From 185dfa9675aaa251fe21504478e214ed8c4396ac Mon Sep 17 00:00:00 2001 From: rsantos88 Date: Mon, 11 Dec 2017 11:46:38 +0100 Subject: [PATCH] Move share/launchManipulation/conf/launchManipulation.ini and share/launchLocomotion/conf/launchLocomotion.ini to teo-configuration-files --- share/CMakeLists.txt | 3 +- share/launchLocomotion/CMakeLists.txt | 13 +++++ .../conf/launchLocomotion.ini | 56 +++++++++++++++++++ share/launchManipulation/CMakeLists.txt | 13 +++++ .../conf/launchManipulation.ini | 56 +++++++++++++++++++ .../conf/launchManipulation_only_head.ini | 52 +++++++++++++++++ .../conf/launchManipulation_wo_cuis.ini | 50 +++++++++++++++++ 7 files changed, 242 insertions(+), 1 deletion(-) create mode 100644 share/launchLocomotion/CMakeLists.txt create mode 100644 share/launchLocomotion/conf/launchLocomotion.ini create mode 100644 share/launchManipulation/CMakeLists.txt create mode 100644 share/launchManipulation/conf/launchManipulation.ini create mode 100644 share/launchManipulation/conf/launchManipulation_only_head.ini create mode 100644 share/launchManipulation/conf/launchManipulation_wo_cuis.ini diff --git a/share/CMakeLists.txt b/share/CMakeLists.txt index 2262567..cd453b2 100644 --- a/share/CMakeLists.txt +++ b/share/CMakeLists.txt @@ -20,4 +20,5 @@ add_subdirectory(teoBase) add_subdirectory(teoSimBase) add_subdirectory(teoTools) add_subdirectory(yarpmotorgui) - +add_subdirectory(launchManipulation) +add_subdirectory(launchLocomotion) diff --git a/share/launchLocomotion/CMakeLists.txt b/share/launchLocomotion/CMakeLists.txt new file mode 100644 index 0000000..164d09a --- /dev/null +++ b/share/launchLocomotion/CMakeLists.txt @@ -0,0 +1,13 @@ +# Copyright: 2017 UC3M +# Author: Juan G Victores and Raul de Santos Rico +# CopyPolicy: Released under the terms of the GNU GPL v2.0. + +set(appname launchLocomotion) + + +file(GLOB conf ${CMAKE_CURRENT_SOURCE_DIR}/conf/*.ini) +file(GLOB scripts ${CMAKE_CURRENT_SOURCE_DIR}/scripts/*.template) + +yarp_install(FILES ${conf} DESTINATION ${TEO-CONFIGURATION-FILES_CONTEXTS_INSTALL_DIR}/${appname}) +yarp_install(FILES ${scripts} DESTINATION ${TEO-CONFIGURATION-FILES_APPLICATIONS_TEMPLATES_INSTALL_DIR}) + diff --git a/share/launchLocomotion/conf/launchLocomotion.ini b/share/launchLocomotion/conf/launchLocomotion.ini new file mode 100644 index 0000000..24c80cf --- /dev/null +++ b/share/launchLocomotion/conf/launchLocomotion.ini @@ -0,0 +1,56 @@ +/// launchLocomotion.ini /// + +[devCan0] +device CanBusControlboard +canDevice /dev/can0 +types TechnosoftIpos TechnosoftIpos TechnosoftIpos TechnosoftIpos TechnosoftIpos TechnosoftIpos TechnosoftIpos CuiAbsolute CuiAbsolute CuiAbsolute CuiAbsolute CuiAbsolute CuiAbsolute CuiAbsolute +ids 14 6 5 4 3 2 1 114 106 105 104 103 102 101 +maxs 50 90 20 45 80 25 25 0 0 0 0 0 0 0 +mins -10 -90 -20 -30 -5 -25 -25 0 0 0 0 0 0 0 +maxVels 1000 1000 1000 1000 1000 1000 1000 0 0 0 0 0 0 0 +minVels 0 0 0 0 0 0 0 0 0 0 0 0 0 0 +trs 480 400 523.2 192 235.2 270.4 235.2 -1 -1 1 1 1 1 1 +refAccelerations 10.0 10.0 10.0 10.0 10.0 10.0 10.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 +refSpeeds 10.0 10.0 10.0 10.0 10.0 10.0 10.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 +encoderPulsess 4096 4096 4096 4096 4096 4096 4096 4096 4096 4096 4096 4096 4096 4096 + +[devCan1] +device CanBusControlboard +canDevice /dev/can1 +types TechnosoftIpos TechnosoftIpos TechnosoftIpos TechnosoftIpos TechnosoftIpos TechnosoftIpos TechnosoftIpos CuiAbsolute CuiAbsolute CuiAbsolute CuiAbsolute CuiAbsolute CuiAbsolute CuiAbsolute +ids 13 7 8 9 10 11 12 113 107 108 109 110 111 112 +maxs 45 90 20 45 80 25 25 0 0 0 0 0 0 0 +mins -45 -90 -20 -30 -5 -25 -25 0 0 0 0 0 0 0 +maxVels 1000 1000 1000 1000 1000 1000 1000 0 0 0 0 0 0 0 +minVels 0 0 0 0 0 0 0 0 0 0 0 0 0 0 +trs 160 400 523.2 192 235.2 270.4 235.2 1 1 -1 -1 -1 -1 -1 +refAccelerations 10.0 10.0 10.0 10.0 10.0 10.0 10.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 +refSpeeds 10.0 10.0 10.0 10.0 10.0 10.0 10.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 +encoderPulsess 4096 4096 4096 4096 4096 4096 4096 4096 4096 4096 4096 4096 4096 4096 + + +[wrapper0] +device controlboardwrapper2 +name /teo/rightLeg +period 60 +joints 6 +networks (devCan0) +devCan0 0 5 1 6 + +[wrapper1] +device controlboardwrapper2 +name /teo/leftLeg +period 60 +joints 6 +networks (devCan1) +devCan1 0 5 1 6 + +[wrapper2] +device controlboardwrapper2 +name /teo/trunk +period 60 +joints 2 +networks (devCan0 devCan1) +devCan0 1 1 0 0 +devCan1 0 0 0 0 + diff --git a/share/launchManipulation/CMakeLists.txt b/share/launchManipulation/CMakeLists.txt new file mode 100644 index 0000000..432a670 --- /dev/null +++ b/share/launchManipulation/CMakeLists.txt @@ -0,0 +1,13 @@ +# Copyright: 2017 UC3M +# Author: Juan G Victores & Raul de Santos Rico +# CopyPolicy: Released under the terms of the GNU GPL v2.0. + +set(appname launchManipulation) + + +file(GLOB conf ${CMAKE_CURRENT_SOURCE_DIR}/conf/*.ini) +file(GLOB scripts ${CMAKE_CURRENT_SOURCE_DIR}/scripts/*.template) + +yarp_install(FILES ${conf} DESTINATION ${TEO-CONFIGURATION-FILES_CONTEXTS_INSTALL_DIR}/${appname}) +yarp_install(FILES ${scripts} DESTINATION ${TEO-CONFIGURATION-FILES_APPLICATIONS_TEMPLATES_INSTALL_DIR}) + diff --git a/share/launchManipulation/conf/launchManipulation.ini b/share/launchManipulation/conf/launchManipulation.ini new file mode 100644 index 0000000..5bb3ae3 --- /dev/null +++ b/share/launchManipulation/conf/launchManipulation.ini @@ -0,0 +1,56 @@ +/// launchManipulation.ini /// + +[devCan0] +device CanBusControlboard +canDevice /dev/can0 +types TechnosoftIpos TechnosoftIpos TechnosoftIpos TechnosoftIpos TechnosoftIpos TechnosoftIpos TechnosoftIpos LacqueyFetch CuiAbsolute CuiAbsolute CuiAbsolute CuiAbsolute CuiAbsolute CuiAbsolute +ids 28 15 16 17 18 19 20 65 115 116 117 118 119 120 +maxs 10 70 15 10 100 90 90 1200 0 0 0 0 0 0 +mins -10 -45 -70 -55 -10 -101 -55 -1200 0 0 0 0 0 0 +maxVels 1000 1000 1000 1000 1000 1000 1000 1000 0 0 0 0 0 0 +minVels 0 0 0 0 0 0 0 0 0 0 0 0 0 0 +trs 100 160 160 100 160 100 100 0 1 1 1 1 1 1 +ks 0.0706 0.0706 0.0706 0.0706 0.0706 0.0706 0.0706 0 0 0 0 0 0 0 +refAccelerations 10.0 10.0 10.0 10.0 10.0 10.0 10.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 +refSpeeds 10.0 10.0 10.0 10.0 10.0 10.0 10.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 +encoderPulsess 4096 4096 4096 4096 4096 4096 4096 4096 4096 4096 4096 4096 4096 4096 + +[devCan1] +device CanBusControlboard +canDevice /dev/can1 +types TechnosoftIpos TechnosoftIpos TechnosoftIpos TechnosoftIpos TechnosoftIpos TechnosoftIpos TechnosoftIpos LacqueyFetch CuiAbsolute CuiAbsolute CuiAbsolute CuiAbsolute CuiAbsolute CuiAbsolute +ids 27 21 22 23 24 25 26 64 121 122 123 124 125 126 +maxs 60 45 70 55 10 90 55 1200 0 0 0 0 0 0 +mins -60 -70 -15 -50 -100 -90 -90 -1200 0 0 0 0 0 0 +maxVels 1000 1000 1000 1000 1000 1000 1000 1000 0 0 0 0 0 0 +minVels 0 0 0 0 0 0 0 0 0 0 0 0 0 0 +trs 100 160 160 100 160 100 100 0 1 1 1 1 1 1 +ks 0.0706 0.0706 0.0706 0.0706 0.0706 0.0706 0.0706 0 0 0 0 0 0 0 +refAccelerations 10.0 10.0 10.0 10.0 10.0 10.0 10.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 +refSpeeds 10.0 10.0 10.0 10.0 10.0 10.0 10.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 +encoderPulsess 4096 4096 4096 4096 4096 4096 4096 4096 4096 4096 4096 4096 4096 4096 + +[wrapper0] +device controlboardwrapper2 +name /teo/rightArm +period 60 +joints 7 +networks (devCan0) +devCan0 0 6 1 7 + +[wrapper1] +device controlboardwrapper2 +name /teo/leftArm +period 60 +joints 7 +networks (devCan1) +devCan1 0 6 1 7 + +[wrapper2] +device controlboardwrapper2 +name /teo/head +period 60 +joints 2 +networks (devCan1 devCan0) +devCan1 0 0 0 0 +devCan0 1 1 0 0 diff --git a/share/launchManipulation/conf/launchManipulation_only_head.ini b/share/launchManipulation/conf/launchManipulation_only_head.ini new file mode 100644 index 0000000..832a648 --- /dev/null +++ b/share/launchManipulation/conf/launchManipulation_only_head.ini @@ -0,0 +1,52 @@ +/// launchManipulation.ini /// + +[devCan0] +device CanBusControlboard +canDevice /dev/can0 +types TechnosoftIpos FakeJoint FakeJoint FakeJoint FakeJoint FakeJoint FakeJoint FakeJoint FakeJoint FakeJoint FakeJoint FakeJoint FakeJoint FakeJoint +ids 28 15 16 17 18 19 20 65 115 116 117 118 119 120 +maxs 10 70 15 10 100 90 90 1200 0 0 0 0 0 0 +mins -10 -45 -70 -75 -10 -101 -55 -1200 0 0 0 0 0 0 +trs 100 160 160 100 160 100 100 0 1 1 1 1 1 1 +ks 0.0706 0.0706 0.0706 0.0706 0.0706 0.0706 0.0706 0 0 0 0 0 0 0 +refAccelerations 10.0 10.0 10.0 10.0 10.0 10.0 10.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 +refSpeeds 10.0 10.0 10.0 10.0 10.0 10.0 10.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 +encoderPulsess 4096 4096 4096 4096 4096 4096 4096 4096 4096 4096 4096 4096 4096 4096 + +[devCan1] +device CanBusControlboard +canDevice /dev/can1 +types TechnosoftIpos FakeJoint FakeJoint FakeJoint FakeJoint FakeJoint FakeJoint FakeJoint FakeJoint FakeJoint FakeJoint FakeJoint FakeJoint FakeJoint +ids 27 21 22 23 24 25 26 64 121 122 123 124 125 126 +maxs 60 45 70 30 10 90 55 1200 0 0 0 0 0 0 +mins -60 -70 -15 -90 -100 -90 -90 -1200 0 0 0 0 0 0 +trs 100 160 160 100 160 100 100 0 1 1 1 1 1 1 +ks 0.0706 0.0706 0.0706 0.0706 0.0706 0.0706 0.0706 0 0 0 0 0 0 0 +refAccelerations 10.0 10.0 10.0 10.0 10.0 10.0 10.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 +refSpeeds 10.0 10.0 10.0 10.0 10.0 10.0 10.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 +encoderPulsess 4096 4096 4096 4096 4096 4096 4096 4096 4096 4096 4096 4096 4096 4096 + +[wrapper0] +device controlboardwrapper2 +name /teo/rightArm +period 60 +joints 7 +networks (devCan0) +devCan0 0 6 1 7 + +[wrapper1] +device controlboardwrapper2 +name /teo/leftArm +period 60 +joints 7 +networks (devCan1) +devCan1 0 6 1 7 + +[wrapper2] +device controlboardwrapper2 +name /teo/head +period 60 +joints 2 +networks (devCan1 devCan0) +devCan1 0 0 0 0 +devCan0 1 1 0 0 diff --git a/share/launchManipulation/conf/launchManipulation_wo_cuis.ini b/share/launchManipulation/conf/launchManipulation_wo_cuis.ini new file mode 100644 index 0000000..c764e7b --- /dev/null +++ b/share/launchManipulation/conf/launchManipulation_wo_cuis.ini @@ -0,0 +1,50 @@ +/// launchManipulation.ini /// + +[devCan0] +device CanBusControlboard +canDevice /dev/can0 +types TechnosoftIpos TechnosoftIpos TechnosoftIpos TechnosoftIpos TechnosoftIpos TechnosoftIpos TechnosoftIpos LacqueyFetch +ids 27 15 16 17 18 19 20 65 +maxs 10 70 15 10 100 90 90 1200 +mins -10 -45 -70 -75 -10 -101 -55 -1200 +trs 100 160 160 100 160 100 100 0 +ks 0.0706 0.0706 0.0706 0.0706 0.0706 0.0706 0.0706 0 +refAccelerations 0.575437 0.575437 0.575437 0.575437 0.575437 0.575437 0.575437 0 +refSpeeds 5 5 5 5 5 5 5 0 + +[devCan1] +device CanBusControlboard +canDevice /dev/can1 +types TechnosoftIpos TechnosoftIpos TechnosoftIpos TechnosoftIpos TechnosoftIpos TechnosoftIpos TechnosoftIpos LacqueyFetch +ids 28 21 22 23 24 25 26 64 +maxs 60 45 70 30 10 90 55 1200 +mins -60 -70 -15 -90 -100 -90 -90 -1200 +trs 100 160 160 100 160 100 100 0 +ks 0.0706 0.0706 0.0706 0.0706 0.0706 0.0706 0.0706 0 +refAccelerations 0.575437 0.575437 0.575437 0.575437 0.575437 0.575437 0.575437 0 +refSpeeds 5 5 5 5 5 5 5 0 + +[wrapper0] +device controlboardwrapper2 +name /teo/rightArm +period 60 +joints 7 +networks (devCan0) +devCan0 0 6 1 7 + +[wrapper1] +device controlboardwrapper2 +name /teo/leftArm +period 60 +joints 7 +networks (devCan1) +devCan1 0 6 1 7 + +[wrapper2] +device controlboardwrapper2 +name /teo/head +period 60 +joints 2 +networks (devCan1 devCan0) +devCan1 0 0 0 0 +devCan0 1 1 0 0