From 0827a13323bf5426ca927a1cbbbec629a15b213d Mon Sep 17 00:00:00 2001 From: Viola Del Bono <61685519+violadelbono@users.noreply.github.com> Date: Fri, 26 Mar 2021 16:17:00 +0100 Subject: [PATCH] Added new robot iCubZagreb01 S/N:045 to robots-configuration (#248) --- all_robots.xml | 1 + iCubZagreb01/CMakeLists.txt | 13 + iCubZagreb01/calib_all_joints.xml | 64 ++ iCubZagreb01/calib_head.xml | 20 + iCubZagreb01/calib_lowerbody.xml | 34 + iCubZagreb01/calib_torso.xml | 22 + iCubZagreb01/calib_upperbody.xml | 48 ++ iCubZagreb01/calibrators/face-calib.xml | 61 ++ iCubZagreb01/calibrators/head-calib.xml | 50 ++ iCubZagreb01/calibrators/left_arm-calib.xml | 49 ++ iCubZagreb01/calibrators/left_leg-calib.xml | 50 ++ iCubZagreb01/calibrators/right_arm-calib.xml | 50 ++ iCubZagreb01/calibrators/right_leg-calib.xml | 48 ++ iCubZagreb01/calibrators/torso-calib.xml | 48 ++ .../camera/ServerGrabberDualDragon.ini | 9 + .../camera/ServerGrabberDualDragonBayer.ini | 9 + .../ServerGrabberDualDragonBayer640_480.ini | 9 + .../camera/dragonfly2_config_left.ini | 19 + .../dragonfly2_config_left_bayer_320_240.ini | 20 + .../dragonfly2_config_left_bayer_640_480.ini | 20 + .../camera/dragonfly2_config_right.ini | 20 + .../dragonfly2_config_right_bayer_320_240.ini | 20 + .../dragonfly2_config_right_bayer_640_480.ini | 21 + iCubZagreb01/cartesian/left_arm-cartesian.xml | 56 ++ .../cartesian/right_arm-cartesian.xml | 56 ++ iCubZagreb01/cartesianSolver.ini | 69 ++ iCubZagreb01/estimators/wholebodydynamics.xml | 101 +++ .../estimators/wholebodydynamics_standup.xml | 89 +++ iCubZagreb01/firmwareupdater.ini | 2 + iCubZagreb01/general.xml | 12 + .../hardware/FT/left_arm-eb1-j0_3-strain.xml | 55 ++ .../hardware/FT/left_leg-eb6-j0_3-strain.xml | 56 ++ .../hardware/FT/left_leg-eb7-j4_5-strain.xml | 56 ++ .../hardware/FT/right_arm-eb3-j0_3-strain.xml | 57 ++ .../hardware/FT/right_leg-eb8-j0_3-strain.xml | 55 ++ .../hardware/FT/right_leg-eb9-j4_5-strain.xml | 57 ++ .../MAIS/left_arm-eb26-j12_15-mais.xml | 51 ++ .../MAIS/right_arm-eb29-j12_15-mais.xml | 51 ++ .../hardware/electronics/face-eb22-j0-eln.xml | 40 ++ .../electronics/head-eb20-j0_1-eln.xml | 40 ++ .../electronics/head-eb21-j2_5-eln.xml | 40 ++ .../electronics/left_arm-eb1-j0_3-eln.xml | 40 ++ .../electronics/left_arm-eb24-j4_7-eln.xml | 40 ++ .../electronics/left_arm-eb25-j8_11-eln.xml | 40 ++ .../electronics/left_arm-eb26-j12_15-eln.xml | 40 ++ .../electronics/left_leg-eb10-skin-eln.xml | 41 ++ .../electronics/left_leg-eb6-j0_3-eln.xml | 40 ++ .../electronics/left_leg-eb7-j4_5-eln.xml | 40 ++ iCubZagreb01/hardware/electronics/pc104.xml | 14 + .../electronics/right_arm-eb27-j4_7-eln.xml | 40 ++ .../electronics/right_arm-eb28-j8_11-eln.xml | 40 ++ .../electronics/right_arm-eb29-j12_15-eln.xml | 40 ++ .../electronics/right_arm-eb3-j0_3-eln.xml | 40 ++ .../electronics/right_leg-eb11-skin-eln.xml | 41 ++ .../electronics/right_leg-eb8-j0_3-eln.xml | 40 ++ .../electronics/right_leg-eb9-j4_5-eln.xml | 40 ++ .../electronics/torso-eb5-j0_2-eln.xml | 40 ++ .../hardware/inertials/head-inertial.xml | 54 ++ .../left_arm-eb24-j4_7-inertials.xml | 59 ++ .../inertials/left_leg-eb10-inertials.xml | 69 ++ .../hardware/inertials/left_leg-eb6-IMU.xml | 58 ++ .../inertials/left_leg-eb6-inertials.xml | 55 ++ .../hardware/inertials/left_leg-eb7-IMU.xml | 58 ++ .../inertials/left_leg-eb7-inertials.xml | 55 ++ .../right_arm-eb27-j4_7-inertials.xml | 59 ++ .../inertials/right_leg-eb11-inertials.xml | 69 ++ .../hardware/inertials/right_leg-eb8-IMU.xml | 57 ++ .../inertials/right_leg-eb8-inertials.xml | 55 ++ .../hardware/inertials/right_leg-eb9-IMU.xml | 57 ++ .../inertials/right_leg-eb9-inertials.xml | 55 ++ .../inertials/torso-eb1-inertials.xml | 55 ++ .../inertials/torso-eb22-inertials.xml | 55 ++ .../inertials/torso-eb3-inertials.xml | 55 ++ .../inertials/waist-eb5-inertials.xml | 55 ++ .../hardware/inertials/waist-inertial.xml | 10 + .../hardware/mechanicals/face-eb22-j0-mec.xml | 74 ++ .../mechanicals/head-eb20-j0_1-mec.xml | 69 ++ .../mechanicals/head-eb21-j2_5-mec.xml | 79 +++ .../mechanicals/left_arm-eb1-j0_3-mec.xml | 83 +++ .../mechanicals/left_arm-eb24-j4_7-mec.xml | 79 +++ .../mechanicals/left_arm-eb25-j8_11-mec.xml | 77 +++ .../mechanicals/left_arm-eb26-j12_15-mec.xml | 82 +++ .../mechanicals/left_leg-eb6-j0_3-mec.xml | 93 +++ .../mechanicals/left_leg-eb7-j4_5-mec.xml | 79 +++ .../mechanicals/right_arm-eb27-j4_7-mec.xml | 76 ++ .../mechanicals/right_arm-eb28-j8_11-mec.xml | 76 ++ .../mechanicals/right_arm-eb29-j12_15-mec.xml | 83 +++ .../mechanicals/right_arm-eb3-j0_3-mec.xml | 85 +++ .../mechanicals/right_leg-eb8-j0_3-mec.xml | 93 +++ .../mechanicals/right_leg-eb9-j4_5-mec.xml | 80 +++ .../mechanicals/torso-eb5-j0_2-mec.xml | 74 ++ .../hardware/motorControl/face-eb22-j0-mc.xml | 70 ++ .../motorControl/face-eb22-j0-mc_service.xml | 48 ++ .../motorControl/head-eb20-j0_1-mc.xml | 70 ++ .../head-eb20-j0_1-mc_service.xml | 48 ++ .../motorControl/head-eb21-j2_5-mc.xml | 71 ++ .../head-eb21-j2_5-mc_service.xml | 49 ++ .../motorControl/left_arm-eb1-j0_3-mc.xml | 117 ++++ .../left_arm-eb1-j0_3-mc_service.xml | 62 ++ .../motorControl/left_arm-eb24-j4_7-mc.xml | 92 +++ .../left_arm-eb24-j4_7-mc_service.xml | 51 ++ .../motorControl/left_arm-eb25-j8_11-mc.xml | 73 ++ .../left_arm-eb25-j8_11-mc_service.xml | 66 ++ .../motorControl/left_arm-eb26-j12_15-mc.xml | 72 ++ .../left_arm-eb26-j12_15-mc_service.xml | 64 ++ .../motorControl/left_leg-eb6-j0_3-mc.xml | 117 ++++ .../left_leg-eb6-j0_3-mc_service.xml | 62 ++ .../motorControl/left_leg-eb7-j4_5-mc.xml | 118 ++++ .../left_leg-eb7-j4_5-mc_service.xml | 61 ++ .../motorControl/right_arm-eb27-j4_7-mc.xml | 92 +++ .../right_arm-eb27-j4_7-mc_service.xml | 47 ++ .../motorControl/right_arm-eb28-j8_11-mc.xml | 73 ++ .../right_arm-eb28-j8_11-mc_service.xml | 65 ++ .../motorControl/right_arm-eb29-j12_15-mc.xml | 63 ++ .../right_arm-eb29-j12_15-mc_service.xml | 65 ++ .../motorControl/right_arm-eb3-j0_3-mc.xml | 117 ++++ .../right_arm-eb3-j0_3-mc_service.xml | 63 ++ .../motorControl/right_leg-eb8-j0_3-mc.xml | 118 ++++ .../right_leg-eb8-j0_3-mc_service.xml | 62 ++ .../motorControl/right_leg-eb9-j4_5-mc.xml | 118 ++++ .../right_leg-eb9-j4_5-mc_service.xml | 60 ++ .../motorControl/torso-eb5-j0_2-mc.xml | 118 ++++ .../torso-eb5-j0_2-mc_service.xml | 64 ++ .../hardware/skin/left_arm-eb24-j4_7-skin.xml | 15 + .../skin/left_arm-eb24-j4_7-skinSpec.xml | 54 ++ .../hardware/skin/left_leg-eb10-skin.xml | 16 + .../hardware/skin/left_leg-eb10-skinSpec.xml | 127 ++++ .../skin/right_arm-eb27-j4_7-skin.xml | 14 + .../skin/right_arm-eb27-j4_7-skinSpec.xml | 55 ++ .../hardware/skin/right_leg-eb11-skin.xml | 16 + .../hardware/skin/right_leg-eb11-skinSpec.xml | 80 +++ .../hardware/skin/torso-eb22-skin.xml | 15 + .../hardware/skin/torso-eb22-skinSpec.xml | 23 + iCubZagreb01/head-inetrials.xml | 37 + iCubZagreb01/iKinGazeCtrl.ini | 11 + iCubZagreb01/icubEyes.ini | 67 ++ iCubZagreb01/icub_all.xml | 114 +++ iCubZagreb01/icub_all_no_skin.xml | 113 +++ iCubZagreb01/icub_head_IMU.xml | 25 + iCubZagreb01/lshw.txt | 521 ++++++++++++++ iCubZagreb01/network.iCubZagreb01.xml | 648 ++++++++++++++++++ iCubZagreb01/pf3dTracker.ini | 98 +++ iCubZagreb01/skin.xml | 28 + iCubZagreb01/startaudio.ini | 5 + iCubZagreb01/wholeBodyDynamics.ini | 6 + .../wrappers/FT/left_arm-FT_wrapper.xml | 18 + .../wrappers/FT/left_foot-FT_wrapper.xml | 18 + .../FT/left_foot-FT_wrapper_multipleSens.xml | 18 + .../wrappers/FT/left_leg-FT_wrapper.xml | 18 + .../FT/left_leg-FT_wrapper_multipleSens.xml | 18 + .../wrappers/FT/right_arm-FT_wrapper.xml | 18 + .../wrappers/FT/right_foot-FT_wrapper.xml | 18 + .../FT/right_foot-FT_wrapper_multipleSens.xml | 18 + .../wrappers/FT/right_leg-FT_wrapper.xml | 18 + .../FT/right_leg-FT_wrapper_multipleSens.xml | 18 + .../wrappers/MAIS/left_arm-mais_wrapper.xml | 16 + .../wrappers/MAIS/right_arm-mais_wrapper.xml | 16 + .../wrappers/VFT/left_arm-VFT_wrapper.xml | 20 + .../wrappers/VFT/left_leg-VFT_wrapper.xml | 20 + .../wrappers/VFT/right_arm-VFT_wrapper.xml | 20 + .../wrappers/VFT/right_leg-VFT_wrapper.xml | 20 + .../wrappers/VFT/torso-VFT_wrapper.xml | 18 + .../wrappers/inertials/head-imuFilter.xml | 20 + .../inertials/head-imuFilter_wrapper.xml | 20 + .../inertials/head-inertials_wrapper.xml | 20 + .../inertials/left_arm-inertials_remapper.xml | 24 + .../left_arm-inertials_wrapper-deprecated.xml | 21 + .../inertials/left_arm-inertials_wrapper.xml | 20 + .../inertials/left_foot-imu_wrapper.xml | 21 + .../inertials/left_leg-imu_wrapper.xml | 21 + .../inertials/left_leg-inertials_remapper.xml | 40 ++ .../left_leg-inertials_wrapper-deprecated.xml | 55 ++ .../inertials/left_leg-inertials_wrapper.xml | 20 + .../right_arm-inertials_remapper.xml | 24 + ...right_arm-inertials_wrapper-deprecated.xml | 21 + .../inertials/right_arm-inertials_wrapper.xml | 20 + .../inertials/right_foot-imu_wrapper.xml | 21 + .../inertials/right_leg-imu_wrapper.xml | 21 + .../right_leg-inertials_remapper.xml | 39 ++ ...right_leg-inertials_wrapper-deprecated.xml | 55 ++ .../inertials/right_leg-inertials_wrapper.xml | 20 + .../inertials/torso-inertial_wrapper.xml | 19 + .../inertials/torso-inertials_remapper.xml | 27 + .../torso-inertials_wrapper-deprecated.xml | 49 ++ .../inertials/torso-inertials_wrapper.xml | 18 + .../inertials/waist-inertials_remapper.xml | 21 + .../waist-inertials_wrapper-deprecated.xml | 19 + .../inertials/waist-inertials_wrapper.xml | 18 + .../wrappers/motorControl/face-mc_wrapper.xml | 29 + .../wrappers/motorControl/head-mc_wrapper.xml | 28 + .../motorControl/icub_ros_wrapper.xml | 64 ++ .../motorControl/left_arm-mc_wrapper.xml | 33 + .../motorControl/left_forearm-mc_wrapper.xml | 33 + .../motorControl/left_leg-mc_wrapper.xml | 30 + .../motorControl/left_shoulder-mc_wrapper.xml | 27 + .../motorControl/right_arm-mc_wrapper.xml | 33 + .../motorControl/right_forearm-mc_wrapper.xml | 33 + .../motorControl/right_leg-mc_wrapper.xml | 30 + .../right_shoulder-mc_wrapper.xml | 27 + .../motorControl/torso-mc_wrapper.xml | 28 + .../wrappers/skin/left_arm-skin_wrapper.xml | 26 + .../wrappers/skin/left_leg-skin_wrapper.xml | 26 + .../wrappers/skin/right_arm-skin_wrapper.xml | 26 + .../wrappers/skin/right_leg-skin_wrapper.xml | 26 + .../wrappers/skin/torso-skin_wrapper.xml | 24 + iCubZagreb01/yarpmotorgui.ini | 7 + iCubZagreb01/yarprobotinterface.ini | 3 + 207 files changed, 10577 insertions(+) create mode 100644 iCubZagreb01/CMakeLists.txt create mode 100644 iCubZagreb01/calib_all_joints.xml create mode 100644 iCubZagreb01/calib_head.xml create mode 100644 iCubZagreb01/calib_lowerbody.xml create mode 100644 iCubZagreb01/calib_torso.xml create mode 100644 iCubZagreb01/calib_upperbody.xml create mode 100644 iCubZagreb01/calibrators/face-calib.xml create mode 100644 iCubZagreb01/calibrators/head-calib.xml create mode 100644 iCubZagreb01/calibrators/left_arm-calib.xml create mode 100644 iCubZagreb01/calibrators/left_leg-calib.xml create mode 100644 iCubZagreb01/calibrators/right_arm-calib.xml create mode 100644 iCubZagreb01/calibrators/right_leg-calib.xml create mode 100644 iCubZagreb01/calibrators/torso-calib.xml create mode 100644 iCubZagreb01/camera/ServerGrabberDualDragon.ini create mode 100644 iCubZagreb01/camera/ServerGrabberDualDragonBayer.ini create mode 100644 iCubZagreb01/camera/ServerGrabberDualDragonBayer640_480.ini create mode 100644 iCubZagreb01/camera/dragonfly2_config_left.ini create mode 100644 iCubZagreb01/camera/dragonfly2_config_left_bayer_320_240.ini create mode 100644 iCubZagreb01/camera/dragonfly2_config_left_bayer_640_480.ini create mode 100644 iCubZagreb01/camera/dragonfly2_config_right.ini create mode 100644 iCubZagreb01/camera/dragonfly2_config_right_bayer_320_240.ini create mode 100644 iCubZagreb01/camera/dragonfly2_config_right_bayer_640_480.ini create mode 100644 iCubZagreb01/cartesian/left_arm-cartesian.xml create mode 100644 iCubZagreb01/cartesian/right_arm-cartesian.xml create mode 100644 iCubZagreb01/cartesianSolver.ini create mode 100644 iCubZagreb01/estimators/wholebodydynamics.xml create mode 100644 iCubZagreb01/estimators/wholebodydynamics_standup.xml create mode 100644 iCubZagreb01/firmwareupdater.ini create mode 100644 iCubZagreb01/general.xml create mode 100644 iCubZagreb01/hardware/FT/left_arm-eb1-j0_3-strain.xml create mode 100644 iCubZagreb01/hardware/FT/left_leg-eb6-j0_3-strain.xml create mode 100644 iCubZagreb01/hardware/FT/left_leg-eb7-j4_5-strain.xml create mode 100644 iCubZagreb01/hardware/FT/right_arm-eb3-j0_3-strain.xml create mode 100644 iCubZagreb01/hardware/FT/right_leg-eb8-j0_3-strain.xml create mode 100644 iCubZagreb01/hardware/FT/right_leg-eb9-j4_5-strain.xml create mode 100644 iCubZagreb01/hardware/MAIS/left_arm-eb26-j12_15-mais.xml create mode 100644 iCubZagreb01/hardware/MAIS/right_arm-eb29-j12_15-mais.xml create mode 100644 iCubZagreb01/hardware/electronics/face-eb22-j0-eln.xml create mode 100644 iCubZagreb01/hardware/electronics/head-eb20-j0_1-eln.xml create mode 100644 iCubZagreb01/hardware/electronics/head-eb21-j2_5-eln.xml create mode 100644 iCubZagreb01/hardware/electronics/left_arm-eb1-j0_3-eln.xml create mode 100644 iCubZagreb01/hardware/electronics/left_arm-eb24-j4_7-eln.xml create mode 100644 iCubZagreb01/hardware/electronics/left_arm-eb25-j8_11-eln.xml create mode 100644 iCubZagreb01/hardware/electronics/left_arm-eb26-j12_15-eln.xml create mode 100644 iCubZagreb01/hardware/electronics/left_leg-eb10-skin-eln.xml create mode 100644 iCubZagreb01/hardware/electronics/left_leg-eb6-j0_3-eln.xml create mode 100644 iCubZagreb01/hardware/electronics/left_leg-eb7-j4_5-eln.xml create mode 100644 iCubZagreb01/hardware/electronics/pc104.xml create mode 100644 iCubZagreb01/hardware/electronics/right_arm-eb27-j4_7-eln.xml create mode 100644 iCubZagreb01/hardware/electronics/right_arm-eb28-j8_11-eln.xml create mode 100644 iCubZagreb01/hardware/electronics/right_arm-eb29-j12_15-eln.xml create mode 100644 iCubZagreb01/hardware/electronics/right_arm-eb3-j0_3-eln.xml create mode 100644 iCubZagreb01/hardware/electronics/right_leg-eb11-skin-eln.xml create mode 100644 iCubZagreb01/hardware/electronics/right_leg-eb8-j0_3-eln.xml create mode 100644 iCubZagreb01/hardware/electronics/right_leg-eb9-j4_5-eln.xml create mode 100644 iCubZagreb01/hardware/electronics/torso-eb5-j0_2-eln.xml create mode 100644 iCubZagreb01/hardware/inertials/head-inertial.xml create mode 100644 iCubZagreb01/hardware/inertials/left_arm-eb24-j4_7-inertials.xml create mode 100644 iCubZagreb01/hardware/inertials/left_leg-eb10-inertials.xml create mode 100644 iCubZagreb01/hardware/inertials/left_leg-eb6-IMU.xml create mode 100644 iCubZagreb01/hardware/inertials/left_leg-eb6-inertials.xml create mode 100644 iCubZagreb01/hardware/inertials/left_leg-eb7-IMU.xml create mode 100644 iCubZagreb01/hardware/inertials/left_leg-eb7-inertials.xml create mode 100644 iCubZagreb01/hardware/inertials/right_arm-eb27-j4_7-inertials.xml create mode 100644 iCubZagreb01/hardware/inertials/right_leg-eb11-inertials.xml create mode 100644 iCubZagreb01/hardware/inertials/right_leg-eb8-IMU.xml create mode 100644 iCubZagreb01/hardware/inertials/right_leg-eb8-inertials.xml create mode 100644 iCubZagreb01/hardware/inertials/right_leg-eb9-IMU.xml create mode 100644 iCubZagreb01/hardware/inertials/right_leg-eb9-inertials.xml create mode 100644 iCubZagreb01/hardware/inertials/torso-eb1-inertials.xml create mode 100644 iCubZagreb01/hardware/inertials/torso-eb22-inertials.xml create mode 100644 iCubZagreb01/hardware/inertials/torso-eb3-inertials.xml create mode 100644 iCubZagreb01/hardware/inertials/waist-eb5-inertials.xml create mode 100644 iCubZagreb01/hardware/inertials/waist-inertial.xml create mode 100644 iCubZagreb01/hardware/mechanicals/face-eb22-j0-mec.xml create mode 100644 iCubZagreb01/hardware/mechanicals/head-eb20-j0_1-mec.xml create mode 100644 iCubZagreb01/hardware/mechanicals/head-eb21-j2_5-mec.xml create mode 100644 iCubZagreb01/hardware/mechanicals/left_arm-eb1-j0_3-mec.xml create mode 100644 iCubZagreb01/hardware/mechanicals/left_arm-eb24-j4_7-mec.xml create mode 100644 iCubZagreb01/hardware/mechanicals/left_arm-eb25-j8_11-mec.xml create mode 100644 iCubZagreb01/hardware/mechanicals/left_arm-eb26-j12_15-mec.xml create mode 100644 iCubZagreb01/hardware/mechanicals/left_leg-eb6-j0_3-mec.xml create mode 100644 iCubZagreb01/hardware/mechanicals/left_leg-eb7-j4_5-mec.xml create mode 100644 iCubZagreb01/hardware/mechanicals/right_arm-eb27-j4_7-mec.xml create mode 100644 iCubZagreb01/hardware/mechanicals/right_arm-eb28-j8_11-mec.xml create mode 100644 iCubZagreb01/hardware/mechanicals/right_arm-eb29-j12_15-mec.xml create mode 100644 iCubZagreb01/hardware/mechanicals/right_arm-eb3-j0_3-mec.xml create mode 100644 iCubZagreb01/hardware/mechanicals/right_leg-eb8-j0_3-mec.xml create mode 100644 iCubZagreb01/hardware/mechanicals/right_leg-eb9-j4_5-mec.xml create mode 100644 iCubZagreb01/hardware/mechanicals/torso-eb5-j0_2-mec.xml create mode 100644 iCubZagreb01/hardware/motorControl/face-eb22-j0-mc.xml create mode 100644 iCubZagreb01/hardware/motorControl/face-eb22-j0-mc_service.xml create mode 100644 iCubZagreb01/hardware/motorControl/head-eb20-j0_1-mc.xml create mode 100644 iCubZagreb01/hardware/motorControl/head-eb20-j0_1-mc_service.xml create mode 100644 iCubZagreb01/hardware/motorControl/head-eb21-j2_5-mc.xml create mode 100644 iCubZagreb01/hardware/motorControl/head-eb21-j2_5-mc_service.xml create mode 100644 iCubZagreb01/hardware/motorControl/left_arm-eb1-j0_3-mc.xml create mode 100644 iCubZagreb01/hardware/motorControl/left_arm-eb1-j0_3-mc_service.xml create mode 100644 iCubZagreb01/hardware/motorControl/left_arm-eb24-j4_7-mc.xml create mode 100644 iCubZagreb01/hardware/motorControl/left_arm-eb24-j4_7-mc_service.xml create mode 100644 iCubZagreb01/hardware/motorControl/left_arm-eb25-j8_11-mc.xml create mode 100644 iCubZagreb01/hardware/motorControl/left_arm-eb25-j8_11-mc_service.xml create mode 100644 iCubZagreb01/hardware/motorControl/left_arm-eb26-j12_15-mc.xml create mode 100644 iCubZagreb01/hardware/motorControl/left_arm-eb26-j12_15-mc_service.xml create mode 100644 iCubZagreb01/hardware/motorControl/left_leg-eb6-j0_3-mc.xml create mode 100644 iCubZagreb01/hardware/motorControl/left_leg-eb6-j0_3-mc_service.xml create mode 100644 iCubZagreb01/hardware/motorControl/left_leg-eb7-j4_5-mc.xml create mode 100644 iCubZagreb01/hardware/motorControl/left_leg-eb7-j4_5-mc_service.xml create mode 100644 iCubZagreb01/hardware/motorControl/right_arm-eb27-j4_7-mc.xml create mode 100644 iCubZagreb01/hardware/motorControl/right_arm-eb27-j4_7-mc_service.xml create mode 100644 iCubZagreb01/hardware/motorControl/right_arm-eb28-j8_11-mc.xml create mode 100644 iCubZagreb01/hardware/motorControl/right_arm-eb28-j8_11-mc_service.xml create mode 100644 iCubZagreb01/hardware/motorControl/right_arm-eb29-j12_15-mc.xml create mode 100644 iCubZagreb01/hardware/motorControl/right_arm-eb29-j12_15-mc_service.xml create mode 100644 iCubZagreb01/hardware/motorControl/right_arm-eb3-j0_3-mc.xml create mode 100644 iCubZagreb01/hardware/motorControl/right_arm-eb3-j0_3-mc_service.xml create mode 100644 iCubZagreb01/hardware/motorControl/right_leg-eb8-j0_3-mc.xml create mode 100644 iCubZagreb01/hardware/motorControl/right_leg-eb8-j0_3-mc_service.xml create mode 100644 iCubZagreb01/hardware/motorControl/right_leg-eb9-j4_5-mc.xml create mode 100644 iCubZagreb01/hardware/motorControl/right_leg-eb9-j4_5-mc_service.xml create mode 100644 iCubZagreb01/hardware/motorControl/torso-eb5-j0_2-mc.xml create mode 100644 iCubZagreb01/hardware/motorControl/torso-eb5-j0_2-mc_service.xml create mode 100644 iCubZagreb01/hardware/skin/left_arm-eb24-j4_7-skin.xml create mode 100644 iCubZagreb01/hardware/skin/left_arm-eb24-j4_7-skinSpec.xml create mode 100644 iCubZagreb01/hardware/skin/left_leg-eb10-skin.xml create mode 100644 iCubZagreb01/hardware/skin/left_leg-eb10-skinSpec.xml create mode 100644 iCubZagreb01/hardware/skin/right_arm-eb27-j4_7-skin.xml create mode 100644 iCubZagreb01/hardware/skin/right_arm-eb27-j4_7-skinSpec.xml create mode 100644 iCubZagreb01/hardware/skin/right_leg-eb11-skin.xml create mode 100644 iCubZagreb01/hardware/skin/right_leg-eb11-skinSpec.xml create mode 100644 iCubZagreb01/hardware/skin/torso-eb22-skin.xml create mode 100644 iCubZagreb01/hardware/skin/torso-eb22-skinSpec.xml create mode 100644 iCubZagreb01/head-inetrials.xml create mode 100644 iCubZagreb01/iKinGazeCtrl.ini create mode 100644 iCubZagreb01/icubEyes.ini create mode 100644 iCubZagreb01/icub_all.xml create mode 100644 iCubZagreb01/icub_all_no_skin.xml create mode 100644 iCubZagreb01/icub_head_IMU.xml create mode 100644 iCubZagreb01/lshw.txt create mode 100644 iCubZagreb01/network.iCubZagreb01.xml create mode 100644 iCubZagreb01/pf3dTracker.ini create mode 100644 iCubZagreb01/skin.xml create mode 100644 iCubZagreb01/startaudio.ini create mode 100644 iCubZagreb01/wholeBodyDynamics.ini create mode 100644 iCubZagreb01/wrappers/FT/left_arm-FT_wrapper.xml create mode 100644 iCubZagreb01/wrappers/FT/left_foot-FT_wrapper.xml create mode 100644 iCubZagreb01/wrappers/FT/left_foot-FT_wrapper_multipleSens.xml create mode 100644 iCubZagreb01/wrappers/FT/left_leg-FT_wrapper.xml create mode 100644 iCubZagreb01/wrappers/FT/left_leg-FT_wrapper_multipleSens.xml create mode 100644 iCubZagreb01/wrappers/FT/right_arm-FT_wrapper.xml create mode 100644 iCubZagreb01/wrappers/FT/right_foot-FT_wrapper.xml create mode 100644 iCubZagreb01/wrappers/FT/right_foot-FT_wrapper_multipleSens.xml create mode 100644 iCubZagreb01/wrappers/FT/right_leg-FT_wrapper.xml create mode 100644 iCubZagreb01/wrappers/FT/right_leg-FT_wrapper_multipleSens.xml create mode 100644 iCubZagreb01/wrappers/MAIS/left_arm-mais_wrapper.xml create mode 100644 iCubZagreb01/wrappers/MAIS/right_arm-mais_wrapper.xml create mode 100644 iCubZagreb01/wrappers/VFT/left_arm-VFT_wrapper.xml create mode 100644 iCubZagreb01/wrappers/VFT/left_leg-VFT_wrapper.xml create mode 100644 iCubZagreb01/wrappers/VFT/right_arm-VFT_wrapper.xml create mode 100644 iCubZagreb01/wrappers/VFT/right_leg-VFT_wrapper.xml create mode 100644 iCubZagreb01/wrappers/VFT/torso-VFT_wrapper.xml create mode 100644 iCubZagreb01/wrappers/inertials/head-imuFilter.xml create mode 100644 iCubZagreb01/wrappers/inertials/head-imuFilter_wrapper.xml create mode 100644 iCubZagreb01/wrappers/inertials/head-inertials_wrapper.xml create mode 100644 iCubZagreb01/wrappers/inertials/left_arm-inertials_remapper.xml create mode 100644 iCubZagreb01/wrappers/inertials/left_arm-inertials_wrapper-deprecated.xml create mode 100644 iCubZagreb01/wrappers/inertials/left_arm-inertials_wrapper.xml create mode 100644 iCubZagreb01/wrappers/inertials/left_foot-imu_wrapper.xml create mode 100644 iCubZagreb01/wrappers/inertials/left_leg-imu_wrapper.xml create mode 100644 iCubZagreb01/wrappers/inertials/left_leg-inertials_remapper.xml create mode 100644 iCubZagreb01/wrappers/inertials/left_leg-inertials_wrapper-deprecated.xml create mode 100644 iCubZagreb01/wrappers/inertials/left_leg-inertials_wrapper.xml create mode 100644 iCubZagreb01/wrappers/inertials/right_arm-inertials_remapper.xml create mode 100644 iCubZagreb01/wrappers/inertials/right_arm-inertials_wrapper-deprecated.xml create mode 100644 iCubZagreb01/wrappers/inertials/right_arm-inertials_wrapper.xml create mode 100644 iCubZagreb01/wrappers/inertials/right_foot-imu_wrapper.xml create mode 100644 iCubZagreb01/wrappers/inertials/right_leg-imu_wrapper.xml create mode 100644 iCubZagreb01/wrappers/inertials/right_leg-inertials_remapper.xml create mode 100644 iCubZagreb01/wrappers/inertials/right_leg-inertials_wrapper-deprecated.xml create mode 100644 iCubZagreb01/wrappers/inertials/right_leg-inertials_wrapper.xml create mode 100644 iCubZagreb01/wrappers/inertials/torso-inertial_wrapper.xml create mode 100644 iCubZagreb01/wrappers/inertials/torso-inertials_remapper.xml create mode 100644 iCubZagreb01/wrappers/inertials/torso-inertials_wrapper-deprecated.xml create mode 100644 iCubZagreb01/wrappers/inertials/torso-inertials_wrapper.xml create mode 100644 iCubZagreb01/wrappers/inertials/waist-inertials_remapper.xml create mode 100644 iCubZagreb01/wrappers/inertials/waist-inertials_wrapper-deprecated.xml create mode 100644 iCubZagreb01/wrappers/inertials/waist-inertials_wrapper.xml create mode 100644 iCubZagreb01/wrappers/motorControl/face-mc_wrapper.xml create mode 100644 iCubZagreb01/wrappers/motorControl/head-mc_wrapper.xml create mode 100644 iCubZagreb01/wrappers/motorControl/icub_ros_wrapper.xml create mode 100644 iCubZagreb01/wrappers/motorControl/left_arm-mc_wrapper.xml create mode 100644 iCubZagreb01/wrappers/motorControl/left_forearm-mc_wrapper.xml create mode 100644 iCubZagreb01/wrappers/motorControl/left_leg-mc_wrapper.xml create mode 100644 iCubZagreb01/wrappers/motorControl/left_shoulder-mc_wrapper.xml create mode 100644 iCubZagreb01/wrappers/motorControl/right_arm-mc_wrapper.xml create mode 100644 iCubZagreb01/wrappers/motorControl/right_forearm-mc_wrapper.xml create mode 100644 iCubZagreb01/wrappers/motorControl/right_leg-mc_wrapper.xml create mode 100644 iCubZagreb01/wrappers/motorControl/right_shoulder-mc_wrapper.xml create mode 100644 iCubZagreb01/wrappers/motorControl/torso-mc_wrapper.xml create mode 100644 iCubZagreb01/wrappers/skin/left_arm-skin_wrapper.xml create mode 100644 iCubZagreb01/wrappers/skin/left_leg-skin_wrapper.xml create mode 100644 iCubZagreb01/wrappers/skin/right_arm-skin_wrapper.xml create mode 100644 iCubZagreb01/wrappers/skin/right_leg-skin_wrapper.xml create mode 100644 iCubZagreb01/wrappers/skin/torso-skin_wrapper.xml create mode 100644 iCubZagreb01/yarpmotorgui.ini create mode 100644 iCubZagreb01/yarprobotinterface.ini diff --git a/all_robots.xml b/all_robots.xml index 71846951e3..506eded23b 100644 --- a/all_robots.xml +++ b/all_robots.xml @@ -63,4 +63,5 @@ + diff --git a/iCubZagreb01/CMakeLists.txt b/iCubZagreb01/CMakeLists.txt new file mode 100644 index 0000000000..3fb6d33262 --- /dev/null +++ b/iCubZagreb01/CMakeLists.txt @@ -0,0 +1,13 @@ +set(appname iCubZagreb01) + +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 calibrators DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname}) +yarp_install(DIRECTORY cartesian 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 camera DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname}) +yarp_install(DIRECTORY estimators DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname}) diff --git a/iCubZagreb01/calib_all_joints.xml b/iCubZagreb01/calib_all_joints.xml new file mode 100644 index 0000000000..1d31e7e1db --- /dev/null +++ b/iCubZagreb01/calib_all_joints.xml @@ -0,0 +1,64 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/iCubZagreb01/calib_head.xml b/iCubZagreb01/calib_head.xml new file mode 100644 index 0000000000..565bdde49a --- /dev/null +++ b/iCubZagreb01/calib_head.xml @@ -0,0 +1,20 @@ + + + + + + + + + + + + + + + + + + + + diff --git a/iCubZagreb01/calib_lowerbody.xml b/iCubZagreb01/calib_lowerbody.xml new file mode 100644 index 0000000000..8963679539 --- /dev/null +++ b/iCubZagreb01/calib_lowerbody.xml @@ -0,0 +1,34 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/iCubZagreb01/calib_torso.xml b/iCubZagreb01/calib_torso.xml new file mode 100644 index 0000000000..938b6e7f19 --- /dev/null +++ b/iCubZagreb01/calib_torso.xml @@ -0,0 +1,22 @@ + + + + + + + + + + + + + + + + + + + + + + diff --git a/iCubZagreb01/calib_upperbody.xml b/iCubZagreb01/calib_upperbody.xml new file mode 100644 index 0000000000..ee555e84e5 --- /dev/null +++ b/iCubZagreb01/calib_upperbody.xml @@ -0,0 +1,48 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/iCubZagreb01/calibrators/face-calib.xml b/iCubZagreb01/calibrators/face-calib.xml new file mode 100644 index 0000000000..8f828a22cd --- /dev/null +++ b/iCubZagreb01/calibrators/face-calib.xml @@ -0,0 +1,61 @@ + + + + + + + + + + 1 + FaceV3_Calibrator + + + + 0 + 10 + + + + + + 12 + + -17734 + 0 + 0 + + 0 + 0 + + 0 + 0 + + 0 + 10 + 3360 + 90 + + + + (0) + + + face-mc_wrapper + + + + face-mc_wrapper + + + + + + diff --git a/iCubZagreb01/calibrators/head-calib.xml b/iCubZagreb01/calibrators/head-calib.xml new file mode 100644 index 0000000000..d22c9e0eea --- /dev/null +++ b/iCubZagreb01/calibrators/head-calib.xml @@ -0,0 +1,50 @@ + + + + + + + + + + 6 + HeadV3_Calibrator + + + + 0 0 0 0 0 0 + 10 10 10 10 10 10 + + + + + + 12 12 12 12 5 5 + 59295 49727 65135 43823 3000 3000 + 0 0 0 0 8192 8192 + 0 0 0 0 0 0 + 0 0 0 0 0 0 + 0 0 0 0 0 0 + 0 0 0 0 0 0 + 0 0 0 0 -2.9 -2.9 + + 0 0 0 0 0 0 + 10 10 20 20 20 20 + 3000 3000 3000 3000 0 0 + 90 90 2 2 2 2 + + + (0 1 2) (3) (4 5) + + + head-mc_wrapper + + + + head-mc_wrapper + + + + + + diff --git a/iCubZagreb01/calibrators/left_arm-calib.xml b/iCubZagreb01/calibrators/left_arm-calib.xml new file mode 100644 index 0000000000..02523fc708 --- /dev/null +++ b/iCubZagreb01/calibrators/left_arm-calib.xml @@ -0,0 +1,49 @@ + + + + + + + + + 16 + Left_Arm_Calibrator + + + + -30 30 0 45 0 0 0 35 65 0 0 0 0 0 0 0 + 10 10 10 10 30 30 30 60 30 30 30 30 30 30 30 30 + + + + 12 12 12 12 5 12 12 7 7 6 6 6 6 6 6 6 + 26527 41983 44047 47839 -1500 1759 19167 0 0 0 0 0 0 0 0 0 + 0 0 0 0 16384 0 0 0 0 9102 9102 9102 9102 9102 9102 10000 + 0 0 0 0 0 0 0 0 0 -1 1 -1 1 -1 1 1 + 0 0 0 0 0 0 0 1840 433 251 480 246 496 249 510 746 + 0 0 0 0 0 0 0 2210 3228 0 0 0 17 0 0 100 + 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 + -2.1 0.9 0 0.1 0 0 0 0 0 0 0 0 0 0 0 0 + + -35 30 0 50 0 0 0 15 30 0 0 0 0 0 0 0 + 10 10 10 10 30 30 30 100 100 100 100 100 100 100 100 100 + 2000 2000 2000 2000 2000 0 0 0 0 0 0 0 0 0 0 0 + 2 2 2 2 90 90 90 90 90 90 90 90 90 90 90 90 + + + (0 1 2 3) (4) (5 6 7) (8 9 11 13) (10 12 14 15) + + + left_arm-mc_wrapper + + + + left_arm-mc_wrapper + + + + + + + + diff --git a/iCubZagreb01/calibrators/left_leg-calib.xml b/iCubZagreb01/calibrators/left_leg-calib.xml new file mode 100644 index 0000000000..5628049f15 --- /dev/null +++ b/iCubZagreb01/calibrators/left_leg-calib.xml @@ -0,0 +1,50 @@ + + + + + + + + + 6 + Left_Leg_Calibrator + + + + 0.00 10.00 0.00 0.00 0.00 0.00 + 10.00 10.00 10.00 10.00 10.00 10.00 + + + + + 12 12 12 12 12 12 + 30911 44127 35855 57103 53775 57295 + 0 0 0 0 0 0 + 0 0 0 0 0 0 + + 0 0 0 0 0 0 + 0 0 0 0 0 0 + 0 0 0 0 0 0 + 0 0 0 0 0 0 + + + 0 5 0 0 0 0 + 5 5 10 10 10 10 + 1200 1200 1200 1200 1500 1500 + 2 2 2 2 2 2 + + + (0 1 2 3 4 5) + + + left_leg-mc_wrapper + + + + left_leg-mc_wrapper + + + + + + diff --git a/iCubZagreb01/calibrators/right_arm-calib.xml b/iCubZagreb01/calibrators/right_arm-calib.xml new file mode 100644 index 0000000000..32e5e730d3 --- /dev/null +++ b/iCubZagreb01/calibrators/right_arm-calib.xml @@ -0,0 +1,50 @@ + + + + + + + + + 16 + Right_Arm_Calibrator + + + + -30 30 0 45 0 0 0 35 65 0 0 0 0 0 0 0 + 10 10 10 10 30 30 30 60 30 30 30 30 30 30 30 30 + + + + + 12 12 12 12 5 12 12 7 7 6 6 6 6 6 6 6 + 42927 24111 44207 5663 1500 30879 34559 0 0 0 0 0 0 0 0 0 + 0 0 0 0 16384 0 0 0 0 9102 9102 9102 9102 9102 9102 10000 + 0 0 0 0 0 0 0 0 0 -1 1 -1 1 -1 1 1 + 0 0 0 0 0 0 0 2900 960 255 486 255 493 251 500 740 + 0 0 0 0 0 0 0 3060 2780 15 10 0 12 15 0 160 + 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 + -3.1 -0.5 -0.9 0 0 0 0 0 0 0 0 0 0 0 0 0 + + -35 30 0 50 0 0 0 25 30 0 0 0 0 0 0 0 + 10 10 10 10 30 30 30 60 100 100 100 100 100 100 100 100 + 2000 2000 2000 2000 1500 0 0 0 0 0 0 0 0 0 0 0 + 2 2 2 2 90 90 90 90 90 90 90 90 90 90 90 90 + + + + (0 1 2 3) (4) (5 6 7) (8 9 11 13) (10 12 14 15) + + + + right_arm-mc_wrapper + + + + right_arm-mc_wrapper + + + + + + diff --git a/iCubZagreb01/calibrators/right_leg-calib.xml b/iCubZagreb01/calibrators/right_leg-calib.xml new file mode 100644 index 0000000000..ec7cee6c34 --- /dev/null +++ b/iCubZagreb01/calibrators/right_leg-calib.xml @@ -0,0 +1,48 @@ + + + + + + + + + 6 + Right_Leg_Calibrator + + + + 0.00 10.00 0.00 0.00 0.00 0.00 + 10.00 10.00 10.00 10.00 10.00 10.00 + + + + 12 12 12 12 12 12 + 8895 35359 20255 26927 42367 41375 + 0 0 0 0 0 0 + 0 0 0 0 0 0 + 0 0 0 0 0 0 + 0 0 0 0 0 0 + 0 0 0 0 0 0 + 0 0 0 0 0 0 + + 0 5 0 0 0 0 + 5 5 10 10 10 10 + 1200 1200 1200 1200 1200 1200 + 2 2 2 2 2 2 + + + + (0 1 2 3 4 5) + + + right_leg-mc_wrapper + + + + right_leg-mc_wrapper + + + + + + diff --git a/iCubZagreb01/calibrators/torso-calib.xml b/iCubZagreb01/calibrators/torso-calib.xml new file mode 100644 index 0000000000..6ba173618d --- /dev/null +++ b/iCubZagreb01/calibrators/torso-calib.xml @@ -0,0 +1,48 @@ + + + + + + + + + 3 + Torso_Calibrator + + + + 0 0 -20 + 10 10 10 + + + + 12 12 12 + 24415 20511 11647 + 0 0 0 + 0 0 0 + 0 0 0 + 0 0 0 + 0 0 0 + 0 0 0 + + 0 0 0 + 10 10 10 + 5500 5500 5500 + 2 2 2 + + + + (0 1 2) + + + torso-mc_wrapper + + + + torso-mc_wrapper + + + + + + diff --git a/iCubZagreb01/camera/ServerGrabberDualDragon.ini b/iCubZagreb01/camera/ServerGrabberDualDragon.ini new file mode 100644 index 0000000000..6d9b0b953e --- /dev/null +++ b/iCubZagreb01/camera/ServerGrabberDualDragon.ini @@ -0,0 +1,9 @@ +device grabberDual +capabilities COLOR +name /icub/cam +split true +twoCameras true +left_config camera/dragonfly2_config_left.ini +right_config camera/dragonfly2_config_right.ini + + diff --git a/iCubZagreb01/camera/ServerGrabberDualDragonBayer.ini b/iCubZagreb01/camera/ServerGrabberDualDragonBayer.ini new file mode 100644 index 0000000000..d94d114ceb --- /dev/null +++ b/iCubZagreb01/camera/ServerGrabberDualDragonBayer.ini @@ -0,0 +1,9 @@ +device grabberDual +capabilities RAW +name /icub/cam +split true +twoCameras true +left_config camera/dragonfly2_config_left_bayer_320_240.ini +right_config camera/dragonfly2_config_right_bayer_320_240.ini + + diff --git a/iCubZagreb01/camera/ServerGrabberDualDragonBayer640_480.ini b/iCubZagreb01/camera/ServerGrabberDualDragonBayer640_480.ini new file mode 100644 index 0000000000..6cb9c9435b --- /dev/null +++ b/iCubZagreb01/camera/ServerGrabberDualDragonBayer640_480.ini @@ -0,0 +1,9 @@ +device grabberDual +capabilities RAW +name /icub/cam +split true +twoCameras true +left_config camera/dragonfly2_config_left_bayer_640_480.ini +right_config camera/dragonfly2_config_right_bayer_640_480.ini + + diff --git a/iCubZagreb01/camera/dragonfly2_config_left.ini b/iCubZagreb01/camera/dragonfly2_config_left.ini new file mode 100644 index 0000000000..99765adf48 --- /dev/null +++ b/iCubZagreb01/camera/dragonfly2_config_left.ini @@ -0,0 +1,19 @@ +device dragonfly2 +width 320 +height 240 +video_type 1 +white_balance 0.506 0.494 +gain 0.312 +shutter 0.913 +name /icub/cam/left +brightness 0 +DR2 +stamp +sharpness 0.5 +hue 0.48 +gamma 0.4 +saturation 0.271 +framerate 25 +#d 0 +guid 00b09d01011b4347 +#<64bit global identifier, without the leading 0x> then remove the d option diff --git a/iCubZagreb01/camera/dragonfly2_config_left_bayer_320_240.ini b/iCubZagreb01/camera/dragonfly2_config_left_bayer_320_240.ini new file mode 100644 index 0000000000..13113e4dd9 --- /dev/null +++ b/iCubZagreb01/camera/dragonfly2_config_left_bayer_320_240.ini @@ -0,0 +1,20 @@ +device 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 00b09d01011b4347 +#<64bit global identifier, without the leading 0x> then remove the d option diff --git a/iCubZagreb01/camera/dragonfly2_config_left_bayer_640_480.ini b/iCubZagreb01/camera/dragonfly2_config_left_bayer_640_480.ini new file mode 100644 index 0000000000..22b1992a1e --- /dev/null +++ b/iCubZagreb01/camera/dragonfly2_config_left_bayer_640_480.ini @@ -0,0 +1,20 @@ +device dragonfly2raw +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 00b09d01011b4347 +#<64bit global identifier, without the leading 0x> then remove the d option diff --git a/iCubZagreb01/camera/dragonfly2_config_right.ini b/iCubZagreb01/camera/dragonfly2_config_right.ini new file mode 100644 index 0000000000..b62b9fa37e --- /dev/null +++ b/iCubZagreb01/camera/dragonfly2_config_right.ini @@ -0,0 +1,20 @@ +device dragonfly2 +width 320 +height 240 +video_type 1 +white_balance 0.506 0.494 +gain 0.312 +shutter 0.913 +name /icub/cam/right +brightness 0 +DR2 +stamp +sharpness 0.5 +hue 0.48 +gamma 0.4 +saturation 0.271 +framerate 25 +#d 1 +guid 00b09d01011b4346 + +#<64bit global identifier, without the leading 0x> then remove the d option diff --git a/iCubZagreb01/camera/dragonfly2_config_right_bayer_320_240.ini b/iCubZagreb01/camera/dragonfly2_config_right_bayer_320_240.ini new file mode 100644 index 0000000000..c0275ff1da --- /dev/null +++ b/iCubZagreb01/camera/dragonfly2_config_right_bayer_320_240.ini @@ -0,0 +1,20 @@ +device dragonfly2raw +width 320 +height 240 +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 00b09d01011b4346 +#<64bit global identifier, without the leading 0x> then remove the d option diff --git a/iCubZagreb01/camera/dragonfly2_config_right_bayer_640_480.ini b/iCubZagreb01/camera/dragonfly2_config_right_bayer_640_480.ini new file mode 100644 index 0000000000..7df847e427 --- /dev/null +++ b/iCubZagreb01/camera/dragonfly2_config_right_bayer_640_480.ini @@ -0,0 +1,21 @@ +device dragonfly2raw +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 00b09d01011b4346 +#<64bit global identifier, without the leading 0x> then remove the d option + diff --git a/iCubZagreb01/cartesian/left_arm-cartesian.xml b/iCubZagreb01/cartesian/left_arm-cartesian.xml new file mode 100644 index 0000000000..51e84b9809 --- /dev/null +++ b/iCubZagreb01/cartesian/left_arm-cartesian.xml @@ -0,0 +1,56 @@ + + + + + + + icub/cartesianController/left_arm + 10 + 4 + cartesianSolver/left_arm + arm + left_v2.7 + 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/iCubZagreb01/cartesian/right_arm-cartesian.xml b/iCubZagreb01/cartesian/right_arm-cartesian.xml new file mode 100644 index 0000000000..462f9b5ebd --- /dev/null +++ b/iCubZagreb01/cartesian/right_arm-cartesian.xml @@ -0,0 +1,56 @@ + + + + + + + icub/cartesianController/right_arm + 10 + 4 + cartesianSolver/right_arm + arm + right_v2.7 + 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/iCubZagreb01/cartesianSolver.ini b/iCubZagreb01/cartesianSolver.ini new file mode 100644 index 0000000000..be0d8cea51 --- /dev/null +++ b/iCubZagreb01/cartesianSolver.ini @@ -0,0 +1,69 @@ +[left_arm] +robot icub +name cartesianSolver/left_arm +type left_v2.7 +period 20 +dof (0 0 0 1 1 1 1 1 1 1) +rest_pos (0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0) +rest_weights (1.0 1.0 1.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0) +pose full +mode shot +verbosity off +maxIter 200 +tol 0.001 +xyzTol 0.000001 +interPoints off +ping_robot_tmo 40.0 + +[right_arm] +robot icub +name cartesianSolver/right_arm +type right_v2.7 +period 20 +dof (0 0 0 1 1 1 1 1 1 1) +rest_pos (0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0) +rest_weights (1.0 1.0 1.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0) +pose full +mode shot +verbosity off +maxIter 200 +tol 0.001 +xyzTol 0.000001 +interPoints off +ping_robot_tmo 40.0 + +[left_leg] +robot icub +name cartesianSolver/left_leg +type left_v2.7 +period 20 +dof (1 1 1 1 1 1) +rest_pos (0.0 0.0 0.0 0.0 0.0 0.0) +rest_weights (0.0 0.0 0.0 0.0 0.0 0.0) +pose full +mode shot +verbosity off +maxIter 200 +tol 0.001 +xyzTol 0.000001 +interPoints off +ping_robot_tmo 40.0 + +[right_leg] +robot icub +name cartesianSolver/right_leg +type right_v2.7 +period 20 +dof (1 1 1 1 1 1) +rest_pos (0.0 0.0 0.0 0.0 0.0 0.0) +rest_weights (0.0 0.0 0.0 0.0 0.0 0.0) +pose full +mode shot +verbosity off +maxIter 200 +tol 0.001 +xyzTol 0.000001 +interPoints off +ping_robot_tmo 40.0 + + diff --git a/iCubZagreb01/estimators/wholebodydynamics.xml b/iCubZagreb01/estimators/wholebodydynamics.xml new file mode 100644 index 0000000000..25e6ca9fed --- /dev/null +++ b/iCubZagreb01/estimators/wholebodydynamics.xml @@ -0,0 +1,101 @@ + + + + + + (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) + model.urdf + (0,0,-9.81) + (l_hand,r_hand,root_link,l_sole,r_sole,r_lower_leg,l_lower_leg,l_elbow_1,r_elbow_1) + imu_frame + true + 2 + true + false + + + + (root_link,1,0) + (chest,1,2) + (l_upper_arm,3,2) + (l_hand_dh_frame,3,6) + (r_hand_dh_frame,4,6) + (l_elbow_1, 3, 4) + (r_upper_arm,4,2) + (r_elbow_1, 4, 4) + (l_lower_leg,5,3) + (l_ankle_1,5,4) + (l_foot_dh_frame,5,5) + (r_foot_dh_frame,6,5) + (r_lower_leg,6,3) + (r_ankle_1,6,4) + (r_foot_dh_frame,6,5) + + + + true + root_link + (torso_pitch,torso_roll,torso_yaw,neck_pitch,neck_roll,neck_yaw,l_shoulder_pitch,l_shoulder_roll,l_shoulder_yaw,l_elbow,r_shoulder_pitch,r_shoulder_roll,r_shoulder_yaw,r_elbow,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) + + + + + (5.969361e-01,2.428213e-02,-5.463457e-02,4.254463e-01,1.123516e+00,-1.303151e-01 + ,-2.818578e-02,6.863783e-01,2.028274e-02,6.585433e-01,1.573658e-01,1.544577e+00 + ,-3.915223e-02,3.971615e-02,9.679746e-01,-3.150958e-03,3.718397e-01,-8.653098e-02 + ,-8.647321e-03,-2.836473e-02,-1.840247e-04,8.261000e-01,4.659817e-02,3.751658e-02 + ,5.671831e-03,6.968371e-03,4.892937e-03,5.396529e-02,9.499420e-01,-1.575216e-01 + ,3.469447e-18,0,-7.993503e-20,0,0,1.000000e+00) + + + (7.619710e-01,-9.833019e-02,-5.603709e-02,-7.503703e-01,4.654638e-01,-2.100801e+00 + ,2.708629e-02,8.108288e-01,-3.377881e-03,8.122805e-01,4.181660e-02,8.531041e-01 + ,-7.067404e-02,-3.179978e-02,9.888732e-01,-4.080758e-02,5.046211e-01,-5.754858e-01 + ,7.021926e-03,-2.948727e-02,-1.022865e-03,8.566027e-01,-3.532611e-02,-8.280662e-02 + ,3.959038e-02,1.290493e-03,-6.796986e-04,-6.866659e-02,8.221872e-01,-6.964079e-03 + ,-1.542292e-04,3.264395e-04,-6.124671e-04,-2.551378e-02,5.215466e-03,7.234167e-01) + + + + + + (l_hand,l_hand_dh_frame,root_link) + (r_hand,r_hand_dh_frame,root_link) + (l_lower_leg,l_lower_leg,root_link) + (l_foot,l_sole,l_sole) + (r_lower_leg,r_lower_leg,root_link) + (r_foot,r_sole,r_sole) + + + + + + left_leg-eb7-j4_5-mc + right_leg-eb9-j4_5-mc + left_leg-eb6-j0_3-mc + right_leg-eb8-j0_3-mc + torso-eb5-j0_2-mc + right_arm-eb27-j4_7-mc + left_arm-eb24-j4_7-mc + right_arm-eb3-j0_3-mc + left_arm-eb1-j0_3-mc + head-eb20-j0_1-mc + head-eb21-j2_5-mc + + inertial + + left_arm-eb1-j0_3-strain + right_arm-eb3-j0_3-strain + left_leg-eb6-j0_3-strain + right_leg-eb8-j0_3-strain + left_leg-eb7-j4_5-strain + right_leg-eb9-j4_5-strain + + + + + + + diff --git a/iCubZagreb01/estimators/wholebodydynamics_standup.xml b/iCubZagreb01/estimators/wholebodydynamics_standup.xml new file mode 100644 index 0000000000..bbce49b996 --- /dev/null +++ b/iCubZagreb01/estimators/wholebodydynamics_standup.xml @@ -0,0 +1,89 @@ + + + + + + (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) + model.urdf + (0,0,-9.81) + (l_hand,r_hand,root_link,l_sole,r_sole,r_upper_leg,l_upper_leg,l_elbow_1,r_elbow_1) + imu_frame + true + + + + (root_link,1,0) + (chest,1,2) + (l_upper_arm,3,2) + (l_elbow_1, 3, 4) + (r_upper_arm,4,2) + (l_hand_dh_frame,3,6) + (r_elbow_1, 4, 4) + (r_hand_dh_frame,4,6) + (l_upper_leg,5,2) + (l_lower_leg,5,3) + (l_ankle_1,5,4) + (l_foot_dh_frame,5,5) + (r_upper_leg,6,2) + (r_lower_leg,6,3) + (r_ankle_1,6,4) + (r_foot_dh_frame,6,5) + + + + true + root_link + (torso_pitch,torso_roll,torso_yaw,neck_pitch,neck_roll,neck_yaw,l_shoulder_pitch,l_shoulder_roll,l_shoulder_yaw,l_elbow,r_shoulder_pitch,r_shoulder_roll,r_shoulder_yaw,r_elbow,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) + + + + + (1.165043e-01,-4.824760e-02,-2.838516e-03,-4.063452e-01,3.829723e+00,-4.049686e+00 + ,-1.646781e-02,1.028508e-01,1.218741e-03,-3.860480e+00,6.586313e-02,1.079024e-01 + ,-1.223875e-01,-1.720457e-01,9.950911e-01,-1.332774e+00,4.882303e-01,1.109860e+00 + ,-2.690149e-03,-1.097413e-02,1.942506e-03,9.459466e-01,2.006043e-02,4.074997e-02 + ,1.949960e-02,-1.769210e-02,-3.291195e-03,-1.505223e-01,8.921250e-01,-1.064398e-01 + ,9.882410e-03,5.137381e-03,-5.774219e-05,4.049618e-04,-4.992196e-02,9.255909e-01) + + + + (l_hand,l_hand_dh_frame,l_sole) + (r_hand,r_hand_dh_frame,l_sole) + (l_foot,l_sole,root_link) + (l_foot,l_sole,l_sole) + (r_foot,r_sole,root_link) + (r_foot,r_sole,l_sole) + + + + + + left_leg-eb7-j4_5-mc + right_leg-eb9-j4_5-mc + left_leg-eb6-j0_3-mc + right_leg-eb8-j0_3-mc + torso-eb5-j0_2-mc + right_arm-eb27-j4_7-mc + left_arm-eb24-j4_7-mc + right_arm-eb3-j0_3-mc + left_arm-eb1-j0_3-mc + head-eb20-j0_1-mc + head-eb21-j2_5-mc + + inertial + + left_arm-eb1-j0_3-strain + right_arm-eb3-j0_3-strain + left_leg-eb6-j0_3-strain + right_leg-eb8-j0_3-strain + left_leg-eb7-j4_5-strain + right_leg-eb9-j4_5-strain + + + + + + + diff --git a/iCubZagreb01/firmwareupdater.ini b/iCubZagreb01/firmwareupdater.ini new file mode 100644 index 0000000000..9fa155e435 --- /dev/null +++ b/iCubZagreb01/firmwareupdater.ini @@ -0,0 +1,2 @@ +[DRIVERS] +ETH "eno1" diff --git a/iCubZagreb01/general.xml b/iCubZagreb01/general.xml new file mode 100644 index 0000000000..3752d9c653 --- /dev/null +++ b/iCubZagreb01/general.xml @@ -0,0 +1,12 @@ + + + + + + + false + false + false + false + + diff --git a/iCubZagreb01/hardware/FT/left_arm-eb1-j0_3-strain.xml b/iCubZagreb01/hardware/FT/left_arm-eb1-j0_3-strain.xml new file mode 100644 index 0000000000..4bd22abf73 --- /dev/null +++ b/iCubZagreb01/hardware/FT/left_arm-eb1-j0_3-strain.xml @@ -0,0 +1,55 @@ + + + + + + + + + + + + + + eomn_serv_AS_strain + + + + + strain2 + + + 2 + 0 + + + 2 + 0 + 9 + + + + + id_l_upper_arm_strain + eoas_strain + CAN2:13 + + + + + + 10 + id_l_upper_arm_strain + + + + true + + + + + + + + + diff --git a/iCubZagreb01/hardware/FT/left_leg-eb6-j0_3-strain.xml b/iCubZagreb01/hardware/FT/left_leg-eb6-j0_3-strain.xml new file mode 100644 index 0000000000..555e3a9e41 --- /dev/null +++ b/iCubZagreb01/hardware/FT/left_leg-eb6-j0_3-strain.xml @@ -0,0 +1,56 @@ + + + + + + + + + + + + + + eomn_serv_AS_strain + + + + + strain2 + + + 2 + 0 + + + 2 + 0 + 9 + + + + + id_l_upper_leg_strain + eoas_strain + CAN2:13 + + + + + + 10 + id_l_upper_leg_strain + + + + true + + + + + + + + + + diff --git a/iCubZagreb01/hardware/FT/left_leg-eb7-j4_5-strain.xml b/iCubZagreb01/hardware/FT/left_leg-eb7-j4_5-strain.xml new file mode 100644 index 0000000000..b1aed30884 --- /dev/null +++ b/iCubZagreb01/hardware/FT/left_leg-eb7-j4_5-strain.xml @@ -0,0 +1,56 @@ + + + + + + + + + + + + + + eomn_serv_AS_strain + + + + + strain2 + + + 2 + 0 + + + 2 + 0 + 9 + + + + + id_l_lower_leg_strain + eoas_strain + CAN2:13 + + + + + + 10 + id_l_lower_leg_strain + + + + true + + + + + + + + + + diff --git a/iCubZagreb01/hardware/FT/right_arm-eb3-j0_3-strain.xml b/iCubZagreb01/hardware/FT/right_arm-eb3-j0_3-strain.xml new file mode 100644 index 0000000000..3d792add62 --- /dev/null +++ b/iCubZagreb01/hardware/FT/right_arm-eb3-j0_3-strain.xml @@ -0,0 +1,57 @@ + + + + + + + + + + + + + + eomn_serv_AS_strain + + + + + strain2 + + + 2 + 0 + + + 2 + 0 + 9 + + + + + id_r_upper_arm_strain + eoas_strain + CAN2:13 + + + + + + 10 + id_r_upper_arm_strain + + + + true + + + + + + + + + + + diff --git a/iCubZagreb01/hardware/FT/right_leg-eb8-j0_3-strain.xml b/iCubZagreb01/hardware/FT/right_leg-eb8-j0_3-strain.xml new file mode 100644 index 0000000000..0c845838fb --- /dev/null +++ b/iCubZagreb01/hardware/FT/right_leg-eb8-j0_3-strain.xml @@ -0,0 +1,55 @@ + + + + + + + + + + + + + + eomn_serv_AS_strain + + + + + strain2 + + + 2 + 0 + + + 2 + 0 + 9 + + + + + id_r_upper_leg_strain + eoas_strain + CAN2:13 + + + + + + 10 + id_r_upper_leg_strain + + + + true + + + + + + + + + diff --git a/iCubZagreb01/hardware/FT/right_leg-eb9-j4_5-strain.xml b/iCubZagreb01/hardware/FT/right_leg-eb9-j4_5-strain.xml new file mode 100644 index 0000000000..22c0294cee --- /dev/null +++ b/iCubZagreb01/hardware/FT/right_leg-eb9-j4_5-strain.xml @@ -0,0 +1,57 @@ + + + + + + + + + + + + + + eomn_serv_AS_strain + + + + + strain2 + + + 2 + 0 + + + 2 + 0 + 9 + + + + + id_r_lower_leg_strain + eoas_strain + CAN2:13 + + + + + + 10 + id_r_lower_leg_strain + + + + true + + + + + + + + + + + diff --git a/iCubZagreb01/hardware/MAIS/left_arm-eb26-j12_15-mais.xml b/iCubZagreb01/hardware/MAIS/left_arm-eb26-j12_15-mais.xml new file mode 100644 index 0000000000..fc5cc16a2b --- /dev/null +++ b/iCubZagreb01/hardware/MAIS/left_arm-eb26-j12_15-mais.xml @@ -0,0 +1,51 @@ + + + + + + + + + + + + + + eomn_serv_AS_mais + + + + + eobrd_mais + + + 0 + 0 + + + 0 + 0 + 0 + + + + + id_x_hand_mais + eoas_mais + CAN1:14 + + + + + + 10 + id_x_hand_mais + + + + + + + + + diff --git a/iCubZagreb01/hardware/MAIS/right_arm-eb29-j12_15-mais.xml b/iCubZagreb01/hardware/MAIS/right_arm-eb29-j12_15-mais.xml new file mode 100644 index 0000000000..35ec78ac99 --- /dev/null +++ b/iCubZagreb01/hardware/MAIS/right_arm-eb29-j12_15-mais.xml @@ -0,0 +1,51 @@ + + + + + + + + + + + + + + eomn_serv_AS_mais + + + + + eobrd_mais + + + 0 + 0 + + + 0 + 0 + 0 + + + + + id_x_hand_mais + eoas_mais + CAN1:14 + + + + + + 10 + id_x_hand_mais + + + + + + + + + diff --git a/iCubZagreb01/hardware/electronics/face-eb22-j0-eln.xml b/iCubZagreb01/hardware/electronics/face-eb22-j0-eln.xml new file mode 100644 index 0000000000..7d0b8353f8 --- /dev/null +++ b/iCubZagreb01/hardware/electronics/face-eb22-j0-eln.xml @@ -0,0 +1,40 @@ + + + + + + + + + + + 10.0.1.22 + 12345 + mc4plus + 768 + 384 + + + + "face-eb22-j0" + + 1000 + 400 + 300 + 300 + 3 + + + + + + true + 0.020 + 60.0 + + + + + + + diff --git a/iCubZagreb01/hardware/electronics/head-eb20-j0_1-eln.xml b/iCubZagreb01/hardware/electronics/head-eb20-j0_1-eln.xml new file mode 100644 index 0000000000..baae77ab20 --- /dev/null +++ b/iCubZagreb01/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 + 5 + + + + + + true + 0.020 + 60.0 + + + + + + + diff --git a/iCubZagreb01/hardware/electronics/head-eb21-j2_5-eln.xml b/iCubZagreb01/hardware/electronics/head-eb21-j2_5-eln.xml new file mode 100644 index 0000000000..a3f59e673c --- /dev/null +++ b/iCubZagreb01/hardware/electronics/head-eb21-j2_5-eln.xml @@ -0,0 +1,40 @@ + + + + + + + + + + + 10.0.1.21 + 12345 + mc4plus + 768 + 384 + + + + "head-eb21-j2_5" + + 1000 + 400 + 300 + 300 + 5 + + + + + + true + 0.020 + 60.0 + + + + + + + diff --git a/iCubZagreb01/hardware/electronics/left_arm-eb1-j0_3-eln.xml b/iCubZagreb01/hardware/electronics/left_arm-eb1-j0_3-eln.xml new file mode 100644 index 0000000000..6791fbc4a4 --- /dev/null +++ b/iCubZagreb01/hardware/electronics/left_arm-eb1-j0_3-eln.xml @@ -0,0 +1,40 @@ + + + + + + + + + + + 10.0.1.1 + 12345 + ems4 + 768 + 384 + + + + "left_arm-eb1-j0_3" + + 1000 + 400 + 300 + 300 + 5 + + + + + + true + 0.020 + 60.0 + + + + + + + diff --git a/iCubZagreb01/hardware/electronics/left_arm-eb24-j4_7-eln.xml b/iCubZagreb01/hardware/electronics/left_arm-eb24-j4_7-eln.xml new file mode 100644 index 0000000000..705a7564a1 --- /dev/null +++ b/iCubZagreb01/hardware/electronics/left_arm-eb24-j4_7-eln.xml @@ -0,0 +1,40 @@ + + + + + + + + + + + 10.0.1.24 + 12345 + mc4plus + 768 + 384 + + + + "left_arm-eb24-j4_7" + + 1000 + 400 + 300 + 300 + 3 + + + + + + true + 0.020 + 60.0 + + + + + + + diff --git a/iCubZagreb01/hardware/electronics/left_arm-eb25-j8_11-eln.xml b/iCubZagreb01/hardware/electronics/left_arm-eb25-j8_11-eln.xml new file mode 100644 index 0000000000..97eeb97a7d --- /dev/null +++ b/iCubZagreb01/hardware/electronics/left_arm-eb25-j8_11-eln.xml @@ -0,0 +1,40 @@ + + + + + + + + + + + 10.0.1.25 + 12345 + mc4plus + 768 + 384 + + + + "left_arm-eb25-j8_11" + + 1000 + 400 + 300 + 300 + 5 + + + + + + true + 0.020 + 60.0 + + + + + + + diff --git a/iCubZagreb01/hardware/electronics/left_arm-eb26-j12_15-eln.xml b/iCubZagreb01/hardware/electronics/left_arm-eb26-j12_15-eln.xml new file mode 100644 index 0000000000..fb8cbd75cc --- /dev/null +++ b/iCubZagreb01/hardware/electronics/left_arm-eb26-j12_15-eln.xml @@ -0,0 +1,40 @@ + + + + + + + + + + + 10.0.1.26 + 12345 + mc4plus + 768 + 384 + + + + "left_arm-eb26-j12_15" + + 1000 + 400 + 300 + 300 + 5 + + + + + + true + 0.020 + 60.0 + + + + + + + diff --git a/iCubZagreb01/hardware/electronics/left_leg-eb10-skin-eln.xml b/iCubZagreb01/hardware/electronics/left_leg-eb10-skin-eln.xml new file mode 100644 index 0000000000..18026c21b8 --- /dev/null +++ b/iCubZagreb01/hardware/electronics/left_leg-eb10-skin-eln.xml @@ -0,0 +1,41 @@ + + + + + + + + + + + 10.0.1.10 + 12345 + ems4 + 768 + 384 + + + + "left_leg-eb10-skin" + + 1000 + 400 + 300 + 300 + 3 + + + + + + true + 0.020 + 60.0 + + + + + + + + diff --git a/iCubZagreb01/hardware/electronics/left_leg-eb6-j0_3-eln.xml b/iCubZagreb01/hardware/electronics/left_leg-eb6-j0_3-eln.xml new file mode 100644 index 0000000000..bcfceb70f4 --- /dev/null +++ b/iCubZagreb01/hardware/electronics/left_leg-eb6-j0_3-eln.xml @@ -0,0 +1,40 @@ + + + + + + + + + + + 10.0.1.6 + 12345 + ems4 + 768 + 384 + + + + "left_leg-eb6-j0_3" + + 1000 + 400 + 300 + 300 + 5 + + + + + + true + 0.020 + 60.0 + + + + + + + diff --git a/iCubZagreb01/hardware/electronics/left_leg-eb7-j4_5-eln.xml b/iCubZagreb01/hardware/electronics/left_leg-eb7-j4_5-eln.xml new file mode 100644 index 0000000000..f3a988aae4 --- /dev/null +++ b/iCubZagreb01/hardware/electronics/left_leg-eb7-j4_5-eln.xml @@ -0,0 +1,40 @@ + + + + + + + + + + + 10.0.1.7 + 12345 + ems4 + 768 + 384 + + + + "left_leg-eb7-j4_5" + + 1000 + 400 + 300 + 300 + 5 + + + + + + true + 0.020 + 60.0 + + + + + + + diff --git a/iCubZagreb01/hardware/electronics/pc104.xml b/iCubZagreb01/hardware/electronics/pc104.xml new file mode 100644 index 0000000000..deb7e6613b --- /dev/null +++ b/iCubZagreb01/hardware/electronics/pc104.xml @@ -0,0 +1,14 @@ + + + + + + + 10.0.1.104 + 12345 + 1 + 5 + + + + diff --git a/iCubZagreb01/hardware/electronics/right_arm-eb27-j4_7-eln.xml b/iCubZagreb01/hardware/electronics/right_arm-eb27-j4_7-eln.xml new file mode 100644 index 0000000000..eec0b694bc --- /dev/null +++ b/iCubZagreb01/hardware/electronics/right_arm-eb27-j4_7-eln.xml @@ -0,0 +1,40 @@ + + + + + + + + + + + 10.0.1.27 + 12345 + mc4plus + 768 + 384 + + + + "right_arm-eb27-j4_7" + + 1000 + 400 + 300 + 300 + 3 + + + + + + true + 0.020 + 60.0 + + + + + + + diff --git a/iCubZagreb01/hardware/electronics/right_arm-eb28-j8_11-eln.xml b/iCubZagreb01/hardware/electronics/right_arm-eb28-j8_11-eln.xml new file mode 100644 index 0000000000..4a4c3f22af --- /dev/null +++ b/iCubZagreb01/hardware/electronics/right_arm-eb28-j8_11-eln.xml @@ -0,0 +1,40 @@ + + + + + + + + + + + 10.0.1.28 + 12345 + mc4plus + 768 + 384 + + + + "right_arm-eb28-j8_11" + + 1000 + 400 + 300 + 300 + 5 + + + + + + true + 0.020 + 60.0 + + + + + + + diff --git a/iCubZagreb01/hardware/electronics/right_arm-eb29-j12_15-eln.xml b/iCubZagreb01/hardware/electronics/right_arm-eb29-j12_15-eln.xml new file mode 100644 index 0000000000..195f6de1d4 --- /dev/null +++ b/iCubZagreb01/hardware/electronics/right_arm-eb29-j12_15-eln.xml @@ -0,0 +1,40 @@ + + + + + + + + + + + 10.0.1.29 + 12345 + mc4plus + 768 + 384 + + + + "right_arm-eb29-j12_15" + + 1000 + 400 + 300 + 300 + 5 + + + + + + true + 0.020 + 60.0 + + + + + + + diff --git a/iCubZagreb01/hardware/electronics/right_arm-eb3-j0_3-eln.xml b/iCubZagreb01/hardware/electronics/right_arm-eb3-j0_3-eln.xml new file mode 100644 index 0000000000..60b69f55f3 --- /dev/null +++ b/iCubZagreb01/hardware/electronics/right_arm-eb3-j0_3-eln.xml @@ -0,0 +1,40 @@ + + + + + + + + + + + 10.0.1.3 + 12345 + ems4 + 768 + 384 + + + + "right_arm-eb3-j0_3" + + 1000 + 400 + 300 + 300 + 5 + + + + + + true + 0.020 + 60.0 + + + + + + + diff --git a/iCubZagreb01/hardware/electronics/right_leg-eb11-skin-eln.xml b/iCubZagreb01/hardware/electronics/right_leg-eb11-skin-eln.xml new file mode 100644 index 0000000000..32dc18fed0 --- /dev/null +++ b/iCubZagreb01/hardware/electronics/right_leg-eb11-skin-eln.xml @@ -0,0 +1,41 @@ + + + + + + + + + + + 10.0.1.11 + 12345 + ems4 + 768 + 384 + + + + "right_leg-eb11-skin" + + 1000 + 400 + 300 + 300 + 3 + + + + + + true + 0.020 + 60.0 + + + + + + + + diff --git a/iCubZagreb01/hardware/electronics/right_leg-eb8-j0_3-eln.xml b/iCubZagreb01/hardware/electronics/right_leg-eb8-j0_3-eln.xml new file mode 100644 index 0000000000..29dfd5b6ef --- /dev/null +++ b/iCubZagreb01/hardware/electronics/right_leg-eb8-j0_3-eln.xml @@ -0,0 +1,40 @@ + + + + + + + + + + + 10.0.1.8 + 12345 + ems4 + 768 + 384 + + + + "right_leg-eb8-j0_3" + + 1000 + 400 + 300 + 300 + 5 + + + + + + true + 0.020 + 60.0 + + + + + + + diff --git a/iCubZagreb01/hardware/electronics/right_leg-eb9-j4_5-eln.xml b/iCubZagreb01/hardware/electronics/right_leg-eb9-j4_5-eln.xml new file mode 100644 index 0000000000..04f680711c --- /dev/null +++ b/iCubZagreb01/hardware/electronics/right_leg-eb9-j4_5-eln.xml @@ -0,0 +1,40 @@ + + + + + + + + + + + 10.0.1.9 + 12345 + ems4 + 768 + 384 + + + + "right_leg-eb9-j4_5" + + 1000 + 400 + 300 + 300 + 5 + + + + + + true + 0.020 + 60.0 + + + + + + + diff --git a/iCubZagreb01/hardware/electronics/torso-eb5-j0_2-eln.xml b/iCubZagreb01/hardware/electronics/torso-eb5-j0_2-eln.xml new file mode 100644 index 0000000000..6b2daef04e --- /dev/null +++ b/iCubZagreb01/hardware/electronics/torso-eb5-j0_2-eln.xml @@ -0,0 +1,40 @@ + + + + + + + + + + + 10.0.1.5 + 12345 + ems4 + 768 + 384 + + + + "torso-eb5-j0_2" + + 1000 + 400 + 300 + 300 + 5 + + + + + + true + 0.020 + 60.0 + + + + + + + diff --git a/iCubZagreb01/hardware/inertials/head-inertial.xml b/iCubZagreb01/hardware/inertials/head-inertial.xml new file mode 100644 index 0000000000..cb5d041a78 --- /dev/null +++ b/iCubZagreb01/hardware/inertials/head-inertial.xml @@ -0,0 +1,54 @@ + + + + + + + + + + + + + + eomn_serv_AS_inertials3 + + + + + rfe + + + 2 + 0 + + + 0 + 0 + 0 + + + + + rfeimu_acc rfeimu_gyro rfeimu_mag rfeimu_status + + eoas_imu_acc eoas_imu_gyr eoas_imu_mag eoas_imu_status + + rfe rfe rfe rfe + + CAN1:1 CAN1:1 CAN1:1 CAN1:1 + + + + + + + 10 + rfeimu_acc rfeimu_gyro rfeimu_mag rfeimu_status + + + + + + + diff --git a/iCubZagreb01/hardware/inertials/left_arm-eb24-j4_7-inertials.xml b/iCubZagreb01/hardware/inertials/left_arm-eb24-j4_7-inertials.xml new file mode 100644 index 0000000000..44a4c1fc9a --- /dev/null +++ b/iCubZagreb01/hardware/inertials/left_arm-eb24-j4_7-inertials.xml @@ -0,0 +1,59 @@ + + + + + + + + + + + + + + eomn_serv_AS_inertials + + + + + eobrd_mtb + + + 0 + 0 + + + 0 + 0 + 0 + + + + + l_upper_arm_mtb_acc_1b10 l_upper_arm_mtb_acc_1b11 l_upper_arm_mtb_acc_1b12 l_upper_arm_mtb_acc_1b13 + l_forearm_mtb_acc_1b7 l_forearm_mtb_acc_1b8 l_forearm_mtb_acc_1b9 l_hand_gyro + + + eoas_accel_mtb_int eoas_accel_mtb_int eoas_accel_mtb_int eoas_accel_mtb_int + eoas_accel_mtb_int eoas_accel_mtb_int eoas_accel_mtb_int eoas_gyros_mtb_ext + + + CAN1:8 CAN1:9 CAN1:10 CAN1:11 + CAN1:12 CAN1:13 CAN1:14 CAN1:14 + + + + + + + 50 + l_upper_arm_mtb_acc_1b10 l_upper_arm_mtb_acc_1b11 l_upper_arm_mtb_acc_1b12 l_upper_arm_mtb_acc_1b13 + l_forearm_mtb_acc_1b7 l_forearm_mtb_acc_1b8 l_forearm_mtb_acc_1b9 + + + + + + + + diff --git a/iCubZagreb01/hardware/inertials/left_leg-eb10-inertials.xml b/iCubZagreb01/hardware/inertials/left_leg-eb10-inertials.xml new file mode 100644 index 0000000000..a9c9be4ba1 --- /dev/null +++ b/iCubZagreb01/hardware/inertials/left_leg-eb10-inertials.xml @@ -0,0 +1,69 @@ + + + + + + + + + + + + + + eomn_serv_AS_inertials + + + + + eobrd_mtb + + + 0 + 0 + + + 0 + 0 + 0 + + + + + l_upper_leg_ems_acc_eb10 l_upper_leg_ems_gyro_eb10 + l_upper_leg_mtb_acc_10b1 l_upper_leg_mtb_acc_10b2 l_upper_leg_mtb_acc_10b3 l_upper_leg_mtb_acc_10b4 + l_upper_leg_mtb_acc_10b5 l_upper_leg_mtb_acc_10b6 l_upper_leg_mtb_acc_10b7 + l_lower_leg_mtb_acc_10b8 l_lower_leg_mtb_acc_10b9 l_lower_leg_mtb_acc_10b10 l_lower_leg_mtb_acc_10b11 + l_foot_mtb_acc_10b12 l_foot_mtb_acc_10b13 + + + eoas_accel_st_lis3x eoas_gyros_st_l3g4200d eoas_accel_mtb_int + eoas_accel_mtb_int eoas_accel_mtb_int eoas_accel_mtb_int eoas_accel_mtb_int + eoas_accel_mtb_int eoas_accel_mtb_int eoas_accel_mtb_int eoas_accel_mtb_int + eoas_accel_mtb_int eoas_accel_mtb_int eoas_accel_mtb_int eoas_accel_mtb_int + + + ETH:0 ETH:1 CAN1:1 + CAN1:2 CAN1:3 CAN1:4 CAN1:5 + CAN1:6 CAN1:7 CAN2:8 CAN2:9 + CAN2:10 CAN2:11 CAN2:13 CAN2:12 + + + + + + + 50 + l_upper_leg_ems_gyro_eb10 + l_upper_leg_mtb_acc_10b1 l_upper_leg_mtb_acc_10b2 l_upper_leg_mtb_acc_10b3 l_upper_leg_mtb_acc_10b4 + l_upper_leg_mtb_acc_10b5 l_upper_leg_mtb_acc_10b6 l_upper_leg_mtb_acc_10b7 + l_lower_leg_mtb_acc_10b8 l_lower_leg_mtb_acc_10b9 l_lower_leg_mtb_acc_10b10 l_lower_leg_mtb_acc_10b11 + l_foot_mtb_acc_10b12 l_foot_mtb_acc_10b13 + + + + + + + + diff --git a/iCubZagreb01/hardware/inertials/left_leg-eb6-IMU.xml b/iCubZagreb01/hardware/inertials/left_leg-eb6-IMU.xml new file mode 100644 index 0000000000..d5abaec1eb --- /dev/null +++ b/iCubZagreb01/hardware/inertials/left_leg-eb6-IMU.xml @@ -0,0 +1,58 @@ + + + + + + + + + + + + + + eomn_serv_AS_inertials3 + + + + + strain2 + + + 2 + 0 + + + 0 + 0 + 0 + + + + + l_upper_leg_imu_acc_1 l_upper_leg_imu_gyro_1 l_upper_leg_imu_eul_1 l_upper_leg_imu_mag_1 l_upper_leg_imu_stat_1 + + + eoas_imu_acc eoas_imu_gyr eoas_imu_eul eoas_imu_mag eoas_imu_status + + + strain2 strain2 strain2 strain2 strain2 + + + CAN2:13 CAN2:13 CAN2:13 CAN2:13 CAN2:13 + + + + + + + 50 + l_upper_leg_imu_acc_1 l_upper_leg_imu_gyro_1 l_upper_leg_imu_eul_1 l_upper_leg_imu_mag_1 l_upper_leg_imu_stat_1 + + + + + + + + diff --git a/iCubZagreb01/hardware/inertials/left_leg-eb6-inertials.xml b/iCubZagreb01/hardware/inertials/left_leg-eb6-inertials.xml new file mode 100644 index 0000000000..5ae49bb96c --- /dev/null +++ b/iCubZagreb01/hardware/inertials/left_leg-eb6-inertials.xml @@ -0,0 +1,55 @@ + + + + + + + + + + + + + + eomn_serv_AS_inertials + + + + + eobrd_mtb + + + 0 + 0 + + + 0 + 0 + 0 + + + + + l_upper_leg_ems_gyro_eb6 + + + eoas_gyros_st_l3g4200d + + + ETH:1 + + + + + + + 50 + l_upper_leg_ems_gyro_eb6 + + + + + + + + diff --git a/iCubZagreb01/hardware/inertials/left_leg-eb7-IMU.xml b/iCubZagreb01/hardware/inertials/left_leg-eb7-IMU.xml new file mode 100644 index 0000000000..bf613e532c --- /dev/null +++ b/iCubZagreb01/hardware/inertials/left_leg-eb7-IMU.xml @@ -0,0 +1,58 @@ + + + + + + + + + + + + + + eomn_serv_AS_inertials3 + + + + + strain2 + + + 2 + 0 + + + 0 + 0 + 0 + + + + + l_lower_leg_imu_acc_2 l_lower_leg_imu_gyro_2 l_lower_leg_imu_eul_2 l_lower_leg_imu_mag_2 l_lower_leg_imu_stat_2 + + + eoas_imu_acc eoas_imu_gyr eoas_imu_eul eoas_imu_mag eoas_imu_status + + + strain2 strain2 strain2 strain2 strain2 + + + CAN2:13 CAN2:13 CAN2:13 CAN2:13 CAN2:13 + + + + + + + 50 + l_lower_leg_imu_acc_2 l_lower_leg_imu_gyro_2 l_lower_leg_imu_eul_2 l_lower_leg_imu_mag_2 l_lower_leg_imu_stat_2 + + + + + + + + diff --git a/iCubZagreb01/hardware/inertials/left_leg-eb7-inertials.xml b/iCubZagreb01/hardware/inertials/left_leg-eb7-inertials.xml new file mode 100644 index 0000000000..e92c6d72e9 --- /dev/null +++ b/iCubZagreb01/hardware/inertials/left_leg-eb7-inertials.xml @@ -0,0 +1,55 @@ + + + + + + + + + + + + + + eomn_serv_AS_inertials + + + + + eobrd_mtb + + + 0 + 0 + + + 0 + 0 + 0 + + + + + l_lower_leg_ems_gyro_eb7 + + + eoas_gyros_st_l3g4200d + + + ETH:1 + + + + + + + 50 + l_lower_leg_ems_gyro_eb7 + + + + + + + + diff --git a/iCubZagreb01/hardware/inertials/right_arm-eb27-j4_7-inertials.xml b/iCubZagreb01/hardware/inertials/right_arm-eb27-j4_7-inertials.xml new file mode 100644 index 0000000000..be0139c31f --- /dev/null +++ b/iCubZagreb01/hardware/inertials/right_arm-eb27-j4_7-inertials.xml @@ -0,0 +1,59 @@ + + + + + + + + + + + + + + eomn_serv_AS_inertials + + + + + eobrd_mtb + + + 0 + 0 + + + 0 + 0 + 0 + + + + + r_upper_arm_mtb_acc_2b10 r_upper_arm_mtb_acc_2b11 r_upper_arm_mtb_acc_2b12 r_upper_arm_mtb_acc_2b13 + r_forearm_mtb_acc_2b7 r_forearm_mtb_acc_2b8 r_forearm_mtb_acc_2b9 r_hand_gyro + + + eoas_accel_mtb_int eoas_accel_mtb_int eoas_accel_mtb_int eoas_accel_mtb_int + eoas_accel_mtb_int eoas_accel_mtb_int eoas_accel_mtb_int eoas_gyros_mtb_ext + + + CAN1:8 CAN1:9 CAN1:10 CAN1:11 + CAN1:12 CAN1:13 CAN1:14 CAN1:14 + + + + + + + 50 + r_upper_arm_mtb_acc_2b10 r_upper_arm_mtb_acc_2b11 r_upper_arm_mtb_acc_2b12 r_upper_arm_mtb_acc_2b13 + r_forearm_mtb_acc_2b7 r_forearm_mtb_acc_2b8 r_forearm_mtb_acc_2b9 + + + + + + + + diff --git a/iCubZagreb01/hardware/inertials/right_leg-eb11-inertials.xml b/iCubZagreb01/hardware/inertials/right_leg-eb11-inertials.xml new file mode 100644 index 0000000000..13463771e0 --- /dev/null +++ b/iCubZagreb01/hardware/inertials/right_leg-eb11-inertials.xml @@ -0,0 +1,69 @@ + + + + + + + + + + + + + + eomn_serv_AS_inertials + + + + + eobrd_mtb + + + 0 + 0 + + + 0 + 0 + 0 + + + + + r_upper_leg_ems_acc_eb11 r_upper_leg_ems_gyro_eb11 + r_upper_leg_mtb_acc_11b1 r_upper_leg_mtb_acc_11b2 r_upper_leg_mtb_acc_11b3 r_upper_leg_mtb_acc_11b4 + r_upper_leg_mtb_acc_11b5 r_upper_leg_mtb_acc_11b6 r_upper_leg_mtb_acc_11b7 + r_lower_leg_mtb_acc_11b8 r_lower_leg_mtb_acc_11b9 r_lower_leg_mtb_acc_11b10 r_lower_leg_mtb_acc_11b11 + r_foot_mtb_acc_11b12 r_foot_mtb_acc_11b13 + + + eoas_accel_st_lis3x eoas_gyros_st_l3g4200d eoas_accel_mtb_int + eoas_accel_mtb_int eoas_accel_mtb_int eoas_accel_mtb_int eoas_accel_mtb_int + eoas_accel_mtb_int eoas_accel_mtb_int eoas_accel_mtb_int eoas_accel_mtb_int + eoas_accel_mtb_int eoas_accel_mtb_int eoas_accel_mtb_int eoas_accel_mtb_int + + + ETH:0 ETH:1 CAN1:1 + CAN1:2 CAN1:3 CAN1:4 CAN1:5 + CAN1:6 CAN1:7 CAN2:8 CAN2:9 + CAN2:10 CAN2:11 CAN2:12 CAN2:13 + + + + + + + 50 + r_upper_leg_ems_gyro_eb11 + r_upper_leg_mtb_acc_11b1 r_upper_leg_mtb_acc_11b2 r_upper_leg_mtb_acc_11b3 r_upper_leg_mtb_acc_11b4 + r_upper_leg_mtb_acc_11b5 r_upper_leg_mtb_acc_11b6 r_upper_leg_mtb_acc_11b7 + r_lower_leg_mtb_acc_11b8 r_lower_leg_mtb_acc_11b9 r_lower_leg_mtb_acc_11b10 r_lower_leg_mtb_acc_11b11 + r_foot_mtb_acc_11b12 r_foot_mtb_acc_11b13 + + + + + + + + diff --git a/iCubZagreb01/hardware/inertials/right_leg-eb8-IMU.xml b/iCubZagreb01/hardware/inertials/right_leg-eb8-IMU.xml new file mode 100644 index 0000000000..127deac5f9 --- /dev/null +++ b/iCubZagreb01/hardware/inertials/right_leg-eb8-IMU.xml @@ -0,0 +1,57 @@ + + + + + + + + + + + + + + eomn_serv_AS_inertials3 + + + + + strain2 + + + 2 + 0 + + + 0 + 0 + 0 + + + + + r_upper_leg_imu_acc_1 r_upper_leg_imu_gyro_1 r_upper_leg_imu_eul_1 r_upper_leg_imu_mag_1 r_upper_leg_imu_stat_1 + + + eoas_imu_acc eoas_imu_gyr eoas_imu_eul eoas_imu_mag eoas_imu_status + + strain2 strain2 strain2 strain2 strain2 + + + + CAN2:13 CAN2:13 CAN2:13 CAN2:13 CAN2:13 + + + + + + + 50 + r_upper_leg_imu_acc_1 r_upper_leg_imu_gyro_1 r_upper_leg_imu_eul_1 r_upper_leg_imu_mag_1 r_upper_leg_imu_stat_1 + + + + + + + diff --git a/iCubZagreb01/hardware/inertials/right_leg-eb8-inertials.xml b/iCubZagreb01/hardware/inertials/right_leg-eb8-inertials.xml new file mode 100644 index 0000000000..29f9455424 --- /dev/null +++ b/iCubZagreb01/hardware/inertials/right_leg-eb8-inertials.xml @@ -0,0 +1,55 @@ + + + + + + + + + + + + + + eomn_serv_AS_inertials + + + + + eobrd_mtb + + + 0 + 0 + + + 0 + 0 + 0 + + + + + r_upper_leg_ems_gyro_eb8 + + + eoas_gyros_st_l3g4200d + + + ETH:1 + + + + + + + 50 + r_upper_leg_ems_gyro_eb8 + + + + + + + + diff --git a/iCubZagreb01/hardware/inertials/right_leg-eb9-IMU.xml b/iCubZagreb01/hardware/inertials/right_leg-eb9-IMU.xml new file mode 100644 index 0000000000..7218a38567 --- /dev/null +++ b/iCubZagreb01/hardware/inertials/right_leg-eb9-IMU.xml @@ -0,0 +1,57 @@ + + + + + + + + + + + + + + eomn_serv_AS_inertials3 + + + + + strain2 + + + 2 + 0 + + + 0 + 0 + 0 + + + + + r_lower_leg_imu_acc_2 r_lower_leg_imu_gyro_2 r_lower_leg_imu_eul_2 r_lower_leg_imu_mag_2 r_lower_leg_imu_stat_2 + + + eoas_imu_acc eoas_imu_gyr eoas_imu_eul eoas_imu_mag eoas_imu_status + + strain2 strain2 strain2 strain2 strain2 + + + + CAN2:13 CAN2:13 CAN2:13 CAN2:13 CAN2:13 + + + + + + + 50 + r_lower_leg_imu_acc_2 r_lower_leg_imu_gyro_2 r_lower_leg_imu_eul_2 r_lower_leg_imu_mag_2 r_lower_leg_imu_stat_2 + + + + + + + diff --git a/iCubZagreb01/hardware/inertials/right_leg-eb9-inertials.xml b/iCubZagreb01/hardware/inertials/right_leg-eb9-inertials.xml new file mode 100644 index 0000000000..d4d4f63f9d --- /dev/null +++ b/iCubZagreb01/hardware/inertials/right_leg-eb9-inertials.xml @@ -0,0 +1,55 @@ + + + + + + + + + + + + + + eomn_serv_AS_inertials + + + + + eobrd_mtb + + + 0 + 0 + + + 0 + 0 + 0 + + + + + r_lower_leg_ems_gyro_eb9 + + + eoas_gyros_st_l3g4200d + + + ETH:1 + + + + + + + 50 + r_lower_leg_ems_gyro_eb9 + + + + + + + + diff --git a/iCubZagreb01/hardware/inertials/torso-eb1-inertials.xml b/iCubZagreb01/hardware/inertials/torso-eb1-inertials.xml new file mode 100644 index 0000000000..87a5e110da --- /dev/null +++ b/iCubZagreb01/hardware/inertials/torso-eb1-inertials.xml @@ -0,0 +1,55 @@ + + + + + + + + + + + + + + eomn_serv_AS_inertials + + + + + eobrd_mtb + + + 0 + 0 + + + 0 + 0 + 0 + + + + + torso_ems_gyro_eb1 + + + eoas_gyros_st_l3g4200d + + + ETH:1 + + + + + + + 50 + torso_ems_gyro_eb1 + + + + + + + + diff --git a/iCubZagreb01/hardware/inertials/torso-eb22-inertials.xml b/iCubZagreb01/hardware/inertials/torso-eb22-inertials.xml new file mode 100644 index 0000000000..a27279f6b3 --- /dev/null +++ b/iCubZagreb01/hardware/inertials/torso-eb22-inertials.xml @@ -0,0 +1,55 @@ + + + + + + + + + + + + + + eomn_serv_AS_inertials + + + + + eobrd_mtb + + + 0 + 0 + + + 0 + 0 + 0 + + + + + chest_mtb_acc_0b7 chest_mtb_acc_0b8 chest_mtb_acc_0b9 chest_mtb_acc_0b10 + + + eoas_accel_mtb_int eoas_accel_mtb_int eoas_accel_mtb_int eoas_accel_mtb_int + + + CAN1:7 CAN1:8 CAN1:9 CAN1:10 + + + + + + + 50 + chest_mtb_acc_0b7 chest_mtb_acc_0b8 chest_mtb_acc_0b9 chest_mtb_acc_0b10 + + + + + + + + diff --git a/iCubZagreb01/hardware/inertials/torso-eb3-inertials.xml b/iCubZagreb01/hardware/inertials/torso-eb3-inertials.xml new file mode 100644 index 0000000000..b884dfcac4 --- /dev/null +++ b/iCubZagreb01/hardware/inertials/torso-eb3-inertials.xml @@ -0,0 +1,55 @@ + + + + + + + + + + + + + + eomn_serv_AS_inertials + + + + + eobrd_mtb + + + 0 + 0 + + + 0 + 0 + 0 + + + + + torso_ems_gyro_eb3 + + + eoas_gyros_st_l3g4200d + + + ETH:1 + + + + + + + 50 + torso_ems_gyro_eb3 + + + + + + + + diff --git a/iCubZagreb01/hardware/inertials/waist-eb5-inertials.xml b/iCubZagreb01/hardware/inertials/waist-eb5-inertials.xml new file mode 100644 index 0000000000..19958f8d39 --- /dev/null +++ b/iCubZagreb01/hardware/inertials/waist-eb5-inertials.xml @@ -0,0 +1,55 @@ + + + + + + + + + + + + + + eomn_serv_AS_inertials + + + + + eobrd_mtb + + + 0 + 0 + + + 0 + 0 + 0 + + + + + waist_ems_gyro_eb5 + + + eoas_gyros_st_l3g4200d + + + ETH:1 + + + + + + + 50 + waist_ems_gyro_eb5 + + + + + + + + diff --git a/iCubZagreb01/hardware/inertials/waist-inertial.xml b/iCubZagreb01/hardware/inertials/waist-inertial.xml new file mode 100644 index 0000000000..8d2f688d6b --- /dev/null +++ b/iCubZagreb01/hardware/inertials/waist-inertial.xml @@ -0,0 +1,10 @@ + + + + + + /icub/xsens_inertial + xsensmt + /dev/ttyXsens + + diff --git a/iCubZagreb01/hardware/mechanicals/face-eb22-j0-mec.xml b/iCubZagreb01/hardware/mechanicals/face-eb22-j0-mec.xml new file mode 100644 index 0000000000..a3d3b6198c --- /dev/null +++ b/iCubZagreb01/hardware/mechanicals/face-eb22-j0-mec.xml @@ -0,0 +1,74 @@ + + + + + + + + + 6 + 1 + + 0 + "eyelids" + "revolute" + 182.044 + 3360 + 1000.0 + -16 + 2.38 + 1 + "DC" + 0 + + + + -5 + +65 + 0 + 0 + + + + + + 1.000 0.000 0.000 0.000 + 0.000 1.000 0.000 0.000 + 0.000 0.000 1.000 0.000 + 0.000 0.000 0.000 1.000 + + + + 1.000 0.000 0.000 0.000 + 0.000 1.000 0.000 0.000 + 0.000 0.000 1.000 0.000 + 0.000 0.000 0.000 1.000 + + + + 1.00 0.00 0.00 0.00 0.00 0.00 + 0.00 1.00 0.00 0.00 0.00 0.00 + 0.00 0.00 1.00 0.00 0.00 0.00 + 0.00 0.00 0.00 1.00 0.00 0.00 + + + + + + 1 + + 0 + none + 0 + 0 + + + + + + + + + diff --git a/iCubZagreb01/hardware/mechanicals/head-eb20-j0_1-mec.xml b/iCubZagreb01/hardware/mechanicals/head-eb20-j0_1-mec.xml new file mode 100644 index 0000000000..155558f28f --- /dev/null +++ b/iCubZagreb01/hardware/mechanicals/head-eb20-j0_1-mec.xml @@ -0,0 +1,69 @@ + + + + + + + + 6 + 2 + + + + + 0 1 + "neck_pitch" "neck_roll" + "revolute" "revolute" + 182.044 182.044 + 3360 3360 + 1000.0 1000.0 + 161.68 161.68 + 1 1 + 1 1 + "DC" "DC" + 0 + + + + -30 -20 + +22 +20 + 0 0 + 0 0 + + + + + + 1.000 1.000 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 + + + + 0.500 -0.500 0.000 0.000 + 0.500 0.500 0.000 0.000 + 0.000 0.000 1.000 0.000 + 0.000 0.000 0.000 1.000 + + + + 1.00 0.00 0.00 0.00 0.00 0.00 + 0.00 1.00 0.00 0.00 0.00 0.00 + 0.00 0.00 1.00 0.00 0.00 0.00 + 0.00 0.00 0.00 1.00 0.00 0.00 + + + + + + 1 + + 0 1 + none + 0 + 0 + + + + diff --git a/iCubZagreb01/hardware/mechanicals/head-eb21-j2_5-mec.xml b/iCubZagreb01/hardware/mechanicals/head-eb21-j2_5-mec.xml new file mode 100644 index 0000000000..c3c2865c8b --- /dev/null +++ b/iCubZagreb01/hardware/mechanicals/head-eb21-j2_5-mec.xml @@ -0,0 +1,79 @@ + + + + + + 6 + 4 + + + + 0 1 2 3 + "neck_yaw" "eyes_tilt" "eyes_vers" "eyes_verg" + "revolute" "revolute" "revolute" "revolute" + 182.044 182.044 182.044 182.044 + 3360 3360 3360 3360 + 1000.0 1000.0 1000.0 1000.0 + 100 -141 50 50 + 1 1 1 1 + 1 1 1 1 + "DC" "DC" "DC" "DC" + + 0 + + + + -45 -30 -45 0 + +45 +30 +45 +45 + 0 0 0 0 + 0 0 0 0 + + + + + + 1.000 0.000 0.000 0.000 + 0.000 1.000 0.000 0.000 + 0.000 0.000 1.000 -1.000 + 0.000 0.000 1.000 1.000 + + + + 1.000 0.000 0.000 0.000 + 0.000 1.000 0.000 0.000 + 0.000 0.000 0.500 0.500 + 0.000 0.000 -0.500 0.500 + + + + 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 + + + + + + 3 + + 0 + none + 0 + 0 + + + 1 + none + 0 + 0 + + + 2 3 + none + 0 + 0 + + + + diff --git a/iCubZagreb01/hardware/mechanicals/left_arm-eb1-j0_3-mec.xml b/iCubZagreb01/hardware/mechanicals/left_arm-eb1-j0_3-mec.xml new file mode 100644 index 0000000000..1e80a31377 --- /dev/null +++ b/iCubZagreb01/hardware/mechanicals/left_arm-eb1-j0_3-mec.xml @@ -0,0 +1,83 @@ + + + + + + 6 + 4 + 0 1 2 3 + "l_shoulder_pitch" "l_shoulder_roll" "l_shoulder_yaw" "l_elbow" + "revolute" "revolute" "revolute" "revolute" + 182.044 182.044 182.044 182.044 + 32000 32000 32000 32000 + 1000.0 1000.0 1000.0 1000.0 + 100.00 100.00 100.00 100.00 + 1 1 1 1 + 1 1 1 1 + "BLL_MOOG" "BLL_MOOG" "BLL_MOOG" "BLL_MOOG" + 0 + + + + + 8 160 80 106 + -95.5 15 -32 15 + 0 0 0 0 + 0 0 0 0 + + + + 1 1 1 1 + 0 0 0 0 + 1 1 1 1 + 0 0 0 0 + 0 0 0 0 + 0 0 0 0 + 8 8 8 8 + + + + + + + + 1.00 0.00 0.00 0.00 + -1.625 1.625 0.00 0.00 + 0.00 0.00 1.625 0.00 + 0.00 0.00 0.00 1.00 + + + + + 1.000 0.000 0.000 0.000 + 1.000 0.615 0.000 0.000 + 0.000 -0.615 0.615 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 1 2 + none + 0 + 0 + + + 3 + none + 0 + 0 + + + + diff --git a/iCubZagreb01/hardware/mechanicals/left_arm-eb24-j4_7-mec.xml b/iCubZagreb01/hardware/mechanicals/left_arm-eb24-j4_7-mec.xml new file mode 100644 index 0000000000..43967c865b --- /dev/null +++ b/iCubZagreb01/hardware/mechanicals/left_arm-eb24-j4_7-mec.xml @@ -0,0 +1,79 @@ + + + + + + 6 + 4 + + + "l_wrist_prosup" "l_wrist_pitch" "l_wrist_yaw" "l_hand_finger" + "revolute" "revolute" "revolute" "revolute" + 0 1 2 3 + 182.044 182.044 182.044 182.044 + 3360 3360 3360 3360 + 1000.0 1000.0 1000.0 1000.0 + -100 159 159 256 + 1 1 1 1 + 1 1 1 1 + "DC" "DC" "DC" "DC" + 0 + + + + 90 30 35 60 + -90 -80 -15 10 + 0 0 0 0 + 0 0 0 0 + + + + + + + 1.000 0.000 0.000 0.000 + 0.000 1.000 0.000 0.000 + 0.000 -1.000 +1.000 0.000 + 0.000 0.000 0.000 1.000 + + + + 1.000 0.000 0.000 0.000 + 0.000 1.000 +1.000 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 + + + + + + 3 + + 0 + none + 0 + 0 + + + 1 2 + none + 0 + 0 + + + 3 + none + 0 + 0 + + + + + diff --git a/iCubZagreb01/hardware/mechanicals/left_arm-eb25-j8_11-mec.xml b/iCubZagreb01/hardware/mechanicals/left_arm-eb25-j8_11-mec.xml new file mode 100644 index 0000000000..a0442ecdbd --- /dev/null +++ b/iCubZagreb01/hardware/mechanicals/left_arm-eb25-j8_11-mec.xml @@ -0,0 +1,77 @@ + + + + + + 6 + 4 + + + "l_thumb_oppose" "l_thumb_proximal" "l_thumb_distal" "l_index_proximal" + "revolute" "revolute" "revolute" "revolute" + 0 1 2 3 + 182.044 182.044 182.044 182.044 + 3360 3360 3360 3360 + 1000.0 1000.0 1000.0 1000.0 + 256 256 256 256 + 1 1 1 1 + 1 1 1 1 + "DC" "DC" "DC" "DC" + 0 + + + + 90 90 180 90 + 10 0 0 0 + 0 0 -70000 -5120 + 0 0 5120 32000 + + + + + + 1.000 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 + + + + 1.000 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 + + + + 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 + + + + + 3 + + 0 1 + none + 0 + 0 + + + 2 + none + 0 + 0 + + + 3 + none + 0 + 0 + + + + + diff --git a/iCubZagreb01/hardware/mechanicals/left_arm-eb26-j12_15-mec.xml b/iCubZagreb01/hardware/mechanicals/left_arm-eb26-j12_15-mec.xml new file mode 100644 index 0000000000..48f2278ae2 --- /dev/null +++ b/iCubZagreb01/hardware/mechanicals/left_arm-eb26-j12_15-mec.xml @@ -0,0 +1,82 @@ + + + + + + 6 + 4 + + + "l_index-distal" "l_middle-proximal" "l_middle-distal" "l_little-fingers" + "revolute" "revolute" "revolute" "revolute" + 0 1 2 3 + 182.044 182.044 182.044 182.044 + 3360 3360 3360 3360 + 1000.0 1000.0 1000.0 1000.0 + 256 256 256 256 + 1 1 1 1 + 1 1 1 1 + "DC" "DC" "DC" "DC" + 0 + + + + 180 90 180 270 + 0 0 0 0 + -5120 -5120 -65000 -5120 + 65000 32000 5120 65000 + + + + + + 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 + 1.000 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/iCubZagreb01/hardware/mechanicals/left_leg-eb6-j0_3-mec.xml b/iCubZagreb01/hardware/mechanicals/left_leg-eb6-j0_3-mec.xml new file mode 100644 index 0000000000..bddccdc164 --- /dev/null +++ b/iCubZagreb01/hardware/mechanicals/left_leg-eb6-j0_3-mec.xml @@ -0,0 +1,93 @@ + + + + + + 6 + 4 + 0 1 2 3 + "l_hip_pitch" "l_hip_roll" "l_hip_yaw" "l_knee" + "revolute" "revolute" "revolute" "revolute" + 182.044 182.044 182.044 182.044 + 32000 32000 32000 32000 + 1000.0 1000.0 1000.0 1000.0 + -150.0 100.0 -100.0 -100.0 + 1 1 1 1 + 1 1 1 1 + "BLL_MOOG" "BLL_MOOG" "BLL_MOOG" "BLL_MOOG" + 0 + + + + 92 92 72 0 + -30 -15 -72 -100 + 0 0 0 0 + 0 0 0 0 + + + + 1 1 1 1 + 0 0 0 0 + 1 1 1 1 + 0 0 0 0 + 0 0 0 0 + 0 0 0 0 + 8 8 8 8 + + + + + + 1.00 0.00 0.00 0.00 + 0.00 1.00 0.00 0.00 + 0.00 0.00 1.00 0.00 + 0.00 0.00 0.00 1.00 + + + + 1.00 0.00 0.00 0.00 + 0.00 1.00 0.00 0.00 + 0.00 0.00 1.00 0.00 + 0.00 0.00 0.00 1.00 + + + + 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 0.00 + 0.00 0.00 0.00 1.00 0.00 0.00 + + + + + + 4 + + 0 + none + 0 + 0 + + + 1 + none + 0 + 0 + + + 2 + none + 0 + 0 + + + 3 + none + 0 + 0 + + + + + + diff --git a/iCubZagreb01/hardware/mechanicals/left_leg-eb7-j4_5-mec.xml b/iCubZagreb01/hardware/mechanicals/left_leg-eb7-j4_5-mec.xml new file mode 100644 index 0000000000..2807631034 --- /dev/null +++ b/iCubZagreb01/hardware/mechanicals/left_leg-eb7-j4_5-mec.xml @@ -0,0 +1,79 @@ + + + + + + 6 + 2 + 0 1 + "l_ankle_pitch" "l_ankle_roll" + "revolute" "revolute" + 182.044 182.044 + 32000 32000 + 1000.0 1000.0 + 100.00 100.00 + 1 1 + "BLL_MOOG" "BLL_MOOG" + 1 1 + 0 + + + + 30.00 20.00 + -30.00 -20.00 + 0 0 + 0 0 + + + + 1 1 + 0 0 + 1 1 + 0 0 + 0 0 + 0 0 + 8 8 + + + + + + 1.00 0.00 0.00 0.00 + 0.00 1.00 0.00 0.00 + 0.00 0.00 1.00 0.00 + 0.00 0.00 0.00 1.00 + + + + 1.00 0.00 0.00 0.00 + 0.00 1.00 0.00 0.00 + 0.00 0.00 1.00 0.00 + 0.00 0.00 0.00 1.00 + + + + 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 0.00 + 0.00 0.00 0.00 1.00 0.00 0.00 + + + + + + 2 + + 0 + none + 0 + 0 + + + 1 + none + 0 + 0 + + + + diff --git a/iCubZagreb01/hardware/mechanicals/right_arm-eb27-j4_7-mec.xml b/iCubZagreb01/hardware/mechanicals/right_arm-eb27-j4_7-mec.xml new file mode 100644 index 0000000000..62c5868f36 --- /dev/null +++ b/iCubZagreb01/hardware/mechanicals/right_arm-eb27-j4_7-mec.xml @@ -0,0 +1,76 @@ + + + + + + 6 + 4 + + + "r_wrist_prosup" "r_wrist_pitch" "r_wrist_yaw" "r_hand_finger" + "revolute" "revolute" "revolute" "revolute" + 0 1 2 3 + 182.044 182.044 182.044 182.044 + 3360 3360 3360 3360 + 1000.0 1000.0 1000.0 1000.0 + 100 159 159 256 + 1 1 1 1 + 1 1 1 1 + "DC" "DC" "DC" "DC" + 0 + + + + 90 30 35 60 + -90 -80 -15 10 + 0 0 0 0 + 0 0 0 0 + + + + + + 1.000 0.000 0.000 0.000 + 0.000 1.000 0.000 0.000 + 0.000 -1.000 +1.000 0.000 + 0.000 0.000 0.000 1.000 + + + + 1.000 0.000 0.000 0.000 + 0.000 1.000 +1.000 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 + + + + + + 3 + + 0 + none + 0 + 0 + + + 1 2 + none + 0 + 0 + + + 3 + none + 0 + 0 + + + diff --git a/iCubZagreb01/hardware/mechanicals/right_arm-eb28-j8_11-mec.xml b/iCubZagreb01/hardware/mechanicals/right_arm-eb28-j8_11-mec.xml new file mode 100644 index 0000000000..9a5e02fe23 --- /dev/null +++ b/iCubZagreb01/hardware/mechanicals/right_arm-eb28-j8_11-mec.xml @@ -0,0 +1,76 @@ + + + + + + 6 + 4 + + + "r_thumb_oppose" "r_thumb_proximal" "r_thumb_distal" "r_index_proximal" + "revolute" "revolute" "revolute" "revolute" + 0 1 2 3 + 182.044 182.044 182.044 182.044 + 3360 3360 3360 3360 + 1000.0 1000.0 1000.0 1000.0 + 256 256 256 256 + 1 1 1 1 + 1 1 1 1 + "DC" "DC" "DC" "DC" + 0 + + + + 90 90 180 90 + 10 0 0 0 + 0 0 -5120 -5120 + 0 0 70000 32000 + + + + + + 1.000 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 + + + + 1.000 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 + + + + 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 + + + + + + 3 + + 0 1 + none + 0 + 0 + + + 2 + none + 0 + 0 + + + 3 + none + 0 + 0 + + + diff --git a/iCubZagreb01/hardware/mechanicals/right_arm-eb29-j12_15-mec.xml b/iCubZagreb01/hardware/mechanicals/right_arm-eb29-j12_15-mec.xml new file mode 100644 index 0000000000..61acaeb53c --- /dev/null +++ b/iCubZagreb01/hardware/mechanicals/right_arm-eb29-j12_15-mec.xml @@ -0,0 +1,83 @@ + + + + + + 6 + 4 + + + "r_index-distal" "r_middle-proximal" "r_middle-distal" "r_little-fingers" + "revolute" "revolute" "revolute" "revolute" + 0 1 2 3 + 182.044 182.044 182.044 182.044 + 3360 3360 3360 3360 + 1000.0 1000.0 1000.0 1000.0 + 256 256 256 256 + 1 1 1 1 + 1 1 1 1 + "DC" "DC" "DC" "DC" + 0 + + + + 180 90 180 270 + 0 0 0 0 + -65000 -5120 -5120 -65000 + 5120 32000 65000 5120 + + + + + + + 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 + 1.000 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/iCubZagreb01/hardware/mechanicals/right_arm-eb3-j0_3-mec.xml b/iCubZagreb01/hardware/mechanicals/right_arm-eb3-j0_3-mec.xml new file mode 100644 index 0000000000..54eb550104 --- /dev/null +++ b/iCubZagreb01/hardware/mechanicals/right_arm-eb3-j0_3-mec.xml @@ -0,0 +1,85 @@ + + + + + + 6 + 4 + 0 1 2 3 + "r_shoulder_pitch" "r_shoulder_roll" "r_shoulder_yaw" "r_elbow" + "revolute" "revolute" "revolute" "revolute" + 182.044 182.044 182.044 182.044 + 32000 32000 32000 32000 + 1000.0 1000.0 1000.0 1000.0 + -100.00 -100.00 -100.00 -100.00 + 1 1 1 1 + 1 1 1 1 + "BLL_MOOG" "BLL_MOOG" "BLL_MOOG" "BLL_MOOG" + + 0 + + + + + 8 160 80 106 + -95.5 15 -32 15 + 0 0 0 0 + 0 0 0 0 + + + + 1 1 1 1 + 0 0 0 0 + 1 1 1 1 + 0 0 0 0 + 0 0 0 0 + 0 0 0 0 + 8 8 8 8 + + + + + + + + 1.00 0.00 0.00 0.00 + -1.625 1.625 0.00 0.00 + 0.00 0.00 1.625 0.00 + 0.00 0.00 0.00 1.00 + + + + + 1.000 0.000 0.000 0.000 + 1.000 0.615 0.000 0.000 + 0.000 -0.615 0.615 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 1 2 + none + 0 + 0 + + + 3 + none + 0 + 0 + + + + + diff --git a/iCubZagreb01/hardware/mechanicals/right_leg-eb8-j0_3-mec.xml b/iCubZagreb01/hardware/mechanicals/right_leg-eb8-j0_3-mec.xml new file mode 100644 index 0000000000..85426a16b6 --- /dev/null +++ b/iCubZagreb01/hardware/mechanicals/right_leg-eb8-j0_3-mec.xml @@ -0,0 +1,93 @@ + + + + + + 6 + 4 + + 0 1 2 3 + "r_hip_pitch" "r_hip_roll" "r_hip_yaw" "r_knee" + "revolute" "revolute" "revolute" "revolute" + 182.044 182.044 182.044 182.044 + 32000 32000 32000 32000 + 1000.0 1000.0 1000.0 1000.0 + 150.00 -100.00 100.00 100.00 + 1 1 1 1 + 1 1 1 1 + "BLL_MOOG" "BLL_MOOG" "BLL_MOOG" "BLL_MOOG" + + 0 + + + + + 92 92 72 0 + -30 -15 -72 -100 + 0 0 0 0 + 0 0 0 0 + + + + 1 1 1 1 + 0 0 0 0 + 1 1 1 1 + 0 0 0 0 + 0 0 0 0 + 0 0 0 0 + 8 8 8 8 + + + + + + 1.00 0.00 0.00 0.00 + 0.00 1.00 0.00 0.00 + 0.00 0.00 1.00 0.00 + 0.00 0.00 0.00 1.00 + + + + 1.00 0.00 0.00 0.00 + 0.00 1.00 0.00 0.00 + 0.00 0.00 1.00 0.00 + 0.00 0.00 0.00 1.00 + + + + 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 0.00 + 0.00 0.00 0.00 1.00 0.00 0.00 + + + + + + 4 + + 0 + none + 0 + 0 + + + 1 + none + 0 + 0 + + + 2 + none + 0 + 0 + + + 3 + none + 0 + 0 + + + diff --git a/iCubZagreb01/hardware/mechanicals/right_leg-eb9-j4_5-mec.xml b/iCubZagreb01/hardware/mechanicals/right_leg-eb9-j4_5-mec.xml new file mode 100644 index 0000000000..b160c3a593 --- /dev/null +++ b/iCubZagreb01/hardware/mechanicals/right_leg-eb9-j4_5-mec.xml @@ -0,0 +1,80 @@ + + + + + + 6 + 2 + 0 1 + "r_ankle_pitch" "r_ankle_roll" + "revolute" "revolute" + 182.044 182.044 + 32000 32000 + 1000.0 1000.0 + -100.00 -100.00 + 1.00 1.00 + "BLL_MOOG" "BLL_MOOG" + 1 1 + 0 + + + + 30 20 + -30 -20 + 0 0 + 0 0 + + + + 1 1 + 0 0 + 1 1 + 0 0 + 0 0 + 0 0 + 8 8 + + + + + + 1.00 0.00 0.00 0.00 + 0.00 1.00 0.00 0.00 + 0.00 0.00 1.00 0.00 + 0.00 0.00 0.00 1.00 + + + + 1.00 0.00 0.00 0.00 + 0.00 1.00 0.00 0.00 + 0.00 0.00 1.00 0.00 + 0.00 0.00 0.00 1.00 + + + + 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 0.00 + 0.00 0.00 0.00 1.00 0.00 0.00 + + + + + + 2 + + 0 + none + 0 + 0 + + + 1 + none + 0 + 0 + + + + + diff --git a/iCubZagreb01/hardware/mechanicals/torso-eb5-j0_2-mec.xml b/iCubZagreb01/hardware/mechanicals/torso-eb5-j0_2-mec.xml new file mode 100644 index 0000000000..8676eef99e --- /dev/null +++ b/iCubZagreb01/hardware/mechanicals/torso-eb5-j0_2-mec.xml @@ -0,0 +1,74 @@ + + + + + + 6 + 3 + 2 0 1 + "torso_yaw" "torso_roll" "torso_pitch" + "revolute" "revolute" "revolute" + 182.044 182.044 182.044 + 32000 32000 32000 + 1000.0 1000.0 1000.0 + -100.00 -100.00 -100.00 + 1 1 1 + 1 1 1 + "BLL_MOOG" "BLL_MOOG" "BLL_MOOG" + 0 + + + + 50 30 70 + -50 -30 -20 + 0 0 0 + 0 0 0 + + + + 1 1 1 + 0 0 0 + 1 1 1 + 0 0 0 + 0 0 0 + 0 0 0 + 8 8 8 + + + + + + 0.500 -0.500 0.000 0.000 + 0.500 0.500 0.000 0.000 + 0.000 0.000 1.000 0.000 + 0.000 0.000 0.000 1.000 + + + + + 0.500 0.500 0.000 0.000 + -0.500 0.500 0.000 0.000 + 0.275 0.275 0.550 0.000 + 0.000 0.000 0.000 1.000 + + + + 1.00 0.00 0.00 0.00 0.00 0.00 + 0.00 1.00 0.00 0.00 0.00 0.00 + 0.00 0.00 1.00 0.00 0.00 0.00 + 0.00 0.00 0.00 1.00 0.00 0.00 + + + + + + 1 + + 0 1 2 + none + 0 + 0 + + + + diff --git a/iCubZagreb01/hardware/motorControl/face-eb22-j0-mc.xml b/iCubZagreb01/hardware/motorControl/face-eb22-j0-mc.xml new file mode 100644 index 0000000000..a805716a13 --- /dev/null +++ b/iCubZagreb01/hardware/motorControl/face-eb22-j0-mc.xml @@ -0,0 +1,70 @@ + + + + + + + + + + + + + + + -5 + +65 + 2000 + 700 + 1000 + 1000 + 3300 + + + + 100 + + + + 0.0 + 0.0 + + + + POS_PID_DEFAULT + POS_PID_DEFAULT + POS_PID_DEFAULT + none + none + none + + + + + + + minjerk + pwm + metric_units + machine_units + 600.00 + 0.0 + 100.0 + 3360 + 3360 + 0 + 0 + 0 + + + + + + + + + + + + + diff --git a/iCubZagreb01/hardware/motorControl/face-eb22-j0-mc_service.xml b/iCubZagreb01/hardware/motorControl/face-eb22-j0-mc_service.xml new file mode 100644 index 0000000000..ef08ef1152 --- /dev/null +++ b/iCubZagreb01/hardware/motorControl/face-eb22-j0-mc_service.xml @@ -0,0 +1,48 @@ + + + + + + + + eomn_serv_MC_mc4plus + + + + + mc4plus + + + + + + + pwm + CONN:P2 + + + + aea + CONN:P10 + atjoint + -4096 + 0.703 + + + + none + none + none + 0 + 0 + + + + + + + + + + + diff --git a/iCubZagreb01/hardware/motorControl/head-eb20-j0_1-mc.xml b/iCubZagreb01/hardware/motorControl/head-eb20-j0_1-mc.xml new file mode 100644 index 0000000000..f81260ebec --- /dev/null +++ b/iCubZagreb01/hardware/motorControl/head-eb20-j0_1-mc.xml @@ -0,0 +1,70 @@ + + + + + + + + + + + + + + + -30 -20 + +22 +20 + 1000 1000 + 6000 6000 + 1500 1500 + 4000 4000 + 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 + -300 +300 + -10 +10 + -100 +100 + 3360 3360 + 3360 3360 + 0 0 + 0 0 + 0 0 + + + + + + + + + + + + + diff --git a/iCubZagreb01/hardware/motorControl/head-eb20-j0_1-mc_service.xml b/iCubZagreb01/hardware/motorControl/head-eb20-j0_1-mc_service.xml new file mode 100644 index 0000000000..1b3755907f --- /dev/null +++ b/iCubZagreb01/hardware/motorControl/head-eb20-j0_1-mc_service.xml @@ -0,0 +1,48 @@ + + + + + + + + eomn_serv_MC_mc4plus + + + + + mc4plus + + + + + + + pwm pwm + CONN:P3 CONN:P4 + + + + aea aea + CONN:P11 CONN:P10 + atjoint atjoint + 4096 -4096 + 0.703 0.703 + + + + qenc qenc + CONN:P3 CONN:P4 + atmotor atmotor + 2048 2048 + 0 0 + + + + + + + + + + + diff --git a/iCubZagreb01/hardware/motorControl/head-eb21-j2_5-mc.xml b/iCubZagreb01/hardware/motorControl/head-eb21-j2_5-mc.xml new file mode 100644 index 0000000000..c22aed6c0d --- /dev/null +++ b/iCubZagreb01/hardware/motorControl/head-eb21-j2_5-mc.xml @@ -0,0 +1,71 @@ + + + + + + + + + + + + + + + -45 -30 -30 0 + +45 +30 +30 +45 + 1000 1000 1000 1000 + 2000 2000 2500 2500 + 700 700 700 700 + 1500 1500 1500 1500 + + 3360 3360 3360 3360 + + + + 100 100 100 100 + + + + 0.0 0.0 0.0 0.0 + 0.0 0.0 0.0 0.0 + + + + POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT + POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT + POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT + none none none none + none none none none + none none none none + + + + + + + minjerk + pwm + metric_units + machine_units + 1100.00 -1000 3500 3500 + 0.0 0.0 0.0 0.0 + 0.0 -100 600.0 600.0 + 3360 3360 3360 3360 + 3360 3360 3360 3360 + 0 0 0 0 + 0 0 0 0 + 0 0 0 0 + + + + + + + + + + + + + diff --git a/iCubZagreb01/hardware/motorControl/head-eb21-j2_5-mc_service.xml b/iCubZagreb01/hardware/motorControl/head-eb21-j2_5-mc_service.xml new file mode 100644 index 0000000000..fec9837c22 --- /dev/null +++ b/iCubZagreb01/hardware/motorControl/head-eb21-j2_5-mc_service.xml @@ -0,0 +1,49 @@ + + + + + + + + eomn_serv_MC_mc4plus + + + + + mc4plus + + + + + + + + + pwm pwm pwm pwm + CONN:P3 CONN:P2 CONN:P5 CONN:P4 + + + + aea aea none none + CONN:P11 CONN:P10 CONN:none CONN:none + atjoint atjoint none none + 4096 4096 0 0 + 0.703 0.703 0 0 + + + + qenc qenc qenc qenc + CONN:P3 CONN:P2 CONN:P5 CONN:P4 + atmotor atmotor atmotor atmotor + 2048 2048 2048 2048 + 0 0 0 0 + + + + + + + + + + diff --git a/iCubZagreb01/hardware/motorControl/left_arm-eb1-j0_3-mc.xml b/iCubZagreb01/hardware/motorControl/left_arm-eb1-j0_3-mc.xml new file mode 100644 index 0000000000..aa196d26ca --- /dev/null +++ b/iCubZagreb01/hardware/motorControl/left_arm-eb1-j0_3-mc.xml @@ -0,0 +1,117 @@ + + + + + + + + + + + + + + + 8 160 80 106 + -95.5 15 -32 15 + 1000 1000 1000 1000 + 4000 4000 4000 4000 + 5000 5000 5000 5000 + 15000 15000 15000 15000 + 10000 10000 10000 10000 + + + + 100 100 100 100 + + + + 0.1 0.1 0.1 0.1 + 0.05 0.05 0.05 0.05 + + + + POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT + POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT + POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT + TRQ_PID_DEFAULT TRQ_PID_DEFAULT TRQ_PID_DEFAULT TRQ_PID_DEFAULT + 2FOC_CUR_CONTROL 2FOC_CUR_CONTROL 2FOC_CUR_CONTROL 2FOC_CUR_CONTROL + 2FOC_VEL_CONTROL 2FOC_VEL_CONTROL 2FOC_VEL_CONTROL 2FOC_VEL_CONTROL + + + + + + + minjerk + pwm + metric_units + machine_units + 711.11 1066.66 711.11 1066.66 + 0.00 0.00 0.00 0.00 + 7111.09 10666.64 7111.09 10666.64 + 8000 8000 8000 8000 + 200 200 200 1000 + 0 0 0 0 + 0 0 0 0 + 0 0 0 0 + + + + + + + + + torque + pwm + metric_units + machine_units + 200 200 250 300 + 0 0 0 0 + 0 0 0 0 + 8000 8000 8000 8000 + 500 500 500 500 + 0 0 0 0 + 0.5 0.5 1 1.7 + -0.7 -0.7 -0.8 -1.2 + 1 1 1 1 + 0.0030 0.0006 0.0007 0.0007 + 0 0 0 0 + 180 464 463 449 + + + + low_lev_current + machine_units + machine_units + 8 8 8 8 + 0 0 0 0 + 2 2 2 2 + 10 10 10 10 + 32000 32000 32000 32000 + 32000 32000 32000 32000 + 0 0 0 0 + + + + low_lev_speed + machine_units + machine_units + 0 0 0 0 + 12 12 12 12 + 0 0 0 0 + 16 16 16 16 + 10 10 10 10 + 32000 32000 32000 32000 + 32000 32000 32000 32000 + + + + + + + + + + diff --git a/iCubZagreb01/hardware/motorControl/left_arm-eb1-j0_3-mc_service.xml b/iCubZagreb01/hardware/motorControl/left_arm-eb1-j0_3-mc_service.xml new file mode 100644 index 0000000000..158d0cdde0 --- /dev/null +++ b/iCubZagreb01/hardware/motorControl/left_arm-eb1-j0_3-mc_service.xml @@ -0,0 +1,62 @@ + + + + + + + + eomn_serv_MC_foc + + + + + ems4 + + + + foc + + 1 + 6 + + + 3 + 3 + 3 + + + + + + + + + eomc_act_foc foc foc foc + CAN1:1:0 CAN1:2:0 CAN1:3:0 CAN1:4:0 + + + + eomc_enc_aea aea aea aea + CONN:P6 CONN:P7 CONN:P8 CONN:P9 + eomc_pos_atjoint atjoint atjoint atjoint + -4096 -4096 4096 -4096 + 0.703 0.703 0.703 0.703 + + + + roie roie roie roie + CAN1:1:0 CAN1:2:0 CAN1:3:0 CAN1:4:0 + atmotor atmotor atmotor atmotor + -14400 -14400 -14400 -14400 + 0 0 0 0 + + + + + + + + + + + diff --git a/iCubZagreb01/hardware/motorControl/left_arm-eb24-j4_7-mc.xml b/iCubZagreb01/hardware/motorControl/left_arm-eb24-j4_7-mc.xml new file mode 100644 index 0000000000..a9e370f8eb --- /dev/null +++ b/iCubZagreb01/hardware/motorControl/left_arm-eb24-j4_7-mc.xml @@ -0,0 +1,92 @@ + + + + + + + + + + + + + + + 60 25 35 60 + -60 -70 -15 10 + 1000 1000 1000 1000 + 10000 2000 2000 2000 + 5000 1000 1000 600 + 5000 2000 2000 1000 + 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 + TRQ_PID_DEFAULT none none none + none none none none + none none none none + + + + + + + minjerk + pwm + metric_units + machine_units + -200.0 -500.0 -500.0 -500.0 + 0.0 0.0 0.0 0.0 + -200.0 -50.0 -50.0 -50.0 + 3360 3360 3360 3360 + 3360 3360 3360 3360 + 0 0 0 0 + 0 0 0 0 + 0 0 0 0 + + + + + + + + + torque + pwm + metric_units + machine_units + -1000 0 0 0 + 0 0 0 0 + 0 0 0 0 + 3360 0 0 0 + 500 0 0 0 + 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 0 0 0 + + + + + + + + + + + diff --git a/iCubZagreb01/hardware/motorControl/left_arm-eb24-j4_7-mc_service.xml b/iCubZagreb01/hardware/motorControl/left_arm-eb24-j4_7-mc_service.xml new file mode 100644 index 0000000000..27f72f5a5d --- /dev/null +++ b/iCubZagreb01/hardware/motorControl/left_arm-eb24-j4_7-mc_service.xml @@ -0,0 +1,51 @@ + + + + + + + + eomn_serv_MC_mc4plus + + + + + mc4plus + + + + + + + + + pwm pwm pwm pwm + CONN:P5 CONN:P2 CONN:P4 CONN:P3 + + + + qenc aea aea absanalog + CONN:P5 CONN:P10 CONN:P11 CONN:P3 + atjoint atjoint atjoint atjoint + 1 -4096 4096 65535 + 0 0.703 0.703 0 + + + + + qenc qenc qenc none + CONN:P5 CONN:P2 CONN:P4 CONN:none + atmotor atmotor atmotor none + -2048 1600 1600 1 + 0 0 0 0 + + + + + + + + + + + diff --git a/iCubZagreb01/hardware/motorControl/left_arm-eb25-j8_11-mc.xml b/iCubZagreb01/hardware/motorControl/left_arm-eb25-j8_11-mc.xml new file mode 100644 index 0000000000..911fce8534 --- /dev/null +++ b/iCubZagreb01/hardware/motorControl/left_arm-eb25-j8_11-mc.xml @@ -0,0 +1,73 @@ + + + + + + + + + + + + + + + 90 90 180 90 + 10 0 0 0 + 1000 1000 1000 1000 + 2000 2000 2000 2000 + 600 600 600 600 + 1000 1000 1000 1000 + 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 + -500.0 500.0 500.0 500.0 + 0.0 0.0 0.0 0.0 + -50.0 50.0 50.0 50.0 + 3360 3360 3360 3360 + 3360 3360 3360 3360 + 0 0 0 0 + 0 0 0 0 + 0 0 0 0 + + + + + + + + + + + + + + + + diff --git a/iCubZagreb01/hardware/motorControl/left_arm-eb25-j8_11-mc_service.xml b/iCubZagreb01/hardware/motorControl/left_arm-eb25-j8_11-mc_service.xml new file mode 100644 index 0000000000..b993850df9 --- /dev/null +++ b/iCubZagreb01/hardware/motorControl/left_arm-eb25-j8_11-mc_service.xml @@ -0,0 +1,66 @@ + + + + + + + + eomn_serv_MC_mc4plusmais + + + + + mc4plus + + + + mais + + 0 + 0 + + + 0 + 0 + 0 + + + + + CAN1:14 + + + + + + + + pwm pwm pwm pwm + CONN:P3 CONN:P2 CONN:P4 CONN:P5 + + + + absanalog mais mais mais + CONN:P3 MAIS:thumbproximal MAIS:thumbdistal MAIS:indexproximal + atjoint atjoint atjoint atjoint + 65535 65535 65535 65535 + 0 0 0 0 + + + + none qenc qenc qenc + CONN:none CONN:P2 CONN:P4 CONN:P5 + none atmotor atmotor atmotor + 1 40 40 40 + 0 0 0 0 + + + + + + + + + + + diff --git a/iCubZagreb01/hardware/motorControl/left_arm-eb26-j12_15-mc.xml b/iCubZagreb01/hardware/motorControl/left_arm-eb26-j12_15-mc.xml new file mode 100644 index 0000000000..1d4f63e5cf --- /dev/null +++ b/iCubZagreb01/hardware/motorControl/left_arm-eb26-j12_15-mc.xml @@ -0,0 +1,72 @@ + + + + + + + + + + + + + + + 180 90 180 270 + 0 0 0 0 + 1000 1000 1000 1000 + 2000 2000 2000 2000 + 600 600 600 600 + 1000 1000 1000 1000 + 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 + -500.0 500.0 500.0 -200.0 + 0.0 0.0 0.0 0.0 + -50.0 50.0 50.0 -20.0 + 3360 3360 3360 3360 + 3360 3360 3360 3360 + 0 0 0 0 + 0 0 0 0 + 0 0 0 0 + + + + + + + + + + + + + + + diff --git a/iCubZagreb01/hardware/motorControl/left_arm-eb26-j12_15-mc_service.xml b/iCubZagreb01/hardware/motorControl/left_arm-eb26-j12_15-mc_service.xml new file mode 100644 index 0000000000..b1678055bc --- /dev/null +++ b/iCubZagreb01/hardware/motorControl/left_arm-eb26-j12_15-mc_service.xml @@ -0,0 +1,64 @@ + + + + + + + + eomn_serv_MC_mc4plusmais + + + + + mc4plus + + + + mais + + 0 + 0 + + + 0 + 0 + 0 + + + + + CAN1:14 + + + + + + + pwm pwm pwm pwm + CONN:P3 CONN:P2 CONN:P4 CONN:P5 + + + + mais mais mais mais + MAIS:indexdistal MAIS:mediumproximal MAIS:mediumdistal MAIS:littlefingers + atjoint atjoint atjoint atjoint + 65535 65535 65535 65535 + 0 0 0 0 + + + + qenc qenc qenc qenc + CONN:P3 CONN:P2 CONN:P4 CONN:P5 + atmotor atmotor atmotor atmotor + 40 40 40 40 + 0 0 0 0 + + + + + + + + + + diff --git a/iCubZagreb01/hardware/motorControl/left_leg-eb6-j0_3-mc.xml b/iCubZagreb01/hardware/motorControl/left_leg-eb6-j0_3-mc.xml new file mode 100644 index 0000000000..f51e089092 --- /dev/null +++ b/iCubZagreb01/hardware/motorControl/left_leg-eb6-j0_3-mc.xml @@ -0,0 +1,117 @@ + + + + + + + + + + + + + + + 85 85 70 0 + -30 0 -70 -100 + 1000 1000 1000 1000 + 5000 5000 5000 5000 + 6000 10000 6000 10000 + 15000 15000 15000 15000 + 10000 10000 10000 10000 + + + + 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 + TRQ_PID_DEFAULT TRQ_PID_DEFAULT TRQ_PID_DEFAULT TRQ_PID_DEFAULT + 2FOC_CUR_CONTROL 2FOC_CUR_CONTROL 2FOC_CUR_CONTROL 2FOC_CUR_CONTROL + 2FOC_VEL_CONTROL 2FOC_VEL_CONTROL 2FOC_VEL_CONTROL 2FOC_VEL_CONTROL + + + + + + + minjerk + pwm + metric_units + machine_units + -1066.66 2066.66 -711.11 -1066.66 + 0.00 0.00 0.00 0.00 + -10666.64 14222.18 -7111.09 -1066.64 + 8000 8000 8000 8000 + 1500 1500 750 1000 + 0 0 0 0 + 0 0 0 0 + 0 0 0 0 + + + + + + + + + torque + pwm + metric_units + machine_units + -200 200 0 -200 + 0 0 0 0 + 0 0 0 0 + 8000 8000 8000 8000 + 500 500 500 500 + 0 0 0 0 + -2.0 2.0 -1.0 -1.0 + 1.4 -2.0 1.3 0.2 + 1 1 1 1 + 0 0 0 0 + 0 0 0 0 + -162 178 -197 -167 + + + + low_lev_current + machine_units + machine_units + 8 8 8 8 + 0 0 0 0 + 2 2 2 2 + 10 10 10 10 + 32000 32000 32000 32000 + 32000 32000 32000 32000 + 0 0 0 0 + + + + low_lev_speed + machine_units + machine_units + 0 0 0 0 + 12 12 12 12 + 0 0 0 0 + 16 16 16 16 + 10 10 10 10 + 32000 32000 32000 32000 + 32000 32000 32000 32000 + + + + + + + + + + diff --git a/iCubZagreb01/hardware/motorControl/left_leg-eb6-j0_3-mc_service.xml b/iCubZagreb01/hardware/motorControl/left_leg-eb6-j0_3-mc_service.xml new file mode 100644 index 0000000000..7cd5cf923c --- /dev/null +++ b/iCubZagreb01/hardware/motorControl/left_leg-eb6-j0_3-mc_service.xml @@ -0,0 +1,62 @@ + + + + + + + + eomn_serv_MC_foc + + + + + ems4 + + + + foc + + 1 + 6 + + + 3 + 3 + 3 + + + + + + + + + eomc_act_foc foc foc foc + CAN1:3:0 CAN1:4:0 CAN1:1:0 CAN1:2:0 + + + + eomc_enc_aea aea aea aea + CONN:P6 CONN:P7 CONN:P8 CONN:P9 + eomc_pos_atjoint atjoint atjoint atjoint + 4096 4096 4096 -4096 + 0.703 0.703 0.703 0.703 + + + + roie roie roie roie + CAN1:3:0 CAN1:4:0 CAN1:1:0 CAN1:2:0 + eomc_pos_atmotor atmotor atmotor atmotor + -14400.0 -14400.0 -14400.0 -14400.0 + 0 0 0 0 + + + + + + + + + + + diff --git a/iCubZagreb01/hardware/motorControl/left_leg-eb7-j4_5-mc.xml b/iCubZagreb01/hardware/motorControl/left_leg-eb7-j4_5-mc.xml new file mode 100644 index 0000000000..5d6e681692 --- /dev/null +++ b/iCubZagreb01/hardware/motorControl/left_leg-eb7-j4_5-mc.xml @@ -0,0 +1,118 @@ + + + + + + + + + + + + + + + 30 20 + -30 -20 + 5000 5000 + 10000 10000 + 15000 15000 + 1000 1000 + 10000 10000 + + + + 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 + TRQ_PID_DEFAULT TRQ_PID_DEFAULT + 2FOC_CUR_CONTROL 2FOC_CUR_CONTROL + 2FOC_VEL_CONTROL 2FOC_VEL_CONTROL + + + + + + + minjerk + pwm + metric_units + machine_units + 2200.00 2200.00 + 0.00 0.00 + 0.09 0.09 + 8000 8000 + 750 750 + 0 0 + 0 0 + 0 0 + + + + + + + + + torque + pwm + metric_units + machine_units + 200 200 + 0 0 + 0 0 + 0 0 + 8000 8000 + 500 500 + 0 0 + 1.7 0.8 + -1.7 -1.8 + 1 1 + 0 0 + 0 0 + 209 160 + + + + 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 + + + + + + + + + + diff --git a/iCubZagreb01/hardware/motorControl/left_leg-eb7-j4_5-mc_service.xml b/iCubZagreb01/hardware/motorControl/left_leg-eb7-j4_5-mc_service.xml new file mode 100644 index 0000000000..4b85dd3f6d --- /dev/null +++ b/iCubZagreb01/hardware/motorControl/left_leg-eb7-j4_5-mc_service.xml @@ -0,0 +1,61 @@ + + + + + + + + eomn_serv_MC_foc + + + + + ems4 + + + + foc + + 1 + 6 + + + 3 + 3 + 3 + + + + + + + + eomc_act_foc foc + CAN1:1:0 CAN1:2:0 + + + + eomc_enc_aea aea + CONN:P6 CONN:P7 + eomc_pos_atjoint atjoint + -4096 4096 + 0.703 0.703 + + + + roie roie + CAN1:1:0 CAN1:2:0 + atmotor atmotor + -14400 -14400 + 0 0 + + + + + + + + + + + diff --git a/iCubZagreb01/hardware/motorControl/right_arm-eb27-j4_7-mc.xml b/iCubZagreb01/hardware/motorControl/right_arm-eb27-j4_7-mc.xml new file mode 100644 index 0000000000..1b3e3504bb --- /dev/null +++ b/iCubZagreb01/hardware/motorControl/right_arm-eb27-j4_7-mc.xml @@ -0,0 +1,92 @@ + + + + + + + + + + + + + + + 60 25 35 60 + -60 -70 -15 10 + 1000 1000 1000 1000 + 10000 2000 2000 2000 + 5000 1000 1000 600 + 5000 2000 2000 1000 + 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 + TRQ_PID_DEFAULT none none none + none none none none + none none none none + + + + + + + minjerk + pwm + metric_units + machine_units + 200.0 500.0 500.0 500.0 + 0.0 0.0 0.0 0.0 + 200.0 50.0 50.0 50.0 + 3360 3360 3360 3360 + 3360 3360 3360 3360 + 0 0 0 0 + 0 0 0 0 + 0 0 0 0 + + + + + + + + + torque + pwm + metric_units + machine_units + 1000 0 0 0 + 0 0 0 0 + 0 0 0 0 + 3360 0 0 0 + 500 0 0 0 + 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 0 0 0 + + + + + + + + + + + diff --git a/iCubZagreb01/hardware/motorControl/right_arm-eb27-j4_7-mc_service.xml b/iCubZagreb01/hardware/motorControl/right_arm-eb27-j4_7-mc_service.xml new file mode 100644 index 0000000000..3b16c0806a --- /dev/null +++ b/iCubZagreb01/hardware/motorControl/right_arm-eb27-j4_7-mc_service.xml @@ -0,0 +1,47 @@ + + + + + + + + eomn_serv_MC_mc4plus + + + + + mc4plus + + + + + + + pwm pwm pwm pwm + CONN:P5 CONN:P2 CONN:P4 CONN:P3 + + + + qenc aea aea absanalog + CONN:P5 CONN:P10 CONN:P11 CONN:P3 + atjoint atjoint atjoint atjoint + 1 4096 -4096 65535 + 0 0.703 0.703 0 + + + + qenc qenc qenc none + CONN:P5 CONN:P2 CONN:P4 CONN:none + atmotor atmotor atmotor none + -2048 1600 1600 1 + 0 0 0 0 + + + + + + + + + + diff --git a/iCubZagreb01/hardware/motorControl/right_arm-eb28-j8_11-mc.xml b/iCubZagreb01/hardware/motorControl/right_arm-eb28-j8_11-mc.xml new file mode 100644 index 0000000000..642b28ffd6 --- /dev/null +++ b/iCubZagreb01/hardware/motorControl/right_arm-eb28-j8_11-mc.xml @@ -0,0 +1,73 @@ + + + + + + + + + + + + + + + 90 90 180 90 + 10 0 0 0 + 1000 1000 1000 1000 + 2000 2000 2000 2000 + 600 600 600 600 + 1000 1000 1000 1000 + 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 + -500.0 500.0 -500.0 500.0 + 0.0 0.0 0.0 0.0 + -50.0 50.0 -50.0 50.0 + 3360 3360 3360 3360 + 3360 3360 3360 3360 + 0 0 0 0 + 0 0 0 0 + 0 0 0 0 + + + + + + + + + + + + + + + + diff --git a/iCubZagreb01/hardware/motorControl/right_arm-eb28-j8_11-mc_service.xml b/iCubZagreb01/hardware/motorControl/right_arm-eb28-j8_11-mc_service.xml new file mode 100644 index 0000000000..aa3e9c2db6 --- /dev/null +++ b/iCubZagreb01/hardware/motorControl/right_arm-eb28-j8_11-mc_service.xml @@ -0,0 +1,65 @@ + + + + + + + + eomn_serv_MC_mc4plusmais + + + + + mc4plus + + + + mais + + 0 + 0 + + + 0 + 0 + 0 + + + + + CAN1:14 + + + + + + + pwm pwm pwm pwm + CONN:P3 CONN:P2 CONN:P4 CONN:P5 + + + + absanalog mais mais mais + CONN:P3 MAIS:thumbproximal MAIS:thumbdistal MAIS:indexproximal + atjoint atjoint atjoint atjoint + 65535 65535 65535 65535 + 0 0 0 0 + + + + none qenc qenc qenc + CONN:none CONN:P2 CONN:P4 CONN:P5 + none atmotor atmotor atmotor + 1 40 40 40 + 0 0 0 0 + + + + + + + + + + + diff --git a/iCubZagreb01/hardware/motorControl/right_arm-eb29-j12_15-mc.xml b/iCubZagreb01/hardware/motorControl/right_arm-eb29-j12_15-mc.xml new file mode 100644 index 0000000000..21cd849950 --- /dev/null +++ b/iCubZagreb01/hardware/motorControl/right_arm-eb29-j12_15-mc.xml @@ -0,0 +1,63 @@ + + + + + + + + + + + + + + + 180 90 180 270 + 0 0 0 0 + 1000 1000 1000 1000 + 2000 2000 2000 2000 + 600 600 600 600 + 1000 1000 1000 1000 + 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 + 500.0 500.0 -500.0 200.0 + 0.0 0.0 0.0 0.0 + 50.0 50.0 -50.0 20.0 + 3360 3360 3360 3360 + 3360 3360 3360 3360 + 0 0 0 0 + 0 0 0 0 + 0 0 0 0 + + + + + + + + + diff --git a/iCubZagreb01/hardware/motorControl/right_arm-eb29-j12_15-mc_service.xml b/iCubZagreb01/hardware/motorControl/right_arm-eb29-j12_15-mc_service.xml new file mode 100644 index 0000000000..2ffaca9795 --- /dev/null +++ b/iCubZagreb01/hardware/motorControl/right_arm-eb29-j12_15-mc_service.xml @@ -0,0 +1,65 @@ + + + + + + + + eomn_serv_MC_mc4plusmais + + + + + mc4plus + + + + mais + + 0 + 0 + + + 0 + 0 + 0 + + + + + CAN1:14 + + + + + + + + pwm pwm pwm pwm + CONN:P3 CONN:P2 CONN:P4 CONN:P5 + + + + mais mais mais mais + MAIS:indexdistal MAIS:mediumproximal MAIS:mediumdistal MAIS:littlefingers + atjoint atjoint atjoint atjoint + 65535 65535 65535 65535 + 0 0 0 0 + + + + qenc qenc qenc qenc + CONN:P3 CONN:P2 CONN:P4 CONN:P5 + atmotor atmotor atmotor atmotor + 40 40 40 40 + 0 0 0 0 + + + + + + + + + + diff --git a/iCubZagreb01/hardware/motorControl/right_arm-eb3-j0_3-mc.xml b/iCubZagreb01/hardware/motorControl/right_arm-eb3-j0_3-mc.xml new file mode 100644 index 0000000000..daa75a3620 --- /dev/null +++ b/iCubZagreb01/hardware/motorControl/right_arm-eb3-j0_3-mc.xml @@ -0,0 +1,117 @@ + + + + + + + + + + + + + + + 8 160 80 106 + -95.5 15 -32 15 + 1000 1000 1000 1000 + 4000 4000 4000 4000 + 5000 5000 5000 5000 + 15000 15000 15000 15000 + 10000 10000 10000 10000 + + + + 100 100 100 100 + + + + 0.1 0.1 0.1 0.1 + 0.05 0.05 0.05 0.05 + + + + POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT + POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT + POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT + TRQ_PID_DEFAULT TRQ_PID_DEFAULT TRQ_PID_DEFAULT TRQ_PID_DEFAULT + 2FOC_CUR_CONTROL 2FOC_CUR_CONTROL 2FOC_CUR_CONTROL 2FOC_CUR_CONTROL + 2FOC_VEL_CONTROL 2FOC_VEL_CONTROL 2FOC_VEL_CONTROL 2FOC_VEL_CONTROL + + + + + + + minjerk + pwm + metric_units + machine_units + -711.11 -1066.66 -711.11 -1066.66 + 0.00 0.00 0.00 0.00 + -7111.09 -10666.64 -7111.09 -10666.64 + 8000 8000 8000 8000 + 200 200 200 1000 + 0 0 0 0 + 0 0 0 0 + 0 0 0 0 + + + + + + + + + torque + pwm + metric_units + machine_units + -50 -200 -250 -300 + 0 0 0 0 + 0 0 0 0 + 8000 8000 8000 8000 + 500 500 500 500 + 0 0 0 0 + -0.5 -0.5 -1 -1.7 + 0.7 0.7 0.8 1.2 + 1 1 1 1 + -0.0030 -0.0006 -0.0007 0.0007 + 0 0 0 0 + -180 -464 -463 -449 + + + + low_lev_current + machine_units + machine_units + 8 8 8 8 + 0 0 0 0 + 2 2 2 2 + 10 10 10 10 + 32000 32000 32000 32000 + 32000 32000 32000 32000 + 0 0 0 0 + + + + low_lev_speed + machine_units + machine_units + 0 0 0 0 + 12 12 12 12 + 0 0 0 0 + 16 16 16 16 + 10 10 10 10 + 32000 32000 32000 32000 + 32000 32000 32000 32000 + + + + + + + + + + diff --git a/iCubZagreb01/hardware/motorControl/right_arm-eb3-j0_3-mc_service.xml b/iCubZagreb01/hardware/motorControl/right_arm-eb3-j0_3-mc_service.xml new file mode 100644 index 0000000000..2427363f17 --- /dev/null +++ b/iCubZagreb01/hardware/motorControl/right_arm-eb3-j0_3-mc_service.xml @@ -0,0 +1,63 @@ + + + + + + + + eomn_serv_MC_foc + + + + + ems4 + + + + foc + + 1 + 6 + + + 3 + 3 + 3 + + + + + + + + + eomc_act_foc foc foc foc + CAN1:1:0 CAN1:2:0 CAN1:3:0 CAN1:4:0 + + + + eomc_enc_aea aea aea aea + CONN:P6 CONN:P7 CONN:P8 CONN:P9 + eomc_pos_atjoint atjoint atjoint atjoint + 4096 4096 -4096 4096 + 0.703 0.703 0.703 0.703 + + + + roie roie roie roie + CAN1:1:0 CAN1:2:0 CAN1:3:0 CAN1:4:0 + atmotor atmotor atmotor atmotor + -14400 -14400 -14400 -14400 + 0 0 0 0 + + + + + + + + + + + + diff --git a/iCubZagreb01/hardware/motorControl/right_leg-eb8-j0_3-mc.xml b/iCubZagreb01/hardware/motorControl/right_leg-eb8-j0_3-mc.xml new file mode 100644 index 0000000000..a8c166f4e5 --- /dev/null +++ b/iCubZagreb01/hardware/motorControl/right_leg-eb8-j0_3-mc.xml @@ -0,0 +1,118 @@ + + + + + + + + + + + + + + + 85 85 70 0 + -30 0 -70 -100 + 1000 1000 1000 1000 + 5000 5000 5000 5000 + 6000 10000 6000 10000 + 15000 15000 15000 15000 + 10000 10000 10000 10000 + + + + 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 + TRQ_PID_DEFAULT TRQ_PID_DEFAULT TRQ_PID_DEFAULT TRQ_PID_DEFAULT + 2FOC_CUR_CONTROL 2FOC_CUR_CONTROL 2FOC_CUR_CONTROL 2FOC_CUR_CONTROL + 2FOC_VEL_CONTROL 2FOC_VEL_CONTROL 2FOC_VEL_CONTROL 2FOC_VEL_CONTROL + + + + + + + minjerk + pwm + metric_units + machine_units + 1066.66 -2066.66 711.11 1066.66 + 0.00 0.00 0.00 0.00 + 10666.64 -14222.18 7111.09 1066.64 + 8000 8000 8000 8000 + 1500 1500 750 1000 + 0 0 0 0 + 0 0 0 0 + 0 0 0 0 + + + + + + + + + torque + pwm + metric_units + machine_units + 200 -200 0 300 + 0 0 0 0 + 0 0 0 0 + 8000 8000 8000 8000 + 500 500 500 500 + 0 0 0 0 + 2.3 -1.79 1.8 1.2 + -3.3 1.76 -1.4 -1.7 + 1 1 1 1 + 0 0 0 0 + 0 0 0 0 + 147 -180 217 282 + + + + low_lev_current + machine_units + machine_units + 8 8 8 8 + 0 0 0 0 + 2 2 2 2 + 10 10 10 10 + 32000 32000 32000 32000 + 32000 32000 32000 32000 + 0 0 0 0 + + + + low_lev_speed + machine_units + machine_units + 0 0 0 0 + 12 12 12 12 + 0 0 0 0 + 16 16 16 16 + 10 10 10 10 + 32000 32000 32000 32000 + 32000 32000 32000 32000 + + + + + + + + + + + diff --git a/iCubZagreb01/hardware/motorControl/right_leg-eb8-j0_3-mc_service.xml b/iCubZagreb01/hardware/motorControl/right_leg-eb8-j0_3-mc_service.xml new file mode 100644 index 0000000000..e84ab004a5 --- /dev/null +++ b/iCubZagreb01/hardware/motorControl/right_leg-eb8-j0_3-mc_service.xml @@ -0,0 +1,62 @@ + + + + + + + + eomn_serv_MC_foc + + + + + ems4 + + + + foc + + 1 + 6 + + + 3 + 3 + 3 + + + + + + + + + eomc_act_foc foc foc foc + CAN1:3:0 CAN1:4:0 CAN1:1:0 CAN1:2:0 + + + + eomc_enc_aea aea aea aea + CONN:P6 CONN:P7 CONN:P8 CONN:P9 + eomc_pos_atjoint atjoint atjoint atjoint + -4096 -4096 -4096 4096 + 0.703 0.703 0.703 0.703 + + + + roie roie roie roie + CAN1:3:0 CAN1:4:0 CAN1:1:0 CAN1:2:0 + eomc_pos_atmotor atmotor atmotor atmotor + -14400 -14400 -14400 -14400 + 0 0 0 0 + + + + + + + + + + + diff --git a/iCubZagreb01/hardware/motorControl/right_leg-eb9-j4_5-mc.xml b/iCubZagreb01/hardware/motorControl/right_leg-eb9-j4_5-mc.xml new file mode 100644 index 0000000000..50cb6cafc1 --- /dev/null +++ b/iCubZagreb01/hardware/motorControl/right_leg-eb9-j4_5-mc.xml @@ -0,0 +1,118 @@ + + + + + + + + + + + + + + + 30 20 + -30 -20 + 5000 5000 + 10000 10000 + 15000 15000 + 1000 1000 + 10000 10000 + + + + 100 100 + + + + 0 0 + 0 0 + + + + POS_PID_DEFAULT POS_PID_DEFAULT + POS_PID_DEFAULT POS_PID_DEFAULT + POS_PID_DEFAULT POS_PID_DEFAULT + TRQ_PID_DEFAULT TRQ_PID_DEFAULT + 2FOC_CUR_CONTROL 2FOC_CUR_CONTROL + 2FOC_VEL_CONTROL 2FOC_VEL_CONTROL + + + + + + + minjerk + pwm + metric_units + machine_units + -2105.00 -2310.00 + 0.00 0.00 + -0.09 -0.09 + 8000 8000 + 750 750 + 0 0 + 0 0 + 0 0 + + + + + + + + + torque + pwm + metric_units + machine_units + -200 -200 + 0 0 + 0 0 + 8000 8000 + 500 500 + 0 0 + -1.4 -1.5 + 2.4 1.6 + 1 1 + 0 0 + 0 0 + -231 -180 + + + + 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 + + + + + + + + + + + diff --git a/iCubZagreb01/hardware/motorControl/right_leg-eb9-j4_5-mc_service.xml b/iCubZagreb01/hardware/motorControl/right_leg-eb9-j4_5-mc_service.xml new file mode 100644 index 0000000000..f58d432f5f --- /dev/null +++ b/iCubZagreb01/hardware/motorControl/right_leg-eb9-j4_5-mc_service.xml @@ -0,0 +1,60 @@ + + + + + + + + eomn_serv_MC_foc + + + + + ems4 + + + + foc + + 1 + 6 + + + 3 + 3 + 3 + + + + + + + eomc_act_foc foc + CAN1:1:0 CAN1:2:0 + + + + eomc_enc_aea aea + CONN:P6 CONN:P7 + eomc_pos_atjoint atjoint + 4096 -4096 + 0.703 0.703 + + + + roie roie + CAN1:1:0 CAN1:2:0 + atmotor atmotor + -14400 -14400 + 0 0 + + + + + + + + + + + diff --git a/iCubZagreb01/hardware/motorControl/torso-eb5-j0_2-mc.xml b/iCubZagreb01/hardware/motorControl/torso-eb5-j0_2-mc.xml new file mode 100644 index 0000000000..5fca3fe394 --- /dev/null +++ b/iCubZagreb01/hardware/motorControl/torso-eb5-j0_2-mc.xml @@ -0,0 +1,118 @@ + + + + + + + + + + + + + + + 50 28 68 + -50 -28 -18 + 1000 1000 1000 + 4000 4000 4000 + 5000 5000 5000 + 15000 15000 15000 + 10000 10000 10000 + + + + 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 + TRQ_PID_DEFAULT TRQ_PID_DEFAULT TRQ_PID_DEFAULT + 2FOC_CUR_CONTROL 2FOC_CUR_CONTROL 2FOC_CUR_CONTROL + 2FOC_VEL_CONTROL 2FOC_VEL_CONTROL 2FOC_VEL_CONTROL + + + + + + + minjerk + pwm + metric_units + machine_units + -711.11 -1066.66 -1066.66 + 0.00 0.00 0.00 + -7111.09 -10666.64 -14222.18 + 8000 8000 16000 + 750 1000 1000 + 0 0 0 + 0 0 0 + 0 0 0 + + + + + + + + + torque + pwm + metric_units + machine_units + -450 -400 -400 + 0 0 0 + 0 0 0 + 8000 8000 8000 + 500 500 500 + 0 0 0 + 0 0 0 + -2 -2 -2 + 1 1 1 + -0.0016 -0.003 -0.003 + 0 0 0 + -200 -200 -200 + + + + low_lev_current + machine_units + machine_units + 8 8 8 + 0 0 0 + 2 2 2 + 10 10 10 + 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/iCubZagreb01/hardware/motorControl/torso-eb5-j0_2-mc_service.xml b/iCubZagreb01/hardware/motorControl/torso-eb5-j0_2-mc_service.xml new file mode 100644 index 0000000000..9cdf45041a --- /dev/null +++ b/iCubZagreb01/hardware/motorControl/torso-eb5-j0_2-mc_service.xml @@ -0,0 +1,64 @@ + + + + + + + + eomn_serv_MC_foc + + + + + ems4 + + + + foc + + 1 + 6 + + + 3 + 3 + 3 + + + + + + + + + eomc_act_foc foc foc + CAN1:3:0 CAN1:4:0 CAN1:1:0 + + + + eomc_enc_aea aea aea + CONN:P6 CONN:P7 CONN:P8 + eomc_pos_atjoint atjoint atjoint + 4096 4096 4096 + 0.703 0.703 0.703 + + + + roie roie roie + CAN1:3:0 CAN1:4:0 CAN1:1:0 + atmotor atmotor atmotor + -14400 -14400 -14400 + 0 0 0 + + + + + + + + + + + + + diff --git a/iCubZagreb01/hardware/skin/left_arm-eb24-j4_7-skin.xml b/iCubZagreb01/hardware/skin/left_arm-eb24-j4_7-skin.xml new file mode 100644 index 0000000000..b8eba1997b --- /dev/null +++ b/iCubZagreb01/hardware/skin/left_arm-eb24-j4_7-skin.xml @@ -0,0 +1,15 @@ + + + + + + + + + + 14 13 12 11 10 9 8 + + + + + diff --git a/iCubZagreb01/hardware/skin/left_arm-eb24-j4_7-skinSpec.xml b/iCubZagreb01/hardware/skin/left_arm-eb24-j4_7-skinSpec.xml new file mode 100644 index 0000000000..c5b48029d5 --- /dev/null +++ b/iCubZagreb01/hardware/skin/left_arm-eb24-j4_7-skinSpec.xml @@ -0,0 +1,54 @@ + + + + + + + 50 + 8 + 0xf0 + false + + + + true + 2 + 0x2200 + + + + + 20 + 1 14 0 6 1 0 0x2000 + 1 14 8 11 1 2 0x2200 + + 1 13 0 15 1 2 0x2200 + + 1 12 0 1 1 2 0x2200 + 1 12 3 3 1 2 0x2200 + 1 12 6 6 1 2 0x2200 + 1 12 8 9 1 2 0x2200 + 1 12 12 13 1 2 0x2200 + + 1 11 1 4 1 2 0x2200 + 1 11 8 13 1 2 0x2200 + + 1 10 0 1 1 2 0x2200 + 1 10 6 6 1 2 0x2200 + 1 10 8 15 1 2 0x2200 + + 1 9 0 8 1 2 0x2200 + 1 9 12 13 1 2 0x2200 + + 1 8 0 0 1 2 0x2200 + 1 8 8 9 1 2 0x2200 + 1 8 10 11 1 2 0x2200 + 1 8 13 13 1 2 0x2200 + 1 8 15 15 1 2 0x2200 + + + + diff --git a/iCubZagreb01/hardware/skin/left_leg-eb10-skin.xml b/iCubZagreb01/hardware/skin/left_leg-eb10-skin.xml new file mode 100644 index 0000000000..19f9c0bbe3 --- /dev/null +++ b/iCubZagreb01/hardware/skin/left_leg-eb10-skin.xml @@ -0,0 +1,16 @@ + + + + + + + + + + 1 2 3 4 5 6 7 + 13 12 8 9 10 11 + + + + + diff --git a/iCubZagreb01/hardware/skin/left_leg-eb10-skinSpec.xml b/iCubZagreb01/hardware/skin/left_leg-eb10-skinSpec.xml new file mode 100644 index 0000000000..ee43f8f440 --- /dev/null +++ b/iCubZagreb01/hardware/skin/left_leg-eb10-skinSpec.xml @@ -0,0 +1,127 @@ + + + + + + + 50 + 8 + 0xf0 + false + + + + + true + 2 + 0x2200 + + + + + diff --git a/iCubZagreb01/hardware/skin/right_arm-eb27-j4_7-skin.xml b/iCubZagreb01/hardware/skin/right_arm-eb27-j4_7-skin.xml new file mode 100644 index 0000000000..511934f45a --- /dev/null +++ b/iCubZagreb01/hardware/skin/right_arm-eb27-j4_7-skin.xml @@ -0,0 +1,14 @@ + + + + + + + + + + 14 13 12 11 10 9 8 + + + + diff --git a/iCubZagreb01/hardware/skin/right_arm-eb27-j4_7-skinSpec.xml b/iCubZagreb01/hardware/skin/right_arm-eb27-j4_7-skinSpec.xml new file mode 100644 index 0000000000..116e029cb3 --- /dev/null +++ b/iCubZagreb01/hardware/skin/right_arm-eb27-j4_7-skinSpec.xml @@ -0,0 +1,55 @@ + + + + + + + 50 + 8 + 0xf0 + false + + + + + + true + 2 + 0x2200 + + + + 20 + 1 14 0 6 1 0 0x2000 + 1 14 8 11 1 2 0x2200 + + 1 13 0 15 1 2 0x2200 + + 1 12 0 1 1 2 0x2200 + 1 12 3 3 1 2 0x2200 + 1 12 6 6 1 2 0x2200 + 1 12 8 9 1 2 0x2200 + 1 12 12 13 1 2 0x2200 + + 1 11 1 4 1 2 0x2200 + 1 11 8 13 1 2 0x2200 + + 1 9 0 1 1 2 0x2200 + 1 9 6 6 1 2 0x2200 + 1 9 8 15 1 2 0x2200 + + 1 10 0 8 1 2 0x2200 + 1 10 12 13 1 2 0x2200 + + 1 8 0 0 1 2 0x2200 + 1 8 8 9 1 2 0x2200 + 1 8 10 11 1 2 0x2200 + 1 8 13 13 1 2 0x2200 + 1 8 15 15 1 2 0x2200 + + + + diff --git a/iCubZagreb01/hardware/skin/right_leg-eb11-skin.xml b/iCubZagreb01/hardware/skin/right_leg-eb11-skin.xml new file mode 100644 index 0000000000..fca5d82864 --- /dev/null +++ b/iCubZagreb01/hardware/skin/right_leg-eb11-skin.xml @@ -0,0 +1,16 @@ + + + + + + + + + + 1 2 3 4 5 6 7 + 13 12 8 9 10 11 + + + + + diff --git a/iCubZagreb01/hardware/skin/right_leg-eb11-skinSpec.xml b/iCubZagreb01/hardware/skin/right_leg-eb11-skinSpec.xml new file mode 100644 index 0000000000..f7e0897f96 --- /dev/null +++ b/iCubZagreb01/hardware/skin/right_leg-eb11-skinSpec.xml @@ -0,0 +1,80 @@ + + + + + + + 50 + 8 + 0xf0 + false + + + + + true + 2 + 0x2200 + + + + + + diff --git a/iCubZagreb01/hardware/skin/torso-eb22-skin.xml b/iCubZagreb01/hardware/skin/torso-eb22-skin.xml new file mode 100644 index 0000000000..3737cd3bcf --- /dev/null +++ b/iCubZagreb01/hardware/skin/torso-eb22-skin.xml @@ -0,0 +1,15 @@ + + + + + + + + + + + 7 8 9 10 + + + + diff --git a/iCubZagreb01/hardware/skin/torso-eb22-skinSpec.xml b/iCubZagreb01/hardware/skin/torso-eb22-skinSpec.xml new file mode 100644 index 0000000000..fea9dd3ca9 --- /dev/null +++ b/iCubZagreb01/hardware/skin/torso-eb22-skinSpec.xml @@ -0,0 +1,23 @@ + + + + + + + 50 + 8 + 0xf0 + false + + + + + true + 2 + 0x2200 + + + diff --git a/iCubZagreb01/head-inetrials.xml b/iCubZagreb01/head-inetrials.xml new file mode 100644 index 0000000000..8c105ffef3 --- /dev/null +++ b/iCubZagreb01/head-inetrials.xml @@ -0,0 +1,37 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/iCubZagreb01/iKinGazeCtrl.ini b/iCubZagreb01/iKinGazeCtrl.ini new file mode 100644 index 0000000000..a20c40b953 --- /dev/null +++ b/iCubZagreb01/iKinGazeCtrl.ini @@ -0,0 +1,11 @@ +robot icub +head_version 2.7 +saccades off + +[cameras] +context cameraCalibration +file icubEyes.ini + +[imu] +mode off +source_port_name /imuFilter diff --git a/iCubZagreb01/icubEyes.ini b/iCubZagreb01/icubEyes.ini new file mode 100644 index 0000000000..5ce1a9536d --- /dev/null +++ b/iCubZagreb01/icubEyes.ini @@ -0,0 +1,67 @@ +[CAMERA_CALIBRATION_RIGHT] + +projection pinhole +drawCenterCross 0 + +w 320 +h 244 +fx 222.073 +fy 221.606 +cx 172.424 +cy 118.289 +k1 -0.4127 +k2 0.143324 +p1 -0.000344691 +p2 -4.46355e-05 + +[CAMERA_CALIBRATION_LEFT] + +projection pinhole +drawCenterCross 0 + +w 320 +h 244 +fx 222.284 +fy 221.861 +cx 149.053 +cy 119.298 +k1 -0.430123 +k2 0.17197 +p1 0.000386035 +p2 -0.000730393 + + +[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 + + +[STEREO_DISPARITY] +HN (0.993342 0.0108693 -0.11469 -0.0686084 -0.0108768 0.999941 0.000560432 0.00125079 0.114689 0.000690759 0.993401 -0.00369692 0 0 0 1) +QL ( 0.000000 0.000000 0.000000 -0.000192 0.000863 -0.002301 -0.000288 0.000000) +QR ( 0.000000 0.000000 0.000000 -0.000192 0.000863 -0.002301 -0.000288 0.000000) + + diff --git a/iCubZagreb01/icub_all.xml b/iCubZagreb01/icub_all.xml new file mode 100644 index 0000000000..bd33ee0e28 --- /dev/null +++ b/iCubZagreb01/icub_all.xml @@ -0,0 +1,114 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/iCubZagreb01/icub_all_no_skin.xml b/iCubZagreb01/icub_all_no_skin.xml new file mode 100644 index 0000000000..322c621820 --- /dev/null +++ b/iCubZagreb01/icub_all_no_skin.xml @@ -0,0 +1,113 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/iCubZagreb01/icub_head_IMU.xml b/iCubZagreb01/icub_head_IMU.xml new file mode 100644 index 0000000000..9bb2ca8f1f --- /dev/null +++ b/iCubZagreb01/icub_head_IMU.xml @@ -0,0 +1,25 @@ + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/iCubZagreb01/lshw.txt b/iCubZagreb01/lshw.txt new file mode 100644 index 0000000000..8d8f2138fe --- /dev/null +++ b/iCubZagreb01/lshw.txt @@ -0,0 +1,521 @@ +icub-head + description: Laptop + product: Default string (Default string) + vendor: Default string + version: Default string + serial: Default string + width: 64 bits + capabilities: smbios-3.1.1 dmi-3.1.1 smp vsyscall32 + configuration: boot=normal chassis=laptop family=Default string sku=Default string uuid=00020003-0004-0005-0006-000700080009 + *-core + description: Motherboard + product: COMe-cKL6 + vendor: Kontron Europe GmbH + physical id: 0 + version: 1.0.1 + serial: NWD160001 + *-memory + description: System Memory + physical id: 3d + slot: System board or motherboard + size: 16GiB + *-bank:0 + description: SODIMM DDR4 Synchronous Unbuffered (Unregistered) 2400 MHz (0.4 ns) + product: D4SO1G644G-A18(HA/NA + vendor: Hitachi + physical id: 0 + serial: 0F862830 + slot: ChannelA-DIMM0 + size: 8GiB + width: 64 bits + clock: 2400MHz (0.4ns) + *-bank:1 + description: [empty] + physical id: 1 + slot: ChannelA-DIMM1 + *-bank:2 + description: SODIMM DDR4 Synchronous Unbuffered (Unregistered) 2133 MHz (0.5 ns) + product: $$. + vendor: 0323 + physical id: 2 + serial: 00240404 + slot: ChannelB-DIMM0 + size: 8GiB + width: 64 bits + clock: 2133MHz (0.5ns) + *-bank:3 + description: [empty] + physical id: 3 + slot: ChannelB-DIMM1 + *-cache:0 + description: L1 cache + physical id: 43 + slot: L1 Cache + size: 128KiB + capacity: 128KiB + capabilities: synchronous internal write-back unified + configuration: level=1 + *-cache:1 + description: L2 cache + physical id: 44 + slot: L2 Cache + size: 512KiB + capacity: 512KiB + capabilities: synchronous internal write-back unified + configuration: level=2 + *-cache:2 + description: L3 cache + physical id: 45 + slot: L3 Cache + size: 4MiB + capacity: 4MiB + capabilities: synchronous internal write-back unified + configuration: level=3 + *-cpu + description: CPU + product: Intel(R) Core(TM) i7-7600U CPU @ 2.80GHz + vendor: Intel Corp. + physical id: 46 + bus info: cpu@0 + version: Intel(R) Core(TM) i7-7600U CPU @ 2.80GHz + serial: To Be Filled By O.E.M. + slot: U3E1 + size: 3603MHz + capacity: 4005MHz + width: 64 bits + clock: 100MHz + capabilities: lm fpu fpu_exception wp vme de pse tsc msr pae mce cx8 apic sep mtrr pge mca cmov pat pse36 clflush dts acpi mmx fxsr sse sse2 ss ht tm pbe syscall nx pdpe1gb rdtscp x86-64 constant_tsc art arch_perfmon pebs bts rep_good nopl xtopology nonstop_tsc cpuid aperfmperf pni pclmulqdq dtes64 monitor ds_cpl vmx smx est tm2 ssse3 sdbg fma cx16 xtpr pdcm pcid sse4_1 sse4_2 x2apic movbe popcnt tsc_deadline_timer xsave avx f16c rdrand lahf_lm abm 3dnowprefetch cpuid_fault epb invpcid_single pti ssbd ibrs ibpb stibp tpr_shadow vnmi flexpriority ept vpid ept_ad fsgsbase tsc_adjust bmi1 hle avx2 smep bmi2 erms invpcid rtm mpx rdseed adx smap clflushopt intel_pt xsaveopt xsavec xgetbv1 xsaves dtherm ida arat pln pts hwp hwp_notify hwp_act_window hwp_epp md_clear flush_l1d cpufreq + configuration: cores=2 enabledcores=2 threads=4 + *-firmware + description: BIOS + vendor: Kontron Europe + physical id: 4a + version: CKL6R112 + date: 04/16/2018 + size: 64KiB + capacity: 16MiB + capabilities: pci upgrade shadowing cdboot bootselect socketedrom edd int13floppy1200 int13floppy720 int13floppy2880 int5printscreen int14serial int17printer acpi usb biosbootspecification uefi + *-pci + description: Host bridge + product: Xeon E3-1200 v6/7th Gen Core Processor Host Bridge/DRAM Registers + vendor: Intel Corporation + physical id: 100 + bus info: pci@0000:00:00.0 + version: 02 + width: 32 bits + clock: 33MHz + configuration: driver=skl_uncore + resources: irq:0 + *-display + description: VGA compatible controller + product: HD Graphics 620 + vendor: Intel Corporation + physical id: 2 + bus info: pci@0000:00:02.0 + version: 02 + width: 64 bits + clock: 33MHz + capabilities: pciexpress msi pm vga_controller bus_master cap_list rom + configuration: driver=i915 latency=0 + resources: irq:129 memory:de000000-deffffff memory:c0000000-cfffffff ioport:f000(size=64) memory:c0000-dffff + *-generic:0 UNCLAIMED + description: System peripheral + product: Xeon E3-1200 v5/v6 / E3-1500 v5 / 6th/7th/8th Gen Core Processor Gaussian Mixture Model + vendor: Intel Corporation + physical id: 8 + bus info: pci@0000:00:08.0 + version: 00 + width: 64 bits + clock: 33MHz + capabilities: msi pm cap_list + configuration: latency=0 + resources: memory:df562000-df562fff + *-usb + description: USB controller + product: Sunrise Point-LP USB 3.0 xHCI Controller + vendor: Intel Corporation + physical id: 14 + bus info: pci@0000:00:14.0 + version: 21 + width: 64 bits + clock: 33MHz + capabilities: pm msi xhci bus_master cap_list + configuration: driver=xhci_hcd latency=0 + resources: irq:126 memory:df540000-df54ffff + *-usbhost:0 + product: xHCI Host Controller + vendor: Linux 5.4.0-66-lowlatency xhci-hcd + physical id: 0 + bus info: usb@1 + logical name: usb1 + version: 5.04 + capabilities: usb-2.00 + configuration: driver=hub slots=12 speed=480Mbit/s + *-usb:0 + description: Bluetooth wireless interface + vendor: Intel Corp. + physical id: 5 + bus info: usb@1:5 + version: 0.10 + capabilities: bluetooth usb-2.00 + configuration: driver=btusb maxpower=100mA speed=12Mbit/s + *-usb:1 + description: Communication device + product: MTi-300 AHRS + vendor: Xsens + physical id: 7 + bus info: usb@1:7 + version: 0.00 + serial: 037824BB + capabilities: usb-1.10 + configuration: driver=xsens_mt maxpower=200mA speed=12Mbit/s + *-usb:2 + description: Modem + product: STM32 Virtual ComPort + vendor: STMicroelectronics + physical id: 8 + bus info: usb@1:8 + version: 2.00 + serial: 00000000001A + capabilities: usb-2.01 + configuration: driver=cdc_acm maxpower=100mA speed=12Mbit/s + *-usb:3 + description: Human interface device + product: CodeMeter-Stick + vendor: WIBU-SYSTEMS AG + physical id: 9 + bus info: usb@1:9 + version: 1.00 + serial: 000004501104 + capabilities: usb-2.00 + configuration: driver=usbhid maxpower=100mA speed=12Mbit/s + *-usbhost:1 + product: xHCI Host Controller + vendor: Linux 5.4.0-66-lowlatency xhci-hcd + physical id: 1 + bus info: usb@2 + logical name: usb2 + version: 5.04 + capabilities: usb-3.00 + configuration: driver=hub slots=6 speed=5000Mbit/s + *-generic:1 + description: Signal processing controller + product: Sunrise Point-LP Thermal subsystem + vendor: Intel Corporation + physical id: 14.2 + bus info: pci@0000:00:14.2 + version: 21 + width: 64 bits + clock: 33MHz + capabilities: pm msi cap_list + configuration: driver=intel_pch_thermal latency=0 + resources: irq:18 memory:df561000-df561fff + *-multimedia:0 + description: Multimedia controller + product: Intel Corporation + vendor: Intel Corporation + physical id: 14.3 + bus info: pci@0000:00:14.3 + version: 01 + width: 64 bits + clock: 33MHz + capabilities: msi pm bus_master cap_list + configuration: driver=ipu3-cio2 latency=32 + resources: irq:134 memory:df530000-df53ffff + *-communication + description: Communication controller + product: Sunrise Point-LP CSME HECI #1 + vendor: Intel Corporation + physical id: 16 + bus info: pci@0000:00:16.0 + version: 21 + width: 64 bits + clock: 33MHz + capabilities: pm msi bus_master cap_list + configuration: driver=mei_me latency=0 + resources: irq:133 memory:df560000-df560fff + *-sata + description: SATA controller + product: Sunrise Point-LP SATA Controller [AHCI mode] + vendor: Intel Corporation + physical id: 17 + bus info: pci@0000:00:17.0 + version: 21 + width: 32 bits + clock: 66MHz + capabilities: sata msi pm ahci_1.0 bus_master cap_list + configuration: driver=ahci latency=0 + resources: irq:127 memory:df558000-df559fff memory:df55f000-df55f0ff ioport:f090(size=8) ioport:f080(size=4) ioport:f060(size=32) memory:df55e000-df55e7ff + *-pci:0 + description: PCI bridge + product: Sunrise Point-LP PCI Express Root Port #1 + vendor: Intel Corporation + physical id: 1c + bus info: pci@0000:00:1c.0 + version: f1 + width: 32 bits + clock: 33MHz + capabilities: pci pciexpress msi pm normal_decode bus_master cap_list + configuration: driver=pcieport + resources: irq:122 memory:df400000-df4fffff + *-communication + description: Serial controller + product: Exar Corp. + vendor: Exar Corp. + physical id: 0 + bus info: pci@0000:01:00.0 + version: 03 + width: 32 bits + clock: 33MHz + capabilities: msi pm pciexpress 16550 bus_master cap_list + configuration: driver=exar_serial latency=0 + resources: irq:135 memory:df400000-df403fff + *-pci:1 + description: PCI bridge + product: Sunrise Point-LP PCI Express Root Port #2 + vendor: Intel Corporation + physical id: 1c.1 + bus info: pci@0000:00:1c.1 + version: f1 + width: 32 bits + clock: 33MHz + capabilities: pci pciexpress msi pm normal_decode bus_master cap_list + configuration: driver=pcieport + resources: irq:123 memory:df300000-df3fffff + *-network + description: Wireless interface + product: Wireless 8265 / 8275 + vendor: Intel Corporation + physical id: 0 + bus info: pci@0000:02:00.0 + logical name: wlp2s0 + version: 78 + serial: 84:fd:d1:fb:e4:06 + width: 64 bits + clock: 33MHz + capabilities: pm msi pciexpress bus_master cap_list ethernet physical wireless + configuration: broadcast=yes driver=iwlwifi driverversion=5.4.0-66-lowlatency firmware=36.77d01142.0 latency=0 link=no multicast=yes wireless=IEEE 802.11 + resources: irq:136 memory:df300000-df301fff + *-pci:2 + description: PCI bridge + product: Sunrise Point-LP PCI Express Root Port #3 + vendor: Intel Corporation + physical id: 1c.2 + bus info: pci@0000:00:1c.2 + version: f1 + width: 32 bits + clock: 33MHz + capabilities: pci pciexpress msi pm normal_decode bus_master cap_list + configuration: driver=pcieport + resources: irq:124 memory:df000000-df1fffff + *-pci + description: PCI bridge + product: XIO2213A/B/XIO2221 PCI Express to PCI Bridge [Cheetah Express] + vendor: Texas Instruments + physical id: 0 + bus info: pci@0000:03:00.0 + version: 01 + width: 32 bits + clock: 33MHz + capabilities: pci pm msi pciexpress normal_decode bus_master cap_list + resources: memory:df100000-df100fff memory:df000000-df0fffff + *-firewire + description: FireWire (IEEE 1394) + product: XIO2213A/B/XIO2221 IEEE-1394b OHCI Controller [Cheetah Express] + vendor: Texas Instruments + physical id: 0 + bus info: pci@0000:04:00.0 + version: 01 + width: 32 bits + clock: 66MHz + capabilities: pm ohci bus_master cap_list + configuration: driver=firewire_ohci latency=32 maxlatency=4 mingnt=2 + resources: irq:18 memory:df004000-df0047ff memory:df000000-df003fff + *-pci:3 + description: PCI bridge + product: Sunrise Point-LP PCI Express Root Port #4 + vendor: Intel Corporation + physical id: 1c.3 + bus info: pci@0000:00:1c.3 + version: f1 + width: 32 bits + clock: 33MHz + capabilities: pci pciexpress msi pm normal_decode bus_master cap_list + configuration: driver=pcieport + resources: irq:125 ioport:e000(size=4096) memory:df200000-df2fffff + *-network + description: Ethernet interface + product: 82574L Gigabit Network Connection + vendor: Intel Corporation + physical id: 0 + bus info: pci@0000:05:00.0 + logical name: enp5s0 + version: 00 + serial: 00:0c:8b:24:13:9b + size: 1Gbit/s + capacity: 1Gbit/s + width: 32 bits + clock: 33MHz + capabilities: pm msi pciexpress msix bus_master cap_list ethernet physical tp 10bt 10bt-fd 100bt 100bt-fd 1000bt-fd autonegotiation + configuration: autonegotiation=on broadcast=yes driver=e1000e driverversion=3.8.4-NAPI duplex=full firmware=2.1-3 ip=10.0.0.2 latency=0 link=yes multicast=yes port=twisted pair speed=1Gbit/s + resources: irq:19 memory:df200000-df21ffff ioport:e000(size=32) memory:df220000-df223fff + *-generic:2 + description: Signal processing controller + product: Sunrise Point-LP Serial IO UART Controller #0 + vendor: Intel Corporation + physical id: 1e + bus info: pci@0000:00:1e.0 + version: 21 + width: 64 bits + clock: 33MHz + capabilities: pm bus_master cap_list + configuration: driver=intel-lpss latency=0 + resources: irq:20 memory:df55d000-df55dfff + *-generic:3 + description: SD Host controller + product: Intel Corporation + vendor: Intel Corporation + physical id: 1e.4 + bus info: pci@0000:00:1e.4 + version: 21 + width: 64 bits + clock: 33MHz + capabilities: pm bus_master cap_list + configuration: driver=sdhci-pci latency=0 + resources: irq:21 memory:df55c000-df55cfff + *-generic:4 + description: SD Host controller + product: Sunrise Point-LP Secure Digital IO Controller + vendor: Intel Corporation + physical id: 1e.6 + bus info: pci@0000:00:1e.6 + version: 21 + width: 64 bits + clock: 33MHz + capabilities: pm bus_master cap_list + configuration: driver=sdhci-pci latency=0 + resources: irq:23 memory:df55b000-df55bfff + *-isa + description: ISA bridge + product: Sunrise Point LPC Controller/eSPI Controller + vendor: Intel Corporation + physical id: 1f + bus info: pci@0000:00:1f.0 + version: 21 + width: 32 bits + clock: 33MHz + capabilities: isa bus_master + configuration: latency=0 + *-memory UNCLAIMED + description: Memory controller + product: Sunrise Point-LP PMC + vendor: Intel Corporation + physical id: 1f.2 + bus info: pci@0000:00:1f.2 + version: 21 + width: 32 bits + clock: 33MHz (30.3ns) + configuration: latency=0 + resources: memory:df554000-df557fff + *-multimedia:1 + description: Audio device + product: Sunrise Point-LP HD Audio + vendor: Intel Corporation + physical id: 1f.3 + bus info: pci@0000:00:1f.3 + version: 21 + width: 64 bits + clock: 33MHz + capabilities: pm msi bus_master cap_list + configuration: driver=snd_hda_intel latency=32 + resources: irq:137 memory:df550000-df553fff memory:df520000-df52ffff + *-serial + description: SMBus + product: Sunrise Point-LP SMBus + vendor: Intel Corporation + physical id: 1f.4 + bus info: pci@0000:00:1f.4 + version: 21 + width: 64 bits + clock: 33MHz + configuration: driver=i801_smbus latency=0 + resources: irq:16 memory:df55a000-df55a0ff ioport:f040(size=32) + *-network + description: Ethernet interface + product: Ethernet Connection I219-V + vendor: Intel Corporation + physical id: 1f.6 + bus info: pci@0000:00:1f.6 + logical name: enp0s31f6 + version: 21 + serial: 00:e0:4b:69:b7:47 + size: 100Mbit/s + capacity: 1Gbit/s + width: 32 bits + clock: 33MHz + capabilities: pm msi bus_master cap_list ethernet physical tp 10bt 10bt-fd 100bt 100bt-fd 1000bt-fd autonegotiation + configuration: autonegotiation=on broadcast=yes driver=e1000e driverversion=3.8.4-NAPI duplex=full firmware=0.2-4 ip=10.0.1.104 latency=0 link=yes multicast=yes port=twisted pair speed=100Mbit/s + resources: irq:128 memory:df500000-df51ffff + *-pnp00:00 + product: PnP device PNP0c02 + physical id: 0 + capabilities: pnp + configuration: driver=system + *-pnp00:01 + product: PnP device PNP0501 + physical id: 1 + capabilities: pnp + configuration: driver=serial + *-pnp00:02 + product: PnP device PNP0501 + physical id: 2 + capabilities: pnp + configuration: driver=serial + *-pnp00:03 + product: PnP device PNP0c02 + physical id: 3 + capabilities: pnp + configuration: driver=system + *-pnp00:04 + product: PnP device PNP0c02 + physical id: 4 + capabilities: pnp + configuration: driver=system + *-pnp00:05 + product: PnP device PNP0b00 + physical id: 5 + capabilities: pnp + configuration: driver=rtc_cmos + *-pnp00:06 + product: PnP device INT3f0d + physical id: 6 + capabilities: pnp + configuration: driver=system + *-pnp00:07 + product: PnP device PNP0c02 + physical id: 7 + capabilities: pnp + configuration: driver=system + *-pnp00:08 + product: PnP device PNP0c02 + physical id: 8 + capabilities: pnp + configuration: driver=system + *-pnp00:09 + product: PnP device PNP0c02 + physical id: 9 + capabilities: pnp + configuration: driver=system + *-pnp00:0a + product: PnP device PNP0c02 + physical id: a + capabilities: pnp + configuration: driver=system + *-power UNCLAIMED + description: To Be Filled By O.E.M. + product: To Be Filled By O.E.M. + vendor: To Be Filled By O.E.M. + physical id: 1 + version: To Be Filled By O.E.M. + serial: To Be Filled By O.E.M. + capacity: 32768mWh diff --git a/iCubZagreb01/network.iCubZagreb01.xml b/iCubZagreb01/network.iCubZagreb01.xml new file mode 100644 index 0000000000..fe7e612048 --- /dev/null +++ b/iCubZagreb01/network.iCubZagreb01.xml @@ -0,0 +1,648 @@ + + + + + + + + + + + + + + + + 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 + + + + + + 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/iCubZagreb01/pf3dTracker.ini b/iCubZagreb01/pf3dTracker.ini new file mode 100644 index 0000000000..dabde852d4 --- /dev/null +++ b/iCubZagreb01/pf3dTracker.ini @@ -0,0 +1,98 @@ +#################################### +#configuration file for PF3DTracker# +#################################### + + +############# +#module name# +############# +name /pf3dTracker + +############################# +#parameters of the algorithm# +############################# +nParticles 700 +#nParticles number of particles used +accelStDev 30 +#accelStDev 50 30 15 +#accelStDev standard deviation of the acceleration noise +insideOutsideDiffWeight 1.5 +#insideOutsideDiffWeight inside-outside difference weight for the likelihood function +colorTransfPolicy 1 +#colorTransfPolicy [0=transform the whole image | 1=only transform the pixels you need] + + + + +######################### +#port names and function# +######################### +inputVideoPort /pf3dTracker/video:i +#inputVideoPort receives images from the grabber or the rectifying program. +outputVideoPort /pf3dTracker/video:o +#outputVideoPort produces images in which the contour of the estimated ball is highlighted +outputDataPort /pf3dTracker/data:o +#outputDataPort produces a stream of data in the format: X, Y, Z, likelihood, U, V, seeing_object +outputParticlePort /pf3dTracker/particles:o +#outputParticlePort produces data for the plotter. it is usually not active for performance reasons. +inputParticlePort /pf3dTracker/particles:i +#inputParticlePort recives hypotheses on the ball position from pf3dBottomup. +outputAttentionPort /pf3dTracker/attention:o +#outputAttentionPort produces data for the attention system, in terms of a peak of saliency. + + +################################# +#projection model and parameters# +################################# +#projectionModel [perspective|equidistance|unified] +projectionModel perspective + +cameraFile icubEyes.ini +cameraGroup CAMERA_CALIBRATION_LEFT + +####################### +#tracked object models# +####################### +#trackedObjectType [sphere|parallelogram] +trackedObjectType sphere +trackedObjectColorTemplate models/red_ball_iit.bmp +trackedObjectShapeTemplate models/initial_ball_points_36mm_20percent.csv + +motionModelMatrix models/motion_model_matrix.csv +trackedObjectTemp current_histogram.csv + +####################### +#initialization method# +####################### +#initialization method [search|3dEstimate|2dEstimate] +initializationMethod 3dEstimate +initialX 0 +initialY 0 +initialZ 0.5 + + +#################### +#visualization mode# +#################### +#circleVisualizationMode [0=inner and outer cirlce | 1=one circle with the correct radious] default 0. only applies to the sphere. +circleVisualizationMode 1 + + +######################### +#attention-related stuff# +######################### +#the tracker produces a value of likelihood at each time step. this value can be used to infer if the object it is tracking is the correct one. this is not a very robust way of doing so. +#if likelihood>this value, then probably I'm tracking the object. 20Millions is good, 12Millions is the likelihood of Jonas Hornsteins's PC screen (false positive). +#20Millions is a good threshold level when you have the right color model. 5M. +likelihoodThreshold 0.0005 +attentionOutputMax 300 +attentionOutputDecrease 0.99 + + +########################## +#image saving preferences# +########################## +#save images with OpenCV? +saveImagesWithOpencv false +#always use the trailing slash here. +saveImagesWithOpencvDir ./graphical_results/ diff --git a/iCubZagreb01/skin.xml b/iCubZagreb01/skin.xml new file mode 100644 index 0000000000..cb924753e9 --- /dev/null +++ b/iCubZagreb01/skin.xml @@ -0,0 +1,28 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/iCubZagreb01/startaudio.ini b/iCubZagreb01/startaudio.ini new file mode 100644 index 0000000000..fb78606211 --- /dev/null +++ b/iCubZagreb01/startaudio.ini @@ -0,0 +1,5 @@ +device AudioRecorderWrapper + subdevice portaudioRecorder + name /microphone + min_samples_over_network 4000 + max_samples_over_network 4000 diff --git a/iCubZagreb01/wholeBodyDynamics.ini b/iCubZagreb01/wholeBodyDynamics.ini new file mode 100644 index 0000000000..3767e8a407 --- /dev/null +++ b/iCubZagreb01/wholeBodyDynamics.ini @@ -0,0 +1,6 @@ +period 10 +performance 0 +comparison 0 +autoconnect +headV2.7 +imuPortName /icub/head/inertials diff --git a/iCubZagreb01/wrappers/FT/left_arm-FT_wrapper.xml b/iCubZagreb01/wrappers/FT/left_arm-FT_wrapper.xml new file mode 100644 index 0000000000..7685a751fa --- /dev/null +++ b/iCubZagreb01/wrappers/FT/left_arm-FT_wrapper.xml @@ -0,0 +1,18 @@ + + + + + + 10 + /icub/left_arm/analog:o + + + + + left_arm-eb1-j0_3-strain + + + + + + diff --git a/iCubZagreb01/wrappers/FT/left_foot-FT_wrapper.xml b/iCubZagreb01/wrappers/FT/left_foot-FT_wrapper.xml new file mode 100644 index 0000000000..9e03772f50 --- /dev/null +++ b/iCubZagreb01/wrappers/FT/left_foot-FT_wrapper.xml @@ -0,0 +1,18 @@ + + + + + + 10 + /icub/left_foot/analog:o + + + + + left_leg-eb7-j4_5-strain + + + + + + diff --git a/iCubZagreb01/wrappers/FT/left_foot-FT_wrapper_multipleSens.xml b/iCubZagreb01/wrappers/FT/left_foot-FT_wrapper_multipleSens.xml new file mode 100644 index 0000000000..a4db01f0a8 --- /dev/null +++ b/iCubZagreb01/wrappers/FT/left_foot-FT_wrapper_multipleSens.xml @@ -0,0 +1,18 @@ + + + + + + 10 + /icub/left_foot + + + + + left_leg-eb7-j4_5-strain + + + + + + diff --git a/iCubZagreb01/wrappers/FT/left_leg-FT_wrapper.xml b/iCubZagreb01/wrappers/FT/left_leg-FT_wrapper.xml new file mode 100644 index 0000000000..84ac4cf081 --- /dev/null +++ b/iCubZagreb01/wrappers/FT/left_leg-FT_wrapper.xml @@ -0,0 +1,18 @@ + + + + + + 10 + /icub/left_leg/analog:o + + + + + left_leg-eb6-j0_3-strain + + + + + + diff --git a/iCubZagreb01/wrappers/FT/left_leg-FT_wrapper_multipleSens.xml b/iCubZagreb01/wrappers/FT/left_leg-FT_wrapper_multipleSens.xml new file mode 100644 index 0000000000..76e6445d5e --- /dev/null +++ b/iCubZagreb01/wrappers/FT/left_leg-FT_wrapper_multipleSens.xml @@ -0,0 +1,18 @@ + + + + + + 10 + /icub/left_leg + + + + + left_leg-eb6-j0_3-strain + + + + + + diff --git a/iCubZagreb01/wrappers/FT/right_arm-FT_wrapper.xml b/iCubZagreb01/wrappers/FT/right_arm-FT_wrapper.xml new file mode 100644 index 0000000000..cd117e9f7a --- /dev/null +++ b/iCubZagreb01/wrappers/FT/right_arm-FT_wrapper.xml @@ -0,0 +1,18 @@ + + + + + + 10 + /icub/right_arm/analog:o + + + + + right_arm-eb3-j0_3-strain + + + + + + diff --git a/iCubZagreb01/wrappers/FT/right_foot-FT_wrapper.xml b/iCubZagreb01/wrappers/FT/right_foot-FT_wrapper.xml new file mode 100644 index 0000000000..fc2b87dca3 --- /dev/null +++ b/iCubZagreb01/wrappers/FT/right_foot-FT_wrapper.xml @@ -0,0 +1,18 @@ + + + + + + 10 + /icub/right_foot/analog:o + + + + + right_leg-eb9-j4_5-strain + + + + + + diff --git a/iCubZagreb01/wrappers/FT/right_foot-FT_wrapper_multipleSens.xml b/iCubZagreb01/wrappers/FT/right_foot-FT_wrapper_multipleSens.xml new file mode 100644 index 0000000000..1f99ca981d --- /dev/null +++ b/iCubZagreb01/wrappers/FT/right_foot-FT_wrapper_multipleSens.xml @@ -0,0 +1,18 @@ + + + + + + 10 + /icub/right_foot + + + + + right_leg-eb9-j4_5-strain + + + + + + diff --git a/iCubZagreb01/wrappers/FT/right_leg-FT_wrapper.xml b/iCubZagreb01/wrappers/FT/right_leg-FT_wrapper.xml new file mode 100644 index 0000000000..0c7c07de59 --- /dev/null +++ b/iCubZagreb01/wrappers/FT/right_leg-FT_wrapper.xml @@ -0,0 +1,18 @@ + + + + + + 10 + /icub/right_leg/analog:o + + + + + right_leg-eb8-j0_3-strain + + + + + + diff --git a/iCubZagreb01/wrappers/FT/right_leg-FT_wrapper_multipleSens.xml b/iCubZagreb01/wrappers/FT/right_leg-FT_wrapper_multipleSens.xml new file mode 100644 index 0000000000..ab86e6230f --- /dev/null +++ b/iCubZagreb01/wrappers/FT/right_leg-FT_wrapper_multipleSens.xml @@ -0,0 +1,18 @@ + + + + + + 10 + /icub/right_leg + + + + + right_leg-eb8-j0_3-strain + + + + + + diff --git a/iCubZagreb01/wrappers/MAIS/left_arm-mais_wrapper.xml b/iCubZagreb01/wrappers/MAIS/left_arm-mais_wrapper.xml new file mode 100644 index 0000000000..670c35bcb4 --- /dev/null +++ b/iCubZagreb01/wrappers/MAIS/left_arm-mais_wrapper.xml @@ -0,0 +1,16 @@ + + + + + 10 + /icub/left_hand/analog:o + + + + left_arm-eb26-j12_15-mais + + + + + + diff --git a/iCubZagreb01/wrappers/MAIS/right_arm-mais_wrapper.xml b/iCubZagreb01/wrappers/MAIS/right_arm-mais_wrapper.xml new file mode 100644 index 0000000000..1b5213361e --- /dev/null +++ b/iCubZagreb01/wrappers/MAIS/right_arm-mais_wrapper.xml @@ -0,0 +1,16 @@ + + + + + 10 + /icub/right_hand/analog:o + + + + right_arm-eb29-j12_15-mais + + + + + + diff --git a/iCubZagreb01/wrappers/VFT/left_arm-VFT_wrapper.xml b/iCubZagreb01/wrappers/VFT/left_arm-VFT_wrapper.xml new file mode 100644 index 0000000000..21e23e3033 --- /dev/null +++ b/iCubZagreb01/wrappers/VFT/left_arm-VFT_wrapper.xml @@ -0,0 +1,20 @@ + + + + 10 + + + ( 0 3 0 3 ) + ( 4 6 0 2 ) + + 7 + /icub/joint_vsens/left_arm:i + + + + left_arm-eb1-j0_3-mc + left_arm-eb24-j4_7-mc + + + + diff --git a/iCubZagreb01/wrappers/VFT/left_leg-VFT_wrapper.xml b/iCubZagreb01/wrappers/VFT/left_leg-VFT_wrapper.xml new file mode 100644 index 0000000000..f3ffb9cc19 --- /dev/null +++ b/iCubZagreb01/wrappers/VFT/left_leg-VFT_wrapper.xml @@ -0,0 +1,20 @@ + + + + 10 + + + ( 0 3 0 3 ) + ( 4 5 0 1 ) + + 6 + /icub/joint_vsens/left_leg:i + + + + left_leg-eb6-j0_3-mc + left_leg-eb7-j4_5-mc + + + + diff --git a/iCubZagreb01/wrappers/VFT/right_arm-VFT_wrapper.xml b/iCubZagreb01/wrappers/VFT/right_arm-VFT_wrapper.xml new file mode 100644 index 0000000000..a55cf3e65e --- /dev/null +++ b/iCubZagreb01/wrappers/VFT/right_arm-VFT_wrapper.xml @@ -0,0 +1,20 @@ + + + + 10 + + + ( 0 3 0 3 ) + ( 4 6 0 2 ) + + 7 + /icub/joint_vsens/right_arm:i + + + + right_arm-eb3-j0_3-mc + right_arm-eb27-j4_7-mc + + + + diff --git a/iCubZagreb01/wrappers/VFT/right_leg-VFT_wrapper.xml b/iCubZagreb01/wrappers/VFT/right_leg-VFT_wrapper.xml new file mode 100644 index 0000000000..b14fa54653 --- /dev/null +++ b/iCubZagreb01/wrappers/VFT/right_leg-VFT_wrapper.xml @@ -0,0 +1,20 @@ + + + + 10 + + + ( 0 3 0 3 ) + ( 4 5 0 1 ) + + 6 + /icub/joint_vsens/right_leg:i + + + + right_leg-eb8-j0_3-mc + right_leg-eb9-j4_5-mc + + + + diff --git a/iCubZagreb01/wrappers/VFT/torso-VFT_wrapper.xml b/iCubZagreb01/wrappers/VFT/torso-VFT_wrapper.xml new file mode 100644 index 0000000000..81d2841d34 --- /dev/null +++ b/iCubZagreb01/wrappers/VFT/torso-VFT_wrapper.xml @@ -0,0 +1,18 @@ + + + + 10 + + + ( 0 2 0 2 ) + + 3 + /icub/joint_vsens/torso:i + + + + torso-eb5-j0_2-mc + + + + diff --git a/iCubZagreb01/wrappers/inertials/head-imuFilter.xml b/iCubZagreb01/wrappers/inertials/head-imuFilter.xml new file mode 100644 index 0000000000..c57bc577a6 --- /dev/null +++ b/iCubZagreb01/wrappers/inertials/head-imuFilter.xml @@ -0,0 +1,20 @@ + + + + + + 10 + /imuFilter + + + + + + head-inertial + + + + + diff --git a/iCubZagreb01/wrappers/inertials/head-imuFilter_wrapper.xml b/iCubZagreb01/wrappers/inertials/head-imuFilter_wrapper.xml new file mode 100644 index 0000000000..0e4b886bfd --- /dev/null +++ b/iCubZagreb01/wrappers/inertials/head-imuFilter_wrapper.xml @@ -0,0 +1,20 @@ + + + + + + 10 + /imuFilter + + + + + + head-imuFilter + + + + + diff --git a/iCubZagreb01/wrappers/inertials/head-inertials_wrapper.xml b/iCubZagreb01/wrappers/inertials/head-inertials_wrapper.xml new file mode 100644 index 0000000000..ab266c8715 --- /dev/null +++ b/iCubZagreb01/wrappers/inertials/head-inertials_wrapper.xml @@ -0,0 +1,20 @@ + + + + + + 10 + /icub/head/inertials + + + + + + head-inertial + + + + + diff --git a/iCubZagreb01/wrappers/inertials/left_arm-inertials_remapper.xml b/iCubZagreb01/wrappers/inertials/left_arm-inertials_remapper.xml new file mode 100644 index 0000000000..fdbc2f5ced --- /dev/null +++ b/iCubZagreb01/wrappers/inertials/left_arm-inertials_remapper.xml @@ -0,0 +1,24 @@ + + + + + + 10 + + + (l_upper_arm_mtb_acc_1b10 l_upper_arm_mtb_acc_1b11 l_upper_arm_mtb_acc_1b12 l_upper_arm_mtb_acc_1b13 + l_forearm_mtb_acc_1b7 l_forearm_mtb_acc_1b8 l_forearm_mtb_acc_1b9) + + + + + left_arm-eb24-j4_7-inertials + + + + + + diff --git a/iCubZagreb01/wrappers/inertials/left_arm-inertials_wrapper-deprecated.xml b/iCubZagreb01/wrappers/inertials/left_arm-inertials_wrapper-deprecated.xml new file mode 100644 index 0000000000..65b0d255c8 --- /dev/null +++ b/iCubZagreb01/wrappers/inertials/left_arm-inertials_wrapper-deprecated.xml @@ -0,0 +1,21 @@ + + + + + + 10 + /icub/left_hand/inertialMTB + + + + + + left_arm-eb24-j4_7-inertials + + + + + + diff --git a/iCubZagreb01/wrappers/inertials/left_arm-inertials_wrapper.xml b/iCubZagreb01/wrappers/inertials/left_arm-inertials_wrapper.xml new file mode 100644 index 0000000000..221e99b2f7 --- /dev/null +++ b/iCubZagreb01/wrappers/inertials/left_arm-inertials_wrapper.xml @@ -0,0 +1,20 @@ + + + + + + 10 + /icub/left_arm/inertials + + + + + left_arm-inertials_remapper + + + + + + diff --git a/iCubZagreb01/wrappers/inertials/left_foot-imu_wrapper.xml b/iCubZagreb01/wrappers/inertials/left_foot-imu_wrapper.xml new file mode 100644 index 0000000000..a1fb36cd32 --- /dev/null +++ b/iCubZagreb01/wrappers/inertials/left_foot-imu_wrapper.xml @@ -0,0 +1,21 @@ + + + + + + 10 + /icub/left_foot/imu + + + + + + left_leg-eb7-imu + + + + + + diff --git a/iCubZagreb01/wrappers/inertials/left_leg-imu_wrapper.xml b/iCubZagreb01/wrappers/inertials/left_leg-imu_wrapper.xml new file mode 100644 index 0000000000..33280d537d --- /dev/null +++ b/iCubZagreb01/wrappers/inertials/left_leg-imu_wrapper.xml @@ -0,0 +1,21 @@ + + + + + + 10 + /icub/left_leg/imu + + + + + + left_leg-eb6-imu + + + + + + diff --git a/iCubZagreb01/wrappers/inertials/left_leg-inertials_remapper.xml b/iCubZagreb01/wrappers/inertials/left_leg-inertials_remapper.xml new file mode 100644 index 0000000000..dbe7f0b89c --- /dev/null +++ b/iCubZagreb01/wrappers/inertials/left_leg-inertials_remapper.xml @@ -0,0 +1,40 @@ + + + + + + 10 + + + (l_upper_leg_imu_gyro_1 + l_upper_leg_ems_gyro_eb6 + l_upper_leg_ems_gyro_eb10 + l_lower_leg_ems_gyro_eb7 + l_lower_leg_imu_gyro_2) + + + (l_upper_leg_imu_acc_1 + l_upper_leg_mtb_acc_10b1 l_upper_leg_mtb_acc_10b2 l_upper_leg_mtb_acc_10b3 l_upper_leg_mtb_acc_10b4 + l_upper_leg_mtb_acc_10b5 l_upper_leg_mtb_acc_10b6 l_upper_leg_mtb_acc_10b7 + l_lower_leg_mtb_acc_10b8 l_lower_leg_mtb_acc_10b9 l_lower_leg_mtb_acc_10b10 l_lower_leg_mtb_acc_10b11 + l_lower_leg_imu_acc_2 + l_foot_mtb_acc_10b12 l_foot_mtb_acc_10b13) + + + + + + left_leg-eb6-imu + left_leg-eb6-inertials + left_leg-eb7-imu + left_leg-eb7-inertials + left_leg-eb10-inertials + + + + + + diff --git a/iCubZagreb01/wrappers/inertials/left_leg-inertials_wrapper-deprecated.xml b/iCubZagreb01/wrappers/inertials/left_leg-inertials_wrapper-deprecated.xml new file mode 100644 index 0000000000..20650df365 --- /dev/null +++ b/iCubZagreb01/wrappers/inertials/left_leg-inertials_wrapper-deprecated.xml @@ -0,0 +1,55 @@ + + + + + + 10 + /icub/left_leg/inertialMTB + + + + + + left_leg-eb10-inertials + + + + + + + + 10 + /icub/left_leg/inertialEMS6 + + + + + + left_leg-eb6-inertials + + + + + + + + 10 + /icub/left_leg/inertialEMS7 + + + + + + left_leg-eb7-inertials + + + + + + diff --git a/iCubZagreb01/wrappers/inertials/left_leg-inertials_wrapper.xml b/iCubZagreb01/wrappers/inertials/left_leg-inertials_wrapper.xml new file mode 100644 index 0000000000..908fde5b7c --- /dev/null +++ b/iCubZagreb01/wrappers/inertials/left_leg-inertials_wrapper.xml @@ -0,0 +1,20 @@ + + + + + + 10 + /icub/left_leg/inertials + + + + + left_leg-inertials_remapper + + + + + + diff --git a/iCubZagreb01/wrappers/inertials/right_arm-inertials_remapper.xml b/iCubZagreb01/wrappers/inertials/right_arm-inertials_remapper.xml new file mode 100644 index 0000000000..bc8f86f444 --- /dev/null +++ b/iCubZagreb01/wrappers/inertials/right_arm-inertials_remapper.xml @@ -0,0 +1,24 @@ + + + + + + 10 + + + (r_upper_arm_mtb_acc_2b10 r_upper_arm_mtb_acc_2b11 r_upper_arm_mtb_acc_2b12 r_upper_arm_mtb_acc_2b13 + r_forearm_mtb_acc_2b7 r_forearm_mtb_acc_2b8 r_forearm_mtb_acc_2b9) + + + + + right_arm-eb27-j4_7-inertials + + + + + + diff --git a/iCubZagreb01/wrappers/inertials/right_arm-inertials_wrapper-deprecated.xml b/iCubZagreb01/wrappers/inertials/right_arm-inertials_wrapper-deprecated.xml new file mode 100644 index 0000000000..ee48a1f6b8 --- /dev/null +++ b/iCubZagreb01/wrappers/inertials/right_arm-inertials_wrapper-deprecated.xml @@ -0,0 +1,21 @@ + + + + + + 10 + /icub/right_hand/inertialMTB + + + + + + right_arm-eb27-j4_7-inertials + + + + + + diff --git a/iCubZagreb01/wrappers/inertials/right_arm-inertials_wrapper.xml b/iCubZagreb01/wrappers/inertials/right_arm-inertials_wrapper.xml new file mode 100644 index 0000000000..35234c9b33 --- /dev/null +++ b/iCubZagreb01/wrappers/inertials/right_arm-inertials_wrapper.xml @@ -0,0 +1,20 @@ + + + + + + 10 + /icub/right_arm/inertials + + + + + right_arm-inertials_remapper + + + + + + diff --git a/iCubZagreb01/wrappers/inertials/right_foot-imu_wrapper.xml b/iCubZagreb01/wrappers/inertials/right_foot-imu_wrapper.xml new file mode 100644 index 0000000000..67fa1abda7 --- /dev/null +++ b/iCubZagreb01/wrappers/inertials/right_foot-imu_wrapper.xml @@ -0,0 +1,21 @@ + + + + + + 10 + /icub/right_foot/imu + + + + + + right_leg-eb9-imu + + + + + + diff --git a/iCubZagreb01/wrappers/inertials/right_leg-imu_wrapper.xml b/iCubZagreb01/wrappers/inertials/right_leg-imu_wrapper.xml new file mode 100644 index 0000000000..700af6cbae --- /dev/null +++ b/iCubZagreb01/wrappers/inertials/right_leg-imu_wrapper.xml @@ -0,0 +1,21 @@ + + + + + + 10 + /icub/right_leg/imu + + + + + + right_leg-eb8-imu + + + + + + diff --git a/iCubZagreb01/wrappers/inertials/right_leg-inertials_remapper.xml b/iCubZagreb01/wrappers/inertials/right_leg-inertials_remapper.xml new file mode 100644 index 0000000000..f91892786a --- /dev/null +++ b/iCubZagreb01/wrappers/inertials/right_leg-inertials_remapper.xml @@ -0,0 +1,39 @@ + + + + + + 10 + + + (r_upper_leg_imu_gyro_1 + r_upper_leg_ems_gyro_eb8 + r_upper_leg_ems_gyro_eb11 + r_lower_leg_ems_gyro_eb9 + r_lower_leg_imu_gyro_2) + + + (r_upper_leg_imu_acc_1 + r_upper_leg_mtb_acc_11b1 r_upper_leg_mtb_acc_11b2 r_upper_leg_mtb_acc_11b3 r_upper_leg_mtb_acc_11b4 + r_upper_leg_mtb_acc_11b5 r_upper_leg_mtb_acc_11b6 r_upper_leg_mtb_acc_11b7 + r_lower_leg_mtb_acc_11b8 r_lower_leg_mtb_acc_11b9 r_lower_leg_mtb_acc_11b10 r_lower_leg_mtb_acc_11b11 + r_lower_leg_imu_acc_2 + r_foot_mtb_acc_11b12 r_foot_mtb_acc_11b13) + + + + + right_leg-eb8-imu + right_leg-eb8-inertials + right_leg-eb9-imu + right_leg-eb9-inertials + right_leg-eb11-inertials + + + + + + diff --git a/iCubZagreb01/wrappers/inertials/right_leg-inertials_wrapper-deprecated.xml b/iCubZagreb01/wrappers/inertials/right_leg-inertials_wrapper-deprecated.xml new file mode 100644 index 0000000000..555b40d772 --- /dev/null +++ b/iCubZagreb01/wrappers/inertials/right_leg-inertials_wrapper-deprecated.xml @@ -0,0 +1,55 @@ + + + + + + 10 + /icub/right_leg/inertialMTB + + + + + + right_leg-eb11-inertials + + + + + + + + 10 + /icub/right_leg/inertialEMS8 + + + + + + right_leg-eb8-inertials + + + + + + + + 10 + /icub/right_leg/inertialEMS9 + + + + + + right_leg-eb9-inertials + + + + + + diff --git a/iCubZagreb01/wrappers/inertials/right_leg-inertials_wrapper.xml b/iCubZagreb01/wrappers/inertials/right_leg-inertials_wrapper.xml new file mode 100644 index 0000000000..dd511f7b81 --- /dev/null +++ b/iCubZagreb01/wrappers/inertials/right_leg-inertials_wrapper.xml @@ -0,0 +1,20 @@ + + + + + + 10 + /icub/right_leg/inertials + + + + + right_leg-inertials_remapper + + + + + + diff --git a/iCubZagreb01/wrappers/inertials/torso-inertial_wrapper.xml b/iCubZagreb01/wrappers/inertials/torso-inertial_wrapper.xml new file mode 100644 index 0000000000..d9e1d4334b --- /dev/null +++ b/iCubZagreb01/wrappers/inertials/torso-inertial_wrapper.xml @@ -0,0 +1,19 @@ + + + + + + 10 + /icub/torso/inertialMTB + + + + + + torso_inertialMTB + + + + + + diff --git a/iCubZagreb01/wrappers/inertials/torso-inertials_remapper.xml b/iCubZagreb01/wrappers/inertials/torso-inertials_remapper.xml new file mode 100644 index 0000000000..bc35f9d450 --- /dev/null +++ b/iCubZagreb01/wrappers/inertials/torso-inertials_remapper.xml @@ -0,0 +1,27 @@ + + + + + + 10 + + + (torso_ems_gyro_eb1 + torso_ems_gyro_eb3) + + + (chest_mtb_acc_0b7 chest_mtb_acc_0b8 chest_mtb_acc_0b9 chest_mtb_acc_0b10) + + + + + torso-eb22-inertials + torso-eb1-inertials + torso-eb3-inertials + + + + + + diff --git a/iCubZagreb01/wrappers/inertials/torso-inertials_wrapper-deprecated.xml b/iCubZagreb01/wrappers/inertials/torso-inertials_wrapper-deprecated.xml new file mode 100644 index 0000000000..244ed3a01e --- /dev/null +++ b/iCubZagreb01/wrappers/inertials/torso-inertials_wrapper-deprecated.xml @@ -0,0 +1,49 @@ + + + + + + 10 + /icub/torso/inertialMTB + + + + + + torso-eb22-inertials + + + + + + + + 10 + /icub/torso/inertialEMS1 + + + + + + torso-eb1-inertials + + + + + + + + 10 + /icub/torso/inertialEMS3 + + + + + + torso-eb3-inertials + + + + + + diff --git a/iCubZagreb01/wrappers/inertials/torso-inertials_wrapper.xml b/iCubZagreb01/wrappers/inertials/torso-inertials_wrapper.xml new file mode 100644 index 0000000000..e99fd513e5 --- /dev/null +++ b/iCubZagreb01/wrappers/inertials/torso-inertials_wrapper.xml @@ -0,0 +1,18 @@ + + + + + + 10 + /icub/torso/inertials + + + + + torso-inertials_remapper + + + + + + diff --git a/iCubZagreb01/wrappers/inertials/waist-inertials_remapper.xml b/iCubZagreb01/wrappers/inertials/waist-inertials_remapper.xml new file mode 100644 index 0000000000..546b410725 --- /dev/null +++ b/iCubZagreb01/wrappers/inertials/waist-inertials_remapper.xml @@ -0,0 +1,21 @@ + + + + + + 10 + + + (waist_ems_gyro_eb5) + + + + + waist-eb5-inertials + + + + + + diff --git a/iCubZagreb01/wrappers/inertials/waist-inertials_wrapper-deprecated.xml b/iCubZagreb01/wrappers/inertials/waist-inertials_wrapper-deprecated.xml new file mode 100644 index 0000000000..7afeeb997b --- /dev/null +++ b/iCubZagreb01/wrappers/inertials/waist-inertials_wrapper-deprecated.xml @@ -0,0 +1,19 @@ + + + + + + 10 + /icub/waist/inertialEMS5 + + + + + + waist-eb5-inertials + + + + + + diff --git a/iCubZagreb01/wrappers/inertials/waist-inertials_wrapper.xml b/iCubZagreb01/wrappers/inertials/waist-inertials_wrapper.xml new file mode 100644 index 0000000000..0a47668314 --- /dev/null +++ b/iCubZagreb01/wrappers/inertials/waist-inertials_wrapper.xml @@ -0,0 +1,18 @@ + + + + + + 10 + /icub/waist/inertials + + + + + waist-inertials_remapper + + + + + + diff --git a/iCubZagreb01/wrappers/motorControl/face-mc_wrapper.xml b/iCubZagreb01/wrappers/motorControl/face-mc_wrapper.xml new file mode 100644 index 0000000000..f9adc60ffb --- /dev/null +++ b/iCubZagreb01/wrappers/motorControl/face-mc_wrapper.xml @@ -0,0 +1,29 @@ + + + + + + + + (0 0 0 0) + + + + 10 + /icub/face + face + 1 + + + + + face-eb22-j0-mc + face-calibrator + + + + + + + + diff --git a/iCubZagreb01/wrappers/motorControl/head-mc_wrapper.xml b/iCubZagreb01/wrappers/motorControl/head-mc_wrapper.xml new file mode 100644 index 0000000000..3db3d9823a --- /dev/null +++ b/iCubZagreb01/wrappers/motorControl/head-mc_wrapper.xml @@ -0,0 +1,28 @@ + + + + + + + (0 1 0 1) + (2 5 0 3) + + + 10 + /icub/head + head + 6 + + + + + head-eb20-j0_1-mc + head-eb21-j2_5-mc + head-calibrator + + + + + + + diff --git a/iCubZagreb01/wrappers/motorControl/icub_ros_wrapper.xml b/iCubZagreb01/wrappers/motorControl/icub_ros_wrapper.xml new file mode 100644 index 0000000000..cd6fbe6c51 --- /dev/null +++ b/iCubZagreb01/wrappers/motorControl/icub_ros_wrapper.xml @@ -0,0 +1,64 @@ + + + + 10 + /icub04/all_joints + 50 + + ( 0 1 0 1 ) + + ( 2 2 0 0 ) + + ( 3 5 0 2 ) + + ( 6 9 0 3 ) + + ( 10 13 0 3 ) + + ( 14 17 0 3 ) + + ( 18 21 0 3 ) + + ( 22 25 0 3 ) + + ( 26 29 0 3 ) + + ( 30 33 0 3 ) + + ( 34 37 0 3 ) + + ( 38 41 0 3 ) + + ( 42 43 0 1 ) + + ( 44 47 0 3 ) + + ( 48 49 0 1 ) + + + + true + /icub04/joint_states + /icub04/joint_state_publisher + + + + head-eb20-j0_1-mc + head-eb21-j2_5-mc + torso-eb5-j0_2-mc + right_arm-eb3-j0_3-mc + right_arm-eb27-j4_7-mc + right_arm-eb28-j8_11-mc + right_arm-eb29-j12_15-mc + left_arm-eb1-j0_3-mc + left_arm-eb24-j4_7-mc + left_arm-eb25-j8_11-mc + left_arm-eb26-j12_15-mc + left_leg-eb6-j0_3-mc + left_leg-eb7-j4_5-mc + right_leg-eb8-j0_3-mc + right_leg-eb9-j4_5-mc + + + + diff --git a/iCubZagreb01/wrappers/motorControl/left_arm-mc_wrapper.xml b/iCubZagreb01/wrappers/motorControl/left_arm-mc_wrapper.xml new file mode 100644 index 0000000000..ed51538da3 --- /dev/null +++ b/iCubZagreb01/wrappers/motorControl/left_arm-mc_wrapper.xml @@ -0,0 +1,33 @@ + + + + + + + + (0 3 0 3) + (4 7 0 3) + (8 11 0 3) + (12 15 0 3) + + + 10 + /icub/left_arm + left_arm + 16 + + + + + left_arm-eb1-j0_3-mc + left_arm-eb24-j4_7-mc + left_arm-eb25-j8_11-mc + left_arm-eb26-j12_15-mc + left_arm-calibrator + + + + + + + diff --git a/iCubZagreb01/wrappers/motorControl/left_forearm-mc_wrapper.xml b/iCubZagreb01/wrappers/motorControl/left_forearm-mc_wrapper.xml new file mode 100644 index 0000000000..a966219fe6 --- /dev/null +++ b/iCubZagreb01/wrappers/motorControl/left_forearm-mc_wrapper.xml @@ -0,0 +1,33 @@ + + + + + + + + + (4 7 0 3) + (8 11 0 3) + (12 15 0 3) + + + 10 + /icub/left_arm + left_arm + 12 + + + + + + left_arm-eb24-j4_7-mc + left_arm-eb25-j8_11-mc + left_arm-eb26-j12_15-mc + left_arm-calibrator + + + + + + + diff --git a/iCubZagreb01/wrappers/motorControl/left_leg-mc_wrapper.xml b/iCubZagreb01/wrappers/motorControl/left_leg-mc_wrapper.xml new file mode 100644 index 0000000000..bde6ae98c5 --- /dev/null +++ b/iCubZagreb01/wrappers/motorControl/left_leg-mc_wrapper.xml @@ -0,0 +1,30 @@ + + + + + + + + (0 3 0 3) + (4 5 0 1) + + + 10 + /icub/left_leg + left_leg + 6 + + + + + + left_leg-eb6-j0_3-mc + left_leg-eb7-j4_5-mc + left_leg-calibrator + + + + + + + diff --git a/iCubZagreb01/wrappers/motorControl/left_shoulder-mc_wrapper.xml b/iCubZagreb01/wrappers/motorControl/left_shoulder-mc_wrapper.xml new file mode 100644 index 0000000000..e9a733e505 --- /dev/null +++ b/iCubZagreb01/wrappers/motorControl/left_shoulder-mc_wrapper.xml @@ -0,0 +1,27 @@ + + + + + + + + (0 3 0 3) + + + 10 + /icub/left_arm + left_arm + 4 + + + + + left_arm-eb1-j0_3-mc + left_arm-calibrator + + + + + + + diff --git a/iCubZagreb01/wrappers/motorControl/right_arm-mc_wrapper.xml b/iCubZagreb01/wrappers/motorControl/right_arm-mc_wrapper.xml new file mode 100644 index 0000000000..da0e8812dc --- /dev/null +++ b/iCubZagreb01/wrappers/motorControl/right_arm-mc_wrapper.xml @@ -0,0 +1,33 @@ + + + + + + + + (0 3 0 3) + (4 7 0 3) + (8 11 0 3) + (12 15 0 3) + + + 10 + /icub/right_arm + right_arm + 16 + + + + + right_arm-eb3-j0_3-mc + right_arm-eb27-j4_7-mc + right_arm-eb28-j8_11-mc + right_arm-eb29-j12_15-mc + right_arm-calibrator + + + + + + + diff --git a/iCubZagreb01/wrappers/motorControl/right_forearm-mc_wrapper.xml b/iCubZagreb01/wrappers/motorControl/right_forearm-mc_wrapper.xml new file mode 100644 index 0000000000..9f84f8447c --- /dev/null +++ b/iCubZagreb01/wrappers/motorControl/right_forearm-mc_wrapper.xml @@ -0,0 +1,33 @@ + + + + + + + + + (4 7 0 3) + (8 11 0 3) + (12 15 0 3) + + + 10 + /icub/right_arm + right_arm + 12 + + + + + + right_arm-eb27-j4_7-mc + right_arm-eb28-j8_11-mc + right_arm-eb29-j12_15-mc + right_arm-calibrator + + + + + + + diff --git a/iCubZagreb01/wrappers/motorControl/right_leg-mc_wrapper.xml b/iCubZagreb01/wrappers/motorControl/right_leg-mc_wrapper.xml new file mode 100644 index 0000000000..eeaf22738c --- /dev/null +++ b/iCubZagreb01/wrappers/motorControl/right_leg-mc_wrapper.xml @@ -0,0 +1,30 @@ + + + + + + + + (0 3 0 3) + (4 5 0 1) + + + 10 + /icub/right_leg + right_leg + 6 + + + + + + right_leg-eb8-j0_3-mc + right_leg-eb9-j4_5-mc + right_leg-calibrator + + + + + + + diff --git a/iCubZagreb01/wrappers/motorControl/right_shoulder-mc_wrapper.xml b/iCubZagreb01/wrappers/motorControl/right_shoulder-mc_wrapper.xml new file mode 100644 index 0000000000..bcd8c7ed7a --- /dev/null +++ b/iCubZagreb01/wrappers/motorControl/right_shoulder-mc_wrapper.xml @@ -0,0 +1,27 @@ + + + + + + + + (0 3 0 3) + + + 10 + /icub/right_arm + right_arm + 4 + + + + + right_arm-eb3-j0_3-mc + right_arm-calibrator + + + + + + + diff --git a/iCubZagreb01/wrappers/motorControl/torso-mc_wrapper.xml b/iCubZagreb01/wrappers/motorControl/torso-mc_wrapper.xml new file mode 100644 index 0000000000..56d0629d51 --- /dev/null +++ b/iCubZagreb01/wrappers/motorControl/torso-mc_wrapper.xml @@ -0,0 +1,28 @@ + + + + + + + + (0 2 0 2) + + + 10 + /icub/torso + torso + 3 + + + + + + torso-eb5-j0_2-mc + torso-calibrator + + + + + + + diff --git a/iCubZagreb01/wrappers/skin/left_arm-skin_wrapper.xml b/iCubZagreb01/wrappers/skin/left_arm-skin_wrapper.xml new file mode 100644 index 0000000000..370a7c56ff --- /dev/null +++ b/iCubZagreb01/wrappers/skin/left_arm-skin_wrapper.xml @@ -0,0 +1,26 @@ + + + + + + 20 + 1344 + skinWrapper + + + 0 191 0 191 + 192 575 0 383 + 576 1343 0 767 + + + + + + left_arm-eb24-j4_7-skin + + + + + + diff --git a/iCubZagreb01/wrappers/skin/left_leg-skin_wrapper.xml b/iCubZagreb01/wrappers/skin/left_leg-skin_wrapper.xml new file mode 100644 index 0000000000..e0b25cca8f --- /dev/null +++ b/iCubZagreb01/wrappers/skin/left_leg-skin_wrapper.xml @@ -0,0 +1,26 @@ + + + + + + 20 + 2496 + skinWrapper + + + 1152 2495 0 1343 + 384 1151 0 767 + 0 383 0 383 + + + + + + left_leg-eb10-skin + + + + + + diff --git a/iCubZagreb01/wrappers/skin/right_arm-skin_wrapper.xml b/iCubZagreb01/wrappers/skin/right_arm-skin_wrapper.xml new file mode 100644 index 0000000000..2bcf052de9 --- /dev/null +++ b/iCubZagreb01/wrappers/skin/right_arm-skin_wrapper.xml @@ -0,0 +1,26 @@ + + + + + + 20 + 1344 + skinWrapper + + + 0 191 0 191 + 192 575 0 383 + 576 1343 0 767 + + + + + + right_arm-eb27-j4_7-skin + + + + + + diff --git a/iCubZagreb01/wrappers/skin/right_leg-skin_wrapper.xml b/iCubZagreb01/wrappers/skin/right_leg-skin_wrapper.xml new file mode 100644 index 0000000000..683247e6b6 --- /dev/null +++ b/iCubZagreb01/wrappers/skin/right_leg-skin_wrapper.xml @@ -0,0 +1,26 @@ + + + + + + 20 + 2496 + skinWrapper + + + 1152 2495 0 1343 + 384 1151 0 767 + 0 383 0 383 + + + + + + right_leg-eb11-skin + + + + + + diff --git a/iCubZagreb01/wrappers/skin/torso-skin_wrapper.xml b/iCubZagreb01/wrappers/skin/torso-skin_wrapper.xml new file mode 100644 index 0000000000..e8e696c2a4 --- /dev/null +++ b/iCubZagreb01/wrappers/skin/torso-skin_wrapper.xml @@ -0,0 +1,24 @@ + + + + + + 20 + 768 + skinWrapper + + + 0 767 0 767 + + + + + + torso-eb22-skin + + + + + + diff --git a/iCubZagreb01/yarpmotorgui.ini b/iCubZagreb01/yarpmotorgui.ini new file mode 100644 index 0000000000..3ec981b8b6 --- /dev/null +++ b/iCubZagreb01/yarpmotorgui.ini @@ -0,0 +1,7 @@ +//name of the robot +robot icub +//parts to be opened by the GUI +parts (head face torso left_arm right_arm right_leg left_leg) + + //DO NOT REMOVE THIS LINE + diff --git a/iCubZagreb01/yarprobotinterface.ini b/iCubZagreb01/yarprobotinterface.ini new file mode 100644 index 0000000000..4bf3ddec05 --- /dev/null +++ b/iCubZagreb01/yarprobotinterface.ini @@ -0,0 +1,3 @@ +config ./icub_all.xml + +