diff --git a/urdf/ergoCub/conf/ergocub_coupling_ros2.xml b/urdf/ergoCub/conf/ergocub_coupling_ros2.xml new file mode 100644 index 00000000..df826a65 --- /dev/null +++ b/urdf/ergoCub/conf/ergocub_coupling_ros2.xml @@ -0,0 +1,47 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/urdf/ergoCub/conf/wrappers/motorControl/all-mc_remapper-coupling.xml b/urdf/ergoCub/conf/wrappers/motorControl/all-mc_remapper-coupling.xml new file mode 100644 index 00000000..171f7c5f --- /dev/null +++ b/urdf/ergoCub/conf/wrappers/motorControl/all-mc_remapper-coupling.xml @@ -0,0 +1,20 @@ + + + + + + (neck_pitch,neck_roll,neck_yaw,camera_tilt,l_shoulder_pitch,l_shoulder_roll,l_shoulder_yaw,l_elbow,l_wrist_yaw,l_wrist_roll,l_wrist_pitch,l_thumb_add,l_thumb_prox,l_thumb_dist,l_index_add,l_index_prox,l_index_dist,l_middle_prox,l_middle_dist,l_ring_prox,l_ring_dist,l_pinkie_prox,l_pinkie_dist,r_shoulder_pitch,r_shoulder_roll,r_shoulder_yaw,r_elbow,r_wrist_yaw,r_wrist_roll,r_wrist_pitch,r_thumb_add,r_thumb_prox,r_thumb_dist,r_index_add,r_index_prox,r_index_dist,r_middle_prox,r_middle_dist,r_ring_prox,r_ring_dist,r_pinkie_prox,r_pinkie_dist,torso_roll,torso_pitch,torso_yaw,l_hip_pitch,l_hip_roll,l_hip_yaw,l_knee,l_ankle_pitch,l_ankle_roll,r_hip_pitch,r_hip_roll,r_hip_yaw,r_knee,r_ankle_pitch,r_ankle_roll) + 0.010 + 57 + + + head-mc_remapper + left_arm-mc_remapper-coupling + right_arm-mc_remapper-coupling + torso-mc_remapper + left_leg-mc_remapper + right_leg-mc_remapper + + + + \ No newline at end of file diff --git a/urdf/ergoCub/conf/wrappers/motorControl/all-mc_remapper_ros2-coupling.xml b/urdf/ergoCub/conf/wrappers/motorControl/all-mc_remapper_ros2-coupling.xml new file mode 100644 index 00000000..91e0f69c --- /dev/null +++ b/urdf/ergoCub/conf/wrappers/motorControl/all-mc_remapper_ros2-coupling.xml @@ -0,0 +1,12 @@ + + + + + ros2_cb_node + /joint_states + 0.010 + + alljoints_mc-coupling + + + diff --git a/urdf/ergoCub/conf/wrappers/motorControl/all-mc_remapper_ros2.xml b/urdf/ergoCub/conf/wrappers/motorControl/all-mc_remapper_ros2.xml index 759872f6..09d61158 100644 --- a/urdf/ergoCub/conf/wrappers/motorControl/all-mc_remapper_ros2.xml +++ b/urdf/ergoCub/conf/wrappers/motorControl/all-mc_remapper_ros2.xml @@ -5,8 +5,8 @@ ros2_cb_node /joint_states 0.010 - + alljoints_mc - + diff --git a/urdf/ergoCub/conf/wrappers/motorControl/left_arm-mc_remapper-coupling.xml b/urdf/ergoCub/conf/wrappers/motorControl/left_arm-mc_remapper-coupling.xml new file mode 100644 index 00000000..7f02a471 --- /dev/null +++ b/urdf/ergoCub/conf/wrappers/motorControl/left_arm-mc_remapper-coupling.xml @@ -0,0 +1,14 @@ + + + + + (l_shoulder_pitch,l_shoulder_roll,l_shoulder_yaw,l_elbow,l_wrist_yaw,l_wrist_roll,l_wrist_pitch,l_thumb_add,l_thumb_prox,l_thumb_dist,l_index_add,l_index_prox,l_index_dist,l_middle_prox,l_middle_dist,l_ring_prox,l_ring_dist,l_pinkie_prox,l_pinkie_dist) + 19 + + + left_arm_hardware_device + left_hand-coupling_handler + + + + diff --git a/urdf/ergoCub/conf/wrappers/motorControl/left_hand-coupling_handler.xml b/urdf/ergoCub/conf/wrappers/motorControl/left_hand-coupling_handler.xml new file mode 100644 index 00000000..2596ed30 --- /dev/null +++ b/urdf/ergoCub/conf/wrappers/motorControl/left_hand-coupling_handler.xml @@ -0,0 +1,31 @@ + + + + + couplingXCubHandMk5 + l_thumb_add l_thumb_prox l_thumb_dist l_index_add l_index_prox l_index_dist l_middle_prox l_middle_dist l_ring_prox l_ring_dist l_pinkie_prox l_pinkie_dist + + 100.0 100.0 100.0 100.0 100.0 100.0 100.0 100.0 100.0 100.0 100.0 100.0 + 100.0 90.0 101.4 15.0 90.0 103.1 90.0 103.1 90.0 103.1 90.0 98.7 + -100.0 -90.0 -101.4 -15.0 -90.0 -103.1 -90.0 -103.1 -90.0 -103.1 -90.0 -98.7 + + + l_thumb_add l_thumb_oc l_index_add l_index_oc l_middle_oc l_ring_pinky_oc + 0.0 0.0 0.0 0.0 0.0 0.0 + 100.0 90.0 15.0 90.0 90.0 90.0 + + + -0.0050 -0.0050 -0.0050 -0.0050 -0.0050 + 0.0040 0.0040 0.0040 0.0040 0.0040 + -173.35 -173.35 -173.35 -173.35 -170.53 + 2.45 2.15 2.15 2.15 2.46 + 0.03415 0.03913 0.03913 0.03913 0.03418 + 0.03503 0.04003 0.04003 0.04003 0.03503 + 0.00604 0.00604 0.00604 0.00604 0.00608 + 0.00640 0.00640 0.00640 0.00640 0.00640 + + + left_hand_hardware_device + + + diff --git a/urdf/ergoCub/conf/wrappers/motorControl/left_hand-mc_wrapper.xml b/urdf/ergoCub/conf/wrappers/motorControl/left_hand-mc_wrapper.xml new file mode 100644 index 00000000..4be0eaee --- /dev/null +++ b/urdf/ergoCub/conf/wrappers/motorControl/left_hand-mc_wrapper.xml @@ -0,0 +1,11 @@ + + + + + ${portprefix}/left_hand + 0.01 + + left_hand-coupling_handler + + + diff --git a/urdf/ergoCub/conf/wrappers/motorControl/right_arm-mc_remapper-coupling.xml b/urdf/ergoCub/conf/wrappers/motorControl/right_arm-mc_remapper-coupling.xml new file mode 100644 index 00000000..bd44651b --- /dev/null +++ b/urdf/ergoCub/conf/wrappers/motorControl/right_arm-mc_remapper-coupling.xml @@ -0,0 +1,14 @@ + + + + + (r_shoulder_pitch,r_shoulder_roll,r_shoulder_yaw,r_elbow,r_wrist_yaw,r_wrist_roll,r_wrist_pitch,r_thumb_add,r_thumb_prox,r_thumb_dist,r_index_add,r_index_prox,r_index_dist,r_middle_prox,r_middle_dist,r_ring_prox,r_ring_dist,r_pinkie_prox,r_pinkie_dist) + 19 + + + right_arm_hardware_device + right_hand-coupling_handler + + + + diff --git a/urdf/ergoCub/conf/wrappers/motorControl/right_hand-coupling_handler.xml b/urdf/ergoCub/conf/wrappers/motorControl/right_hand-coupling_handler.xml new file mode 100644 index 00000000..2e8868f5 --- /dev/null +++ b/urdf/ergoCub/conf/wrappers/motorControl/right_hand-coupling_handler.xml @@ -0,0 +1,31 @@ + + + + + couplingXCubHandMk5 + r_thumb_add r_thumb_prox r_thumb_dist r_index_add r_index_prox r_index_dist r_middle_prox r_middle_dist r_ring_prox r_ring_dist r_pinkie_prox r_pinkie_dist + + 100.0 100.0 100.0 100.0 100.0 100.0 100.0 100.0 100.0 100.0 100.0 100.0 + 100.0 90.0 101.4 15.0 90.0 103.1 90.0 103.1 90.0 103.1 90.0 98.7 + -100.0 -90.0 -101.4 -15.0 -90.0 -103.1 -90.0 -103.1 -90.0 -103.1 -90.0 -98.7 + + + r_thumb_add r_thumb_oc r_index_add r_index_oc r_middle_oc r_ring_pinky_oc + 0.0 0.0 0.0 0.0 0.0 0.0 + 100.0 90.0 15.0 90.0 90.0 90.0 + + + -0.0050 -0.0050 -0.0050 -0.0050 -0.0050 + 0.0040 0.0040 0.0040 0.0040 0.0040 + -173.35 -173.35 -173.35 -173.35 -170.53 + 2.45 2.15 2.15 2.15 2.46 + 0.03415 0.03913 0.03913 0.03913 0.03418 + 0.03503 0.04003 0.04003 0.04003 0.03503 + 0.00604 0.00604 0.00604 0.00604 0.00608 + 0.00640 0.00640 0.00640 0.00640 0.00640 + + + right_hand_hardware_device + + +