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orograph.dot
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digraph G {
rankdir=TB;
"fkin1"[style=filled,width=1.8,height=1.8,color=green];
"robot_gazebofull_arm_JointFeedbackfkin1in_robotstatus_port"[shape=box,label="data"];
"robot_gazebo"->"robot_gazebofull_arm_JointFeedbackfkin1in_robotstatus_port"[ label="full_arm_JointFeedback"];
"robot_gazebofull_arm_JointFeedbackfkin1in_robotstatus_port"->fkin1[ label="in_robotstatus_port"];
"out_robotstatus_port"[shape=point];
fkin1->"out_robotstatus_port"[ label="out_robotstatus_port"];
"out_inertia_port"[shape=point];
fkin1->"out_inertia_port"[ label="out_inertia_port"];
"out_inertiaInv_port"[shape=point];
fkin1->"out_inertiaInv_port"[ label="out_inertiaInv_port"];
"out_gravity_port"[shape=point];
fkin1->"out_gravity_port"[ label="out_gravity_port"];
"out_coriolis_port"[shape=point];
fkin1->"out_coriolis_port"[ label="out_coriolis_port"];
"out_coriolisAndGravity_port"[shape=point];
fkin1->"out_coriolisAndGravity_port"[ label="out_coriolisAndGravity_port"];
"out_cartPos_port"[shape=point];
fkin1->"out_cartPos_port"[ label="out_cartPos_port"];
"out_cartVel_port"[shape=point];
fkin1->"out_cartVel_port"[ label="out_cartVel_port"];
"out_cartAcc_port"[shape=point];
fkin1->"out_cartAcc_port"[ label="out_cartAcc_port"];
"out_cartPosTranslation_port"[shape=point];
fkin1->"out_cartPosTranslation_port"[ label="out_cartPosTranslation_port"];
"out_cartVelTranslation_port"[shape=point];
fkin1->"out_cartVelTranslation_port"[ label="out_cartVelTranslation_port"];
"out_cartAccTranslation_port"[shape=point];
fkin1->"out_cartAccTranslation_port"[ label="out_cartAccTranslation_port"];
"out_cartPosOrientation_port"[shape=point];
fkin1->"out_cartPosOrientation_port"[ label="out_cartPosOrientation_port"];
"out_cartVelOrientation_port"[shape=point];
fkin1->"out_cartVelOrientation_port"[ label="out_cartVelOrientation_port"];
"out_cartAccOrientation_port"[shape=point];
fkin1->"out_cartAccOrientation_port"[ label="out_cartAccOrientation_port"];
"out_jacobian_port"[shape=point];
fkin1->"out_jacobian_port"[ label="out_jacobian_port"];
"out_jacobianDot_port"[shape=point];
fkin1->"out_jacobianDot_port"[ label="out_jacobianDot_port"];
"out_jacobianTranslation_port"[shape=point];
fkin1->"out_jacobianTranslation_port"[ label="out_jacobianTranslation_port"];
"out_jacobianDotTranslation_port"[shape=point];
fkin1->"out_jacobianDotTranslation_port"[ label="out_jacobianDotTranslation_port"];
"out_jacobianOrientation_port"[shape=point];
fkin1->"out_jacobianOrientation_port"[ label="out_jacobianOrientation_port"];
"out_jacobianDotOrientation_port"[shape=point];
fkin1->"out_jacobianDotOrientation_port"[ label="out_jacobianDotOrientation_port"];
"fkin2"[style=filled,width=1.8,height=1.8,color=green];
"robot_gazebofull_arm_JointFeedbackfkin2in_robotstatus_port"[shape=box,label="data"];
"robot_gazebo"->"robot_gazebofull_arm_JointFeedbackfkin2in_robotstatus_port"[ label="full_arm_JointFeedback"];
"robot_gazebofull_arm_JointFeedbackfkin2in_robotstatus_port"->fkin2[ label="in_robotstatus_port"];
"out_robotstatus_port"[shape=point];
fkin2->"out_robotstatus_port"[ label="out_robotstatus_port"];
"out_inertia_port"[shape=point];
fkin2->"out_inertia_port"[ label="out_inertia_port"];
"out_inertiaInv_port"[shape=point];
fkin2->"out_inertiaInv_port"[ label="out_inertiaInv_port"];
"out_gravity_port"[shape=point];
fkin2->"out_gravity_port"[ label="out_gravity_port"];
"out_coriolis_port"[shape=point];
fkin2->"out_coriolis_port"[ label="out_coriolis_port"];
"out_coriolisAndGravity_port"[shape=point];
fkin2->"out_coriolisAndGravity_port"[ label="out_coriolisAndGravity_port"];
"out_cartPos_port"[shape=point];
fkin2->"out_cartPos_port"[ label="out_cartPos_port"];
"out_cartVel_port"[shape=point];
fkin2->"out_cartVel_port"[ label="out_cartVel_port"];
"out_cartAcc_port"[shape=point];
fkin2->"out_cartAcc_port"[ label="out_cartAcc_port"];
"out_cartPosTranslation_port"[shape=point];
fkin2->"out_cartPosTranslation_port"[ label="out_cartPosTranslation_port"];
"out_cartVelTranslation_port"[shape=point];
fkin2->"out_cartVelTranslation_port"[ label="out_cartVelTranslation_port"];
"out_cartAccTranslation_port"[shape=point];
fkin2->"out_cartAccTranslation_port"[ label="out_cartAccTranslation_port"];
"out_cartPosOrientation_port"[shape=point];
fkin2->"out_cartPosOrientation_port"[ label="out_cartPosOrientation_port"];
"out_cartVelOrientation_port"[shape=point];
fkin2->"out_cartVelOrientation_port"[ label="out_cartVelOrientation_port"];
"out_cartAccOrientation_port"[shape=point];
fkin2->"out_cartAccOrientation_port"[ label="out_cartAccOrientation_port"];
"out_jacobian_port"[shape=point];
fkin2->"out_jacobian_port"[ label="out_jacobian_port"];
"out_jacobianDot_port"[shape=point];
fkin2->"out_jacobianDot_port"[ label="out_jacobianDot_port"];
"out_jacobianTranslation_port"[shape=point];
fkin2->"out_jacobianTranslation_port"[ label="out_jacobianTranslation_port"];
"out_jacobianDotTranslation_port"[shape=point];
fkin2->"out_jacobianDotTranslation_port"[ label="out_jacobianDotTranslation_port"];
"out_jacobianOrientation_port"[shape=point];
fkin2->"out_jacobianOrientation_port"[ label="out_jacobianOrientation_port"];
"out_jacobianDotOrientation_port"[shape=point];
fkin2->"out_jacobianDotOrientation_port"[ label="out_jacobianDotOrientation_port"];
"fkin3"[style=filled,width=1.8,height=1.8,color=green];
"robot_gazebofull_arm_JointFeedbackfkin3in_robotstatus_port"[shape=box,label="data"];
"robot_gazebo"->"robot_gazebofull_arm_JointFeedbackfkin3in_robotstatus_port"[ label="full_arm_JointFeedback"];
"robot_gazebofull_arm_JointFeedbackfkin3in_robotstatus_port"->fkin3[ label="in_robotstatus_port"];
"out_robotstatus_port"[shape=point];
fkin3->"out_robotstatus_port"[ label="out_robotstatus_port"];
"out_inertia_port"[shape=point];
fkin3->"out_inertia_port"[ label="out_inertia_port"];
"out_inertiaInv_port"[shape=point];
fkin3->"out_inertiaInv_port"[ label="out_inertiaInv_port"];
"out_gravity_port"[shape=point];
fkin3->"out_gravity_port"[ label="out_gravity_port"];
"out_coriolis_port"[shape=point];
fkin3->"out_coriolis_port"[ label="out_coriolis_port"];
"out_coriolisAndGravity_port"[shape=point];
fkin3->"out_coriolisAndGravity_port"[ label="out_coriolisAndGravity_port"];
"out_cartPos_port"[shape=point];
fkin3->"out_cartPos_port"[ label="out_cartPos_port"];
"out_cartVel_port"[shape=point];
fkin3->"out_cartVel_port"[ label="out_cartVel_port"];
"out_cartAcc_port"[shape=point];
fkin3->"out_cartAcc_port"[ label="out_cartAcc_port"];
"out_cartPosTranslation_port"[shape=point];
fkin3->"out_cartPosTranslation_port"[ label="out_cartPosTranslation_port"];
"out_cartVelTranslation_port"[shape=point];
fkin3->"out_cartVelTranslation_port"[ label="out_cartVelTranslation_port"];
"out_cartAccTranslation_port"[shape=point];
fkin3->"out_cartAccTranslation_port"[ label="out_cartAccTranslation_port"];
"out_cartPosOrientation_port"[shape=point];
fkin3->"out_cartPosOrientation_port"[ label="out_cartPosOrientation_port"];
"out_cartVelOrientation_port"[shape=point];
fkin3->"out_cartVelOrientation_port"[ label="out_cartVelOrientation_port"];
"out_cartAccOrientation_port"[shape=point];
fkin3->"out_cartAccOrientation_port"[ label="out_cartAccOrientation_port"];
"out_jacobian_port"[shape=point];
fkin3->"out_jacobian_port"[ label="out_jacobian_port"];
"out_jacobianDot_port"[shape=point];
fkin3->"out_jacobianDot_port"[ label="out_jacobianDot_port"];
"out_jacobianTranslation_port"[shape=point];
fkin3->"out_jacobianTranslation_port"[ label="out_jacobianTranslation_port"];
"out_jacobianDotTranslation_port"[shape=point];
fkin3->"out_jacobianDotTranslation_port"[ label="out_jacobianDotTranslation_port"];
"out_jacobianOrientation_port"[shape=point];
fkin3->"out_jacobianOrientation_port"[ label="out_jacobianOrientation_port"];
"out_jacobianDotOrientation_port"[shape=point];
fkin3->"out_jacobianDotOrientation_port"[ label="out_jacobianDotOrientation_port"];
"fkin4"[style=filled,width=1.8,height=1.8,color=green];
"robot_gazebofull_arm_JointFeedbackfkin4in_robotstatus_port"[shape=box,label="data"];
"robot_gazebo"->"robot_gazebofull_arm_JointFeedbackfkin4in_robotstatus_port"[ label="full_arm_JointFeedback"];
"robot_gazebofull_arm_JointFeedbackfkin4in_robotstatus_port"->fkin4[ label="in_robotstatus_port"];
"out_robotstatus_port"[shape=point];
fkin4->"out_robotstatus_port"[ label="out_robotstatus_port"];
"out_inertia_port"[shape=point];
fkin4->"out_inertia_port"[ label="out_inertia_port"];
"out_inertiaInv_port"[shape=point];
fkin4->"out_inertiaInv_port"[ label="out_inertiaInv_port"];
"out_gravity_port"[shape=point];
fkin4->"out_gravity_port"[ label="out_gravity_port"];
"out_coriolis_port"[shape=point];
fkin4->"out_coriolis_port"[ label="out_coriolis_port"];
"out_coriolisAndGravity_port"[shape=point];
fkin4->"out_coriolisAndGravity_port"[ label="out_coriolisAndGravity_port"];
"out_cartPos_port"[shape=point];
fkin4->"out_cartPos_port"[ label="out_cartPos_port"];
"out_cartVel_port"[shape=point];
fkin4->"out_cartVel_port"[ label="out_cartVel_port"];
"out_cartAcc_port"[shape=point];
fkin4->"out_cartAcc_port"[ label="out_cartAcc_port"];
"out_cartPosTranslation_port"[shape=point];
fkin4->"out_cartPosTranslation_port"[ label="out_cartPosTranslation_port"];
"out_cartVelTranslation_port"[shape=point];
fkin4->"out_cartVelTranslation_port"[ label="out_cartVelTranslation_port"];
"out_cartAccTranslation_port"[shape=point];
fkin4->"out_cartAccTranslation_port"[ label="out_cartAccTranslation_port"];
"out_cartPosOrientation_port"[shape=point];
fkin4->"out_cartPosOrientation_port"[ label="out_cartPosOrientation_port"];
"out_cartVelOrientation_port"[shape=point];
fkin4->"out_cartVelOrientation_port"[ label="out_cartVelOrientation_port"];
"out_cartAccOrientation_port"[shape=point];
fkin4->"out_cartAccOrientation_port"[ label="out_cartAccOrientation_port"];
"out_jacobian_port"[shape=point];
fkin4->"out_jacobian_port"[ label="out_jacobian_port"];
"out_jacobianDot_port"[shape=point];
fkin4->"out_jacobianDot_port"[ label="out_jacobianDot_port"];
"out_jacobianTranslation_port"[shape=point];
fkin4->"out_jacobianTranslation_port"[ label="out_jacobianTranslation_port"];
"out_jacobianDotTranslation_port"[shape=point];
fkin4->"out_jacobianDotTranslation_port"[ label="out_jacobianDotTranslation_port"];
"out_jacobianOrientation_port"[shape=point];
fkin4->"out_jacobianOrientation_port"[ label="out_jacobianOrientation_port"];
"out_jacobianDotOrientation_port"[shape=point];
fkin4->"out_jacobianDotOrientation_port"[ label="out_jacobianDotOrientation_port"];
"fkin5"[style=filled,width=1.8,height=1.8,color=green];
"robot_gazebofull_arm_JointFeedbackfkin5in_robotstatus_port"[shape=box,label="data"];
"robot_gazebo"->"robot_gazebofull_arm_JointFeedbackfkin5in_robotstatus_port"[ label="full_arm_JointFeedback"];
"robot_gazebofull_arm_JointFeedbackfkin5in_robotstatus_port"->fkin5[ label="in_robotstatus_port"];
"out_robotstatus_port"[shape=point];
fkin5->"out_robotstatus_port"[ label="out_robotstatus_port"];
"out_inertia_port"[shape=point];
fkin5->"out_inertia_port"[ label="out_inertia_port"];
"out_inertiaInv_port"[shape=point];
fkin5->"out_inertiaInv_port"[ label="out_inertiaInv_port"];
"out_gravity_port"[shape=point];
fkin5->"out_gravity_port"[ label="out_gravity_port"];
"out_coriolis_port"[shape=point];
fkin5->"out_coriolis_port"[ label="out_coriolis_port"];
"out_coriolisAndGravity_port"[shape=point];
fkin5->"out_coriolisAndGravity_port"[ label="out_coriolisAndGravity_port"];
"out_cartPos_port"[shape=point];
fkin5->"out_cartPos_port"[ label="out_cartPos_port"];
"out_cartVel_port"[shape=point];
fkin5->"out_cartVel_port"[ label="out_cartVel_port"];
"out_cartAcc_port"[shape=point];
fkin5->"out_cartAcc_port"[ label="out_cartAcc_port"];
"out_cartPosTranslation_port"[shape=point];
fkin5->"out_cartPosTranslation_port"[ label="out_cartPosTranslation_port"];
"out_cartVelTranslation_port"[shape=point];
fkin5->"out_cartVelTranslation_port"[ label="out_cartVelTranslation_port"];
"out_cartAccTranslation_port"[shape=point];
fkin5->"out_cartAccTranslation_port"[ label="out_cartAccTranslation_port"];
"out_cartPosOrientation_port"[shape=point];
fkin5->"out_cartPosOrientation_port"[ label="out_cartPosOrientation_port"];
"out_cartVelOrientation_port"[shape=point];
fkin5->"out_cartVelOrientation_port"[ label="out_cartVelOrientation_port"];
"out_cartAccOrientation_port"[shape=point];
fkin5->"out_cartAccOrientation_port"[ label="out_cartAccOrientation_port"];
"out_jacobian_port"[shape=point];
fkin5->"out_jacobian_port"[ label="out_jacobian_port"];
"out_jacobianDot_port"[shape=point];
fkin5->"out_jacobianDot_port"[ label="out_jacobianDot_port"];
"out_jacobianTranslation_port"[shape=point];
fkin5->"out_jacobianTranslation_port"[ label="out_jacobianTranslation_port"];
"out_jacobianDotTranslation_port"[shape=point];
fkin5->"out_jacobianDotTranslation_port"[ label="out_jacobianDotTranslation_port"];
"out_jacobianOrientation_port"[shape=point];
fkin5->"out_jacobianOrientation_port"[ label="out_jacobianOrientation_port"];
"out_jacobianDotOrientation_port"[shape=point];
fkin5->"out_jacobianDotOrientation_port"[ label="out_jacobianDotOrientation_port"];
"fkin6"[style=filled,width=1.8,height=1.8,color=green];
"robot_gazebofull_arm_JointFeedbackfkin6in_robotstatus_port"[shape=box,label="data"];
"robot_gazebo"->"robot_gazebofull_arm_JointFeedbackfkin6in_robotstatus_port"[ label="full_arm_JointFeedback"];
"robot_gazebofull_arm_JointFeedbackfkin6in_robotstatus_port"->fkin6[ label="in_robotstatus_port"];
"out_robotstatus_port"[shape=point];
fkin6->"out_robotstatus_port"[ label="out_robotstatus_port"];
"out_inertia_port"[shape=point];
fkin6->"out_inertia_port"[ label="out_inertia_port"];
"out_inertiaInv_port"[shape=point];
fkin6->"out_inertiaInv_port"[ label="out_inertiaInv_port"];
"out_gravity_port"[shape=point];
fkin6->"out_gravity_port"[ label="out_gravity_port"];
"out_coriolis_port"[shape=point];
fkin6->"out_coriolis_port"[ label="out_coriolis_port"];
"out_coriolisAndGravity_port"[shape=point];
fkin6->"out_coriolisAndGravity_port"[ label="out_coriolisAndGravity_port"];
"out_cartPos_port"[shape=point];
fkin6->"out_cartPos_port"[ label="out_cartPos_port"];
"out_cartVel_port"[shape=point];
fkin6->"out_cartVel_port"[ label="out_cartVel_port"];
"out_cartAcc_port"[shape=point];
fkin6->"out_cartAcc_port"[ label="out_cartAcc_port"];
"out_cartPosTranslation_port"[shape=point];
fkin6->"out_cartPosTranslation_port"[ label="out_cartPosTranslation_port"];
"out_cartVelTranslation_port"[shape=point];
fkin6->"out_cartVelTranslation_port"[ label="out_cartVelTranslation_port"];
"out_cartAccTranslation_port"[shape=point];
fkin6->"out_cartAccTranslation_port"[ label="out_cartAccTranslation_port"];
"out_cartPosOrientation_port"[shape=point];
fkin6->"out_cartPosOrientation_port"[ label="out_cartPosOrientation_port"];
"out_cartVelOrientation_port"[shape=point];
fkin6->"out_cartVelOrientation_port"[ label="out_cartVelOrientation_port"];
"out_cartAccOrientation_port"[shape=point];
fkin6->"out_cartAccOrientation_port"[ label="out_cartAccOrientation_port"];
"out_jacobian_port"[shape=point];
fkin6->"out_jacobian_port"[ label="out_jacobian_port"];
"out_jacobianDot_port"[shape=point];
fkin6->"out_jacobianDot_port"[ label="out_jacobianDot_port"];
"out_jacobianTranslation_port"[shape=point];
fkin6->"out_jacobianTranslation_port"[ label="out_jacobianTranslation_port"];
"out_jacobianDotTranslation_port"[shape=point];
fkin6->"out_jacobianDotTranslation_port"[ label="out_jacobianDotTranslation_port"];
"out_jacobianOrientation_port"[shape=point];
fkin6->"out_jacobianOrientation_port"[ label="out_jacobianOrientation_port"];
"out_jacobianDotOrientation_port"[shape=point];
fkin6->"out_jacobianDotOrientation_port"[ label="out_jacobianDotOrientation_port"];
"fkin7"[style=filled,width=1.8,height=1.8,color=green];
"robot_gazebofull_arm_JointFeedbackfkin7in_robotstatus_port"[shape=box,label="data"];
"robot_gazebo"->"robot_gazebofull_arm_JointFeedbackfkin7in_robotstatus_port"[ label="full_arm_JointFeedback"];
"robot_gazebofull_arm_JointFeedbackfkin7in_robotstatus_port"->fkin7[ label="in_robotstatus_port"];
"robot_gazebofull_arm_JointFeedbackfkin7in_robotstatus_port"[shape=box,label="data"];
"robot_gazebo"->"robot_gazebofull_arm_JointFeedbackfkin7in_robotstatus_port"[ label="full_arm_JointFeedback"];
"robot_gazebofull_arm_JointFeedbackfkin7in_robotstatus_port"->fkin7[ label="in_robotstatus_port"];
"out_inertiaInv_port"[shape=point];
fkin7->"out_inertiaInv_port"[ label="out_inertiaInv_port"];
"out_gravity_port"[shape=point];
fkin7->"out_gravity_port"[ label="out_gravity_port"];
"out_coriolis_port"[shape=point];
fkin7->"out_coriolis_port"[ label="out_coriolis_port"];
"out_cartPos_port"[shape=point];
fkin7->"out_cartPos_port"[ label="out_cartPos_port"];
"out_cartVel_port"[shape=point];
fkin7->"out_cartVel_port"[ label="out_cartVel_port"];
"out_cartAcc_port"[shape=point];
fkin7->"out_cartAcc_port"[ label="out_cartAcc_port"];
"out_cartAccTranslation_port"[shape=point];
fkin7->"out_cartAccTranslation_port"[ label="out_cartAccTranslation_port"];
"out_cartPosOrientation_port"[shape=point];
fkin7->"out_cartPosOrientation_port"[ label="out_cartPosOrientation_port"];
"out_cartVelOrientation_port"[shape=point];
fkin7->"out_cartVelOrientation_port"[ label="out_cartVelOrientation_port"];
"out_cartAccOrientation_port"[shape=point];
fkin7->"out_cartAccOrientation_port"[ label="out_cartAccOrientation_port"];
"out_jacobian_port"[shape=point];
fkin7->"out_jacobian_port"[ label="out_jacobian_port"];
"out_jacobianDot_port"[shape=point];
fkin7->"out_jacobianDot_port"[ label="out_jacobianDot_port"];
"out_jacobianOrientation_port"[shape=point];
fkin7->"out_jacobianOrientation_port"[ label="out_jacobianOrientation_port"];
"out_jacobianDotOrientation_port"[shape=point];
fkin7->"out_jacobianDotOrientation_port"[ label="out_jacobianDotOrientation_port"];
"gazebo"[style=filled,width=1.8,height=1.8,color=green];
"myTorqueController"[style=filled,width=1.8,height=1.8,color=green];
"robot_gazebofull_arm_JointFeedbackmyTorqueControllerin_robotstatus_port"[shape=box,label="data"];
"robot_gazebo"->"robot_gazebofull_arm_JointFeedbackmyTorqueControllerin_robotstatus_port"[ label="full_arm_JointFeedback"];
"robot_gazebofull_arm_JointFeedbackmyTorqueControllerin_robotstatus_port"->myTorqueController[ label="in_robotstatus_port"];
"fkin7out_robotstatus_portmyTorqueControllerin_robotstatus_port"[shape=box,label="data"];
"fkin7"->"fkin7out_robotstatus_portmyTorqueControllerin_robotstatus_port"[ label="out_robotstatus_port"];
"fkin7out_robotstatus_portmyTorqueControllerin_robotstatus_port"->myTorqueController[ label="in_robotstatus_port"];
"in_jacobian_port_1"[shape=point];
"in_jacobian_port_1"->myTorqueController[ label="in_jacobian_port_1"];
"in_jacobianDot_port_1"[shape=point];
"in_jacobianDot_port_1"->myTorqueController[ label="in_jacobianDot_port_1"];
"in_currentTaskSpacePosition_port_1"[shape=point];
"in_currentTaskSpacePosition_port_1"->myTorqueController[ label="in_currentTaskSpacePosition_port_1"];
"in_currentTaskSpaceVelocity_port_1"[shape=point];
"in_currentTaskSpaceVelocity_port_1"->myTorqueController[ label="in_currentTaskSpaceVelocity_port_1"];
"in_desiredTaskSpacePosition_port_1"[shape=point];
"in_desiredTaskSpacePosition_port_1"->myTorqueController[ label="in_desiredTaskSpacePosition_port_1"];
"in_desiredTaskSpaceVelocity_port_1"[shape=point];
"in_desiredTaskSpaceVelocity_port_1"->myTorqueController[ label="in_desiredTaskSpaceVelocity_port_1"];
"in_desiredTaskSpaceAcceleration_port_1"[shape=point];
"in_desiredTaskSpaceAcceleration_port_1"->myTorqueController[ label="in_desiredTaskSpaceAcceleration_port_1"];
"singenout_sin_portmyTorqueControllerin_desiredJointSpacePosition_port_1"[shape=box,label="data"];
"singen"->"singenout_sin_portmyTorqueControllerin_desiredJointSpacePosition_port_1"[ label="out_sin_port"];
"singenout_sin_portmyTorqueControllerin_desiredJointSpacePosition_port_1"->myTorqueController[ label="in_desiredJointSpacePosition_port_1"];
"in_desiredJointSpaceVelocity_port_1"[shape=point];
"in_desiredJointSpaceVelocity_port_1"->myTorqueController[ label="in_desiredJointSpaceVelocity_port_1"];
"in_desiredJointSpaceAcceleration_port_1"[shape=point];
"in_desiredJointSpaceAcceleration_port_1"->myTorqueController[ label="in_desiredJointSpaceAcceleration_port_1"];
"in_jacobian_port_2"[shape=point];
"in_jacobian_port_2"->myTorqueController[ label="in_jacobian_port_2"];
"in_jacobianDot_port_2"[shape=point];
"in_jacobianDot_port_2"->myTorqueController[ label="in_jacobianDot_port_2"];
"in_currentTaskSpacePosition_port_2"[shape=point];
"in_currentTaskSpacePosition_port_2"->myTorqueController[ label="in_currentTaskSpacePosition_port_2"];
"in_currentTaskSpaceVelocity_port_2"[shape=point];
"in_currentTaskSpaceVelocity_port_2"->myTorqueController[ label="in_currentTaskSpaceVelocity_port_2"];
"in_desiredTaskSpacePosition_port_2"[shape=point];
"in_desiredTaskSpacePosition_port_2"->myTorqueController[ label="in_desiredTaskSpacePosition_port_2"];
"in_desiredTaskSpaceVelocity_port_2"[shape=point];
"in_desiredTaskSpaceVelocity_port_2"->myTorqueController[ label="in_desiredTaskSpaceVelocity_port_2"];
"in_desiredTaskSpaceAcceleration_port_2"[shape=point];
"in_desiredTaskSpaceAcceleration_port_2"->myTorqueController[ label="in_desiredTaskSpaceAcceleration_port_2"];
"in_desiredJointSpacePosition_port_2"[shape=point];
"in_desiredJointSpacePosition_port_2"->myTorqueController[ label="in_desiredJointSpacePosition_port_2"];
"in_desiredJointSpaceVelocity_port_2"[shape=point];
"in_desiredJointSpaceVelocity_port_2"->myTorqueController[ label="in_desiredJointSpaceVelocity_port_2"];
"in_desiredJointSpaceAcceleration_port_2"[shape=point];
"in_desiredJointSpaceAcceleration_port_2"->myTorqueController[ label="in_desiredJointSpaceAcceleration_port_2"];
"in_jacobian_port_3"[shape=point];
"in_jacobian_port_3"->myTorqueController[ label="in_jacobian_port_3"];
"in_jacobianDot_port_3"[shape=point];
"in_jacobianDot_port_3"->myTorqueController[ label="in_jacobianDot_port_3"];
"in_currentTaskSpacePosition_port_3"[shape=point];
"in_currentTaskSpacePosition_port_3"->myTorqueController[ label="in_currentTaskSpacePosition_port_3"];
"in_currentTaskSpaceVelocity_port_3"[shape=point];
"in_currentTaskSpaceVelocity_port_3"->myTorqueController[ label="in_currentTaskSpaceVelocity_port_3"];
"in_desiredTaskSpacePosition_port_3"[shape=point];
"in_desiredTaskSpacePosition_port_3"->myTorqueController[ label="in_desiredTaskSpacePosition_port_3"];
"in_desiredTaskSpaceVelocity_port_3"[shape=point];
"in_desiredTaskSpaceVelocity_port_3"->myTorqueController[ label="in_desiredTaskSpaceVelocity_port_3"];
"in_desiredTaskSpaceAcceleration_port_3"[shape=point];
"in_desiredTaskSpaceAcceleration_port_3"->myTorqueController[ label="in_desiredTaskSpaceAcceleration_port_3"];
"in_desiredJointSpacePosition_port_3"[shape=point];
"in_desiredJointSpacePosition_port_3"->myTorqueController[ label="in_desiredJointSpacePosition_port_3"];
"in_desiredJointSpaceVelocity_port_3"[shape=point];
"in_desiredJointSpaceVelocity_port_3"->myTorqueController[ label="in_desiredJointSpaceVelocity_port_3"];
"in_desiredJointSpaceAcceleration_port_3"[shape=point];
"in_desiredJointSpaceAcceleration_port_3"->myTorqueController[ label="in_desiredJointSpaceAcceleration_port_3"];
"in_jacobian_port_4"[shape=point];
"in_jacobian_port_4"->myTorqueController[ label="in_jacobian_port_4"];
"in_jacobianDot_port_4"[shape=point];
"in_jacobianDot_port_4"->myTorqueController[ label="in_jacobianDot_port_4"];
"in_currentTaskSpacePosition_port_4"[shape=point];
"in_currentTaskSpacePosition_port_4"->myTorqueController[ label="in_currentTaskSpacePosition_port_4"];
"in_currentTaskSpaceVelocity_port_4"[shape=point];
"in_currentTaskSpaceVelocity_port_4"->myTorqueController[ label="in_currentTaskSpaceVelocity_port_4"];
"in_desiredTaskSpacePosition_port_4"[shape=point];
"in_desiredTaskSpacePosition_port_4"->myTorqueController[ label="in_desiredTaskSpacePosition_port_4"];
"in_desiredTaskSpaceVelocity_port_4"[shape=point];
"in_desiredTaskSpaceVelocity_port_4"->myTorqueController[ label="in_desiredTaskSpaceVelocity_port_4"];
"in_desiredTaskSpaceAcceleration_port_4"[shape=point];
"in_desiredTaskSpaceAcceleration_port_4"->myTorqueController[ label="in_desiredTaskSpaceAcceleration_port_4"];
"in_desiredJointSpacePosition_port_4"[shape=point];
"in_desiredJointSpacePosition_port_4"->myTorqueController[ label="in_desiredJointSpacePosition_port_4"];
"in_desiredJointSpaceVelocity_port_4"[shape=point];
"in_desiredJointSpaceVelocity_port_4"->myTorqueController[ label="in_desiredJointSpaceVelocity_port_4"];
"in_desiredJointSpaceAcceleration_port_4"[shape=point];
"in_desiredJointSpaceAcceleration_port_4"->myTorqueController[ label="in_desiredJointSpaceAcceleration_port_4"];
"in_jacobian_port_5"[shape=point];
"in_jacobian_port_5"->myTorqueController[ label="in_jacobian_port_5"];
"in_jacobianDot_port_5"[shape=point];
"in_jacobianDot_port_5"->myTorqueController[ label="in_jacobianDot_port_5"];
"in_currentTaskSpacePosition_port_5"[shape=point];
"in_currentTaskSpacePosition_port_5"->myTorqueController[ label="in_currentTaskSpacePosition_port_5"];
"in_currentTaskSpaceVelocity_port_5"[shape=point];
"in_currentTaskSpaceVelocity_port_5"->myTorqueController[ label="in_currentTaskSpaceVelocity_port_5"];
"in_desiredTaskSpacePosition_port_5"[shape=point];
"in_desiredTaskSpacePosition_port_5"->myTorqueController[ label="in_desiredTaskSpacePosition_port_5"];
"in_desiredTaskSpaceVelocity_port_5"[shape=point];
"in_desiredTaskSpaceVelocity_port_5"->myTorqueController[ label="in_desiredTaskSpaceVelocity_port_5"];
"in_desiredTaskSpaceAcceleration_port_5"[shape=point];
"in_desiredTaskSpaceAcceleration_port_5"->myTorqueController[ label="in_desiredTaskSpaceAcceleration_port_5"];
"in_desiredJointSpacePosition_port_5"[shape=point];
"in_desiredJointSpacePosition_port_5"->myTorqueController[ label="in_desiredJointSpacePosition_port_5"];
"in_desiredJointSpaceVelocity_port_5"[shape=point];
"in_desiredJointSpaceVelocity_port_5"->myTorqueController[ label="in_desiredJointSpaceVelocity_port_5"];
"in_desiredJointSpaceAcceleration_port_5"[shape=point];
"in_desiredJointSpaceAcceleration_port_5"->myTorqueController[ label="in_desiredJointSpaceAcceleration_port_5"];
"in_jacobian_port_6"[shape=point];
"in_jacobian_port_6"->myTorqueController[ label="in_jacobian_port_6"];
"in_jacobianDot_port_6"[shape=point];
"in_jacobianDot_port_6"->myTorqueController[ label="in_jacobianDot_port_6"];
"in_currentTaskSpacePosition_port_6"[shape=point];
"in_currentTaskSpacePosition_port_6"->myTorqueController[ label="in_currentTaskSpacePosition_port_6"];
"in_currentTaskSpaceVelocity_port_6"[shape=point];
"in_currentTaskSpaceVelocity_port_6"->myTorqueController[ label="in_currentTaskSpaceVelocity_port_6"];
"in_desiredTaskSpacePosition_port_6"[shape=point];
"in_desiredTaskSpacePosition_port_6"->myTorqueController[ label="in_desiredTaskSpacePosition_port_6"];
"in_desiredTaskSpaceVelocity_port_6"[shape=point];
"in_desiredTaskSpaceVelocity_port_6"->myTorqueController[ label="in_desiredTaskSpaceVelocity_port_6"];
"in_desiredTaskSpaceAcceleration_port_6"[shape=point];
"in_desiredTaskSpaceAcceleration_port_6"->myTorqueController[ label="in_desiredTaskSpaceAcceleration_port_6"];
"in_desiredJointSpacePosition_port_6"[shape=point];
"in_desiredJointSpacePosition_port_6"->myTorqueController[ label="in_desiredJointSpacePosition_port_6"];
"in_desiredJointSpaceVelocity_port_6"[shape=point];
"in_desiredJointSpaceVelocity_port_6"->myTorqueController[ label="in_desiredJointSpaceVelocity_port_6"];
"in_desiredJointSpaceAcceleration_port_6"[shape=point];
"in_desiredJointSpaceAcceleration_port_6"->myTorqueController[ label="in_desiredJointSpaceAcceleration_port_6"];
"fkin7out_jacobianTranslation_portmyTorqueControllerin_jacobian_port_7"[shape=box,label="data"];
"fkin7"->"fkin7out_jacobianTranslation_portmyTorqueControllerin_jacobian_port_7"[ label="out_jacobianTranslation_port"];
"fkin7out_jacobianTranslation_portmyTorqueControllerin_jacobian_port_7"->myTorqueController[ label="in_jacobian_port_7"];
"fkin7out_jacobianDotTranslation_portmyTorqueControllerin_jacobianDot_port_7"[shape=box,label="data"];
"fkin7"->"fkin7out_jacobianDotTranslation_portmyTorqueControllerin_jacobianDot_port_7"[ label="out_jacobianDotTranslation_port"];
"fkin7out_jacobianDotTranslation_portmyTorqueControllerin_jacobianDot_port_7"->myTorqueController[ label="in_jacobianDot_port_7"];
"fkin7out_cartPosTranslation_portmyTorqueControllerin_currentTaskSpacePosition_port_7"[shape=box,label="data"];
"fkin7"->"fkin7out_cartPosTranslation_portmyTorqueControllerin_currentTaskSpacePosition_port_7"[ label="out_cartPosTranslation_port"];
"fkin7out_cartPosTranslation_portmyTorqueControllerin_currentTaskSpacePosition_port_7"->myTorqueController[ label="in_currentTaskSpacePosition_port_7"];
"fkin7out_cartVelTranslation_portmyTorqueControllerin_currentTaskSpaceVelocity_port_7"[shape=box,label="data"];
"fkin7"->"fkin7out_cartVelTranslation_portmyTorqueControllerin_currentTaskSpaceVelocity_port_7"[ label="out_cartVelTranslation_port"];
"fkin7out_cartVelTranslation_portmyTorqueControllerin_currentTaskSpaceVelocity_port_7"->myTorqueController[ label="in_currentTaskSpaceVelocity_port_7"];
"trajectorygenerator2out_desiredTaskSpacePosition_portmyTorqueControllerin_desiredTaskSpacePosition_port_7"[shape=box,label="data"];
"trajectorygenerator2"->"trajectorygenerator2out_desiredTaskSpacePosition_portmyTorqueControllerin_desiredTaskSpacePosition_port_7"[ label="out_desiredTaskSpacePosition_port"];
"trajectorygenerator2out_desiredTaskSpacePosition_portmyTorqueControllerin_desiredTaskSpacePosition_port_7"->myTorqueController[ label="in_desiredTaskSpacePosition_port_7"];
"trajectorygenerator2out_desiredTaskSpaceVelocity_portmyTorqueControllerin_desiredTaskSpaceVelocity_port_7"[shape=box,label="data"];
"trajectorygenerator2"->"trajectorygenerator2out_desiredTaskSpaceVelocity_portmyTorqueControllerin_desiredTaskSpaceVelocity_port_7"[ label="out_desiredTaskSpaceVelocity_port"];
"trajectorygenerator2out_desiredTaskSpaceVelocity_portmyTorqueControllerin_desiredTaskSpaceVelocity_port_7"->myTorqueController[ label="in_desiredTaskSpaceVelocity_port_7"];
"trajectorygenerator2out_desiredTaskSpaceAcceleration_portmyTorqueControllerin_desiredTaskSpaceAcceleration_port_7"[shape=box,label="data"];
"trajectorygenerator2"->"trajectorygenerator2out_desiredTaskSpaceAcceleration_portmyTorqueControllerin_desiredTaskSpaceAcceleration_port_7"[ label="out_desiredTaskSpaceAcceleration_port"];
"trajectorygenerator2out_desiredTaskSpaceAcceleration_portmyTorqueControllerin_desiredTaskSpaceAcceleration_port_7"->myTorqueController[ label="in_desiredTaskSpaceAcceleration_port_7"];
"in_desiredJointSpacePosition_port_7"[shape=point];
"in_desiredJointSpacePosition_port_7"->myTorqueController[ label="in_desiredJointSpacePosition_port_7"];
"in_desiredJointSpaceVelocity_port_7"[shape=point];
"in_desiredJointSpaceVelocity_port_7"->myTorqueController[ label="in_desiredJointSpaceVelocity_port_7"];
"in_desiredJointSpaceAcceleration_port_7"[shape=point];
"in_desiredJointSpaceAcceleration_port_7"->myTorqueController[ label="in_desiredJointSpaceAcceleration_port_7"];
"fkin7out_coriolisAndGravity_portmyTorqueControllerin_h_port"[shape=box,label="data"];
"fkin7"->"fkin7out_coriolisAndGravity_portmyTorqueControllerin_h_port"[ label="out_coriolisAndGravity_port"];
"fkin7out_coriolisAndGravity_portmyTorqueControllerin_h_port"->myTorqueController[ label="in_h_port"];
"fkin7out_inertia_portmyTorqueControllerin_inertia_port"[shape=box,label="data"];
"fkin7"->"fkin7out_inertia_portmyTorqueControllerin_inertia_port"[ label="out_inertia_port"];
"fkin7out_inertia_portmyTorqueControllerin_inertia_port"->myTorqueController[ label="in_inertia_port"];
"robot_gazebo"[style=filled,width=1.8,height=1.8,color=lightblue];
"full_arm_JointPositionCtrl"[shape=point];
"full_arm_JointPositionCtrl"->robot_gazebo[ label="full_arm_JointPositionCtrl"];
"full_arm_JointImpedanceCtrl"[shape=point];
"full_arm_JointImpedanceCtrl"->robot_gazebo[ label="full_arm_JointImpedanceCtrl"];
"myTorqueControllerout_torques_portrobot_gazebofull_arm_JointTorqueCtrl"[shape=box,label="data"];
"myTorqueController"->"myTorqueControllerout_torques_portrobot_gazebofull_arm_JointTorqueCtrl"[ label="out_torques_port"];
"myTorqueControllerout_torques_portrobot_gazebofull_arm_JointTorqueCtrl"->robot_gazebo[ label="full_arm_JointTorqueCtrl"];
"singen"[style=filled,width=1.8,height=1.8,color=green];
"out_angles_port"[shape=point];
singen->"out_angles_port"[ label="out_angles_port"];
"trajectorygenerator"[style=filled,width=1.8,height=1.8,color=green];
"out_desiredTaskSpacePosition_port"[shape=point];
trajectorygenerator->"out_desiredTaskSpacePosition_port"[ label="out_desiredTaskSpacePosition_port"];
"out_desiredTaskSpaceVelocity_port"[shape=point];
trajectorygenerator->"out_desiredTaskSpaceVelocity_port"[ label="out_desiredTaskSpaceVelocity_port"];
"out_desiredTaskSpaceAcceleration_port"[shape=point];
trajectorygenerator->"out_desiredTaskSpaceAcceleration_port"[ label="out_desiredTaskSpaceAcceleration_port"];
"trajectorygenerator2"[style=filled,width=1.8,height=1.8,color=green];
"Deployer"[style=filled,width=1.8,height=1.8,color=lightblue];
}