diff --git a/ergoCubSN000/calibrators/left_arm-calib.xml b/ergoCubSN000/calibrators/left_arm-calib.xml index 3c027b8886..2a16f45a76 100644 --- a/ergoCubSN000/calibrators/left_arm-calib.xml +++ b/ergoCubSN000/calibrators/left_arm-calib.xml @@ -18,7 +18,7 @@ 12 12 12 12 5 12 12 7 7 6 6 6 6 6 6 6 - -54795 19668 44679 53215 -1500 -8335 10671 0 0 0 0 0 0 0 0 0 + -24629 11873 21733 50433 -1500 -8335 10671 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 2045 448 240 484 243 483 255 480 725 diff --git a/ergoCubSN000/calibrators/left_leg-calib.xml b/ergoCubSN000/calibrators/left_leg-calib.xml index 10e6d9491e..373f977b59 100644 --- a/ergoCubSN000/calibrators/left_leg-calib.xml +++ b/ergoCubSN000/calibrators/left_leg-calib.xml @@ -16,22 +16,23 @@ - 10 10 10 10 10 10 - -4500 4500 -2500 -4000 2500 -2000 + 12 12 12 12 12 12 + 792 308 220 -367 873 -4100 0.0 0.0 0 0 0 0 0.0 0.0 0 0 0 0 0.0 0.0 0 0 0 0 0.0 0.0 0 0 0 0 - 93.0 119.90 80.761 5.817 -47.060 25.823 + 0 0 0 0 0 0 0 0 0 0 0 0 - 90 20 0 -70 0 0 + 0 5 0 -5 0 0 10.0 10.0 10.0 10 10 10 12000 8000 3000 8000 4000 3000 2 2 2 2 2 2 - (2) (4) (5) (3) (0) (1) + (4) (5) (2) (3) (0) (1) + left_leg-mc_remapper diff --git a/ergoCubSN000/calibrators/left_shoulder-calib.xml b/ergoCubSN000/calibrators/left_shoulder-calib.xml new file mode 100644 index 0000000000..f2bfb36230 --- /dev/null +++ b/ergoCubSN000/calibrators/left_shoulder-calib.xml @@ -0,0 +1,50 @@ + + + + + + + + + 4 + Left_Arm_Calibrator + + + + 5 30 0 10 + 10 10 10 10 + + + + 12 12 12 12 + -41179 7782 11224 25717 + 0 0 0 0 + 0 0 0 0 + 0 0 0 0 + 0 0 0 0 + 0 0 0 0 + 0 0 0 0 + + -35 30 0 45 + 10.0 10.0 10.0 10.0 + 8000 8000 8000 8000 + 2 2 2 2 + + + (1) (0) (2) (3) + + + left_shoulder-mc_remapper + + + + left_shoulder-mc_remapper + + + + + + + + diff --git a/ergoCubSN000/calibrators/right_arm-calib.xml b/ergoCubSN000/calibrators/right_arm-calib.xml index af942e0129..e2687f9d76 100644 --- a/ergoCubSN000/calibrators/right_arm-calib.xml +++ b/ergoCubSN000/calibrators/right_arm-calib.xml @@ -19,13 +19,13 @@ 12 12 12 12 5 12 12 7 7 6 6 6 6 6 6 6 - 6576 -12912 -883 -47529 1500 36903 -12703 0 0 0 0 0 0 0 0 0 + -11711 -59070 -25844 -11080 1500 36903 -12703 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 2510 1470 255 510 255 510 200 510 748 0 0 0 0 0 0 0 2670 2350 22 40 18 30 10 30 120 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 - 0 0 -5.8 0 0 -5.5 -4 10 0 0 0 0 0 0 0 0 + 0 0 0 0 0 -5.5 -4 10 0 0 0 0 0 0 0 0 -35 30 0 45 0 0 15 25 45 10 0 0 0 0 0 0 10.0 10.0 10.0 10.0 30 30 30 60 100 100 100 100 100 100 100 100 diff --git a/ergoCubSN000/calibrators/right_leg-calib.xml b/ergoCubSN000/calibrators/right_leg-calib.xml index 0c38732c8e..e3c89fd45f 100644 --- a/ergoCubSN000/calibrators/right_leg-calib.xml +++ b/ergoCubSN000/calibrators/right_leg-calib.xml @@ -16,23 +16,23 @@ - 10 10 10 10 10 10 - 4500 -4500 2500 4000 -2500 2000 - 0.0 0.0 0 0 0 0 + 12 12 12 12 12 12 + -963 -247 -615 925 -617 367 + 0.0 0.0 0 0 0 0 0.0 0.0 0 0 0 0 0.0 0.0 0 0 0 0 0.0 0.0 0 0 0 0 - 93.2 119 80.761 5.641 -46.329 24.137 + 0 0 0 0 0 0 0 0 0 0 0 0 - 90 20 0 -70 0 0 + 0 5 0 -5 0 0 10.0 10.0 10.0 10 10 10 - 12000 8000 3000 8000 4000 3000 + 12000 12000 4000 8000 4000 3000 2 2 2 2 2 2 - (4) (5) (2) (3) (0) (1) - + (4) (5) (2) (3) (0) (1) + right_leg-mc_remapper diff --git a/ergoCubSN000/calibrators/right_shoulder-calib.xml b/ergoCubSN000/calibrators/right_shoulder-calib.xml new file mode 100644 index 0000000000..964551adcf --- /dev/null +++ b/ergoCubSN000/calibrators/right_shoulder-calib.xml @@ -0,0 +1,49 @@ + + + + + + + + + 4 + Right_Arm_Calibrator + + + + 5 30 0 10 + 10 10 10 10 + + + + + 12 12 12 12 + 40139 -2945 -60282 -59034 + 0 0 0 0 + 0 0 0 0 + 0 0 0 0 + 0 0 0 0 + 0 0 0 0 + 0 0 0 0 + + -35 30 0 45 + 10.0 10.0 10.0 10.0 + 8000 8000 8000 8000 + 2 2 2 2 + + + + (1) (0) (2) (3) + + right_shoulder-mc_remapper + + + + right_shoulder-mc_remapper + + + + + + diff --git a/ergoCubSN000/calibrators/torso-calib.xml b/ergoCubSN000/calibrators/torso-calib.xml index 1c49710822..1692b5cf7b 100644 --- a/ergoCubSN000/calibrators/torso-calib.xml +++ b/ergoCubSN000/calibrators/torso-calib.xml @@ -22,7 +22,7 @@ 12 12 12 - 58213 9527 35531 + 38354 1234 6551 0 0 0 0 0 0 @@ -39,7 +39,7 @@ - (0) (1) (2) + (0) (2) torso-mc_remapper diff --git a/ergoCubSN000/ergocub_all.xml b/ergoCubSN000/ergocub_all.xml index d66de0d686..03dd1163e1 100644 --- a/ergoCubSN000/ergocub_all.xml +++ b/ergoCubSN000/ergocub_all.xml @@ -8,46 +8,69 @@ - + - - - - - - - - - - + + + - - - + + + + + + + + + - + + + + + + + + + + + + - - + + - - + + + + + + + + + + + + + + + + - - - - + + + diff --git a/ergoCubSN000/estimators/wholebodydynamics.xml b/ergoCubSN000/estimators/wholebodydynamics.xml index 8971f20b61..92114b765d 100644 --- a/ergoCubSN000/estimators/wholebodydynamics.xml +++ b/ergoCubSN000/estimators/wholebodydynamics.xml @@ -62,11 +62,11 @@ right_leg-eb12-j3_5-mc - head-inertial + head-inertial - + - @@ -75,10 +75,10 @@ left_leg-eb8-j3_5-strain left_leg-eb7-j0_2-strain right_leg-eb12-j3_5-strain - right_leg-eb11-j0_2-strain + right_leg-eb11-j0_2-strain - + diff --git a/ergoCubSN000/ft.xml b/ergoCubSN000/ft.xml new file mode 100644 index 0000000000..c2205da65c --- /dev/null +++ b/ergoCubSN000/ft.xml @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/ergoCubSN000/general.xml b/ergoCubSN000/general.xml index 945c534622..5be004046e 100644 --- a/ergoCubSN000/general.xml +++ b/ergoCubSN000/general.xml @@ -4,7 +4,7 @@ - true + false false false false diff --git a/ergoCubSN000/hardware/FT/left_arm-eb1-j0_1-strain.xml b/ergoCubSN000/hardware/FT/left_arm-eb1-j0_1-strain.xml deleted file mode 100644 index 0d034f459d..0000000000 --- a/ergoCubSN000/hardware/FT/left_arm-eb1-j0_1-strain.xml +++ /dev/null @@ -1,55 +0,0 @@ - - - - - - - - - - - - - - eomn_serv_AS_strain - - - - - eobrd_strain - - - 1 - 0 - - - 0 - 0 - 0 - - - - - id_l_upper_arm_strain - eoas_strain - CAN2:13 - - - - - - 10 - id_l_upper_arm_strain - - - - true - - - - - - - - - diff --git a/ergoCubSN000/hardware/FT/left_leg-eb7-j0_2-strain.xml b/ergoCubSN000/hardware/FT/left_arm-eb2-j0_1-strain.xml similarity index 55% rename from ergoCubSN000/hardware/FT/left_leg-eb7-j0_2-strain.xml rename to ergoCubSN000/hardware/FT/left_arm-eb2-j0_1-strain.xml index 7b47923328..e52e1918b4 100644 --- a/ergoCubSN000/hardware/FT/left_leg-eb7-j0_2-strain.xml +++ b/ergoCubSN000/hardware/FT/left_arm-eb2-j0_1-strain.xml @@ -1,22 +1,23 @@ + - + - + - eomn_serv_AS_strain + eomn_serv_AS_ft - + - - strain2 + + strain2 2 @@ -30,28 +31,26 @@ - id_l_heel_strain - eoas_strain + l_arm_ft_sensor + strain2 CAN2:13 - 10 - id_l_heel_strain - 1000 - - - - true - + l_arm_ft_sensor + 10 + 1000 + true + + + + 100 + ALL + 20000 + - - - - - diff --git a/ergoCubSN000/hardware/FT/left_leg-eb8-j3_5-strain.xml b/ergoCubSN000/hardware/FT/left_leg-eb8-j3_5-strain.xml deleted file mode 100644 index de1551cab5..0000000000 --- a/ergoCubSN000/hardware/FT/left_leg-eb8-j3_5-strain.xml +++ /dev/null @@ -1,58 +0,0 @@ - - - - - - - - - - - - - - eomn_serv_AS_strain - - - - - strain2 - - - 2 - 0 - - - 2 - 0 - 9 - - - - - id_l_tiptoe_strain - eoas_strain - CAN2:13 - - - - - - 10 - id_l_tiptoe_strain - 1000 - - - - true - - - - - - - - - - - diff --git a/ergoCubSN000/hardware/FT/left_leg-eb9-j4_5-strain.xml b/ergoCubSN000/hardware/FT/left_leg-eb9-j4_5-strain.xml new file mode 100644 index 0000000000..4e3cb3fac0 --- /dev/null +++ b/ergoCubSN000/hardware/FT/left_leg-eb9-j4_5-strain.xml @@ -0,0 +1,55 @@ + + + + + + + + + + + + + + eomn_serv_AS_ft + + + + + strain2 + + + 2 + 0 + + + 2 + 0 + 9 + + + + + l_foot_rear_ft_sensor l_foot_front_ft_sensor + strain2 strain2 + CAN2:13 CAN2:14 + + + + + + l_foot_rear_ft_sensor l_foot_front_ft_sensor + 10 10 + 1000 1000 + true true + + + + 100 + ALL + 20000 + + + + + diff --git a/ergoCubSN000/hardware/FT/right_leg-eb11-j0_2-strain.xml b/ergoCubSN000/hardware/FT/right_arm-eb1-j0_1-strain.xml similarity index 55% rename from ergoCubSN000/hardware/FT/right_leg-eb11-j0_2-strain.xml rename to ergoCubSN000/hardware/FT/right_arm-eb1-j0_1-strain.xml index 8d4760a6b6..dd4a9f1876 100644 --- a/ergoCubSN000/hardware/FT/right_leg-eb11-j0_2-strain.xml +++ b/ergoCubSN000/hardware/FT/right_arm-eb1-j0_1-strain.xml @@ -1,22 +1,23 @@ + - + - + - eomn_serv_AS_strain + eomn_serv_AS_ft - + - - strain2 + + strain2 2 @@ -30,28 +31,26 @@ - id_r_heel_strain - eoas_strain + r_arm_ft_sensor + strain2 CAN2:13 - 10 - id_r_heel_strain - 1000 - - - - true - + r_arm_ft_sensor + 10 + 1000 + true + + + + 100 + ALL + 20000 + - - - - - diff --git a/ergoCubSN000/hardware/FT/right_arm-eb3-j0_1-strain.xml b/ergoCubSN000/hardware/FT/right_arm-eb3-j0_1-strain.xml deleted file mode 100644 index 7e9bcb8562..0000000000 --- a/ergoCubSN000/hardware/FT/right_arm-eb3-j0_1-strain.xml +++ /dev/null @@ -1,55 +0,0 @@ - - - - - - - - - - - - - - eomn_serv_AS_strain - - - - - eobrd_strain - - - 1 - 0 - - - 0 - 0 - 0 - - - - - id_r_upper_arm_strain - eoas_strain - CAN2:13 - - - - - - 10 - id_r_upper_arm_strain - - - - true - - - - - - - - - diff --git a/ergoCubSN000/hardware/FT/right_leg-eb12-j3_5-strain.xml b/ergoCubSN000/hardware/FT/right_leg-eb12-j3_5-strain.xml deleted file mode 100644 index b7d3a2bcd8..0000000000 --- a/ergoCubSN000/hardware/FT/right_leg-eb12-j3_5-strain.xml +++ /dev/null @@ -1,58 +0,0 @@ - - - - - - - - - - - - - - eomn_serv_AS_strain - - - - - strain2 - - - 2 - 0 - - - 2 - 0 - 9 - - - - - id_r_tiptoe_strain - eoas_strain - CAN2:13 - - - - - - 10 - id_r_tiptoe_strain - 1000 - - - - true - - - - - - - - - - - diff --git a/ergoCubSN000/hardware/FT/right_leg-eb7-j4_5-strain.xml b/ergoCubSN000/hardware/FT/right_leg-eb7-j4_5-strain.xml new file mode 100644 index 0000000000..abf9250123 --- /dev/null +++ b/ergoCubSN000/hardware/FT/right_leg-eb7-j4_5-strain.xml @@ -0,0 +1,56 @@ + + + + + + + + + + + + + + eomn_serv_AS_ft + + + + + strain2 + + + 2 + 0 + + + 2 + 0 + 9 + + + + + r_foot_rear_ft_sensor r_foot_front_ft_sensor + strain2 strain2 + CAN2:13 CAN2:14 + + + + + + r_foot_rear_ft_sensor r_foot_front_ft_sensor + 10 10 + 1000 1000 + true true + + + + 100 + ALL + 20000 + + + + + + diff --git a/ergoCubSN000/hardware/electronics/left_arm-eb3-j2_3-eln.xml b/ergoCubSN000/hardware/electronics/left_arm-eb2-j0_1-eln.xml similarity index 98% rename from ergoCubSN000/hardware/electronics/left_arm-eb3-j2_3-eln.xml rename to ergoCubSN000/hardware/electronics/left_arm-eb2-j0_1-eln.xml index 75208d9632..f2ee0e9459 100644 --- a/ergoCubSN000/hardware/electronics/left_arm-eb3-j2_3-eln.xml +++ b/ergoCubSN000/hardware/electronics/left_arm-eb2-j0_1-eln.xml @@ -16,7 +16,7 @@ - "left_arm-eb3-j2_3" + "left_arm-eb2-j0_1" 1000 400 diff --git a/ergoCubSN000/hardware/electronics/left_arm-eb1-j0_1-eln.xml b/ergoCubSN000/hardware/electronics/left_arm-eb4-j2_3-eln.xml similarity index 95% rename from ergoCubSN000/hardware/electronics/left_arm-eb1-j0_1-eln.xml rename to ergoCubSN000/hardware/electronics/left_arm-eb4-j2_3-eln.xml index ccbd1c8590..fb0f2a3092 100644 --- a/ergoCubSN000/hardware/electronics/left_arm-eb1-j0_1-eln.xml +++ b/ergoCubSN000/hardware/electronics/left_arm-eb4-j2_3-eln.xml @@ -8,7 +8,7 @@ - 10.0.1.1 + 10.0.1.4 12345 ems4 768 @@ -16,7 +16,7 @@ - "left_arm-eb1-j0_1" + "left_arm-eb4-j2_3" 1000 400 diff --git a/ergoCubSN000/hardware/electronics/left_leg-eb8-j3_5-eln.xml b/ergoCubSN000/hardware/electronics/left_leg-eb8-j0_3-eln.xml similarity index 98% rename from ergoCubSN000/hardware/electronics/left_leg-eb8-j3_5-eln.xml rename to ergoCubSN000/hardware/electronics/left_leg-eb8-j0_3-eln.xml index cd512bd4b0..82d1b2ef16 100644 --- a/ergoCubSN000/hardware/electronics/left_leg-eb8-j3_5-eln.xml +++ b/ergoCubSN000/hardware/electronics/left_leg-eb8-j0_3-eln.xml @@ -4,9 +4,9 @@ - + - + 10.0.1.8 12345 @@ -16,7 +16,7 @@ - "left_leg-eb8-j3_5" + "left_leg-eb8-j0_3" 1000 400 @@ -35,6 +35,5 @@ - + - diff --git a/ergoCubSN000/hardware/electronics/left_leg-eb7-j0_2-eln.xml b/ergoCubSN000/hardware/electronics/left_leg-eb9-j4_5-eln.xml similarity index 94% rename from ergoCubSN000/hardware/electronics/left_leg-eb7-j0_2-eln.xml rename to ergoCubSN000/hardware/electronics/left_leg-eb9-j4_5-eln.xml index c8a70b5437..168705dd7a 100644 --- a/ergoCubSN000/hardware/electronics/left_leg-eb7-j0_2-eln.xml +++ b/ergoCubSN000/hardware/electronics/left_leg-eb9-j4_5-eln.xml @@ -4,11 +4,11 @@ - + - + - 10.0.1.7 + 10.0.1.9 12345 ems4 768 @@ -16,7 +16,7 @@ - "left_leg-eb7-j0_2" + "left_leg-eb9-j4_5" 1000 400 @@ -35,6 +35,5 @@ - + - diff --git a/ergoCubSN000/hardware/electronics/pc104.xml b/ergoCubSN000/hardware/electronics/pc104.xml index adfe2c6b41..09ee747109 100644 --- a/ergoCubSN000/hardware/electronics/pc104.xml +++ b/ergoCubSN000/hardware/electronics/pc104.xml @@ -11,7 +11,7 @@ - 0 + 1 diff --git a/ergoCubSN000/hardware/electronics/right_arm-eb4-j2_3-eln.xml b/ergoCubSN000/hardware/electronics/right_arm-eb1-j0_1-eln.xml similarity index 95% rename from ergoCubSN000/hardware/electronics/right_arm-eb4-j2_3-eln.xml rename to ergoCubSN000/hardware/electronics/right_arm-eb1-j0_1-eln.xml index 9d482b4594..f919521522 100644 --- a/ergoCubSN000/hardware/electronics/right_arm-eb4-j2_3-eln.xml +++ b/ergoCubSN000/hardware/electronics/right_arm-eb1-j0_1-eln.xml @@ -8,7 +8,7 @@ - 10.0.1.4 + 10.0.1.1 12345 ems4 768 @@ -16,7 +16,7 @@ - "right_arm-eb4-j2_3" + "right_arm-eb1-j0_1" 1000 400 diff --git a/ergoCubSN000/hardware/electronics/right_arm-eb2-j0_1-eln.xml b/ergoCubSN000/hardware/electronics/right_arm-eb3-j2_3-eln.xml similarity index 98% rename from ergoCubSN000/hardware/electronics/right_arm-eb2-j0_1-eln.xml rename to ergoCubSN000/hardware/electronics/right_arm-eb3-j2_3-eln.xml index ebf48d79e6..0b7c224f73 100644 --- a/ergoCubSN000/hardware/electronics/right_arm-eb2-j0_1-eln.xml +++ b/ergoCubSN000/hardware/electronics/right_arm-eb3-j2_3-eln.xml @@ -16,7 +16,7 @@ - "right_arm-eb2-j0_1" + "right_arm-eb3-j2_3" 1000 400 diff --git a/ergoCubSN000/hardware/electronics/right_leg-eb9-j0_2-eln.xml b/ergoCubSN000/hardware/electronics/right_leg-eb6-j0_3-eln.xml similarity index 94% rename from ergoCubSN000/hardware/electronics/right_leg-eb9-j0_2-eln.xml rename to ergoCubSN000/hardware/electronics/right_leg-eb6-j0_3-eln.xml index 778165571c..120f507a42 100644 --- a/ergoCubSN000/hardware/electronics/right_leg-eb9-j0_2-eln.xml +++ b/ergoCubSN000/hardware/electronics/right_leg-eb6-j0_3-eln.xml @@ -8,7 +8,7 @@ - 10.0.1.11 + 10.0.1.6 12345 ems4 768 @@ -16,7 +16,7 @@ - "right_leg-eb11-j0_2" + "right_leg-eb6-j0_3" 1000 400 @@ -37,4 +37,3 @@ - diff --git a/ergoCubSN000/hardware/electronics/right_leg-eb10-j3_5-eln.xml b/ergoCubSN000/hardware/electronics/right_leg-eb7-j4_5-eln.xml similarity index 94% rename from ergoCubSN000/hardware/electronics/right_leg-eb10-j3_5-eln.xml rename to ergoCubSN000/hardware/electronics/right_leg-eb7-j4_5-eln.xml index 8e1d92b043..ff2ad19534 100644 --- a/ergoCubSN000/hardware/electronics/right_leg-eb10-j3_5-eln.xml +++ b/ergoCubSN000/hardware/electronics/right_leg-eb7-j4_5-eln.xml @@ -8,7 +8,7 @@ - 10.0.1.12 + 10.0.1.7 12345 ems4 768 @@ -16,7 +16,7 @@ - "right_leg-eb12-j3_5" + "right_leg-eb7-j4_5" 1000 400 @@ -37,4 +37,3 @@ - diff --git a/ergoCubSN000/hardware/mechanicals/left_arm-eb1-j0_1-mec.xml b/ergoCubSN000/hardware/mechanicals/left_arm-eb2-j0_1-mec.xml similarity index 95% rename from ergoCubSN000/hardware/mechanicals/left_arm-eb1-j0_1-mec.xml rename to ergoCubSN000/hardware/mechanicals/left_arm-eb2-j0_1-mec.xml index 2d1c0ee4df..883d56b46e 100644 --- a/ergoCubSN000/hardware/mechanicals/left_arm-eb1-j0_1-mec.xml +++ b/ergoCubSN000/hardware/mechanicals/left_arm-eb2-j0_1-mec.xml @@ -27,14 +27,14 @@ - 0 0 + 0 0 0 0 0 0 0 0 1 1 1 1 0 0 - 154 250 + 146 278 8 8 diff --git a/ergoCubSN000/hardware/mechanicals/left_arm-eb3-j2_3-mec.xml b/ergoCubSN000/hardware/mechanicals/left_arm-eb4-j2_3-mec.xml similarity index 95% rename from ergoCubSN000/hardware/mechanicals/left_arm-eb3-j2_3-mec.xml rename to ergoCubSN000/hardware/mechanicals/left_arm-eb4-j2_3-mec.xml index 09a6970daf..ee1c72b842 100644 --- a/ergoCubSN000/hardware/mechanicals/left_arm-eb3-j2_3-mec.xml +++ b/ergoCubSN000/hardware/mechanicals/left_arm-eb4-j2_3-mec.xml @@ -27,14 +27,14 @@ - 0 0 + 0 0 0 0 0 0 0 0 1 1 1 1 0 0 - 301 324 + 252 17 8 8 diff --git a/ergoCubSN000/hardware/mechanicals/left_leg-eb7-j0_2-mec.xml b/ergoCubSN000/hardware/mechanicals/left_leg-eb8-j0_3-mec.xml similarity index 62% rename from ergoCubSN000/hardware/mechanicals/left_leg-eb7-j0_2-mec.xml rename to ergoCubSN000/hardware/mechanicals/left_leg-eb8-j0_3-mec.xml index 9aaa631926..982f702234 100644 --- a/ergoCubSN000/hardware/mechanicals/left_leg-eb7-j0_2-mec.xml +++ b/ergoCubSN000/hardware/mechanicals/left_leg-eb8-j0_3-mec.xml @@ -4,37 +4,37 @@ 6 - 3 - 0 1 2 - "l_hip_pitch" "l_hip_roll" "l_hip_yaw" - "revolute" "revolute" "revolute" - 182.044 182.044 182.044 - 32000 32000 32000 - 1000.0 1000.0 1000.0 - -100.0 100.0 -100.0 - 64 64 64 - 1 1 1 - "MOOG_C2900580" "MOOG_C2900576" "MOOG_C2900576" + 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 + -100.0 160.0 -100.0 -100.0 + 64 64 64 64 + 1 1 1 1 + "MOOG_C2900580" "MOOG_C2900576" "MOOG_C2900576" "MOOG_C2900580" 0 - 94 120 80.5 - -47 -20 -80.5 - 0 0 0 - 0 0 0 + 94 120 80.5 6 + -47 -20 -80.5 -80 + 0 0 0 0 + 0 0 0 0 - 0 0 0 - 0 0 0 - 0 0 0 - 0 0 0 - 1 1 1 - 1 1 1 - 0 0 0 - 189 7 64 - 12 8 8 + 0 0 0 0 + 0 0 0 0 + 0 0 0 0 + 0 0 0 0 + 1 1 1 1 + 1 1 1 1 + 0 0 0 0 + 162 98 53 237 + 12 8 8 12 @@ -63,7 +63,7 @@ - 3 + 4 0 none @@ -82,6 +82,12 @@ 0 0 + + 3 + none + 0 + 0 + diff --git a/ergoCubSN000/hardware/mechanicals/left_leg-eb8-j3_5-mec.xml b/ergoCubSN000/hardware/mechanicals/left_leg-eb8-j3_5-mec.xml deleted file mode 100644 index 4c31f4d2e7..0000000000 --- a/ergoCubSN000/hardware/mechanicals/left_leg-eb8-j3_5-mec.xml +++ /dev/null @@ -1,88 +0,0 @@ - - - - - - 6 - 3 - 0 1 2 - "l_knee" "l_ankle_pitch" "l_ankle_roll" - "revolute" "revolute" "revolute" - 182.044 182.044 182.044 - 32000 32000 32000 - 1000.0 1000.0 1000.0 - -100.0 -100.00 -100.00 - 64 64 32 - 1 1 1 - "MOOG_C2900580" "MOOG_C2900580" "MOOG_C2900575" - - 0 - - - - 6 45.00 25.00 - -80 -45.00 -25.00 - 0 0 0 - 0 0 0 - - - - 0 0 0 - 0 0 0 - 0 0 0 - 0 0 0 - 1 1 1 - 1 1 1 - 146 242 151 - 0 0 0 - 12 12 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 - - - - - - 3 - - 0 - none - 0 - 0 - - - 1 - none - 0 - 0 - - - 2 - none - 0 - 0 - - - - diff --git a/ergoCubSN000/hardware/mechanicals/left_leg-eb9-j4_5-mec.xml b/ergoCubSN000/hardware/mechanicals/left_leg-eb9-j4_5-mec.xml new file mode 100644 index 0000000000..4985d94afd --- /dev/null +++ b/ergoCubSN000/hardware/mechanicals/left_leg-eb9-j4_5-mec.xml @@ -0,0 +1,82 @@ + + + + + + 6 + 2 + 0 1 + "l_ankle_pitch" "l_ankle_roll" + "revolute" "revolute" + 182.044 182.044 + 32000 32000 + 1000.0 1000.0 + -100.00 -160.00 + 64 32 + 1 1 + "MOOG_C2900580" "MOOG_C2900575" + + 0 + + + + 45.00 25.00 + -45.00 -25.00 + 0 0 + 0 0 + + + + 0 0 + 0 0 + 0 0 + 0 0 + 1 1 + 1 1 + 0 0 + 152 209 + 12 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/ergoCubSN000/hardware/mechanicals/right_arm-eb2-j0_1-mec.xml b/ergoCubSN000/hardware/mechanicals/right_arm-eb1-j0_1-mec.xml similarity index 97% rename from ergoCubSN000/hardware/mechanicals/right_arm-eb2-j0_1-mec.xml rename to ergoCubSN000/hardware/mechanicals/right_arm-eb1-j0_1-mec.xml index 3af43c3ae7..5d1a9b7554 100644 --- a/ergoCubSN000/hardware/mechanicals/right_arm-eb2-j0_1-mec.xml +++ b/ergoCubSN000/hardware/mechanicals/right_arm-eb1-j0_1-mec.xml @@ -11,7 +11,7 @@ 182.044 182.044 32000 32000 1000.0 1000.0 - -100.00 -100.00 + -100.00 -160.00 1 1 1 1 "MOOG-BL-C2900576" "MOOG-BL-C2900576" @@ -34,7 +34,7 @@ 1 1 1 1 0 0 - 157 78 + 227 177 8 8 diff --git a/ergoCubSN000/hardware/mechanicals/right_arm-eb4-j2_3-mec.xml b/ergoCubSN000/hardware/mechanicals/right_arm-eb3-j2_3-mec.xml similarity index 97% rename from ergoCubSN000/hardware/mechanicals/right_arm-eb4-j2_3-mec.xml rename to ergoCubSN000/hardware/mechanicals/right_arm-eb3-j2_3-mec.xml index 0f470763fd..47d3bc478a 100644 --- a/ergoCubSN000/hardware/mechanicals/right_arm-eb4-j2_3-mec.xml +++ b/ergoCubSN000/hardware/mechanicals/right_arm-eb3-j2_3-mec.xml @@ -34,7 +34,7 @@ 1 1 1 1 0 0 - 250 117 + 74 333 8 8 diff --git a/ergoCubSN000/hardware/mechanicals/right_leg-eb10-j3_5-mec.xml b/ergoCubSN000/hardware/mechanicals/right_leg-eb10-j3_5-mec.xml deleted file mode 100644 index 94a45bfb66..0000000000 --- a/ergoCubSN000/hardware/mechanicals/right_leg-eb10-j3_5-mec.xml +++ /dev/null @@ -1,88 +0,0 @@ - - - - - - 6 - 3 - 0 1 2 - "r_knee" "r_ankle_pitch" "r_ankle_roll" - "revolute" "revolute" "revolute" - 182.044 182.044 182.044 - 32000 32000 32000 - 1000.0 1000.0 1000.0 - 100.0 100.0 100.0 - 64 64 32 - 1 1 1 - "MOOG_C2900580" "MOOG_C2900580" "MOOG_C2900575" - 0 - - - - 6 45 25 - -80 -45 -25 - 0 0 0 - 0 0 0 - - - - 0 0 0 - 0 0 0 - 0 0 0 - 0 0 0 - 1 1 1 - 1 1 1 - 0 0 0 - 157 155 180 - 12 12 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 - - - - - - 3 - - 0 - none - 0 - 0 - - - 1 - none - 0 - 0 - - - 2 - none - 0 - 0 - - - - - diff --git a/ergoCubSN000/hardware/mechanicals/right_leg-eb9-j0_2-mec.xml b/ergoCubSN000/hardware/mechanicals/right_leg-eb6-j0_3-mec.xml similarity index 72% rename from ergoCubSN000/hardware/mechanicals/right_leg-eb9-j0_2-mec.xml rename to ergoCubSN000/hardware/mechanicals/right_leg-eb6-j0_3-mec.xml index 105e680b58..f28d4a970d 100644 --- a/ergoCubSN000/hardware/mechanicals/right_leg-eb9-j0_2-mec.xml +++ b/ergoCubSN000/hardware/mechanicals/right_leg-eb6-j0_3-mec.xml @@ -4,40 +4,40 @@ 6 - 3 + 4 - 0 1 2 - "r_hip_pitch" "r_hip_roll" "r_hip_yaw" - "revolute" "revolute" "revolute" - 182.044 182.044 182.044 - 32000 32000 32000 - 1000.0 1000.0 1000.0 - 100.00 -100.00 100.0 - 64 64 64 - 1 1 1 - "MOOG_C2900580" "MOOG_C2900576" "MOOG_C2900576" + 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 + 100.00 -160.00 100.0 100.0 + 64 64 64 64 + 1 1 1 1 + "MOOG_C2900580" "MOOG_C2900576" "MOOG_C2900576" "MOOG_C2900580" 0 - - 94 120 80.5 - -47 -20 -80.5 - 0 0 0 - 0 0 0 + + 94 120 80.5 6 + -47 -20 -80.5 -80 + 0 0 0 0 + 0 0 0 0 - 0 0 0 - 0 0 0 - 0 0 0 - 0 0 0 - 1 1 1 - 1 1 1 - 0 0 0 - 123 0 27 - 12 8 8 + 0 0 0 0 + 0 0 0 0 + 0 0 0 0 + 0 0 0 0 + 1 1 1 1 + 1 1 1 1 + 0 0 0 0 + 203 286 48 184 + 12 8 8 12 @@ -66,7 +66,7 @@ - 3 + 4 0 none @@ -85,6 +85,11 @@ 0 0 - + + 3 + none + 0 + 0 + diff --git a/ergoCubSN000/hardware/mechanicals/right_leg-eb7-j4_5-mec.xml b/ergoCubSN000/hardware/mechanicals/right_leg-eb7-j4_5-mec.xml new file mode 100644 index 0000000000..85ddc6bf28 --- /dev/null +++ b/ergoCubSN000/hardware/mechanicals/right_leg-eb7-j4_5-mec.xml @@ -0,0 +1,83 @@ + + + + + + 6 + 2 + 0 1 + "r_ankle_pitch" "r_ankle_roll" + "revolute" "revolute" + 182.044 182.044 + 32000 32000 + 1000.0 1000.0 + 100.0 160.0 + 64 32 + 1 1 + "MOOG_C2900580" "MOOG_C2900575" + 0 + + + + 45 25 + -45 -25 + 0 0 + 0 0 + + + + 0 0 + 0 0 + 0 0 + 0 0 + 1 1 + 1 1 + 0 0 + 166 273 + 12 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/ergoCubSN000/hardware/mechanicals/torso-eb5-j0_2-mec.xml b/ergoCubSN000/hardware/mechanicals/torso-eb5-j0_2-mec.xml index f42d9def74..b0139c70a6 100644 --- a/ergoCubSN000/hardware/mechanicals/torso-eb5-j0_2-mec.xml +++ b/ergoCubSN000/hardware/mechanicals/torso-eb5-j0_2-mec.xml @@ -14,7 +14,7 @@ 100.0 100.0 -100.0 1 1 1 1 1 1 - "MOOG_C2900576" "MOOG_C290057" "MOOG_C2900576" + "MOOG_C2900576" "MOOG_C2900576" "MOOG_C2900576" 0 @@ -27,13 +27,13 @@ 0 0 0 - 0 0 0 + 0 0 0 0 0 0 0 0 0 1 1 1 1 1 1 0 0 0 - 48 33 122 + 66 131 228 8 8 8 diff --git a/ergoCubSN000/hardware/motorControl/left_arm-eb1-j0_1-mc.xml b/ergoCubSN000/hardware/motorControl/left_arm-eb2-j0_1-mc.xml similarity index 96% rename from ergoCubSN000/hardware/motorControl/left_arm-eb1-j0_1-mc.xml rename to ergoCubSN000/hardware/motorControl/left_arm-eb2-j0_1-mc.xml index ca143b9091..8c2d1fc267 100644 --- a/ergoCubSN000/hardware/motorControl/left_arm-eb1-j0_1-mc.xml +++ b/ergoCubSN000/hardware/motorControl/left_arm-eb2-j0_1-mc.xml @@ -2,11 +2,11 @@ - + - - - + + + diff --git a/ergoCubSN000/hardware/motorControl/left_arm-eb1-j0_1-mc_service.xml b/ergoCubSN000/hardware/motorControl/left_arm-eb2-j0_1-mc_service.xml similarity index 100% rename from ergoCubSN000/hardware/motorControl/left_arm-eb1-j0_1-mc_service.xml rename to ergoCubSN000/hardware/motorControl/left_arm-eb2-j0_1-mc_service.xml diff --git a/ergoCubSN000/hardware/motorControl/left_arm-eb3-j2_3-mc.xml b/ergoCubSN000/hardware/motorControl/left_arm-eb4-j2_3-mc.xml similarity index 96% rename from ergoCubSN000/hardware/motorControl/left_arm-eb3-j2_3-mc.xml rename to ergoCubSN000/hardware/motorControl/left_arm-eb4-j2_3-mc.xml index e1937a3e38..c23c29335d 100644 --- a/ergoCubSN000/hardware/motorControl/left_arm-eb3-j2_3-mc.xml +++ b/ergoCubSN000/hardware/motorControl/left_arm-eb4-j2_3-mc.xml @@ -2,11 +2,11 @@ - + - - - + + + diff --git a/ergoCubSN000/hardware/motorControl/left_arm-eb3-j2_3-mc_service.xml b/ergoCubSN000/hardware/motorControl/left_arm-eb4-j2_3-mc_service.xml similarity index 93% rename from ergoCubSN000/hardware/motorControl/left_arm-eb3-j2_3-mc_service.xml rename to ergoCubSN000/hardware/motorControl/left_arm-eb4-j2_3-mc_service.xml index b8da95e0c9..a5fbc76cb7 100644 --- a/ergoCubSN000/hardware/motorControl/left_arm-eb3-j2_3-mc_service.xml +++ b/ergoCubSN000/hardware/motorControl/left_arm-eb4-j2_3-mc_service.xml @@ -32,7 +32,7 @@ foc foc - CAN1:3:0 CAN1:4:0 + CAN1:1:0 CAN1:2:0 @@ -45,7 +45,7 @@ roie roie - CAN1:3:0 CAN1:4:0 + CAN1:1:0 CAN1:2:0 atmotor atmotor 14400 14400 3.6 3.6 diff --git a/ergoCubSN000/hardware/motorControl/left_leg-eb7-j0_2-mc.xml b/ergoCubSN000/hardware/motorControl/left_leg-eb8-j0_3-mc.xml similarity index 63% rename from ergoCubSN000/hardware/motorControl/left_leg-eb7-j0_2-mc.xml rename to ergoCubSN000/hardware/motorControl/left_leg-eb8-j0_3-mc.xml index 926015208f..ae62c59152 100644 --- a/ergoCubSN000/hardware/motorControl/left_leg-eb7-j0_2-mc.xml +++ b/ergoCubSN000/hardware/motorControl/left_leg-eb8-j0_3-mc.xml @@ -2,41 +2,41 @@ - + - - - + + + - - + + - 90 100 70 - -40 -15 -70 - 240 240 240 - 15000 15000 5000 - 20000 20000 10000 - 30000 30000 15000 - 16000 16000 16000 + 90 100 70 3 + -40 -2 -70 -70 + 240 240 240 240 + 15000 15000 5000 10000 + 20000 20000 10000 15000 + 30000 30000 15000 20000 + 16000 16000 16000 16000 - 100 100 100 + 100 100 100 100 - 0.1 0.1 0.1 - 0.05 0.05 0.05 + 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 - 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 + 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 @@ -47,14 +47,14 @@ pwm metric_units machine_units - 0 0 0 - -3000 7000 -711 - 0 0 0 - -1500 5000 -7111 - 12000 12000 12000 - 1500 5000 750 - 0 0 0 - 0 0 0 + 0 0 0 0 + -3000 7000 -711 -5000 + 0 0 0 0 + -1500 5000 -7111 -1500 + 12000 12000 12000 12000 + 1500 5000 750 2000 + 0 0 0 0 + 0 0 0 0 @@ -65,18 +65,18 @@ pwm metric_units dutycycle_percent - 0 0 0 - 0 0 0 - 0 0 0 - 25 25 25 - 1.56 1.56 1.56 - 0 0 0 - 0 0 0 - 0 0 0 - 1 1 1 - 0 0 0 - 0 0 0 - -0.51 0.56 -0.62 + 0 0 0 0 + 0 0 0 0 + 0 0 0 0 + 25 25 25 25 + 1.56 1.56 1.56 1.56 + 0 0 0 0 + 0 0 0 0 + 0 0 0 0 + 1 1 1 1 + 0 0 0 0 + 0 0 0 0 + -0.51 0.56 -0.62 -0.52 @@ -86,26 +86,26 @@ 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 + 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 - 12 12 12 - 0 0 0 - 16 16 16 - 10 10 10 - 32000 32000 32000 - 32000 32000 32000 + 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 @@ -117,24 +117,24 @@ current metric_units machine_units - -150.00 150.00 -200.00 - 0 0 0 - -80 50 -80 - 2500 2500 2500 - 200 200 200 - 0 0 0 - 0 0 0 - 0 0 0 - 1 1 1 - -0.0003 0.0004 -0.0003 - 0 0 0 - -175.56 177.83 -175.74 + -150.00 150.00 -200.00 -150.00 + 0 0 0 0 + -80 50 -80 -80.00 + 2500 2500 2500 2500 + 200 200 200 200 + 0 0 0 0 + 0 0 0 0 + 0 0 0 0 + 1 1 1 1 + -0.0003 0.0004 -0.0003 -0.0002 + 0 0 0 0 + -175.56 177.83 -175.74 -230.10 - 0.0049 0.0049 0.0049 + 0.0049 0.0049 0.0049 0.011 diff --git a/ergoCubSN000/hardware/motorControl/left_leg-eb7-j0_2-mc_service.xml b/ergoCubSN000/hardware/motorControl/left_leg-eb8-j0_3-mc_service.xml similarity index 79% rename from ergoCubSN000/hardware/motorControl/left_leg-eb7-j0_2-mc_service.xml rename to ergoCubSN000/hardware/motorControl/left_leg-eb8-j0_3-mc_service.xml index cefa1c7a95..e1609cc6e0 100644 --- a/ergoCubSN000/hardware/motorControl/left_leg-eb7-j0_2-mc_service.xml +++ b/ergoCubSN000/hardware/motorControl/left_leg-eb8-j0_3-mc_service.xml @@ -31,24 +31,24 @@ - foc foc foc - CAN1:1:0 CAN1:2:0 CAN1:3:0 + foc foc foc foc + CAN1:1:0 CAN1:2:0 CAN1:3:0 CAN1:4:0 - amo amo amo - CONN:P6 CONN:P7 CONN:P8 - atjoint atjoint atjoint - 16384 16384 16384 - 0.703 0.703 0.703 + amo amo amo amo + CONN:P6 CONN:P8 CONN:P7 CONN:P9 + atjoint atjoint atjoint atjoint + 16384 16384 16384 -16384 + 0.703 0.703 0.703 0.703 - roie roie roie - CAN1:1:0 CAN1:2:0 CAN1:3:0 - atmotor atmotor atmotor - 14400 14400 14400 - 3.6 3.6 3.6 + roie roie roie roie + CAN1:1:0 CAN1:2:0 CAN1:3:0 CAN1:4:0 + atmotor atmotor atmotor atmotor + 14400 14400 14400 14400 + 3.6 3.6 3.6 3.6 @@ -59,4 +59,3 @@ - diff --git a/ergoCubSN000/hardware/motorControl/left_leg-eb8-j3_5-mc.xml b/ergoCubSN000/hardware/motorControl/left_leg-eb8-j3_5-mc.xml deleted file mode 100644 index 36e5c4de9e..0000000000 --- a/ergoCubSN000/hardware/motorControl/left_leg-eb8-j3_5-mc.xml +++ /dev/null @@ -1,139 +0,0 @@ - - - - - - - - - - - - - - 3 32 23 - -70 -43 -23 - 240 240 240 - 10000 10000 10000 - 15000 15000 15000 - 20000 30000 30000 - 16000 16000 16000 - - - - 100 100 100 - - - - 0.1 0.1 0.1 - 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 - 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 - 0 0 0 - -5000 -5000 -3000 - 0 0 0 - -1500 -1000 -1000 - 12000 12000 12000 - 2000 1000 1000 - 0 0 0 - 0 0 0 - - - - - - - torque - pwm - metric_units - dutycycle_percent - 0 0 0 - 0 0 0 - 0 0 0 - 25 25 25 - 1.56 1.56 1.56 - 0 0 0 - 0 0 0 - 0 0 0 - 1 1 1 - 0 0 0 - 0 0 0 - -0.52 -0.65 -0.50 - - - - - - - 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 - - - - - - - - torque - current - metric_units - machine_units - -150.00 -36.21 -26.77 - 0 0 0 - -80.00 0 0 - 2500 2500 2500 - 200 200 200 - 0 0 0 - 0 0 0 - 0 0 0 - 1 1 1 - -0.0002 -0.0003 -0.0003 - 0 0 0 - -230.10 -162.24 -163.96 - - - - - 0.0049 0.0049 0.0049 - - - - diff --git a/ergoCubSN000/hardware/motorControl/left_leg-eb8-j3_5-mc_service.xml b/ergoCubSN000/hardware/motorControl/left_leg-eb8-j3_5-mc_service.xml deleted file mode 100644 index 748c58581a..0000000000 --- a/ergoCubSN000/hardware/motorControl/left_leg-eb8-j3_5-mc_service.xml +++ /dev/null @@ -1,61 +0,0 @@ - - - - - - - - eomn_serv_MC_foc - - - - - ems4 - - - - foc - - 1 - 6 - - - 3 - 3 - 3 - - - - - - - - foc eomc_act_foc foc - CAN1:3:0 CAN1:1:0 CAN1:2:0 - - - - amo amo amo - CONN:P7 CONN:P6 CONN:P8 - atjoint atjoint atjoint - -16384 16384 -16384 - 0.703 0.703 0.703 - - - - roie roie roie - CAN3::0 CAN1::0 CAN1:2:0 - atmotor atmotor atmotor - 14400 14400 14400 - 3.6 3.6 3.6 - - - - - - - - - - - diff --git a/ergoCubSN000/hardware/motorControl/left_leg-eb9-j4_5-mc.xml b/ergoCubSN000/hardware/motorControl/left_leg-eb9-j4_5-mc.xml new file mode 100644 index 0000000000..a622b87387 --- /dev/null +++ b/ergoCubSN000/hardware/motorControl/left_leg-eb9-j4_5-mc.xml @@ -0,0 +1,138 @@ + + + + + + + + + + + + + + 32 23 + -43 -23 + 240 240 + 10000 10000 + 15000 15000 + 30000 30000 + 16000 16000 + + + + 100 100 + + + + 0.1 0.1 + 0.05 0.05 + + + + POS_PID_DEFAULT POS_PID_DEFAULT + POS_PID_DEFAULT POS_PID_DEFAULT + POS_PID_DEFAULT POS_PID_DEFAULT + TRQ_PID_DEFAULT TRQ_PID_DEFAULT + 2FOC_CUR_CONTROL 2FOC_CUR_CONTROL + 2FOC_VEL_CONTROL 2FOC_VEL_CONTROL + + + + + + + minjerk + pwm + metric_units + machine_units + 0 0 + -5000 -3000 + 0 0 + -1000 -1000 + 12000 12000 + 1000 1000 + 0 0 + 0 0 + + + + + + + torque + pwm + metric_units + dutycycle_percent + 0 0 + 0 0 + 0 0 + 25 25 + 1.56 1.56 + 0 0 + 0 0 + 0 0 + 1 1 + 0 0 + 0 0 + -0.65 -0.50 + + + + + + + low_lev_current + machine_units + machine_units + 8 8 + 0 0 + 2 2 + 10 10 + 32000 32000 + 32000 32000 + 0 0 + + + + low_lev_speed + machine_units + machine_units + 0 0 + 12 12 + 0 0 + 16 16 + 10 10 + 32000 32000 + 32000 32000 + + + + + + + + torque + current + metric_units + machine_units + -36.21 -26.77 + 0 0 + 0 0 + 2500 2500 + 200 200 + 0 0 + 0 0 + 0 0 + 1 1 + -0.0003 -0.0003 + 0 0 + -162.24 -163.96 + + + + + 0.0049 0.0049 + + + diff --git a/ergoCubSN000/hardware/motorControl/left_leg-eb9-j4_5-mc_service.xml b/ergoCubSN000/hardware/motorControl/left_leg-eb9-j4_5-mc_service.xml new file mode 100644 index 0000000000..66b31b596b --- /dev/null +++ b/ergoCubSN000/hardware/motorControl/left_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 + + + + amo amo + CONN:P6 CONN:P7 + atjoint atjoint + 16384 -16384 + 0.703 0.703 + + + + roie roie + CAN1:1:0 CAN1:2:0 + atmotor atmotor + 14400 14400 + 3.6 3.6 + + + + + + + + + + diff --git a/ergoCubSN000/hardware/motorControl/right_arm-eb2-j0_1-mc.xml b/ergoCubSN000/hardware/motorControl/right_arm-eb1-j0_1-mc.xml similarity index 96% rename from ergoCubSN000/hardware/motorControl/right_arm-eb2-j0_1-mc.xml rename to ergoCubSN000/hardware/motorControl/right_arm-eb1-j0_1-mc.xml index 03d4895b6a..b966197ff8 100644 --- a/ergoCubSN000/hardware/motorControl/right_arm-eb2-j0_1-mc.xml +++ b/ergoCubSN000/hardware/motorControl/right_arm-eb1-j0_1-mc.xml @@ -2,12 +2,12 @@ - + - - - + + + diff --git a/ergoCubSN000/hardware/motorControl/right_arm-eb2-j0_1-mc_service.xml b/ergoCubSN000/hardware/motorControl/right_arm-eb1-j0_1-mc_service.xml similarity index 100% rename from ergoCubSN000/hardware/motorControl/right_arm-eb2-j0_1-mc_service.xml rename to ergoCubSN000/hardware/motorControl/right_arm-eb1-j0_1-mc_service.xml diff --git a/ergoCubSN000/hardware/motorControl/right_arm-eb4-j2_3-mc.xml b/ergoCubSN000/hardware/motorControl/right_arm-eb3-j2_3-mc.xml similarity index 96% rename from ergoCubSN000/hardware/motorControl/right_arm-eb4-j2_3-mc.xml rename to ergoCubSN000/hardware/motorControl/right_arm-eb3-j2_3-mc.xml index bce152b992..6a1d37cf98 100644 --- a/ergoCubSN000/hardware/motorControl/right_arm-eb4-j2_3-mc.xml +++ b/ergoCubSN000/hardware/motorControl/right_arm-eb3-j2_3-mc.xml @@ -2,11 +2,11 @@ - + - - - + + + diff --git a/ergoCubSN000/hardware/motorControl/right_arm-eb4-j2_3-mc_service.xml b/ergoCubSN000/hardware/motorControl/right_arm-eb3-j2_3-mc_service.xml similarity index 93% rename from ergoCubSN000/hardware/motorControl/right_arm-eb4-j2_3-mc_service.xml rename to ergoCubSN000/hardware/motorControl/right_arm-eb3-j2_3-mc_service.xml index 393cb0ea51..666c28c301 100644 --- a/ergoCubSN000/hardware/motorControl/right_arm-eb4-j2_3-mc_service.xml +++ b/ergoCubSN000/hardware/motorControl/right_arm-eb3-j2_3-mc_service.xml @@ -32,7 +32,7 @@ foc foc - CAN1:3:0 CAN1:4:0 + CAN1:1:0 CAN1:2:0 @@ -45,7 +45,7 @@ roie roie - CAN1:3:0 CAN1:4:0 + CAN1:1:0 CAN1:2:0 atmotor atmotor 14400 14400 3.6 3.6 diff --git a/ergoCubSN000/hardware/motorControl/right_leg-eb10-j3_5-mc.xml b/ergoCubSN000/hardware/motorControl/right_leg-eb10-j3_5-mc.xml deleted file mode 100644 index 9b01ce4f3a..0000000000 --- a/ergoCubSN000/hardware/motorControl/right_leg-eb10-j3_5-mc.xml +++ /dev/null @@ -1,139 +0,0 @@ - - - - - - - - - - - - - - 3 32 23 - -70 -45 -23 - 240 240 240 - 10000 10000 10000 - 15000 15000 15000 - 20000 30000 30000 - 16000 16000 16000 - - - - 100 100 100 - - - - 0.1 0.1 0.1 - 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 - 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 - 0 0 0 - 5000 5000 2310 - 0 0 0 - 1500 1000 1000 - 12000 12000 12000 - 2000 1000 1000 - 0 0 0 - 0 0 0 - - - - - - - torque - pwm - metric_units - dutycycle_percent - 0 0 0 - 0 0 0 - 0 0 0 - 25 25 25 - 1.56 1.56 1.56 - 0 0 0 - 0 0 0 - 0 0 0 - 1 1 1 - 0 0 0 - 0 0 0 - -0.52 0.72 0.56 - - - - - - - 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 - - - - - - - - torque - current - metric_units - machine_units - 150.00 40.44 28.27 - 0 0 0 - 80.00 0 0 - 2500 2500 2500 - 200 200 200 - 0 0 0 - 0 0 0 - 0 0 0 - 1 1 1 - 0.0001 0.0003 0.0004 - 0 0 0 - 270.78 181.17 230.00 - - - - - 0.011 0.011 0.011 - - - - diff --git a/ergoCubSN000/hardware/motorControl/right_leg-eb10-j3_5-mc_service.xml b/ergoCubSN000/hardware/motorControl/right_leg-eb10-j3_5-mc_service.xml deleted file mode 100644 index 4503b3a1e7..0000000000 --- a/ergoCubSN000/hardware/motorControl/right_leg-eb10-j3_5-mc_service.xml +++ /dev/null @@ -1,61 +0,0 @@ - - - - - - - - eomn_serv_MC_foc - - - - - ems4 - - - - foc - - 1 - 6 - - - 3 - 3 - 3 - - - - - - - - foc foc foc - CAN1:3:0 CAN1:1:0 CAN1:2:0 - - - - amo amo amo - CONN:P7 CONN:P6 CONN:P8 - atjoint atjoint atjoint - 16384 -16384 16384 - 0.703 0.703 0.703 - - - - roie roie roie - CAN3::0 CAN1::0 CAN1:2:0 - atmotor atmotor atmotor - 14400 14400 14400 - 3.6 3.6 3.6 - - - - - - - - - - - diff --git a/ergoCubSN000/hardware/motorControl/right_leg-eb6-j0_3-mc.xml b/ergoCubSN000/hardware/motorControl/right_leg-eb6-j0_3-mc.xml new file mode 100644 index 0000000000..2257ebe61b --- /dev/null +++ b/ergoCubSN000/hardware/motorControl/right_leg-eb6-j0_3-mc.xml @@ -0,0 +1,140 @@ + + + + + + + + + + + + + + + 90 100 70 3 + -40 -2 -70 -70 + 240 240 240 240 + 15000 15000 5000 10000 + 20000 20000 10000 15000 + 30000 30000 15000 20000 + 16000 16000 16000 16000 + + + + 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 + 0 0 0 0 + 5000 -25000 3000 5000 + 0 0 0 0 + 1500 -5000 2000 1500 + 12000 11000 12000 12000 + 1500 5000 2000 2000 + 0 0 0 0 + 0 0 0 0 + + + + + + + torque + pwm + metric_units + dutycycle_percent + 0 0 0 0 + 0 0 0 0 + 0 0 0 0 + 25 25 25 25 + 1.56 1.56 1.56 1.56 + 0 0 0 0 + 0 0 0 0 + 0 0 0 0 + 1 1 1 1 + 0 0 0 0 + 0 0 0 0 + -0.52 0.46 -0.56 0.68 + + + + + + + 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 + + + + + + + + torque + current + metric_units + machine_units + 150.00 150.00 -150.00 200.00 + 0 0 0 0 + 80.00 80 -50 80 + 2500 2500 2500 2500 + 200 200 200 200 + 0 0 0 0 + 0 0 0 0 + 0 0 0 0 + 1 1 1 1 + 0.0001 0.0002 -0.0003 0.0003 + 0 0 0 0 + 270.78 196.52 -185.41 185.70 + + + + + + 0.0049 0.0049 0.0049 0.011 + + + diff --git a/ergoCubSN000/hardware/motorControl/right_leg-eb9-j0_2-mc_service.xml b/ergoCubSN000/hardware/motorControl/right_leg-eb6-j0_3-mc_service.xml similarity index 79% rename from ergoCubSN000/hardware/motorControl/right_leg-eb9-j0_2-mc_service.xml rename to ergoCubSN000/hardware/motorControl/right_leg-eb6-j0_3-mc_service.xml index 9b8ae6e80b..89e316356f 100644 --- a/ergoCubSN000/hardware/motorControl/right_leg-eb9-j0_2-mc_service.xml +++ b/ergoCubSN000/hardware/motorControl/right_leg-eb6-j0_3-mc_service.xml @@ -31,24 +31,24 @@ - foc foc foc - CAN1:1:0 CAN1:2:0 CAN1:3:0 + foc foc foc foc + CAN1:1:0 CAN1:2:0 CAN1:3:0 CAN1:4:0 - amo amo amo - CONN:P6 CONN:P7 CONN:P8 - atjoint atjoint atjoint - -16384 -16384 -16384 - 0.703 0.703 0.703 + amo amo amo amo + CONN:P6 CONN:P8 CONN:P7 CONN:P9 + atjoint atjoint atjoint atjoint + -16384 -16384 -16384 16384 + 0.703 0.703 0.703 0.703 - roie roie roie - CAN1:1:0 CAN1:2:0 CAN1:3:0 - atmotor atmotor atmotor - 14400 14400 14400 - 3.6 3.6 3.6 + roie roie roie roie + CAN1:1:0 CAN1:2:0 CAN1:3:0 CAN1:4:0 + atmotor atmotor atmotor atmotor + 14400 14400 14400 14400 + 3.6 3.6 3.6 3.6 @@ -59,4 +59,3 @@ - diff --git a/ergoCubSN000/hardware/motorControl/right_leg-eb7-j4_5-mc.xml b/ergoCubSN000/hardware/motorControl/right_leg-eb7-j4_5-mc.xml new file mode 100644 index 0000000000..90f2b358d9 --- /dev/null +++ b/ergoCubSN000/hardware/motorControl/right_leg-eb7-j4_5-mc.xml @@ -0,0 +1,138 @@ + + + + + + + + + + + + + + 32 23 + -45 -23 + 240 240 + 10000 10000 + 15000 15000 + 30000 30000 + 16000 16000 + + + + 100 100 + + + + 0.1 0.1 + 0.05 0.05 + + + + POS_PID_DEFAULT POS_PID_DEFAULT + POS_PID_DEFAULT POS_PID_DEFAULT + POS_PID_DEFAULT POS_PID_DEFAULT + TRQ_PID_DEFAULT TRQ_PID_DEFAULT + 2FOC_CUR_CONTROL 2FOC_CUR_CONTROL + 2FOC_VEL_CONTROL 2FOC_VEL_CONTROL + + + + + + + minjerk + pwm + metric_units + machine_units + 0 0 + 5000 2310 + 0 0 + 1000 1000 + 12000 12000 + 1000 1000 + 0 0 + 0 0 + + + + + + + torque + pwm + metric_units + dutycycle_percent + 0 0 + 0 0 + 0 0 + 25 25 + 1.56 1.56 + 0 0 + 0 0 + 0 0 + 1 1 + 0 0 + 0 0 + 0.72 0.56 + + + + + + + low_lev_current + machine_units + machine_units + 8 8 + 0 0 + 2 2 + 10 10 + 32000 32000 + 32000 32000 + 0 0 + + + + low_lev_speed + machine_units + machine_units + 0 0 + 12 12 + 0 0 + 16 16 + 10 10 + 32000 32000 + 32000 32000 + + + + + + + + torque + current + metric_units + machine_units + 40.44 28.27 + 0 0 + 0 0 + 2500 2500 + 200 200 + 0 0 + 0 0 + 0 0 + 1 1 + 0.0003 0.0004 + 0 0 + 181.17 230.00 + + + + + 0.011 0.011 + + + diff --git a/ergoCubSN000/hardware/motorControl/right_leg-eb7-j4_5-mc_service.xml b/ergoCubSN000/hardware/motorControl/right_leg-eb7-j4_5-mc_service.xml new file mode 100644 index 0000000000..0b29a3dabe --- /dev/null +++ b/ergoCubSN000/hardware/motorControl/right_leg-eb7-j4_5-mc_service.xml @@ -0,0 +1,60 @@ + + + + + + + + eomn_serv_MC_foc + + + + + ems4 + + + + foc + + 1 + 6 + + + 3 + 3 + 3 + + + + + + + + foc foc + CAN1:1:0 CAN1:2:0 + + + + amo amo + CONN:P6 CONN:P7 + atjoint atjoint + -16384 16384 + 0.703 0.703 + + + + roie roie + CAN1:1:0 CAN1:2:0 + atmotor atmotor + 14400 14400 + 3.6 3.6 + + + + + + + + + + diff --git a/ergoCubSN000/hardware/motorControl/right_leg-eb9-j0_2-mc.xml b/ergoCubSN000/hardware/motorControl/right_leg-eb9-j0_2-mc.xml deleted file mode 100644 index 2d00c2e2ef..0000000000 --- a/ergoCubSN000/hardware/motorControl/right_leg-eb9-j0_2-mc.xml +++ /dev/null @@ -1,140 +0,0 @@ - - - - - - - - - - - - - - - 90 100 70 - -40 -15 -70 - 240 240 240 - 15000 15000 5000 - 20000 20000 10000 - 30000 30000 15000 - 16000 16000 16000 - - - - 100 100 100 - - - - 0.1 0.1 0.1 - 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 - 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 - 0 0 0 - 5000 -25000 3000 - 0 0 0 - 1500 -5000 2000 - 12000 11000 12000 - 1500 5000 2000 - 0 0 0 - 0 0 0 - - - - - - - torque - pwm - metric_units - dutycycle_percent - 0 0 0 - 0 0 0 - 0 0 0 - 25 25 25 - 1.56 1.56 1.56 - 0 0 0 - 0 0 0 - 0 0 0 - 1 1 1 - 0 0 0 - 0 0 0 - 0.46 -0.56 0.68 - - - - - - - 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 - - - - - - - - torque - current - metric_units - machine_units - 150.00 -150.00 200.00 - 0 0 0 - 80 -50 80 - 2500 2500 2500 - 200 200 200 - 0 0 0 - 0 0 0 - 0 0 0 - 1 1 1 - 0.0002 -0.0003 0.0003 - 0 0 0 - 196.52 -185.41 185.70 - - - - - - 0.0049 0.0049 0.0049 - - - diff --git a/ergoCubSN000/legs.xml b/ergoCubSN000/legs.xml new file mode 100644 index 0000000000..ae5e2bc00d --- /dev/null +++ b/ergoCubSN000/legs.xml @@ -0,0 +1,32 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/ergoCubSN000/ll.xml b/ergoCubSN000/ll.xml new file mode 100644 index 0000000000..9579c8f65b --- /dev/null +++ b/ergoCubSN000/ll.xml @@ -0,0 +1,30 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/ergoCubSN000/ls.xml b/ergoCubSN000/ls.xml new file mode 100644 index 0000000000..75c117b00d --- /dev/null +++ b/ergoCubSN000/ls.xml @@ -0,0 +1,30 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/ergoCubSN000/rl.xml b/ergoCubSN000/rl.xml new file mode 100644 index 0000000000..262e50f95a --- /dev/null +++ b/ergoCubSN000/rl.xml @@ -0,0 +1,30 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/ergoCubSN000/rs.xml b/ergoCubSN000/rs.xml new file mode 100644 index 0000000000..c33710c4e4 --- /dev/null +++ b/ergoCubSN000/rs.xml @@ -0,0 +1,30 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/ergoCubSN000/shoulders.xml b/ergoCubSN000/shoulders.xml new file mode 100644 index 0000000000..f224e4f563 --- /dev/null +++ b/ergoCubSN000/shoulders.xml @@ -0,0 +1,32 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/ergoCubSN000/torso.xml b/ergoCubSN000/torso.xml new file mode 100644 index 0000000000..934cd3105b --- /dev/null +++ b/ergoCubSN000/torso.xml @@ -0,0 +1,30 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/ergoCubSN000/wrappers/FT/left_arm-FT_wrapper.xml b/ergoCubSN000/wrappers/FT/left_arm-FT_wrapper.xml index 7277915ace..bb72f91d68 100644 --- a/ergoCubSN000/wrappers/FT/left_arm-FT_wrapper.xml +++ b/ergoCubSN000/wrappers/FT/left_arm-FT_wrapper.xml @@ -2,14 +2,14 @@ - + 10 /icub/left_arm/analog:o - left_arm-eb1-j0_1-strain + left_arm-eb2-j0_1-strain diff --git a/ergoCubSN000/wrappers/FT/left_foot_heel-FT_wrapper.xml b/ergoCubSN000/wrappers/FT/left_foot-FT_wrapper.xml similarity index 77% rename from ergoCubSN000/wrappers/FT/left_foot_heel-FT_wrapper.xml rename to ergoCubSN000/wrappers/FT/left_foot-FT_wrapper.xml index d42d8f1012..8aec4932bc 100644 --- a/ergoCubSN000/wrappers/FT/left_foot_heel-FT_wrapper.xml +++ b/ergoCubSN000/wrappers/FT/left_foot-FT_wrapper.xml @@ -2,17 +2,16 @@ - + 10 - /icub/left_foot_heel/analog:o + /icub/left_foot_heel_tiptoe - left_leg-eb7-j0_2-strain + left_leg-eb9-j4_5-strain - diff --git a/ergoCubSN000/wrappers/FT/left_foot_heel-FT_wrapper_multipleSens.xml b/ergoCubSN000/wrappers/FT/left_foot_heel-FT_wrapper_multipleSens.xml deleted file mode 100644 index 75b518384b..0000000000 --- a/ergoCubSN000/wrappers/FT/left_foot_heel-FT_wrapper_multipleSens.xml +++ /dev/null @@ -1,18 +0,0 @@ - - - - - - 10 - /icub/left_foot_heel - - - - - left_leg-eb7-j0_2-strain - - - - - - diff --git a/ergoCubSN000/wrappers/FT/left_foot_tiptoe-FT_wrapper.xml b/ergoCubSN000/wrappers/FT/left_foot_tiptoe-FT_wrapper.xml deleted file mode 100644 index 9d5273045b..0000000000 --- a/ergoCubSN000/wrappers/FT/left_foot_tiptoe-FT_wrapper.xml +++ /dev/null @@ -1,18 +0,0 @@ - - - - - - 10 - /icub/left_foot_tiptoe/analog:o - - - - - left_leg-eb8-j3_5-strain - - - - - - diff --git a/ergoCubSN000/wrappers/FT/left_foot_tiptoe-FT_wrapper_multipleSens.xml b/ergoCubSN000/wrappers/FT/left_foot_tiptoe-FT_wrapper_multipleSens.xml deleted file mode 100644 index 614fac4fbf..0000000000 --- a/ergoCubSN000/wrappers/FT/left_foot_tiptoe-FT_wrapper_multipleSens.xml +++ /dev/null @@ -1,18 +0,0 @@ - - - - - - 10 - /icub/left_foot_tiptoe - - - - - left_leg-eb8-j3_5-strain - - - - - - diff --git a/ergoCubSN000/wrappers/FT/right_arm-FT_wrapper.xml b/ergoCubSN000/wrappers/FT/right_arm-FT_wrapper.xml index d0eca5eab6..89ab54c055 100644 --- a/ergoCubSN000/wrappers/FT/right_arm-FT_wrapper.xml +++ b/ergoCubSN000/wrappers/FT/right_arm-FT_wrapper.xml @@ -2,14 +2,14 @@ - + 10 /icub/right_arm/analog:o - right_arm-eb3-j0_1-strain + right_arm-eb1-j0_1-strain diff --git a/ergoCubSN000/wrappers/FT/right_foot_heel-FT_wrapper.xml b/ergoCubSN000/wrappers/FT/right_foot-FT_wrapper.xml similarity index 75% rename from ergoCubSN000/wrappers/FT/right_foot_heel-FT_wrapper.xml rename to ergoCubSN000/wrappers/FT/right_foot-FT_wrapper.xml index e8a5e6e7d3..8bcf0ac446 100644 --- a/ergoCubSN000/wrappers/FT/right_foot_heel-FT_wrapper.xml +++ b/ergoCubSN000/wrappers/FT/right_foot-FT_wrapper.xml @@ -1,18 +1,18 @@ + - + 10 - /icub/right_foot_heel/analog:o + /icub/right_foot_heel_tiptoe - right_leg-eb11-j0_2-strain + right_leg-eb7-j4_5-strain - diff --git a/ergoCubSN000/wrappers/FT/right_foot_heel-FT_wrapper_multipleSens.xml b/ergoCubSN000/wrappers/FT/right_foot_heel-FT_wrapper_multipleSens.xml deleted file mode 100644 index eb6dc856a8..0000000000 --- a/ergoCubSN000/wrappers/FT/right_foot_heel-FT_wrapper_multipleSens.xml +++ /dev/null @@ -1,18 +0,0 @@ - - - - - - 10 - /icub/right_foot_heel - - - - - right_leg-eb11-j0_2-strain - - - - - - diff --git a/ergoCubSN000/wrappers/FT/right_foot_tiptoe-FT_wrapper.xml b/ergoCubSN000/wrappers/FT/right_foot_tiptoe-FT_wrapper.xml deleted file mode 100644 index 474134cfff..0000000000 --- a/ergoCubSN000/wrappers/FT/right_foot_tiptoe-FT_wrapper.xml +++ /dev/null @@ -1,18 +0,0 @@ - - - - - - 10 - /icub/right_foot_tiptoe/analog:o - - - - - right_leg-eb12-j3_5-strain - - - - - - diff --git a/ergoCubSN000/wrappers/FT/right_foot_tiptoe-FT_wrapper_multipleSens.xml b/ergoCubSN000/wrappers/FT/right_foot_tiptoe-FT_wrapper_multipleSens.xml deleted file mode 100644 index dce17bfbd4..0000000000 --- a/ergoCubSN000/wrappers/FT/right_foot_tiptoe-FT_wrapper_multipleSens.xml +++ /dev/null @@ -1,18 +0,0 @@ - - - - - - 10 - /icub/right_foot_tiptoe - - - - - right_leg-eb12-j3_5-strain - - - - - - diff --git a/ergoCubSN000/wrappers/motorControl/left_arm-mc_remapper.xml b/ergoCubSN000/wrappers/motorControl/left_arm-mc_remapper.xml index 736a8c6834..7babdbde9e 100644 --- a/ergoCubSN000/wrappers/motorControl/left_arm-mc_remapper.xml +++ b/ergoCubSN000/wrappers/motorControl/left_arm-mc_remapper.xml @@ -5,12 +5,18 @@ ( 0 1 0 1 ) ( 2 3 0 1 ) + ( 4 7 0 3 ) + ( 8 11 0 3 ) + ( 12 15 0 3 ) - 4 + 16 left_arm-eb1-j0_1-mc - left_arm-eb3-j2_3-mc + left_arm-eb2-j2_3-mc + left_arm-eb24-j4_7-mc + left_arm-eb25-j8_11-mc + left_arm-eb26-j12_15-mc diff --git a/ergoCubSN000/wrappers/motorControl/left_leg-mc_remapper.xml b/ergoCubSN000/wrappers/motorControl/left_leg-mc_remapper.xml index 88ef2eb0fb..139d56aaf5 100644 --- a/ergoCubSN000/wrappers/motorControl/left_leg-mc_remapper.xml +++ b/ergoCubSN000/wrappers/motorControl/left_leg-mc_remapper.xml @@ -2,14 +2,14 @@ - ( 0 2 0 2 ) - ( 3 5 0 2 ) + ( 0 3 0 3 ) + ( 4 5 0 1 ) 6 - left_leg-eb7-j0_2-mc - left_leg-eb8-j3_5-mc + left_leg-eb8-j0_3-mc + left_leg-eb9-j4_5-mc diff --git a/ergoCubSN000/wrappers/motorControl/left_shoulder-mc_remapper.xml b/ergoCubSN000/wrappers/motorControl/left_shoulder-mc_remapper.xml new file mode 100644 index 0000000000..f5b41640c6 --- /dev/null +++ b/ergoCubSN000/wrappers/motorControl/left_shoulder-mc_remapper.xml @@ -0,0 +1,17 @@ + + + + + + ( 0 1 0 1 ) + ( 2 3 0 1 ) + + 4 + + + left_arm-eb2-j0_1-mc + left_arm-eb4-j2_3-mc + + + + diff --git a/ergoCubSN000/wrappers/motorControl/left_shoulder-mc_wrapper.xml b/ergoCubSN000/wrappers/motorControl/left_shoulder-mc_wrapper.xml new file mode 100644 index 0000000000..ccc2f7bb0b --- /dev/null +++ b/ergoCubSN000/wrappers/motorControl/left_shoulder-mc_wrapper.xml @@ -0,0 +1,10 @@ + + + + + /icub/left_arm + + left_shoulder-mc_remapper + + + diff --git a/ergoCubSN000/wrappers/motorControl/right_arm-mc_remapper.xml b/ergoCubSN000/wrappers/motorControl/right_arm-mc_remapper.xml index e029b357b8..604b8dd3ec 100644 --- a/ergoCubSN000/wrappers/motorControl/right_arm-mc_remapper.xml +++ b/ergoCubSN000/wrappers/motorControl/right_arm-mc_remapper.xml @@ -5,12 +5,18 @@ ( 0 1 0 1 ) ( 2 3 0 1 ) + ( 4 7 0 3 ) + ( 8 11 0 3 ) + ( 12 15 0 3 ) - 4 + 16 - right_arm-eb2-j0_1-mc - right_arm-eb4-j2_3-mc + right_arm-eb3-j0_1-mc + right_arm-eb4-j2_3-mc + right_arm-eb27-j4_7-mc + right_arm-eb28-j8_11-mc + right_arm-eb29-j12_15-mc diff --git a/ergoCubSN000/wrappers/motorControl/right_leg-mc_remapper.xml b/ergoCubSN000/wrappers/motorControl/right_leg-mc_remapper.xml index 107e6c31a5..3f5295f728 100644 --- a/ergoCubSN000/wrappers/motorControl/right_leg-mc_remapper.xml +++ b/ergoCubSN000/wrappers/motorControl/right_leg-mc_remapper.xml @@ -2,14 +2,14 @@ - ( 0 2 0 2 ) - ( 3 5 0 2 ) + ( 0 3 0 3 ) + ( 4 5 0 1 ) 6 - right_leg-eb9-j0_2-mc - right_leg-eb10-j3_5-mc + right_leg-eb6-j0_3-mc + right_leg-eb7-j4_5-mc diff --git a/ergoCubSN000/wrappers/motorControl/right_shoulder-mc_remapper.xml b/ergoCubSN000/wrappers/motorControl/right_shoulder-mc_remapper.xml new file mode 100644 index 0000000000..7531565e87 --- /dev/null +++ b/ergoCubSN000/wrappers/motorControl/right_shoulder-mc_remapper.xml @@ -0,0 +1,17 @@ + + + + + + ( 0 1 0 1 ) + ( 2 3 0 1 ) + + 4 + + + right_arm-eb1-j0_1-mc + right_arm-eb3-j2_3-mc + + + + diff --git a/ergoCubSN000/wrappers/motorControl/right_shoulder-mc_wrapper.xml b/ergoCubSN000/wrappers/motorControl/right_shoulder-mc_wrapper.xml new file mode 100644 index 0000000000..7a3bfc6969 --- /dev/null +++ b/ergoCubSN000/wrappers/motorControl/right_shoulder-mc_wrapper.xml @@ -0,0 +1,10 @@ + + + + + /icub/right_arm + + right_shoulder-mc_remapper + + + diff --git a/experimentalSetups/5-setup/hardware/motorControl/5-setup-mc.xml b/experimentalSetups/5-setup/hardware/motorControl/5-setup-mc.xml index b9a673e742..6262c0d040 100644 --- a/experimentalSetups/5-setup/hardware/motorControl/5-setup-mc.xml +++ b/experimentalSetups/5-setup/hardware/motorControl/5-setup-mc.xml @@ -14,11 +14,11 @@ 0 0 - 7200 - 1000 - 2000 + 18000 + 3500 + 5100 15000 - 8000 + 12000 @@ -47,10 +47,10 @@ pwm metric_units machine_units - 500 + -500 0 - 100 - 8000 + -100 + 12000 3000 0 0 diff --git a/experimentalSetups/lego_setup_amc_amcbldc/calibrators/wrist-calib.xml b/experimentalSetups/lego_setup_amc_amcbldc/calibrators/wrist-calib.xml new file mode 100644 index 0000000000..b0e0627f06 --- /dev/null +++ b/experimentalSetups/lego_setup_amc_amcbldc/calibrators/wrist-calib.xml @@ -0,0 +1,47 @@ + + + + + + + + + 1 + Wrist_Calibrator + + + + 0 + 10 + + + + 12 + + 6865 + 0 + 0 + 0 + 0 + 0 + 0 + + 0.0 + 30.0 + 16000 + 2 + + + (0) + + + wrist-mc_remapper + + + + wrist-mc_remapper + + + + + diff --git a/experimentalSetups/lego_setup_amc_amcbldc/firmwareupdater.ini b/experimentalSetups/lego_setup_amc_amcbldc/firmwareupdater.ini new file mode 100644 index 0000000000..c93b53ab35 --- /dev/null +++ b/experimentalSetups/lego_setup_amc_amcbldc/firmwareupdater.ini @@ -0,0 +1,2 @@ +[DRIVERS] +ETH "eth" diff --git a/experimentalSetups/lego_setup_amc_amcbldc/general.xml b/experimentalSetups/lego_setup_amc_amcbldc/general.xml new file mode 100644 index 0000000000..80e6f0ac17 --- /dev/null +++ b/experimentalSetups/lego_setup_amc_amcbldc/general.xml @@ -0,0 +1,12 @@ + + + + + + + false + false + false + false + + diff --git a/experimentalSetups/lego_setup_amc_amcbldc/hardware/electronics/pc104.xml b/experimentalSetups/lego_setup_amc_amcbldc/hardware/electronics/pc104.xml new file mode 100644 index 0000000000..7a4be777a2 --- /dev/null +++ b/experimentalSetups/lego_setup_amc_amcbldc/hardware/electronics/pc104.xml @@ -0,0 +1,14 @@ + + + + + + + 10.0.1.104 + 12345 + 1 + 5 + + + + diff --git a/experimentalSetups/lego_setup_amc_amcbldc/hardware/electronics/wrist-eb2-j0_2-eln.xml b/experimentalSetups/lego_setup_amc_amcbldc/hardware/electronics/wrist-eb2-j0_2-eln.xml new file mode 100644 index 0000000000..e845c5ed79 --- /dev/null +++ b/experimentalSetups/lego_setup_amc_amcbldc/hardware/electronics/wrist-eb2-j0_2-eln.xml @@ -0,0 +1,40 @@ + + + + + + + + + + + 10.0.1.1 + 12345 + amc + 768 + 384 + + + + "wrist-eb2-j0_2" + + 1000 + 400 + 300 + 300 + 5 + + + + + + true + 0.020 + 60.0 + + + + + + + diff --git a/experimentalSetups/lego_setup_amc_amcbldc/hardware/mechanicals/wrist-eb2-j0_2-mec.xml b/experimentalSetups/lego_setup_amc_amcbldc/hardware/mechanicals/wrist-eb2-j0_2-mec.xml new file mode 100644 index 0000000000..26ed76e72f --- /dev/null +++ b/experimentalSetups/lego_setup_amc_amcbldc/hardware/mechanicals/wrist-eb2-j0_2-mec.xml @@ -0,0 +1,73 @@ + + + + + + 6 + 1 + 0 + "wrist_yaw" + "revolute" + 182.044 + 32000 + 1000.0 + -384.44 + 1.778 + 0 + "BLL_MOOG" + 0 + + + + 180 + -180 + 0 + 0 + + + + 1 + 0 + 1 + 1 + 0 + 0 + 14 + + + + + + 1.0 0.0 0.0 0.0 + 0.0 1.0 0.0 0.0 + 0.0 0.0 1.0 0.0 + 0.0 0.0 0.0 1.0 + + + + 1.0 0.0 0.0 0.0 + 0.0 1.0 0.0 0.0 + 0.0 0.0 1.0 0.0 + 0.0 0.0 0.0 1.0 + + + + 1.00 0.00 0.00 0.00 0.00 0.00 + 0.00 1.00 0.00 0.00 0.00 0.00 + 0.00 0.00 1.00 0.00 0.00 0.00 + 0.00 0.00 0.00 1.00 0.00 0.00 + + + + + + 1 + + 0 + none + 0 + 0 + + + + diff --git a/experimentalSetups/lego_setup_amc_amcbldc/hardware/motorControl/wrist-eb2-j0_2-mc.xml b/experimentalSetups/lego_setup_amc_amcbldc/hardware/motorControl/wrist-eb2-j0_2-mc.xml new file mode 100644 index 0000000000..33a61af6d7 --- /dev/null +++ b/experimentalSetups/lego_setup_amc_amcbldc/hardware/motorControl/wrist-eb2-j0_2-mc.xml @@ -0,0 +1,100 @@ + + + + + + + + + + + + + + + 180 + -180 + 90 + 1000 + 1500 + 2000 + 16000 + + + + 100 + + + + 0 + 0 + + + + POS_PID_DEFAULT + POS_PID_DEFAULT + POS_PID_DEFAULT + none + 2FOC_CUR_CONTROL + 2FOC_VEL_CONTROL + + + + + + + minjerk + current + metric_units + machine_units + -30 + -10 + -100 + 500 + 200 + 0 + 0 + 0 + + + + + + + + + low_lev_current + machine_units + machine_units + 2 + 0 + 500 + 0 + 32000 + 32000 + 0 + + + + low_lev_speed + machine_units + machine_units + 0 + 12 + 0 + 16 + 10 + 32000 + 32000 + + + + + + + + + + + + diff --git a/experimentalSetups/lego_setup_amc_amcbldc/hardware/motorControl/wrist-eb2-j0_2-mc_service.xml b/experimentalSetups/lego_setup_amc_amcbldc/hardware/motorControl/wrist-eb2-j0_2-mc_service.xml new file mode 100644 index 0000000000..42e5243594 --- /dev/null +++ b/experimentalSetups/lego_setup_amc_amcbldc/hardware/motorControl/wrist-eb2-j0_2-mc_service.xml @@ -0,0 +1,58 @@ + + + + + + + + eomn_serv_MC_foc + + + + + ems4 + + + + foc + + 0 + 0 + + + 0 + 0 + 0 + + + + + + + eomc_act_foc + CAN1:1:0 + + + + eomc_enc_aea + CONN:P6 + eomc_pos_atjoint + 4096 + 0.4 + + + + roie + CAN1:1:0 + atmotor + 16000 + 0 + + + + + + + + + diff --git a/experimentalSetups/lego_setup_amc_amcbldc/new_forearm-no_hand.xml b/experimentalSetups/lego_setup_amc_amcbldc/new_forearm-no_hand.xml new file mode 100644 index 0000000000..343533fd76 --- /dev/null +++ b/experimentalSetups/lego_setup_amc_amcbldc/new_forearm-no_hand.xml @@ -0,0 +1,20 @@ + + + + + + + + + + + + + + + + + + + + diff --git a/experimentalSetups/lego_setup_amc_amcbldc/sequence-close-open.posleft_hand_mc b/experimentalSetups/lego_setup_amc_amcbldc/sequence-close-open.posleft_hand_mc new file mode 100644 index 0000000000..b2900e863a --- /dev/null +++ b/experimentalSetups/lego_setup_amc_amcbldc/sequence-close-open.posleft_hand_mc @@ -0,0 +1,73 @@ + + + + + 10.00 + 10.00 + 10.00 + 10.00 + + + 40.00 + 40.00 + 40.00 + 40.00 + + + + + 70.00 + 10.00 + 10.00 + 10.00 + + + 40.00 + 40.00 + 40.00 + 40.00 + + + + + 70.00 + 70.00 + 10.00 + 10.00 + + + 40.00 + 40.00 + 40.00 + 40.00 + + + + + 70.00 + 70.00 + 70.00 + 10.00 + + + 40.00 + 40.00 + 40.00 + 40.00 + + + + + 70.00 + 70.00 + 70.00 + 70.00 + + + 40.00 + 40.00 + 40.00 + 40.00 + + + diff --git a/experimentalSetups/lego_setup_amc_amcbldc/wrappers/motorControl/wrist-mc_remapper.xml b/experimentalSetups/lego_setup_amc_amcbldc/wrappers/motorControl/wrist-mc_remapper.xml new file mode 100644 index 0000000000..0a88daf910 --- /dev/null +++ b/experimentalSetups/lego_setup_amc_amcbldc/wrappers/motorControl/wrist-mc_remapper.xml @@ -0,0 +1,15 @@ + + + + + + 0 0 0 0 + + 1 + + + wrist-eb2-j0_2-mc + + + + \ No newline at end of file diff --git a/experimentalSetups/lego_setup_amc_amcbldc/wrappers/motorControl/wrist-mc_wrapper.xml b/experimentalSetups/lego_setup_amc_amcbldc/wrappers/motorControl/wrist-mc_wrapper.xml new file mode 100644 index 0000000000..2b123c339d --- /dev/null +++ b/experimentalSetups/lego_setup_amc_amcbldc/wrappers/motorControl/wrist-mc_wrapper.xml @@ -0,0 +1,11 @@ + + + + + + /nfa/wrist_mc + + wrist-mc_remapper + + + diff --git a/experimentalSetups/lego_setup_amc_amcbldc/yarpmotorgui.ini b/experimentalSetups/lego_setup_amc_amcbldc/yarpmotorgui.ini new file mode 100644 index 0000000000..6748a45a63 --- /dev/null +++ b/experimentalSetups/lego_setup_amc_amcbldc/yarpmotorgui.ini @@ -0,0 +1,4 @@ +robot nfa + +parts (wrist_mc) + diff --git a/experimentalSetups/lego_setup_amc_amcbldc/yarprobotinterface.ini b/experimentalSetups/lego_setup_amc_amcbldc/yarprobotinterface.ini new file mode 100644 index 0000000000..ece76afabb --- /dev/null +++ b/experimentalSetups/lego_setup_amc_amcbldc/yarprobotinterface.ini @@ -0,0 +1,2 @@ +config ./new_forearm-no_hand.xml + diff --git a/experimentalSetups/lego_setup_ems_amcbldc/calibrators/wrist-calib.xml b/experimentalSetups/lego_setup_ems_amcbldc/calibrators/wrist-calib.xml new file mode 100644 index 0000000000..b0e0627f06 --- /dev/null +++ b/experimentalSetups/lego_setup_ems_amcbldc/calibrators/wrist-calib.xml @@ -0,0 +1,47 @@ + + + + + + + + + 1 + Wrist_Calibrator + + + + 0 + 10 + + + + 12 + + 6865 + 0 + 0 + 0 + 0 + 0 + 0 + + 0.0 + 30.0 + 16000 + 2 + + + (0) + + + wrist-mc_remapper + + + + wrist-mc_remapper + + + + + diff --git a/experimentalSetups/lego_setup_ems_amcbldc/firmwareupdater.ini b/experimentalSetups/lego_setup_ems_amcbldc/firmwareupdater.ini new file mode 100644 index 0000000000..c93b53ab35 --- /dev/null +++ b/experimentalSetups/lego_setup_ems_amcbldc/firmwareupdater.ini @@ -0,0 +1,2 @@ +[DRIVERS] +ETH "eth" diff --git a/experimentalSetups/lego_setup_ems_amcbldc/general.xml b/experimentalSetups/lego_setup_ems_amcbldc/general.xml new file mode 100644 index 0000000000..80e6f0ac17 --- /dev/null +++ b/experimentalSetups/lego_setup_ems_amcbldc/general.xml @@ -0,0 +1,12 @@ + + + + + + + false + false + false + false + + diff --git a/experimentalSetups/lego_setup_ems_amcbldc/hardware/electronics/pc104.xml b/experimentalSetups/lego_setup_ems_amcbldc/hardware/electronics/pc104.xml new file mode 100644 index 0000000000..7a4be777a2 --- /dev/null +++ b/experimentalSetups/lego_setup_ems_amcbldc/hardware/electronics/pc104.xml @@ -0,0 +1,14 @@ + + + + + + + 10.0.1.104 + 12345 + 1 + 5 + + + + diff --git a/experimentalSetups/lego_setup_ems_amcbldc/hardware/electronics/wrist-eb2-j0_2-eln.xml b/experimentalSetups/lego_setup_ems_amcbldc/hardware/electronics/wrist-eb2-j0_2-eln.xml new file mode 100644 index 0000000000..49c1c56748 --- /dev/null +++ b/experimentalSetups/lego_setup_ems_amcbldc/hardware/electronics/wrist-eb2-j0_2-eln.xml @@ -0,0 +1,40 @@ + + + + + + + + + + + 10.0.1.1 + 12345 + ems4 + 768 + 384 + + + + "wrist-eb2-j0_2" + + 1000 + 400 + 300 + 300 + 5 + + + + + + true + 0.020 + 60.0 + + + + + + + diff --git a/experimentalSetups/lego_setup_ems_amcbldc/hardware/mechanicals/wrist-eb2-j0_2-mec.xml b/experimentalSetups/lego_setup_ems_amcbldc/hardware/mechanicals/wrist-eb2-j0_2-mec.xml new file mode 100644 index 0000000000..26ed76e72f --- /dev/null +++ b/experimentalSetups/lego_setup_ems_amcbldc/hardware/mechanicals/wrist-eb2-j0_2-mec.xml @@ -0,0 +1,73 @@ + + + + + + 6 + 1 + 0 + "wrist_yaw" + "revolute" + 182.044 + 32000 + 1000.0 + -384.44 + 1.778 + 0 + "BLL_MOOG" + 0 + + + + 180 + -180 + 0 + 0 + + + + 1 + 0 + 1 + 1 + 0 + 0 + 14 + + + + + + 1.0 0.0 0.0 0.0 + 0.0 1.0 0.0 0.0 + 0.0 0.0 1.0 0.0 + 0.0 0.0 0.0 1.0 + + + + 1.0 0.0 0.0 0.0 + 0.0 1.0 0.0 0.0 + 0.0 0.0 1.0 0.0 + 0.0 0.0 0.0 1.0 + + + + 1.00 0.00 0.00 0.00 0.00 0.00 + 0.00 1.00 0.00 0.00 0.00 0.00 + 0.00 0.00 1.00 0.00 0.00 0.00 + 0.00 0.00 0.00 1.00 0.00 0.00 + + + + + + 1 + + 0 + none + 0 + 0 + + + + diff --git a/experimentalSetups/lego_setup_ems_amcbldc/hardware/motorControl/wrist-eb2-j0_2-mc.xml b/experimentalSetups/lego_setup_ems_amcbldc/hardware/motorControl/wrist-eb2-j0_2-mc.xml new file mode 100644 index 0000000000..33a61af6d7 --- /dev/null +++ b/experimentalSetups/lego_setup_ems_amcbldc/hardware/motorControl/wrist-eb2-j0_2-mc.xml @@ -0,0 +1,100 @@ + + + + + + + + + + + + + + + 180 + -180 + 90 + 1000 + 1500 + 2000 + 16000 + + + + 100 + + + + 0 + 0 + + + + POS_PID_DEFAULT + POS_PID_DEFAULT + POS_PID_DEFAULT + none + 2FOC_CUR_CONTROL + 2FOC_VEL_CONTROL + + + + + + + minjerk + current + metric_units + machine_units + -30 + -10 + -100 + 500 + 200 + 0 + 0 + 0 + + + + + + + + + low_lev_current + machine_units + machine_units + 2 + 0 + 500 + 0 + 32000 + 32000 + 0 + + + + low_lev_speed + machine_units + machine_units + 0 + 12 + 0 + 16 + 10 + 32000 + 32000 + + + + + + + + + + + + diff --git a/experimentalSetups/lego_setup_ems_amcbldc/hardware/motorControl/wrist-eb2-j0_2-mc_service.xml b/experimentalSetups/lego_setup_ems_amcbldc/hardware/motorControl/wrist-eb2-j0_2-mc_service.xml new file mode 100644 index 0000000000..42e5243594 --- /dev/null +++ b/experimentalSetups/lego_setup_ems_amcbldc/hardware/motorControl/wrist-eb2-j0_2-mc_service.xml @@ -0,0 +1,58 @@ + + + + + + + + eomn_serv_MC_foc + + + + + ems4 + + + + foc + + 0 + 0 + + + 0 + 0 + 0 + + + + + + + eomc_act_foc + CAN1:1:0 + + + + eomc_enc_aea + CONN:P6 + eomc_pos_atjoint + 4096 + 0.4 + + + + roie + CAN1:1:0 + atmotor + 16000 + 0 + + + + + + + + + diff --git a/experimentalSetups/lego_setup_ems_amcbldc/new_forearm-no_hand.xml b/experimentalSetups/lego_setup_ems_amcbldc/new_forearm-no_hand.xml new file mode 100644 index 0000000000..343533fd76 --- /dev/null +++ b/experimentalSetups/lego_setup_ems_amcbldc/new_forearm-no_hand.xml @@ -0,0 +1,20 @@ + + + + + + + + + + + + + + + + + + + + diff --git a/experimentalSetups/lego_setup_ems_amcbldc/sequence-close-open.posleft_hand_mc b/experimentalSetups/lego_setup_ems_amcbldc/sequence-close-open.posleft_hand_mc new file mode 100644 index 0000000000..b2900e863a --- /dev/null +++ b/experimentalSetups/lego_setup_ems_amcbldc/sequence-close-open.posleft_hand_mc @@ -0,0 +1,73 @@ + + + + + 10.00 + 10.00 + 10.00 + 10.00 + + + 40.00 + 40.00 + 40.00 + 40.00 + + + + + 70.00 + 10.00 + 10.00 + 10.00 + + + 40.00 + 40.00 + 40.00 + 40.00 + + + + + 70.00 + 70.00 + 10.00 + 10.00 + + + 40.00 + 40.00 + 40.00 + 40.00 + + + + + 70.00 + 70.00 + 70.00 + 10.00 + + + 40.00 + 40.00 + 40.00 + 40.00 + + + + + 70.00 + 70.00 + 70.00 + 70.00 + + + 40.00 + 40.00 + 40.00 + 40.00 + + + diff --git a/experimentalSetups/lego_setup_ems_amcbldc/wrappers/motorControl/wrist-mc_remapper.xml b/experimentalSetups/lego_setup_ems_amcbldc/wrappers/motorControl/wrist-mc_remapper.xml new file mode 100644 index 0000000000..0a88daf910 --- /dev/null +++ b/experimentalSetups/lego_setup_ems_amcbldc/wrappers/motorControl/wrist-mc_remapper.xml @@ -0,0 +1,15 @@ + + + + + + 0 0 0 0 + + 1 + + + wrist-eb2-j0_2-mc + + + + \ No newline at end of file diff --git a/experimentalSetups/lego_setup_ems_amcbldc/wrappers/motorControl/wrist-mc_wrapper.xml b/experimentalSetups/lego_setup_ems_amcbldc/wrappers/motorControl/wrist-mc_wrapper.xml new file mode 100644 index 0000000000..2b123c339d --- /dev/null +++ b/experimentalSetups/lego_setup_ems_amcbldc/wrappers/motorControl/wrist-mc_wrapper.xml @@ -0,0 +1,11 @@ + + + + + + /nfa/wrist_mc + + wrist-mc_remapper + + + diff --git a/experimentalSetups/lego_setup_ems_amcbldc/yarpmotorgui.ini b/experimentalSetups/lego_setup_ems_amcbldc/yarpmotorgui.ini new file mode 100644 index 0000000000..6748a45a63 --- /dev/null +++ b/experimentalSetups/lego_setup_ems_amcbldc/yarpmotorgui.ini @@ -0,0 +1,4 @@ +robot nfa + +parts (wrist_mc) + diff --git a/experimentalSetups/lego_setup_ems_amcbldc/yarprobotinterface.ini b/experimentalSetups/lego_setup_ems_amcbldc/yarprobotinterface.ini new file mode 100644 index 0000000000..ece76afabb --- /dev/null +++ b/experimentalSetups/lego_setup_ems_amcbldc/yarprobotinterface.ini @@ -0,0 +1,2 @@ +config ./new_forearm-no_hand.xml + diff --git a/experimentalSetups/wristmk2_handmk3_ems_amcbldc/calibrators/wrist-calib.xml b/experimentalSetups/wristmk2_handmk3_ems_amcbldc/calibrators/wrist-calib.xml index c1a041f32c..1590006c0a 100644 --- a/experimentalSetups/wristmk2_handmk3_ems_amcbldc/calibrators/wrist-calib.xml +++ b/experimentalSetups/wristmk2_handmk3_ems_amcbldc/calibrators/wrist-calib.xml @@ -18,8 +18,7 @@ 12 12 12 - - 6172 18789 11688 + 6865 29533 30289 0 0 0 0 0 0 0 0 0 @@ -36,14 +35,13 @@ (0 1 2) - wrist-mc_wrapper + wrist-mc_remapper - wrist-mc_wrapper + wrist-mc_remapper - diff --git a/experimentalSetups/wristmk2_handmk3_ems_amcbldc/hardware/mechanicals/wrist-eb2-j0_2-mec.xml b/experimentalSetups/wristmk2_handmk3_ems_amcbldc/hardware/mechanicals/wrist-eb2-j0_2-mec.xml index 4e4ba87ae5..059f85b8f2 100644 --- a/experimentalSetups/wristmk2_handmk3_ems_amcbldc/hardware/mechanicals/wrist-eb2-j0_2-mec.xml +++ b/experimentalSetups/wristmk2_handmk3_ems_amcbldc/hardware/mechanicals/wrist-eb2-j0_2-mec.xml @@ -6,7 +6,7 @@ 6 3 0 1 2 - "wrist_yaw" "wrist_pitch" "wrist_roll" + "wrist_yaw" "wrist_roll" "wrist_pitch" "revolute" "revolute" "revolute" 182.044 182.044 182.044 32000 32000 32000 @@ -28,8 +28,8 @@ 1 1 1 0 0 0 - 0 0 0 - 0 0 0 + 1 1 1 + 1 1 1 0 0 0 0 0 0 14 14 14 diff --git a/experimentalSetups/wristmk2_handmk3_ems_amcbldc/hardware/motorControl/wrist-eb2-j0_2-mc_service.xml b/experimentalSetups/wristmk2_handmk3_ems_amcbldc/hardware/motorControl/wrist-eb2-j0_2-mc_service.xml index 6b1469120d..391bf572df 100644 --- a/experimentalSetups/wristmk2_handmk3_ems_amcbldc/hardware/motorControl/wrist-eb2-j0_2-mc_service.xml +++ b/experimentalSetups/wristmk2_handmk3_ems_amcbldc/hardware/motorControl/wrist-eb2-j0_2-mc_service.xml @@ -42,12 +42,12 @@ - none none none - CONN:none CONN:none CONN:none - none none none - 0 0 0 - 0 0 0 - + roie roie roie + CAN1:1:0 CAN1:2:0 CAN1:3:0 + atmotor atmotor atmotor + 16000 16000 16000 + 0 0 0 + @@ -56,4 +56,3 @@ - diff --git a/experimentalSetups/wristmk2_handmk3_ems_amcbldc/new_forearm-no_hand.xml b/experimentalSetups/wristmk2_handmk3_ems_amcbldc/new_forearm-no_hand.xml index 8d6ba76fad..343533fd76 100644 --- a/experimentalSetups/wristmk2_handmk3_ems_amcbldc/new_forearm-no_hand.xml +++ b/experimentalSetups/wristmk2_handmk3_ems_amcbldc/new_forearm-no_hand.xml @@ -11,6 +11,7 @@ + diff --git a/experimentalSetups/wristmk2_handmk3_ems_amcbldc/wrappers/motorControl/wrist-mc_remapper.xml b/experimentalSetups/wristmk2_handmk3_ems_amcbldc/wrappers/motorControl/wrist-mc_remapper.xml new file mode 100644 index 0000000000..10e2168219 --- /dev/null +++ b/experimentalSetups/wristmk2_handmk3_ems_amcbldc/wrappers/motorControl/wrist-mc_remapper.xml @@ -0,0 +1,15 @@ + + + + + + 0 2 0 2 + + 3 + + + wrist-eb2-j0_2-mc + + + + \ No newline at end of file diff --git a/experimentalSetups/wristmk2_handmk3_ems_amcbldc/wrappers/motorControl/wrist-mc_wrapper.xml b/experimentalSetups/wristmk2_handmk3_ems_amcbldc/wrappers/motorControl/wrist-mc_wrapper.xml index 4651758740..2b123c339d 100644 --- a/experimentalSetups/wristmk2_handmk3_ems_amcbldc/wrappers/motorControl/wrist-mc_wrapper.xml +++ b/experimentalSetups/wristmk2_handmk3_ems_amcbldc/wrappers/motorControl/wrist-mc_wrapper.xml @@ -2,27 +2,10 @@ - - - - 0 2 0 2 - - - 10 - /nfa/wrist_mc - wrist_mc - 3 - - - - - - wrist-eb2-j0_2-mc - wrist-calibrator - + + /nfa/wrist_mc + + wrist-mc_remapper - - - + - diff --git a/iCubChemnitz01/estimators/wholebodydynamics.xml b/iCubChemnitz01/estimators/wholebodydynamics.xml index acb7efd885..7ad64be186 100644 --- a/iCubChemnitz01/estimators/wholebodydynamics.xml +++ b/iCubChemnitz01/estimators/wholebodydynamics.xml @@ -44,27 +44,27 @@ 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) - + - - (7.425024e-01,5.604686e-02,-4.408041e-02,3.727271e-01,6.718566e-01,2.605184e-01 - ,2.376318e-02,4.601413e-01,9.920935e-03,-8.951425e-01,-1.167558e-01,1.971860e+00 - ,-7.972684e-02,-2.326263e-01,9.977213e-01,-1.405751e+00,3.249553e-01,-1.666625e+00 - ,-5.519838e-03,-1.664778e-02,2.642368e-03,8.229934e-01,1.622153e-02,-2.456099e-02 - ,9.019424e-03,8.294730e-04,-2.194214e-03,3.696845e-03,8.865210e-01,-5.286550e-02 + + (7.425024e-01,5.604686e-02,-4.408041e-02,3.727271e-01,6.718566e-01,2.605184e-01 + ,2.376318e-02,4.601413e-01,9.920935e-03,-8.951425e-01,-1.167558e-01,1.971860e+00 + ,-7.972684e-02,-2.326263e-01,9.977213e-01,-1.405751e+00,3.249553e-01,-1.666625e+00 + ,-5.519838e-03,-1.664778e-02,2.642368e-03,8.229934e-01,1.622153e-02,-2.456099e-02 + ,9.019424e-03,8.294730e-04,-2.194214e-03,3.696845e-03,8.865210e-01,-5.286550e-02 ,1.979480e-03,1.733975e-04,-3.815689e-05,-1.993212e-02,-1.673455e-02,9.158948e-01) - (9.308601e-01,7.328130e-03,-1.211788e-02,-1.123839e-01,-2.977943e-01,-1.954805e-02 - ,-8.177519e-02,7.160387e-01,-4.158542e-02,1.077732e+00,4.997348e-01,2.431916e+00 - ,-4.174433e-02,-1.784640e-01,9.661752e-01,-1.386611e+00,1.538259e-01,-5.603641e-01 - ,-1.877732e-03,-3.220898e-03,-6.874089e-04,9.546012e-01,1.329514e-02,2.982738e-02 - ,-2.466464e-03,2.580501e-03,-3.510048e-04,6.640786e-03,9.513549e-01,4.179682e-02 + (9.308601e-01,7.328130e-03,-1.211788e-02,-1.123839e-01,-2.977943e-01,-1.954805e-02 + ,-8.177519e-02,7.160387e-01,-4.158542e-02,1.077732e+00,4.997348e-01,2.431916e+00 + ,-4.174433e-02,-1.784640e-01,9.661752e-01,-1.386611e+00,1.538259e-01,-5.603641e-01 + ,-1.877732e-03,-3.220898e-03,-6.874089e-04,9.546012e-01,1.329514e-02,2.982738e-02 + ,-2.466464e-03,2.580501e-03,-3.510048e-04,6.640786e-03,9.513549e-01,4.179682e-02 ,2.002912e-03,3.654545e-04,3.323602e-04,-1.106579e-02,-8.070312e-03,9.706656e-01) - + - + @@ -93,7 +93,7 @@ head-inertial - + left_arm-eb1-j0_3-strain right_arm-eb3-j0_3-strain diff --git a/iCubGenova04/estimators/wholebodydynamics.xml b/iCubGenova04/estimators/wholebodydynamics.xml index a864167f1c..cdee796cf6 100644 --- a/iCubGenova04/estimators/wholebodydynamics.xml +++ b/iCubGenova04/estimators/wholebodydynamics.xml @@ -45,27 +45,27 @@ 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) - + - - (7.425024e-01,5.604686e-02,-4.408041e-02,3.727271e-01,6.718566e-01,2.605184e-01 - ,2.376318e-02,4.601413e-01,9.920935e-03,-8.951425e-01,-1.167558e-01,1.971860e+00 - ,-7.972684e-02,-2.326263e-01,9.977213e-01,-1.405751e+00,3.249553e-01,-1.666625e+00 - ,-5.519838e-03,-1.664778e-02,2.642368e-03,8.229934e-01,1.622153e-02,-2.456099e-02 - ,9.019424e-03,8.294730e-04,-2.194214e-03,3.696845e-03,8.865210e-01,-5.286550e-02 + + (7.425024e-01,5.604686e-02,-4.408041e-02,3.727271e-01,6.718566e-01,2.605184e-01 + ,2.376318e-02,4.601413e-01,9.920935e-03,-8.951425e-01,-1.167558e-01,1.971860e+00 + ,-7.972684e-02,-2.326263e-01,9.977213e-01,-1.405751e+00,3.249553e-01,-1.666625e+00 + ,-5.519838e-03,-1.664778e-02,2.642368e-03,8.229934e-01,1.622153e-02,-2.456099e-02 + ,9.019424e-03,8.294730e-04,-2.194214e-03,3.696845e-03,8.865210e-01,-5.286550e-02 ,1.979480e-03,1.733975e-04,-3.815689e-05,-1.993212e-02,-1.673455e-02,9.158948e-01) - (9.308601e-01,7.328130e-03,-1.211788e-02,-1.123839e-01,-2.977943e-01,-1.954805e-02 - ,-8.177519e-02,7.160387e-01,-4.158542e-02,1.077732e+00,4.997348e-01,2.431916e+00 - ,-4.174433e-02,-1.784640e-01,9.661752e-01,-1.386611e+00,1.538259e-01,-5.603641e-01 - ,-1.877732e-03,-3.220898e-03,-6.874089e-04,9.546012e-01,1.329514e-02,2.982738e-02 - ,-2.466464e-03,2.580501e-03,-3.510048e-04,6.640786e-03,9.513549e-01,4.179682e-02 + (9.308601e-01,7.328130e-03,-1.211788e-02,-1.123839e-01,-2.977943e-01,-1.954805e-02 + ,-8.177519e-02,7.160387e-01,-4.158542e-02,1.077732e+00,4.997348e-01,2.431916e+00 + ,-4.174433e-02,-1.784640e-01,9.661752e-01,-1.386611e+00,1.538259e-01,-5.603641e-01 + ,-1.877732e-03,-3.220898e-03,-6.874089e-04,9.546012e-01,1.329514e-02,2.982738e-02 + ,-2.466464e-03,2.580501e-03,-3.510048e-04,6.640786e-03,9.513549e-01,4.179682e-02 ,2.002912e-03,3.654545e-04,3.323602e-04,-1.106579e-02,-8.070312e-03,9.706656e-01) - + - + @@ -94,7 +94,7 @@ head-inertial - + left_arm-eb1-j0_3-strain right_arm-eb3-j0_3-strain diff --git a/iCubGenova04/estimators/wholebodydynamics_iRonCub.xml b/iCubGenova04/estimators/wholebodydynamics_iRonCub.xml index 82d58f8692..f9ef8d1325 100644 --- a/iCubGenova04/estimators/wholebodydynamics_iRonCub.xml +++ b/iCubGenova04/estimators/wholebodydynamics_iRonCub.xml @@ -12,7 +12,7 @@ 2 true false - true + true 3.0 3.0 3.0 @@ -44,27 +44,27 @@ 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) - + + --> @@ -93,7 +93,7 @@ head-inertial - + left_arm-eb1-j0_3-strain right_arm-eb3-j0_3-strain diff --git a/iCubGenova04/estimators/wholebodydynamics_nohands.xml b/iCubGenova04/estimators/wholebodydynamics_nohands.xml index 9eb2186d2a..1631f7ad29 100644 --- a/iCubGenova04/estimators/wholebodydynamics_nohands.xml +++ b/iCubGenova04/estimators/wholebodydynamics_nohands.xml @@ -44,27 +44,27 @@ 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) - + - - (7.425024e-01,5.604686e-02,-4.408041e-02,3.727271e-01,6.718566e-01,2.605184e-01 - ,2.376318e-02,4.601413e-01,9.920935e-03,-8.951425e-01,-1.167558e-01,1.971860e+00 - ,-7.972684e-02,-2.326263e-01,9.977213e-01,-1.405751e+00,3.249553e-01,-1.666625e+00 - ,-5.519838e-03,-1.664778e-02,2.642368e-03,8.229934e-01,1.622153e-02,-2.456099e-02 - ,9.019424e-03,8.294730e-04,-2.194214e-03,3.696845e-03,8.865210e-01,-5.286550e-02 + + (7.425024e-01,5.604686e-02,-4.408041e-02,3.727271e-01,6.718566e-01,2.605184e-01 + ,2.376318e-02,4.601413e-01,9.920935e-03,-8.951425e-01,-1.167558e-01,1.971860e+00 + ,-7.972684e-02,-2.326263e-01,9.977213e-01,-1.405751e+00,3.249553e-01,-1.666625e+00 + ,-5.519838e-03,-1.664778e-02,2.642368e-03,8.229934e-01,1.622153e-02,-2.456099e-02 + ,9.019424e-03,8.294730e-04,-2.194214e-03,3.696845e-03,8.865210e-01,-5.286550e-02 ,1.979480e-03,1.733975e-04,-3.815689e-05,-1.993212e-02,-1.673455e-02,9.158948e-01) - (9.308601e-01,7.328130e-03,-1.211788e-02,-1.123839e-01,-2.977943e-01,-1.954805e-02 - ,-8.177519e-02,7.160387e-01,-4.158542e-02,1.077732e+00,4.997348e-01,2.431916e+00 - ,-4.174433e-02,-1.784640e-01,9.661752e-01,-1.386611e+00,1.538259e-01,-5.603641e-01 - ,-1.877732e-03,-3.220898e-03,-6.874089e-04,9.546012e-01,1.329514e-02,2.982738e-02 - ,-2.466464e-03,2.580501e-03,-3.510048e-04,6.640786e-03,9.513549e-01,4.179682e-02 + (9.308601e-01,7.328130e-03,-1.211788e-02,-1.123839e-01,-2.977943e-01,-1.954805e-02 + ,-8.177519e-02,7.160387e-01,-4.158542e-02,1.077732e+00,4.997348e-01,2.431916e+00 + ,-4.174433e-02,-1.784640e-01,9.661752e-01,-1.386611e+00,1.538259e-01,-5.603641e-01 + ,-1.877732e-03,-3.220898e-03,-6.874089e-04,9.546012e-01,1.329514e-02,2.982738e-02 + ,-2.466464e-03,2.580501e-03,-3.510048e-04,6.640786e-03,9.513549e-01,4.179682e-02 ,2.002912e-03,3.654545e-04,3.323602e-04,-1.106579e-02,-8.070312e-03,9.706656e-01) - + - + @@ -91,7 +91,7 @@ head-inertial - + left_arm-eb1-j0_3-strain right_arm-eb3-j0_3-strain diff --git a/iCubGenova04/hardware/inertials/waist-inertial.xml b/iCubGenova04/hardware/inertials/waist-inertial.xml index 8d2f688d6b..e262698535 100644 --- a/iCubGenova04/hardware/inertials/waist-inertial.xml +++ b/iCubGenova04/hardware/inertials/waist-inertial.xml @@ -2,9 +2,6 @@ - - /icub/xsens_inertial - xsensmt + /dev/ttyXsens - diff --git a/iCubGenova04/iRonCub-noLegs_wbd.xml b/iCubGenova04/iRonCub-noLegs_wbd.xml index 35312ba802..c6adf71ffb 100644 --- a/iCubGenova04/iRonCub-noLegs_wbd.xml +++ b/iCubGenova04/iRonCub-noLegs_wbd.xml @@ -47,16 +47,18 @@ - + - diff --git a/iCubGenova04/iRonCub_wbd.xml b/iCubGenova04/iRonCub_wbd.xml index ca0113af6d..54629cabe4 100644 --- a/iCubGenova04/iRonCub_wbd.xml +++ b/iCubGenova04/iRonCub_wbd.xml @@ -47,15 +47,17 @@ + + - diff --git a/iCubGenova04/icub_all.xml b/iCubGenova04/icub_all.xml index 971ba4bd3c..51bc2ddf91 100644 --- a/iCubGenova04/icub_all.xml +++ b/iCubGenova04/icub_all.xml @@ -5,23 +5,23 @@ - + - - - - - + + + + + - + - + @@ -33,72 +33,74 @@ - + - - + + - + + + - - - - - - + + + + + + - - + + - + - + - + - + - + - + - - + + - - - - + + + + - + - + - - + + - - + + - + diff --git a/iCubGenova04/icub_all_inertials.xml b/iCubGenova04/icub_all_inertials.xml index d9d84b004d..2acb5aa92f 100644 --- a/iCubGenova04/icub_all_inertials.xml +++ b/iCubGenova04/icub_all_inertials.xml @@ -5,7 +5,7 @@ - + @@ -48,6 +48,8 @@ + + diff --git a/iCubGenova04/icub_arms.xml b/iCubGenova04/icub_arms.xml index bbe952da73..6f33874c53 100644 --- a/iCubGenova04/icub_arms.xml +++ b/iCubGenova04/icub_arms.xml @@ -5,14 +5,14 @@ - + - - - + + @@ -39,56 +39,58 @@ - - + + - + + + - - - - + + + - + + --> - - + - + - - + + - + - + diff --git a/iCubGenova04/icub_right_leg.xml b/iCubGenova04/icub_right_leg.xml index db20434c56..8d66b71c80 100644 --- a/iCubGenova04/icub_right_leg.xml +++ b/iCubGenova04/icub_right_leg.xml @@ -5,14 +5,14 @@ - + - - - + + @@ -39,56 +39,58 @@ - - + + - + + + - - - - + + + - + + --> - - + - + - - + + - + - + diff --git a/iCubGenova04/icub_standup.xml b/iCubGenova04/icub_standup.xml index a3c246fdce..ee447bdb18 100644 --- a/iCubGenova04/icub_standup.xml +++ b/iCubGenova04/icub_standup.xml @@ -5,7 +5,7 @@ - + @@ -47,7 +47,9 @@ - + + + diff --git a/iCubGenova04/icub_test.xml b/iCubGenova04/icub_test.xml index b88e5a0f69..69354138f0 100644 --- a/iCubGenova04/icub_test.xml +++ b/iCubGenova04/icub_test.xml @@ -5,7 +5,7 @@ - + @@ -47,17 +47,19 @@ --> - + - + diff --git a/iCubGenova04/icub_wbd.xml b/iCubGenova04/icub_wbd.xml index 5be7457cdf..2d16e240bf 100644 --- a/iCubGenova04/icub_wbd.xml +++ b/iCubGenova04/icub_wbd.xml @@ -5,21 +5,21 @@ - + - + - - + + - - + + - - + + @@ -57,16 +57,18 @@ + + - - - - - - - - + + + + + + + + diff --git a/iCubGenova04/icub_wbd_inertials.xml b/iCubGenova04/icub_wbd_inertials.xml index 1fdcbbc8a3..2d5a7fd6b4 100644 --- a/iCubGenova04/icub_wbd_inertials.xml +++ b/iCubGenova04/icub_wbd_inertials.xml @@ -5,7 +5,7 @@ - + @@ -47,7 +47,9 @@ - + diff --git a/iCubGenova04/icub_wbd_noFTfeet.xml b/iCubGenova04/icub_wbd_noFTfeet.xml index 420d69a686..6e97bdea2c 100644 --- a/iCubGenova04/icub_wbd_noFTfeet.xml +++ b/iCubGenova04/icub_wbd_noFTfeet.xml @@ -5,7 +5,7 @@ - + @@ -43,7 +43,9 @@ - + + + @@ -103,7 +105,7 @@ - + diff --git a/iCubGenova04/icub_wbd_nofingers.xml b/iCubGenova04/icub_wbd_nofingers.xml index 3ad473555f..03a601df25 100644 --- a/iCubGenova04/icub_wbd_nofingers.xml +++ b/iCubGenova04/icub_wbd_nofingers.xml @@ -5,7 +5,7 @@ - + @@ -47,17 +47,19 @@ - + - - - - - - - - + + + + + + + + @@ -115,7 +117,7 @@ - + diff --git a/iCubGenova04/icub_wbd_nohands.xml b/iCubGenova04/icub_wbd_nohands.xml index 31d6a069f9..d6b151ebd0 100644 --- a/iCubGenova04/icub_wbd_nohands.xml +++ b/iCubGenova04/icub_wbd_nohands.xml @@ -5,7 +5,7 @@ - + @@ -41,17 +41,19 @@ - + + + - - - - - - - - + + + + + + + + diff --git a/iCubGenova04/icub_wbd_noskin.xml b/iCubGenova04/icub_wbd_noskin.xml index 64faadc023..b3a882b1e8 100644 --- a/iCubGenova04/icub_wbd_noskin.xml +++ b/iCubGenova04/icub_wbd_noskin.xml @@ -5,7 +5,7 @@ - + @@ -48,16 +48,18 @@ + + - - - - - - - - + + + + + + + + @@ -96,7 +98,7 @@ - + diff --git a/iCubGenova04/icub_wbd_noskin_noxsens.xml b/iCubGenova04/icub_wbd_noskin_noxsens.xml index 1f4aa3c828..086dc7b6cc 100644 --- a/iCubGenova04/icub_wbd_noskin_noxsens.xml +++ b/iCubGenova04/icub_wbd_noskin_noxsens.xml @@ -5,7 +5,7 @@ - + @@ -47,7 +47,9 @@ - + diff --git a/iCubGenova04/icub_wbd_noskin_noxsens_wfeetimu_strain2.xml b/iCubGenova04/icub_wbd_noskin_noxsens_wfeetimu_strain2.xml index b69d25ae10..0c85047c73 100644 --- a/iCubGenova04/icub_wbd_noskin_noxsens_wfeetimu_strain2.xml +++ b/iCubGenova04/icub_wbd_noskin_noxsens_wfeetimu_strain2.xml @@ -5,7 +5,7 @@ - + @@ -47,17 +47,19 @@ - + - @@ -93,8 +95,8 @@ - - + + diff --git a/iCubGenova04/icub_wbd_noskin_wfeetimu.xml b/iCubGenova04/icub_wbd_noskin_wfeetimu.xml index 413c843543..bca343e573 100644 --- a/iCubGenova04/icub_wbd_noskin_wfeetimu.xml +++ b/iCubGenova04/icub_wbd_noskin_wfeetimu.xml @@ -5,7 +5,7 @@ - + @@ -47,14 +47,16 @@ - + + + - - - - + + + + @@ -104,7 +106,7 @@ - + diff --git a/iCubGenova04/wrappers/inertials/waist-xsensmt-inertials_wrapper-deprecated.xml b/iCubGenova04/wrappers/inertials/waist-xsensmt-inertials_wrapper-deprecated.xml new file mode 100644 index 0000000000..c7739412f0 --- /dev/null +++ b/iCubGenova04/wrappers/inertials/waist-xsensmt-inertials_wrapper-deprecated.xml @@ -0,0 +1,18 @@ + + + + + + 0.010 + /icub/xsens_inertial + + + + + + xsensmt-inertial + + + + + diff --git a/iCubGenova04/wrappers/inertials/waist-xsensmt-inertials_wrapper.xml b/iCubGenova04/wrappers/inertials/waist-xsensmt-inertials_wrapper.xml new file mode 100644 index 0000000000..79c7c2972e --- /dev/null +++ b/iCubGenova04/wrappers/inertials/waist-xsensmt-inertials_wrapper.xml @@ -0,0 +1,17 @@ + + + + + + 10 + /icub/waist/xsens_inertials + + + + + xsensmt-inertial + + + + + diff --git a/iCubGenova07/hardware/inertials/waist-inertial.xml b/iCubGenova07/hardware/inertials/waist-inertial.xml index 8d2f688d6b..e262698535 100644 --- a/iCubGenova07/hardware/inertials/waist-inertial.xml +++ b/iCubGenova07/hardware/inertials/waist-inertial.xml @@ -2,9 +2,6 @@ - - /icub/xsens_inertial - xsensmt + /dev/ttyXsens - diff --git a/iCubGenova07/wrappers/inertials/waist-xsensmt-inertials_wrapper-deprecated.xml b/iCubGenova07/wrappers/inertials/waist-xsensmt-inertials_wrapper-deprecated.xml new file mode 100644 index 0000000000..c7739412f0 --- /dev/null +++ b/iCubGenova07/wrappers/inertials/waist-xsensmt-inertials_wrapper-deprecated.xml @@ -0,0 +1,18 @@ + + + + + + 0.010 + /icub/xsens_inertial + + + + + + xsensmt-inertial + + + + + diff --git a/iCubGenova07/wrappers/inertials/waist-xsensmt-inertials_wrapper.xml b/iCubGenova07/wrappers/inertials/waist-xsensmt-inertials_wrapper.xml new file mode 100644 index 0000000000..79c7c2972e --- /dev/null +++ b/iCubGenova07/wrappers/inertials/waist-xsensmt-inertials_wrapper.xml @@ -0,0 +1,17 @@ + + + + + + 10 + /icub/waist/xsens_inertials + + + + + xsensmt-inertial + + + + + diff --git a/iCubGenova08/hardware/inertials/waist-inertial.xml b/iCubGenova08/hardware/inertials/waist-inertial.xml index 8d2f688d6b..e262698535 100644 --- a/iCubGenova08/hardware/inertials/waist-inertial.xml +++ b/iCubGenova08/hardware/inertials/waist-inertial.xml @@ -2,9 +2,6 @@ - - /icub/xsens_inertial - xsensmt + /dev/ttyXsens - diff --git a/iCubGenova08/icub_all_no_legs_no_skin.xml b/iCubGenova08/icub_all_no_legs_no_skin.xml index 63ab5848f8..cbe885c3e4 100644 --- a/iCubGenova08/icub_all_no_legs_no_skin.xml +++ b/iCubGenova08/icub_all_no_legs_no_skin.xml @@ -5,32 +5,32 @@ - + - - + + - - + + - - - + + + - - + + - + - + - + @@ -42,66 +42,68 @@ - - + + + --> + - - - - - - + + + + + + - + - - - + - + @@ -109,4 +111,4 @@ --> - + diff --git a/iCubGenova08/icub_all_no_legs_skin_palm.xml b/iCubGenova08/icub_all_no_legs_skin_palm.xml index 05be49780b..902287efdd 100644 --- a/iCubGenova08/icub_all_no_legs_skin_palm.xml +++ b/iCubGenova08/icub_all_no_legs_skin_palm.xml @@ -5,34 +5,34 @@ - + - + - - + + - - + + - - + + - - + + - + - + @@ -61,53 +61,55 @@ - - + + - - - - - - + + + + + + - - + + - + - + - - + + - - - - + - + @@ -115,4 +117,4 @@ --> - + diff --git a/iCubGenova08/wrappers/inertials/waist-xsensmt-inertials_wrapper-deprecated.xml b/iCubGenova08/wrappers/inertials/waist-xsensmt-inertials_wrapper-deprecated.xml new file mode 100644 index 0000000000..c7739412f0 --- /dev/null +++ b/iCubGenova08/wrappers/inertials/waist-xsensmt-inertials_wrapper-deprecated.xml @@ -0,0 +1,18 @@ + + + + + + 0.010 + /icub/xsens_inertial + + + + + + xsensmt-inertial + + + + + diff --git a/iCubGenova08/wrappers/inertials/waist-xsensmt-inertials_wrapper.xml b/iCubGenova08/wrappers/inertials/waist-xsensmt-inertials_wrapper.xml new file mode 100644 index 0000000000..79c7c2972e --- /dev/null +++ b/iCubGenova08/wrappers/inertials/waist-xsensmt-inertials_wrapper.xml @@ -0,0 +1,17 @@ + + + + + + 10 + /icub/waist/xsens_inertials + + + + + xsensmt-inertial + + + + + diff --git a/iCubGenova09/estimators/wholebodydynamics.xml b/iCubGenova09/estimators/wholebodydynamics.xml index f286c5698f..570ba3d885 100644 --- a/iCubGenova09/estimators/wholebodydynamics.xml +++ b/iCubGenova09/estimators/wholebodydynamics.xml @@ -100,7 +100,7 @@ 0.0094914880635709,-0.0036234283827821,0.00212121520644588,-0.126864592608127,-0.556355373823465,-0.875100018833281) - + (-8.458958238581,18.9645423508596,5.01464123963002,-1.54527454195987,-0.75593243710498,0.247784639700732) @@ -141,11 +141,11 @@ right_leg-eb12-j3_5-mc - head-inertial + head-inertial - + - @@ -159,6 +159,6 @@ - + diff --git a/iCubGenova10/hardware/inertials/waist-inertial.xml b/iCubGenova10/hardware/inertials/waist-inertial.xml index 8d2f688d6b..e262698535 100644 --- a/iCubGenova10/hardware/inertials/waist-inertial.xml +++ b/iCubGenova10/hardware/inertials/waist-inertial.xml @@ -2,9 +2,6 @@ - - /icub/xsens_inertial - xsensmt + /dev/ttyXsens - diff --git a/iCubGenova10/head-inetrials.xml b/iCubGenova10/head-inetrials.xml index c724063b09..30c13d5f7d 100644 --- a/iCubGenova10/head-inetrials.xml +++ b/iCubGenova10/head-inetrials.xml @@ -5,33 +5,35 @@ - + - - + + - - - + + + + - + --> - + + + - + - + diff --git a/iCubGenova10/icub_all.xml b/iCubGenova10/icub_all.xml index 3b2977535e..73501d0707 100644 --- a/iCubGenova10/icub_all.xml +++ b/iCubGenova10/icub_all.xml @@ -5,38 +5,38 @@ - + - + - + - - + + - - + + - - + + - + - - + + - - + + - + - + @@ -59,61 +59,63 @@ - + - + - + - + + + - + - - - - - - + + + + + + - - + + - - + + - + - + - + - + - + - - + + - - - - + + + + - + - + @@ -121,4 +123,4 @@ - + diff --git a/iCubGenova10/icub_all_no_skin.xml b/iCubGenova10/icub_all_no_skin.xml index 285985ecc7..f2dd7a51cd 100644 --- a/iCubGenova10/icub_all_no_skin.xml +++ b/iCubGenova10/icub_all_no_skin.xml @@ -5,32 +5,32 @@ - + - - + + - - + + - - - + + + - + - + - + - + @@ -42,67 +42,69 @@ - + - + - + - + - + - + + + - - - + + + - - + + - + - + - + - + - + - + - + - - - - + + + + - + - + @@ -110,4 +112,4 @@ - + diff --git a/iCubGenova10/wrappers/inertials/waist-xsensmt-inertials_wrapper-deprecated.xml b/iCubGenova10/wrappers/inertials/waist-xsensmt-inertials_wrapper-deprecated.xml new file mode 100644 index 0000000000..c7739412f0 --- /dev/null +++ b/iCubGenova10/wrappers/inertials/waist-xsensmt-inertials_wrapper-deprecated.xml @@ -0,0 +1,18 @@ + + + + + + 0.010 + /icub/xsens_inertial + + + + + + xsensmt-inertial + + + + + diff --git a/iCubGenova10/wrappers/inertials/waist-xsensmt-inertials_wrapper.xml b/iCubGenova10/wrappers/inertials/waist-xsensmt-inertials_wrapper.xml new file mode 100644 index 0000000000..79c7c2972e --- /dev/null +++ b/iCubGenova10/wrappers/inertials/waist-xsensmt-inertials_wrapper.xml @@ -0,0 +1,17 @@ + + + + + + 10 + /icub/waist/xsens_inertials + + + + + xsensmt-inertial + + + + + diff --git a/iCubHongKong01/hardware/inertials/waist-inertial.xml b/iCubHongKong01/hardware/inertials/waist-inertial.xml index 8d2f688d6b..e262698535 100644 --- a/iCubHongKong01/hardware/inertials/waist-inertial.xml +++ b/iCubHongKong01/hardware/inertials/waist-inertial.xml @@ -2,9 +2,6 @@ - - /icub/xsens_inertial - xsensmt + /dev/ttyXsens - diff --git a/iCubHongKong01/wrappers/inertials/waist-xsensmt-inertials_wrapper-deprecated.xml b/iCubHongKong01/wrappers/inertials/waist-xsensmt-inertials_wrapper-deprecated.xml new file mode 100644 index 0000000000..f5bc8b1883 --- /dev/null +++ b/iCubHongKong01/wrappers/inertials/waist-xsensmt-inertials_wrapper-deprecated.xml @@ -0,0 +1,18 @@ + + + + + + 0.010 + /icub/xsens_inertial + + + + + + xsensmt-inertial + + + + + diff --git a/iCubHongKong01/wrappers/inertials/waist-xsensmt-inertials_wrapper.xml b/iCubHongKong01/wrappers/inertials/waist-xsensmt-inertials_wrapper.xml new file mode 100644 index 0000000000..79c7c2972e --- /dev/null +++ b/iCubHongKong01/wrappers/inertials/waist-xsensmt-inertials_wrapper.xml @@ -0,0 +1,17 @@ + + + + + + 10 + /icub/waist/xsens_inertials + + + + + xsensmt-inertial + + + + + diff --git a/iCubMoscow01/hardware/inertials/waist-inertial.xml b/iCubMoscow01/hardware/inertials/waist-inertial.xml index 8d2f688d6b..e262698535 100644 --- a/iCubMoscow01/hardware/inertials/waist-inertial.xml +++ b/iCubMoscow01/hardware/inertials/waist-inertial.xml @@ -2,9 +2,6 @@ - - /icub/xsens_inertial - xsensmt + /dev/ttyXsens - diff --git a/iCubMoscow01/wrappers/inertials/waist-xsensmt-inertials_wrapper-deprecated.xml b/iCubMoscow01/wrappers/inertials/waist-xsensmt-inertials_wrapper-deprecated.xml new file mode 100644 index 0000000000..f5bc8b1883 --- /dev/null +++ b/iCubMoscow01/wrappers/inertials/waist-xsensmt-inertials_wrapper-deprecated.xml @@ -0,0 +1,18 @@ + + + + + + 0.010 + /icub/xsens_inertial + + + + + + xsensmt-inertial + + + + + diff --git a/iCubMoscow01/wrappers/inertials/waist-xsensmt-inertials_wrapper.xml b/iCubMoscow01/wrappers/inertials/waist-xsensmt-inertials_wrapper.xml new file mode 100644 index 0000000000..79c7c2972e --- /dev/null +++ b/iCubMoscow01/wrappers/inertials/waist-xsensmt-inertials_wrapper.xml @@ -0,0 +1,17 @@ + + + + + + 10 + /icub/waist/xsens_inertials + + + + + xsensmt-inertial + + + + + diff --git a/iCubPrague01/hardware/inertials/waist-inertial.xml b/iCubPrague01/hardware/inertials/waist-inertial.xml index 8d2f688d6b..e262698535 100644 --- a/iCubPrague01/hardware/inertials/waist-inertial.xml +++ b/iCubPrague01/hardware/inertials/waist-inertial.xml @@ -2,9 +2,6 @@ - - /icub/xsens_inertial - xsensmt + /dev/ttyXsens - diff --git a/iCubPrague01/icub_all.xml b/iCubPrague01/icub_all.xml index 7a854f3165..22b7748b87 100644 --- a/iCubPrague01/icub_all.xml +++ b/iCubPrague01/icub_all.xml @@ -5,38 +5,38 @@ - + - + - + - - + + - - + + - - + + - - + + - - + + - - + + - + - + @@ -59,61 +59,63 @@ - + - + - + - + + + - + - - - - - - + + + + + + - - + + - - + + - + - + - + - + - + - - + + - - - - + + + + - + - + @@ -121,4 +123,4 @@ - + diff --git a/iCubPrague01/icub_all_no_skin.xml b/iCubPrague01/icub_all_no_skin.xml index e45578fadd..3d8b0aef04 100644 --- a/iCubPrague01/icub_all_no_skin.xml +++ b/iCubPrague01/icub_all_no_skin.xml @@ -5,32 +5,32 @@ - + - - + + - - + + - - - + + + - + - + - + - + @@ -42,67 +42,69 @@ - + - + - + - + - + - + + + - - - + + + - - + + - + - + - + - + - + - + - + - - - - + + + + - + - + @@ -110,4 +112,4 @@ - + diff --git a/iCubPrague01/wrappers/inertials/waist-xsensmt-inertials_wrapper-deprecated.xml b/iCubPrague01/wrappers/inertials/waist-xsensmt-inertials_wrapper-deprecated.xml new file mode 100644 index 0000000000..c7739412f0 --- /dev/null +++ b/iCubPrague01/wrappers/inertials/waist-xsensmt-inertials_wrapper-deprecated.xml @@ -0,0 +1,18 @@ + + + + + + 0.010 + /icub/xsens_inertial + + + + + + xsensmt-inertial + + + + + diff --git a/iCubPrague01/wrappers/inertials/waist-xsensmt-inertials_wrapper.xml b/iCubPrague01/wrappers/inertials/waist-xsensmt-inertials_wrapper.xml new file mode 100644 index 0000000000..79c7c2972e --- /dev/null +++ b/iCubPrague01/wrappers/inertials/waist-xsensmt-inertials_wrapper.xml @@ -0,0 +1,17 @@ + + + + + + 10 + /icub/waist/xsens_inertials + + + + + xsensmt-inertial + + + + + diff --git a/iCubShanghai01/hardware/inertials/waist-inertial.xml b/iCubShanghai01/hardware/inertials/waist-inertial.xml index 8d2f688d6b..7a2fcf4129 100644 --- a/iCubShanghai01/hardware/inertials/waist-inertial.xml +++ b/iCubShanghai01/hardware/inertials/waist-inertial.xml @@ -2,9 +2,6 @@ - - /icub/xsens_inertial - xsensmt + /dev/ttyXsens - diff --git a/iCubShanghai01/head-inetrials.xml b/iCubShanghai01/head-inetrials.xml index 00e7a47a88..d08a883735 100644 --- a/iCubShanghai01/head-inetrials.xml +++ b/iCubShanghai01/head-inetrials.xml @@ -5,33 +5,35 @@ - + - - + + - - - + + + + - - + - + - + + + - + - + diff --git a/iCubShanghai01/icub_all.xml b/iCubShanghai01/icub_all.xml index e6d20471ce..7889d1f66a 100644 --- a/iCubShanghai01/icub_all.xml +++ b/iCubShanghai01/icub_all.xml @@ -5,38 +5,38 @@ - + - + - + - - + + - - + + - - + + - - + + - - + + - - + + - + - + @@ -61,59 +61,61 @@ - + - - + + - + + + - + - - - - - - + + + + + + - - + + - - + + - + - + - + - + - + - - + + - - - - - - + + + + + + - + @@ -121,4 +123,4 @@ - + diff --git a/iCubShanghai01/icub_all_no_skin.xml b/iCubShanghai01/icub_all_no_skin.xml index e5119ea367..7bf14af21e 100644 --- a/iCubShanghai01/icub_all_no_skin.xml +++ b/iCubShanghai01/icub_all_no_skin.xml @@ -5,32 +5,32 @@ - + - - + + - - + + - - - + + + - + - + - + - + @@ -42,67 +42,69 @@ - + - + - + - + - + - + + + - - - + + + - - + + - + - + - + - + - + - + - + - - - - + + + + - + - + @@ -110,4 +112,4 @@ - + diff --git a/iCubShanghai01/wrappers/inertials/waist-xsensmt-inertials_wrapper-deprecated.xml b/iCubShanghai01/wrappers/inertials/waist-xsensmt-inertials_wrapper-deprecated.xml new file mode 100644 index 0000000000..f5bc8b1883 --- /dev/null +++ b/iCubShanghai01/wrappers/inertials/waist-xsensmt-inertials_wrapper-deprecated.xml @@ -0,0 +1,18 @@ + + + + + + 0.010 + /icub/xsens_inertial + + + + + + xsensmt-inertial + + + + + diff --git a/iCubShanghai01/wrappers/inertials/waist-xsensmt-inertials_wrapper.xml b/iCubShanghai01/wrappers/inertials/waist-xsensmt-inertials_wrapper.xml new file mode 100644 index 0000000000..79c7c2972e --- /dev/null +++ b/iCubShanghai01/wrappers/inertials/waist-xsensmt-inertials_wrapper.xml @@ -0,0 +1,17 @@ + + + + + + 10 + /icub/waist/xsens_inertials + + + + + xsensmt-inertial + + + + + diff --git a/iCubShenzhen01/hardware/inertials/waist-inertial.xml b/iCubShenzhen01/hardware/inertials/waist-inertial.xml index 8d2f688d6b..e262698535 100644 --- a/iCubShenzhen01/hardware/inertials/waist-inertial.xml +++ b/iCubShenzhen01/hardware/inertials/waist-inertial.xml @@ -2,9 +2,6 @@ - - /icub/xsens_inertial - xsensmt + /dev/ttyXsens - diff --git a/iCubShenzhen01/wrappers/inertials/waist-xsensmt-inertials_wrapper-deprecated.xml b/iCubShenzhen01/wrappers/inertials/waist-xsensmt-inertials_wrapper-deprecated.xml new file mode 100644 index 0000000000..f5bc8b1883 --- /dev/null +++ b/iCubShenzhen01/wrappers/inertials/waist-xsensmt-inertials_wrapper-deprecated.xml @@ -0,0 +1,18 @@ + + + + + + 0.010 + /icub/xsens_inertial + + + + + + xsensmt-inertial + + + + + diff --git a/iCubShenzhen01/wrappers/inertials/waist-xsensmt-inertials_wrapper.xml b/iCubShenzhen01/wrappers/inertials/waist-xsensmt-inertials_wrapper.xml new file mode 100644 index 0000000000..79c7c2972e --- /dev/null +++ b/iCubShenzhen01/wrappers/inertials/waist-xsensmt-inertials_wrapper.xml @@ -0,0 +1,17 @@ + + + + + + 10 + /icub/waist/xsens_inertials + + + + + xsensmt-inertial + + + + + diff --git a/iCubValparaiso01/hardware/inertials/waist-inertial.xml b/iCubValparaiso01/hardware/inertials/waist-inertial.xml index 8d2f688d6b..e262698535 100644 --- a/iCubValparaiso01/hardware/inertials/waist-inertial.xml +++ b/iCubValparaiso01/hardware/inertials/waist-inertial.xml @@ -2,9 +2,6 @@ - - /icub/xsens_inertial - xsensmt + /dev/ttyXsens - diff --git a/iCubValparaiso01/icub_all.xml b/iCubValparaiso01/icub_all.xml index 3c526db3dc..ea690f8e6a 100644 --- a/iCubValparaiso01/icub_all.xml +++ b/iCubValparaiso01/icub_all.xml @@ -5,38 +5,38 @@ - + - + - - + + - - + + - - + + - - + + - - + + - - + + - + - + @@ -61,59 +61,61 @@ - + - - + + - + + + - + - - - - - - + + + + + + - - + + - - + + - + - + - + - + - + - - + + - - - - - - + + + + + + - + @@ -121,4 +123,4 @@ - + diff --git a/iCubValparaiso01/wrappers/inertials/waist-xsensmt-inertials_wrapper-deprecated.xml b/iCubValparaiso01/wrappers/inertials/waist-xsensmt-inertials_wrapper-deprecated.xml new file mode 100644 index 0000000000..c7739412f0 --- /dev/null +++ b/iCubValparaiso01/wrappers/inertials/waist-xsensmt-inertials_wrapper-deprecated.xml @@ -0,0 +1,18 @@ + + + + + + 0.010 + /icub/xsens_inertial + + + + + + xsensmt-inertial + + + + + diff --git a/iCubValparaiso01/wrappers/inertials/waist-xsensmt-inertials_wrapper.xml b/iCubValparaiso01/wrappers/inertials/waist-xsensmt-inertials_wrapper.xml new file mode 100644 index 0000000000..79c7c2972e --- /dev/null +++ b/iCubValparaiso01/wrappers/inertials/waist-xsensmt-inertials_wrapper.xml @@ -0,0 +1,17 @@ + + + + + + 10 + /icub/waist/xsens_inertials + + + + + xsensmt-inertial + + + + + diff --git a/iCubWaterloo01/hardware/inertials/waist-inertial.xml b/iCubWaterloo01/hardware/inertials/waist-inertial.xml index 8d2f688d6b..e262698535 100644 --- a/iCubWaterloo01/hardware/inertials/waist-inertial.xml +++ b/iCubWaterloo01/hardware/inertials/waist-inertial.xml @@ -2,9 +2,6 @@ - - /icub/xsens_inertial - xsensmt + /dev/ttyXsens - diff --git a/iCubWaterloo01/icub_all.xml b/iCubWaterloo01/icub_all.xml index 1a959a08a7..5637331d25 100644 --- a/iCubWaterloo01/icub_all.xml +++ b/iCubWaterloo01/icub_all.xml @@ -5,38 +5,38 @@ - + - + - - + + - - + + - - + + - - + + - - + + - - + + - + - + @@ -59,61 +59,63 @@ - + - + - + - + + + - + - - - - - - + + + + + + - - + + - - + + - + - + - + - + - + - - + + - - - - + + + + - + - + @@ -121,4 +123,4 @@ - + diff --git a/iCubWaterloo01/icub_all_no_legs_no_skin.xml b/iCubWaterloo01/icub_all_no_legs_no_skin.xml index 6d2a9a5c9e..7752060e6c 100644 --- a/iCubWaterloo01/icub_all_no_legs_no_skin.xml +++ b/iCubWaterloo01/icub_all_no_legs_no_skin.xml @@ -5,32 +5,32 @@ - + - - + + - - + + - - - + + + - - + + - + - + - + @@ -42,66 +42,68 @@ - - + + + --> + - - - - - - + + + + + + - + - - - + - + @@ -109,4 +111,4 @@ --> - + diff --git a/iCubWaterloo01/icub_all_no_legs_skin_palm.xml b/iCubWaterloo01/icub_all_no_legs_skin_palm.xml index 3764d76c60..4cfdb58bb5 100644 --- a/iCubWaterloo01/icub_all_no_legs_skin_palm.xml +++ b/iCubWaterloo01/icub_all_no_legs_skin_palm.xml @@ -5,32 +5,32 @@ - + - - + + - - + + - - - + + + - + - + - + - + @@ -42,12 +42,12 @@ @@ -55,53 +55,55 @@ - - + + - - - - - - + + + + + + - - + + - + - + - - + + - - - - + - + @@ -109,4 +111,4 @@ --> - + diff --git a/iCubWaterloo01/wrappers/inertials/waist-xsensmt-inertials_wrapper-deprecated.xml b/iCubWaterloo01/wrappers/inertials/waist-xsensmt-inertials_wrapper-deprecated.xml new file mode 100644 index 0000000000..c7739412f0 --- /dev/null +++ b/iCubWaterloo01/wrappers/inertials/waist-xsensmt-inertials_wrapper-deprecated.xml @@ -0,0 +1,18 @@ + + + + + + 0.010 + /icub/xsens_inertial + + + + + + xsensmt-inertial + + + + + diff --git a/iCubWaterloo01/wrappers/inertials/waist-xsensmt-inertials_wrapper.xml b/iCubWaterloo01/wrappers/inertials/waist-xsensmt-inertials_wrapper.xml new file mode 100644 index 0000000000..79c7c2972e --- /dev/null +++ b/iCubWaterloo01/wrappers/inertials/waist-xsensmt-inertials_wrapper.xml @@ -0,0 +1,17 @@ + + + + + + 10 + /icub/waist/xsens_inertials + + + + + xsensmt-inertial + + + + + diff --git a/iCubZagreb01/hardware/inertials/waist-inertial.xml b/iCubZagreb01/hardware/inertials/waist-inertial.xml index 8d2f688d6b..e262698535 100644 --- a/iCubZagreb01/hardware/inertials/waist-inertial.xml +++ b/iCubZagreb01/hardware/inertials/waist-inertial.xml @@ -2,9 +2,6 @@ - - /icub/xsens_inertial - xsensmt + /dev/ttyXsens - diff --git a/iCubZagreb01/head-inetrials.xml b/iCubZagreb01/head-inetrials.xml index 8c105ffef3..2628405bb1 100644 --- a/iCubZagreb01/head-inetrials.xml +++ b/iCubZagreb01/head-inetrials.xml @@ -5,33 +5,35 @@ - + - - + + - - - + + + + - + --> - + + + - + - + diff --git a/iCubZagreb01/icub_all.xml b/iCubZagreb01/icub_all.xml index 7651e9db43..38a4e99d84 100644 --- a/iCubZagreb01/icub_all.xml +++ b/iCubZagreb01/icub_all.xml @@ -5,38 +5,38 @@ - + - + - - + + - - + + - - + + - - + + - - + + - - + + - + - + @@ -59,61 +59,63 @@ - + - + - + - + + + - + - - - - - - + + + + + + - - + + - - + + - + - + - + - + - + - - + + - - - - + + + + - + - + @@ -121,4 +123,4 @@ - + diff --git a/iCubZagreb01/icub_all_no_skin.xml b/iCubZagreb01/icub_all_no_skin.xml index 322c621820..f9ec510e0c 100644 --- a/iCubZagreb01/icub_all_no_skin.xml +++ b/iCubZagreb01/icub_all_no_skin.xml @@ -5,32 +5,32 @@ - + - - + + - - + + - - - + + + - + - + - + - + @@ -42,67 +42,69 @@ - + - + - + - + - + - + + + - - - + + + - - + + - + - + - + - + - + - + - + - - - - + + + + - + - + @@ -110,4 +112,4 @@ - + diff --git a/iCubZagreb01/wrappers/inertials/waist-xsensmt-inertials_wrapper-deprecated.xml b/iCubZagreb01/wrappers/inertials/waist-xsensmt-inertials_wrapper-deprecated.xml new file mode 100644 index 0000000000..f5bc8b1883 --- /dev/null +++ b/iCubZagreb01/wrappers/inertials/waist-xsensmt-inertials_wrapper-deprecated.xml @@ -0,0 +1,18 @@ + + + + + + 0.010 + /icub/xsens_inertial + + + + + + xsensmt-inertial + + + + + diff --git a/iCubZagreb01/wrappers/inertials/waist-xsensmt-inertials_wrapper.xml b/iCubZagreb01/wrappers/inertials/waist-xsensmt-inertials_wrapper.xml new file mode 100644 index 0000000000..79c7c2972e --- /dev/null +++ b/iCubZagreb01/wrappers/inertials/waist-xsensmt-inertials_wrapper.xml @@ -0,0 +1,17 @@ + + + + + + 10 + /icub/waist/xsens_inertials + + + + + xsensmt-inertial + + + + + diff --git a/iRonCub-Mk1/estimators/wholebodydynamics.xml b/iRonCub-Mk1/estimators/wholebodydynamics.xml index 1cf2879015..281267337b 100644 --- a/iRonCub-Mk1/estimators/wholebodydynamics.xml +++ b/iRonCub-Mk1/estimators/wholebodydynamics.xml @@ -44,27 +44,27 @@ 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) - + - - (7.425024e-01,5.604686e-02,-4.408041e-02,3.727271e-01,6.718566e-01,2.605184e-01 - ,2.376318e-02,4.601413e-01,9.920935e-03,-8.951425e-01,-1.167558e-01,1.971860e+00 - ,-7.972684e-02,-2.326263e-01,9.977213e-01,-1.405751e+00,3.249553e-01,-1.666625e+00 - ,-5.519838e-03,-1.664778e-02,2.642368e-03,8.229934e-01,1.622153e-02,-2.456099e-02 - ,9.019424e-03,8.294730e-04,-2.194214e-03,3.696845e-03,8.865210e-01,-5.286550e-02 + + (7.425024e-01,5.604686e-02,-4.408041e-02,3.727271e-01,6.718566e-01,2.605184e-01 + ,2.376318e-02,4.601413e-01,9.920935e-03,-8.951425e-01,-1.167558e-01,1.971860e+00 + ,-7.972684e-02,-2.326263e-01,9.977213e-01,-1.405751e+00,3.249553e-01,-1.666625e+00 + ,-5.519838e-03,-1.664778e-02,2.642368e-03,8.229934e-01,1.622153e-02,-2.456099e-02 + ,9.019424e-03,8.294730e-04,-2.194214e-03,3.696845e-03,8.865210e-01,-5.286550e-02 ,1.979480e-03,1.733975e-04,-3.815689e-05,-1.993212e-02,-1.673455e-02,9.158948e-01) - (9.308601e-01,7.328130e-03,-1.211788e-02,-1.123839e-01,-2.977943e-01,-1.954805e-02 - ,-8.177519e-02,7.160387e-01,-4.158542e-02,1.077732e+00,4.997348e-01,2.431916e+00 - ,-4.174433e-02,-1.784640e-01,9.661752e-01,-1.386611e+00,1.538259e-01,-5.603641e-01 - ,-1.877732e-03,-3.220898e-03,-6.874089e-04,9.546012e-01,1.329514e-02,2.982738e-02 - ,-2.466464e-03,2.580501e-03,-3.510048e-04,6.640786e-03,9.513549e-01,4.179682e-02 + (9.308601e-01,7.328130e-03,-1.211788e-02,-1.123839e-01,-2.977943e-01,-1.954805e-02 + ,-8.177519e-02,7.160387e-01,-4.158542e-02,1.077732e+00,4.997348e-01,2.431916e+00 + ,-4.174433e-02,-1.784640e-01,9.661752e-01,-1.386611e+00,1.538259e-01,-5.603641e-01 + ,-1.877732e-03,-3.220898e-03,-6.874089e-04,9.546012e-01,1.329514e-02,2.982738e-02 + ,-2.466464e-03,2.580501e-03,-3.510048e-04,6.640786e-03,9.513549e-01,4.179682e-02 ,2.002912e-03,3.654545e-04,3.323602e-04,-1.106579e-02,-8.070312e-03,9.706656e-01) - + - + @@ -93,7 +93,7 @@ head-inertial - + left_arm-eb1-j0_3-strain right_arm-eb3-j0_3-strain diff --git a/iRonCub-Mk1/estimators/wholebodydynamics_iRonCub.xml b/iRonCub-Mk1/estimators/wholebodydynamics_iRonCub.xml index 82d58f8692..f9ef8d1325 100644 --- a/iRonCub-Mk1/estimators/wholebodydynamics_iRonCub.xml +++ b/iRonCub-Mk1/estimators/wholebodydynamics_iRonCub.xml @@ -12,7 +12,7 @@ 2 true false - true + true 3.0 3.0 3.0 @@ -44,27 +44,27 @@ 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) - + + --> @@ -93,7 +93,7 @@ head-inertial - + left_arm-eb1-j0_3-strain right_arm-eb3-j0_3-strain diff --git a/iRonCub-Mk1/estimators/wholebodydynamics_iRonCub_noFeet.xml b/iRonCub-Mk1/estimators/wholebodydynamics_iRonCub_noFeet.xml index 05c5f225e6..e79cab9e3e 100644 --- a/iRonCub-Mk1/estimators/wholebodydynamics_iRonCub_noFeet.xml +++ b/iRonCub-Mk1/estimators/wholebodydynamics_iRonCub_noFeet.xml @@ -13,7 +13,7 @@ 2 true false - true + true 3.0 3.0 3.0 @@ -46,27 +46,27 @@ 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) - + + --> @@ -95,7 +95,7 @@ head-inertial - + left_arm-eb1-j0_3-strain right_arm-eb3-j0_3-strain diff --git a/iRonCub-Mk1/estimators/wholebodydynamics_nohands.xml b/iRonCub-Mk1/estimators/wholebodydynamics_nohands.xml index 9eb2186d2a..1631f7ad29 100644 --- a/iRonCub-Mk1/estimators/wholebodydynamics_nohands.xml +++ b/iRonCub-Mk1/estimators/wholebodydynamics_nohands.xml @@ -44,27 +44,27 @@ 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) - + - - (7.425024e-01,5.604686e-02,-4.408041e-02,3.727271e-01,6.718566e-01,2.605184e-01 - ,2.376318e-02,4.601413e-01,9.920935e-03,-8.951425e-01,-1.167558e-01,1.971860e+00 - ,-7.972684e-02,-2.326263e-01,9.977213e-01,-1.405751e+00,3.249553e-01,-1.666625e+00 - ,-5.519838e-03,-1.664778e-02,2.642368e-03,8.229934e-01,1.622153e-02,-2.456099e-02 - ,9.019424e-03,8.294730e-04,-2.194214e-03,3.696845e-03,8.865210e-01,-5.286550e-02 + + (7.425024e-01,5.604686e-02,-4.408041e-02,3.727271e-01,6.718566e-01,2.605184e-01 + ,2.376318e-02,4.601413e-01,9.920935e-03,-8.951425e-01,-1.167558e-01,1.971860e+00 + ,-7.972684e-02,-2.326263e-01,9.977213e-01,-1.405751e+00,3.249553e-01,-1.666625e+00 + ,-5.519838e-03,-1.664778e-02,2.642368e-03,8.229934e-01,1.622153e-02,-2.456099e-02 + ,9.019424e-03,8.294730e-04,-2.194214e-03,3.696845e-03,8.865210e-01,-5.286550e-02 ,1.979480e-03,1.733975e-04,-3.815689e-05,-1.993212e-02,-1.673455e-02,9.158948e-01) - (9.308601e-01,7.328130e-03,-1.211788e-02,-1.123839e-01,-2.977943e-01,-1.954805e-02 - ,-8.177519e-02,7.160387e-01,-4.158542e-02,1.077732e+00,4.997348e-01,2.431916e+00 - ,-4.174433e-02,-1.784640e-01,9.661752e-01,-1.386611e+00,1.538259e-01,-5.603641e-01 - ,-1.877732e-03,-3.220898e-03,-6.874089e-04,9.546012e-01,1.329514e-02,2.982738e-02 - ,-2.466464e-03,2.580501e-03,-3.510048e-04,6.640786e-03,9.513549e-01,4.179682e-02 + (9.308601e-01,7.328130e-03,-1.211788e-02,-1.123839e-01,-2.977943e-01,-1.954805e-02 + ,-8.177519e-02,7.160387e-01,-4.158542e-02,1.077732e+00,4.997348e-01,2.431916e+00 + ,-4.174433e-02,-1.784640e-01,9.661752e-01,-1.386611e+00,1.538259e-01,-5.603641e-01 + ,-1.877732e-03,-3.220898e-03,-6.874089e-04,9.546012e-01,1.329514e-02,2.982738e-02 + ,-2.466464e-03,2.580501e-03,-3.510048e-04,6.640786e-03,9.513549e-01,4.179682e-02 ,2.002912e-03,3.654545e-04,3.323602e-04,-1.106579e-02,-8.070312e-03,9.706656e-01) - + - + @@ -91,7 +91,7 @@ head-inertial - + left_arm-eb1-j0_3-strain right_arm-eb3-j0_3-strain diff --git a/iRonCub-Mk1/hardware/inertials/waist-inertial.xml b/iRonCub-Mk1/hardware/inertials/waist-inertial.xml index 8d2f688d6b..e262698535 100644 --- a/iRonCub-Mk1/hardware/inertials/waist-inertial.xml +++ b/iRonCub-Mk1/hardware/inertials/waist-inertial.xml @@ -2,9 +2,6 @@ - - /icub/xsens_inertial - xsensmt + /dev/ttyXsens - diff --git a/iRonCub-Mk1/iRonCub-noLegs_wbd.xml b/iRonCub-Mk1/iRonCub-noLegs_wbd.xml index b8da8c9267..3b148ea082 100644 --- a/iRonCub-Mk1/iRonCub-noLegs_wbd.xml +++ b/iRonCub-Mk1/iRonCub-noLegs_wbd.xml @@ -47,16 +47,18 @@ - + - diff --git a/iRonCub-Mk1/iRonCub_wbd.xml b/iRonCub-Mk1/iRonCub_wbd.xml index 2492784be6..b5ac278ed0 100644 --- a/iRonCub-Mk1/iRonCub_wbd.xml +++ b/iRonCub-Mk1/iRonCub_wbd.xml @@ -46,16 +46,18 @@ - + - diff --git a/iRonCub-Mk1/iRonCub_wbd_noFeetFTs.xml b/iRonCub-Mk1/iRonCub_wbd_noFeetFTs.xml index 9880e87d26..53b4009bfa 100644 --- a/iRonCub-Mk1/iRonCub_wbd_noFeetFTs.xml +++ b/iRonCub-Mk1/iRonCub_wbd_noFeetFTs.xml @@ -47,15 +47,17 @@ + + - diff --git a/iRonCub-Mk1/wrappers/inertials/waist-xsensmt-inertials_wrapper-deprecated.xml b/iRonCub-Mk1/wrappers/inertials/waist-xsensmt-inertials_wrapper-deprecated.xml new file mode 100644 index 0000000000..c7739412f0 --- /dev/null +++ b/iRonCub-Mk1/wrappers/inertials/waist-xsensmt-inertials_wrapper-deprecated.xml @@ -0,0 +1,18 @@ + + + + + + 0.010 + /icub/xsens_inertial + + + + + + xsensmt-inertial + + + + + diff --git a/iRonCub-Mk1/wrappers/inertials/waist-xsensmt-inertials_wrapper.xml b/iRonCub-Mk1/wrappers/inertials/waist-xsensmt-inertials_wrapper.xml new file mode 100644 index 0000000000..79c7c2972e --- /dev/null +++ b/iRonCub-Mk1/wrappers/inertials/waist-xsensmt-inertials_wrapper.xml @@ -0,0 +1,17 @@ + + + + + + 10 + /icub/waist/xsens_inertials + + + + + xsensmt-inertial + + + + +