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configured skin on right and left arm - ergocub SN0001 #602

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merged 1 commit into from
Dec 27, 2023
Merged

configured skin on right and left arm - ergocub SN0001 #602

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2 changes: 1 addition & 1 deletion ergoCubSN001/hardware/skin/left_arm-eb24-j4_7-skin.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -7,7 +7,7 @@

<xi:include href="../../hardware/electronics/left_arm-eb24-j4_7-eln.xml" />
<group name="patches">
<param name="skinCanAddrsPatch1"> 14 13 12 11 10 9 8 </param>
<param name="skinCanAddrsPatch1"> 14 </param>
</group>
<xi:include href="./left_arm-eb24-j4_7-skinSpec.xml" />
</device>
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16 changes: 8 additions & 8 deletions ergoCubSN001/hardware/skin/left_arm-eb24-j4_7-skinSpec.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -19,23 +19,23 @@
-->
<param name="numOfSets"> 1 </param>
<!-- patch adr start adr end period type no_load -->
<param name="boardSetCfg1"> 1 14 14 50 1 0xf0 </param>
<param name="boardSetCfg1"> 1 14 14 50 1 0xc8 </param>

</group>


<group name="defaultCfgTriangle">
<param name="enabled"> false </param>
<param name="shift"> 2 </param>
<param name="cdcOffset"> 0x2200 </param>
<param name="shift"> 1 </param>
<param name="cdcOffset"> 0x0000 </param>
</group>

<group name="specialCfgTriangles">
<param name="numOfSets"> 2 </param>
<param name="triangleSetCfg1"> 1 14 0 6 1 0 0x2000 </param>
<param name="triangleSetCfg2"> 1 14 8 11 1 2 0x2200 </param>


<param name="numOfSets"> 4 </param>
<param name="triangleSetCfgThumb"> 1 14 0 0 1 1 0x0000 </param>
<param name="triangleSetCfgIndex"> 1 14 4 4 1 1 0x0000 </param>
<param name="triangleSetCfgMiddle"> 1 14 8 8 1 1 0x0000 </param>
<param name="triangleSetCfgRing"> 1 14 12 12 1 1 0x0000 </param>
</group>


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2 changes: 1 addition & 1 deletion ergoCubSN001/hardware/skin/right_arm-eb27-j4_7-skin.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -7,7 +7,7 @@

<xi:include href="../../hardware/electronics/right_arm-eb27-j4_7-eln.xml" />
<group name="patches">
<param name="skinCanAddrsPatch1"> 14 13 12 11 10 9 8</param>
<param name="skinCanAddrsPatch1"> 14 </param>
</group>
<xi:include href="./right_arm-eb27-j4_7-skinSpec.xml" />
</device>
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16 changes: 8 additions & 8 deletions ergoCubSN001/hardware/skin/right_arm-eb27-j4_7-skinSpec.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -19,23 +19,23 @@
-->
<param name="numOfSets"> 1 </param>
<!-- patch adr start adr end period type no_load -->
<param name="boardSetCfg1"> 1 14 14 50 1 0xf0 </param>
<param name="boardSetCfg1"> 1 14 14 50 1 0xc8 </param>

</group>


<group name="defaultCfgTriangle">
<param name="enabled"> false </param>
<param name="shift"> 2 </param>
<param name="cdcOffset"> 0x2200 </param>
<param name="shift"> 1 </param>
<param name="cdcOffset"> 0x0000 </param>
</group>

<group name="specialCfgTriangles">
<param name="numOfSets"> 2 </param>
<param name="triangleSetCfg1"> 1 14 0 6 1 0 0x2000 </param>
<param name="triangleSetCfg2"> 1 14 8 11 1 2 0x2200 </param>


<param name="numOfSets"> 4 </param>
<param name="triangleSetCfgThumb"> 1 14 0 0 1 1 0x0000 </param>
<param name="triangleSetCfgIndex"> 1 14 4 4 1 1 0x0000 </param>
<param name="triangleSetCfgMiddle"> 1 14 8 8 1 1 0x0000 </param>
<param name="triangleSetCfgRing"> 1 14 12 12 1 1 0x0000 </param>
</group>


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6 changes: 3 additions & 3 deletions ergoCubSN001/wrappers/skin/left_arm-skin_wrapper.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -4,13 +4,13 @@

<device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_arm-skin_wrapper" type="skinWrapper">
<param name="period"> 20 </param>
<param name="total_taxels"> 1344 </param>
<param name="total_taxels"> 192 </param>
<param name="device"> skinWrapper </param>

<paramlist name="ports">
<elem name="left_hand"> 0 191 0 191</elem>
<elem name="left_forearm"> 192 575 0 383</elem>
<elem name="left_arm"> 576 1343 0 767</elem>
<!-- elem name="left_forearm"> 192 575 0 383</elem>
<elem name="left_arm"> 576 1343 0 767</elem-->
</paramlist>

<action phase="startup" level="5" type="attach">
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6 changes: 3 additions & 3 deletions ergoCubSN001/wrappers/skin/right_arm-skin_wrapper.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -4,13 +4,13 @@

<device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_arm-skin_wrapper" type="skinWrapper">
<param name="period"> 20 </param>
<param name="total_taxels"> 1344 </param>
<param name="total_taxels"> 192 </param>
<param name="device"> skinWrapper </param>

<paramlist name="ports">
<elem name="right_hand"> 0 191 0 191</elem>
<elem name="right_forearm"> 192 575 0 383</elem>
<elem name="right_arm"> 576 1343 0 767</elem>
<!--elem name="right_forearm"> 192 575 0 383</elem>
<elem name="right_arm"> 576 1343 0 767</elem-->
</paramlist>

<action phase="startup" level="5" type="attach">
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