diff --git a/iCubChemnitz01/CMakeLists.txt b/iCubChemnitz01/CMakeLists.txt new file mode 100644 index 0000000000..9e6bec4547 --- /dev/null +++ b/iCubChemnitz01/CMakeLists.txt @@ -0,0 +1,11 @@ +set(appname iCubChemnitz01_RI) + +set(scripts icub_all.xml robotMotorGui.ini firmwareUpdate.txt robotInterface.ini) + +yarp_install(FILES ${scripts} DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname}) +yarp_install(DIRECTORY calibrators DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname}) +yarp_install(DIRECTORY cartesian DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname}) +yarp_install(DIRECTORY wrappers DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname}) +yarp_install(DIRECTORY hardware DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname}) + + diff --git a/iCubChemnitz01/calibrators/head_calib.xml b/iCubChemnitz01/calibrators/head_calib.xml new file mode 100644 index 0000000000..b51434f870 --- /dev/null +++ b/iCubChemnitz01/calibrators/head_calib.xml @@ -0,0 +1,67 @@ + + + + + + 6 + Head_Calibrator + + + + + 3 3 3 3 0 0 + 2047.5 2047.5 2047.5 2047.5 900 900 + 10 10 10 10 20 20 + 2975.7 792.8375 1007.825 2997.313 0 0 + 20 0 0 0 0 0 + 10 10 10 10 10 10 + 120 120 120 0 0 0 + 2 2 2 2 2 2 + + + + -30 0 0 0 0 0 + 10 10 10 10 10 10 + + + (0 1 2 3) (4) (5) + + + head_mc_wrapper + + + + head_mc_wrapper + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/iCubChemnitz01/calibrators/left_arm_calib.xml b/iCubChemnitz01/calibrators/left_arm_calib.xml new file mode 100644 index 0000000000..64b498ffe6 --- /dev/null +++ b/iCubChemnitz01/calibrators/left_arm_calib.xml @@ -0,0 +1,67 @@ + + + + + + 8 + Left_Arm_Calibrator + + + + + 3 3 3 3 0 3 3 3 + 2388.75 3241.875 2047.5 1535.625 1000 2047.5 2047.5 2500 + 10 10 10 10 20 10 10 100 + 3167.938 1200.063 3992.625 1766.538 0 2735.688 119.4375 0 + -30 30 0 45 0 0 0 15 + 10 10 10 10 30 10 10 100 + 120 120 120 120 0 0 0 0 + 2 2 2 2 2 2 90 90 + + + + -30 30 0 45 0 0 0 15 + 10 10 10 10 30 10 10 100 + + + (0 1 2 3) (4 6 7) (5) + + + left_arm_mc + + + + left_arm_mc + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/iCubChemnitz01/calibrators/left_hand_calib.xml b/iCubChemnitz01/calibrators/left_hand_calib.xml new file mode 100644 index 0000000000..f534177511 --- /dev/null +++ b/iCubChemnitz01/calibrators/left_hand_calib.xml @@ -0,0 +1,67 @@ + + + + + + 8 + Left_Hand_Calibrator + + + + + 3 4 4 4 4 4 4 4 + 1357.78 237 40 255 90 245 60 750 + 10 10 30 10 10 10 10 10 + 0 6000 -8000 6000 7400 6000 -7400 -14000 + 30 3 0 0 0 0 0 0 + 100 100 100 100 100 100 100 100 + 0 0 0 0 0 0 0 0 + 90 90 90 90 90 90 90 90 + + + + 90 3 0 0 0 0 0 0 + 10 10 10 10 10 10 10 10 + + + (0 1 3 5) (2 4 6 7) + + + left_hand_mc + + + + left_hand_mc + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/iCubChemnitz01/calibrators/left_leg_calib.xml b/iCubChemnitz01/calibrators/left_leg_calib.xml new file mode 100644 index 0000000000..90196c28fa --- /dev/null +++ b/iCubChemnitz01/calibrators/left_leg_calib.xml @@ -0,0 +1,67 @@ + + + + + + 6 + Left_Leg_Calibrator + + + + + 3 3 3 3 3 3 + 2047.5 2047.5 2047.5 2047.5 2047.5 2047.5 + 10 10 10 10 10 10 + 2712.938 2900.625 4027.888 548.275 2188.55 1942.85 + 0 0 0 0 0 0 + 10 10 10 10 10 10 + 120 120 120 120 120 120 + 2 2 2 2 2 2 + + + + 0 0 0 0 0 0 + 10 10 10 10 10 10 + + + (0 1 2 3 4 5) + + + left_leg_mc_wrapper + + + + left_leg_mc_wrapper + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/iCubChemnitz01/calibrators/right_arm_calib.xml b/iCubChemnitz01/calibrators/right_arm_calib.xml new file mode 100644 index 0000000000..7418d07230 --- /dev/null +++ b/iCubChemnitz01/calibrators/right_arm_calib.xml @@ -0,0 +1,67 @@ + + + + + + 8 + Right_Arm_Calibrator + + + + + 3 3 3 3 0 3 3 3 + 1706.25 853.13 2047.50 2559.38 900.00 2047.50 2047.50 2250.00 + 10.00 10.00 10.00 10.00 -20.00 10.00 10.00 100.00 + 582.40 3939.16 2573.03 473.20 0.00 2138.50 2121.44 0.00 + -30 30 0 45 0 0 0 15 + 10 10 10 10 30 10 10 100 + 120 120 120 120 0 0 0 0 + 2 2 2 2 2 2 90 90 + + + + -30 30 0 45 0 0 0 15 + 10 10 10 10 30 10 10 100 + + + (0 1 2 3) (4 6 7) (5) + + + right_arm_mc + + + + right_arm_mc + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/iCubChemnitz01/calibrators/right_hand_calib.xml b/iCubChemnitz01/calibrators/right_hand_calib.xml new file mode 100644 index 0000000000..9a75e1de33 --- /dev/null +++ b/iCubChemnitz01/calibrators/right_hand_calib.xml @@ -0,0 +1,67 @@ + + + + + + 8 + Right_Hand_Calibrator + + + + + 3 4 4 4 4 4 4 4 + 1291.11 245.00 45.00 255.00 50.00 245.00 90.00 740.00 + 10.00 10.00 30.00 10.00 10.00 10.00 10.00 10.00 + 0.00 6000.00 8000.00 6000.00 -7400.00 6000.00 7400.00 14000.00 + 30 3 0 0 0 0 0 0 + 100 100 100 100 100 100 100 100 + 0 0 0 0 0 0 0 0 + 90 90 90 90 90 90 90 90 + + + + 90 3 0 0 0 0 0 0 + 10 10 10 10 10 10 10 10 + + + (0 1 3 5) (2 4 6 7) + + + right_hand_mc + + + + right_hand_mc + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/iCubChemnitz01/calibrators/right_leg_calib.xml b/iCubChemnitz01/calibrators/right_leg_calib.xml new file mode 100644 index 0000000000..ea30867a63 --- /dev/null +++ b/iCubChemnitz01/calibrators/right_leg_calib.xml @@ -0,0 +1,67 @@ + + + + + + 6 + Right_Leg_Calibrator + + + + + 3 3 3 3 3 3 + 2047.5 2047.5 2047.5 2047.5 2047.5 2047.5 + 10 10 10 10 10 10 + 2297.75 2968.875 1203.475 3919.825 352.625 2303.438 + 0 0 0 0 0 0 + 10 10 10 10 10 10 + 120 120 120 120 120 120 + 2 2 2 2 2 2 + + + + 0 0 0 0 0 0 + 10 10 10 10 10 10 + + + (0 1 2 3 4 5) + + + right_leg_mc_wrapper + + + + right_leg_mc_wrapper + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/iCubChemnitz01/calibrators/torso_calib.xml b/iCubChemnitz01/calibrators/torso_calib.xml new file mode 100644 index 0000000000..bdf3c9512f --- /dev/null +++ b/iCubChemnitz01/calibrators/torso_calib.xml @@ -0,0 +1,67 @@ + + + + + + 4 + Torso_Calibrator + + + + + 3 3 3 0 + 2047.5 2047.5 2047.5 0 + 10 10 10 0 + 301.4375 2937.025 844.025 0 + 0 0 0 0 + 10 10 10 0 + 120 120 120 0 + 2 2 2 2 + + + + 0 0 -20 0 + 10 10 10 0 + + + (0 1 2) + + + torso_mc_wrapper + + + + torso_mc_wrapper + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/iCubChemnitz01/cartesian/left_arm_cartesian.xml b/iCubChemnitz01/cartesian/left_arm_cartesian.xml new file mode 100644 index 0000000000..5e88ff2476 --- /dev/null +++ b/iCubChemnitz01/cartesian/left_arm_cartesian.xml @@ -0,0 +1,53 @@ + + + + icub/cartesianController/left_arm + 10 + 4 + cartesianSolver/left_arm + arm + left + on + 2 + + + + torso + reversed + (0.35 0.35 0.35) + + + + left_arm + direct + (0.35 0.35 0.35 0.35 0.35 0.35 0.35) + + + + + on + off + + ((Kp 1.022) (Tz 0.405) (Tw 0.248) (Zeta 0.797) (Td 0.000)) + ((Kp 1.026) (Tz 0.407) (Tw 0.243) (Zeta 0.822) (Td 0.000)) + ((Kp 1.040) (Tz 0.344) (Tw 0.160) (Zeta 1.110) (Td 0.000)) + ((Kp 1.035) (Tz 0.410) (Tw 0.178) (Zeta 1.198) (Td 0.000)) + ((Kp 1.016) (Tz 0.384) (Tw 0.159) (Zeta 1.222) (Td 0.000)) + ((Kp 1.025) (Tz 0.823) (Tw 0.405) (Zeta 1.030) (Td 0.000)) + ((Kp 1.022) (Tz 0.300) (Tw 0.120) (Zeta 1.303) (Td 0.000)) + ((Kp 1.016) (Tz 0.123) (Tw 0.030) (Zeta 2.204) (Td 0.000)) + ((Kp 1.000) (Tz 0.000) (Tw 0.000) (Zeta 0.000) (Td 0.000)) + ((Kp 1.000) (Tz 0.000) (Tw 0.000) (Zeta 0.000) (Td 0.000)) + + + + + torso_mc_wrapper + left_arm_mc_wrapper + + + + + + + diff --git a/iCubChemnitz01/cartesian/right_arm_cartesian.xml b/iCubChemnitz01/cartesian/right_arm_cartesian.xml new file mode 100644 index 0000000000..15e20f9713 --- /dev/null +++ b/iCubChemnitz01/cartesian/right_arm_cartesian.xml @@ -0,0 +1,53 @@ + + + + icub/cartesianController/right_arm + 10 + 4 + cartesianSolver/right_arm + arm + right + on + 2 + + + + torso + reversed + (0.35 0.35 0.35) + + + + right_arm + direct + (0.35 0.35 0.35 0.35 0.35 0.35 0.35) + + + + + on + off + + ((Kp 1.022) (Tz 0.405) (Tw 0.248) (Zeta 0.797) (Td 0.000)) + ((Kp 1.026) (Tz 0.407) (Tw 0.243) (Zeta 0.822) (Td 0.000)) + ((Kp 1.040) (Tz 0.344) (Tw 0.160) (Zeta 1.110) (Td 0.000)) + ((Kp 1.035) (Tz 0.410) (Tw 0.178) (Zeta 1.198) (Td 0.000)) + ((Kp 1.016) (Tz 0.384) (Tw 0.159) (Zeta 1.222) (Td 0.000)) + ((Kp 1.025) (Tz 0.823) (Tw 0.405) (Zeta 1.030) (Td 0.000)) + ((Kp 1.022) (Tz 0.300) (Tw 0.120) (Zeta 1.303) (Td 0.000)) + ((Kp 1.016) (Tz 0.123) (Tw 0.030) (Zeta 2.204) (Td 0.000)) + ((Kp 1.000) (Tz 0.000) (Tw 0.000) (Zeta 0.000) (Td 0.000)) + ((Kp 1.000) (Tz 0.000) (Tw 0.000) (Zeta 0.000) (Td 0.000)) + + + + + torso_mc_wrapper + right_arm_mc_wrapper + + + + + + + diff --git a/iCubChemnitz01/firmwareUpdate.txt b/iCubChemnitz01/firmwareUpdate.txt new file mode 100644 index 0000000000..8b0227e0f4 --- /dev/null +++ b/iCubChemnitz01/firmwareUpdate.txt @@ -0,0 +1,39 @@ +// head +cfw2can 0 1 2BLLDC.1.62.out.S +cfw2can 0 2 4DC.2.15.out.S + +// torso +cfw2can 0 5 2BLL_IE.2.54.out.S +cfw2can 0 6 2BLL_IE.2.52.out.S + +// left_arm +cfw2can 1 1 2BLL_IE.2.50.out.S +cfw2can 1 2 2BLL_IE.2.57.out.S +cfw2can 1 3 4DC.2.19.out.S + +// left_hand +cfw2can 5 5 4DC.2.28.out.S +cfw2can 5 7 4DC.2.30.out.S + +// right_arm +cfw2can 2 1 2BLL_IE.2.50.out.S +cfw2can 2 2 2BLL_IE.2.57.out.S +cfw2can 2 3 4DC.2.19.out.S + +// right_hand +cfw2can 6 5 4DC.2.28.out.S +cfw2can 6 7 4DC.2.30.out.S + +// left leg +cfw2can 3 5 2BLL_IE.2.51.out.S +cfw2can 3 6 2BLL_IE.2.51.out.S +cfw2can 3 7 2BLL_IE.2.51.out.S +// right leg +cfw2can 4 8 2BLL_IE.2.51.out.S +cfw2can 4 9 2BLL_IE.2.51.out.S +cfw2can 4 10 2BLL_IE.2.51.out.S + + + + + diff --git a/iCubChemnitz01/hardware/FT/left_arm_strain.xml b/iCubChemnitz01/hardware/FT/left_arm_strain.xml new file mode 100644 index 0000000000..ffdaa4c423 --- /dev/null +++ b/iCubChemnitz01/hardware/FT/left_arm_strain.xml @@ -0,0 +1,13 @@ + + + + "sharedcan" + "cfw2can" + 1 + 0x0D + 16 + 6 + 1 + 1 + + diff --git a/iCubChemnitz01/hardware/FT/left_foot_strain.xml b/iCubChemnitz01/hardware/FT/left_foot_strain.xml new file mode 100644 index 0000000000..dbdf362d4a --- /dev/null +++ b/iCubChemnitz01/hardware/FT/left_foot_strain.xml @@ -0,0 +1,13 @@ + + + + "sharedcan" + "cfw2can" + 3 + 0x01 + 16 + 6 + 1 + 1 + + diff --git a/iCubChemnitz01/hardware/FT/left_leg_strain.xml b/iCubChemnitz01/hardware/FT/left_leg_strain.xml new file mode 100644 index 0000000000..283f5c8f99 --- /dev/null +++ b/iCubChemnitz01/hardware/FT/left_leg_strain.xml @@ -0,0 +1,13 @@ + + + + "sharedcan" + "cfw2can" + 3 + 0x0D + 16 + 6 + 1 + 1 + + diff --git a/iCubChemnitz01/hardware/FT/right_arm_strain.xml b/iCubChemnitz01/hardware/FT/right_arm_strain.xml new file mode 100644 index 0000000000..c43495aee8 --- /dev/null +++ b/iCubChemnitz01/hardware/FT/right_arm_strain.xml @@ -0,0 +1,13 @@ + + + + "sharedcan" + "cfw2can" + 2 + 0x0D + 16 + 6 + 1 + 1 + + diff --git a/iCubChemnitz01/hardware/FT/right_foot_strain.xml b/iCubChemnitz01/hardware/FT/right_foot_strain.xml new file mode 100644 index 0000000000..56e67ea5ef --- /dev/null +++ b/iCubChemnitz01/hardware/FT/right_foot_strain.xml @@ -0,0 +1,13 @@ + + + + "sharedcan" + "cfw2can" + 4 + 0x01 + 16 + 6 + 1 + 1 + + diff --git a/iCubChemnitz01/hardware/FT/right_leg_strain.xml b/iCubChemnitz01/hardware/FT/right_leg_strain.xml new file mode 100644 index 0000000000..3cd874810b --- /dev/null +++ b/iCubChemnitz01/hardware/FT/right_leg_strain.xml @@ -0,0 +1,13 @@ + + + + "sharedcan" + "cfw2can" + 4 + 0x0E + 16 + 6 + 1 + 1 + + diff --git a/iCubChemnitz01/hardware/MAIS/left_hand_mais.xml b/iCubChemnitz01/hardware/MAIS/left_hand_mais.xml new file mode 100644 index 0000000000..b42760927f --- /dev/null +++ b/iCubChemnitz01/hardware/MAIS/left_hand_mais.xml @@ -0,0 +1,12 @@ + + + + "sharedcan" + "cfw2can" + 5 + 0x0E + 8 + 16 + 1 + + diff --git a/iCubChemnitz01/hardware/MAIS/right_hand_mais.xml b/iCubChemnitz01/hardware/MAIS/right_hand_mais.xml new file mode 100644 index 0000000000..04ac37af57 --- /dev/null +++ b/iCubChemnitz01/hardware/MAIS/right_hand_mais.xml @@ -0,0 +1,12 @@ + + + + "sharedcan" + "cfw2can" + 6 + 0x0E + 8 + 16 + 1 + + diff --git a/iCubChemnitz01/hardware/VFT/left_arm_virtual_strain.xml b/iCubChemnitz01/hardware/VFT/left_arm_virtual_strain.xml new file mode 100644 index 0000000000..c7d0ccc274 --- /dev/null +++ b/iCubChemnitz01/hardware/VFT/left_arm_virtual_strain.xml @@ -0,0 +1,14 @@ + + + + "sharedcan" + "cfw2can" + 1 + 0x0C + 16 + 6 + 1 + 1 + 8 8 8 8 8 8 + + diff --git a/iCubChemnitz01/hardware/VFT/left_leg_virtual_strain.xml b/iCubChemnitz01/hardware/VFT/left_leg_virtual_strain.xml new file mode 100644 index 0000000000..b767615074 --- /dev/null +++ b/iCubChemnitz01/hardware/VFT/left_leg_virtual_strain.xml @@ -0,0 +1,14 @@ + + + + "sharedcan" + "cfw2can" + 3 + 0x0C + 16 + 6 + 1 + 1 + 12 12 12 12 12 12 + + diff --git a/iCubChemnitz01/hardware/VFT/right_arm_virtual_strain.xml b/iCubChemnitz01/hardware/VFT/right_arm_virtual_strain.xml new file mode 100644 index 0000000000..96cf3cf09a --- /dev/null +++ b/iCubChemnitz01/hardware/VFT/right_arm_virtual_strain.xml @@ -0,0 +1,14 @@ + + + + "sharedcan" + "cfw2can" + 2 + 0x0C + 16 + 6 + 1 + 1 + 8 8 8 8 8 8 + + diff --git a/iCubChemnitz01/hardware/VFT/right_leg_virtual_strain.xml b/iCubChemnitz01/hardware/VFT/right_leg_virtual_strain.xml new file mode 100644 index 0000000000..4972120340 --- /dev/null +++ b/iCubChemnitz01/hardware/VFT/right_leg_virtual_strain.xml @@ -0,0 +1,14 @@ + + + + "sharedcan" + "cfw2can" + 4 + 0x0B + 16 + 6 + 1 + 1 + 12 12 12 12 12 12 + + diff --git a/iCubChemnitz01/hardware/VFT/torso_virtual_strain.xml b/iCubChemnitz01/hardware/VFT/torso_virtual_strain.xml new file mode 100644 index 0000000000..d7d46da9ab --- /dev/null +++ b/iCubChemnitz01/hardware/VFT/torso_virtual_strain.xml @@ -0,0 +1,14 @@ + + + + "sharedcan" + "cfw2can" + 0 + 0x0C + 16 + 6 + 1 + 1 + 12 12 12 12 12 12 + + diff --git a/iCubChemnitz01/hardware/inertial.xml b/iCubChemnitz01/hardware/inertial.xml new file mode 100644 index 0000000000..1d81f206bf --- /dev/null +++ b/iCubChemnitz01/hardware/inertial.xml @@ -0,0 +1,7 @@ + + + /icub/inertial + xsensmtx + /dev/ttyS0 + + diff --git a/iCubChemnitz01/hardware/motorControl/icub_head.xml b/iCubChemnitz01/hardware/motorControl/icub_head.xml new file mode 100644 index 0000000000..6539a07f90 --- /dev/null +++ b/iCubChemnitz01/hardware/motorControl/icub_head.xml @@ -0,0 +1,83 @@ + + + + + + + sharedcan + cfw2can + 1 2 3 + 0 + HEAD + 0 + 10 + 500 + 500 + 500 + 1 1 1 1 1 1 + 0 0 0 0 0 0 + 1 1 1 1 1 1 + 0 0 0 0 0 0 + 1 1 1 1 1 1 + 1 1 1 1 1 1 + 0 0 0 0 0 0 + 0 0 0 0 0 0 + 0 0 0 0 0 0 + + + + + 6 + 0 1 2 3 4 5 + 11.375 -11.375 11.375 11.375 568.88 284.44 + 180 -180 180 180 -45 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 + 1 1 1 1 1 1 + 1 1 1 1 1 1 + + + + 1 1 1 1 1 1 + 1 1 1 1 1 1 + 5 5 5 5 5 5 + 5 5 5 5 5 5 + 8 8 8 8 8 8 + 100 100 100 100 100 100 + + + + -30 -20 -45 -30 -30 0 + 22 20 45 30 30 50 + 2000 2000 1200 620 600 600 + + + + 6000 -6000 3200 -400 100 100 + 500 -500 3200 -400 1000 1000 + 5 -5 10 -4 10 10 + 800 800 1333 1333 1333 1333 + 800 800 1333 1333 1333 1333 + 8 8 6 4 5 5 + 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 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 + + + + + diff --git a/iCubChemnitz01/hardware/motorControl/icub_head_nozeros.xml b/iCubChemnitz01/hardware/motorControl/icub_head_nozeros.xml new file mode 100644 index 0000000000..6522d799e5 --- /dev/null +++ b/iCubChemnitz01/hardware/motorControl/icub_head_nozeros.xml @@ -0,0 +1,83 @@ + + + + + + + sharedcan + cfw2can + 1 2 3 + 0 + HEAD + 0 + 10 + 500 + 500 + 500 + 1 1 1 1 1 1 + 0 0 0 0 0 0 + 1 1 1 1 1 1 + 0 0 0 0 0 0 + 1 1 1 1 1 1 + 1 1 1 1 1 1 + 0 0 0 0 0 0 + 0 0 0 0 0 0 + 0 0 0 0 0 0 + + + + + 6 + 0 1 2 3 4 5 + 11.375 -11.375 11.375 11.375 568.88 284.44 + 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 + 1 1 1 1 1 1 + 1 1 1 1 1 1 + + + + 1 1 1 1 1 1 + 1 1 1 1 1 1 + 5 5 5 5 5 5 + 5 5 5 5 5 5 + 8 8 8 8 8 8 + 100 100 100 100 100 100 + + + + -360 -360 -360 -360 -30 0 + 360 360 360 360 30 50 + 2000 2000 1200 620 600 600 + + + + 6000 -6000 3200 -400 100 100 + 500 -500 3200 -400 1000 1000 + 5 -5 10 -4 10 10 + 400 400 400 400 1333 1333 + 400 400 400 400 1333 1333 + 8 8 6 4 5 5 + 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 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 + + + + + diff --git a/iCubChemnitz01/hardware/motorControl/icub_left_arm.xml b/iCubChemnitz01/hardware/motorControl/icub_left_arm.xml new file mode 100644 index 0000000000..45e1b313c6 --- /dev/null +++ b/iCubChemnitz01/hardware/motorControl/icub_left_arm.xml @@ -0,0 +1,83 @@ + + + + + + + sharedcan + cfw2can + 1 2 3 4 + 1 + LEFT_ARM + 0 + 10 + 500 + 500 + 500 + 1 1 1 1 1 1 1 1 + 1 1 1 1 0 0 0 0 + 1 1 1 1 1 1 1 1 + 0 0 0 0 0 0 0 0 + 1 1 1 1 1 1 1 1 + 1 1 1 1 1 1 1 1 + 0 0 0 0 0 0 0 0 + 0 0 0 0 0 0 0 0 + 0 0 0 0 0 0 0 0 + + + + + 8 + 0 1 2 3 4 5 6 7 + -11.375 -11.375 11.375 -11.375 706.67 -11.375 11.375 -4.16667 + -180 -315 180 -180 -90 -180 180 -600 + 0x0C 0x0C 0x0C 0x0C 0x0C 0 0 0 + 0 1 2 3 4 0 0 0 + 8 8 8 8 2 2 2 2 + 0 0 0 0 0 0 0 0 + 21.888 21.888 21.888 21.888 1 1 1 1 + 1 1 1 1 1 1 1 1 + + + + 1 1 1 1 1 1 1 1 + 1 1 1 1 1 1 1 1 + 5 5 5 5 5 5 5 5 + 5 5 5 5 5 5 5 5 + 8 8 8 8 8 8 8 8 + 100 100 100 100 100 100 100 100 + + + + -95.5 0 -30 15 -50 -80 -20 0 + 10 160.8 75 106 85 25 25 60 + 7000 7000 7000 7000 1000 800 800 800 + + + + 32000 32000 -32000 32000 -200 1000 -1000 200 + 50 50 -50 20 -1000 10000 -10000 200 + 60 60 -60 60 -1 1 -1 1 + 800 800 800 800 1333 1333 1333 1333 + 800 800 800 800 1333 1333 1333 1333 + 13 13 13 13 6 7 7 4 + 0 0 0 0 0 0 0 0 + 0 0 0 0 0 0 0 0 + 0 0 0 0 0 0 0 0 + + + + -76 -76 -288 -288 -80 0 0 0 + 0 0 0 0 0 0 0 0 + 0 0 0 0 0 0 0 0 + 800 800 800 800 1333 1333 1333 1333 + 800 800 800 800 1333 1333 1333 1333 + 14 14 14 14 10 10 10 10 + 0 0 0 0 0 0 0 0 + 0 0 0 0 0 0 0 0 + 0 0 0 0 0 0 0 0 + + + + + diff --git a/iCubChemnitz01/hardware/motorControl/icub_left_hand.xml b/iCubChemnitz01/hardware/motorControl/icub_left_hand.xml new file mode 100644 index 0000000000..95a4084da6 --- /dev/null +++ b/iCubChemnitz01/hardware/motorControl/icub_left_hand.xml @@ -0,0 +1,83 @@ + + + + + + + sharedcan + cfw2can + 5 6 7 8 + 5 + LEFT_HAND + 0 + 10 + 500 + 500 + 500 + 1 1 1 1 1 1 1 1 + 0 0 0 0 0 0 0 0 + 1 1 1 1 1 1 1 1 + 0 0 0 0 0 0 0 0 + 1 1 1 1 1 1 1 1 + 1 1 1 1 1 1 1 1 + 0 0 0 0 0 0 0 0 + 0 0 0 0 0 0 0 0 + 0 0 0 0 0 0 0 0 + + + + + 8 + 0 1 2 3 4 5 6 7 + 7.78 -1.97 -2.44 -2.50 -2.22 -2.39 -2.39 -2.14 + 164.57 -120.51 -196.36 -102.00 -220.50 -102.56 -205.12 -350.47 + 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 + 1 1 1 1 1 1 1 1 + 1 1 1 1 1 1 1 1 + + + + 1 1 1 1 1 1 1 1 + 1 1 1 1 1 1 1 1 + 5 5 5 5 5 5 5 5 + 5 5 5 5 5 5 5 5 + 8 8 8 8 8 8 8 8 + 100 100 100 100 100 100 100 100 + + + + 10 0 0 0 0 0 0 0 + 90 90 170 90 170 90 170 250 + 485 485 485 485 485 485 485 485 + + + + -500 -8000 -8000 -8000 8000 -8000 -8000 1200 + -32000 -32000 -32000 -32000 32000 -32000 -32000 12500 + -1 -5 -5 -5 5 -5 -5 1 + 1333 1333 1333 1333 1333 1333 1333 1333 + 1333 1333 1333 1333 1333 1333 1333 1333 + 6 8 8 8 8 8 8 5 + 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 + 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 + 0 0 0 0 0 0 0 0 + 0 0 0 0 0 0 0 0 + + + + + diff --git a/iCubChemnitz01/hardware/motorControl/icub_left_leg.xml b/iCubChemnitz01/hardware/motorControl/icub_left_leg.xml new file mode 100644 index 0000000000..bd9c7a9e0d --- /dev/null +++ b/iCubChemnitz01/hardware/motorControl/icub_left_leg.xml @@ -0,0 +1,83 @@ + + + + + + + sharedcan + cfw2can + 5 6 7 + 3 + LEFTLEG + 0 + 10 + 500 + 500 + 500 + 1 1 1 1 1 1 + 0 0 0 0 0 0 + 1 1 1 1 1 1 + 0 0 0 0 0 0 + 1 1 1 1 1 1 + 1 1 1 1 1 1 + 0 0 0 0 0 0 + 0 0 0 0 0 0 + 0 0 0 0 0 0 + + + + + 6 + 2 3 0 1 4 5 + 11.375 11.375 11.375 11.375 11.375 11.375 + 180 180 180 180 180 180 + 0x0C 0x0C 0x0C 0x0C 0x0C 0x0C + 0 1 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+ 2 + RIGHT_ARM + 0 + 10 + 500 + 500 + 500 + 1 1 1 1 1 1 1 1 + 1 1 1 1 0 0 0 0 + 1 1 1 1 1 1 1 1 + 0 0 0 0 0 0 0 0 + 1 1 1 1 1 1 1 1 + 1 1 1 1 1 1 1 1 + 0 0 0 0 0 0 0 0 + 0 0 0 0 0 0 0 0 + 0 0 0 0 0 0 0 0 + + + + + 8 + 0 1 2 3 4 5 6 7 + 11.375 11.375 -11.375 11.375 -706.67 11.375 -11.375 -4.66667 + 180 45 -180 180 -90 180 -180 -482.143 + 0x0C 0x0C 0x0C 0x0C 0x0C 0 0 0 + 0 1 2 3 4 0 0 0 + 8 8 8 8 2 2 2 2 + 0 0 0 0 0 0 0 0 + 21.888 21.888 21.888 21.888 1 1 1 1 + 1 1 1 1 1 1 1 1 + + + + 1 1 1 1 1 1 1 1 + 1 1 1 1 1 1 1 1 + 5 5 5 5 5 5 5 5 + 5 5 5 5 5 5 5 5 + 8 8 8 8 8 8 8 8 + 100 100 100 100 100 100 100 100 + + + + -95.5 0 -30 15 -50 -80 -20 0 + 10 161 75 106 85 25 25 60 + 7000 7000 7000 7000 1000 800 800 800 + + + + 32000 32000 -32000 32000 -200 1000 -1000 -200 + 50 50 -50 20 -1000 10000 -10000 -200 + 60 60 -60 60 -1 1 -1 -1 + 800 800 800 800 1333 1333 1333 1333 + 800 800 800 800 1333 1333 1333 1333 + 13 13 13 13 6 7 7 4 + 0 0 0 0 0 0 0 0 + 0 0 0 0 0 0 0 0 + 0 0 0 0 0 0 0 0 + + + + 76 76 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1 1 1 1 1 1 1 1 + 1 1 1 1 1 1 1 1 + 5 5 5 5 5 5 5 5 + 5 5 5 5 5 5 5 5 + 8 8 8 8 8 8 8 8 + 100 100 100 100 100 100 100 100 + + + + 10 0 0 0 0 0 0 0 + 90 90 170 90 170 90 170 250 + 485 485 485 485 485 485 485 485 + + + + -500 -8000 8000 -8000 -8000 -8000 8000 -1200 + -32000 -32000 32000 -32000 -32000 -32000 32000 -12500 + -1 -5 5 -5 -5 -5 5 -1 + 1333 1333 1333 1333 1333 1333 1333 1333 + 1333 1333 1333 1333 1333 1333 1333 1333 + 6 8 8 8 8 8 8 5 + 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 + 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 + 0 0 0 0 0 0 0 0 + 0 0 0 0 0 0 0 0 + + + + + diff --git a/iCubChemnitz01/hardware/motorControl/icub_right_leg.xml b/iCubChemnitz01/hardware/motorControl/icub_right_leg.xml new file mode 100644 index 0000000000..6dc32b09b8 --- /dev/null +++ b/iCubChemnitz01/hardware/motorControl/icub_right_leg.xml @@ -0,0 +1,83 @@ + + + + + + + sharedcan + cfw2can + 8 9 10 + 4 + RIGHTLEG + 0 + 10 + 500 + 500 + 500 + 1 1 1 1 1 1 + 0 0 0 0 0 0 + 1 1 1 1 1 1 + 0 0 0 0 0 0 + 1 1 1 1 1 1 + 1 1 1 1 1 1 + 0 0 0 0 0 0 + 0 0 0 0 0 0 + 0 0 0 0 0 0 + + + + + 6 + 2 3 0 1 4 5 + -11.375 -11.375 -11.375 -11.375 -11.375 -11.375 + -180 -180 -180 -180 -180 -180 + 0x0B 0x0B 0x0B 0x0B 0x0B 0x0B + 0 1 2 3 4 5 + 12 12 12 12 12 12 + 0 0 0 0 0 0 + 21.888 21.888 21.888 21.888 21.888 21.888 + 150 100 100 100 100 100 + + + + 1 1 1 1 1 1 + 1 1 1 1 1 1 + 5 5 5 5 5 5 + 5 5 5 5 5 5 + 8 8 8 8 8 8 + 100 100 100 100 100 100 + + + + -30 0 -40 -120 -20 -10 + 90 90 65 0 30 15 + 7000 7000 7000 7000 7000 7000 + + + + 32000 -32000 32000 -32000 -32000 32000 + 100 -100 100 -100 -100 100 + 60 -60 60 -60 -60 60 + 800 800 800 800 800 800 + 800 800 800 800 800 800 + 13 13 13 13 13 13 + 0 0 0 0 0 0 + 0 0 0 0 0 0 + 0 0 0 0 0 0 + + + + -76 76 -76 76 0 0 + 0 0 0 0 0 0 + 0 0 0 0 0 0 + 800 800 800 800 800 800 + 800 800 800 800 800 800 + 14 14 14 14 14 14 + 0 0 0 0 0 0 + 0 0 0 0 0 0 + 0 0 0 0 0 0 + + + + + diff --git a/iCubChemnitz01/hardware/motorControl/icub_torso.xml b/iCubChemnitz01/hardware/motorControl/icub_torso.xml new file mode 100644 index 0000000000..cc7deaab6a --- /dev/null +++ b/iCubChemnitz01/hardware/motorControl/icub_torso.xml @@ -0,0 +1,83 @@ + + + + + + + sharedcan + cfw2can + 5 6 + 0 + TORSO + 0 + 10 + 500 + 500 + 500 + 1 1 1 1 + 0 0 0 0 + 1 1 1 1 + 0 0 0 0 + 1 1 1 1 + 1 1 1 1 + 0 0 0 0 + 0 0 0 0 + 0 0 0 0 + + + + + 4 + 0 2 3 1 + 11.375 11.375 11.375 0 + 180 180 180 0 + 0x0C 0x0C 0x0C 0x0C + 0 1 2 0 + 12 12 12 12 + 0 0 0 0 + 21.888 21.888 21.888 0 + 1 1 1 1 + + + + 1 1 1 1 + 1 1 1 1 + 5 5 5 5 + 5 5 5 5 + 8 8 8 8 + 100 100 100 100 + + + + -50 -30 -22 0 + 50 30 70 0 + 7000 7000 7000 0 + + + + 32000 32000 32000 0 + 6000 6000 6000 0 + 60 60 60 0 + 1333 1333 1333 1333 + 1333 1333 1333 1333 + 13 13 13 0 + 0 0 0 0 + 0 0 0 0 + 0 0 0 0 + + + + 6 6 6 0 + 0 0 0 0 + 0 0 0 0 + 0 0 0 0 + 0 0 0 0 + 11 11 11 0 + 0 0 0 0 + 0 0 0 0 + 0 0 0 0 + + + + + diff --git a/iCubChemnitz01/hardware/skin/left_arm.xml b/iCubChemnitz01/hardware/skin/left_arm.xml new file mode 100644 index 0000000000..10228b4264 --- /dev/null +++ b/iCubChemnitz01/hardware/skin/left_arm.xml @@ -0,0 +1,9 @@ + + + "sharedcan" + "cfw2can" + 7 + 14 13 12 11 10 9 8 + 10 + + diff --git a/iCubChemnitz01/hardware/skin/left_hand_inertial_mtb.xml b/iCubChemnitz01/hardware/skin/left_hand_inertial_mtb.xml new file mode 100644 index 0000000000..6586014481 --- /dev/null +++ b/iCubChemnitz01/hardware/skin/left_hand_inertial_mtb.xml @@ -0,0 +1,10 @@ + + + + "sharedcan" + "cfw2can" + 7 + 0x0E + 10 + + diff --git a/iCubChemnitz01/hardware/skin/right_arm.xml b/iCubChemnitz01/hardware/skin/right_arm.xml new file mode 100644 index 0000000000..1c30fb842b --- /dev/null +++ b/iCubChemnitz01/hardware/skin/right_arm.xml @@ -0,0 +1,9 @@ + + + "sharedcan" + "cfw2can" + 8 + 14 13 12 11 10 9 8 + 10 + + diff --git a/iCubChemnitz01/hardware/skin/right_hand_inertial_mtb.xml b/iCubChemnitz01/hardware/skin/right_hand_inertial_mtb.xml new file mode 100644 index 0000000000..c0f7bfb537 --- /dev/null +++ b/iCubChemnitz01/hardware/skin/right_hand_inertial_mtb.xml @@ -0,0 +1,10 @@ + + + + "sharedcan" + "cfw2can" + 8 + 0x0E + 10 + + diff --git a/iCubChemnitz01/hardware/skin/torso.xml b/iCubChemnitz01/hardware/skin/torso.xml new file mode 100644 index 0000000000..de8afa1cd7 --- /dev/null +++ b/iCubChemnitz01/hardware/skin/torso.xml @@ -0,0 +1,9 @@ + + + "sharedcan" + "cfw2can" + 9 + 7 8 9 10 + 10 + + diff --git a/iCubChemnitz01/iCub_Calibration_V2_0_Template01.xls b/iCubChemnitz01/iCub_Calibration_V2_0_Template01.xls new file mode 100644 index 0000000000..e8a82c9a76 Binary files /dev/null and b/iCubChemnitz01/iCub_Calibration_V2_0_Template01.xls differ diff --git a/iCubChemnitz01/icub_all.xml b/iCubChemnitz01/icub_all.xml new file mode 100644 index 0000000000..fc5f24d789 --- /dev/null +++ b/iCubChemnitz01/icub_all.xml @@ -0,0 +1,15 @@ + + + + + + + + + + + + + + + diff --git a/iCubChemnitz01/icub_all_noCalibrators.xml b/iCubChemnitz01/icub_all_noCalibrators.xml new file mode 100644 index 0000000000..784ec9e69f --- /dev/null +++ b/iCubChemnitz01/icub_all_noCalibrators.xml @@ -0,0 +1,14 @@ + + + + + + + + + + + + + + diff --git a/iCubChemnitz01/icub_analog_only.xml b/iCubChemnitz01/icub_analog_only.xml new file mode 100644 index 0000000000..ffa4dc357b --- /dev/null +++ b/iCubChemnitz01/icub_analog_only.xml @@ -0,0 +1,86 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/iCubChemnitz01/robotInterface.ini b/iCubChemnitz01/robotInterface.ini new file mode 100644 index 0000000000..b970b6bdab --- /dev/null +++ b/iCubChemnitz01/robotInterface.ini @@ -0,0 +1,2 @@ +config ./icub_all.xml + diff --git a/iCubChemnitz01/robotMotorGui.ini b/iCubChemnitz01/robotMotorGui.ini new file mode 100644 index 0000000000..8800dd3ed7 --- /dev/null +++ b/iCubChemnitz01/robotMotorGui.ini @@ -0,0 +1,99 @@ +//name of the robot +name icub +//parts to be opened by the GUI +parts (head torso left_arm right_arm right_leg left_leg) + +[head_zero] +// 0 1 2 3 4 5 +PositionZero 0 0 0 0 0 0 +VelocityZero 10 10 10 10 10 10 + +[torso_zero] +// 0 1 2 +PositionZero 0 0 0 +VelocityZero 10 10 10 + +[left_arm_zero] +//Joint 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 +PositionZero -30 30 0 45 0 0 0 15 30 0 0 0 0 0 0 0 +VelocityZero 10 10 10 10 30 30 30 100 100 100 100 100 100 100 100 100 + +[right_arm_zero] +//Joint 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 +PositionZero -30 30 0 45 0 0 0 15 30 0 0 0 0 0 0 0 +VelocityZero 10 10 10 10 30 30 30 100 100 100 100 100 100 100 100 100 + +[right_leg_zero] +//Joint 0 1 2 3 4 5 +PositionZero 0.00 8.00 0.00 0.00 0.00 -8.00 +VelocityZero 10.00 10.00 10.00 10.00 10.00 10.00 + +[left_leg_zero] +//Joint 0 1 2 3 4 5 +PositionZero 0 8 0 0 0 -8 +VelocityZero 10 10 10 10 10 10 + +//DO NOT REMOVE THIS LINE + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/iCubChemnitz01/test/test_xsens.sh b/iCubChemnitz01/test/test_xsens.sh new file mode 100644 index 0000000000..1e2f3e9c0a --- /dev/null +++ b/iCubChemnitz01/test/test_xsens.sh @@ -0,0 +1,7 @@ +for (( ; ; )) +do +robot-interface 2>&1 | grep MRCHECK +sleep 10 +killall -9 robot-interface +sleep 0.5 +done diff --git a/iCubChemnitz01/wrappers/FT/left_arm_FT_wrapper.xml b/iCubChemnitz01/wrappers/FT/left_arm_FT_wrapper.xml new file mode 100644 index 0000000000..c4343c3948 --- /dev/null +++ b/iCubChemnitz01/wrappers/FT/left_arm_FT_wrapper.xml @@ -0,0 +1,15 @@ + + + + 10 + left_arm + + + + left_arm_strain + + + + + + diff --git a/iCubChemnitz01/wrappers/FT/left_foot_FT_wrapper.xml b/iCubChemnitz01/wrappers/FT/left_foot_FT_wrapper.xml new file mode 100644 index 0000000000..cff0fc075c --- /dev/null +++ b/iCubChemnitz01/wrappers/FT/left_foot_FT_wrapper.xml @@ -0,0 +1,15 @@ + + + + 10 + left_foot + + + + left_foot_strain + + + + + + diff --git a/iCubChemnitz01/wrappers/FT/left_leg_FT_wrapper.xml b/iCubChemnitz01/wrappers/FT/left_leg_FT_wrapper.xml new file mode 100644 index 0000000000..f0d31dd959 --- /dev/null +++ b/iCubChemnitz01/wrappers/FT/left_leg_FT_wrapper.xml @@ -0,0 +1,15 @@ + + + + 10 + left_leg + + + + left_leg_strain + + + + + + diff --git a/iCubChemnitz01/wrappers/FT/right_arm_FT_wrapper.xml b/iCubChemnitz01/wrappers/FT/right_arm_FT_wrapper.xml new file mode 100644 index 0000000000..1cfa4f3940 --- /dev/null +++ b/iCubChemnitz01/wrappers/FT/right_arm_FT_wrapper.xml @@ -0,0 +1,15 @@ + + + + 10 + right_arm + + + + right_arm_strain + + + + + + diff --git a/iCubChemnitz01/wrappers/FT/right_foot_FT_wrapper.xml b/iCubChemnitz01/wrappers/FT/right_foot_FT_wrapper.xml new file mode 100644 index 0000000000..dedcc7a88e --- /dev/null +++ b/iCubChemnitz01/wrappers/FT/right_foot_FT_wrapper.xml @@ -0,0 +1,15 @@ + + + + 10 + right_foot + + + + right_foot_strain + + + + + + diff --git a/iCubChemnitz01/wrappers/FT/right_leg_FT_wrapper.xml b/iCubChemnitz01/wrappers/FT/right_leg_FT_wrapper.xml new file mode 100644 index 0000000000..3f306fb228 --- /dev/null +++ b/iCubChemnitz01/wrappers/FT/right_leg_FT_wrapper.xml @@ -0,0 +1,15 @@ + + + + 10 + right_leg + + + + right_leg_strain + + + + + + diff --git a/iCubChemnitz01/wrappers/MAIS/left_hand_mais_wrapper.xml b/iCubChemnitz01/wrappers/MAIS/left_hand_mais_wrapper.xml new file mode 100644 index 0000000000..59fbd600b3 --- /dev/null +++ b/iCubChemnitz01/wrappers/MAIS/left_hand_mais_wrapper.xml @@ -0,0 +1,15 @@ + + + + 10 + left_hand + + + + left_hand_mais + + + + + + diff --git a/iCubChemnitz01/wrappers/MAIS/right_hand_mais_wrapper.xml b/iCubChemnitz01/wrappers/MAIS/right_hand_mais_wrapper.xml new file mode 100644 index 0000000000..99b462e26d --- /dev/null +++ b/iCubChemnitz01/wrappers/MAIS/right_hand_mais_wrapper.xml @@ -0,0 +1,15 @@ + + + + 10 + right_hand + + + + right_hand_mais + + + + + + diff --git a/iCubChemnitz01/wrappers/VFT/left_arm_VFT_wrapper.xml b/iCubChemnitz01/wrappers/VFT/left_arm_VFT_wrapper.xml new file mode 100644 index 0000000000..bd28b0ac4e --- /dev/null +++ b/iCubChemnitz01/wrappers/VFT/left_arm_VFT_wrapper.xml @@ -0,0 +1,23 @@ + + + + 10 + left_arm + + + 0 5 0 5 + + + /left_arm + + + + left_arm_virtual_strain + + + + + + + + diff --git a/iCubChemnitz01/wrappers/VFT/left_leg_VFT_wrapper.xml b/iCubChemnitz01/wrappers/VFT/left_leg_VFT_wrapper.xml new file mode 100644 index 0000000000..875ae8ecb1 --- /dev/null +++ b/iCubChemnitz01/wrappers/VFT/left_leg_VFT_wrapper.xml @@ -0,0 +1,23 @@ + + + + 10 + left_leg + + + 0 5 0 5 + + + /left_leg + + + + left_leg_virtual_strain + + + + + + + + diff --git a/iCubChemnitz01/wrappers/VFT/right_arm_VFT_wrapper.xml b/iCubChemnitz01/wrappers/VFT/right_arm_VFT_wrapper.xml new file mode 100644 index 0000000000..9e46a8f2c9 --- /dev/null +++ b/iCubChemnitz01/wrappers/VFT/right_arm_VFT_wrapper.xml @@ -0,0 +1,23 @@ + + + + 10 + right_arm + + + 0 5 0 5 + + + /right_arm + + + + right_arm_virtual_strain + + + + + + + + diff --git a/iCubChemnitz01/wrappers/VFT/right_leg_VFT_wrapper.xml b/iCubChemnitz01/wrappers/VFT/right_leg_VFT_wrapper.xml new file mode 100644 index 0000000000..92b65be74a --- /dev/null +++ b/iCubChemnitz01/wrappers/VFT/right_leg_VFT_wrapper.xml @@ -0,0 +1,24 @@ + + + + 10 + right_leg + + + 0 5 0 5 + + + 6 + /right_leg + + + + right_leg_virtual_strain + + + + + + + + diff --git a/iCubChemnitz01/wrappers/VFT/torso_VFT_wrapper.xml b/iCubChemnitz01/wrappers/VFT/torso_VFT_wrapper.xml new file mode 100644 index 0000000000..735b48c406 --- /dev/null +++ b/iCubChemnitz01/wrappers/VFT/torso_VFT_wrapper.xml @@ -0,0 +1,23 @@ + + + + 10 + torso + + + 0 5 0 5 + + + /torso + + + + torso_virtual_strain + + + + + + + + diff --git a/iCubChemnitz01/wrappers/motorControl/head_mc_wrapper.xml b/iCubChemnitz01/wrappers/motorControl/head_mc_wrapper.xml new file mode 100644 index 0000000000..d34f8ebc39 --- /dev/null +++ b/iCubChemnitz01/wrappers/motorControl/head_mc_wrapper.xml @@ -0,0 +1,23 @@ + + + + 10 + + 0 5 0 5 + + + 10 + icub/head + head + 6 + + + + + head_mc + + + + + + \ No newline at end of file diff --git a/iCubChemnitz01/wrappers/motorControl/left_arm_mc_wrapper.xml b/iCubChemnitz01/wrappers/motorControl/left_arm_mc_wrapper.xml new file mode 100644 index 0000000000..73f02fecbe --- /dev/null +++ b/iCubChemnitz01/wrappers/motorControl/left_arm_mc_wrapper.xml @@ -0,0 +1,24 @@ + + + + 10 + + 0 7 0 7 + 8 15 0 7 + + + 10 + icub/left_arm + left_arm + 16 + + + + left_arm_mc + left_hand_mc + + + + + + \ No newline at end of file diff --git a/iCubChemnitz01/wrappers/motorControl/left_leg_mc_wrapper.xml b/iCubChemnitz01/wrappers/motorControl/left_leg_mc_wrapper.xml new file mode 100644 index 0000000000..ba4e82c22f --- /dev/null +++ b/iCubChemnitz01/wrappers/motorControl/left_leg_mc_wrapper.xml @@ -0,0 +1,22 @@ + + + + 10 + + 0 5 0 5 + + + 10 + icub/left_leg + left_leg + 6 + + + + left_leg_mc + + + + + + diff --git a/iCubChemnitz01/wrappers/motorControl/right_arm_mc_wrapper.xml b/iCubChemnitz01/wrappers/motorControl/right_arm_mc_wrapper.xml new file mode 100644 index 0000000000..7b81b55f9d --- /dev/null +++ b/iCubChemnitz01/wrappers/motorControl/right_arm_mc_wrapper.xml @@ -0,0 +1,24 @@ + + + + 10 + + 0 7 0 7 + 8 15 0 7 + + + 10 + icub/right_arm + right_arm + 16 + + + + right_arm_mc + right_hand_mc + + + + + + \ No newline at end of file diff --git a/iCubChemnitz01/wrappers/motorControl/right_leg_mc_wrapper.xml b/iCubChemnitz01/wrappers/motorControl/right_leg_mc_wrapper.xml new file mode 100644 index 0000000000..1dd41a33d6 --- /dev/null +++ b/iCubChemnitz01/wrappers/motorControl/right_leg_mc_wrapper.xml @@ -0,0 +1,22 @@ + + + + 10 + + 0 5 0 5 + + + 10 + icub/right_leg + right_leg + 6 + + + + right_leg_mc + + + + + + \ No newline at end of file diff --git a/iCubChemnitz01/wrappers/motorControl/torso_mc_wrapper.xml b/iCubChemnitz01/wrappers/motorControl/torso_mc_wrapper.xml new file mode 100644 index 0000000000..2279cc5245 --- /dev/null +++ b/iCubChemnitz01/wrappers/motorControl/torso_mc_wrapper.xml @@ -0,0 +1,23 @@ + + + + 10 + + 0 2 0 2 + + + 10 + icub/torso + torso + 3 + + + + + torso_mc + + + + + + \ No newline at end of file diff --git a/iCubChemnitz01/wrappers/skin/left_arm_skin_wrapper.xml b/iCubChemnitz01/wrappers/skin/left_arm_skin_wrapper.xml new file mode 100644 index 0000000000..b0d6a5da1b --- /dev/null +++ b/iCubChemnitz01/wrappers/skin/left_arm_skin_wrapper.xml @@ -0,0 +1,24 @@ + + + + + 20 + 1344 + skinWrapper + + + 0 191 0 191 + 192 575 0 383 + 576 1343 0 767 + + + + + + left_arm_skin + + + + + + diff --git a/iCubChemnitz01/wrappers/skin/left_hand_inertial_wrapper.xml b/iCubChemnitz01/wrappers/skin/left_hand_inertial_wrapper.xml new file mode 100644 index 0000000000..fc422d6425 --- /dev/null +++ b/iCubChemnitz01/wrappers/skin/left_hand_inertial_wrapper.xml @@ -0,0 +1,15 @@ + + + + 10 + left_hand_inertial + + + + left_hand_inertial_mtb + + + + + + diff --git a/iCubChemnitz01/wrappers/skin/right_arm_skin_wrapper.xml b/iCubChemnitz01/wrappers/skin/right_arm_skin_wrapper.xml new file mode 100644 index 0000000000..f8d2076137 --- /dev/null +++ b/iCubChemnitz01/wrappers/skin/right_arm_skin_wrapper.xml @@ -0,0 +1,24 @@ + + + + + 20 + 1344 + skinWrapper + + + 0 191 0 191 + 192 575 0 383 + 576 1343 0 767 + + + + + + right_arm_skin + + + + + + diff --git a/iCubChemnitz01/wrappers/skin/right_hand_inertial_wrapper.xml b/iCubChemnitz01/wrappers/skin/right_hand_inertial_wrapper.xml new file mode 100644 index 0000000000..a87270303a --- /dev/null +++ b/iCubChemnitz01/wrappers/skin/right_hand_inertial_wrapper.xml @@ -0,0 +1,15 @@ + + + + 10 + right_hand_inertial + + + + right_hand_inertial_mtb + + + + + + diff --git a/iCubChemnitz01/wrappers/skin/torso_skin_wrapper.xml b/iCubChemnitz01/wrappers/skin/torso_skin_wrapper.xml new file mode 100644 index 0000000000..4744d4b751 --- /dev/null +++ b/iCubChemnitz01/wrappers/skin/torso_skin_wrapper.xml @@ -0,0 +1,22 @@ + + + + + 20 + 768 + skinWrapper + + + 0 767 0 767 + + + + + + torso_skin + + + + + +