diff --git a/iCubGenova09/calibrators/face-calib.xml b/iCubGenova09/calibrators/face-calib.xml index 9e22bb918b..83ef4572ef 100644 --- a/iCubGenova09/calibrators/face-calib.xml +++ b/iCubGenova09/calibrators/face-calib.xml @@ -48,11 +48,11 @@ (0) - face-mc_wrapper + face-mc_remapper - face-mc_wrapper + face-mc_remapper diff --git a/iCubGenova09/calibrators/head-calib.xml b/iCubGenova09/calibrators/head-calib.xml index 7cf3a2a9da..24c6899ddb 100644 --- a/iCubGenova09/calibrators/head-calib.xml +++ b/iCubGenova09/calibrators/head-calib.xml @@ -39,11 +39,11 @@ (0 1 2) (3) (4 5) - head-mc_wrapper + head-mc_remapper - head-mc_wrapper + head-mc_remapper diff --git a/iCubGenova09/calibrators/left_arm-calib.xml b/iCubGenova09/calibrators/left_arm-calib.xml index af166c10d2..3c027b8886 100644 --- a/iCubGenova09/calibrators/left_arm-calib.xml +++ b/iCubGenova09/calibrators/left_arm-calib.xml @@ -35,11 +35,11 @@ (1) (0) (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/iCubGenova09/calibrators/left_forearm-calib.xml b/iCubGenova09/calibrators/left_forearm-calib.xml deleted file mode 100644 index ccf05a3e4a..0000000000 --- a/iCubGenova09/calibrators/left_forearm-calib.xml +++ /dev/null @@ -1,49 +0,0 @@ - - - - - - - - - 12 - Left_Forearm_Calibrator - - - - 0 0 0 35 65 0 0 0 0 0 0 0 - 30 30 30 60 30 30 30 30 30 30 30 30 - - - - 5 12 12 7 7 6 6 6 6 6 6 6 - -1500 8335 10671 0 0 0 0 0 0 0 0 0 - 16384 0 0 0 0 9102 9102 9102 9102 9102 9102 3640 - 0 0 0 0 0 -1 1 -1 1 -1 1 1 - 0 0 0 2140 334 251 484 243 476 255 480 689 - 0 0 0 2407 2576 84 9 15 12 20 45 93 - 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 25 65 0 0 0 0 0 0 0 - 30 30 30 60 100 100 100 100 100 100 100 100 - 2000 0 0 0 0 0 0 0 0 0 0 0 - 90 90 90 90 90 0 90 90 90 90 90 90 - - - (0) (1 2 3) (4 5 7 9) (6 8 10 11) - - - left_forearm-mc_wrapper - - - - left_forearm-mc_wrapper - - - - - - - - diff --git a/iCubGenova09/calibrators/left_leg-calib.xml b/iCubGenova09/calibrators/left_leg-calib.xml index e85749daf7..10e6d9491e 100644 --- a/iCubGenova09/calibrators/left_leg-calib.xml +++ b/iCubGenova09/calibrators/left_leg-calib.xml @@ -34,11 +34,11 @@ (2) (4) (5) (3) (0) (1) - left_leg-mc_wrapper + left_leg-mc_remapper - left_leg-mc_wrapper + left_leg-mc_remapper diff --git a/iCubGenova09/calibrators/left_upperarm-calib.xml b/iCubGenova09/calibrators/left_upperarm-calib.xml deleted file mode 100644 index 7ab9263c0b..0000000000 --- a/iCubGenova09/calibrators/left_upperarm-calib.xml +++ /dev/null @@ -1,49 +0,0 @@ - - - - - - - - - 4 - Left_UpperArm_Calibrator - - - - -30 30 0 45 - 10 10 10 10 - - - - 12 12 12 12 - 54678 18551 44500 52646 - 0 0 0 0 - 0 0 0 0 - 0 0 0 0 - 0 0 0 0 - 0 0 0 0 - 0 0 0 0 - - -35.97 29.97 0.06 50.00 - 10.0 10.0 10.0 10.0 - 8000 8000 8000 8000 - 2 2 2 2 - - -(0 1 2 3) - - - left_upperarm-mc_wrapper - - - - left_upperarm-mc_wrapper - - - - - - - - diff --git a/iCubGenova09/calibrators/right_arm-calib.xml b/iCubGenova09/calibrators/right_arm-calib.xml index b6a008ae02..af942e0129 100644 --- a/iCubGenova09/calibrators/right_arm-calib.xml +++ b/iCubGenova09/calibrators/right_arm-calib.xml @@ -36,11 +36,11 @@ (1) (0) (2) (3) (4) (5 6) (7) (8 9) (11 13) (10 12 14 15) - right_arm-mc_wrapper + right_arm-mc_remapper - right_arm-mc_wrapper + right_arm-mc_remapper diff --git a/iCubGenova09/calibrators/right_forearm-calib.xml b/iCubGenova09/calibrators/right_forearm-calib.xml deleted file mode 100644 index c966d1d75b..0000000000 --- a/iCubGenova09/calibrators/right_forearm-calib.xml +++ /dev/null @@ -1,48 +0,0 @@ - - - - - - - - - 12 - Right_Forearm_Calibrator - - - - 0 0 0 35 65 0 0 0 0 0 0 0 - 30 30 30 60 30 30 30 30 30 30 30 30 - - - - - 5 12 12 7 7 6 6 6 6 6 6 6 - 1500 36903 -12703 0 0 0 0 0 0 0 0 0 - 16384 0 0 0 0 9102 9102 9102 9102 9102 9102 3640 - 0 0 0 0 0 -1 1 -1 1 -1 1 1 - 0 0 0 2295 1495 182 510 255 510 255 510 747 - 0 0 0 2550 2280 34 40 18 30 0 30 115 - 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 25 65 0 0 0 0 0 0 0 - 30 30 30 60 100 100 100 100 100 100 100 100 - 1500 0 0 0 0 0 0 0 0 0 0 0 - 90 0 90 90 90 90 90 90 90 90 90 90 - - - (0) (1 2 3) (4 5 7 9) (6 8 10 11) - - right_forearm-mc_wrapper - - - - right_forearm-mc_wrapper - - - - - - - diff --git a/iCubGenova09/calibrators/right_leg-calib.xml b/iCubGenova09/calibrators/right_leg-calib.xml index 8cfc5c0449..0c38732c8e 100644 --- a/iCubGenova09/calibrators/right_leg-calib.xml +++ b/iCubGenova09/calibrators/right_leg-calib.xml @@ -35,11 +35,11 @@ - right_leg-mc_wrapper + right_leg-mc_remapper - right_leg-mc_wrapper + right_leg-mc_remapper diff --git a/iCubGenova09/calibrators/right_upperarm-calib.xml b/iCubGenova09/calibrators/right_upperarm-calib.xml deleted file mode 100644 index d28366ce50..0000000000 --- a/iCubGenova09/calibrators/right_upperarm-calib.xml +++ /dev/null @@ -1,49 +0,0 @@ - - - - - - - - - 4 - Right_UpperArm_Calibrator - - - - -30 30 0 45 - 10 10 10 10 - - - - 12 12 12 12 - 6074 11385 2211 47713 - 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 0.06 50.00 - 10.0 10.0 10.0 10.0 - 8000 8000 8000 8000 - 2 2 2 2 - - -(0 1 2 3) - - - right_upperarm-mc_wrapper - - - - right_upperarm-mc_wrapper - - - - - - - - diff --git a/iCubGenova09/calibrators/torso-calib.xml b/iCubGenova09/calibrators/torso-calib.xml index 9a2a0dce73..1c49710822 100644 --- a/iCubGenova09/calibrators/torso-calib.xml +++ b/iCubGenova09/calibrators/torso-calib.xml @@ -42,11 +42,11 @@ (0) (1) (2) - torso-mc_wrapper + torso-mc_remapper - torso-mc_wrapper + torso-mc_remapper diff --git a/iCubGenova09/cartesian/left_arm-cartesian.xml b/iCubGenova09/cartesian/left_arm-cartesian.xml index 702507b87e..26b163eabd 100644 --- a/iCubGenova09/cartesian/left_arm-cartesian.xml +++ b/iCubGenova09/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/iCubGenova09/cartesian/right_arm-cartesian.xml b/iCubGenova09/cartesian/right_arm-cartesian.xml index 5f2bf0d2ea..410774aa4e 100644 --- a/iCubGenova09/cartesian/right_arm-cartesian.xml +++ b/iCubGenova09/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/iCubGenova09/head-face.xml b/iCubGenova09/head-face.xml index f7e938c4b9..a74f5da452 100644 --- a/iCubGenova09/head-face.xml +++ b/iCubGenova09/head-face.xml @@ -9,14 +9,20 @@ + + + + + + + + - - diff --git a/iCubGenova09/icub_all.xml b/iCubGenova09/icub_all.xml index 04f0decfee..869b860782 100644 --- a/iCubGenova09/icub_all.xml +++ b/iCubGenova09/icub_all.xml @@ -7,34 +7,31 @@ - + + - - - - - - - - - - - - + + - - - - - - - - - - - + + + + + + + + + + + + + + + + @@ -42,7 +39,6 @@ - @@ -50,20 +46,37 @@ - - - - - + + - - - - + + + + + + + + + + + + + + + + + + + + + + + + @@ -73,7 +86,7 @@ - --> + diff --git a/iCubGenova09/icub_all_inertials.xml b/iCubGenova09/icub_all_inertials.xml index ca504dcf48..39e04bf3db 100644 --- a/iCubGenova09/icub_all_inertials.xml +++ b/iCubGenova09/icub_all_inertials.xml @@ -8,38 +8,34 @@ - - - - - - - - + + - - - - - + - - - - - - - - - - - - - - - + + + + + + + + + + + + + + + + + + + + @@ -107,6 +103,7 @@ + diff --git a/iCubGenova09/icub_all_no_legs.xml b/iCubGenova09/icub_all_no_legs.xml index 9b4dcecca0..61c7d1b7d3 100644 --- a/iCubGenova09/icub_all_no_legs.xml +++ b/iCubGenova09/icub_all_no_legs.xml @@ -12,18 +12,30 @@ + + + + + + + + + + + + + + - + --> + - @@ -37,7 +49,6 @@ - @@ -45,7 +56,6 @@ - diff --git a/iCubGenova09/icub_foc.xml b/iCubGenova09/icub_foc.xml index ced93c4662..3e2d518092 100644 --- a/iCubGenova09/icub_foc.xml +++ b/iCubGenova09/icub_foc.xml @@ -3,33 +3,42 @@ - + + + + + + + + + + + + + + + - - - - - - - - - + + + + + - - - - - - - + + + + + + @@ -40,6 +49,6 @@ - + diff --git a/iCubGenova09/icub_h_f_RL_a.xml b/iCubGenova09/icub_h_f_RL_a.xml index e9a34ca608..4114736f82 100644 --- a/iCubGenova09/icub_h_f_RL_a.xml +++ b/iCubGenova09/icub_h_f_RL_a.xml @@ -12,20 +12,28 @@ + + + + + + + + + + + + + - - - - - @@ -33,7 +41,6 @@ - @@ -41,7 +48,6 @@ - diff --git a/iCubGenova09/icub_left_leg.xml b/iCubGenova09/icub_left_leg.xml index 32e88472f0..4ec538a186 100644 --- a/iCubGenova09/icub_left_leg.xml +++ b/iCubGenova09/icub_left_leg.xml @@ -8,10 +8,14 @@ + + + + + - diff --git a/iCubGenova09/icub_legs.xml b/iCubGenova09/icub_legs.xml index 6e04dbe3b4..aa0fe73dbe 100644 --- a/iCubGenova09/icub_legs.xml +++ b/iCubGenova09/icub_legs.xml @@ -8,15 +8,20 @@ + + + + + + + - - diff --git a/iCubGenova09/icub_legs_mcOnly.xml b/iCubGenova09/icub_legs_mcOnly.xml index 7168c0d421..537523c6fe 100644 --- a/iCubGenova09/icub_legs_mcOnly.xml +++ b/iCubGenova09/icub_legs_mcOnly.xml @@ -7,17 +7,22 @@ + + + + + + + - - diff --git a/iCubGenova09/icub_legs_rarm.xml b/iCubGenova09/icub_legs_rarm.xml index ca79eee2fd..1bcd58c65e 100644 --- a/iCubGenova09/icub_legs_rarm.xml +++ b/iCubGenova09/icub_legs_rarm.xml @@ -7,26 +7,31 @@ + + + + + + + + - - - diff --git a/iCubGenova09/icub_right_leg.xml b/iCubGenova09/icub_right_leg.xml index bb9f52effb..cb7afaf83e 100644 --- a/iCubGenova09/icub_right_leg.xml +++ b/iCubGenova09/icub_right_leg.xml @@ -8,17 +8,17 @@ - + + + + - - - - - + + diff --git a/iCubGenova09/icub_torso.xml b/iCubGenova09/icub_torso.xml index 5444bfdf1f..9b7219e21e 100644 --- a/iCubGenova09/icub_torso.xml +++ b/iCubGenova09/icub_torso.xml @@ -8,10 +8,15 @@ - + + + + + + - + diff --git a/iCubGenova09/icub_wbd.xml b/iCubGenova09/icub_wbd.xml index f9711c3c05..ae9bd425e7 100644 --- a/iCubGenova09/icub_wbd.xml +++ b/iCubGenova09/icub_wbd.xml @@ -7,26 +7,31 @@ - - - - - - - - - - - + + + + + - - - + + + + + + + + + + + + + + + @@ -34,7 +39,6 @@ - @@ -42,17 +46,24 @@ - - - + + + + + + + + + + diff --git a/iCubGenova09/legs-wbd.xml b/iCubGenova09/legs-wbd.xml index 5644b11d97..7503a7057e 100644 --- a/iCubGenova09/legs-wbd.xml +++ b/iCubGenova09/legs-wbd.xml @@ -13,28 +13,31 @@ --> + + + + + + + + + + + - - - - - - + + - - - - + + - - + + + + - - - - + diff --git a/iCubGenova09/rl.xml b/iCubGenova09/rl.xml index c44238140a..bdf0e68b33 100644 --- a/iCubGenova09/rl.xml +++ b/iCubGenova09/rl.xml @@ -8,14 +8,16 @@ + + + + + - - - - + diff --git a/iCubGenova09/test_head.xml b/iCubGenova09/test_head.xml index 3d552a8918..bb17b9e11d 100644 --- a/iCubGenova09/test_head.xml +++ b/iCubGenova09/test_head.xml @@ -8,14 +8,19 @@ + + + + + + + - - diff --git a/iCubGenova09/test_left_arm.xml b/iCubGenova09/test_left_arm.xml index 4a99289f24..ccbeac784c 100644 --- a/iCubGenova09/test_left_arm.xml +++ b/iCubGenova09/test_left_arm.xml @@ -7,13 +7,17 @@ + + + + + - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/iCubGenova09/test_left_upperarm.xml b/iCubGenova09/test_left_upperarm.xml deleted file mode 100644 index 56e4b72bf6..0000000000 --- a/iCubGenova09/test_left_upperarm.xml +++ /dev/null @@ -1,48 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/iCubGenova09/test_right_arm.xml b/iCubGenova09/test_right_arm.xml index 5acc68ca8f..09e9926376 100644 --- a/iCubGenova09/test_right_arm.xml +++ b/iCubGenova09/test_right_arm.xml @@ -7,7 +7,10 @@ - + + + + @@ -15,7 +18,6 @@ - diff --git a/iCubGenova09/test_right_forearm.xml b/iCubGenova09/test_right_forearm.xml deleted file mode 100644 index b26e716ff3..0000000000 --- a/iCubGenova09/test_right_forearm.xml +++ /dev/null @@ -1,49 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/iCubGenova09/test_right_upperarm.xml b/iCubGenova09/test_right_upperarm.xml deleted file mode 100644 index 54300d9b26..0000000000 --- a/iCubGenova09/test_right_upperarm.xml +++ /dev/null @@ -1,49 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/iCubGenova09/test_upper_body.xml b/iCubGenova09/test_upper_body.xml deleted file mode 100644 index c93f0bf5a8..0000000000 --- a/iCubGenova09/test_upper_body.xml +++ /dev/null @@ -1,53 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/iCubGenova09/test_upper_norightshoulder.xml b/iCubGenova09/test_upper_norightshoulder.xml deleted file mode 100644 index 029a2db079..0000000000 --- a/iCubGenova09/test_upper_norightshoulder.xml +++ /dev/null @@ -1,48 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/iCubGenova09/upper-body.xml b/iCubGenova09/upper-body.xml index 691b12f1d2..60128d7a72 100644 --- a/iCubGenova09/upper-body.xml +++ b/iCubGenova09/upper-body.xml @@ -13,20 +13,28 @@ --> + + + + + + + + + + + + + - - - - - @@ -34,7 +42,6 @@ - @@ -42,7 +49,6 @@ - diff --git a/iCubGenova09/wrappers/motorControl/alljoints-mc_remapper.xml b/iCubGenova09/wrappers/motorControl/alljoints-mc_remapper.xml new file mode 100644 index 0000000000..5873b4fabc --- /dev/null +++ b/iCubGenova09/wrappers/motorControl/alljoints-mc_remapper.xml @@ -0,0 +1,31 @@ + + + + + + ( 0 5 0 5 ) + ( 0 1 0 1 ) + ( 6 12 0 6 ) + ( 13 21 0 8 ) + ( 22 28 0 6 ) + ( 29 37 0 8 ) + ( 38 40 0 2 ) + ( 41 46 0 5 ) + ( 47 52 0 5 ) + + 53 + + + head_mc + face_mc + left_arm_mc + left_hand_mc + right_arm_mc + right_hand_mc + torso_mc + left_leg_mc + right_leg_mc + + + + diff --git a/iCubGenova09/wrappers/motorControl/alljoints-mc_ros_wrapper.xml b/iCubGenova09/wrappers/motorControl/alljoints-mc_ros_wrapper.xml new file mode 100644 index 0000000000..6aa7a31dc7 --- /dev/null +++ b/iCubGenova09/wrappers/motorControl/alljoints-mc_ros_wrapper.xml @@ -0,0 +1,11 @@ + + + + + /yri_controlBoard_nws_ros + /all_joints + + alljoints-mc_remapper + + + diff --git a/iCubGenova09/wrappers/motorControl/face-mc_remapper.xml b/iCubGenova09/wrappers/motorControl/face-mc_remapper.xml new file mode 100644 index 0000000000..16f729d9a1 --- /dev/null +++ b/iCubGenova09/wrappers/motorControl/face-mc_remapper.xml @@ -0,0 +1,15 @@ + + + + + + ( 0 0 0 0 ) + + 1 + + + face-eb22-j0-mc + + + + diff --git a/iCubGenova09/wrappers/motorControl/face-mc_wrapper.xml b/iCubGenova09/wrappers/motorControl/face-mc_wrapper.xml index f9adc60ffb..d5c45c73bf 100644 --- a/iCubGenova09/wrappers/motorControl/face-mc_wrapper.xml +++ b/iCubGenova09/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 + + + diff --git a/iCubGenova09/wrappers/motorControl/head-mc_remapper.xml b/iCubGenova09/wrappers/motorControl/head-mc_remapper.xml new file mode 100644 index 0000000000..18ee4dd4f1 --- /dev/null +++ b/iCubGenova09/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/iCubGenova09/wrappers/motorControl/head-mc_wrapper.xml b/iCubGenova09/wrappers/motorControl/head-mc_wrapper.xml index 3db3d9823a..06e2825805 100644 --- a/iCubGenova09/wrappers/motorControl/head-mc_wrapper.xml +++ b/iCubGenova09/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/iCubGenova09/wrappers/motorControl/left_arm-mc_remapper.xml b/iCubGenova09/wrappers/motorControl/left_arm-mc_remapper.xml new file mode 100644 index 0000000000..7babdbde9e --- /dev/null +++ b/iCubGenova09/wrappers/motorControl/left_arm-mc_remapper.xml @@ -0,0 +1,23 @@ + + + + + + ( 0 1 0 1 ) + ( 2 3 0 1 ) + ( 4 7 0 3 ) + ( 8 11 0 3 ) + ( 12 15 0 3 ) + + 16 + + + left_arm-eb1-j0_1-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/iCubGenova09/wrappers/motorControl/left_arm-mc_wrapper.xml b/iCubGenova09/wrappers/motorControl/left_arm-mc_wrapper.xml index 7d3206a54f..caf7f8bb4b 100644 --- a/iCubGenova09/wrappers/motorControl/left_arm-mc_wrapper.xml +++ b/iCubGenova09/wrappers/motorControl/left_arm-mc_wrapper.xml @@ -1,35 +1,10 @@ - + - - - - - - (0 1 0 1) - (2 3 0 1) - (4 7 0 3) - (8 11 0 3) - (12 15 0 3) - - - 10 - /icub/left_arm - left_arm - 16 - - - - - left_arm-eb1-j0_1-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 - left_arm-calibrator - - - - - - - + + + /icub/left_arm + + left_arm-mc_remapper + + + diff --git a/iCubGenova09/wrappers/motorControl/left_forearm-mc_wrapper.xml b/iCubGenova09/wrappers/motorControl/left_forearm-mc_wrapper.xml deleted file mode 100644 index f62cf74861..0000000000 --- a/iCubGenova09/wrappers/motorControl/left_forearm-mc_wrapper.xml +++ /dev/null @@ -1,31 +0,0 @@ - - - - - - - - (0 3 0 3) - (4 7 0 3) - (8 11 0 3) - - - 10 - /icub/left_forearm - left_forearm - 12 - - - - - left_arm-eb24-j4_7-mc - left_arm-eb25-j8_11-mc - left_arm-eb26-j12_15-mc - left_forearm-calibrator - - - - - - - diff --git a/iCubGenova09/wrappers/motorControl/left_leg-mc_remapper.xml b/iCubGenova09/wrappers/motorControl/left_leg-mc_remapper.xml new file mode 100644 index 0000000000..88ef2eb0fb --- /dev/null +++ b/iCubGenova09/wrappers/motorControl/left_leg-mc_remapper.xml @@ -0,0 +1,16 @@ + + + + + ( 0 2 0 2 ) + ( 3 5 0 2 ) + + 6 + + + left_leg-eb7-j0_2-mc + left_leg-eb8-j3_5-mc + + + + diff --git a/iCubGenova09/wrappers/motorControl/left_leg-mc_wrapper.xml b/iCubGenova09/wrappers/motorControl/left_leg-mc_wrapper.xml index 27d32aac00..64e5ab7e13 100644 --- a/iCubGenova09/wrappers/motorControl/left_leg-mc_wrapper.xml +++ b/iCubGenova09/wrappers/motorControl/left_leg-mc_wrapper.xml @@ -1,32 +1,10 @@ - + - - - - - - (0 2 0 2) - (3 5 0 2) - - - - 10 - /icub/left_leg - left_leg - 6 - - - - - - left_leg-eb7-j0_2-mc - left_leg-eb8-j3_5-mc - - left_leg-calibrator - - - - - - - + + + /icub/left_leg + + left_leg-mc_remapper + + + diff --git a/iCubGenova09/wrappers/motorControl/left_upperarm-mc_wrapper.xml b/iCubGenova09/wrappers/motorControl/left_upperarm-mc_wrapper.xml deleted file mode 100644 index ff04e90aec..0000000000 --- a/iCubGenova09/wrappers/motorControl/left_upperarm-mc_wrapper.xml +++ /dev/null @@ -1,29 +0,0 @@ - - - - - - - - (0 1 0 1) - (2 3 0 1) - - - 10 - /icub/left_upperarm - left_upperarm - 4 - - - - - left_arm-eb1-j0_1-mc - left_arm-eb2-j2_3-mc - left_upperarm-calibrator - - - - - - - diff --git a/iCubGenova09/wrappers/motorControl/right_arm-mc_remapper.xml b/iCubGenova09/wrappers/motorControl/right_arm-mc_remapper.xml new file mode 100644 index 0000000000..604b8dd3ec --- /dev/null +++ b/iCubGenova09/wrappers/motorControl/right_arm-mc_remapper.xml @@ -0,0 +1,23 @@ + + + + + + ( 0 1 0 1 ) + ( 2 3 0 1 ) + ( 4 7 0 3 ) + ( 8 11 0 3 ) + ( 12 15 0 3 ) + + 16 + + + 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/iCubGenova09/wrappers/motorControl/right_arm-mc_wrapper.xml b/iCubGenova09/wrappers/motorControl/right_arm-mc_wrapper.xml index 0b0adb0daa..15bc4d3c12 100644 --- a/iCubGenova09/wrappers/motorControl/right_arm-mc_wrapper.xml +++ b/iCubGenova09/wrappers/motorControl/right_arm-mc_wrapper.xml @@ -1,35 +1,10 @@ - + - - - - - - (0 1 0 1) - (2 3 0 1) - (4 7 0 3) - (8 11 0 3) - (12 15 0 3) - - - 10 - /icub/right_arm - right_arm - 16 - - - - - 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 - right_arm-calibrator - - - - - - - + + + /icub/right_arm + + right_arm-mc_remapper + + + diff --git a/iCubGenova09/wrappers/motorControl/right_forearm-mc_wrapper.xml b/iCubGenova09/wrappers/motorControl/right_forearm-mc_wrapper.xml deleted file mode 100644 index 523e3f4f04..0000000000 --- a/iCubGenova09/wrappers/motorControl/right_forearm-mc_wrapper.xml +++ /dev/null @@ -1,29 +0,0 @@ - - - - - - - (0 3 0 3) - (4 7 0 3) - (8 11 0 3) - - - 10 - /icub/right_forearm - right_forearm - 12 - - - - right_arm-eb27-j4_7-mc - right_arm-eb28-j8_11-mc - right_arm-eb29-j12_15-mc - right_forearm-calibrator - - - - - - - diff --git a/iCubGenova09/wrappers/motorControl/right_leg-mc_remapper.xml b/iCubGenova09/wrappers/motorControl/right_leg-mc_remapper.xml new file mode 100644 index 0000000000..605ba79306 --- /dev/null +++ b/iCubGenova09/wrappers/motorControl/right_leg-mc_remapper.xml @@ -0,0 +1,16 @@ + + + + + ( 0 2 0 2 ) + ( 3 5 0 2 ) + + 6 + + + right_leg-eb11-j0_2-mc + right_leg-eb12-j3_5-mc + + + + diff --git a/iCubGenova09/wrappers/motorControl/right_leg-mc_wrapper.xml b/iCubGenova09/wrappers/motorControl/right_leg-mc_wrapper.xml index 997b4e21ed..63ef3cb4a7 100644 --- a/iCubGenova09/wrappers/motorControl/right_leg-mc_wrapper.xml +++ b/iCubGenova09/wrappers/motorControl/right_leg-mc_wrapper.xml @@ -1,30 +1,10 @@ - + - - - - - - (0 2 0 2) - (3 5 0 2) - - - 10 - /icub/right_leg - right_leg - 6 - - - - - - right_leg-eb11-j0_2-mc - right_leg-eb12-j3_5-mc - right_leg-calibrator - - - - - - - + + + /icub/right_leg + + right_leg-mc_remapper + + + diff --git a/iCubGenova09/wrappers/motorControl/right_upperarm-mc_wrapper.xml b/iCubGenova09/wrappers/motorControl/right_upperarm-mc_wrapper.xml deleted file mode 100644 index ce7b901dd5..0000000000 --- a/iCubGenova09/wrappers/motorControl/right_upperarm-mc_wrapper.xml +++ /dev/null @@ -1,29 +0,0 @@ - - - - - - - - (0 1 0 1) - (2 3 0 1) - - - 10 - /icub/right_upperarm - right_upperarm - 4 - - - - - right_arm-eb3-j0_1-mc - right_arm-eb4-j2_3-mc - right_upperarm-calibrator - - - - - - - diff --git a/iCubGenova09/wrappers/motorControl/torso-mc_remapper.xml b/iCubGenova09/wrappers/motorControl/torso-mc_remapper.xml new file mode 100644 index 0000000000..68c2555293 --- /dev/null +++ b/iCubGenova09/wrappers/motorControl/torso-mc_remapper.xml @@ -0,0 +1,15 @@ + + + + + + ( 0 2 0 2 ) + + 3 + + + torso-eb5-j0_2-mc + + + + diff --git a/iCubGenova09/wrappers/motorControl/torso-mc_wrapper.xml b/iCubGenova09/wrappers/motorControl/torso-mc_wrapper.xml index 56d0629d51..89cf257cd6 100644 --- a/iCubGenova09/wrappers/motorControl/torso-mc_wrapper.xml +++ b/iCubGenova09/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 + + +