_leg - 6 - - - - - - right_leg-eb11-j0_2-mc - right_leg-eb12-j3_5-mc - right_leg-calibrator - - - - - - - + + + /icub/right_leg + + right_leg-mc_remapper + + + diff --git a/iCubGenova09/wrappers/motorControl/right_upperarm-mc_wrapper.xml b/iCubGenova09/wrappers/motorControl/right_upperarm-mc_wrapper.xml deleted file mode 100644 index ce7b901dd5..0000000000 --- a/iCubGenova09/wrappers/motorControl/right_upperarm-mc_wrapper.xml +++ /dev/null @@ -1,29 +0,0 @@ - - - - - - - - (0 1 0 1) - (2 3 0 1) - - - 10 - /icub/right_upperarm - right_upperarm - 4 - - - - - right_arm-eb3-j0_1-mc - right_arm-eb4-j2_3-mc - right_upperarm-calibrator - - - - - - - diff --git a/iCubGenova09/wrappers/motorControl/torso-mc_remapper.xml b/iCubGenova09/wrappers/motorControl/torso-mc_remapper.xml new file mode 100644 index 0000000000..68c2555293 --- /dev/null +++ b/iCubGenova09/wrappers/motorControl/torso-mc_remapper.xml @@ -0,0 +1,15 @@ + + + + + + ( 0 2 0 2 ) + + 3 + + + torso-eb5-j0_2-mc + + + + diff --git a/iCubGenova09/wrappers/motorControl/torso-mc_wrapper.xml b/iCubGenova09/wrappers/motorControl/torso-mc_wrapper.xml index 56d0629d51..89cf257cd6 100644 --- a/iCubGenova09/wrappers/motorControl/torso-mc_wrapper.xml +++ b/iCubGenova09/wrappers/motorControl/torso-mc_wrapper.xml @@ -1,28 +1,10 @@ - + - - - - - - (0 2 0 2) - - - 10 - /icub/torso - torso - 3 - - - - - - torso-eb5-j0_2-mc - torso-calibrator - - - - - - - + + + /icub/torso + + torso-mc_remapper + + + From cbbd7f0f93d581daa9261111bfd237e09f584fe6 Mon Sep 17 00:00:00 2001 From: tumme Date: Tue, 1 Mar 2022 08:52:44 +0100 Subject: [PATCH 2/8] added folder for MC V6 Template --- .../iCubTemplateV6_0/calibrators/ToBeDone.txt | 0 .../calibrators/body_part-calib.xml | 52 +++ .../iCubTemplateV6_0/camera/ToBeDone.txt | 0 .../iCubTemplateV6_0/cartesian/ToBeDone.txt | 0 .../iCubTemplateV6_0/estimators/ToBeDone.txt | 0 .../iCubTemplateV6_0/firmwareupdater.ini | 2 + iCubTemplates/iCubTemplateV6_0/general.xml | 15 + .../hardware/FT/body_part-ebX-strain.xml | 90 ++++ .../hardware/FT/body_part-ebX-strain2.xml | 86 ++++ .../hardware/MAIS/body_part-ebX-mais.xml | 81 ++++ .../electronics/body_part--ebX-jA_B-eln.xml | 111 +++++ .../electronics/communication-howto.txt | 400 ++++++++++++++++++ .../hardware/electronics/pc104.xml | 38 ++ .../hardware/inertials/body_part-ebX-IMU.xml | 77 ++++ .../inertials/body_part-ebX-inertials.xml | 104 +++++ .../mechanicals/body_part-ebX-jA_B-mec.xml | 91 ++++ .../body_part--ebX-jA_B-mc-service.xml | 84 ++++ .../motorControl/body_part--ebX-jA_B-mc.xml | 159 +++++++ .../hardware/skin/body_part-ebX-skin.xml | 68 +++ .../hardware/skin/body_part-ebX-skinSpec.xml | 82 ++++ iCubTemplates/iCubTemplateV6_0/icub_all.xml | 103 +++++ .../network.YARP_ROBOT_NAME.xml | 143 +++++++ .../FT/body_part-FT-wrapper_multipleSens.xml | 18 + .../iCubTemplateV6_0/wrappers/ToBeDone.txt | 0 .../inertials/body_part-imu-wrapper.xml | 20 + .../iCubTemplateV6_0/yarprobotinterface.ini | 2 + 26 files changed, 1826 insertions(+) create mode 100644 iCubTemplates/iCubTemplateV6_0/calibrators/ToBeDone.txt create mode 100644 iCubTemplates/iCubTemplateV6_0/calibrators/body_part-calib.xml create mode 100644 iCubTemplates/iCubTemplateV6_0/camera/ToBeDone.txt create mode 100644 iCubTemplates/iCubTemplateV6_0/cartesian/ToBeDone.txt create mode 100644 iCubTemplates/iCubTemplateV6_0/estimators/ToBeDone.txt create mode 100644 iCubTemplates/iCubTemplateV6_0/firmwareupdater.ini create mode 100644 iCubTemplates/iCubTemplateV6_0/general.xml create mode 100644 iCubTemplates/iCubTemplateV6_0/hardware/FT/body_part-ebX-strain.xml create mode 100644 iCubTemplates/iCubTemplateV6_0/hardware/FT/body_part-ebX-strain2.xml create mode 100644 iCubTemplates/iCubTemplateV6_0/hardware/MAIS/body_part-ebX-mais.xml create mode 100644 iCubTemplates/iCubTemplateV6_0/hardware/electronics/body_part--ebX-jA_B-eln.xml create mode 100644 iCubTemplates/iCubTemplateV6_0/hardware/electronics/communication-howto.txt create mode 100644 iCubTemplates/iCubTemplateV6_0/hardware/electronics/pc104.xml create mode 100644 iCubTemplates/iCubTemplateV6_0/hardware/inertials/body_part-ebX-IMU.xml create mode 100644 iCubTemplates/iCubTemplateV6_0/hardware/inertials/body_part-ebX-inertials.xml create mode 100644 iCubTemplates/iCubTemplateV6_0/hardware/mechanicals/body_part-ebX-jA_B-mec.xml create mode 100644 iCubTemplates/iCubTemplateV6_0/hardware/motorControl/body_part--ebX-jA_B-mc-service.xml create mode 100644 iCubTemplates/iCubTemplateV6_0/hardware/motorControl/body_part--ebX-jA_B-mc.xml create mode 100644 iCubTemplates/iCubTemplateV6_0/hardware/skin/body_part-ebX-skin.xml create mode 100644 iCubTemplates/iCubTemplateV6_0/hardware/skin/body_part-ebX-skinSpec.xml create mode 100644 iCubTemplates/iCubTemplateV6_0/icub_all.xml create mode 100644 iCubTemplates/iCubTemplateV6_0/network.YARP_ROBOT_NAME.xml create mode 100644 iCubTemplates/iCubTemplateV6_0/wrappers/FT/body_part-FT-wrapper_multipleSens.xml create mode 100644 iCubTemplates/iCubTemplateV6_0/wrappers/ToBeDone.txt create mode 100644 iCubTemplates/iCubTemplateV6_0/wrappers/inertials/body_part-imu-wrapper.xml create mode 100644 iCubTemplates/iCubTemplateV6_0/yarprobotinterface.ini 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..6b21bb5ba0 --- /dev/null +++ b/iCubTemplates/iCubTemplateV6_0/hardware/motorControl/body_part--ebX-jA_B-mc.xml @@ -0,0 +1,159 @@ + + + + + + + + + + + -10 + 10 + 10 + 100 + 100 + 100 + 100 + + + + 10 + + + + name + name + name + name + + + + Pid_inPos_outPwm + metric_units + dutycycle_percent + 0 + 0 + 0 + 0 + 0 + 0 + 0 + 0 + 0 + + + + PidPos_withInnerVelPid + metric_units + dutycycle_percent + 0 + 0 + 0 + 0 + 0 + 0 + 0 + 0 + 0 + 0 + 0 + 0 + 0 + 0 + 0 + 0 + 0 + 0 + 0 + 0 + + + + Pid_inTrq_outPwm + metric_units + dutycycle_percent + 0 + 0 + 0 + 0 + 0 + 0 + 0 + 0 + 0 + 0 + 0 + 0 + 0 + + + + PidTrq_withInnerVelPid + metric_units + dutycycle_percent + 0 + 0 + 0 + 0 + 0 + 0 + 0 + 0 + 0 + 0 + 0 + 0 + 0 + 0 + 0 + 0 + 0 + 0 + 0 + 0 + 0 + 0 + 0 + + + + 1 + 1 + + + + limitscurrent + machine_units + machine_units + 0 + 0 + 0 + 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 + From 814f85afbfc4e1e3220f1d844db24a21ed999e88 Mon Sep 17 00:00:00 2001 From: tumme Date: Tue, 1 Mar 2022 11:50:35 +0100 Subject: [PATCH 3/8] added some comments for MC V6 Template --- .../motorControl/body_part--ebX-jA_B-mc.xml | 221 +++++++++--------- 1 file changed, 108 insertions(+), 113 deletions(-) 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 index 6b21bb5ba0..4c98e7a84b 100644 --- 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 @@ -14,140 +14,136 @@ 100 100 + use this value for the integration of I2T. It is expressed in [mA]. In datasheet it is found under the name "peak stall current". --> 100 100 - 10 + 10 + + - name - name - name - name + + name + name + name + + name + name + name - - - Pid_inPos_outPwm - metric_units - dutycycle_percent - 0 - 0 - 0 - 0 - 0 - 0 - 0 - 0 - 0 + + + + + minjerk + pwm + metric_units + machine_units + 0 + 0 + 0 + 0 + 0 + 0 + 0 + 0 - - - PidPos_withInnerVelPid - metric_units - dutycycle_percent - 0 - 0 - 0 - 0 - 0 - 0 - 0 - 0 - 0 - 0 - 0 - 0 - 0 - 0 - 0 - 0 - 0 - 0 - 0 - 0 + + + + + minjerk + current + metric_units + machine_units + 0 + 0 + 0 + 0 + 0 + 0 + 0 + 0 - - - Pid_inTrq_outPwm - metric_units - dutycycle_percent - 0 - 0 - 0 - 0 - 0 - 0 - 0 - 0 - 0 - 0 - 0 - 0 - 0 + + + minjerk + velocity + machine_units + machine_units + 5 + 0 + 0 + 1 + - - PidTrq_withInnerVelPid - metric_units - dutycycle_percent - 0 - 0 - 0 - 0 - 0 - 0 - 0 - 0 - 0 - 0 - 0 - 0 - 0 - 0 - 0 - 0 - 0 - 0 - 0 - 0 - 0 - 0 - 0 - + + torque + pwm + metric_units + machine_units + 0 + 0 + 0 + 0 + 0 + 0 + 0 + 0 + 0 + 0 + 0 + 0 + 1 1 - - limitscurrent - machine_units - machine_units - 0 - 0 - 0 - 0 - 0 - 0 - 0 - 0 - 0 - 0 + + + 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 - + - @@ -156,4 +152,3 @@ - From 83158228899b708bad87b65f996a21ddebab574d Mon Sep 17 00:00:00 2001 From: tumme Date: Tue, 1 Mar 2022 11:51:42 +0100 Subject: [PATCH 4/8] added some comments for MC V6 Template --- .../hardware/motorControl/body_part--ebX-jA_B-mc.xml | 10 +++------- 1 file changed, 3 insertions(+), 7 deletions(-) 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 index 4c98e7a84b..12a4d2487a 100644 --- 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 @@ -24,14 +24,10 @@ 10 - + currentPid and speddPid are used only if 2FOC boards are present. --> + + + + POS_CTRL_DEFAULT + POS_CTRL_DEFAULT + POS_CTRL_DEFAULT + + + TRQ_CTRL_DEFAULT + 2FOC_CUR_CONTROL + 2FOC_VEL_CONTROL + + + + 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 + + + + + POS_CTRL_DEFAULT + POS_CTRL_DEFAULT + POS_CTRL_DEFAULT + + + none + none + none + + + + + JOINT_MINJERK_OUT_VEL_CTRL JOINT_MINJERK_OUT_VEL_CTRL + JOINT_MINJERK_OUT_VEL_CTRL JOINT_MINJERK_OUT_VEL_CTRL + JOINT_MINJERK_OUT_VEL_CTRL JOINT_MINJERK_OUT_VEL_CTRL + none none + + 2FOC_CUR_CONTROL 2FOC_CUR_CONTROL + 2FOC_VEL_CONTROL 2FOC_VEL_CONTROL + + + + minjerk + pwm + metric_units + machine_units + -711.0 -1066.0 + 0.0 0.0 + -7111.0 -1066.0 + 8000 8000 + 750 1000 + 0 0 + 0 0 + 0.0 0.0 + + + + + minjerk + velocity + machine_units + machine_units + 1 1 + 5 5 + 0 0 + 32000 32000 + + + + low_lev_speed + machine_units + machine_units + 0 0 + 12 12 + 0 0 + 16 16 + 10 10 + 32000 32000 + 32000 32000 + + + + + + minjerk + pwm + metric_units + machine_units + -711.0 -1066.0 + 0.0 0.0 + -7111.0 -1066.0 + 8000 8000 + 750 1000 + 0 0 + 0 0 + 0.0 0.0 + + + + torque + pwm + metric_units + dutycycle_percent + 200 -200 + 0 0 + 0 0 + 8000 8000 + 500 500 + 0 0 + 0 0 + 0 0 + 1 1 + 0 0 + 0 0 + 0 0 + From 66cd1ba77434b42cef25afee1835307fc2e9e717 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Davide=20Tom=C3=A9?= Date: Tue, 15 Mar 2022 15:19:21 +0100 Subject: [PATCH 6/8] Update icub_wbd.xml --- iCubGenova09/icub_wbd.xml | 1 - 1 file changed, 1 deletion(-) diff --git a/iCubGenova09/icub_wbd.xml b/iCubGenova09/icub_wbd.xml index dd43166255..2fcadd03b2 100644 --- a/iCubGenova09/icub_wbd.xml +++ b/iCubGenova09/icub_wbd.xml @@ -9,7 +9,6 @@ - From 0c4bb8b5c076317f31e33ec8e6be4656e7b526cd Mon Sep 17 00:00:00 2001 From: Davide Date: Wed, 16 Mar 2022 12:24:34 +0100 Subject: [PATCH 7/8] fixed template --- .../motorControl/body_part--ebX-jA_B-mc.xml | 147 +----------------- 1 file changed, 4 insertions(+), 143 deletions(-) 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 index df62458d28..c9b3b0ff19 100644 --- 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 @@ -8,8 +8,8 @@ - -10 - 10 + -10 + 10 10 100 @@ -37,8 +37,8 @@ name name - name - name + name + name @@ -144,144 +144,5 @@ - for joints with amo encoder it is 0.0049 degree --> - - - POS_CTRL_DEFAULT - POS_CTRL_DEFAULT - POS_CTRL_DEFAULT - - - TRQ_CTRL_DEFAULT - 2FOC_CUR_CONTROL - 2FOC_VEL_CONTROL - - - - 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 - - - - - POS_CTRL_DEFAULT - POS_CTRL_DEFAULT - POS_CTRL_DEFAULT - - - none - none - none - - - - - JOINT_MINJERK_OUT_VEL_CTRL JOINT_MINJERK_OUT_VEL_CTRL - JOINT_MINJERK_OUT_VEL_CTRL JOINT_MINJERK_OUT_VEL_CTRL - JOINT_MINJERK_OUT_VEL_CTRL JOINT_MINJERK_OUT_VEL_CTRL - none none - - 2FOC_CUR_CONTROL 2FOC_CUR_CONTROL - 2FOC_VEL_CONTROL 2FOC_VEL_CONTROL - - - - minjerk - pwm - metric_units - machine_units - -711.0 -1066.0 - 0.0 0.0 - -7111.0 -1066.0 - 8000 8000 - 750 1000 - 0 0 - 0 0 - 0.0 0.0 - - - - - minjerk - velocity - machine_units - machine_units - 1 1 - 5 5 - 0 0 - 32000 32000 - - - - low_lev_speed - machine_units - machine_units - 0 0 - 12 12 - 0 0 - 16 16 - 10 10 - 32000 32000 - 32000 32000 - - - - - - minjerk - pwm - metric_units - machine_units - -711.0 -1066.0 - 0.0 0.0 - -7111.0 -1066.0 - 8000 8000 - 750 1000 - 0 0 - 0 0 - 0.0 0.0 - - - - torque - pwm - metric_units - dutycycle_percent - 200 -200 - 0 0 - 0 0 - 8000 8000 - 500 500 - 0 0 - 0 0 - 0 0 - 1 1 - 0 0 - 0 0 - 0 0 - - - - From d1fb186166b625b0ccb6253603ace3e4ec7cdc76 Mon Sep 17 00:00:00 2001 From: Valentina Gaggero Date: Fri, 18 Mar 2022 14:14:30 +0100 Subject: [PATCH 8/8] Updated body_part--ebX-jA_B-mc.xml of mc version 6 --- .../motorControl/body_part--ebX-jA_B-mc.xml | 39 ++++++++++++------- 1 file changed, 24 insertions(+), 15 deletions(-) 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 index c9b3b0ff19..83105f5150 100644 --- 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 @@ -24,21 +24,27 @@ 10 - + + - - name - name - name + + user_name_tag_of_position_control + user_name_tag_of_position_control + user_name_tag_of_position_control - name - name - name + user_name_tag_of_torque_control + user_name_tag_of_current_control + user_name_tag_of_low-level_speed_control @@ -58,10 +64,11 @@ 0 - - + - minjerk + minjerk current metric_units machine_units @@ -82,7 +89,9 @@ machine_units 5 0 + 0 0 + 0 1