From 0fb9d2268a8a7e877b1b4dded8a164e7a1c65a89 Mon Sep 17 00:00:00 2001 From: davidetome Date: Tue, 25 Jan 2022 13:52:09 +0100 Subject: [PATCH 1/4] iCubWaterloo01 - updated files for nws layer --- iCubWaterloo01/calibrators/face-calib.xml | 4 +- iCubWaterloo01/calibrators/head-calib.xml | 4 +- iCubWaterloo01/calibrators/left_arm-calib.xml | 4 +- iCubWaterloo01/calibrators/left_leg-calib.xml | 4 +- .../calibrators/right_arm-calib.xml | 4 +- .../calibrators/right_leg-calib.xml | 4 +- iCubWaterloo01/calibrators/torso-calib.xml | 4 +- .../cartesian/left_arm-cartesian.xml | 4 +- .../cartesian/right_arm-cartesian.xml | 4 +- iCubWaterloo01/icub_all.xml | 24 +++++++---- .../motorControl/face-mc_remapper.xml | 15 +++++++ .../wrappers/motorControl/face-mc_wrapper.xml | 35 ++++------------ .../motorControl/head-mc_remapper.xml | 17 ++++++++ .../wrappers/motorControl/head-mc_wrapper.xml | 34 ++++----------- .../motorControl/left_arm-mc_remapper.xml | 21 ++++++++++ .../motorControl/left_arm-mc_wrapper.xml | 41 ++++--------------- .../motorControl/left_leg-mc_remapper.xml | 16 ++++++++ .../motorControl/left_leg-mc_wrapper.xml | 38 ++++------------- .../motorControl/right_arm-mc_remapper.xml | 21 ++++++++++ .../motorControl/right_arm-mc_wrapper.xml | 41 ++++--------------- .../motorControl/right_leg-mc_remapper.xml | 16 ++++++++ .../motorControl/right_leg-mc_wrapper.xml | 38 ++++------------- .../motorControl/torso-mc_remapper.xml | 15 +++++++ .../motorControl/torso-mc_wrapper.xml | 36 ++++------------ 24 files changed, 217 insertions(+), 227 deletions(-) create mode 100644 iCubWaterloo01/wrappers/motorControl/face-mc_remapper.xml create mode 100644 iCubWaterloo01/wrappers/motorControl/head-mc_remapper.xml create mode 100644 iCubWaterloo01/wrappers/motorControl/left_arm-mc_remapper.xml create mode 100644 iCubWaterloo01/wrappers/motorControl/left_leg-mc_remapper.xml create mode 100644 iCubWaterloo01/wrappers/motorControl/right_arm-mc_remapper.xml create mode 100644 iCubWaterloo01/wrappers/motorControl/right_leg-mc_remapper.xml create mode 100644 iCubWaterloo01/wrappers/motorControl/torso-mc_remapper.xml diff --git a/iCubWaterloo01/calibrators/face-calib.xml b/iCubWaterloo01/calibrators/face-calib.xml index 184e347dcb..1c557a3e49 100644 --- a/iCubWaterloo01/calibrators/face-calib.xml +++ b/iCubWaterloo01/calibrators/face-calib.xml @@ -48,11 +48,11 @@ (0) - face-mc_wrapper + face-mc_remapper - face-mc_wrapper + face-mc_remapper diff --git a/iCubWaterloo01/calibrators/head-calib.xml b/iCubWaterloo01/calibrators/head-calib.xml index 8265ca714b..e92a050ef4 100644 --- a/iCubWaterloo01/calibrators/head-calib.xml +++ b/iCubWaterloo01/calibrators/head-calib.xml @@ -37,11 +37,11 @@ (0 1 2) (3) (4 5) - head-mc_wrapper + head-mc_remapper - head-mc_wrapper + head-mc_remapper diff --git a/iCubWaterloo01/calibrators/left_arm-calib.xml b/iCubWaterloo01/calibrators/left_arm-calib.xml index 751d8286dc..c5e5813018 100644 --- a/iCubWaterloo01/calibrators/left_arm-calib.xml +++ b/iCubWaterloo01/calibrators/left_arm-calib.xml @@ -34,11 +34,11 @@ (0 1 2 3) (4) (5 6 7) (8 9 11 13) (10 12 14 15) - left_arm-mc_wrapper + left_arm-mc_remapper - left_arm-mc_wrapper + left_arm-mc_remapper diff --git a/iCubWaterloo01/calibrators/left_leg-calib.xml b/iCubWaterloo01/calibrators/left_leg-calib.xml index 4f405ffe90..e55d6d7f01 100644 --- a/iCubWaterloo01/calibrators/left_leg-calib.xml +++ b/iCubWaterloo01/calibrators/left_leg-calib.xml @@ -37,11 +37,11 @@ (0 1 2 3 4 5) - left_leg-mc_wrapper + left_leg-mc_remapper - left_leg-mc_wrapper + left_leg-mc_remapper diff --git a/iCubWaterloo01/calibrators/right_arm-calib.xml b/iCubWaterloo01/calibrators/right_arm-calib.xml index 35d717147d..1a1b1fb578 100644 --- a/iCubWaterloo01/calibrators/right_arm-calib.xml +++ b/iCubWaterloo01/calibrators/right_arm-calib.xml @@ -37,11 +37,11 @@ - right_arm-mc_wrapper + right_arm-mc_remapper - right_arm-mc_wrapper + right_arm-mc_remapper diff --git a/iCubWaterloo01/calibrators/right_leg-calib.xml b/iCubWaterloo01/calibrators/right_leg-calib.xml index 2be3a0d468..985ba38e30 100644 --- a/iCubWaterloo01/calibrators/right_leg-calib.xml +++ b/iCubWaterloo01/calibrators/right_leg-calib.xml @@ -35,11 +35,11 @@ (0 1 2 3 4 5) - right_leg-mc_wrapper + right_leg-mc_remapper - right_leg-mc_wrapper + right_leg-mc_remapper diff --git a/iCubWaterloo01/calibrators/torso-calib.xml b/iCubWaterloo01/calibrators/torso-calib.xml index 15d9bc7bfa..4bdb0f11ca 100644 --- a/iCubWaterloo01/calibrators/torso-calib.xml +++ b/iCubWaterloo01/calibrators/torso-calib.xml @@ -35,11 +35,11 @@ (0 1 2) - torso-mc_wrapper + torso-mc_remapper - torso-mc_wrapper + torso-mc_remapper diff --git a/iCubWaterloo01/cartesian/left_arm-cartesian.xml b/iCubWaterloo01/cartesian/left_arm-cartesian.xml index 51e84b9809..85cff8e84a 100644 --- a/iCubWaterloo01/cartesian/left_arm-cartesian.xml +++ b/iCubWaterloo01/cartesian/left_arm-cartesian.xml @@ -45,8 +45,8 @@ - torso-mc_wrapper - left_arm-mc_wrapper + torso-mc_remapper + left_arm-mc_remapper diff --git a/iCubWaterloo01/cartesian/right_arm-cartesian.xml b/iCubWaterloo01/cartesian/right_arm-cartesian.xml index 462f9b5ebd..b2231d3d91 100644 --- a/iCubWaterloo01/cartesian/right_arm-cartesian.xml +++ b/iCubWaterloo01/cartesian/right_arm-cartesian.xml @@ -45,8 +45,8 @@ - torso-mc_wrapper - right_arm-mc_wrapper + torso-mc_remapper + right_arm-mc_remapper diff --git a/iCubWaterloo01/icub_all.xml b/iCubWaterloo01/icub_all.xml index f85aaff79a..1a959a08a7 100644 --- a/iCubWaterloo01/icub_all.xml +++ b/iCubWaterloo01/icub_all.xml @@ -7,6 +7,23 @@ + + + + + + + + + + + + + + + + + @@ -15,39 +32,32 @@ - - - - - - - diff --git a/iCubWaterloo01/wrappers/motorControl/face-mc_remapper.xml b/iCubWaterloo01/wrappers/motorControl/face-mc_remapper.xml new file mode 100644 index 0000000000..16f729d9a1 --- /dev/null +++ b/iCubWaterloo01/wrappers/motorControl/face-mc_remapper.xml @@ -0,0 +1,15 @@ + + + + + + ( 0 0 0 0 ) + + 1 + + + face-eb22-j0-mc + + + + diff --git a/iCubWaterloo01/wrappers/motorControl/face-mc_wrapper.xml b/iCubWaterloo01/wrappers/motorControl/face-mc_wrapper.xml index f9adc60ffb..870943cc44 100644 --- a/iCubWaterloo01/wrappers/motorControl/face-mc_wrapper.xml +++ b/iCubWaterloo01/wrappers/motorControl/face-mc_wrapper.xml @@ -1,29 +1,10 @@ - + - - - - - (0 0 0 0) - - - - 10 - /icub/face - face - 1 - - - - - face-eb22-j0-mc - face-calibrator - - - - - - - - + + /icub/face + + face-mc_remapper + + + \ No newline at end of file diff --git a/iCubWaterloo01/wrappers/motorControl/head-mc_remapper.xml b/iCubWaterloo01/wrappers/motorControl/head-mc_remapper.xml new file mode 100644 index 0000000000..18ee4dd4f1 --- /dev/null +++ b/iCubWaterloo01/wrappers/motorControl/head-mc_remapper.xml @@ -0,0 +1,17 @@ + + + + + + ( 0 1 0 1 ) + ( 2 5 0 3 ) + + 6 + + + head-eb20-j0_1-mc + head-eb21-j2_5-mc + + + + diff --git a/iCubWaterloo01/wrappers/motorControl/head-mc_wrapper.xml b/iCubWaterloo01/wrappers/motorControl/head-mc_wrapper.xml index 3db3d9823a..06e2825805 100644 --- a/iCubWaterloo01/wrappers/motorControl/head-mc_wrapper.xml +++ b/iCubWaterloo01/wrappers/motorControl/head-mc_wrapper.xml @@ -1,28 +1,10 @@ - + - - - - (0 1 0 1) - (2 5 0 3) - - - 10 - /icub/head - head - 6 - - - - - head-eb20-j0_1-mc - head-eb21-j2_5-mc - head-calibrator - - - - - - - + + /icub/head + + head-mc_remapper + + + diff --git a/iCubWaterloo01/wrappers/motorControl/left_arm-mc_remapper.xml b/iCubWaterloo01/wrappers/motorControl/left_arm-mc_remapper.xml new file mode 100644 index 0000000000..7b043cb0db --- /dev/null +++ b/iCubWaterloo01/wrappers/motorControl/left_arm-mc_remapper.xml @@ -0,0 +1,21 @@ + + + + + + ( 0 3 0 3 ) + ( 4 7 0 3 ) + ( 8 11 0 3 ) + ( 12 15 0 3 ) + + 16 + + + left_arm-eb1-j0_3-mc + left_arm-eb24-j4_7-mc + left_arm-eb25-j8_11-mc + left_arm-eb26-j12_15-mc + + + + diff --git a/iCubWaterloo01/wrappers/motorControl/left_arm-mc_wrapper.xml b/iCubWaterloo01/wrappers/motorControl/left_arm-mc_wrapper.xml index ed51538da3..1aa7deb3c1 100644 --- a/iCubWaterloo01/wrappers/motorControl/left_arm-mc_wrapper.xml +++ b/iCubWaterloo01/wrappers/motorControl/left_arm-mc_wrapper.xml @@ -1,33 +1,10 @@ - + - - - - - - (0 3 0 3) - (4 7 0 3) - (8 11 0 3) - (12 15 0 3) - - - 10 - /icub/left_arm - left_arm - 16 - - - - - left_arm-eb1-j0_3-mc - left_arm-eb24-j4_7-mc - left_arm-eb25-j8_11-mc - left_arm-eb26-j12_15-mc - left_arm-calibrator - - - - - - - + + + /icub/left_arm + + left_arm-mc_remapper + + + \ No newline at end of file diff --git a/iCubWaterloo01/wrappers/motorControl/left_leg-mc_remapper.xml b/iCubWaterloo01/wrappers/motorControl/left_leg-mc_remapper.xml new file mode 100644 index 0000000000..a41f2596f1 --- /dev/null +++ b/iCubWaterloo01/wrappers/motorControl/left_leg-mc_remapper.xml @@ -0,0 +1,16 @@ + + + + + ( 0 3 0 3 ) + ( 4 5 0 1 ) + + 6 + + + left_leg-eb6-j0_3-mc + left_leg-eb7-j4_5-mc + + + + diff --git a/iCubWaterloo01/wrappers/motorControl/left_leg-mc_wrapper.xml b/iCubWaterloo01/wrappers/motorControl/left_leg-mc_wrapper.xml index bde6ae98c5..e3d5597d1f 100644 --- a/iCubWaterloo01/wrappers/motorControl/left_leg-mc_wrapper.xml +++ b/iCubWaterloo01/wrappers/motorControl/left_leg-mc_wrapper.xml @@ -1,30 +1,10 @@ - + - - - - - - (0 3 0 3) - (4 5 0 1) - - - 10 - /icub/left_leg - left_leg - 6 - - - - - - left_leg-eb6-j0_3-mc - left_leg-eb7-j4_5-mc - left_leg-calibrator - - - - - - - + + + /icub/left_leg + + left_leg-mc_remapper + + + \ No newline at end of file diff --git a/iCubWaterloo01/wrappers/motorControl/right_arm-mc_remapper.xml b/iCubWaterloo01/wrappers/motorControl/right_arm-mc_remapper.xml new file mode 100644 index 0000000000..c6e6ed2894 --- /dev/null +++ b/iCubWaterloo01/wrappers/motorControl/right_arm-mc_remapper.xml @@ -0,0 +1,21 @@ + + + + + + ( 0 3 0 3 ) + ( 4 7 0 3 ) + ( 8 11 0 3 ) + ( 12 15 0 3 ) + + 16 + + + right_arm-eb3-j0_3-mc + right_arm-eb27-j4_7-mc + right_arm-eb28-j8_11-mc + right_arm-eb29-j12_15-mc > + + + + diff --git a/iCubWaterloo01/wrappers/motorControl/right_arm-mc_wrapper.xml b/iCubWaterloo01/wrappers/motorControl/right_arm-mc_wrapper.xml index da0e8812dc..5f5c310d90 100644 --- a/iCubWaterloo01/wrappers/motorControl/right_arm-mc_wrapper.xml +++ b/iCubWaterloo01/wrappers/motorControl/right_arm-mc_wrapper.xml @@ -1,33 +1,10 @@ - + - - - - - - (0 3 0 3) - (4 7 0 3) - (8 11 0 3) - (12 15 0 3) - - - 10 - /icub/right_arm - right_arm - 16 - - - - - right_arm-eb3-j0_3-mc - right_arm-eb27-j4_7-mc - right_arm-eb28-j8_11-mc - right_arm-eb29-j12_15-mc - right_arm-calibrator - - - - - - - + + + /icub/right_arm + + right_arm-mc_remapper + + + \ No newline at end of file diff --git a/iCubWaterloo01/wrappers/motorControl/right_leg-mc_remapper.xml b/iCubWaterloo01/wrappers/motorControl/right_leg-mc_remapper.xml new file mode 100644 index 0000000000..93c08a3202 --- /dev/null +++ b/iCubWaterloo01/wrappers/motorControl/right_leg-mc_remapper.xml @@ -0,0 +1,16 @@ + + + + + ( 0 3 0 3 ) + ( 4 5 0 1 ) + + 6 + + + right_leg-eb8-j0_3-mc + right_leg-eb9-j4_5-mc + + + + diff --git a/iCubWaterloo01/wrappers/motorControl/right_leg-mc_wrapper.xml b/iCubWaterloo01/wrappers/motorControl/right_leg-mc_wrapper.xml index eeaf22738c..59b9e6500b 100644 --- a/iCubWaterloo01/wrappers/motorControl/right_leg-mc_wrapper.xml +++ b/iCubWaterloo01/wrappers/motorControl/right_leg-mc_wrapper.xml @@ -1,30 +1,10 @@ - + - - - - - - (0 3 0 3) - (4 5 0 1) - - - 10 - /icub/right_leg - right_leg - 6 - - - - - - right_leg-eb8-j0_3-mc - right_leg-eb9-j4_5-mc - right_leg-calibrator - - - - - - - + + + /icub/right_leg + + right_leg-mc_remapper + + + \ No newline at end of file diff --git a/iCubWaterloo01/wrappers/motorControl/torso-mc_remapper.xml b/iCubWaterloo01/wrappers/motorControl/torso-mc_remapper.xml new file mode 100644 index 0000000000..68c2555293 --- /dev/null +++ b/iCubWaterloo01/wrappers/motorControl/torso-mc_remapper.xml @@ -0,0 +1,15 @@ + + + + + + ( 0 2 0 2 ) + + 3 + + + torso-eb5-j0_2-mc + + + + diff --git a/iCubWaterloo01/wrappers/motorControl/torso-mc_wrapper.xml b/iCubWaterloo01/wrappers/motorControl/torso-mc_wrapper.xml index 56d0629d51..89cf257cd6 100644 --- a/iCubWaterloo01/wrappers/motorControl/torso-mc_wrapper.xml +++ b/iCubWaterloo01/wrappers/motorControl/torso-mc_wrapper.xml @@ -1,28 +1,10 @@ - + - - - - - - (0 2 0 2) - - - 10 - /icub/torso - torso - 3 - - - - - - torso-eb5-j0_2-mc - torso-calibrator - - - - - - - + + + /icub/torso + + torso-mc_remapper + + + From 8bcd88023ec7ecf0689384ab665504db9c92ccd2 Mon Sep 17 00:00:00 2001 From: davidetome Date: Tue, 25 Jan 2022 14:17:12 +0100 Subject: [PATCH 2/4] iCubDijon01 - updated files for nws layer --- iCubDijon01/calibrators/head_calib.xml | 4 +-- iCubDijon01/calibrators/left_arm_calib.xml | 4 +-- iCubDijon01/calibrators/left_leg_calib.xml | 4 +-- iCubDijon01/calibrators/right_arm_calib.xml | 4 +-- iCubDijon01/calibrators/right_leg_calib.xml | 4 +-- iCubDijon01/calibrators/torso_calib.xml | 4 +-- iCubDijon01/cartesian/left_arm_cartesian.xml | 4 +-- iCubDijon01/cartesian/right_arm_cartesian.xml | 4 +-- iCubDijon01/icub_all.xml | 26 ++++++++++++------- ...ad_mc_wrapper.xml => head-mc_remapper.xml} | 13 ++++------ .../wrappers/motorControl/head-mc_wrapper.xml | 10 +++++++ ...c_wrapper.xml => left_arm-mc_remapper.xml} | 13 ++++------ .../motorControl/left_arm-mc_wrapper.xml | 10 +++++++ ...c_wrapper.xml => left_leg-mc_remapper.xml} | 9 +++---- .../motorControl/left_leg-mc_wrapper.xml | 10 +++++++ ..._wrapper.xml => right_arm-mc_remapper.xml} | 13 ++++------ .../motorControl/right_arm-mc_wrapper.xml | 10 +++++++ .../motorControl/right_leg-mc_remapper.xml | 14 ++++++++++ .../motorControl/right_leg-mc_wrapper.xml | 10 +++++++ .../motorControl/right_leg_mc_wrapper.xml | 17 ------------ ...o_mc_wrapper.xml => torso-mc_remapper.xml} | 9 +++---- .../motorControl/torso-mc_wrapper.xml | 10 +++++++ 22 files changed, 127 insertions(+), 79 deletions(-) rename iCubDijon01/wrappers/motorControl/{head_mc_wrapper.xml => head-mc_remapper.xml} (53%) create mode 100644 iCubDijon01/wrappers/motorControl/head-mc_wrapper.xml rename iCubDijon01/wrappers/motorControl/{left_arm_mc_wrapper.xml => left_arm-mc_remapper.xml} (59%) create mode 100644 iCubDijon01/wrappers/motorControl/left_arm-mc_wrapper.xml rename iCubDijon01/wrappers/motorControl/{left_leg_mc_wrapper.xml => left_leg-mc_remapper.xml} (58%) create mode 100644 iCubDijon01/wrappers/motorControl/left_leg-mc_wrapper.xml rename iCubDijon01/wrappers/motorControl/{right_arm_mc_wrapper.xml => right_arm-mc_remapper.xml} (59%) create mode 100644 iCubDijon01/wrappers/motorControl/right_arm-mc_wrapper.xml create mode 100644 iCubDijon01/wrappers/motorControl/right_leg-mc_remapper.xml create mode 100644 iCubDijon01/wrappers/motorControl/right_leg-mc_wrapper.xml delete mode 100644 iCubDijon01/wrappers/motorControl/right_leg_mc_wrapper.xml rename iCubDijon01/wrappers/motorControl/{torso_mc_wrapper.xml => torso-mc_remapper.xml} (65%) create mode 100644 iCubDijon01/wrappers/motorControl/torso-mc_wrapper.xml diff --git a/iCubDijon01/calibrators/head_calib.xml b/iCubDijon01/calibrators/head_calib.xml index 7aab11ab1e..e51aedca8b 100644 --- a/iCubDijon01/calibrators/head_calib.xml +++ b/iCubDijon01/calibrators/head_calib.xml @@ -28,11 +28,11 @@ (0 1 2 3) (4) (5) - head_mc_wrapper + head_mc_remapper - head_mc_wrapper + head_mc_remapper diff --git a/iCubDijon01/calibrators/left_arm_calib.xml b/iCubDijon01/calibrators/left_arm_calib.xml index 1473a1172b..943e59329e 100644 --- a/iCubDijon01/calibrators/left_arm_calib.xml +++ b/iCubDijon01/calibrators/left_arm_calib.xml @@ -28,11 +28,11 @@ (0 1 2 3) (4 6 7) (5) - left_arm_mc_wrapper + left_arm_mc_remapper - left_arm_mc_wrapper + left_arm_mc_remapper diff --git a/iCubDijon01/calibrators/left_leg_calib.xml b/iCubDijon01/calibrators/left_leg_calib.xml index e26c129962..4c562c0472 100644 --- a/iCubDijon01/calibrators/left_leg_calib.xml +++ b/iCubDijon01/calibrators/left_leg_calib.xml @@ -27,11 +27,11 @@ (0 1 2 3 4 5) - left_leg_mc_wrapper + left_leg_mc_remapper - left_leg_mc_wrapper + left_leg_mc_remapper diff --git a/iCubDijon01/calibrators/right_arm_calib.xml b/iCubDijon01/calibrators/right_arm_calib.xml index 650b8b96d4..73ceebc09f 100644 --- a/iCubDijon01/calibrators/right_arm_calib.xml +++ b/iCubDijon01/calibrators/right_arm_calib.xml @@ -28,11 +28,11 @@ (0 1 2 3) (4 6 7) (5) - right_arm_mc_wrapper + right_arm_mc_remapper - right_arm_mc_wrapper + right_arm_mc_remapper diff --git a/iCubDijon01/calibrators/right_leg_calib.xml b/iCubDijon01/calibrators/right_leg_calib.xml index 5379327994..efd2e2e2c4 100644 --- a/iCubDijon01/calibrators/right_leg_calib.xml +++ b/iCubDijon01/calibrators/right_leg_calib.xml @@ -27,11 +27,11 @@ (0 1 2 3 4 5) - right_leg_mc_wrapper + right_leg_mc_remapper - right_leg_mc_wrapper + right_leg_mc_remapper diff --git a/iCubDijon01/calibrators/torso_calib.xml b/iCubDijon01/calibrators/torso_calib.xml index 92726b8821..5ab1e0fbd8 100644 --- a/iCubDijon01/calibrators/torso_calib.xml +++ b/iCubDijon01/calibrators/torso_calib.xml @@ -28,11 +28,11 @@ (0 1 2) - torso_mc_wrapper + torso_mc_remapper - torso_mc_wrapper + torso_mc_remapper diff --git a/iCubDijon01/cartesian/left_arm_cartesian.xml b/iCubDijon01/cartesian/left_arm_cartesian.xml index eb54e7223d..27586890da 100644 --- a/iCubDijon01/cartesian/left_arm_cartesian.xml +++ b/iCubDijon01/cartesian/left_arm_cartesian.xml @@ -44,8 +44,8 @@ - torso_mc_wrapper - left_arm_mc_wrapper + torso_mc_remapper + left_arm_mc_remapper diff --git a/iCubDijon01/cartesian/right_arm_cartesian.xml b/iCubDijon01/cartesian/right_arm_cartesian.xml index a84100d93e..756e245dac 100644 --- a/iCubDijon01/cartesian/right_arm_cartesian.xml +++ b/iCubDijon01/cartesian/right_arm_cartesian.xml @@ -44,8 +44,8 @@ - torso_mc_wrapper - right_arm_mc_wrapper + torso_mc_remapper + right_arm_mc_remapper diff --git a/iCubDijon01/icub_all.xml b/iCubDijon01/icub_all.xml index a71d9063ff..2fedca529b 100644 --- a/iCubDijon01/icub_all.xml +++ b/iCubDijon01/icub_all.xml @@ -7,18 +7,24 @@ - - - - - - - - + + + + + + + + + + + + + + - - + + diff --git a/iCubDijon01/wrappers/motorControl/head_mc_wrapper.xml b/iCubDijon01/wrappers/motorControl/head-mc_remapper.xml similarity index 53% rename from iCubDijon01/wrappers/motorControl/head_mc_wrapper.xml rename to iCubDijon01/wrappers/motorControl/head-mc_remapper.xml index 372b9b9a7f..b3327e6dca 100644 --- a/iCubDijon01/wrappers/motorControl/head_mc_wrapper.xml +++ b/iCubDijon01/wrappers/motorControl/head-mc_remapper.xml @@ -1,18 +1,15 @@ - + + - ( 0 5 0 5 ) + ( 0 5 0 5 ) - 10 - /icub/head - head - 6 + 6 head_mc - head_calibrator - + diff --git a/iCubDijon01/wrappers/motorControl/head-mc_wrapper.xml b/iCubDijon01/wrappers/motorControl/head-mc_wrapper.xml new file mode 100644 index 0000000000..5d14888760 --- /dev/null +++ b/iCubDijon01/wrappers/motorControl/head-mc_wrapper.xml @@ -0,0 +1,10 @@ + + + + + /icub/head + + head_mc_remapper + + + diff --git a/iCubDijon01/wrappers/motorControl/left_arm_mc_wrapper.xml b/iCubDijon01/wrappers/motorControl/left_arm-mc_remapper.xml similarity index 59% rename from iCubDijon01/wrappers/motorControl/left_arm_mc_wrapper.xml rename to iCubDijon01/wrappers/motorControl/left_arm-mc_remapper.xml index d72d046498..50d52ebcc4 100644 --- a/iCubDijon01/wrappers/motorControl/left_arm_mc_wrapper.xml +++ b/iCubDijon01/wrappers/motorControl/left_arm-mc_remapper.xml @@ -1,20 +1,17 @@ - + + ( 0 7 0 7 ) ( 8 15 0 7 ) - 10 - /icub/left_arm - left_arm - 16 + 16 - left_arm_mc + left_arm_mc left_hand_mc - left_arm_calibrator - + diff --git a/iCubDijon01/wrappers/motorControl/left_arm-mc_wrapper.xml b/iCubDijon01/wrappers/motorControl/left_arm-mc_wrapper.xml new file mode 100644 index 0000000000..ebe11670f8 --- /dev/null +++ b/iCubDijon01/wrappers/motorControl/left_arm-mc_wrapper.xml @@ -0,0 +1,10 @@ + + + + + /icub/left_arm + + left_arm_mc_remapper + + + diff --git a/iCubDijon01/wrappers/motorControl/left_leg_mc_wrapper.xml b/iCubDijon01/wrappers/motorControl/left_leg-mc_remapper.xml similarity index 58% rename from iCubDijon01/wrappers/motorControl/left_leg_mc_wrapper.xml rename to iCubDijon01/wrappers/motorControl/left_leg-mc_remapper.xml index d098df70d9..02e9c9c27a 100644 --- a/iCubDijon01/wrappers/motorControl/left_leg_mc_wrapper.xml +++ b/iCubDijon01/wrappers/motorControl/left_leg-mc_remapper.xml @@ -1,17 +1,14 @@ - + + ( 0 5 0 5 ) - 10 - /icub/left_leg - left_leg 6 left_leg_mc - left_leg_calibrator - + diff --git a/iCubDijon01/wrappers/motorControl/left_leg-mc_wrapper.xml b/iCubDijon01/wrappers/motorControl/left_leg-mc_wrapper.xml new file mode 100644 index 0000000000..2b54562163 --- /dev/null +++ b/iCubDijon01/wrappers/motorControl/left_leg-mc_wrapper.xml @@ -0,0 +1,10 @@ + + + + + /icub/left_leg + + left_leg_mc_remapper + + + diff --git a/iCubDijon01/wrappers/motorControl/right_arm_mc_wrapper.xml b/iCubDijon01/wrappers/motorControl/right_arm-mc_remapper.xml similarity index 59% rename from iCubDijon01/wrappers/motorControl/right_arm_mc_wrapper.xml rename to iCubDijon01/wrappers/motorControl/right_arm-mc_remapper.xml index 450852f978..e08c59444b 100644 --- a/iCubDijon01/wrappers/motorControl/right_arm_mc_wrapper.xml +++ b/iCubDijon01/wrappers/motorControl/right_arm-mc_remapper.xml @@ -1,20 +1,17 @@ - + + ( 0 7 0 7 ) ( 8 15 0 7 ) - 10 - /icub/right_arm - right_arm - 16 + 16 - right_arm_mc + right_arm_mc right_hand_mc - right_arm_calibrator - + diff --git a/iCubDijon01/wrappers/motorControl/right_arm-mc_wrapper.xml b/iCubDijon01/wrappers/motorControl/right_arm-mc_wrapper.xml new file mode 100644 index 0000000000..f980f9dd1f --- /dev/null +++ b/iCubDijon01/wrappers/motorControl/right_arm-mc_wrapper.xml @@ -0,0 +1,10 @@ + + + + + /icub/right_arm + + right_arm_mc_remapper + + + diff --git a/iCubDijon01/wrappers/motorControl/right_leg-mc_remapper.xml b/iCubDijon01/wrappers/motorControl/right_leg-mc_remapper.xml new file mode 100644 index 0000000000..0a8d6d4f80 --- /dev/null +++ b/iCubDijon01/wrappers/motorControl/right_leg-mc_remapper.xml @@ -0,0 +1,14 @@ + + + + + ( 0 5 0 5 ) + + 6 + + + right_leg_mc + + + + diff --git a/iCubDijon01/wrappers/motorControl/right_leg-mc_wrapper.xml b/iCubDijon01/wrappers/motorControl/right_leg-mc_wrapper.xml new file mode 100644 index 0000000000..850532c3fa --- /dev/null +++ b/iCubDijon01/wrappers/motorControl/right_leg-mc_wrapper.xml @@ -0,0 +1,10 @@ + + + + + /icub/right_leg + + right_leg_mc_remapper + + + diff --git a/iCubDijon01/wrappers/motorControl/right_leg_mc_wrapper.xml b/iCubDijon01/wrappers/motorControl/right_leg_mc_wrapper.xml deleted file mode 100644 index f96656be9a..0000000000 --- a/iCubDijon01/wrappers/motorControl/right_leg_mc_wrapper.xml +++ /dev/null @@ -1,17 +0,0 @@ - - - - ( 0 5 0 5 ) - - 10 - /icub/right_leg - right_leg - 6 - - - right_leg_mc - right_leg_calibrator - - - - diff --git a/iCubDijon01/wrappers/motorControl/torso_mc_wrapper.xml b/iCubDijon01/wrappers/motorControl/torso-mc_remapper.xml similarity index 65% rename from iCubDijon01/wrappers/motorControl/torso_mc_wrapper.xml rename to iCubDijon01/wrappers/motorControl/torso-mc_remapper.xml index b0275a3880..51ef3d71ae 100644 --- a/iCubDijon01/wrappers/motorControl/torso_mc_wrapper.xml +++ b/iCubDijon01/wrappers/motorControl/torso-mc_remapper.xml @@ -1,18 +1,15 @@ - + + ( 0 2 0 2 ) - 10 - /icub/torso - torso 3 torso_mc - torso_calibrator - + diff --git a/iCubDijon01/wrappers/motorControl/torso-mc_wrapper.xml b/iCubDijon01/wrappers/motorControl/torso-mc_wrapper.xml new file mode 100644 index 0000000000..974bf9e8a0 --- /dev/null +++ b/iCubDijon01/wrappers/motorControl/torso-mc_wrapper.xml @@ -0,0 +1,10 @@ + + + + + /icub/torso + + torso_mc_remapper + + + From 3eccbe18b90a45c4932c44985333bc45f377b69b Mon Sep 17 00:00:00 2001 From: davidetome Date: Tue, 25 Jan 2022 14:28:18 +0100 Subject: [PATCH 3/4] iCubLisboa01 - updated files for nws layer --- iCubLisboa01/calibrators/head_calib.xml | 4 +- iCubLisboa01/calibrators/left_arm_calib.xml | 4 +- iCubLisboa01/calibrators/left_leg_calib.xml | 4 +- iCubLisboa01/calibrators/right_arm_calib.xml | 4 +- iCubLisboa01/calibrators/right_leg_calib.xml | 4 +- iCubLisboa01/calibrators/torso_calib.xml | 4 +- iCubLisboa01/cartesian/left_arm_cartesian.xml | 4 +- .../cartesian/right_arm_cartesian.xml | 4 +- iCubLisboa01/icub_all.xml | 28 ++++++++------ ...ad_mc_wrapper.xml => head-mc_remapper.xml} | 12 +++--- .../wrappers/motorControl/head-mc_wrapper.xml | 10 +++++ .../motorControl/icub_ros_wrapper.xml | 37 +++++++++++++++++++ ...c_wrapper.xml => left_arm-mc_remapper.xml} | 12 +++--- .../motorControl/left_arm-mc_wrapper.xml | 10 +++++ ...c_wrapper.xml => left_leg-mc_remapper.xml} | 7 +--- .../motorControl/left_leg-mc_wrapper.xml | 10 +++++ ..._wrapper.xml => right_arm-mc_remapper.xml} | 12 +++--- .../motorControl/right_arm-mc_wrapper.xml | 10 +++++ ..._wrapper.xml => right_leg-mc_remapper.xml} | 13 +++---- .../motorControl/right_leg-mc_wrapper.xml | 10 +++++ ...o_mc_wrapper.xml => torso-mc_remapper.xml} | 8 ++-- .../motorControl/torso-mc_wrapper.xml | 10 +++++ 22 files changed, 155 insertions(+), 66 deletions(-) rename iCubLisboa01/wrappers/motorControl/{head_mc_wrapper.xml => head-mc_remapper.xml} (58%) create mode 100644 iCubLisboa01/wrappers/motorControl/head-mc_wrapper.xml create mode 100644 iCubLisboa01/wrappers/motorControl/icub_ros_wrapper.xml rename iCubLisboa01/wrappers/motorControl/{left_arm_mc_wrapper.xml => left_arm-mc_remapper.xml} (63%) create mode 100644 iCubLisboa01/wrappers/motorControl/left_arm-mc_wrapper.xml rename iCubLisboa01/wrappers/motorControl/{left_leg_mc_wrapper.xml => left_leg-mc_remapper.xml} (70%) create mode 100644 iCubLisboa01/wrappers/motorControl/left_leg-mc_wrapper.xml rename iCubLisboa01/wrappers/motorControl/{right_arm_mc_wrapper.xml => right_arm-mc_remapper.xml} (63%) create mode 100644 iCubLisboa01/wrappers/motorControl/right_arm-mc_wrapper.xml rename iCubLisboa01/wrappers/motorControl/{right_leg_mc_wrapper.xml => right_leg-mc_remapper.xml} (50%) create mode 100644 iCubLisboa01/wrappers/motorControl/right_leg-mc_wrapper.xml rename iCubLisboa01/wrappers/motorControl/{torso_mc_wrapper.xml => torso-mc_remapper.xml} (71%) create mode 100644 iCubLisboa01/wrappers/motorControl/torso-mc_wrapper.xml diff --git a/iCubLisboa01/calibrators/head_calib.xml b/iCubLisboa01/calibrators/head_calib.xml index e87799d84b..8edc119ec8 100644 --- a/iCubLisboa01/calibrators/head_calib.xml +++ b/iCubLisboa01/calibrators/head_calib.xml @@ -28,11 +28,11 @@ (0 1 2 3) (4) (5) - head_mc_wrapper + head_mc_remapper - head_mc_wrapper + head_mc_remapper diff --git a/iCubLisboa01/calibrators/left_arm_calib.xml b/iCubLisboa01/calibrators/left_arm_calib.xml index e5f3423b32..23e37987bb 100644 --- a/iCubLisboa01/calibrators/left_arm_calib.xml +++ b/iCubLisboa01/calibrators/left_arm_calib.xml @@ -28,11 +28,11 @@ (0 1 2 3) (4 6 7) (5) - left_arm_mc + left_arm_mc_remapper - left_arm_mc + left_arm_mc_remapper diff --git a/iCubLisboa01/calibrators/left_leg_calib.xml b/iCubLisboa01/calibrators/left_leg_calib.xml index 62e6f015d5..6aec3389d4 100644 --- a/iCubLisboa01/calibrators/left_leg_calib.xml +++ b/iCubLisboa01/calibrators/left_leg_calib.xml @@ -28,11 +28,11 @@ (0 1 2 3 4 5) - left_leg_mc_wrapper + left_leg_mc_remapper - left_leg_mc_wrapper + left_leg_mc_remapper diff --git a/iCubLisboa01/calibrators/right_arm_calib.xml b/iCubLisboa01/calibrators/right_arm_calib.xml index bb2c3ac4ae..19ba74710c 100644 --- a/iCubLisboa01/calibrators/right_arm_calib.xml +++ b/iCubLisboa01/calibrators/right_arm_calib.xml @@ -28,11 +28,11 @@ (0 1 2 3) (4 6 7) (5) - right_arm_mc + right_arm_mc_remapper - right_arm_mc + right_arm_mc_remapper diff --git a/iCubLisboa01/calibrators/right_leg_calib.xml b/iCubLisboa01/calibrators/right_leg_calib.xml index 78b9a8b765..57a8cd3879 100644 --- a/iCubLisboa01/calibrators/right_leg_calib.xml +++ b/iCubLisboa01/calibrators/right_leg_calib.xml @@ -28,11 +28,11 @@ (0 1 2 3 4 5) - right_leg_mc_wrapper + right_leg_mc_remapper - right_leg_mc_wrapper + right_leg_mc_remapper diff --git a/iCubLisboa01/calibrators/torso_calib.xml b/iCubLisboa01/calibrators/torso_calib.xml index 9da14d8d8a..3b5b105e2d 100644 --- a/iCubLisboa01/calibrators/torso_calib.xml +++ b/iCubLisboa01/calibrators/torso_calib.xml @@ -28,11 +28,11 @@ (0 1 2) - torso_mc_wrapper + torso_mc_remapper - torso_mc_wrapper + torso_mc_remapper diff --git a/iCubLisboa01/cartesian/left_arm_cartesian.xml b/iCubLisboa01/cartesian/left_arm_cartesian.xml index eb54e7223d..27586890da 100644 --- a/iCubLisboa01/cartesian/left_arm_cartesian.xml +++ b/iCubLisboa01/cartesian/left_arm_cartesian.xml @@ -44,8 +44,8 @@ - torso_mc_wrapper - left_arm_mc_wrapper + torso_mc_remapper + left_arm_mc_remapper diff --git a/iCubLisboa01/cartesian/right_arm_cartesian.xml b/iCubLisboa01/cartesian/right_arm_cartesian.xml index a84100d93e..756e245dac 100644 --- a/iCubLisboa01/cartesian/right_arm_cartesian.xml +++ b/iCubLisboa01/cartesian/right_arm_cartesian.xml @@ -44,8 +44,8 @@ - torso_mc_wrapper - right_arm_mc_wrapper + torso_mc_remapper + right_arm_mc_remapper diff --git a/iCubLisboa01/icub_all.xml b/iCubLisboa01/icub_all.xml index 8736244485..01dca8f4c6 100644 --- a/iCubLisboa01/icub_all.xml +++ b/iCubLisboa01/icub_all.xml @@ -5,20 +5,26 @@ - + - - - - - - - - + + + + + + + + + + + + + + - - + + diff --git a/iCubLisboa01/wrappers/motorControl/head_mc_wrapper.xml b/iCubLisboa01/wrappers/motorControl/head-mc_remapper.xml similarity index 58% rename from iCubLisboa01/wrappers/motorControl/head_mc_wrapper.xml rename to iCubLisboa01/wrappers/motorControl/head-mc_remapper.xml index b219920b04..b3327e6dca 100644 --- a/iCubLisboa01/wrappers/motorControl/head_mc_wrapper.xml +++ b/iCubLisboa01/wrappers/motorControl/head-mc_remapper.xml @@ -1,17 +1,15 @@ - + + - ( 0 5 0 5 ) + ( 0 5 0 5 ) - 10 - /icub/head - head - 6 + 6 head_mc - + diff --git a/iCubLisboa01/wrappers/motorControl/head-mc_wrapper.xml b/iCubLisboa01/wrappers/motorControl/head-mc_wrapper.xml new file mode 100644 index 0000000000..5d14888760 --- /dev/null +++ b/iCubLisboa01/wrappers/motorControl/head-mc_wrapper.xml @@ -0,0 +1,10 @@ + + + + + /icub/head + + head_mc_remapper + + + diff --git a/iCubLisboa01/wrappers/motorControl/icub_ros_wrapper.xml b/iCubLisboa01/wrappers/motorControl/icub_ros_wrapper.xml new file mode 100644 index 0000000000..0c04648ab9 --- /dev/null +++ b/iCubLisboa01/wrappers/motorControl/icub_ros_wrapper.xml @@ -0,0 +1,37 @@ + + + + + 10 + /icub/all_joints + 41 + + + ( 0 5 0 5 ) + + ( 6 8 0 2 ) + + ( 9 16 0 7 ) + ( 17 24 0 7 ) + + ( 25 32 0 7 ) + ( 33 40 0 7 ) + + + true + /icub/joint_states + /icub/joint_state_publisher + + + + head_mc + torso_mc + right_arm_mc + right_hand_mc + left_arm_mc + left_hand_mc + + + + + diff --git a/iCubLisboa01/wrappers/motorControl/left_arm_mc_wrapper.xml b/iCubLisboa01/wrappers/motorControl/left_arm-mc_remapper.xml similarity index 63% rename from iCubLisboa01/wrappers/motorControl/left_arm_mc_wrapper.xml rename to iCubLisboa01/wrappers/motorControl/left_arm-mc_remapper.xml index f0053ddfce..50d52ebcc4 100644 --- a/iCubLisboa01/wrappers/motorControl/left_arm_mc_wrapper.xml +++ b/iCubLisboa01/wrappers/motorControl/left_arm-mc_remapper.xml @@ -1,19 +1,17 @@ - + + ( 0 7 0 7 ) ( 8 15 0 7 ) - 10 - /icub/left_arm - left_arm - 16 + 16 - left_arm_mc + left_arm_mc left_hand_mc - + diff --git a/iCubLisboa01/wrappers/motorControl/left_arm-mc_wrapper.xml b/iCubLisboa01/wrappers/motorControl/left_arm-mc_wrapper.xml new file mode 100644 index 0000000000..ebe11670f8 --- /dev/null +++ b/iCubLisboa01/wrappers/motorControl/left_arm-mc_wrapper.xml @@ -0,0 +1,10 @@ + + + + + /icub/left_arm + + left_arm_mc_remapper + + + diff --git a/iCubLisboa01/wrappers/motorControl/left_leg_mc_wrapper.xml b/iCubLisboa01/wrappers/motorControl/left_leg-mc_remapper.xml similarity index 70% rename from iCubLisboa01/wrappers/motorControl/left_leg_mc_wrapper.xml rename to iCubLisboa01/wrappers/motorControl/left_leg-mc_remapper.xml index 4d7f837eed..02e9c9c27a 100644 --- a/iCubLisboa01/wrappers/motorControl/left_leg_mc_wrapper.xml +++ b/iCubLisboa01/wrappers/motorControl/left_leg-mc_remapper.xml @@ -1,17 +1,14 @@ - + ( 0 5 0 5 ) - 10 - /icub/left_leg - left_leg 6 left_leg_mc - + diff --git a/iCubLisboa01/wrappers/motorControl/left_leg-mc_wrapper.xml b/iCubLisboa01/wrappers/motorControl/left_leg-mc_wrapper.xml new file mode 100644 index 0000000000..2b54562163 --- /dev/null +++ b/iCubLisboa01/wrappers/motorControl/left_leg-mc_wrapper.xml @@ -0,0 +1,10 @@ + + + + + /icub/left_leg + + left_leg_mc_remapper + + + diff --git a/iCubLisboa01/wrappers/motorControl/right_arm_mc_wrapper.xml b/iCubLisboa01/wrappers/motorControl/right_arm-mc_remapper.xml similarity index 63% rename from iCubLisboa01/wrappers/motorControl/right_arm_mc_wrapper.xml rename to iCubLisboa01/wrappers/motorControl/right_arm-mc_remapper.xml index 3bc291da52..e08c59444b 100644 --- a/iCubLisboa01/wrappers/motorControl/right_arm_mc_wrapper.xml +++ b/iCubLisboa01/wrappers/motorControl/right_arm-mc_remapper.xml @@ -1,19 +1,17 @@ - + + ( 0 7 0 7 ) ( 8 15 0 7 ) - 10 - /icub/right_arm - right_arm - 16 + 16 - right_arm_mc + right_arm_mc right_hand_mc - + diff --git a/iCubLisboa01/wrappers/motorControl/right_arm-mc_wrapper.xml b/iCubLisboa01/wrappers/motorControl/right_arm-mc_wrapper.xml new file mode 100644 index 0000000000..f980f9dd1f --- /dev/null +++ b/iCubLisboa01/wrappers/motorControl/right_arm-mc_wrapper.xml @@ -0,0 +1,10 @@ + + + + + /icub/right_arm + + right_arm_mc_remapper + + + diff --git a/iCubLisboa01/wrappers/motorControl/right_leg_mc_wrapper.xml b/iCubLisboa01/wrappers/motorControl/right_leg-mc_remapper.xml similarity index 50% rename from iCubLisboa01/wrappers/motorControl/right_leg_mc_wrapper.xml rename to iCubLisboa01/wrappers/motorControl/right_leg-mc_remapper.xml index caba75b19c..0a8d6d4f80 100644 --- a/iCubLisboa01/wrappers/motorControl/right_leg_mc_wrapper.xml +++ b/iCubLisboa01/wrappers/motorControl/right_leg-mc_remapper.xml @@ -1,17 +1,14 @@ - + - ( 0 5 0 5 ) + ( 0 5 0 5 ) - 10 - /icub/right_leg - right_leg - 6 + 6 - right_leg_mc + right_leg_mc - + diff --git a/iCubLisboa01/wrappers/motorControl/right_leg-mc_wrapper.xml b/iCubLisboa01/wrappers/motorControl/right_leg-mc_wrapper.xml new file mode 100644 index 0000000000..850532c3fa --- /dev/null +++ b/iCubLisboa01/wrappers/motorControl/right_leg-mc_wrapper.xml @@ -0,0 +1,10 @@ + + + + + /icub/right_leg + + right_leg_mc_remapper + + + diff --git a/iCubLisboa01/wrappers/motorControl/torso_mc_wrapper.xml b/iCubLisboa01/wrappers/motorControl/torso-mc_remapper.xml similarity index 71% rename from iCubLisboa01/wrappers/motorControl/torso_mc_wrapper.xml rename to iCubLisboa01/wrappers/motorControl/torso-mc_remapper.xml index 8984acb3a7..51ef3d71ae 100644 --- a/iCubLisboa01/wrappers/motorControl/torso_mc_wrapper.xml +++ b/iCubLisboa01/wrappers/motorControl/torso-mc_remapper.xml @@ -1,17 +1,15 @@ - + + ( 0 2 0 2 ) - 10 - /icub/torso - torso 3 torso_mc - + diff --git a/iCubLisboa01/wrappers/motorControl/torso-mc_wrapper.xml b/iCubLisboa01/wrappers/motorControl/torso-mc_wrapper.xml new file mode 100644 index 0000000000..974bf9e8a0 --- /dev/null +++ b/iCubLisboa01/wrappers/motorControl/torso-mc_wrapper.xml @@ -0,0 +1,10 @@ + + + + + /icub/torso + + torso_mc_remapper + + + From 81647599e18f10ce1b636161a60463851d6c9066 Mon Sep 17 00:00:00 2001 From: davidetome Date: Tue, 25 Jan 2022 14:34:36 +0100 Subject: [PATCH 4/4] iCubOsaka01 - updated files for nws layer --- iCubOsaka01/calibrators/head_calib.xml | 4 +- iCubOsaka01/calibrators/left_arm_calib.xml | 4 +- iCubOsaka01/calibrators/left_leg_calib.xml | 4 +- iCubOsaka01/calibrators/right_arm_calib.xml | 4 +- iCubOsaka01/calibrators/right_leg_calib.xml | 4 +- iCubOsaka01/calibrators/torso_calib.xml | 4 +- iCubOsaka01/cartesian/left_arm_cartesian.xml | 4 +- iCubOsaka01/cartesian/right_arm_cartesian.xml | 4 +- iCubOsaka01/icub_all.xml | 18 ++++++--- ...ad_mc_wrapper.xml => head-mc_remapper.xml} | 12 +++--- .../wrappers/motorControl/head-mc_wrapper.xml | 10 +++++ .../motorControl/icub_ros_wrapper.xml | 37 +++++++++++++++++++ ...c_wrapper.xml => left_arm-mc_remapper.xml} | 12 +++--- .../motorControl/left_arm-mc_wrapper.xml | 10 +++++ ...c_wrapper.xml => left_leg-mc_remapper.xml} | 7 +--- .../motorControl/left_leg-mc_wrapper.xml | 10 +++++ ..._wrapper.xml => right_arm-mc_remapper.xml} | 12 +++--- .../motorControl/right_arm-mc_wrapper.xml | 10 +++++ ..._wrapper.xml => right_leg-mc_remapper.xml} | 13 +++---- .../motorControl/right_leg-mc_wrapper.xml | 10 +++++ ...o_mc_wrapper.xml => torso-mc_remapper.xml} | 8 ++-- .../motorControl/torso-mc_wrapper.xml | 10 +++++ 22 files changed, 150 insertions(+), 61 deletions(-) rename iCubOsaka01/wrappers/motorControl/{head_mc_wrapper.xml => head-mc_remapper.xml} (58%) create mode 100644 iCubOsaka01/wrappers/motorControl/head-mc_wrapper.xml create mode 100644 iCubOsaka01/wrappers/motorControl/icub_ros_wrapper.xml rename iCubOsaka01/wrappers/motorControl/{left_arm_mc_wrapper.xml => left_arm-mc_remapper.xml} (63%) create mode 100644 iCubOsaka01/wrappers/motorControl/left_arm-mc_wrapper.xml rename iCubOsaka01/wrappers/motorControl/{left_leg_mc_wrapper.xml => left_leg-mc_remapper.xml} (70%) create mode 100644 iCubOsaka01/wrappers/motorControl/left_leg-mc_wrapper.xml rename iCubOsaka01/wrappers/motorControl/{right_arm_mc_wrapper.xml => right_arm-mc_remapper.xml} (63%) create mode 100644 iCubOsaka01/wrappers/motorControl/right_arm-mc_wrapper.xml rename iCubOsaka01/wrappers/motorControl/{right_leg_mc_wrapper.xml => right_leg-mc_remapper.xml} (50%) create mode 100644 iCubOsaka01/wrappers/motorControl/right_leg-mc_wrapper.xml rename iCubOsaka01/wrappers/motorControl/{torso_mc_wrapper.xml => torso-mc_remapper.xml} (71%) create mode 100644 iCubOsaka01/wrappers/motorControl/torso-mc_wrapper.xml diff --git a/iCubOsaka01/calibrators/head_calib.xml b/iCubOsaka01/calibrators/head_calib.xml index 1b5c919d6b..1a5769fcc4 100644 --- a/iCubOsaka01/calibrators/head_calib.xml +++ b/iCubOsaka01/calibrators/head_calib.xml @@ -29,11 +29,11 @@ (0 1 2 3) (4) (5) - head_mc_wrapper + head_mc_remapper - head_mc_wrapper + head_mc_remapper diff --git a/iCubOsaka01/calibrators/left_arm_calib.xml b/iCubOsaka01/calibrators/left_arm_calib.xml index 5e9fc9f3a6..6464933898 100644 --- a/iCubOsaka01/calibrators/left_arm_calib.xml +++ b/iCubOsaka01/calibrators/left_arm_calib.xml @@ -29,11 +29,11 @@ (0 1 2 3) (4 6 7) (5) - left_arm_mc + left_arm_mc_remapper - left_arm_mc + left_arm_mc_remapper diff --git a/iCubOsaka01/calibrators/left_leg_calib.xml b/iCubOsaka01/calibrators/left_leg_calib.xml index 02413db218..6cc68e6c17 100644 --- a/iCubOsaka01/calibrators/left_leg_calib.xml +++ b/iCubOsaka01/calibrators/left_leg_calib.xml @@ -29,11 +29,11 @@ (0 1 2 3 4 5) - left_leg_mc_wrapper + left_leg_mc_remapper - left_leg_mc_wrapper + left_leg_mc_remapper diff --git a/iCubOsaka01/calibrators/right_arm_calib.xml b/iCubOsaka01/calibrators/right_arm_calib.xml index a242c2851a..0a6588326d 100644 --- a/iCubOsaka01/calibrators/right_arm_calib.xml +++ b/iCubOsaka01/calibrators/right_arm_calib.xml @@ -29,11 +29,11 @@ (0 1 2 3) (4 6 7) (5) - right_arm_mc + right_arm_mc_remapper - right_arm_mc + right_arm_mc_remapper diff --git a/iCubOsaka01/calibrators/right_leg_calib.xml b/iCubOsaka01/calibrators/right_leg_calib.xml index d4cb3031eb..3fae4cc4bd 100644 --- a/iCubOsaka01/calibrators/right_leg_calib.xml +++ b/iCubOsaka01/calibrators/right_leg_calib.xml @@ -29,11 +29,11 @@ (0 1 2 3 4 5) - right_leg_mc_wrapper + right_leg_mc_remapper - right_leg_mc_wrapper + right_leg_mc_remapper diff --git a/iCubOsaka01/calibrators/torso_calib.xml b/iCubOsaka01/calibrators/torso_calib.xml index 38601a5371..3f8aab5bc3 100644 --- a/iCubOsaka01/calibrators/torso_calib.xml +++ b/iCubOsaka01/calibrators/torso_calib.xml @@ -29,11 +29,11 @@ (0 1 2) - torso_mc_wrapper + torso_mc_remapper - torso_mc_wrapper + torso_mc_remapper diff --git a/iCubOsaka01/cartesian/left_arm_cartesian.xml b/iCubOsaka01/cartesian/left_arm_cartesian.xml index af82286448..31ce3ae825 100644 --- a/iCubOsaka01/cartesian/left_arm_cartesian.xml +++ b/iCubOsaka01/cartesian/left_arm_cartesian.xml @@ -42,8 +42,8 @@ - torso_mc_wrapper - left_arm_mc_wrapper + torso_mc_remapper + left_arm_mc_remapper diff --git a/iCubOsaka01/cartesian/right_arm_cartesian.xml b/iCubOsaka01/cartesian/right_arm_cartesian.xml index 347ffb75e7..8ae19cbfbd 100644 --- a/iCubOsaka01/cartesian/right_arm_cartesian.xml +++ b/iCubOsaka01/cartesian/right_arm_cartesian.xml @@ -42,8 +42,8 @@ - torso_mc_wrapper - right_arm_mc_wrapper + torso_mc_remapper + right_arm_mc_remapper diff --git a/iCubOsaka01/icub_all.xml b/iCubOsaka01/icub_all.xml index ca429592fe..ba53a2dc93 100644 --- a/iCubOsaka01/icub_all.xml +++ b/iCubOsaka01/icub_all.xml @@ -6,12 +6,18 @@ - - - - - - + + + + + + + + + + + + diff --git a/iCubOsaka01/wrappers/motorControl/head_mc_wrapper.xml b/iCubOsaka01/wrappers/motorControl/head-mc_remapper.xml similarity index 58% rename from iCubOsaka01/wrappers/motorControl/head_mc_wrapper.xml rename to iCubOsaka01/wrappers/motorControl/head-mc_remapper.xml index b219920b04..b3327e6dca 100644 --- a/iCubOsaka01/wrappers/motorControl/head_mc_wrapper.xml +++ b/iCubOsaka01/wrappers/motorControl/head-mc_remapper.xml @@ -1,17 +1,15 @@ - + + - ( 0 5 0 5 ) + ( 0 5 0 5 ) - 10 - /icub/head - head - 6 + 6 head_mc - + diff --git a/iCubOsaka01/wrappers/motorControl/head-mc_wrapper.xml b/iCubOsaka01/wrappers/motorControl/head-mc_wrapper.xml new file mode 100644 index 0000000000..5d14888760 --- /dev/null +++ b/iCubOsaka01/wrappers/motorControl/head-mc_wrapper.xml @@ -0,0 +1,10 @@ + + + + + /icub/head + + head_mc_remapper + + + diff --git a/iCubOsaka01/wrappers/motorControl/icub_ros_wrapper.xml b/iCubOsaka01/wrappers/motorControl/icub_ros_wrapper.xml new file mode 100644 index 0000000000..0c04648ab9 --- /dev/null +++ b/iCubOsaka01/wrappers/motorControl/icub_ros_wrapper.xml @@ -0,0 +1,37 @@ + + + + + 10 + /icub/all_joints + 41 + + + ( 0 5 0 5 ) + + ( 6 8 0 2 ) + + ( 9 16 0 7 ) + ( 17 24 0 7 ) + + ( 25 32 0 7 ) + ( 33 40 0 7 ) + + + true + /icub/joint_states + /icub/joint_state_publisher + + + + head_mc + torso_mc + right_arm_mc + right_hand_mc + left_arm_mc + left_hand_mc + + + + + diff --git a/iCubOsaka01/wrappers/motorControl/left_arm_mc_wrapper.xml b/iCubOsaka01/wrappers/motorControl/left_arm-mc_remapper.xml similarity index 63% rename from iCubOsaka01/wrappers/motorControl/left_arm_mc_wrapper.xml rename to iCubOsaka01/wrappers/motorControl/left_arm-mc_remapper.xml index f0053ddfce..50d52ebcc4 100644 --- a/iCubOsaka01/wrappers/motorControl/left_arm_mc_wrapper.xml +++ b/iCubOsaka01/wrappers/motorControl/left_arm-mc_remapper.xml @@ -1,19 +1,17 @@ - + + ( 0 7 0 7 ) ( 8 15 0 7 ) - 10 - /icub/left_arm - left_arm - 16 + 16 - left_arm_mc + left_arm_mc left_hand_mc - + diff --git a/iCubOsaka01/wrappers/motorControl/left_arm-mc_wrapper.xml b/iCubOsaka01/wrappers/motorControl/left_arm-mc_wrapper.xml new file mode 100644 index 0000000000..ebe11670f8 --- /dev/null +++ b/iCubOsaka01/wrappers/motorControl/left_arm-mc_wrapper.xml @@ -0,0 +1,10 @@ + + + + + /icub/left_arm + + left_arm_mc_remapper + + + diff --git a/iCubOsaka01/wrappers/motorControl/left_leg_mc_wrapper.xml b/iCubOsaka01/wrappers/motorControl/left_leg-mc_remapper.xml similarity index 70% rename from iCubOsaka01/wrappers/motorControl/left_leg_mc_wrapper.xml rename to iCubOsaka01/wrappers/motorControl/left_leg-mc_remapper.xml index 4d7f837eed..02e9c9c27a 100644 --- a/iCubOsaka01/wrappers/motorControl/left_leg_mc_wrapper.xml +++ b/iCubOsaka01/wrappers/motorControl/left_leg-mc_remapper.xml @@ -1,17 +1,14 @@ - + ( 0 5 0 5 ) - 10 - /icub/left_leg - left_leg 6 left_leg_mc - + diff --git a/iCubOsaka01/wrappers/motorControl/left_leg-mc_wrapper.xml b/iCubOsaka01/wrappers/motorControl/left_leg-mc_wrapper.xml new file mode 100644 index 0000000000..2b54562163 --- /dev/null +++ b/iCubOsaka01/wrappers/motorControl/left_leg-mc_wrapper.xml @@ -0,0 +1,10 @@ + + + + + /icub/left_leg + + left_leg_mc_remapper + + + diff --git a/iCubOsaka01/wrappers/motorControl/right_arm_mc_wrapper.xml b/iCubOsaka01/wrappers/motorControl/right_arm-mc_remapper.xml similarity index 63% rename from iCubOsaka01/wrappers/motorControl/right_arm_mc_wrapper.xml rename to iCubOsaka01/wrappers/motorControl/right_arm-mc_remapper.xml index 3bc291da52..e08c59444b 100644 --- a/iCubOsaka01/wrappers/motorControl/right_arm_mc_wrapper.xml +++ b/iCubOsaka01/wrappers/motorControl/right_arm-mc_remapper.xml @@ -1,19 +1,17 @@ - + + ( 0 7 0 7 ) ( 8 15 0 7 ) - 10 - /icub/right_arm - right_arm - 16 + 16 - right_arm_mc + right_arm_mc right_hand_mc - + diff --git a/iCubOsaka01/wrappers/motorControl/right_arm-mc_wrapper.xml b/iCubOsaka01/wrappers/motorControl/right_arm-mc_wrapper.xml new file mode 100644 index 0000000000..f980f9dd1f --- /dev/null +++ b/iCubOsaka01/wrappers/motorControl/right_arm-mc_wrapper.xml @@ -0,0 +1,10 @@ + + + + + /icub/right_arm + + right_arm_mc_remapper + + + diff --git a/iCubOsaka01/wrappers/motorControl/right_leg_mc_wrapper.xml b/iCubOsaka01/wrappers/motorControl/right_leg-mc_remapper.xml similarity index 50% rename from iCubOsaka01/wrappers/motorControl/right_leg_mc_wrapper.xml rename to iCubOsaka01/wrappers/motorControl/right_leg-mc_remapper.xml index caba75b19c..0a8d6d4f80 100644 --- a/iCubOsaka01/wrappers/motorControl/right_leg_mc_wrapper.xml +++ b/iCubOsaka01/wrappers/motorControl/right_leg-mc_remapper.xml @@ -1,17 +1,14 @@ - + - ( 0 5 0 5 ) + ( 0 5 0 5 ) - 10 - /icub/right_leg - right_leg - 6 + 6 - right_leg_mc + right_leg_mc - + diff --git a/iCubOsaka01/wrappers/motorControl/right_leg-mc_wrapper.xml b/iCubOsaka01/wrappers/motorControl/right_leg-mc_wrapper.xml new file mode 100644 index 0000000000..850532c3fa --- /dev/null +++ b/iCubOsaka01/wrappers/motorControl/right_leg-mc_wrapper.xml @@ -0,0 +1,10 @@ + + + + + /icub/right_leg + + right_leg_mc_remapper + + + diff --git a/iCubOsaka01/wrappers/motorControl/torso_mc_wrapper.xml b/iCubOsaka01/wrappers/motorControl/torso-mc_remapper.xml similarity index 71% rename from iCubOsaka01/wrappers/motorControl/torso_mc_wrapper.xml rename to iCubOsaka01/wrappers/motorControl/torso-mc_remapper.xml index 8984acb3a7..51ef3d71ae 100644 --- a/iCubOsaka01/wrappers/motorControl/torso_mc_wrapper.xml +++ b/iCubOsaka01/wrappers/motorControl/torso-mc_remapper.xml @@ -1,17 +1,15 @@ - + + ( 0 2 0 2 ) - 10 - /icub/torso - torso 3 torso_mc - + diff --git a/iCubOsaka01/wrappers/motorControl/torso-mc_wrapper.xml b/iCubOsaka01/wrappers/motorControl/torso-mc_wrapper.xml new file mode 100644 index 0000000000..974bf9e8a0 --- /dev/null +++ b/iCubOsaka01/wrappers/motorControl/torso-mc_wrapper.xml @@ -0,0 +1,10 @@ + + + + + /icub/torso + + torso_mc_remapper + + +