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Add end effector nodes with launch files
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,55 @@ | ||
| [devCan rightArmBus] | ||
| device "CanBusControlboard" | ||
| description "CAN bus wrapper for TEO's right arm (with Dextra hand) and frontal neck joint" | ||
| bus "pcan-rightArm" | ||
| nodes ("id28-ipos" "id15-ipos" "id16-ipos" "id17-ipos" "id18-ipos" "id19-ipos" "id20-ipos" "id67-dextra") | ||
|
|
||
| [devCan leftArmBus] | ||
| device "CanBusControlboard" | ||
| description "CAN bus wrapper for TEO's left arm (with Dextra hand) and axial neck joint" | ||
| bus "pcan-leftArm" | ||
| nodes ("id27-ipos" "id21-ipos" "id22-ipos" "id23-ipos" "id24-ipos" "id25-ipos" "id26-ipos" "id66-dextra") | ||
|
|
||
| [wrapper rightArmPort] | ||
| device "controlboardwrapper2" | ||
| name "/teo/rightArm" | ||
| period 60 | ||
| joints 6 | ||
| networks ("rightArmBus") | ||
| rightArmBus (0 5 1 6) | ||
| calibrator "generic" | ||
|
|
||
| [wrapper rightHandPort] | ||
| device "controlboardwrapper2" | ||
| name "/teo/rightHand" | ||
| period 60 | ||
| joints 6 | ||
| networks ("rightArmBus") | ||
| rightArmBus (0 5 7 12) | ||
|
|
||
| [wrapper leftArmPort] | ||
| device "controlboardwrapper2" | ||
| name "/teo/leftArm" | ||
| period 60 | ||
| joints 6 | ||
| networks ("leftArmBus") | ||
| leftArmBus (0 5 1 6) | ||
| calibrator "generic" | ||
|
|
||
| [wrapper leftHandPort] | ||
| device "controlboardwrapper2" | ||
| name "/teo/leftHand" | ||
| period 60 | ||
| joints 6 | ||
| networks ("leftArmBus") | ||
| rightArmBus (0 5 7 12) | ||
|
|
||
| [wrapper headPort] | ||
| device "controlboardwrapper2" | ||
| name "/teo/head" | ||
| period 60 | ||
| joints 2 | ||
| networks ("leftArmBus" "rightArmBus") | ||
| leftArmBus (0 0 0 0) | ||
| rightArmBus (1 1 0 0) | ||
| calibrator "generic" |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,55 @@ | ||
| [devCan rightArmBus] | ||
| device "CanBusControlboard" | ||
| description "CAN bus wrapper for TEO's right arm (with Lacquey gripper) and frontal neck joint" | ||
| bus "pcan-rightArm" | ||
| nodes ("id28-ipos" "id15-ipos" "id16-ipos" "id17-ipos" "id18-ipos" "id19-ipos" "id20-ipos" "id65-lacquey") | ||
|
|
||
| [devCan leftArmBus] | ||
| device "CanBusControlboard" | ||
| description "CAN bus wrapper for TEO's left arm (with Lacquey gripper) and axial neck joint" | ||
| bus "pcan-leftArm" | ||
| nodes ("id27-ipos" "id21-ipos" "id22-ipos" "id23-ipos" "id24-ipos" "id25-ipos" "id26-ipos" "id64-lacquey") | ||
|
|
||
| [wrapper rightArmPort] | ||
| device "controlboardwrapper2" | ||
| name "/teo/rightArm" | ||
| period 60 | ||
| joints 6 | ||
| networks ("rightArmBus") | ||
| rightArmBus (0 5 1 6) | ||
| calibrator "generic" | ||
|
|
||
| [wrapper rightHandPort] | ||
| device "controlboardwrapper2" | ||
| name "/teo/rightHand" | ||
| period 60 | ||
| joints 1 | ||
| networks ("rightArmBus") | ||
| rightArmBus (0 0 7 7) | ||
|
|
||
| [wrapper leftArmPort] | ||
| device "controlboardwrapper2" | ||
| name "/teo/leftArm" | ||
| period 60 | ||
| joints 6 | ||
| networks ("leftArmBus") | ||
| leftArmBus (0 5 1 6) | ||
| calibrator "generic" | ||
|
|
||
| [wrapper leftHandPort] | ||
| device "controlboardwrapper2" | ||
| name "/teo/leftHand" | ||
| period 60 | ||
| joints 1 | ||
| networks ("leftArmBus") | ||
| rightArmBus (0 0 7 7) | ||
|
|
||
| [wrapper headPort] | ||
| device "controlboardwrapper2" | ||
| name "/teo/head" | ||
| period 60 | ||
| joints 2 | ||
| networks ("leftArmBus" "rightArmBus") | ||
| leftArmBus (0 0 0 0) | ||
| rightArmBus (1 1 0 0) | ||
| calibrator "generic" |
22 changes: 22 additions & 0 deletions
22
share/contexts/launchCanBus/manipulation-leftArm-dextra.ini
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,22 @@ | ||
| [devCan leftArmBus] | ||
| device "CanBusControlboard" | ||
| description "CAN bus wrapper for TEO's left arm (with Dextra hand)" | ||
| bus "pcan-leftArm" | ||
| nodes ("id21-ipos" "id22-ipos" "id23-ipos" "id24-ipos" "id25-ipos" "id26-ipos" "id66-dextra") | ||
|
|
||
| [wrapper leftArmPort] | ||
| device "controlboardwrapper2" | ||
| name "/teo/leftArm" | ||
| period 60 | ||
| joints 6 | ||
| networks ("leftArmBus") | ||
| leftArmBus (0 5 0 5) | ||
| calibrator "generic" | ||
|
|
||
| [wrapper leftHandPort] | ||
| device "controlboardwrapper2" | ||
| name "/teo/leftHand" | ||
| period 60 | ||
| joints 6 | ||
| networks ("leftArmBus") | ||
| rightArmBus (0 5 6 11) |
22 changes: 22 additions & 0 deletions
22
share/contexts/launchCanBus/manipulation-leftArm-lacquey.ini
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,22 @@ | ||
| [devCan leftArmBus] | ||
| device "CanBusControlboard" | ||
| description "CAN bus wrapper for TEO's left arm (with Lacquey gripper)" | ||
| bus "pcan-leftArm" | ||
| nodes ("id21-ipos" "id22-ipos" "id23-ipos" "id24-ipos" "id25-ipos" "id26-ipos" "id64-lacquey") | ||
|
|
||
| [wrapper leftArmPort] | ||
| device "controlboardwrapper2" | ||
| name "/teo/leftArm" | ||
| period 60 | ||
| joints 6 | ||
| networks ("leftArmBus") | ||
| leftArmBus (0 5 0 5) | ||
| calibrator "generic" | ||
|
|
||
| [wrapper leftHandPort] | ||
| device "controlboardwrapper2" | ||
| name "/teo/leftHand" | ||
| period 60 | ||
| joints 1 | ||
| networks ("leftArmBus") | ||
| rightArmBus (0 0 6 6) |
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22 changes: 22 additions & 0 deletions
22
share/contexts/launchCanBus/manipulation-rightArm-dextra.ini
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,22 @@ | ||
| [devCan rightArmBus] | ||
| device "CanBusControlboard" | ||
| description "CAN bus wrapper for TEO's right arm (with Dextra hand)" | ||
| bus "pcan-rightArm" | ||
| nodes ("id15-ipos" "id16-ipos" "id17-ipos" "id18-ipos" "id19-ipos" "id20-ipos" "id67-dextra") | ||
|
|
||
| [wrapper rightArmPort] | ||
| device "controlboardwrapper2" | ||
| name "/teo/rightArm" | ||
| period 60 | ||
| joints 6 | ||
| networks ("rightArmBus") | ||
| rightArmBus (0 5 0 5) | ||
| calibrator "generic" | ||
|
|
||
| [wrapper rightHandPort] | ||
| device "controlboardwrapper2" | ||
| name "/teo/rightHand" | ||
| period 60 | ||
| joints 6 | ||
| networks ("rightArmBus") | ||
| rightArmBus (0 5 6 11) |
22 changes: 22 additions & 0 deletions
22
share/contexts/launchCanBus/manipulation-rightArm-lacquey.ini
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,22 @@ | ||
| [devCan rightArmBus] | ||
| device "CanBusControlboard" | ||
| description "CAN bus wrapper for TEO's right arm (with Lacquey gripper)" | ||
| bus "pcan-rightArm" | ||
| nodes ("id15-ipos" "id16-ipos" "id17-ipos" "id18-ipos" "id19-ipos" "id20-ipos" "id65-lacquey") | ||
|
|
||
| [wrapper rightArmPort] | ||
| device "controlboardwrapper2" | ||
| name "/teo/rightArm" | ||
| period 60 | ||
| joints 6 | ||
| networks ("rightArmBus") | ||
| rightArmBus (0 5 0 5) | ||
| calibrator "generic" | ||
|
|
||
| [wrapper rightHandPort] | ||
| device "controlboardwrapper2" | ||
| name "/teo/rightHand" | ||
| period 60 | ||
| joints 1 | ||
| networks ("rightArmBus") | ||
| rightArmBus (0 0 6 6) |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,4 @@ | ||
| [nodes "id64-lacquey"] | ||
| device "LacqueyFetch" | ||
| description "Left hand Lacquey gripper" | ||
| canId 64 |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,4 @@ | ||
| [nodes "id65-lacquey"] | ||
| device "LacqueyFetch" | ||
| description "Right hand Lacquey gripper" | ||
| canId 65 |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,4 @@ | ||
| [nodes "id66-dextra"] | ||
| device "DextraCanControlboard" | ||
| description "Left Dextra hand" | ||
| canId 66 |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,4 @@ | ||
| [nodes "id67-dextra"] | ||
| device "DextraCanControlboard" | ||
| description "Left Dextra hand" | ||
| canId 67 |