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[ergoCubSN001] FTs and AMOs enabling #605

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merged 1 commit into from
Jan 5, 2024
Merged

[ergoCubSN001] FTs and AMOs enabling #605

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16 changes: 8 additions & 8 deletions ergoCubSN001/ergocub_all.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -70,9 +70,9 @@
<xi:include href="hardware/motorControl/right_leg-eb6-j0_3-mc.xml" />
<xi:include href="hardware/motorControl/right_leg-eb7-j4_5-mc.xml" />

<!-- FT SENSORS
<!-- FT SENSORS -->
<xi:include href="hardware/FT/left_arm-eb2-j0_1-strain.xml" />
<xi:include href="hardware/FT/right_arm-eb1-j0_1-strain.xml" /> -->
<xi:include href="hardware/FT/right_arm-eb1-j0_1-strain.xml" />
<xi:include href="hardware/FT/left_leg-eb9-j4_5-strain.xml" />
<xi:include href="hardware/FT/right_leg-eb7-j4_5-strain.xml" />
<xi:include href="hardware/FT/left_leg-eb8-j0_3-strain.xml" />
Expand All @@ -82,9 +82,9 @@
<xi:include href="wrappers/FT/left_leg-FT_remapper.xml" />
<xi:include href="wrappers/FT/right_leg-FT_remapper.xml" />

<!-- FT SENSORS - MULTIPLE ANALOG SENSOR SERVERS
<!-- FT SENSORS - MULTIPLE ANALOG SENSOR SERVERS -->
<xi:include href="wrappers/FT/left_arm-FT_wrapper.xml" />
<xi:include href="wrappers/FT/right_arm-FT_wrapper.xml" /> -->
<xi:include href="wrappers/FT/right_arm-FT_wrapper.xml" />
<xi:include href="wrappers/FT/left_leg-FT_wrapper.xml" />
<xi:include href="wrappers/FT/right_leg-FT_wrapper.xml" />

Expand All @@ -103,17 +103,17 @@
<xi:include href="hardware/inertials/right_arm-eb3-j2_3-inertial.xml" />
<xi:include href="wrappers/inertials/right_arm-inertials_wrapper.xml" /> -->

<!-- FT SENSORS - IMU
<!-- FT SENSORS - IMU -->
<xi:include href="hardware/inertials/left_arm-eb2-j0_1-inertial.xml" />
<xi:include href="hardware/inertials/right_arm-eb1-j0_1-inertial.xml" /> -->
<xi:include href="hardware/inertials/right_arm-eb1-j0_1-inertial.xml" />
<xi:include href="hardware/inertials/left_leg-eb8-j0_3-inertial.xml" />
<xi:include href="hardware/inertials/right_leg-eb6-j0_3-inertial.xml" />
<xi:include href="hardware/inertials/left_leg-eb9-j4_5-inertial.xml" />
<xi:include href="hardware/inertials/right_leg-eb7-j4_5-inertial.xml" />

<!-- FT SENSORS - IMU - MULTIPLE ANALOG SENSOR SERVERS
<!-- FT SENSORS - IMU - MULTIPLE ANALOG SENSOR SERVERS -->
<xi:include href="wrappers/inertials/left_arm-imu_wrapper.xml" />
<xi:include href="wrappers/inertials/right_arm-imu_wrapper.xml" /> -->
<xi:include href="wrappers/inertials/right_arm-imu_wrapper.xml" />
<xi:include href="wrappers/inertials/left_leg-imu_wrapper.xml" />
<xi:include href="wrappers/inertials/right_leg-imu_wrapper.xml" />
<xi:include href="wrappers/inertials/left_foot-imu_wrapper.xml" />
Expand Down
16 changes: 8 additions & 8 deletions ergoCubSN001/ergocub_wbd.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -71,8 +71,8 @@
<xi:include href="hardware/motorControl/right_leg-eb7-j4_5-mc.xml" />

<!-- FT SENSORS -->
<!--xi:include href="hardware/FT/left_arm-eb2-j0_1-strain.xml" />
<xi:include href="hardware/FT/right_arm-eb1-j0_1-strain.xml" /-->
<xi:include href="hardware/FT/left_arm-eb2-j0_1-strain.xml" />
<xi:include href="hardware/FT/right_arm-eb1-j0_1-strain.xml" />
<xi:include href="hardware/FT/left_leg-eb9-j4_5-strain.xml" />
<xi:include href="hardware/FT/right_leg-eb7-j4_5-strain.xml" />
<xi:include href="hardware/FT/left_leg-eb8-j0_3-strain.xml" />
Expand All @@ -83,8 +83,8 @@
<xi:include href="wrappers/FT/right_leg-FT_remapper.xml" />

<!-- FT SENSORS - MULTIPLE ANALOG SENSOR SERVERS -->
<!--xi:include href="wrappers/FT/left_arm-FT_wrapper.xml" />
<xi:include href="wrappers/FT/right_arm-FT_wrapper.xml" /-->
<xi:include href="wrappers/FT/left_arm-FT_wrapper.xml" />
<xi:include href="wrappers/FT/right_arm-FT_wrapper.xml" />
<xi:include href="wrappers/FT/left_leg-FT_wrapper.xml" />
<xi:include href="wrappers/FT/right_leg-FT_wrapper.xml" />

Expand All @@ -104,16 +104,16 @@
<xi:include href="wrappers/inertials/right_arm-inertials_wrapper.xml" /> -->

<!-- FT SENSORS - IMU -->
<!--xi:include href="hardware/inertials/left_arm-eb2-j0_1-inertial.xml" />
<xi:include href="hardware/inertials/right_arm-eb1-j0_1-inertial.xml" /-->
<xi:include href="hardware/inertials/left_arm-eb2-j0_1-inertial.xml" />
<xi:include href="hardware/inertials/right_arm-eb1-j0_1-inertial.xml" />
<xi:include href="hardware/inertials/left_leg-eb8-j0_3-inertial.xml" />
<xi:include href="hardware/inertials/right_leg-eb6-j0_3-inertial.xml" />
<xi:include href="hardware/inertials/left_leg-eb9-j4_5-inertial.xml" />
<xi:include href="hardware/inertials/right_leg-eb7-j4_5-inertial.xml" />

<!-- FT SENSORS - IMU - MULTIPLE ANALOG SENSOR SERVERS -->
<!--xi:include href="wrappers/inertials/left_arm-imu_wrapper.xml" />
<xi:include href="wrappers/inertials/right_arm-imu_wrapper.xml" /-->
<xi:include href="wrappers/inertials/left_arm-imu_wrapper.xml" />
<xi:include href="wrappers/inertials/right_arm-imu_wrapper.xml" />
<xi:include href="wrappers/inertials/left_leg-imu_wrapper.xml" />
<xi:include href="wrappers/inertials/right_leg-imu_wrapper.xml" />
<xi:include href="wrappers/inertials/left_foot-imu_wrapper.xml" />
Expand Down
2 changes: 1 addition & 1 deletion ergoCubSN001/hardware/mechanicals/left_arm-eb31-j4_6-mec.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -65,7 +65,7 @@
<group name="JOINTSET_0">
<param name="listofjoints"> 0 1 2 </param>
<param name="constraint"> ergocubwrist </param> <!-- none for calibration -->
<param name="param1"> 20 </param>
<param name="param1"> 21 </param>
<param name="param2"> 0 </param>
</group>
</group>
Expand Down
2 changes: 1 addition & 1 deletion ergoCubSN001/hardware/mechanicals/right_arm-eb30-j4_6-mec.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -65,7 +65,7 @@
<group name="JOINTSET_0">
<param name="listofjoints"> 0 1 2 </param>
<param name="constraint"> ergocubwrist </param> <!-- none for calibration -->
<param name="param1"> 20 </param>
<param name="param1"> 21 </param>
<param name="param2"> 1 </param>
</group>
</group>
Expand Down
2 changes: 1 addition & 1 deletion ergoCubSN001/hardware/motorControl/left_arm-eb2-j0_1-mc_service.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -36,7 +36,7 @@
</group>

<group name="ENCODER1">
<param name="type"> none none </param>
<param name="type"> amo amo </param>
<param name="port"> CONN:P6 CONN:P8 </param>
<param name="position"> atjoint atjoint </param>
<param name="resolution"> -16384 16384 </param>
Expand Down
2 changes: 1 addition & 1 deletion ergoCubSN001/hardware/motorControl/left_leg-eb8-j0_3-mc_service.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -36,7 +36,7 @@
</group>

<group name="ENCODER1">
<param name="type"> none amo amo amo </param>
<param name="type"> amo amo amo amo </param>
<param name="port"> CONN:P6 CONN:P8 CONN:P7 CONN:P9 </param>
<param name="position"> atjoint atjoint atjoint atjoint </param>
<param name="resolution"> 16384 16384 16384 -16384 </param>
Expand Down
2 changes: 1 addition & 1 deletion ergoCubSN001/hardware/motorControl/right_arm-eb1-j0_1-mc_service.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -36,7 +36,7 @@
</group>

<group name="ENCODER1">
<param name="type"> none none </param>
<param name="type"> amo amo </param>
<param name="port"> CONN:P6 CONN:P8 </param>
<param name="position"> atjoint atjoint </param>
<param name="resolution"> 16384 -16384 </param>
Expand Down
2 changes: 1 addition & 1 deletion ergoCubSN001/hardware/motorControl/right_arm-eb3-j2_3-mc_service.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -36,7 +36,7 @@
</group>

<group name="ENCODER1">
<param name="type"> none none </param>
<param name="type"> none amo </param>
<param name="port"> CONN:P6 CONN:P8 </param>
<param name="position"> atjoint atjoint </param>
<param name="resolution"> -16384 -16384 </param>
Expand Down