diff --git a/ergoCubSN000/calibrators/face-calib.xml b/ergoCubSN000/calibrators/face-calib.xml deleted file mode 100644 index 83ef4572ef..0000000000 --- a/ergoCubSN000/calibrators/face-calib.xml +++ /dev/null @@ -1,61 +0,0 @@ - - - - - - - - - - 1 - FaceV3_Calibrator - - - - 0 - 10 - - - - - - 12 - - -2800 - 0 - 0 - - 0 - 0 - - 0 - 0 - - 0 - 10 - 3360 - 90 - - - - (0) - - - face-mc_remapper - - - - face-mc_remapper - - - - - - diff --git a/ergoCubSN000/calibrators/head-calib.xml b/ergoCubSN000/calibrators/head-calib.xml index 24c6899ddb..48a4d73e8c 100644 --- a/ergoCubSN000/calibrators/head-calib.xml +++ b/ergoCubSN000/calibrators/head-calib.xml @@ -3,40 +3,40 @@ - + - + - 6 + 4 HeadV3_Calibrator - 0 0 0 0 0 0 - 10 10 10 10 10 10 + 0 0 0 0 + 10 10 10 10 - - + + - 12 12 12 12 5 5 - 19567 53471 4175 770 2000 2000 - 0 0 0 0 8192 8192 - 0 0 0 0 0 0 - - 0 0 0 0 0 0 - 0 0 0 0 0 0 - - 0.0 0.0 0.0 0.0 0.0 0.0 - 0.0 0.0 0.0 0.0 0.0 6.5 - - 0.0 0.0 0.0 0.0 0.0 0.0 - 10 10 20.0 20.0 20.0 20.0 - 1000 1000 1000 1000 0 0 - 90 90 2 2 2 2 - - - (0 1 2) (3) (4 5) + 12 12 12 12 + 39103 -18095 61615 52575 + 0 0 0 0 + 0 0 0 0 + + 0 0 0 0 + 0 0 0 0 + + 0.0 0.0 0.0 0.0 + 0.0 0.0 0.0 0.0 + + 0.0 0.0 0.0 0.0 + 10 10 20.0 20.0 + 1000 1000 1000 1000 + 90 90 2 2 + + + (0 1 2) (3) head-mc_remapper diff --git a/ergoCubSN000/cartesian/left_arm-cartesian.xml b/ergoCubSN000/cartesian/left_arm-cartesian.xml index 26b163eabd..025c63955f 100644 --- a/ergoCubSN000/cartesian/left_arm-cartesian.xml +++ b/ergoCubSN000/cartesian/left_arm-cartesian.xml @@ -4,7 +4,7 @@ - icub/cartesianController/left_arm + ergocub/cartesianController/left_arm 10 4 cartesianSolver/left_arm diff --git a/ergoCubSN000/cartesian/right_arm-cartesian.xml b/ergoCubSN000/cartesian/right_arm-cartesian.xml index 410774aa4e..bb5893481a 100644 --- a/ergoCubSN000/cartesian/right_arm-cartesian.xml +++ b/ergoCubSN000/cartesian/right_arm-cartesian.xml @@ -4,7 +4,7 @@ - icub/cartesianController/right_arm + ergocub/cartesianController/right_arm 10 4 cartesianSolver/right_arm diff --git a/ergoCubSN000/cartesianSolver.ini b/ergoCubSN000/cartesianSolver.ini index 2670d0f667..d940fb5275 100644 --- a/ergoCubSN000/cartesianSolver.ini +++ b/ergoCubSN000/cartesianSolver.ini @@ -1,5 +1,5 @@ [left_arm] -robot icub +robot ergocub name cartesianSolver/left_arm type left_v3 period 20 @@ -16,7 +16,7 @@ interPoints off ping_robot_tmo 40.0 [right_arm] -robot icub +robot ergocub name cartesianSolver/right_arm type right_v3 period 20 @@ -33,7 +33,7 @@ interPoints off ping_robot_tmo 40.0 [left_leg] -robot icub +robot ergocub name cartesianSolver/left_leg type left_v3 period 20 @@ -50,7 +50,7 @@ interPoints off ping_robot_tmo 40.0 [right_leg] -robot icub +robot ergocub name cartesianSolver/right_leg type right_v3 period 20 diff --git a/ergoCubSN000/ergocub_all.xml b/ergoCubSN000/ergocub_all.xml index 03dd1163e1..769a0c1312 100644 --- a/ergoCubSN000/ergocub_all.xml +++ b/ergoCubSN000/ergocub_all.xml @@ -10,36 +10,32 @@ - - - - - - - - - - - - - - - - - - - - - - + + + + + + + + + + + + + + + + + + - + - + @@ -50,20 +46,20 @@ - + - + - + - + - + @@ -72,5 +68,6 @@ + diff --git a/ergoCubSN000/ergocub_head.xml b/ergoCubSN000/ergocub_head.xml new file mode 100644 index 0000000000..0ec8518202 --- /dev/null +++ b/ergoCubSN000/ergocub_head.xml @@ -0,0 +1,22 @@ + + + + + + + + + + + + + + + + + + + + + + diff --git a/ergoCubSN000/estimators/wholebodydynamics.xml b/ergoCubSN000/estimators/wholebodydynamics.xml index 92114b765d..8a554ccc6b 100644 --- a/ergoCubSN000/estimators/wholebodydynamics.xml +++ b/ergoCubSN000/estimators/wholebodydynamics.xml @@ -48,7 +48,7 @@ head-eb20-j0_1-mc - head-eb21-j2_5-mc + head-eb21-j2_3-mc torso-eb5-j0_2-mc left_arm-eb1-j0_1-mc left_arm-eb2-j2_3-mc diff --git a/ergoCubSN000/extra/applications/cameras_calib_640_480.xml b/ergoCubSN000/extra/applications/cameras_calib_640_480.xml index e0c1ce3eca..dd2c939145 100644 --- a/ergoCubSN000/extra/applications/cameras_calib_640_480.xml +++ b/ergoCubSN000/extra/applications/cameras_calib_640_480.xml @@ -5,7 +5,7 @@ yarpdev --from camera/ServerGrabberDualDragon640_480.ini --split true - icub-head + ergocub-head camCalib diff --git a/ergoCubSN000/ft.xml b/ergoCubSN000/ft.xml index c2205da65c..95e0947f32 100644 --- a/ergoCubSN000/ft.xml +++ b/ergoCubSN000/ft.xml @@ -1,7 +1,7 @@ - + diff --git a/ergoCubSN000/hardware/electronics/face-eb22-j0-eln.xml b/ergoCubSN000/hardware/electronics/face-eb22-j0-eln.xml deleted file mode 100644 index 6349293a08..0000000000 --- a/ergoCubSN000/hardware/electronics/face-eb22-j0-eln.xml +++ /dev/null @@ -1,40 +0,0 @@ - - - - - - - - - - - 10.0.1.22 - 12345 - mc4plus - 768 - 384 - - - - "face-eb22-j0" - - 1000 - 400 - 300 - 300 - 3 - - - - - - true - 0.020 - 60.0 - - - - - - - diff --git a/ergoCubSN000/hardware/electronics/face-eb22-j0_1-eln.xml b/ergoCubSN000/hardware/electronics/face-eb22-j0_1-eln.xml deleted file mode 100644 index b44b284683..0000000000 --- a/ergoCubSN000/hardware/electronics/face-eb22-j0_1-eln.xml +++ /dev/null @@ -1,40 +0,0 @@ - - - - - - - - - - - 10.0.1.22 - 12345 - mc4plus - 768 - 384 - - - - "face-eb22-j0_1" - - 1000 - 400 - 300 - 300 - 3 - - - - - - true - 0.020 - 60.0 - - - - - - - diff --git a/ergoCubSN000/hardware/electronics/face-eb23-j2_5-eln.xml b/ergoCubSN000/hardware/electronics/face-eb23-j2_5-eln.xml deleted file mode 100644 index 96b28de860..0000000000 --- a/ergoCubSN000/hardware/electronics/face-eb23-j2_5-eln.xml +++ /dev/null @@ -1,41 +0,0 @@ - - - - - - - - - - - 10.0.1.23 - 12345 - mc4plus - 768 - 384 - - - - "face-eb23-j2_5" - - 1000 - 400 - 300 - 300 - 5 - - - - - - true - 0.020 - 60.0 - - - - - - - - diff --git a/ergoCubSN000/hardware/electronics/head-eb20-j0_1-eln.xml b/ergoCubSN000/hardware/electronics/head-eb20-j0_1-eln.xml index d8c1dcbdaf..dc0b09a9b2 100644 --- a/ergoCubSN000/hardware/electronics/head-eb20-j0_1-eln.xml +++ b/ergoCubSN000/hardware/electronics/head-eb20-j0_1-eln.xml @@ -16,25 +16,25 @@ - "head-eb20-j0_1" + "head-eb20-j0_1" 1000 400 - 300 - 300 - 5 - - - + 300 + 300 + 5 + + + - true - 0.020 - 60.0 + true + 0.020 + 60.0 - - + + diff --git a/ergoCubSN000/hardware/electronics/head-eb21-j2_5-eln.xml b/ergoCubSN000/hardware/electronics/head-eb21-j2_3-eln.xml similarity index 85% rename from ergoCubSN000/hardware/electronics/head-eb21-j2_5-eln.xml rename to ergoCubSN000/hardware/electronics/head-eb21-j2_3-eln.xml index 673ebd35ec..2c76cfd8a3 100644 --- a/ergoCubSN000/hardware/electronics/head-eb21-j2_5-eln.xml +++ b/ergoCubSN000/hardware/electronics/head-eb21-j2_3-eln.xml @@ -6,7 +6,7 @@ - + 10.0.1.21 12345 @@ -16,25 +16,25 @@ - "head-eb21-j2_5" + "head-eb21-j2_3" 1000 400 - 300 - 300 - 5 - - - + 300 + 300 + 5 + + + - true - 0.020 - 60.0 + true + 0.020 + 60.0 - + diff --git a/ergoCubSN000/hardware/inertials/head-inertial.xml b/ergoCubSN000/hardware/inertials/head-inertial.xml index 67662b3a6a..a4850aa835 100644 --- a/ergoCubSN000/hardware/inertials/head-inertial.xml +++ b/ergoCubSN000/hardware/inertials/head-inertial.xml @@ -7,7 +7,7 @@ - + diff --git a/ergoCubSN000/hardware/mechanicals/face-eb22-j0-mec.xml b/ergoCubSN000/hardware/mechanicals/face-eb22-j0-mec.xml deleted file mode 100644 index c31210408f..0000000000 --- a/ergoCubSN000/hardware/mechanicals/face-eb22-j0-mec.xml +++ /dev/null @@ -1,74 +0,0 @@ - - - - - - - - - 6 - 1 - - 0 - "eyelids" - "revolute" - 182.044 - 3360 - 1000.0 - -16 - 2.38 - 1 - "DC" - 0 - - - - -5 - +65 - 0 - 0 - - - - - - 1.000 0.000 0.000 0.000 - 0.000 1.000 0.000 0.000 - 0.000 0.000 1.000 0.000 - 0.000 0.000 0.000 1.000 - - - - 1.000 0.000 0.000 0.000 - 0.000 1.000 0.000 0.000 - 0.000 0.000 1.000 0.000 - 0.000 0.000 0.000 1.000 - - - - 1.00 0.00 0.00 0.00 0.00 0.00 - 0.00 1.00 0.00 0.00 0.00 0.00 - 0.00 0.00 1.00 0.00 0.00 0.00 - 0.00 0.00 0.00 1.00 0.00 0.00 - - - - - - 1 - - 0 - none - 0 - 0 - - - - - - - - - diff --git a/ergoCubSN000/hardware/mechanicals/face-eb22-j0_1-mec.xml b/ergoCubSN000/hardware/mechanicals/face-eb22-j0_1-mec.xml deleted file mode 100644 index 2e8e9df3e0..0000000000 --- a/ergoCubSN000/hardware/mechanicals/face-eb22-j0_1-mec.xml +++ /dev/null @@ -1,79 +0,0 @@ - - - - - - - - - 6 - 2 - - 0 1 - "jaw" "eyelids" - "revolute" "revolute" - 182.044 182.044 - 3360 3360 - 1000.0 1000.0 - 1 -16 - 1 2.38 - 1 1 - "DC" "DC" - 0 - - - - +0 -5 - +22 +65 - 0 0 - 0 0 - - - - - - 1.000 0.000 0.000 0.000 - 0.000 1.000 0.000 0.000 - 0.000 0.000 1.000 0.000 - 0.000 0.000 0.000 1.000 - - - - 1.000 0.000 0.000 0.000 - 0.000 1.000 0.000 0.000 - 0.000 0.000 1.000 0.000 - 0.000 0.000 0.000 1.000 - - - - 1.00 0.00 0.00 0.00 0.00 0.00 - 0.00 1.00 0.00 0.00 0.00 0.00 - 0.00 0.00 1.00 0.00 0.00 0.00 - 0.00 0.00 0.00 1.00 0.00 0.00 - - - - - - 2 - - 0 - none - 0 - 0 - - - - 1 - none - 0 - 0 - - - - - - - diff --git a/ergoCubSN000/hardware/mechanicals/face-eb23-j2_5-mec.xml b/ergoCubSN000/hardware/mechanicals/face-eb23-j2_5-mec.xml deleted file mode 100644 index 5ab165851d..0000000000 --- a/ergoCubSN000/hardware/mechanicals/face-eb23-j2_5-mec.xml +++ /dev/null @@ -1,85 +0,0 @@ - - - - - - - 6 - 4 - 0 1 2 3 - "lip-right" "lip-high" "lip-left" "lip-bottom" - "revolute" "revolute" "revolute" "revolute" - 182.044 182.044 182.044 182.044 - 3360 3360 3360 3360 - 1000.0 1000.0 1000.0 1000.0 - -66 66 66 -66 - 1 1 1 1 - 1 1 1 1 - "DC" "DC" "DC" "DC" - 0 - - - - -35 -28 -35 0 - +35 +28 +35 +28 - 0 0 0 0 - 0 0 0 0 - - - - - - 1.000 0.000 0.000 0.000 - 0.000 1.000 0.000 0.000 - 0.000 0.000 1.000 0.000 - 0.000 0.000 0.000 1.000 - - - - 1.000 0.000 0.000 0.000 - 0.000 1.000 0.000 0.000 - 0.000 0.000 1.000 0.000 - 0.000 0.000 0.000 1.000 - - - - 1.00 0.00 0.00 0.00 0.00 0.00 - 0.00 1.00 0.00 0.00 0.00 0.00 - 0.00 0.00 1.00 0.00 0.00 0.00 - 0.00 0.00 0.00 1.00 0.00 0.00 - - - - - - 4 - - 0 - none - 0 - 0 - - - - 1 - none - 0 - 0 - - - - 2 - none - 0 - 0 - - - - 3 - none - 0 - 0 - - - - diff --git a/ergoCubSN000/hardware/mechanicals/head-eb21-j2_5-mec.xml b/ergoCubSN000/hardware/mechanicals/head-eb21-j2_3-mec.xml similarity index 51% rename from ergoCubSN000/hardware/mechanicals/head-eb21-j2_5-mec.xml rename to ergoCubSN000/hardware/mechanicals/head-eb21-j2_3-mec.xml index 246a1b6371..a07745378f 100644 --- a/ergoCubSN000/hardware/mechanicals/head-eb21-j2_5-mec.xml +++ b/ergoCubSN000/hardware/mechanicals/head-eb21-j2_3-mec.xml @@ -4,76 +4,70 @@ 6 - 4 + 2 - - - 0 1 2 3 - "neck_yaw" "eyes_tilt" "eyes_version" "eyes_vergence" - "revolute" "revolute" "revolute" "revolute" - 182.044 182.044 182.044 182.044 - 3360 3360 3360 3360 - 1000.0 1000.0 1000.0 1000.0 - 100 -141 50 50 - 1 1 1 1 - 1 1 1 1 - "DC" "DC" "DC" "DC" + + + 0 1 + "neck_yaw" "cam_tilt" + "revolute" "revolute" + 182.044 182.044 + 3360 3360 + 1000.0 1000.0 + 100 -141 + 1 1 + 1 1 + "DC" "DC" 0 - - - -45 -30 -45 0 - +45 +30 +45 +45 - 0 0 0 0 - 0 0 0 0 + + + -45 -30 + +45 +30 + 0 0 + 0 0 - - - + + + 1.000 0.000 0.000 0.000 0.000 1.000 0.000 0.000 - 0.000 0.000 1.000 -1.000 - 0.000 0.000 1.000 1.000 + 0.000 0.000 1.000 0.000 + 0.000 0.000 0.000 1.000 - + 1.000 0.000 0.000 0.000 0.000 1.000 0.000 0.000 - 0.000 0.000 0.500 0.500 - 0.000 0.000 -0.500 0.500 + 0.000 0.000 1.000 0.000 + 0.000 0.000 0.000 1.000 - - + + 1.000 0.000 0.000 0.000 0.000 0.000 0.000 1.000 0.000 0.000 0.000 0.000 0.000 0.000 1.000 0.000 0.000 0.000 - 0.000 0.000 0.000 1.000 0.000 0.000 + 0.000 0.000 0.000 1.000 0.000 0.000 - - - - 3 + + + + 2 0 none 0 0 - + 1 none 0 0 - - 2 3 - none - 0 - 0 - - + diff --git a/ergoCubSN000/hardware/motorControl/face-eb22-j0-mc.xml b/ergoCubSN000/hardware/motorControl/face-eb22-j0-mc.xml deleted file mode 100644 index 5ee2a2aad4..0000000000 --- a/ergoCubSN000/hardware/motorControl/face-eb22-j0-mc.xml +++ /dev/null @@ -1,70 +0,0 @@ - - - - - - - - - - - - - - - -5 - +65 - 2000 - 700 - 1000 - 1000 - 3300 - - - - 100 - - - - 0.0 - 0.0 - - - - POS_PID_DEFAULT - POS_PID_DEFAULT - POS_PID_DEFAULT - none - none - none - - - - - - - minjerk - pwm - metric_units - machine_units - 700.00 - 0.0 - 700.0 - 3360 - 3360 - 0 - 0 - 0 - - - - - - - - - - - - - diff --git a/ergoCubSN000/hardware/motorControl/face-eb22-j0-mc_service.xml b/ergoCubSN000/hardware/motorControl/face-eb22-j0-mc_service.xml deleted file mode 100644 index 0311e6be2d..0000000000 --- a/ergoCubSN000/hardware/motorControl/face-eb22-j0-mc_service.xml +++ /dev/null @@ -1,48 +0,0 @@ - - - - - - - - eomn_serv_MC_mc4plus - - - - - mc4plus - - - - - - - pwm - CONN:P2 - - - - aea - CONN:P10 - atjoint - -4096 - 0.703 - - - - none - none - none - 0 - 0 - - - - - - - - - - - diff --git a/ergoCubSN000/hardware/motorControl/face-eb22-j0_1-mc.xml b/ergoCubSN000/hardware/motorControl/face-eb22-j0_1-mc.xml deleted file mode 100644 index 23ad102f68..0000000000 --- a/ergoCubSN000/hardware/motorControl/face-eb22-j0_1-mc.xml +++ /dev/null @@ -1,72 +0,0 @@ - - - - - - - - - - - - - - 22 65 - 0 -5 - 1000 1000 - 700 700 - 1000 1000 - 2000 2000 - 3300 3300 - - - - 100 100 - - - - 0.1 0.1 - 0.05 0.05 - - - - POS_PID_DEFAULT POS_PID_DEFAULT - POS_PID_DEFAULT POS_PID_DEFAULT - POS_PID_DEFAULT POS_PID_DEFAULT - none none - none none - none none - - - - - - - minjerk - pwm - metric_units - machine_units - -400 400 - 0 0 - 0 0 - 3360 3360 - 3360 3360 - 0 0 - 0 0 - 0 0 - - - - - - - - - - - - - - - diff --git a/ergoCubSN000/hardware/motorControl/face-eb22-j0_1-mc_service.xml b/ergoCubSN000/hardware/motorControl/face-eb22-j0_1-mc_service.xml deleted file mode 100644 index f1c566c5d3..0000000000 --- a/ergoCubSN000/hardware/motorControl/face-eb22-j0_1-mc_service.xml +++ /dev/null @@ -1,48 +0,0 @@ - - - - - - - - eomn_serv_MC_mc4plus - - - - - mc4plus - - - - - - - pwm pwm - CONN:P3 CONN:P2 - - - - aea aea - CONN:P11 CONN:P10 - atjoint atjoint - 4096 -4096 - 0.703 0.703 - - - - none qenc - none CONN:P2 - none atmotor - 0 40 - 0 0 - - - - - - - - - - - diff --git a/ergoCubSN000/hardware/motorControl/face-eb23-j2_5-mc.xml b/ergoCubSN000/hardware/motorControl/face-eb23-j2_5-mc.xml deleted file mode 100644 index bec8225716..0000000000 --- a/ergoCubSN000/hardware/motorControl/face-eb23-j2_5-mc.xml +++ /dev/null @@ -1,72 +0,0 @@ - - - - - - - - - - - - - - +35 +28 +35 +28 - -35 -28 -35 0 - 1000 1000 1000 1000 - 700 700 700 700 - 1000 1000 1000 1000 - 2000 2000 2000 2000 - 1300 1300 1300 1300 - - - - 100 100 100 100 - - - - 0.1 0.1 0.1 0.1 - 0.05 0.05 0.05 0.05 - - - - POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT - POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT - POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT - none none none none - none none none none - none none none none - - - - - - - minjerk - pwm - metric_units - machine_units - -3500 2000 3500 -4500 - 0 0 0 0 - 0 0 0 0 - 3360 3360 3360 3360 - 3360 3360 3360 3360 - 0 0 0 0 - 0 0 0 0 - 0 0 0 0 - - - - - - - - - - - - - - - diff --git a/ergoCubSN000/hardware/motorControl/face-eb23-j2_5-mc_service.xml b/ergoCubSN000/hardware/motorControl/face-eb23-j2_5-mc_service.xml deleted file mode 100644 index 0a4f00015d..0000000000 --- a/ergoCubSN000/hardware/motorControl/face-eb23-j2_5-mc_service.xml +++ /dev/null @@ -1,47 +0,0 @@ - - - - - - - - eomn_serv_MC_mc4plus - - - - - mc4plus - - - - - - pwm pwm pwm pwm - CONN:P3 CONN:P2 CONN:P4 CONN:P5 - - - - qenc qenc qenc qenc - CONN:P3 CONN:P2 CONN:P4 CONN:P5 - atmotor atmotor atmotor atmotor - 1600 1600 1600 1600 - 0.703 0.703 0.703 0.703 - - - - - none none none none - none none none none - none none none none - none none none none - 0 0 0 0 - - - - - - - - - - diff --git a/ergoCubSN000/hardware/motorControl/head-eb20-j0_1-mc.xml b/ergoCubSN000/hardware/motorControl/head-eb20-j0_1-mc.xml index 184d6e29d6..412b142454 100644 --- a/ergoCubSN000/hardware/motorControl/head-eb20-j0_1-mc.xml +++ b/ergoCubSN000/hardware/motorControl/head-eb20-j0_1-mc.xml @@ -47,9 +47,9 @@ pwm metric_units machine_units - -300 +300 - -10 +10 - -100 +100 + -645 +547 + -18 +15 + -2983 +2879 3360 3360 3360 3360 0 0 diff --git a/ergoCubSN000/hardware/motorControl/head-eb21-j2_3-mc.xml b/ergoCubSN000/hardware/motorControl/head-eb21-j2_3-mc.xml new file mode 100644 index 0000000000..6f770579e7 --- /dev/null +++ b/ergoCubSN000/hardware/motorControl/head-eb21-j2_3-mc.xml @@ -0,0 +1,75 @@ + + + + + + + + + + + + + + + -45 -30 + +45 +30 + 1000 1000 + 2000 2000 + 700 700 + 1500 1500 + 3360 3360 + + + + 100 100 + + + + 0.0 0.0 + 0.0 0.0 + + + + POS_PID_DEFAULT POS_PID_DEFAULT + POS_PID_DEFAULT POS_PID_DEFAULT + POS_PID_DEFAULT POS_PID_DEFAULT + none none + none none + none none + + + + + + + minjerk + pwm + metric_units + machine_units + 1100 557 + 0 0 + 0 2798 + 3360 3360 + 3360 3360 + 0 0 + 0 0 + 0 0 + + + + + + + + + + + + + + + 0.0495 0.0495 + + + diff --git a/ergoCubSN000/hardware/motorControl/head-eb21-j2_3-mc_service.xml b/ergoCubSN000/hardware/motorControl/head-eb21-j2_3-mc_service.xml new file mode 100644 index 0000000000..8cdbc33b81 --- /dev/null +++ b/ergoCubSN000/hardware/motorControl/head-eb21-j2_3-mc_service.xml @@ -0,0 +1,49 @@ + + + + + + + + eomn_serv_MC_mc4plus + + + + + mc4plus + + + + + + + + + pwm pwm + CONN:P3 CONN:P4 + + + + aea aea + CONN:P11 CONN:P10 + atjoint atjoint + 4096 4096 + 0.703 0.703 + + + + qenc qenc + CONN:P3 CONN:P4 + atmotor atmotor + 2048 2048 + 0 0 + + + + + + + + + + diff --git a/ergoCubSN000/hardware/motorControl/head-eb21-j2_5-mc.xml b/ergoCubSN000/hardware/motorControl/head-eb21-j2_5-mc.xml deleted file mode 100644 index 4fe23db62c..0000000000 --- a/ergoCubSN000/hardware/motorControl/head-eb21-j2_5-mc.xml +++ /dev/null @@ -1,76 +0,0 @@ - - - - - - - - - - - - - - - -45 -30 -30 0 - +45 +30 +30 +45 - 1000 1000 1000 1000 - 2000 2000 2500 2500 - 700 700 700 700 - 1500 1500 1500 1500 - - 3360 3360 3360 3360 - - - - 100 100 100 100 - - - - 0.0 0.0 0.0 0.0 - 0.0 0.0 0.0 0.0 - - - - POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT - POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT - POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT - none none none none - none none none none - none none none none - - - - - - - minjerk - pwm - metric_units - machine_units - 1100 -1000 3500 3500 - 0 0 0 0 - 0 -100 600 600 - 3360 3360 3360 3360 - 3360 3360 3360 3360 - 0 0 0 0 - 0 0 0 0 - 0 0 0 0 - - - - - - - - - - - - - - - 0.0495 0.0495 0.0495 0.0495 - - - diff --git a/ergoCubSN000/hardware/motorControl/head-eb21-j2_5-mc_service.xml b/ergoCubSN000/hardware/motorControl/head-eb21-j2_5-mc_service.xml deleted file mode 100644 index f30564ded1..0000000000 --- a/ergoCubSN000/hardware/motorControl/head-eb21-j2_5-mc_service.xml +++ /dev/null @@ -1,49 +0,0 @@ - - - - - - - - eomn_serv_MC_mc4plus - - - - - mc4plus - - - - - - - - - pwm pwm pwm pwm - CONN:P3 CONN:P2 CONN:P5 CONN:P4 - - - - aea aea none none - CONN:P11 CONN:P10 CONN:none CONN:none - atjoint atjoint none none - 4096 4096 0 0 - 0.703 0.703 0 0 - - - - qenc qenc qenc qenc - CONN:P3 CONN:P2 CONN:P5 CONN:P4 - atmotor atmotor atmotor atmotor - 2048 2048 2048 2048 - 0 0 0 0 - - - - - - - - - - diff --git a/ergoCubSN000/hardware/skin/torso-eb22-skin.xml b/ergoCubSN000/hardware/skin/torso-eb22-skin.xml index 962796ab36..c76292a9c0 100644 --- a/ergoCubSN000/hardware/skin/torso-eb22-skin.xml +++ b/ergoCubSN000/hardware/skin/torso-eb22-skin.xml @@ -4,9 +4,9 @@ - + - + 7 8 9 10 diff --git a/ergoCubSN000/network.ergoCubSN000.xml b/ergoCubSN000/network.ergoCubSN000.xml index 6b2e46c543..7af277c92d 100644 --- a/ergoCubSN000/network.ergoCubSN000.xml +++ b/ergoCubSN000/network.ergoCubSN000.xml @@ -38,7 +38,7 @@ - + @@ -50,7 +50,7 @@ - + ETH @@ -58,22 +58,6 @@ - - - - ETH - - - - - - ETH - - - - - - diff --git a/ergoCubSN000/telemetry/telemetryDeviceExternal.xml b/ergoCubSN000/telemetry/telemetryDeviceExternal.xml index f5d7121820..b2df8f8afb 100644 --- a/ergoCubSN000/telemetry/telemetryDeviceExternal.xml +++ b/ergoCubSN000/telemetry/telemetryDeviceExternal.xml @@ -13,7 +13,7 @@ true true telemetry_iCub3 - /home/icub/telemetry_logs/ + /home/ergocub/telemetry_logs/ 100000 true 120.0 diff --git a/ergoCubSN000/wrappers/FT/left_arm-FT_wrapper.xml b/ergoCubSN000/wrappers/FT/left_arm-FT_wrapper.xml index bb72f91d68..5cc7e8a81f 100644 --- a/ergoCubSN000/wrappers/FT/left_arm-FT_wrapper.xml +++ b/ergoCubSN000/wrappers/FT/left_arm-FT_wrapper.xml @@ -4,7 +4,7 @@ 10 - /icub/left_arm/analog:o + /ergocub/left_arm/analog:o diff --git a/ergoCubSN000/wrappers/FT/left_foot-FT_wrapper.xml b/ergoCubSN000/wrappers/FT/left_foot-FT_wrapper.xml index 8aec4932bc..231f4be751 100644 --- a/ergoCubSN000/wrappers/FT/left_foot-FT_wrapper.xml +++ b/ergoCubSN000/wrappers/FT/left_foot-FT_wrapper.xml @@ -4,7 +4,7 @@ 10 - /icub/left_foot_heel_tiptoe + /ergocub/left_foot_heel_tiptoe diff --git a/ergoCubSN000/wrappers/FT/right_arm-FT_wrapper.xml b/ergoCubSN000/wrappers/FT/right_arm-FT_wrapper.xml index 89ab54c055..9d5991af9d 100644 --- a/ergoCubSN000/wrappers/FT/right_arm-FT_wrapper.xml +++ b/ergoCubSN000/wrappers/FT/right_arm-FT_wrapper.xml @@ -4,7 +4,7 @@ 10 - /icub/right_arm/analog:o + /ergocub/right_arm/analog:o diff --git a/ergoCubSN000/wrappers/FT/right_foot-FT_wrapper.xml b/ergoCubSN000/wrappers/FT/right_foot-FT_wrapper.xml index 8bcf0ac446..aa0298834b 100644 --- a/ergoCubSN000/wrappers/FT/right_foot-FT_wrapper.xml +++ b/ergoCubSN000/wrappers/FT/right_foot-FT_wrapper.xml @@ -5,7 +5,7 @@ 10 - /icub/right_foot_heel_tiptoe + /ergocub/right_foot_heel_tiptoe diff --git a/ergoCubSN000/wrappers/MAIS/left_arm-mais_wrapper.xml b/ergoCubSN000/wrappers/MAIS/left_arm-mais_wrapper.xml index 670c35bcb4..973c941028 100644 --- a/ergoCubSN000/wrappers/MAIS/left_arm-mais_wrapper.xml +++ b/ergoCubSN000/wrappers/MAIS/left_arm-mais_wrapper.xml @@ -3,7 +3,7 @@ 10 - /icub/left_hand/analog:o + /ergocub/left_hand/analog:o diff --git a/ergoCubSN000/wrappers/MAIS/right_arm-mais_wrapper.xml b/ergoCubSN000/wrappers/MAIS/right_arm-mais_wrapper.xml index 1b5213361e..e5e2af5361 100644 --- a/ergoCubSN000/wrappers/MAIS/right_arm-mais_wrapper.xml +++ b/ergoCubSN000/wrappers/MAIS/right_arm-mais_wrapper.xml @@ -3,7 +3,7 @@ 10 - /icub/right_hand/analog:o + /ergocub/right_hand/analog:o diff --git a/ergoCubSN000/wrappers/VFT/left_arm-VFT_wrapper.xml b/ergoCubSN000/wrappers/VFT/left_arm-VFT_wrapper.xml index c901eada21..5049dd34cc 100644 --- a/ergoCubSN000/wrappers/VFT/left_arm-VFT_wrapper.xml +++ b/ergoCubSN000/wrappers/VFT/left_arm-VFT_wrapper.xml @@ -13,7 +13,7 @@ 7 - /icub/joint_vsens/left_arm:i + /ergocub/joint_vsens/left_arm:i diff --git a/ergoCubSN000/wrappers/VFT/left_leg-VFT_wrapper.xml b/ergoCubSN000/wrappers/VFT/left_leg-VFT_wrapper.xml index b982c8046c..320bb9808f 100644 --- a/ergoCubSN000/wrappers/VFT/left_leg-VFT_wrapper.xml +++ b/ergoCubSN000/wrappers/VFT/left_leg-VFT_wrapper.xml @@ -12,7 +12,7 @@ 6 - /icub/joint_vsens/left_leg:i + /ergocub/joint_vsens/left_leg:i diff --git a/ergoCubSN000/wrappers/VFT/right_arm-VFT_wrapper.xml b/ergoCubSN000/wrappers/VFT/right_arm-VFT_wrapper.xml index e4b8b7c401..171f03813d 100644 --- a/ergoCubSN000/wrappers/VFT/right_arm-VFT_wrapper.xml +++ b/ergoCubSN000/wrappers/VFT/right_arm-VFT_wrapper.xml @@ -13,7 +13,7 @@ 7 - /icub/joint_vsens/right_arm:i + /ergocub/joint_vsens/right_arm:i diff --git a/ergoCubSN000/wrappers/VFT/right_leg-VFT_wrapper.xml b/ergoCubSN000/wrappers/VFT/right_leg-VFT_wrapper.xml index deee9fbf66..5687964f54 100644 --- a/ergoCubSN000/wrappers/VFT/right_leg-VFT_wrapper.xml +++ b/ergoCubSN000/wrappers/VFT/right_leg-VFT_wrapper.xml @@ -12,7 +12,7 @@ 6 - /icub/joint_vsens/right_leg:i + /ergocub/joint_vsens/right_leg:i diff --git a/ergoCubSN000/wrappers/VFT/torso-VFT_wrapper.xml b/ergoCubSN000/wrappers/VFT/torso-VFT_wrapper.xml index 81d2841d34..9e0ac837b7 100644 --- a/ergoCubSN000/wrappers/VFT/torso-VFT_wrapper.xml +++ b/ergoCubSN000/wrappers/VFT/torso-VFT_wrapper.xml @@ -7,7 +7,7 @@ ( 0 2 0 2 ) 3 - /icub/joint_vsens/torso:i + /ergocub/joint_vsens/torso:i diff --git a/ergoCubSN000/wrappers/inertials/head-inertials_wrapper-deprecated.xml b/ergoCubSN000/wrappers/inertials/head-inertials_wrapper-deprecated.xml index 8a513a7bea..b1d16aa6ac 100644 --- a/ergoCubSN000/wrappers/inertials/head-inertials_wrapper-deprecated.xml +++ b/ergoCubSN000/wrappers/inertials/head-inertials_wrapper-deprecated.xml @@ -3,7 +3,7 @@ - /icub/inertial + /ergocubcub/inertial diff --git a/ergoCubSN000/wrappers/inertials/head-inertials_wrapper.xml b/ergoCubSN000/wrappers/inertials/head-inertials_wrapper.xml index ab266c8715..51ccf79f0b 100644 --- a/ergoCubSN000/wrappers/inertials/head-inertials_wrapper.xml +++ b/ergoCubSN000/wrappers/inertials/head-inertials_wrapper.xml @@ -4,7 +4,7 @@ 10 - /icub/head/inertials + /ergocub/head/inertials diff --git a/ergoCubSN000/wrappers/inertials/left_arm-inertials_wrapper.xml b/ergoCubSN000/wrappers/inertials/left_arm-inertials_wrapper.xml index f654cb77c3..dbd8d43332 100644 --- a/ergoCubSN000/wrappers/inertials/left_arm-inertials_wrapper.xml +++ b/ergoCubSN000/wrappers/inertials/left_arm-inertials_wrapper.xml @@ -4,7 +4,7 @@ 10 - /icub/left_hand/inertialMTB + /ergocub/left_hand/inertialMTB diff --git a/ergoCubSN000/wrappers/inertials/left_leg-inertials_wrapper.xml b/ergoCubSN000/wrappers/inertials/left_leg-inertials_wrapper.xml index 49922cee21..699658cb16 100644 --- a/ergoCubSN000/wrappers/inertials/left_leg-inertials_wrapper.xml +++ b/ergoCubSN000/wrappers/inertials/left_leg-inertials_wrapper.xml @@ -4,7 +4,7 @@ 10 - /icub/left_leg/inertialMTB + /ergocub/left_leg/inertialMTB diff --git a/ergoCubSN000/wrappers/inertials/right_arm-inertials_wrapper.xml b/ergoCubSN000/wrappers/inertials/right_arm-inertials_wrapper.xml index ec039799b2..7c5c0a5c57 100644 --- a/ergoCubSN000/wrappers/inertials/right_arm-inertials_wrapper.xml +++ b/ergoCubSN000/wrappers/inertials/right_arm-inertials_wrapper.xml @@ -4,7 +4,7 @@ 10 - /icub/right_hand/inertialMTB + /ergocub/right_hand/inertialMTB diff --git a/ergoCubSN000/wrappers/inertials/right_leg-inertials_wrapper.xml b/ergoCubSN000/wrappers/inertials/right_leg-inertials_wrapper.xml index cca4c068ec..c41ddb5787 100644 --- a/ergoCubSN000/wrappers/inertials/right_leg-inertials_wrapper.xml +++ b/ergoCubSN000/wrappers/inertials/right_leg-inertials_wrapper.xml @@ -4,7 +4,7 @@ 10 - /icub/right_leg/inertialMTB + /ergocub/right_leg/inertialMTB diff --git a/ergoCubSN000/wrappers/inertials/torso_inertial_wrapper.xml b/ergoCubSN000/wrappers/inertials/torso_inertial_wrapper.xml index 6d855bd280..12b9f7a644 100644 --- a/ergoCubSN000/wrappers/inertials/torso_inertial_wrapper.xml +++ b/ergoCubSN000/wrappers/inertials/torso_inertial_wrapper.xml @@ -4,7 +4,7 @@ 10 - /icub/torso/inertialGYRO + /ergocub/torso/inertialGYRO diff --git a/ergoCubSN000/wrappers/motorControl/face-mc_remapper.xml b/ergoCubSN000/wrappers/motorControl/face-mc_remapper.xml deleted file mode 100644 index 16f729d9a1..0000000000 --- a/ergoCubSN000/wrappers/motorControl/face-mc_remapper.xml +++ /dev/null @@ -1,15 +0,0 @@ - - - - - - ( 0 0 0 0 ) - - 1 - - - face-eb22-j0-mc - - - - diff --git a/ergoCubSN000/wrappers/motorControl/face-mc_wrapper.xml b/ergoCubSN000/wrappers/motorControl/face-mc_wrapper.xml deleted file mode 100644 index aa11e0e2fa..0000000000 --- a/ergoCubSN000/wrappers/motorControl/face-mc_wrapper.xml +++ /dev/null @@ -1,11 +0,0 @@ - - - - - 0.01 - /icub/face - - face-mc_remapper - - - diff --git a/ergoCubSN000/wrappers/motorControl/head-mc_remapper.xml b/ergoCubSN000/wrappers/motorControl/head-mc_remapper.xml index 18ee4dd4f1..dc411d4ace 100644 --- a/ergoCubSN000/wrappers/motorControl/head-mc_remapper.xml +++ b/ergoCubSN000/wrappers/motorControl/head-mc_remapper.xml @@ -4,13 +4,13 @@ ( 0 1 0 1 ) - ( 2 5 0 3 ) + ( 2 3 0 1 ) - 6 + 4 head-eb20-j0_1-mc - head-eb21-j2_5-mc + head-eb21-j2_3-mc diff --git a/ergoCubSN000/wrappers/motorControl/head-mc_wrapper.xml b/ergoCubSN000/wrappers/motorControl/head-mc_wrapper.xml index 84ffbb7bb1..3deff5344a 100644 --- a/ergoCubSN000/wrappers/motorControl/head-mc_wrapper.xml +++ b/ergoCubSN000/wrappers/motorControl/head-mc_wrapper.xml @@ -3,7 +3,7 @@ 0.01 - /icub/head + /ergocub/head head-mc_remapper diff --git a/ergoCubSN000/wrappers/motorControl/left_arm-mc_remapper.xml b/ergoCubSN000/wrappers/motorControl/left_arm-mc_remapper.xml index 7babdbde9e..6bb36d93fe 100644 --- a/ergoCubSN000/wrappers/motorControl/left_arm-mc_remapper.xml +++ b/ergoCubSN000/wrappers/motorControl/left_arm-mc_remapper.xml @@ -16,7 +16,7 @@ left_arm-eb2-j2_3-mc left_arm-eb24-j4_7-mc left_arm-eb25-j8_11-mc - left_arm-eb26-j12_15-mc + left_arm-eb26-j12_15-mc diff --git a/ergoCubSN000/wrappers/motorControl/left_arm-mc_wrapper.xml b/ergoCubSN000/wrappers/motorControl/left_arm-mc_wrapper.xml index b7bc551b04..76155af830 100644 --- a/ergoCubSN000/wrappers/motorControl/left_arm-mc_wrapper.xml +++ b/ergoCubSN000/wrappers/motorControl/left_arm-mc_wrapper.xml @@ -3,7 +3,7 @@ 0.01 - /icub/left_arm + /ergocub/left_arm left_arm-mc_remapper diff --git a/ergoCubSN000/wrappers/motorControl/left_leg-mc_wrapper.xml b/ergoCubSN000/wrappers/motorControl/left_leg-mc_wrapper.xml index eec3af8419..f3f3209822 100644 --- a/ergoCubSN000/wrappers/motorControl/left_leg-mc_wrapper.xml +++ b/ergoCubSN000/wrappers/motorControl/left_leg-mc_wrapper.xml @@ -3,7 +3,7 @@ 0.01 - /icub/left_leg + /ergocubcub/left_leg left_leg-mc_remapper diff --git a/ergoCubSN000/wrappers/motorControl/left_shoulder-mc_wrapper.xml b/ergoCubSN000/wrappers/motorControl/left_shoulder-mc_wrapper.xml index 2edffe4fb6..0b8ce46bc5 100644 --- a/ergoCubSN000/wrappers/motorControl/left_shoulder-mc_wrapper.xml +++ b/ergoCubSN000/wrappers/motorControl/left_shoulder-mc_wrapper.xml @@ -3,7 +3,7 @@ 0.01 - /icub/left_arm + /ergocub/left_arm left_shoulder-mc_remapper diff --git a/ergoCubSN000/wrappers/motorControl/right_arm-mc_wrapper.xml b/ergoCubSN000/wrappers/motorControl/right_arm-mc_wrapper.xml index 11c8c2eefc..f875e68eab 100644 --- a/ergoCubSN000/wrappers/motorControl/right_arm-mc_wrapper.xml +++ b/ergoCubSN000/wrappers/motorControl/right_arm-mc_wrapper.xml @@ -3,7 +3,7 @@ 0.01 - /icub/right_arm + /ergocub/right_arm right_arm-mc_remapper diff --git a/ergoCubSN000/wrappers/motorControl/right_leg-mc_wrapper.xml b/ergoCubSN000/wrappers/motorControl/right_leg-mc_wrapper.xml index d9c390bcea..2d2c55bd33 100644 --- a/ergoCubSN000/wrappers/motorControl/right_leg-mc_wrapper.xml +++ b/ergoCubSN000/wrappers/motorControl/right_leg-mc_wrapper.xml @@ -3,7 +3,7 @@ 0.01 - /icub/right_leg + /ergocub/right_leg right_leg-mc_remapper diff --git a/ergoCubSN000/wrappers/motorControl/right_shoulder-mc_wrapper.xml b/ergoCubSN000/wrappers/motorControl/right_shoulder-mc_wrapper.xml index fa90269dcd..4aebe9de09 100644 --- a/ergoCubSN000/wrappers/motorControl/right_shoulder-mc_wrapper.xml +++ b/ergoCubSN000/wrappers/motorControl/right_shoulder-mc_wrapper.xml @@ -3,7 +3,7 @@ 0.01 - /icub/right_arm + /ergocub/right_arm right_shoulder-mc_remapper diff --git a/ergoCubSN000/wrappers/motorControl/torso-mc_wrapper.xml b/ergoCubSN000/wrappers/motorControl/torso-mc_wrapper.xml index 46e37d6aed..72eb3d3be7 100644 --- a/ergoCubSN000/wrappers/motorControl/torso-mc_wrapper.xml +++ b/ergoCubSN000/wrappers/motorControl/torso-mc_wrapper.xml @@ -3,7 +3,7 @@ 0.01 - /icub/torso + /ergocub/torso torso-mc_remapper diff --git a/ergoCubSN000/yarpmotorgui.ini b/ergoCubSN000/yarpmotorgui.ini index 3ec981b8b6..674239babc 100644 --- a/ergoCubSN000/yarpmotorgui.ini +++ b/ergoCubSN000/yarpmotorgui.ini @@ -1,7 +1,7 @@ -//name of the robot -robot icub -//parts to be opened by the GUI -parts (head face torso left_arm right_arm right_leg left_leg) - - //DO NOT REMOVE THIS LINE - +//name of the robot +robot ergocub +//parts to be opened by the GUI +parts (head torso left_arm right_arm right_leg left_leg) + + //DO NOT REMOVE THIS LINE +