diff --git a/ergoCubSN001/custom_positions.ini b/ergoCubSN001/custom_positions.ini index 9730961bf9..b106bf1652 100644 --- a/ergoCubSN001/custom_positions.ini +++ b/ergoCubSN001/custom_positions.ini @@ -3,6 +3,22 @@ robot ergocub //parts to be opened by the GUI parts (head torso left_arm right_arm right_leg left_leg) +[customPosition_MomentumBasedTorqueControl] +/$robot/head_Position 0 0 0 0 +/$robot/head_Velocity 10 10 10 10 +/$robot/torso_Position 0 10 0 +/$robot/torso_Velocity 10 10 10 +/$robot/left_arm_Position -35.97 29.97 0.06 50.00 0.00 0.00 0.00 0 0 0 0 0 0 +/$robot/left_arm_Velocity 10 10 10 10 10 10 10 10 10 10 10 10 10 +/$robot/right_arm_Position -35.97 29.97 0.06 50.00 0.00 0.00 0.00 0 0 0 0 0 0 +/$robot/right_arm_Velocity 10 10 10 10 10 10 10 10 10 10 10 10 10 +/$robot/right_leg_Position 12 5 0 -10 -1.6 -5.8 +/$robot/right_leg_Velocity 10 10 10 10 10 10 +/$robot/left_leg_Position 12 5 0 -10 -1.6 -5.8 +/$robot/left_leg_Velocity 10 10 10 10 10 10 + + + [customPosition_TwoFeetStanding] /$robot/head_Position 0 0 0 0 /$robot/head_Velocity 10 10 10 10 @@ -61,63 +77,3 @@ parts (head torso left_arm right_arm right_leg left_leg) /$robot/right_leg_Velocity 10 10 10 10 10 10 /$robot/left_leg_Position 3.73915 -0.126503 0.419082 -37.7386 -22.523 8.02819 /$robot/left_leg_Velocity 10 10 10 10 10 10 - - -[customPosition_SingleSupportLeftRear] -/$robot/head_Position 0 0 0 0 -/$robot/head_Velocity 10 10 10 10 -/$robot/torso_Position 3.0644 10.7846 -0.0746 -/$robot/torso_Velocity 10 10 10 -/$robot/left_arm_Position -2.7001 18.6152 -12.7549 39.3860 0.00 0.00 0.00 0 0 0 0 0 0 -/$robot/left_arm_Velocity 10 10 10 10 10 10 10 10 10 10 10 10 10 -/$robot/right_arm_Position -2.8786 17.8109 -12.6644 39.3409 0.00 0.00 0.00 0 0 0 0 0 0 -/$robot/right_arm_Velocity 10 10 10 10 10 10 10 10 10 10 10 10 10 -/$robot/right_leg_Position 8.2115 1.5915 -1.0463 -45.1356 -26.3389 -7.4474 -/$robot/right_leg_Velocity 10 10 10 10 10 10 -/$robot/left_leg_Position 8.8084 -0.6396 0.7477 -37.8755 -18.6081 5.6976 -/$robot/left_leg_Velocity 10 10 10 10 10 10 - - -[customPosition_SingleSupportLeftFront] -/$robot/head_Position 0 0 0 0 -/$robot/head_Velocity 10 10 10 10 -/$robot/torso_Position -5.9194 9.2542 1.1148 -/$robot/torso_Velocity 10 10 10 -/$robot/left_arm_Position -3.3139 18.3559 -12.7163 39.6640 0.00 0.00 0.00 0 0 0 0 0 0 -/$robot/left_arm_Velocity 10 10 10 10 10 10 10 10 10 10 10 10 10 -/$robot/right_arm_Position -2.9313 17.9427 -12.8949 39.3302 0.00 0.00 0.00 0 0 0 0 0 0 -/$robot/right_arm_Velocity 10 10 10 10 10 10 10 10 10 10 10 10 10 -/$robot/right_leg_Position 9.3425 0.3996 0.1466 -43.4850 -24.4811 -7.4353 -/$robot/right_leg_Velocity 10 10 10 10 10 10 -/$robot/left_leg_Position 0.4488 1.2695 -0.5615 -32.394 -25.2128 7.3119 -/$robot/left_leg_Velocity 10 10 10 10 10 10 - - -[customPosition_SingleSupportRightRear] -/$robot/head_Position 0 0 0 0 -/$robot/head_Velocity 10 10 10 10 -/$robot/torso_Position 3.0644 10.7846 -0.0746 -/$robot/torso_Velocity 10 10 10 -/$robot/left_arm_Position -2.8786 17.8109 -12.6644 39.3409 0.00 0.00 0.00 0 0 0 0 0 0 -/$robot/left_arm_Velocity 10 10 10 10 10 10 10 10 10 10 10 10 10 -/$robot/right_arm_Position -2.7001 18.6152 -12.7549 39.3860 0.00 0.00 0.00 0 0 0 0 0 0 -/$robot/right_arm_Velocity 10 10 10 10 10 10 10 10 10 10 10 10 10 -/$robot/right_leg_Position 8.8084 -0.6396 0.7477 -37.8755 -18.6081 5.6976 -/$robot/right_leg_Velocity 10 10 10 10 10 10 -/$robot/left_leg_Position 8.2115 1.5915 -1.0463 -45.1356 -26.3389 -7.4474 -/$robot/left_leg_Velocity 10 10 10 10 10 10 - - -[customPosition_SingleSupportRightFront] -/$robot/head_Position 0 0 0 0 -/$robot/head_Velocity 10 10 10 10 -/$robot/torso_Position 5.9194 9.2542 1.1148 -/$robot/torso_Velocity 10 10 10 -/$robot/left_arm_Position -2.9313 17.9427 -12.8949 39.3302 0.00 0.00 0.00 0 0 0 0 0 0 -/$robot/left_arm_Velocity 10 10 10 10 10 10 10 10 10 10 10 10 10 -/$robot/right_arm_Position -3.3139 18.3559 -12.7163 39.6640 0.00 0.00 0.00 0 0 0 0 0 0 -/$robot/right_arm_Velocity 10 10 10 10 10 10 10 10 10 10 10 10 10 -/$robot/right_leg_Position 0.4488 1.2695 -0.5615 -32.394 -25.2128 7.3119 -/$robot/right_leg_Velocity 10 10 10 10 10 10 -/$robot/left_leg_Position 9.3425 0.3996 0.1466 -43.4850 -24.4811 -7.4353 -/$robot/left_leg_Velocity 10 10 10 10 10 10 diff --git a/ergoCubSN001/ergocub.xml b/ergoCubSN001/ergocub.xml index 22a36d3b4c..b331bab1d3 100644 --- a/ergoCubSN001/ergocub.xml +++ b/ergoCubSN001/ergocub.xml @@ -21,17 +21,25 @@ - - + + - - + + + - + + + + + + - + + + @@ -68,7 +76,7 @@ - + @@ -80,7 +88,7 @@ - + @@ -100,7 +108,7 @@ - + @@ -108,7 +116,7 @@ - + @@ -141,6 +149,17 @@ + + + + + + + + + + + diff --git a/ergoCubSN001/estimators/wholebodydynamics.xml b/ergoCubSN001/estimators/wholebodydynamics.xml index dfa255d4c4..ff0b110b99 100644 --- a/ergoCubSN001/estimators/wholebodydynamics.xml +++ b/ergoCubSN001/estimators/wholebodydynamics.xml @@ -73,7 +73,7 @@ left_leg-FT_remapper right_leg-FT_remapper left_arm-eb2-j0_1-strain - right_arm-eb1-j0_1-strain + diff --git a/ergoCubSN001/extra/scripts/additionalCommands.sh b/ergoCubSN001/extra/scripts/additionalCommands.sh index 341cbf572b..6fd4a10839 100644 --- a/ergoCubSN001/extra/scripts/additionalCommands.sh +++ b/ergoCubSN001/extra/scripts/additionalCommands.sh @@ -52,9 +52,20 @@ alias list-windows='DISPLAY=:0 wmctrl -lp' alias close-window='DISPLAY=:0 wmctrl -c' +check-interface-powersave() { + if [ "$#" -ne 1 ]; then + echo "Usage: check-interface-powersave " + return 1 + fi + + echo "$1: $(iw $1 get power_save)" +} + _WIFI_INTERFACE=`iw dev | awk '$1=="Interface"{print $2}'` alias disable-wifi-powersave="sudo iw dev ${_WIFI_INTERFACE} set power_save off" +alias check-wifi-powersave="check-interface-powersave ${_WIFI_INTERFACE}" unset _WIFI_INTERFACE +alias restart-wifi="sudo nmcli radio wifi off && sleep 5 && sudo nmcli radio wifi on" function set-blf-webcam() { # Check if the camera number is provided @@ -85,6 +96,30 @@ gerDevice/app/robots/${YARP_ROBOT_NAME}/blf-yarp-robot-logger-interfaces/webcams cd - } +alias list-webcams="v4l2-ctl --list-devices" + +set-yarp-namespace() { + local namespace="$1" + local hosts=("10.0.2.14" "ergocub-torso" "ergocub-head") + + if [[ -z "$namespace" ]]; then + echo "Usage: set_namespace " + return 1 + fi + + for host in "${hosts[@]}"; do + echo "------------------------------" + echo "Setting namespace on $host..." + ssh "$host" "yarp namespace $namespace" + + if [[ $? -eq 0 ]]; then + echo "[$host] Namespace set successfully." + else + echo "[$host] ERROR: Failed to set namespace." + fi + done +} + GREEN='\033[0;32m' NC='\033[0m' # No Color @@ -103,10 +138,16 @@ ${GREEN}close-window${NC} Close a window given the Window ID. ${GREEN}dcmFolder${NC} Go to the robot walking configuration files. ${GREEN}goToBuildSuperbuild${NC} Go to the corresponding build folder of the robotology superbuild. ${GREEN}disable-wifi-powersave${NC} Disable the WiFi powersave. +${GREEN}check-wifi-powersave${NC} Checks the WiFi powersave. +${GREEN}restart-wifi${NC} Restart the WiFi radio. ${GREEN}set-blf-webcam${NC} Bash script that can be used to set the number of the blf webcam in the logger. IT WILL RECOMPILE AND INSTALL BLF. +${GREEN}list-webcams${NC} List the available webcams. +${GREEN}set-yarp-namespace${NC} Set the yarp namespace on the laptop, ergocub-torso, and ergocub-head. ${GREEN}runYarpRobotInterface${NC} Run yarprobotinterface with whole-body-dynamics."' if [ "$PS1" ]; then + check-wifi-powersave + echo -e "Type ${GREEN}helpRobot${NC} for a list of useful commands." # automatic terminator title diff --git a/ergoCubSN001/extra/scripts/checkConfigurationFiles.sh b/ergoCubSN001/extra/scripts/checkConfigurationFiles.sh index defd0376e2..5a20b7591d 100644 --- a/ergoCubSN001/extra/scripts/checkConfigurationFiles.sh +++ b/ergoCubSN001/extra/scripts/checkConfigurationFiles.sh @@ -1,6 +1,6 @@ #!/bin/bash -diff -r --exclude="CMakeLists.txt" $ROBOTOLOGY_SUPERBUILD_SOURCE_DIR/src/robots-configuration/$YARP_ROBOT_NAME $ROBOTOLOGY_SUPERBUILD_SOURCE_DIR/build/install/share/ICUBcontrib/robots/$YARP_ROBOT_NAME | grep -ve dcm_walking -ve extra > /tmp/diff_out 2>&1 +diff -r --exclude="CMakeLists.txt" --exclude="*.onnx" $ROBOTOLOGY_SUPERBUILD_SOURCE_DIR/src/robots-configuration/$YARP_ROBOT_NAME $ROBOTOLOGY_SUPERBUILD_SOURCE_DIR/build/install/share/ICUBcontrib/robots/$YARP_ROBOT_NAME | grep -ve dcm_walking -ve extra > /tmp/diff_out 2>&1 GREEN='\033[0;32m' RED='\033[0;31m' diff --git a/ergoCubSN001/hardware/electronics/head-eb20-j0_1-eln.xml b/ergoCubSN001/hardware/electronics/head-eb20-j0_1-eln.xml index d6ba0181a4..13097db901 100644 --- a/ergoCubSN001/hardware/electronics/head-eb20-j0_1-eln.xml +++ b/ergoCubSN001/hardware/electronics/head-eb20-j0_1-eln.xml @@ -23,6 +23,16 @@ 300 300 1 + + + + false + + + 10.0 + true + + diff --git a/ergoCubSN001/hardware/electronics/head-eb21-j2_3-eln.xml b/ergoCubSN001/hardware/electronics/head-eb21-j2_3-eln.xml index 2eb8dbfff2..1a4479ef60 100644 --- a/ergoCubSN001/hardware/electronics/head-eb21-j2_3-eln.xml +++ b/ergoCubSN001/hardware/electronics/head-eb21-j2_3-eln.xml @@ -23,6 +23,16 @@ 300 300 1 + + + + false + + + 10.0 + true + + diff --git a/ergoCubSN001/hardware/electronics/left_arm-eb2-j0_1-eln.xml b/ergoCubSN001/hardware/electronics/left_arm-eb2-j0_1-eln.xml index 907c016c7b..227b35bfbb 100644 --- a/ergoCubSN001/hardware/electronics/left_arm-eb2-j0_1-eln.xml +++ b/ergoCubSN001/hardware/electronics/left_arm-eb2-j0_1-eln.xml @@ -23,6 +23,16 @@ 300 300 1 + + + + false + + + 10.0 + true + + diff --git a/ergoCubSN001/hardware/electronics/left_arm-eb23-j7_10-eln.xml b/ergoCubSN001/hardware/electronics/left_arm-eb23-j7_10-eln.xml index 9c87e9ad08..b02e1215d4 100644 --- a/ergoCubSN001/hardware/electronics/left_arm-eb23-j7_10-eln.xml +++ b/ergoCubSN001/hardware/electronics/left_arm-eb23-j7_10-eln.xml @@ -23,6 +23,16 @@ 300 300 1 + + + + false + + + 10.0 + true + + diff --git a/ergoCubSN001/hardware/electronics/left_arm-eb25-j11_12-eln.xml b/ergoCubSN001/hardware/electronics/left_arm-eb25-j11_12-eln.xml index a07a11072c..01704e0de5 100644 --- a/ergoCubSN001/hardware/electronics/left_arm-eb25-j11_12-eln.xml +++ b/ergoCubSN001/hardware/electronics/left_arm-eb25-j11_12-eln.xml @@ -23,6 +23,16 @@ 300 300 1 + + + + false + + + 10.0 + true + + diff --git a/ergoCubSN001/hardware/electronics/left_arm-eb31-j4_6-eln.xml b/ergoCubSN001/hardware/electronics/left_arm-eb31-j4_6-eln.xml index ef797c5394..24a2056245 100644 --- a/ergoCubSN001/hardware/electronics/left_arm-eb31-j4_6-eln.xml +++ b/ergoCubSN001/hardware/electronics/left_arm-eb31-j4_6-eln.xml @@ -23,6 +23,16 @@ 300 300 1 + + + + false + + + 10.0 + true + + diff --git a/ergoCubSN001/hardware/electronics/left_arm-eb4-j2_3-eln.xml b/ergoCubSN001/hardware/electronics/left_arm-eb4-j2_3-eln.xml index e4aab703af..a8b90e16eb 100644 --- a/ergoCubSN001/hardware/electronics/left_arm-eb4-j2_3-eln.xml +++ b/ergoCubSN001/hardware/electronics/left_arm-eb4-j2_3-eln.xml @@ -23,6 +23,16 @@ 300 300 1 + + + + false + + + 10.0 + true + + diff --git a/ergoCubSN001/hardware/electronics/left_leg-eb8-j0_3-eln.xml b/ergoCubSN001/hardware/electronics/left_leg-eb8-j0_3-eln.xml index 5792ae1cbe..f351536999 100644 --- a/ergoCubSN001/hardware/electronics/left_leg-eb8-j0_3-eln.xml +++ b/ergoCubSN001/hardware/electronics/left_leg-eb8-j0_3-eln.xml @@ -23,6 +23,16 @@ 350 350 1 + + + + false + + + 10.0 + true + + diff --git a/ergoCubSN001/hardware/electronics/left_leg-eb9-j4_5-eln.xml b/ergoCubSN001/hardware/electronics/left_leg-eb9-j4_5-eln.xml index afd7afcc3a..ca47c66c11 100644 --- a/ergoCubSN001/hardware/electronics/left_leg-eb9-j4_5-eln.xml +++ b/ergoCubSN001/hardware/electronics/left_leg-eb9-j4_5-eln.xml @@ -23,6 +23,16 @@ 300 300 1 + + + + false + + + 10.0 + true + + diff --git a/ergoCubSN001/hardware/electronics/right_arm-eb1-j0_1-eln.xml b/ergoCubSN001/hardware/electronics/right_arm-eb1-j0_1-eln.xml index 096ad70b45..70fdb5da83 100644 --- a/ergoCubSN001/hardware/electronics/right_arm-eb1-j0_1-eln.xml +++ b/ergoCubSN001/hardware/electronics/right_arm-eb1-j0_1-eln.xml @@ -23,6 +23,16 @@ 300 300 1 + + + + false + + + 10.0 + true + + diff --git a/ergoCubSN001/hardware/electronics/right_arm-eb22-j7_10-eln.xml b/ergoCubSN001/hardware/electronics/right_arm-eb22-j7_10-eln.xml index 521e74ca17..d90ed74bfa 100644 --- a/ergoCubSN001/hardware/electronics/right_arm-eb22-j7_10-eln.xml +++ b/ergoCubSN001/hardware/electronics/right_arm-eb22-j7_10-eln.xml @@ -23,6 +23,16 @@ 300 300 1 + + + + false + + + 10.0 + true + + diff --git a/ergoCubSN001/hardware/electronics/right_arm-eb24-j11_12-eln.xml b/ergoCubSN001/hardware/electronics/right_arm-eb24-j11_12-eln.xml index 07210eb1b7..68bf6d86e7 100644 --- a/ergoCubSN001/hardware/electronics/right_arm-eb24-j11_12-eln.xml +++ b/ergoCubSN001/hardware/electronics/right_arm-eb24-j11_12-eln.xml @@ -23,6 +23,16 @@ 300 300 1 + + + + false + + + 10.0 + true + + diff --git a/ergoCubSN001/hardware/electronics/right_arm-eb3-j2_3-eln.xml b/ergoCubSN001/hardware/electronics/right_arm-eb3-j2_3-eln.xml index a9180b8953..89c8ac5212 100644 --- a/ergoCubSN001/hardware/electronics/right_arm-eb3-j2_3-eln.xml +++ b/ergoCubSN001/hardware/electronics/right_arm-eb3-j2_3-eln.xml @@ -23,6 +23,16 @@ 300 300 1 + + + + false + + + 10.0 + true + + diff --git a/ergoCubSN001/hardware/electronics/right_arm-eb30-j4_6-eln.xml b/ergoCubSN001/hardware/electronics/right_arm-eb30-j4_6-eln.xml index 7bd9998577..04913cdd59 100644 --- a/ergoCubSN001/hardware/electronics/right_arm-eb30-j4_6-eln.xml +++ b/ergoCubSN001/hardware/electronics/right_arm-eb30-j4_6-eln.xml @@ -23,6 +23,16 @@ 300 300 1 + + + + false + + + 10.0 + true + + diff --git a/ergoCubSN001/hardware/electronics/right_leg-eb6-j0_3-eln.xml b/ergoCubSN001/hardware/electronics/right_leg-eb6-j0_3-eln.xml index 77c4c26521..ce07646522 100644 --- a/ergoCubSN001/hardware/electronics/right_leg-eb6-j0_3-eln.xml +++ b/ergoCubSN001/hardware/electronics/right_leg-eb6-j0_3-eln.xml @@ -23,6 +23,16 @@ 350 350 1 + + + + false + + + 10.0 + true + + diff --git a/ergoCubSN001/hardware/electronics/right_leg-eb7-j4_5-eln.xml b/ergoCubSN001/hardware/electronics/right_leg-eb7-j4_5-eln.xml index 6571d429fb..2704c7b4a8 100644 --- a/ergoCubSN001/hardware/electronics/right_leg-eb7-j4_5-eln.xml +++ b/ergoCubSN001/hardware/electronics/right_leg-eb7-j4_5-eln.xml @@ -23,6 +23,16 @@ 300 300 1 + + + + false + + + 10.0 + true + + diff --git a/ergoCubSN001/hardware/electronics/torso-eb5-j0_2-eln.xml b/ergoCubSN001/hardware/electronics/torso-eb5-j0_2-eln.xml index 2115ad8571..de21782f2b 100644 --- a/ergoCubSN001/hardware/electronics/torso-eb5-j0_2-eln.xml +++ b/ergoCubSN001/hardware/electronics/torso-eb5-j0_2-eln.xml @@ -23,6 +23,16 @@ 300 300 1 + + + + false + + + 10.0 + true + + diff --git a/ergoCubSN001/hardware/mechanicals/torso-eb5-j0_2-mec.xml b/ergoCubSN001/hardware/mechanicals/torso-eb5-j0_2-mec.xml index 851722b43e..6b9bdfe205 100644 --- a/ergoCubSN001/hardware/mechanicals/torso-eb5-j0_2-mec.xml +++ b/ergoCubSN001/hardware/mechanicals/torso-eb5-j0_2-mec.xml @@ -29,8 +29,8 @@ 0 0 0 0 0 0 0 0 0 - NONE PT100 PT100 - + + NONE NONE NONE 1 1 1 1 1 1 0 0 0 diff --git a/ergoCubSN001/wrappers/inertials/alljoints-inertials_remapper.xml b/ergoCubSN001/wrappers/inertials/alljoints-inertials_remapper.xml index fc18715124..746020d19d 100644 --- a/ergoCubSN001/wrappers/inertials/alljoints-inertials_remapper.xml +++ b/ergoCubSN001/wrappers/inertials/alljoints-inertials_remapper.xml @@ -4,7 +4,7 @@ - (head_imu_0 l_arm_ft_imu l_leg_ft_imu l_foot_rear_ft_imu l_foot_front_ft_imu r_arm_ft_imu r_leg_ft_imu r_foot_rear_ft_imu r_foot_front_ft_imu waist_imu_0) + (head_imu_0 l_arm_ft_imu l_leg_ft_imu l_foot_rear_ft_imu l_foot_front_ft_imu r_leg_ft_imu r_foot_rear_ft_imu r_foot_front_ft_imu waist_imu_0) @@ -12,7 +12,7 @@ left_arm-eb2-j0_1-inertial left_leg-eb8-j0_3-inertial left_leg-eb9-j4_5-inertial - right_arm-eb1-j0_1-inertial + right_leg-eb6-j0_3-inertial right_leg-eb7-j4_5-inertial waist-inertial diff --git a/ergoCubSN001/wrappers/motorControl/left_arm-eb2-j0_1-jtcvc.xml b/ergoCubSN001/wrappers/motorControl/left_arm-eb2-j0_1-jtcvc.xml new file mode 100644 index 0000000000..0ffb910d87 --- /dev/null +++ b/ergoCubSN001/wrappers/motorControl/left_arm-eb2-j0_1-jtcvc.xml @@ -0,0 +1,36 @@ + + + + /hijackingTrqCrl/l_upper_arm + ( "l_shoulder_pitch", "l_shoulder_roll" ) + + + ( 0.047, 0.047 ) + ( 0.0, 0.0 ) + ( 0.0, 0.0 ) + ( 0.0, 0.0 ) + ( 10.0, 10.0 ) + ("", "") + 1.0 + 2 + true + ( 0.0, 0.0 ) + + + + ( "", "" ) + 1 + 2 + + + + 1 + + + + left_arm-eb2-j0_1-mc + + + + + \ No newline at end of file diff --git a/ergoCubSN001/wrappers/motorControl/left_arm-eb4-j2_3-jtcvc.xml b/ergoCubSN001/wrappers/motorControl/left_arm-eb4-j2_3-jtcvc.xml new file mode 100644 index 0000000000..889b6b6619 --- /dev/null +++ b/ergoCubSN001/wrappers/motorControl/left_arm-eb4-j2_3-jtcvc.xml @@ -0,0 +1,36 @@ + + + + /hijackingTrqCrl/l_lower_arm + ( "l_shoulder_yaw", "l_elbow" ) + + + ( 0.025, 0.025 ) + ( 0.0, 0.0 ) + ( 0.0, 0.0 ) + ( 0.0, 0.0 ) + ( 10.0, 10.0 ) + ("", "") + 1.0 + 2 + true + ( 0.0, 0.0 ) + + + + ( "", "" ) + 1 + 2 + + + + 1 + + + + left_arm-eb4-j2_3-mc + + + + + \ No newline at end of file diff --git a/ergoCubSN001/wrappers/motorControl/left_arm-mc_remapper-jtcvc.xml b/ergoCubSN001/wrappers/motorControl/left_arm-mc_remapper-jtcvc.xml new file mode 100644 index 0000000000..65578580e9 --- /dev/null +++ b/ergoCubSN001/wrappers/motorControl/left_arm-mc_remapper-jtcvc.xml @@ -0,0 +1,19 @@ + + + + + (l_shoulder_pitch,l_shoulder_roll,l_shoulder_yaw,l_elbow,l_wrist_yaw,l_wrist_roll,l_wrist_pitch,l_thumb_add,l_thumb_oc,l_index_add,l_index_oc,l_middle_oc,l_ring_pinky_oc) + 13 + + + + + left_arm-eb2-j0_1-jtcvc + left_arm-eb4-j2_3-jtcvc + left_arm-eb31-j4_6-mc + left_arm-eb23-j7_10-mc + left_arm-eb25-j11_12-mc + + + + \ No newline at end of file diff --git a/ergoCubSN001/wrappers/motorControl/left_leg-eb8-j0_3-jtcvc.xml b/ergoCubSN001/wrappers/motorControl/left_leg-eb8-j0_3-jtcvc.xml new file mode 100644 index 0000000000..41410948e5 --- /dev/null +++ b/ergoCubSN001/wrappers/motorControl/left_leg-eb8-j0_3-jtcvc.xml @@ -0,0 +1,55 @@ + + + + /hijackingTrqCrl/l_upper_leg + ( "l_hip_pitch", "l_hip_roll", "l_hip_yaw", "l_knee" ) + + + ( 0.111, 0.047, 0.047, 0.111 ) + ( 0.75, 0.5, 0.85, 0.85 ) + + + ( 0.0, 0.0, 0.0, 0.0 ) + ( 0.0, 0.0, 0.0, 0.0 ) + ( 15.0, 15.0, 10.0, 15.0 ) + ("FRICTION_PINN", "FRICTION_PINN", "FRICTION_PINN", "FRICTION_PINN") + + 1.0 + 2 + true + ( 20.0, 30.0, 10.0, 25.0 ) + ( 3.0, 3.0, 2.0, 3.0 ) + + + + ("2_lhp_b4912_h23.onnx", "2_lhr_b4657_h4.onnx", "2_lhy_b3722_h17.onnx", "2_lk_b4566_h20.onnx") + 1 + + + + ( 8.694943028700485e-06 0.02299342017313577 5.975309759890053e-05 0.002794584633576471 ) + ( 0.03153414073716983 0.01315420400220786 0.003715031081672895 18.189126215815822 ) + ( 24.825700767466543 23.923499006956707 23.41797219027951 23.91783157509112 ) + ( 1.0808050166041467e-05 0.0002582883448288 0.0007343297845812892 0.0010151704179573824 ) + ( 24.777097627155744 0.0003600638495648639 0.27246072693310697 24.964497730011175 ) + + + + + + 1 + + + + left_leg-eb8-j0_3-mc + + + + + \ No newline at end of file diff --git a/ergoCubSN001/wrappers/motorControl/left_leg-eb9-j4_5-jtcvc.xml b/ergoCubSN001/wrappers/motorControl/left_leg-eb9-j4_5-jtcvc.xml new file mode 100644 index 0000000000..366da9c72f --- /dev/null +++ b/ergoCubSN001/wrappers/motorControl/left_leg-eb9-j4_5-jtcvc.xml @@ -0,0 +1,55 @@ + + + + /hijackingTrqCrl/l_lower_leg + ( "l_ankle_pitch", "l_ankle_roll" ) + + + ( 0.111, 0.047 ) + ( 0.75, 0.7 ) + + + ( 0.0, 0.0 ) + ( 0.0, 0.0 ) + ( 6.0, 3.0 ) + ("FRICTION_PINN", "FRICTION_PINN") + + 1.0 + 2 + true + ( 19.0, 8.0 ) + ( 3.0, 3.0 ) + + + + ("2_lap_b4788_h9.onnx", "2_lar_b4832_h14.onnx") + 1 + + + + ( 5.131500755615346e-06 0.00016486542874413732 ) + ( 0.0002394581180587153 5.9446836582113574e-05 ) + ( 24.800150622078803 24.471668575822928 ) + ( 2.0531857814388692e-05 0.003329749020748807 ) + ( 0.003343795067559131 0.38134537532629503 ) + + + + + + 1 + + + + left_leg-eb9-j4_5-mc + + + + + \ No newline at end of file diff --git a/ergoCubSN001/wrappers/motorControl/left_leg-mc_remapper-jtcvc.xml b/ergoCubSN001/wrappers/motorControl/left_leg-mc_remapper-jtcvc.xml new file mode 100644 index 0000000000..a345b22ea9 --- /dev/null +++ b/ergoCubSN001/wrappers/motorControl/left_leg-mc_remapper-jtcvc.xml @@ -0,0 +1,18 @@ + + + + + ( 0 3 0 3 ) + ( 4 5 0 1 ) + + 6 + + + + + left_leg-eb8-j0_3-jtcvc + left_leg-eb9-j4_5-jtcvc + + + + diff --git a/ergoCubSN001/wrappers/motorControl/right_arm-eb1-j0_1-jtcvc.xml b/ergoCubSN001/wrappers/motorControl/right_arm-eb1-j0_1-jtcvc.xml new file mode 100644 index 0000000000..4ec374b32d --- /dev/null +++ b/ergoCubSN001/wrappers/motorControl/right_arm-eb1-j0_1-jtcvc.xml @@ -0,0 +1,36 @@ + + + + /hijackingTrqCrl/r_upper_arm + ( "r_shoulder_pitch", "r_shoulder_roll" ) + + + ( 0.047, 0.047 ) + ( 0.0, 0.0 ) + ( 0.0, 0.0 ) + ( 0.0, 0.0 ) + ( 10.0, 10.0 ) + ("", "") + 1.0 + 2 + true + ( 0.0, 0.0 ) + + + + ( "", "" ) + 1 + 2 + + + + 1 + + + + right_arm-eb1-j0_1-mc + + + + + \ No newline at end of file diff --git a/ergoCubSN001/wrappers/motorControl/right_arm-eb3-j2_3-jtcvc.xml b/ergoCubSN001/wrappers/motorControl/right_arm-eb3-j2_3-jtcvc.xml new file mode 100644 index 0000000000..75f8dd91fa --- /dev/null +++ b/ergoCubSN001/wrappers/motorControl/right_arm-eb3-j2_3-jtcvc.xml @@ -0,0 +1,36 @@ + + + + /hijackingTrqCrl/r_lower_arm + ( "r_shoulder_yaw", "r_elbow" ) + + + ( 0.025, 0.025 ) + ( 0.0, 0.0 ) + ( 0.0, 0.0 ) + ( 0.0, 0.0 ) + ( 10.0, 10.0 ) + ("", "") + 1.0 + 2 + true + ( 0.0, 0.0 ) + + + + ( "", "" ) + 1 + 2 + + + + 1 + + + + right_arm-eb3-j2_3-mc + + + + + \ No newline at end of file diff --git a/ergoCubSN001/wrappers/motorControl/right_arm-mc_remapper-jtcvc.xml b/ergoCubSN001/wrappers/motorControl/right_arm-mc_remapper-jtcvc.xml new file mode 100644 index 0000000000..9c10c3d398 --- /dev/null +++ b/ergoCubSN001/wrappers/motorControl/right_arm-mc_remapper-jtcvc.xml @@ -0,0 +1,19 @@ + + + + + (r_shoulder_pitch,r_shoulder_roll,r_shoulder_yaw,r_elbow,r_wrist_yaw,r_wrist_roll,r_wrist_pitch,r_thumb_add,r_thumb_oc,r_index_add,r_index_oc,r_middle_oc,r_ring_pinky_oc) + 13 + + + + right_arm-eb1-j0_1-jtcvc + + right_arm-eb3-j2_3-jtcvc + right_arm-eb30-j4_6-mc + right_arm-eb22-j7_10-mc + right_arm-eb24-j11_12-mc + + + + \ No newline at end of file diff --git a/ergoCubSN001/wrappers/motorControl/right_leg-eb6-j0_3-jtcvc.xml b/ergoCubSN001/wrappers/motorControl/right_leg-eb6-j0_3-jtcvc.xml new file mode 100644 index 0000000000..412353e89d --- /dev/null +++ b/ergoCubSN001/wrappers/motorControl/right_leg-eb6-j0_3-jtcvc.xml @@ -0,0 +1,55 @@ + + + + /hijackingTrqCrl/r_upper_leg + ( "r_hip_pitch", "r_hip_roll", "r_hip_yaw", "r_knee" ) + + + ( 0.111, 0.047, 0.047, 0.111 ) + ( 0.8, 0.5, 0.85, 0.9 ) + + + ( 0.0, 0.0, 0.0, 0.0 ) + ( 0.0, 0.0, 0.0, 0.0 ) + ( 15.0, 15.0, 10.0, 15.0 ) + ("FRICTION_PINN", "FRICTION_PINN", "FRICTION_PINN", "FRICTION_PINN") + + 1.0 + 2 + true + ( 25.0, 30.0, 10.0, 25.0 ) + ( 3.0, 3.0, 2.0, 3.0 ) + + + + ("2_rhp_b4551_h18.onnx", "2_rhr_b4813_h20.onnx", "2_rhy_b4789_h25.onnx", "2_rk_b4184_h20.onnx") + 1 + + + + ( 8.694943028700485e-06 0.02299342017313577 5.975309759890053e-05 0.002794584633576471 ) + ( 0.03153414073716983 0.01315420400220786 0.003715031081672895 18.189126215815822 ) + ( 24.825700767466543 23.923499006956707 23.41797219027951 23.91783157509112 ) + ( 1.0808050166041467e-05 0.0002582883448288 0.0007343297845812892 0.0010151704179573824 ) + ( 24.777097627155744 0.0003600638495648639 0.27246072693310697 24.964497730011175 ) + + + + + + 1 + + + + right_leg-eb6-j0_3-mc + + + + + \ No newline at end of file diff --git a/ergoCubSN001/wrappers/motorControl/right_leg-eb7-j4_5-jtcvc.xml b/ergoCubSN001/wrappers/motorControl/right_leg-eb7-j4_5-jtcvc.xml new file mode 100644 index 0000000000..7148cf46f4 --- /dev/null +++ b/ergoCubSN001/wrappers/motorControl/right_leg-eb7-j4_5-jtcvc.xml @@ -0,0 +1,55 @@ + + + + /hijackingTrqCrl/r_lower_leg + ( "r_ankle_pitch", "r_ankle_roll" ) + + + ( 0.111, 0.047 ) + ( 0.85, 0.7 ) + + + ( 0.0, 0.0 ) + ( 0.0, 0.0 ) + ( 6.0, 3.0 ) + ("FRICTION_PINN", "FRICTION_PINN") + + 1.0 + 2 + true + ( 15.0, 8.0 ) + ( 3.0, 3.0 ) + + + + ("2_rap_b4979_h10.onnx", "2_rar_b3942_h22.onnx") + 1 + + + + ( 5.131500755615346e-06 0.00016486542874413732 ) + ( 0.0002394581180587153 5.9446836582113574e-05 ) + ( 24.800150622078803 24.471668575822928 ) + ( 2.0531857814388692e-05 0.003329749020748807 ) + ( 0.003343795067559131 0.38134537532629503 ) + + + + + + 1 + + + + right_leg-eb7-j4_5-mc + + + + + \ No newline at end of file diff --git a/ergoCubSN001/wrappers/motorControl/right_leg-mc_remapper-jtcvc.xml b/ergoCubSN001/wrappers/motorControl/right_leg-mc_remapper-jtcvc.xml new file mode 100644 index 0000000000..f60becacce --- /dev/null +++ b/ergoCubSN001/wrappers/motorControl/right_leg-mc_remapper-jtcvc.xml @@ -0,0 +1,18 @@ + + + + + ( 0 3 0 3 ) + ( 4 5 0 1 ) + + 6 + + + + + right_leg-eb6-j0_3-jtcvc + right_leg-eb7-j4_5-jtcvc + + + + diff --git a/ergoCubSN001/wrappers/motorControl/torso-eb5-j0_2-jtcvc.xml b/ergoCubSN001/wrappers/motorControl/torso-eb5-j0_2-jtcvc.xml new file mode 100644 index 0000000000..f99ce2256b --- /dev/null +++ b/ergoCubSN001/wrappers/motorControl/torso-eb5-j0_2-jtcvc.xml @@ -0,0 +1,54 @@ + + + + /hijackingTrqCrl/torso + ( "torso_roll", "torso_pitch", "torso_yaw" ) + + + ( 0.047, 0.047, 0.047 ) + ( 0.0, 0.0, 0.0 ) + + ( 0.0, 0.0, 0.0 ) + + ( 0.0, 0.0, 0.0 ) + ( 15.0, 15.0, 15.0 ) + ( "", "", "" ) + 0.0 + 0 + false + ( 0.0, 0.0, 0.0 ) + + + + ( "", "", "" ) + 1 + + + + ( 0.0002531597161334673 0.0007201042934751647 0.00024269663493518243 ) + ( 0.022162080623563264 0.008036781145026697 0.006910957225514555 ) + ( 23.988142473281066 24.78174797120868 24.400697067208775 ) + ( 0.0007037200315177511 0.003027567532311685 0.013873538944015959 ) + ( 0.021233364199551377 0.0017943885448779256 0.31787791884813843 ) + + + + + + + 1 + + + + torso-eb5-j0_2-mc + + + + + \ No newline at end of file diff --git a/ergoCubSN001/wrappers/motorControl/torso-mc_remapper-jtcvc.xml b/ergoCubSN001/wrappers/motorControl/torso-mc_remapper-jtcvc.xml new file mode 100644 index 0000000000..efb07a70c0 --- /dev/null +++ b/ergoCubSN001/wrappers/motorControl/torso-mc_remapper-jtcvc.xml @@ -0,0 +1,19 @@ + + + + + + + (torso_roll,torso_pitch,torso_yaw) + + + 3 + + + + torso-eb5-j0_2-jtcvc + + + +