From fea3b887f84b2b442937b1f8519af718c925bc2c Mon Sep 17 00:00:00 2001 From: Davide Date: Wed, 30 Mar 2022 12:32:19 +0200 Subject: [PATCH 01/12] iCubGrenoble01 - updated files for nws layer --- iCubGrenoble01/calibrators/face_calib.xml | 4 ++-- iCubGrenoble01/calibrators/head_calib.xml | 4 ++-- iCubGrenoble01/calibrators/left_arm_calib.xml | 4 ++-- iCubGrenoble01/calibrators/left_leg_calib.xml | 4 ++-- .../calibrators/right_arm_calib.xml | 4 ++-- .../calibrators/right_leg_calib.xml | 4 ++-- iCubGrenoble01/calibrators/torso_calib.xml | 4 ++-- .../cartesian/left_arm_cartesian.xml | 4 ++-- .../cartesian/right_arm_cartesian.xml | 4 ++-- iCubGrenoble01/icub_all.xml | 23 +++++++++++++------ ...ce_mc_wrapper.xml => face-mc_remapper.xml} | 13 ++++------- .../wrappers/motorControl/face-mc_wrapper.xml | 10 ++++++++ ...ad_mc_wrapper.xml => head-mc_remapper.xml} | 13 ++++------- .../wrappers/motorControl/head-mc_wrapper.xml | 10 ++++++++ ...c_wrapper.xml => left_arm-mc_remapper.xml} | 13 ++++------- .../motorControl/left_arm-mc_wrapper.xml | 10 ++++++++ ...c_wrapper.xml => left_leg-mc_remapper.xml} | 8 ++----- .../motorControl/left_leg-mc_wrapper.xml | 10 ++++++++ ..._wrapper.xml => right_arm-mc_remapper.xml} | 13 ++++------- .../motorControl/right_arm-mc_wrapper.xml | 10 ++++++++ .../motorControl/right_leg-mc_remapper.xml | 14 +++++++++++ .../motorControl/right_leg-mc_wrapper.xml | 10 ++++++++ .../motorControl/right_leg_mc_wrapper.xml | 18 --------------- ...o_mc_wrapper.xml => torso-mc_remapper.xml} | 9 +++----- .../motorControl/torso-mc_wrapper.xml | 10 ++++++++ 25 files changed, 143 insertions(+), 87 deletions(-) rename iCubGrenoble01/wrappers/motorControl/{face_mc_wrapper.xml => face-mc_remapper.xml} (53%) create mode 100644 iCubGrenoble01/wrappers/motorControl/face-mc_wrapper.xml rename iCubGrenoble01/wrappers/motorControl/{head_mc_wrapper.xml => head-mc_remapper.xml} (53%) create mode 100644 iCubGrenoble01/wrappers/motorControl/head-mc_wrapper.xml rename iCubGrenoble01/wrappers/motorControl/{left_arm_mc_wrapper.xml => left_arm-mc_remapper.xml} (59%) create mode 100644 iCubGrenoble01/wrappers/motorControl/left_arm-mc_wrapper.xml rename iCubGrenoble01/wrappers/motorControl/{left_leg_mc_wrapper.xml => left_leg-mc_remapper.xml} (65%) create mode 100644 iCubGrenoble01/wrappers/motorControl/left_leg-mc_wrapper.xml rename iCubGrenoble01/wrappers/motorControl/{right_arm_mc_wrapper.xml => right_arm-mc_remapper.xml} (59%) create mode 100644 iCubGrenoble01/wrappers/motorControl/right_arm-mc_wrapper.xml create mode 100644 iCubGrenoble01/wrappers/motorControl/right_leg-mc_remapper.xml create mode 100644 iCubGrenoble01/wrappers/motorControl/right_leg-mc_wrapper.xml delete mode 100644 iCubGrenoble01/wrappers/motorControl/right_leg_mc_wrapper.xml rename iCubGrenoble01/wrappers/motorControl/{torso_mc_wrapper.xml => torso-mc_remapper.xml} (65%) create mode 100644 iCubGrenoble01/wrappers/motorControl/torso-mc_wrapper.xml diff --git a/iCubGrenoble01/calibrators/face_calib.xml b/iCubGrenoble01/calibrators/face_calib.xml index e9b22e2f15..026e6ebaaf 100644 --- a/iCubGrenoble01/calibrators/face_calib.xml +++ b/iCubGrenoble01/calibrators/face_calib.xml @@ -28,11 +28,11 @@ (0 1 2 3 4 5) - face_mc_wrapper + face_mc_remapper - face_mc_wrapper + face_mc_remapper diff --git a/iCubGrenoble01/calibrators/head_calib.xml b/iCubGrenoble01/calibrators/head_calib.xml index ca954fed58..d38ad2eb27 100644 --- a/iCubGrenoble01/calibrators/head_calib.xml +++ b/iCubGrenoble01/calibrators/head_calib.xml @@ -28,11 +28,11 @@ (0 1 2 3) (4) (5) - head_mc_wrapper + head_mc_remapper - head_mc_wrapper + head_mc_remapper diff --git a/iCubGrenoble01/calibrators/left_arm_calib.xml b/iCubGrenoble01/calibrators/left_arm_calib.xml index 3e445aba7f..0f100f4f12 100644 --- a/iCubGrenoble01/calibrators/left_arm_calib.xml +++ b/iCubGrenoble01/calibrators/left_arm_calib.xml @@ -28,11 +28,11 @@ (0 1 2 3) (4 6 7) (5) - left_arm_mc_wrapper + left_arm_mc_remapper - left_arm_mc_wrapper + left_arm_mc_remapper diff --git a/iCubGrenoble01/calibrators/left_leg_calib.xml b/iCubGrenoble01/calibrators/left_leg_calib.xml index 67c0d90a06..34839d13e2 100644 --- a/iCubGrenoble01/calibrators/left_leg_calib.xml +++ b/iCubGrenoble01/calibrators/left_leg_calib.xml @@ -28,11 +28,11 @@ (0 1 2 3 4 5) - left_leg_mc_wrapper + left_leg_mc_remapper - left_leg_mc_wrapper + left_leg_mc_remapper diff --git a/iCubGrenoble01/calibrators/right_arm_calib.xml b/iCubGrenoble01/calibrators/right_arm_calib.xml index a092cd5cb6..bd5974a853 100644 --- a/iCubGrenoble01/calibrators/right_arm_calib.xml +++ b/iCubGrenoble01/calibrators/right_arm_calib.xml @@ -28,11 +28,11 @@ (0 1 2 3) (4 6 7) (5) - right_arm_mc_wrapper + right_arm_mc_remapper - right_arm_mc_wrapper + right_arm_mc_remapper diff --git a/iCubGrenoble01/calibrators/right_leg_calib.xml b/iCubGrenoble01/calibrators/right_leg_calib.xml index 38136511dc..4c3b08391b 100644 --- a/iCubGrenoble01/calibrators/right_leg_calib.xml +++ b/iCubGrenoble01/calibrators/right_leg_calib.xml @@ -28,11 +28,11 @@ (0 1 2 3 4 5) - right_leg_mc_wrapper + right_leg_mc_remapper - right_leg_mc_wrapper + right_leg_mc_remapper diff --git a/iCubGrenoble01/calibrators/torso_calib.xml b/iCubGrenoble01/calibrators/torso_calib.xml index e8008664af..26b868a693 100644 --- a/iCubGrenoble01/calibrators/torso_calib.xml +++ b/iCubGrenoble01/calibrators/torso_calib.xml @@ -28,11 +28,11 @@ (0 1 2) - torso_mc_wrapper + torso_mc_remapper - torso_mc_wrapper + torso_mc_remapper diff --git a/iCubGrenoble01/cartesian/left_arm_cartesian.xml b/iCubGrenoble01/cartesian/left_arm_cartesian.xml index c3aee20629..2c9c74ede2 100644 --- a/iCubGrenoble01/cartesian/left_arm_cartesian.xml +++ b/iCubGrenoble01/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/iCubGrenoble01/cartesian/right_arm_cartesian.xml b/iCubGrenoble01/cartesian/right_arm_cartesian.xml index 653fbfab89..0984424c26 100644 --- a/iCubGrenoble01/cartesian/right_arm_cartesian.xml +++ b/iCubGrenoble01/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/iCubGrenoble01/icub_all.xml b/iCubGrenoble01/icub_all.xml index 3fca0ffc4e..7abf3eee03 100644 --- a/iCubGrenoble01/icub_all.xml +++ b/iCubGrenoble01/icub_all.xml @@ -8,13 +8,22 @@ - - - - - - - + + + + + + + + + + + + + + + + diff --git a/iCubGrenoble01/wrappers/motorControl/face_mc_wrapper.xml b/iCubGrenoble01/wrappers/motorControl/face-mc_remapper.xml similarity index 53% rename from iCubGrenoble01/wrappers/motorControl/face_mc_wrapper.xml rename to iCubGrenoble01/wrappers/motorControl/face-mc_remapper.xml index f7de2ec701..122fdd6d2b 100644 --- a/iCubGrenoble01/wrappers/motorControl/face_mc_wrapper.xml +++ b/iCubGrenoble01/wrappers/motorControl/face-mc_remapper.xml @@ -1,18 +1,15 @@ - + + - ( 0 5 0 5 ) + ( 0 5 0 5 ) - 10 - /icub/face - face - 6 + 6 face_mc - TalkingFace_Calibrator - + diff --git a/iCubGrenoble01/wrappers/motorControl/face-mc_wrapper.xml b/iCubGrenoble01/wrappers/motorControl/face-mc_wrapper.xml new file mode 100644 index 0000000000..7252aca873 --- /dev/null +++ b/iCubGrenoble01/wrappers/motorControl/face-mc_wrapper.xml @@ -0,0 +1,10 @@ + + + + + /icub/face + + face_mc_remapper + + + diff --git a/iCubGrenoble01/wrappers/motorControl/head_mc_wrapper.xml b/iCubGrenoble01/wrappers/motorControl/head-mc_remapper.xml similarity index 53% rename from iCubGrenoble01/wrappers/motorControl/head_mc_wrapper.xml rename to iCubGrenoble01/wrappers/motorControl/head-mc_remapper.xml index 1fdd85c3e4..b3327e6dca 100644 --- a/iCubGrenoble01/wrappers/motorControl/head_mc_wrapper.xml +++ b/iCubGrenoble01/wrappers/motorControl/head-mc_remapper.xml @@ -1,18 +1,15 @@ - + + - ( 0 5 0 5 ) + ( 0 5 0 5 ) - 10 - /icub/head - head - 6 + 6 head_mc - TalkingHead_Calibrator - + diff --git a/iCubGrenoble01/wrappers/motorControl/head-mc_wrapper.xml b/iCubGrenoble01/wrappers/motorControl/head-mc_wrapper.xml new file mode 100644 index 0000000000..5d14888760 --- /dev/null +++ b/iCubGrenoble01/wrappers/motorControl/head-mc_wrapper.xml @@ -0,0 +1,10 @@ + + + + + /icub/head + + head_mc_remapper + + + diff --git a/iCubGrenoble01/wrappers/motorControl/left_arm_mc_wrapper.xml b/iCubGrenoble01/wrappers/motorControl/left_arm-mc_remapper.xml similarity index 59% rename from iCubGrenoble01/wrappers/motorControl/left_arm_mc_wrapper.xml rename to iCubGrenoble01/wrappers/motorControl/left_arm-mc_remapper.xml index f989cc0060..50d52ebcc4 100644 --- a/iCubGrenoble01/wrappers/motorControl/left_arm_mc_wrapper.xml +++ b/iCubGrenoble01/wrappers/motorControl/left_arm-mc_remapper.xml @@ -1,20 +1,17 @@ - + + ( 0 7 0 7 ) ( 8 15 0 7 ) - 10 - /icub/left_arm - left_arm - 16 + 16 - left_arm_mc + left_arm_mc left_hand_mc - left_arm_calibrator - + diff --git a/iCubGrenoble01/wrappers/motorControl/left_arm-mc_wrapper.xml b/iCubGrenoble01/wrappers/motorControl/left_arm-mc_wrapper.xml new file mode 100644 index 0000000000..ebe11670f8 --- /dev/null +++ b/iCubGrenoble01/wrappers/motorControl/left_arm-mc_wrapper.xml @@ -0,0 +1,10 @@ + + + + + /icub/left_arm + + left_arm_mc_remapper + + + diff --git a/iCubGrenoble01/wrappers/motorControl/left_leg_mc_wrapper.xml b/iCubGrenoble01/wrappers/motorControl/left_leg-mc_remapper.xml similarity index 65% rename from iCubGrenoble01/wrappers/motorControl/left_leg_mc_wrapper.xml rename to iCubGrenoble01/wrappers/motorControl/left_leg-mc_remapper.xml index eece297558..02e9c9c27a 100644 --- a/iCubGrenoble01/wrappers/motorControl/left_leg_mc_wrapper.xml +++ b/iCubGrenoble01/wrappers/motorControl/left_leg-mc_remapper.xml @@ -1,18 +1,14 @@ - + ( 0 5 0 5 ) - 10 - /icub/left_leg - left_leg 6 left_leg_mc - left_leg_calibrator - + diff --git a/iCubGrenoble01/wrappers/motorControl/left_leg-mc_wrapper.xml b/iCubGrenoble01/wrappers/motorControl/left_leg-mc_wrapper.xml new file mode 100644 index 0000000000..2b54562163 --- /dev/null +++ b/iCubGrenoble01/wrappers/motorControl/left_leg-mc_wrapper.xml @@ -0,0 +1,10 @@ + + + + + /icub/left_leg + + left_leg_mc_remapper + + + diff --git a/iCubGrenoble01/wrappers/motorControl/right_arm_mc_wrapper.xml b/iCubGrenoble01/wrappers/motorControl/right_arm-mc_remapper.xml similarity index 59% rename from iCubGrenoble01/wrappers/motorControl/right_arm_mc_wrapper.xml rename to iCubGrenoble01/wrappers/motorControl/right_arm-mc_remapper.xml index 8aa22c41a8..e08c59444b 100644 --- a/iCubGrenoble01/wrappers/motorControl/right_arm_mc_wrapper.xml +++ b/iCubGrenoble01/wrappers/motorControl/right_arm-mc_remapper.xml @@ -1,20 +1,17 @@ - + + ( 0 7 0 7 ) ( 8 15 0 7 ) - 10 - /icub/right_arm - right_arm - 16 + 16 - right_arm_mc + right_arm_mc right_hand_mc - right_arm_calibrator - + diff --git a/iCubGrenoble01/wrappers/motorControl/right_arm-mc_wrapper.xml b/iCubGrenoble01/wrappers/motorControl/right_arm-mc_wrapper.xml new file mode 100644 index 0000000000..f980f9dd1f --- /dev/null +++ b/iCubGrenoble01/wrappers/motorControl/right_arm-mc_wrapper.xml @@ -0,0 +1,10 @@ + + + + + /icub/right_arm + + right_arm_mc_remapper + + + diff --git a/iCubGrenoble01/wrappers/motorControl/right_leg-mc_remapper.xml b/iCubGrenoble01/wrappers/motorControl/right_leg-mc_remapper.xml new file mode 100644 index 0000000000..0a8d6d4f80 --- /dev/null +++ b/iCubGrenoble01/wrappers/motorControl/right_leg-mc_remapper.xml @@ -0,0 +1,14 @@ + + + + + ( 0 5 0 5 ) + + 6 + + + right_leg_mc + + + + diff --git a/iCubGrenoble01/wrappers/motorControl/right_leg-mc_wrapper.xml b/iCubGrenoble01/wrappers/motorControl/right_leg-mc_wrapper.xml new file mode 100644 index 0000000000..850532c3fa --- /dev/null +++ b/iCubGrenoble01/wrappers/motorControl/right_leg-mc_wrapper.xml @@ -0,0 +1,10 @@ + + + + + /icub/right_leg + + right_leg_mc_remapper + + + diff --git a/iCubGrenoble01/wrappers/motorControl/right_leg_mc_wrapper.xml b/iCubGrenoble01/wrappers/motorControl/right_leg_mc_wrapper.xml deleted file mode 100644 index 2c9b0f7163..0000000000 --- a/iCubGrenoble01/wrappers/motorControl/right_leg_mc_wrapper.xml +++ /dev/null @@ -1,18 +0,0 @@ - - - - - ( 0 5 0 5 ) - - 10 - /icub/right_leg - right_leg - 6 - - - right_leg_mc - right_leg_calibrator - - - - diff --git a/iCubGrenoble01/wrappers/motorControl/torso_mc_wrapper.xml b/iCubGrenoble01/wrappers/motorControl/torso-mc_remapper.xml similarity index 65% rename from iCubGrenoble01/wrappers/motorControl/torso_mc_wrapper.xml rename to iCubGrenoble01/wrappers/motorControl/torso-mc_remapper.xml index 2ceebcd869..51ef3d71ae 100644 --- a/iCubGrenoble01/wrappers/motorControl/torso_mc_wrapper.xml +++ b/iCubGrenoble01/wrappers/motorControl/torso-mc_remapper.xml @@ -1,18 +1,15 @@ - + + ( 0 2 0 2 ) - 10 - /icub/torso - torso 3 torso_mc - torso_calibrator - + diff --git a/iCubGrenoble01/wrappers/motorControl/torso-mc_wrapper.xml b/iCubGrenoble01/wrappers/motorControl/torso-mc_wrapper.xml new file mode 100644 index 0000000000..974bf9e8a0 --- /dev/null +++ b/iCubGrenoble01/wrappers/motorControl/torso-mc_wrapper.xml @@ -0,0 +1,10 @@ + + + + + /icub/torso + + torso_mc_remapper + + + From 5bddf261f5cb870b75a825f110a611a745c56ad2 Mon Sep 17 00:00:00 2001 From: Davide Date: Wed, 30 Mar 2022 12:53:50 +0200 Subject: [PATCH 02/12] iCubLethbridge01 - updated files for nws layer --- iCubLethbridge01/calibrators/head_calib.xml | 4 ++-- .../calibrators/left_arm_calib.xml | 4 ++-- .../calibrators/left_leg_calib.xml | 4 ++-- .../calibrators/right_arm_calib.xml | 4 ++-- .../calibrators/right_leg_calib.xml | 4 ++-- iCubLethbridge01/calibrators/torso_calib.xml | 4 ++-- .../cartesian/left_arm_cartesian.xml | 4 ++-- .../cartesian/right_arm_cartesian.xml | 4 ++-- iCubLethbridge01/icub_all.xml | 3 ++- ...ead_mc_wrapper.xml => head-mc_remapper.xml} | 12 +++++------- .../wrappers/motorControl/head-mc_wrapper.xml | 10 ++++++++++ ...mc_wrapper.xml => left_arm-mc_remapper.xml} | 13 +++++-------- .../motorControl/left_arm-mc_wrapper.xml | 10 ++++++++++ ...mc_wrapper.xml => left_leg-mc_remapper.xml} | 8 ++------ .../motorControl/left_leg-mc_wrapper.xml | 10 ++++++++++ ...c_wrapper.xml => right_arm-mc_remapper.xml} | 13 +++++-------- .../motorControl/right_arm-mc_wrapper.xml | 10 ++++++++++ .../motorControl/right_leg-mc_remapper.xml | 14 ++++++++++++++ .../motorControl/right_leg-mc_wrapper.xml | 10 ++++++++++ .../motorControl/right_leg_mc_wrapper.xml | 18 ------------------ ...so_mc_wrapper.xml => torso-mc_remapper.xml} | 9 +++------ .../wrappers/motorControl/torso-mc_wrapper.xml | 10 ++++++++++ 22 files changed, 112 insertions(+), 70 deletions(-) rename iCubLethbridge01/wrappers/motorControl/{head_mc_wrapper.xml => head-mc_remapper.xml} (57%) create mode 100644 iCubLethbridge01/wrappers/motorControl/head-mc_wrapper.xml rename iCubLethbridge01/wrappers/motorControl/{left_arm_mc_wrapper.xml => left_arm-mc_remapper.xml} (60%) create mode 100644 iCubLethbridge01/wrappers/motorControl/left_arm-mc_wrapper.xml rename iCubLethbridge01/wrappers/motorControl/{left_leg_mc_wrapper.xml => left_leg-mc_remapper.xml} (65%) create mode 100644 iCubLethbridge01/wrappers/motorControl/left_leg-mc_wrapper.xml rename iCubLethbridge01/wrappers/motorControl/{right_arm_mc_wrapper.xml => right_arm-mc_remapper.xml} (60%) create mode 100644 iCubLethbridge01/wrappers/motorControl/right_arm-mc_wrapper.xml create mode 100644 iCubLethbridge01/wrappers/motorControl/right_leg-mc_remapper.xml create mode 100644 iCubLethbridge01/wrappers/motorControl/right_leg-mc_wrapper.xml delete mode 100644 iCubLethbridge01/wrappers/motorControl/right_leg_mc_wrapper.xml rename iCubLethbridge01/wrappers/motorControl/{torso_mc_wrapper.xml => torso-mc_remapper.xml} (67%) create mode 100644 iCubLethbridge01/wrappers/motorControl/torso-mc_wrapper.xml diff --git a/iCubLethbridge01/calibrators/head_calib.xml b/iCubLethbridge01/calibrators/head_calib.xml index 9753bd1717..1fc80ab090 100644 --- a/iCubLethbridge01/calibrators/head_calib.xml +++ b/iCubLethbridge01/calibrators/head_calib.xml @@ -29,11 +29,11 @@ (0) - head_mc_wrapper + head-mc_remapper - head_mc_wrapper + head-mc_remapper diff --git a/iCubLethbridge01/calibrators/left_arm_calib.xml b/iCubLethbridge01/calibrators/left_arm_calib.xml index 3ac778e90f..8512fa35cb 100644 --- a/iCubLethbridge01/calibrators/left_arm_calib.xml +++ b/iCubLethbridge01/calibrators/left_arm_calib.xml @@ -29,11 +29,11 @@ (0 1 2 3) (4 6 7) (5) - left_arm_mc + left_arm-mc_remapper - left_arm_mc + left_arm-mc_remapper diff --git a/iCubLethbridge01/calibrators/left_leg_calib.xml b/iCubLethbridge01/calibrators/left_leg_calib.xml index fd168bea9a..87c88b8ed9 100644 --- a/iCubLethbridge01/calibrators/left_leg_calib.xml +++ b/iCubLethbridge01/calibrators/left_leg_calib.xml @@ -29,11 +29,11 @@ (0 1 2 3 4 5) - left_leg_mc_wrapper + left_leg-mc_remapper - left_leg_mc_wrapper + left_leg-mc_remapper diff --git a/iCubLethbridge01/calibrators/right_arm_calib.xml b/iCubLethbridge01/calibrators/right_arm_calib.xml index 577856834b..9351f7d956 100644 --- a/iCubLethbridge01/calibrators/right_arm_calib.xml +++ b/iCubLethbridge01/calibrators/right_arm_calib.xml @@ -29,11 +29,11 @@ (0 1 2 3) (4 6 7) (5) - right_arm_mc + right_arm-mc_remapper - right_arm_mc + right_arm-mc_remapper diff --git a/iCubLethbridge01/calibrators/right_leg_calib.xml b/iCubLethbridge01/calibrators/right_leg_calib.xml index 0d4f91784f..8a1013db07 100644 --- a/iCubLethbridge01/calibrators/right_leg_calib.xml +++ b/iCubLethbridge01/calibrators/right_leg_calib.xml @@ -29,11 +29,11 @@ (0 1 2 3 4 5) - right_leg_mc_wrapper + right_leg-mc_remapper - right_leg_mc_wrapper + right_leg-mc_remapper diff --git a/iCubLethbridge01/calibrators/torso_calib.xml b/iCubLethbridge01/calibrators/torso_calib.xml index 7602421a3c..b5081feb53 100644 --- a/iCubLethbridge01/calibrators/torso_calib.xml +++ b/iCubLethbridge01/calibrators/torso_calib.xml @@ -29,11 +29,11 @@ (0 1 2) - torso_mc_wrapper + torso-mc_remapper - torso_mc_wrapper + torso-mc_remapper diff --git a/iCubLethbridge01/cartesian/left_arm_cartesian.xml b/iCubLethbridge01/cartesian/left_arm_cartesian.xml index 6ccfa0866a..f97c764bf4 100644 --- a/iCubLethbridge01/cartesian/left_arm_cartesian.xml +++ b/iCubLethbridge01/cartesian/left_arm_cartesian.xml @@ -42,8 +42,8 @@ - torso_mc_wrapper - left_arm_mc_wrapper + torso-mc_remapper + left_arm-mc_remapper diff --git a/iCubLethbridge01/cartesian/right_arm_cartesian.xml b/iCubLethbridge01/cartesian/right_arm_cartesian.xml index 3f38d69aef..19aac788d3 100644 --- a/iCubLethbridge01/cartesian/right_arm_cartesian.xml +++ b/iCubLethbridge01/cartesian/right_arm_cartesian.xml @@ -42,8 +42,8 @@ - torso_mc_wrapper - right_arm_mc_wrapper + torso-mc_remapper + right_arm-mc_remapper diff --git a/iCubLethbridge01/icub_all.xml b/iCubLethbridge01/icub_all.xml index e4fed3589c..d88def498c 100644 --- a/iCubLethbridge01/icub_all.xml +++ b/iCubLethbridge01/icub_all.xml @@ -4,7 +4,8 @@ - + + diff --git a/iCubLethbridge01/wrappers/motorControl/head_mc_wrapper.xml b/iCubLethbridge01/wrappers/motorControl/head-mc_remapper.xml similarity index 57% rename from iCubLethbridge01/wrappers/motorControl/head_mc_wrapper.xml rename to iCubLethbridge01/wrappers/motorControl/head-mc_remapper.xml index cf619472c4..b3327e6dca 100644 --- a/iCubLethbridge01/wrappers/motorControl/head_mc_wrapper.xml +++ b/iCubLethbridge01/wrappers/motorControl/head-mc_remapper.xml @@ -1,17 +1,15 @@ - + + - ( 0 1 0 1 ) + ( 0 5 0 5 ) - 10 - icub/head - head - 2 + 6 head_mc - + diff --git a/iCubLethbridge01/wrappers/motorControl/head-mc_wrapper.xml b/iCubLethbridge01/wrappers/motorControl/head-mc_wrapper.xml new file mode 100644 index 0000000000..5d14888760 --- /dev/null +++ b/iCubLethbridge01/wrappers/motorControl/head-mc_wrapper.xml @@ -0,0 +1,10 @@ + + + + + /icub/head + + head_mc_remapper + + + diff --git a/iCubLethbridge01/wrappers/motorControl/left_arm_mc_wrapper.xml b/iCubLethbridge01/wrappers/motorControl/left_arm-mc_remapper.xml similarity index 60% rename from iCubLethbridge01/wrappers/motorControl/left_arm_mc_wrapper.xml rename to iCubLethbridge01/wrappers/motorControl/left_arm-mc_remapper.xml index 457ccaab0b..50d52ebcc4 100644 --- a/iCubLethbridge01/wrappers/motorControl/left_arm_mc_wrapper.xml +++ b/iCubLethbridge01/wrappers/motorControl/left_arm-mc_remapper.xml @@ -1,20 +1,17 @@ - - 10 + + ( 0 7 0 7 ) ( 8 15 0 7 ) - 10 - icub/left_arm - left_arm - 16 + 16 - left_arm_mc + left_arm_mc left_hand_mc - + diff --git a/iCubLethbridge01/wrappers/motorControl/left_arm-mc_wrapper.xml b/iCubLethbridge01/wrappers/motorControl/left_arm-mc_wrapper.xml new file mode 100644 index 0000000000..ebe11670f8 --- /dev/null +++ b/iCubLethbridge01/wrappers/motorControl/left_arm-mc_wrapper.xml @@ -0,0 +1,10 @@ + + + + + /icub/left_arm + + left_arm_mc_remapper + + + diff --git a/iCubLethbridge01/wrappers/motorControl/left_leg_mc_wrapper.xml b/iCubLethbridge01/wrappers/motorControl/left_leg-mc_remapper.xml similarity index 65% rename from iCubLethbridge01/wrappers/motorControl/left_leg_mc_wrapper.xml rename to iCubLethbridge01/wrappers/motorControl/left_leg-mc_remapper.xml index dd6d91a83d..02e9c9c27a 100644 --- a/iCubLethbridge01/wrappers/motorControl/left_leg_mc_wrapper.xml +++ b/iCubLethbridge01/wrappers/motorControl/left_leg-mc_remapper.xml @@ -1,18 +1,14 @@ - - 10 + ( 0 5 0 5 ) - 10 - icub/left_leg - left_leg 6 left_leg_mc - + diff --git a/iCubLethbridge01/wrappers/motorControl/left_leg-mc_wrapper.xml b/iCubLethbridge01/wrappers/motorControl/left_leg-mc_wrapper.xml new file mode 100644 index 0000000000..2b54562163 --- /dev/null +++ b/iCubLethbridge01/wrappers/motorControl/left_leg-mc_wrapper.xml @@ -0,0 +1,10 @@ + + + + + /icub/left_leg + + left_leg_mc_remapper + + + diff --git a/iCubLethbridge01/wrappers/motorControl/right_arm_mc_wrapper.xml b/iCubLethbridge01/wrappers/motorControl/right_arm-mc_remapper.xml similarity index 60% rename from iCubLethbridge01/wrappers/motorControl/right_arm_mc_wrapper.xml rename to iCubLethbridge01/wrappers/motorControl/right_arm-mc_remapper.xml index 2f25e4e60c..e08c59444b 100644 --- a/iCubLethbridge01/wrappers/motorControl/right_arm_mc_wrapper.xml +++ b/iCubLethbridge01/wrappers/motorControl/right_arm-mc_remapper.xml @@ -1,20 +1,17 @@ - - 10 + + ( 0 7 0 7 ) ( 8 15 0 7 ) - 10 - icub/right_arm - right_arm - 16 + 16 - right_arm_mc + right_arm_mc right_hand_mc - + diff --git a/iCubLethbridge01/wrappers/motorControl/right_arm-mc_wrapper.xml b/iCubLethbridge01/wrappers/motorControl/right_arm-mc_wrapper.xml new file mode 100644 index 0000000000..f980f9dd1f --- /dev/null +++ b/iCubLethbridge01/wrappers/motorControl/right_arm-mc_wrapper.xml @@ -0,0 +1,10 @@ + + + + + /icub/right_arm + + right_arm_mc_remapper + + + diff --git a/iCubLethbridge01/wrappers/motorControl/right_leg-mc_remapper.xml b/iCubLethbridge01/wrappers/motorControl/right_leg-mc_remapper.xml new file mode 100644 index 0000000000..0a8d6d4f80 --- /dev/null +++ b/iCubLethbridge01/wrappers/motorControl/right_leg-mc_remapper.xml @@ -0,0 +1,14 @@ + + + + + ( 0 5 0 5 ) + + 6 + + + right_leg_mc + + + + diff --git a/iCubLethbridge01/wrappers/motorControl/right_leg-mc_wrapper.xml b/iCubLethbridge01/wrappers/motorControl/right_leg-mc_wrapper.xml new file mode 100644 index 0000000000..850532c3fa --- /dev/null +++ b/iCubLethbridge01/wrappers/motorControl/right_leg-mc_wrapper.xml @@ -0,0 +1,10 @@ + + + + + /icub/right_leg + + right_leg_mc_remapper + + + diff --git a/iCubLethbridge01/wrappers/motorControl/right_leg_mc_wrapper.xml b/iCubLethbridge01/wrappers/motorControl/right_leg_mc_wrapper.xml deleted file mode 100644 index 2665e92082..0000000000 --- a/iCubLethbridge01/wrappers/motorControl/right_leg_mc_wrapper.xml +++ /dev/null @@ -1,18 +0,0 @@ - - - - 10 - - ( 0 5 0 5 ) - - 10 - icub/right_leg - right_leg - 6 - - - right_leg_mc - - - - diff --git a/iCubLethbridge01/wrappers/motorControl/torso_mc_wrapper.xml b/iCubLethbridge01/wrappers/motorControl/torso-mc_remapper.xml similarity index 67% rename from iCubLethbridge01/wrappers/motorControl/torso_mc_wrapper.xml rename to iCubLethbridge01/wrappers/motorControl/torso-mc_remapper.xml index 818eb42bc1..51ef3d71ae 100644 --- a/iCubLethbridge01/wrappers/motorControl/torso_mc_wrapper.xml +++ b/iCubLethbridge01/wrappers/motorControl/torso-mc_remapper.xml @@ -1,18 +1,15 @@ - - 10 + + ( 0 2 0 2 ) - 10 - icub/torso - torso 3 torso_mc - + diff --git a/iCubLethbridge01/wrappers/motorControl/torso-mc_wrapper.xml b/iCubLethbridge01/wrappers/motorControl/torso-mc_wrapper.xml new file mode 100644 index 0000000000..974bf9e8a0 --- /dev/null +++ b/iCubLethbridge01/wrappers/motorControl/torso-mc_wrapper.xml @@ -0,0 +1,10 @@ + + + + + /icub/torso + + torso_mc_remapper + + + From 5e3d2f9cc230b1b1f5ef0c26f7185dfbd2de6ed9 Mon Sep 17 00:00:00 2001 From: Davide Date: Wed, 30 Mar 2022 12:57:50 +0200 Subject: [PATCH 03/12] iCubLugano01 - updated files for nws layer --- iCubLugano01/calibrators/head_calib.xml | 4 ++-- iCubLugano01/calibrators/left_arm_calib.xml | 4 ++-- iCubLugano01/calibrators/right_arm_calib.xml | 4 ++-- iCubLugano01/calibrators/torso_calib.xml | 4 ++-- iCubLugano01/cartesian/left_arm_cartesian.xml | 4 ++-- iCubLugano01/cartesian/right_arm_cartesian.xml | 4 ++-- iCubLugano01/icub_all.xml | 16 ++++++++++------ ...{head_mc_wrapper.xml => head-mc_remapper.xml} | 12 +++++------- .../wrappers/motorControl/head-mc_wrapper.xml | 10 ++++++++++ ...m_mc_wrapper.xml => left_arm-mc_remapper.xml} | 12 +++++------- .../motorControl/left_arm-mc_wrapper.xml | 10 ++++++++++ ..._mc_wrapper.xml => right_arm-mc_remapper.xml} | 12 +++++------- .../motorControl/right_arm-mc_wrapper.xml | 10 ++++++++++ ...orso_mc_wrapper.xml => torso-mc_remapper.xml} | 8 +++----- .../wrappers/motorControl/torso-mc_wrapper.xml | 10 ++++++++++ 15 files changed, 80 insertions(+), 44 deletions(-) rename iCubLugano01/wrappers/motorControl/{head_mc_wrapper.xml => head-mc_remapper.xml} (57%) create mode 100644 iCubLugano01/wrappers/motorControl/head-mc_wrapper.xml rename iCubLugano01/wrappers/motorControl/{left_arm_mc_wrapper.xml => left_arm-mc_remapper.xml} (63%) create mode 100644 iCubLugano01/wrappers/motorControl/left_arm-mc_wrapper.xml rename iCubLugano01/wrappers/motorControl/{right_arm_mc_wrapper.xml => right_arm-mc_remapper.xml} (63%) create mode 100644 iCubLugano01/wrappers/motorControl/right_arm-mc_wrapper.xml rename iCubLugano01/wrappers/motorControl/{torso_mc_wrapper.xml => torso-mc_remapper.xml} (71%) create mode 100644 iCubLugano01/wrappers/motorControl/torso-mc_wrapper.xml diff --git a/iCubLugano01/calibrators/head_calib.xml b/iCubLugano01/calibrators/head_calib.xml index 0d4d59a894..1ad3fd8db7 100644 --- a/iCubLugano01/calibrators/head_calib.xml +++ b/iCubLugano01/calibrators/head_calib.xml @@ -28,11 +28,11 @@ (0) (1) (2 3) (5) (4) - head_mc_wrapper + head-mc_remapper - head_mc_wrapper + head-mc_remapper diff --git a/iCubLugano01/calibrators/left_arm_calib.xml b/iCubLugano01/calibrators/left_arm_calib.xml index 5e57b408ec..ae64207fc4 100644 --- a/iCubLugano01/calibrators/left_arm_calib.xml +++ b/iCubLugano01/calibrators/left_arm_calib.xml @@ -28,11 +28,11 @@ (0 1 2 3) (4 6 7) (5) - left_arm_mc + left_arm-mc_remapper - left_arm_mc + left_arm-mc_remapper diff --git a/iCubLugano01/calibrators/right_arm_calib.xml b/iCubLugano01/calibrators/right_arm_calib.xml index 0978a9f83c..b09fc5c7eb 100644 --- a/iCubLugano01/calibrators/right_arm_calib.xml +++ b/iCubLugano01/calibrators/right_arm_calib.xml @@ -28,11 +28,11 @@ (0 1 2 3) (4 6 7) (5) - right_arm_mc + right_arm-mc_remapper - right_arm_mc + right_arm-mc_remapper diff --git a/iCubLugano01/calibrators/torso_calib.xml b/iCubLugano01/calibrators/torso_calib.xml index b5034bfad5..245c474764 100644 --- a/iCubLugano01/calibrators/torso_calib.xml +++ b/iCubLugano01/calibrators/torso_calib.xml @@ -28,11 +28,11 @@ (0 1 2) - torso_mc_wrapper + torso-mc_remapper - torso_mc_wrapper + torso-mc_remapper diff --git a/iCubLugano01/cartesian/left_arm_cartesian.xml b/iCubLugano01/cartesian/left_arm_cartesian.xml index eb54e7223d..9ec1342a39 100644 --- a/iCubLugano01/cartesian/left_arm_cartesian.xml +++ b/iCubLugano01/cartesian/left_arm_cartesian.xml @@ -44,8 +44,8 @@ - torso_mc_wrapper - left_arm_mc_wrapper + torso-mc_remapper + left_arm-mc_remapper diff --git a/iCubLugano01/cartesian/right_arm_cartesian.xml b/iCubLugano01/cartesian/right_arm_cartesian.xml index a84100d93e..83c9e62c2b 100644 --- a/iCubLugano01/cartesian/right_arm_cartesian.xml +++ b/iCubLugano01/cartesian/right_arm_cartesian.xml @@ -44,8 +44,8 @@ - torso_mc_wrapper - right_arm_mc_wrapper + torso-mc_remapper + right_arm-mc_remapper diff --git a/iCubLugano01/icub_all.xml b/iCubLugano01/icub_all.xml index f26b451257..6f97936cc8 100644 --- a/iCubLugano01/icub_all.xml +++ b/iCubLugano01/icub_all.xml @@ -7,12 +7,16 @@ - - - - - - + + + + + + + + + + diff --git a/iCubLugano01/wrappers/motorControl/head_mc_wrapper.xml b/iCubLugano01/wrappers/motorControl/head-mc_remapper.xml similarity index 57% rename from iCubLugano01/wrappers/motorControl/head_mc_wrapper.xml rename to iCubLugano01/wrappers/motorControl/head-mc_remapper.xml index dc3dd877b6..b3327e6dca 100644 --- a/iCubLugano01/wrappers/motorControl/head_mc_wrapper.xml +++ b/iCubLugano01/wrappers/motorControl/head-mc_remapper.xml @@ -1,17 +1,15 @@ - + + - ( 0 5 0 5 ) + ( 0 5 0 5 ) - 10 - /icub/head - head - 6 + 6 head_mc - + diff --git a/iCubLugano01/wrappers/motorControl/head-mc_wrapper.xml b/iCubLugano01/wrappers/motorControl/head-mc_wrapper.xml new file mode 100644 index 0000000000..5d14888760 --- /dev/null +++ b/iCubLugano01/wrappers/motorControl/head-mc_wrapper.xml @@ -0,0 +1,10 @@ + + + + + /icub/head + + head_mc_remapper + + + diff --git a/iCubLugano01/wrappers/motorControl/left_arm_mc_wrapper.xml b/iCubLugano01/wrappers/motorControl/left_arm-mc_remapper.xml similarity index 63% rename from iCubLugano01/wrappers/motorControl/left_arm_mc_wrapper.xml rename to iCubLugano01/wrappers/motorControl/left_arm-mc_remapper.xml index 33a35127d1..50d52ebcc4 100644 --- a/iCubLugano01/wrappers/motorControl/left_arm_mc_wrapper.xml +++ b/iCubLugano01/wrappers/motorControl/left_arm-mc_remapper.xml @@ -1,19 +1,17 @@ - + + ( 0 7 0 7 ) ( 8 15 0 7 ) - 10 - /icub/left_arm - left_arm - 16 + 16 - left_arm_mc + left_arm_mc left_hand_mc - + diff --git a/iCubLugano01/wrappers/motorControl/left_arm-mc_wrapper.xml b/iCubLugano01/wrappers/motorControl/left_arm-mc_wrapper.xml new file mode 100644 index 0000000000..ebe11670f8 --- /dev/null +++ b/iCubLugano01/wrappers/motorControl/left_arm-mc_wrapper.xml @@ -0,0 +1,10 @@ + + + + + /icub/left_arm + + left_arm_mc_remapper + + + diff --git a/iCubLugano01/wrappers/motorControl/right_arm_mc_wrapper.xml b/iCubLugano01/wrappers/motorControl/right_arm-mc_remapper.xml similarity index 63% rename from iCubLugano01/wrappers/motorControl/right_arm_mc_wrapper.xml rename to iCubLugano01/wrappers/motorControl/right_arm-mc_remapper.xml index 70c0701304..e08c59444b 100644 --- a/iCubLugano01/wrappers/motorControl/right_arm_mc_wrapper.xml +++ b/iCubLugano01/wrappers/motorControl/right_arm-mc_remapper.xml @@ -1,19 +1,17 @@ - + + ( 0 7 0 7 ) ( 8 15 0 7 ) - 10 - /icub/right_arm - right_arm - 16 + 16 - right_arm_mc + right_arm_mc right_hand_mc - + diff --git a/iCubLugano01/wrappers/motorControl/right_arm-mc_wrapper.xml b/iCubLugano01/wrappers/motorControl/right_arm-mc_wrapper.xml new file mode 100644 index 0000000000..f980f9dd1f --- /dev/null +++ b/iCubLugano01/wrappers/motorControl/right_arm-mc_wrapper.xml @@ -0,0 +1,10 @@ + + + + + /icub/right_arm + + right_arm_mc_remapper + + + diff --git a/iCubLugano01/wrappers/motorControl/torso_mc_wrapper.xml b/iCubLugano01/wrappers/motorControl/torso-mc_remapper.xml similarity index 71% rename from iCubLugano01/wrappers/motorControl/torso_mc_wrapper.xml rename to iCubLugano01/wrappers/motorControl/torso-mc_remapper.xml index 70e0cb53cb..51ef3d71ae 100644 --- a/iCubLugano01/wrappers/motorControl/torso_mc_wrapper.xml +++ b/iCubLugano01/wrappers/motorControl/torso-mc_remapper.xml @@ -1,17 +1,15 @@ - + + ( 0 2 0 2 ) - 10 - /icub/torso - torso 3 torso_mc - + diff --git a/iCubLugano01/wrappers/motorControl/torso-mc_wrapper.xml b/iCubLugano01/wrappers/motorControl/torso-mc_wrapper.xml new file mode 100644 index 0000000000..974bf9e8a0 --- /dev/null +++ b/iCubLugano01/wrappers/motorControl/torso-mc_wrapper.xml @@ -0,0 +1,10 @@ + + + + + /icub/torso + + torso_mc_remapper + + + From 8f0bb663a6da28ab6f4704d97f6f923f4f19f048 Mon Sep 17 00:00:00 2001 From: Davide Date: Wed, 30 Mar 2022 13:00:01 +0200 Subject: [PATCH 04/12] iCubGrenoble01 - fix --- iCubGrenoble01/calibrators/face_calib.xml | 4 ++-- iCubGrenoble01/calibrators/head_calib.xml | 4 ++-- iCubGrenoble01/calibrators/left_arm_calib.xml | 4 ++-- iCubGrenoble01/calibrators/left_hand_calib.xml | 4 ++-- iCubGrenoble01/calibrators/left_leg_calib.xml | 4 ++-- iCubGrenoble01/calibrators/right_arm_calib.xml | 4 ++-- iCubGrenoble01/calibrators/right_hand_calib.xml | 4 ++-- iCubGrenoble01/calibrators/right_leg_calib.xml | 4 ++-- iCubGrenoble01/calibrators/torso_calib.xml | 4 ++-- iCubGrenoble01/cartesian/left_arm_cartesian.xml | 2 +- iCubGrenoble01/cartesian/right_arm_cartesian.xml | 2 +- 11 files changed, 20 insertions(+), 20 deletions(-) diff --git a/iCubGrenoble01/calibrators/face_calib.xml b/iCubGrenoble01/calibrators/face_calib.xml index 026e6ebaaf..97f5b78510 100644 --- a/iCubGrenoble01/calibrators/face_calib.xml +++ b/iCubGrenoble01/calibrators/face_calib.xml @@ -28,11 +28,11 @@ (0 1 2 3 4 5) - face_mc_remapper + face-mc_remapper - face_mc_remapper + face-mc_remapper diff --git a/iCubGrenoble01/calibrators/head_calib.xml b/iCubGrenoble01/calibrators/head_calib.xml index d38ad2eb27..13db07cfc9 100644 --- a/iCubGrenoble01/calibrators/head_calib.xml +++ b/iCubGrenoble01/calibrators/head_calib.xml @@ -28,11 +28,11 @@ (0 1 2 3) (4) (5) - head_mc_remapper + head-mc_remapper - head_mc_remapper + head-mc_remapper diff --git a/iCubGrenoble01/calibrators/left_arm_calib.xml b/iCubGrenoble01/calibrators/left_arm_calib.xml index 0f100f4f12..0aa8e77c4b 100644 --- a/iCubGrenoble01/calibrators/left_arm_calib.xml +++ b/iCubGrenoble01/calibrators/left_arm_calib.xml @@ -28,11 +28,11 @@ (0 1 2 3) (4 6 7) (5) - left_arm_mc_remapper + left_arm-mc_remapper - left_arm_mc_remapper + left_arm-mc_remapper diff --git a/iCubGrenoble01/calibrators/left_hand_calib.xml b/iCubGrenoble01/calibrators/left_hand_calib.xml index 516634f001..6e3d551475 100644 --- a/iCubGrenoble01/calibrators/left_hand_calib.xml +++ b/iCubGrenoble01/calibrators/left_hand_calib.xml @@ -28,11 +28,11 @@ (0 1 3 5) (2 4 6 7) - left_hand_mc + left_hand-mc - left_hand_mc + left_hand-mc diff --git a/iCubGrenoble01/calibrators/left_leg_calib.xml b/iCubGrenoble01/calibrators/left_leg_calib.xml index 34839d13e2..af610a8fc5 100644 --- a/iCubGrenoble01/calibrators/left_leg_calib.xml +++ b/iCubGrenoble01/calibrators/left_leg_calib.xml @@ -28,11 +28,11 @@ (0 1 2 3 4 5) - left_leg_mc_remapper + left_leg-mc_remapper - left_leg_mc_remapper + left_leg-mc_remapper diff --git a/iCubGrenoble01/calibrators/right_arm_calib.xml b/iCubGrenoble01/calibrators/right_arm_calib.xml index bd5974a853..24d7a8bc02 100644 --- a/iCubGrenoble01/calibrators/right_arm_calib.xml +++ b/iCubGrenoble01/calibrators/right_arm_calib.xml @@ -28,11 +28,11 @@ (0 1 2 3) (4 6 7) (5) - right_arm_mc_remapper + right_arm-mc_remapper - right_arm_mc_remapper + right_arm-mc_remapper diff --git a/iCubGrenoble01/calibrators/right_hand_calib.xml b/iCubGrenoble01/calibrators/right_hand_calib.xml index eac51ed6e0..00f617f522 100644 --- a/iCubGrenoble01/calibrators/right_hand_calib.xml +++ b/iCubGrenoble01/calibrators/right_hand_calib.xml @@ -28,11 +28,11 @@ (0 1 3 5) (2 4 6 7) - right_hand_mc + right_hand-mc - right_hand_mc + right_hand-mc diff --git a/iCubGrenoble01/calibrators/right_leg_calib.xml b/iCubGrenoble01/calibrators/right_leg_calib.xml index 4c3b08391b..ac51d37c20 100644 --- a/iCubGrenoble01/calibrators/right_leg_calib.xml +++ b/iCubGrenoble01/calibrators/right_leg_calib.xml @@ -28,11 +28,11 @@ (0 1 2 3 4 5) - right_leg_mc_remapper + right_leg-mc_remapper - right_leg_mc_remapper + right_leg-mc_remapper diff --git a/iCubGrenoble01/calibrators/torso_calib.xml b/iCubGrenoble01/calibrators/torso_calib.xml index 26b868a693..501165ffaa 100644 --- a/iCubGrenoble01/calibrators/torso_calib.xml +++ b/iCubGrenoble01/calibrators/torso_calib.xml @@ -28,11 +28,11 @@ (0 1 2) - torso_mc_remapper + torso-mc_remapper - torso_mc_remapper + torso-mc_remapper diff --git a/iCubGrenoble01/cartesian/left_arm_cartesian.xml b/iCubGrenoble01/cartesian/left_arm_cartesian.xml index 2c9c74ede2..7baf5664e5 100644 --- a/iCubGrenoble01/cartesian/left_arm_cartesian.xml +++ b/iCubGrenoble01/cartesian/left_arm_cartesian.xml @@ -46,7 +46,7 @@ torso_mc_remapper - left_arm_mc_remapper + left_arm-mc_remapper diff --git a/iCubGrenoble01/cartesian/right_arm_cartesian.xml b/iCubGrenoble01/cartesian/right_arm_cartesian.xml index 0984424c26..202b854fc5 100644 --- a/iCubGrenoble01/cartesian/right_arm_cartesian.xml +++ b/iCubGrenoble01/cartesian/right_arm_cartesian.xml @@ -46,7 +46,7 @@ torso_mc_remapper - right_arm_mc_remapper + right_arm-mc_remapper From 58a9ffedec1791171c03a740167f1d3f0ecf7daf Mon Sep 17 00:00:00 2001 From: Davide Date: Wed, 30 Mar 2022 13:03:50 +0200 Subject: [PATCH 05/12] iCubMunich01 - updated files for nws layer --- iCubMunich01/calibrators/head_calib.xml | 4 ++-- iCubMunich01/calibrators/left_arm_calib.xml | 4 ++-- iCubMunich01/calibrators/left_hand_calib.xml | 4 ++-- iCubMunich01/calibrators/left_leg_calib.xml | 4 ++-- iCubMunich01/calibrators/right_arm_calib.xml | 4 ++-- iCubMunich01/calibrators/right_hand_calib.xml | 4 ++-- iCubMunich01/calibrators/right_leg_calib.xml | 4 ++-- iCubMunich01/calibrators/torso_calib.xml | 4 ++-- iCubMunich01/cartesian/left_arm_cartesian.xml | 4 ++-- .../cartesian/right_arm_cartesian.xml | 4 ++-- iCubMunich01/icub_all.xml | 22 ++++++++++++------- ...ad_mc_wrapper.xml => head-mc_remapper.xml} | 13 +++++------ .../wrappers/motorControl/head-mc_wrapper.xml | 10 +++++++++ ...c_wrapper.xml => left_arm-mc_remapper.xml} | 13 +++++------ .../motorControl/left_arm-mc_wrapper.xml | 10 +++++++++ ...c_wrapper.xml => left_leg-mc_remapper.xml} | 8 ++----- .../motorControl/left_leg-mc_wrapper.xml | 10 +++++++++ ..._wrapper.xml => right_arm-mc_remapper.xml} | 13 +++++------ .../motorControl/right_arm-mc_wrapper.xml | 10 +++++++++ .../motorControl/right_leg-mc_remapper.xml | 14 ++++++++++++ .../motorControl/right_leg-mc_wrapper.xml | 10 +++++++++ .../motorControl/right_leg_mc_wrapper.xml | 18 --------------- ...o_mc_wrapper.xml => torso-mc_remapper.xml} | 9 +++----- .../motorControl/torso-mc_wrapper.xml | 10 +++++++++ 24 files changed, 128 insertions(+), 82 deletions(-) rename iCubMunich01/wrappers/motorControl/{head_mc_wrapper.xml => head-mc_remapper.xml} (53%) create mode 100644 iCubMunich01/wrappers/motorControl/head-mc_wrapper.xml rename iCubMunich01/wrappers/motorControl/{left_arm_mc_wrapper.xml => left_arm-mc_remapper.xml} (59%) create mode 100644 iCubMunich01/wrappers/motorControl/left_arm-mc_wrapper.xml rename iCubMunich01/wrappers/motorControl/{left_leg_mc_wrapper.xml => left_leg-mc_remapper.xml} (65%) create mode 100644 iCubMunich01/wrappers/motorControl/left_leg-mc_wrapper.xml rename iCubMunich01/wrappers/motorControl/{right_arm_mc_wrapper.xml => right_arm-mc_remapper.xml} (59%) create mode 100644 iCubMunich01/wrappers/motorControl/right_arm-mc_wrapper.xml create mode 100644 iCubMunich01/wrappers/motorControl/right_leg-mc_remapper.xml create mode 100644 iCubMunich01/wrappers/motorControl/right_leg-mc_wrapper.xml delete mode 100644 iCubMunich01/wrappers/motorControl/right_leg_mc_wrapper.xml rename iCubMunich01/wrappers/motorControl/{torso_mc_wrapper.xml => torso-mc_remapper.xml} (65%) create mode 100644 iCubMunich01/wrappers/motorControl/torso-mc_wrapper.xml diff --git a/iCubMunich01/calibrators/head_calib.xml b/iCubMunich01/calibrators/head_calib.xml index 3b3157b548..c2913f957e 100644 --- a/iCubMunich01/calibrators/head_calib.xml +++ b/iCubMunich01/calibrators/head_calib.xml @@ -28,11 +28,11 @@ (0) (1) (2 3) (5) (4) - head_mc_wrapper + head-mc_remapper - head_mc_wrapper + head-mc_remapper diff --git a/iCubMunich01/calibrators/left_arm_calib.xml b/iCubMunich01/calibrators/left_arm_calib.xml index aee30acbdd..b3f3bfc05b 100644 --- a/iCubMunich01/calibrators/left_arm_calib.xml +++ b/iCubMunich01/calibrators/left_arm_calib.xml @@ -28,11 +28,11 @@ (0 1 2 3) (4) (6 7) (5) - left_arm_mc_wrapper + left_arm-mc_remapper - left_arm_mc_wrapper + left_arm-mc_remapper diff --git a/iCubMunich01/calibrators/left_hand_calib.xml b/iCubMunich01/calibrators/left_hand_calib.xml index e20226a946..ca0f3d8bba 100644 --- a/iCubMunich01/calibrators/left_hand_calib.xml +++ b/iCubMunich01/calibrators/left_hand_calib.xml @@ -28,11 +28,11 @@ (0 1 3 5) (2 4 6 7) - left_hand_mc + left_hand-mc - left_hand_mc + left_hand-mc diff --git a/iCubMunich01/calibrators/left_leg_calib.xml b/iCubMunich01/calibrators/left_leg_calib.xml index f55ec28911..cd1ac391fb 100644 --- a/iCubMunich01/calibrators/left_leg_calib.xml +++ b/iCubMunich01/calibrators/left_leg_calib.xml @@ -27,11 +27,11 @@ (0 1 2 3 4 5) - left_leg_mc_wrapper + left_leg-mc_remapper - left_leg_mc_wrapper + left_leg-mc_remapper diff --git a/iCubMunich01/calibrators/right_arm_calib.xml b/iCubMunich01/calibrators/right_arm_calib.xml index a505d1207f..f634bc05fb 100644 --- a/iCubMunich01/calibrators/right_arm_calib.xml +++ b/iCubMunich01/calibrators/right_arm_calib.xml @@ -28,11 +28,11 @@ (0 1 2 3) (4) (6 7) (5) - right_arm_mc_wrapper + right_arm-mc_remapper - right_arm_mc_wrapper + right_arm-mc_remapper diff --git a/iCubMunich01/calibrators/right_hand_calib.xml b/iCubMunich01/calibrators/right_hand_calib.xml index 11d91a4412..170e4d6fb4 100644 --- a/iCubMunich01/calibrators/right_hand_calib.xml +++ b/iCubMunich01/calibrators/right_hand_calib.xml @@ -28,11 +28,11 @@ (0 1 3 5) (2 4 6 7) - right_hand_mc + right_hand-mc - right_hand_mc + right_hand-mc diff --git a/iCubMunich01/calibrators/right_leg_calib.xml b/iCubMunich01/calibrators/right_leg_calib.xml index 9af677cb89..7c94b80883 100644 --- a/iCubMunich01/calibrators/right_leg_calib.xml +++ b/iCubMunich01/calibrators/right_leg_calib.xml @@ -27,11 +27,11 @@ (0 1 2 3 4 5) - right_leg_mc_wrapper + right_leg-mc_remapper - right_leg_mc_wrapper + right_leg-mc_remapper diff --git a/iCubMunich01/calibrators/torso_calib.xml b/iCubMunich01/calibrators/torso_calib.xml index 87d20e186c..0748aba85f 100644 --- a/iCubMunich01/calibrators/torso_calib.xml +++ b/iCubMunich01/calibrators/torso_calib.xml @@ -28,11 +28,11 @@ (0 1 2) - torso_mc_wrapper + torso-mc_remapper - torso_mc_wrapper + torso-mc_remapper diff --git a/iCubMunich01/cartesian/left_arm_cartesian.xml b/iCubMunich01/cartesian/left_arm_cartesian.xml index eb54e7223d..9ec1342a39 100644 --- a/iCubMunich01/cartesian/left_arm_cartesian.xml +++ b/iCubMunich01/cartesian/left_arm_cartesian.xml @@ -44,8 +44,8 @@ - torso_mc_wrapper - left_arm_mc_wrapper + torso-mc_remapper + left_arm-mc_remapper diff --git a/iCubMunich01/cartesian/right_arm_cartesian.xml b/iCubMunich01/cartesian/right_arm_cartesian.xml index a84100d93e..83c9e62c2b 100644 --- a/iCubMunich01/cartesian/right_arm_cartesian.xml +++ b/iCubMunich01/cartesian/right_arm_cartesian.xml @@ -44,8 +44,8 @@ - torso_mc_wrapper - right_arm_mc_wrapper + torso-mc_remapper + right_arm-mc_remapper diff --git a/iCubMunich01/icub_all.xml b/iCubMunich01/icub_all.xml index a18f564c41..a201801961 100644 --- a/iCubMunich01/icub_all.xml +++ b/iCubMunich01/icub_all.xml @@ -7,14 +7,20 @@ - - - - - - - - + + + + + + + + + + + + + + diff --git a/iCubMunich01/wrappers/motorControl/head_mc_wrapper.xml b/iCubMunich01/wrappers/motorControl/head-mc_remapper.xml similarity index 53% rename from iCubMunich01/wrappers/motorControl/head_mc_wrapper.xml rename to iCubMunich01/wrappers/motorControl/head-mc_remapper.xml index 416ecce9bf..b3327e6dca 100644 --- a/iCubMunich01/wrappers/motorControl/head_mc_wrapper.xml +++ b/iCubMunich01/wrappers/motorControl/head-mc_remapper.xml @@ -1,18 +1,15 @@ - + + - ( 0 5 0 5 ) + ( 0 5 0 5 ) - 10 - /icub/head - head - 6 + 6 head_mc - head_calibrator - + diff --git a/iCubMunich01/wrappers/motorControl/head-mc_wrapper.xml b/iCubMunich01/wrappers/motorControl/head-mc_wrapper.xml new file mode 100644 index 0000000000..5d14888760 --- /dev/null +++ b/iCubMunich01/wrappers/motorControl/head-mc_wrapper.xml @@ -0,0 +1,10 @@ + + + + + /icub/head + + head_mc_remapper + + + diff --git a/iCubMunich01/wrappers/motorControl/left_arm_mc_wrapper.xml b/iCubMunich01/wrappers/motorControl/left_arm-mc_remapper.xml similarity index 59% rename from iCubMunich01/wrappers/motorControl/left_arm_mc_wrapper.xml rename to iCubMunich01/wrappers/motorControl/left_arm-mc_remapper.xml index d72d046498..50d52ebcc4 100644 --- a/iCubMunich01/wrappers/motorControl/left_arm_mc_wrapper.xml +++ b/iCubMunich01/wrappers/motorControl/left_arm-mc_remapper.xml @@ -1,20 +1,17 @@ - + + ( 0 7 0 7 ) ( 8 15 0 7 ) - 10 - /icub/left_arm - left_arm - 16 + 16 - left_arm_mc + left_arm_mc left_hand_mc - left_arm_calibrator - + diff --git a/iCubMunich01/wrappers/motorControl/left_arm-mc_wrapper.xml b/iCubMunich01/wrappers/motorControl/left_arm-mc_wrapper.xml new file mode 100644 index 0000000000..ebe11670f8 --- /dev/null +++ b/iCubMunich01/wrappers/motorControl/left_arm-mc_wrapper.xml @@ -0,0 +1,10 @@ + + + + + /icub/left_arm + + left_arm_mc_remapper + + + diff --git a/iCubMunich01/wrappers/motorControl/left_leg_mc_wrapper.xml b/iCubMunich01/wrappers/motorControl/left_leg-mc_remapper.xml similarity index 65% rename from iCubMunich01/wrappers/motorControl/left_leg_mc_wrapper.xml rename to iCubMunich01/wrappers/motorControl/left_leg-mc_remapper.xml index eece297558..02e9c9c27a 100644 --- a/iCubMunich01/wrappers/motorControl/left_leg_mc_wrapper.xml +++ b/iCubMunich01/wrappers/motorControl/left_leg-mc_remapper.xml @@ -1,18 +1,14 @@ - + ( 0 5 0 5 ) - 10 - /icub/left_leg - left_leg 6 left_leg_mc - left_leg_calibrator - + diff --git a/iCubMunich01/wrappers/motorControl/left_leg-mc_wrapper.xml b/iCubMunich01/wrappers/motorControl/left_leg-mc_wrapper.xml new file mode 100644 index 0000000000..2b54562163 --- /dev/null +++ b/iCubMunich01/wrappers/motorControl/left_leg-mc_wrapper.xml @@ -0,0 +1,10 @@ + + + + + /icub/left_leg + + left_leg_mc_remapper + + + diff --git a/iCubMunich01/wrappers/motorControl/right_arm_mc_wrapper.xml b/iCubMunich01/wrappers/motorControl/right_arm-mc_remapper.xml similarity index 59% rename from iCubMunich01/wrappers/motorControl/right_arm_mc_wrapper.xml rename to iCubMunich01/wrappers/motorControl/right_arm-mc_remapper.xml index 450852f978..e08c59444b 100644 --- a/iCubMunich01/wrappers/motorControl/right_arm_mc_wrapper.xml +++ b/iCubMunich01/wrappers/motorControl/right_arm-mc_remapper.xml @@ -1,20 +1,17 @@ - + + ( 0 7 0 7 ) ( 8 15 0 7 ) - 10 - /icub/right_arm - right_arm - 16 + 16 - right_arm_mc + right_arm_mc right_hand_mc - right_arm_calibrator - + diff --git a/iCubMunich01/wrappers/motorControl/right_arm-mc_wrapper.xml b/iCubMunich01/wrappers/motorControl/right_arm-mc_wrapper.xml new file mode 100644 index 0000000000..f980f9dd1f --- /dev/null +++ b/iCubMunich01/wrappers/motorControl/right_arm-mc_wrapper.xml @@ -0,0 +1,10 @@ + + + + + /icub/right_arm + + right_arm_mc_remapper + + + diff --git a/iCubMunich01/wrappers/motorControl/right_leg-mc_remapper.xml b/iCubMunich01/wrappers/motorControl/right_leg-mc_remapper.xml new file mode 100644 index 0000000000..0a8d6d4f80 --- /dev/null +++ b/iCubMunich01/wrappers/motorControl/right_leg-mc_remapper.xml @@ -0,0 +1,14 @@ + + + + + ( 0 5 0 5 ) + + 6 + + + right_leg_mc + + + + diff --git a/iCubMunich01/wrappers/motorControl/right_leg-mc_wrapper.xml b/iCubMunich01/wrappers/motorControl/right_leg-mc_wrapper.xml new file mode 100644 index 0000000000..850532c3fa --- /dev/null +++ b/iCubMunich01/wrappers/motorControl/right_leg-mc_wrapper.xml @@ -0,0 +1,10 @@ + + + + + /icub/right_leg + + right_leg_mc_remapper + + + diff --git a/iCubMunich01/wrappers/motorControl/right_leg_mc_wrapper.xml b/iCubMunich01/wrappers/motorControl/right_leg_mc_wrapper.xml deleted file mode 100644 index 2c9b0f7163..0000000000 --- a/iCubMunich01/wrappers/motorControl/right_leg_mc_wrapper.xml +++ /dev/null @@ -1,18 +0,0 @@ - - - - - ( 0 5 0 5 ) - - 10 - /icub/right_leg - right_leg - 6 - - - right_leg_mc - right_leg_calibrator - - - - diff --git a/iCubMunich01/wrappers/motorControl/torso_mc_wrapper.xml b/iCubMunich01/wrappers/motorControl/torso-mc_remapper.xml similarity index 65% rename from iCubMunich01/wrappers/motorControl/torso_mc_wrapper.xml rename to iCubMunich01/wrappers/motorControl/torso-mc_remapper.xml index 91884cdd9d..51ef3d71ae 100644 --- a/iCubMunich01/wrappers/motorControl/torso_mc_wrapper.xml +++ b/iCubMunich01/wrappers/motorControl/torso-mc_remapper.xml @@ -1,18 +1,15 @@ - + + ( 0 2 0 2 ) - 10 - /icub/torso - torso 3 torso_mc - torso_calibrator - + diff --git a/iCubMunich01/wrappers/motorControl/torso-mc_wrapper.xml b/iCubMunich01/wrappers/motorControl/torso-mc_wrapper.xml new file mode 100644 index 0000000000..974bf9e8a0 --- /dev/null +++ b/iCubMunich01/wrappers/motorControl/torso-mc_wrapper.xml @@ -0,0 +1,10 @@ + + + + + /icub/torso + + torso_mc_remapper + + + From 7159309d2c0c18c66057fd4360483c89e94b0178 Mon Sep 17 00:00:00 2001 From: Davide Date: Wed, 30 Mar 2022 13:20:50 +0200 Subject: [PATCH 06/12] iCubPisa01 - updated files for nws layer --- iCubPisa01/calibrators/head_calib.xml | 4 ++-- iCubPisa01/calibrators/left_arm_calib.xml | 4 ++-- iCubPisa01/calibrators/left_hand_calib.xml | 4 ++-- iCubPisa01/calibrators/right_arm_calib.xml | 4 ++-- iCubPisa01/cartesian/left_arm_cartesian.xml | 4 ++-- iCubPisa01/cartesian/right_arm_cartesian.xml | 4 ++-- iCubPisa01/icub_all.xml | 7 +++++-- .../{head_mc_wrapper.xml => head-mc_remapper.xml} | 12 +++++------- iCubPisa01/wrappers/motorControl/head-mc_wrapper.xml | 10 ++++++++++ ...t_arm_mc_wrapper.xml => left_arm-mc_remapper.xml} | 12 +++++------- .../wrappers/motorControl/left_arm-mc_wrapper.xml | 10 ++++++++++ ..._arm_mc_wrapper.xml => right_arm-mc_remapper.xml} | 12 +++++------- .../wrappers/motorControl/right_arm-mc_wrapper.xml | 10 ++++++++++ 13 files changed, 62 insertions(+), 35 deletions(-) rename iCubPisa01/wrappers/motorControl/{head_mc_wrapper.xml => head-mc_remapper.xml} (58%) create mode 100644 iCubPisa01/wrappers/motorControl/head-mc_wrapper.xml rename iCubPisa01/wrappers/motorControl/{left_arm_mc_wrapper.xml => left_arm-mc_remapper.xml} (63%) create mode 100644 iCubPisa01/wrappers/motorControl/left_arm-mc_wrapper.xml rename iCubPisa01/wrappers/motorControl/{right_arm_mc_wrapper.xml => right_arm-mc_remapper.xml} (57%) create mode 100644 iCubPisa01/wrappers/motorControl/right_arm-mc_wrapper.xml diff --git a/iCubPisa01/calibrators/head_calib.xml b/iCubPisa01/calibrators/head_calib.xml index e87799d84b..1328e9a85b 100644 --- a/iCubPisa01/calibrators/head_calib.xml +++ b/iCubPisa01/calibrators/head_calib.xml @@ -28,11 +28,11 @@ (0 1 2 3) (4) (5) - head_mc_wrapper + head-mc_remapper - head_mc_wrapper + head-mc_remapper diff --git a/iCubPisa01/calibrators/left_arm_calib.xml b/iCubPisa01/calibrators/left_arm_calib.xml index d9e65b067c..651d8c8c6f 100644 --- a/iCubPisa01/calibrators/left_arm_calib.xml +++ b/iCubPisa01/calibrators/left_arm_calib.xml @@ -30,11 +30,11 @@ - left_arm_mc + left_arm-mc_remapper - left_arm_mc + left_arm-mc_remapper diff --git a/iCubPisa01/calibrators/left_hand_calib.xml b/iCubPisa01/calibrators/left_hand_calib.xml index dfd5d32f93..a3bc90cbb1 100644 --- a/iCubPisa01/calibrators/left_hand_calib.xml +++ b/iCubPisa01/calibrators/left_hand_calib.xml @@ -29,11 +29,11 @@ (0 1 3 5) (2 4 6 7) - left_hand_mc + left_hand-mc - left_hand_mc + left_hand-mc diff --git a/iCubPisa01/calibrators/right_arm_calib.xml b/iCubPisa01/calibrators/right_arm_calib.xml index 1502a4e5ca..ffc15df73f 100644 --- a/iCubPisa01/calibrators/right_arm_calib.xml +++ b/iCubPisa01/calibrators/right_arm_calib.xml @@ -29,11 +29,11 @@ (0 1 2 3) - right_arm_mc + right_arm-mc_remapper - right_arm_mc + right_arm-mc_remapper diff --git a/iCubPisa01/cartesian/left_arm_cartesian.xml b/iCubPisa01/cartesian/left_arm_cartesian.xml index eb54e7223d..9ec1342a39 100644 --- a/iCubPisa01/cartesian/left_arm_cartesian.xml +++ b/iCubPisa01/cartesian/left_arm_cartesian.xml @@ -44,8 +44,8 @@ - torso_mc_wrapper - left_arm_mc_wrapper + torso-mc_remapper + left_arm-mc_remapper diff --git a/iCubPisa01/cartesian/right_arm_cartesian.xml b/iCubPisa01/cartesian/right_arm_cartesian.xml index a84100d93e..83c9e62c2b 100644 --- a/iCubPisa01/cartesian/right_arm_cartesian.xml +++ b/iCubPisa01/cartesian/right_arm_cartesian.xml @@ -44,8 +44,8 @@ - torso_mc_wrapper - right_arm_mc_wrapper + torso-mc_remapper + right_arm-mc_remapper diff --git a/iCubPisa01/icub_all.xml b/iCubPisa01/icub_all.xml index d854ff1372..167c8e7c0c 100644 --- a/iCubPisa01/icub_all.xml +++ b/iCubPisa01/icub_all.xml @@ -4,8 +4,11 @@ - - + + + + + diff --git a/iCubPisa01/wrappers/motorControl/head_mc_wrapper.xml b/iCubPisa01/wrappers/motorControl/head-mc_remapper.xml similarity index 58% rename from iCubPisa01/wrappers/motorControl/head_mc_wrapper.xml rename to iCubPisa01/wrappers/motorControl/head-mc_remapper.xml index b219920b04..b3327e6dca 100644 --- a/iCubPisa01/wrappers/motorControl/head_mc_wrapper.xml +++ b/iCubPisa01/wrappers/motorControl/head-mc_remapper.xml @@ -1,17 +1,15 @@ - + + - ( 0 5 0 5 ) + ( 0 5 0 5 ) - 10 - /icub/head - head - 6 + 6 head_mc - + diff --git a/iCubPisa01/wrappers/motorControl/head-mc_wrapper.xml b/iCubPisa01/wrappers/motorControl/head-mc_wrapper.xml new file mode 100644 index 0000000000..5d14888760 --- /dev/null +++ b/iCubPisa01/wrappers/motorControl/head-mc_wrapper.xml @@ -0,0 +1,10 @@ + + + + + /icub/head + + head_mc_remapper + + + diff --git a/iCubPisa01/wrappers/motorControl/left_arm_mc_wrapper.xml b/iCubPisa01/wrappers/motorControl/left_arm-mc_remapper.xml similarity index 63% rename from iCubPisa01/wrappers/motorControl/left_arm_mc_wrapper.xml rename to iCubPisa01/wrappers/motorControl/left_arm-mc_remapper.xml index f0053ddfce..50d52ebcc4 100644 --- a/iCubPisa01/wrappers/motorControl/left_arm_mc_wrapper.xml +++ b/iCubPisa01/wrappers/motorControl/left_arm-mc_remapper.xml @@ -1,19 +1,17 @@ - + + ( 0 7 0 7 ) ( 8 15 0 7 ) - 10 - /icub/left_arm - left_arm - 16 + 16 - left_arm_mc + left_arm_mc left_hand_mc - + diff --git a/iCubPisa01/wrappers/motorControl/left_arm-mc_wrapper.xml b/iCubPisa01/wrappers/motorControl/left_arm-mc_wrapper.xml new file mode 100644 index 0000000000..ebe11670f8 --- /dev/null +++ b/iCubPisa01/wrappers/motorControl/left_arm-mc_wrapper.xml @@ -0,0 +1,10 @@ + + + + + /icub/left_arm + + left_arm_mc_remapper + + + diff --git a/iCubPisa01/wrappers/motorControl/right_arm_mc_wrapper.xml b/iCubPisa01/wrappers/motorControl/right_arm-mc_remapper.xml similarity index 57% rename from iCubPisa01/wrappers/motorControl/right_arm_mc_wrapper.xml rename to iCubPisa01/wrappers/motorControl/right_arm-mc_remapper.xml index 0d5ca0f549..5752a04320 100644 --- a/iCubPisa01/wrappers/motorControl/right_arm_mc_wrapper.xml +++ b/iCubPisa01/wrappers/motorControl/right_arm-mc_remapper.xml @@ -1,17 +1,15 @@ - + + ( 0 3 0 3 ) - 10 - /icub/right_arm - right_arm - 4 + 4 - right_arm_mc + right_arm_mc - + diff --git a/iCubPisa01/wrappers/motorControl/right_arm-mc_wrapper.xml b/iCubPisa01/wrappers/motorControl/right_arm-mc_wrapper.xml new file mode 100644 index 0000000000..f980f9dd1f --- /dev/null +++ b/iCubPisa01/wrappers/motorControl/right_arm-mc_wrapper.xml @@ -0,0 +1,10 @@ + + + + + /icub/right_arm + + right_arm_mc_remapper + + + From 3aca2df8c95b885b8e2c8b9c4c28aec8194fff3a Mon Sep 17 00:00:00 2001 From: Davide Date: Wed, 30 Mar 2022 13:24:22 +0200 Subject: [PATCH 07/12] iCubPlymouth01 - updated files for nws layer --- iCubPlymouth01/calibrators/head_calib.xml | 4 ++-- iCubPlymouth01/calibrators/left_arm_calib.xml | 4 ++-- iCubPlymouth01/calibrators/left_hand_calib.xml | 4 ++-- iCubPlymouth01/calibrators/left_leg_calib.xml | 4 ++-- iCubPlymouth01/calibrators/right_arm_calib.xml | 4 ++-- .../calibrators/right_hand_calib.xml | 4 ++-- iCubPlymouth01/calibrators/right_leg_calib.xml | 4 ++-- iCubPlymouth01/calibrators/torso_calib.xml | 4 ++-- .../cartesian/left_arm_cartesian.xml | 4 ++-- .../cartesian/right_arm_cartesian.xml | 4 ++-- iCubPlymouth01/icub_all.xml | 18 ++++++++++++------ ...ead_mc_wrapper.xml => head-mc_remapper.xml} | 13 ++++++------- .../wrappers/motorControl/head-mc_wrapper.xml | 10 ++++++++++ ...mc_wrapper.xml => left_arm-mc_remapper.xml} | 13 ++++++------- .../motorControl/left_arm-mc_wrapper.xml | 10 ++++++++++ ...mc_wrapper.xml => left_leg-mc_remapper.xml} | 8 +++----- .../motorControl/left_leg-mc_wrapper.xml | 10 ++++++++++ ...c_wrapper.xml => right_arm-mc_remapper.xml} | 13 ++++++------- .../motorControl/right_arm-mc_wrapper.xml | 10 ++++++++++ .../motorControl/right_leg-mc_remapper.xml | 14 ++++++++++++++ .../motorControl/right_leg-mc_wrapper.xml | 10 ++++++++++ .../motorControl/right_leg_mc_wrapper.xml | 16 ---------------- ...so_mc_wrapper.xml => torso-mc_remapper.xml} | 9 ++++----- .../wrappers/motorControl/torso-mc_wrapper.xml | 10 ++++++++++ 24 files changed, 131 insertions(+), 73 deletions(-) rename iCubPlymouth01/wrappers/motorControl/{head_mc_wrapper.xml => head-mc_remapper.xml} (50%) create mode 100644 iCubPlymouth01/wrappers/motorControl/head-mc_wrapper.xml rename iCubPlymouth01/wrappers/motorControl/{left_arm_mc_wrapper.xml => left_arm-mc_remapper.xml} (58%) create mode 100644 iCubPlymouth01/wrappers/motorControl/left_arm-mc_wrapper.xml rename iCubPlymouth01/wrappers/motorControl/{left_leg_mc_wrapper.xml => left_leg-mc_remapper.xml} (65%) create mode 100644 iCubPlymouth01/wrappers/motorControl/left_leg-mc_wrapper.xml rename iCubPlymouth01/wrappers/motorControl/{right_arm_mc_wrapper.xml => right_arm-mc_remapper.xml} (58%) create mode 100644 iCubPlymouth01/wrappers/motorControl/right_arm-mc_wrapper.xml create mode 100644 iCubPlymouth01/wrappers/motorControl/right_leg-mc_remapper.xml create mode 100644 iCubPlymouth01/wrappers/motorControl/right_leg-mc_wrapper.xml delete mode 100644 iCubPlymouth01/wrappers/motorControl/right_leg_mc_wrapper.xml rename iCubPlymouth01/wrappers/motorControl/{torso_mc_wrapper.xml => torso-mc_remapper.xml} (65%) create mode 100644 iCubPlymouth01/wrappers/motorControl/torso-mc_wrapper.xml diff --git a/iCubPlymouth01/calibrators/head_calib.xml b/iCubPlymouth01/calibrators/head_calib.xml index c059b91f10..27bdd8f0d8 100644 --- a/iCubPlymouth01/calibrators/head_calib.xml +++ b/iCubPlymouth01/calibrators/head_calib.xml @@ -32,11 +32,11 @@ (0 1 2) (3) (4) (5) - head_mc_wrapper + head-mc_remapper - head_mc_wrapper + head-mc_remapper diff --git a/iCubPlymouth01/calibrators/left_arm_calib.xml b/iCubPlymouth01/calibrators/left_arm_calib.xml index e55c3488b6..986bde939a 100644 --- a/iCubPlymouth01/calibrators/left_arm_calib.xml +++ b/iCubPlymouth01/calibrators/left_arm_calib.xml @@ -32,11 +32,11 @@ (0 1 2 3) (4 6 7) (5) - left_arm_mc + left_arm-mc_remapper - left_arm_mc + left_arm-mc_remapper diff --git a/iCubPlymouth01/calibrators/left_hand_calib.xml b/iCubPlymouth01/calibrators/left_hand_calib.xml index 2565dd0adb..94d0182187 100644 --- a/iCubPlymouth01/calibrators/left_hand_calib.xml +++ b/iCubPlymouth01/calibrators/left_hand_calib.xml @@ -33,11 +33,11 @@ (0 1 3 5) (2 4 6 7) - left_hand_mc + left_hand-mc - left_hand_mc + left_hand-mc diff --git a/iCubPlymouth01/calibrators/left_leg_calib.xml b/iCubPlymouth01/calibrators/left_leg_calib.xml index 227edea9ce..27f894ac48 100644 --- a/iCubPlymouth01/calibrators/left_leg_calib.xml +++ b/iCubPlymouth01/calibrators/left_leg_calib.xml @@ -33,11 +33,11 @@ (0 1 2 3 4 5) - left_leg_mc_wrapper + left_leg-mc_remapper - left_leg_mc_wrapper + left_leg-mc_remapper diff --git a/iCubPlymouth01/calibrators/right_arm_calib.xml b/iCubPlymouth01/calibrators/right_arm_calib.xml index e4b3978584..bc9e856bec 100644 --- a/iCubPlymouth01/calibrators/right_arm_calib.xml +++ b/iCubPlymouth01/calibrators/right_arm_calib.xml @@ -30,11 +30,11 @@ (0 1 2 3) (4 6 7) (5) - right_arm_mc + right_arm-mc_remapper - right_arm_mc + right_arm-mc_remapper diff --git a/iCubPlymouth01/calibrators/right_hand_calib.xml b/iCubPlymouth01/calibrators/right_hand_calib.xml index 27c836050b..41a87d895e 100644 --- a/iCubPlymouth01/calibrators/right_hand_calib.xml +++ b/iCubPlymouth01/calibrators/right_hand_calib.xml @@ -32,11 +32,11 @@ (0 1 3 5) (2 4 6 7) - right_hand_mc + right_hand-mc - right_hand_mc + right_hand-mc diff --git a/iCubPlymouth01/calibrators/right_leg_calib.xml b/iCubPlymouth01/calibrators/right_leg_calib.xml index 2560b1f5a7..c84d38676b 100644 --- a/iCubPlymouth01/calibrators/right_leg_calib.xml +++ b/iCubPlymouth01/calibrators/right_leg_calib.xml @@ -33,11 +33,11 @@ (0 1 2 3 4 5) - right_leg_mc_wrapper + right_leg-mc_remapper - right_leg_mc_wrapper + right_leg-mc_remapper diff --git a/iCubPlymouth01/calibrators/torso_calib.xml b/iCubPlymouth01/calibrators/torso_calib.xml index e918372bf6..ef3e9e5b5f 100644 --- a/iCubPlymouth01/calibrators/torso_calib.xml +++ b/iCubPlymouth01/calibrators/torso_calib.xml @@ -32,11 +32,11 @@ (0 1 2) - torso_mc_wrapper + torso-mc_remapper - torso_mc_wrapper + torso-mc_remapper diff --git a/iCubPlymouth01/cartesian/left_arm_cartesian.xml b/iCubPlymouth01/cartesian/left_arm_cartesian.xml index dbff945a9d..64dbb0d548 100644 --- a/iCubPlymouth01/cartesian/left_arm_cartesian.xml +++ b/iCubPlymouth01/cartesian/left_arm_cartesian.xml @@ -42,8 +42,8 @@ - torso_mc_wrapper - left_arm_mc_wrapper + torso-mc_remapper + left_arm-mc_remapper diff --git a/iCubPlymouth01/cartesian/right_arm_cartesian.xml b/iCubPlymouth01/cartesian/right_arm_cartesian.xml index 9f49439b3e..0b60f8ea51 100644 --- a/iCubPlymouth01/cartesian/right_arm_cartesian.xml +++ b/iCubPlymouth01/cartesian/right_arm_cartesian.xml @@ -42,8 +42,8 @@ - torso_mc_wrapper - right_arm_mc_wrapper + torso-mc_remapper + right_arm-mc_remapper diff --git a/iCubPlymouth01/icub_all.xml b/iCubPlymouth01/icub_all.xml index 483831b4dc..2d73faf251 100644 --- a/iCubPlymouth01/icub_all.xml +++ b/iCubPlymouth01/icub_all.xml @@ -7,12 +7,18 @@ - - - - - - + + + + + + + + + + + + diff --git a/iCubPlymouth01/wrappers/motorControl/head_mc_wrapper.xml b/iCubPlymouth01/wrappers/motorControl/head-mc_remapper.xml similarity index 50% rename from iCubPlymouth01/wrappers/motorControl/head_mc_wrapper.xml rename to iCubPlymouth01/wrappers/motorControl/head-mc_remapper.xml index 0144ab6615..b3327e6dca 100644 --- a/iCubPlymouth01/wrappers/motorControl/head_mc_wrapper.xml +++ b/iCubPlymouth01/wrappers/motorControl/head-mc_remapper.xml @@ -1,16 +1,15 @@ - + + + - ( 0 5 0 5 ) + ( 0 5 0 5 ) - 10 - /icub/head - head - 6 + 6 head_mc - + diff --git a/iCubPlymouth01/wrappers/motorControl/head-mc_wrapper.xml b/iCubPlymouth01/wrappers/motorControl/head-mc_wrapper.xml new file mode 100644 index 0000000000..5d14888760 --- /dev/null +++ b/iCubPlymouth01/wrappers/motorControl/head-mc_wrapper.xml @@ -0,0 +1,10 @@ + + + + + /icub/head + + head_mc_remapper + + + diff --git a/iCubPlymouth01/wrappers/motorControl/left_arm_mc_wrapper.xml b/iCubPlymouth01/wrappers/motorControl/left_arm-mc_remapper.xml similarity index 58% rename from iCubPlymouth01/wrappers/motorControl/left_arm_mc_wrapper.xml rename to iCubPlymouth01/wrappers/motorControl/left_arm-mc_remapper.xml index 4acf5d13e1..50d52ebcc4 100644 --- a/iCubPlymouth01/wrappers/motorControl/left_arm_mc_wrapper.xml +++ b/iCubPlymouth01/wrappers/motorControl/left_arm-mc_remapper.xml @@ -1,18 +1,17 @@ - + + + ( 0 7 0 7 ) ( 8 15 0 7 ) - 10 - /icub/left_arm - left_arm - 16 + 16 - left_arm_mc + left_arm_mc left_hand_mc - + diff --git a/iCubPlymouth01/wrappers/motorControl/left_arm-mc_wrapper.xml b/iCubPlymouth01/wrappers/motorControl/left_arm-mc_wrapper.xml new file mode 100644 index 0000000000..ebe11670f8 --- /dev/null +++ b/iCubPlymouth01/wrappers/motorControl/left_arm-mc_wrapper.xml @@ -0,0 +1,10 @@ + + + + + /icub/left_arm + + left_arm_mc_remapper + + + diff --git a/iCubPlymouth01/wrappers/motorControl/left_leg_mc_wrapper.xml b/iCubPlymouth01/wrappers/motorControl/left_leg-mc_remapper.xml similarity index 65% rename from iCubPlymouth01/wrappers/motorControl/left_leg_mc_wrapper.xml rename to iCubPlymouth01/wrappers/motorControl/left_leg-mc_remapper.xml index 9e0b0537a6..02e9c9c27a 100644 --- a/iCubPlymouth01/wrappers/motorControl/left_leg_mc_wrapper.xml +++ b/iCubPlymouth01/wrappers/motorControl/left_leg-mc_remapper.xml @@ -1,16 +1,14 @@ - + + ( 0 5 0 5 ) - 10 - /icub/left_leg - left_leg 6 left_leg_mc - + diff --git a/iCubPlymouth01/wrappers/motorControl/left_leg-mc_wrapper.xml b/iCubPlymouth01/wrappers/motorControl/left_leg-mc_wrapper.xml new file mode 100644 index 0000000000..2b54562163 --- /dev/null +++ b/iCubPlymouth01/wrappers/motorControl/left_leg-mc_wrapper.xml @@ -0,0 +1,10 @@ + + + + + /icub/left_leg + + left_leg_mc_remapper + + + diff --git a/iCubPlymouth01/wrappers/motorControl/right_arm_mc_wrapper.xml b/iCubPlymouth01/wrappers/motorControl/right_arm-mc_remapper.xml similarity index 58% rename from iCubPlymouth01/wrappers/motorControl/right_arm_mc_wrapper.xml rename to iCubPlymouth01/wrappers/motorControl/right_arm-mc_remapper.xml index 4d112722f6..e08c59444b 100644 --- a/iCubPlymouth01/wrappers/motorControl/right_arm_mc_wrapper.xml +++ b/iCubPlymouth01/wrappers/motorControl/right_arm-mc_remapper.xml @@ -1,18 +1,17 @@ - + + + ( 0 7 0 7 ) ( 8 15 0 7 ) - 10 - /icub/right_arm - right_arm - 16 + 16 - right_arm_mc + right_arm_mc right_hand_mc - + diff --git a/iCubPlymouth01/wrappers/motorControl/right_arm-mc_wrapper.xml b/iCubPlymouth01/wrappers/motorControl/right_arm-mc_wrapper.xml new file mode 100644 index 0000000000..f980f9dd1f --- /dev/null +++ b/iCubPlymouth01/wrappers/motorControl/right_arm-mc_wrapper.xml @@ -0,0 +1,10 @@ + + + + + /icub/right_arm + + right_arm_mc_remapper + + + diff --git a/iCubPlymouth01/wrappers/motorControl/right_leg-mc_remapper.xml b/iCubPlymouth01/wrappers/motorControl/right_leg-mc_remapper.xml new file mode 100644 index 0000000000..0a8d6d4f80 --- /dev/null +++ b/iCubPlymouth01/wrappers/motorControl/right_leg-mc_remapper.xml @@ -0,0 +1,14 @@ + + + + + ( 0 5 0 5 ) + + 6 + + + right_leg_mc + + + + diff --git a/iCubPlymouth01/wrappers/motorControl/right_leg-mc_wrapper.xml b/iCubPlymouth01/wrappers/motorControl/right_leg-mc_wrapper.xml new file mode 100644 index 0000000000..850532c3fa --- /dev/null +++ b/iCubPlymouth01/wrappers/motorControl/right_leg-mc_wrapper.xml @@ -0,0 +1,10 @@ + + + + + /icub/right_leg + + right_leg_mc_remapper + + + diff --git a/iCubPlymouth01/wrappers/motorControl/right_leg_mc_wrapper.xml b/iCubPlymouth01/wrappers/motorControl/right_leg_mc_wrapper.xml deleted file mode 100644 index 8a3005e929..0000000000 --- a/iCubPlymouth01/wrappers/motorControl/right_leg_mc_wrapper.xml +++ /dev/null @@ -1,16 +0,0 @@ - - - - ( 0 5 0 5 ) - - 10 - /icub/right_leg - right_leg - 6 - - - right_leg_mc - - - - diff --git a/iCubPlymouth01/wrappers/motorControl/torso_mc_wrapper.xml b/iCubPlymouth01/wrappers/motorControl/torso-mc_remapper.xml similarity index 65% rename from iCubPlymouth01/wrappers/motorControl/torso_mc_wrapper.xml rename to iCubPlymouth01/wrappers/motorControl/torso-mc_remapper.xml index 2f8741e85a..51ef3d71ae 100644 --- a/iCubPlymouth01/wrappers/motorControl/torso_mc_wrapper.xml +++ b/iCubPlymouth01/wrappers/motorControl/torso-mc_remapper.xml @@ -1,16 +1,15 @@ - + + + ( 0 2 0 2 ) - 10 - /icub/torso - torso 3 torso_mc - + diff --git a/iCubPlymouth01/wrappers/motorControl/torso-mc_wrapper.xml b/iCubPlymouth01/wrappers/motorControl/torso-mc_wrapper.xml new file mode 100644 index 0000000000..974bf9e8a0 --- /dev/null +++ b/iCubPlymouth01/wrappers/motorControl/torso-mc_wrapper.xml @@ -0,0 +1,10 @@ + + + + + /icub/torso + + torso_mc_remapper + + + From 31731147a22213e1b8119aeac9eb21a7e941e247 Mon Sep 17 00:00:00 2001 From: Davide Date: Wed, 30 Mar 2022 13:26:03 +0200 Subject: [PATCH 08/12] iCubPlymouth02 - updated files for nws layer --- iCubPlymouth02/calibrators/head_calib.xml | 4 ++-- iCubPlymouth02/icub_all.xml | 4 +++- .../{head_mc_wrapper.xml => head-mc_remapper.xml} | 13 ++++++------- .../wrappers/motorControl/head-mc_wrapper.xml | 10 ++++++++++ 4 files changed, 21 insertions(+), 10 deletions(-) rename iCubPlymouth02/wrappers/motorControl/{head_mc_wrapper.xml => head-mc_remapper.xml} (50%) create mode 100644 iCubPlymouth02/wrappers/motorControl/head-mc_wrapper.xml diff --git a/iCubPlymouth02/calibrators/head_calib.xml b/iCubPlymouth02/calibrators/head_calib.xml index 20115ec3ee..e43257f267 100644 --- a/iCubPlymouth02/calibrators/head_calib.xml +++ b/iCubPlymouth02/calibrators/head_calib.xml @@ -26,11 +26,11 @@ (0) (1) (2) (3) (4) (5) - head_mc_wrapper + head-mc_remapper - head_mc_wrapper + head-mc_remapper diff --git a/iCubPlymouth02/icub_all.xml b/iCubPlymouth02/icub_all.xml index 7a4539e26a..6da752e201 100644 --- a/iCubPlymouth02/icub_all.xml +++ b/iCubPlymouth02/icub_all.xml @@ -3,7 +3,9 @@ - + + + diff --git a/iCubPlymouth02/wrappers/motorControl/head_mc_wrapper.xml b/iCubPlymouth02/wrappers/motorControl/head-mc_remapper.xml similarity index 50% rename from iCubPlymouth02/wrappers/motorControl/head_mc_wrapper.xml rename to iCubPlymouth02/wrappers/motorControl/head-mc_remapper.xml index 0144ab6615..b3327e6dca 100644 --- a/iCubPlymouth02/wrappers/motorControl/head_mc_wrapper.xml +++ b/iCubPlymouth02/wrappers/motorControl/head-mc_remapper.xml @@ -1,16 +1,15 @@ - + + + - ( 0 5 0 5 ) + ( 0 5 0 5 ) - 10 - /icub/head - head - 6 + 6 head_mc - + diff --git a/iCubPlymouth02/wrappers/motorControl/head-mc_wrapper.xml b/iCubPlymouth02/wrappers/motorControl/head-mc_wrapper.xml new file mode 100644 index 0000000000..5d14888760 --- /dev/null +++ b/iCubPlymouth02/wrappers/motorControl/head-mc_wrapper.xml @@ -0,0 +1,10 @@ + + + + + /icub/head + + head_mc_remapper + + + From c9707bba070006a3758126df1f56a13b28cda594 Mon Sep 17 00:00:00 2001 From: Davide Date: Wed, 30 Mar 2022 13:45:09 +0200 Subject: [PATCH 09/12] iCubRomeh02 - updated files for nws layer --- iCubRome02/calibrators/head_calib.xml | 4 ++-- iCubRome02/calibrators/left_arm_calib.xml | 4 ++-- iCubRome02/calibrators/left_hand_calib.xml | 4 ++-- iCubRome02/calibrators/right_arm_calib.xml | 4 ++-- iCubRome02/calibrators/right_hand_calib.xml | 4 ++-- iCubRome02/calibrators/torso_calib.xml | 4 ++-- iCubRome02/cartesian/left_arm_cartesian.xml | 4 ++-- iCubRome02/cartesian/right_arm_cartesian.xml | 4 ++-- iCubRome02/icub_all.xml | 14 ++++++++++---- .../{head_mc_wrapper.xml => head-mc_remapper.xml} | 13 ++++++------- .../wrappers/motorControl/head-mc_wrapper.xml | 10 ++++++++++ ...arm_mc_wrapper.xml => left_arm-mc_remapper.xml} | 13 ++++++------- .../wrappers/motorControl/left_arm-mc_wrapper.xml | 10 ++++++++++ ...rm_mc_wrapper.xml => right_arm-mc_remapper.xml} | 13 ++++++------- .../wrappers/motorControl/right_arm-mc_wrapper.xml | 10 ++++++++++ ...{torso_mc_wrapper.xml => torso-mc_remapper.xml} | 9 ++++----- .../wrappers/motorControl/torso-mc_wrapper.xml | 10 ++++++++++ 17 files changed, 88 insertions(+), 46 deletions(-) rename iCubRome02/wrappers/motorControl/{head_mc_wrapper.xml => head-mc_remapper.xml} (50%) create mode 100644 iCubRome02/wrappers/motorControl/head-mc_wrapper.xml rename iCubRome02/wrappers/motorControl/{left_arm_mc_wrapper.xml => left_arm-mc_remapper.xml} (58%) create mode 100644 iCubRome02/wrappers/motorControl/left_arm-mc_wrapper.xml rename iCubRome02/wrappers/motorControl/{right_arm_mc_wrapper.xml => right_arm-mc_remapper.xml} (58%) create mode 100644 iCubRome02/wrappers/motorControl/right_arm-mc_wrapper.xml rename iCubRome02/wrappers/motorControl/{torso_mc_wrapper.xml => torso-mc_remapper.xml} (65%) create mode 100644 iCubRome02/wrappers/motorControl/torso-mc_wrapper.xml diff --git a/iCubRome02/calibrators/head_calib.xml b/iCubRome02/calibrators/head_calib.xml index 539a36e61d..0d3ca43d8a 100644 --- a/iCubRome02/calibrators/head_calib.xml +++ b/iCubRome02/calibrators/head_calib.xml @@ -28,11 +28,11 @@ (0) (1) (2 3) (5) (4) - head_mc_wrapper + head-mc_remapper - head_mc_wrapper + head-mc_remapper diff --git a/iCubRome02/calibrators/left_arm_calib.xml b/iCubRome02/calibrators/left_arm_calib.xml index 7bcc3568b9..3c241558ac 100644 --- a/iCubRome02/calibrators/left_arm_calib.xml +++ b/iCubRome02/calibrators/left_arm_calib.xml @@ -28,11 +28,11 @@ (0 1 2 3) (4 6 7) (5) - left_arm_mc + left_arm-mc_remapper - left_arm_mc + left_arm-mc_remapper diff --git a/iCubRome02/calibrators/left_hand_calib.xml b/iCubRome02/calibrators/left_hand_calib.xml index 2621603b08..4fd274732e 100644 --- a/iCubRome02/calibrators/left_hand_calib.xml +++ b/iCubRome02/calibrators/left_hand_calib.xml @@ -28,11 +28,11 @@ (0 1 3 5) (2 4 6 7) - left_hand_mc + left_hand-mc - left_hand_mc + left_hand-mc diff --git a/iCubRome02/calibrators/right_arm_calib.xml b/iCubRome02/calibrators/right_arm_calib.xml index e306703930..ae4ddeddce 100644 --- a/iCubRome02/calibrators/right_arm_calib.xml +++ b/iCubRome02/calibrators/right_arm_calib.xml @@ -29,11 +29,11 @@ (0 1 2 3) (4 6 7) (5) - right_arm_mc + right_arm-mc_remapper - right_arm_mc + right_arm-mc_remapper diff --git a/iCubRome02/calibrators/right_hand_calib.xml b/iCubRome02/calibrators/right_hand_calib.xml index 4c8c97fb1e..75cc485bce 100644 --- a/iCubRome02/calibrators/right_hand_calib.xml +++ b/iCubRome02/calibrators/right_hand_calib.xml @@ -28,11 +28,11 @@ (0 1 3 5) (2 4 6 7) - right_hand_mc + right_hand-mc - right_hand_mc + right_hand-mc diff --git a/iCubRome02/calibrators/torso_calib.xml b/iCubRome02/calibrators/torso_calib.xml index 8b11ac9b1f..80bf6458ff 100644 --- a/iCubRome02/calibrators/torso_calib.xml +++ b/iCubRome02/calibrators/torso_calib.xml @@ -28,11 +28,11 @@ (0 1 2) - torso_mc_wrapper + torso-mc_remapper - torso_mc_wrapper + torso-mc_remapper diff --git a/iCubRome02/cartesian/left_arm_cartesian.xml b/iCubRome02/cartesian/left_arm_cartesian.xml index 655d4de79f..e3d6fb6c9c 100644 --- a/iCubRome02/cartesian/left_arm_cartesian.xml +++ b/iCubRome02/cartesian/left_arm_cartesian.xml @@ -42,8 +42,8 @@ - torso_mc_wrapper - left_arm_mc_wrapper + torso-mc_remapper + left_arm-mc_remapper diff --git a/iCubRome02/cartesian/right_arm_cartesian.xml b/iCubRome02/cartesian/right_arm_cartesian.xml index d2d6b31782..158930717a 100644 --- a/iCubRome02/cartesian/right_arm_cartesian.xml +++ b/iCubRome02/cartesian/right_arm_cartesian.xml @@ -42,8 +42,8 @@ - torso_mc_wrapper - right_arm_mc_wrapper + torso-mc_remapper + right_arm-mc_remapper diff --git a/iCubRome02/icub_all.xml b/iCubRome02/icub_all.xml index 106aafedb5..85ebd5d486 100644 --- a/iCubRome02/icub_all.xml +++ b/iCubRome02/icub_all.xml @@ -7,10 +7,16 @@ - - - - + + + + + + + + + + diff --git a/iCubRome02/wrappers/motorControl/head_mc_wrapper.xml b/iCubRome02/wrappers/motorControl/head-mc_remapper.xml similarity index 50% rename from iCubRome02/wrappers/motorControl/head_mc_wrapper.xml rename to iCubRome02/wrappers/motorControl/head-mc_remapper.xml index 0144ab6615..b3327e6dca 100644 --- a/iCubRome02/wrappers/motorControl/head_mc_wrapper.xml +++ b/iCubRome02/wrappers/motorControl/head-mc_remapper.xml @@ -1,16 +1,15 @@ - + + + - ( 0 5 0 5 ) + ( 0 5 0 5 ) - 10 - /icub/head - head - 6 + 6 head_mc - + diff --git a/iCubRome02/wrappers/motorControl/head-mc_wrapper.xml b/iCubRome02/wrappers/motorControl/head-mc_wrapper.xml new file mode 100644 index 0000000000..5d14888760 --- /dev/null +++ b/iCubRome02/wrappers/motorControl/head-mc_wrapper.xml @@ -0,0 +1,10 @@ + + + + + /icub/head + + head_mc_remapper + + + diff --git a/iCubRome02/wrappers/motorControl/left_arm_mc_wrapper.xml b/iCubRome02/wrappers/motorControl/left_arm-mc_remapper.xml similarity index 58% rename from iCubRome02/wrappers/motorControl/left_arm_mc_wrapper.xml rename to iCubRome02/wrappers/motorControl/left_arm-mc_remapper.xml index 4acf5d13e1..50d52ebcc4 100644 --- a/iCubRome02/wrappers/motorControl/left_arm_mc_wrapper.xml +++ b/iCubRome02/wrappers/motorControl/left_arm-mc_remapper.xml @@ -1,18 +1,17 @@ - + + + ( 0 7 0 7 ) ( 8 15 0 7 ) - 10 - /icub/left_arm - left_arm - 16 + 16 - left_arm_mc + left_arm_mc left_hand_mc - + diff --git a/iCubRome02/wrappers/motorControl/left_arm-mc_wrapper.xml b/iCubRome02/wrappers/motorControl/left_arm-mc_wrapper.xml new file mode 100644 index 0000000000..ebe11670f8 --- /dev/null +++ b/iCubRome02/wrappers/motorControl/left_arm-mc_wrapper.xml @@ -0,0 +1,10 @@ + + + + + /icub/left_arm + + left_arm_mc_remapper + + + diff --git a/iCubRome02/wrappers/motorControl/right_arm_mc_wrapper.xml b/iCubRome02/wrappers/motorControl/right_arm-mc_remapper.xml similarity index 58% rename from iCubRome02/wrappers/motorControl/right_arm_mc_wrapper.xml rename to iCubRome02/wrappers/motorControl/right_arm-mc_remapper.xml index 4d112722f6..e08c59444b 100644 --- a/iCubRome02/wrappers/motorControl/right_arm_mc_wrapper.xml +++ b/iCubRome02/wrappers/motorControl/right_arm-mc_remapper.xml @@ -1,18 +1,17 @@ - + + + ( 0 7 0 7 ) ( 8 15 0 7 ) - 10 - /icub/right_arm - right_arm - 16 + 16 - right_arm_mc + right_arm_mc right_hand_mc - + diff --git a/iCubRome02/wrappers/motorControl/right_arm-mc_wrapper.xml b/iCubRome02/wrappers/motorControl/right_arm-mc_wrapper.xml new file mode 100644 index 0000000000..f980f9dd1f --- /dev/null +++ b/iCubRome02/wrappers/motorControl/right_arm-mc_wrapper.xml @@ -0,0 +1,10 @@ + + + + + /icub/right_arm + + right_arm_mc_remapper + + + diff --git a/iCubRome02/wrappers/motorControl/torso_mc_wrapper.xml b/iCubRome02/wrappers/motorControl/torso-mc_remapper.xml similarity index 65% rename from iCubRome02/wrappers/motorControl/torso_mc_wrapper.xml rename to iCubRome02/wrappers/motorControl/torso-mc_remapper.xml index 2f8741e85a..51ef3d71ae 100644 --- a/iCubRome02/wrappers/motorControl/torso_mc_wrapper.xml +++ b/iCubRome02/wrappers/motorControl/torso-mc_remapper.xml @@ -1,16 +1,15 @@ - + + + ( 0 2 0 2 ) - 10 - /icub/torso - torso 3 torso_mc - + diff --git a/iCubRome02/wrappers/motorControl/torso-mc_wrapper.xml b/iCubRome02/wrappers/motorControl/torso-mc_wrapper.xml new file mode 100644 index 0000000000..974bf9e8a0 --- /dev/null +++ b/iCubRome02/wrappers/motorControl/torso-mc_wrapper.xml @@ -0,0 +1,10 @@ + + + + + /icub/torso + + torso_mc_remapper + + + From f0b80b632fb9012cc9d1db66f2057721d38b27b0 Mon Sep 17 00:00:00 2001 From: Davide Date: Wed, 30 Mar 2022 13:48:35 +0200 Subject: [PATCH 10/12] iCubSeoul01 - updated files for nws layer --- iCubSeoul01/calibrators/head-calib.xml | 4 ++-- iCubSeoul01/calibrators/left_arm-calib.xml | 4 ++-- iCubSeoul01/calibrators/right_arm-calib.xml | 4 ++-- iCubSeoul01/calibrators/torso-calib.xml | 4 ++-- iCubSeoul01/cartesian/left_arm-cartesian.xml | 4 ++-- iCubSeoul01/cartesian/right_arm-cartesian.xml | 4 ++-- iCubSeoul01/icub_all.xml | 6 ++++++ .../wrappers/motorControl/head-mc_wrapper.xml | 19 ++++++----------- .../motorControl/left_arm-mc_remapper.xml | 17 +++++++++++++++ .../motorControl/left_arm-mc_wrapper.xml | 21 ++++++------------- .../motorControl/right_arm-mc_remapper.xml | 17 +++++++++++++++ .../motorControl/right_arm-mc_wrapper.xml | 21 ++++++------------- .../motorControl/torso-mc_remapper.xml | 15 +++++++++++++ .../motorControl/torso-mc_wrapper.xml | 19 ++++++----------- 14 files changed, 91 insertions(+), 68 deletions(-) create mode 100644 iCubSeoul01/wrappers/motorControl/left_arm-mc_remapper.xml create mode 100644 iCubSeoul01/wrappers/motorControl/right_arm-mc_remapper.xml create mode 100644 iCubSeoul01/wrappers/motorControl/torso-mc_remapper.xml diff --git a/iCubSeoul01/calibrators/head-calib.xml b/iCubSeoul01/calibrators/head-calib.xml index 2fd3a0672f..78f406125a 100644 --- a/iCubSeoul01/calibrators/head-calib.xml +++ b/iCubSeoul01/calibrators/head-calib.xml @@ -28,11 +28,11 @@ (0 1 2 3) (4) (5) - head_mc_wrapper + head-mc_remapper - head_mc_wrapper + head-mc_remapper diff --git a/iCubSeoul01/calibrators/left_arm-calib.xml b/iCubSeoul01/calibrators/left_arm-calib.xml index e6d3644237..f0f59bc706 100644 --- a/iCubSeoul01/calibrators/left_arm-calib.xml +++ b/iCubSeoul01/calibrators/left_arm-calib.xml @@ -27,11 +27,11 @@ (0 1 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/iCubSeoul01/calibrators/right_arm-calib.xml b/iCubSeoul01/calibrators/right_arm-calib.xml index e8c49ffed6..12ab07e6ce 100644 --- a/iCubSeoul01/calibrators/right_arm-calib.xml +++ b/iCubSeoul01/calibrators/right_arm-calib.xml @@ -27,11 +27,11 @@ (0 1 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/iCubSeoul01/calibrators/torso-calib.xml b/iCubSeoul01/calibrators/torso-calib.xml index eaa9382f08..a14ef7c83e 100644 --- a/iCubSeoul01/calibrators/torso-calib.xml +++ b/iCubSeoul01/calibrators/torso-calib.xml @@ -28,11 +28,11 @@ (0 1 2) - torso_mc_wrapper + torso-mc_remapper - torso_mc_wrapper + torso-mc_remapper diff --git a/iCubSeoul01/cartesian/left_arm-cartesian.xml b/iCubSeoul01/cartesian/left_arm-cartesian.xml index bf3e961c4d..a54e7a8c9b 100644 --- a/iCubSeoul01/cartesian/left_arm-cartesian.xml +++ b/iCubSeoul01/cartesian/left_arm-cartesian.xml @@ -44,8 +44,8 @@ - torso_mc_wrapper - left_arm_mc_wrapper + torso-mc_remapper + left_arm-mc_remapper diff --git a/iCubSeoul01/cartesian/right_arm-cartesian.xml b/iCubSeoul01/cartesian/right_arm-cartesian.xml index a75f26fa52..ffca8219bb 100644 --- a/iCubSeoul01/cartesian/right_arm-cartesian.xml +++ b/iCubSeoul01/cartesian/right_arm-cartesian.xml @@ -44,8 +44,8 @@ - torso_mc_wrapper - right_arm_mc_wrapper + torso-mc_remapper + right_arm-mc_remapper diff --git a/iCubSeoul01/icub_all.xml b/iCubSeoul01/icub_all.xml index 818e3c7e88..67e5e52e4e 100644 --- a/iCubSeoul01/icub_all.xml +++ b/iCubSeoul01/icub_all.xml @@ -11,6 +11,12 @@ + + + + + + diff --git a/iCubSeoul01/wrappers/motorControl/head-mc_wrapper.xml b/iCubSeoul01/wrappers/motorControl/head-mc_wrapper.xml index b219920b04..5d14888760 100644 --- a/iCubSeoul01/wrappers/motorControl/head-mc_wrapper.xml +++ b/iCubSeoul01/wrappers/motorControl/head-mc_wrapper.xml @@ -1,17 +1,10 @@ - - - ( 0 5 0 5 ) - - 10 - /icub/head - head - 6 - - - head_mc - + + + /icub/head + + head_mc_remapper - + diff --git a/iCubSeoul01/wrappers/motorControl/left_arm-mc_remapper.xml b/iCubSeoul01/wrappers/motorControl/left_arm-mc_remapper.xml new file mode 100644 index 0000000000..50d52ebcc4 --- /dev/null +++ b/iCubSeoul01/wrappers/motorControl/left_arm-mc_remapper.xml @@ -0,0 +1,17 @@ + + + + + + ( 0 7 0 7 ) + ( 8 15 0 7 ) + + 16 + + + left_arm_mc + left_hand_mc + + + + diff --git a/iCubSeoul01/wrappers/motorControl/left_arm-mc_wrapper.xml b/iCubSeoul01/wrappers/motorControl/left_arm-mc_wrapper.xml index f0053ddfce..ebe11670f8 100644 --- a/iCubSeoul01/wrappers/motorControl/left_arm-mc_wrapper.xml +++ b/iCubSeoul01/wrappers/motorControl/left_arm-mc_wrapper.xml @@ -1,19 +1,10 @@ - - - ( 0 7 0 7 ) - ( 8 15 0 7 ) - - 10 - /icub/left_arm - left_arm - 16 - - - left_arm_mc - left_hand_mc - + + + /icub/left_arm + + left_arm_mc_remapper - + diff --git a/iCubSeoul01/wrappers/motorControl/right_arm-mc_remapper.xml b/iCubSeoul01/wrappers/motorControl/right_arm-mc_remapper.xml new file mode 100644 index 0000000000..e08c59444b --- /dev/null +++ b/iCubSeoul01/wrappers/motorControl/right_arm-mc_remapper.xml @@ -0,0 +1,17 @@ + + + + + + ( 0 7 0 7 ) + ( 8 15 0 7 ) + + 16 + + + right_arm_mc + right_hand_mc + + + + diff --git a/iCubSeoul01/wrappers/motorControl/right_arm-mc_wrapper.xml b/iCubSeoul01/wrappers/motorControl/right_arm-mc_wrapper.xml index 3bc291da52..f980f9dd1f 100644 --- a/iCubSeoul01/wrappers/motorControl/right_arm-mc_wrapper.xml +++ b/iCubSeoul01/wrappers/motorControl/right_arm-mc_wrapper.xml @@ -1,19 +1,10 @@ - - - ( 0 7 0 7 ) - ( 8 15 0 7 ) - - 10 - /icub/right_arm - right_arm - 16 - - - right_arm_mc - right_hand_mc - + + + /icub/right_arm + + right_arm_mc_remapper - + diff --git a/iCubSeoul01/wrappers/motorControl/torso-mc_remapper.xml b/iCubSeoul01/wrappers/motorControl/torso-mc_remapper.xml new file mode 100644 index 0000000000..51ef3d71ae --- /dev/null +++ b/iCubSeoul01/wrappers/motorControl/torso-mc_remapper.xml @@ -0,0 +1,15 @@ + + + + + + ( 0 2 0 2 ) + + 3 + + + torso_mc + + + + diff --git a/iCubSeoul01/wrappers/motorControl/torso-mc_wrapper.xml b/iCubSeoul01/wrappers/motorControl/torso-mc_wrapper.xml index 8984acb3a7..974bf9e8a0 100644 --- a/iCubSeoul01/wrappers/motorControl/torso-mc_wrapper.xml +++ b/iCubSeoul01/wrappers/motorControl/torso-mc_wrapper.xml @@ -1,17 +1,10 @@ - - - ( 0 2 0 2 ) - - 10 - /icub/torso - torso - 3 - - - torso_mc - + + + /icub/torso + + torso_mc_remapper - + From 5c2b50d79a0ac7b67f1126c88ffec4d79dfe7a1f Mon Sep 17 00:00:00 2001 From: davidetome Date: Mon, 16 May 2022 16:45:12 +0200 Subject: [PATCH 11/12] files tested and fixed with XSD and XPATH --- iCubGrenoble01/calibrators/face_calib.xml | 28 +++++++++++------ iCubGrenoble01/calibrators/head_calib.xml | 28 +++++++++++------ iCubGrenoble01/calibrators/left_arm_calib.xml | 27 ++++++++++------ .../calibrators/left_hand_calib.xml | 28 +++++++++++------ iCubGrenoble01/calibrators/left_leg_calib.xml | 28 +++++++++++------ .../calibrators/right_arm_calib.xml | 30 +++++++++++------- .../calibrators/right_hand_calib.xml | 31 ++++++++++++------- .../calibrators/right_leg_calib.xml | 28 +++++++++++------ iCubGrenoble01/calibrators/torso_calib.xml | 28 +++++++++++------ .../motorControl/face-mc_remapper.xml | 2 +- .../wrappers/motorControl/face-mc_wrapper.xml | 4 +-- .../motorControl/head-mc_remapper.xml | 2 +- .../wrappers/motorControl/head-mc_wrapper.xml | 4 +-- .../motorControl/left_arm-mc_remapper.xml | 2 +- .../motorControl/left_arm-mc_wrapper.xml | 4 +-- .../motorControl/left_leg-mc_remapper.xml | 2 +- .../motorControl/left_leg-mc_wrapper.xml | 4 +-- .../motorControl/right_arm-mc_remapper.xml | 2 +- .../motorControl/right_arm-mc_wrapper.xml | 4 +-- .../motorControl/right_leg-mc_remapper.xml | 2 +- .../motorControl/right_leg-mc_wrapper.xml | 4 +-- .../motorControl/torso-mc_remapper.xml | 2 +- .../motorControl/torso-mc_wrapper.xml | 4 +-- iCubLethbridge01/calibrators/head_calib.xml | 16 +++++++--- iCubLethbridge01/icub_all.xml | 4 ++- .../motorControl/head-mc_remapper.xml | 2 +- .../wrappers/motorControl/head-mc_wrapper.xml | 2 +- iCubLugano01/calibrators/head_calib.xml | 18 +++++++---- iCubLugano01/calibrators/left_arm_calib.xml | 16 +++++++--- iCubLugano01/calibrators/left_hand_calib.xml | 18 +++++++---- iCubLugano01/calibrators/right_arm_calib.xml | 16 +++++++--- iCubLugano01/calibrators/right_hand_calib.xml | 16 +++++++--- iCubLugano01/calibrators/torso_calib.xml | 16 +++++++--- .../motorControl/head-mc_remapper.xml | 2 +- .../wrappers/motorControl/head-mc_wrapper.xml | 4 +-- .../motorControl/left_arm-mc_remapper.xml | 2 +- .../motorControl/left_arm-mc_wrapper.xml | 4 +-- .../motorControl/right_arm-mc_remapper.xml | 2 +- .../motorControl/right_arm-mc_wrapper.xml | 4 +-- .../motorControl/torso-mc_remapper.xml | 2 +- .../motorControl/torso-mc_wrapper.xml | 4 +-- iCubMunich01/calibrators/head_calib.xml | 18 +++++++---- iCubMunich01/calibrators/left_arm_calib.xml | 16 +++++++--- iCubMunich01/calibrators/left_hand_calib.xml | 16 +++++++--- iCubMunich01/calibrators/left_leg_calib.xml | 26 ++++++++++------ iCubMunich01/calibrators/right_arm_calib.xml | 18 +++++++---- iCubMunich01/calibrators/right_hand_calib.xml | 16 +++++++--- iCubMunich01/calibrators/right_leg_calib.xml | 25 +++++++++------ iCubMunich01/calibrators/torso_calib.xml | 16 +++++++--- .../motorControl/head-mc_remapper.xml | 2 +- .../wrappers/motorControl/head-mc_wrapper.xml | 4 +-- .../motorControl/left_arm-mc_remapper.xml | 2 +- .../motorControl/left_arm-mc_wrapper.xml | 4 +-- .../motorControl/left_leg-mc_remapper.xml | 2 +- .../motorControl/left_leg-mc_wrapper.xml | 4 +-- .../motorControl/right_arm-mc_remapper.xml | 2 +- .../motorControl/right_arm-mc_wrapper.xml | 4 +-- .../motorControl/right_leg-mc_remapper.xml | 2 +- .../motorControl/right_leg-mc_wrapper.xml | 4 +-- .../motorControl/torso-mc_remapper.xml | 2 +- .../motorControl/torso-mc_wrapper.xml | 4 +-- iCubPisa01/calibrators/head_calib.xml | 16 +++++++--- iCubPisa01/calibrators/left_arm_calib.xml | 15 ++++++--- iCubPisa01/calibrators/left_hand_calib.xml | 15 ++++++--- iCubPisa01/calibrators/right_arm_calib.xml | 17 ++++++---- iCubPisa01/icub_all.xml | 5 +++ .../motorControl/head-mc_remapper.xml | 2 +- .../wrappers/motorControl/head-mc_wrapper.xml | 4 +-- .../motorControl/left_arm-mc_remapper.xml | 2 +- .../motorControl/left_arm-mc_wrapper.xml | 4 +-- .../motorControl/right_arm-mc_remapper.xml | 2 +- .../motorControl/right_arm-mc_wrapper.xml | 4 +-- iCubPlymouth01/calibrators/head_calib.xml | 4 +++ iCubPlymouth01/calibrators/left_arm_calib.xml | 4 +++ .../calibrators/left_hand_calib.xml | 4 +++ iCubPlymouth01/calibrators/left_leg_calib.xml | 4 +++ .../calibrators/right_arm_calib.xml | 4 +++ .../calibrators/right_hand_calib.xml | 4 +++ .../calibrators/right_leg_calib.xml | 4 +++ iCubPlymouth01/calibrators/torso_calib.xml | 4 +++ .../motorControl/head-mc_remapper.xml | 2 +- .../wrappers/motorControl/head-mc_wrapper.xml | 4 +-- .../motorControl/left_arm-mc_remapper.xml | 2 +- .../motorControl/left_arm-mc_wrapper.xml | 4 +-- .../motorControl/left_leg-mc_remapper.xml | 2 +- .../motorControl/left_leg-mc_wrapper.xml | 4 +-- .../motorControl/right_arm-mc_remapper.xml | 2 +- .../motorControl/right_arm-mc_wrapper.xml | 4 +-- .../motorControl/right_leg-mc_remapper.xml | 2 +- .../motorControl/right_leg-mc_wrapper.xml | 4 +-- .../motorControl/torso-mc_remapper.xml | 2 +- .../motorControl/torso-mc_wrapper.xml | 4 +-- iCubPlymouth02/calibrators/head_calib.xml | 19 ++++++++---- .../motorControl/head-mc_remapper.xml | 2 +- .../wrappers/motorControl/head-mc_wrapper.xml | 4 +-- iCubRome02/calibrators/head_calib.xml | 15 ++++++--- iCubRome02/calibrators/left_arm_calib.xml | 15 ++++++--- iCubRome02/calibrators/left_hand_calib.xml | 15 ++++++--- iCubRome02/calibrators/right_arm_calib.xml | 15 ++++++--- iCubRome02/calibrators/right_hand_calib.xml | 15 ++++++--- iCubRome02/calibrators/torso_calib.xml | 15 ++++++--- .../motorControl/head-mc_remapper.xml | 2 +- .../wrappers/motorControl/head-mc_wrapper.xml | 4 +-- .../motorControl/left_arm-mc_remapper.xml | 2 +- .../motorControl/left_arm-mc_wrapper.xml | 4 +-- .../motorControl/right_arm-mc_remapper.xml | 2 +- .../motorControl/right_arm-mc_wrapper.xml | 4 +-- .../motorControl/torso-mc_remapper.xml | 2 +- .../motorControl/torso-mc_wrapper.xml | 4 +-- iCubSeoul01/calibrators/head-calib.xml | 4 +++ iCubSeoul01/calibrators/left_arm-calib.xml | 4 +++ iCubSeoul01/calibrators/right_arm-calib.xml | 4 +++ iCubSeoul01/calibrators/torso-calib.xml | 4 +++ .../wrappers/motorControl/head-mc_wrapper.xml | 4 +-- .../motorControl/left_arm-mc_remapper.xml | 2 +- .../motorControl/left_arm-mc_wrapper.xml | 4 +-- .../motorControl/right_arm-mc_remapper.xml | 2 +- .../motorControl/right_arm-mc_wrapper.xml | 4 +-- .../motorControl/torso-mc_remapper.xml | 2 +- .../motorControl/torso-mc_wrapper.xml | 4 +-- 120 files changed, 621 insertions(+), 343 deletions(-) diff --git a/iCubGrenoble01/calibrators/face_calib.xml b/iCubGrenoble01/calibrators/face_calib.xml index 97f5b78510..375f514b1e 100644 --- a/iCubGrenoble01/calibrators/face_calib.xml +++ b/iCubGrenoble01/calibrators/face_calib.xml @@ -1,29 +1,37 @@ - - - - - + + + + + + + 6 TalkingFace_Calibrator + + 15 -175 -6 0 -6 11 + 10 50 10 10 10 10 + + 3 3 0 0 0 0 2047.5 2047.5 800 400 400 900 10 10 -20 10 20 20 - 1535.625 1592.5 0 0 0 0 + 1535.625 1592.5 0 0 0 0 + 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 15 0 -6 28 -6 0 10 10 10 10 10 10 0 0 0 0 0 0 90 90 90 90 90 90 - - 15 -175 -6 0 -6 11 - 10 50 10 10 10 10 - + (0 1 2 3 4 5) diff --git a/iCubGrenoble01/calibrators/head_calib.xml b/iCubGrenoble01/calibrators/head_calib.xml index 13db07cfc9..0d6181790c 100644 --- a/iCubGrenoble01/calibrators/head_calib.xml +++ b/iCubGrenoble01/calibrators/head_calib.xml @@ -1,29 +1,37 @@ - - - - - + + + + + + + 6 TalkingHead_Calibrator + + -30 0 0 0 0 0 + 10 10 10 10 10 10 + + 3 3 3 3 0 0 2047.5 2047.5 2047.5 2047.5 900 900 10 10 10 10 20 20 - 154.7 503.9125 2951.813 773.5 0 0 + 154.7 503.9125 2951.813 773.5 0 0 + 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 0 0 0 0 0 10 10 10 10 10 10 120 120 0 0 0 0 2 2 2 2 2 2 - - -30 0 0 0 0 0 - 10 10 10 10 10 10 - + (0 1 2 3) (4) (5) diff --git a/iCubGrenoble01/calibrators/left_arm_calib.xml b/iCubGrenoble01/calibrators/left_arm_calib.xml index 0aa8e77c4b..ac5749ca97 100644 --- a/iCubGrenoble01/calibrators/left_arm_calib.xml +++ b/iCubGrenoble01/calibrators/left_arm_calib.xml @@ -1,29 +1,38 @@ - - - - + + + + + + + 8 Left_Arm_Calibrator + + -30 30 0 45 0 0 0 15 + 10 10 10 10 30 10 10 100 + + 3 3 3 3 0 3 3 3 2388.75 3241.875 2047.5 1535.625 1000 2047.5 2047.5 2160 10 10 10 10 20 10 10 100 - 461.825 1682.363 3514.875 459.55 0 1971.288 1197.788 0 + 461.825 1682.363 3514.875 459.55 0 1971.288 1197.788 0 + 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 -30 30 0 45 0 0 0 15 10 10 10 10 30 10 10 100 120 120 120 120 0 0 0 0 2 2 2 2 2 2 90 90 - - -30 30 0 45 0 0 0 15 - 10 10 10 10 30 10 10 100 - + (0 1 2 3) (4 6 7) (5) diff --git a/iCubGrenoble01/calibrators/left_hand_calib.xml b/iCubGrenoble01/calibrators/left_hand_calib.xml index 6e3d551475..a48444f082 100644 --- a/iCubGrenoble01/calibrators/left_hand_calib.xml +++ b/iCubGrenoble01/calibrators/left_hand_calib.xml @@ -1,29 +1,37 @@ - - - - - + + + + + + + 8 Left_Hand_Calibrator + + 90 3 0 0 0 0 0 0 + 10 10 10 10 10 10 10 10 + + 3 4 4 4 4 4 4 4 1326.67 195 20 248 10 248 50 700 10 10 30 10 10 10 10 10 - 0 6000 -8000 6000 7400 6000 -7400 -14000 + 0 6000 -8000 6000 7400 6000 -7400 -14000 + 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 30 3 0 0 0 0 0 0 100 100 100 100 100 100 100 100 0 0 0 0 0 0 0 0 90 90 90 90 90 90 90 90 - - 90 3 0 0 0 0 0 0 - 10 10 10 10 10 10 10 10 - + (0 1 3 5) (2 4 6 7) diff --git a/iCubGrenoble01/calibrators/left_leg_calib.xml b/iCubGrenoble01/calibrators/left_leg_calib.xml index af610a8fc5..63faa30851 100644 --- a/iCubGrenoble01/calibrators/left_leg_calib.xml +++ b/iCubGrenoble01/calibrators/left_leg_calib.xml @@ -1,29 +1,37 @@ - - - - - + + + + + + + 6 Left_Leg_Calibrator + + 0 0 0 0 0 0 + 10 10 10 10 10 10 + + 3 3 3 3 3 3 2047.5 2047.5 2047.5 2047.5 2047.5 2047.5 10 10 10 10 10 10 - 2402.4 1223.95 1007.825 1973.563 2330.738 1415.05 + 2402.4 1223.95 1007.825 1973.563 2330.738 1415.05 + 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 0 0 0 0 0 10 10 10 10 10 10 120 120 120 120 120 120 2 2 2 2 2 2 - - 0 0 0 0 0 0 - 10 10 10 10 10 10 - + (0 1 2 3 4 5) diff --git a/iCubGrenoble01/calibrators/right_arm_calib.xml b/iCubGrenoble01/calibrators/right_arm_calib.xml index 24d7a8bc02..1610ec5838 100644 --- a/iCubGrenoble01/calibrators/right_arm_calib.xml +++ b/iCubGrenoble01/calibrators/right_arm_calib.xml @@ -1,29 +1,37 @@ - - - - - + + + + + + + 8 Right_Arm_Calibrator - + + + -30 30 0 45 0 0 0 15 + 10 10 10 10 30 10 10 100 + + 3 3 3 3 0 3 3 3 1706.25 853.13 2047.50 2559.38 900.00 2047.50 2047.50 2430.00 10.00 10.00 10.00 10.00 -20.00 10.00 10.00 100.00 - 216.13 3076.94 4056.33 702.98 0.00 2061.15 3282.83 0.00 + 216.13 3076.94 4056.33 702.98 0.00 2061.15 3282.83 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 -30 30 0 45 0 0 0 15 10 10 10 10 30 10 10 100 120 120 120 120 0 0 0 0 2 2 2 2 2 2 90 90 - - -30 30 0 45 0 0 0 15 - 10 10 10 10 30 10 10 100 - + (0 1 2 3) (4 6 7) (5) diff --git a/iCubGrenoble01/calibrators/right_hand_calib.xml b/iCubGrenoble01/calibrators/right_hand_calib.xml index 00f617f522..99706923f3 100644 --- a/iCubGrenoble01/calibrators/right_hand_calib.xml +++ b/iCubGrenoble01/calibrators/right_hand_calib.xml @@ -1,29 +1,36 @@ - - - - - + + + + + + + 8 Right_Hand_Calibrator - + + + 90 3 0 0 0 0 0 0 + 10 10 10 10 10 10 10 10 + + 3 4 4 4 4 4 4 4 1265.56 255.00 20.00 255.00 10.00 230.00 25.00 730.00 10.00 10.00 30.00 10.00 10.00 10.00 10.00 10.00 - 0.00 6000.00 8000.00 6000.00 -7400.00 6000.00 7400.00 14000.00 + 0.00 6000.00 8000.00 6000.00 -7400.00 6000.00 7400.00 14000.00 + 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 30 3 0 0 0 0 0 0 100 100 100 100 100 100 100 100 0 0 0 0 0 0 0 0 90 90 90 90 90 90 90 90 - - - 90 3 0 0 0 0 0 0 - 10 10 10 10 10 10 10 10 - + (0 1 3 5) (2 4 6 7) diff --git a/iCubGrenoble01/calibrators/right_leg_calib.xml b/iCubGrenoble01/calibrators/right_leg_calib.xml index ac51d37c20..edb95e0472 100644 --- a/iCubGrenoble01/calibrators/right_leg_calib.xml +++ b/iCubGrenoble01/calibrators/right_leg_calib.xml @@ -1,29 +1,37 @@ - - - - - + + + + + + + 6 Right_Leg_Calibrator + + 0 0 0 0 0 0 + 10 10 10 10 10 10 + + 3 3 3 3 3 3 2047.5 2047.5 2047.5 2047.5 2047.5 2047.5 10 10 10 10 10 10 - 3207.75 2869.913 3538.763 2069.113 2850.575 2588.95 + 3207.75 2869.913 3538.763 2069.113 2850.575 2588.95 + 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 0 0 0 0 0 10 10 10 10 10 10 120 120 120 120 120 120 2 2 2 2 2 2 - - 0 0 0 0 0 0 - 10 10 10 10 10 10 - + (0 1 2 3 4 5) diff --git a/iCubGrenoble01/calibrators/torso_calib.xml b/iCubGrenoble01/calibrators/torso_calib.xml index 501165ffaa..4d2a68d295 100644 --- a/iCubGrenoble01/calibrators/torso_calib.xml +++ b/iCubGrenoble01/calibrators/torso_calib.xml @@ -1,29 +1,37 @@ - - - - - + + + + + + + 4 Torso_Calibrator + + 0 0 -20 0 + 10 10 10 0 + + 3 3 3 0 2047.5 2047.5 2047.5 0 10 10 10 0 - 170.625 3253.25 3799.25 0 + 170.625 3253.25 3799.25 0 + 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 0 0 0 10 10 10 0 120 120 120 0 2 2 2 2 - - 0 0 -20 0 - 10 10 10 0 - + (0 1 2) diff --git a/iCubGrenoble01/wrappers/motorControl/face-mc_remapper.xml b/iCubGrenoble01/wrappers/motorControl/face-mc_remapper.xml index 122fdd6d2b..a086ee8c32 100644 --- a/iCubGrenoble01/wrappers/motorControl/face-mc_remapper.xml +++ b/iCubGrenoble01/wrappers/motorControl/face-mc_remapper.xml @@ -1,7 +1,7 @@ - + ( 0 5 0 5 ) diff --git a/iCubGrenoble01/wrappers/motorControl/face-mc_wrapper.xml b/iCubGrenoble01/wrappers/motorControl/face-mc_wrapper.xml index 7252aca873..d5c45c73bf 100644 --- a/iCubGrenoble01/wrappers/motorControl/face-mc_wrapper.xml +++ b/iCubGrenoble01/wrappers/motorControl/face-mc_wrapper.xml @@ -1,10 +1,10 @@ - + /icub/face - face_mc_remapper + face-mc_remapper diff --git a/iCubGrenoble01/wrappers/motorControl/head-mc_remapper.xml b/iCubGrenoble01/wrappers/motorControl/head-mc_remapper.xml index b3327e6dca..2ecf8ef188 100644 --- a/iCubGrenoble01/wrappers/motorControl/head-mc_remapper.xml +++ b/iCubGrenoble01/wrappers/motorControl/head-mc_remapper.xml @@ -1,7 +1,7 @@ - + ( 0 5 0 5 ) diff --git a/iCubGrenoble01/wrappers/motorControl/head-mc_wrapper.xml b/iCubGrenoble01/wrappers/motorControl/head-mc_wrapper.xml index 5d14888760..06e2825805 100644 --- a/iCubGrenoble01/wrappers/motorControl/head-mc_wrapper.xml +++ b/iCubGrenoble01/wrappers/motorControl/head-mc_wrapper.xml @@ -1,10 +1,10 @@ - + /icub/head - head_mc_remapper + head-mc_remapper diff --git a/iCubGrenoble01/wrappers/motorControl/left_arm-mc_remapper.xml b/iCubGrenoble01/wrappers/motorControl/left_arm-mc_remapper.xml index 50d52ebcc4..b153e07c3c 100644 --- a/iCubGrenoble01/wrappers/motorControl/left_arm-mc_remapper.xml +++ b/iCubGrenoble01/wrappers/motorControl/left_arm-mc_remapper.xml @@ -1,7 +1,7 @@ - + ( 0 7 0 7 ) ( 8 15 0 7 ) diff --git a/iCubGrenoble01/wrappers/motorControl/left_arm-mc_wrapper.xml b/iCubGrenoble01/wrappers/motorControl/left_arm-mc_wrapper.xml index ebe11670f8..caf7f8bb4b 100644 --- a/iCubGrenoble01/wrappers/motorControl/left_arm-mc_wrapper.xml +++ b/iCubGrenoble01/wrappers/motorControl/left_arm-mc_wrapper.xml @@ -1,10 +1,10 @@ - + /icub/left_arm - left_arm_mc_remapper + left_arm-mc_remapper diff --git a/iCubGrenoble01/wrappers/motorControl/left_leg-mc_remapper.xml b/iCubGrenoble01/wrappers/motorControl/left_leg-mc_remapper.xml index 02e9c9c27a..04e89de94d 100644 --- a/iCubGrenoble01/wrappers/motorControl/left_leg-mc_remapper.xml +++ b/iCubGrenoble01/wrappers/motorControl/left_leg-mc_remapper.xml @@ -1,6 +1,6 @@ - + ( 0 5 0 5 ) diff --git a/iCubGrenoble01/wrappers/motorControl/left_leg-mc_wrapper.xml b/iCubGrenoble01/wrappers/motorControl/left_leg-mc_wrapper.xml index 2b54562163..64e5ab7e13 100644 --- a/iCubGrenoble01/wrappers/motorControl/left_leg-mc_wrapper.xml +++ b/iCubGrenoble01/wrappers/motorControl/left_leg-mc_wrapper.xml @@ -1,10 +1,10 @@ - + /icub/left_leg - left_leg_mc_remapper + left_leg-mc_remapper diff --git a/iCubGrenoble01/wrappers/motorControl/right_arm-mc_remapper.xml b/iCubGrenoble01/wrappers/motorControl/right_arm-mc_remapper.xml index e08c59444b..8354c4b8f6 100644 --- a/iCubGrenoble01/wrappers/motorControl/right_arm-mc_remapper.xml +++ b/iCubGrenoble01/wrappers/motorControl/right_arm-mc_remapper.xml @@ -1,7 +1,7 @@ - + ( 0 7 0 7 ) ( 8 15 0 7 ) diff --git a/iCubGrenoble01/wrappers/motorControl/right_arm-mc_wrapper.xml b/iCubGrenoble01/wrappers/motorControl/right_arm-mc_wrapper.xml index f980f9dd1f..15bc4d3c12 100644 --- a/iCubGrenoble01/wrappers/motorControl/right_arm-mc_wrapper.xml +++ b/iCubGrenoble01/wrappers/motorControl/right_arm-mc_wrapper.xml @@ -1,10 +1,10 @@ - + /icub/right_arm - right_arm_mc_remapper + right_arm-mc_remapper diff --git a/iCubGrenoble01/wrappers/motorControl/right_leg-mc_remapper.xml b/iCubGrenoble01/wrappers/motorControl/right_leg-mc_remapper.xml index 0a8d6d4f80..a50e5a5c11 100644 --- a/iCubGrenoble01/wrappers/motorControl/right_leg-mc_remapper.xml +++ b/iCubGrenoble01/wrappers/motorControl/right_leg-mc_remapper.xml @@ -1,6 +1,6 @@ - + ( 0 5 0 5 ) diff --git a/iCubGrenoble01/wrappers/motorControl/right_leg-mc_wrapper.xml b/iCubGrenoble01/wrappers/motorControl/right_leg-mc_wrapper.xml index 850532c3fa..63ef3cb4a7 100644 --- a/iCubGrenoble01/wrappers/motorControl/right_leg-mc_wrapper.xml +++ b/iCubGrenoble01/wrappers/motorControl/right_leg-mc_wrapper.xml @@ -1,10 +1,10 @@ - + /icub/right_leg - right_leg_mc_remapper + right_leg-mc_remapper diff --git a/iCubGrenoble01/wrappers/motorControl/torso-mc_remapper.xml b/iCubGrenoble01/wrappers/motorControl/torso-mc_remapper.xml index 51ef3d71ae..21dabf94fa 100644 --- a/iCubGrenoble01/wrappers/motorControl/torso-mc_remapper.xml +++ b/iCubGrenoble01/wrappers/motorControl/torso-mc_remapper.xml @@ -1,7 +1,7 @@ - + ( 0 2 0 2 ) diff --git a/iCubGrenoble01/wrappers/motorControl/torso-mc_wrapper.xml b/iCubGrenoble01/wrappers/motorControl/torso-mc_wrapper.xml index 974bf9e8a0..89cf257cd6 100644 --- a/iCubGrenoble01/wrappers/motorControl/torso-mc_wrapper.xml +++ b/iCubGrenoble01/wrappers/motorControl/torso-mc_wrapper.xml @@ -1,10 +1,10 @@ - + /icub/torso - torso_mc_remapper + torso-mc_remapper diff --git a/iCubLethbridge01/calibrators/head_calib.xml b/iCubLethbridge01/calibrators/head_calib.xml index 1fc80ab090..821869d48c 100644 --- a/iCubLethbridge01/calibrators/head_calib.xml +++ b/iCubLethbridge01/calibrators/head_calib.xml @@ -10,21 +10,27 @@ HeadV2_Calibrator + + + 0 0 + 10 10 + + 3 3 2047.5 2047.5 10 10 273.5 3139.5 + 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 0 10 10 0 0 2 2 - - - 0 0 - 10 10 - + (0) diff --git a/iCubLethbridge01/icub_all.xml b/iCubLethbridge01/icub_all.xml index d88def498c..4d0d14070a 100644 --- a/iCubLethbridge01/icub_all.xml +++ b/iCubLethbridge01/icub_all.xml @@ -1,7 +1,9 @@ - + + + diff --git a/iCubLethbridge01/wrappers/motorControl/head-mc_remapper.xml b/iCubLethbridge01/wrappers/motorControl/head-mc_remapper.xml index b3327e6dca..2ecf8ef188 100644 --- a/iCubLethbridge01/wrappers/motorControl/head-mc_remapper.xml +++ b/iCubLethbridge01/wrappers/motorControl/head-mc_remapper.xml @@ -1,7 +1,7 @@ - + ( 0 5 0 5 ) diff --git a/iCubLethbridge01/wrappers/motorControl/head-mc_wrapper.xml b/iCubLethbridge01/wrappers/motorControl/head-mc_wrapper.xml index 5d14888760..ba077316af 100644 --- a/iCubLethbridge01/wrappers/motorControl/head-mc_wrapper.xml +++ b/iCubLethbridge01/wrappers/motorControl/head-mc_wrapper.xml @@ -4,7 +4,7 @@ /icub/head - head_mc_remapper + head-mc_remapper diff --git a/iCubLugano01/calibrators/head_calib.xml b/iCubLugano01/calibrators/head_calib.xml index 1ad3fd8db7..ec447a8cc1 100644 --- a/iCubLugano01/calibrators/head_calib.xml +++ b/iCubLugano01/calibrators/head_calib.xml @@ -8,22 +8,28 @@ Head_Calibrator + + + -40 0 0 0 0 0 + 10 10 10 10 10 10 + + 0 0 0 0 0 0 500 1333 1333 600 500 500 20 20 20 -20 20 20 - 0 0 0 0 0 0 + 0 0 0 0 0 0 + 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 0 0 0 0 0 10 10 10 10 10 10 1300 1300 1330 1300 1300 1300 2 2 180 2 180 180 - - - -40 0 0 0 0 0 - 10 10 10 10 10 10 - + (0) (1) (2 3) (5) (4) diff --git a/iCubLugano01/calibrators/left_arm_calib.xml b/iCubLugano01/calibrators/left_arm_calib.xml index ae64207fc4..d4705aacb2 100644 --- a/iCubLugano01/calibrators/left_arm_calib.xml +++ b/iCubLugano01/calibrators/left_arm_calib.xml @@ -8,22 +8,28 @@ Left_Arm_Calibrator + + -30 30 0 45 0 0 40 15 + 10 10 10 10 30 30 30 100 + + 3 3 3 3 0 2 2 3 2388.75 3241.875 -275.933 1532 650 750 750 1685 10 10 10 10 20 -10 -10 100 - 2111 425 2390 1719 0 0 0 0 + 2111 425 2390 1719 0 0 0 0 + 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 -30 30 0 45 0 0 0 15 10 10 10 10 30 30 30 100 120 120 120 120 0 0 0 0 2 2 2 2 2 2 90 90 - - -30 30 0 45 0 0 40 15 - 10 10 10 10 30 30 30 100 - + (0 1 2 3) (4 6 7) (5) diff --git a/iCubLugano01/calibrators/left_hand_calib.xml b/iCubLugano01/calibrators/left_hand_calib.xml index 26ffe0e582..aca3800652 100644 --- a/iCubLugano01/calibrators/left_hand_calib.xml +++ b/iCubLugano01/calibrators/left_hand_calib.xml @@ -7,23 +7,29 @@ 8 Left_Hand_Calibrator - + + + 90 3 0 0 0 0 0 0 + 10 10 10 10 10 10 10 10 + + 3 4 4 4 4 4 4 4 251 230 0 240 0 240 0 703 10 10 30 10 10 10 10 10 - 0 6000 6600 6000 6600 6000 -6600 14000 + 0 6000 6600 6000 6600 6000 -6600 14000 + 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 30 3 0 0 0 0 0 0 100 100 100 100 100 100 100 100 0 0 0 0 0 0 0 0 90 90 90 90 90 90 90 90 - - 90 3 0 0 0 0 0 0 - 10 10 10 10 10 10 10 10 - + (0 1 3 5) (2 4 6 7) diff --git a/iCubLugano01/calibrators/right_arm_calib.xml b/iCubLugano01/calibrators/right_arm_calib.xml index b09fc5c7eb..1e4063d9de 100644 --- a/iCubLugano01/calibrators/right_arm_calib.xml +++ b/iCubLugano01/calibrators/right_arm_calib.xml @@ -7,23 +7,29 @@ 8 Right_Arm_Calibrator + + + -30 30 0 45 0 0 40 15 + 10 10 10 10 30 10 10 100 + 3 3 3 3 0 2 2 3 1706.25 853.125 2795.317 2558 650 750 750 1580 10 10 10 10 -20 10 10 100 - 2640 2644 1974 16.5 0 0 0 0 + 2640 2644 1974 16.5 0 0 0 0 + 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 -30 30 0 45 0 0 0 15 10 10 10 10 30 10 10 100 120 120 120 120 0 0 0 0 2 2 2 2 2 2 90 90 - - -30 30 0 45 0 0 40 15 - 10 10 10 10 30 10 10 100 - + (0 1 2 3) (4 6 7) (5) diff --git a/iCubLugano01/calibrators/right_hand_calib.xml b/iCubLugano01/calibrators/right_hand_calib.xml index 5f34ea93b0..7bef6a445d 100644 --- a/iCubLugano01/calibrators/right_hand_calib.xml +++ b/iCubLugano01/calibrators/right_hand_calib.xml @@ -8,22 +8,28 @@ Right_Hand_Calibrator + + 90 3 0 0 0 0 0 0 + 10 10 10 10 10 10 10 10 + + 3 4 4 4 4 4 4 4 288 226 0 243 0 231 0 738 10 10 30 10 10 10 10 10 - 0 6000 6600 6000 -6600 6000 6600 14000 + 0 6000 6600 6000 -6600 6000 6600 14000 + 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 30 3 0 0 0 0 0 0 100 100 100 100 100 100 100 100 0 0 0 0 0 0 0 0 90 90 90 90 90 90 90 90 - - 90 3 0 0 0 0 0 0 - 10 10 10 10 10 10 10 10 - + (0 1 3 5) (2 4 6 7) diff --git a/iCubLugano01/calibrators/torso_calib.xml b/iCubLugano01/calibrators/torso_calib.xml index 245c474764..b0e491b190 100644 --- a/iCubLugano01/calibrators/torso_calib.xml +++ b/iCubLugano01/calibrators/torso_calib.xml @@ -7,23 +7,29 @@ 4 Torso_Calibrator + + + 0 0 -20 0 + 10 10 10 0 + 3 3 3 3 2047.5 2047.5 2047.5 0 10 10 10 0 - 3909.588 2335.288 3713.938 0 + 3909.588 2335.288 3713.938 0 + 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 0 0 0 10 10 10 0 120 120 120 0 2 2 2 2 - - 0 0 -20 0 - 10 10 10 0 - + (0 1 2) diff --git a/iCubLugano01/wrappers/motorControl/head-mc_remapper.xml b/iCubLugano01/wrappers/motorControl/head-mc_remapper.xml index b3327e6dca..2ecf8ef188 100644 --- a/iCubLugano01/wrappers/motorControl/head-mc_remapper.xml +++ b/iCubLugano01/wrappers/motorControl/head-mc_remapper.xml @@ -1,7 +1,7 @@ - + ( 0 5 0 5 ) diff --git a/iCubLugano01/wrappers/motorControl/head-mc_wrapper.xml b/iCubLugano01/wrappers/motorControl/head-mc_wrapper.xml index 5d14888760..06e2825805 100644 --- a/iCubLugano01/wrappers/motorControl/head-mc_wrapper.xml +++ b/iCubLugano01/wrappers/motorControl/head-mc_wrapper.xml @@ -1,10 +1,10 @@ - + /icub/head - head_mc_remapper + head-mc_remapper diff --git a/iCubLugano01/wrappers/motorControl/left_arm-mc_remapper.xml b/iCubLugano01/wrappers/motorControl/left_arm-mc_remapper.xml index 50d52ebcc4..b153e07c3c 100644 --- a/iCubLugano01/wrappers/motorControl/left_arm-mc_remapper.xml +++ b/iCubLugano01/wrappers/motorControl/left_arm-mc_remapper.xml @@ -1,7 +1,7 @@ - + ( 0 7 0 7 ) ( 8 15 0 7 ) diff --git a/iCubLugano01/wrappers/motorControl/left_arm-mc_wrapper.xml b/iCubLugano01/wrappers/motorControl/left_arm-mc_wrapper.xml index ebe11670f8..caf7f8bb4b 100644 --- a/iCubLugano01/wrappers/motorControl/left_arm-mc_wrapper.xml +++ b/iCubLugano01/wrappers/motorControl/left_arm-mc_wrapper.xml @@ -1,10 +1,10 @@ - + /icub/left_arm - left_arm_mc_remapper + left_arm-mc_remapper diff --git a/iCubLugano01/wrappers/motorControl/right_arm-mc_remapper.xml b/iCubLugano01/wrappers/motorControl/right_arm-mc_remapper.xml index e08c59444b..8354c4b8f6 100644 --- a/iCubLugano01/wrappers/motorControl/right_arm-mc_remapper.xml +++ b/iCubLugano01/wrappers/motorControl/right_arm-mc_remapper.xml @@ -1,7 +1,7 @@ - + ( 0 7 0 7 ) ( 8 15 0 7 ) diff --git a/iCubLugano01/wrappers/motorControl/right_arm-mc_wrapper.xml b/iCubLugano01/wrappers/motorControl/right_arm-mc_wrapper.xml index f980f9dd1f..15bc4d3c12 100644 --- a/iCubLugano01/wrappers/motorControl/right_arm-mc_wrapper.xml +++ b/iCubLugano01/wrappers/motorControl/right_arm-mc_wrapper.xml @@ -1,10 +1,10 @@ - + /icub/right_arm - right_arm_mc_remapper + right_arm-mc_remapper diff --git a/iCubLugano01/wrappers/motorControl/torso-mc_remapper.xml b/iCubLugano01/wrappers/motorControl/torso-mc_remapper.xml index 51ef3d71ae..21dabf94fa 100644 --- a/iCubLugano01/wrappers/motorControl/torso-mc_remapper.xml +++ b/iCubLugano01/wrappers/motorControl/torso-mc_remapper.xml @@ -1,7 +1,7 @@ - + ( 0 2 0 2 ) diff --git a/iCubLugano01/wrappers/motorControl/torso-mc_wrapper.xml b/iCubLugano01/wrappers/motorControl/torso-mc_wrapper.xml index 974bf9e8a0..89cf257cd6 100644 --- a/iCubLugano01/wrappers/motorControl/torso-mc_wrapper.xml +++ b/iCubLugano01/wrappers/motorControl/torso-mc_wrapper.xml @@ -1,10 +1,10 @@ - + /icub/torso - torso_mc_remapper + torso-mc_remapper diff --git a/iCubMunich01/calibrators/head_calib.xml b/iCubMunich01/calibrators/head_calib.xml index c2913f957e..e6de1d894f 100644 --- a/iCubMunich01/calibrators/head_calib.xml +++ b/iCubMunich01/calibrators/head_calib.xml @@ -7,23 +7,29 @@ 6 Head_Calibrator - + + + -40 0 0 0 0 0 + 10 10 10 10 10 10 + + 0 0 0 0 0 0 500 1333 1333 600 500 500 20 20 20 -20 20 20 - 0 0 0 0 0 0 + 0 0 0 0 0 0 + 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 0 0 0 0 0 10 10 10 10 10 10 1300 1300 1330 1300 1300 1300 2 2 180 2 180 180 - - -40 0 0 0 0 0 - 10 10 10 10 10 10 - + (0) (1) (2 3) (5) (4) diff --git a/iCubMunich01/calibrators/left_arm_calib.xml b/iCubMunich01/calibrators/left_arm_calib.xml index b3f3bfc05b..3adba29ca9 100644 --- a/iCubMunich01/calibrators/left_arm_calib.xml +++ b/iCubMunich01/calibrators/left_arm_calib.xml @@ -8,22 +8,28 @@ Left_Arm_Calibrator + + -30 30 0 45 0 0 40 15 + 10 10 10 10 30 30 30 100 + + 3 3 3 3 0 2 2 3 2388.75 3241.875 -275.933 1532 1000 750 750 1730 10 10 10 10 20 -10 -10 100 - 1969.0125 2492.2625 1586.528 229.775 0 0 0 0 + 1969.0125 2492.2625 1586.528 229.775 0 0 0 0 + 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 -30 30 0 45 0 0 0 15 10 10 10 10 30 30 30 100 120 120 120 120 0 0 0 0 2 2 2 2 2 2 90 90 - - -30 30 0 45 0 0 40 15 - 10 10 10 10 30 30 30 100 - + (0 1 2 3) (4) (6 7) (5) diff --git a/iCubMunich01/calibrators/left_hand_calib.xml b/iCubMunich01/calibrators/left_hand_calib.xml index ca0f3d8bba..c584eab5f8 100644 --- a/iCubMunich01/calibrators/left_hand_calib.xml +++ b/iCubMunich01/calibrators/left_hand_calib.xml @@ -8,22 +8,28 @@ Left_Hand_Calibrator + + 90 3 0 0 0 0 0 0 + 10 10 10 10 10 10 10 10 + + 3 4 4 4 4 4 4 4 920 240 20 243 10 246 35 673 10 10 30 10 10 10 10 10 - 0 6000 6600 6000 7000 6000 -7000 20000 + 0 6000 6600 6000 7000 6000 -7000 20000 + 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 30 0 0 0 0 0 0 0 100 100 100 100 100 100 100 100 0 0 0 0 0 0 0 0 90 90 90 90 90 90 90 90 - - 90 3 0 0 0 0 0 0 - 10 10 10 10 10 10 10 10 - + (0 1 3 5) (2 4 6 7) diff --git a/iCubMunich01/calibrators/left_leg_calib.xml b/iCubMunich01/calibrators/left_leg_calib.xml index cd1ac391fb..e4f3b55870 100644 --- a/iCubMunich01/calibrators/left_leg_calib.xml +++ b/iCubMunich01/calibrators/left_leg_calib.xml @@ -1,29 +1,37 @@ + - - + + + 6 Left_Leg_Calibrator - + + + 0 0 0 0 0 0 + 10 10 10 10 10 10 + + + 3 3 3 3 3 3 2047.5 2047.5 2047.5 2047.5 2047.5 2047.5 10 10 10 10 10 10 - 2745.925 953.225 2517.288 3531.9375 3368.1375 1151.15 + 2745.925 953.225 2517.288 3531.9375 3368.1375 1151.15 + 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 10.00 10.00 10.00 10.00 10.00 10.00 120 120 120 120 120 120 2 2 2 2 2 2 - - 0 0 0 0 0 0 - 10 10 10 10 10 10 - - + (0 1 2 3 4 5) diff --git a/iCubMunich01/calibrators/right_arm_calib.xml b/iCubMunich01/calibrators/right_arm_calib.xml index f634bc05fb..45c2742383 100644 --- a/iCubMunich01/calibrators/right_arm_calib.xml +++ b/iCubMunich01/calibrators/right_arm_calib.xml @@ -7,23 +7,29 @@ 8 Right_Arm_Calibrator - + + + -30 30 0 45 0 0 40 15 + 10 10 10 10 30 10 10 100 + + 3 3 3 3 0 2 2 3 1706.25 853.125 2795.317 2558 900 750 750 1700 10 10 10 10 -20 10 10 100 - 3363.5875 1543.588 2694.453 213.85 0 0 0 0 + 3363.5875 1543.588 2694.453 213.85 0 0 0 0 + 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 -30 30 0 45 0 0 0 15 10 10 10 10 30 30 30 100 120 120 120 120 0 0 0 0 2 2 2 2 2 2 90 90 - - -30 30 0 45 0 0 40 15 - 10 10 10 10 30 10 10 100 - + (0 1 2 3) (4) (6 7) (5) diff --git a/iCubMunich01/calibrators/right_hand_calib.xml b/iCubMunich01/calibrators/right_hand_calib.xml index 170e4d6fb4..27007466a5 100644 --- a/iCubMunich01/calibrators/right_hand_calib.xml +++ b/iCubMunich01/calibrators/right_hand_calib.xml @@ -8,22 +8,28 @@ Right_Hand_Calibrator + + 90 3 0 0 0 0 0 0 + 10 10 10 10 10 10 10 10 + + 3 4 4 4 4 4 4 4 892.11 243 20 255 0 242 15 682 10 10 30 10 10 10 10 10 - 0 6000 6600 6000 -7000 6000 7000 20000 + 0 6000 6600 6000 -7000 6000 7000 20000 + 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 30 0 0 0 0 0 0 0 100 100 100 100 100 100 100 100 0 0 0 0 0 0 0 0 90 90 90 90 90 90 90 90 - - 90 3 0 0 0 0 0 0 - 10 10 10 10 10 10 10 10 - + (0 1 3 5) (2 4 6 7) diff --git a/iCubMunich01/calibrators/right_leg_calib.xml b/iCubMunich01/calibrators/right_leg_calib.xml index 7c94b80883..c0423a5cde 100644 --- a/iCubMunich01/calibrators/right_leg_calib.xml +++ b/iCubMunich01/calibrators/right_leg_calib.xml @@ -1,28 +1,35 @@ - - - + + + + 6 Right_Leg_Calibrator + + + 0 0 0 0 0 0 + 10 10 10 10 10 10 + + 3 3 3 3 3 3 2047.50 2047.50 2047.50 2047.50 2047.50 2047.50 10.00 10.00 10.00 10.00 10.00 10.00 - 3950.54 3164.53 1081.76 1529.94 1142.05 1900.76 + 3950.54 3164.53 1081.76 1529.94 1142.05 1900.76 + 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 10.00 10.00 10.00 10.00 10.00 10.00 120 120 120 120 120 120 2 2 2 2 2 2 - - - 0 0 0 0 0 0 - 10 10 10 10 10 10 - + (0 1 2 3 4 5) diff --git a/iCubMunich01/calibrators/torso_calib.xml b/iCubMunich01/calibrators/torso_calib.xml index 0748aba85f..de8a680826 100644 --- a/iCubMunich01/calibrators/torso_calib.xml +++ b/iCubMunich01/calibrators/torso_calib.xml @@ -8,22 +8,28 @@ Torso_Calibrator + + 0 0 -20 0 + 10 10 10 0 + + 3 3 3 0 2047.5 2047.5 2047.5 0 10 10 10 0 - 2295.475 105.7875 3520.563 0 + 2295.475 105.7875 3520.563 0 + 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 0 0 0 10 10 10 0 120 120 120 0 2 2 2 2 - - 0 0 -20 0 - 10 10 10 0 - + (0 1 2) diff --git a/iCubMunich01/wrappers/motorControl/head-mc_remapper.xml b/iCubMunich01/wrappers/motorControl/head-mc_remapper.xml index b3327e6dca..2ecf8ef188 100644 --- a/iCubMunich01/wrappers/motorControl/head-mc_remapper.xml +++ b/iCubMunich01/wrappers/motorControl/head-mc_remapper.xml @@ -1,7 +1,7 @@ - + ( 0 5 0 5 ) diff --git a/iCubMunich01/wrappers/motorControl/head-mc_wrapper.xml b/iCubMunich01/wrappers/motorControl/head-mc_wrapper.xml index 5d14888760..06e2825805 100644 --- a/iCubMunich01/wrappers/motorControl/head-mc_wrapper.xml +++ b/iCubMunich01/wrappers/motorControl/head-mc_wrapper.xml @@ -1,10 +1,10 @@ - + /icub/head - head_mc_remapper + head-mc_remapper diff --git a/iCubMunich01/wrappers/motorControl/left_arm-mc_remapper.xml b/iCubMunich01/wrappers/motorControl/left_arm-mc_remapper.xml index 50d52ebcc4..b153e07c3c 100644 --- a/iCubMunich01/wrappers/motorControl/left_arm-mc_remapper.xml +++ b/iCubMunich01/wrappers/motorControl/left_arm-mc_remapper.xml @@ -1,7 +1,7 @@ - + ( 0 7 0 7 ) ( 8 15 0 7 ) diff --git a/iCubMunich01/wrappers/motorControl/left_arm-mc_wrapper.xml b/iCubMunich01/wrappers/motorControl/left_arm-mc_wrapper.xml index ebe11670f8..caf7f8bb4b 100644 --- a/iCubMunich01/wrappers/motorControl/left_arm-mc_wrapper.xml +++ b/iCubMunich01/wrappers/motorControl/left_arm-mc_wrapper.xml @@ -1,10 +1,10 @@ - + /icub/left_arm - left_arm_mc_remapper + left_arm-mc_remapper diff --git a/iCubMunich01/wrappers/motorControl/left_leg-mc_remapper.xml b/iCubMunich01/wrappers/motorControl/left_leg-mc_remapper.xml index 02e9c9c27a..04e89de94d 100644 --- a/iCubMunich01/wrappers/motorControl/left_leg-mc_remapper.xml +++ b/iCubMunich01/wrappers/motorControl/left_leg-mc_remapper.xml @@ -1,6 +1,6 @@ - + ( 0 5 0 5 ) diff --git a/iCubMunich01/wrappers/motorControl/left_leg-mc_wrapper.xml b/iCubMunich01/wrappers/motorControl/left_leg-mc_wrapper.xml index 2b54562163..64e5ab7e13 100644 --- a/iCubMunich01/wrappers/motorControl/left_leg-mc_wrapper.xml +++ b/iCubMunich01/wrappers/motorControl/left_leg-mc_wrapper.xml @@ -1,10 +1,10 @@ - + /icub/left_leg - left_leg_mc_remapper + left_leg-mc_remapper diff --git a/iCubMunich01/wrappers/motorControl/right_arm-mc_remapper.xml b/iCubMunich01/wrappers/motorControl/right_arm-mc_remapper.xml index e08c59444b..8354c4b8f6 100644 --- a/iCubMunich01/wrappers/motorControl/right_arm-mc_remapper.xml +++ b/iCubMunich01/wrappers/motorControl/right_arm-mc_remapper.xml @@ -1,7 +1,7 @@ - + ( 0 7 0 7 ) ( 8 15 0 7 ) diff --git a/iCubMunich01/wrappers/motorControl/right_arm-mc_wrapper.xml b/iCubMunich01/wrappers/motorControl/right_arm-mc_wrapper.xml index f980f9dd1f..15bc4d3c12 100644 --- a/iCubMunich01/wrappers/motorControl/right_arm-mc_wrapper.xml +++ b/iCubMunich01/wrappers/motorControl/right_arm-mc_wrapper.xml @@ -1,10 +1,10 @@ - + /icub/right_arm - right_arm_mc_remapper + right_arm-mc_remapper diff --git a/iCubMunich01/wrappers/motorControl/right_leg-mc_remapper.xml b/iCubMunich01/wrappers/motorControl/right_leg-mc_remapper.xml index 0a8d6d4f80..a50e5a5c11 100644 --- a/iCubMunich01/wrappers/motorControl/right_leg-mc_remapper.xml +++ b/iCubMunich01/wrappers/motorControl/right_leg-mc_remapper.xml @@ -1,6 +1,6 @@ - + ( 0 5 0 5 ) diff --git a/iCubMunich01/wrappers/motorControl/right_leg-mc_wrapper.xml b/iCubMunich01/wrappers/motorControl/right_leg-mc_wrapper.xml index 850532c3fa..63ef3cb4a7 100644 --- a/iCubMunich01/wrappers/motorControl/right_leg-mc_wrapper.xml +++ b/iCubMunich01/wrappers/motorControl/right_leg-mc_wrapper.xml @@ -1,10 +1,10 @@ - + /icub/right_leg - right_leg_mc_remapper + right_leg-mc_remapper diff --git a/iCubMunich01/wrappers/motorControl/torso-mc_remapper.xml b/iCubMunich01/wrappers/motorControl/torso-mc_remapper.xml index 51ef3d71ae..21dabf94fa 100644 --- a/iCubMunich01/wrappers/motorControl/torso-mc_remapper.xml +++ b/iCubMunich01/wrappers/motorControl/torso-mc_remapper.xml @@ -1,7 +1,7 @@ - + ( 0 2 0 2 ) diff --git a/iCubMunich01/wrappers/motorControl/torso-mc_wrapper.xml b/iCubMunich01/wrappers/motorControl/torso-mc_wrapper.xml index 974bf9e8a0..89cf257cd6 100644 --- a/iCubMunich01/wrappers/motorControl/torso-mc_wrapper.xml +++ b/iCubMunich01/wrappers/motorControl/torso-mc_wrapper.xml @@ -1,10 +1,10 @@ - + /icub/torso - torso_mc_remapper + torso-mc_remapper diff --git a/iCubPisa01/calibrators/head_calib.xml b/iCubPisa01/calibrators/head_calib.xml index 1328e9a85b..dd32d9081f 100644 --- a/iCubPisa01/calibrators/head_calib.xml +++ b/iCubPisa01/calibrators/head_calib.xml @@ -8,22 +8,28 @@ Head_Calibrator + + -30 0 0 0 0 0 + 10 10 10 10 10 10 + + 3 3 3 3 0 0 2047.5 2047.5 2047.5 2047.5 900 900 10 10 10 10 20 20 - 3257.8 2393.3 377.65 3571.75 0 0 + 3257.8 2393.3 377.65 3571.75 0 0 + 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 0 0 0 0 0 10 10 10 10 10 10 140 140 600 0 0 0 2 2 2 2 2 2 - - -30 0 0 0 0 0 - 10 10 10 10 10 10 - + (0 1 2 3) (4) (5) diff --git a/iCubPisa01/calibrators/left_arm_calib.xml b/iCubPisa01/calibrators/left_arm_calib.xml index 651d8c8c6f..47ca931123 100644 --- a/iCubPisa01/calibrators/left_arm_calib.xml +++ b/iCubPisa01/calibrators/left_arm_calib.xml @@ -8,23 +8,28 @@ Left_Arm_Calibrator + + -30 30 0 45 0 0 40 15 + 10 10 10 10 30 30 30 100 + + 3 3 3 3 0 2 2 3 2389 3242 -276 1536 800 750 750 2200 10 10 10 10 20 -10 -10 100 2433 1472 130 671 0 0 0 0 - + 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 -30 30 0 45 0 0 0 15 10 10 10 10 30 30 30 100 120 120 120 120 0 0 0 0 2 2 2 2 2 2 90 90 - - -30 30 0 45 0 0 40 15 - 10 10 10 10 30 30 30 100 - + (0 1 2 3) (4 6 5) (7) diff --git a/iCubPisa01/calibrators/left_hand_calib.xml b/iCubPisa01/calibrators/left_hand_calib.xml index a3bc90cbb1..d7a9ed3b3a 100644 --- a/iCubPisa01/calibrators/left_hand_calib.xml +++ b/iCubPisa01/calibrators/left_hand_calib.xml @@ -8,23 +8,28 @@ Left_Hand_Calibrator + + 90 3 0 0 0 0 0 0 + 10 10 10 10 10 10 10 10 + + 3 4 4 4 4 4 4 4 817 215 35 255 0 255 8 750 10 10 30 10 10 10 10 10 0 6000 6600 6000 7400 6000 -7400 14000 - + 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 30 3 0 0 0 0 0 0 100 100 100 100 100 100 100 100 0 0 0 0 0 0 0 0 90 90 90 90 90 90 90 90 - - 90 3 0 0 0 0 0 0 - 10 10 10 10 10 10 10 10 - + (0 1 3 5) (2 4 6 7) diff --git a/iCubPisa01/calibrators/right_arm_calib.xml b/iCubPisa01/calibrators/right_arm_calib.xml index ffc15df73f..a0767571df 100644 --- a/iCubPisa01/calibrators/right_arm_calib.xml +++ b/iCubPisa01/calibrators/right_arm_calib.xml @@ -8,24 +8,29 @@ Right_Arm_Calibrator + + -30 30 0 45 + 10 10 10 10 + + + 3 3 3 3 1706.25 853.13 2795.32 2559.38 10.00 10.00 10.00 10.00 2462.50 2467.13 2931.50 3622.50 - + 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 -30 30 0 45 10 10 10 10 120 120 120 120 2 2 2 2 - - -30 30 0 45 - 10 10 10 10 - - + (0 1 2 3) diff --git a/iCubPisa01/icub_all.xml b/iCubPisa01/icub_all.xml index 167c8e7c0c..4852ac3cca 100644 --- a/iCubPisa01/icub_all.xml +++ b/iCubPisa01/icub_all.xml @@ -3,6 +3,11 @@ + + + + + diff --git a/iCubPisa01/wrappers/motorControl/head-mc_remapper.xml b/iCubPisa01/wrappers/motorControl/head-mc_remapper.xml index b3327e6dca..2ecf8ef188 100644 --- a/iCubPisa01/wrappers/motorControl/head-mc_remapper.xml +++ b/iCubPisa01/wrappers/motorControl/head-mc_remapper.xml @@ -1,7 +1,7 @@ - + ( 0 5 0 5 ) diff --git a/iCubPisa01/wrappers/motorControl/head-mc_wrapper.xml b/iCubPisa01/wrappers/motorControl/head-mc_wrapper.xml index 5d14888760..06e2825805 100644 --- a/iCubPisa01/wrappers/motorControl/head-mc_wrapper.xml +++ b/iCubPisa01/wrappers/motorControl/head-mc_wrapper.xml @@ -1,10 +1,10 @@ - + /icub/head - head_mc_remapper + head-mc_remapper diff --git a/iCubPisa01/wrappers/motorControl/left_arm-mc_remapper.xml b/iCubPisa01/wrappers/motorControl/left_arm-mc_remapper.xml index 50d52ebcc4..b153e07c3c 100644 --- a/iCubPisa01/wrappers/motorControl/left_arm-mc_remapper.xml +++ b/iCubPisa01/wrappers/motorControl/left_arm-mc_remapper.xml @@ -1,7 +1,7 @@ - + ( 0 7 0 7 ) ( 8 15 0 7 ) diff --git a/iCubPisa01/wrappers/motorControl/left_arm-mc_wrapper.xml b/iCubPisa01/wrappers/motorControl/left_arm-mc_wrapper.xml index ebe11670f8..caf7f8bb4b 100644 --- a/iCubPisa01/wrappers/motorControl/left_arm-mc_wrapper.xml +++ b/iCubPisa01/wrappers/motorControl/left_arm-mc_wrapper.xml @@ -1,10 +1,10 @@ - + /icub/left_arm - left_arm_mc_remapper + left_arm-mc_remapper diff --git a/iCubPisa01/wrappers/motorControl/right_arm-mc_remapper.xml b/iCubPisa01/wrappers/motorControl/right_arm-mc_remapper.xml index 5752a04320..d3f30a8298 100644 --- a/iCubPisa01/wrappers/motorControl/right_arm-mc_remapper.xml +++ b/iCubPisa01/wrappers/motorControl/right_arm-mc_remapper.xml @@ -1,7 +1,7 @@ - + ( 0 3 0 3 ) diff --git a/iCubPisa01/wrappers/motorControl/right_arm-mc_wrapper.xml b/iCubPisa01/wrappers/motorControl/right_arm-mc_wrapper.xml index f980f9dd1f..15bc4d3c12 100644 --- a/iCubPisa01/wrappers/motorControl/right_arm-mc_wrapper.xml +++ b/iCubPisa01/wrappers/motorControl/right_arm-mc_wrapper.xml @@ -1,10 +1,10 @@ - + /icub/right_arm - right_arm_mc_remapper + right_arm-mc_remapper diff --git a/iCubPlymouth01/calibrators/head_calib.xml b/iCubPlymouth01/calibrators/head_calib.xml index 27bdd8f0d8..73e39851ef 100644 --- a/iCubPlymouth01/calibrators/head_calib.xml +++ b/iCubPlymouth01/calibrators/head_calib.xml @@ -23,6 +23,10 @@ 2047.5 2047.5 2047.5 2047.5 900.0 900.0 10.0 10.0 10.0 10.0 20.0 20.0 3697.5 2103.5 1891.5 3617.5 0.0 0.0 + 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 0.0 0.0 0.0 0.0 0.0 0.0 10.0 10.0 10.0 10.0 10.0 10.0 130 130 0 0 0 0 diff --git a/iCubPlymouth01/calibrators/left_arm_calib.xml b/iCubPlymouth01/calibrators/left_arm_calib.xml index 986bde939a..7194fbac5a 100644 --- a/iCubPlymouth01/calibrators/left_arm_calib.xml +++ b/iCubPlymouth01/calibrators/left_arm_calib.xml @@ -22,6 +22,10 @@ 2388.8 3241.9 -275.9 1535.6 500.0 2047.5 2047.5 2155.0 10.0 10.0 10.0 10.0 20.0 10.0 10.0 100.0 2765.5 3723.9 807.6 2094.5 0.0 3609.5 1090.5 0.0 + 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 -30.0 30.0 0.0 45.0 0.0 0.0 0.0 15.0 10.0 10.0 10.0 10.0 30.0 30.0 30.0 100.0 120 120 120 120 0 0 0 0 diff --git a/iCubPlymouth01/calibrators/left_hand_calib.xml b/iCubPlymouth01/calibrators/left_hand_calib.xml index 94d0182187..fab6f540d1 100644 --- a/iCubPlymouth01/calibrators/left_hand_calib.xml +++ b/iCubPlymouth01/calibrators/left_hand_calib.xml @@ -22,6 +22,10 @@ 817.8 255.0 30.0 255.0 25.0 255.0 40.0 757.0 10.0 10.0 30.0 10.0 10.0 10.0 10.0 10.0 0.0 6000.0 -6600.0 6000.0 7000.0 6000.0 -7000.0 -14000.0 + 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 45.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 100.0 100.0 100.0 100.0 100.0 100.0 100.0 100.0 0 0 0 0 0 0 0 0 diff --git a/iCubPlymouth01/calibrators/left_leg_calib.xml b/iCubPlymouth01/calibrators/left_leg_calib.xml index 27f894ac48..58d5e97166 100644 --- a/iCubPlymouth01/calibrators/left_leg_calib.xml +++ b/iCubPlymouth01/calibrators/left_leg_calib.xml @@ -23,6 +23,10 @@ 2047.5 2047.5 2047.5 2047.5 2047.5 2047.5 10.0 10.0 10.0 10.0 10.0 10.0 3089.5 1919.5 3025.5 2677.5 1569.5 3107.5 + 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 0.0 0.0 0.0 0.0 0.0 0.0 10.0 10.0 10.0 10.0 10.0 10.0 120 120 120 120 120 120 diff --git a/iCubPlymouth01/calibrators/right_arm_calib.xml b/iCubPlymouth01/calibrators/right_arm_calib.xml index bc9e856bec..86218480de 100644 --- a/iCubPlymouth01/calibrators/right_arm_calib.xml +++ b/iCubPlymouth01/calibrators/right_arm_calib.xml @@ -22,6 +22,10 @@ 1706.3 853.1 2795.3 2559.4 500.0 2047.5 2047.5 1870.0 10.0 10.0 10.0 10.0 -20.0 10.0 10.0 100.0 2839.5 2496.1 776.8 1152.5 0.0 2357.5 2357.5 0.0 + 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 -30.0 30.0 0.0 45.0 0.0 0.0 0.0 15.0 10.0 10.0 10.0 10.0 30.0 30.0 30.0 100.0 120 120 120 120 0 0 0 0 diff --git a/iCubPlymouth01/calibrators/right_hand_calib.xml b/iCubPlymouth01/calibrators/right_hand_calib.xml index 41a87d895e..48676a83de 100644 --- a/iCubPlymouth01/calibrators/right_hand_calib.xml +++ b/iCubPlymouth01/calibrators/right_hand_calib.xml @@ -22,6 +22,10 @@ 413.3 255.0 15.0 255.0 35.0 250.0 0.0 765.0 10.0 10.0 30.0 10.0 10.0 10.0 10.0 10.0 0.0 6000.0 6600.0 6000.0 -7000.0 6000.0 7000.0 14000.0 + 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 45.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 100.0 100.0 100.0 100.0 100.0 100.0 100.0 100.0 0 0 0 0 0 0 0 0 diff --git a/iCubPlymouth01/calibrators/right_leg_calib.xml b/iCubPlymouth01/calibrators/right_leg_calib.xml index c84d38676b..90d6d29fe6 100644 --- a/iCubPlymouth01/calibrators/right_leg_calib.xml +++ b/iCubPlymouth01/calibrators/right_leg_calib.xml @@ -24,6 +24,10 @@ 2047.5 2047.5 2047.5 2047.5 2047.5 2047.5 10.0 10.0 10.0 10.0 10.0 10.0 3744.5 398.5 1802.5 372.5 2473.5 502.5 + 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 0.0 0.0 0.0 0.0 0.0 0.0 10.0 10.0 10.0 10.0 10.0 10.0 120 120 120 120 120 120 diff --git a/iCubPlymouth01/calibrators/torso_calib.xml b/iCubPlymouth01/calibrators/torso_calib.xml index ef3e9e5b5f..11605c7762 100644 --- a/iCubPlymouth01/calibrators/torso_calib.xml +++ b/iCubPlymouth01/calibrators/torso_calib.xml @@ -23,6 +23,10 @@ 2047.5 2047.5 2047.5 0 10.0 10.0 10.0 0 1433.5 1196.5 2273.5 0 + 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 0.0 0.0 0.0 0 10.0 10.0 10.0 0 120 120 120 0 diff --git a/iCubPlymouth01/wrappers/motorControl/head-mc_remapper.xml b/iCubPlymouth01/wrappers/motorControl/head-mc_remapper.xml index b3327e6dca..2ecf8ef188 100644 --- a/iCubPlymouth01/wrappers/motorControl/head-mc_remapper.xml +++ b/iCubPlymouth01/wrappers/motorControl/head-mc_remapper.xml @@ -1,7 +1,7 @@ - + ( 0 5 0 5 ) diff --git a/iCubPlymouth01/wrappers/motorControl/head-mc_wrapper.xml b/iCubPlymouth01/wrappers/motorControl/head-mc_wrapper.xml index 5d14888760..06e2825805 100644 --- a/iCubPlymouth01/wrappers/motorControl/head-mc_wrapper.xml +++ b/iCubPlymouth01/wrappers/motorControl/head-mc_wrapper.xml @@ -1,10 +1,10 @@ - + /icub/head - head_mc_remapper + head-mc_remapper diff --git a/iCubPlymouth01/wrappers/motorControl/left_arm-mc_remapper.xml b/iCubPlymouth01/wrappers/motorControl/left_arm-mc_remapper.xml index 50d52ebcc4..b153e07c3c 100644 --- a/iCubPlymouth01/wrappers/motorControl/left_arm-mc_remapper.xml +++ b/iCubPlymouth01/wrappers/motorControl/left_arm-mc_remapper.xml @@ -1,7 +1,7 @@ - + ( 0 7 0 7 ) ( 8 15 0 7 ) diff --git a/iCubPlymouth01/wrappers/motorControl/left_arm-mc_wrapper.xml b/iCubPlymouth01/wrappers/motorControl/left_arm-mc_wrapper.xml index ebe11670f8..caf7f8bb4b 100644 --- a/iCubPlymouth01/wrappers/motorControl/left_arm-mc_wrapper.xml +++ b/iCubPlymouth01/wrappers/motorControl/left_arm-mc_wrapper.xml @@ -1,10 +1,10 @@ - + /icub/left_arm - left_arm_mc_remapper + left_arm-mc_remapper diff --git a/iCubPlymouth01/wrappers/motorControl/left_leg-mc_remapper.xml b/iCubPlymouth01/wrappers/motorControl/left_leg-mc_remapper.xml index 02e9c9c27a..04e89de94d 100644 --- a/iCubPlymouth01/wrappers/motorControl/left_leg-mc_remapper.xml +++ b/iCubPlymouth01/wrappers/motorControl/left_leg-mc_remapper.xml @@ -1,6 +1,6 @@ - + ( 0 5 0 5 ) diff --git a/iCubPlymouth01/wrappers/motorControl/left_leg-mc_wrapper.xml b/iCubPlymouth01/wrappers/motorControl/left_leg-mc_wrapper.xml index 2b54562163..64e5ab7e13 100644 --- a/iCubPlymouth01/wrappers/motorControl/left_leg-mc_wrapper.xml +++ b/iCubPlymouth01/wrappers/motorControl/left_leg-mc_wrapper.xml @@ -1,10 +1,10 @@ - + /icub/left_leg - left_leg_mc_remapper + left_leg-mc_remapper diff --git a/iCubPlymouth01/wrappers/motorControl/right_arm-mc_remapper.xml b/iCubPlymouth01/wrappers/motorControl/right_arm-mc_remapper.xml index e08c59444b..8354c4b8f6 100644 --- a/iCubPlymouth01/wrappers/motorControl/right_arm-mc_remapper.xml +++ b/iCubPlymouth01/wrappers/motorControl/right_arm-mc_remapper.xml @@ -1,7 +1,7 @@ - + ( 0 7 0 7 ) ( 8 15 0 7 ) diff --git a/iCubPlymouth01/wrappers/motorControl/right_arm-mc_wrapper.xml b/iCubPlymouth01/wrappers/motorControl/right_arm-mc_wrapper.xml index f980f9dd1f..15bc4d3c12 100644 --- a/iCubPlymouth01/wrappers/motorControl/right_arm-mc_wrapper.xml +++ b/iCubPlymouth01/wrappers/motorControl/right_arm-mc_wrapper.xml @@ -1,10 +1,10 @@ - + /icub/right_arm - right_arm_mc_remapper + right_arm-mc_remapper diff --git a/iCubPlymouth01/wrappers/motorControl/right_leg-mc_remapper.xml b/iCubPlymouth01/wrappers/motorControl/right_leg-mc_remapper.xml index 0a8d6d4f80..a50e5a5c11 100644 --- a/iCubPlymouth01/wrappers/motorControl/right_leg-mc_remapper.xml +++ b/iCubPlymouth01/wrappers/motorControl/right_leg-mc_remapper.xml @@ -1,6 +1,6 @@ - + ( 0 5 0 5 ) diff --git a/iCubPlymouth01/wrappers/motorControl/right_leg-mc_wrapper.xml b/iCubPlymouth01/wrappers/motorControl/right_leg-mc_wrapper.xml index 850532c3fa..63ef3cb4a7 100644 --- a/iCubPlymouth01/wrappers/motorControl/right_leg-mc_wrapper.xml +++ b/iCubPlymouth01/wrappers/motorControl/right_leg-mc_wrapper.xml @@ -1,10 +1,10 @@ - + /icub/right_leg - right_leg_mc_remapper + right_leg-mc_remapper diff --git a/iCubPlymouth01/wrappers/motorControl/torso-mc_remapper.xml b/iCubPlymouth01/wrappers/motorControl/torso-mc_remapper.xml index 51ef3d71ae..21dabf94fa 100644 --- a/iCubPlymouth01/wrappers/motorControl/torso-mc_remapper.xml +++ b/iCubPlymouth01/wrappers/motorControl/torso-mc_remapper.xml @@ -1,7 +1,7 @@ - + ( 0 2 0 2 ) diff --git a/iCubPlymouth01/wrappers/motorControl/torso-mc_wrapper.xml b/iCubPlymouth01/wrappers/motorControl/torso-mc_wrapper.xml index 974bf9e8a0..89cf257cd6 100644 --- a/iCubPlymouth01/wrappers/motorControl/torso-mc_wrapper.xml +++ b/iCubPlymouth01/wrappers/motorControl/torso-mc_wrapper.xml @@ -1,10 +1,10 @@ - + /icub/torso - torso_mc_remapper + torso-mc_remapper diff --git a/iCubPlymouth02/calibrators/head_calib.xml b/iCubPlymouth02/calibrators/head_calib.xml index e43257f267..c7339ae353 100644 --- a/iCubPlymouth02/calibrators/head_calib.xml +++ b/iCubPlymouth02/calibrators/head_calib.xml @@ -1,27 +1,34 @@ - + + 6 HeadV1_Calibrator + + -30 0 0 0 0 0 + 10 10 10 10 10 10 + + 0 0 0 0 0 0 500 1333 1333 600 500 500 20 20 20 -20 20 20 - 0 0 0 0 0 0 + 0 0 0 0 0 0 + 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 0 0 0 0 0 10 10 10 10 10 10 0 0 0 0 0 0 2 2 2 2 180 180 - - -30 0 0 0 0 0 - 10 10 10 10 10 10 - + (0) (1) (2) (3) (4) (5) diff --git a/iCubPlymouth02/wrappers/motorControl/head-mc_remapper.xml b/iCubPlymouth02/wrappers/motorControl/head-mc_remapper.xml index b3327e6dca..2ecf8ef188 100644 --- a/iCubPlymouth02/wrappers/motorControl/head-mc_remapper.xml +++ b/iCubPlymouth02/wrappers/motorControl/head-mc_remapper.xml @@ -1,7 +1,7 @@ - + ( 0 5 0 5 ) diff --git a/iCubPlymouth02/wrappers/motorControl/head-mc_wrapper.xml b/iCubPlymouth02/wrappers/motorControl/head-mc_wrapper.xml index 5d14888760..06e2825805 100644 --- a/iCubPlymouth02/wrappers/motorControl/head-mc_wrapper.xml +++ b/iCubPlymouth02/wrappers/motorControl/head-mc_wrapper.xml @@ -1,10 +1,10 @@ - + /icub/head - head_mc_remapper + head-mc_remapper diff --git a/iCubRome02/calibrators/head_calib.xml b/iCubRome02/calibrators/head_calib.xml index 0d3ca43d8a..430a80c8d7 100644 --- a/iCubRome02/calibrators/head_calib.xml +++ b/iCubRome02/calibrators/head_calib.xml @@ -7,23 +7,28 @@ Head_Calibrator + + -40 0 0 0 0 0 + 10 10 10 10 10 10 + + 0 0 0 0 0 0 1333 1333 1333 600 500 500 40 40 40 -20 20 20 0 0 0 0 0 0 - + 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 0 0 0 0 0 10 10 10 10 10 10 1300 1300 1330 1300 1300 1300 2 2 180 2 180 180 - - -40 0 0 0 0 0 - 10 10 10 10 10 10 - + (0) (1) (2 3) (5) (4) diff --git a/iCubRome02/calibrators/left_arm_calib.xml b/iCubRome02/calibrators/left_arm_calib.xml index 3c241558ac..8cd52f1795 100644 --- a/iCubRome02/calibrators/left_arm_calib.xml +++ b/iCubRome02/calibrators/left_arm_calib.xml @@ -7,23 +7,28 @@ Left_Arm_Calibrator + + -30 30 0 45 0 0 40 15 + 10 10 10 10 30 30 30 100 + + 3 3 3 3 0 2 2 3 2388.75 3241.875 -275.9326923077 1535.625 500 750 750 1740 10 10 10 10 20 -10 -10 100 1452.5 3582.875 2728.375 3243.5 0 0 0 0 - + 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 -30 30 0 45 0 0 0 15 10 10 10 10 30 30 30 100 120 120 120 120 0 0 0 0 2 2 2 2 2 2 90 90 - - -30 30 0 45 0 0 40 15 - 10 10 10 10 30 30 30 100 - + (0 1 2 3) (4 6 7) (5) diff --git a/iCubRome02/calibrators/left_hand_calib.xml b/iCubRome02/calibrators/left_hand_calib.xml index 4fd274732e..4c677240af 100644 --- a/iCubRome02/calibrators/left_hand_calib.xml +++ b/iCubRome02/calibrators/left_hand_calib.xml @@ -7,23 +7,28 @@ Left_Hand_Calibrator + + 90 3 0 0 0 0 0 0 + 10 10 10 10 10 10 10 10 + + 3 4 4 4 4 4 4 4 365.56 250 0 232 26 250 0 703 10 10 30 10 10 10 10 10 0 6000 8000 6000 7400 6000 -7400 30000 - + 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 30 3 0 0 0 0 0 0 100 100 100 100 100 100 100 100 0 0 0 0 0 0 0 0 90 90 90 90 90 90 90 90 - - 90 3 0 0 0 0 0 0 - 10 10 10 10 10 10 10 10 - + (0 1 3 5) (2 4 6 7) diff --git a/iCubRome02/calibrators/right_arm_calib.xml b/iCubRome02/calibrators/right_arm_calib.xml index ae4ddeddce..669f98e6bf 100644 --- a/iCubRome02/calibrators/right_arm_calib.xml +++ b/iCubRome02/calibrators/right_arm_calib.xml @@ -7,13 +7,21 @@ Right_Arm_Calibrator + + -30 30 0 45 0 0 40 15 + 10 10 10 10 30 10 10 100 + + 3 3 3 3 0 2 2 3 1706.25 853.13 2795.32 2559.38 500.00 750.00 750.00 1460.00 10.00 10.00 10.00 10.00 -20.00 10.00 10.00 100.00 3866.50 3724.13 1436.50 3461.50 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 -30 30 0 45 0 0 0 15 10 10 10 10 30 10 10 100 @@ -21,10 +29,7 @@ 2 2 2 2 2 2 90 90 - - -30 30 0 45 0 0 40 15 - 10 10 10 10 30 10 10 100 - + (0 1 2 3) (4 6 7) (5) diff --git a/iCubRome02/calibrators/right_hand_calib.xml b/iCubRome02/calibrators/right_hand_calib.xml index 75cc485bce..fa189907dd 100644 --- a/iCubRome02/calibrators/right_hand_calib.xml +++ b/iCubRome02/calibrators/right_hand_calib.xml @@ -7,23 +7,28 @@ Right_Hand_Calibrator + + 90 3 0 0 0 0 0 0 + 10 10 10 10 10 10 10 10 + + 3 4 4 4 4 4 4 4 908.33 250.00 10.00 253.00 43.00 250.00 38.00 750.00 10.00 10.00 30.00 10.00 10.00 10.00 10.00 10.00 0.00 6000.00 8000.00 6000.00 -7400.00 6000.00 7400.00 21000.00 - + 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 30 3 0 0 0 0 0 0 100 100 100 100 100 100 100 100 0 0 0 0 0 0 0 0 90 90 90 90 90 90 90 90 - - 90 3 0 0 0 0 0 0 - 10 10 10 10 10 10 10 10 - + (0 1 3 5) (2 4 6 7) diff --git a/iCubRome02/calibrators/torso_calib.xml b/iCubRome02/calibrators/torso_calib.xml index 80bf6458ff..23582c05e3 100644 --- a/iCubRome02/calibrators/torso_calib.xml +++ b/iCubRome02/calibrators/torso_calib.xml @@ -7,23 +7,28 @@ Torso_Calibrator + + 0 0 -20 0 + 10 10 10 0 + + 3 3 3 0 2047.5 2047.5 2047.5 0 10 10 10 0 2539.5 2643.5 1614.5 0 - + 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 0 0 0 10 10 10 0 120 120 120 0 2 2 2 2 - - 0 0 -20 0 - 10 10 10 0 - + (0 1 2) diff --git a/iCubRome02/wrappers/motorControl/head-mc_remapper.xml b/iCubRome02/wrappers/motorControl/head-mc_remapper.xml index b3327e6dca..2ecf8ef188 100644 --- a/iCubRome02/wrappers/motorControl/head-mc_remapper.xml +++ b/iCubRome02/wrappers/motorControl/head-mc_remapper.xml @@ -1,7 +1,7 @@ - + ( 0 5 0 5 ) diff --git a/iCubRome02/wrappers/motorControl/head-mc_wrapper.xml b/iCubRome02/wrappers/motorControl/head-mc_wrapper.xml index 5d14888760..06e2825805 100644 --- a/iCubRome02/wrappers/motorControl/head-mc_wrapper.xml +++ b/iCubRome02/wrappers/motorControl/head-mc_wrapper.xml @@ -1,10 +1,10 @@ - + /icub/head - head_mc_remapper + head-mc_remapper diff --git a/iCubRome02/wrappers/motorControl/left_arm-mc_remapper.xml b/iCubRome02/wrappers/motorControl/left_arm-mc_remapper.xml index 50d52ebcc4..b153e07c3c 100644 --- a/iCubRome02/wrappers/motorControl/left_arm-mc_remapper.xml +++ b/iCubRome02/wrappers/motorControl/left_arm-mc_remapper.xml @@ -1,7 +1,7 @@ - + ( 0 7 0 7 ) ( 8 15 0 7 ) diff --git a/iCubRome02/wrappers/motorControl/left_arm-mc_wrapper.xml b/iCubRome02/wrappers/motorControl/left_arm-mc_wrapper.xml index ebe11670f8..caf7f8bb4b 100644 --- a/iCubRome02/wrappers/motorControl/left_arm-mc_wrapper.xml +++ b/iCubRome02/wrappers/motorControl/left_arm-mc_wrapper.xml @@ -1,10 +1,10 @@ - + /icub/left_arm - left_arm_mc_remapper + left_arm-mc_remapper diff --git a/iCubRome02/wrappers/motorControl/right_arm-mc_remapper.xml b/iCubRome02/wrappers/motorControl/right_arm-mc_remapper.xml index e08c59444b..8354c4b8f6 100644 --- a/iCubRome02/wrappers/motorControl/right_arm-mc_remapper.xml +++ b/iCubRome02/wrappers/motorControl/right_arm-mc_remapper.xml @@ -1,7 +1,7 @@ - + ( 0 7 0 7 ) ( 8 15 0 7 ) diff --git a/iCubRome02/wrappers/motorControl/right_arm-mc_wrapper.xml b/iCubRome02/wrappers/motorControl/right_arm-mc_wrapper.xml index f980f9dd1f..15bc4d3c12 100644 --- a/iCubRome02/wrappers/motorControl/right_arm-mc_wrapper.xml +++ b/iCubRome02/wrappers/motorControl/right_arm-mc_wrapper.xml @@ -1,10 +1,10 @@ - + /icub/right_arm - right_arm_mc_remapper + right_arm-mc_remapper diff --git a/iCubRome02/wrappers/motorControl/torso-mc_remapper.xml b/iCubRome02/wrappers/motorControl/torso-mc_remapper.xml index 51ef3d71ae..21dabf94fa 100644 --- a/iCubRome02/wrappers/motorControl/torso-mc_remapper.xml +++ b/iCubRome02/wrappers/motorControl/torso-mc_remapper.xml @@ -1,7 +1,7 @@ - + ( 0 2 0 2 ) diff --git a/iCubRome02/wrappers/motorControl/torso-mc_wrapper.xml b/iCubRome02/wrappers/motorControl/torso-mc_wrapper.xml index 974bf9e8a0..89cf257cd6 100644 --- a/iCubRome02/wrappers/motorControl/torso-mc_wrapper.xml +++ b/iCubRome02/wrappers/motorControl/torso-mc_wrapper.xml @@ -1,10 +1,10 @@ - + /icub/torso - torso_mc_remapper + torso-mc_remapper diff --git a/iCubSeoul01/calibrators/head-calib.xml b/iCubSeoul01/calibrators/head-calib.xml index 78f406125a..2411d1f8ef 100644 --- a/iCubSeoul01/calibrators/head-calib.xml +++ b/iCubSeoul01/calibrators/head-calib.xml @@ -19,6 +19,10 @@ 2047.5 2047.5 2047.5 2047.5 900.0 900.0 10.0 10.0 10.0 10.0 20.0 20.0 1614.5 1648.5 3724.5 2733.5 0.0 0.0 + 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 0.0 0.0 0.0 0.0 0.0 0.0 10.0 10.0 10.0 10.0 10.0 10.0 130 130 0 0 0 0 diff --git a/iCubSeoul01/calibrators/left_arm-calib.xml b/iCubSeoul01/calibrators/left_arm-calib.xml index f0f59bc706..7dbcaf9fee 100644 --- a/iCubSeoul01/calibrators/left_arm-calib.xml +++ b/iCubSeoul01/calibrators/left_arm-calib.xml @@ -18,6 +18,10 @@ 2388.8 3241.9 -275.9 1535.6 500.0 2047.5 2047.5 1625.0 1204.4 255.0 90.0 255.0 80.0 255.0 95.0 765.0 10.0 10.0 10.0 10.0 20.0 10.0 10.0 100.0 10.0 10.0 30.0 10.0 10.0 10.0 10.0 10.0 2669.5 2509.9 2135.3 3067.5 0.0 1122.5 852.5 0.0 0.0 6000.0 -8000.0 6000.0 7000.0 6000.0 -7000.0 -14000.0 + 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 -30.0 30.0 0.0 45.0 0.0 0.0 0.0 15.0 45.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 10.0 10.0 10.0 10.0 30.0 30.0 30.0 100.0 100.0 100.0 100.0 100.0 100.0 100.0 100.0 100.0 130 130 130 130 0 0 0 0 0 0 0 0 0 0 0 0 diff --git a/iCubSeoul01/calibrators/right_arm-calib.xml b/iCubSeoul01/calibrators/right_arm-calib.xml index 12ab07e6ce..b1c94f1e6a 100644 --- a/iCubSeoul01/calibrators/right_arm-calib.xml +++ b/iCubSeoul01/calibrators/right_arm-calib.xml @@ -18,6 +18,10 @@ 1706.3 853.1 2795.3 2559.4 500.0 2047.5 2047.5 1930.0 1414.4 250.0 35.0 255.0 20.0 255.0 10.0 761.0 10.0 10.0 10.0 10.0 -20.0 10.0 10.0 100.0 10.0 10.0 30.0 10.0 10.0 10.0 10.0 10.0 1320.5 1853.1 1319.5 3191.5 0.0 3847.5 2787.5 0.0 0.0 6000.0 8000.0 6000.0 -7000.0 6000.0 7000.0 14000.0 + 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 -30.0 30.0 0.0 45.0 0.0 0.0 0.0 15.0 45.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 10.0 10.0 10.0 10.0 30.0 30.0 30.0 100.0 100.0 100.0 100.0 100.0 100.0 100.0 100.0 100.0 130 130 130 130 0 0 0 0 0 0 0 0 0 0 0 0 diff --git a/iCubSeoul01/calibrators/torso-calib.xml b/iCubSeoul01/calibrators/torso-calib.xml index a14ef7c83e..6d2a90ebed 100644 --- a/iCubSeoul01/calibrators/torso-calib.xml +++ b/iCubSeoul01/calibrators/torso-calib.xml @@ -19,6 +19,10 @@ 2047.5 2047.5 2047.5 0 10.0 10.0 10.0 0 2646.5 2643.5 2924.5 0 + 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 0.0 0.0 0.0 0 10.0 10.0 10.0 0 130 130 130 0 diff --git a/iCubSeoul01/wrappers/motorControl/head-mc_wrapper.xml b/iCubSeoul01/wrappers/motorControl/head-mc_wrapper.xml index 5d14888760..06e2825805 100644 --- a/iCubSeoul01/wrappers/motorControl/head-mc_wrapper.xml +++ b/iCubSeoul01/wrappers/motorControl/head-mc_wrapper.xml @@ -1,10 +1,10 @@ - + /icub/head - head_mc_remapper + head-mc_remapper diff --git a/iCubSeoul01/wrappers/motorControl/left_arm-mc_remapper.xml b/iCubSeoul01/wrappers/motorControl/left_arm-mc_remapper.xml index 50d52ebcc4..b153e07c3c 100644 --- a/iCubSeoul01/wrappers/motorControl/left_arm-mc_remapper.xml +++ b/iCubSeoul01/wrappers/motorControl/left_arm-mc_remapper.xml @@ -1,7 +1,7 @@ - + ( 0 7 0 7 ) ( 8 15 0 7 ) diff --git a/iCubSeoul01/wrappers/motorControl/left_arm-mc_wrapper.xml b/iCubSeoul01/wrappers/motorControl/left_arm-mc_wrapper.xml index ebe11670f8..caf7f8bb4b 100644 --- a/iCubSeoul01/wrappers/motorControl/left_arm-mc_wrapper.xml +++ b/iCubSeoul01/wrappers/motorControl/left_arm-mc_wrapper.xml @@ -1,10 +1,10 @@ - + /icub/left_arm - left_arm_mc_remapper + left_arm-mc_remapper diff --git a/iCubSeoul01/wrappers/motorControl/right_arm-mc_remapper.xml b/iCubSeoul01/wrappers/motorControl/right_arm-mc_remapper.xml index e08c59444b..8354c4b8f6 100644 --- a/iCubSeoul01/wrappers/motorControl/right_arm-mc_remapper.xml +++ b/iCubSeoul01/wrappers/motorControl/right_arm-mc_remapper.xml @@ -1,7 +1,7 @@ - + ( 0 7 0 7 ) ( 8 15 0 7 ) diff --git a/iCubSeoul01/wrappers/motorControl/right_arm-mc_wrapper.xml b/iCubSeoul01/wrappers/motorControl/right_arm-mc_wrapper.xml index f980f9dd1f..15bc4d3c12 100644 --- a/iCubSeoul01/wrappers/motorControl/right_arm-mc_wrapper.xml +++ b/iCubSeoul01/wrappers/motorControl/right_arm-mc_wrapper.xml @@ -1,10 +1,10 @@ - + /icub/right_arm - right_arm_mc_remapper + right_arm-mc_remapper diff --git a/iCubSeoul01/wrappers/motorControl/torso-mc_remapper.xml b/iCubSeoul01/wrappers/motorControl/torso-mc_remapper.xml index 51ef3d71ae..21dabf94fa 100644 --- a/iCubSeoul01/wrappers/motorControl/torso-mc_remapper.xml +++ b/iCubSeoul01/wrappers/motorControl/torso-mc_remapper.xml @@ -1,7 +1,7 @@ - + ( 0 2 0 2 ) diff --git a/iCubSeoul01/wrappers/motorControl/torso-mc_wrapper.xml b/iCubSeoul01/wrappers/motorControl/torso-mc_wrapper.xml index 974bf9e8a0..89cf257cd6 100644 --- a/iCubSeoul01/wrappers/motorControl/torso-mc_wrapper.xml +++ b/iCubSeoul01/wrappers/motorControl/torso-mc_wrapper.xml @@ -1,10 +1,10 @@ - + /icub/torso - torso_mc_remapper + torso-mc_remapper From 827c46d15d8d10f4983ffe127ccf534923e2ff3c Mon Sep 17 00:00:00 2001 From: davidetome Date: Mon, 16 May 2022 16:55:02 +0200 Subject: [PATCH 12/12] added missing file --- .../wrappers/motorControl/head-mc_remapper.xml | 15 +++++++++++++++ 1 file changed, 15 insertions(+) create mode 100644 iCubSeoul01/wrappers/motorControl/head-mc_remapper.xml diff --git a/iCubSeoul01/wrappers/motorControl/head-mc_remapper.xml b/iCubSeoul01/wrappers/motorControl/head-mc_remapper.xml new file mode 100644 index 0000000000..2ecf8ef188 --- /dev/null +++ b/iCubSeoul01/wrappers/motorControl/head-mc_remapper.xml @@ -0,0 +1,15 @@ + + + + + + ( 0 5 0 5 ) + + 6 + + + head_mc + + + +