diff --git a/iCubMunich01/CMakeLists.txt b/iCubMunich01/CMakeLists.txt new file mode 100644 index 0000000000..f5eec7b825 --- /dev/null +++ b/iCubMunich01/CMakeLists.txt @@ -0,0 +1,17 @@ +set(appname iCubMunich01) + +file(GLOB xml ${CMAKE_CURRENT_SOURCE_DIR}/*.xml) +file(GLOB ini ${CMAKE_CURRENT_SOURCE_DIR}/*.ini) +set(whatsleft firmwareUpdate.txt) + +yarp_install(FILES ${xml} DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname}) +yarp_install(FILES ${ini} DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname}) +yarp_install(FILES ${whatsleft} DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname}) +yarp_install(DIRECTORY calibrators DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname} PATTERN .svn EXCLUDE) +yarp_install(DIRECTORY cartesian DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname} PATTERN .svn EXCLUDE) +yarp_install(DIRECTORY wrappers DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname} PATTERN .svn EXCLUDE) +yarp_install(DIRECTORY hardware DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname} PATTERN .svn EXCLUDE) +yarp_install(DIRECTORY camera DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname} PATTERN .svn EXCLUDE) + + + diff --git a/iCubMunich01/calibrators/head_calib.xml b/iCubMunich01/calibrators/head_calib.xml new file mode 100644 index 0000000000..7ec2e48202 --- /dev/null +++ b/iCubMunich01/calibrators/head_calib.xml @@ -0,0 +1,68 @@ + + + + + + + + 6 + Head_Calibrator + + + + + 0 0 0 0 0 0 + 500 1333 1333 600 500 500 + 20 20 20 -20 20 20 + 0 0 0 0 0 0 + 0 0 0 0 0 0 + 10 10 10 10 10 10 + 1300 1300 1330 1300 1300 1300 + 2 2 180 2 180 180 + + + + -40 0 0 0 0 0 + 10 10 10 10 10 10 + + + (0) (1) (2 3) (5) (4) + + + head_mc_wrapper + + + + head_mc_wrapper + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/iCubMunich01/calibrators/left_arm_calib.xml b/iCubMunich01/calibrators/left_arm_calib.xml new file mode 100644 index 0000000000..3d501cde14 --- /dev/null +++ b/iCubMunich01/calibrators/left_arm_calib.xml @@ -0,0 +1,68 @@ + + + + + + + + 8 + Left_Arm_Calibrator + + + + + 3 3 3 3 0 2 2 3 + 2388.75 3241.875 -275.933 1532 1000 750 750 1730 + 10 10 10 10 20 -10 -10 100 + 1969.0125 2492.2625 1586.528 229.775 0 0 0 0 + -30 30 0 45 0 0 0 15 + 10 10 10 10 30 30 30 100 + 10 10 10 10 30 30 30 100 + 120 120 120 120 0 0 0 0 + + + + -30 30 0 45 0 0 40 15 + 10 10 10 10 30 30 30 100 + + + (0 1 2 3) (4 6 7) (5) + + + left_arm_mc + + + + left_arm_mc + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/iCubMunich01/calibrators/left_hand_calib.xml b/iCubMunich01/calibrators/left_hand_calib.xml new file mode 100644 index 0000000000..1a6445e059 --- /dev/null +++ b/iCubMunich01/calibrators/left_hand_calib.xml @@ -0,0 +1,68 @@ + + + + + + + + 8 + Left_Hand_Calibrator + + + + + 3 4 4 4 4 4 4 4 + 920 240 20 243 10 246 35 673 + 10 10 30 10 10 10 10 10 + 0 6000 6600 6000 7000 6000 -7000 20000 + 30 0 0 0 0 0 0 0 + 100 100 100 100 100 100 100 100 + 0 0 0 0 0 0 0 0 + 90 90 90 90 90 90 90 90 + + + + 90 3 0 0 0 0 0 0 + 10 10 10 10 10 10 10 10 + + + (0 1 3 5) (2 4 6 7) + + + left_hand_mc + + + + left_hand_mc + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/iCubMunich01/calibrators/left_leg_calib.xml b/iCubMunich01/calibrators/left_leg_calib.xml new file mode 100644 index 0000000000..28619162ba --- /dev/null +++ b/iCubMunich01/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 + 2745.925 953.225 2517.288 3531.9375 3368.1375 1151.15 + 0.00 0.00 0.00 0.00 0.00 0.00 + 10.00 10.00 10.00 10.00 10.00 10.00 + 120 120 120 120 120 120 + 2 2 2 2 2 2 + + + + 0 0 0 0 0 0 + 10 10 10 10 10 10 + + + (0 1 2 3 4 5) + + + left_leg_mc_wrapper + + + + left_leg_mc_wrapper + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/iCubMunich01/calibrators/right_arm_calib.xml b/iCubMunich01/calibrators/right_arm_calib.xml new file mode 100644 index 0000000000..ba52858b78 --- /dev/null +++ b/iCubMunich01/calibrators/right_arm_calib.xml @@ -0,0 +1,68 @@ + + + + + + + + 8 + Right_Arm_Calibrator + + + + + 3 3 3 3 0 2 2 3 + 1706.25 853.125 2795.317 2558 900 750 750 1700 + 10 10 10 10 -20 10 10 100 + 3363.5875 1543.588 2694.453 213.85 0 0 0 0 + -30 30 0 45 0 0 0 15 + 10 10 10 10 30 30 30 100 + 120 120 120 120 0 0 0 0 + 2 2 2 2 2 2 90 90 + + + + -30 30 0 45 0 0 40 15 + 10 10 10 10 30 10 10 100 + + + (0 1 2 3) (4 6 7) (5) + + + right_arm_mc + + + + right_arm_mc + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/iCubMunich01/calibrators/right_hand_calib.xml b/iCubMunich01/calibrators/right_hand_calib.xml new file mode 100644 index 0000000000..394ccf4773 --- /dev/null +++ b/iCubMunich01/calibrators/right_hand_calib.xml @@ -0,0 +1,68 @@ + + + + + + + + 8 + Right_Hand_Calibrator + + + + + 3 4 4 4 4 4 4 4 + 892.11 243 20 255 0 242 15 682 + 10 10 30 10 10 10 10 10 + 0 6000 6600 6000 -7000 6000 7000 20000 + 30 0 0 0 0 0 0 0 + 100 100 100 100 100 100 100 100 + 0 0 0 0 0 0 0 0 + 90 90 90 90 90 90 90 90 + + + + 90 3 0 0 0 0 0 0 + 10 10 10 10 10 10 10 10 + + + (0 1 3 5) (2 4 6 7) + + + right_hand_mc + + + + right_hand_mc + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/iCubMunich01/calibrators/right_leg_calib.xml b/iCubMunich01/calibrators/right_leg_calib.xml new file mode 100644 index 0000000000..fa19224977 --- /dev/null +++ b/iCubMunich01/calibrators/right_leg_calib.xml @@ -0,0 +1,67 @@ + + + + + + 6 + Right_Leg_Calibrator + + + + + 3 3 3 3 3 3 + 2047.50 2047.50 2047.50 2047.50 2047.50 2047.50 + 10.00 10.00 10.00 10.00 10.00 10.00 + 3950.54 3164.53 1081.76 1529.94 1142.05 1900.76 + 0.00 0.00 0.00 0.00 0.00 0.00 + 10.00 10.00 10.00 10.00 10.00 10.00 + 120 120 120 120 120 120 + 2 2 2 2 2 2 + + + + 0 0 0 0 0 0 + 10 10 10 10 10 10 + + + (0 1 2 3 4 5) + + + right_leg_mc_wrapper + + + + right_leg_mc_wrapper + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/iCubMunich01/calibrators/torso_calib.xml b/iCubMunich01/calibrators/torso_calib.xml new file mode 100644 index 0000000000..83476a9fde --- /dev/null +++ b/iCubMunich01/calibrators/torso_calib.xml @@ -0,0 +1,68 @@ + + + + + + + + 4 + Torso_Calibrator + + + + + 3 3 3 0 + 2047.5 2047.5 2047.5 0 + 10 10 10 0 + 2295.475 105.7875 3520.563 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/iCubMunich01/camera/dragonfly2_config_left.ini b/iCubMunich01/camera/dragonfly2_config_left.ini new file mode 100644 index 0000000000..8bcc9891a5 --- /dev/null +++ b/iCubMunich01/camera/dragonfly2_config_left.ini @@ -0,0 +1,20 @@ +device grabber +subdevice dragonfly2 +width 320 +height 240 +video_type 1 +white_balance 0.514 0.610 +gain 0.0 +shutter 0.913 +name /icub/cam/left +brightness 0 +DR2 +stamp +sharpness 0.5 +hue 0.48 +gamma 0.4 +saturation 0.420 +framerate 30 +#d 0 +guid 00b09d01009a72f2 + diff --git a/iCubMunich01/camera/dragonfly2_config_left_bayer_320_240.ini b/iCubMunich01/camera/dragonfly2_config_left_bayer_320_240.ini new file mode 100644 index 0000000000..f7dadd92d1 --- /dev/null +++ b/iCubMunich01/camera/dragonfly2_config_left_bayer_320_240.ini @@ -0,0 +1,21 @@ +device grabber +subdevice dragonfly2raw +width 320 +height 240 +video_type 3 +white_balance 0.477 0.514 +gain 0.0 +shutter 0.666 +name /icub/cam/left +brightness 0 +DR2 +stamp +sharpness 1.0 +hue 0.48 +gamma 0.4 +saturation 0.271 +framerate 30 +use_network_time 1 +#d 0 +guid 00b09d01009a72f2 + diff --git a/iCubMunich01/camera/dragonfly2_config_left_bayer_640_480.ini b/iCubMunich01/camera/dragonfly2_config_left_bayer_640_480.ini new file mode 100644 index 0000000000..a93f3e69f1 --- /dev/null +++ b/iCubMunich01/camera/dragonfly2_config_left_bayer_640_480.ini @@ -0,0 +1,21 @@ +device grabber +subdevice dragonfly2 +width 640 +height 480 +video_type 3 +white_balance 0.477 0.514 +gain 0.0 +shutter 0.666 +name /icub/cam/left +brightness 0 +DR2 +stamp +sharpness 1.0 +hue 0.48 +gamma 0.4 +saturation 0.271 +framerate 30 +use_network_time 1 +#d 0 +guid 00b09d01009a72f2 + diff --git a/iCubMunich01/camera/dragonfly2_config_right.ini b/iCubMunich01/camera/dragonfly2_config_right.ini new file mode 100644 index 0000000000..7e8d8de224 --- /dev/null +++ b/iCubMunich01/camera/dragonfly2_config_right.ini @@ -0,0 +1,20 @@ +device grabber +subdevice dragonfly2 +width 320 +height 240 +video_type 1 +white_balance 0.514 0.610 +gain 0.0 +shutter 0.913 +name /icub/cam/right +brightness 0 +DR2 +stamp +sharpness 0.5 +hue 0.48 +gamma 0.4 +saturation 0.420 +framerate 30 +#d 1 +guid 00b09d01009a72ed + diff --git a/iCubMunich01/camera/dragonfly2_config_right_bayer_320_240.ini b/iCubMunich01/camera/dragonfly2_config_right_bayer_320_240.ini new file mode 100644 index 0000000000..336fa05719 --- /dev/null +++ b/iCubMunich01/camera/dragonfly2_config_right_bayer_320_240.ini @@ -0,0 +1,21 @@ +device grabber +subdevice dragonfly2 +width 640 +height 480 +video_type 3 +white_balance 0.477 0.514 +gain 0.0 +shutter 0.666 +name /icub/cam/right +brightness 0 +DR2 +stamp +sharpness 1.0 +hue 0.48 +gamma 0.4 +saturation 0.271 +framerate 30 +use_network_time 1 +#d 1 +guid 00b09d01009a72ed + diff --git a/iCubMunich01/camera/dragonfly2_config_right_bayer_640_480.ini b/iCubMunich01/camera/dragonfly2_config_right_bayer_640_480.ini new file mode 100644 index 0000000000..336fa05719 --- /dev/null +++ b/iCubMunich01/camera/dragonfly2_config_right_bayer_640_480.ini @@ -0,0 +1,21 @@ +device grabber +subdevice dragonfly2 +width 640 +height 480 +video_type 3 +white_balance 0.477 0.514 +gain 0.0 +shutter 0.666 +name /icub/cam/right +brightness 0 +DR2 +stamp +sharpness 1.0 +hue 0.48 +gamma 0.4 +saturation 0.271 +framerate 30 +use_network_time 1 +#d 1 +guid 00b09d01009a72ed + diff --git a/iCubMunich01/cartesian/left_arm_cartesian.xml b/iCubMunich01/cartesian/left_arm_cartesian.xml new file mode 100644 index 0000000000..477f874e95 --- /dev/null +++ b/iCubMunich01/cartesian/left_arm_cartesian.xml @@ -0,0 +1,55 @@ + + + + + + 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/iCubMunich01/cartesian/right_arm_cartesian.xml b/iCubMunich01/cartesian/right_arm_cartesian.xml new file mode 100644 index 0000000000..59f79d4059 --- /dev/null +++ b/iCubMunich01/cartesian/right_arm_cartesian.xml @@ -0,0 +1,55 @@ + + + + + + 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/iCubMunich01/emotions.ini b/iCubMunich01/emotions.ini new file mode 100644 index 0000000000..7614e50614 --- /dev/null +++ b/iCubMunich01/emotions.ini @@ -0,0 +1,18 @@ +//number of facial expressions +emotions 10 + +//configuration of facial expressions +//index name Left-Eyebrow(HEX) Right-Eyebrow(HEX) Mouth(HEX) Eyelids(% open) +//index starts at 1 + +E1 neu 02h 02h 08h 28h +E2 ta1 **h **h 08h **h +E3 ta2 **h **h 16h **h +E4 hap 02h 02h 0Bh 70h +E5 sad 02h 02h 38h 28h +E6 sur 08h 08h 16h 28h +E7 ang 01h 01h 38h 70h +E8 evi 01h 01h 0Bh 70h +E9 shy 04h 04h 38h 70h +E10 cun 04h 01h 38h 28h + diff --git a/iCubMunich01/firmwareUpdate.txt b/iCubMunich01/firmwareUpdate.txt new file mode 100644 index 0000000000..991257c77b --- /dev/null +++ b/iCubMunich01/firmwareUpdate.txt @@ -0,0 +1,31 @@ +// head V1 +cfw2can 0 1 4DC.1.11.out.S +cfw2can 0 3 4DC.1.15.out.S + +// torso +cfw2can 0 5 2BLL.1.54.out.S +cfw2can 0 6 2BLL.1.52.out.S + +// left_arm +cfw2can 1 1 2BLL.1.50.out.S +cfw2can 1 2 2BLL.1.57.out.S +cfw2can 1 3 4DC.1.19.out.S + +// left_hand +cfw2can 5 5 4DC.1.28.out.S +cfw2can 5 7 4DC.1.30.out.S + +// right_arm +cfw2can 2 1 2BLL.1.50.out.S +cfw2can 2 2 2BLL.1.57.out.S +cfw2can 2 3 4DC.1.19.out.S + +// right_hand +cfw2can 6 5 4DC.1.28.out.S +cfw2can 6 7 4DC.1.30.out.S + + + + + + diff --git a/iCubMunich01/general.xml b/iCubMunich01/general.xml new file mode 100644 index 0000000000..37ab4e6b38 --- /dev/null +++ b/iCubMunich01/general.xml @@ -0,0 +1,12 @@ + + + + + + + false + false + false + false + + diff --git a/iCubMunich01/hardware/FT/left_arm_strain.xml b/iCubMunich01/hardware/FT/left_arm_strain.xml new file mode 100644 index 0000000000..835365bf61 --- /dev/null +++ b/iCubMunich01/hardware/FT/left_arm_strain.xml @@ -0,0 +1,14 @@ + + + + + "sharedcan" + "cfw2can" + 1 + 0x0D + 16 + 6 + 1 + 1 + + diff --git a/iCubMunich01/hardware/FT/left_leg_strain.xml b/iCubMunich01/hardware/FT/left_leg_strain.xml new file mode 100644 index 0000000000..9b44b56d9b --- /dev/null +++ b/iCubMunich01/hardware/FT/left_leg_strain.xml @@ -0,0 +1,14 @@ + + + + "sharedcan" + "cfw2can" + 3 + 0x0D + 16 + 6 + 1 + 1 + 1 + + diff --git a/iCubMunich01/hardware/FT/right_arm_strain.xml b/iCubMunich01/hardware/FT/right_arm_strain.xml new file mode 100644 index 0000000000..8016696163 --- /dev/null +++ b/iCubMunich01/hardware/FT/right_arm_strain.xml @@ -0,0 +1,14 @@ + + + + + "sharedcan" + "cfw2can" + 2 + 0x0D + 16 + 6 + 1 + 1 + + diff --git a/iCubMunich01/hardware/FT/right_leg_strain.xml b/iCubMunich01/hardware/FT/right_leg_strain.xml new file mode 100644 index 0000000000..41695f3acd --- /dev/null +++ b/iCubMunich01/hardware/FT/right_leg_strain.xml @@ -0,0 +1,14 @@ + + + + "sharedcan" + "cfw2can" + 4 + 0x0E + 16 + 6 + 1 + 1 + 1 + + diff --git a/iCubMunich01/hardware/MAIS/left_hand_mais.xml b/iCubMunich01/hardware/MAIS/left_hand_mais.xml new file mode 100644 index 0000000000..d37082df71 --- /dev/null +++ b/iCubMunich01/hardware/MAIS/left_hand_mais.xml @@ -0,0 +1,13 @@ + + + + + "sharedcan" + "cfw2can" + 5 + 0x0E + 8 + 16 + 10 + + diff --git a/iCubMunich01/hardware/MAIS/right_hand_mais.xml b/iCubMunich01/hardware/MAIS/right_hand_mais.xml new file mode 100644 index 0000000000..348a86185e --- /dev/null +++ b/iCubMunich01/hardware/MAIS/right_hand_mais.xml @@ -0,0 +1,13 @@ + + + + + "sharedcan" + "cfw2can" + 6 + 0x0E + 8 + 16 + 10 + + diff --git a/iCubMunich01/hardware/VFT/left_arm_virtual_strain.xml b/iCubMunich01/hardware/VFT/left_arm_virtual_strain.xml new file mode 100644 index 0000000000..9bdedd19e9 --- /dev/null +++ b/iCubMunich01/hardware/VFT/left_arm_virtual_strain.xml @@ -0,0 +1,15 @@ + + + + + "sharedcan" + "cfw2can" + 1 + 0x0C + 16 + 6 + 1 + 1 + 8 8 8 8 8 8 + + diff --git a/iCubMunich01/hardware/VFT/left_leg_virtual_strain.xml b/iCubMunich01/hardware/VFT/left_leg_virtual_strain.xml new file mode 100644 index 0000000000..b767615074 --- /dev/null +++ b/iCubMunich01/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/iCubMunich01/hardware/VFT/right_arm_virtual_strain.xml b/iCubMunich01/hardware/VFT/right_arm_virtual_strain.xml new file mode 100644 index 0000000000..443cb3ca31 --- /dev/null +++ b/iCubMunich01/hardware/VFT/right_arm_virtual_strain.xml @@ -0,0 +1,15 @@ + + + + + "sharedcan" + "cfw2can" + 2 + 0x0C + 16 + 6 + 1 + 1 + 8 8 8 8 8 8 + + diff --git a/iCubMunich01/hardware/VFT/right_leg_virtual_strain.xml b/iCubMunich01/hardware/VFT/right_leg_virtual_strain.xml new file mode 100644 index 0000000000..4972120340 --- /dev/null +++ b/iCubMunich01/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/iCubMunich01/hardware/VFT/torso_virtual_strain.xml b/iCubMunich01/hardware/VFT/torso_virtual_strain.xml new file mode 100644 index 0000000000..af3bba503b --- /dev/null +++ b/iCubMunich01/hardware/VFT/torso_virtual_strain.xml @@ -0,0 +1,15 @@ + + + + + "sharedcan" + "cfw2can" + 0 + 0x0C + 16 + 6 + 1 + 1 + 12 12 12 12 12 12 + + diff --git a/iCubMunich01/hardware/inertial.xml b/iCubMunich01/hardware/inertial.xml new file mode 100644 index 0000000000..64b0b84a34 --- /dev/null +++ b/iCubMunich01/hardware/inertial.xml @@ -0,0 +1,8 @@ + + + + /icub/inertial + xsensmtx + /dev/ttyS0 + + diff --git a/iCubMunich01/hardware/motorControl/icub_head.xml b/iCubMunich01/hardware/motorControl/icub_head.xml new file mode 100644 index 0000000000..00445e27d5 --- /dev/null +++ b/iCubMunich01/hardware/motorControl/icub_head.xml @@ -0,0 +1,82 @@ + + + + + + + sharedcan + cfw2can + 1 2 3 + 0 + HEAD + 0 + 10 + 500 + 500 + 500 + 1 1 1 1 1 1 + 0 0 0 0 0 0 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b/iCubMunich01/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 + 1 1 1 1 1 1 + 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 + 180.00 182.00 180.00 180.00 180.00 180.00 + 0x0C 0x0C 0x0C 0x0C 0x0C 0x0C + 0 1 2 3 4 5 + 24 24 24 24 24 24 + 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 -25 -15 + 90 90 65 0 30 25 + 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 + 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0 0 0 + 0 0 0 0 0 0 0 0 + 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/iCubMunich01/hardware/motorControl/icub_right_leg.xml b/iCubMunich01/hardware/motorControl/icub_right_leg.xml new file mode 100644 index 0000000000..01ef80fe81 --- /dev/null +++ b/iCubMunich01/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 + 1 1 1 1 1 1 + 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 + -180.00 -175.00 -180.00 -180.00 -182.00 -178.00 + 0x0B 0x0B 0x0B 0x0B 0x0B 0x0B + 0 1 2 3 4 5 + 24 24 24 24 24 24 + 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 -25 -15 + 90 90 65 0 30 25 + 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/iCubMunich01/hardware/motorControl/icub_torso.xml b/iCubMunich01/hardware/motorControl/icub_torso.xml new file mode 100644 index 0000000000..44b8208b0f --- /dev/null +++ b/iCubMunich01/hardware/motorControl/icub_torso.xml @@ -0,0 +1,82 @@ + + + + + + + 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 + 179 180 180 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 + + + + 5 5 5 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/iCubMunich01/hardware/skin/left_arm-cfw2_can7-skinSpec.xml b/iCubMunich01/hardware/skin/left_arm-cfw2_can7-skinSpec.xml new file mode 100644 index 0000000000..4af3be85f4 --- /dev/null +++ b/iCubMunich01/hardware/skin/left_arm-cfw2_can7-skinSpec.xml @@ -0,0 +1,29 @@ + + + + + + + 50 + 0 + 0xf0 + false + + + + + true + 2 + 0x2200 + + + + 0x01 + + 7 0xE 0 6 1 0 0x2000 + + + + diff --git a/iCubMunich01/hardware/skin/left_arm.xml b/iCubMunich01/hardware/skin/left_arm.xml new file mode 100644 index 0000000000..3a8ca914e1 --- /dev/null +++ b/iCubMunich01/hardware/skin/left_arm.xml @@ -0,0 +1,17 @@ + + + + + + + + + + 7 + 15 + 10 + cfw2can + + + + diff --git a/iCubMunich01/hardware/skin/right_arm-cfw2_can8-skinSpec.xml b/iCubMunich01/hardware/skin/right_arm-cfw2_can8-skinSpec.xml new file mode 100644 index 0000000000..c41adb213d --- /dev/null +++ b/iCubMunich01/hardware/skin/right_arm-cfw2_can8-skinSpec.xml @@ -0,0 +1,29 @@ + + + + + + + 50 + 0 + 0xf0 + false + + + + + true + 2 + 0x2200 + + + + 0x01 + + 8 0xE 0 6 1 0 0x2000 + + + + diff --git a/iCubMunich01/hardware/skin/right_arm.xml b/iCubMunich01/hardware/skin/right_arm.xml new file mode 100644 index 0000000000..f58237d3a0 --- /dev/null +++ b/iCubMunich01/hardware/skin/right_arm.xml @@ -0,0 +1,17 @@ + + + + + + + + + + 8 + 15 + 10 + cfw2can + + + + diff --git a/iCubMunich01/icubEyes.ini b/iCubMunich01/icubEyes.ini new file mode 100644 index 0000000000..e824b386da --- /dev/null +++ b/iCubMunich01/icubEyes.ini @@ -0,0 +1,60 @@ +[CAMERA_CALIBRATION_RIGHT] + +projection pinhole +drawCenterCross 0 + +w 320 +h 240 +fx 217.597 +fy 217.061 +cx 163.336 +cy 130.794 +k1 -0.37136 +k2 0.151529 +p1 -0.00131403 +p2 -0.00130408 + + +[CAMERA_CALIBRATION_LEFT] + +projection pinhole +drawCenterCross 0 + +w 320 +h 240 +fx 220.263 +fy 220.072 +cx 186.25 +cy 118.905 +k1 -0.386021 +k2 0.168109 +p1 0.000383998 +p2 -0.000356036 + + +[CAMERA_CALIBRATION_CONFIGURATION_LEFT] + +numPatternImagesRequired 10 +numPatternInnerCornersX 8 +numPatternInnerCornersY 6 +patternSquareSideLength 25 +outputFilename /tmp/results.ini +outputGroupname CAMERA_CALIBRATION_LEFT + + + +[CAMERA_CALIBRATION_CONFIGURATION_RIGHT] + +numPatternImagesRequired 10 +numPatternInnerCornersX 8 +numPatternInnerCornersY 6 +patternSquareSideLength 25 +outputFilename /tmp/results.ini +outputGroupname CAMERA_CALIBRATION_RIGHT + + +[STEREO_CALIBRATION_CONFIGURATION] +boardWidth 8 +boardHeight 6 +boardSize 0.09241 +numberOfPairs 30 diff --git a/iCubMunich01/icub_all.xml b/iCubMunich01/icub_all.xml new file mode 100644 index 0000000000..43b6b63d9a --- /dev/null +++ b/iCubMunich01/icub_all.xml @@ -0,0 +1,69 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/iCubMunich01/robotInterface.ini b/iCubMunich01/robotInterface.ini new file mode 100644 index 0000000000..b970b6bdab --- /dev/null +++ b/iCubMunich01/robotInterface.ini @@ -0,0 +1,2 @@ +config ./icub_all.xml + diff --git a/iCubMunich01/wrappers/FT/left_arm_FT_wrapper.xml b/iCubMunich01/wrappers/FT/left_arm_FT_wrapper.xml new file mode 100644 index 0000000000..923960dc07 --- /dev/null +++ b/iCubMunich01/wrappers/FT/left_arm_FT_wrapper.xml @@ -0,0 +1,16 @@ + + + + + 10 + left_arm + + + + left_arm_strain + + + + + + diff --git a/iCubMunich01/wrappers/FT/left_leg_FT_wrapper.xml b/iCubMunich01/wrappers/FT/left_leg_FT_wrapper.xml new file mode 100644 index 0000000000..f0d31dd959 --- /dev/null +++ b/iCubMunich01/wrappers/FT/left_leg_FT_wrapper.xml @@ -0,0 +1,15 @@ + + + + 10 + left_leg + + + + left_leg_strain + + + + + + diff --git a/iCubMunich01/wrappers/FT/right_arm_FT_wrapper.xml b/iCubMunich01/wrappers/FT/right_arm_FT_wrapper.xml new file mode 100644 index 0000000000..a8bf179dee --- /dev/null +++ b/iCubMunich01/wrappers/FT/right_arm_FT_wrapper.xml @@ -0,0 +1,16 @@ + + + + + 10 + right_arm + + + + right_arm_strain + + + + + + diff --git a/iCubMunich01/wrappers/FT/right_leg_FT_wrapper.xml b/iCubMunich01/wrappers/FT/right_leg_FT_wrapper.xml new file mode 100644 index 0000000000..3f306fb228 --- /dev/null +++ b/iCubMunich01/wrappers/FT/right_leg_FT_wrapper.xml @@ -0,0 +1,15 @@ + + + + 10 + right_leg + + + + right_leg_strain + + + + + + diff --git a/iCubMunich01/wrappers/MAIS/left_hand_mais_wrapper.xml b/iCubMunich01/wrappers/MAIS/left_hand_mais_wrapper.xml new file mode 100644 index 0000000000..f405131665 --- /dev/null +++ b/iCubMunich01/wrappers/MAIS/left_hand_mais_wrapper.xml @@ -0,0 +1,16 @@ + + + + + 10 + left_hand + + + + left_hand_mais + + + + + + diff --git a/iCubMunich01/wrappers/MAIS/right_hand_mais_wrapper.xml b/iCubMunich01/wrappers/MAIS/right_hand_mais_wrapper.xml new file mode 100644 index 0000000000..567425abb2 --- /dev/null +++ b/iCubMunich01/wrappers/MAIS/right_hand_mais_wrapper.xml @@ -0,0 +1,16 @@ + + + + + 10 + right_hand + + + + right_hand_mais + + + + + + diff --git a/iCubMunich01/wrappers/VFT/left_arm_VFT_wrapper.xml b/iCubMunich01/wrappers/VFT/left_arm_VFT_wrapper.xml new file mode 100644 index 0000000000..bf84508d17 --- /dev/null +++ b/iCubMunich01/wrappers/VFT/left_arm_VFT_wrapper.xml @@ -0,0 +1,24 @@ + + + + + 10 + left_arm + + + 0 5 0 5 + + + /left_arm + + + + left_arm_virtual_strain + + + + + + + + diff --git a/iCubMunich01/wrappers/VFT/left_leg_VFT_wrapper.xml b/iCubMunich01/wrappers/VFT/left_leg_VFT_wrapper.xml new file mode 100644 index 0000000000..875ae8ecb1 --- /dev/null +++ b/iCubMunich01/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/iCubMunich01/wrappers/VFT/right_arm_VFT_wrapper.xml b/iCubMunich01/wrappers/VFT/right_arm_VFT_wrapper.xml new file mode 100644 index 0000000000..55501f1700 --- /dev/null +++ b/iCubMunich01/wrappers/VFT/right_arm_VFT_wrapper.xml @@ -0,0 +1,24 @@ + + + + + 10 + right_arm + + + 0 5 0 5 + + + /right_arm + + + + right_arm_virtual_strain + + + + + + + + diff --git a/iCubMunich01/wrappers/VFT/right_leg_VFT_wrapper.xml b/iCubMunich01/wrappers/VFT/right_leg_VFT_wrapper.xml new file mode 100644 index 0000000000..92b65be74a --- /dev/null +++ b/iCubMunich01/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/iCubMunich01/wrappers/VFT/torso_VFT_wrapper.xml b/iCubMunich01/wrappers/VFT/torso_VFT_wrapper.xml new file mode 100644 index 0000000000..e5f13e6060 --- /dev/null +++ b/iCubMunich01/wrappers/VFT/torso_VFT_wrapper.xml @@ -0,0 +1,24 @@ + + + + + 10 + torso + + + 0 5 0 5 + + + /torso + + + + torso_virtual_strain + + + + + + + + diff --git a/iCubMunich01/wrappers/motorControl/head_mc_wrapper.xml b/iCubMunich01/wrappers/motorControl/head_mc_wrapper.xml new file mode 100644 index 0000000000..ff5803603a --- /dev/null +++ b/iCubMunich01/wrappers/motorControl/head_mc_wrapper.xml @@ -0,0 +1,23 @@ + + + + + + 0 5 0 5 + + + 10 + /icub/head + head + 6 + + + + + head_mc + + + + + + diff --git a/iCubMunich01/wrappers/motorControl/left_arm_mc_wrapper.xml b/iCubMunich01/wrappers/motorControl/left_arm_mc_wrapper.xml new file mode 100644 index 0000000000..e819b0ad31 --- /dev/null +++ b/iCubMunich01/wrappers/motorControl/left_arm_mc_wrapper.xml @@ -0,0 +1,24 @@ + + + + + + 0 7 0 7 + 8 15 0 7 + + + 10 + /icub/left_arm + left_arm + 16 + + + + left_arm_mc + left_hand_mc + + + + + + diff --git a/iCubMunich01/wrappers/motorControl/left_leg_mc_wrapper.xml b/iCubMunich01/wrappers/motorControl/left_leg_mc_wrapper.xml new file mode 100644 index 0000000000..0739883906 --- /dev/null +++ b/iCubMunich01/wrappers/motorControl/left_leg_mc_wrapper.xml @@ -0,0 +1,22 @@ + + + + + + 0 5 0 5 + + + 10 + /icub/left_leg + left_leg + 6 + + + + left_leg_mc + + + + + + diff --git a/iCubMunich01/wrappers/motorControl/right_arm_mc_wrapper.xml b/iCubMunich01/wrappers/motorControl/right_arm_mc_wrapper.xml new file mode 100644 index 0000000000..af0b61cbe4 --- /dev/null +++ b/iCubMunich01/wrappers/motorControl/right_arm_mc_wrapper.xml @@ -0,0 +1,24 @@ + + + + + + 0 7 0 7 + 8 15 0 7 + + + 10 + /icub/right_arm + right_arm + 16 + + + + right_arm_mc + right_hand_mc + + + + + + diff --git a/iCubMunich01/wrappers/motorControl/right_leg_mc_wrapper.xml b/iCubMunich01/wrappers/motorControl/right_leg_mc_wrapper.xml new file mode 100644 index 0000000000..e188a7b0d5 --- /dev/null +++ b/iCubMunich01/wrappers/motorControl/right_leg_mc_wrapper.xml @@ -0,0 +1,22 @@ + + + + + + 0 5 0 5 + + + 10 + /icub/right_leg + right_leg + 6 + + + + right_leg_mc + + + + + + diff --git a/iCubMunich01/wrappers/motorControl/torso_mc_wrapper.xml b/iCubMunich01/wrappers/motorControl/torso_mc_wrapper.xml new file mode 100644 index 0000000000..a57b695bd6 --- /dev/null +++ b/iCubMunich01/wrappers/motorControl/torso_mc_wrapper.xml @@ -0,0 +1,23 @@ + + + + + + 0 2 0 2 + + + 10 + /icub/torso + torso + 3 + + + + + torso_mc + + + + + + diff --git a/iCubMunich01/wrappers/skin/left_arm_skin_wrapper.xml b/iCubMunich01/wrappers/skin/left_arm_skin_wrapper.xml new file mode 100644 index 0000000000..c3337563d3 --- /dev/null +++ b/iCubMunich01/wrappers/skin/left_arm_skin_wrapper.xml @@ -0,0 +1,23 @@ + + + + + + 20 + 192 + skinWrapper + + + 0 191 0 191 + + + + + + left_arm_skin + + + + + + diff --git a/iCubMunich01/wrappers/skin/right_arm_skin_wrapper.xml b/iCubMunich01/wrappers/skin/right_arm_skin_wrapper.xml new file mode 100644 index 0000000000..4c5f71e9c7 --- /dev/null +++ b/iCubMunich01/wrappers/skin/right_arm_skin_wrapper.xml @@ -0,0 +1,23 @@ + + + + + + 20 + 192 + skinWrapper + + + 0 191 0 191 + + + + + + right_arm_skin + + + + + +