diff --git a/iCubGenova09/calibrators/left_arm-calib.xml b/iCubGenova09/calibrators/left_arm-calib.xml
index 0dc2385ff3..6a2dea3338 100644
--- a/iCubGenova09/calibrators/left_arm-calib.xml
+++ b/iCubGenova09/calibrators/left_arm-calib.xml
@@ -12,27 +12,29 @@
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
+ 10 10 10 10 30 30 30 15 30 30 30 30 30 30 30 30
- 12 12 12 12 5 12 12 7 7 6 6 6 6 6 6 6
- -13691 19668 44530 53215 -1500 63919 12031 0 0 0 0 0 0 0 0 0
+ 4000 -3000 -3000 4000 -1500 63200 20250 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 1948 325 250 478 243 483 255 480 725
- 0 0 0 0 0 0 0 2073 2730 9 99 15 8 30 45 125
- 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
- 14 8 0 0 0 0 0 0 0 0 0 0 0 0 0 0
+ 0 0 0 0 0 0 0 2073 2730 9 99 15 8 30 90 165
+ 25 -8.4 -51.3 -5 0 0 0 0 0 0 0 0 0 0 0 0
+ 0 0 0 0 0 0 -16 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
+ 24 50 0 10 -75 0 0 15 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)
+ (2) (0) (1) (4) (3) (5 6) (7) (8 9) (11) (13) (10) (12) (14) (15)
+
+
left_arm-mc_remapper
diff --git a/iCubGenova09/calibrators/right_arm-calib.xml b/iCubGenova09/calibrators/right_arm-calib.xml
index 7b2644cbbe..7047f9e2c2 100644
--- a/iCubGenova09/calibrators/right_arm-calib.xml
+++ b/iCubGenova09/calibrators/right_arm-calib.xml
@@ -12,29 +12,30 @@
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
+ 10 10 10 10 30 30 30 15 30 30 30 30 30 30 30 30
- 12 12 12 12 5 12 12 7 7 6 6 6 6 6 6 6
- 5671 -10405 -2085 -47112 1500 36903 -15403 0 0 0 0 0 0 0 0 0
+ -4000 3000 3000 -4000 1500 36903 -15403 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 2540 1440 255 510 255 476 255 510 764
- 0 0 0 0 0 0 0 2618 2240 24 40 20 30 0 30 130
- 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
- 11 0 0 0 0 -5.5 -4 10 0 5 0 0 0 0 0 0
+ 0 0 0 0 0 0 0 2680 1440 255 497 255 476 255 510 764
+ 0 0 0 0 0 0 0 2780 2240 24 80 20 30 0 27 130
+ 25 -8.4 -51.3 -5 0 0 0 0 0 0 0 0 0 0 0 0
+ 0 0 0 0 0 -5.5 11 15 0 5 0 0 0 0 0 0
- -35 30 0 45 0 0 15 25 45 0 0 0 0 0 0 0
+ 24 50 0 10 -75 0 0 15 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 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
+ (2) (0) (1) (4) (3) (5 6) (7) (8 9) (11) (13) (10) (12) (14) (15)
- (1) (0) (2) (3) (4) (5 6) (8 9) (11) (13) (10) (12) (14) (15)
+
right_arm-mc_remapper
diff --git a/iCubGenova09/estimators/wholebodydynamics.xml b/iCubGenova09/estimators/wholebodydynamics.xml
index 8971f20b61..d29457c51f 100644
--- a/iCubGenova09/estimators/wholebodydynamics.xml
+++ b/iCubGenova09/estimators/wholebodydynamics.xml
@@ -6,7 +6,7 @@
(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)
+ (l_hand,r_hand,root_link,l_foot_front,l_foot_rear,r_upper_leg,r_foot_front,r_foot_rear,l_lower_leg,r_lower_leg)
imu_frame
true
2
@@ -14,11 +14,54 @@
false
true
3.0
- 3.0
+ 2.0
3.0
3.0
false
true
+ false
+ (1.0e-3, 1.0e-3, 1.0e-3,
+ 1.0e-3, 1.0e-3, 1.0e-3,
+ 1.0e-3, 1.0e-3, 1.0e-3, 1.0e-3, 1.0e-3, 1.0e-3, 1.0e-3,
+ 1.0e-3, 1.0e-3, 1.0e-3, 1.0e-3, 1.0e-3, 1.0e-3, 1.0e-3,
+ 1.0e-3, 1.0e-3, 1.0e-3, 1.0e-3, 1.0e-3, 1.0e-3,
+ 1.0e-3, 1.0e-3, 1.0e-3, 1.0e-3, 1.0e-3, 1.0e-3,
+ 1.0e-3, 1.0e-3, 1.0e-3,
+ 1.0e-3, 1.0e-3, 1.0e-3,
+ 1.0e-3, 1.0e-3, 1.0e-3, 1.0e-3, 1.0e-3, 1.0e-3, 1.0e-3,
+ 1.0e-3, 1.0e-3, 1.0e-3, 1.0e-3, 1.0e-3, 1.0e-3, 1.0e-3,
+ 1.0e-3, 1.0e-3, 1.0e-3, 1.0e-3, 1.0e-3, 1.0e-3,
+ 1.0e-3, 1.0e-3, 1.0e-3, 1.0e-3, 1.0e-3, 1.0e-3,
+ 1.0e+1, 1.0e+1, 1.0e+1,
+ 1.0e+1, 1.0e+1, 1.0e+1,
+ 1.0e+1, 1.0e+1, 1.0e+1, 1.0e+1, 1.0e+1, 1.0e+1, 1.0e+1,
+ 1.0e+1, 1.0e+1, 1.0e+1, 1.0e+1, 1.0e+1, 1.0e+1, 1.0e+1,
+ 1.0e+1, 1.0e+1, 1.0e+1, 1.0e+1, 1.0e+1, 1.0e+1,
+ 1.0e+1, 1.0e+1, 1.0e+1, 1.0e+1, 1.0e+1, 1.0e+1)
+ (1.0e-3, 1.0e-3, 1.0e-3,
+ 1.0e-3, 1.0e-3, 1.0e-3,
+ 1.0e-3, 1.0e-3, 1.0e-3, 1.0e-3, 1.0e-3, 1.0e-3, 1.0e-3,
+ 1.0e-3, 1.0e-3, 1.0e-3, 1.0e-3, 1.0e-3, 1.0e-3, 1.0e-3,
+ 1.0e-3, 1.0e-3, 1.0e-3, 1.0e-3, 1.0e-3, 1.0e-3,
+ 1.0e-3, 1.0e-3, 1.0e-3, 1.0e-3, 1.0e-3, 1.0e-3)
+ (5.0e-4, 5.0e-4, 5.0e-4,
+ 5.0e-4, 5.0e-4, 5.0e-4,
+ 5.0e-4, 5.0e-4, 5.0e-4, 5.0e-4, 5.0e-4, 5.0e-4, 5.0e-4,
+ 5.0e-4, 5.0e-4, 5.0e-4, 5.0e-4, 5.0e-4, 5.0e-4, 5.0e-4,
+ 5.0e-4, 5.0e-4, 5.0e-4, 5.0e-4, 5.0e-4, 5.0e-4,
+ 5.0e-4, 5.0e-4, 5.0e-4, 5.0e-4, 5.0e-4, 5.0e-4,
+ 1.0e-3, 1.0e-3, 1.0e-3,
+ 1.0e-3, 1.0e-3, 1.0e-3,
+ 1.0e-3, 1.0e-3, 1.0e-3, 1.0e-3, 1.0e-3, 1.0e-3, 1.0e-3,
+ 1.0e-3, 1.0e-3, 1.0e-3, 1.0e-3, 1.0e-3, 1.0e-3, 1.0e-3,
+ 1.0e-3, 1.0e-3, 1.0e-3, 1.0e-3, 1.0e-3, 1.0e-3,
+ 1.0e-3, 1.0e-3, 1.0e-3, 1.0e-3, 1.0e-3, 1.0e-3,
+ 1.0e-1, 1.0e-1, 1.0e-1,
+ 1.0e-1, 1.0e-1, 1.0e-1,
+ 1.0e-1, 1.0e-1, 1.0e-1, 1.0e-1, 1.0e-1, 1.0e-1, 1.0e-1,
+ 1.0e-1, 1.0e-1, 1.0e-1, 1.0e-1, 1.0e-1, 1.0e-1, 1.0e-1,
+ 1.0e-1, 1.0e-1, 1.0e-1, 1.0e-1, 1.0e-1, 1.0e-1,
+ 1.0e-1, 1.0e-1, 1.0e-1, 1.0e-1, 1.0e-1, 1.0e-1)
rfeimu_acc
@@ -32,12 +75,42 @@
(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)
+
+
+ (-0.453943748858079,-0.0207290731454895,0.0259765206090363,-0.718082150306232,20.0760035320647,-31.8380701315778,
+0.246893385284633,0.131596038814277,-0.0311012312708342,-6.80536484234716,-2.50755415278684,5.54450412565179,
+0.355624671215812,0.0288883339093784,1.07987839437286,1.74993294368285,-4.13534211854201,5.17353495406937,
+-0.0282045676873515,-0.010639094001773,-0.0276521318915258,0.454542458253858,0.272315682629766,-0.432257093387273,
+-0.0426175259925151,-0.00226319226759765,-0.0252830271716641,-0.0945190281452346,1.56472162917137,-2.39647445051718,
+-0.00618535407666329,0.00270756194409757,-0.000126188940004081,-0.193262353184156,0.503149786495756,-0.792725998694521)
+
+
+
+ (-0.3074986450118,0.166319460647718,-0.0744761172303641,2.28351161269885,17.803567176725,29.7657227144731,
+-0.0550976408308005,0.180526981376886,-0.0305221915946819,-5.86934063764629,2.35283003548601,12.7102669990724,
+-0.0413098446573611,-0.15161778882429,1.15947861552172,-2.18397653661656,2.11337659942283,6.52597994212099,
+0.00252878385866509,-0.0183198480563073,0.0390861481806284,0.369040878113529,-0.0942012366965869,-0.688710410261083,
+-0.0221727541161846,0.0138043289728184,-0.015898266246628,0.187998975528831,1.29240192105994,2.11309829209008,
+0.0094914880635709,-0.0036234283827821,0.00212121520644588,-0.126864592608127,-0.556355373823465,-0.875100018833281)
+
+
+
+
+
+ (-8.458958238581,18.9645423508596,5.01464123963002,-1.54527454195987,-0.75593243710498,0.247784639700732)
+
+
+
+ (-11.0545900497843,-19.1558631667883,1.55355109320928,1.46258051785715,-0.824085201312761,0.18996767949017)
+
+
(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)
+ (r_upper_leg,r_upper_leg,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)
@@ -75,7 +148,8 @@
left_leg-eb8-j3_5-strain
left_leg-eb7-j0_2-strain
right_leg-eb12-j3_5-strain
- right_leg-eb11-j0_2-strain
+ right_leg-eb11-j0_2-strain
+ torso-eb5-j0_2-strain
diff --git a/iCubGenova09/extra/applications/telemetry-logger.xml b/iCubGenova09/extra/applications/telemetry-logger.xml
new file mode 100644
index 0000000000..4498fdd481
--- /dev/null
+++ b/iCubGenova09/extra/applications/telemetry-logger.xml
@@ -0,0 +1,23 @@
+
+
+
+
+
+
+ TelemetryLogger
+ An application to use the telemetry-based logger.
+ 1.0
+
+ Paolo Maria Viceconte
+
+
+
+
+ yarprobotinterface
+ --config launch-yarp-robot-logger.xml
+ icub-console
+ /home/icub/Desktop/walking_logger
+
+
+
+
diff --git a/iCubGenova09/extra/scripts/additionalCommands.sh b/iCubGenova09/extra/scripts/additionalCommands.sh
index 862796ebd8..d98750074f 100644
--- a/iCubGenova09/extra/scripts/additionalCommands.sh
+++ b/iCubGenova09/extra/scripts/additionalCommands.sh
@@ -43,6 +43,10 @@ test-microphone() {
arecord -vvv -f dat /dev/null
}
+alias run-yarp-openmct='cd /usr/local/src/robot/yarp-openmct/ && npm start'
+
+alias prepareRetargetingTransforms='bash ${ROBOTOLOGY_SUPERBUILD_SOURCE_DIR}/src/HumanDynamicsEstimation/conf/iFeelOpenXRCalibration.sh'
+
GREEN='\033[0;32m'
NC='\033[0m' # No Color
## Alias for displaying info messages about the other aliases
@@ -54,7 +58,10 @@ ${GREEN}connectToJoypad${NC} To reconnect the bluetooth connection of the robot
${GREEN}test-speaker${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."'
+${GREEN}teleoperationFolder${NC} Go to the walking-teleoperation source folder.
+${GREEN}goToBuildSuperbuild${NC} Go to the corresponding build folder of the robotology superbuild.
+${GREEN}run-yarp-openmct${NC} Run yarp-openmct server for online logging visualization.
+${GREEN}prepareRetargetingTransforms${NC} Run a bash script to prepare the transforms for the retargeting."'
if [ "$PS1" ]; then
echo -e "Type ${GREEN}helpRobot${NC} for a list of useful commands."
diff --git a/iCubGenova09/hardware/FT/left_arm-eb1-j0_1-strain.xml b/iCubGenova09/hardware/FT/left_arm-eb1-j0_1-strain.xml
index 0d034f459d..2755bb184e 100644
--- a/iCubGenova09/hardware/FT/left_arm-eb1-j0_1-strain.xml
+++ b/iCubGenova09/hardware/FT/left_arm-eb1-j0_1-strain.xml
@@ -3,7 +3,7 @@
-
+
@@ -16,16 +16,16 @@
- eobrd_strain
+ strain2
- 1
+ 2
0
- 0
+ 2
0
- 0
+ 9
@@ -39,7 +39,8 @@
10
- id_l_upper_arm_strain
+ id_l_upper_arm_strain
+ 1000
diff --git a/iCubGenova09/hardware/FT/left_leg-eb7-j0_2-strain.xml b/iCubGenova09/hardware/FT/left_leg-eb7-j0_2-strain.xml
index 7b47923328..cfd467ef4c 100644
--- a/iCubGenova09/hardware/FT/left_leg-eb7-j0_2-strain.xml
+++ b/iCubGenova09/hardware/FT/left_leg-eb7-j0_2-strain.xml
@@ -40,7 +40,7 @@
10
id_l_heel_strain
- 1000
+ 1000
diff --git a/iCubGenova09/hardware/FT/left_leg-eb8-j3_5-strain.xml b/iCubGenova09/hardware/FT/left_leg-eb8-j3_5-strain.xml
index de1551cab5..c2b1b3dbf5 100644
--- a/iCubGenova09/hardware/FT/left_leg-eb8-j3_5-strain.xml
+++ b/iCubGenova09/hardware/FT/left_leg-eb8-j3_5-strain.xml
@@ -40,7 +40,7 @@
10
id_l_tiptoe_strain
- 1000
+ 1000
diff --git a/iCubGenova09/hardware/FT/right_arm-eb3-j0_1-strain.xml b/iCubGenova09/hardware/FT/right_arm-eb3-j0_1-strain.xml
index 7e9bcb8562..ee94a174b2 100644
--- a/iCubGenova09/hardware/FT/right_arm-eb3-j0_1-strain.xml
+++ b/iCubGenova09/hardware/FT/right_arm-eb3-j0_1-strain.xml
@@ -3,7 +3,7 @@
-
+
@@ -16,16 +16,16 @@
- eobrd_strain
+ strain2
- 1
+ 2
0
- 0
+ 2
0
- 0
+ 9
@@ -39,7 +39,8 @@
10
- id_r_upper_arm_strain
+ id_r_upper_arm_strain
+ 1000
diff --git a/iCubGenova09/hardware/FT/right_leg-eb11-j0_2-strain.xml b/iCubGenova09/hardware/FT/right_leg-eb11-j0_2-strain.xml
index 8d4760a6b6..9fe71087ae 100644
--- a/iCubGenova09/hardware/FT/right_leg-eb11-j0_2-strain.xml
+++ b/iCubGenova09/hardware/FT/right_leg-eb11-j0_2-strain.xml
@@ -40,7 +40,7 @@
10
id_r_heel_strain
- 1000
+ 1000
diff --git a/iCubGenova09/hardware/FT/right_leg-eb12-j3_5-strain.xml b/iCubGenova09/hardware/FT/right_leg-eb12-j3_5-strain.xml
index b7d3a2bcd8..0a577fe727 100644
--- a/iCubGenova09/hardware/FT/right_leg-eb12-j3_5-strain.xml
+++ b/iCubGenova09/hardware/FT/right_leg-eb12-j3_5-strain.xml
@@ -40,7 +40,7 @@
10
id_r_tiptoe_strain
- 1000
+ 1000
diff --git a/iCubGenova09/hardware/FT/torso-eb5-j0_2-strain.xml b/iCubGenova09/hardware/FT/torso-eb5-j0_2-strain.xml
new file mode 100644
index 0000000000..b447cf43c4
--- /dev/null
+++ b/iCubGenova09/hardware/FT/torso-eb5-j0_2-strain.xml
@@ -0,0 +1,57 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+ eomn_serv_AS_strain
+
+
+
+
+ strain2
+
+
+ 2
+ 0
+
+
+ 2
+ 0
+ 9
+
+
+
+
+ id_r_hip_strain
+ eoas_strain
+ CAN2:13
+
+
+
+
+
+ 10
+ id_r_hip_strain
+ 1000
+
+
+
+ true
+
+
+
+
+
+
+
+
+
+
diff --git a/iCubGenova09/hardware/mechanicals/left_arm-eb1-j0_1-mec.xml b/iCubGenova09/hardware/mechanicals/left_arm-eb1-j0_1-mec.xml
index a6e80d03d0..78197a96ca 100644
--- a/iCubGenova09/hardware/mechanicals/left_arm-eb1-j0_1-mec.xml
+++ b/iCubGenova09/hardware/mechanicals/left_arm-eb1-j0_1-mec.xml
@@ -12,7 +12,7 @@
32000 32000
1000.0 1000.0
100.00 100.00
- 1 1
+ 64 64
1 1
"MOOG-BL-C2900576" "MOOG-BL-C2900576"
0
@@ -20,8 +20,8 @@
- 25 165
- -180 0
+ 25 165
+ -180 -8.4
0 0
0 0
diff --git a/iCubGenova09/hardware/mechanicals/left_arm-eb2-j2_3-mec.xml b/iCubGenova09/hardware/mechanicals/left_arm-eb2-j2_3-mec.xml
index 708056c3c5..ec897d58e7 100644
--- a/iCubGenova09/hardware/mechanicals/left_arm-eb2-j2_3-mec.xml
+++ b/iCubGenova09/hardware/mechanicals/left_arm-eb2-j2_3-mec.xml
@@ -12,7 +12,7 @@
32000 32000
1000.0 1000.0
100.00 -100.00
- 1 1
+ 32 32
1 1
"MOOG-BL-C2900575" "MOOG-BL-C2900575"
0
@@ -21,7 +21,7 @@
82 105
- -52 -5
+ -51.3 -5
0 0
0 0
diff --git a/iCubGenova09/hardware/mechanicals/left_arm-eb24-j4_7-mec.xml b/iCubGenova09/hardware/mechanicals/left_arm-eb24-j4_7-mec.xml
index e37f0643db..1372aa636c 100644
--- a/iCubGenova09/hardware/mechanicals/left_arm-eb24-j4_7-mec.xml
+++ b/iCubGenova09/hardware/mechanicals/left_arm-eb24-j4_7-mec.xml
@@ -21,8 +21,8 @@
- 90 30 35 60
- -90 -80 -15 10
+ 90 30 50 60
+ -90 -80 -35 10
0 0 0 0
0 0 0 0
diff --git a/iCubGenova09/hardware/mechanicals/left_arm-eb25-j8_11-mec.xml b/iCubGenova09/hardware/mechanicals/left_arm-eb25-j8_11-mec.xml
index 4089a83ad5..0da4b45fbb 100644
--- a/iCubGenova09/hardware/mechanicals/left_arm-eb25-j8_11-mec.xml
+++ b/iCubGenova09/hardware/mechanicals/left_arm-eb25-j8_11-mec.xml
@@ -21,7 +21,7 @@
- 110 90 180 90
+ 190 90 180 90
10 0 0 0
0 0 -70000 -5120
0 0 5120 32000
diff --git a/iCubGenova09/hardware/mechanicals/right_arm-eb27-j4_7-mec.xml b/iCubGenova09/hardware/mechanicals/right_arm-eb27-j4_7-mec.xml
index d92f0ef05d..ba17bfe594 100644
--- a/iCubGenova09/hardware/mechanicals/right_arm-eb27-j4_7-mec.xml
+++ b/iCubGenova09/hardware/mechanicals/right_arm-eb27-j4_7-mec.xml
@@ -21,8 +21,8 @@
- 90 30 35 60
- -97 -80 -15 10
+ 90 30 45 60
+ -97 -80 -42 10
0 0 0 0
0 0 0 0
diff --git a/iCubGenova09/hardware/mechanicals/right_arm-eb28-j8_11-mec.xml b/iCubGenova09/hardware/mechanicals/right_arm-eb28-j8_11-mec.xml
index c8222e4f37..e15efb7262 100644
--- a/iCubGenova09/hardware/mechanicals/right_arm-eb28-j8_11-mec.xml
+++ b/iCubGenova09/hardware/mechanicals/right_arm-eb28-j8_11-mec.xml
@@ -21,7 +21,7 @@
- 110 90 180 90
+ 190 90 180 90
10 0 0 0
0 0 -5120 -5120
0 0 70000 32000
diff --git a/iCubGenova09/hardware/mechanicals/right_arm-eb3-j0_1-mec.xml b/iCubGenova09/hardware/mechanicals/right_arm-eb3-j0_1-mec.xml
index d5c6626456..df262d795f 100644
--- a/iCubGenova09/hardware/mechanicals/right_arm-eb3-j0_1-mec.xml
+++ b/iCubGenova09/hardware/mechanicals/right_arm-eb3-j0_1-mec.xml
@@ -12,7 +12,7 @@
32000 32000
1000.0 1000.0
-100.00 -100.00
- 1 1
+ 64 64
1 1
"MOOG-BL-C2900576" "MOOG-BL-C2900576"
0
@@ -20,8 +20,8 @@
- 25 165
- -180 0
+ 25 165
+ -180 -8.4
0 0
0 0
diff --git a/iCubGenova09/hardware/mechanicals/right_arm-eb4-j2_3-mec.xml b/iCubGenova09/hardware/mechanicals/right_arm-eb4-j2_3-mec.xml
index ac9938a812..29826bcec6 100644
--- a/iCubGenova09/hardware/mechanicals/right_arm-eb4-j2_3-mec.xml
+++ b/iCubGenova09/hardware/mechanicals/right_arm-eb4-j2_3-mec.xml
@@ -12,7 +12,7 @@
32000 32000
1000.0 1000.0
-100.00 100.00
- 1 1
+ 32 32
1 1
"MOOG-BL-C2900575" "MOOG-BL-C2900575"
0
@@ -21,7 +21,7 @@
82 105
- -52 -5
+ -51.3 -5
0 0
0 0
diff --git a/iCubGenova09/hardware/motorControl/left_arm-eb1-j0_1-mc.xml b/iCubGenova09/hardware/motorControl/left_arm-eb1-j0_1-mc.xml
index 02131c28d2..6b0fe149b6 100644
--- a/iCubGenova09/hardware/motorControl/left_arm-eb1-j0_1-mc.xml
+++ b/iCubGenova09/hardware/motorControl/left_arm-eb1-j0_1-mc.xml
@@ -12,7 +12,7 @@
20 163
- -175 17
+ -175 6
120 120
5000 5000
12000 12000
diff --git a/iCubGenova09/hardware/motorControl/left_arm-eb1-j0_1-mc_service.xml b/iCubGenova09/hardware/motorControl/left_arm-eb1-j0_1-mc_service.xml
index 34aa9cc83a..0667448cb6 100644
--- a/iCubGenova09/hardware/motorControl/left_arm-eb1-j0_1-mc_service.xml
+++ b/iCubGenova09/hardware/motorControl/left_arm-eb1-j0_1-mc_service.xml
@@ -39,7 +39,7 @@
amo amo
CONN:P6 CONN:P8
atjoint atjoint
- -1048576 1048576
+ -16384 16384
0.703 0.703
diff --git a/iCubGenova09/hardware/motorControl/left_arm-eb2-j2_3-mc_service.xml b/iCubGenova09/hardware/motorControl/left_arm-eb2-j2_3-mc_service.xml
index 9224b5b7d4..2521a06d55 100644
--- a/iCubGenova09/hardware/motorControl/left_arm-eb2-j2_3-mc_service.xml
+++ b/iCubGenova09/hardware/motorControl/left_arm-eb2-j2_3-mc_service.xml
@@ -39,7 +39,7 @@
amo amo
CONN:P6 CONN:P8
atjoint atjoint
- 1048576 1048576
+ 16384 16384
0.703 0.703
diff --git a/iCubGenova09/hardware/motorControl/right_arm-eb3-j0_1-mc.xml b/iCubGenova09/hardware/motorControl/right_arm-eb3-j0_1-mc.xml
index be3776e575..f6eb8e16e3 100644
--- a/iCubGenova09/hardware/motorControl/right_arm-eb3-j0_1-mc.xml
+++ b/iCubGenova09/hardware/motorControl/right_arm-eb3-j0_1-mc.xml
@@ -13,7 +13,7 @@
20 163
- -175 17
+ -175 6
120 120
5000 5000
12000 12000
diff --git a/iCubGenova09/hardware/motorControl/right_arm-eb3-j0_1-mc_service.xml b/iCubGenova09/hardware/motorControl/right_arm-eb3-j0_1-mc_service.xml
index 93ff46ebef..1d4e4c998f 100644
--- a/iCubGenova09/hardware/motorControl/right_arm-eb3-j0_1-mc_service.xml
+++ b/iCubGenova09/hardware/motorControl/right_arm-eb3-j0_1-mc_service.xml
@@ -39,7 +39,7 @@
amo amo
CONN:P6 CONN:P8
atjoint atjoint
- 1048576 -1048576
+ 16384 -16384
0.703 0.703
diff --git a/iCubGenova09/hardware/motorControl/right_arm-eb4-j2_3-mc_service.xml b/iCubGenova09/hardware/motorControl/right_arm-eb4-j2_3-mc_service.xml
index a0dafb4186..e385d23d86 100644
--- a/iCubGenova09/hardware/motorControl/right_arm-eb4-j2_3-mc_service.xml
+++ b/iCubGenova09/hardware/motorControl/right_arm-eb4-j2_3-mc_service.xml
@@ -39,7 +39,7 @@
amo amo
CONN:P6 CONN:P8
atjoint atjoint
- -1048576 -1048576
+ -16384 -16384
0.703 0.703
diff --git a/iCubGenova09/icub_FT_right_hip.xml b/iCubGenova09/icub_FT_right_hip.xml
new file mode 100644
index 0000000000..8c4f718820
--- /dev/null
+++ b/iCubGenova09/icub_FT_right_hip.xml
@@ -0,0 +1,21 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/iCubGenova09/icub_right_leg.xml b/iCubGenova09/icub_right_leg.xml
index cb7afaf83e..ff5d195561 100644
--- a/iCubGenova09/icub_right_leg.xml
+++ b/iCubGenova09/icub_right_leg.xml
@@ -14,9 +14,8 @@
-
-
-
+
+
diff --git a/iCubGenova09/icub_wbd.xml b/iCubGenova09/icub_wbd.xml
index 2fcadd03b2..e536f29350 100644
--- a/iCubGenova09/icub_wbd.xml
+++ b/iCubGenova09/icub_wbd.xml
@@ -78,7 +78,9 @@
+
+
@@ -87,6 +89,15 @@
+
+
+
+
+
+
+
+
+
+ left_arm-eb1-j0_1-strain
+
+
+
+
+
+
diff --git a/iCubGenova09/wrappers/FT/right_arm-FT_wrapper_multipleSens.xml b/iCubGenova09/wrappers/FT/right_arm-FT_wrapper_multipleSens.xml
new file mode 100644
index 0000000000..19d13bf87a
--- /dev/null
+++ b/iCubGenova09/wrappers/FT/right_arm-FT_wrapper_multipleSens.xml
@@ -0,0 +1,18 @@
+
+
+
+
+
+ 10
+ /icub/right_arm
+
+
+
+
+ right_arm-eb3-j0_1-strain
+
+
+
+
+
+
diff --git a/iCubGenova09/wrappers/FT/right_leg_hip-FT_wrapper.xml b/iCubGenova09/wrappers/FT/right_leg_hip-FT_wrapper.xml
new file mode 100644
index 0000000000..a7ecb80eb6
--- /dev/null
+++ b/iCubGenova09/wrappers/FT/right_leg_hip-FT_wrapper.xml
@@ -0,0 +1,18 @@
+
+
+
+
+
+ 10
+ /icub/right_leg_hip/analog:o
+
+
+
+
+ torso-eb5-j0_2-strain
+
+
+
+
+
+
diff --git a/iCubGenova09/wrappers/FT/right_leg_hip-FT_wrapper_multipleSens.xml b/iCubGenova09/wrappers/FT/right_leg_hip-FT_wrapper_multipleSens.xml
new file mode 100644
index 0000000000..5d923eb948
--- /dev/null
+++ b/iCubGenova09/wrappers/FT/right_leg_hip-FT_wrapper_multipleSens.xml
@@ -0,0 +1,18 @@
+
+
+
+
+
+ 10
+ /icub/right_leg_hip
+
+
+
+
+ torso-eb5-j0_2-strain
+
+
+
+
+
+