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‎all_robots.xml‎

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<xi:include href="./iCubGenova08/icub_all.xml" />
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<xi:include href="./iCubWaterloo01/icub_all.xml" />
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<xi:include href="./iCubZagreb01/icub_all.xml" />
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<xi:include href="./iCubPrague01/icub_all.xml" />
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</robot_database >

‎iCubPrague01/CMakeLists.txt‎

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set(appname iCubPrague01)
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file(GLOB xml ${CMAKE_CURRENT_SOURCE_DIR}/*.xml)
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file(GLOB ini ${CMAKE_CURRENT_SOURCE_DIR}/*.ini)
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yarp_install(FILES ${xml} DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})
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yarp_install(FILES ${ini} DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})
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yarp_install(DIRECTORY calibrators DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})
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yarp_install(DIRECTORY cartesian DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})
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yarp_install(DIRECTORY wrappers DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})
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yarp_install(DIRECTORY hardware DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})
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yarp_install(DIRECTORY camera DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})
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yarp_install(DIRECTORY estimators DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})

‎iCubPrague01/calib_all_joints.xml‎

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<?xml version="1.0" encoding="UTF-8" ?>
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<!DOCTYPE robot PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
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<robot name="iCubPrague01" portprefix="icub" build="1">
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<devices>
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<!-- HEAD -->
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<xi:include href="./hardware/motorControl/head-eb20-j0_1-mc.xml" />
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<xi:include href="./hardware/motorControl/head-eb21-j2_5-mc.xml" />
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<xi:include href="./wrappers/motorControl/head-mc_wrapper.xml" />
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<!-- FACE -->
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<xi:include href="./hardware/motorControl/face-eb22-j0-mc.xml" />
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<xi:include href="./wrappers/motorControl/face-mc_wrapper.xml" />
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<!-- LEFT ARM -->
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<xi:include href="hardware/motorControl/left_arm-eb1-j0_3-mc.xml" />
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<xi:include href="hardware/motorControl/left_arm-eb24-j4_7-mc.xml" />
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<xi:include href="hardware/motorControl/left_arm-eb25-j8_11-mc.xml" />
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<xi:include href="hardware/motorControl/left_arm-eb26-j12_15-mc.xml" />
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<xi:include href="wrappers/motorControl/left_arm-mc_wrapper.xml" />
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<!-- RIGHT ARM -->
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<xi:include href="hardware/motorControl/right_arm-eb3-j0_3-mc.xml" />
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<xi:include href="hardware/motorControl/right_arm-eb27-j4_7-mc.xml" />
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<xi:include href="hardware/motorControl/right_arm-eb28-j8_11-mc.xml" />
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<xi:include href="hardware/motorControl/right_arm-eb29-j12_15-mc.xml" />
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<xi:include href="wrappers/motorControl/right_arm-mc_wrapper.xml" />
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<!-- ANALOG SENSOR MAIS -->
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<xi:include href="wrappers/MAIS/left_arm-mais_wrapper.xml" />
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<xi:include href="wrappers/MAIS/right_arm-mais_wrapper.xml" />
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<xi:include href="hardware/MAIS/left_arm-eb26-j12_15-mais.xml" />
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<xi:include href="hardware/MAIS/right_arm-eb29-j12_15-mais.xml" />
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<!-- TORSO -->
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<xi:include href="hardware/motorControl/torso-eb5-j0_2-mc.xml" />
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<xi:include href="wrappers/motorControl/torso-mc_wrapper.xml" />
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<!-- LEFT LEG -->
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<xi:include href="hardware/motorControl/left_leg-eb6-j0_3-mc.xml" />
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<xi:include href="hardware/motorControl/left_leg-eb7-j4_5-mc.xml" />
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<xi:include href="wrappers/motorControl/left_leg-mc_wrapper.xml" />
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<!-- RIGHT LEG -->
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<xi:include href="hardware/motorControl/right_leg-eb8-j0_3-mc.xml" />
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<xi:include href="hardware/motorControl/right_leg-eb9-j4_5-mc.xml" />
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<xi:include href="wrappers/motorControl/right_leg-mc_wrapper.xml" />
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<!-- CALIBRATORS -->
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<xi:include href="calibrators/left_arm-calib.xml" />
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<xi:include href="calibrators/right_arm-calib.xml" />
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<xi:include href="calibrators/head-calib.xml" />
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<xi:include href="calibrators/left_leg-calib.xml" />
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<xi:include href="calibrators/right_leg-calib.xml" />
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<xi:include href="calibrators/torso-calib.xml" />
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<xi:include href="calibrators/face-calib.xml" />
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</devices>
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</robot>

‎iCubPrague01/calib_head.xml‎

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<?xml version="1.0" encoding="UTF-8" ?>
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<!DOCTYPE robot PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
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<robot name="iCubPrague01" build="1">
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<params>
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<xi:include href="hardware/electronics/pc104.xml" />
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</params>
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<devices>
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<!-- HEAD -->
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<xi:include href="./hardware/motorControl/head-eb20-j0_1-mc.xml" />
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<xi:include href="./hardware/motorControl/head-eb21-j2_5-mc.xml" />
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<xi:include href="./wrappers/motorControl/head-mc_wrapper.xml" />
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<!-- FACE -->
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<xi:include href="./hardware/motorControl/face-eb22-j0-mc.xml" />
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<xi:include href="./wrappers/motorControl/face-mc_wrapper.xml" />
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<xi:include href="calibrators/head-calib.xml" />
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<xi:include href="calibrators/face-calib.xml" />
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</devices>
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</robot>

‎iCubPrague01/calib_lowerbody.xml‎

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<?xml version="1.0" encoding="UTF-8" ?>
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<!DOCTYPE robot PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
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<robot name="iCubPrague01" portprefix="icub" build="1">
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<params>
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<xi:include href="hardware/electronics/pc104.xml" />
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</params>
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<devices>
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<!-- TORSO -->
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<xi:include href="hardware/motorControl/torso-eb5-j0_2-mc.xml" />
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<xi:include href="wrappers/motorControl/torso-mc_wrapper.xml" />
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<!-- LEFT LEG -->
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<xi:include href="hardware/motorControl/left_leg-eb6-j0_3-mc.xml" />
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<xi:include href="hardware/motorControl/left_leg-eb7-j4_5-mc.xml" />
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<xi:include href="wrappers/motorControl/left_leg-mc_wrapper.xml" />
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<!-- RIGHT LEG -->
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<xi:include href="hardware/motorControl/right_leg-eb8-j0_3-mc.xml" />
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<xi:include href="hardware/motorControl/right_leg-eb9-j4_5-mc.xml" />
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<xi:include href="wrappers/motorControl/right_leg-mc_wrapper.xml" />
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<!-- CALIBRATORS -->
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<xi:include href="calibrators/left_leg-calib.xml" />
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<xi:include href="calibrators/right_leg-calib.xml" />
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<xi:include href="calibrators/torso-calib.xml" />
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</devices>
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</robot>

‎iCubPrague01/calib_torso.xml‎

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<?xml version="1.0" encoding="UTF-8" ?>
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<!DOCTYPE robot PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
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<robot name="iCubPrague01" portprefix="icub" build="1">
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<params>
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<xi:include href="hardware/electronics/pc104.xml" />
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</params>
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<devices>
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<!-- TORSO -->
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<xi:include href="hardware/motorControl/torso-eb5-j0_2-mc.xml" />
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<xi:include href="wrappers/motorControl/torso-mc_wrapper.xml" />
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<!-- CALIBRATORS -->
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<xi:include href="calibrators/torso-calib.xml" />
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</devices>
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</robot>

‎iCubPrague01/calib_upperbody.xml‎

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<?xml version="1.0" encoding="UTF-8" ?>
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<!DOCTYPE robot PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
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<robot name="iCubPrague01" portprefix="icub" build="1">
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<params>
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<xi:include href="hardware/electronics/pc104.xml" />
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</params>
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<devices>
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<!-- HEAD -->
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<xi:include href="./hardware/motorControl/head-eb20-j0_1-mc.xml" />
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<xi:include href="./hardware/motorControl/head-eb21-j2_5-mc.xml" />
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<xi:include href="./wrappers/motorControl/head-mc_wrapper.xml" />
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<!-- FACE -->
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<xi:include href="./hardware/motorControl/face-eb22-j0-mc.xml" />
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<xi:include href="./wrappers/motorControl/face-mc_wrapper.xml" />
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<!-- LEFT ARM -->
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<xi:include href="hardware/motorControl/left_arm-eb1-j0_3-mc.xml" />
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<xi:include href="hardware/motorControl/left_arm-eb24-j4_7-mc.xml" />
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<xi:include href="hardware/motorControl/left_arm-eb25-j8_11-mc.xml" />
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<xi:include href="hardware/motorControl/left_arm-eb26-j12_15-mc.xml" />
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<xi:include href="wrappers/motorControl/left_arm-mc_wrapper.xml" />
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<!-- RIGHT ARM -->
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<xi:include href="hardware/motorControl/right_arm-eb3-j0_3-mc.xml" />
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<xi:include href="hardware/motorControl/right_arm-eb27-j4_7-mc.xml" />
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<xi:include href="hardware/motorControl/right_arm-eb28-j8_11-mc.xml" />
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<xi:include href="hardware/motorControl/right_arm-eb29-j12_15-mc.xml" />
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<xi:include href="wrappers/motorControl/right_arm-mc_wrapper.xml" />
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<!-- ANALOG SENSOR MAIS -->
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<xi:include href="wrappers/MAIS/left_arm-mais_wrapper.xml" />
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<xi:include href="wrappers/MAIS/right_arm-mais_wrapper.xml" />
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<xi:include href="hardware/MAIS/left_arm-eb26-j12_15-mais.xml" />
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<xi:include href="hardware/MAIS/right_arm-eb29-j12_15-mais.xml" />
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<!-- CALIBRATORS -->
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<xi:include href="calibrators/left_arm-calib.xml" />
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<xi:include href="calibrators/right_arm-calib.xml" />
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<xi:include href="calibrators/head-calib.xml" />
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<xi:include href="calibrators/face-calib.xml" />
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</devices>
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</robot>

‎iCubPrague01/calibrators/face-calib.xml‎

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<?xml version="1.0" encoding="UTF-8" ?>
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<!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
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<device xmlns:xi="http://www.w3.org/2001/XInclude" name="face-calibrator" type="parametricCalibratorEth">
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<xi:include href="../general.xml" />
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<group name="GENERAL">
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<param name="joints"> 1 </param> <!-- the number of joints of the robot part -->
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<param name="deviceName"> FaceV3_Calibrator </param> <!-- this name is used for high-level debug -->
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</group>
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<group name="HOME">
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<param name="positionHome"> 0 </param>
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<param name="velocityHome"> 10 </param>
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</group>
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<!-- joint logical number 0 -->
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<!-- joint name eyelids -->
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<group name="CALIBRATION">
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<param name="calibrationType"> 12 </param>
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<!-- The value of the raw encoder needs to be with sign -->
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<param name="calibration1"> 282 </param>
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<param name="calibration2"> 0 </param>
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<param name="calibration3"> 0 </param>
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<param name="calibration4"> 0 </param>
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<param name="calibration5"> 0 </param>
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<param name="calibrationZero"> 0 </param>
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<param name="calibrationDelta"> 0 </param>
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<param name="startupPosition"> 0 </param>
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<param name="startupVelocity"> 10 </param>
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<param name="startupMaxPwm"> 3360 </param>
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<param name="startupPosThreshold"> 90 </param>
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</group>
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<!-- calibration of eyelids where Gearbox_E2J is != 1:
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1. in general.xml we set useRawEncoderData = true [as for any type3 calib].
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2. retrieve the encoder reading of joint placed in zero position [as for any type3 calib].
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3. for computation of calibration3 param use the standard excel formula [as for any type3 calib].
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4. for calibrationZero (and VERY IMPORTANT: value of zero in execl formula) use a correction factor of 1/Gearbox_E2J.
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As an example, to move away from zero crossing use zero = (+/-) 180 / Gearbox_E2J, where the sign is the same as the encoder reading.
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-->
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<param name="CALIB_ORDER"> (0) </param> <!-- we can calibrate all joints in parallel (for now not the jaw yet)-->
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<action phase="startup" level="10" type="calibrate">
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<param name="target">face-mc_wrapper</param>
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</action>
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<action phase="interrupt1" level="1" type="park">
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<param name="target">face-mc_wrapper</param>
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</action>
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<action phase="interrupt3" level="1" type="abort" />
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</device>
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‎iCubPrague01/calibrators/head-calib.xml‎

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<?xml version="1.0" encoding="UTF-8" ?>
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<!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
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<device xmlns:xi="http://www.w3.org/2001/XInclude" name="head-calibrator" type="parametricCalibratorEth">
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<xi:include href="../general.xml" />
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<group name="GENERAL">
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<param name="joints"> 6 </param> <!-- the number of joints of the robot part -->
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<param name="deviceName"> HeadV3_Calibrator </param> <!-- this name is used for high-level debug -->
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</group>
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<group name="HOME">
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<param name="positionHome"> 0 0 0 0 0 0 </param>
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<param name="velocityHome"> 10 10 10 10 10 10 </param>
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</group>
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<!-- joint logical number 0 1 2 3 4 5 -->
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<!-- joint name neck-pitch neck-roll neck-yaw eyes-tilt eyes-vers eyes-verg --> <!-- j4 is right-eye, j5 is left-eye -->
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<group name="CALIBRATION">
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<param name="calibrationType"> 12 12 12 12 5 5 </param>
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<param name="calibration1"> 64975 45999 13119 47103 3000 3000 </param>
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<param name="calibration2"> 0 0 0 0 8192 8192 </param>
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<param name="calibration3"> 0 0 0 0 0 0 </param>
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<param name="calibration4"> 0 0 0 0 0 0 </param>
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<param name="calibration5"> 0 0 0 0 0 0 </param>
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<param name="calibrationZero"> 0 0 0 0 0 0 </param>
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<param name="calibrationDelta"> 0 0 0 0 -3.6 -3.6 </param>
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<param name="startupPosition"> 0 0 0 0 0 0 </param>
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<param name="startupVelocity"> 10 10 20 20 20 20 </param>
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<param name="startupMaxPwm"> 3000 3000 3000 3000 0 0 </param>
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<param name="startupPosThreshold"> 90 90 2 2 2 2 </param>
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</group>
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<param name="CALIB_ORDER"> (0 1 2) (3) (4 5) </param>
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<action phase="startup" level="10" type="calibrate">
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<param name="target">head-mc_wrapper</param>
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</action>
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<action phase="interrupt1" level="1" type="park">
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<param name="target">head-mc_wrapper</param>
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</action>
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<action phase="interrupt3" level="1" type="abort" />
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</device>
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‎iCubPrague01/calibrators/left_arm-calib.xml‎

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<?xml version="1.0" encoding="UTF-8" ?>
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<!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
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<device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_arm-calibrator" type="parametricCalibratorEth">
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<xi:include href="../general.xml" />
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<group name="GENERAL">
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<param name="joints">16</param> <!-- the number of joints of the robot part -->
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<param name="deviceName"> Left_Arm_Calibrator </param>
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</group>
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<!-- joint logical number 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 -->
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<group name="HOME">
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<param name="positionHome"> -30 30 0 45 0 0 0 35 65 0 0 0 0 0 0 0 </param>
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<param name="velocityHome"> 10 10 10 10 30 30 30 60 30 30 30 30 30 30 30 30 </param>
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</group>
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<group name="CALIBRATION">
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<param name="calibrationType"> 12 12 12 12 5 12 12 7 7 6 6 6 6 6 6 6 </param>
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<param name="calibration1"> 42767 4880 32415 58031 -1500 37087 45583 0 0 0 0 0 0 0 0 0 </param>
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<param name="calibration2"> 0 0 0 0 16384 0 0 0 0 9102 9102 9102 9102 9102 9102 10000 </param>
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<param name="calibration3"> 0 0 0 0 0 0 0 0 0 -1 1 -1 1 -1 1 1 </param>
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<param name="calibration4"> 0 0 0 0 0 0 0 2500 670 251 474 236 486 255 464 748 </param>
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<param name="calibration5"> 0 0 0 0 0 0 0 2860 4312 0 0 0 37 9 2 90 </param>
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<param name="calibrationZero"> 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 </param>
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<param name="calibrationDelta"> -3.13 5.29 -8.28 -1.75 0 0 0 0 0 0 0 0 0 0 0 0 </param>
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<param name="startupPosition"> -35 30 0 50 0 0 0 15 30 0 0 0 0 0 0 0 </param>
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<param name="startupVelocity"> 10 10 10 10 30 30 30 100 100 100 100 100 100 100 100 100 </param>
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<param name="startupMaxPwm"> 2000 2000 2000 2000 2000 0 0 0 0 0 0 0 0 0 0 0 </param>
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<param name="startupPosThreshold"> 2 2 2 2 90 90 90 90 90 90 90 90 90 90 90 90 </param>
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</group>
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<param name="CALIB_ORDER">(0 1 2 3) (4) (5 6 7) (8 9 11 13) (10 12 14 15) </param>
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<action phase="startup" level="10" type="calibrate">
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<param name="target">left_arm-mc_wrapper</param>
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</action>
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<action phase="interrupt1" level="1" type="park">
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<param name="target">left_arm-mc_wrapper</param>
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</action>
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<action phase="interrupt3" level="1" type="abort" />
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</device>
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