Upload stuff from roboticslab-uc3m/teo-configuration-files

.github/workflows/ci.yml

@@ -10,8 +10,6 @@ on:
 
 env:
   CMAKE_CCACHE_LAUNCHER: -DCMAKE_C_COMPILER_LAUNCHER=ccache -DCMAKE_CXX_COMPILER_LAUNCHER=ccache
-  ARAVIS_VER: 0.6.4
-  PEAK_DRIVER_VER: 8.11.0
 
 jobs:
   maybe_skip:

share/CMakeLists.txt

@@ -0,0 +1,7 @@
+yarp_configure_external_installation(teo-configuration-files)
+
+yarp_install(DIRECTORY contexts/launchCanBus
+             DESTINATION ${TEO-CONFIGURATION-FILES_CONTEXTS_INSTALL_DIR})
+
+yarp_install(DIRECTORY robots/teo
+             DESTINATION ${TEO-CONFIGURATION-FILES_ROBOTS_INSTALL_DIR})

share/contexts/launchCanBus/manipulation-dextra.ini

@@ -0,0 +1,45 @@
+[devCan manipulationBus]
+device "CanBusBroker"
+description "CAN bus controller board for TEO's arms (with Dextra hand)"
+buses ("socket-leftArm" "socket-rightArm")
+socket-leftArm ("id66-dextra" "id21-ipos" "id22-ipos" "id23-ipos" "id24-ipos" "id25-ipos" "id26-ipos")
+socket-rightArm ("id15-ipos" "id16-ipos" "id17-ipos" "id18-ipos" "id19-ipos" "id20-ipos" "id67-dextra")
+syncPeriod 0.02
+
+[mapper leftHandMapper]
+device "controlboardremapper"
+axesNames ("LeftHandAbductor" "LeftThumbFinger" "LeftIndexFinger" "LeftMiddleFinger" "LeftRingFinger" "LeftPinkyFinger")
+
+[wrapper leftHandPort]
+device "controlBoard_nws_yarp"
+name "/leftHand"
+period 0.01
+
+[mapper leftArmMapper]
+device "controlboardremapper"
+axesNames ("FrontalLeftShoulder" "SagittalLeftShoulder" "AxialLeftShoulder" "FrontalLeftElbow" "AxialLeftWrist" "FrontalLeftWrist")
+calibrator "generic"
+
+[wrapper leftArmPort]
+device "controlBoard_nws_yarp"
+name "/leftArm"
+period 0.01
+
+[mapper rightArmMapper]
+device "controlboardremapper"
+axesNames ("FrontalRightShoulder" "SagittalRightShoulder" "AxialRightShoulder" "FrontalRightElbow" "AxialRightWrist" "FrontalRightWrist")
+calibrator "generic"
+
+[wrapper rightArmPort]
+device "controlBoard_nws_yarp"
+name "/rightArm"
+period 0.01
+
+[mapper rightHandMapper]
+device "controlboardremapper"
+axesNames ("RightHandAbductor" "RightThumbFinger" "RightIndexFinger" "RightMiddleFinger" "RightRingFinger" "RightPinkyFinger")
+
+[wrapper rightHandPort]
+device "controlBoard_nws_yarp"
+name "/rightHand"
+period 0.01

share/contexts/launchCanBus/manipulation-leftArm-dextra.ini

@@ -0,0 +1,25 @@
+[devCan leftArmBus]
+device "CanBusBroker"
+description "CAN bus controller board for TEO's left arm (with Dextra hand)"
+buses ("socket-leftArm")
+socket-leftArm ("id66-dextra" "id21-ipos" "id22-ipos" "id23-ipos" "id24-ipos" "id25-ipos" "id26-ipos")
+syncPeriod 0.02
+
+[mapper leftHandMapper]
+device "controlboardremapper"
+axesNames ("LeftHandAbductor" "LeftThumbFinger" "LeftIndexFinger" "LeftMiddleFinger" "LeftRingFinger" "LeftPinkyFinger")
+
+[wrapper leftHandPort]
+device "controlBoard_nws_yarp"
+name "/leftHand"
+period 0.01
+
+[mapper leftArmMapper]
+device "controlboardremapper"
+axesNames ("FrontalLeftShoulder" "SagittalLeftShoulder" "AxialLeftShoulder" "FrontalLeftElbow" "AxialLeftWrist" "FrontalLeftWrist")
+calibrator "generic"
+
+[wrapper leftArmPort]
+device "controlBoard_nws_yarp"
+name "/leftArm"
+period 0.01

share/contexts/launchCanBus/manipulation-rightArm-dextra.ini

@@ -0,0 +1,25 @@
+[devCan rightArmBus]
+device "CanBusBroker"
+description "CAN bus controller board for TEO's right arm (with Dextra hand)"
+buses ("socket-rightArm")
+socket-rightArm ("id15-ipos" "id16-ipos" "id17-ipos" "id18-ipos" "id19-ipos" "id20-ipos" "id67-dextra")
+syncPeriod 0.02
+
+[mapper rightArmMapper]
+device "controlboardremapper"
+axesNames ("FrontalRightShoulder" "SagittalRightShoulder" "AxialRightShoulder" "FrontalRightElbow" "AxialRightWrist" "FrontalRightWrist")
+calibrator "generic"
+
+[wrapper rightArmPort]
+device "controlBoard_nws_yarp"
+name "/rightArm"
+period 0.01
+
+[mapper rightHandMapper]
+device "controlboardremapper"
+axesNames ("RightHandAbductor" "RightThumbFinger" "RightIndexFinger" "RightMiddleFinger" "RightRingFinger" "RightPinkyFinger")
+
+[wrapper rightHandPort]
+device "controlBoard_nws_yarp"
+name "/rightHand"
+period 0.01

share/contexts/launchCanBus/wholeBody-dextra.ini

@@ -0,0 +1,76 @@
+[devCan wholeBodyBus]
+device "CanBusBroker"
+description "Whole body CAN bus controller board for TEO (with Dextra hand)"
+buses ("socket-leftArm" "socket-rightArm" "socket-leftLeg" "socket-rightLeg")
+socket-leftArm ("id66-dextra" "id21-ipos" "id22-ipos" "id23-ipos" "id24-ipos" "id25-ipos" "id26-ipos")
+socket-rightArm ("id15-ipos" "id16-ipos" "id17-ipos" "id18-ipos" "id19-ipos" "id20-ipos" "id67-dextra")
+socket-leftLeg ("id7-ipos" "id8-ipos" "id9-ipos" "id10-ipos" "id11-ipos" "id12-ipos" "id13-ipos")
+socket-rightLeg ("id14-ipos" "id6-ipos" "id5-ipos" "id4-ipos" "id3-ipos" "id2-ipos" "id1-ipos")
+syncPeriod 0.02
+
+[mapper leftHandMapper]
+device "controlboardremapper"
+axesNames ("LeftHandAbductor" "LeftThumbFinger" "LeftIndexFinger" "LeftMiddleFinger" "LeftRingFinger" "LeftPinkyFinger")
+
+[wrapper leftHandPort]
+device "controlBoard_nws_yarp"
+name "/leftHand"
+period 0.01
+
+[mapper leftArmMapper]
+device "controlboardremapper"
+axesNames ("FrontalLeftShoulder" "SagittalLeftShoulder" "AxialLeftShoulder" "FrontalLeftElbow" "AxialLeftWrist" "FrontalLeftWrist")
+calibrator "generic"
+
+[wrapper leftArmPort]
+device "controlBoard_nws_yarp"
+name "/leftArm"
+period 0.01
+
+[mapper rightArmMapper]
+device "controlboardremapper"
+axesNames ("FrontalRightShoulder" "SagittalRightShoulder" "AxialRightShoulder" "FrontalRightElbow" "AxialRightWrist" "FrontalRightWrist")
+calibrator "generic"
+
+[wrapper rightArmPort]
+device "controlBoard_nws_yarp"
+name "/rightArm"
+period 0.01
+
+[mapper rightHandMapper]
+device "controlboardremapper"
+axesNames ("RightHandAbductor" "RightThumbFinger" "RightIndexFinger" "RightMiddleFinger" "RightRingFinger" "RightPinkyFinger")
+
+[wrapper rightHandPort]
+device "controlBoard_nws_yarp"
+name "/rightHand"
+period 0.01
+
+[mapper leftLegMapper]
+device "controlboardremapper"
+axesNames ("AxialLeftHip" "SagittalLeftHip" "FrontalLeftHip" "FrontalLeftKnee" "FrontalLeftAnkle" "SagittalLeftAnkle")
+calibrator "generic"
+
+[wrapper leftLegPort]
+device "controlBoard_nws_yarp"
+name "/leftLeg"
+period 0.01
+
+[mapper trunkMapper]
+device "controlboardremapper"
+axesNames ("AxialTrunk" "FrontalTrunk")
+calibrator "generic"
+
+[wrapper trunkPort]
+device "controlBoard_nws_yarp"
+name "/trunk"
+period 0.01
+
+[mapper rightLegMapper]
+device "controlboardremapper"
+axesNames ("AxialRightHip" "SagittalRightHip" "FrontalRightHip" "FrontalRightKnee" "FrontalRightAnkle" "SagittalRightAnkle")
+calibrator "generic"
+
+[wrapper rightLegPort]
+device "controlBoard_nws_yarp"
+name "/rightLeg"

share/robots/teo/nodes/id66-dextra.ini

@@ -0,0 +1,5 @@
+[id66-dextra]
+device "DextraCanControlBoard"
+description "Left Dextra hand"
+axisPrefix "Left"
+canId 66

share/robots/teo/nodes/id67-dextra.ini

@@ -0,0 +1,5 @@
+[id67-dextra]
+device "DextraCanControlBoard"
+description "Right Dextra hand"
+axisPrefix "Right"
+canId 67