From 04d44b549f11409e1021b41077f6e1198f570fee Mon Sep 17 00:00:00 2001 From: Mattia Fussi Date: Thu, 10 Aug 2023 11:30:40 +0200 Subject: [PATCH] add right forearm --- .../right_forearm/CMakeLists.txt | 13 + .../right_forearm/calibrators/head-calib.xml | 52 +++ .../calibrators/left_arm-calib.xml | 49 +++ .../calibrators/left_leg-calib.xml | 43 ++ .../calibrators/right_arm-calib.xml | 53 +++ .../calibrators/right_leg-calib.xml | 48 +++ .../right_forearm/calibrators/torso-calib.xml | 55 +++ .../right_forearm/custom_positions.ini | 34 ++ .../right_forearm/firmwareupdater.ini | 2 + experimentalSetups/right_forearm/general.xml | 12 + .../hardware/POS/left_hand-pos2.xml | 59 +++ .../hardware/POS/left_hand-pos4.xml | 58 +++ .../hardware/POS/right_hand-pos2.xml | 59 +++ .../hardware/POS/right_hand-pos4.xml | 59 +++ .../hardware/battery/battery.xml | 47 +++ .../electronics/head-eb20-j0_1-eln.xml | 40 ++ .../electronics/head-eb21-j2_3-eln.xml | 40 ++ .../electronics/left_arm-eb2-j0_1-eln.xml | 40 ++ .../electronics/left_arm-eb23-j7_10-eln.xml | 40 ++ .../electronics/left_arm-eb25-j11_12-eln.xml | 40 ++ .../electronics/left_arm-eb31-j4_6-eln.xml | 40 ++ .../electronics/left_arm-eb4-j2_3-eln.xml | 40 ++ .../electronics/left_leg-eb8-j0_3-eln.xml | 39 ++ .../electronics/left_leg-eb9-j4_5-eln.xml | 39 ++ .../hardware/electronics/pc104.xml | 18 + .../electronics/right_arm-eb1-j0_1-eln.xml | 40 ++ .../electronics/right_arm-eb22-j7_10-eln.xml | 40 ++ .../electronics/right_arm-eb24-j11_12-eln.xml | 40 ++ .../electronics/right_arm-eb3-j2_3-eln.xml | 40 ++ .../electronics/right_arm-eb30-j4_6-eln.xml | 40 ++ .../electronics/right_leg-eb6-j0_3-eln.xml | 39 ++ .../electronics/right_leg-eb7-j4_5-eln.xml | 39 ++ .../electronics/torso-eb5-j0_2-eln.xml | 40 ++ .../hardware/iCub_Calibration.xls | Bin 0 -> 131072 bytes .../mechanicals/right_arm-eb1-j0_1-mec.xml | 83 ++++ .../mechanicals/right_arm-eb22-j7_10-mec.xml | 86 ++++ .../mechanicals/right_arm-eb24-j11_12-mec.xml | 73 ++++ .../mechanicals/right_arm-eb3-j2_3-mec.xml | 83 ++++ .../mechanicals/right_arm-eb30-j4_6-mec.xml | 73 ++++ .../motorControl/right_arm-eb1-j0_1-mc.xml | 157 ++++++++ .../right_arm-eb1-j0_1-mc_service.xml | 62 +++ .../motorControl/right_arm-eb22-j7_10-mc.xml | 74 ++++ .../right_arm-eb22-j7_10-mc_service.xml | 88 +++++ .../motorControl/right_arm-eb24-j11_12-mc.xml | 74 ++++ .../right_arm-eb24-j11_12-mc_service.xml | 88 +++++ .../motorControl/right_arm-eb3-j2_3-mc.xml | 157 ++++++++ .../right_arm-eb3-j2_3-mc_service.xml | 62 +++ .../motorControl/right_arm-eb30-j4_6-mc.xml | 100 +++++ .../right_arm-eb30-j4_6-mc_service.xml | 58 +++ .../hardware/skin/left_arm-eb24-j4_7-skin.xml | 15 + .../skin/left_arm-eb24-j4_7-skinSpec.xml | 42 ++ .../hardware/skin/left_upperarm-eb2-skin.xml | 14 + .../skin/left_upperarm-eb2-skinSpec.xml | 38 ++ .../skin/right_arm-eb27-j4_7-skin.xml | 14 + .../skin/right_arm-eb27-j4_7-skinSpec.xml | 42 ++ .../hardware/skin/right_upperarm-eb4-skin.xml | 14 + .../skin/right_upperarm-eb4-skinSpec.xml | 38 ++ .../hardware/skin/torso-eb22-skin.xml | 15 + .../hardware/skin/torso-eb22-skinSpec.xml | 22 ++ .../skin/torso-ems5-inertial_gyro.xml | 55 +++ .../right_forearm/network.ergoCubSN000.xml | 370 ++++++++++++++++++ .../right_forearm/r_forearm.xml | 34 ++ experimentalSetups/right_forearm/ra.xml | 41 ++ .../telemetry/telemetryDeviceExternal.xml | 38 ++ .../wrappers/POS/left_hand-pos_wrapper2.xml | 17 + .../wrappers/POS/left_hand-pos_wrapper4.xml | 17 + .../wrappers/POS/right_hand-pos_wrapper2.xml | 17 + .../wrappers/POS/right_hand-pos_wrapper4.xml | 17 + .../motorControl/right_arm-mc_remapper.xml | 15 + .../motorControl/right_arm-mc_wrapper.xml | 11 + .../right_forearm/yarpmotorgui.ini | 7 + .../right_forearm/yarprobotinterface.ini | 2 + 72 files changed, 3550 insertions(+) create mode 100644 experimentalSetups/right_forearm/CMakeLists.txt create mode 100644 experimentalSetups/right_forearm/calibrators/head-calib.xml create mode 100644 experimentalSetups/right_forearm/calibrators/left_arm-calib.xml create mode 100644 experimentalSetups/right_forearm/calibrators/left_leg-calib.xml create mode 100644 experimentalSetups/right_forearm/calibrators/right_arm-calib.xml create mode 100644 experimentalSetups/right_forearm/calibrators/right_leg-calib.xml create mode 100644 experimentalSetups/right_forearm/calibrators/torso-calib.xml create mode 100644 experimentalSetups/right_forearm/custom_positions.ini create mode 100644 experimentalSetups/right_forearm/firmwareupdater.ini create mode 100644 experimentalSetups/right_forearm/general.xml create mode 100644 experimentalSetups/right_forearm/hardware/POS/left_hand-pos2.xml create mode 100644 experimentalSetups/right_forearm/hardware/POS/left_hand-pos4.xml create mode 100644 experimentalSetups/right_forearm/hardware/POS/right_hand-pos2.xml create mode 100644 experimentalSetups/right_forearm/hardware/POS/right_hand-pos4.xml create mode 100644 experimentalSetups/right_forearm/hardware/battery/battery.xml create mode 100644 experimentalSetups/right_forearm/hardware/electronics/head-eb20-j0_1-eln.xml create mode 100644 experimentalSetups/right_forearm/hardware/electronics/head-eb21-j2_3-eln.xml create mode 100644 experimentalSetups/right_forearm/hardware/electronics/left_arm-eb2-j0_1-eln.xml create mode 100644 experimentalSetups/right_forearm/hardware/electronics/left_arm-eb23-j7_10-eln.xml create mode 100644 experimentalSetups/right_forearm/hardware/electronics/left_arm-eb25-j11_12-eln.xml create mode 100644 experimentalSetups/right_forearm/hardware/electronics/left_arm-eb31-j4_6-eln.xml create mode 100644 experimentalSetups/right_forearm/hardware/electronics/left_arm-eb4-j2_3-eln.xml create mode 100644 experimentalSetups/right_forearm/hardware/electronics/left_leg-eb8-j0_3-eln.xml create mode 100644 experimentalSetups/right_forearm/hardware/electronics/left_leg-eb9-j4_5-eln.xml create mode 100644 experimentalSetups/right_forearm/hardware/electronics/pc104.xml create mode 100644 experimentalSetups/right_forearm/hardware/electronics/right_arm-eb1-j0_1-eln.xml create mode 100644 experimentalSetups/right_forearm/hardware/electronics/right_arm-eb22-j7_10-eln.xml create mode 100644 experimentalSetups/right_forearm/hardware/electronics/right_arm-eb24-j11_12-eln.xml create mode 100644 experimentalSetups/right_forearm/hardware/electronics/right_arm-eb3-j2_3-eln.xml create mode 100644 experimentalSetups/right_forearm/hardware/electronics/right_arm-eb30-j4_6-eln.xml create mode 100644 experimentalSetups/right_forearm/hardware/electronics/right_leg-eb6-j0_3-eln.xml create mode 100644 experimentalSetups/right_forearm/hardware/electronics/right_leg-eb7-j4_5-eln.xml create mode 100644 experimentalSetups/right_forearm/hardware/electronics/torso-eb5-j0_2-eln.xml create mode 100644 experimentalSetups/right_forearm/hardware/iCub_Calibration.xls create mode 100644 experimentalSetups/right_forearm/hardware/mechanicals/right_arm-eb1-j0_1-mec.xml create mode 100644 experimentalSetups/right_forearm/hardware/mechanicals/right_arm-eb22-j7_10-mec.xml create mode 100644 experimentalSetups/right_forearm/hardware/mechanicals/right_arm-eb24-j11_12-mec.xml create mode 100644 experimentalSetups/right_forearm/hardware/mechanicals/right_arm-eb3-j2_3-mec.xml create mode 100644 experimentalSetups/right_forearm/hardware/mechanicals/right_arm-eb30-j4_6-mec.xml create mode 100644 experimentalSetups/right_forearm/hardware/motorControl/right_arm-eb1-j0_1-mc.xml create mode 100644 experimentalSetups/right_forearm/hardware/motorControl/right_arm-eb1-j0_1-mc_service.xml create mode 100644 experimentalSetups/right_forearm/hardware/motorControl/right_arm-eb22-j7_10-mc.xml create mode 100644 experimentalSetups/right_forearm/hardware/motorControl/right_arm-eb22-j7_10-mc_service.xml create mode 100644 experimentalSetups/right_forearm/hardware/motorControl/right_arm-eb24-j11_12-mc.xml create mode 100644 experimentalSetups/right_forearm/hardware/motorControl/right_arm-eb24-j11_12-mc_service.xml create mode 100644 experimentalSetups/right_forearm/hardware/motorControl/right_arm-eb3-j2_3-mc.xml create mode 100644 experimentalSetups/right_forearm/hardware/motorControl/right_arm-eb3-j2_3-mc_service.xml create mode 100644 experimentalSetups/right_forearm/hardware/motorControl/right_arm-eb30-j4_6-mc.xml create mode 100644 experimentalSetups/right_forearm/hardware/motorControl/right_arm-eb30-j4_6-mc_service.xml create mode 100644 experimentalSetups/right_forearm/hardware/skin/left_arm-eb24-j4_7-skin.xml create mode 100644 experimentalSetups/right_forearm/hardware/skin/left_arm-eb24-j4_7-skinSpec.xml create mode 100644 experimentalSetups/right_forearm/hardware/skin/left_upperarm-eb2-skin.xml create mode 100644 experimentalSetups/right_forearm/hardware/skin/left_upperarm-eb2-skinSpec.xml create mode 100644 experimentalSetups/right_forearm/hardware/skin/right_arm-eb27-j4_7-skin.xml create mode 100644 experimentalSetups/right_forearm/hardware/skin/right_arm-eb27-j4_7-skinSpec.xml create mode 100644 experimentalSetups/right_forearm/hardware/skin/right_upperarm-eb4-skin.xml create mode 100644 experimentalSetups/right_forearm/hardware/skin/right_upperarm-eb4-skinSpec.xml create mode 100644 experimentalSetups/right_forearm/hardware/skin/torso-eb22-skin.xml create mode 100644 experimentalSetups/right_forearm/hardware/skin/torso-eb22-skinSpec.xml create mode 100644 experimentalSetups/right_forearm/hardware/skin/torso-ems5-inertial_gyro.xml create mode 100644 experimentalSetups/right_forearm/network.ergoCubSN000.xml create mode 100644 experimentalSetups/right_forearm/r_forearm.xml create mode 100644 experimentalSetups/right_forearm/ra.xml create mode 100644 experimentalSetups/right_forearm/telemetry/telemetryDeviceExternal.xml create mode 100644 experimentalSetups/right_forearm/wrappers/POS/left_hand-pos_wrapper2.xml create mode 100644 experimentalSetups/right_forearm/wrappers/POS/left_hand-pos_wrapper4.xml create mode 100644 experimentalSetups/right_forearm/wrappers/POS/right_hand-pos_wrapper2.xml create mode 100644 experimentalSetups/right_forearm/wrappers/POS/right_hand-pos_wrapper4.xml create mode 100644 experimentalSetups/right_forearm/wrappers/motorControl/right_arm-mc_remapper.xml create mode 100644 experimentalSetups/right_forearm/wrappers/motorControl/right_arm-mc_wrapper.xml create mode 100644 experimentalSetups/right_forearm/yarpmotorgui.ini create mode 100644 experimentalSetups/right_forearm/yarprobotinterface.ini diff --git a/experimentalSetups/right_forearm/CMakeLists.txt b/experimentalSetups/right_forearm/CMakeLists.txt new file mode 100644 index 0000000000..70527cde80 --- /dev/null +++ b/experimentalSetups/right_forearm/CMakeLists.txt @@ -0,0 +1,13 @@ +set(appname ergoCubSN000) + +file(GLOB xml ${CMAKE_CURRENT_SOURCE_DIR}/*.xml) +file(GLOB ini ${CMAKE_CURRENT_SOURCE_DIR}/*.ini) + +yarp_install(FILES ${xml} DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname}) +yarp_install(FILES ${ini} DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname}) +yarp_install(DIRECTORY estimators DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname}) +yarp_install(DIRECTORY calibrators DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname}) +yarp_install(DIRECTORY wrappers DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname}) +yarp_install(DIRECTORY hardware DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname}) +yarp_install(DIRECTORY sensors DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname}) +yarp_install(DIRECTORY telemetry DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname}) diff --git a/experimentalSetups/right_forearm/calibrators/head-calib.xml b/experimentalSetups/right_forearm/calibrators/head-calib.xml new file mode 100644 index 0000000000..4d26c3a872 --- /dev/null +++ b/experimentalSetups/right_forearm/calibrators/head-calib.xml @@ -0,0 +1,52 @@ + + + + + + + + + + 4 + HeadV3_Calibrator + + + + 0 0 0 0 + 10 10 10 10 + + + + + + 12 12 12 12 + 25220 -17823 61615 52575 + 0 0 0 0 + 0 0 0 0 + + 0 0 0 0 + 0 0 0 0 + + 0.0 0.0 0.0 0.0 + 0.0 0.0 0.0 0.0 + + 0.0 0.0 0.0 0.0 + 10 10 20.0 20.0 + 1000 1000 1000 1000 + 90 90 2 2 + + + (0 1 2) (3) + + + head-mc_remapper + + + + head-mc_remapper + + + + + + diff --git a/experimentalSetups/right_forearm/calibrators/left_arm-calib.xml b/experimentalSetups/right_forearm/calibrators/left_arm-calib.xml new file mode 100644 index 0000000000..fa1384a758 --- /dev/null +++ b/experimentalSetups/right_forearm/calibrators/left_arm-calib.xml @@ -0,0 +1,49 @@ + + + + + + + + + 13 + Left_Arm_Calibrator + + + + + 5 30 0 10 0 0 0 30.00 0.00 0.00 0.00 0.00 0.00 + 10 10 10 10 10 10 10 40.00 40.00 40.00 40.00 40.00 40.00 + + + 10 10 10 10 12 12 12 12 14 12 14 14 14 + 4000 -3000 -3000 4000 17565 8161 21461 0 300 0 300 300 300 + 0 0 0 0 0 0 0 0 0 0 0 0 0 + 0 0 0 0 0 0 0 0 1 0 0 0 1 + 0 0 0 0 0 0 0 0 32768 0 0 0 0 + 0 0 0 0 0 0 0 0 18277 0 47003 47513 54558 + 35 -15 -52 -5 0 0 0 0 0 0 0 0 0 + 0 0 0 0 0 0 0 0 0 0 0 0 0 + 34 50 -10 90 0.0 0.0 0.0 0.0 4.0 0.0 4.0 4.0 4.0 + 10.0 10.0 10.0 10.0 10.0 10.0 10.0 100.0 100.0 0.0 100 100.0 100.0 + 8000 8000 8000 8000 16000 16000 16000 0 0 0 0 0 0 + 2 2 2 2 2 2 2 90 5 90 5 5 5 + + + + (4 5 6) (3) (2) (0) (1) (7 8) (10 11 12) + + + left_arm-mc_remapper + + + + left_arm-mc_remapper + + + + + + + + diff --git a/experimentalSetups/right_forearm/calibrators/left_leg-calib.xml b/experimentalSetups/right_forearm/calibrators/left_leg-calib.xml new file mode 100644 index 0000000000..be30091189 --- /dev/null +++ b/experimentalSetups/right_forearm/calibrators/left_leg-calib.xml @@ -0,0 +1,43 @@ + + + + + + + 6 + Left_Leg_Calibrator + + + + 0.00 5.00 0.00 0.00 0.00 0.00 + 10.00 10.00 10.00 10.00 10.00 10.00 + + + + 10 10 10 10 10 10 + -5500 4000 -2500 -5000 2500 -3000 + 0.0 0.0 0 0 0 0 + 0.0 0.0 0 0 0 0 + 0.0 0.0 0 0 0 0 + 0.0 0.0 0 0 0 0 + 110.15 111.776 81.65 7.75 -46.624 25.313 + 0 0 0 0 0 0 + 90 80 0 -95 0 0 + 10.0 10.0 10.0 10 10 10 + 8000 8000 8000 8000 8000 8000 + 2 2 2 2 2 2 + + + (2) (4) (5) (3) (0) (1) + + + left_leg-mc_remapper + + + + left_leg-mc_remapper + + + + + diff --git a/experimentalSetups/right_forearm/calibrators/right_arm-calib.xml b/experimentalSetups/right_forearm/calibrators/right_arm-calib.xml new file mode 100644 index 0000000000..d4c1d6cf08 --- /dev/null +++ b/experimentalSetups/right_forearm/calibrators/right_arm-calib.xml @@ -0,0 +1,53 @@ + + + + + + + + + 9 + Right_Arm_Calibrator + + + + + + 0 0 0 30.00 0.00 30.00 0.00 0.00 0.00 + 10 10 10 40.00 40.00 40.00 40.00 40.00 40.00 + + + 12 12 12 12 14 12 14 14 14 + 19023 13272 16420 0 300 0 300 300 300 + 0 0 0 0 0 0 0 0 0 + 0 0 0 0 1 0 1 0 0 + 0 0 0 0 32768 0 0 0 0 + 0 0 0 0 2366 0 53484 45147 12415 + 0 0 0 0 0 0 0 0 0 + 0 0 0 0 0 0 0 0 0 + 0.0 0.0 0.0 0.0 4.0 0.0 4.0 4.0 4.0 + 10.0 10.0 10.0 30.0 30.0 30.0 30.0 30.0 30.0 + 16000 16000 16000 0 0 0 0 0 0 + 2 2 2 90 5 90 5 5 5 + + + + + + (0 1 2) (3 4) (6 7 8) + + + + right_arm-mc_remapper + + + + right_arm-mc_remapper + + + + + + + + diff --git a/experimentalSetups/right_forearm/calibrators/right_leg-calib.xml b/experimentalSetups/right_forearm/calibrators/right_leg-calib.xml new file mode 100644 index 0000000000..7c7e2b405a --- /dev/null +++ b/experimentalSetups/right_forearm/calibrators/right_leg-calib.xml @@ -0,0 +1,48 @@ + + + + + + + 6 + Right_Leg_Calibrator + + + + 0.00 5.00 0.00 0.00 0.00 0.00 + 10.00 10.00 10.00 10.00 10.00 10.00 + + + + + + 10 10 10 10 10 10 + 5500 -4000 2500 5000 -2500 3000 + 0.0 0.0 0 0 0 0 + 0.0 0.0 0 0 0 0 + 0.0 0.0 0 0 0 0 + 0.0 0.0 0 0 0 0 + 110.15 111.463 81.078 7.75 -45.942 25.786 + 0 0 0 0 0 0 + + 90 80 0 -95 0 0 + 10.0 10.0 10.0 10 10 10 + 8000 8000 8000 8000 8000 8000 + 2 2 2 2 2 2 + + + + (4) (5) (2) (3) (0) (1) + + + + right_leg-mc_remapper + + + + right_leg-mc_remapper + + + + + diff --git a/experimentalSetups/right_forearm/calibrators/torso-calib.xml b/experimentalSetups/right_forearm/calibrators/torso-calib.xml new file mode 100644 index 0000000000..7866ae5dc4 --- /dev/null +++ b/experimentalSetups/right_forearm/calibrators/torso-calib.xml @@ -0,0 +1,55 @@ + + + + + + + + + 3 + Torso_Calibrator + + + + 0 -20 0 + 10 10 10 + + + + + + + 12 12 12 + + 38354 67734 6013 + 0 0 0 + 0 0 0 + + + 0 0 0 + 0 0 0 + 0 0 0 + -0.939 2.917 0 + + 0 0 0 + 10 10 10 + 5500 5500 5500 + 2 2 2 + + + + + (0) (1) (2) + + + torso-eb5-j0_2-mc + + + + torso-eb5-j0_2-mc + + + + + + diff --git a/experimentalSetups/right_forearm/custom_positions.ini b/experimentalSetups/right_forearm/custom_positions.ini new file mode 100644 index 0000000000..a081fa5676 --- /dev/null +++ b/experimentalSetups/right_forearm/custom_positions.ini @@ -0,0 +1,34 @@ +//name of the robot +robot ergocub +//parts to be opened by the GUI +parts (head torso left_arm right_arm right_leg left_leg) + +[customPosition_TwoFeetStanding] +/$robot/head_Position 0 0 0 0 +/$robot/head_Velocity 10 10 10 10 +/$robot/torso_Position 0 -3 0 +/$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_LegsInZero] +/$robot/head_Position 0 0 0 0 +/$robot/head_Velocity 10 10 10 10 +/$robot/torso_Position 0 -3 0 +/$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 +/$robot/right_leg_Position 0 0 0 0 0 0 +/$robot/right_leg_Velocity 10 10 10 10 10 10 +/$robot/left_leg_Position 0 0 0 0 0 0 +/$robot/left_leg_Velocity 10 10 10 10 10 10 diff --git a/experimentalSetups/right_forearm/firmwareupdater.ini b/experimentalSetups/right_forearm/firmwareupdater.ini new file mode 100644 index 0000000000..c93b53ab35 --- /dev/null +++ b/experimentalSetups/right_forearm/firmwareupdater.ini @@ -0,0 +1,2 @@ +[DRIVERS] +ETH "eth" diff --git a/experimentalSetups/right_forearm/general.xml b/experimentalSetups/right_forearm/general.xml new file mode 100644 index 0000000000..2cbeb1f408 --- /dev/null +++ b/experimentalSetups/right_forearm/general.xml @@ -0,0 +1,12 @@ + + + + + + + false + false + false + false + + diff --git a/experimentalSetups/right_forearm/hardware/POS/left_hand-pos2.xml b/experimentalSetups/right_forearm/hardware/POS/left_hand-pos2.xml new file mode 100644 index 0000000000..56ad6aaa6c --- /dev/null +++ b/experimentalSetups/right_forearm/hardware/POS/left_hand-pos2.xml @@ -0,0 +1,59 @@ + + + + + + + + + + eomn_serv_AS_pos + + + + + eobrd_mtb4c + + + 2 + 0 + + + 2 + 1 + 0 + + + + + + CAN1:2 CAN1:2 + + + id_fapEE id_fapFF + eoas_pos_angle eoas_pos_angle + POS:hand_thumb_add POS:hand_index_add + + mtb4c mtb4c + CONN:J3_SDA2 CONN:J3_SDA3 + + + + TYPE:decideg TYPE:decideg + ROT:zero ROT:zero + -230.0 -325.0 + true true + + + + + + + + 50 + id_fapEE id_fapFF + + + + + \ No newline at end of file diff --git a/experimentalSetups/right_forearm/hardware/POS/left_hand-pos4.xml b/experimentalSetups/right_forearm/hardware/POS/left_hand-pos4.xml new file mode 100644 index 0000000000..5cbd35bf8b --- /dev/null +++ b/experimentalSetups/right_forearm/hardware/POS/left_hand-pos4.xml @@ -0,0 +1,58 @@ + + + + + + + + + + eomn_serv_AS_pos + + + + + eobrd_mtb4c + + + 2 + 0 + + + 2 + 1 + 0 + + + + + + CAN1:1 CAN1:1 CAN1:1 CAN1:1 + + + id_fapAA id_fapBB id_fapCC id_fapDD + eoas_pos_angle eoas_pos_angle eoas_pos_angle eoas_pos_angle + POS:hand_thumb_oc POS:hand_index_oc POS:hand_middle_oc POS:hand_ring_pinky_oc + + mtb4c mtb4c mtb4c mtb4c + CONN:J3_SDA3 CONN:J3_SDA0 CONN:J3_SDA1 CONN:J3_SDA2 + + + + TYPE:decideg TYPE:decideg TYPE:decideg TYPE:decideg + ROT:plus180 ROT:zero ROT:zero ROT:zero + -273 -261 -259 -296 + true false false true + + + + + + + 50 + id_fapAA id_fapBB id_fapCC id_fapDD + + + + + \ No newline at end of file diff --git a/experimentalSetups/right_forearm/hardware/POS/right_hand-pos2.xml b/experimentalSetups/right_forearm/hardware/POS/right_hand-pos2.xml new file mode 100644 index 0000000000..e7ae9a3934 --- /dev/null +++ b/experimentalSetups/right_forearm/hardware/POS/right_hand-pos2.xml @@ -0,0 +1,59 @@ + + + + + + + + + + eomn_serv_AS_pos + + + + + eobrd_mtb4c + + + 2 + 0 + + + 2 + 0 + 0 + + + + + + CAN1:2 CAN1:2 + + + id_fapEE id_fapFF + eoas_pos_angle eoas_pos_angle + POS:hand_thumb_add POS:hand_index_add + + mtb4c mtb4c + CONN:J3_SDA2 CONN:J3_SDA3 + + + + TYPE:decideg TYPE:decideg + ROT:zero ROT:zero + -200.0 -270.0 + false false + + + + + + + + 50 + id_fapEE id_fapFF + + + + + diff --git a/experimentalSetups/right_forearm/hardware/POS/right_hand-pos4.xml b/experimentalSetups/right_forearm/hardware/POS/right_hand-pos4.xml new file mode 100644 index 0000000000..09b907e580 --- /dev/null +++ b/experimentalSetups/right_forearm/hardware/POS/right_hand-pos4.xml @@ -0,0 +1,59 @@ + + + + + + + + + + eomn_serv_AS_pos + + + + + eobrd_mtb4c + + + 2 + 0 + + + 2 + 0 + 0 + + + + + + CAN1:1 CAN1:1 CAN1:1 CAN1:1 + + + id_fapAA id_fapBB id_fapCC id_fapDD + eoas_pos_angle eoas_pos_angle eoas_pos_angle eoas_pos_angle + POS:hand_thumb_oc POS:hand_index_oc POS:hand_middle_oc POS:hand_ring_pinky_oc + + mtb4c mtb4c mtb4c mtb4c + CONN:J3_SDA3 CONN:J3_SDA0 CONN:J3_SDA1 CONN:J3_SDA2 + + + + TYPE:decideg TYPE:decideg TYPE:decideg TYPE:decideg + ROT:plus180 ROT:zero ROT:zero ROT:zero + -184.0 -294 -247 -65 + true true false false + + + + + + + + 50 + id_fapAA id_fapBB id_fapCC id_fapDD + + + + + \ No newline at end of file diff --git a/experimentalSetups/right_forearm/hardware/battery/battery.xml b/experimentalSetups/right_forearm/hardware/battery/battery.xml new file mode 100644 index 0000000000..9de6e5dfc9 --- /dev/null +++ b/experimentalSetups/right_forearm/hardware/battery/battery.xml @@ -0,0 +1,47 @@ + + + + + + + + + + + eomn_serv_AS_battery + + + + + bms + + + 0 + 0 + + + 1 + 2 + 0 + + + + + battery1 + bms + CAN1:1 + + + + + + + battery1 + 1000 + + + + + + + diff --git a/experimentalSetups/right_forearm/hardware/electronics/head-eb20-j0_1-eln.xml b/experimentalSetups/right_forearm/hardware/electronics/head-eb20-j0_1-eln.xml new file mode 100644 index 0000000000..e719b80831 --- /dev/null +++ b/experimentalSetups/right_forearm/hardware/electronics/head-eb20-j0_1-eln.xml @@ -0,0 +1,40 @@ + + + + + + + + + + + 10.0.1.20 + 12345 + mc4plus + 768 + 384 + + + + "head-eb20-j0_1" + + 1000 + 400 + 300 + 300 + 2 + + + + + + true + 0.020 + 60.0 + + + + + + + diff --git a/experimentalSetups/right_forearm/hardware/electronics/head-eb21-j2_3-eln.xml b/experimentalSetups/right_forearm/hardware/electronics/head-eb21-j2_3-eln.xml new file mode 100644 index 0000000000..5de27a1087 --- /dev/null +++ b/experimentalSetups/right_forearm/hardware/electronics/head-eb21-j2_3-eln.xml @@ -0,0 +1,40 @@ + + + + + + + + + + + 10.0.1.21 + 12345 + mc4plus + 768 + 384 + + + + "head-eb21-j2_3" + + 1000 + 400 + 300 + 300 + 2 + + + + + + true + 0.020 + 60.0 + + + + + + + diff --git a/experimentalSetups/right_forearm/hardware/electronics/left_arm-eb2-j0_1-eln.xml b/experimentalSetups/right_forearm/hardware/electronics/left_arm-eb2-j0_1-eln.xml new file mode 100644 index 0000000000..211faad498 --- /dev/null +++ b/experimentalSetups/right_forearm/hardware/electronics/left_arm-eb2-j0_1-eln.xml @@ -0,0 +1,40 @@ + + + + + + + + + + + 10.0.1.2 + 12345 + ems4 + 768 + 384 + + + + "left_arm-eb2-j0_1" + + 1000 + 400 + 300 + 300 + 2 + + + + + + true + 0.020 + 60.0 + + + + + + + diff --git a/experimentalSetups/right_forearm/hardware/electronics/left_arm-eb23-j7_10-eln.xml b/experimentalSetups/right_forearm/hardware/electronics/left_arm-eb23-j7_10-eln.xml new file mode 100644 index 0000000000..1613922d15 --- /dev/null +++ b/experimentalSetups/right_forearm/hardware/electronics/left_arm-eb23-j7_10-eln.xml @@ -0,0 +1,40 @@ + + + + + + + + + + + 10.0.1.23 + 12345 + mc4plus + 768 + 384 + + + + "left_arm-eb23-j7_10" + + 1000 + 400 + 300 + 300 + 2 + + + + + + true + 0.020 + 60.0 + + + + + + + diff --git a/experimentalSetups/right_forearm/hardware/electronics/left_arm-eb25-j11_12-eln.xml b/experimentalSetups/right_forearm/hardware/electronics/left_arm-eb25-j11_12-eln.xml new file mode 100644 index 0000000000..bcdb517216 --- /dev/null +++ b/experimentalSetups/right_forearm/hardware/electronics/left_arm-eb25-j11_12-eln.xml @@ -0,0 +1,40 @@ + + + + + + + + + + + 10.0.1.25 + 12345 + mc4plus + 768 + 384 + + + + "left_arm-eb25-j11_12" + + 1000 + 400 + 300 + 300 + 2 + + + + + + true + 0.020 + 60.0 + + + + + + + diff --git a/experimentalSetups/right_forearm/hardware/electronics/left_arm-eb31-j4_6-eln.xml b/experimentalSetups/right_forearm/hardware/electronics/left_arm-eb31-j4_6-eln.xml new file mode 100644 index 0000000000..9a75953f44 --- /dev/null +++ b/experimentalSetups/right_forearm/hardware/electronics/left_arm-eb31-j4_6-eln.xml @@ -0,0 +1,40 @@ + + + + + + + + + + + 10.0.1.31 + 12345 + amc + 768 + 384 + + + + "left_arm-eb31-j4_6" + + 1000 + 400 + 300 + 300 + 2 + + + + + + true + 0.020 + 60.0 + + + + + + + diff --git a/experimentalSetups/right_forearm/hardware/electronics/left_arm-eb4-j2_3-eln.xml b/experimentalSetups/right_forearm/hardware/electronics/left_arm-eb4-j2_3-eln.xml new file mode 100644 index 0000000000..0ef673d016 --- /dev/null +++ b/experimentalSetups/right_forearm/hardware/electronics/left_arm-eb4-j2_3-eln.xml @@ -0,0 +1,40 @@ + + + + + + + + + + + 10.0.1.4 + 12345 + ems4 + 768 + 384 + + + + "left_arm-eb4-j2_3" + + 1000 + 400 + 300 + 300 + 2 + + + + + + true + 0.020 + 60.0 + + + + + + + diff --git a/experimentalSetups/right_forearm/hardware/electronics/left_leg-eb8-j0_3-eln.xml b/experimentalSetups/right_forearm/hardware/electronics/left_leg-eb8-j0_3-eln.xml new file mode 100644 index 0000000000..c8f39765e3 --- /dev/null +++ b/experimentalSetups/right_forearm/hardware/electronics/left_leg-eb8-j0_3-eln.xml @@ -0,0 +1,39 @@ + + + + + + + + + + + 10.0.1.8 + 12345 + ems4 + 768 + 384 + + + + "left_leg-eb8-j0_3" + + 1000 + 400 + 300 + 300 + 2 + + + + + + true + 0.020 + 60.0 + + + + + + diff --git a/experimentalSetups/right_forearm/hardware/electronics/left_leg-eb9-j4_5-eln.xml b/experimentalSetups/right_forearm/hardware/electronics/left_leg-eb9-j4_5-eln.xml new file mode 100644 index 0000000000..43a99360e6 --- /dev/null +++ b/experimentalSetups/right_forearm/hardware/electronics/left_leg-eb9-j4_5-eln.xml @@ -0,0 +1,39 @@ + + + + + + + + + + + 10.0.1.9 + 12345 + ems4 + 768 + 384 + + + + "left_leg-eb9-j4_5" + + 1000 + 400 + 300 + 300 + 2 + + + + + + true + 0.020 + 60.0 + + + + + + diff --git a/experimentalSetups/right_forearm/hardware/electronics/pc104.xml b/experimentalSetups/right_forearm/hardware/electronics/pc104.xml new file mode 100644 index 0000000000..9e94677712 --- /dev/null +++ b/experimentalSetups/right_forearm/hardware/electronics/pc104.xml @@ -0,0 +1,18 @@ + + + + + + + 10.0.1.104 + 12345 + 1 + 2 + + + + 1 + + + + diff --git a/experimentalSetups/right_forearm/hardware/electronics/right_arm-eb1-j0_1-eln.xml b/experimentalSetups/right_forearm/hardware/electronics/right_arm-eb1-j0_1-eln.xml new file mode 100644 index 0000000000..5e057b64ee --- /dev/null +++ b/experimentalSetups/right_forearm/hardware/electronics/right_arm-eb1-j0_1-eln.xml @@ -0,0 +1,40 @@ + + + + + + + + + + + 10.0.1.1 + 12345 + ems4 + 768 + 384 + + + + "right_arm-eb1-j0_1" + + 1000 + 400 + 300 + 300 + 2 + + + + + + true + 0.020 + 60.0 + + + + + + + diff --git a/experimentalSetups/right_forearm/hardware/electronics/right_arm-eb22-j7_10-eln.xml b/experimentalSetups/right_forearm/hardware/electronics/right_arm-eb22-j7_10-eln.xml new file mode 100644 index 0000000000..cee32846d4 --- /dev/null +++ b/experimentalSetups/right_forearm/hardware/electronics/right_arm-eb22-j7_10-eln.xml @@ -0,0 +1,40 @@ + + + + + + + + + + + 10.0.1.22 + 12345 + mc4plus + 768 + 384 + + + + "right_arm-eb22-j7_10" + + 1000 + 400 + 300 + 300 + 2 + + + + + + true + 0.020 + 60.0 + + + + + + + diff --git a/experimentalSetups/right_forearm/hardware/electronics/right_arm-eb24-j11_12-eln.xml b/experimentalSetups/right_forearm/hardware/electronics/right_arm-eb24-j11_12-eln.xml new file mode 100644 index 0000000000..316052b87d --- /dev/null +++ b/experimentalSetups/right_forearm/hardware/electronics/right_arm-eb24-j11_12-eln.xml @@ -0,0 +1,40 @@ + + + + + + + + + + + 10.0.1.24 + 12345 + mc4plus + 768 + 384 + + + + "right_arm-eb24-j11_12" + + 1000 + 400 + 300 + 300 + 2 + + + + + + true + 0.020 + 60.0 + + + + + + + diff --git a/experimentalSetups/right_forearm/hardware/electronics/right_arm-eb3-j2_3-eln.xml b/experimentalSetups/right_forearm/hardware/electronics/right_arm-eb3-j2_3-eln.xml new file mode 100644 index 0000000000..d5d5bb0dec --- /dev/null +++ b/experimentalSetups/right_forearm/hardware/electronics/right_arm-eb3-j2_3-eln.xml @@ -0,0 +1,40 @@ + + + + + + + + + + + 10.0.1.3 + 12345 + ems4 + 768 + 384 + + + + "right_arm-eb3-j2_3" + + 1000 + 400 + 300 + 300 + 2 + + + + + + true + 0.020 + 60.0 + + + + + + + diff --git a/experimentalSetups/right_forearm/hardware/electronics/right_arm-eb30-j4_6-eln.xml b/experimentalSetups/right_forearm/hardware/electronics/right_arm-eb30-j4_6-eln.xml new file mode 100644 index 0000000000..21392d3e89 --- /dev/null +++ b/experimentalSetups/right_forearm/hardware/electronics/right_arm-eb30-j4_6-eln.xml @@ -0,0 +1,40 @@ + + + + + + + + + + + 10.0.1.30 + 12345 + amc + 768 + 384 + + + + "right_arm-eb30-j4_6" + + 1000 + 400 + 300 + 300 + 2 + + + + + + true + 0.020 + 60.0 + + + + + + + diff --git a/experimentalSetups/right_forearm/hardware/electronics/right_leg-eb6-j0_3-eln.xml b/experimentalSetups/right_forearm/hardware/electronics/right_leg-eb6-j0_3-eln.xml new file mode 100644 index 0000000000..d0d0a1fae7 --- /dev/null +++ b/experimentalSetups/right_forearm/hardware/electronics/right_leg-eb6-j0_3-eln.xml @@ -0,0 +1,39 @@ + + + + + + + + + + + 10.0.1.6 + 12345 + ems4 + 768 + 384 + + + + "right_leg-eb6-j0_3" + + 1000 + 400 + 300 + 300 + 2 + + + + + + true + 0.020 + 60.0 + + + + + + diff --git a/experimentalSetups/right_forearm/hardware/electronics/right_leg-eb7-j4_5-eln.xml b/experimentalSetups/right_forearm/hardware/electronics/right_leg-eb7-j4_5-eln.xml new file mode 100644 index 0000000000..b6d3871eac --- /dev/null +++ b/experimentalSetups/right_forearm/hardware/electronics/right_leg-eb7-j4_5-eln.xml @@ -0,0 +1,39 @@ + + + + + + + + + + + 10.0.1.7 + 12345 + ems4 + 768 + 384 + + + + "right_leg-eb7-j4_5" + + 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"revolute" + 182.044 182.044 + 32000 32000 + 1000.0 1000.0 + -100.00 -100.00 + 64 64 + 1 1 + "MOOG-BL-C2900576" "MOOG-BL-C2900576" + 0 + + + + + 35 150 + -170 -15 + 0 0 + 0 0 + + + + 0 0 + 0 0 + 0 0 + 0 0 + 1 1 + 1 1 + 0 0 + 227 177 + 8 8 + + + + + + + 1.000 0.000 0.000 0.000 + 0.000 1.000 0.000 0.000 + 0.000 0.000 1.000 0.000 + 0.000 0.000 0.000 1.000 + + + + 1.000 0.000 0.000 0.000 + 0.000 1.000 0.000 0.000 + 0.000 0.000 1.000 0.000 + 0.000 0.000 0.000 1.000 + + + + 1.000 0.000 0.000 0.000 0.000 0.000 + 0.000 1.000 0.000 0.000 0.000 0.000 + 0.000 0.000 1.000 0.000 0.000 0.000 + 0.000 0.000 0.000 1.000 0.000 0.000 + + + + + + 2 + + 0 + none + 0 + 0 + + + 1 + none + 0 + 0 + + + + diff --git a/experimentalSetups/right_forearm/hardware/mechanicals/right_arm-eb22-j7_10-mec.xml b/experimentalSetups/right_forearm/hardware/mechanicals/right_arm-eb22-j7_10-mec.xml new file mode 100644 index 0000000000..d638d81563 --- /dev/null +++ b/experimentalSetups/right_forearm/hardware/mechanicals/right_arm-eb22-j7_10-mec.xml @@ -0,0 +1,86 @@ + + + + + + 6 + 4 + + + + 0 1 2 3 + "r_thumb_oc" "r_index_oc" "r_middle_oc" "r_ring_pinky_oc" + "revolute" "revolute" "revolute" "revolute" + 182.044 182.044 182.044 182.044 + 3360 3360 3360 3360 + 1000.0 1000.0 1000.0 1000.0 + 159 159 159 159 + 1 1 1 1 + 0 0 0 0 + "DC" "DC" "DC" "DC" + + 0 + + + + + 90 90 90 90 + 0 0 0 0 + -26000 -26000 -26000 -26000 + -100 -100 -100 -100 + + + + + + 1.000 0.000 0.000 0.000 + 0.000 1.000 0.000 0.000 + 0.000 0.000 1.000 0.000 + 0.000 0.000 0.000 1.000 + + + + 1.000 0.000 0.000 0.000 + 0.000 1.000 0.000 0.000 + 0.000 0.000 1.000 0.000 + 0.000 0.000 0.000 1.000 + + + + 1.000 0.000 0.000 0.000 0.000 0.000 + 0.000 1.000 0.000 0.000 0.000 0.000 + 0.000 0.000 1.000 0.000 0.000 0.000 + 0.000 0.000 0.000 1.000 0.000 0.000 + + + + + + 4 + + 0 + none + 0 + 0 + + + 1 + none + 0 + 0 + + + 2 + none + 0 + 0 + + + 3 + none + 0 + 0 + + + + diff --git a/experimentalSetups/right_forearm/hardware/mechanicals/right_arm-eb24-j11_12-mec.xml b/experimentalSetups/right_forearm/hardware/mechanicals/right_arm-eb24-j11_12-mec.xml new file mode 100644 index 0000000000..f4a0ec9006 --- /dev/null +++ b/experimentalSetups/right_forearm/hardware/mechanicals/right_arm-eb24-j11_12-mec.xml @@ -0,0 +1,73 @@ + + + + + + 6 + 2 + + + + 0 1 + "r_thumb_add" "r_index_add" + "revolute" "revolute" + 182.044 182.044 + 3360 3360 + 1000.0 1000.0 + 159 159 + 1 1 + 0 0 + "DC" "DC" + + 0 + + + + 90 20 + 0 6 + 0 0 + 0 0 + + + + + + 1.000 0.000 0.000 0.000 + 0.000 1.000 0.000 0.000 + 0.000 0.000 1.000 0.000 + 0.000 0.000 0.000 1.000 + + + + 1.000 0.000 0.000 0.000 + 0.000 1.000 0.000 0.000 + 0.000 0.000 1.000 0.000 + 0.000 0.000 0.000 1.000 + + + + 1.000 0.000 0.000 0.000 0.000 0.000 + 0.000 1.000 0.000 0.000 0.000 0.000 + 0.000 0.000 1.000 0.000 0.000 0.000 + 0.000 0.000 0.000 1.000 0.000 0.000 + + + + + + 2 + + 0 + none + 0 + 0 + + + 1 + none + 0 + 0 + + + + diff --git a/experimentalSetups/right_forearm/hardware/mechanicals/right_arm-eb3-j2_3-mec.xml b/experimentalSetups/right_forearm/hardware/mechanicals/right_arm-eb3-j2_3-mec.xml new file mode 100644 index 0000000000..52c31b24a1 --- /dev/null +++ b/experimentalSetups/right_forearm/hardware/mechanicals/right_arm-eb3-j2_3-mec.xml @@ -0,0 +1,83 @@ + + + + + + 6 + 2 + 0 1 + "r_shoulder_yaw" "r_elbow" + "revolute" "revolute" + 182.044 182.044 + 32000 32000 + 1000.0 1000.0 + -100.00 100.00 + 32 32 + 1 1 + "MOOG-BL-C2900575" "MOOG-BL-C2900575" + 0 + + + + + 82 120 + -52 -5 + 0 0 + 0 0 + + + + 0 0 + 0 0 + 0 0 + 0 0 + 1 1 + 1 1 + 0 0 + 74 333 + 8 8 + + + + + + + 1.000 0.000 0.000 0.000 + 0.000 1.000 0.000 0.000 + 0.000 0.000 1.000 0.000 + 0.000 0.000 0.000 1.000 + + + + 1.000 0.000 0.000 0.000 + 0.000 1.000 0.000 0.000 + 0.000 0.000 1.000 0.000 + 0.000 0.000 0.000 1.000 + + + + 1.000 0.000 0.000 0.000 0.000 0.000 + 0.000 1.000 0.000 0.000 0.000 0.000 + 0.000 0.000 1.000 0.000 0.000 0.000 + 0.000 0.000 0.000 1.000 0.000 0.000 + + + + + + 2 + + 0 + none + 0 + 0 + + + 1 + none + 0 + 0 + + + + diff --git a/experimentalSetups/right_forearm/hardware/mechanicals/right_arm-eb30-j4_6-mec.xml b/experimentalSetups/right_forearm/hardware/mechanicals/right_arm-eb30-j4_6-mec.xml new file mode 100644 index 0000000000..c0209d3f7c --- /dev/null +++ b/experimentalSetups/right_forearm/hardware/mechanicals/right_arm-eb30-j4_6-mec.xml @@ -0,0 +1,73 @@ + + + + + + 6 + 3 + 0 1 2 + "r_wrist_yaw" "r_wrist_roll" "r_wrist_pitch" + "revolute" "revolute" "revolute" + 182.044 182.044 182.044 + 32000 32000 32000 + 1000.0 1000.0 1000.0 + -384.44 -384.44 -384.44 + 1.778 1.778 1.778 + 0 0 0 + "FAULHABER" "FAULHABER" "FAULHABER" + 0 + + + + 92 52 32 + -92 -62 -32 + 0 0 0 + 0 0 0 + + + + 1 1 1 + 0 0 0 + 0 0 0 + 0 0 0 + 0 0 0 + 0 0 0 + 14 14 14 + + + + + + 1.0 0.0 0.0 0.0 + 0.0 1.0 0.0 0.0 + 0.0 0.0 1.0 0.0 + 0.0 0.0 0.0 1.0 + + + + 1.0 0.0 0.0 0.0 + 0.0 1.0 0.0 0.0 + 0.0 0.0 1.0 0.0 + 0.0 0.0 0.0 1.0 + + + + 1.00 0.00 0.00 0.00 0.00 0.00 + 0.00 1.00 0.00 0.00 0.00 0.00 + 0.00 0.00 1.00 0.00 0.00 0.00 + 0.00 0.00 0.00 1.00 0.00 0.00 + + + + + + 1 + + 0 1 2 + none + 0 + 0 + + + + diff --git a/experimentalSetups/right_forearm/hardware/motorControl/right_arm-eb1-j0_1-mc.xml b/experimentalSetups/right_forearm/hardware/motorControl/right_arm-eb1-j0_1-mc.xml new file mode 100644 index 0000000000..0196c189a4 --- /dev/null +++ b/experimentalSetups/right_forearm/hardware/motorControl/right_arm-eb1-j0_1-mc.xml @@ -0,0 +1,157 @@ + + + + + + + + + + + + + + + 14 130 + -130 0 + 120 120 + 5000 5000 + 12000 12000 + 15000 15000 + 8000 8000 + + + + 100 100 + + + + 0.3 0.3 + 0.05 0.05 + + + + POS_PID_DEFAULT POS_PID_DEFAULT + POS_PID_DEFAULT POS_PID_DEFAULT + POS_PID_DEFAULT POS_PID_DEFAULT + TRQ_PID_OUTPUT_CURR TRQ_PID_OUTPUT_CURR + 2FOC_CUR_CONTROL 2FOC_CUR_CONTROL + 2FOC_VEL_CONTROL 2FOC_VEL_CONTROL + + + + + + + minjerk + pwm + metric_units + machine_units + 0 0 + -4000 -1000 + 0 0 + -1000 -1000 + 8000 8000 + 2000 2000 + 0 0 + 0 0 + + + + + + + + + low_lev_current + machine_units + machine_units + 8 8 + 0 0 + 2 2 + 10 10 + 32000 32000 + 32000 32000 + 0 0 + + + + low_lev_speed + machine_units + machine_units + 0 0 + 12 12 + 0 0 + 16 16 + 10 10 + 32000 32000 + 32000 32000 + + + + + + + + torque + pwm + metric_units + dutycycle_percent + -3 -2 + 0 0 + -6 -4 + 25 25 + 1.56 1.56 + 0 0 + 0 0 + 0 0 + 1 1 + -0.004 -0.004 + 0 0 + -0.86 -0.72 + + + + + + + torque + current + metric_units + machine_units + -150 -100 + 0 0 + 0 0 + 2500 2500 + 200 200 + 0 0 + 0 0 + 0 0 + 1 1 + -0.0001 -0.0001 + 0 0 + -250 -200 + + + + + 0.0049 0.0049 + + + + + 1 1 + 0 0 + 0 0 + 0 0 + 0.0001 0.0001 + 0.01 0.01 + 10 10 + 0.001 0.001 + 0.000099 0.000099 + + + + + + diff --git a/experimentalSetups/right_forearm/hardware/motorControl/right_arm-eb1-j0_1-mc_service.xml b/experimentalSetups/right_forearm/hardware/motorControl/right_arm-eb1-j0_1-mc_service.xml new file mode 100644 index 0000000000..101486c014 --- /dev/null +++ b/experimentalSetups/right_forearm/hardware/motorControl/right_arm-eb1-j0_1-mc_service.xml @@ -0,0 +1,62 @@ + + + + + + + + eomn_serv_MC_foc + + + + + ems4 + + + + foc + + 1 + 6 + + + 3 + 3 + 10 + + + + + + + + + foc foc + CAN1:1:0 CAN1:2:0 + + + + amo amo + CONN:P6 CONN:P8 + atjoint atjoint + 16384 -16384 + 0.703 0.703 + + + + roie roie + CAN1:1:0 CAN1:2:0 + atmotor atmotor + 14400 14400 + 3.6 3.6 + + + + + + + + + + + diff --git a/experimentalSetups/right_forearm/hardware/motorControl/right_arm-eb22-j7_10-mc.xml b/experimentalSetups/right_forearm/hardware/motorControl/right_arm-eb22-j7_10-mc.xml new file mode 100644 index 0000000000..c6d1bdad36 --- /dev/null +++ b/experimentalSetups/right_forearm/hardware/motorControl/right_arm-eb22-j7_10-mc.xml @@ -0,0 +1,74 @@ + + + + + + + + + + + + + + + + 4 4 4 4 + 70 85 85 85 + 1000 1000 1000 1000 + 2000 2000 2000 2000 + 1100 1100 1100 1100 + 1500 1500 1500 1500 + 3360 3360 3360 3360 + + + + 100 100 100 100 + + + + 0.0 0.0 0.0 0.0 + 0.0 0.0 0.0 0.0 + + + + POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT + POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT + POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT + none none none none + none none none none + none none none none + + + + + + + minjerk + pwm + metric_units + machine_units + -246 -246 -246 -381 + 0 0 0 0 + -33 -33 -33 -21 + 2700 2700 2700 2700 + 1000 1000 1000 1000 + 0 0 0 0 + 0 0 0 0 + 0 0 0 0 + + + + + + + + + + + + + + + + diff --git a/experimentalSetups/right_forearm/hardware/motorControl/right_arm-eb22-j7_10-mc_service.xml b/experimentalSetups/right_forearm/hardware/motorControl/right_arm-eb22-j7_10-mc_service.xml new file mode 100644 index 0000000000..3fad99f1af --- /dev/null +++ b/experimentalSetups/right_forearm/hardware/motorControl/right_arm-eb22-j7_10-mc_service.xml @@ -0,0 +1,88 @@ + + + + + + + + eomn_serv_MC_mc4plusfaps + + + + + mc4plus + + + + mtb4c + + 2 + 0 + + + 2 + 0 + 0 + + + + + CAN1:1 + + + + + id_fapAA id_fapBB id_fapCC id_fapDD + eoas_pos_angle eoas_pos_angle eoas_pos_angle eoas_pos_angle + POS:hand_thumb_oc POS:hand_index_oc POS:hand_middle_oc POS:hand_ring_pinky_oc + + mtb4c mtb4c mtb4c mtb4c + CONN:J3_SDA3 CONN:J3_SDA0 CONN:J3_SDA1 CONN:J3_SDA2 + + + + TYPE:decideg TYPE:decideg TYPE:decideg TYPE:decideg + ROT:plus180 ROT:zero ROT:zero ROT:zero + -190.0 -305.0 -230.0 -55.0 + true true false false + + + + + 50 + id_fapAA id_fapBB id_fapCC id_fapDD + + + + + + + + pwm pwm pwm pwm + CONN:P5 CONN:P4 CONN:P3 CONN:P2 + + + + pos pos pos pos + POS:hand_thumb_oc POS:hand_index_oc POS:hand_middle_oc POS:hand_ring_pinky_oc + atjoint atjoint atjoint atjoint + 65535 65535 65535 65535 + 5 5 5 5 + + + + qenc qenc qenc qenc + CONN:P5 CONN:P4 CONN:P3 CONN:P2 + atmotor atmotor atmotor atmotor + 1600 1600 1600 1600 + 0 0 0 0 + + + + + + + + + + diff --git a/experimentalSetups/right_forearm/hardware/motorControl/right_arm-eb24-j11_12-mc.xml b/experimentalSetups/right_forearm/hardware/motorControl/right_arm-eb24-j11_12-mc.xml new file mode 100644 index 0000000000..dfd732903d --- /dev/null +++ b/experimentalSetups/right_forearm/hardware/motorControl/right_arm-eb24-j11_12-mc.xml @@ -0,0 +1,74 @@ + + + + + + + + + + + + + + + + 0 7 + 85 18 + 1000 1000 + 2000 2000 + 700 700 + 1500 1500 + 3360 3360 + + + + 100 100 + + + + 0.0 0.0 + 0.0 0.0 + + + + POS_PID_DEFAULT POS_PID_DEFAULT + POS_PID_DEFAULT POS_PID_DEFAULT + POS_PID_DEFAULT POS_PID_DEFAULT + none none + none none + none none + + + + + + + minjerk + pwm + metric_units + machine_units + 200 150 + 0 0 + 10 30 + 1500 3360 + 1000 3360 + 0 0 + 0 0 + 0 0 + + + + + + + + + + + + + + + + diff --git a/experimentalSetups/right_forearm/hardware/motorControl/right_arm-eb24-j11_12-mc_service.xml b/experimentalSetups/right_forearm/hardware/motorControl/right_arm-eb24-j11_12-mc_service.xml new file mode 100644 index 0000000000..92c77261fa --- /dev/null +++ b/experimentalSetups/right_forearm/hardware/motorControl/right_arm-eb24-j11_12-mc_service.xml @@ -0,0 +1,88 @@ + + + + + + + + eomn_serv_MC_mc4plusfaps + + + + + mc4plus + + + + mtb4c + + 2 + 0 + + + 2 + 0 + 0 + + + + + CAN1:2 + + + + + id_fapEE id_fapFF + eoas_pos_angle eoas_pos_angle + POS:hand_thumb_add POS:hand_index_add + + mtb4c mtb4c + CONN:J3_SDA2 CONN:J3_SDA3 + + + + TYPE:decideg TYPE:decideg + ROT:zero ROT:zero + -200.0 -295.0 + false false + + + + + 50 + id_fapEE id_fapFF + + + + + + + + pwm pwm + CONN:P2 CONN:P5 + + + + pos pos + POS:hand_thumb_add POS:hand_index_add + atjoint atjoint + 65535 65535 + 5 5 + + + + none none + CONN:P2 CONN:P5 + atmotor atmotor + -1600 1600 + 0 0 + + + + + + + + + + diff --git a/experimentalSetups/right_forearm/hardware/motorControl/right_arm-eb3-j2_3-mc.xml b/experimentalSetups/right_forearm/hardware/motorControl/right_arm-eb3-j2_3-mc.xml new file mode 100644 index 0000000000..f61c86d2ba --- /dev/null +++ b/experimentalSetups/right_forearm/hardware/motorControl/right_arm-eb3-j2_3-mc.xml @@ -0,0 +1,157 @@ + + + + + + + + + + + + + + 80 105 + -50 -3 + 120 120 + 5000 5000 + 9000 9000 + 15000 15000 + 8000 8000 + + + + 100 100 + + + + 0.2 0.1 + 0.05 0.05 + + + + POS_PID_DEFAULT POS_PID_DEFAULT + POS_PID_DEFAULT POS_PID_DEFAULT + POS_PID_DEFAULT POS_PID_DEFAULT + TRQ_PID_OUTPUT_CURR TRQ_PID_OUTPUT_CURR + 2FOC_CUR_CONTROL 2FOC_CUR_CONTROL + 2FOC_VEL_CONTROL 2FOC_VEL_CONTROL + + + + + + + minjerk + pwm + metric_units + machine_units + 0 0 + -1000 1000 + 0 0 + -1000 1000 + 8000 8000 + 2000 2000 + 0 0 + 0 0 + + + + + + + + torque + pwm + metric_units + dutycycle_percent + -2.5 3 + 0 0 + -3.5 4 + 25 25 + 1.56 1.56 + 0 0 + 0 0 + 0 0 + 1 1 + -0.003 0.0023 + 0 0 + -0.9 0.7 + + + + + + + + + low_lev_current + machine_units + machine_units + 8 8 + 0 0 + 2 2 + 10 10 + 32000 32000 + 32000 32000 + 0 0 + + + + low_lev_speed + machine_units + machine_units + 0 0 + 12 12 + 0 0 + 16 16 + 10 10 + 32000 32000 + 32000 32000 + + + + + + + + torque + current + metric_units + machine_units + 0 200 + 0 0 + 0 0 + 2500 2500 + 200 200 + 0 0 + 0 0 + 0 0 + 1 1 + -0.0001 0.0002 + 0 0 + -50 300 + + + + + 0.0049 0.0049 + + + + + 1 1 + 0 0 + 0 0 + 0 0 + 0.0001 0.0001 + 0.01 0.01 + 10 10 + 0.001 0.001 + 0.000099 0.000099 + + + + + + diff --git a/experimentalSetups/right_forearm/hardware/motorControl/right_arm-eb3-j2_3-mc_service.xml b/experimentalSetups/right_forearm/hardware/motorControl/right_arm-eb3-j2_3-mc_service.xml new file mode 100644 index 0000000000..d5a750ab4a --- /dev/null +++ b/experimentalSetups/right_forearm/hardware/motorControl/right_arm-eb3-j2_3-mc_service.xml @@ -0,0 +1,62 @@ + + + + + + + + eomn_serv_MC_foc + + + + + ems4 + + + + foc + + 1 + 6 + + + 3 + 3 + 10 + + + + + + + + + foc foc + CAN1:1:0 CAN1:2:0 + + + + amo amo + CONN:P6 CONN:P8 + atjoint atjoint + -16384 -16384 + 0.703 0.703 + + + + roie roie + CAN1:1:0 CAN1:2:0 + atmotor atmotor + 14400 14400 + 3.6 3.6 + + + + + + + + + + + diff --git a/experimentalSetups/right_forearm/hardware/motorControl/right_arm-eb30-j4_6-mc.xml b/experimentalSetups/right_forearm/hardware/motorControl/right_arm-eb30-j4_6-mc.xml new file mode 100644 index 0000000000..6f234f2a6b --- /dev/null +++ b/experimentalSetups/right_forearm/hardware/motorControl/right_arm-eb30-j4_6-mc.xml @@ -0,0 +1,100 @@ + + + + + + + + + + + + + + + 90 50 30 + -90 -60 -30 + 90 90 90 + 200 200 200 + 200 200 200 + 350 350 350 + 16000 16000 16000 + + + + 100 100 100 + + + + 0 0 0 + 0 0 0 + + + + POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT + POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT + POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT + none none none + 2FOC_CUR_CONTROL 2FOC_CUR_CONTROL 2FOC_CUR_CONTROL + 2FOC_VEL_CONTROL 2FOC_VEL_CONTROL 2FOC_VEL_CONTROL + + + + + + + minjerk + current + metric_units + machine_units + -50 -50 -50 + -8 -8 -8 + -220 -220 -220 + 500 500 500 + 200 200 200 + 0 0 0 + 0 0 0 + 0 0 0 + + + + + + + + + low_lev_current + machine_units + machine_units + 2 2 2 + 0 0 0 + 500 500 500 + 0 0 0 + 32000 32000 32000 + 32000 32000 32000 + 0 0 0 + + + + low_lev_speed + machine_units + machine_units + 0 0 0 + 12 12 12 + 0 0 0 + 16 16 16 + 10 10 10 + 32000 32000 32000 + 32000 32000 32000 + + + + + + + + + + + + diff --git a/experimentalSetups/right_forearm/hardware/motorControl/right_arm-eb30-j4_6-mc_service.xml b/experimentalSetups/right_forearm/hardware/motorControl/right_arm-eb30-j4_6-mc_service.xml new file mode 100644 index 0000000000..5b8e93b394 --- /dev/null +++ b/experimentalSetups/right_forearm/hardware/motorControl/right_arm-eb30-j4_6-mc_service.xml @@ -0,0 +1,58 @@ + + + + + + + + eomn_serv_MC_foc + + + + + amc + + + + amcbldc + + 2 + 0 + + + 2 + 0 + 4 + + + + + + + foc foc foc + CAN1:1:0 CAN1:2:0 CAN1:3:0 + + + + aea aea aea + CONN:J5_X1 CONN:J5_X2 CONN:J5_X3 + atjoint atjoint atjoint + 4096 4096 4096 + 0.4 0.4 0.4 + + + + none none none + CAN1:1:0 CAN1:2:0 CAN1:3:0 + atmotor atmotor atmotor + 0 0 0 + 0 0 0 + + + + + + + + + diff --git a/experimentalSetups/right_forearm/hardware/skin/left_arm-eb24-j4_7-skin.xml b/experimentalSetups/right_forearm/hardware/skin/left_arm-eb24-j4_7-skin.xml new file mode 100644 index 0000000000..b8eba1997b --- /dev/null +++ b/experimentalSetups/right_forearm/hardware/skin/left_arm-eb24-j4_7-skin.xml @@ -0,0 +1,15 @@ + + + + + + + + + + 14 13 12 11 10 9 8 + + + + + diff --git a/experimentalSetups/right_forearm/hardware/skin/left_arm-eb24-j4_7-skinSpec.xml b/experimentalSetups/right_forearm/hardware/skin/left_arm-eb24-j4_7-skinSpec.xml new file mode 100644 index 0000000000..54bfd3c064 --- /dev/null +++ b/experimentalSetups/right_forearm/hardware/skin/left_arm-eb24-j4_7-skinSpec.xml @@ -0,0 +1,42 @@ + + + + + + + 50 + 0 + 0xf0 + false + + + + + 1 + + 1 14 14 50 1 0xf0 + + + + + + false + 2 + 0x2200 + + + + 2 + 1 14 0 6 1 0 0x2000 + 1 14 8 11 1 2 0x2200 + + + + + + diff --git a/experimentalSetups/right_forearm/hardware/skin/left_upperarm-eb2-skin.xml b/experimentalSetups/right_forearm/hardware/skin/left_upperarm-eb2-skin.xml new file mode 100644 index 0000000000..f24dfa1799 --- /dev/null +++ b/experimentalSetups/right_forearm/hardware/skin/left_upperarm-eb2-skin.xml @@ -0,0 +1,14 @@ + + + + + + + + + + 13 + + + + diff --git a/experimentalSetups/right_forearm/hardware/skin/left_upperarm-eb2-skinSpec.xml b/experimentalSetups/right_forearm/hardware/skin/left_upperarm-eb2-skinSpec.xml new file mode 100644 index 0000000000..4cb54586a9 --- /dev/null +++ b/experimentalSetups/right_forearm/hardware/skin/left_upperarm-eb2-skinSpec.xml @@ -0,0 +1,38 @@ + + + + + + + 50 + 8 + + 0xf0 + false + + + + + true + 2 + 0x2200 + + + + + + diff --git a/experimentalSetups/right_forearm/hardware/skin/right_arm-eb27-j4_7-skin.xml b/experimentalSetups/right_forearm/hardware/skin/right_arm-eb27-j4_7-skin.xml new file mode 100644 index 0000000000..511934f45a --- /dev/null +++ b/experimentalSetups/right_forearm/hardware/skin/right_arm-eb27-j4_7-skin.xml @@ -0,0 +1,14 @@ + + + + + + + + + + 14 13 12 11 10 9 8 + + + + diff --git a/experimentalSetups/right_forearm/hardware/skin/right_arm-eb27-j4_7-skinSpec.xml b/experimentalSetups/right_forearm/hardware/skin/right_arm-eb27-j4_7-skinSpec.xml new file mode 100644 index 0000000000..54bfd3c064 --- /dev/null +++ b/experimentalSetups/right_forearm/hardware/skin/right_arm-eb27-j4_7-skinSpec.xml @@ -0,0 +1,42 @@ + + + + + + + 50 + 0 + 0xf0 + false + + + + + 1 + + 1 14 14 50 1 0xf0 + + + + + + false + 2 + 0x2200 + + + + 2 + 1 14 0 6 1 0 0x2000 + 1 14 8 11 1 2 0x2200 + + + + + + diff --git a/experimentalSetups/right_forearm/hardware/skin/right_upperarm-eb4-skin.xml b/experimentalSetups/right_forearm/hardware/skin/right_upperarm-eb4-skin.xml new file mode 100644 index 0000000000..a070ff78b9 --- /dev/null +++ b/experimentalSetups/right_forearm/hardware/skin/right_upperarm-eb4-skin.xml @@ -0,0 +1,14 @@ + + + + + + + + + + 13 + + + + diff --git a/experimentalSetups/right_forearm/hardware/skin/right_upperarm-eb4-skinSpec.xml b/experimentalSetups/right_forearm/hardware/skin/right_upperarm-eb4-skinSpec.xml new file mode 100644 index 0000000000..c0f7fec793 --- /dev/null +++ b/experimentalSetups/right_forearm/hardware/skin/right_upperarm-eb4-skinSpec.xml @@ -0,0 +1,38 @@ + + + + + + + 50 + 8 + 0xf0 + false + + + + + true + 2 + 0x2200 + + + + + + diff --git a/experimentalSetups/right_forearm/hardware/skin/torso-eb22-skin.xml b/experimentalSetups/right_forearm/hardware/skin/torso-eb22-skin.xml new file mode 100644 index 0000000000..c76292a9c0 --- /dev/null +++ b/experimentalSetups/right_forearm/hardware/skin/torso-eb22-skin.xml @@ -0,0 +1,15 @@ + + + + + + + + + + + 7 8 9 10 + + + + diff --git a/experimentalSetups/right_forearm/hardware/skin/torso-eb22-skinSpec.xml b/experimentalSetups/right_forearm/hardware/skin/torso-eb22-skinSpec.xml new file mode 100644 index 0000000000..7644775370 --- /dev/null +++ b/experimentalSetups/right_forearm/hardware/skin/torso-eb22-skinSpec.xml @@ -0,0 +1,22 @@ + + + + + + + 50 + 0 + 0xf0 + false + + + + + true + 2 + 0x2200 + + + diff --git a/experimentalSetups/right_forearm/hardware/skin/torso-ems5-inertial_gyro.xml b/experimentalSetups/right_forearm/hardware/skin/torso-ems5-inertial_gyro.xml new file mode 100644 index 0000000000..551b249d96 --- /dev/null +++ b/experimentalSetups/right_forearm/hardware/skin/torso-ems5-inertial_gyro.xml @@ -0,0 +1,55 @@ + + + + + + + + + + + + + + eomn_serv_AS_inertials + + + + + eobrd_mtb + + + 0 + 0 + + + 0 + 0 + 0 + + + + + on_ems10_gyros + + + eoas_gyros_st_l3g4200d + + + ETH:0 + + + + + + + 10 + on_ems10_gyros + + + + + + + + diff --git a/experimentalSetups/right_forearm/network.ergoCubSN000.xml b/experimentalSetups/right_forearm/network.ergoCubSN000.xml new file mode 100644 index 0000000000..7af277c92d --- /dev/null +++ b/experimentalSetups/right_forearm/network.ergoCubSN000.xml @@ -0,0 +1,370 @@ + + + + + + + + + + + + + + ETH + + + + + + ETH + + + + + + + + + + ETH + + + + + + ETH + + + + + + ETH + + + + + + ETH + + + + + + ETH + + + + + + + ETH + + + + + + ETH + + + + + + ETH + + + + + + ETH + + + + + + ETH + + + + + + ETH + + + + + + + + + + ETH + + + + + + ETH + + + + + + ETH + + + + + + ETH + + + + + + ETH + + + + + + ETH + + + + + + ETH + + + + + + ETH + + + + + + ETH + + + + + + ETH + + + + + + ETH + + + + + + + + + + ETH + + + + + + ETH + + + + + + ETH + + + + + + ETH + + + + + + + + + + ETH + + + + + + ETH + + + + + + ETH + + + + + + ETH + + + + + + ETH + + + + + + ETH + + + + + + ETH + + + + + + ETH + + + + + + ETH + + + + + + ETH + + + + + + + + + + + ETH + + + + + + ETH + + + + + + ETH + + + + + + ETH + + + + + + ETH + + + + + + ETH + + + + + + ETH + + + + + + ETH + + + + + + ETH + + + + + + ETH + + + + + + + + + + + + + + + + + + diff --git a/experimentalSetups/right_forearm/r_forearm.xml b/experimentalSetups/right_forearm/r_forearm.xml new file mode 100644 index 0000000000..aade737de2 --- /dev/null +++ b/experimentalSetups/right_forearm/r_forearm.xml @@ -0,0 +1,34 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/experimentalSetups/right_forearm/ra.xml b/experimentalSetups/right_forearm/ra.xml new file mode 100644 index 0000000000..788729a302 --- /dev/null +++ b/experimentalSetups/right_forearm/ra.xml @@ -0,0 +1,41 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/experimentalSetups/right_forearm/telemetry/telemetryDeviceExternal.xml b/experimentalSetups/right_forearm/telemetry/telemetryDeviceExternal.xml new file mode 100644 index 0000000000..b2df8f8afb --- /dev/null +++ b/experimentalSetups/right_forearm/telemetry/telemetryDeviceExternal.xml @@ -0,0 +1,38 @@ + + + + + + (torso_pitch,torso_roll,torso_yaw,neck_pitch, neck_roll,neck_yaw,l_shoulder_pitch,l_shoulder_roll,l_shoulder_yaw,l_elbow,l_wrist_prosup,l_wrist_pitch,l_wrist_yaw,r_shoulder_pitch,r_shoulder_roll,r_shoulder_yaw,r_elbow,r_wrist_prosup,r_wrist_pitch,r_wrist_yaw,l_hip_pitch,l_hip_roll,l_hip_yaw,l_knee,l_ankle_pitch,l_ankle_roll,r_hip_pitch,r_hip_roll,r_hip_yaw,r_knee,r_ankle_pitch,r_ankle_roll) + true + true + true + true + true + false + true + true + telemetry_iCub3 + /home/ergocub/telemetry_logs/ + 100000 + true + 120.0 + 300 + true + + + + + head_mc + torso_mc + left_arm_mc + right_arm_mc + left_leg_mc + right_leg_mc + + + + + + + diff --git a/experimentalSetups/right_forearm/wrappers/POS/left_hand-pos_wrapper2.xml b/experimentalSetups/right_forearm/wrappers/POS/left_hand-pos_wrapper2.xml new file mode 100644 index 0000000000..f93627804a --- /dev/null +++ b/experimentalSetups/right_forearm/wrappers/POS/left_hand-pos_wrapper2.xml @@ -0,0 +1,17 @@ + + + + + 10 + /ergocub/left_hand/POS2:o + + + + + left_hand-pos2 + + + + + + diff --git a/experimentalSetups/right_forearm/wrappers/POS/left_hand-pos_wrapper4.xml b/experimentalSetups/right_forearm/wrappers/POS/left_hand-pos_wrapper4.xml new file mode 100644 index 0000000000..3df3c6284b --- /dev/null +++ b/experimentalSetups/right_forearm/wrappers/POS/left_hand-pos_wrapper4.xml @@ -0,0 +1,17 @@ + + + + + 10 + /ergocub/left_hand/POS4:o + + + + + left_hand-pos4 + + + + + + diff --git a/experimentalSetups/right_forearm/wrappers/POS/right_hand-pos_wrapper2.xml b/experimentalSetups/right_forearm/wrappers/POS/right_hand-pos_wrapper2.xml new file mode 100644 index 0000000000..65c2a9efd7 --- /dev/null +++ b/experimentalSetups/right_forearm/wrappers/POS/right_hand-pos_wrapper2.xml @@ -0,0 +1,17 @@ + + + + + 10 + /ergocub/right_hand/POS2:o + + + + + right_hand-pos2 + + + + + + diff --git a/experimentalSetups/right_forearm/wrappers/POS/right_hand-pos_wrapper4.xml b/experimentalSetups/right_forearm/wrappers/POS/right_hand-pos_wrapper4.xml new file mode 100644 index 0000000000..7bc480842a --- /dev/null +++ b/experimentalSetups/right_forearm/wrappers/POS/right_hand-pos_wrapper4.xml @@ -0,0 +1,17 @@ + + + + + 10 + /ergocub/right_hand/POS4:o + + + + + right_hand-pos4 + + + + + + diff --git a/experimentalSetups/right_forearm/wrappers/motorControl/right_arm-mc_remapper.xml b/experimentalSetups/right_forearm/wrappers/motorControl/right_arm-mc_remapper.xml new file mode 100644 index 0000000000..98815f9f02 --- /dev/null +++ b/experimentalSetups/right_forearm/wrappers/motorControl/right_arm-mc_remapper.xml @@ -0,0 +1,15 @@ + + + + + (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) + 9 + + + 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/experimentalSetups/right_forearm/wrappers/motorControl/right_arm-mc_wrapper.xml b/experimentalSetups/right_forearm/wrappers/motorControl/right_arm-mc_wrapper.xml new file mode 100644 index 0000000000..27e54ee913 --- /dev/null +++ b/experimentalSetups/right_forearm/wrappers/motorControl/right_arm-mc_wrapper.xml @@ -0,0 +1,11 @@ + + + + + 0.002 + /ergocub/right_arm + + right_arm-mc_remapper + + + diff --git a/experimentalSetups/right_forearm/yarpmotorgui.ini b/experimentalSetups/right_forearm/yarpmotorgui.ini new file mode 100644 index 0000000000..674239babc --- /dev/null +++ b/experimentalSetups/right_forearm/yarpmotorgui.ini @@ -0,0 +1,7 @@ +//name of the robot +robot ergocub +//parts to be opened by the GUI +parts (head torso left_arm right_arm right_leg left_leg) + + //DO NOT REMOVE THIS LINE + diff --git a/experimentalSetups/right_forearm/yarprobotinterface.ini b/experimentalSetups/right_forearm/yarprobotinterface.ini new file mode 100644 index 0000000000..79751db316 --- /dev/null +++ b/experimentalSetups/right_forearm/yarprobotinterface.ini @@ -0,0 +1,2 @@ +config ./ergocub_all.xml +