Shadow Robot's Config

Merge lp:~shadowrobot/sr-config/B_cyberglove_config into lp:sr-config

  1. B_cyberglove_config
  2. Merge into trunk
Proposed by Toni Oliver
Status: Merged
Approved by: Toni Oliver
Approved revision: 22
Merged at revision: 26
Proposed branch: lp:~shadowrobot/sr-config/B_cyberglove_config
Merge into: lp:sr-config
Diff against target: 275 lines (+226/-0)
9 files modified
sr_cyberglove_config/CMakeLists.txt (+30/-0)
sr_cyberglove_config/Makefile (+1/-0)
sr_cyberglove_config/calibrations/cyberglove.cal (+91/-0)
sr_cyberglove_config/calibrations/shadowhandtocybergrasp.cal (+31/-0)
sr_cyberglove_config/mainpage.dox (+14/-0)
sr_cyberglove_config/manifest.xml (+14/-0)
sr_cyberglove_config/mappings/GloveToHandMappings (+22/-0)
sr_cyberglove_config/mappings/GloveToHandMappings_generic (+22/-0)
sr_cyberglove_config/serial/serial_port.yaml (+1/-0)
To merge this branch: bzr merge lp:~shadowrobot/sr-config/B_cyberglove_config
Reviewer Review Type Date Requested Status
markpitchless Pending
Review via email: mp+130864@code.launchpad.net

Commit message

Added configuration files for the cyberglove and the sr_remapping package.

Description of the change

Added configuration files for the cyberglove and the sr_remapping package.

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Revision history for this message
markpitchless (markpitchless) wrote :

http://reviewboard/r/105/

lp:~shadowrobot/sr-config/B_cyberglove_config updated
22. By Toni Oliver

Fixed mainpage.dox and manifest

Preview Diff

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=== added directory 'sr_cyberglove_config'
=== added file 'sr_cyberglove_config/CMakeLists.txt'
--- sr_cyberglove_config/CMakeLists.txt 1970-01-01 00:00:00 +0000
+++ sr_cyberglove_config/CMakeLists.txt 2012-11-05 15:16:21 +0000
@@ -0,0 +1,30 @@
1cmake_minimum_required(VERSION 2.4.6)
2include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)
3
4# Set the build type. Options are:
5# Coverage : w/ debug symbols, w/o optimization, w/ code-coverage
6# Debug : w/ debug symbols, w/o optimization
7# Release : w/o debug symbols, w/ optimization
8# RelWithDebInfo : w/ debug symbols, w/ optimization
9# MinSizeRel : w/o debug symbols, w/ optimization, stripped binaries
10#set(ROS_BUILD_TYPE RelWithDebInfo)
11
12rosbuild_init()
13
14#set the default path for built executables to the "bin" directory
15set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)
16#set the default path for built libraries to the "lib" directory
17set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib)
18
19#uncomment if you have defined messages
20#rosbuild_genmsg()
21#uncomment if you have defined services
22#rosbuild_gensrv()
23
24#common commands for building c++ executables and libraries
25#rosbuild_add_library(${PROJECT_NAME} src/example.cpp)
26#target_link_libraries(${PROJECT_NAME} another_library)
27#rosbuild_add_boost_directories()
28#rosbuild_link_boost(${PROJECT_NAME} thread)
29#rosbuild_add_executable(example examples/example.cpp)
30#target_link_libraries(example ${PROJECT_NAME})
031
=== added file 'sr_cyberglove_config/Makefile'
--- sr_cyberglove_config/Makefile 1970-01-01 00:00:00 +0000
+++ sr_cyberglove_config/Makefile 2012-11-05 15:16:21 +0000
@@ -0,0 +1,1 @@
1include $(shell rospack find mk)/cmake.mk
0\ No newline at end of file2\ No newline at end of file
13
=== added directory 'sr_cyberglove_config/calibrations'
=== added file 'sr_cyberglove_config/calibrations/cyberglove.cal'
--- sr_cyberglove_config/calibrations/cyberglove.cal 1970-01-01 00:00:00 +0000
+++ sr_cyberglove_config/calibrations/cyberglove.cal 2012-11-05 15:16:21 +0000
@@ -0,0 +1,91 @@
1<?xml version="1.0" ?>
2<Cyberglove_calibration>
3<Joint name="G_PinkieRingAb">
4<calib raw_value="0.208661422133" calibrated_value="50"/>
5<calib raw_value="0.515748023987" calibrated_value="0"/>
6</Joint>
7<Joint name="G_IndexDIJ">
8<calib raw_value="0.185039371252" calibrated_value="0"/>
9<calib raw_value="0.468503922224" calibrated_value="90"/>
10</Joint>
11<Joint name="G_RingDIJ">
12<calib raw_value="0.177165359259" calibrated_value="0"/>
13<calib raw_value="0.389763772488" calibrated_value="90"/>
14</Joint>
15<Joint name="G_ThumbMPJ">
16<calib raw_value="0.311023622751" calibrated_value="-30"/>
17<calib raw_value="0.736220479012" calibrated_value="30"/>
18</Joint>
19<Joint name="G_RingMiddleAb">
20<calib raw_value="0.283464580774" calibrated_value="50"/>
21<calib raw_value="0.610236227512" calibrated_value="0"/>
22</Joint>
23<Joint name="G_PalmArch">
24<calib raw_value="0.356614176631" calibrated_value="0"/>
25<calib raw_value="0.64960628748" calibrated_value="40"/>
26</Joint>
27<Joint name="G_PinkiePIJ">
28<calib raw_value="0.153543308377" calibrated_value="0"/>
29<calib raw_value="0.602362215519" calibrated_value="90"/>
30</Joint>
31<Joint name="G_RingMPJ">
32<calib raw_value="0.322834640741" calibrated_value="0"/>
33<calib raw_value="0.570866167545" calibrated_value="90"/>
34</Joint>
35<Joint name="G_MiddlePIJ">
36<calib raw_value="0.267716526985" calibrated_value="0"/>
37<calib raw_value="0.590551197529" calibrated_value="90"/>
38</Joint>
39<Joint name="G_MiddleDIJ">
40<calib raw_value="0.0" calibrated_value="0"/>
41<calib raw_value="0.322834640741" calibrated_value="90"/>
42</Joint>
43<Joint name="G_ThumbAb">
44<calib raw_value="0.350393712521" calibrated_value="50"/>
45<calib raw_value="0.791338562965" calibrated_value="0"/>
46</Joint>
47<Joint name="G_IndexMPJ">
48<calib raw_value="0.429133862257" calibrated_value="0"/>
49<calib raw_value="0.653543293476" calibrated_value="90"/>
50</Joint>
51<Joint name="G_PinkieDIJ">
52<calib raw_value="0.318897634745" calibrated_value="0"/>
53<calib raw_value="0.578740179539" calibrated_value="90"/>
54</Joint>
55<Joint name="G_IndexPIJ">
56<calib raw_value="0.181102365255" calibrated_value="0"/>
57<calib raw_value="0.653543293476" calibrated_value="90"/>
58</Joint>
59<Joint name="G_ThumbRotate">
60<calib raw_value="0.334645658731" calibrated_value="-60"/>
61<calib raw_value="0.696850419044" calibrated_value="60"/>
62</Joint>
63<Joint name="G_ThumbIJ">
64<calib raw_value="0.460629910231" calibrated_value="0"/>
65<calib raw_value="0.909448802471" calibrated_value="90"/>
66</Joint>
67<Joint name="G_MiddleIndexAb">
68<calib raw_value="0.389763772488" calibrated_value="50"/>
69<calib raw_value="0.468503922224" calibrated_value="0"/>
70</Joint>
71<Joint name="G_RingPIJ">
72<calib raw_value="0.240157485008" calibrated_value="0"/>
73<calib raw_value="0.618110239506" calibrated_value="90"/>
74</Joint>
75<Joint name="G_PinkieMPJ">
76<calib raw_value="0.354330718517" calibrated_value="0"/>
77<calib raw_value="0.590551197529" calibrated_value="90"/>
78</Joint>
79<Joint name="G_WristPitch">
80<calib raw_value="0.153543308377" calibrated_value="-30"/>
81<calib raw_value="0.622047245502" calibrated_value="40"/>
82</Joint>
83<Joint name="G_WristYaw">
84<calib raw_value="0.236220479012" calibrated_value="10"/>
85<calib raw_value="0.925196826458" calibrated_value="-30"/>
86</Joint>
87<Joint name="G_MiddleMPJ">
88<calib raw_value="0.417322844267" calibrated_value="0"/>
89<calib raw_value="0.629921257496" calibrated_value="90"/>
90</Joint>
91</Cyberglove_calibration>
092
=== added file 'sr_cyberglove_config/calibrations/shadowhandtocybergrasp.cal'
--- sr_cyberglove_config/calibrations/shadowhandtocybergrasp.cal 1970-01-01 00:00:00 +0000
+++ sr_cyberglove_config/calibrations/shadowhandtocybergrasp.cal 2012-11-05 15:16:21 +0000
@@ -0,0 +1,31 @@
1#TH FF MF RF LF (cybergrasp)
2#FF (hand)
30.0 0.0 0.0 0.0 0.0
40.0 1.0 0.0 0.0 0.0
50.0 0.0 0.0 0.0 0.0
60.0 0.0 0.0 0.0 0.0
7#MF
80.0 0.0 0.0 0.0 0.0
90.0 0.0 1.0 0.0 0.0
100.0 0.0 0.0 0.0 0.0
110.0 0.0 0.0 0.0 0.0
12#RF
130.0 0.0 0.0 0.0 0.0
140.0 0.0 0.0 1.0 0.0
150.0 0.0 0.0 0.0 0.0
160.0 0.0 0.0 0.0 0.0
17#LF
180.0 0.0 0.0 0.0 0.0
190.0 0.0 0.0 0.0 1.0
200.0 0.0 0.0 0.0 0.0
210.0 0.0 0.0 0.0 0.0
220.0 0.0 0.0 0.0 0.0
23#TH
241.0 0.0 0.0 0.0 0.0
250.0 0.0 0.0 0.0 0.0
260.0 0.0 0.0 0.0 0.0
270.0 0.0 0.0 0.0 0.0
280.0 0.0 0.0 0.0 0.0
29#WR
300.0 0.0 0.0 0.0 0.0
310.0 0.0 0.0 0.0 0.0
032
=== added file 'sr_cyberglove_config/mainpage.dox'
--- sr_cyberglove_config/mainpage.dox 1970-01-01 00:00:00 +0000
+++ sr_cyberglove_config/mainpage.dox 2012-11-05 15:16:21 +0000
@@ -0,0 +1,14 @@
1/**
2\mainpage
3\htmlinclude manifest.html
4
5\b sr_cyberglove_config contains configuration files for the cyberglove (calibration, mapping) for the Shadow Robot hand
6
7<!--
8Provide an overview of your package.
9-->
10
11-->
12
13
14*/
015
=== added file 'sr_cyberglove_config/manifest.xml'
--- sr_cyberglove_config/manifest.xml 1970-01-01 00:00:00 +0000
+++ sr_cyberglove_config/manifest.xml 2012-11-05 15:16:21 +0000
@@ -0,0 +1,14 @@
1<package>
2 <description brief="sr_cyberglove_config">
3
4 sr_cyberglove_config contains configuration files for the cyberglove (calibration, mapping) for the Shadow Robot hand
5
6 </description>
7 <author>Toni Oliver</author>
8 <license>BSD</license>
9 <review status="unreviewed" notes=""/>
10 <url>http://ros.org/wiki/sr_cyberglove_config</url>
11
12</package>
13
14
015
=== added directory 'sr_cyberglove_config/mappings'
=== added file 'sr_cyberglove_config/mappings/GloveToHandMappings'
--- sr_cyberglove_config/mappings/GloveToHandMappings 1970-01-01 00:00:00 +0000
+++ sr_cyberglove_config/mappings/GloveToHandMappings 2012-11-05 15:16:21 +0000
@@ -0,0 +1,22 @@
1 0.0 0.0799750653832 0.0 0.08032429482 0.987307811206 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0
2 0.0 0.857048310213 0.0 0.10199325194 0.1037773864 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0
3 1.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0
4 0.0 -0.04044552966 0.9 0.0815504206996 -0.0551230905699 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0
5 0.0 0.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0
6 0.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0
7 0.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0
8 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0
9 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0
10 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0
11 0.0 0.0 0.0 0.0 0.0 0.0 0.0 -1.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0
12 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0
13 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0
14 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0
15 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 -1.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0
16 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0
17 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 0.0
18 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 0.0
19 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 -1.0 0.0 0.0 0.0
20 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0
21 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 1.0 0.0
22 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 1.0
023
=== added file 'sr_cyberglove_config/mappings/GloveToHandMappings_generic'
--- sr_cyberglove_config/mappings/GloveToHandMappings_generic 1970-01-01 00:00:00 +0000
+++ sr_cyberglove_config/mappings/GloveToHandMappings_generic 2012-11-05 15:16:21 +0000
@@ -0,0 +1,22 @@
1 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0
2 0.0 1.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0
3 1.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0
4 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0
5 0.0 0.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0
6 0.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0
7 0.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0
8 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0
9 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0
10 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0
11 0.0 0.0 0.0 0.0 0.0 0.0 0.0 -1.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0
12 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0
13 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0
14 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0
15 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 -1.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0
16 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0
17 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 0.0
18 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 0.0
19 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 -1.0 0.0 0.0 0.0
20 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0
21 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 1.0 0.0
22 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 1.0
023
=== added directory 'sr_cyberglove_config/serial'
=== added file 'sr_cyberglove_config/serial/serial_port.yaml'
--- sr_cyberglove_config/serial/serial_port.yaml 1970-01-01 00:00:00 +0000
+++ sr_cyberglove_config/serial/serial_port.yaml 2012-11-05 15:16:21 +0000
@@ -0,0 +1,1 @@
1path_to_glove: "/dev/ttyUSB0"

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