diff --git a/conf/clock/isaacsim_clock_ros2.xml b/conf/clock/isaacsim_clock_ros2.xml new file mode 100644 index 0000000..2e7d0d5 --- /dev/null +++ b/conf/clock/isaacsim_clock_ros2.xml @@ -0,0 +1,8 @@ + + + + + ClockSubYarp + /clock + /clock + diff --git a/conf/ergocub/bridge/FT/left_arm-FT_isaacsim.xml b/conf/ergocub/bridge/FT/left_arm-FT_isaacsim.xml new file mode 100644 index 0000000..a81d767 --- /dev/null +++ b/conf/ergocub/bridge/FT/left_arm-FT_isaacsim.xml @@ -0,0 +1,8 @@ + + + + + left_arm_FT_subscriber + ("/ergocub/FT/l_arm_ft") + () + diff --git a/conf/ergocub/bridge/FT/left_foot-FT_isaacsim.xml b/conf/ergocub/bridge/FT/left_foot-FT_isaacsim.xml new file mode 100644 index 0000000..61bc2c4 --- /dev/null +++ b/conf/ergocub/bridge/FT/left_foot-FT_isaacsim.xml @@ -0,0 +1,8 @@ + + + + + left_foot_FT_subscriber + ("/ergocub/FT/l_foot_front_ft", "/ergocub/FT/l_foot_rear_ft") + () + diff --git a/conf/ergocub/bridge/FT/left_leg-FT_isaacsim.xml b/conf/ergocub/bridge/FT/left_leg-FT_isaacsim.xml new file mode 100644 index 0000000..51fc853 --- /dev/null +++ b/conf/ergocub/bridge/FT/left_leg-FT_isaacsim.xml @@ -0,0 +1,8 @@ + + + + + left_leg_FT_subscriber + ("/ergocub/FT/l_leg_ft") + () + diff --git a/conf/ergocub/bridge/FT/right_arm-FT_isaacsim.xml b/conf/ergocub/bridge/FT/right_arm-FT_isaacsim.xml new file mode 100644 index 0000000..2a70ab0 --- /dev/null +++ b/conf/ergocub/bridge/FT/right_arm-FT_isaacsim.xml @@ -0,0 +1,8 @@ + + + + + right_arm_FT_subscriber + ("/ergocub/FT/r_arm_ft") + () + diff --git a/conf/ergocub/bridge/FT/right_foot-FT_isaacsim.xml b/conf/ergocub/bridge/FT/right_foot-FT_isaacsim.xml new file mode 100644 index 0000000..b03bba0 --- /dev/null +++ b/conf/ergocub/bridge/FT/right_foot-FT_isaacsim.xml @@ -0,0 +1,8 @@ + + + + + right_foot_FT_subscriber + ("/ergocub/FT/r_foot_front_ft", "/ergocub/FT/r_foot_rear_ft") + () + diff --git a/conf/ergocub/bridge/FT/right_leg-FT_isaacsim.xml b/conf/ergocub/bridge/FT/right_leg-FT_isaacsim.xml new file mode 100644 index 0000000..b51f195 --- /dev/null +++ b/conf/ergocub/bridge/FT/right_leg-FT_isaacsim.xml @@ -0,0 +1,8 @@ + + + + + right_leg_FT_subscriber + ("/ergocub/FT/r_leg_ft") + () + diff --git a/conf/ergocub/bridge/inertials/head-inertials_isaacsim.xml b/conf/ergocub/bridge/inertials/head-inertials_isaacsim.xml new file mode 100644 index 0000000..f8360bf --- /dev/null +++ b/conf/ergocub/bridge/inertials/head-inertials_isaacsim.xml @@ -0,0 +1,8 @@ + + + + + head_IMU_subscriber + () + ("/ergocub/IMU/head_imu_0") + diff --git a/conf/ergocub/bridge/inertials/waist-inertials_isaacsim.xml b/conf/ergocub/bridge/inertials/waist-inertials_isaacsim.xml new file mode 100644 index 0000000..6ec1bb6 --- /dev/null +++ b/conf/ergocub/bridge/inertials/waist-inertials_isaacsim.xml @@ -0,0 +1,8 @@ + + + + + waist_IMU_subscriber + () + ("/ergocub/IMU/waist_imu_0") + diff --git a/conf/ergocub/bridge/motorcontrol/head-mc_isaacsim.xml b/conf/ergocub/bridge/motorcontrol/head-mc_isaacsim.xml new file mode 100644 index 0000000..39ecf2f --- /dev/null +++ b/conf/ergocub/bridge/motorcontrol/head-mc_isaacsim.xml @@ -0,0 +1,13 @@ + + + + + head_mc_streaming + head_mc_service + /ergocub/head/joint_state + /ergocub/head/motor_state + /ergocub/head/joint_state/input + /ergocub/head/parameter_events + /ergocub/head/set_parameters + 0.5 + diff --git a/conf/ergocub/bridge/motorcontrol/left_arm-mc_isaacsim.xml b/conf/ergocub/bridge/motorcontrol/left_arm-mc_isaacsim.xml new file mode 100644 index 0000000..bb478c9 --- /dev/null +++ b/conf/ergocub/bridge/motorcontrol/left_arm-mc_isaacsim.xml @@ -0,0 +1,13 @@ + + + + + left_arm_mc_streaming + left_arm_mc_service + /ergocub/left_arm/joint_state + /ergocub/left_arm/motor_state + /ergocub/left_arm/joint_state/input + /ergocub/left_arm/parameter_events + /ergocub/left_arm/set_parameters + 0.5 + diff --git a/conf/ergocub/bridge/motorcontrol/left_hand-mc_isaacsim.xml b/conf/ergocub/bridge/motorcontrol/left_hand-mc_isaacsim.xml new file mode 100644 index 0000000..d83fe9b --- /dev/null +++ b/conf/ergocub/bridge/motorcontrol/left_hand-mc_isaacsim.xml @@ -0,0 +1,13 @@ + + + + + left_hand_mc_streaming + left_hand_mc_service + /ergocub/left_hand/joint_state + /ergocub/left_hand/motor_state + /ergocub/left_hand/joint_state/input + /ergocub/left_hand/parameter_events + /ergocub/left_hand/set_parameters + 0.5 + diff --git a/conf/ergocub/bridge/motorcontrol/left_leg-mc_isaacsim.xml b/conf/ergocub/bridge/motorcontrol/left_leg-mc_isaacsim.xml new file mode 100644 index 0000000..39ad94e --- /dev/null +++ b/conf/ergocub/bridge/motorcontrol/left_leg-mc_isaacsim.xml @@ -0,0 +1,13 @@ + + + + + left_leg_mc_streaming + left_leg_mc_service + /ergocub/left_leg/joint_state + /ergocub/left_leg/motor_state + /ergocub/left_leg/joint_state/input + /ergocub/left_leg/parameter_events + /ergocub/left_leg/set_parameters + 0.5 + diff --git a/conf/ergocub/bridge/motorcontrol/right_arm-mc_isaacsim.xml b/conf/ergocub/bridge/motorcontrol/right_arm-mc_isaacsim.xml new file mode 100644 index 0000000..c32c6dd --- /dev/null +++ b/conf/ergocub/bridge/motorcontrol/right_arm-mc_isaacsim.xml @@ -0,0 +1,13 @@ + + + + + right_arm_mc_streaming + right_arm_mc_service + /ergocub/right_arm/joint_state + /ergocub/right_arm/motor_state + /ergocub/right_arm/joint_state/input + /ergocub/right_arm/parameter_events + /ergocub/right_arm/set_parameters + 0.5 + diff --git a/conf/ergocub/bridge/motorcontrol/right_hand-mc_isaacsim.xml b/conf/ergocub/bridge/motorcontrol/right_hand-mc_isaacsim.xml new file mode 100644 index 0000000..3fb7ca4 --- /dev/null +++ b/conf/ergocub/bridge/motorcontrol/right_hand-mc_isaacsim.xml @@ -0,0 +1,13 @@ + + + + + right_hand_mc_streaming + right_hand_mc_service + /ergocub/right_hand/joint_state + /ergocub/right_hand/motor_state + /ergocub/right_hand/joint_state/input + /ergocub/right_hand/parameter_events + /ergocub/right_hand/set_parameters + 0.5 + diff --git a/conf/ergocub/bridge/motorcontrol/right_leg-mc_isaacsim.xml b/conf/ergocub/bridge/motorcontrol/right_leg-mc_isaacsim.xml new file mode 100644 index 0000000..a3cbeca --- /dev/null +++ b/conf/ergocub/bridge/motorcontrol/right_leg-mc_isaacsim.xml @@ -0,0 +1,13 @@ + + + + + right_leg_mc_streaming + right_leg_mc_service + /ergocub/right_leg/joint_state + /ergocub/right_leg/motor_state + /ergocub/right_leg/joint_state/input + /ergocub/right_leg/parameter_events + /ergocub/right_leg/set_parameters + 0.5 + diff --git a/conf/ergocub/bridge/motorcontrol/torso-mc_isaacsim.xml b/conf/ergocub/bridge/motorcontrol/torso-mc_isaacsim.xml new file mode 100644 index 0000000..af3fa48 --- /dev/null +++ b/conf/ergocub/bridge/motorcontrol/torso-mc_isaacsim.xml @@ -0,0 +1,13 @@ + + + + + torso_mc_streaming + torso_mc_service + /ergocub/torso/joint_state + /ergocub/torso/motor_state + /ergocub/torso/joint_state/input + /ergocub/torso/parameter_events + /ergocub/torso/set_parameters + 0.5 + diff --git a/conf/ergocub/bridge/sensors/realsense_isaacsim.xml b/conf/ergocub/bridge/sensors/realsense_isaacsim.xml new file mode 100644 index 0000000..481e2ae --- /dev/null +++ b/conf/ergocub/bridge/sensors/realsense_isaacsim.xml @@ -0,0 +1,8 @@ + + + + + RGBDBridgeSubscriber + /ergocub/realsense/rgb + /ergocub/realsense/depth + diff --git a/conf/ergocub/ergocub_isaacsim.xml b/conf/ergocub/ergocub_isaacsim.xml new file mode 100644 index 0000000..cbc38b1 --- /dev/null +++ b/conf/ergocub/ergocub_isaacsim.xml @@ -0,0 +1,71 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/conf/ergocub/estimators/wholebodydynamics.xml b/conf/ergocub/estimators/wholebodydynamics.xml new file mode 100644 index 0000000..d39163a --- /dev/null +++ b/conf/ergocub/estimators/wholebodydynamics.xml @@ -0,0 +1,73 @@ + + + + + + (torso_roll,torso_pitch,torso_yaw,l_shoulder_pitch,l_shoulder_roll,l_shoulder_yaw,l_elbow,l_wrist_pitch,l_wrist_yaw,r_shoulder_pitch,r_shoulder_roll,r_shoulder_yaw,r_elbow,r_wrist_pitch,r_wrist_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) + model.urdf + (0,0,-9.81) + (l_hand_palm,r_hand_palm,root_link,l_foot_front,l_foot_rear,r_foot_front,r_foot_rear,l_upper_leg,r_upper_leg) + head_imu_0 + true + false + 3.0 + 3.0 + 3.0 + 3.0 + true + false + true + true + + + true + root_link + (torso_roll,torso_pitch,torso_yaw,l_shoulder_pitch,l_shoulder_roll,l_shoulder_yaw,l_elbow,r_shoulder_pitch,r_shoulder_roll,r_shoulder_yaw,r_elbow) + + + + head_imu_0 + head_imu_0 + + + + (l_foot_front,l_sole,l_sole) + (l_foot_rear,l_sole,l_sole) + (r_foot_front,r_sole,r_sole) + (r_foot_rear,r_sole,r_sole) + (l_hand_palm,l_hand_palm,root_link) + (r_hand_palm,r_hand_palm,root_link) + + + + + + ("l_arm_ft", "r_arm_ft", "l_leg_ft", "r_leg_ft", "l_foot_front_ft", "r_foot_front_ft", "l_foot_rear_ft", "r_foot_rear_ft") + + + + + + + left_leg-mc_isaacsim + right_leg-mc_isaacsim + torso-mc_isaacsim + right_arm-mc_isaacsim + left_arm-mc_isaacsim + + head-inertials_isaacsim + waist-inertials_isaacsim + + left_arm-FT_isaacsim + right_arm-FT_isaacsim + left_leg-FT_isaacsim + right_leg-FT_isaacsim + left_foot-FT_isaacsim + right_foot-FT_isaacsim + + + + + + + diff --git a/conf/ergocub/wrappers/FT/left_arm-FT_wrapper.xml b/conf/ergocub/wrappers/FT/left_arm-FT_wrapper.xml new file mode 100644 index 0000000..2247e62 --- /dev/null +++ b/conf/ergocub/wrappers/FT/left_arm-FT_wrapper.xml @@ -0,0 +1,15 @@ + + + + + 10 + ${portprefix}/left_arm/FT + + + + left_arm-FT_isaacsim + + + + + diff --git a/conf/ergocub/wrappers/FT/left_foot-FT_wrapper.xml b/conf/ergocub/wrappers/FT/left_foot-FT_wrapper.xml new file mode 100644 index 0000000..c23e746 --- /dev/null +++ b/conf/ergocub/wrappers/FT/left_foot-FT_wrapper.xml @@ -0,0 +1,15 @@ + + + + + 10 + ${portprefix}/left_foot_heel_tiptoe + + + + left_foot-FT_isaacsim + + + + + diff --git a/conf/ergocub/wrappers/FT/left_leg-FT_remapper.xml b/conf/ergocub/wrappers/FT/left_leg-FT_remapper.xml new file mode 100644 index 0000000..9c1d98f --- /dev/null +++ b/conf/ergocub/wrappers/FT/left_leg-FT_remapper.xml @@ -0,0 +1,17 @@ + + + + + + (l_leg_ft l_foot_rear_ft l_foot_front_ft) + + + + + left_leg-FT_isaacsim + left_foot-FT_isaacsim + + + + + diff --git a/conf/ergocub/wrappers/FT/left_leg-FT_wrapper.xml b/conf/ergocub/wrappers/FT/left_leg-FT_wrapper.xml new file mode 100644 index 0000000..e8e4c2d --- /dev/null +++ b/conf/ergocub/wrappers/FT/left_leg-FT_wrapper.xml @@ -0,0 +1,15 @@ + + + + + 10 + ${portprefix}/left_leg/FT + + + + left_leg-FT_remapper + + + + + diff --git a/conf/ergocub/wrappers/FT/left_leg_hip-FT_wrapper.xml b/conf/ergocub/wrappers/FT/left_leg_hip-FT_wrapper.xml new file mode 100644 index 0000000..789e4d0 --- /dev/null +++ b/conf/ergocub/wrappers/FT/left_leg_hip-FT_wrapper.xml @@ -0,0 +1,15 @@ + + + + + 10 + ${portprefix}/left_leg_hip + + + + left_leg-FT_isaacsim + + + + + diff --git a/conf/ergocub/wrappers/FT/right_arm-FT_wrapper.xml b/conf/ergocub/wrappers/FT/right_arm-FT_wrapper.xml new file mode 100644 index 0000000..e691d3a --- /dev/null +++ b/conf/ergocub/wrappers/FT/right_arm-FT_wrapper.xml @@ -0,0 +1,15 @@ + + + + + 10 + ${portprefix}/right_arm/FT + + + + right_arm-FT_isaacsim + + + + + diff --git a/conf/ergocub/wrappers/FT/right_foot-FT_wrapper.xml b/conf/ergocub/wrappers/FT/right_foot-FT_wrapper.xml new file mode 100644 index 0000000..6067cba --- /dev/null +++ b/conf/ergocub/wrappers/FT/right_foot-FT_wrapper.xml @@ -0,0 +1,15 @@ + + + + + 10 + ${portprefix}/right_foot_heel_tiptoe + + + + right_foot-FT_isaacsim + + + + + diff --git a/conf/ergocub/wrappers/FT/right_leg-FT_remapper.xml b/conf/ergocub/wrappers/FT/right_leg-FT_remapper.xml new file mode 100644 index 0000000..a0c9c01 --- /dev/null +++ b/conf/ergocub/wrappers/FT/right_leg-FT_remapper.xml @@ -0,0 +1,17 @@ + + + + + + (r_leg_ft r_foot_rear_ft r_foot_front_ft) + + + + + right_leg-FT_isaacsim + right_foot-FT_isaacsim + + + + + diff --git a/conf/ergocub/wrappers/FT/right_leg-FT_wrapper.xml b/conf/ergocub/wrappers/FT/right_leg-FT_wrapper.xml new file mode 100644 index 0000000..94a5cb8 --- /dev/null +++ b/conf/ergocub/wrappers/FT/right_leg-FT_wrapper.xml @@ -0,0 +1,15 @@ + + + + + 10 + ${portprefix}/right_leg/FT + + + + right_leg-FT_remapper + + + + + diff --git a/conf/ergocub/wrappers/FT/right_leg_hip-FT_wrapper.xml b/conf/ergocub/wrappers/FT/right_leg_hip-FT_wrapper.xml new file mode 100644 index 0000000..800a66c --- /dev/null +++ b/conf/ergocub/wrappers/FT/right_leg_hip-FT_wrapper.xml @@ -0,0 +1,15 @@ + + + + + 10 + ${portprefix}/right_leg_hip + + + + right_leg-FT_isaacsim + + + + + diff --git a/conf/ergocub/wrappers/inertials/alljoints-inertials_remapper.xml b/conf/ergocub/wrappers/inertials/alljoints-inertials_remapper.xml new file mode 100644 index 0000000..b237d54 --- /dev/null +++ b/conf/ergocub/wrappers/inertials/alljoints-inertials_remapper.xml @@ -0,0 +1,16 @@ + + + + + + (head_imu_0 waist_imu_0) + + + + head-inertials_isaacsim + waist-inertials_isaacsim + + + + + diff --git a/conf/ergocub/wrappers/inertials/alljoints-inertials_wrapper.xml b/conf/ergocub/wrappers/inertials/alljoints-inertials_wrapper.xml new file mode 100644 index 0000000..27f518f --- /dev/null +++ b/conf/ergocub/wrappers/inertials/alljoints-inertials_wrapper.xml @@ -0,0 +1,14 @@ + + + + + 10 + ${portprefix}/alljoints/inertials + + + + alljoints-inertials_remapper + + + + diff --git a/conf/ergocub/wrappers/inertials/head-inertials_wrapper.xml b/conf/ergocub/wrappers/inertials/head-inertials_wrapper.xml new file mode 100644 index 0000000..d20a706 --- /dev/null +++ b/conf/ergocub/wrappers/inertials/head-inertials_wrapper.xml @@ -0,0 +1,15 @@ + + + + + 10 + ${portprefix}/head/inertials + + + + head-inertials_isaacsim + + + + + diff --git a/conf/ergocub/wrappers/inertials/waist-inertials_wrapper.xml b/conf/ergocub/wrappers/inertials/waist-inertials_wrapper.xml new file mode 100644 index 0000000..caea537 --- /dev/null +++ b/conf/ergocub/wrappers/inertials/waist-inertials_wrapper.xml @@ -0,0 +1,15 @@ + + + + + 10 + ${portprefix}/waist/inertials + + + + waist-inertials_isaacsim + + + + + diff --git a/conf/ergocub/wrappers/motorcontrol/head-mc_wrapper.xml b/conf/ergocub/wrappers/motorcontrol/head-mc_wrapper.xml new file mode 100644 index 0000000..3d58af0 --- /dev/null +++ b/conf/ergocub/wrappers/motorcontrol/head-mc_wrapper.xml @@ -0,0 +1,15 @@ + + + + + 0.01 + ${portprefix}/head + + + + head-mc_isaacsim + + + + + diff --git a/conf/ergocub/wrappers/motorcontrol/left_hand-coupling_handler.xml b/conf/ergocub/wrappers/motorcontrol/left_hand-coupling_handler.xml new file mode 100644 index 0000000..91c7146 --- /dev/null +++ b/conf/ergocub/wrappers/motorcontrol/left_hand-coupling_handler.xml @@ -0,0 +1,54 @@ + + + + + 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 98.0 101.78 15.0 98.0 98.35 98.0 98.35 98.0 98.35 98.0 101.78) + (0.0 3.63 0.0 0.0 5.75 0.0 5.75 0.0 5.75 0.0 5.75 2.78) + + + (l_thumb_add l_thumb_oc l_index_add l_index_oc l_middle_oc l_ring_pinky_oc) + (0.0 3.63 0.0 5.75 5.75 5.75) + (100.0 98.0 15.0 98.0 98.0 98.0) + + + (-0.0050 -0.0050 -0.0050 -0.0050 -0.0050) + (0.0040 0.0040 0.0040 0.0040 0.0040) + (-162.27 -156.18 -156.18 -156.18 -162.27) + (2.45 2.15 2.15 2.15 2.45) + (0.03430 0.0394 0.0394 0.0394 0.03430) + (0.03503 0.04003 0.04003 0.04003 0.03503) + (0.00604 0.00607 0.00607 0.00607 0.00604) + (0.00640 0.00640 0.00640 0.00640 0.00640) + + + + left_hand-mc_isaacsim + + + diff --git a/conf/ergocub/wrappers/motorcontrol/left_hand-mc_wrapper-coupling.xml b/conf/ergocub/wrappers/motorcontrol/left_hand-mc_wrapper-coupling.xml new file mode 100644 index 0000000..4be0eae --- /dev/null +++ b/conf/ergocub/wrappers/motorcontrol/left_hand-mc_wrapper-coupling.xml @@ -0,0 +1,11 @@ + + + + + ${portprefix}/left_hand + 0.01 + + left_hand-coupling_handler + + + diff --git a/conf/ergocub/wrappers/motorcontrol/left_hand-mc_wrapper.xml b/conf/ergocub/wrappers/motorcontrol/left_hand-mc_wrapper.xml new file mode 100644 index 0000000..3046d81 --- /dev/null +++ b/conf/ergocub/wrappers/motorcontrol/left_hand-mc_wrapper.xml @@ -0,0 +1,15 @@ + + + + + 0.01 + ${portprefix}/left_hand_raw + + + + left_hand-mc_isaacsim + + + + + diff --git a/conf/ergocub/wrappers/motorcontrol/left_leg-mc_wrapper.xml b/conf/ergocub/wrappers/motorcontrol/left_leg-mc_wrapper.xml new file mode 100644 index 0000000..125d695 --- /dev/null +++ b/conf/ergocub/wrappers/motorcontrol/left_leg-mc_wrapper.xml @@ -0,0 +1,15 @@ + + + + + 0.01 + ${portprefix}/left_leg + + + + left_leg-mc_isaacsim + + + + + diff --git a/conf/ergocub/wrappers/motorcontrol/left_upper_arm-mc_wrapper.xml b/conf/ergocub/wrappers/motorcontrol/left_upper_arm-mc_wrapper.xml new file mode 100644 index 0000000..9675de8 --- /dev/null +++ b/conf/ergocub/wrappers/motorcontrol/left_upper_arm-mc_wrapper.xml @@ -0,0 +1,15 @@ + + + + + 0.01 + ${portprefix}/left_arm + + + + left_arm-mc_isaacsim + + + + + diff --git a/conf/ergocub/wrappers/motorcontrol/right_hand-coupling_handler.xml b/conf/ergocub/wrappers/motorcontrol/right_hand-coupling_handler.xml new file mode 100644 index 0000000..7215520 --- /dev/null +++ b/conf/ergocub/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-mc_isaacsim + + + diff --git a/conf/ergocub/wrappers/motorcontrol/right_hand-mc_wrapper-coupling.xml b/conf/ergocub/wrappers/motorcontrol/right_hand-mc_wrapper-coupling.xml new file mode 100644 index 0000000..3938ef3 --- /dev/null +++ b/conf/ergocub/wrappers/motorcontrol/right_hand-mc_wrapper-coupling.xml @@ -0,0 +1,11 @@ + + + + + ${portprefix}/right_hand + 0.01 + + right_hand-coupling_handler + + + diff --git a/conf/ergocub/wrappers/motorcontrol/right_hand-mc_wrapper.xml b/conf/ergocub/wrappers/motorcontrol/right_hand-mc_wrapper.xml new file mode 100644 index 0000000..2139577 --- /dev/null +++ b/conf/ergocub/wrappers/motorcontrol/right_hand-mc_wrapper.xml @@ -0,0 +1,15 @@ + + + + + 0.01 + ${portprefix}/right_hand_raw + + + + right_hand-mc_isaacsim + + + + + diff --git a/conf/ergocub/wrappers/motorcontrol/right_leg-mc_wrapper.xml b/conf/ergocub/wrappers/motorcontrol/right_leg-mc_wrapper.xml new file mode 100644 index 0000000..5d5a56d --- /dev/null +++ b/conf/ergocub/wrappers/motorcontrol/right_leg-mc_wrapper.xml @@ -0,0 +1,15 @@ + + + + + 0.01 + ${portprefix}/right_leg + + + + right_leg-mc_isaacsim + + + + + diff --git a/conf/ergocub/wrappers/motorcontrol/right_upper_arm-mc_wrapper.xml b/conf/ergocub/wrappers/motorcontrol/right_upper_arm-mc_wrapper.xml new file mode 100644 index 0000000..ecf7f46 --- /dev/null +++ b/conf/ergocub/wrappers/motorcontrol/right_upper_arm-mc_wrapper.xml @@ -0,0 +1,15 @@ + + + + + 0.01 + ${portprefix}/right_arm + + + + right_arm-mc_isaacsim + + + + + diff --git a/conf/ergocub/wrappers/motorcontrol/torso-mc_wrapper.xml b/conf/ergocub/wrappers/motorcontrol/torso-mc_wrapper.xml new file mode 100644 index 0000000..8aa4a1f --- /dev/null +++ b/conf/ergocub/wrappers/motorcontrol/torso-mc_wrapper.xml @@ -0,0 +1,15 @@ + + + + + 0.01 + ${portprefix}/torso + + + + torso-mc_isaacsim + + + + + diff --git a/conf/ergocub/wrappers/sensors/realsense_wrapper.xml b/conf/ergocub/wrappers/sensors/realsense_wrapper.xml new file mode 100644 index 0000000..f2029e3 --- /dev/null +++ b/conf/ergocub/wrappers/sensors/realsense_wrapper.xml @@ -0,0 +1,13 @@ + + + + + 0.03 + /depthCamera + + + realsense_isaacsim + + + + diff --git a/conf/isaacsim_clock.xml b/conf/isaacsim_clock.xml new file mode 100644 index 0000000..6ba3ef7 --- /dev/null +++ b/conf/isaacsim_clock.xml @@ -0,0 +1,11 @@ + + + + + + + + + + +