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CFW2CAN robots moved to icebox #687

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Nov 5, 2024
Merged

CFW2CAN robots moved to icebox #687

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5 changes: 0 additions & 5 deletions all_robots.xml
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Expand Up @@ -3,23 +3,18 @@
<xi:include href="./ergoCubSN000/ergocub_all.xml" />
<xi:include href="./ergoCubSN001/ergocub_all.xml" />
<xi:include href="./ergoCubSN002/ergocub_all.xml" />
<xi:include href="./iCubDijon01/icub_all.xml" />
<xi:include href="./iCubEdinburgh01/icub_all.xml" />
<xi:include href="./iCubErzelli01/icub_all.xml" />
<xi:include href="./iCubErzelli02/icub_all.xml" />
<xi:include href="./iCubErzelli03/icub_all.xml" />
<xi:include href="./iCubGenova02/icub_all.xml" />
<xi:include href="./iCubGenova03/icub_all.xml" />
<xi:include href="./iCubGenova06/icub_all.xml" />
<xi:include href="./iCubGenova07/icub_all.xml" />
<xi:include href="./iCubGenova08/icub_all.xml" />
<xi:include href="./iCubGenova10/icub_all.xml" />
<xi:include href="./iCubGenova11/icub_all.xml" />
<xi:include href="./iCubGrenoble01/icub_all.xml" />
<xi:include href="./iCubHertfordshire01/icub_all.xml" />
<xi:include href="./iCubHertfordshire02/icub_all.xml" />
<xi:include href="./iCubLisboa01/icub_all.xml" />
<xi:include href="./iCubLondon01/icub_ikart.xml" />
<xi:include href="./iCubNancy01/icub_all.xml" />
<xi:include href="./iCubPrague01/icub_all.xml" />
<xi:include href="./iCubShanghai01/icub_all.xml" />
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0 iCubDijon01/CMakeLists.txt → robots-icebox/iCubDijon01/CMakeLists.txt
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0 iCubDijon01/calibrators/head_calib.xml → ...ox/iCubDijon01/calibrators/head_calib.xml
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0 iCubDijon01/calibrators/left_arm_calib.xml → ...CubDijon01/calibrators/left_arm_calib.xml
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0 iCubDijon01/calibrators/left_hand_calib.xml → ...ubDijon01/calibrators/left_hand_calib.xml
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0 iCubDijon01/calibrators/left_leg_calib.xml → ...CubDijon01/calibrators/left_leg_calib.xml
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0 iCubDijon01/calibrators/right_arm_calib.xml → ...ubDijon01/calibrators/right_arm_calib.xml
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0 iCubDijon01/calibrators/right_hand_calib.xml → ...bDijon01/calibrators/right_hand_calib.xml
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0 iCubDijon01/calibrators/right_leg_calib.xml → ...ubDijon01/calibrators/right_leg_calib.xml
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0 iCubDijon01/calibrators/torso_calib.xml → ...x/iCubDijon01/calibrators/torso_calib.xml
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0 ...Dijon01/camera/dragonfly2_config_left.ini → ...Dijon01/camera/dragonfly2_config_left.ini
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0 ...camera/dragonfly2_config_left_320_240.ini → ...camera/dragonfly2_config_left_320_240.ini
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0 .../dragonfly2_config_left_bayer_320_240.ini → .../dragonfly2_config_left_bayer_320_240.ini
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0 .../dragonfly2_config_left_bayer_640_480.ini → .../dragonfly2_config_left_bayer_640_480.ini
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0 ...ijon01/camera/dragonfly2_config_right.ini → ...ijon01/camera/dragonfly2_config_right.ini
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0 ...amera/dragonfly2_config_right_320_240.ini → ...amera/dragonfly2_config_right_320_240.ini
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0 ...dragonfly2_config_right_bayer_320_240.ini → ...dragonfly2_config_right_bayer_320_240.ini
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0 iCubDijon01/cartesian/left_arm_cartesian.xml → ...bDijon01/cartesian/left_arm_cartesian.xml
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0 iCubDijon01/emotions.ini → robots-icebox/iCubDijon01/emotions.ini
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0 iCubDijon01/firmwareUpdate.txt → robots-icebox/iCubDijon01/firmwareUpdate.txt
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0 iCubDijon01/general.xml → robots-icebox/iCubDijon01/general.xml
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0 iCubDijon01/hardware/FT/left_arm_strain.xml → ...ubDijon01/hardware/FT/left_arm_strain.xml
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0 iCubDijon01/hardware/MAIS/left_hand_mais.xml → ...bDijon01/hardware/MAIS/left_hand_mais.xml
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0 .../hardware/VFT/left_arm_virtual_strain.xml → .../hardware/VFT/left_arm_virtual_strain.xml
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0 ...on01/hardware/inertials/head-inertial.xml → ...on01/hardware/inertials/head-inertial.xml
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0 ...jon01/hardware/motorControl/icub_head.xml → ...jon01/hardware/motorControl/icub_head.xml
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0 ...ware/skin/left_arm-cfw2_can7-skinSpec.xml → ...ware/skin/left_arm-cfw2_can7-skinSpec.xml
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0 iCubDijon01/hardware/skin/left_arm.xml → ...ox/iCubDijon01/hardware/skin/left_arm.xml
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0 .../hardware/skin/left_hand_inertial_mtb.xml → .../hardware/skin/left_hand_inertial_mtb.xml
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0 ...are/skin/right_arm-cfw2_can8-skinSpec.xml → ...are/skin/right_arm-cfw2_can8-skinSpec.xml
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0 iCubDijon01/hardware/skin/right_arm.xml → ...x/iCubDijon01/hardware/skin/right_arm.xml
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0 ...hardware/skin/right_hand_inertial_mtb.xml → ...hardware/skin/right_hand_inertial_mtb.xml
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0 ...ardware/skin/torso-cfw2_can9-skinSpec.xml → ...ardware/skin/torso-cfw2_can9-skinSpec.xml
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0 iCubDijon01/hardware/skin/torso.xml → ...cebox/iCubDijon01/hardware/skin/torso.xml
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0 ...1/iCub_Calibration_V1_3_1_iCubDijon01.xls → ...1/iCub_Calibration_V1_3_1_iCubDijon01.xls
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0 iCubDijon01/iKinGazeCtrl.ini → robots-icebox/iCubDijon01/iKinGazeCtrl.ini
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0 iCubDijon01/icubEyes.ini → robots-icebox/iCubDijon01/icubEyes.ini
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0 iCubDijon01/icub_all.xml → robots-icebox/iCubDijon01/icub_all.xml
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0 ...jon01/wrappers/FT/left_arm_FT_wrapper.xml → ...jon01/wrappers/FT/left_arm_FT_wrapper.xml
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0 ...on01/wrappers/FT/left_leg-FT_remapper.xml → ...on01/wrappers/FT/left_leg-FT_remapper.xml
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0 ...jon01/wrappers/FT/left_leg_FT_wrapper.xml → ...jon01/wrappers/FT/left_leg_FT_wrapper.xml
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0 ...on01/wrappers/FT/right_arm_FT_wrapper.xml → ...on01/wrappers/FT/right_arm_FT_wrapper.xml
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0 ...on01/wrappers/FT/right_leg_FT_wrapper.xml → ...on01/wrappers/FT/right_leg_FT_wrapper.xml
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0 .../wrappers/MAIS/left_hand_mais_wrapper.xml → .../wrappers/MAIS/left_hand_mais_wrapper.xml
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0 ...n01/wrappers/VFT/left_arm_VFT_wrapper.xml → ...n01/wrappers/VFT/left_arm_VFT_wrapper.xml
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0 ...01/wrappers/VFT/right_arm_VFT_wrapper.xml → ...01/wrappers/VFT/right_arm_VFT_wrapper.xml
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0 ...01/wrappers/VFT/right_leg_VFT_wrapper.xml → ...01/wrappers/VFT/right_leg_VFT_wrapper.xml
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0 ...ijon01/wrappers/VFT/torso_VFT_wrapper.xml → ...ijon01/wrappers/VFT/torso_VFT_wrapper.xml
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0 ...n01/wrappers/inertials/head-imuFilter.xml → ...n01/wrappers/inertials/head-imuFilter.xml
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0 ...pers/inertials/head-imuFilter_wrapper.xml → ...pers/inertials/head-imuFilter_wrapper.xml
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0 ...pers/inertials/head-inertials_wrapper.xml → ...pers/inertials/head-inertials_wrapper.xml
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0 ...rappers/motorControl/head-mc_remapper.xml → ...rappers/motorControl/head-mc_remapper.xml
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0 ...ers/motorControl/left_arm-mc_remapper.xml → ...ers/motorControl/left_arm-mc_remapper.xml
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0 ...pers/motorControl/left_arm-mc_wrapper.xml → ...pers/motorControl/left_arm-mc_wrapper.xml
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0 ...ers/motorControl/left_leg-mc_remapper.xml → ...ers/motorControl/left_leg-mc_remapper.xml
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0 ...pers/motorControl/left_leg-mc_wrapper.xml → ...pers/motorControl/left_leg-mc_wrapper.xml
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0 ...rs/motorControl/right_arm-mc_remapper.xml → ...rs/motorControl/right_arm-mc_remapper.xml
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0 ...appers/motorControl/torso-mc_remapper.xml → ...appers/motorControl/torso-mc_remapper.xml
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0 ...1/wrappers/skin/left_arm_skin_wrapper.xml → ...1/wrappers/skin/left_arm_skin_wrapper.xml
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0 ...ppers/skin/left_hand_inertial_wrapper.xml → ...ppers/skin/left_hand_inertial_wrapper.xml
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0 ...on01/wrappers/skin/torso_skin_wrapper.xml → ...on01/wrappers/skin/torso_skin_wrapper.xml
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0 iCubDijon01/yarprobotinterface.ini → ...icebox/iCubDijon01/yarprobotinterface.ini
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0 iCubGenova03/CMakeLists.txt → robots-icebox/iCubGenova03/CMakeLists.txt
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0 iCubGenova03/calibrators/head_calib.xml → ...x/iCubGenova03/calibrators/head_calib.xml
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0 iCubGenova03/calibrators/left_arm_calib.xml → ...ubGenova03/calibrators/left_arm_calib.xml
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0 iCubGenova03/calibrators/right_arm_calib.xml → ...bGenova03/calibrators/right_arm_calib.xml
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0 ...Genova03/calibrators/right_hand_calib.xml → ...Genova03/calibrators/right_hand_calib.xml
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0 iCubGenova03/calibrators/right_leg_calib.xml → ...bGenova03/calibrators/right_leg_calib.xml
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0 ...enova03/camera/dragonfly2_config_left.ini → ...enova03/camera/dragonfly2_config_left.ini
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@@ -1,74 +1,74 @@
<?xml version="1.0" encoding="UTF-8" ?>
<!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
<device xmlns:xi="http://www.w3.org/2001/XInclude" name="head_calibrator" type="parametricCalibrator">
<xi:include href="../general.xml" />
<group name="GENERAL">
<param name="joints"> 6 </param>
<param name="deviceName"> Head_Calibrator </param>
</group>
<group name="HOME">
<param name="positionHome"> -30 0 0 0 0 0 </param>
<param name="velocityHome"> 10 10 10 10 10 10 </param>
</group>
<group name="CALIBRATION">
<param name="calibrationType"> 3 3 3 3 0 0 </param>
<param name="calibration1"> 2047.5 2047.5 2047.5 2047.5 900 900 </param>
<param name="calibration2"> 10 10 10 10 20 20 </param>
<param name="calibration3"> 969.15 3327.188 3806.075 411.775 0 0 </param>
<param name="calibration4"> 0.00 0.00 0.00 0.00 0.00 0.00 </param>
<param name="calibration5"> 0.00 0.00 0.00 0.00 0.00 0.00 </param>
<param name="calibrationZero"> 0.00 0.00 0.00 0.00 0.00 0.00 </param>
<param name="calibrationDelta"> 0.00 0.00 0.00 0.00 0.00 0.00 </param>
<param name="startupPosition"> 0 0 0 0 0 0 </param>
<param name="startupVelocity"> 10 10 10 10 10 10 </param>
<param name="startupMaxPwm"> 120 120 0 0 0 0 </param>
<param name="startupPosThreshold"> 2 2 2 2 2 2 </param>
</group>
<param name="CALIB_ORDER"> (0 1 2 3) (4) (5) </param>
<action phase="startup" level="10" type="calibrate">
<param name="target">head-mc_remapper</param>
</action>
<action phase="interrupt1" level="1" type="park">
<param name="target">head-mc_remapper</param>
</action>
<action phase="interrupt3" level="1" type="abort" />
</device>
<?xml version="1.0" encoding="UTF-8" ?>
<!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">

<device xmlns:xi="http://www.w3.org/2001/XInclude" name="head_calibrator" type="parametricCalibrator">
<xi:include href="../general.xml" />

<group name="GENERAL">
<param name="joints"> 6 </param>
<param name="deviceName"> Head_Calibrator </param>
</group>

<group name="HOME">
<param name="positionHome"> -30 0 0 0 0 0 </param>
<param name="velocityHome"> 10 10 10 10 10 10 </param>
</group>

<group name="CALIBRATION">

<param name="calibrationType"> 3 3 3 3 0 0 </param>
<param name="calibration1"> 2047.5 2047.5 2047.5 2047.5 900 900 </param>
<param name="calibration2"> 10 10 10 10 20 20 </param>
<param name="calibration3"> 969.15 3327.188 3806.075 411.775 0 0 </param>
<param name="calibration4"> 0.00 0.00 0.00 0.00 0.00 0.00 </param>
<param name="calibration5"> 0.00 0.00 0.00 0.00 0.00 0.00 </param>
<param name="calibrationZero"> 0.00 0.00 0.00 0.00 0.00 0.00 </param>
<param name="calibrationDelta"> 0.00 0.00 0.00 0.00 0.00 0.00 </param>
<param name="startupPosition"> 0 0 0 0 0 0 </param>
<param name="startupVelocity"> 10 10 10 10 10 10 </param>
<param name="startupMaxPwm"> 120 120 0 0 0 0 </param>
<param name="startupPosThreshold"> 2 2 2 2 2 2 </param>
</group>


<param name="CALIB_ORDER"> (0 1 2 3) (4) (5) </param>

<action phase="startup" level="10" type="calibrate">
<param name="target">head-mc_remapper</param>
</action>

<action phase="interrupt1" level="1" type="park">
<param name="target">head-mc_remapper</param>
</action>

<action phase="interrupt3" level="1" type="abort" />

</device>




























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0 ...ers/motorControl/left_arm-mc_remapper.xml → ...ers/motorControl/left_arm-mc_remapper.xml
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0 ...pers/motorControl/left_arm-mc_wrapper.xml → ...pers/motorControl/left_arm-mc_wrapper.xml
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0 ...ers/motorControl/left_leg-mc_remapper.xml → ...ers/motorControl/left_leg-mc_remapper.xml
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0 ...pers/motorControl/left_leg-mc_wrapper.xml → ...pers/motorControl/left_leg-mc_wrapper.xml
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0 ...rs/motorControl/right_arm-mc_remapper.xml → ...rs/motorControl/right_arm-mc_remapper.xml
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0 ...ers/motorControl/right_arm-mc_wrapper.xml → ...ers/motorControl/right_arm-mc_wrapper.xml
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0 ...appers/motorControl/torso-mc_remapper.xml → ...appers/motorControl/torso-mc_remapper.xml
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0 ...1/wrappers/skin/left_arm_skin_wrapper.xml → ...1/wrappers/skin/left_arm_skin_wrapper.xml
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0 ...ppers/skin/left_hand_inertial_wrapper.xml → ...ppers/skin/left_hand_inertial_wrapper.xml
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0 iCubHertfordshire01/yarprobotinterface.ini → ...CubHertfordshire01/yarprobotinterface.ini
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0 iCubHertfordshire02/CMakeLists.txt → ...icebox/iCubHertfordshire02/CMakeLists.txt
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150 changes: 75 additions & 75 deletions ...ertfordshire02/calibrators/head_calib.xml → ...ertfordshire02/calibrators/head_calib.xml
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@@ -1,75 +1,75 @@
<?xml version="1.0" encoding="UTF-8" ?>
<!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
<device xmlns:xi="http://www.w3.org/2001/XInclude" name="head_calibrator" type="parametricCalibrator">
<xi:include href="../general.xml"/>
<group name="GENERAL">
<param name="joints"> 6 </param>
<param name="deviceName"> Head_Calibrator </param>
</group>
<group name="HOME">
<param name="positionHome"> -40 0 0 0 0 0 </param>
<param name="velocityHome"> 10 10 10 10 10 10 </param>
</group>
<group name="CALIBRATION">
<param name="calibrationType"> 0 0 0 0 0 0 </param>
<param name="calibration1"> 500 1333 1333 600 500 500 </param>
<param name="calibration2"> 20 20 20 -20 20 20 </param>
<param name="calibration3"> 0 0 0 0 0 0 </param>
<param name="calibration4"> 0.00 0.00 0.00 0.00 0.00 0.00 </param>
<param name="calibration5"> 0.00 0.00 0.00 0.00 0.00 0.00 </param>
<param name="calibrationZero"> 0.00 0.00 0.00 0.00 0.00 0.00 </param>
<param name="calibrationDelta"> 0.00 0.00 0.00 0.00 0.00 0.00 </param>
<param name="startupPosition"> 20 0 0 0 0 0 </param>
<param name="startupVelocity"> 10 10 10 10 10 10 </param>
<param name="startupMaxPwm"> 0 0 0 0 0 0 </param>
<param name="startupPosThreshold"> 2 2 2 2 2 2 </param>
</group>
<param name="CALIB_ORDER"> (0 1 2 3) (4) (5) </param>
<action phase="startup" level="10" type="calibrate">
<param name="target">head-mc_remapper</param>
</action>
<action phase="interrupt1" level="1" type="park">
<param name="target">head-mc_remapper</param>
</action>
<action phase="interrupt3" level="1" type="abort" />
</device>
<?xml version="1.0" encoding="UTF-8" ?>
<!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">

<device xmlns:xi="http://www.w3.org/2001/XInclude" name="head_calibrator" type="parametricCalibrator">
<xi:include href="../general.xml"/>

<group name="GENERAL">
<param name="joints"> 6 </param>
<param name="deviceName"> Head_Calibrator </param>
</group>

<group name="HOME">
<param name="positionHome"> -40 0 0 0 0 0 </param>
<param name="velocityHome"> 10 10 10 10 10 10 </param>
</group>

<group name="CALIBRATION">

<param name="calibrationType"> 0 0 0 0 0 0 </param>
<param name="calibration1"> 500 1333 1333 600 500 500 </param>
<param name="calibration2"> 20 20 20 -20 20 20 </param>
<param name="calibration3"> 0 0 0 0 0 0 </param>
<param name="calibration4"> 0.00 0.00 0.00 0.00 0.00 0.00 </param>
<param name="calibration5"> 0.00 0.00 0.00 0.00 0.00 0.00 </param>
<param name="calibrationZero"> 0.00 0.00 0.00 0.00 0.00 0.00 </param>
<param name="calibrationDelta"> 0.00 0.00 0.00 0.00 0.00 0.00 </param>
<param name="startupPosition"> 20 0 0 0 0 0 </param>
<param name="startupVelocity"> 10 10 10 10 10 10 </param>
<param name="startupMaxPwm"> 0 0 0 0 0 0 </param>
<param name="startupPosThreshold"> 2 2 2 2 2 2 </param>
</group>



<param name="CALIB_ORDER"> (0 1 2 3) (4) (5) </param>

<action phase="startup" level="10" type="calibrate">
<param name="target">head-mc_remapper</param>
</action>

<action phase="interrupt1" level="1" type="park">
<param name="target">head-mc_remapper</param>
</action>

<action phase="interrupt3" level="1" type="abort" />

</device>




























0 ...shire02/camera/dragonfly2_config_left.ini → ...shire02/camera/dragonfly2_config_left.ini
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0 ...hire02/camera/dragonfly2_config_right.ini → ...hire02/camera/dragonfly2_config_right.ini
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0 ...dragonfly2_config_right_bayer_320_240.ini → ...dragonfly2_config_right_bayer_320_240.ini
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0 ...dragonfly2_config_right_bayer_640_480.ini → ...dragonfly2_config_right_bayer_640_480.ini
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0 iCubHertfordshire02/firmwareUpdate.txt → ...ox/iCubHertfordshire02/firmwareUpdate.txt
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0 iCubHertfordshire02/firmwareupdater.ini → ...x/iCubHertfordshire02/firmwareupdater.ini
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0 iCubHertfordshire02/general.xml → ...ts-icebox/iCubHertfordshire02/general.xml
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0 ...re02/hardware/inertials/head-inertial.xml → ...re02/hardware/inertials/head-inertial.xml
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