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Commit 396cfcdd authored by andreeatulbure's avatar andreeatulbure
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Merge branch 'master' into SensorPackage

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font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; vertical-align: top; white-space: nowrap; text-align: center;"><div xmlns="http://www.w3.org/1999/xhtml" style="display:inline-block;text-align:inherit;text-decoration:inherit;background-color:#ffffff;">Encode &amp; Write<br />Target l<br /></div></div></foreignObject><text x="42" y="20" fill="#000000" text-anchor="middle" font-size="12px" font-family="Helvetica">Encode &amp;amp; Write&lt;br&gt;Target l&lt;br&gt;</text></switch></g><path d="M 942 25 L 942 2 L 1462 2 L 1462 25 Z" fill="#ffe6cc" stroke="#d79b00" stroke-miterlimit="10" pointer-events="none"/><path d="M 942 25 L 942 722 L 1462 722 L 1462 25" fill="none" stroke="#d79b00" stroke-miterlimit="10" pointer-events="none"/><g transform="translate(1180.5,5.5)"><switch><foreignObject style="overflow:visible;" pointer-events="all" width="40" height="12" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility"><div xmlns="http://www.w3.org/1999/xhtml" style="display: inline-block; 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font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; vertical-align: top; white-space: nowrap; text-align: center;"><div xmlns="http://www.w3.org/1999/xhtml" style="display:inline-block;text-align:inherit;text-decoration:inherit;background-color:#ffffff;">Send Targets<br /></div></div></foreignObject><text x="37" y="12" fill="#000000" text-anchor="middle" font-size="12px" font-family="Helvetica">Send Targets&lt;br&gt;</text></switch></g><path d="M 822 57 L 822 34 L 1002 34 L 1002 57 Z" fill="#ffffff" stroke="#000000" stroke-miterlimit="10" pointer-events="none"/><path d="M 822 57 L 822 164 L 1002 164 L 1002 57" fill="none" stroke="#000000" stroke-miterlimit="10" pointer-events="none"/><g transform="translate(834.5,37.5)"><switch><foreignObject style="overflow:visible;" pointer-events="all" width="153" height="12" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility"><div xmlns="http://www.w3.org/1999/xhtml" style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; vertical-align: top; width: 154px; white-space: nowrap; overflow-wrap: normal; font-weight: bold; text-align: center;"><div xmlns="http://www.w3.org/1999/xhtml" style="display:inline-block;text-align:inherit;text-decoration:inherit;">Tripple Buffer -&gt; (EtherCAT)<br /></div></div></foreignObject><text x="77" y="12" fill="#000000" text-anchor="middle" font-size="12px" font-family="Helvetica" font-weight="bold">Tripple Buffer -&amp;gt; (EtherCAT)&lt;br&gt;</text></switch></g><rect x="807" y="94" width="90" height="30" fill="#ffffff" stroke="#000000" transform="rotate(270,852,109)" pointer-events="none"/><g transform="translate(819.5,101.5)rotate(270,31.5,8)"><switch><foreignObject style="overflow:visible;" pointer-events="all" width="63" height="12" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility"><div xmlns="http://www.w3.org/1999/xhtml" style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; vertical-align: top; width: 64px; white-space: nowrap; overflow-wrap: normal; text-align: center;"><div xmlns="http://www.w3.org/1999/xhtml" style="display:inline-block;text-align:inherit;text-decoration:inherit;">Write Buffer<br /></div></div></foreignObject><text x="32" y="12" fill="#000000" text-anchor="middle" font-size="12px" font-family="Helvetica">Write Buffer&lt;br&gt;</text></switch></g><rect x="929" y="94" width="90" height="30" fill="#ffffff" stroke="#000000" transform="rotate(270,974,109)" pointer-events="none"/><g transform="translate(940.5,101.5)rotate(270,32.5,8)"><switch><foreignObject style="overflow:visible;" pointer-events="all" width="65" height="12" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility"><div xmlns="http://www.w3.org/1999/xhtml" style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; vertical-align: top; width: 66px; white-space: nowrap; overflow-wrap: normal; text-align: center;"><div xmlns="http://www.w3.org/1999/xhtml" style="display:inline-block;text-align:inherit;text-decoration:inherit;">Read Buffer<br /></div></div></foreignObject><text x="33" y="12" fill="#000000" text-anchor="middle" font-size="12px" font-family="Helvetica">Read Buffer&lt;br&gt;</text></switch></g><rect x="868" y="94" width="90" height="30" fill="#ffffff" stroke="#000000" transform="rotate(270,913,109)" pointer-events="none"/><g transform="translate(874.5,101.5)rotate(270,37.5,8)"><switch><foreignObject style="overflow:visible;" pointer-events="all" width="75" height="12" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility"><div xmlns="http://www.w3.org/1999/xhtml" style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; vertical-align: top; width: 76px; white-space: nowrap; overflow-wrap: normal; text-align: center;"><div xmlns="http://www.w3.org/1999/xhtml" style="display:inline-block;text-align:inherit;text-decoration:inherit;">Hidden Buffer<br /></div></div></foreignObject><text x="38" y="12" fill="#000000" text-anchor="middle" font-size="12px" font-family="Helvetica">Hidden Buffer&lt;br&gt;</text></switch></g><path d="M 477.33 71.67 L 542.33 71.67 L 542.33 51.67 L 802.33 51.67 L 802.33 86.67 L 830.97 86.67" fill="none" stroke="#000000" stroke-miterlimit="10" pointer-events="none"/><path d="M 836.22 86.67 L 829.22 90.17 L 830.97 86.67 L 829.22 83.17 Z" fill="#000000" stroke="#000000" stroke-miterlimit="10" pointer-events="none"/><g transform="translate(628.5,43.5)"><switch><foreignObject style="overflow:visible;" pointer-events="all" width="74" height="11" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility"><div xmlns="http://www.w3.org/1999/xhtml" style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; vertical-align: top; white-space: nowrap; text-align: center;"><div xmlns="http://www.w3.org/1999/xhtml" style="display:inline-block;text-align:inherit;text-decoration:inherit;background-color:#ffffff;">Memcopy State<br /></div></div></foreignObject><text x="37" y="11" fill="#000000" text-anchor="middle" font-size="11px" font-family="Helvetica">Memcopy State&lt;br&gt;</text></switch></g><path d="M 989 86.67 L 1037.33 86.67 L 1155.97 86.67" fill="none" stroke="#000000" stroke-miterlimit="10" pointer-events="none"/><path d="M 1161.22 86.67 L 1154.22 90.17 L 1155.97 86.67 L 1154.22 83.17 Z" fill="#000000" stroke="#000000" stroke-miterlimit="10" pointer-events="none"/><g transform="translate(1036.5,71.5)"><switch><foreignObject style="overflow:visible;" pointer-events="all" width="87" height="27" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility"><div xmlns="http://www.w3.org/1999/xhtml" style="display: inline-block; 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font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; vertical-align: top; width: 156px; white-space: nowrap; overflow-wrap: normal; font-weight: bold; text-align: center;"><div xmlns="http://www.w3.org/1999/xhtml" style="display:inline-block;text-align:inherit;text-decoration:inherit;">LVL1 Ice enabled Controller<br /></div></div></foreignObject><text x="78" y="12" fill="#000000" text-anchor="middle" font-size="12px" font-family="Helvetica" font-weight="bold">LVL1 Ice enabled Controller&lt;br&gt;</text></switch></g><path d="M 822 250 L 822 227 L 1002 227 L 1002 250 Z" fill="#ffffff" stroke="#000000" stroke-miterlimit="10" pointer-events="none"/><path d="M 822 250 L 822 357 L 1002 357 L 1002 250" fill="none" stroke="#000000" stroke-miterlimit="10" pointer-events="none"/><g transform="translate(827.5,230.5)"><switch><foreignObject style="overflow:visible;" pointer-events="all" width="166" height="12" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility"><div xmlns="http://www.w3.org/1999/xhtml" style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; vertical-align: top; width: 167px; white-space: nowrap; overflow-wrap: normal; font-weight: bold; text-align: center;"><div xmlns="http://www.w3.org/1999/xhtml" style="display:inline-block;text-align:inherit;text-decoration:inherit;">Tripple Buffer &lt;- (Commands)<br /></div></div></foreignObject><text x="83" y="12" fill="#000000" text-anchor="middle" font-size="12px" font-family="Helvetica" font-weight="bold">Tripple Buffer &amp;lt;- (Commands)&lt;br&gt;</text></switch></g><rect x="807" y="287" width="90" height="30" fill="#ffffff" stroke="#000000" transform="rotate(270,852,302)" pointer-events="none"/><g transform="translate(818.5,294.5)rotate(270,32.5,8)"><switch><foreignObject style="overflow:visible;" pointer-events="all" width="65" height="12" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility"><div xmlns="http://www.w3.org/1999/xhtml" style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; vertical-align: top; width: 66px; white-space: nowrap; overflow-wrap: normal; text-align: center;"><div xmlns="http://www.w3.org/1999/xhtml" style="display:inline-block;text-align:inherit;text-decoration:inherit;">Read Buffer<br /></div></div></foreignObject><text x="33" y="12" fill="#000000" text-anchor="middle" font-size="12px" font-family="Helvetica">Read Buffer&lt;br&gt;</text></switch></g><rect x="929" y="287" width="90" height="30" fill="#ffffff" stroke="#000000" transform="rotate(270,974,302)" pointer-events="none"/><g transform="translate(941.5,294.5)rotate(270,31.5,8)"><switch><foreignObject style="overflow:visible;" pointer-events="all" width="63" height="12" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility"><div xmlns="http://www.w3.org/1999/xhtml" style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; vertical-align: top; width: 64px; white-space: nowrap; overflow-wrap: normal; text-align: center;"><div xmlns="http://www.w3.org/1999/xhtml" style="display:inline-block;text-align:inherit;text-decoration:inherit;">Write Buffer<br /></div></div></foreignObject><text x="32" y="12" fill="#000000" text-anchor="middle" font-size="12px" font-family="Helvetica">Write Buffer&lt;br&gt;</text></switch></g><rect x="868" y="287" width="90" height="30" fill="#ffffff" stroke="#000000" transform="rotate(270,913,302)" pointer-events="none"/><g transform="translate(874.5,294.5)rotate(270,37.5,8)"><switch><foreignObject style="overflow:visible;" pointer-events="all" width="75" height="12" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility"><div xmlns="http://www.w3.org/1999/xhtml" style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; vertical-align: top; width: 76px; white-space: nowrap; overflow-wrap: normal; text-align: center;"><div xmlns="http://www.w3.org/1999/xhtml" style="display:inline-block;text-align:inherit;text-decoration:inherit;">Hidden Buffer<br /></div></div></foreignObject><text x="38" y="12" fill="#000000" text-anchor="middle" font-size="12px" font-family="Helvetica">Hidden Buffer&lt;br&gt;</text></switch></g><path d="M 1083 302 L 1106.75 287 L 1163 287 Q 1178 287 1178 302 Q 1178 317 1163 317 L 1106.75 317 Z" fill-opacity="0.9" fill="#ffffff" stroke="#000000" stroke-opacity="0.9" stroke-miterlimit="10" pointer-events="none"/><g transform="translate(1093.5,292.5)"><switch><foreignObject style="overflow:visible;" pointer-events="all" width="71" height="12" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility"><div xmlns="http://www.w3.org/1999/xhtml" style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; vertical-align: top; width: 72px; white-space: nowrap; overflow-wrap: normal; text-align: center;"><div xmlns="http://www.w3.org/1999/xhtml" style="display:inline-block;text-align:inherit;text-decoration:inherit;">IceFunction()<br /></div></div></foreignObject><text x="36" y="12" fill="#000000" text-anchor="middle" font-size="12px" font-family="Helvetica">IceFunction()&lt;br&gt;</text></switch></g><path d="M 1082.33 301.67 L 1035.67 301.67 L 995.37 301.88" fill="none" stroke="#000000" stroke-miterlimit="10" pointer-events="none"/><path d="M 990.12 301.91 L 997.1 298.38 L 995.37 301.88 L 997.14 305.37 Z" fill="#000000" stroke="#000000" stroke-miterlimit="10" pointer-events="none"/><g transform="translate(1009.5,286.5)"><switch><foreignObject style="overflow:visible;" pointer-events="all" width="66" height="27" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility"><div xmlns="http://www.w3.org/1999/xhtml" style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; vertical-align: top; white-space: nowrap; text-align: center;"><div xmlns="http://www.w3.org/1999/xhtml" style="display:inline-block;text-align:inherit;text-decoration:inherit;background-color:#ffffff;">Write <br />Commands<br /></div></div></foreignObject><text x="33" y="20" fill="#000000" text-anchor="middle" font-size="12px" font-family="Helvetica">Write &lt;br&gt;Commands&lt;br&gt;</text></switch></g><path d="M 683.25 287 L 721.75 287 L 741 302 L 721.75 317 L 683.25 317 L 664 302 Z" fill="#ffffff" stroke="#000000" stroke-miterlimit="10" pointer-events="none"/><g transform="translate(685.5,292.5)"><switch><foreignObject style="overflow:visible;" pointer-events="all" width="31" height="12" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility"><div xmlns="http://www.w3.org/1999/xhtml" style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; vertical-align: top; width: 32px; white-space: nowrap; overflow-wrap: normal; text-align: center;"><div xmlns="http://www.w3.org/1999/xhtml" style="display:inline-block;text-align:inherit;text-decoration:inherit;">Run()</div></div></foreignObject><text x="16" y="12" fill="#000000" text-anchor="middle" font-size="12px" font-family="Helvetica">Run()</text></switch></g><path d="M 837.33 301.67 L 747.03 301.67" fill="none" stroke="#000000" stroke-miterlimit="10" pointer-events="none"/><path d="M 741.78 301.67 L 748.78 298.17 L 747.03 301.67 L 748.78 305.17 Z" fill="#000000" stroke="#000000" stroke-miterlimit="10" pointer-events="none"/><g transform="translate(754.5,286.5)"><switch><foreignObject style="overflow:visible;" pointer-events="all" width="66" height="27" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility"><div xmlns="http://www.w3.org/1999/xhtml" style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; vertical-align: top; white-space: nowrap; text-align: center;"><div xmlns="http://www.w3.org/1999/xhtml" style="display:inline-block;text-align:inherit;text-decoration:inherit;background-color:#ffffff;">Read<br />Commands<br /></div></div></foreignObject><text x="33" y="20" fill="#000000" text-anchor="middle" font-size="12px" font-family="Helvetica">Read&lt;br&gt;Commands&lt;br&gt;</text></switch></g><path d="M 664 301.67 L 518.7 301.67" fill="none" stroke="#000000" stroke-miterlimit="10" pointer-events="none"/><path d="M 513.45 301.67 L 520.45 298.17 L 518.7 301.67 L 520.45 305.17 Z" fill="#000000" stroke="#000000" stroke-miterlimit="10" pointer-events="none"/><g transform="translate(575.5,294.5)"><switch><foreignObject style="overflow:visible;" pointer-events="all" width="71" height="12" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility"><div xmlns="http://www.w3.org/1999/xhtml" style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; vertical-align: top; white-space: nowrap; text-align: center;"><div xmlns="http://www.w3.org/1999/xhtml" style="display:inline-block;text-align:inherit;text-decoration:inherit;background-color:#ffffff;">Write Target i<br /></div></div></foreignObject><text x="36" y="12" fill="#000000" text-anchor="middle" font-size="12px" font-family="Helvetica">Write Target i&lt;br&gt;</text></switch></g><path d="M 692.33 116.67 L 692.33 201.67 L 692.33 280.3" fill="none" stroke="#000000" stroke-miterlimit="10" pointer-events="none"/><path d="M 692.33 285.55 L 688.83 278.55 L 692.33 280.3 L 695.83 278.55 Z" fill="#000000" stroke="#000000" stroke-miterlimit="10" pointer-events="none"/><g transform="translate(662.5,154.5)"><switch><foreignObject style="overflow:visible;" pointer-events="all" width="61" height="11" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility"><div xmlns="http://www.w3.org/1999/xhtml" style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; vertical-align: top; white-space: nowrap; text-align: center;"><div xmlns="http://www.w3.org/1999/xhtml" style="display:inline-block;text-align:inherit;text-decoration:inherit;background-color:#ffffff;">Read Values<br /></div></div></foreignObject><text x="31" y="11" fill="#000000" text-anchor="middle" font-size="11px" font-family="Helvetica">Read Values&lt;br&gt;</text></switch></g><path d="M 709 455 L 709 432 L 1115 432 L 1115 455 Z" fill="#ffffff" stroke="#000000" stroke-miterlimit="10" pointer-events="none"/><path d="M 709 455 L 709 632 L 1115 632 L 1115 455" fill="none" stroke="#000000" stroke-miterlimit="10" pointer-events="none"/><g transform="translate(829.5,435.5)"><switch><foreignObject style="overflow:visible;" pointer-events="all" width="163" height="12" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility"><div xmlns="http://www.w3.org/1999/xhtml" style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; vertical-align: top; width: 164px; white-space: nowrap; overflow-wrap: normal; font-weight: bold; text-align: center;"><div xmlns="http://www.w3.org/1999/xhtml" style="display:inline-block;text-align:inherit;text-decoration:inherit;">LVL1 Passthrough Controller<br /></div></div></foreignObject><text x="82" y="12" fill="#000000" text-anchor="middle" font-size="12px" font-family="Helvetica" font-weight="bold">LVL1 Passthrough Controller&lt;br&gt;</text></switch></g><path d="M 1083 542 L 1106.75 527 L 1163 527 Q 1178 527 1178 542 Q 1178 557 1163 557 L 1106.75 557 Z" fill-opacity="0.9" fill="#ffffff" stroke="#000000" stroke-opacity="0.9" stroke-miterlimit="10" pointer-events="none"/><g transform="translate(1095.5,532.5)"><switch><foreignObject style="overflow:visible;" pointer-events="all" width="67" height="12" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility"><div xmlns="http://www.w3.org/1999/xhtml" style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; vertical-align: top; width: 68px; white-space: nowrap; overflow-wrap: normal; text-align: center;"><div xmlns="http://www.w3.org/1999/xhtml" style="display:inline-block;text-align:inherit;text-decoration:inherit;">SetTargets()<br /></div></div></foreignObject><text x="34" y="12" fill="#000000" text-anchor="middle" font-size="12px" font-family="Helvetica">SetTargets()&lt;br&gt;</text></switch></g><path d="M 1082.33 541.67 L 933.7 541.67" fill="none" stroke="#000000" stroke-miterlimit="10" pointer-events="none"/><path d="M 928.45 541.67 L 935.45 538.17 L 933.7 541.67 L 935.45 545.17 Z" fill="#000000" stroke="#000000" stroke-miterlimit="10" pointer-events="none"/><g transform="translate(986.5,526.5)"><switch><foreignObject style="overflow:visible;" pointer-events="all" width="41" height="27" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility"><div xmlns="http://www.w3.org/1999/xhtml" style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; vertical-align: top; white-space: nowrap; text-align: center;"><div xmlns="http://www.w3.org/1999/xhtml" style="display:inline-block;text-align:inherit;text-decoration:inherit;background-color:#ffffff;">Write <br />Targets<br /></div></div></foreignObject><text x="21" y="20" fill="#000000" text-anchor="middle" font-size="12px" font-family="Helvetica">[Not supported by viewer]</text></switch></g><path d="M 683.25 527 L 721.75 527 L 741 542 L 721.75 557 L 683.25 557 L 664 542 Z" fill="#ffffff" stroke="#000000" stroke-miterlimit="10" pointer-events="none"/><g transform="translate(685.5,532.5)"><switch><foreignObject style="overflow:visible;" pointer-events="all" width="31" height="12" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility"><div xmlns="http://www.w3.org/1999/xhtml" style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; vertical-align: top; width: 32px; white-space: nowrap; overflow-wrap: normal; text-align: center;"><div xmlns="http://www.w3.org/1999/xhtml" style="display:inline-block;text-align:inherit;text-decoration:inherit;">Run()</div></div></foreignObject><text x="16" y="12" fill="#000000" text-anchor="middle" font-size="12px" font-family="Helvetica">Run()</text></switch></g><path d="M 897.33 541.67 L 747.03 541.67" fill="none" stroke="#000000" stroke-miterlimit="10" pointer-events="none"/><path d="M 741.78 541.67 L 748.78 538.17 L 747.03 541.67 L 748.78 545.17 Z" fill="#000000" stroke="#000000" stroke-miterlimit="10" pointer-events="none"/><g transform="translate(792.5,526.5)"><switch><foreignObject style="overflow:visible;" pointer-events="all" width="41" height="27" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility"><div xmlns="http://www.w3.org/1999/xhtml" style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; vertical-align: top; white-space: nowrap; text-align: center;"><div xmlns="http://www.w3.org/1999/xhtml" style="display:inline-block;text-align:inherit;text-decoration:inherit;background-color:#ffffff;">Read<br />Targets<br /></div></div></foreignObject><text x="21" y="20" fill="#000000" text-anchor="middle" font-size="12px" font-family="Helvetica">[Not supported by viewer]</text></switch></g><rect x="867" y="527" width="90" height="30" fill="#ffffff" stroke="#000000" transform="rotate(270,912,542)" pointer-events="none"/><g transform="translate(871.5,534.5)rotate(270,39.5,8)"><switch><foreignObject style="overflow:visible;" pointer-events="all" width="79" height="12" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility"><div xmlns="http://www.w3.org/1999/xhtml" style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; vertical-align: top; width: 80px; white-space: nowrap; overflow-wrap: normal; text-align: center;"><div xmlns="http://www.w3.org/1999/xhtml" style="display:inline-block;text-align:inherit;text-decoration:inherit;">Atomics Buffer<br /></div></div></foreignObject><text x="40" y="12" fill="#000000" text-anchor="middle" font-size="12px" font-family="Helvetica">Atomics Buffer&lt;br&gt;</text></switch></g><path d="M 664 541.67 L 518.7 541.67" fill="none" stroke="#000000" stroke-miterlimit="10" pointer-events="none"/><path d="M 513.45 541.67 L 520.45 538.17 L 518.7 541.67 L 520.45 545.17 Z" fill="#000000" stroke="#000000" stroke-miterlimit="10" pointer-events="none"/><g transform="translate(532.5,534.5)"><switch><foreignObject style="overflow:visible;" pointer-events="all" width="74" height="12" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility"><div xmlns="http://www.w3.org/1999/xhtml" style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; vertical-align: top; white-space: nowrap; text-align: center;"><div xmlns="http://www.w3.org/1999/xhtml" style="display:inline-block;text-align:inherit;text-decoration:inherit;background-color:#ffffff;">Write Target k<br /></div></div></foreignObject><text x="37" y="12" fill="#000000" text-anchor="middle" font-size="12px" font-family="Helvetica">Write Target k&lt;br&gt;</text></switch></g><path d="M 664 541.67 L 622.33 541.67 L 622.33 496.67 L 518.7 496.67" fill="none" stroke="#000000" stroke-miterlimit="10" pointer-events="none"/><path d="M 513.45 496.67 L 520.45 493.17 L 518.7 496.67 L 520.45 500.17 Z" fill="#000000" stroke="#000000" stroke-miterlimit="10" pointer-events="none"/><g transform="translate(533.5,489.5)"><switch><foreignObject style="overflow:visible;" pointer-events="all" width="71" height="12" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility"><div xmlns="http://www.w3.org/1999/xhtml" style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; vertical-align: top; white-space: nowrap; text-align: center;"><div xmlns="http://www.w3.org/1999/xhtml" style="display:inline-block;text-align:inherit;text-decoration:inherit;background-color:#ffffff;">Write Target j<br /></div></div></foreignObject><text x="36" y="12" fill="#000000" text-anchor="middle" font-size="12px" font-family="Helvetica">Write Target j&lt;br&gt;</text></switch></g><path d="M 664 541.67 L 622.33 541.67 L 622.33 586.67 L 518.7 586.67" fill="none" stroke="#000000" stroke-miterlimit="10" pointer-events="none"/><path d="M 513.45 586.67 L 520.45 583.17 L 518.7 586.67 L 520.45 590.17 Z" fill="#000000" stroke="#000000" stroke-miterlimit="10" pointer-events="none"/><g transform="translate(532.5,579.5)"><switch><foreignObject style="overflow:visible;" pointer-events="all" width="71" height="12" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility"><div xmlns="http://www.w3.org/1999/xhtml" style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; vertical-align: top; white-space: nowrap; text-align: center;"><div xmlns="http://www.w3.org/1999/xhtml" style="display:inline-block;text-align:inherit;text-decoration:inherit;background-color:#ffffff;">Write Target l<br /></div></div></foreignObject><text x="36" y="12" fill="#000000" text-anchor="middle" font-size="12px" font-family="Helvetica">Write Target l&lt;br&gt;</text></switch></g><path d="M 1222.33 101.67 L 1222.33 541.67 L 1183.7 541.67" fill="none" stroke="#000000" stroke-miterlimit="10" pointer-events="none"/><path d="M 1178.45 541.67 L 1185.45 538.17 L 1183.7 541.67 L 1185.45 545.17 Z" fill="#000000" stroke="#000000" stroke-miterlimit="10" pointer-events="none"/><g transform="translate(1189.5,210.5)"><switch><foreignObject style="overflow:visible;" pointer-events="all" width="62" height="12" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility"><div xmlns="http://www.w3.org/1999/xhtml" style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; vertical-align: top; white-space: nowrap; text-align: center;"><div xmlns="http://www.w3.org/1999/xhtml" style="display:inline-block;text-align:inherit;text-decoration:inherit;background-color:#ffffff;">Set Targets<br /></div></div></foreignObject><text x="31" y="12" fill="#000000" text-anchor="middle" font-size="12px" font-family="Helvetica">Set Targets&lt;br&gt;</text></switch></g></g></svg>
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ControllerDataFlow.xml 0 → 100644
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− 0
View file @ 396cfcdd
<mxfile userAgent="Mozilla/5.0 (Windows NT 10.0; WOW64; rv:50.0) Gecko/20100101 Firefox/50.0" version="6.0.2.8" editor="www.draw.io" type="device"><diagram name="Page-1">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</diagram></mxfile>
\ No newline at end of file
data/RobotAPI/robots/Armar3/ArmarIII-Head.xml
+ 2
− 1
View file @ 396cfcdd
......@@ -271,8 +271,9 @@
<RobotNode name="HeadIMU">
<Transform>
<Translation x="0" y="-10" z="0" units='mm'/>
<Translation x="0" y="-80" z="0" units='mm'/>
<rollpitchyaw roll="90" pitch="0" yaw="0" unitsAngle="degree"/>
<rollpitchyaw roll="0" pitch="0" yaw="180" unitsAngle="degree"/>
</Transform>
<Visualization enable="true">
......
data/RobotAPI/robots/Head/KA-Head.xml 0 → 100644
+ 534
− 0
View file @ 396cfcdd
<?xml version="1.0" encoding="UTF-8" ?>
<Robot Type="KA-Head" RootNode="Root">
<RobotNode name="Root">
<Physics>
<CoM location="VisualizationBBoxCenter"/>
<Mass value="4" units="kg" />
</Physics>
<Child name="Head Base"/>
</RobotNode>
<RobotNode name="Head Base">
<Transform>
<Translation x="0" y="0" z="150" units='mm'/>
<DH theta="90" d="0" a="0" alpha="0" unitsangle="degree" unitslength="mm"/>
</Transform>
<Visualization>
<File type="Inventor">fullmodel/head_base.iv</File>
</Visualization>
<Physics>
<CoM location="VisualizationBBoxCenter"/>
<Mass value="4" units="kg" />
</Physics>
<CollisionModel>
<File type="Inventor">convexModel/head_base.iv</File>
</CollisionModel>
<Child name="Neck_1_Pitch"/>
</RobotNode>
<RobotNode name="Neck_1_Pitch">
<Transform>
<DH theta="0" d="0" a="0" alpha="90" unitsangle="degree" unitslength="mm"/>
<DH theta="90" d="0" a="0" alpha="0" unitsangle="degree" unitslength="mm"/>
</Transform>
<Joint type="revolute">
<!--DH theta="90" d="0" a="0" alpha="90" unitsangle="degree" unitslength="mm"/-->
<axis x="0" y="0" z="-1"/>
<Limits unit="degree" lo="-45" hi="37"/>
<MaxVelocity unit="radian" value="1"/>
<MaxAcceleration value="10"/>
<MaxTorque value="3000"/>
</Joint>
<Visualization>
<File type="Inventor">fullmodel/neck_pitch_link.iv</File>
</Visualization>
<Physics>
<CoM location="VisualizationBBoxCenter"/>
<Mass value="4" units="kg" />
<IgnoreCollision name="Hip Yaw"/>
</Physics>
<CollisionModel>
<File type="Inventor">convexModel/neck_pitch_link.iv</File>
</CollisionModel>
<Child name="Neck_2_Roll"/>
</RobotNode>
<RobotNode name="Neck_2_Roll">
<Transform>
<DH a="0" d="0" theta="0" alpha="90" unitsangle="degree" unitslength="mm"/>
<DH a="0" d="0" theta="90" alpha="0" unitsangle="degree" unitslength="mm"/>
</Transform>
<Joint type="revolute">
<!--DH theta="90" d="0" a="0" alpha="90" unitsangle="degree" unitslength="mm"/-->
<axis x="0" y="0" z="1"/>
<Limits unit="degree" lo="-45" hi="45"/>
<MaxVelocity unit="radian" value="1"/>
<MaxAcceleration value="10"/>
<MaxTorque value="3000"/>
</Joint>
<Visualization>
<File type="Inventor">fullmodel/neck_roll_link.iv</File>
</Visualization>
<Physics>
<CoM location="VisualizationBBoxCenter"/>
<Mass value="2" units="kg" />
<IgnoreCollision name="Hip Yaw"/>
<IgnoreCollision name="Head Base"/>
</Physics>
<CollisionModel>
<File type="Inventor">convexModel/neck_roll_link.iv</File>
</CollisionModel>
<Child name="Neck_3_Yaw"/>
</RobotNode>
<RobotNode name="Neck_3_Yaw">
<Transform>
<DH a="0" d="0" theta="0" alpha="90" unitsangle="degree" unitslength="mm"/>
<DH a="0" d="0" theta="90" alpha="0" unitsangle="degree" unitslength="mm"/>
</Transform>
<Joint type="revolute">
<!--DH theta="90" d="120" a="0" alpha="90" unitsangle="degree" unitslength="mm"/-->
<axis x="0" y="0" z="-1"/>
<Limits unit="degree" lo="-120" hi="120"/>
<MaxVelocity unit="radian" value="1"/>
<MaxAcceleration value="10"/>
<MaxTorque value="3000"/>
</Joint>
<Visualization>
<File type="Inventor">fullmodel/neck_yaw_link.iv</File>
</Visualization>
<Physics>
<CoM location="VisualizationBBoxCenter"/>
<Mass value="2" units="kg" />
</Physics>
<CollisionModel>
<File type="Inventor">convexModel/neck_yaw_link.iv</File>
</CollisionModel>
<Child name="Head_Tilt"/>
</RobotNode>
<RobotNode name="Head_Tilt">
<Transform>
<DH theta="0" d="120" a="0" alpha="90" unitsangle="degree" unitslength="mm"/>
</Transform>
<Joint type="revolute">
<!--DH theta="0" d="0" a="0" alpha="-90" unitsangle="degree" unitslength="mm"/-->
<axis x="0" y="0" z="1"/>
<Limits unit="degree" lo="-45" hi="45"/>
<MaxVelocity unit="radian" value="1"/>
<MaxAcceleration value="10"/>
<MaxTorque value="3000"/>
</Joint>
<Physics>
<CoM location="VisualizationBBoxCenter"/>
<Mass value="6.79877000" units="kg" />
<IgnoreCollision name="Neck_2_Roll"/>
<IgnoreCollision name="Hip Yaw"/>
</Physics>
<Visualization>
<File type="Inventor">fullmodel/head.iv</File>
</Visualization>
<CollisionModel>
<File type="Inventor">convexModel/head.iv</File>
</CollisionModel>
<Child name="Head Center1"/>
</RobotNode>
<RobotNode name="Head Center1">
<Transform>
<DH theta="0" d="0" a="0" alpha="-90" unitsangle="degree" unitslength="mm"/>
</Transform>
<Child name="Head Center"/>
</RobotNode>
<RobotNode name="Head Center">
<Transform>
<DH theta="0" d="54.5" a="0" alpha="-90" unitsangle="degree" unitslength="mm"/>
</Transform>
<Child name="Cameras"/>
<Child name="Jaw"/>
<Child name="Kinect"/>
<Child name="DepthCamera"/>
<Child name="DepthCameraSim"/>
<Child name="HeadIMU"/>
</RobotNode>
<RobotNode name="Jaw">
<Joint type="revolute">
<axis x="0" y="0" z="1"/>
<Limits unit="degree" lo="-30" hi="30"/>
<MaxVelocity unit="radian" value="1"/>
<MaxAcceleration value="10"/>
<MaxTorque value="3000"/>
</Joint>
<Visualization>
<File type="Inventor">fullmodel/jaw.iv</File>
</Visualization>
</RobotNode>
<RobotNode name="Cameras">
<Transform>
<Translation x="100" y="0" z="0" units='mm'/>
</Transform>
<Joint type="revolute">
<Axis x="0" y="0" z="-1"/>
<Limits unit="degree" lo="-20" hi="5"/> <!-- Motor encoder gives values until -24, but eyes only move until -20 or -21 -->
<MaxVelocity unit="radian" value="1"/>
<MaxAcceleration value="10"/>
<MaxTorque value="3000"/>
</Joint>
<CollisionModel>
<File type="Inventor">iv_primitives/cyl2.wrl</File>
</CollisionModel>
<Physics>
<CoM location="VisualizationBBoxCenter"/>
<Mass value="0.2" units="kg" />
<IgnoreCollision name="Neck_2_Roll"/>
<IgnoreCollision name="Hip Yaw"/>
<IgnoreCollision name="Head_Tilt"/>
</Physics>
<Child name="Eye_Left_Dummy"/>
<Child name="Eye_Right_Dummy"/>
<Child name="VirtualCentralGaze"/>
</RobotNode>
<RobotNode name="VirtualCentralGaze">
<Joint type="prismatic">
<TranslationDirection x="1" y="0" z="0"/>
<Limits unit="mm" lo="0" hi="10000"/>
<MaxVelocity unit="radian" value="1"/>
<MaxAcceleration value="10"/>
<MaxTorque value="3000"/>
</Joint>
<Visualization enable="true">
<CoordinateAxis type="Inventor" enable="false" scaling="3"/>
</Visualization>
</RobotNode>
<RobotNode name="Kinect">
<Transform>
<Translation x="140" y="-100" z="0" units='mm'/>
</Transform>
<Joint type="prismatic">
<TranslationDirection x="1" y="0" z="0"/>
<Limits unit="mm" lo="0" hi="10000"/>
<MaxVelocity unit="radian" value="1"/>
<MaxAcceleration value="10"/>
<MaxTorque value="3000"/>
</Joint>
<Visualization enable="true">
<CoordinateAxis type="Inventor" enable="false" scaling="3"/>
</Visualization>
</RobotNode>
<RobotNode name="DepthCamera">
<Transform>
<Translation x="105" y="70" z="0" units='mm'/>
<rollpitchyaw roll="0" pitch="90" yaw="0" unitsAngle="degree"/>
<rollpitchyaw roll="0" pitch="0" yaw="180" unitsAngle="degree"/>
<rollpitchyaw roll="16.0" pitch="0" yaw="0" unitsAngle="degree"/>
<rollpitchyaw roll="0" pitch="0" yaw="180" unitsAngle="degree"/>
</Transform>
<Visualization enable="true">
<CoordinateAxis type="Inventor" enable="false" scaling="3"/>
</Visualization>
</RobotNode>
<RobotNode name="DepthCameraSim">
<Transform>
<Translation x="105" y="70" z="0" units='mm'/>
<rollpitchyaw roll="0" pitch="90" yaw="0" unitsAngle="degree"/>
<rollpitchyaw roll="0" pitch="0" yaw="180" unitsAngle="degree"/>
<rollpitchyaw roll="20.7" pitch="0" yaw="0" unitsAngle="degree"/>
<rollpitchyaw roll="0" pitch="0" yaw="270" unitsAngle="degree"/>
</Transform>
<Visualization enable="true">
<CoordinateAxis type="Inventor" enable="false" scaling="3"/>
</Visualization>
</RobotNode>
<RobotNode name="HeadIMU">
<Transform>
<Translation x="0" y="-80" z="0" units='mm'/>
<rollpitchyaw roll="90" pitch="0" yaw="0" unitsAngle="degree"/>
<rollpitchyaw roll="0" pitch="0" yaw="180" unitsAngle="degree"/>
</Transform>
<Visualization enable="true">
<CoordinateAxis type="Inventor" enable="false" scaling="3"/>
</Visualization>
</RobotNode>
<RobotNode name="Eye_Left_Dummy">
<Transform>
<DH a="0" d="46.5" theta="0" alpha="-90" unitsangle="degree" unitslength="mm"/>
</Transform>
<Child name="Eye_Left"/>
</RobotNode>
<RobotNode name="Eye_Right_Dummy">
<Transform>
<DH a="0" d="-46.5" theta="0" alpha="-90" unitsangle="degree" unitslength="mm"/>
</Transform>
<Child name="Eye_Right"/>
</RobotNode>
<RobotNode name="Eye_Left">
<Joint type="revolute">
<Axis x="0" y="0" z="1"/>
<Limits unit="degree" lo="-30" hi="30"/>
<MaxVelocity unit="radian" value="1"/>
<MaxAcceleration value="10"/>
<MaxTorque value="3000"/>
</Joint>
<Visualization>
<File type="Inventor">fullmodel/eye_l.iv</File>
</Visualization>
<CollisionModel>
<File type="Inventor">iv_primitives/cyl1.wrl</File>
</CollisionModel>
<Physics>
<CoM location="VisualizationBBoxCenter"/>
<Mass value="0.1" units="kg" />
<IgnoreCollision name="Cameras"/>
<IgnoreCollision name="Head_Tilt"/>
</Physics>
<Child name="Lid Left Bottom"/>
<Child name="Lid Left Top"/>
<Child name="EyeLeftCameraPreTransformation"/>
</RobotNode>
<RobotNode name="Eye_Right">
<Joint type="revolute">
<Axis x="0" y="0" z="1"/>
<Limits unit="degree" lo="-30" hi="30"/>
<MaxVelocity unit="radian" value="1"/>
<MaxAcceleration value="10"/>
<MaxTorque value="3000"/>
</Joint>
<Visualization>
<File type="Inventor">fullmodel/eye_r.iv</File>
</Visualization>
<CollisionModel>
<File type="Inventor">iv_primitives/cyl1.wrl</File>
</CollisionModel>
<Physics>
<CoM location="VisualizationBBoxCenter"/>
<Mass value="0.1" units="kg" />
<IgnoreCollision name="Cameras"/>
<IgnoreCollision name="Head_Tilt"/>
</Physics>
<Child name="Lid Right Bottom"/>
<Child name="Lid Right Top"/>
<Child name="EyeRightCameraPreTransformation"/>
</RobotNode>
<RobotNode name="EyeLeftCameraPreTransformation">
<Transform>
<translation x="20" y="0" z="0"/>
<RollPitchYaw roll="0" pitch="90" yaw ="0" units="degree"/>
</Transform>
<Child name="EyeLeftCamera"/>
<Child name="EyeLeftCameraSim"/>
</RobotNode>
<RobotNode name="EyeLeftCamera">
<Transform>
<RollPitchYaw roll="0" pitch="0" yaw ="90" units="degree"/>
</Transform>
<Visualization enable="true">
<CoordinateAxis type="Inventor" enable="false" scaling="5"/>
</Visualization>
<Child name="HeadMotionMeasurementTCP"/>
<!--Sensor type="Camera" name="LeftEyeCam">
</Sensor-->
</RobotNode>
<RobotNode name="EyeLeftCameraSim">
<Transform>
<RollPitchYaw roll="0" pitch="0" yaw ="180" units="degree"/>
</Transform>
</RobotNode>
<RobotNode name="HeadMotionMeasurementTCP">
<Transform>
<translation x="0" y="0" z="1000"/>
</Transform>
</RobotNode>
<RobotNode name="Lid Left Bottom">
<Joint type="revolute">
<Axis x="0" y="1" z="0"/>
<MaxVelocity unit="radian" value="1"/>
<MaxAcceleration value="10"/>
<MaxTorque value="3000"/>
</Joint>
<Visualization>
<File type="Inventor">fullmodel/lid_l_bottom.iv</File>
</Visualization>
</RobotNode>
<RobotNode name="Lid Left Top">
<Joint type="revolute">
<Axis x="0" y="1" z="0"/>
</Joint>
<Visualization>
<File type="Inventor">fullmodel/lid_l_top.iv</File>
</Visualization>
</RobotNode>
<RobotNode name="EyeRightCameraPreTransformation">
<Transform>
<translation x="20" y="0" z="0"/>
<RollPitchYaw roll="0" pitch="90" yaw ="0" units="degree"/>
</Transform>
<Child name="EyeRightCamera"/>
<Child name="EyeRightCameraSim"/>
</RobotNode>
<RobotNode name="EyeRightCamera">
<Transform>
<RollPitchYaw roll="0" pitch="0" yaw ="90" units="degree"/>
</Transform>
<!--Sensor type="Camera" name="RightEyeCam">
</Sensor-->
</RobotNode>
<RobotNode name="EyeRightCameraSim">
<Transform>
<RollPitchYaw roll="0" pitch="0" yaw ="180" units="degree"/>
</Transform>
</RobotNode>
<RobotNode name="Lid Right Bottom">
<Joint type="revolute">
<Axis x="0" y="1" z="0"/>
<MaxVelocity unit="radian" value="1"/>
<MaxAcceleration value="10"/>
<MaxTorque value="3000"/>
</Joint>
<Visualization>
<File type="Inventor">fullmodel/lid_r_bottom.iv</File>
</Visualization>
</RobotNode>
<RobotNode name="Lid Right Top">
<Joint type="revolute">
<Axis x="0" y="1" z="0"/>
<MaxVelocity unit="radian" value="1"/>
<MaxAcceleration value="10"/>
<MaxTorque value="3000"/>
</Joint>
<Visualization>
<File type="Inventor">fullmodel/lid_r_top.iv</File>
</Visualization>
</RobotNode>
<RobotNodeSet name="Head" kinematicRoot="Neck_1_Pitch">
<Node name="Neck_1_Pitch"/>
<Node name="Neck_2_Roll"/>
<Node name="Neck_3_Yaw"/>
<Node name="Head_Tilt"/>
<Node name="Cameras"/>
<Node name="Eye_Left"/>
<Node name="Eye_Right"/>
</RobotNodeSet>
<RobotNodeSet name="Neck" kinematicRoot="Neck_1_Pitch">
<Node name="Neck_1_Pitch"/>
<Node name="Neck_2_Roll"/>
<Node name="Neck_3_Yaw"/>
<Node name="Head_Tilt"/>
</RobotNodeSet>
<RobotNodeSet name="IKVirtualGaze" kinematicRoot="Neck_1_Pitch" tcp="VirtualCentralGaze">
<Node name="Neck_1_Pitch"/>
<Node name="Neck_2_Roll"/>
<Node name="Neck_3_Yaw"/>
<Node name="Cameras"/>
<Node name="VirtualCentralGaze"/>
</RobotNodeSet>
<RobotNodeSet name="IKVirtualGazeNoEyes" kinematicRoot="Neck_1_Pitch" tcp="VirtualCentralGaze">
<Node name="Neck_1_Pitch"/>
<Node name="Neck_2_Roll"/>
<Node name="Neck_3_Yaw"/>
<Node name="VirtualCentralGaze"/>
</RobotNodeSet>
<RobotNodeSet name="IKVirtualGaze_NoRoll" kinematicRoot="Neck_1_Pitch" tcp="VirtualCentralGaze">
<Node name="Neck_1_Pitch"/>
<Node name="Neck_3_Yaw"/>
<Node name="Cameras"/>
<Node name="VirtualCentralGaze"/>
</RobotNodeSet>
<RobotNodeSet name="IKVirtualGazeKinect" kinematicRoot="Neck_1_Pitch" tcp="Kinect">
<Node name="Neck_1_Pitch"/>
<Node name="Neck_2_Roll"/>
<Node name="Neck_3_Yaw"/>
<Node name="Kinect"/>
</RobotNodeSet>
<RobotNodeSet name="IKVirtualGaze_WithHeadTilt" kinematicRoot="Neck_1_Pitch" tcp="VirtualCentralGaze">
<Node name="Neck_1_Pitch"/>
<Node name="Neck_2_Roll"/>
<Node name="Neck_3_Yaw"/>
<Node name="Head_Tilt"/>
<Node name="Cameras"/>
<Node name="VirtualCentralGaze"/>
</RobotNodeSet>
</Robot>
data/RobotAPI/robots/Head/fullmodel/armar/eyes/eye.iv 0 → 100644
+ 9581
− 0
View file @ 396cfcdd
This diff is collapsed.
data/RobotAPI/robots/Head/fullmodel/armar/eyes/eyes_pitch_link_left.iv 0 → 100644
+ 1475
− 0
View file @ 396cfcdd
This diff is collapsed.
data/RobotAPI/robots/Head/fullmodel/armar/eyes/eyes_pitch_link_right.iv 0 → 100644
+ 1475
− 0
View file @ 396cfcdd
This diff is collapsed.
data/RobotAPI/robots/Head/fullmodel/armar/eyes/lid.iv 0 → 100644
+ 2695
− 0
View file @ 396cfcdd
This diff is collapsed.
data/RobotAPI/robots/Head/fullmodel/armar/head/head.iv 0 → 100644
+ 11164
− 0
View file @ 396cfcdd
This diff is collapsed.
data/RobotAPI/robots/Head/fullmodel/armar/head/head_base.wrl 0 → 100644
+ 145
− 0
View file @ 396cfcdd
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appearance Appearance
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material Material
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data/RobotAPI/robots/Head/fullmodel/armar/head/jaw.iv 0 → 100644
+ 6541
− 0
View file @ 396cfcdd
This diff is collapsed.
data/RobotAPI/robots/Head/fullmodel/armar/neck/neck_pitch_link.iv 0 → 100644
+ 2880
− 0
View file @ 396cfcdd
This diff is collapsed.
data/RobotAPI/robots/Head/fullmodel/armar/neck/neck_roll_link.iv 0 → 100644
+ 1670
− 0
View file @ 396cfcdd
This diff is collapsed.
data/RobotAPI/robots/Head/fullmodel/armar/neck/neck_yaw_link.iv 0 → 100644
+ 4536
− 0
View file @ 396cfcdd
This diff is collapsed.
data/RobotAPI/robots/Head/fullmodel/eye_l.iv 0 → 100644
+ 16
− 0
View file @ 396cfcdd
#Inventor V2.1 ascii
Separator {
Transform {
rotation 0 1 0 1.57
}
Transform {
rotation 0 0 1 1.57
}
File {
name "armar/eyes/eye.iv"
}
}
data/RobotAPI/robots/Head/fullmodel/eye_r.iv 0 → 100644
+ 16
− 0
View file @ 396cfcdd
#Inventor V2.1 ascii
Separator {
Transform {
rotation 0 1 0 1.57
}
Transform {
rotation 0 0 1 1.57
}
File {
name "armar/eyes/eye.iv"
}
}
data/RobotAPI/robots/Head/fullmodel/head.iv 0 → 100644
+ 12
− 0
View file @ 396cfcdd
#Inventor V2.1 ascii
Separator {
Transform {
rotation 0 1 0 1.57
}
File {
name "armar/head/head.iv"
}
}
data/RobotAPI/robots/Head/fullmodel/head_base.iv 0 → 100644
+ 19
− 0
View file @ 396cfcdd
#Inventor V2.1 ascii
Separator {
SoUnits
{
units MILLIMETERS
}
Transform {
translation -35 0 -605
}
RotationXYZ{
axis Z
angle 3.14
}
File {
name "armar/head/head_base.wrl"
}
}
data/RobotAPI/robots/Head/fullmodel/jaw.iv 0 → 100644
+ 20
− 0
View file @ 396cfcdd
#Inventor V2.1 ascii
Separator {
Units {
units MILLIMETERS
}
Transform {
translation 0 10 0
rotation 0 0 1 1.57
}
Transform {
rotation 0 1 0 -1.57
}
File {
name "armar/head/jaw.iv"
}
}
data/RobotAPI/robots/Head/fullmodel/lid_l_bottom.iv 0 → 100644
+ 11
− 0
View file @ 396cfcdd
#Inventor V2.1 ascii
Separator {
Transform {
translation 0 0 0
rotation 0 1 0 -0.87
}
File {
name "armar/eyes/lid.iv"
}
}
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