Index: Makefile =================================================================== RCS file: /afs/cs/project/skinnerbots/aibo/Tekkotsu/project/Makefile,v retrieving revision 1.61 retrieving revision 1.83 diff -u -d -r1.61 -r1.83 --- Makefile 17 Mar 2004 03:40:55 -0000 1.61 +++ Makefile 14 Oct 2004 20:22:51 -0000 1.83 @@ -32,21 +32,39 @@ # default: OFF (empty string) - any non-empty string is ON STRICT_MEMSTICK_IMAGE ?= +# What model are you targeting? This will look at the +# $TEKKOTSU_ROOT/TARGET_MODEL file to find out. If the file is not +# found, it is created with the default setting TGT_ERS2xx. change +# the target model, make will automatically recompile everything for +# you. +# Legal values: TGT_ERS210 TGT_ERS220 TGT_ERS2xx TGT_ERS7 +TEKKOTSU_TARGET_MODEL ?= TGT_ERS7 + +# What OS is this going to be running under? +# Right now, the only choice is Aperios, but in the future we may +# support running under linux systems, either as simulation for +# AIBOs, or direct support for linux-based robots. +TEKKOTSU_TARGET_PLATFORM ?= PLATFORM_APERIOS + +# This can be nice if you want to use more to page through errors +# if they occur. Otherwise, try using cat instead. +TEKKOTSU_LOGVIEW ?= $(if $(findstring Darwin,$(shell uname)),cat,more) + +# These control the location that the temporary object files will +# be stored. +TEKKOTSU_BUILDDIR ?= $(TEKKOTSU_ROOT)/build +PROJECT_BUILDDIR ?= build +# or perhaps you would like something like this better: +#TEKKOTSU_BUILDDIR ?= /tmp/tekkotsu_build_$(USER) +#PROJECT_BUILDDIR ?= /tmp/project_build_$(USER) + + ############# MAKEFILE VARIABLES ################ # Change these right here in the Makefile # Want any other libraries passed to the compiler? Put them here. -LIBS=-lObjectComm -lOPENR -lInternet -lantMCOOP - -# What model AIBO are you targeting? This will look at the -# $TEKKOTSU_ROOT/TARGET_MODEL file to find out. If the file is not -# found, it is created with the default setting TGT_ERS2xx. -# change the target model, make will automatically recompile -# everything for you. -# Legal values: TGT_ERS210 TGT_ERS220 TGT_ERS2xx -# If you want to change this, edit the TARGET_MODEL file, not this line! -TEKKOTSU_TARGET_MODEL:=$(shell if [ ! -r "$(TEKKOTSU_ROOT)/TARGET_MODEL" ] ; then echo "TGT_ERS2xx" > $(TEKKOTSU_ROOT)/TARGET_MODEL ; fi ; cat $(TEKKOTSU_ROOT)/TARGET_MODEL ) +LIBS=-lObjectComm -lOPENR -lInternet -lantMCOOP -lERA201D1 # Would you like some more compiler flags? We like lots of warnings. # There are some files with exceptions to these flags - MMCombo*.cc @@ -55,37 +73,43 @@ # these exceptions, look in the middle of the 'Makefile Machinery' # section. (grep/search for the file name) CXXFLAGS= \ - -g -pipe -O2 -frename-registers -fomit-frame-pointer -ffast-math -fno-common \ + -g -pipe -fno-inline \ + -O2 -frename-registers -fomit-frame-pointer -ffast-math -fno-common \ -Wall -W -Wshadow -Wlarger-than-8192 -Wpointer-arith -Wcast-qual \ -Woverloaded-virtual -Weffc++ -Wdeprecated -Wnon-virtual-dtor \ - -I"`pwd`" -I$(TEKKOTSU_ROOT) \ + -I"`pwd`" -I$(TEKKOTSU_ROOT) -I$(TEKKOTSU_ROOT)/Motion/roboop -I$(TEKKOTSU_ROOT)/Shared/newmat \ -isystem $(TEKKOTSU_ROOT)/Shared/jpeg-6b \ -isystem $(OPENRSDK_ROOT)/OPEN_R/include/MCOOP \ -isystem $(OPENRSDK_ROOT)/OPEN_R/include/R4000 \ -isystem $(OPENRSDK_ROOT)/OPEN_R/include \ - -DPLATFORM_APERIOS -DDEBUG -DOPENR_DEBUG -D$(TEKKOTSU_TARGET_MODEL) $(GLOBAL_MAP) \ + -D$(TEKKOTSU_TARGET_PLATFORM) -DDEBUG -DOPENR_DEBUG -D$(TEKKOTSU_TARGET_MODEL) $(GLOBAL_MAP) \ -#Suggested additional flags -# -ffast-math +#These will be the actual build directories used for the current target +TGT_BD:=$(TEKKOTSU_TARGET_PLATFORM)_$(TEKKOTSU_TARGET_MODEL) +TK_BD:=$(TEKKOTSU_BUILDDIR)/$(TGT_BD) +PROJ_BD:=$(PROJECT_BUILDDIR)/$(TGT_BD) +$(shell mkdir -p $(TK_BD)) +$(shell mkdir -p $(PROJ_BD)) ################################################### ## SOURCE CODE LIST ## ################################################### + # Find all of the source files: (except temp files in build directory) # You shouldn't need to change anything here unless you want to add # external libraries - -BUILDDIR=build -$(shell mkdir -p $(BUILDDIR)) -$(shell mkdir -p $(TEKKOTSU_ROOT)/$(BUILDDIR)) SRCSUFFIX=.cc -PROJ_SRCS:=$(shell find . -name "*$(SRCSUFFIX)" \! -path "*/$(BUILDDIR)/*") +PROJ_SRCS:=$(patsubst ./%,%,$(shell find . -name "*$(SRCSUFFIX)" -or -name "$(PROJECT_BUILDDIR)" \! -prune -or -name "templates" \! -prune)) + # We're assuming all of the source files we found are to be linked # into MMCombo. MAIN_SRCS:=$(PROJ_SRCS) -USERLIBS:=$(TEKKOTSU_ROOT)/Shared/jpeg-6b/libjpeg.a +# We can also link in third-party libraries +USERLIBS:= $(TEKKOTSU_ROOT)/Shared/jpeg-6b/libjpeg.a \ + $(TEKKOTSU_ROOT)/Motion/roboop/libroboop.a \ + $(TEKKOTSU_ROOT)/Shared/newmat/libnewmat.a \ ################################################### @@ -103,9 +127,9 @@ PROCESS_OBJS=MMCombo TinyFTPD SoundPlay MMCombo_COMP=MMCombo MMCombo/MMComboStub.o Behaviors Events Motion Shared SoundPlay/SoundManager.o SoundPlay/WAV.o Vision Wireless TinyFTPD_COMP=TinyFTPD TinyFTPD/TinyFTPDStub.o -SoundPlay_COMP=SoundPlay SoundPlay/SoundPlayStub.o Shared/Config.o Shared/ProcessID.o Events/EventRouter.o Events/EventTranslator.o Events/EventBase.o Events/VisionObjectEvent.o Shared/LoadSave.o Shared/get_time.o +SoundPlay_COMP=SoundPlay SoundPlay/SoundPlayStub.o Shared/Config.o Shared/ProcessID.o Events/EventRouter.o Events/EventTranslator.o Events/EventBase.o Events/LocomotionEvent.o Events/TextMsgEvent.o Events/VisionObjectEvent.o Shared/LoadSave.o Shared/get_time.o STUB_FILES:=$(addprefix $(TEKKOTSU_ROOT)/,$(addsuffix /stub.cfg,$(PROCESS_OBJS))) -STUB_CHECK_FILES:=$(addprefix $(TEKKOTSU_ROOT)/$(BUILDDIR)/,$(subst /,-,$(STUB_FILES))) +STUB_CHECK_FILES:=$(addprefix $(TK_BD)/,$(subst /,-,$(STUB_FILES))) # It's important that the process names and variables are the same # case as your memory stick reader - memsticks don't store case, and @@ -117,11 +141,11 @@ ifeq ($(FILENAME_CASE),lower) PROCESSES=mmcombo tinyftpd sndplay -mmcombo_OBJS:=$(MAIN_SRCS:$(SRCSUFFIX)=.o) $(TEKKOTSU_ROOT)/$(BUILDDIR)/MMCombo.o +mmcombo_OBJS:=$(addprefix $(PROJ_BD)/,$(MAIN_SRCS:$(SRCSUFFIX)=.o)) $(TK_BD)/MMCombo.o mmcombo_OCF:=$(TEKKOTSU_ROOT)/MMCombo/MMCombo.ocf -tinyftpd_OBJS:=$(TEKKOTSU_ROOT)/$(BUILDDIR)/TinyFTPD.o +tinyftpd_OBJS:=$(TK_BD)/TinyFTPD.o tinyftpd_OCF:=$(TEKKOTSU_ROOT)/TinyFTPD/TinyFTPD.ocf -sndplay_OBJS:=$(TEKKOTSU_ROOT)/$(BUILDDIR)/SoundPlay.o +sndplay_OBJS:=$(TK_BD)/SoundPlay.o sndplay_OCF:=$(TEKKOTSU_ROOT)/SoundPlay/SoundPlay.ocf CONVERTCASE=$(TEKKOTSU_ROOT)/tools/makelowercase @@ -135,11 +159,11 @@ else PROCESSES=MMCOMBO TINYFTPD SNDPLAY -MMCOMBO_OBJS:=$(MAIN_SRCS:$(SRCSUFFIX)=.o) $(TEKKOTSU_ROOT)/$(BUILDDIR)/MMCombo.o +MMCOMBO_OBJS:=$(addprefix $(PROJ_BD)/,$(MAIN_SRCS:$(SRCSUFFIX)=.o)) $(TK_BD)/MMCombo.o MMCOMBO_OCF:=$(TEKKOTSU_ROOT)/MMCombo/MMCombo.ocf -TINYFTPD_OBJS:=$(TEKKOTSU_ROOT)/$(BUILDDIR)/TinyFTPD.o +TINYFTPD_OBJS:=$(TK_BD)/TinyFTPD.o TINYFTPD_OCF:=$(TEKKOTSU_ROOT)/TinyFTPD/TinyFTPD.ocf -SNDPLAY_OBJS:=$(TEKKOTSU_ROOT)/$(BUILDDIR)/SoundPlay.o +SNDPLAY_OBJS:=$(TK_BD)/SoundPlay.o SNDPLAY_OCF:=$(TEKKOTSU_ROOT)/SoundPlay/SoundPlay.ocf CONVERTCASE=$(TEKKOTSU_ROOT)/tools/makeuppercase @@ -153,30 +177,29 @@ endif # creates process build target names: MMCombo -> build/MMCombo.o -BUILDS:=$(foreach proc,$(PROCESS_OBJS),$(TEKKOTSU_ROOT)/$(BUILDDIR)/$(proc).o) +BUILDS:=$(foreach proc,$(PROCESS_OBJS),$(TK_BD)/$(proc).o) # Each process build target depends on the component object files that -# should be linked together. These live in the -# $TEKKOTSU_ROOT/$BUILDDIR directory and should be fairly static -# unless you're editing the framework itself. The automatic way of -# creating these dependancies automatically is too messy, just add a -# rule for each process by hand: (skip lines!) -$(word 1,$(BUILDS)): $(foreach comp,$(addprefix $(TEKKOTSU_ROOT)/,$($(word 1,$(PROCESS_OBJS))_COMP)), $(if $(suffix $(comp)),$(comp),$(patsubst %.cc,%.o,$(shell find $(comp) -name "*.cc") ))) +# should be linked together. These live in the $TK_BD directory and +# should be fairly static unless you're editing the framework itself. +# The automatic way of creating these dependancies automatically is +# too messy, just add a rule for each process by hand: (skip lines!) +$(word 1,$(BUILDS)): $(foreach comp,$($(word 1,$(PROCESS_OBJS))_COMP), $(if $(suffix $(comp)),$(TK_BD)/$(comp),$(patsubst $(TEKKOTSU_ROOT)%.cc,$(TK_BD)%.o,$(shell find $(TEKKOTSU_ROOT)/$(comp) -name "*.cc") ))) -$(word 2,$(BUILDS)): $(foreach comp,$(addprefix $(TEKKOTSU_ROOT)/,$($(word 2,$(PROCESS_OBJS))_COMP)), $(if $(suffix $(comp)),$(comp),$(patsubst %.cc,%.o,$(shell find $(comp) -name "*.cc") ))) +$(word 2,$(BUILDS)): $(foreach comp,$($(word 2,$(PROCESS_OBJS))_COMP), $(if $(suffix $(comp)),$(TK_BD)/$(comp),$(patsubst $(TEKKOTSU_ROOT)%.cc,$(TK_BD)%.o,$(shell find $(TEKKOTSU_ROOT)/$(comp) -name "*.cc") ))) -$(word 3,$(BUILDS)): $(foreach comp,$(addprefix $(TEKKOTSU_ROOT)/,$($(word 3,$(PROCESS_OBJS))_COMP)), $(if $(suffix $(comp)),$(comp),$(patsubst %.cc,%.o,$(shell find $(comp) -name "*.cc") ))) +$(word 3,$(BUILDS)): $(foreach comp,$($(word 3,$(PROCESS_OBJS))_COMP), $(if $(suffix $(comp)),$(TK_BD)/$(comp),$(patsubst $(TEKKOTSU_ROOT)%.cc,$(TK_BD)%.o,$(shell find $(TEKKOTSU_ROOT)/$(comp) -name "*.cc") ))) # Each of the executable binaries depends on the corresponding # framework build target(s) plus any project files which were # specified above. (by default, all project files are linked into -# MMCombo) These live in the project directory's $BUILDDIR and will +# MMCombo) These live in the project directory's build dir and will # need to be recompiled any time you change source that's part of that # process (but not otherwise ;) # Again, the automatic way of creating these dependancies # automatically is too messy, just add a rule for each process by # hand: (skip lines!) -PROC_BINS:=$(addprefix $(BUILDDIR)/,$(addsuffix $(BINSUFFIX),$(PROCESSES))) +PROC_BINS:=$(addprefix $(PROJ_BD)/,$(addsuffix $(BINSUFFIX),$(PROCESSES))) $(word 1,$(PROC_BINS)): $($(word 1,$(PROCESSES))_OBJS) $($(word 1,$(PROCESSES))_OCF) @@ -201,77 +224,93 @@ # list of all source files of all components, sorted to remove # duplicates. This gives us all the source files which we care about, # all in one place. -SRCS:=$(sort $(foreach comp,$(COMPONENTS), $(if $(suffix $(filter-out %.a,$(comp))),$(TEKKOTSU_ROOT)/$(basename $(comp)).cc,$(shell find $(TEKKOTSU_ROOT)/$(comp) -name "*.cc") ))) $(MAIN_SRCS) -OBJS:=$(SRCS:$(SRCSUFFIX)=.o) -DEPENDS:=$(SRCS:$(SRCSUFFIX)=.d) +TK_SRCS:=$(sort $(foreach comp,$(COMPONENTS), $(if $(suffix $(filter-out %.a,$(comp))),$(TEKKOTSU_ROOT)/$(basename $(comp)).cc,$(shell find $(TEKKOTSU_ROOT)/$(comp) -name "*.cc") ))) +TK_DEPENDS:=$(subst $(TEKKOTSU_ROOT),$(TK_BD),$(TK_SRCS:$(SRCSUFFIX)=.d)) +PROJ_DEPENDS:=$(addprefix $(PROJ_BD)/,$(PROJ_SRCS:$(SRCSUFFIX)=.d)) +DEPENDS:=$(sort $(PROJ_DEPENDS) $(TK_DEPENDS)) # These are the file names of the final executable binaries, in the # memstick image directory -INSTALL_BINS:=$(addprefix $(INSTALLDIR)/,$(addsuffix $(BINSUFFIX),$(PROCESSES))) +INSTALL_BINS:=$(addprefix $(INSTALLDIR)/,$(MAINFORK) $(MOTOFORK) $(addsuffix $(BINSUFFIX),$(filter-out mmcombo MMCOMBO,$(PROCESSES)))) CXX=$(OPENRSDK_ROOT)/bin/mipsel-linux-g++ LD=$(OPENRSDK_ROOT)/bin/mipsel-linux-ld STRIP=$(OPENRSDK_ROOT)/bin/mipsel-linux-strip MKBIN=$(OPENRSDK_ROOT)/OPEN_R/bin/mkbin STUBGEN=$(OPENRSDK_ROOT)/OPEN_R/bin/stubgen2 -COLORFILT=${TEKKOTSU_ROOT}/tools/colorfilt +COLORFILT=$(TEKKOTSU_ROOT)/tools/colorfilt FILTERSYSWARN=$(TEKKOTSU_ROOT)/tools/filtersyswarn/filtersyswarn $(OPENRSDK_ROOT) MKBINFLAGS=-p $(OPENRSDK_ROOT) -.PHONY: all compile install clean cleanDeps cleanProj cleanTemps Tekkotsu reportTarget newstick update $(INSTALLDIR)/$(MMCOMBOBIN) docs dox doc cleandoc updateTools +.PHONY: all compile install clean cleanDeps cleanProj cleanTemps Tekkotsu reportTarget newstick update docs dox doc cleandoc updateTools checkInstalledTimestamp all: compile @echo "Build successful." @echo "Type: '$(MAKE) install' to copy all files to the memory stick" @echo " or: '$(MAKE) update' to copy only changed files" + @echo " or: '$(TEKKOTSU_ROOT)/tools/{ftpinstall,ftpupdate} ms' might also be useful" -#the touch at the end is because memsticks seem to round time to even seconds, which screws up updates. Grr. reportTarget: @echo " ** Targeting $(TEKKOTSU_TARGET_MODEL) for build ** "; updateTools: cd $(TEKKOTSU_ROOT)/tools && $(MAKE); -compile: reportTarget cleanTemps updateTools $(USERLIBS) $(INSTALL_BINS) - @image="$(BUILDDIR)/$(notdir $(MEMSTICK_ROOT))" ; \ +updateLibs: + @echo "Updating libraries..." + @$(foreach x,$(USERLIBS),make -C $(dir $(x)) $(notdir $(x)) && ) true + +#the touch at the end is because memsticks seem to round time to even seconds, which screws up updates. Grr. +compile: reportTarget cleanTemps updateTools updateLibs checkInstalledTimestamp $(PROJ_BD)/installed.timestamp + @image="$(PROJ_BD)/$(notdir $(MEMSTICK_ROOT))" ; \ if [ "$(TEKKOTSU_ROOT)/TARGET_MODEL" -nt "$$image" ] ; then \ echo "Deleting old cached OPEN-R binaries"; \ rm -rf "$$image" ; \ fi; \ if [ \! -d "$$image" ] ; then \ if [ \! -d "$(SYSTEM_BINARIES)" ] ; then \ - echo "Could not find OPEN-R system binaries" ; \ +v echo "Could not find OPEN-R system binaries" ; \ exit 1 ; \ fi ; \ echo "Copying system files..." ; \ cp -r "$(SYSTEM_BINARIES)" "$$image" ; \ chmod -R u+w "$$image" ; \ - (cd "$$image" && $(CONVERTCASE) -r . ); \ + cur=`pwd`; \ + cd "$$image"; \ + $(CONVERTCASE) -r *; \ + cd "$$cur"; \ rm -f "$$image/open-r/mw/conf/connect.cfg" "$$image/open-r/mw/conf/object.cfg" "$$image/open-r/system/conf/wlandflt.txt" ; \ curt=`date +%Y%m%d%H%M`; \ find "$$image" -exec touch -ft $$curt \{\} \; ; \ - fi + fi; +checkInstalledTimestamp: + @for x in $(INSTALL_BINS) ; do \ + if [ "$$x" -nt "$(PROJ_BD)/installed.timestamp" ] ; then \ + printf "Target switch detected, cleaning binaries..." ; \ + rm -f $(INSTALL_BINS) ; \ + printf "done.\n" ; \ + fi; \ + done; -ifneq ($(MAKECMDGOALS),clean) -ifneq ($(MAKECMDGOALS),cleanProj) -ifneq ($(MAKECMDGOALS),cleanTemps) -ifneq ($(MAKECMDGOALS),cleanDeps) +ifeq ($(findstring clean,$(MAKECMDGOALS)),) +ifeq ($(findstring docs,$(MAKECMDGOALS)),) -include $(DEPENDS) endif endif -endif -endif $(STUB_CHECK_FILES): @thedir=`echo $@ | sed 's/.*-\(.*\)-.*/\1/g'`; \ cd $(TEKKOTSU_ROOT)/$$thedir ; \ $(STUBGEN) stub.cfg ; \ + mkdir -p $(dir $@) ; \ touch $@ ; -%.d : $(STUB_CHECK_FILES) %$(SRCSUFFIX) - @echo Building $@... - @$(CXX) $(CXXFLAGS) -MP -MG -MT $@ -MT $*.o -MM $*$(SRCSUFFIX) > $@ +%.d : $(STUB_CHECK_FILES) + @mkdir -p $(dir $@) + @src=$(patsubst %.d,%.cc,$(if $(findstring $(TK_BD),$@),$(patsubst $(TK_BD)%,$(TEKKOTSU_ROOT)%,$@),$(patsubst $(PROJ_BD)/%,%,$@))); \ + echo "$@..." | sed 's@.*$(TGT_BD)/@Generating @'; \ + $(CXX) $(CXXFLAGS) -MP -MG -MT "$@" -MT "$(@:.d=.o)" -MM "$$src" > $@ %/def.h %/entry.h: %/stub.cfg @echo "Doing $@" @@ -286,7 +325,7 @@ cd $(dir $@) && $(STUBGEN) stub.cfg @echo "Done with $@" -#%Stub.cc: +#%Stub.cc: # cd $(dir $@) && $(STUBGEN) stub.cfg # @echo "Done with $@" @@ -302,106 +341,115 @@ @find . -name "*.cc" -exec grep -H "$(notdir $@)" \{\} \; ; @find $(TEKKOTSU_ROOT) -name "*.h" -exec grep -H "$(notdir $@)" \{\} \; ; @find $(TEKKOTSU_ROOT) -name "*.cc" -exec grep -H "$(notdir $@)" \{\} \; ; - @echo "You might need to remove all the .d files (make cleanDeps) to get rid of this error."; + @echo ""; + @echo "You might need to rebuild the dependancy files ('make cleanDeps') to get rid of this error."; @exit 1 #The "fork" we do of MMCombo into MainObj and MotoObj crashes with optimization... not a big loss, just turn it off for these files -$(TEKKOTSU_ROOT)/MMCombo/MMCombo.o $(TEKKOTSU_ROOT)/MMCombo/MMComboStub.o: %.o: %$(SRCSUFFIX) $(FILTERSYSWARN) $(TEKKOTSU_ROOT)/TARGET_MODEL - @if [ -r dist_hosts.txt ] ; then \ +$(TK_BD)/MMCombo/MMCombo.o $(TK_BD)/MMCombo/MMComboStub.o: %.o: + @mkdir -p $(dir $@) + @src=$(patsubst %.o,%$(SRCSUFFIX),$(if $(findstring $(TK_BD),$@),$(patsubst $(TK_BD)%,$(TEKKOTSU_ROOT)%,$@),$(patsubst $(PROJ_BD)/%,%,$@))); \ + if [ -r dist_hosts.txt ] ; then \ echo "Adding $@ to job list"; \ - echo "$(CXX) $(filter-out -O2,$(CXXFLAGS)) -o $@ -c $< > $*.log 2>&1; retval=\$$?; cat $*.log | $(FILTERSYSWARN) | $(COLORFILT); test \$$retval -eq 0;" >> $(BUILDDIR)/joblist.txt ; \ + echo "$(CXX) $(filter-out -O2,$(CXXFLAGS)) -o $@ -c $$src > $*.log 2>&1; retval=\$$?; cat $*.log | $(FILTERSYSWARN) | $(COLORFILT); test \$$retval -eq 0;" >> $(PROJ_BD)/joblist.txt ; \ touch $@; \ - echo "$@" >> $(BUILDDIR)/touched.txt ; \ + echo "$@" >> $(PROJ_BD)/touched.txt ; \ else \ - echo "Compiling $<... (no -O2)"; \ - $(CXX) $(filter-out -O2,$(CXXFLAGS)) -o $@ -c $< > $*.log 2>&1; \ + echo "Compiling $$src... (no -O2)"; \ + $(CXX) $(filter-out -O2,$(CXXFLAGS)) -o $@ -c $$src > $*.log 2>&1; \ retval=$$?; \ - cat $*.log | $(FILTERSYSWARN) | $(COLORFILT); \ + cat $*.log | $(FILTERSYSWARN) | $(COLORFILT) | $(TEKKOTSU_LOGVIEW); \ test $$retval -eq 0; \ fi; -$(TEKKOTSU_ROOT)/TinyFTPD/TinyFTPD.o $(TEKKOTSU_ROOT)/TinyFTPD/FtpMethod.o $(TEKKOTSU_ROOT)/TinyFTPD/FtpRequest.o $(TEKKOTSU_ROOT)/TinyFTPD/FtpDTP.o $(TEKKOTSU_ROOT)/TinyFTPD/FtpPI.o: %.o: %$(SRCSUFFIX) $(FILTERSYSWARN) $(TEKKOTSU_ROOT)/TARGET_MODEL - @if [ -r dist_hosts.txt ] ; then \ +$(TK_BD)/TinyFTPD/TinyFTPD.o $(TK_BD)/TinyFTPD/FtpMethod.o $(TK_BD)/TinyFTPD/FtpRequest.o $(TK_BD)/TinyFTPD/FtpDTP.o $(TK_BD)/TinyFTPD/FtpPI.o: %.o: + @mkdir -p $(dir $@) + @src=$(patsubst %.o,%$(SRCSUFFIX),$(if $(findstring $(TK_BD),$@),$(patsubst $(TK_BD)%,$(TEKKOTSU_ROOT)%,$@),$(patsubst $(PROJ_BD)/%,%,$@))); \ + if [ -r dist_hosts.txt ] ; then \ echo "Adding $@ to job list"; \ - echo "$(CXX) $(filter-out -DOPENR_DEBUG,$(filter-out -Weffc++,$(CXXFLAGS))) -o $@ -c $< > $*.log 2>&1; retval=\$$?; cat $*.log | $(FILTERSYSWARN) | $(COLORFILT); test \$$retval -eq 0;" >> $(BUILDDIR)/joblist.txt ; \ + echo "$(CXX) $(filter-out -DOPENR_DEBUG,$(filter-out -Weffc++,$(CXXFLAGS))) -o $@ -c $$src > $*.log 2>&1; retval=\$$?; cat $*.log | $(FILTERSYSWARN) | $(COLORFILT); test \$$retval -eq 0;" >> $(PROJ_BD)/joblist.txt ; \ touch $@; \ - echo "$@" >> $(BUILDDIR)/touched.txt ; \ + echo "$@" >> $(PROJ_BD)/touched.txt ; \ else \ - echo "Compiling $<... (reduced warnings, no OPENR_DEBUG)"; \ - $(CXX) $(filter-out -DOPENR_DEBUG,$(filter-out -Weffc++,$(CXXFLAGS))) -o $@ -c $< > $*.log 2>&1; \ + echo "Compiling $$src... (reduced warnings, no OPENR_DEBUG)"; \ + $(CXX) $(filter-out -DOPENR_DEBUG,$(filter-out -Weffc++,$(CXXFLAGS))) -o $@ -c $$src > $*.log 2>&1; \ retval=$$?; \ - cat $*.log | $(FILTERSYSWARN) | $(COLORFILT); \ + cat $*.log | $(FILTERSYSWARN) | $(COLORFILT) | $(TEKKOTSU_LOGVIEW); \ test $$retval -eq 0; \ fi; -$(TEKKOTSU_ROOT)/SoundPlay/WAV.o $(TEKKOTSU_ROOT)/Vision/Vision.o: %.o: %$(SRCSUFFIX) $(FILTERSYSWARN) $(TEKKOTSU_ROOT)/TARGET_MODEL - @if [ -r dist_hosts.txt ] ; then \ +$(TK_BD)/SoundPlay/WAV.o: %.o: $(FILTERSYSWARN) + @mkdir -p $(dir $@) + @src=$(patsubst %.o,%$(SRCSUFFIX),$(if $(findstring $(TK_BD),$@),$(patsubst $(TK_BD)%,$(TEKKOTSU_ROOT)%,$@),$(patsubst $(PROJ_BD)/%,%,$@))); \ + if [ -r dist_hosts.txt ] ; then \ echo "Adding $@ to job list"; \ - echo "$(CXX) $(filter-out -Weffc++,$(CXXFLAGS)) -o $@ -c $< > $*.log 2>&1; retval=\$$?; cat $*.log | $(FILTERSYSWARN) | $(COLORFILT); test \$$retval -eq 0;" >> $(BUILDDIR)/joblist.txt ; \ + echo "$(CXX) $(filter-out -Weffc++,$(CXXFLAGS)) -o $@ -c $$src > $*.log 2>&1; retval=\$$?; cat $*.log | $(FILTERSYSWARN) | $(COLORFILT); test \$$retval -eq 0;" >> $(PROJ_BD)/joblist.txt ; \ touch $@; \ - echo "$@" >> $(BUILDDIR)/touched.txt ; \ + echo "$@" >> $(PROJ_BD)/touched.txt ; \ else \ - echo "Compiling $<... (reduced warnings)"; \ - $(CXX) $(filter-out -Weffc++,$(CXXFLAGS)) -o $@ -c $< > $*.log 2>&1; \ + echo "Compiling $$src... (reduced warnings)"; \ + $(CXX) $(filter-out -Weffc++,$(CXXFLAGS)) -o $@ -c $$src > $*.log 2>&1; \ retval=$$?; \ - cat $*.log | $(FILTERSYSWARN) | $(COLORFILT); \ + cat $*.log | $(FILTERSYSWARN) | $(COLORFILT) | $(TEKKOTSU_LOGVIEW); \ test $$retval -eq 0; \ fi; -%.o: %$(SRCSUFFIX) $(FILTERSYSWARN) $(TEKKOTSU_ROOT)/TARGET_MODEL - @if [ -r dist_hosts.txt ] ; then \ +%.o: + @mkdir -p $(dir $@) + @src=$(patsubst %.o,%$(SRCSUFFIX),$(if $(findstring $(TK_BD),$@),$(patsubst $(TK_BD)%,$(TEKKOTSU_ROOT)%,$@),$(patsubst $(PROJ_BD)/%,%,$@))); \ + if [ -r dist_hosts.txt ] ; then \ echo "Adding $@ to job list"; \ - echo "$(CXX) $(CXXFLAGS) -o $@ -c $< > $*.log 2>&1; retval=\$$?; cat $*.log | $(FILTERSYSWARN) | $(COLORFILT); test \$$retval -eq 0;" >> $(BUILDDIR)/joblist.txt ; \ + echo "$(CXX) $(CXXFLAGS) -o $@ -c $$src > $*.log 2>&1; retval=\$$?; cat $*.log | $(FILTERSYSWARN) | $(COLORFILT); test \$$retval -eq 0;" >> $(PROJ_BD)/joblist.txt ; \ touch $@; \ - echo "$@" >> $(BUILDDIR)/touched.txt ; \ + echo "$@" >> $(PROJ_BD)/touched.txt ; \ else \ - echo "Compiling $<..."; \ - $(CXX) $(CXXFLAGS) -o $@ -c $< > $*.log 2>&1; \ + echo "Compiling $$src..."; \ + $(CXX) $(CXXFLAGS) -o $@ -c $$src > $*.log 2>&1; \ retval=$$?; \ - cat $*.log | $(FILTERSYSWARN) | $(COLORFILT); \ + cat $*.log | $(FILTERSYSWARN) | $(COLORFILT) | $(TEKKOTSU_LOGVIEW); \ test $$retval -eq 0; \ fi; #This is for external libraries which we are including, such as libjpeg %.a: + export OPENRSDK_ROOT=$(OPENRSDK_ROOT) ;\ + export TEKKOTSU_ROOT=$(TEKKOTSU_ROOT) ;\ $(MAKE) -C $(dir $@) $(notdir $@) -$(TEKKOTSU_ROOT)/TARGET_MODEL: - $(error Could not find $(TEKKOTSU_ROOT)/TARGET_MODEL) - #BUILDS: (framework object files, one per process - resides in framework) $(BUILDS): - @if [ -r dist_hosts.txt -a -r $(BUILDDIR)/joblist.txt ] ; then \ + @if [ -r dist_hosts.txt -a -r $(PROJ_BD)/joblist.txt ] ; then \ echo "Distributing compiles..."; \ - ../tools/pm.pl dist_hosts.txt $(BUILDDIR)/joblist.txt ; \ + ../tools/pm.pl dist_hosts.txt $(PROJ_BD)/joblist.txt ; \ fi - @rm -f $(BUILDDIR)/joblist.txt; #this is so we don't rebuild multiple times + @rm -f $(PROJ_BD)/joblist.txt; #this is so we don't rebuild multiple times @echo "Linking component object files..." - @if [ $(words $(sort $(foreach comp,$(addprefix $(TEKKOTSU_ROOT)/,$($(basename $(notdir $@))_COMP)), $(if $(suffix $(comp)),$(comp),$(patsubst %.cc,%.o,$(shell find $(comp) -name "*.cc")))))) -gt 20 ] ; then \ + @if [ $(words $(foreach comp,$(addprefix $(TK_BD)/,$($(basename $(notdir $@))_COMP)),$(if $(suffix $(comp)),$(comp),$(patsubst %.cc,%.o,$(shell find $(comp) -name "*.o"))))) -gt 20 ] ; then \ echo "$@ <- [...]"; \ else \ - echo "$@ <- $(sort $(foreach comp,$(addprefix $(TEKKOTSU_ROOT)/,$(filter-out %.a,$($(basename $(notdir $@))_COMP))), $(if $(suffix $(comp)),$(comp),$(patsubst %.cc,%.o,$(shell find $(comp) -name "*.cc") ))))"; \ + echo "$@ <- $(sort $(foreach comp,$(addprefix $(TK_BD)/,$(filter-out %.a,$($(basename $(notdir $@))_COMP))), $(if $(suffix $(comp)),$(comp),$(shell find $(comp) -name "*.o") )))" | sed 's@$(TK_BD)/@@g'; \ fi; - @$(LD) -i $(sort $(foreach comp,$(addprefix $(TEKKOTSU_ROOT)/,$(filter-out %.a,$($(basename $(notdir $@))_COMP))), $(if $(suffix $(comp)),$(comp),$(patsubst %.cc,%.o,$(shell find $(comp) -name "*.cc") )))) -o $@ ; \ + @$(LD) -i $(sort $(foreach comp,$(addprefix $(TK_BD)/,$(filter-out %.a,$($(basename $(notdir $@))_COMP))), $(if $(suffix $(comp)),$(comp),$(shell find $(comp) -name "*.o") ))) -o $@ ; \ if [ $$? -ne 0 ] ; then exit 1; fi; - #PROC_BINS: (executable binaries, uncompressed) # we have to do a couple extra steps to cd into the builddir because # mkbin doesn't support -o target in a different directory... drops an # intermediate file in . and then complains (as of 1.1.3 anyway) -$(BUILDDIR)/%$(BINSUFFIX): $(USERLIBS) - @if [ -r dist_hosts.txt -a -r $(BUILDDIR)/joblist.txt ] ; then \ +$(PROJ_BD)/%$(BINSUFFIX): $(USERLIBS) + @if [ -r dist_hosts.txt -a -r $(PROJ_BD)/joblist.txt ] ; then \ echo "Distributing compiles..."; \ - ../tools/pm.pl dist_hosts.txt $(BUILDDIR)/joblist.txt ; \ + ../tools/pm.pl dist_hosts.txt $(PROJ_BD)/joblist.txt ; \ fi - @rm -f $(BUILDDIR)/joblist.txt; #this is so we don't rebuild multiple times + @rm -f $(PROJ_BD)/joblist.txt; #this is so we don't rebuild multiple times @echo "Creating executable binary..." - @echo "$@ <- $($(basename $(notdir $@))_OBJS), $($(basename $(notdir $@))_OCF), $(LIBS) $(USERLIBS)"; #we'll need to do some filtering on USERLIBS below because now we're in builddir - @$(LD) -i $($(basename $(notdir $@))_OBJS) -o $(BUILDDIR)/tmp.o - @cp $($(basename $(notdir $@))_OCF) $(BUILDDIR)/tmp.ocf - @cd $(BUILDDIR) ; \ - $(MKBIN) $(MKBINFLAGS) -o $(notdir $@) tmp.o -m tmp.ocf $(LIBS) $(filter /%,$(USERLIBS)) $(addprefix ../,$(filter-out /%,$(USERLIBS))) ; \ + @echo "$@ <- $($(basename $(notdir $@))_OBJS), $($(basename $(notdir $@))_OCF), $(LIBS) $(USERLIBS)" | sed 's@ $(PROJ_BD)/@ @g'; + @#we'll need to do some filtering on USERLIBS below because now we'll be in builddir below + @$(LD) -i $($(basename $(notdir $@))_OBJS) -o $(PROJ_BD)/tmp.o + @cp $($(basename $(notdir $@))_OCF) $(PROJ_BD)/tmp.ocf + @pt=`pwd`;\ + cd $(PROJ_BD) ; \ + $(MKBIN) $(MKBINFLAGS) -o $(notdir $@) tmp.o -m tmp.ocf $(LIBS) $(filter /%,$(USERLIBS)) $(addsuffix \",$(addprefix \"$$pt/,$(filter-out /%,$(USERLIBS)))) ; \ if [ $$? -gt 0 ] ; then \ echo "Build failed."; \ exit 1; \ @@ -411,47 +459,48 @@ #INSTALL_BINS: (compressed executables, in proper location in image directory) -$(INSTALLDIR)/%$(BINSUFFIX): $(BUILDDIR)/%$(BINSUFFIX) +$(INSTALLDIR)/%$(BINSUFFIX): $(PROJ_BD)/%$(BINSUFFIX) @if [ \! -d "$(INSTALLDIR)" ] ; then \ - echo "I can't find $(INSTALLDIR). You may need to run '$(TEKKOTSU_ROOT)/tools/makeuppercase -r ms'."; \ + echo "I can't find $(INSTALLDIR). Hmmm."; \ exit 1; \ fi; @echo "Compressing $< -> $@" @gzip -c $< > $@; -$(INSTALLDIR)/$(MMCOMBOBIN): $(INSTALLDIR)/$(MAINFORK) $(INSTALLDIR)/$(MOTOFORK) - -$(INSTALLDIR)/$(MAINFORK): $(BUILDDIR)/$(MMCOMBOBIN) $(TEKKOTSU_ROOT)/tools/binstrswap/binstrswap +$(INSTALLDIR)/$(MAINFORK): $(PROJ_BD)/$(MMCOMBOBIN) $(TEKKOTSU_ROOT)/tools/binstrswap/binstrswap @if [ \! -d "$(INSTALLDIR)" ] ; then \ - echo "I can't find $(INSTALLDIR). You may need to run '$(TEKKOTSU_ROOT)/tools/makeuppercase -r ms'."; \ + echo "I can't find $(INSTALLDIR). Hmmm."; \ exit 1; \ fi; @echo "Compressing $< ~> $@" @$(TEKKOTSU_ROOT)/tools/binstrswap/binstrswap $< MMCombo MainObj | gzip -c > $@ # @sed 's/MMCombo/MainObj/g;s/mmcombo/mainobj/g' $< | gzip -c > $@ -$(INSTALLDIR)/$(MOTOFORK): $(BUILDDIR)/$(MMCOMBOBIN) $(TEKKOTSU_ROOT)/tools/binstrswap/binstrswap +$(INSTALLDIR)/$(MOTOFORK): $(PROJ_BD)/$(MMCOMBOBIN) $(TEKKOTSU_ROOT)/tools/binstrswap/binstrswap @if [ \! -d "$(INSTALLDIR)" ] ; then \ - echo "I can't find $(INSTALLDIR). You may need to run '$(TEKKOTSU_ROOT)/tools/makeuppercase -r ms'."; \ + echo "I can't find $(INSTALLDIR). Hmmm."; \ exit 1; \ fi; @echo "Compressing $< ~> $@" @$(TEKKOTSU_ROOT)/tools/binstrswap/binstrswap $< MMCombo MotoObj | gzip -c > $@ # @sed 's/MMCombo/MotoObj/g;s/mmcombo/motoobj/g' $< | gzip -c > $@ +$(PROJ_BD)/installed.timestamp: $(INSTALL_BINS) + @touch $@ + install: compile @echo "Installing files to memory stick at $(MEMSTICK_ROOT)" @$(TEKKOTSU_ROOT)/tools/cpymem --all --img $(MSIMGDIR) --tgt $(MEMSTICK_ROOT) --tools $(TEKKOTSU_ROOT)/tools update: compile $(TEKKOTSU_ROOT)/tools/evenmodtime/evenmodtime @echo "Syncing $(MSIMGDIR) and $(MEMSTICK_ROOT)" - @$(TEKKOTSU_ROOT)/tools/evenmodtime/evenmodtime `find $(MSIMGDIR)` + @$(TEKKOTSU_ROOT)/tools/evenmodtime/evenmodtime `find $(MSIMGDIR)` $(PROJ_BD)/installed.timestamp @$(TEKKOTSU_ROOT)/tools/mntmem $(MEMSTICK_ROOT) @if [ $(STRICT_MEMSTICK_IMAGE) ] ; then \ echo "Strict image copy is on." ; \ - rsync -rLtWCv --delete $(MSIMGDIR)/* $(BUILDDIR)/$(notdir $(MEMSTICK_ROOT))/* $(MEMSTICK_ROOT) ; \ + rsync -rLtWCv --delete $(MSIMGDIR)/* $(PROJ_BD)/$(notdir $(MEMSTICK_ROOT))/* $(MEMSTICK_ROOT) ; \ else \ - rsync -rLtWCv $(MSIMGDIR)/* $(BUILDDIR)/$(notdir $(MEMSTICK_ROOT))/* $(MEMSTICK_ROOT) ; \ + rsync -rLtWCv $(MSIMGDIR)/* $(PROJ_BD)/$(notdir $(MEMSTICK_ROOT))/* $(MEMSTICK_ROOT) ; \ fi; @$(TEKKOTSU_ROOT)/tools/umntmem $(MEMSTICK_ROOT) @@ -465,16 +514,16 @@ (cd $(TEKKOTSU_ROOT)/tools && $(MAKE)); cleanTemps: - rm -f $(BUILDDIR)/joblist.txt $(BUILDDIR)/touched.txt + rm -f $(PROJ_BD)/joblist.txt $(PROJ_BD)/touched.txt clean: cleanProj - @printf "Cleaning all .o, .d, .log and ~ files corresponding to .cc files..." - @rm -f $(OBJS) $(DEPENDS) $(SRCS:$(SRCSUFFIX)=.log) $(addsuffix ~,$(SRCS)) $(SRCS:$(SRCSUFFIX)=.h~) + @printf "Cleaning all ~ files corresponding to .cc files..." + @rm -f $(addsuffix ~,$(TK_SRCS)) $(TK_SRCS:$(SRCSUFFIX)=.h~) @printf "done.\n" rm -f $(foreach proc,$(PROCESS_OBJS),$(TEKKOTSU_ROOT)/$(proc)/$(proc)Stub.cc $(TEKKOTSU_ROOT)/$(proc)/$(proc)Stub.h $(TEKKOTSU_ROOT)/$(proc)/def.h $(TEKKOTSU_ROOT)/$(proc)/entry.h) - rm -rf $(TEKKOTSU_ROOT)/$(BUILDDIR) + rm -rf $(TEKKOTSU_BUILDDIR) cd $(TEKKOTSU_ROOT)/tools ; $(MAKE) clean - $(foreach lib,$(USERLIBS),$(MAKE) -C $(dir $(lib)) clean) + $(foreach lib,$(USERLIBS),$(MAKE) -C $(dir $(lib)) clean ;) cleanDeps: @printf "Cleaning all .d files corresponding to .cc files..." @@ -482,14 +531,11 @@ @printf "done.\n" cleanProj: - @printf "Cleaning all .o, .d, .log and ~ files corresponding to project .cc files..." - @rm -f $(PROJ_SRCS:$(SRCSUFFIX)=.o) - @rm -f $(PROJ_SRCS:$(SRCSUFFIX)=.d) - @rm -f $(PROJ_SRCS:$(SRCSUFFIX)=.log) + @printf "Cleaning all ~ files corresponding to project .cc files..." @rm -f $(addsuffix ~,$(PROJ_SRCS)) $(PROJ_SRCS:$(SRCSUFFIX)=.h~) @printf "done.\n" - rm -rf $(BUILDDIR) - rm -f $(INSTALL_BINS) $(INSTALLDIR)/$(MAINFORK) $(INSTALLDIR)/$(MOTOFORK) + rm -rf $(PROJECT_BUILDDIR) + rm -f $(INSTALL_BINS) dox doc docs: cd $(TEKKOTSU_ROOT) && $(MAKE) $@ Index: StartupBehavior.cc =================================================================== RCS file: /afs/cs/project/skinnerbots/aibo/Tekkotsu/project/StartupBehavior.cc,v retrieving revision 1.59 retrieving revision 1.64 diff -u -d -r1.59 -r1.64 --- StartupBehavior.cc 18 Feb 2004 21:13:48 -0000 1.59 +++ StartupBehavior.cc 18 Oct 2004 17:01:38 -0000 1.64 @@ -3,7 +3,6 @@ #include "Behaviors/Controller.h" #include "Behaviors/Controls/BatteryCheckControl.h" #include "Behaviors/Controls/ControlBase.h" -#include "Behaviors/Controls/PostureEditor.h" #include "Behaviors/Controls/HelpControl.h" #include "Behaviors/Controls/RebootControl.h" #include "Behaviors/Controls/ShutdownControl.h" @@ -42,7 +41,7 @@ //This will "fade" in the PIDs so the joints don't jerk to full //power, also looks cooler - pid_id=motman->addMotion(SharedObject(0),MotionManager::kEmergencyPriority+2,false); + pid_id=motman->addPersistentMotion(SharedObject(0),MotionManager::kEmergencyPriority+2); //also, pause before we start fading in, PIDs take effect right //away, before the emergencystop is picked up erouter->addTimer(this,0,4*FrameTime*NumFrames,true); @@ -54,13 +53,13 @@ //Note that if you don't want to start in estop, you should then //also uncomment the line at the end of this function stop->setStopped(true,false); - stop_id=motman->addMotion(stop,MotionManager::kEmergencyPriority); + stop_id=motman->addPersistentMotion(stop,MotionManager::kEmergencyPriority); //This displays the current battery conditions on the console BatteryCheckControl batchk; + // const SharedObject led; + // batchk.activate(motman->addPrunableMotion(led,MotionManager::kEmergencyPriority+1),NULL); batchk.activate(MotionManager::invalid_MC_ID,NULL); - // const SharedObject led; //! @todo LedMC's don't support autopruning yet, it should for uses like this - // batchk.activate(motman->addMotion(led,true)); batchk.deactivate(); //This is what runs the menu system @@ -86,7 +85,7 @@ closeMouth->setOutputCmd(mouthOffset,outputRanges[mouthOffset][MaxRange]); closeMouth->setPlayTime(3500); //and hold it for another .5 seconds closeMouth->setOutputCmd(mouthOffset,outputRanges[mouthOffset][MaxRange]); - motman->addMotion(closeMouth,MotionManager::kEmergencyPriority+1,true); + motman->addPrunableMotion(closeMouth,MotionManager::kEmergencyPriority+1); erouter->addTimer(this,1,3250,false); } @@ -157,8 +156,6 @@ SetupTekkotsuMon(); SetupStatusReports(); SetupFileAccess(); - SetupWalkEdit(); - addItem(new PostureEditor()); SetupVision(); addItem(new ControlBase("Shutdown?","Confirms decision to reboot or shut down")); startSubMenu(); Index: StartupBehavior_SetupBackgroundBehaviors.cc =================================================================== RCS file: /afs/cs/project/skinnerbots/aibo/Tekkotsu/project/StartupBehavior_SetupBackgroundBehaviors.cc,v retrieving revision 1.8 retrieving revision 1.13 diff -u -d -r1.8 -r1.13 --- StartupBehavior_SetupBackgroundBehaviors.cc 19 Jan 2004 08:03:22 -0000 1.8 +++ StartupBehavior_SetupBackgroundBehaviors.cc 18 Oct 2004 23:53:37 -0000 1.13 @@ -3,15 +3,19 @@ #include "Behaviors/Controls/ControlBase.h" #include "Behaviors/Controls/BehaviorSwitchControl.h" +#include "Behaviors/Demos/SimpleChaseBallBehavior.h" +#include "Behaviors/Demos/StareAtBallBehavior.h" #include "Behaviors/Demos/AutoGetupBehavior.h" #include "Behaviors/Demos/BatteryMonitorBehavior.h" #include "Behaviors/Demos/HeadLevelBehavior.h" #include "Behaviors/Demos/ToggleHeadLightBehavior.h" -#include "Behaviors/Demos/HelloWorldBehavior.h" #include "Behaviors/Demos/CrashTestBehavior.h" +#include "Behaviors/Demos/FreezeTestBehavior.h" #include "Behaviors/Demos/RelaxBehavior.h" #include "Behaviors/Demos/WorldStateVelDaemon.h" #include "Behaviors/Demos/CameraBehavior.h" +#include "Behaviors/Demos/MotionStressTestBehavior.h" +#include "Behaviors/Demos/ASCIIVisionBehavior.h" #include "Shared/WorldState.h" #include "Shared/ERS210Info.h" @@ -21,16 +25,30 @@ addItem(new ControlBase("Background Behaviors","Background daemons and monitors")); startSubMenu(); { - addItem((new BehaviorSwitchControl("AutoGetupBehavior",false))->start()); - addItem((new BehaviorSwitchControl("BatteryMonitorBehavior",false))->start()); + addItem(new BehaviorSwitchControl("SimpleChaseBallBehavior",false)); + addItem(new BehaviorSwitchControl("StareAtBallBehavior",false)); addItem(new BehaviorSwitchControl("HeadLevelBehavior",false)); if(state->robotDesign & WorldState::ERS220Mask) addItem(new BehaviorSwitchControl("ToggleHeadLightBehavior",false)); - addItem(new BehaviorSwitchControl("HelloWorldBehavior",false)); - addItem(new BehaviorSwitchControl("CrashTestBehavior",false)); addItem(new BehaviorSwitchControl("RelaxBehavior",false)); addItem(new BehaviorSwitchControl("CameraBehavior",false)); - addItem((new BehaviorSwitchControl("WorldStateVelDaemon",false))->start()); + addItem(new BehaviorSwitchControl("ASCIIVisionBehavior",false)); + addItem(new ControlBase("Debugging Tests","Stress tests")); + startSubMenu(); + { + addItem(new BehaviorSwitchControl("MotionStressTestBehavior",false)); + addItem(new BehaviorSwitchControl("CrashTestBehavior",false)); + addItem(new BehaviorSwitchControl("FreezeTestBehavior",false)); + } + endSubMenu(); + addItem(new ControlBase("System Daemons","Provide some common sensor or event processing")); + startSubMenu(); + { + addItem((new BehaviorSwitchControl("AutoGetupBehavior",false))); + addItem((new BehaviorSwitchControl("WorldStateVelDaemon",false))->start()); + addItem((new BehaviorSwitchControl("BatteryMonitorBehavior",false))->start()); + } + endSubMenu(); } return endSubMenu(); } Index: StartupBehavior_SetupFileAccess.cc =================================================================== RCS file: /afs/cs/project/skinnerbots/aibo/Tekkotsu/project/StartupBehavior_SetupFileAccess.cc,v retrieving revision 1.1 retrieving revision 1.4 diff -u -d -r1.1 -r1.4 --- StartupBehavior_SetupFileAccess.cc 26 Jul 2003 01:48:59 -0000 1.1 +++ StartupBehavior_SetupFileAccess.cc 18 Oct 2004 17:01:38 -0000 1.4 @@ -2,21 +2,22 @@ #include "Behaviors/Controls/ControlBase.h" -#include "Behaviors/Controls/LoadPostureControl.h" -#include "Behaviors/Controls/SavePostureControl.h" +#include "Behaviors/Controls/PostureEditor.h" #include "Behaviors/Controls/RunSequenceControl.h" #include "Behaviors/Controls/PlaySoundControl.h" #include "Behaviors/Controls/DumpFileControl.h" +#include "Behaviors/Controls/WaypointWalkControl.h" ControlBase* StartupBehavior::SetupFileAccess() { addItem(new ControlBase("File Access","Access/load files on the memory stick")); startSubMenu(); { - addItem(new LoadPostureControl("Load Posture",stop_id)); - addItem(new SavePostureControl("Save Posture")); + addItem(new PostureEditor(stop_id)); addItem(new RunSequenceControl("Run Motion Sequence",stop_id)); addItem(new PlaySoundControl("Play Sound")); + addItem(new WaypointWalkControl()); + SetupWalkEdit(); addItem(new DumpFileControl("Files","/ms")); } return endSubMenu(); Index: StartupBehavior_SetupModeSwitch.cc =================================================================== RCS file: /afs/cs/project/skinnerbots/aibo/Tekkotsu/project/StartupBehavior_SetupModeSwitch.cc,v retrieving revision 1.20 retrieving revision 1.33 diff -u -d -r1.20 -r1.33 --- StartupBehavior_SetupModeSwitch.cc 17 Mar 2004 02:06:46 -0000 1.20 +++ StartupBehavior_SetupModeSwitch.cc 18 Oct 2004 19:57:52 -0000 1.33 @@ -5,14 +5,21 @@ #include "Behaviors/Demos/AlanBehavior.h" #include "Behaviors/Demos/ChaseBallBehavior.h" -#include "Behaviors/Demos/SimpleChaseBallBehavior.h" -#include "Behaviors/Demos/StareAtBallBehavior.h" #include "Behaviors/Demos/FollowHeadBehavior.h" #include "Behaviors/Demos/WalkToTargetMachine.h" +#include "Behaviors/Demos/HelloWorldBehavior.h" #include "Behaviors/Demos/BanditMachine.h" #include "Behaviors/Demos/SoundTestBehavior.h" #include "Behaviors/Demos/ExploreMachine.h" #include "Behaviors/Demos/PaceTargetsMachine.h" +#include "Behaviors/Demos/StareAtPawBehavior.h" +#include "Behaviors/Demos/StareAtPawBehavior2.h" +#include "Behaviors/Demos/KinematicSampleBehavior.h" +#include "Behaviors/Demos/KinematicSampleBehavior2.h" +#include "Behaviors/Demos/GroundPlaneBehavior.h" +#include "Behaviors/Demos/LookForSoundBehavior.h" +#include "Behaviors/Demos/SimpleChaseBallBehavior.h" +#include "Behaviors/Demos/StareAtBallBehavior.h" #include "Shared/ProjectInterface.h" @@ -26,17 +33,34 @@ BehaviorSwitchControlBase::BehaviorGroup * bg = new BehaviorSwitchControlBase::BehaviorGroup(); //put behaviors here: + addItem(new BehaviorSwitchControl("HelloWorldBehavior",false)); if(state->robotDesign&(WorldState::ERS210Mask|WorldState::ERS7Mask)) //this one only really works on the 210 or 7 addItem(new BehaviorSwitchControl("AlanBehavior",bg,false)); addItem(new BehaviorSwitchControl("FollowHeadBehavior",bg,false)); - addItem(new BehaviorSwitchControl("SoundTestBehavior",bg,false)); + addItem(new BehaviorSwitchControl("StareAtBallBehavior",false)); + addItem(new BehaviorSwitchControl("SimpleChaseBallBehavior",false)); addItem(new BehaviorSwitchControl("ChaseBallBehavior",bg,false)); - addItem(new BehaviorSwitchControl("SimpleChaseBallBehavior",bg,false)); - addItem(new BehaviorSwitchControl("StareAtBallBehavior",bg,false)); - addItem(new BehaviorSwitchControlBase(new WalkToTargetMachine(ProjectInterface::visPinkBallSID),bg)); - addItem(new BehaviorSwitchControl("BanditMachine",bg,false)); - addItem(new BehaviorSwitchControl("ExploreMachine",bg,false)); - addItem(new BehaviorSwitchControl("PaceTargetsMachine",bg,false)); + addItem(new BehaviorSwitchControl("SoundTestBehavior",bg,false)); + addItem(new BehaviorSwitchControl("LookForSoundBehavior",bg,false)); + addItem(new ControlBase("State Machine Demos","More fully developed demo applications")); + startSubMenu(); + { + addItem(new BehaviorSwitchControlBase(new WalkToTargetMachine(ProjectInterface::visPinkBallSID),bg)); + addItem(new BehaviorSwitchControl("BanditMachine",bg,false)); + addItem(new BehaviorSwitchControl("ExploreMachine",bg,false)); + addItem(new BehaviorSwitchControl("PaceTargetsMachine",bg,false)); + } + endSubMenu(); + addItem(new ControlBase("Kinematics Demos","Showcases some of the newly developed kinematics code")); + startSubMenu(); + { + addItem(new BehaviorSwitchControl("KinematicSampleBehavior",bg,false)); + addItem(new BehaviorSwitchControl("KinematicSampleBehavior2",bg,false)); + addItem(new BehaviorSwitchControl("StareAtPawBehavior",bg,false)); + addItem(new BehaviorSwitchControl("StareAtPawBehavior2",bg,false)); + addItem(new BehaviorSwitchControl("GroundPlaneBehavior",bg,false)); + } + endSubMenu(); } return endSubMenu(); } Index: StartupBehavior_SetupTekkotsuMon.cc =================================================================== RCS file: /afs/cs/project/skinnerbots/aibo/Tekkotsu/project/StartupBehavior_SetupTekkotsuMon.cc,v retrieving revision 1.12 retrieving revision 1.14 diff -u -d -r1.12 -r1.14 --- StartupBehavior_SetupTekkotsuMon.cc 19 Jan 2004 20:36:56 -0000 1.12 +++ StartupBehavior_SetupTekkotsuMon.cc 25 Aug 2004 01:09:18 -0000 1.14 @@ -18,14 +18,14 @@ addItem(new ControlBase("TekkotsuMon","Servers for GUIs")); startSubMenu(); { - addItem((new BehaviorSwitchControl("RawCamServer",false))); - addItem((new BehaviorSwitchControl("SegCamServer",false))); addItem((new BehaviorSwitchControl("Head Remote Control",false))); addItem((new BehaviorSwitchControl("Walk Remote Control",false))); addItem((new BehaviorSwitchControl("View WMVars",false))); addItem((new BehaviorSwitchControl("Watchable Memory Monitor",false))->start()); addItem((new BehaviorSwitchControl("Aibo 3D",false))); addItem((new BehaviorSwitchControl("World State Serializer",false))); + addItem((new BehaviorSwitchControl("RawCamServer",false))); + addItem((new BehaviorSwitchControl("SegCamServer",false))); addItem((new BehaviorSwitchControlBase(new EStopControllerBehavior(stop_id)))->start()); } return endSubMenu(); Index: StartupBehavior_SetupVision.cc =================================================================== RCS file: /afs/cs/project/skinnerbots/aibo/Tekkotsu/project/StartupBehavior_SetupVision.cc,v retrieving revision 1.14 retrieving revision 1.16 diff -u -d -r1.14 -r1.16 --- StartupBehavior_SetupVision.cc 23 Feb 2004 16:17:15 -0000 1.14 +++ StartupBehavior_SetupVision.cc 17 Mar 2004 22:49:15 -0000 1.16 @@ -4,6 +4,7 @@ #include "Shared/Config.h" #include "Behaviors/Controls/BehaviorSwitchControl.h" +#include "Behaviors/Controls/NullControl.h" #include "Vision/RawCameraGenerator.h" #include "Vision/InterleavedYUVGenerator.h" @@ -112,9 +113,18 @@ addItem(new BehaviorSwitchControlBase(defSegmentedColorGenerator)); addItem((new BehaviorSwitchControlBase(defRLEGenerator))->start()); addItem((new BehaviorSwitchControlBase(defRegionGenerator))->start()); - addItem((new BehaviorSwitchControlBase(pball))->start()); - addItem((new BehaviorSwitchControlBase(bball))->start()); - addItem((new BehaviorSwitchControlBase(handball))->start()); + if(pball) + addItem((new BehaviorSwitchControlBase(pball))->start()); + else + addItem(new NullControl("Error: PinkBallDetectionGenerator","Color \"red\" is undefined")); + if(bball) + addItem((new BehaviorSwitchControlBase(bball))->start()); + else + addItem(new NullControl("Error: BlueBallDetectionGenerator","Color \"blue\" is undefined")); + if(handball) + addItem((new BehaviorSwitchControlBase(handball))->start()); + else + addItem(new NullControl("Error: HandBallDetectionGenerator","Color \"brown\" is undefined")); } return endSubMenu(); } Index: StartupBehavior_SetupWalkEdit.cc =================================================================== RCS file: /afs/cs/project/skinnerbots/aibo/Tekkotsu/project/StartupBehavior_SetupWalkEdit.cc,v retrieving revision 1.7 retrieving revision 1.8 diff -u -d -r1.7 -r1.8 --- StartupBehavior_SetupWalkEdit.cc 26 Feb 2004 01:03:00 -0000 1.7 +++ StartupBehavior_SetupWalkEdit.cc 14 May 2004 07:18:19 -0000 1.8 @@ -10,9 +10,9 @@ * * $Author: ejt $ * $Name: $ - * $Revision: 1.7 $ + * $Revision: 1.8 $ * $State: Exp $ - * $Date: 2004/02/26 01:03:00 $ + * $Date: 2004/05/14 07:18:19 $ */ #include "StartupBehavior.h" @@ -45,6 +45,8 @@ addItem(new ValueEditControl("Hop",&walker->getWalkMC()->getWP().hop)); addItem(new ValueEditControl("Sway",&walker->getWalkMC()->getWP().sway)); addItem(new ValueEditControl("Period",&walker->getWalkMC()->getWP().period)); + addItem(new ValueEditControl("Use Diff Drive",&walker->getWalkMC()->getWP().useDiffDrive)); + addItem(new ValueEditControl("Sag",&walker->getWalkMC()->getWP().sag)); } endSubMenu(); Index: ms/config/ers210.kin =================================================================== RCS file: ms/config/ers210.kin diff -N ms/config/ers210.kin --- /dev/null 1 Jan 1970 00:00:00 -0000 +++ ms/config/ers210.kin 18 Oct 2004 23:11:05 -0000 1.10 @@ -0,0 +1,1568 @@ +# ---------------------------------------------------------------- +# Robot configuration File +# ---------------------------------------------------------------- + +[Default] + + +[LFr] +Name: LFr +DH: 1 +Fix: 0 +MinPara: 0 +dof: 5 +Motor: 0 +Stl: 0 + +[LFr_LINK1] +joint_type: 0 +immobile: 1 +theta: 0.0 +d: 0.0 +a: 59.5 +alpha: 1.570796326794895 +theta_min: 0.0 +theta_max: 0.0 +m: 0.0 +cx: 0.0 +cy: 0.0 +cz: 0.0 +Ixx: 0.0 +Ixy: 0.0 +Ixz: 0.0 +Iyy: 0.0 +Iyz: 0.0 +Izz: 0.0 + +[LFr_LINK2] +joint_type: 0 +theta: -1.570796326794895 +d: -59.2 +a: 0.0 +alpha: -1.570796326794895 +theta_min: -2.0944 +theta_max: 2.0944 +m: 0.0 +cx: 0.0 +cy: 0.0 +cz: 0.0 +Ixx: 0.0 +Ixy: 0.0 +Ixz: 0.0 +Iyy: 0.0 +Iyz: 0.0 +Izz: 0.0 +tekkotsu_output: 0 + +[LFr_LINK3] +joint_type: 0 +theta: 0.0 +d: 12.8 +a: 64.0 +alpha: 1.570796326794895 +theta_min: -0.2618 +theta_max: 1.6057 +m: 0.0 +cx: 0.0 +cy: 0.0 +cz: 0.0 +Ixx: 0.0 +Ixy: 0.0 +Ixz: 0.0 +Iyy: 0.0 +Iyz: 0.0 +Izz: 0.0 +tekkotsu_output: 1 + +[LFr_LINK4] +joint_type: 0 +theta: -0.206996 +d: -0.5 +a: 56.986 +alpha: 0.0 +theta_min: -0.5236 +theta_max: 2.6180 +m: 0.0 +cx: 0.0 +cy: 0.0 +cz: 0.0 +Ixx: 0.0 +Ixy: 0.0 +Ixz: 0.0 +Iyy: 0.0 +Iyz: 0.0 +Izz: 0.0 +tekkotsu_output: 2 + +[LFr_LINK5] +joint_type: 0 +immobile: 1 +theta: 0.0 +d: 0.0 +a: 0.0 +alpha: 0.0 +theta_min: 0.0 +theta_max: 0.0 +m: 0.0 +cx: 0.0 +cy: 0.0 +cz: 0.0 +Ixx: 0.0 +Ixy: 0.0 +Ixz: 0.0 +Iyy: 0.0 +Iyz: 0.0 +Izz: 0.0 +tekkotsu_frame: 1 + + +[RFr] +Name: RFr +DH: 1 +Fix: 0 +MinPara: 0 +dof: 5 +Motor: 0 +Stl: 0 + +[RFr_LINK1] +joint_type: 0 +immobile: 1 +theta: 0.0 +d: 0.0 +a: 59.5 +alpha: 1.570796326794895 +theta_min: 0.0 +theta_max: 0.0 +m: 0.0 +cx: 0.0 +cy: 0.0 +cz: 0.0 +Ixx: 0.0 +Ixy: 0.0 +Ixz: 0.0 +Iyy: 0.0 +Iyz: 0.0 +Izz: 0.0 + +[RFr_LINK2] +joint_type: 0 +theta: -1.570796326794895 +d: 59.2 +a: 0.0 +alpha: 1.570796326794895 +theta_min: -2.0944 +theta_max: 2.0944 +m: 0.0 +cx: 0.0 +cy: 0.0 +cz: 0.0 +Ixx: 0.0 +Ixy: 0.0 +Ixz: 0.0 +Iyy: 0.0 +Iyz: 0.0 +Izz: 0.0 +tekkotsu_output: 3 + +[RFr_LINK3] +joint_type: 0 +theta: 0.0 +d: -12.8 +a: 64.0 +alpha: -1.570796326794895 +theta_min: -0.2618 +theta_max: 1.6057 +m: 0.0 +cx: 0.0 +cy: 0.0 +cz: 0.0 +Ixx: 0.0 +Ixy: 0.0 +Ixz: 0.0 +Iyy: 0.0 +Iyz: 0.0 +Izz: 0.0 +tekkotsu_output: 4 + +[RFr_LINK4] +joint_type: 0 +theta: -0.206996 +d: 0.5 +a: 56.986 +alpha: 0.0 +theta_min: -0.5236 +theta_max: 2.6180 +m: 0.0 +cx: 0.0 +cy: 0.0 +cz: 0.0 +Ixx: 0.0 +Ixy: 0.0 +Ixz: 0.0 +Iyy: 0.0 +Iyz: 0.0 +Izz: 0.0 +tekkotsu_output: 5 + +[RFr_LINK5] +joint_type: 0 +immobile: 1 +theta: 0.0 +d: 0.0 +a: 0.0 +alpha: 0.0 +theta_min: 0.0 +theta_max: 0.0 +m: 0.0 +cx: 0.0 +cy: 0.0 +cz: 0.0 +Ixx: 0.0 +Ixy: 0.0 +Ixz: 0.0 +Iyy: 0.0 +Iyz: 0.0 +Izz: 0.0 +tekkotsu_frame: 2 + + +[LBk] +Name: LBk +DH: 1 +Fix: 0 +MinPara: 0 +dof: 5 +Motor: 0 +Stl: 0 + +[LBk_LINK1] +joint_type: 0 +immobile: 1 +theta: 0.0 +d: 0.0 +a: -59.5 +alpha: -1.570796326794895 +theta_min: 0.0 +theta_max: 0.0 +m: 0.0 +cx: 0.0 +cy: 0.0 +cz: 0.0 +Ixx: 0.0 +Ixy: 0.0 +Ixz: 0.0 +Iyy: 0.0 +Iyz: 0.0 +Izz: 0.0 + +[LBk_LINK2] +joint_type: 0 +theta: 1.570796326794895 +d: 59.2 +a: 0.0 +alpha: 1.570796326794895 +theta_min: -2.0944 +theta_max: 2.0944 +m: 0.0 +cx: 0.0 +cy: 0.0 +cz: 0.0 +Ixx: 0.0 +Ixy: 0.0 +Ixz: 0.0 +Iyy: 0.0 +Iyz: 0.0 +Izz: 0.0 +tekkotsu_output: 6 + +[LBk_LINK3] +joint_type: 0 +theta: 0.0 +d: -12.8 +a: 64.0 +alpha: -1.570796326794895 +theta_min: -0.2618 +theta_max: 1.6057 +m: 0.0 +cx: 0.0 +cy: 0.0 +cz: 0.0 +Ixx: 0.0 +Ixy: 0.0 +Ixz: 0.0 +Iyy: 0.0 +Iyz: 0.0 +Izz: 0.0 +tekkotsu_output: 7 + +[LBk_LINK4] +joint_type: 0 +theta: -0.350584 +d: 0.5 +a: 64.572 +alpha: 3.1415926535897932385 +theta_min: -0.5236 +theta_max: 2.6180 +m: 0.0 +cx: 0.0 +cy: 0.0 +cz: 0.0 +Ixx: 0.0 +Ixy: 0.0 +Ixz: 0.0 +Iyy: 0.0 +Iyz: 0.0 +Izz: 0.0 +tekkotsu_output: 8 + +[LBk_LINK5] +joint_type: 0 +immobile: 1 +theta: 0.0 +d: 0.0 +a: 0.0 +alpha: 0.0 +theta_min: 0.0 +theta_max: 0.0 +m: 0.0 +cx: 0.0 +cy: 0.0 +cz: 0.0 +Ixx: 0.0 +Ixy: 0.0 +Ixz: 0.0 +Iyy: 0.0 +Iyz: 0.0 +Izz: 0.0 +tekkotsu_frame: 3 + + +[RBk] +Name: RBk +DH: 1 +Fix: 0 +MinPara: 0 +dof: 5 +Motor: 0 +Stl: 0 + +[RBk_LINK1] +joint_type: 0 +immobile: 1 +theta: 0.0 +d: 0.0 +a: -59.5 +alpha: -1.570796326794895 +theta_min: 0.0 +theta_max: 0.0 +m: 0.0 +cx: 0.0 +cy: 0.0 +cz: 0.0 +Ixx: 0.0 +Ixy: 0.0 +Ixz: 0.0 +Iyy: 0.0 +Iyz: 0.0 +Izz: 0.0 + +[RBk_LINK2] +joint_type: 0 +theta: 1.570796326794895 +d: -59.2 +a: 0.0 +alpha: -1.570796326794895 +theta_min: -2.0944 +theta_max: 2.0944 +m: 0.0 +cx: 0.0 +cy: 0.0 +cz: 0.0 +Ixx: 0.0 +Ixy: 0.0 +Ixz: 0.0 +Iyy: 0.0 +Iyz: 0.0 +Izz: 0.0 +tekkotsu_output: 9 + +[RBk_LINK3] +joint_type: 0 +theta: 0.0 +d: 12.8 +a: 64.0 +alpha: 1.570796326794895 +theta_min: -0.2618 +theta_max: 1.6057 +m: 0.0 +cx: 0.0 +cy: 0.0 +cz: 0.0 +Ixx: 0.0 +Ixy: 0.0 +Ixz: 0.0 +Iyy: 0.0 +Iyz: 0.0 +Izz: 0.0 +tekkotsu_output: 10 + +[RBk_LINK4] +joint_type: 0 +theta: -0.350584 +d: -0.5 +a: 64.572 +alpha: 3.1415926535897932385 +theta_min: -0.5236 +theta_max: 2.6180 +m: 0.0 +cx: 0.0 +cy: 0.0 +cz: 0.0 +Ixx: 0.0 +Ixy: 0.0 +Ixz: 0.0 +Iyy: 0.0 +Iyz: 0.0 +Izz: 0.0 +tekkotsu_output: 11 + +[RBk_LINK5] +joint_type: 0 +immobile: 1 +theta: 0.0 +d: 0.0 +a: 0.0 +alpha: 0.0 +theta_min: 0.0 +theta_max: 0.0 +m: 0.0 +cx: 0.0 +cy: 0.0 +cz: 0.0 +Ixx: 0.0 +Ixy: 0.0 +Ixz: 0.0 +Iyy: 0.0 +Iyz: 0.0 +Izz: 0.0 +tekkotsu_frame: 4 + + +[Mouth] +Name: Mouth +DH: 1 +Fix: 0 +MinPara: 0 +dof: 5 +Motor: 0 +Stl: 0 + +[Mouth_LINK1] +joint_type: 0 +immobile: 1 +theta: 0.0 +d: 50.0 +a: 75.0 +alpha: 1.570796326794895 +theta_min: 0.0 +theta_max: 0.0 +m: 0.0 +cx: 0.0 +cy: 0.0 +cz: 0.0 +Ixx: 0.0 +Ixy: 0.0 +Ixz: 0.0 +Iyy: 0.0 +Iyz: 0.0 +Izz: 0.0 + +[Mouth_LINK2] +joint_type: 0 +theta: 0.0 +d: 0.0 +a: 0.0 +alpha: -1.570796326794895 +theta_min: -1.483530 +theta_max: 0.802851 +m: 0.0 +cx: 0.0 +cy: 0.0 +cz: 0.0 +Ixx: 0.0 +Ixy: 0.0 +Ixz: 0.0 +Iyy: 0.0 +Iyz: 0.0 +Izz: 0.0 +tekkotsu_output: 12 + +[Mouth_LINK3] +joint_type: 0 +theta: 1.570796326794895 +d: 48.0 +a: 0.0 +alpha: 1.570796326794895 +theta_min: -1.616175 +theta_max: 1.616175 +m: 0.0 +cx: 0.0 +cy: 0.0 +cz: 0.0 +Ixx: 0.0 +Ixy: 0.0 +Ixz: 0.0 +Iyy: 0.0 +Iyz: 0.0 +Izz: 0.0 +tekkotsu_output: 13 + +[Mouth_LINK4] +joint_type: 0 +theta: -1.570796326794895 +d: 19.9547 +a: 21.1774 +alpha: 1.570796326794895 +theta_min: -0.558505 +theta_max: 0.558505 +m: 0.0 +cx: 0.0 +cy: 0.0 +cz: 0.0 +Ixx: 0.0 +Ixy: 0.0 +Ixz: 0.0 +Iyy: 0.0 +Iyz: 0.0 +Izz: 0.0 +tekkotsu_output: 14 + +[Mouth_LINK5] +joint_type: 0 +theta: 1.570796326794895 +d: 0.0 +a: 40.9065 +alpha: -1.570796326794895 +theta_min: -0.872665 +theta_max: 0.0 +m: 0.0 +cx: 0.0 +cy: 0.0 +cz: 0.0 +Ixx: 0.0 +Ixy: 0.0 +Ixz: 0.0 +Iyy: 0.0 +Iyz: 0.0 +Izz: 0.0 +tekkotsu_output: 17 + + +[Camera] +Name: Camera +DH: 1 +Fix: 0 +MinPara: 0 +dof: 5 +Motor: 0 +Stl: 0 + +[Camera_LINK1] +joint_type: 0 +immobile: 1 +theta: 0.0 +d: 50.0 +a: 75.0 +alpha: 1.570796326794895 +theta_min: 0.0 +theta_max: 0.0 +m: 0.0 +cx: 0.0 +cy: 0.0 +cz: 0.0 +Ixx: 0.0 +Ixy: 0.0 +Ixz: 0.0 +Iyy: 0.0 +Iyz: 0.0 +Izz: 0.0 + +[Camera_LINK2] +joint_type: 0 +theta: 0.0 +d: 0.0 +a: 0.0 +alpha: -1.570796326794895 +theta_min: -1.483530 +theta_max: 0.802851 +m: 0.0 +cx: 0.0 +cy: 0.0 +cz: 0.0 +Ixx: 0.0 +Ixy: 0.0 +Ixz: 0.0 +Iyy: 0.0 +Iyz: 0.0 +Izz: 0.0 +tekkotsu_output: 12 + +[Camera_LINK3] +joint_type: 0 +theta: 1.570796326794895 +d: 48.0 +a: 0.0 +alpha: 1.570796326794895 +theta_min: -1.616175 +theta_max: 1.616175 +m: 0.0 +cx: 0.0 +cy: 0.0 +cz: 0.0 +Ixx: 0.0 +Ixy: 0.0 +Ixz: 0.0 +Iyy: 0.0 +Iyz: 0.0 +Izz: 0.0 +tekkotsu_output: 13 + +[Camera_LINK4] +joint_type: 0 +theta: 3.1415926535897932385 +d: 66.6 +a: 0.0 +alpha: 0.0 +theta_min: -0.558505 +theta_max: 0.558505 +m: 0.0 +cx: 0.0 +cy: 0.0 +cz: 0.0 +Ixx: 0.0 +Ixy: 0.0 +Ixz: 0.0 +Iyy: 0.0 +Iyz: 0.0 +Izz: 0.0 +tekkotsu_output: 14 + +[Camera_LINK5] +joint_type: 0 +immobile: 1 +theta: 0.0 +d: 0.0 +a: 0.0 +alpha: 0.0 +theta_min: 0.0 +theta_max: 0.0 +m: 0.0 +cx: 0.0 +cy: 0.0 +cz: 0.0 +Ixx: 0.0 +Ixy: 0.0 +Ixz: 0.0 +Iyy: 0.0 +Iyz: 0.0 +Izz: 0.0 +tekkotsu_frame: 5 + + +[IR] +Name: IR +DH: 1 +Fix: 0 +MinPara: 0 +dof: 6 +Motor: 0 +Stl: 0 + +[IR_LINK1] +joint_type: 0 +immobile: 1 +theta: 0.0 +d: 50.0 +a: 75.0 +alpha: 1.570796326794895 +theta_min: 0.0 +theta_max: 0.0 +m: 0.0 +cx: 0.0 +cy: 0.0 +cz: 0.0 +Ixx: 0.0 +Ixy: 0.0 +Ixz: 0.0 +Iyy: 0.0 +Iyz: 0.0 +Izz: 0.0 + +[IR_LINK2] +joint_type: 0 +theta: 0.0 +d: 0.0 +a: 0.0 +alpha: -1.570796326794895 +theta_min: -1.483530 +theta_max: 0.802851 +m: 0.0 +cx: 0.0 +cy: 0.0 +cz: 0.0 +Ixx: 0.0 +Ixy: 0.0 +Ixz: 0.0 +Iyy: 0.0 +Iyz: 0.0 +Izz: 0.0 +tekkotsu_output: 12 + +[IR_LINK3] +joint_type: 0 +theta: -1.570796326794895 +d: 48.0 +a: 0.0 +alpha: -1.570796326794895 +theta_min: -1.616175 +theta_max: 1.616175 +m: 0.0 +cx: 0.0 +cy: 0.0 +cz: 0.0 +Ixx: 0.0 +Ixy: 0.0 +Ixz: 0.0 +Iyy: 0.0 +Iyz: 0.0 +Izz: 0.0 +tekkotsu_output: 13 + +[IR_LINK4] +joint_type: 0 +theta: -2.02003 +d: 26.5 +a: 0.0 +alpha: 16.2027 +theta_min: -0.558505 +theta_max: 0.558505 +m: 0.0 +cx: 0.0 +cy: 0.0 +cz: 0.0 +Ixx: 0.0 +Ixy: 0.0 +Ixz: 0.0 +Iyy: 0.0 +Iyz: 0.0 +Izz: 0.0 +tekkotsu_output: 14 + +[IR_LINK5] +joint_type: 0 +immobile: 1 +theta: 1.26156 +d: 0.0 +a: 0.0 +alpha: -0.0215808 +theta_min: 0.0 +theta_max: 0.0 +m: 0.0 +cx: 0.0 +cy: 0.0 +cz: 0.0 +Ixx: 0.0 +Ixy: 0.0 +Ixz: 0.0 +Iyy: 0.0 +Iyz: 0.0 +Izz: 0.0 + +[IR_LINK6] +joint_type: 1 +theta: 0.0 +d: 0.0 +a: 0.0 +alpha: 0.0 +theta_min: 0.0 +theta_max: 0.0 +m: 0.0 +cx: 0.0 +cy: 0.0 +cz: 0.0 +Ixx: 0.0 +Ixy: 0.0 +Ixz: 0.0 +Iyy: 0.0 +Iyz: 0.0 +Izz: 0.0 +tekkotsu_frame: 6 + + +[InterestPoints] +Length: 109 + +[InterestPoint1] + name: LFr:elvtr + chain: LFr + link: 2 + x: 0 + y: 0 + z: 0 +[InterestPoint2] + name: LFr:rotor + chain: LFr + link: 3 + x: 0 + y: 0 + z: 0 +[InterestPoint3] + name: LFr:knee~ + chain: LFr + link: 4 + x: 0 + y: 0 + z: 0 +[InterestPoint4] + name: RFr:elvtr + chain: RFr + link: 2 + x: 0 + y: 0 + z: 0 +[InterestPoint5] + name: RFr:rotor + chain: RFr + link: 3 + x: 0 + y: 0 + z: 0 +[InterestPoint6] + name: RFr:knee~ + chain: RFr + link: 4 + x: 0 + y: 0 + z: 0 +[InterestPoint7] + name: LBk:elvtr + chain: LBk + link: 2 + x: 0 + y: 0 + z: 0 +[InterestPoint8] + name: LBk:rotor + chain: LBk + link: 3 + x: 0 + y: 0 + z: 0 +[InterestPoint9] + name: LBk:knee~ + chain: LBk + link: 4 + x: 0 + y: 0 + z: 0 +[InterestPoint10] + name: RBk:elvtr + chain: RBk + link: 2 + x: 0 + y: 0 + z: 0 +[InterestPoint11] + name: RBk:rotor + chain: RBk + link: 3 + x: 0 + y: 0 + z: 0 +[InterestPoint12] + name: RBk:knee~ + chain: RBk + link: 4 + x: 0 + y: 0 + z: 0 +[InterestPoint13] + name: NECK:tilt + chain: Camera + link: 2 + x: 0 + y: 0 + z: 0 +[InterestPoint14] + name: NECK:pan~ + chain: Camera + link: 3 + x: 0 + y: 0 + z: 0 +[InterestPoint15] + name: NECK:nod~ + chain: Camera + link: 4 + x: 0 + y: 0 + z: 0 +[InterestPoint16] + name: MOUTH~~~~ + chain: Mouth + link: 5 + x: 0 + y: 0 + z: 0 +[InterestPoint17] + name: Base + chain: Camera + link: 0 + x: 0 + y: 0 + z: 0 +[InterestPoint18] + name: LFrPaw + chain: LFr + link: 5 + x: 0 + y: 0 + z: 0 +[InterestPoint19] + name: RFrPaw + chain: RFr + link: 5 + x: 0 + y: 0 + z: 0 +[InterestPoint20] + name: LBkPaw + chain: LBk + link: 5 + x: 0 + y: 0 + z: 0 +[InterestPoint21] + name: RBkPaw + chain: RBk + link: 5 + x: 0 + y: 0 + z: 0 +[InterestPoint22] + name: Camera + chain: Camera + link: 6 + x: 0 + y: 0 + z: 0 +[InterestPoint23] + name: IR + chain: IR + link: 6 + x: 0 + y: 0 + z: 0 +[InterestPoint24] + name: LowerLeftLowerLip + chain: Mouth + link: 5 + x: 7.139 + y: 37.069 + z: 11.898 +[InterestPoint25] + name: LowerRightLowerLip + chain: Mouth + link: 5 + x: 7.139 + y: 37.069 + z: -11.898 +[InterestPoint26] + name: UpperLeftLowerLip + chain: Mouth + link: 5 + x: -1.827 + y: 38.225 + z: 11.630 +[InterestPoint27] + name: UpperRightLowerLip + chain: Mouth + link: 5 + x: -1.827 + y: 38.225 + z: -11.630 +[InterestPoint28] + name: LowerLeftUpperLip + chain: Mouth + link: 4 + x: -11.630 + y: 19.327 + z: 58.044 +[InterestPoint29] + name: LowerRightUpperLip + chain: Mouth + link: 4 + x: 11.630 + y: 19.327 + z: 58.044 +[InterestPoint30] + name: LowerLeftSnout + chain: Camera + link: 4 + x: -24.917 + y: 19.968 + z: 65.777 +[InterestPoint31] + name: LowerRightSnout + chain: Camera + link: 4 + x: 24.917 + y: 19.968 + z: 65.777 +[InterestPoint32] + name: UpperLeftSnout + chain: Camera + link: 4 + x: -20.338 + y: -5.542 + z: 71.216 +[InterestPoint33] + name: UpperRightSnout + chain: Camera + link: 4 + x: 20.338 + y: -5.542 + z: 71.216 +[InterestPoint34] + name: LeftMicrophone + chain: Camera + link: 4 + x: -36.515 + y: -3.396 + z: 21.030 +[InterestPoint35] + name: RightMicrophone + chain: Camera + link: 4 + x: 36.515 + y: -3.396 + z: 21.030 +[InterestPoint36] + name: FrontHeadButton + chain: Camera + link: 4 + x: 0 + y: -44.415 + z: 8.284 +[InterestPoint37] + name: RearHeadButton + chain: Camera + link: 4 + x: 0 + y: -41.221 + z: -6.880 +[InterestPoint38] + name: ToeLFrPaw + chain: LFr + link: 5 + x: 18.464 + y: 31.529 + z: 0 +[InterestPoint39] + name: ToeRFrPaw + chain: RFr + link: 5 + x: 18.464 + y: 31.529 + z: 0 +[InterestPoint40] + name: ToeLBkPaw + chain: LBk + link: 5 + x: -4.890 + y: 36.210 + z: 0 +[InterestPoint41] + name: ToeRBkPaw + chain: RBk + link: 5 + x: -4.890 + y: 36.210 + z: 0 +[InterestPoint42] + name: LowerOuterFrontLFrShin + chain: LFr + link: 4 + x: 45.272 + y: 11.600 + z: -15.843 +[InterestPoint43] + name: LowerInnerFrontRFrShin + chain: RFr + link: 4 + x: 45.272 + y: 11.600 + z: -14.684 +[InterestPoint44] + name: LowerOuterFrontLBkShin + chain: LBk + link: 4 + x: 31.457 + y: -30.571 + z: 15.843 +[InterestPoint45] + name: LowerInnerFrontRBkShin + chain: RBk + link: 4 + x: 31.457 + y: -30.571 + z: 14.684 +[InterestPoint46] + name: LowerInnerFrontLFrShin + chain: LFr + link: 4 + x: 45.272 + y: 11.600 + z: 14.684 +[InterestPoint47] + name: LowerOuterFrontRFrShin + chain: RFr + link: 4 + x: 45.272 + y: 11.600 + z: 15.843 +[InterestPoint48] + name: LowerInnerFrontLBkShin + chain: LBk + link: 4 + x: 31.457 + y: -30.571 + z: -14.684 +[InterestPoint49] + name: LowerOuterFrontRBkShin + chain: RBk + link: 4 + x: 31.457 + y: -30.571 + z: -15.843 +[InterestPoint50] + name: LowerOuterBackLFrShin + chain: LFr + link: 4 + x: 45.891 + y: -26.126 + z: -15.843 +[InterestPoint51] + name: LowerInnerBackRFrShin + chain: RFr + link: 4 + x: 45.891 + y: -26.126 + z: -14.684 +[InterestPoint52] + name: LowerOuterBackLBkShin + chain: LBk + link: 4 + x: 65.997 + y: -8.442 + z: 15.843 +[InterestPoint53] + name: LowerInnerBackRBkShin + chain: RBk + link: 4 + x: 65.997 + y: -8.442 + z: 14.684 +[InterestPoint54] + name: LowerInnerBackLFrShin + chain: LFr + link: 4 + x: 45.891 + y: -26.126 + z: 14.684 +[InterestPoint55] + name: LowerOuterBackRFrShin + chain: RFr + link: 4 + x: 45.891 + y: -26.126 + z: 15.843 +[InterestPoint56] + name: LowerInnerBackLBkShin + chain: LBk + link: 4 + x: 65.997 + y: -8.442 + z: -14.684 +[InterestPoint57] + name: LowerOuterBackRBkShin + chain: RBk + link: 4 + x: 65.997 + y: -8.442 + z: -15.843 +[InterestPoint58] + name: MiddleOuterBackLBkShin + chain: LBk + link: 4 + x: 43.912 + y: 7.434 + z: 15.843 +[InterestPoint59] + name: MiddleInnerBackRBkShin + chain: RBk + link: 4 + x: 43.912 + y: 7.434 + z: 14.684 +[InterestPoint60] + name: MiddleInnerBackLBkShin + chain: LBk + link: 4 + x: 43.912 + y: 7.434 + z: -14.684 +[InterestPoint61] + name: MiddleOuterBackRBkShin + chain: RBk + link: 4 + x: 43.912 + y: 7.434 + z: -15.843 +[InterestPoint62] + name: UpperOuterFrontLFrShin + chain: LFr + link: 4 + x: 11.839 + y: 5.510 + z: -15.843 +[InterestPoint63] + name: UpperInnerFrontRFrShin + chain: RFr + link: 4 + x: 11.839 + y: 5.510 + z: -14.684 +[InterestPoint64] + name: UpperOuterFrontLBkShin + chain: LBk + link: 4 + x: .931 + y: -25.377 + z: 15.843 +[InterestPoint65] + name: UpperInnerFrontRBkShin + chain: RBk + link: 4 + x: .931 + y: -25.377 + z: 14.684 +[InterestPoint66] + name: UpperInnerFrontLFrShin + chain: LFr + link: 4 + x: 11.839 + y: 5.510 + z: 14.684 +[InterestPoint67] + name: UpperOuterFrontRFrShin + chain: RFr + link: 4 + x: 11.839 + y: 5.510 + z: 15.843 +[InterestPoint68] + name: UpperInnerFrontLBkShin + chain: LBk + link: 4 + x: .931 + y: -25.377 + z: -14.684 +[InterestPoint69] + name: UpperOuterFrontRBkShin + chain: RBk + link: 4 + x: .931 + y: -25.377 + z: -15.843 +[InterestPoint70] + name: UpperOuterBackLFrShin + chain: LFr + link: 4 + x: -1.381 + y: -23.945 + z: -15.843 +[InterestPoint71] + name: UpperInnerBackRFrShin + chain: RFr + link: 4 + x: -1.381 + y: -23.945 + z: -14.684 +[InterestPoint72] + name: UpperOuterBackLBkShin + chain: LBk + link: 4 + x: 13.646 + y: 4.905 + z: 15.843 +[InterestPoint73] + name: UpperInnerBackRBkShin + chain: RBk + link: 4 + x: 13.646 + y: 4.905 + z: 14.684 +[InterestPoint74] + name: UpperInnerBackLFrShin + chain: LFr + link: 4 + x: -1.381 + y: -23.945 + z: 14.684 +[InterestPoint75] + name: UpperOuterBackRFrShin + chain: RFr + link: 4 + x: -1.381 + y: -23.945 + z: 15.843 +[InterestPoint76] + name: UpperInnerBackLBkShin + chain: LBk + link: 4 + x: 13.646 + y: 4.905 + z: -14.684 +[InterestPoint77] + name: UpperOuterBackRBkShin + chain: RBk + link: 4 + x: 13.646 + y: 4.905 + z: -15.843 +[InterestPoint78] + name: LowerOuterFrontLFrThigh + chain: LFr + link: 3 + x: 42.939 + y: 14.898 + z: 18.749 +[InterestPoint79] + name: LowerInnerFrontRFrThigh + chain: RFr + link: 3 + x: 42.939 + y: -14.496 + z: -18.749 +[InterestPoint80] + name: LowerOuterFrontLBkThigh + chain: LBk + link: 3 + x: 48.284 + y: 14.898 + z: 17.459 +[InterestPoint81] + name: LowerInnerFrontRBkThigh + chain: RBk + link: 3 + x: 48.284 + y: -14.496 + z: -17.459 +[InterestPoint82] + name: LowerInnerFrontLFrThigh + chain: LFr + link: 3 + x: 42.939 + y: -14.496 + z: 18.749 +[InterestPoint83] + name: LowerOuterFrontRFrThigh + chain: RFr + link: 3 + x: 42.939 + y: 14.898 + z: -18.749 +[InterestPoint84] + name: LowerInnerFrontLBkThigh + chain: LBk + link: 3 + x: 48.284 + y: -14.496 + z: 17.459 +[InterestPoint85] + name: LowerOuterFrontRBkThigh + chain: RBk + link: 3 + x: 48.284 + y: 14.898 + z: -17.459 +[InterestPoint86] + name: LowerOuterBackLFrThigh + chain: LFr + link: 3 + x: 48.284 + y: 14.436 + z: -17.459 +[InterestPoint87] + name: LowerInnerBackRFrThigh + chain: RFr + link: 3 + x: 48.284 + y: -14.027 + z: 17.459 +[InterestPoint88] + name: LowerOuterBackLBkThigh + chain: LBk + link: 3 + x: 42.939 + y: 14.436 + z: -18.749 +[InterestPoint89] + name: LowerInnerBackRBkThigh + chain: RBk + link: 3 + x: 42.939 + y: -14.027 + z: 18.749 +[InterestPoint90] + name: LowerInnerBackLFrThigh + chain: LFr + link: 3 + x: 48.284 + y: -14.027 + z: -17.459 +[InterestPoint91] + name: LowerOuterBackRFrThigh + chain: RFr + link: 3 + x: 48.284 + y: 14.436 + z: 17.459 +[InterestPoint92] + name: LowerInnerBackLBkThigh + chain: LBk + link: 3 + x: 42.939 + y: -14.027 + z: -18.749 +[InterestPoint93] + name: LowerOuterBackRBkThigh + chain: RBk + link: 3 + x: 42.939 + y: 14.436 + z: 18.749 +[InterestPoint94] + name: UpperOuterFrontLFrThigh + chain: LFr + link: 3 + x: 15.912 + y: -14.492 + z: 20.811 +[InterestPoint95] + name: UpperInnerFrontRFrThigh + chain: RFr + link: 3 + x: 0 + y: 16.072 + z: -20.811 +[InterestPoint96] + name: UpperOuterFrontLBkThigh + chain: LBk + link: 3 + x: 15.912 + y: -14.492 + z: 20.811 +[InterestPoint97] + name: UpperInnerFrontRBkThigh + chain: RBk + link: 3 + x: 0 + y: 16.072 + z: -20.811 +[InterestPoint98] + name: UpperInnerFrontLFrThigh + chain: LFr + link: 3 + x: 0 + y: 16.072 + z: 20.811 +[InterestPoint99] + name: UpperOuterFrontRFrThigh + chain: RFr + link: 3 + x: 15.912 + y: -14.492 + z: -20.811 +[InterestPoint100] + name: UpperInnerFrontLBkThigh + chain: LBk + link: 3 + x: 0 + y: 16.072 + z: 20.811 +[InterestPoint101] + name: UpperOuterFrontRBkThigh + chain: RBk + link: 3 + x: 15.912 + y: -14.492 + z: -20.811 +[InterestPoint102] + name: UpperOuterBackLFrThigh + chain: LFr + link: 3 + x: 15.912 + y: -14.492 + z: -20.811 +[InterestPoint103] + name: UpperInnerBackRFrThigh + chain: RFr + link: 3 + x: 0 + y: 16.072 + z: 20.811 +[InterestPoint104] + name: UpperOuterBackLBkThigh + chain: LBk + link: 3 + x: 15.912 + y: -14.492 + z: -20.811 +[InterestPoint105] + name: UpperInnerBackRBkThigh + chain: RBk + link: 3 + x: 0 + y: 16.072 + z: 20.811 +[InterestPoint106] + name: UpperInnerBackLFrThigh + chain: LFr + link: 3 + x: 0 + y: 16.072 + z: -20.811 +[InterestPoint107] + name: UpperOuterBackRFrThigh + chain: RFr + link: 3 + x: 15.912 + y: -14.492 + z: 20.811 +[InterestPoint108] + name: UpperInnerBackLBkThigh + chain: LBk + link: 3 + x: 0 + y: 16.072 + z: -20.811 +[InterestPoint109] + name: UpperOuterBackRBkThigh + chain: RBk + link: 3 + x: 15.912 + y: -14.492 + z: 20.811 Index: ms/config/ers220.kin =================================================================== RCS file: ms/config/ers220.kin diff -N ms/config/ers220.kin --- /dev/null 1 Jan 1970 00:00:00 -0000 +++ ms/config/ers220.kin 18 Oct 2004 23:11:05 -0000 1.10 @@ -0,0 +1,1416 @@ +# ---------------------------------------------------------------- +# Robot configuration File +# ---------------------------------------------------------------- + +[Default] + + +[LFr] +Name: LFr +DH: 1 +Fix: 0 +MinPara: 0 +dof: 5 +Motor: 0 +Stl: 0 + +[LFr_LINK1] +joint_type: 0 +immobile: 1 +theta: 0.0 +d: 0.0 +a: 59.5 +alpha: 1.570796326794895 +theta_min: 0.0 +theta_max: 0.0 +m: 0.0 +cx: 0.0 +cy: 0.0 +cz: 0.0 +Ixx: 0.0 +Ixy: 0.0 +Ixz: 0.0 +Iyy: 0.0 +Iyz: 0.0 +Izz: 0.0 + +[LFr_LINK2] +joint_type: 0 +theta: -1.570796326794895 +d: -59.2 +a: 0.0 +alpha: -1.570796326794895 +theta_min: -2.0944 +theta_max: 2.0944 +m: 0.0 +cx: 0.0 +cy: 0.0 +cz: 0.0 +Ixx: 0.0 +Ixy: 0.0 +Ixz: 0.0 +Iyy: 0.0 +Iyz: 0.0 +Izz: 0.0 +tekkotsu_output: 0 + +[LFr_LINK3] +joint_type: 0 +theta: 0.0 +d: 12.8 +a: 64.0 +alpha: 1.570796326794895 +theta_min: -0.2618 +theta_max: 1.6057 +m: 0.0 +cx: 0.0 +cy: 0.0 +cz: 0.0 +Ixx: 0.0 +Ixy: 0.0 +Ixz: 0.0 +Iyy: 0.0 +Iyz: 0.0 +Izz: 0.0 +tekkotsu_output: 1 + +[LFr_LINK4] +joint_type: 0 +theta: -0.206996 +d: -0.5 +a: 56.986 +alpha: 0.0 +theta_min: -0.5236 +theta_max: 2.6180 +m: 0.0 +cx: 0.0 +cy: 0.0 +cz: 0.0 +Ixx: 0.0 +Ixy: 0.0 +Ixz: 0.0 +Iyy: 0.0 +Iyz: 0.0 +Izz: 0.0 +tekkotsu_output: 2 + +[LFr_LINK5] +joint_type: 0 +immobile: 1 +theta: 0.0 +d: 0.0 +a: 0.0 +alpha: 0.0 +theta_min: 0.0 +theta_max: 0.0 +m: 0.0 +cx: 0.0 +cy: 0.0 +cz: 0.0 +Ixx: 0.0 +Ixy: 0.0 +Ixz: 0.0 +Iyy: 0.0 +Iyz: 0.0 +Izz: 0.0 +tekkotsu_frame: 1 + + +[RFr] +Name: RFr +DH: 1 +Fix: 0 +MinPara: 0 +dof: 5 +Motor: 0 +Stl: 0 + +[RFr_LINK1] +joint_type: 0 +immobile: 1 +theta: 0.0 +d: 0.0 +a: 59.5 +alpha: 1.570796326794895 +theta_min: 0.0 +theta_max: 0.0 +m: 0.0 +cx: 0.0 +cy: 0.0 +cz: 0.0 +Ixx: 0.0 +Ixy: 0.0 +Ixz: 0.0 +Iyy: 0.0 +Iyz: 0.0 +Izz: 0.0 + +[RFr_LINK2] +joint_type: 0 +theta: -1.570796326794895 +d: 59.2 +a: 0.0 +alpha: 1.570796326794895 +theta_min: -2.0944 +theta_max: 2.0944 +m: 0.0 +cx: 0.0 +cy: 0.0 +cz: 0.0 +Ixx: 0.0 +Ixy: 0.0 +Ixz: 0.0 +Iyy: 0.0 +Iyz: 0.0 +Izz: 0.0 +tekkotsu_output: 3 + +[RFr_LINK3] +joint_type: 0 +theta: 0.0 +d: -12.8 +a: 64.0 +alpha: -1.570796326794895 +theta_min: -0.2618 +theta_max: 1.6057 +m: 0.0 +cx: 0.0 +cy: 0.0 +cz: 0.0 +Ixx: 0.0 +Ixy: 0.0 +Ixz: 0.0 +Iyy: 0.0 +Iyz: 0.0 +Izz: 0.0 +tekkotsu_output: 4 + +[RFr_LINK4] +joint_type: 0 +theta: -0.206996 +d: 0.5 +a: 56.986 +alpha: 0.0 +theta_min: -0.5236 +theta_max: 2.6180 +m: 0.0 +cx: 0.0 +cy: 0.0 +cz: 0.0 +Ixx: 0.0 +Ixy: 0.0 +Ixz: 0.0 +Iyy: 0.0 +Iyz: 0.0 +Izz: 0.0 +tekkotsu_output: 5 + +[RFr_LINK5] +joint_type: 0 +immobile: 1 +theta: 0.0 +d: 0.0 +a: 0.0 +alpha: 0.0 +theta_min: 0.0 +theta_max: 0.0 +m: 0.0 +cx: 0.0 +cy: 0.0 +cz: 0.0 +Ixx: 0.0 +Ixy: 0.0 +Ixz: 0.0 +Iyy: 0.0 +Iyz: 0.0 +Izz: 0.0 +tekkotsu_frame: 2 + + +[LBk] +Name: LBk +DH: 1 +Fix: 0 +MinPara: 0 +dof: 5 +Motor: 0 +Stl: 0 + +[LBk_LINK1] +joint_type: 0 +immobile: 1 +theta: 0.0 +d: 0.0 +a: -59.5 +alpha: -1.570796326794895 +theta_min: 0.0 +theta_max: 0.0 +m: 0.0 +cx: 0.0 +cy: 0.0 +cz: 0.0 +Ixx: 0.0 +Ixy: 0.0 +Ixz: 0.0 +Iyy: 0.0 +Iyz: 0.0 +Izz: 0.0 + +[LBk_LINK2] +joint_type: 0 +theta: 1.570796326794895 +d: 59.2 +a: 0.0 +alpha: 1.570796326794895 +theta_min: -2.0944 +theta_max: 2.0944 +m: 0.0 +cx: 0.0 +cy: 0.0 +cz: 0.0 +Ixx: 0.0 +Ixy: 0.0 +Ixz: 0.0 +Iyy: 0.0 +Iyz: 0.0 +Izz: 0.0 +tekkotsu_output: 6 + +[LBk_LINK3] +joint_type: 0 +theta: 0.0 +d: -12.8 +a: 64.0 +alpha: -1.570796326794895 +theta_min: -0.2618 +theta_max: 1.6057 +m: 0.0 +cx: 0.0 +cy: 0.0 +cz: 0.0 +Ixx: 0.0 +Ixy: 0.0 +Ixz: 0.0 +Iyy: 0.0 +Iyz: 0.0 +Izz: 0.0 +tekkotsu_output: 7 + +[LBk_LINK4] +joint_type: 0 +theta: -0.350584 +d: 0.5 +a: 64.572 +alpha: 3.1415926535897932385 +theta_min: -0.5236 +theta_max: 2.6180 +m: 0.0 +cx: 0.0 +cy: 0.0 +cz: 0.0 +Ixx: 0.0 +Ixy: 0.0 +Ixz: 0.0 +Iyy: 0.0 +Iyz: 0.0 +Izz: 0.0 +tekkotsu_output: 8 + +[LBk_LINK5] +joint_type: 0 +immobile: 1 +theta: 0.0 +d: 0.0 +a: 0.0 +alpha: 0.0 +theta_min: 0.0 +theta_max: 0.0 +m: 0.0 +cx: 0.0 +cy: 0.0 +cz: 0.0 +Ixx: 0.0 +Ixy: 0.0 +Ixz: 0.0 +Iyy: 0.0 +Iyz: 0.0 +Izz: 0.0 +tekkotsu_frame: 3 + + +[RBk] +Name: RBk +DH: 1 +Fix: 0 +MinPara: 0 +dof: 5 +Motor: 0 +Stl: 0 + +[RBk_LINK1] +joint_type: 0 +immobile: 1 +theta: 0.0 +d: 0.0 +a: -59.5 +alpha: -1.570796326794895 +theta_min: 0.0 +theta_max: 0.0 +m: 0.0 +cx: 0.0 +cy: 0.0 +cz: 0.0 +Ixx: 0.0 +Ixy: 0.0 +Ixz: 0.0 +Iyy: 0.0 +Iyz: 0.0 +Izz: 0.0 + +[RBk_LINK2] +joint_type: 0 +theta: 1.570796326794895 +d: -59.2 +a: 0.0 +alpha: -1.570796326794895 +theta_min: -2.0944 +theta_max: 2.0944 +m: 0.0 +cx: 0.0 +cy: 0.0 +cz: 0.0 +Ixx: 0.0 +Ixy: 0.0 +Ixz: 0.0 +Iyy: 0.0 +Iyz: 0.0 +Izz: 0.0 +tekkotsu_output: 9 + +[RBk_LINK3] +joint_type: 0 +theta: 0.0 +d: 12.8 +a: 64.0 +alpha: 1.570796326794895 +theta_min: -0.2618 +theta_max: 1.6057 +m: 0.0 +cx: 0.0 +cy: 0.0 +cz: 0.0 +Ixx: 0.0 +Ixy: 0.0 +Ixz: 0.0 +Iyy: 0.0 +Iyz: 0.0 +Izz: 0.0 +tekkotsu_output: 10 + +[RBk_LINK4] +joint_type: 0 +theta: -0.350584 +d: -0.5 +a: 64.572 +alpha: 3.1415926535897932385 +theta_min: -0.5236 +theta_max: 2.6180 +m: 0.0 +cx: 0.0 +cy: 0.0 +cz: 0.0 +Ixx: 0.0 +Ixy: 0.0 +Ixz: 0.0 +Iyy: 0.0 +Iyz: 0.0 +Izz: 0.0 +tekkotsu_output: 11 + +[RBk_LINK5] +joint_type: 0 +immobile: 1 +theta: 0.0 +d: 0.0 +a: 0.0 +alpha: 0.0 +theta_min: 0.0 +theta_max: 0.0 +m: 0.0 +cx: 0.0 +cy: 0.0 +cz: 0.0 +Ixx: 0.0 +Ixy: 0.0 +Ixz: 0.0 +Iyy: 0.0 +Iyz: 0.0 +Izz: 0.0 +tekkotsu_frame: 4 + + +[Camera] +Name: Camera +DH: 1 +Fix: 0 +MinPara: 0 +dof: 5 +Motor: 0 +Stl: 0 + +[Camera_LINK1] +joint_type: 0 +immobile: 1 +theta: 0.0 +d: 50.0 +a: 75.0 +alpha: 1.570796326794895 +theta_min: 0.0 +theta_max: 0.0 +m: 0.0 +cx: 0.0 +cy: 0.0 +cz: 0.0 +Ixx: 0.0 +Ixy: 0.0 +Ixz: 0.0 +Iyy: 0.0 +Iyz: 0.0 +Izz: 0.0 + +[Camera_LINK2] +joint_type: 0 +theta: 0.0 +d: 0.0 +a: 0.0 +alpha: -1.570796326794895 +theta_min: -1.596976 +theta_max: 0.802851 +m: 0.0 +cx: 0.0 +cy: 0.0 +cz: 0.0 +Ixx: 0.0 +Ixy: 0.0 +Ixz: 0.0 +Iyy: 0.0 +Iyz: 0.0 +Izz: 0.0 +tekkotsu_output: 12 + +[Camera_LINK3] +joint_type: 0 +theta: 1.570796326794895 +d: 48.0 +a: 0.0 +alpha: 1.570796326794895 +theta_min: -1.616175 +theta_max: 1.616175 +m: 0.0 +cx: 0.0 +cy: 0.0 +cz: 0.0 +Ixx: 0.0 +Ixy: 0.0 +Ixz: 0.0 +Iyy: 0.0 +Iyz: 0.0 +Izz: 0.0 +tekkotsu_output: 13 + +[Camera_LINK4] +joint_type: 0 +theta: 3.1415926535897932385 +d: 66.6 +a: 0.0 +alpha: 0.0 +theta_min: -0.558505 +theta_max: 0.558505 +m: 0.0 +cx: 0.0 +cy: 0.0 +cz: 0.0 +Ixx: 0.0 +Ixy: 0.0 +Ixz: 0.0 +Iyy: 0.0 +Iyz: 0.0 +Izz: 0.0 +tekkotsu_output: 14 + +[Camera_LINK5] +joint_type: 0 +immobile: 1 +theta: 0.0 +d: 0.0 +a: 0.0 +alpha: 0.0 +theta_min: 0.0 +theta_max: 0.0 +m: 0.0 +cx: 0.0 +cy: 0.0 +cz: 0.0 +Ixx: 0.0 +Ixy: 0.0 +Ixz: 0.0 +Iyy: 0.0 +Iyz: 0.0 +Izz: 0.0 +tekkotsu_frame: 5 + + +[IR] +Name: IR +DH: 1 +Fix: 0 +MinPara: 0 +dof: 6 +Motor: 0 +Stl: 0 + +[IR_LINK1] +joint_type: 0 +immobile: 1 +theta: 0.0 +d: 50.0 +a: 75.0 +alpha: 1.570796326794895 +theta_min: 0.0 +theta_max: 0.0 +m: 0.0 +cx: 0.0 +cy: 0.0 +cz: 0.0 +Ixx: 0.0 +Ixy: 0.0 +Ixz: 0.0 +Iyy: 0.0 +Iyz: 0.0 +Izz: 0.0 + +[IR_LINK2] +joint_type: 0 +theta: 0.0 +d: 0.0 +a: 0.0 +alpha: -1.570796326794895 +theta_min: -1.596976 +theta_max: 0.802851 +m: 0.0 +cx: 0.0 +cy: 0.0 +cz: 0.0 +Ixx: 0.0 +Ixy: 0.0 +Ixz: 0.0 +Iyy: 0.0 +Iyz: 0.0 +Izz: 0.0 +tekkotsu_output: 12 + +[IR_LINK3] +joint_type: 0 +theta: -1.570796326794895 +d: 48.0 +a: 0.0 +alpha: -1.570796326794895 +theta_min: -1.616175 +theta_max: 1.616175 +m: 0.0 +cx: 0.0 +cy: 0.0 +cz: 0.0 +Ixx: 0.0 +Ixy: 0.0 +Ixz: 0.0 +Iyy: 0.0 +Iyz: 0.0 +Izz: 0.0 +tekkotsu_output: 13 + +[IR_LINK4] +joint_type: 0 +theta: -2.02003 +d: 26.5 +a: 0.0 +alpha: 16.2027 +theta_min: -0.558505 +theta_max: 0.558505 +m: 0.0 +cx: 0.0 +cy: 0.0 +cz: 0.0 +Ixx: 0.0 +Ixy: 0.0 +Ixz: 0.0 +Iyy: 0.0 +Iyz: 0.0 +Izz: 0.0 +tekkotsu_output: 14 + +[IR_LINK5] +joint_type: 0 +immobile: 1 +theta: 1.26156 +d: 0.0 +a: 0.0 +alpha: -0.0215808 +theta_min: 0.0 +theta_max: 0.0 +m: 0.0 +cx: 0.0 +cy: 0.0 +cz: 0.0 +Ixx: 0.0 +Ixy: 0.0 +Ixz: 0.0 +Iyy: 0.0 +Iyz: 0.0 +Izz: 0.0 + +[IR_LINK6] +joint_type: 1 +theta: 0.0 +d: 0.0 +a: 0.0 +alpha: 0.0 +theta_min: 0.0 +theta_max: 0.0 +m: 0.0 +cx: 0.0 +cy: 0.0 +cz: 0.0 +Ixx: 0.0 +Ixy: 0.0 +Ixz: 0.0 +Iyy: 0.0 +Iyz: 0.0 +Izz: 0.0 +tekkotsu_frame: 6 + + +[InterestPoints] +Length: 103 + +[InterestPoint1] + name: LFr:elvtr + chain: LFr + link: 2 + x: 0 + y: 0 + z: 0 +[InterestPoint2] + name: LFr:rotor + chain: LFr + link: 3 + x: 0 + y: 0 + z: 0 +[InterestPoint3] + name: LFr:knee~ + chain: LFr + link: 4 + x: 0 + y: 0 + z: 0 +[InterestPoint4] + name: RFr:elvtr + chain: RFr + link: 2 + x: 0 + y: 0 + z: 0 +[InterestPoint5] + name: RFr:rotor + chain: RFr + link: 3 + x: 0 + y: 0 + z: 0 +[InterestPoint6] + name: RFr:knee~ + chain: RFr + link: 4 + x: 0 + y: 0 + z: 0 +[InterestPoint7] + name: LBk:elvtr + chain: LBk + link: 2 + x: 0 + y: 0 + z: 0 +[InterestPoint8] + name: LBk:rotor + chain: LBk + link: 3 + x: 0 + y: 0 + z: 0 +[InterestPoint9] + name: LBk:knee~ + chain: LBk + link: 4 + x: 0 + y: 0 + z: 0 +[InterestPoint10] + name: RBk:elvtr + chain: RBk + link: 2 + x: 0 + y: 0 + z: 0 +[InterestPoint11] + name: RBk:rotor + chain: RBk + link: 3 + x: 0 + y: 0 + z: 0 +[InterestPoint12] + name: RBk:knee~ + chain: RBk + link: 4 + x: 0 + y: 0 + z: 0 +[InterestPoint13] + name: NECK:tilt + chain: Camera + link: 2 + x: 0 + y: 0 + z: 0 +[InterestPoint14] + name: NECK:pan~ + chain: Camera + link: 3 + x: 0 + y: 0 + z: 0 +[InterestPoint15] + name: NECK:nod~ + chain: Camera + link: 4 + x: 0 + y: 0 + z: 0 +[InterestPoint16] + name: Base + chain: Camera + link: 0 + x: 0 + y: 0 + z: 0 +[InterestPoint17] + name: LFrPaw + chain: LFr + link: 5 + x: 0 + y: 0 + z: 0 +[InterestPoint18] + name: RFrPaw + chain: RFr + link: 5 + x: 0 + y: 0 + z: 0 +[InterestPoint19] + name: LBkPaw + chain: LBk + link: 5 + x: 0 + y: 0 + z: 0 +[InterestPoint20] + name: RBkPaw + chain: RBk + link: 5 + x: 0 + y: 0 + z: 0 +[InterestPoint21] + name: Camera + chain: Camera + link: 6 + x: 0 + y: 0 + z: 0 +[InterestPoint22] + name: IR + chain: IR + link: 6 + x: 0 + y: 0 + z: 0 +[InterestPoint23] + name: LowerLeftSnout + chain: Camera + link: 4 + x: -16.369 + y: 14.469 + z: 57.925 +[InterestPoint24] + name: LowerRightSnout + chain: Camera + link: 4 + x: 16.369 + y: 14.469 + z: 57.925 +[InterestPoint25] + name: UpperLeftSnout + chain: Camera + link: 4 + x: -27.545 + y: -18.406 + z: 57.925 +[InterestPoint26] + name: UpperRightSnout + chain: Camera + link: 4 + x: 27.545 + y: -18.406 + z: 57.925 +[InterestPoint27] + name: LeftMicrophone + chain: Camera + link: 4 + x: -42.574 + y: -14.440 + z: 0 +[InterestPoint28] + name: RightMicrophone + chain: Camera + link: 4 + x: 42.574 + y: -14.440 + z: 0 +[InterestPoint29] + name: AntennaBase + chain: Camera + link: 4 + x: 23.286 + y: -36.059 + z: -1.042 +[InterestPoint30] + name: AntennaTip + chain: Camera + link: 4 + x: 23.286 + y: -67.273 + z: -12.955 +[InterestPoint31] + name: HeadLight + chain: Camera + link: 4 + x: 0 + y: -45.903 + z: 37.769 +[InterestPoint32] + name: ToeLFrPaw + chain: LFr + link: 5 + x: 18.464 + y: 31.529 + z: 0 +[InterestPoint33] + name: ToeRFrPaw + chain: RFr + link: 5 + x: 18.464 + y: 31.529 + z: 0 +[InterestPoint34] + name: ToeLBkPaw + chain: LBk + link: 5 + x: -4.890 + y: 36.210 + z: 0 +[InterestPoint35] + name: ToeRBkPaw + chain: RBk + link: 5 + x: -4.890 + y: 36.210 + z: 0 +[InterestPoint36] + name: LowerOuterFrontLFrShin + chain: LFr + link: 4 + x: 52.075 + y: 20.986 + z: -15.843 +[InterestPoint37] + name: LowerInnerFrontRFrShin + chain: RFr + link: 4 + x: 52.075 + y: 20.986 + z: -14.684 +[InterestPoint38] + name: LowerOuterFrontLBkShin + chain: LBk + link: 4 + x: 23.361 + y: -30.920 + z: 15.843 +[InterestPoint39] + name: LowerInnerFrontRBkShin + chain: RBk + link: 4 + x: 23.361 + y: -30.920 + z: 14.684 +[InterestPoint40] + name: LowerInnerFrontLFrShin + chain: LFr + link: 4 + x: 52.075 + y: 20.986 + z: 14.684 +[InterestPoint41] + name: LowerOuterFrontRFrShin + chain: RFr + link: 4 + x: 52.075 + y: 20.986 + z: 15.843 +[InterestPoint42] + name: LowerInnerFrontLBkShin + chain: LBk + link: 4 + x: 23.361 + y: -30.920 + z: -14.684 +[InterestPoint43] + name: LowerOuterFrontRBkShin + chain: RBk + link: 4 + x: 23.361 + y: -30.920 + z: -15.843 +[InterestPoint44] + name: LowerOuterBackLFrShin + chain: LFr + link: 4 + x: 45.891 + y: -26.126 + z: -15.843 +[InterestPoint45] + name: LowerInnerBackRFrShin + chain: RFr + link: 4 + x: 45.891 + y: -26.126 + z: -14.684 +[InterestPoint46] + name: LowerOuterBackLBkShin + chain: LBk + link: 4 + x: 65.997 + y: -8.442 + z: 15.843 +[InterestPoint47] + name: LowerInnerBackRBkShin + chain: RBk + link: 4 + x: 65.997 + y: -8.442 + z: 14.684 +[InterestPoint48] + name: LowerInnerBackLFrShin + chain: LFr + link: 4 + x: 45.891 + y: -26.126 + z: 14.684 +[InterestPoint49] + name: LowerOuterBackRFrShin + chain: RFr + link: 4 + x: 45.891 + y: -26.126 + z: 15.843 +[InterestPoint50] + name: LowerInnerBackLBkShin + chain: LBk + link: 4 + x: 65.997 + y: -8.442 + z: -14.684 +[InterestPoint51] + name: LowerOuterBackRBkShin + chain: RBk + link: 4 + x: 65.997 + y: -8.442 + z: -15.843 +[InterestPoint52] + name: MiddleOuterBackLBkShin + chain: LBk + link: 4 + x: 43.912 + y: 7.434 + z: 15.843 +[InterestPoint53] + name: MiddleInnerBackRBkShin + chain: RBk + link: 4 + x: 43.912 + y: 7.434 + z: 14.684 +[InterestPoint54] + name: MiddleInnerBackLBkShin + chain: LBk + link: 4 + x: 43.912 + y: 7.434 + z: -14.684 +[InterestPoint55] + name: MiddleOuterBackRBkShin + chain: RBk + link: 4 + x: 43.912 + y: 7.434 + z: -15.843 +[InterestPoint56] + name: UpperOuterFrontLFrShin + chain: LFr + link: 4 + x: 11.839 + y: 5.510 + z: -15.843 +[InterestPoint57] + name: UpperInnerFrontRFrShin + chain: RFr + link: 4 + x: 11.839 + y: 5.510 + z: -14.684 +[InterestPoint58] + name: UpperOuterFrontLBkShin + chain: LBk + link: 4 + x: 8.036 + y: -22.656 + z: 15.843 +[InterestPoint59] + name: UpperInnerFrontRBkShin + chain: RBk + link: 4 + x: 8.036 + y: -22.656 + z: 14.684 +[InterestPoint60] + name: UpperInnerFrontLFrShin + chain: LFr + link: 4 + x: 11.839 + y: 5.510 + z: 14.684 +[InterestPoint61] + name: UpperOuterFrontRFrShin + chain: RFr + link: 4 + x: 11.839 + y: 5.510 + z: 15.843 +[InterestPoint62] + name: UpperInnerFrontLBkShin + chain: LBk + link: 4 + x: 8.036 + y: -22.656 + z: -14.684 +[InterestPoint63] + name: UpperOuterFrontRBkShin + chain: RBk + link: 4 + x: 8.036 + y: -22.656 + z: -15.843 +[InterestPoint64] + name: UpperOuterBackLFrShin + chain: LFr + link: 4 + x: -1.381 + y: -23.945 + z: -15.843 +[InterestPoint65] + name: UpperInnerBackRFrShin + chain: RFr + link: 4 + x: -1.381 + y: -23.945 + z: -14.684 +[InterestPoint66] + name: UpperOuterBackLBkShin + chain: LBk + link: 4 + x: 13.646 + y: 4.905 + z: 15.843 +[InterestPoint67] + name: UpperInnerBackRBkShin + chain: RBk + link: 4 + x: 13.646 + y: 4.905 + z: 14.684 +[InterestPoint68] + name: UpperInnerBackLFrShin + chain: LFr + link: 4 + x: -1.381 + y: -23.945 + z: 14.684 +[InterestPoint69] + name: UpperOuterBackRFrShin + chain: RFr + link: 4 + x: -1.381 + y: -23.945 + z: 15.843 +[InterestPoint70] + name: UpperInnerBackLBkShin + chain: LBk + link: 4 + x: 13.646 + y: 4.905 + z: -14.684 +[InterestPoint71] + name: UpperOuterBackRBkShin + chain: RBk + link: 4 + x: 13.646 + y: 4.905 + z: -15.843 +[InterestPoint72] + name: LowerOuterFrontLFrThigh + chain: LFr + link: 3 + x: 36.841 + y: 15.300 + z: 17.244 +[InterestPoint73] + name: LowerInnerFrontRFrThigh + chain: RFr + link: 3 + x: 36.841 + y: -14.994 + z: -17.244 +[InterestPoint74] + name: LowerOuterFrontLBkThigh + chain: LBk + link: 3 + x: 42.819 + y: 15.300 + z: 17.814 +[InterestPoint75] + name: LowerInnerFrontRBkThigh + chain: RBk + link: 3 + x: 42.819 + y: -14.994 + z: -17.814 +[InterestPoint76] + name: LowerInnerFrontLFrThigh + chain: LFr + link: 3 + x: 36.841 + y: -14.994 + z: 17.244 +[InterestPoint77] + name: LowerOuterFrontRFrThigh + chain: RFr + link: 3 + x: 36.841 + y: 15.300 + z: -17.244 +[InterestPoint78] + name: LowerInnerFrontLBkThigh + chain: LBk + link: 3 + x: 42.819 + y: -14.994 + z: 17.814 +[InterestPoint79] + name: LowerOuterFrontRBkThigh + chain: RBk + link: 3 + x: 42.819 + y: 15.300 + z: -17.814 +[InterestPoint80] + name: LowerOuterBackLFrThigh + chain: LFr + link: 3 + x: 42.819 + y: 15.925 + z: -17.814 +[InterestPoint81] + name: LowerInnerBackRFrThigh + chain: RFr + link: 3 + x: 42.819 + y: -14.994 + z: 17.814 +[InterestPoint82] + name: LowerOuterBackLBkThigh + chain: LBk + link: 3 + x: 36.841 + y: 15.925 + z: -17.244 +[InterestPoint83] + name: LowerInnerBackRBkThigh + chain: RBk + link: 3 + x: 36.841 + y: -14.994 + z: 17.244 +[InterestPoint84] + name: LowerInnerBackLFrThigh + chain: LFr + link: 3 + x: 42.819 + y: -14.994 + z: -17.814 +[InterestPoint85] + name: LowerOuterBackRFrThigh + chain: RFr + link: 3 + x: 42.819 + y: 15.925 + z: 17.814 +[InterestPoint86] + name: LowerInnerBackLBkThigh + chain: LBk + link: 3 + x: 36.841 + y: -14.994 + z: -17.244 +[InterestPoint87] + name: LowerOuterBackRBkThigh + chain: RBk + link: 3 + x: 36.841 + y: 15.925 + z: 17.244 +[InterestPoint88] + name: UpperOuterFrontLFrThigh + chain: LFr + link: 3 + x: 15.238 + y: 14.844 + z: 16.736 +[InterestPoint89] + name: UpperInnerFrontRFrThigh + chain: RFr + link: 3 + x: 15.238 + y: -14.994 + z: -16.736 +[InterestPoint90] + name: UpperOuterFrontLBkThigh + chain: LBk + link: 3 + x: 15.238 + y: 14.844 + z: 16.736 +[InterestPoint91] + name: UpperInnerFrontRBkThigh + chain: RBk + link: 3 + x: 15.238 + y: -14.994 + z: -16.736 +[InterestPoint92] + name: UpperInnerFrontLFrThigh + chain: LFr + link: 3 + x: 15.238 + y: -14.994 + z: 16.736 +[InterestPoint93] + name: UpperOuterFrontRFrThigh + chain: RFr + link: 3 + x: 15.238 + y: 14.844 + z: -16.736 +[InterestPoint94] + name: UpperInnerFrontLBkThigh + chain: LBk + link: 3 + x: 15.238 + y: -14.994 + z: 16.736 +[InterestPoint95] + name: UpperOuterFrontRBkThigh + chain: RBk + link: 3 + x: 15.238 + y: 14.844 + z: -16.736 +[InterestPoint96] + name: UpperOuterBackLFrThigh + chain: LFr + link: 3 + x: 15.238 + y: 14.844 + z: -16.736 +[InterestPoint97] + name: UpperInnerBackRFrThigh + chain: RFr + link: 3 + x: 15.238 + y: -14.994 + z: 16.736 +[InterestPoint98] + name: UpperOuterBackLBkThigh + chain: LBk + link: 3 + x: 15.238 + y: 14.844 + z: -16.736 +[InterestPoint99] + name: UpperInnerBackRBkThigh + chain: RBk + link: 3 + x: 15.238 + y: -14.994 + z: 16.736 +[InterestPoint100] + name: UpperInnerBackLFrThigh + chain: LFr + link: 3 + x: 15.238 + y: -14.994 + z: -16.736 +[InterestPoint101] + name: UpperOuterBackRFrThigh + chain: RFr + link: 3 + x: 15.238 + y: 14.844 + z: 16.736 +[InterestPoint102] + name: UpperInnerBackLBkThigh + chain: LBk + link: 3 + x: 15.238 + y: -14.994 + z: -16.736 +[InterestPoint103] + name: UpperOuterBackRBkThigh + chain: RBk + link: 3 + x: 15.238 + y: 14.844 + z: 16.736 Index: ms/config/ers7.kin =================================================================== RCS file: ms/config/ers7.kin diff -N ms/config/ers7.kin --- /dev/null 1 Jan 1970 00:00:00 -0000 +++ ms/config/ers7.kin 18 Oct 2004 23:11:05 -0000 1.13 @@ -0,0 +1,1879 @@ +# ---------------------------------------------------------------- +# Robot configuration File +# ---------------------------------------------------------------- + +[Default] + + +[LFr] +Name: LFr +DH: 1 +Fix: 0 +MinPara: 0 +dof: 5 +Motor: 0 +Stl: 0 + +[LFr_LINK1] +joint_type: 0 +immobile: 1 +theta: 0.0 +d: 0.0 +a: 65.0 +alpha: 1.570796326794895 +theta_min: 0.0 +theta_max: 0.0 +m: 0.0 +cx: 0.0 +cy: 0.0 +cz: 0.0 +Ixx: 0.0 +Ixy: 0.0 +Ixz: 0.0 +Iyy: 0.0 +Iyz: 0.0 +Izz: 0.0 + +[LFr_LINK2] +joint_type: 0 +theta: -1.570796326794895 +d: -62.5 +a: 0.0 +alpha: -1.570796326794895 +theta_min: -2.2689 +theta_max: 2.0071 +m: 0.0 +cx: 0.0 +cy: 0.0 +cz: 0.0 +Ixx: 0.0 +Ixy: 0.0 +Ixz: 0.0 +Iyy: 0.0 +Iyz: 0.0 +Izz: 0.0 +tekkotsu_output: 0 + +[LFr_LINK3] +joint_type: 0 +theta: 0.0 +d: 9.0 +a: 69.5 +alpha: 1.570796326794895 +theta_min: -0.1745 +theta_max: 1.5359 +m: 0.0 +cx: 0.0 +cy: 0.0 +cz: 0.0 +Ixx: 0.0 +Ixy: 0.0 +Ixz: 0.0 +Iyy: 0.0 +Iyz: 0.0 +Izz: 0.0 +tekkotsu_output: 1 + +[LFr_LINK4] +joint_type: 0 +theta: -0.07122 +d: -4.7 +a: 70.1646 +alpha: 0.0 +theta_min: -0.4363 +theta_max: 2.1293 +m: 0.0 +cx: 0.0 +cy: 0.0 +cz: 0.0 +Ixx: 0.0 +Ixy: 0.0 +Ixz: 0.0 +Iyy: 0.0 +Iyz: 0.0 +Izz: 0.0 +tekkotsu_output: 2 + +[LFr_LINK5] +joint_type: 0 +immobile: 1 +theta: 0.0 +d: 0.0 +a: 0.0 +alpha: 0.0 +theta_min: 0.0 +theta_max: 0.0 +m: 0.0 +cx: 0.0 +cy: 0.0 +cz: 0.0 +Ixx: 0.0 +Ixy: 0.0 +Ixz: 0.0 +Iyy: 0.0 +Iyz: 0.0 +Izz: 0.0 +tekkotsu_frame: 1 + + +[RFr] +Name: RFr +DH: 1 +Fix: 0 +MinPara: 0 +dof: 5 +Motor: 0 +Stl: 0 + +[RFr_LINK1] +joint_type: 0 +immobile: 1 +theta: 0.0 +d: 0.0 +a: 65.0 +alpha: 1.570796326794895 +theta_min: 0.0 +theta_max: 0.0 +m: 0.0 +cx: 0.0 +cy: 0.0 +cz: 0.0 +Ixx: 0.0 +Ixy: 0.0 +Ixz: 0.0 +Iyy: 0.0 +Iyz: 0.0 +Izz: 0.0 + +[RFr_LINK2] +joint_type: 0 +theta: -1.570796326794895 +d: 62.5 +a: 0.0 +alpha: 1.570796326794895 +theta_min: -2.2689 +theta_max: 2.0071 +m: 0.0 +cx: 0.0 +cy: 0.0 +cz: 0.0 +Ixx: 0.0 +Ixy: 0.0 +Ixz: 0.0 +Iyy: 0.0 +Iyz: 0.0 +Izz: 0.0 +tekkotsu_output: 3 + +[RFr_LINK3] +joint_type: 0 +theta: 0.0 +d: -9.0 +a: 69.5 +alpha: -1.570796326794895 +theta_min: -0.1745 +theta_max: 1.5359 +m: 0.0 +cx: 0.0 +cy: 0.0 +cz: 0.0 +Ixx: 0.0 +Ixy: 0.0 +Ixz: 0.0 +Iyy: 0.0 +Iyz: 0.0 +Izz: 0.0 +tekkotsu_output: 4 + +[RFr_LINK4] +joint_type: 0 +theta: -0.07122 +d: 4.7 +a: 70.1646 +alpha: 0.0 +theta_min: -0.4363 +theta_max: 2.1293 +m: 0.0 +cx: 0.0 +cy: 0.0 +cz: 0.0 +Ixx: 0.0 +Ixy: 0.0 +Ixz: 0.0 +Iyy: 0.0 +Iyz: 0.0 +Izz: 0.0 +tekkotsu_output: 5 + +[RFr_LINK5] +joint_type: 0 +immobile: 1 +theta: 0.0 +d: 0.0 +a: 0.0 +alpha: 0.0 +theta_min: 0.0 +theta_max: 0.0 +m: 0.0 +cx: 0.0 +cy: 0.0 +cz: 0.0 +Ixx: 0.0 +Ixy: 0.0 +Ixz: 0.0 +Iyy: 0.0 +Iyz: 0.0 +Izz: 0.0 +tekkotsu_frame: 2 + + +[LBk] +Name: LBk +DH: 1 +Fix: 0 +MinPara: 0 +dof: 5 +Motor: 0 +Stl: 0 + +[LBk_LINK1] +joint_type: 0 +immobile: 1 +theta: 0.0 +d: 0.0 +a: -65.0 +alpha: -1.570796326794895 +theta_min: 0.0 +theta_max: 0.0 +m: 0.0 +cx: 0.0 +cy: 0.0 +cz: 0.0 +Ixx: 0.0 +Ixy: 0.0 +Ixz: 0.0 +Iyy: 0.0 +Iyz: 0.0 +Izz: 0.0 + +[LBk_LINK2] +joint_type: 0 +theta: 1.570796326794895 +d: 62.5 +a: 0.0 +alpha: 1.570796326794895 +theta_min: -2.2689 +theta_max: 2.0071 +m: 0.0 +cx: 0.0 +cy: 0.0 +cz: 0.0 +Ixx: 0.0 +Ixy: 0.0 +Ixz: 0.0 +Iyy: 0.0 +Iyz: 0.0 +Izz: 0.0 +tekkotsu_output: 6 + +[LBk_LINK3] +joint_type: 0 +theta: 0.0 +d: -9.0 +a: 69.5 +alpha: -1.570796326794895 +theta_min: -0.1745 +theta_max: 1.5359 +m: 0.0 +cx: 0.0 +cy: 0.0 +cz: 0.0 +Ixx: 0.0 +Ixy: 0.0 +Ixz: 0.0 +Iyy: 0.0 +Iyz: 0.0 +Izz: 0.0 +tekkotsu_output: 7 + +[LBk_LINK4] +joint_type: 0 +theta: -0.26686 +d: 4.7 +a: 70.1646 +alpha: 3.1415926535897932385 +theta_min: -0.4363 +theta_max: 2.1293 +m: 0.0 +cx: 0.0 +cy: 0.0 +cz: 0.0 +Ixx: 0.0 +Ixy: 0.0 +Ixz: 0.0 +Iyy: 0.0 +Iyz: 0.0 +Izz: 0.0 +tekkotsu_output: 8 + +[LBk_LINK5] +joint_type: 0 +immobile: 1 +theta: 0.0 +d: 0.0 +a: 0.0 +alpha: 0.0 +theta_min: 0.0 +theta_max: 0.0 +m: 0.0 +cx: 0.0 +cy: 0.0 +cz: 0.0 +Ixx: 0.0 +Ixy: 0.0 +Ixz: 0.0 +Iyy: 0.0 +Iyz: 0.0 +Izz: 0.0 +tekkotsu_frame: 3 + + +[RBk] +Name: RBk +DH: 1 +Fix: 0 +MinPara: 0 +dof: 5 +Motor: 0 +Stl: 0 + +[RBk_LINK1] +joint_type: 0 +immobile: 1 +theta: 0.0 +d: 0.0 +a: -65.0 +alpha: -1.570796326794895 +theta_min: 0.0 +theta_max: 0.0 +m: 0.0 +cx: 0.0 +cy: 0.0 +cz: 0.0 +Ixx: 0.0 +Ixy: 0.0 +Ixz: 0.0 +Iyy: 0.0 +Iyz: 0.0 +Izz: 0.0 + +[RBk_LINK2] +joint_type: 0 +theta: 1.570796326794895 +d: -62.5 +a: 0.0 +alpha: -1.570796326794895 +theta_min: -2.2689 +theta_max: 2.0071 +m: 0.0 +cx: 0.0 +cy: 0.0 +cz: 0.0 +Ixx: 0.0 +Ixy: 0.0 +Ixz: 0.0 +Iyy: 0.0 +Iyz: 0.0 +Izz: 0.0 +tekkotsu_output: 9 + +[RBk_LINK3] +joint_type: 0 +theta: 0.0 +d: 9.0 +a: 69.5 +alpha: 1.570796326794895 +theta_min: -0.1745 +theta_max: 1.5359 +m: 0.0 +cx: 0.0 +cy: 0.0 +cz: 0.0 +Ixx: 0.0 +Ixy: 0.0 +Ixz: 0.0 +Iyy: 0.0 +Iyz: 0.0 +Izz: 0.0 +tekkotsu_output: 10 + +[RBk_LINK4] +joint_type: 0 +theta: -0.26686 +d: -4.7 +a: 70.1646 +alpha: 3.1415926535897932385 +theta_min: -0.4363 +theta_max: 2.1293 +m: 0.0 +cx: 0.0 +cy: 0.0 +cz: 0.0 +Ixx: 0.0 +Ixy: 0.0 +Ixz: 0.0 +Iyy: 0.0 +Iyz: 0.0 +Izz: 0.0 +tekkotsu_output: 11 + +[RBk_LINK5] +joint_type: 0 +immobile: 1 +theta: 0.0 +d: 0.0 +a: 0.0 +alpha: 0.0 +theta_min: 0.0 +theta_max: 0.0 +m: 0.0 +cx: 0.0 +cy: 0.0 +cz: 0.0 +Ixx: 0.0 +Ixy: 0.0 +Ixz: 0.0 +Iyy: 0.0 +Iyz: 0.0 +Izz: 0.0 +tekkotsu_frame: 4 + + +[Mouth] +Name: Mouth +DH: 1 +Fix: 0 +MinPara: 0 +dof: 5 +Motor: 0 +Stl: 0 + +[Mouth_LINK1] +joint_type: 0 +immobile: 1 +theta: 0.0 +d: 19.5 +a: 67.5 +alpha: 1.570796326794895 +theta_min: 0.0 +theta_max: 0.0 +m: 0.0 +cx: 0.0 +cy: 0.0 +cz: 0.0 +Ixx: 0.0 +Ixy: 0.0 +Ixz: 0.0 +Iyy: 0.0 +Iyz: 0.0 +Izz: 0.0 + +[Mouth_LINK2] +joint_type: 0 +theta: 0.0 +d: 0.0 +a: 0.0 +alpha: -1.570796326794895 +theta_min: -1.308996939 +theta_max: 0.0 +m: 0.0 +cx: 0.0 +cy: 0.0 +cz: 0.0 +Ixx: 0.0 +Ixy: 0.0 +Ixz: 0.0 +Iyy: 0.0 +Iyz: 0.0 +Izz: 0.0 +tekkotsu_output: 12 + +[Mouth_LINK3] +joint_type: 0 +theta: 0.0 +d: 80.0 +a: 0.0 +alpha: 1.570796326794895 +theta_min: -1.53588974176 +theta_max: 1.53588974176 +m: 0.0 +cx: 0.0 +cy: 0.0 +cz: 0.0 +Ixx: 0.0 +Ixy: 0.0 +Ixz: 0.0 +Iyy: 0.0 +Iyz: 0.0 +Izz: 0.0 +tekkotsu_output: 13 + +[Mouth_LINK4] +joint_type: 0 +theta: -0.41241 +d: 0.0 +a: 43.6606 +alpha: 0.0 +theta_min: -0.261799387799 +theta_max: 0.785398163397 +m: 0.0 +cx: 0.0 +cy: 0.0 +cz: 0.0 +Ixx: 0.0 +Ixy: 0.0 +Ixz: 0.0 +Iyy: 0.0 +Iyz: 0.0 +Izz: 0.0 +tekkotsu_output: 14 + +[Mouth_LINK5] +joint_type: 0 +theta: 0.127935 +d: 0.0 +a: 42.0076 +alpha: -1.570796326794895 +theta_min: -0.959931088597 +theta_max: 0.0 +m: 0.0 +cx: 0.0 +cy: 0.0 +cz: 0.0 +Ixx: 0.0 +Ixy: 0.0 +Ixz: 0.0 +Iyy: 0.0 +Iyz: 0.0 +Izz: 0.0 +tekkotsu_output: 17 + + +[Camera] +Name: Camera +DH: 1 +Fix: 0 +MinPara: 0 +dof: 6 +Motor: 0 +Stl: 0 + +[Camera_LINK1] +joint_type: 0 +immobile: 1 +theta: 0.0 +d: 19.5 +a: 67.5 +alpha: 1.570796326794895 +theta_min: 0.0 +theta_max: 0.0 +m: 0.0 +cx: 0.0 +cy: 0.0 +cz: 0.0 +Ixx: 0.0 +Ixy: 0.0 +Ixz: 0.0 +Iyy: 0.0 +Iyz: 0.0 +Izz: 0.0 + +[Camera_LINK2] +joint_type: 0 +theta: 0.0 +d: 0.0 +a: 0.0 +alpha: -1.570796326794895 +theta_min: -1.308996939 +theta_max: 0.0 +m: 0.0 +cx: 0.0 +cy: 0.0 +cz: 0.0 +Ixx: 0.0 +Ixy: 0.0 +Ixz: 0.0 +Iyy: 0.0 +Iyz: 0.0 +Izz: 0.0 +tekkotsu_output: 12 + +[Camera_LINK3] +joint_type: 0 +theta: 0.0 +d: 80.0 +a: 0.0 +alpha: 1.570796326794895 +theta_min: -1.53588974176 +theta_max: 1.53588974176 +m: 0.0 +cx: 0.0 +cy: 0.0 +cz: 0.0 +Ixx: 0.0 +Ixy: 0.0 +Ixz: 0.0 +Iyy: 0.0 +Iyz: 0.0 +Izz: 0.0 +tekkotsu_output: 13 + +[Camera_LINK4] +joint_type: 0 +theta: -1.570796326794895 +d: 0.0 +a: 14.6 +alpha: -1.570796326794895 +theta_min: -0.261799387799 +theta_max: 0.785398163397 +m: 0.0 +cx: 0.0 +cy: 0.0 +cz: 0.0 +Ixx: 0.0 +Ixy: 0.0 +Ixz: 0.0 +Iyy: 0.0 +Iyz: 0.0 +Izz: 0.0 +tekkotsu_output: 14 + +[Camera_LINK5] +joint_type: 1 +immobile: 1 +theta: -1.570796326794895 +d: 81.06 +a: 0.0 +alpha: 0.0 +theta_min: 0.0 +theta_max: 0.0 +m: 0.0 +cx: 0.0 +cy: 0.0 +cz: 0.0 +Ixx: 0.0 +Ixy: 0.0 +Ixz: 0.0 +Iyy: 0.0 +Iyz: 0.0 +Izz: 0.0 + +[Camera_LINK6] +joint_type: 0 +immobile: 1 +theta: 0.0 +d: 0.0 +a: 0.0 +alpha: 0.0 +theta_min: 0.0 +theta_max: 0.0 +m: 0.0 +cx: 0.0 +cy: 0.0 +cz: 0.0 +Ixx: 0.0 +Ixy: 0.0 +Ixz: 0.0 +Iyy: 0.0 +Iyz: 0.0 +Izz: 0.0 +tekkotsu_frame: 5 + + +[NearIR] +Name: NearIR +DH: 1 +Fix: 0 +MinPara: 0 +dof: 6 +Motor: 0 +Stl: 0 + +[NearIR_LINK1] +joint_type: 0 +immobile: 1 +theta: 0.0 +d: 19.5 +a: 67.5 +alpha: 1.570796326794895 +theta_min: 0.0 +theta_max: 0.0 +m: 0.0 +cx: 0.0 +cy: 0.0 +cz: 0.0 +Ixx: 0.0 +Ixy: 0.0 +Ixz: 0.0 +Iyy: 0.0 +Iyz: 0.0 +Izz: 0.0 + +[NearIR_LINK2] +joint_type: 0 +theta: 0.0 +d: 0.0 +a: 0.0 +alpha: -1.570796326794895 +theta_min: -1.308996939 +theta_max: 0.0 +m: 0.0 +cx: 0.0 +cy: 0.0 +cz: 0.0 +Ixx: 0.0 +Ixy: 0.0 +Ixz: 0.0 +Iyy: 0.0 +Iyz: 0.0 +Izz: 0.0 +tekkotsu_output: 12 + +[NearIR_LINK3] +joint_type: 0 +theta: 0.0 +d: 80.0 +a: 0.0 +alpha: 1.570796326794895 +theta_min: -1.53588974176 +theta_max: 1.53588974176 +m: 0.0 +cx: 0.0 +cy: 0.0 +cz: 0.0 +Ixx: 0.0 +Ixy: 0.0 +Ixz: 0.0 +Iyy: 0.0 +Iyz: 0.0 +Izz: 0.0 +tekkotsu_output: 13 + +[NearIR_LINK4] +joint_type: 0 +theta: 0.0249189 +d: 2.79525 +a: 76.9239 +alpha: 0.0 +theta_min: -0.261799387799 +theta_max: 0.785398163397 +m: 0.0 +cx: 0.0 +cy: 0.0 +cz: 0.0 +Ixx: 0.0 +Ixy: 0.0 +Ixz: 0.0 +Iyy: 0.0 +Iyz: 0.0 +Izz: 0.0 +tekkotsu_output: 14 + +[NearIR_LINK5] +joint_type: 0 +immobile: 1 +theta: 1.50041 +d: 0.0 +a: 0.0 +alpha: 1.55997 +theta_min: 0.0 +theta_max: 0.0 +m: 0.0 +cx: 0.0 +cy: 0.0 +cz: 0.0 +Ixx: 0.0 +Ixy: 0.0 +Ixz: 0.0 +Iyy: 0.0 +Iyz: 0.0 +Izz: 0.0 + +[NearIR_LINK6] +joint_type: 1 +theta: 0.0 +d: 0.0 +a: 0.0 +alpha: 0.0 +theta_min: 0.0 +theta_max: 0.0 +m: 0.0 +cx: 0.0 +cy: 0.0 +cz: 0.0 +Ixx: 0.0 +Ixy: 0.0 +Ixz: 0.0 +Iyy: 0.0 +Iyz: 0.0 +Izz: 0.0 +tekkotsu_frame: 6 + + +[FarIR] +Name: FarIR +DH: 1 +Fix: 0 +MinPara: 0 +dof: 6 +Motor: 0 +Stl: 0 + +[FarIR_LINK1] +joint_type: 0 +immobile: 1 +theta: 0.0 +d: 19.5 +a: 67.5 +alpha: 1.570796326794895 +theta_min: 0.0 +theta_max: 0.0 +m: 0.0 +cx: 0.0 +cy: 0.0 +cz: 0.0 +Ixx: 0.0 +Ixy: 0.0 +Ixz: 0.0 +Iyy: 0.0 +Iyz: 0.0 +Izz: 0.0 + +[FarIR_LINK2] +joint_type: 0 +theta: 0.0 +d: 0.0 +a: 0.0 +alpha: -1.570796326794895 +theta_min: -1.308996939 +theta_max: 0.0 +m: 0.0 +cx: 0.0 +cy: 0.0 +cz: 0.0 +Ixx: 0.0 +Ixy: 0.0 +Ixz: 0.0 +Iyy: 0.0 +Iyz: 0.0 +Izz: 0.0 +tekkotsu_output: 12 + +[FarIR_LINK3] +joint_type: 0 +theta: 0.0 +d: 80.0 +a: 0.0 +alpha: 1.570796326794895 +theta_min: -1.53588974176 +theta_max: 1.53588974176 +m: 0.0 +cx: 0.0 +cy: 0.0 +cz: 0.0 +Ixx: 0.0 +Ixy: 0.0 +Ixz: 0.0 +Iyy: 0.0 +Iyz: 0.0 +Izz: 0.0 +tekkotsu_output: 13 + +[FarIR_LINK4] +joint_type: 0 +theta: 0.0136814 +d: -8.04682 +a: 76.9072 +alpha: 0.0 +theta_min: -0.261799387799 +theta_max: 0.785398163397 +m: 0.0 +cx: 0.0 +cy: 0.0 +cz: 0.0 +Ixx: 0.0 +Ixy: 0.0 +Ixz: 0.0 +Iyy: 0.0 +Iyz: 0.0 +Izz: 0.0 +tekkotsu_output: 14 + +[FarIR_LINK5] +joint_type: 0 +immobile: 1 +theta: 1.52305 +d: 0.0 +a: 0.0 +alpha: 1.56055 +theta_min: 0.0 +theta_max: 0.0 +m: 0.0 +cx: 0.0 +cy: 0.0 +cz: 0.0 +Ixx: 0.0 +Ixy: 0.0 +Ixz: 0.0 +Iyy: 0.0 +Iyz: 0.0 +Izz: 0.0 + +[FarIR_LINK6] +joint_type: 1 +theta: 0.0 +d: 0.0 +a: 0.0 +alpha: 0.0 +theta_min: 0.0 +theta_max: 0.0 +m: 0.0 +cx: 0.0 +cy: 0.0 +cz: 0.0 +Ixx: 0.0 +Ixy: 0.0 +Ixz: 0.0 +Iyy: 0.0 +Iyz: 0.0 +Izz: 0.0 +tekkotsu_frame: 7 + + +[ChestIR] +Name: ChestIR +DH: 1 +Fix: 0 +MinPara: 0 +dof: 3 +Motor: 0 +Stl: 0 + +[ChestIR_LINK1] +joint_type: 0 +immobile: 1 +theta: 0.0 +d: -3.38397459622 +a: 109.13620668 +alpha: 1.570796326794895 +theta_min: 0.0 +theta_max: 0.0 +m: 0.0 +cx: 0.0 +cy: 0.0 +cz: 0.0 +Ixx: 0.0 +Ixy: 0.0 +Ixz: 0.0 +Iyy: 0.0 +Iyz: 0.0 +Izz: 0.0 + +[ChestIR_LINK2] +joint_type: 0 +immobile: 1 +theta: 1.0471975512 +d: 0.0 +a: 0.0 +alpha: 1.570796326794895 +theta_min: 0.0 +theta_max: 0.0 +m: 0.0 +cx: 0.0 +cy: 0.0 +cz: 0.0 +Ixx: 0.0 +Ixy: 0.0 +Ixz: 0.0 +Iyy: 0.0 +Iyz: 0.0 +Izz: 0.0 + +[ChestIR_LINK3] +joint_type: 1 +theta: 0.0 +d: 0.0 +a: 0.0 +alpha: 0.0 +theta_min: 0.0 +theta_max: 0.0 +m: 0.0 +cx: 0.0 +cy: 0.0 +cz: 0.0 +Ixx: 0.0 +Ixy: 0.0 +Ixz: 0.0 +Iyy: 0.0 +Iyz: 0.0 +Izz: 0.0 +tekkotsu_frame: 8 + + +[InterestPoints] +Length: 122 + +[InterestPoint1] + name: LFr:elvtr + chain: LFr + link: 2 + x: 0 + y: 0 + z: 0 +[InterestPoint2] + name: LFr:rotor + chain: LFr + link: 3 + x: 0 + y: 0 + z: 0 +[InterestPoint3] + name: LFr:knee~ + chain: LFr + link: 4 + x: 0 + y: 0 + z: 0 +[InterestPoint4] + name: RFr:elvtr + chain: RFr + link: 2 + x: 0 + y: 0 + z: 0 +[InterestPoint5] + name: RFr:rotor + chain: RFr + link: 3 + x: 0 + y: 0 + z: 0 +[InterestPoint6] + name: RFr:knee~ + chain: RFr + link: 4 + x: 0 + y: 0 + z: 0 +[InterestPoint7] + name: LBk:elvtr + chain: LBk + link: 2 + x: 0 + y: 0 + z: 0 +[InterestPoint8] + name: LBk:rotor + chain: LBk + link: 3 + x: 0 + y: 0 + z: 0 +[InterestPoint9] + name: LBk:knee~ + chain: LBk + link: 4 + x: 0 + y: 0 + z: 0 +[InterestPoint10] + name: RBk:elvtr + chain: RBk + link: 2 + x: 0 + y: 0 + z: 0 +[InterestPoint11] + name: RBk:rotor + chain: RBk + link: 3 + x: 0 + y: 0 + z: 0 +[InterestPoint12] + name: RBk:knee~ + chain: RBk + link: 4 + x: 0 + y: 0 + z: 0 +[InterestPoint13] + name: NECK:tilt + chain: Camera + link: 2 + x: 0 + y: 0 + z: 0 +[InterestPoint14] + name: NECK:pan~ + chain: Camera + link: 3 + x: 0 + y: 0 + z: 0 +[InterestPoint15] + name: NECK:nod~ + chain: Camera + link: 4 + x: 0 + y: 0 + z: 0 +[InterestPoint16] + name: MOUTH~~~~ + chain: Mouth + link: 5 + x: 0 + y: 0 + z: 0 +[InterestPoint17] + name: Base + chain: Camera + link: 0 + x: 0 + y: 0 + z: 0 +[InterestPoint18] + name: LFrPaw + chain: LFr + link: 5 + x: 0 + y: 0 + z: 0 +[InterestPoint19] + name: RFrPaw + chain: RFr + link: 5 + x: 0 + y: 0 + z: 0 +[InterestPoint20] + name: LBkPaw + chain: LBk + link: 5 + x: 0 + y: 0 + z: 0 +[InterestPoint21] + name: RBkPaw + chain: RBk + link: 5 + x: 0 + y: 0 + z: 0 +[InterestPoint22] + name: Camera + chain: Camera + link: 6 + x: 0 + y: 0 + z: 0 +[InterestPoint23] + name: NearIR + chain: NearIR + link: 6 + x: 0 + y: 0 + z: 0 +[InterestPoint24] + name: FarIR + chain: FarIR + link: 6 + x: 0 + y: 0 + z: 0 +[InterestPoint25] + name: ChestIR + chain: ChestIR + link: 3 + x: 0 + y: 0 + z: 0 +[InterestPoint26] + name: LowerLeftLowerLip + chain: Mouth + link: 5 + x: 40.851 + y: 12.275 + z: -16.128 +[InterestPoint27] + name: LowerRightLowerLip + chain: Mouth + link: 5 + x: 40.851 + y: 12.275 + z: 16.128 +[InterestPoint28] + name: UpperLeftLowerLip + chain: Mouth + link: 5 + x: 38.378 + y: 11.203 + z: -11.397 +[InterestPoint29] + name: UpperRightLowerLip + chain: Mouth + link: 5 + x: 38.378 + y: 11.203 + z: 11.397 +[InterestPoint30] + name: LowerLeftUpperLip + chain: Mouth + link: 4 + x: 79.518 + y: -22.291 + z: -11.397 +[InterestPoint31] + name: LowerRightUpperLip + chain: Mouth + link: 4 + x: 79.518 + y: -22.291 + z: 11.397 +[InterestPoint32] + name: LowerLeftSnout + chain: Camera + link: 4 + x: 54.223 + y: -21.146 + z: -37.291 +[InterestPoint33] + name: LowerRightSnout + chain: Camera + link: 4 + x: 54.223 + y: -21.146 + z: 37.291 +[InterestPoint34] + name: UpperLeftSnout + chain: Camera + link: 4 + x: 54.223 + y: 7.605 + z: -26.284 +[InterestPoint35] + name: UpperRightSnout + chain: Camera + link: 4 + x: 54.223 + y: 7.605 + z: 26.284 +[InterestPoint36] + name: LeftMicrophone + chain: Camera + link: 4 + x: -11.156 + y: 14.897 + z: -46.941 +[InterestPoint37] + name: RightMicrophone + chain: Camera + link: 4 + x: -11.156 + y: 14.897 + z: 46.941 +[InterestPoint38] + name: HeadButton + chain: Camera + link: 4 + x: -7.704 + y: 41.192 + z: 0 +[InterestPoint39] + name: ToeLFrPaw + chain: LFr + link: 5 + x: 7.180 + y: 29.548 + z: 0 +[InterestPoint40] + name: ToeRFrPaw + chain: RFr + link: 5 + x: 7.180 + y: 29.548 + z: 0 +[InterestPoint41] + name: ToeLBkPaw + chain: LBk + link: 5 + x: -6.414 + y: 27.759 + z: 0 +[InterestPoint42] + name: ToeRBkPaw + chain: RBk + link: 5 + x: -6.414 + y: 27.759 + z: 0 +[InterestPoint43] + name: LowerOuterFrontLFrShin + chain: LFr + link: 4 + x: 59.298 + y: 21.239 + z: -24.557 +[InterestPoint44] + name: LowerInnerFrontRFrShin + chain: RFr + link: 4 + x: 59.298 + y: 21.239 + z: -15.158 +[InterestPoint45] + name: LowerOuterFrontLBkShin + chain: LBk + link: 4 + x: 41.172 + y: -33.863 + z: 24.557 +[InterestPoint46] + name: LowerInnerFrontRBkShin + chain: RBk + link: 4 + x: 41.172 + y: -33.863 + z: 15.158 +[InterestPoint47] + name: LowerInnerFrontLFrShin + chain: LFr + link: 4 + x: 59.298 + y: 21.239 + z: 15.158 +[InterestPoint48] + name: LowerOuterFrontRFrShin + chain: RFr + link: 4 + x: 59.298 + y: 21.239 + z: 24.557 +[InterestPoint49] + name: LowerInnerFrontLBkShin + chain: LBk + link: 4 + x: 41.172 + y: -33.863 + z: -15.158 +[InterestPoint50] + name: LowerOuterFrontRBkShin + chain: RBk + link: 4 + x: 41.172 + y: -33.863 + z: -24.557 +[InterestPoint51] + name: LowerOuterMiddleLFrShin + chain: LFr + link: 4 + x: 63.011 + y: -15.573 + z: -24.557 +[InterestPoint52] + name: LowerInnerMiddleRFrShin + chain: RFr + link: 4 + x: 63.011 + y: -15.573 + z: -15.158 +[InterestPoint53] + name: LowerOuterMiddleLBkShin + chain: LBk + link: 4 + x: 75.203 + y: -8.342 + z: 24.557 +[InterestPoint54] + name: LowerInnerMiddleRBkShin + chain: RBk + link: 4 + x: 75.203 + y: -8.342 + z: 15.158 +[InterestPoint55] + name: LowerInnerMiddleLFrShin + chain: LFr + link: 4 + x: 63.011 + y: -15.573 + z: 15.158 +[InterestPoint56] + name: LowerOuterMiddleRFrShin + chain: RFr + link: 4 + x: 63.011 + y: -15.573 + z: 24.557 +[InterestPoint57] + name: LowerInnerMiddleLBkShin + chain: LBk + link: 4 + x: 75.203 + y: -8.342 + z: -15.158 +[InterestPoint58] + name: LowerOuterMiddleRBkShin + chain: RBk + link: 4 + x: 75.203 + y: -8.342 + z: -24.557 +[InterestPoint59] + name: LowerOuterBackLFrShin + chain: LFr + link: 4 + x: 40.581 + y: -26.402 + z: -24.557 +[InterestPoint60] + name: LowerInnerBackRFrShin + chain: RFr + link: 4 + x: 40.581 + y: -26.402 + z: -15.158 +[InterestPoint61] + name: LowerOuterBackLBkShin + chain: LBk + link: 4 + x: 71.133 + y: 8.187 + z: 24.557 +[InterestPoint62] + name: LowerInnerBackRBkShin + chain: RBk + link: 4 + x: 71.133 + y: 8.187 + z: 15.158 +[InterestPoint63] + name: LowerInnerBackLFrShin + chain: LFr + link: 4 + x: 40.581 + y: -26.402 + z: 15.158 +[InterestPoint64] + name: LowerOuterBackRFrShin + chain: RFr + link: 4 + x: 40.581 + y: -26.402 + z: 24.557 +[InterestPoint65] + name: LowerInnerBackLBkShin + chain: LBk + link: 4 + x: 71.133 + y: 8.187 + z: -15.158 +[InterestPoint66] + name: LowerOuterBackRBkShin + chain: RBk + link: 4 + x: 71.133 + y: 8.187 + z: -24.557 +[InterestPoint67] + name: MiddleOuterMiddleLFrShin + chain: LFr + link: 4 + x: 42.057 + y: -10.714 + z: -27.747 +[InterestPoint68] + name: MiddleInnerMiddleRFrShin + chain: RFr + link: 4 + x: 42.057 + y: -10.714 + z: -18.353 +[InterestPoint69] + name: MiddleOuterMiddleLBkShin + chain: LBk + link: 4 + x: 41.625 + y: -11.335 + z: 27.747 +[InterestPoint70] + name: MiddleInnerMiddleRBkShin + chain: RBk + link: 4 + x: 41.625 + y: -11.335 + z: 18.353 +[InterestPoint71] + name: MiddleInnerMiddleLFrShin + chain: LFr + link: 4 + x: 42.057 + y: -10.714 + z: 18.353 +[InterestPoint72] + name: MiddleOuterMiddleRFrShin + chain: RFr + link: 4 + x: 42.057 + y: -10.714 + z: 27.747 +[InterestPoint73] + name: MiddleInnerMiddleLBkShin + chain: LBk + link: 4 + x: 41.625 + y: -11.335 + z: -18.353 +[InterestPoint74] + name: MiddleOuterMiddleRBkShin + chain: RBk + link: 4 + x: 41.625 + y: -11.335 + z: -27.747 +[InterestPoint75] + name: UpperOuterFrontLFrShin + chain: LFr + link: 4 + x: 29.289 + y: 14.743 + z: -23.426 +[InterestPoint76] + name: UpperInnerFrontRFrShin + chain: RFr + link: 4 + x: 29.289 + y: 14.743 + z: -14.026 +[InterestPoint77] + name: UpperOuterFrontLBkShin + chain: LBk + link: 4 + x: 2.812 + y: -22.417 + z: 23.426 +[InterestPoint78] + name: UpperInnerFrontRBkShin + chain: RBk + link: 4 + x: 2.812 + y: -22.417 + z: 14.026 +[InterestPoint79] + name: UpperInnerFrontLFrShin + chain: LFr + link: 4 + x: 29.289 + y: 14.743 + z: 14.026 +[InterestPoint80] + name: UpperOuterFrontRFrShin + chain: RFr + link: 4 + x: 29.289 + y: 14.743 + z: 23.426 +[InterestPoint81] + name: UpperInnerFrontLBkShin + chain: LBk + link: 4 + x: 2.812 + y: -22.417 + z: -14.026 +[InterestPoint82] + name: UpperOuterFrontRBkShin + chain: RBk + link: 4 + x: 2.812 + y: -22.417 + z: -23.426 +[InterestPoint83] + name: UpperOuterBackLFrShin + chain: LFr + link: 4 + x: 6.397 + y: -20.060 + z: -23.426 +[InterestPoint84] + name: UpperInnerBackRFrShin + chain: RFr + link: 4 + x: 6.397 + y: -20.060 + z: -14.026 +[InterestPoint85] + name: UpperOuterBackLBkShin + chain: LBk + link: 4 + x: 32.869 + y: 9.622 + z: 23.426 +[InterestPoint86] + name: UpperInnerBackRBkShin + chain: RBk + link: 4 + x: 32.869 + y: 9.622 + z: 14.026 +[InterestPoint87] + name: UpperInnerBackLFrShin + chain: LFr + link: 4 + x: 6.397 + y: -20.060 + z: 14.026 +[InterestPoint88] + name: UpperOuterBackRFrShin + chain: RFr + link: 4 + x: 6.397 + y: -20.060 + z: 23.426 +[InterestPoint89] + name: UpperInnerBackLBkShin + chain: LBk + link: 4 + x: 32.869 + y: 9.622 + z: -14.026 +[InterestPoint90] + name: UpperOuterBackRBkShin + chain: RBk + link: 4 + x: 32.869 + y: 9.622 + z: -23.426 +[InterestPoint91] + name: LowerOuterFrontLFrThigh + chain: LFr + link: 3 + x: 47.947 + y: 14.539 + z: 17.189 +[InterestPoint92] + name: LowerInnerFrontRFrThigh + chain: RFr + link: 3 + x: 47.947 + y: -5.043 + z: -17.189 +[InterestPoint93] + name: LowerOuterFrontLBkThigh + chain: LBk + link: 3 + x: 47.947 + y: 14.539 + z: 17.189 +[InterestPoint94] + name: LowerInnerFrontRBkThigh + chain: RBk + link: 3 + x: 47.947 + y: -5.043 + z: -17.189 +[InterestPoint95] + name: LowerInnerFrontLFrThigh + chain: LFr + link: 3 + x: 47.947 + y: -5.043 + z: 17.189 +[InterestPoint96] + name: LowerOuterFrontRFrThigh + chain: RFr + link: 3 + x: 47.947 + y: 14.539 + z: -17.189 +[InterestPoint97] + name: LowerInnerFrontLBkThigh + chain: LBk + link: 3 + x: 47.947 + y: -5.043 + z: 17.189 +[InterestPoint98] + name: LowerOuterFrontRBkThigh + chain: RBk + link: 3 + x: 47.947 + y: 14.539 + z: -17.189 +[InterestPoint99] + name: LowerOuterBackLFrThigh + chain: LFr + link: 3 + x: 47.947 + y: 14.539 + z: -17.189 +[InterestPoint100] + name: LowerInnerBackRFrThigh + chain: RFr + link: 3 + x: 47.947 + y: -5.043 + z: 17.189 +[InterestPoint101] + name: LowerOuterBackLBkThigh + chain: LBk + link: 3 + x: 47.947 + y: 14.539 + z: -17.189 +[InterestPoint102] + name: LowerInnerBackRBkThigh + chain: RBk + link: 3 + x: 47.947 + y: -5.043 + z: 17.189 +[InterestPoint103] + name: LowerInnerBackLFrThigh + chain: LFr + link: 3 + x: 47.947 + y: -5.043 + z: -17.189 +[InterestPoint104] + name: LowerOuterBackRFrThigh + chain: RFr + link: 3 + x: 47.947 + y: 14.539 + z: 17.189 +[InterestPoint105] + name: LowerInnerBackLBkThigh + chain: LBk + link: 3 + x: 47.947 + y: -5.043 + z: -17.189 +[InterestPoint106] + name: LowerOuterBackRBkThigh + chain: RBk + link: 3 + x: 47.947 + y: 14.539 + z: 17.189 +[InterestPoint107] + name: UpperOuterFrontLFrThigh + chain: LFr + link: 3 + x: 0 + y: 10.310 + z: 17.189 +[InterestPoint108] + name: UpperInnerFrontRFrThigh + chain: RFr + link: 3 + x: 0 + y: -5.043 + z: -17.189 +[InterestPoint109] + name: UpperOuterFrontLBkThigh + chain: LBk + link: 3 + x: 0 + y: 10.310 + z: 17.189 +[InterestPoint110] + name: UpperInnerFrontRBkThigh + chain: RBk + link: 3 + x: 0 + y: -5.043 + z: -17.189 +[InterestPoint111] + name: UpperInnerFrontLFrThigh + chain: LFr + link: 3 + x: 0 + y: -5.043 + z: 17.189 +[InterestPoint112] + name: UpperOuterFrontRFrThigh + chain: RFr + link: 3 + x: 0 + y: 10.310 + z: -17.189 +[InterestPoint113] + name: UpperInnerFrontLBkThigh + chain: LBk + link: 3 + x: 0 + y: -5.043 + z: 17.189 +[InterestPoint114] + name: UpperOuterFrontRBkThigh + chain: RBk + link: 3 + x: 0 + y: 10.310 + z: -17.189 +[InterestPoint115] + name: UpperOuterBackLFrThigh + chain: LFr + link: 3 + x: 0 + y: 10.310 + z: -17.189 +[InterestPoint116] + name: UpperInnerBackRFrThigh + chain: RFr + link: 3 + x: 0 + y: -5.043 + z: 17.189 +[InterestPoint117] + name: UpperOuterBackLBkThigh + chain: LBk + link: 3 + x: 0 + y: 10.310 + z: -17.189 +[InterestPoint118] + name: UpperInnerBackRBkThigh + chain: RBk + link: 3 + x: 0 + y: -5.043 + z: 17.189 +[InterestPoint119] + name: UpperInnerBackLFrThigh + chain: LFr + link: 3 + x: 0 + y: -5.043 + z: -17.189 +[InterestPoint120] + name: UpperOuterBackRFrThigh + chain: RFr + link: 3 + x: 0 + y: 10.310 + z: 17.189 +[InterestPoint121] + name: UpperInnerBackLBkThigh + chain: LBk + link: 3 + x: 0 + y: -5.043 + z: -17.189 +[InterestPoint122] + name: UpperOuterBackRBkThigh + chain: RBk + link: 3 + x: 0 + y: 10.310 + z: 17.189 Index: ms/config/tekkotsu.cfg =================================================================== RCS file: /afs/cs/project/skinnerbots/aibo/Tekkotsu/project/ms/config/tekkotsu.cfg,v retrieving revision 1.39 retrieving revision 1.49 diff -u -d -r1.39 -r1.49 --- ms/config/tekkotsu.cfg 21 Jan 2004 07:02:44 -0000 1.39 +++ ms/config/tekkotsu.cfg 18 Oct 2004 21:57:13 -0000 1.49 @@ -30,15 +30,27 @@ # how it is being used... # ################################################################## +####################### $Revision: 1.49 $ ######################## +################## $Date: 2004/10/18 21:57:13 $ ################## +################################################################## + + +################################################################## +################################################################## [Wireless] +################################################################## +################################################################## # unique id for Aibo (not used by Tekkotsu, but you might want it...) id=1 + +################################################################## +################################################################## [Vision] -raw_port=10011 -rle_port=10012 +################################################################## +################################################################## # white_balance indoor | flourescent | outdoor @@ -54,14 +66,32 @@ # shutter_speed slow | mid | fast # slower shutter will brighten image, but increases motion blur + shutter_speed=mid + + +shutter_speed=slow + # resolution quarter | half | full # this is the resolution vision's object recognition system will run at resolution=full +### Camera Parameters ### -### Color Segmentation Threshold files: ### +# The field of view information should be specified in degrees + +horizFOV=57.6 +vertFOV=47.8 +focal_length=2.18 + + +horizFOV=56.9 +vertFOV=45.2 +focal_length=3.27 + + +### Color Segmentation Threshold files ### # Threshold (.tm) files define the mapping from full color to indexed color # You can uncomment more than one of these - they will be loaded into # separate channels of the segmenter. The only cost of loading more @@ -94,6 +124,12 @@ ### Image Streaming Format ### +# These parameters control the video stream over wireless ethernet +# transport can be either 'udp' or 'tcp' +raw_port=10011 +raw_transport=udp +rle_port=10012 +rle_transport=udp # rawcam_encoding color | y_only | uv_only | u_only | v_only | y_dx_only | y_dy_only | y_dxdy_only rawcam_encoding=color @@ -138,7 +174,12 @@ rlecam_skip=1 + +################################################################## +################################################################## [Main] +################################################################## +################################################################## console_port=10001 stderr_port=10002 error_level=0 @@ -154,11 +195,21 @@ use_VT100=true + +################################################################## +################################################################## [Behaviors] +################################################################## +################################################################## # your-stuff-here? + +################################################################## +################################################################## [Controller] +################################################################## +################################################################## gui_port=10020 select_snd=whiip.wav next_snd=toc.wav @@ -168,17 +219,65 @@ error_snd=fart.wav + +################################################################## +################################################################## [Motion] +################################################################## +################################################################## root=/ms/data/motion -walk=/ms/data/motion/walk.prm +walk=walk.prm + + +kinematics=/ms/config/ers210.kin +kinematic_chains=Mouth + + +kinematics=/ms/config/ers220.kin + +kinematic_chains=IR + + +kinematics=/ms/config/ers7.kin +kinematic_chains=Mouth +kinematic_chains=NearIR +kinematic_chains=FarIR +kinematic_chains=ChestIR + +kinematic_chains=LFr +kinematic_chains=RFr +kinematic_chains=LBk +kinematic_chains=RBk +kinematic_chains=Camera + estop_on_snd=skid.wav estop_off_snd=yap.wav + +# These values are used by some behaviors to limit the +# speed of the head to reduce wear on the joints +# Units: radians per second + max_head_tilt_speed=2.1 max_head_pan_speed=3.0 max_head_roll_speed=3.0 + + +#the pan speed is revised down from Sony's maximum a bit +max_head_tilt_speed=3.18522588 +max_head_pan_speed=5.78140315 +max_head_roll_speed=5.78140315 + + +console_port=10003 +stderr_port=10004 + +################################################################## +################################################################## [Sound] +################################################################## +################################################################## root=/ms/data/sound # volume = mute | level_1 | level_2 | level_3 | # if you directly set the decibel level, be warned sony recommends against going above 0xF600 @@ -194,8 +293,3 @@ preload=yap.wav -[WorldModel2] -dm_port=10041 -hm_port=10042 -gm_port=10043 -fs_port=10044 Index: ms/data/motion/circles.wyp =================================================================== RCS file: ms/data/motion/circles.wyp diff -N ms/data/motion/circles.wyp --- /dev/null 1 Jan 1970 00:00:00 -0000 +++ ms/data/motion/circles.wyp 30 Mar 2004 04:31:39 -0000 1.1 @@ -0,0 +1,16 @@ +#WyP + +#Does a one meter square pattern, turns as targets each new waypoint + +#add_{point|arc} {ego|off|abs} x_val y_val {hold|follow} angle_val speed_val arc_val +max_turn_speed 0.5 +track_path 1 +add_arc EGO 0 .5 FOLLOW 0 0.1 3.1415 +add_arc EGO 0 0 FOLLOW 1.571 0.1 0 +add_arc EGO .5 0 FOLLOW 1.571 0.1 3.1415 +add_arc EGO 0 0 FOLLOW -1.571 0.1 0 +add_arc EGO 0 .25 FOLLOW 0 0.075 3.1415 +add_arc EGO 0 0 FOLLOW 1.571 0.075 0 +add_arc EGO .25 0 FOLLOW 1.571 0.075 3.1415 +add_arc EGO 0 0 FOLLOW -1.571 0.075 0 +#END Index: ms/data/motion/rightkick.pos =================================================================== RCS file: ms/data/motion/rightkick.pos diff -N ms/data/motion/rightkick.pos --- ms/data/motion/rightkick.pos 21 Sep 2003 19:44:14 -0000 1.1 +++ /dev/null 1 Jan 1970 00:00:00 -0000 @@ -1,44 +0,0 @@ -#POS -LFr:rotor 0.1654 1.0000 -LFr:elvtr 0.0228 1.0000 -LFr:knee~ 0.4531 1.0000 -RFr:rotor 0.1858 1.0000 -RFr:elvtr -0.0349 1.0000 -RFr:knee~ 0.9183 1.0000 -LBk:rotor 0.2493 1.0000 -LBk:elvtr 0.4389 1.0000 -LBk:knee~ 0.8055 1.0000 -RBk:rotor -0.4930 1.0000 -RBk:elvtr 0.4275 1.0000 -RBk:knee~ 1.1636 1.0000 -NECK:tilt -0.0038 1.0000 -NECK:pan~ 0.0000 1.0000 -NECK:roll 0.0038 1.0000 -TAIL:tilt -0.0229 1.0000 -TAIL:pan~ 0.0000 1.0000 -MOUTH~~~~ -0.0524 1.0000 -LED:botL~ 1.0000 1.0000 -LED:botR~ 1.0000 1.0000 -LED:midL~ 0.0400 1.0000 -LED:midR~ 0.0400 1.0000 -LED:topL~ 0.0000 1.0000 -LED:topR~ 0.0000 1.0000 -LED:topBr 0.0000 1.0000 -LED:bkL1~ 0.0000 1.0000 -LED:bkL2~ 0.0000 1.0000 -LED:bkL3~ 0.0000 1.0000 -LED:bkR3~ 0.0000 1.0000 -LED:bkR2~ 0.0000 1.0000 -LED:bkR1~ 0.0000 1.0000 -LED:tailL 0.0000 1.0000 -LED:tailC 0.0000 1.0000 -LED:tailR 0.0000 1.0000 -LED:faceB 0.0000 1.0000 -LED:faceA 0.0000 1.0000 -LED:faceC 0.0000 1.0000 -LED:light 0.0000 1.0000 -LED:tlRed 0.0000 1.0000 -LED:tlBlu 0.0000 1.0000 -EAR:left~ 1.0000 1.0000 -EAR:right 1.0000 1.0000 -#END Index: ms/data/motion/rkick.pos =================================================================== RCS file: ms/data/motion/rkick.pos diff -N ms/data/motion/rkick.pos --- /dev/null 1 Jan 1970 00:00:00 -0000 +++ ms/data/motion/rkick.pos 8 Jul 2004 03:04:21 -0000 1.1 @@ -0,0 +1,44 @@ +#POS +LFr:rotor 0.1654 1.0000 +LFr:elvtr 0.0228 1.0000 +LFr:knee~ 0.4531 1.0000 +RFr:rotor 0.1858 1.0000 +RFr:elvtr -0.0349 1.0000 +RFr:knee~ 0.9183 1.0000 +LBk:rotor 0.2493 1.0000 +LBk:elvtr 0.4389 1.0000 +LBk:knee~ 0.8055 1.0000 +RBk:rotor -0.4930 1.0000 +RBk:elvtr 0.4275 1.0000 +RBk:knee~ 1.1636 1.0000 +NECK:tilt -0.0038 1.0000 +NECK:pan~ 0.0000 1.0000 +NECK:roll 0.0038 1.0000 +TAIL:tilt -0.0229 1.0000 +TAIL:pan~ 0.0000 1.0000 +MOUTH~~~~ -0.0524 1.0000 +LED:botL~ 1.0000 1.0000 +LED:botR~ 1.0000 1.0000 +LED:midL~ 0.0400 1.0000 +LED:midR~ 0.0400 1.0000 +LED:topL~ 0.0000 1.0000 +LED:topR~ 0.0000 1.0000 +LED:topBr 0.0000 1.0000 +LED:bkL1~ 0.0000 1.0000 +LED:bkL2~ 0.0000 1.0000 +LED:bkL3~ 0.0000 1.0000 +LED:bkR3~ 0.0000 1.0000 +LED:bkR2~ 0.0000 1.0000 +LED:bkR1~ 0.0000 1.0000 +LED:tailL 0.0000 1.0000 +LED:tailC 0.0000 1.0000 +LED:tailR 0.0000 1.0000 +LED:faceB 0.0000 1.0000 +LED:faceA 0.0000 1.0000 +LED:faceC 0.0000 1.0000 +LED:light 0.0000 1.0000 +LED:tlRed 0.0000 1.0000 +LED:tlBlu 0.0000 1.0000 +EAR:left~ 1.0000 1.0000 +EAR:right 1.0000 1.0000 +#END Index: ms/data/motion/sqbasca2.wyp =================================================================== RCS file: ms/data/motion/sqbasca2.wyp diff -N ms/data/motion/sqbasca2.wyp --- /dev/null 1 Jan 1970 00:00:00 -0000 +++ ms/data/motion/sqbasca2.wyp 30 Mar 2004 04:31:39 -0000 1.1 @@ -0,0 +1,12 @@ +#WyP + +#Does a one meter square pattern, turns as targets each new waypoint + +#add_{point|arc} {ego|off|abs} x_val y_val {hold|follow} angle_val speed_val arc_val +max_turn_speed 0.5 +track_path 1 +add_point ABS 1 0 FOLLOW 0 0.1 0 +add_point ABS 1 -1 FOLLOW 0 0.1 0 +add_point ABS 0 -1 FOLLOW 0 0.1 0 +add_point ABS 0 0 FOLLOW 0 0.1 0 +#END Index: ms/data/motion/sqbasce2.wyp =================================================================== RCS file: ms/data/motion/sqbasce2.wyp diff -N ms/data/motion/sqbasce2.wyp --- /dev/null 1 Jan 1970 00:00:00 -0000 +++ ms/data/motion/sqbasce2.wyp 30 Mar 2004 04:31:40 -0000 1.1 @@ -0,0 +1,9 @@ +#WyP + +#Does a one meter square pattern, turns as targets each new waypoint + +#add_{point|arc} {ego|off|abs} x_val y_val {hold|follow} angle_val speed_val arc_val +max_turn_speed 0.5 +track_path 1 +add_point EGO 0 -1 FOLLOW 0 0.1 0 +#END Index: ms/data/motion/sqbasco2.wyp =================================================================== RCS file: ms/data/motion/sqbasco2.wyp diff -N ms/data/motion/sqbasco2.wyp --- /dev/null 1 Jan 1970 00:00:00 -0000 +++ ms/data/motion/sqbasco2.wyp 30 Mar 2004 04:31:40 -0000 1.1 @@ -0,0 +1,12 @@ +#WyP + +#Does a one meter square pattern, turns as targets each new waypoint + +#add_{point|arc} {ego|off|abs} x_val y_val {hold|follow} angle_val speed_val arc_val +max_turn_speed 0.5 +track_path 1 +add_point OFF 1 0 FOLLOW 0 0.1 0 +add_point OFF 0 -1 FOLLOW 0 0.1 0 +add_point OFF -1 0 FOLLOW 0 0.1 0 +add_point OFF 0 1 FOLLOW 0 0.1 0 +#END Index: ms/data/motion/sqbasica.wyp =================================================================== RCS file: ms/data/motion/sqbasica.wyp diff -N ms/data/motion/sqbasica.wyp --- /dev/null 1 Jan 1970 00:00:00 -0000 +++ ms/data/motion/sqbasica.wyp 30 Mar 2004 04:31:40 -0000 1.1 @@ -0,0 +1,16 @@ +#WyP + +#Does a one meter square pattern, very basic: move, stop, turn + +#add_{point|arc} {ego|off|abs} x_val y_val {hold|follow} angle_val speed_val arc_val +max_turn_speed 0.5 +track_path 1 +add_point ABS 1 0 FOLLOW 0 0.1 0 +add_point ABS 1 0 FOLLOW -1.571 0.1 0 +add_point ABS 1 -1 FOLLOW 0 0.1 0 +add_point ABS 1 -1 FOLLOW -1.571 0.1 0 +add_point ABS 0 -1 FOLLOW 0 0.1 0 +add_point ABS 0 -1 FOLLOW -1.571 0.1 0 +add_point ABS 0 0 FOLLOW 0 0.1 0 +add_point ABS 0 0 FOLLOW -1.571 0.1 0 +#END Index: ms/data/motion/sqbasice.wyp =================================================================== RCS file: ms/data/motion/sqbasice.wyp diff -N ms/data/motion/sqbasice.wyp --- /dev/null 1 Jan 1970 00:00:00 -0000 +++ ms/data/motion/sqbasice.wyp 30 Mar 2004 04:31:40 -0000 1.1 @@ -0,0 +1,10 @@ +#WyP + +#Does a one meter square pattern, turns as targets each new waypoint + +#add_{point|arc} {ego|off|abs} x_val y_val {hold|follow} angle_val speed_val arc_val +max_turn_speed 0.5 +track_path 1 +add_point EGO 1 0 FOLLOW 0 0.1 0 +add_point EGO 0 0 FOLLOW -1.571 0.1 0 +#END Index: ms/data/motion/sqbasico.wyp =================================================================== RCS file: ms/data/motion/sqbasico.wyp diff -N ms/data/motion/sqbasico.wyp --- /dev/null 1 Jan 1970 00:00:00 -0000 +++ ms/data/motion/sqbasico.wyp 30 Mar 2004 04:31:40 -0000 1.1 @@ -0,0 +1,16 @@ +#WyP + +#Does a one meter square pattern, very basic: move, stop, turn + +#add_{point|arc} {ego|off|abs} x_val y_val {hold|follow} angle_val speed_val arc_val +max_turn_speed 0.5 +track_path 1 +add_point OFF 1 0 FOLLOW 0 0.1 0 +add_point OFF 0 0 FOLLOW -1.571 0.1 0 +add_point OFF 0 -1 FOLLOW 0 0.1 0 +add_point OFF 0 0 FOLLOW -1.571 0.1 0 +add_point OFF -1 0 FOLLOW 0 0.1 0 +add_point OFF 0 0 FOLLOW -1.571 0.1 0 +add_point OFF 0 1 FOLLOW 0 0.1 0 +add_point OFF 0 0 FOLLOW -1.571 0.1 0 +#END Index: ms/data/motion/sqpush.wyp =================================================================== RCS file: ms/data/motion/sqpush.wyp diff -N ms/data/motion/sqpush.wyp --- /dev/null 1 Jan 1970 00:00:00 -0000 +++ ms/data/motion/sqpush.wyp 30 Mar 2004 04:31:40 -0000 1.1 @@ -0,0 +1,18 @@ +#WyP + +#Does a square pattern, theoretically with a ball in front of it +#In other words, it does a little arc on each corner so the ball +#will stay in control. + +#add_{point|arc} {ego|off|abs} x_val y_val {hold|follow} angle_val speed_val arc_val +max_turn_speed 0.5 +track_path 1 +add_point EGO 0.75 0 FOLLOW 0 0.1 0 +add_point EGO 0.15 0.15 FOLLOW -1.571 0.06 -1.571 +add_point EGO 0.75 0 FOLLOW 0 0.1 0 +add_point EGO 0.15 0.15 FOLLOW -1.571 0.06 -1.571 +add_point EGO 0.75 0 FOLLOW 0 0.1 0 +add_point EGO 0.15 0.15 FOLLOW -1.571 0.06 -1.571 +add_point EGO 0.75 0 FOLLOW 0 0.1 0 +add_point EGO 0.15 0.15 FOLLOW -1.571 0.06 -1.571 +#END Index: ms/open-r/mw/conf/connect.cfg =================================================================== RCS file: /afs/cs/project/skinnerbots/aibo/Tekkotsu/project/ms/open-r/mw/conf/connect.cfg,v retrieving revision 1.6 retrieving revision 1.7 diff -u -d -r1.6 -r1.7 --- ms/open-r/mw/conf/connect.cfg 8 Jan 2004 22:41:57 -0000 1.6 +++ ms/open-r/mw/conf/connect.cfg 28 Sep 2004 23:07:08 -0000 1.7 @@ -1,6 +1,7 @@ #System->Main OVirtualRobotComm.Sensor.OSensorFrameVectorData.S MainObj.SensorFrame.OSensorFrameVectorData.O OVirtualRobotComm.FbkImageSensor.OFbkImageVectorData.S MainObj.Image.OFbkImageVectorData.O +OVirtualRobotAudioComm.Mic.OSoundVectorData.S MainObj.Mic.OSoundVectorData.O #Main<->Motion MainObj.RegisterWorldState.WorldState.S MotoObj.ReceiveWorldState.WorldState.O Index: ms/open-r/mw/conf/passwd =================================================================== RCS file: /afs/cs/project/skinnerbots/aibo/Tekkotsu/project/ms/open-r/mw/conf/passwd,v retrieving revision 1.4 retrieving revision 1.5 diff -u -d -r1.4 -r1.5 --- ms/open-r/mw/conf/passwd 28 Jul 2003 06:58:30 -0000 1.4 +++ ms/open-r/mw/conf/passwd 6 Jul 2004 22:46:12 -0000 1.5 @@ -1,5 +1,5 @@ -#user pass /MS/ -#guest * /MS/OPEN-R/MW/ +# FORMAT: +#EXAMPLE: guest * /MS/OPEN-R/MW/ config config /MS/CONFIG/ data data /MS/DATA/ ftpinst ftpinst /MS/ Index: templates/behavior_header.h =================================================================== RCS file: templates/behavior_header.h diff -N templates/behavior_header.h --- /dev/null 1 Jan 1970 00:00:00 -0000 +++ templates/behavior_header.h 25 Aug 2004 01:09:24 -0000 1.1 @@ -0,0 +1,51 @@ +//-*-c++-*- + +// This is an empty Behavior template file. +// Replace CLASSNAME and DESCRIPTION as appropriate, and go to town! + +#ifndef INCLUDED_CLASSNAME_h_ +#define INCLUDED_CLASSNAME_h_ + +#include "Behaviors/BehaviorBase.h" + +//! DESCRIPTION +class CLASSNAME : public BehaviorBase { +public: + //! constructor + CLASSNAME() : BehaviorBase() {} + + virtual void DoStart() { + BehaviorBase::DoStart(); // do this first + // + } + + virtual void DoStop() { + // + BehaviorBase::DoStop(); // do this last + } + + virtual void processEvent(const EventBase& e) { + // + // you can delete this function if you don't use any events... + } + + virtual std::string getName() const { return "CLASSNAME"; } + + static std::string getClassDescription() { return "DESCRIPTION"; } + +protected: + +}; + +/*! @file + * @brief Defines CLASSNAME, which DESCRIPTION + * @author YOURNAMEHERE (Creator) + * + * $Author: ejt $ + * $Name: $ + * $Revision: 1.1 $ + * $State: Exp $ + * $Date: 2004/08/25 01:09:24 $ + */ + +#endif Index: templates/header.h =================================================================== RCS file: templates/header.h diff -N templates/header.h --- /dev/null 1 Jan 1970 00:00:00 -0000 +++ templates/header.h 25 Aug 2004 01:09:24 -0000 1.1 @@ -0,0 +1,24 @@ +//-*-c++-*- +#ifndef INCLUDED_CLASSNAME_h_ +#define INCLUDED_CLASSNAME_h_ + +//! description of CLASSNAME +class CLASSNAME { +public: + +protected: + +}; + +/*! @file + * @brief + * @author YOURNAMEHERE (Creator) + * + * $Author: ejt $ + * $Name: $ + * $Revision: 1.1 $ + * $State: Exp $ + * $Date: 2004/08/25 01:09:24 $ + */ + +#endif Index: templates/implementation.cc =================================================================== RCS file: templates/implementation.cc diff -N templates/implementation.cc --- /dev/null 1 Jan 1970 00:00:00 -0000 +++ templates/implementation.cc 25 Aug 2004 01:09:24 -0000 1.1 @@ -0,0 +1,13 @@ +#include "CLASSNAME.h" + +/*! @file + * @brief + * @author YOURNAMEHERE (Creator) + * + * $Author: ejt $ + * $Name: $ + * $Revision: 1.1 $ + * $State: Exp $ + * $Date: 2004/08/25 01:09:24 $ + */ +