From 78ba7fb0d914f44e9e5a62633abbf3ff125f6a46 Mon Sep 17 00:00:00 2001 From: Mattia Fussi Date: Thu, 20 Oct 2022 09:32:11 +0200 Subject: [PATCH] First removal and modification of eCub files to replace eyes and face with camera renamed icub to ergocub Fix differences between icub3 and ecub hw config and calibration Add proper camera pid gains and restore .ini change realsense pid for better performance Update neck pid params --- ergoCubSN000/calibrators/face-calib.xml | 61 ------------- ergoCubSN000/calibrators/head-calib.xml | 50 +++++------ ergoCubSN000/cartesian/left_arm-cartesian.xml | 2 +- .../cartesian/right_arm-cartesian.xml | 2 +- ergoCubSN000/cartesianSolver.ini | 8 +- ergoCubSN000/ergocub_all.xml | 55 ++++++------ ergoCubSN000/ergocub_head.xml | 22 +++++ ergoCubSN000/estimators/wholebodydynamics.xml | 2 +- .../applications/cameras_calib_640_480.xml | 2 +- ergoCubSN000/ft.xml | 2 +- .../hardware/electronics/face-eb22-j0-eln.xml | 40 --------- .../electronics/face-eb22-j0_1-eln.xml | 40 --------- .../electronics/face-eb23-j2_5-eln.xml | 41 --------- .../electronics/head-eb20-j0_1-eln.xml | 24 +++--- ...21-j2_5-eln.xml => head-eb21-j2_3-eln.xml} | 24 +++--- .../hardware/inertials/head-inertial.xml | 2 +- .../hardware/mechanicals/face-eb22-j0-mec.xml | 74 ---------------- .../mechanicals/face-eb22-j0_1-mec.xml | 79 ----------------- .../mechanicals/face-eb23-j2_5-mec.xml | 85 ------------------- ...21-j2_5-mec.xml => head-eb21-j2_3-mec.xml} | 78 ++++++++--------- .../hardware/motorControl/face-eb22-j0-mc.xml | 70 --------------- .../motorControl/face-eb22-j0-mc_service.xml | 48 ----------- .../motorControl/face-eb22-j0_1-mc.xml | 72 ---------------- .../face-eb22-j0_1-mc_service.xml | 48 ----------- .../motorControl/face-eb23-j2_5-mc.xml | 72 ---------------- .../face-eb23-j2_5-mc_service.xml | 47 ---------- .../motorControl/head-eb20-j0_1-mc.xml | 6 +- .../motorControl/head-eb21-j2_3-mc.xml | 75 ++++++++++++++++ .../head-eb21-j2_3-mc_service.xml | 49 +++++++++++ .../motorControl/head-eb21-j2_5-mc.xml | 76 ----------------- .../head-eb21-j2_5-mc_service.xml | 49 ----------- .../hardware/skin/torso-eb22-skin.xml | 4 +- ergoCubSN000/network.ergoCubSN000.xml | 20 +---- .../telemetry/telemetryDeviceExternal.xml | 2 +- .../wrappers/FT/left_arm-FT_wrapper.xml | 2 +- .../wrappers/FT/left_foot-FT_wrapper.xml | 2 +- .../wrappers/FT/right_arm-FT_wrapper.xml | 2 +- .../wrappers/FT/right_foot-FT_wrapper.xml | 2 +- .../wrappers/MAIS/left_arm-mais_wrapper.xml | 2 +- .../wrappers/MAIS/right_arm-mais_wrapper.xml | 2 +- .../wrappers/VFT/left_arm-VFT_wrapper.xml | 2 +- .../wrappers/VFT/left_leg-VFT_wrapper.xml | 2 +- .../wrappers/VFT/right_arm-VFT_wrapper.xml | 2 +- .../wrappers/VFT/right_leg-VFT_wrapper.xml | 2 +- .../wrappers/VFT/torso-VFT_wrapper.xml | 2 +- .../head-inertials_wrapper-deprecated.xml | 2 +- .../inertials/head-inertials_wrapper.xml | 2 +- .../inertials/left_arm-inertials_wrapper.xml | 2 +- .../inertials/left_leg-inertials_wrapper.xml | 2 +- .../inertials/right_arm-inertials_wrapper.xml | 2 +- .../inertials/right_leg-inertials_wrapper.xml | 2 +- .../inertials/torso_inertial_wrapper.xml | 2 +- .../motorControl/face-mc_remapper.xml | 15 ---- .../wrappers/motorControl/face-mc_wrapper.xml | 11 --- .../motorControl/head-mc_remapper.xml | 6 +- .../wrappers/motorControl/head-mc_wrapper.xml | 2 +- .../motorControl/left_arm-mc_remapper.xml | 2 +- .../motorControl/left_arm-mc_wrapper.xml | 2 +- .../motorControl/left_leg-mc_wrapper.xml | 2 +- .../motorControl/left_shoulder-mc_wrapper.xml | 2 +- .../motorControl/right_arm-mc_wrapper.xml | 2 +- .../motorControl/right_leg-mc_wrapper.xml | 2 +- .../right_shoulder-mc_wrapper.xml | 2 +- .../motorControl/torso-mc_wrapper.xml | 2 +- ergoCubSN000/yarpmotorgui.ini | 14 +-- 65 files changed, 312 insertions(+), 1119 deletions(-) delete mode 100644 ergoCubSN000/calibrators/face-calib.xml create mode 100644 ergoCubSN000/ergocub_head.xml delete mode 100644 ergoCubSN000/hardware/electronics/face-eb22-j0-eln.xml delete mode 100644 ergoCubSN000/hardware/electronics/face-eb22-j0_1-eln.xml delete mode 100644 ergoCubSN000/hardware/electronics/face-eb23-j2_5-eln.xml rename ergoCubSN000/hardware/electronics/{head-eb21-j2_5-eln.xml => head-eb21-j2_3-eln.xml} (85%) delete mode 100644 ergoCubSN000/hardware/mechanicals/face-eb22-j0-mec.xml delete mode 100644 ergoCubSN000/hardware/mechanicals/face-eb22-j0_1-mec.xml delete mode 100644 ergoCubSN000/hardware/mechanicals/face-eb23-j2_5-mec.xml rename ergoCubSN000/hardware/mechanicals/{head-eb21-j2_5-mec.xml => head-eb21-j2_3-mec.xml} (51%) delete mode 100644 ergoCubSN000/hardware/motorControl/face-eb22-j0-mc.xml delete mode 100644 ergoCubSN000/hardware/motorControl/face-eb22-j0-mc_service.xml delete mode 100644 ergoCubSN000/hardware/motorControl/face-eb22-j0_1-mc.xml delete mode 100644 ergoCubSN000/hardware/motorControl/face-eb22-j0_1-mc_service.xml delete mode 100644 ergoCubSN000/hardware/motorControl/face-eb23-j2_5-mc.xml delete mode 100644 ergoCubSN000/hardware/motorControl/face-eb23-j2_5-mc_service.xml create mode 100644 ergoCubSN000/hardware/motorControl/head-eb21-j2_3-mc.xml create mode 100644 ergoCubSN000/hardware/motorControl/head-eb21-j2_3-mc_service.xml delete mode 100644 ergoCubSN000/hardware/motorControl/head-eb21-j2_5-mc.xml delete mode 100644 ergoCubSN000/hardware/motorControl/head-eb21-j2_5-mc_service.xml delete mode 100644 ergoCubSN000/wrappers/motorControl/face-mc_remapper.xml delete mode 100644 ergoCubSN000/wrappers/motorControl/face-mc_wrapper.xml 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 +