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Add iCubGenova11 #399

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merged 8 commits into from
Dec 12, 2022
Merged

Add iCubGenova11 #399

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bbdae0d
added iCubGenova11
AntonioConsilvio Nov 15, 2022
54f5465
new thumb calibration
AntonioConsilvio Nov 16, 2022
6787fdf
iCubGenova11 - added skin 4 tests - wip
Nov 21, 2022
3c2db48
iCubGenova11 - added icub_all.xml as default
Nov 21, 2022
8e07313
new calibration and skin test
Dec 1, 2022
d1d9eed
Update iCubGenova11/iKinGazeCtrl.ini
AntonioConsilvio Dec 5, 2022
7c450e6
Change connection right arm
Dec 6, 2022
c5b4dd2
folder cleaning
Dec 12, 2022
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1 change: 1 addition & 0 deletions all_robots.xml
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Expand Up @@ -64,6 +64,7 @@
<xi:include href="./iCubGenova08/icub_all.xml" />
<xi:include href="./iCubGenova09/icub_all.xml" />
<xi:include href="./iCubGenova10/icub_all.xml" />
<xi:include href="./iCubGenova11/icub_all.xml" />
<xi:include href="./iCubWaterloo01/icub_all.xml" />
<xi:include href="./iCubZagreb01/icub_all.xml" />
<xi:include href="./iCubPrague01/icub_all.xml" />
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13 changes: 13 additions & 0 deletions iCubGenova11/CMakeLists.txt
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set(appname iCubGenova11)

file(GLOB xml ${CMAKE_CURRENT_SOURCE_DIR}/*.xml)
file(GLOB ini ${CMAKE_CURRENT_SOURCE_DIR}/*.ini)

yarp_install(FILES ${xml} DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})
yarp_install(FILES ${ini} DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})
yarp_install(DIRECTORY calibrators DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})
yarp_install(DIRECTORY cartesian DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})
yarp_install(DIRECTORY wrappers DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})
yarp_install(DIRECTORY hardware DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})
yarp_install(DIRECTORY camera DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})
yarp_install(DIRECTORY estimators DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})
29 changes: 29 additions & 0 deletions iCubGenova11/arms_skin.xml
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<?xml version="1.0" encoding="UTF-8" ?>
<!DOCTYPE robot PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">

<robot name="iCubGenova11" portprefix="icub" build="1">
<params>
<xi:include href="hardware/electronics/pc104.xml" />
</params>

<devices>





<!-- SKINS -->
<xi:include href="wrappers/skin/left_arm-skin_wrapper.xml" />
<xi:include href="hardware/skin/left_arm-eb24-j4_7-skin.xml" />
<xi:include href="wrappers/skin/right_arm-skin_wrapper.xml" />
<xi:include href="hardware/skin/right_arm-eb27-j4_7-skin.xml" />
<xi:include href="wrappers/skin/left_leg-skin_wrapper.xml" />
<xi:include href="wrappers/skin/right_leg-skin_wrapper.xml" />
<xi:include href="hardware/skin/left_leg-eb10-skin.xml" />
<xi:include href="hardware/skin/right_leg-eb11-skin.xml" />
<xi:include href="wrappers/skin/torso-skin_wrapper.xml" />
<xi:include href="hardware/skin/torso-eb22-skin.xml" />


</devices>
</robot>
116 changes: 116 additions & 0 deletions iCubGenova11/calib_all_joints.xml
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<?xml version="1.0" encoding="UTF-8" ?>
<!DOCTYPE robot PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">

<robot name="iCubGenova11" portprefix="icub" build="1">

<devices>



<!-- CARTESIANS -->
<xi:include href="cartesian/left_arm-cartesian.xml" />
<xi:include href="cartesian/right_arm-cartesian.xml" />


<!-- HEAD -->
<xi:include href="./hardware/motorControl/head-eb20-j0_1-mc.xml" />
<xi:include href="./hardware/motorControl/head-eb21-j2_5-mc.xml" />
<xi:include href="./wrappers/motorControl/head-mc_wrapper.xml" />

<!-- FACE -->
<xi:include href="./hardware/motorControl/face-eb22-j0-mc.xml" />
<xi:include href="./wrappers/motorControl/face-mc_wrapper.xml" />

<!-- LEFT ARM -->
<xi:include href="hardware/motorControl/left_arm-eb1-j0_3-mc.xml" />
<xi:include href="hardware/motorControl/left_arm-eb24-j4_7-mc.xml" />
<xi:include href="hardware/motorControl/left_arm-eb25-j8_11-mc.xml" />
<xi:include href="hardware/motorControl/left_arm-eb26-j12_15-mc.xml" />
<xi:include href="wrappers/motorControl/left_arm-mc_wrapper.xml" />

<!-- RIGHT ARM -->
<xi:include href="hardware/motorControl/right_arm-eb3-j0_3-mc.xml" />
<xi:include href="hardware/motorControl/right_arm-eb27-j4_7-mc.xml" />
<xi:include href="hardware/motorControl/right_arm-eb28-j8_11-mc.xml" />
<xi:include href="hardware/motorControl/right_arm-eb29-j12_15-mc.xml" />
<xi:include href="wrappers/motorControl/right_arm-mc_wrapper.xml" />



<!-- TORSO -->
<xi:include href="hardware/motorControl/torso-eb5-j0_2-mc.xml" />
<xi:include href="wrappers/motorControl/torso-mc_wrapper.xml" />


<!-- LEFT LEG -->
<xi:include href="hardware/motorControl/left_leg-eb6-j0_3-mc.xml" />
<xi:include href="hardware/motorControl/left_leg-eb7-j4_5-mc.xml" />
<xi:include href="wrappers/motorControl/left_leg-mc_wrapper.xml" />

<!-- RIGHT LEG -->
<xi:include href="hardware/motorControl/right_leg-eb8-j0_3-mc.xml" />
<xi:include href="hardware/motorControl/right_leg-eb9-j4_5-mc.xml" />
<xi:include href="wrappers/motorControl/right_leg-mc_wrapper.xml" />


<!-- INERTIAL SENSOR -->
<xi:include href="wrappers/inertials/head-imuFilter_wrapper.xml" />
<xi:include href="wrappers/inertials/head-imuFilter.xml" />
<xi:include href="wrappers/inertials/head-inertials_wrapper.xml" />
<xi:include href="hardware/inertials/head-inertial.xml" />


<!-- ANALOG SENSOR MAIS -->
<xi:include href="wrappers/MAIS/left_arm-mais_wrapper.xml" />
<xi:include href="wrappers/MAIS/right_arm-mais_wrapper.xml" />
<xi:include href="hardware/MAIS/left_arm-eb26-j12_15-mais.xml" />
<xi:include href="hardware/MAIS/right_arm-eb29-j12_15-mais.xml" />


<!-- SKINS -->
<xi:include href="wrappers/skin/left_arm-skin_wrapper.xml" />
<xi:include href="hardware/skin/left_arm-eb24-j4_7-skin.xml" />
<xi:include href="wrappers/skin/right_arm-skin_wrapper.xml" />
<xi:include href="hardware/skin/right_arm-eb27-j4_7-skin.xml" />
<xi:include href="wrappers/skin/left_leg-skin_wrapper.xml" />
<xi:include href="wrappers/skin/right_leg-skin_wrapper.xml" />
<xi:include href="hardware/skin/left_leg-eb10-skin.xml" />
<xi:include href="hardware/skin/right_leg-eb11-skin.xml" />
<xi:include href="wrappers/skin/torso-skin_wrapper.xml" />
<xi:include href="hardware/skin/torso-eb22-skin.xml" />


<!-- ANALOG SENSOR FT -->
<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_leg-FT_wrapper.xml" />
<xi:include href="wrappers/FT/left_leg-FT_wrapper.xml" />
<xi:include href="wrappers/FT/right_foot-FT_wrapper.xml" />
<xi:include href="wrappers/FT/left_foot-FT_wrapper.xml" />
<xi:include href="hardware/FT/left_arm-eb1-j0_3-strain.xml" />
<xi:include href="hardware/FT/right_arm-eb3-j0_3-strain.xml" />
<xi:include href="hardware/FT/left_leg-eb6-j0_3-strain.xml" />
<xi:include href="hardware/FT/left_leg-eb7-j4_5-strain.xml" />
<xi:include href="hardware/FT/right_leg-eb8-j0_3-strain.xml" />
<xi:include href="hardware/FT/right_leg-eb9-j4_5-strain.xml" />


<!-- VIRTUAL ANALOG SENSORS (WRAPPER ONLY) -->
<xi:include href="wrappers/VFT/left_arm-VFT_wrapper.xml" />
<xi:include href="wrappers/VFT/right_leg-VFT_wrapper.xml" />
<xi:include href="wrappers/VFT/left_leg-VFT_wrapper.xml" />
<xi:include href="wrappers/VFT/right_arm-VFT_wrapper.xml" />
<xi:include href="wrappers/VFT/torso-VFT_wrapper.xml" />


<!-- CALIBRATORS -->
<xi:include href="calibrators/left_arm-calib.xml" />
<xi:include href="calibrators/right_arm-calib.xml" />
<xi:include href="calibrators/head-calib.xml" />
<xi:include href="calibrators/left_leg-calib.xml" />
<xi:include href="calibrators/right_leg-calib.xml" />
<xi:include href="calibrators/torso-calib.xml" />
<xi:include href="calibrators/face-calib.xml" />

</devices>
</robot>
21 changes: 21 additions & 0 deletions iCubGenova11/calib_head.xml
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<?xml version="1.0" encoding="UTF-8" ?>
<!DOCTYPE robot PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">

<robot name="iCubGenova11" build="1">

<params>
<xi:include href="hardware/electronics/pc104.xml" />
</params>

<devices>

<!-- HEAD -->
<xi:include href="./hardware/motorControl/head-eb20-j0_1-mc.xml" />
<xi:include href="./hardware/motorControl/head-eb21-j2_5-mc.xml" />
<xi:include href="./wrappers/motorControl/head-mc_wrapper.xml" />


<xi:include href="calibrators/head-calib.xml" />

</devices>
</robot>
45 changes: 45 additions & 0 deletions iCubGenova11/calib_leftarm.xml
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<?xml version="1.0" encoding="UTF-8" ?>
<!DOCTYPE robot PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">

<robot name="iCubGenova11" portprefix="icub" build="1">
<params>
<xi:include href="hardware/electronics/pc104.xml" />
</params>

<devices>




<!-- LEFT ARM -->
<xi:include href="hardware/motorControl/left_arm-eb1-j0_3-mc.xml" />
<xi:include href="hardware/motorControl/left_arm-eb24-j4_7-mc.xml" />
<xi:include href="hardware/motorControl/left_arm-eb25-j8_11-mc.xml" />
<xi:include href="hardware/motorControl/left_arm-eb26-j12_15-mc.xml" />
<xi:include href="wrappers/motorControl/left_arm-mc_wrapper.xml" />



<!-- ANALOG SENSOR FT --
<xi:include href="wrappers/FT/left_arm-FT_wrapper.xml" />
<xi:include href="wrappers/FT/right_arm-FT_wrapper.xml" />
<xi:include href="hardware/FT/left_arm-eb1-j0_3-strain.xml" />
<xi:include href="hardware/FT/right_arm-eb3-j0_3-strain.xml" />

<!-- VIRTUAL ANALOG SENSORS (WRAPPER ONLY) --
<xi:include href="wrappers/VFT/left_arm-VFT_wrapper.xml" />
<xi:include href="wrappers/VFT/right_arm-VFT_wrapper.xml" />

<!-- ANALOG SENSOR MAIS -->
<xi:include href="wrappers/MAIS/left_arm-mais_wrapper.xml" />

<xi:include href="hardware/MAIS/left_arm-eb26-j12_15-mais.xml" />


<!-- CALIBRATORS -->
<xi:include href="calibrators/left_arm-calib.xml" />



</devices>
</robot>
34 changes: 34 additions & 0 deletions iCubGenova11/calib_lowerbody.xml
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<?xml version="1.0" encoding="UTF-8" ?>
<!DOCTYPE robot PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">

<robot name="iCubGenova11" portprefix="icub" build="1">
<params>
<xi:include href="hardware/electronics/pc104.xml" />
</params>

<devices>


<!-- TORSO
<xi:include href="hardware/motorControl/torso-eb5-j0_2-mc.xml" />
<xi:include href="wrappers/motorControl/torso-mc_wrapper.xml" /> -->


<!-- LEFT LEG -->
<xi:include href="hardware/motorControl/left_leg-eb6-j0_3-mc.xml" />
<xi:include href="hardware/motorControl/left_leg-eb7-j4_5-mc.xml" />
<xi:include href="wrappers/motorControl/left_leg-mc_wrapper.xml" />

<!-- RIGHT LEG -->
<xi:include href="hardware/motorControl/right_leg-eb8-j0_3-mc.xml" />
<xi:include href="hardware/motorControl/right_leg-eb9-j4_5-mc.xml" />
<xi:include href="wrappers/motorControl/right_leg-mc_wrapper.xml" />


<!-- CALIBRATORS -->
<xi:include href="calibrators/left_leg-calib.xml" />
<xi:include href="calibrators/right_leg-calib.xml" />
<!-- <xi:include href="calibrators/torso-calib.xml" /> -->

</devices>
</robot>
46 changes: 46 additions & 0 deletions iCubGenova11/calib_rightarm.xml
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<?xml version="1.0" encoding="UTF-8" ?>
<!DOCTYPE robot PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">

<robot name="iCubGenova11" portprefix="icub" build="1">
<params>
<xi:include href="hardware/electronics/pc104.xml" />
</params>

<devices>







<!-- RIGHT ARM -->
<xi:include href="hardware/motorControl/right_arm-eb3-j0_3-mc.xml" />
<xi:include href="hardware/motorControl/right_arm-eb27-j4_7-mc.xml" />
<xi:include href="hardware/motorControl/right_arm-eb28-j8_11-mc.xml" />
<xi:include href="hardware/motorControl/right_arm-eb29-j12_15-mc.xml" />
<xi:include href="wrappers/motorControl/right_arm-mc_wrapper.xml" />

<!-- ANALOG SENSOR FT -->
<!--<xi:include href="wrappers/FT/left_arm-FT_wrapper.xml" />
<xi:include href="wrappers/FT/right_arm-FT_wrapper.xml" />
<xi:include href="hardware/FT/left_arm-eb1-j0_3-strain.xml" />
<xi:include href="hardware/FT/right_arm-eb3-j0_3-strain.xml" />-->

<!-- VIRTUAL ANALOG SENSORS (WRAPPER ONLY) -->
<!-- <xi:include href="wrappers/VFT/left_arm-VFT_wrapper.xml" />
<xi:include href="wrappers/VFT/right_arm-VFT_wrapper.xml" /> -->

<!-- ANALOG SENSOR MAIS -->

<xi:include href="wrappers/MAIS/right_arm-mais_wrapper.xml" />

<xi:include href="hardware/MAIS/right_arm-eb29-j12_15-mais.xml" />

<!-- CALIBRATORS -->

<xi:include href="calibrators/right_arm-calib.xml" />


</devices>
</robot>
22 changes: 22 additions & 0 deletions iCubGenova11/calib_torso.xml
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<?xml version="1.0" encoding="UTF-8" ?>
<!DOCTYPE robot PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">

<robot name="iCubGenova11" portprefix="icub" build="1">
<params>
<xi:include href="hardware/electronics/pc104.xml" />
</params>

<devices>


<!-- TORSO -->
<xi:include href="hardware/motorControl/torso-eb5-j0_2-mc.xml" />
<xi:include href="wrappers/motorControl/torso-mc_wrapper.xml" />



<!-- CALIBRATORS -->
<xi:include href="calibrators/torso-calib.xml" />

</devices>
</robot>
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