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Added configuration files for CER torso.
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ale-git committed Oct 27, 2015
1 parent c9e1044 commit a3f79f0
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21 changes: 21 additions & 0 deletions app/robots/CER01/CER_torso_only.xml
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<?xml version="1.0" encoding="UTF-8" ?>
<!DOCTYPE robot PUBLIC "-//YARP//DTD robotInterface 1.0//EN" "http://www.icub.org/DTD/robotInterfaceV1.0.dtd">

<robot name="CER01" build="1" portprefix="icub">
<params file="hardware/electronics/pc104.xml" />

<!-- TRIPOD LIB -->
<devices file="hardware/motorControl/cer_torso_tripod-mc.xml" />
<devices file="wrappers/motorControl/cer_torso_tripod-mc_wrapper.xml" />

<!-- TORSO ALL -->
<devices file="hardware/motorControl/cer_torso-ems15-mc.xml" />
<devices file="wrappers/motorControl/cer_torso-mc_wrapper.xml" />

<!-- CALIBRATORS -->
<devices file="calibrators/cer_torso-calib.xml" />
</robot>




11 changes: 11 additions & 0 deletions app/robots/CER01/CMakeLists.txt
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set(appname iCubDarmstadt01)

set(scripts icub_all.xml robotInterface.ini general.xml)

yarp_install(FILES ${scripts} DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname})
yarp_install(DIRECTORY calibrators DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname} PATTERN .svn EXCLUDE)
yarp_install(DIRECTORY cartesian DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname} PATTERN .svn EXCLUDE)
yarp_install(DIRECTORY wrappers DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname} PATTERN .svn EXCLUDE)
yarp_install(DIRECTORY hardware DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname} PATTERN .svn EXCLUDE)


46 changes: 46 additions & 0 deletions app/robots/CER01/calibrators/cer_torso-calib.xml
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<?xml version="1.0" encoding="UTF-8" ?>
<!DOCTYPE devices PUBLIC "-//YARP//DTD robotInterface 1.0//EN" "http://www.icub.org/DTD/robotInterfaceV1.0.dtd">

<devices robot="CER01" build="1">
<device name="torso_calibrator" type="parametricCalibratorEth">
<params file="general.xml" />

<group name="GENERAL">
<param name="joints"> 4 </param> <!-- the number of joints of the robot part -->
<param name="deviceName"> Torso_Calibrator </param>
</group>

<group name="HOME">
<param name="positionHome"> 0.00 0.00 0.00 0.00 </param>
<param name="velocityHome"> 10.00 10.00 10.00 10.00 </param>
</group>



<group name="CALIBRATION">
<param name="calibrationType"> 3 3 3 3 </param>
<param name="calibration1"> 0 0 0 32767.9 </param>
<param name="calibration2"> 10.0 10.0 10.0 10.0 </param>
<param name="calibration3"> 0 0 0 0 </param>
<param name="calibrationZero"> 0 0 0 0 </param>
<param name="calibrationDelta"> 0.0 0.0 0.0 0.0 </param>
<param name="startupPosition"> 0.0 0.0 0.0 0.0 </param>
<param name="startupVelocity"> 1.0 1.0 1.0 1.0 </param>
<param name="startupMaxPwm"> 5000 5000 5000 1500 </param>
<param name="startupPosThreshold"> 2 2 2 2 </param>
</group>

<param name="CALIB_ORDER">(0 1 2 3) </param>

<action phase="startup" level="10" type="calibrate">
<param name="target">cer_torso_mc_wrapper</param>
</action>

<action phase="interrupt1" level="1" type="park">
<param name="target">cer_torso_mc_wrapper</param>
</action>

<action phase="interrupt3" level="1" type="abort" />

</device>
</devices>
69 changes: 69 additions & 0 deletions app/robots/CER01/cartesianSolver.ini
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[left_arm]
robot icub
name cartesianSolver/left_arm
type left_v2
period 20
dof (0 0 0 1 1 1 1 1 1 1)
rest_pos (0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0)
rest_weights (1.0 1.0 1.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0)
pose full
mode shot
verbosity off
maxIter 200
tol 0.001
xyzTol 0.000001
interPoints off
ping_robot_tmo 40.0

[right_arm]
robot icub
name cartesianSolver/right_arm
type right_v2
period 20
dof (0 0 0 1 1 1 1 1 1 1)
rest_pos (0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0)
rest_weights (1.0 1.0 1.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0)
pose full
mode shot
verbosity off
maxIter 200
tol 0.001
xyzTol 0.000001
interPoints off
ping_robot_tmo 40.0

[left_leg]
robot icub
name cartesianSolver/left_leg
type left
period 20
dof (1 1 1 1 1 1)
rest_pos (0.0 0.0 0.0 0.0 0.0 0.0)
rest_weights (0.0 0.0 0.0 0.0 0.0 0.0)
pose full
mode shot
verbosity off
maxIter 200
tol 0.001
xyzTol 0.000001
interPoints off
ping_robot_tmo 40.0

[right_leg]
robot icub
name cartesianSolver/right_leg
type right
period 20
dof (1 1 1 1 1 1)
rest_pos (0.0 0.0 0.0 0.0 0.0 0.0)
rest_weights (0.0 0.0 0.0 0.0 0.0 0.0)
pose full
mode shot
verbosity off
maxIter 200
tol 0.001
xyzTol 0.000001
interPoints off
ping_robot_tmo 40.0


12 changes: 12 additions & 0 deletions app/robots/CER01/general.xml
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<?xml version="1.0" encoding="UTF-8" ?>
<!DOCTYPE params PUBLIC "-//YARP//DTD robotInterface 1.0//EN" "http://www.icub.org/DTD/robotInterfaceV1.0.dtd">

<params robot="CER01" build="1">

<group name="GENERAL">
<param name="skipCalibration"> false </param>
<param name="useRawEncoderData"> false </param>
<param name="useLimitedPWM"> false </param>
<param name="verbose"> false </param>
</group>
</params>
46 changes: 46 additions & 0 deletions app/robots/CER01/hardware/electronics/cer_torso-ems15-eln.xml
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<?xml version="1.0" encoding="UTF-8" ?>
<!DOCTYPE params PUBLIC "-//YARP//DTD robotInterface 1.0//EN" "http://www.icub.org/DTD/robotInterfaceV1.0.dtd">

<params robot="CER01" build="1">
<params file="hardware/electronics/pc104.xml" />

<group name="ETH">
<param name="IpAddress"> 10.0.1.15 </param>
<param name="Ems"> 1 </param>
<param name="CmdPort"> 12345 </param>
<param name="SrvPort"> 4444 </param>
</group>

<group name="TRANSCEIVER">
<param name="listeningPort"> 12345 </param>
<param name="destinationPort"> 12345 </param>
<param name="maxSizeRXpacket"> 768 </param>
<param name="maxSizeTXpacket"> 1408 </param>
<param name="maxSizeROPframeRegulars"> 1024 </param>
<param name="maxSizeROPframeReplies"> 256 </param>
<param name="maxSizeROPframeOccasionals"> 128 </param>
<param name="maxSizeROP"> 256 </param>
<param name="maxNumberRegularROPs"> 32 </param>
</group>

<group name="PROTOCOL">
<param name="endpointManagementIsSupported"> 1 </param>
<param name="entityMNcommunicationNumberOf"> 1 </param>
<param name="entityMNapplicationNumberOf"> 1 </param>
<param name="entityMNinformationNumberOf"> 1 </param>

<param name="endpointMotionControlIsSupported"> 1 </param>
<param name="entityMCjointNumberOf"> 4 </param>
<param name="entityMCmotorNumberOf"> 4 </param>
<param name="entityMCcontrollerNumberOf"> 1 </param>

<param name="endpointAnalogSensorsIsSupported"> 1 </param>
<param name="entityASstrainNumberOf"> 0 </param>
<param name="entityASmaisNumberOf"> 0 </param>
<param name="entityASextorqueNumberOf"> 1 </param>

<param name="endpointSkinIsSupported"> 0 </param>
<param name="entitySKskinNumberOf"> 0 </param>
</group>

</params>
10 changes: 10 additions & 0 deletions app/robots/CER01/hardware/electronics/pc104.xml
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<?xml version="1.0" encoding="UTF-8" ?>
<!DOCTYPE params PUBLIC "-//YARP//DTD robotInterface 1.0//EN" "http://www.icub.org/DTD/robotInterfaceV1.0.dtd">

<params robot="CER01" build="1">
<group name="PC104">
<param name="PC104IpAddress"> 10.0.1.104 </param>
<param name="PC104TXrate"> 1 </param>
<param name="PC104RXrate"> 1 </param>
</group>
</params>
44 changes: 44 additions & 0 deletions app/robots/CER01/hardware/mechanicals/cer_torso-ems15-mec.xml
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<?xml version="1.0" encoding="UTF-8" ?>
<!DOCTYPE params PUBLIC "-//YARP//DTD robotInterface 1.0//EN" "http://www.icub.org/DTD/robotInterfaceV1.0.dtd">

<params robot="iCubDarmstadt01" build="1">
<group name="GENERAL">
<param name="MotioncontrolVersion"> 2 </param>
<param name="Joints"> 4 </param>
<param name="AxisName"> "elong_1" "elong_2" "elong_3" "torso_yaw" </param>
<param name="AxisMap"> 0 1 2 3 </param>
<param name="HasHallSensor"> 0 0 0 1 </param>
<param name="HasTempSensor"> 0 0 0 0 </param>
<param name="HasRotorEncoder"> 1 1 1 1 </param>
<param name="HasRotorEncoderIndex"> 0 0 0 0 </param>
<param name="Encoder"> 1 1 1 182.044 </param>
<param name="TorqueId"> 0x0B 0x0B 0x0B 0x0B </param>
<param name="TorqueChan"> 0 1 2 3 </param>
<param name="TorqueMax"> 24 24 24 24 </param>
<param name="JointEncoderType"> "AEA" "AEA" "AEA" "AEA" </param>
<param name="RotorEncoderType"> "ROIE" "ROIE" "ROIE" "ROIE" </param>
<param name="JointEncoderRes"> 4096 4096 4096 -4096 </param>
<param name="RotorEncoderRes"> 65535 65535 65535 -8192 </param>
<param name="RotorIndexOffset"> 0 0 0 0 </param>
<param name="Gearbox"> 1 1 1 1 </param>
<param name="MotorPoles"> 2 2 2 8 </param>
<param name="Verbose"> 0 </param>
</group>

<group name ="JOINTS_COUPLING">
<param name="kinematic_mj"> 1.00 0.00 0.00 0.00
0.00 1.00 0.00 0.00
0.00 0.00 1.00 0.00
0.00 0.00 0.00 1.00 </param>
</group>

<group name="VELOCITY">
<param name="MOT_speed_estimation"> 1 1 1 1 </param>
<param name="MOT_accel_estimation"> 1 1 1 1 </param>
<param name="JNT_accel_estimation"> 5 5 5 5 </param>
<param name="JNT_speed_estimation"> 5 5 5 5 </param>
<param name="Shifts"> 8 8 8 8 </param>
<param name="Timeout"> 100 100 100 100 </param>
</group>

</params>
63 changes: 63 additions & 0 deletions app/robots/CER01/hardware/motorControl/cer_torso-ems15-mc.xml
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<?xml version="1.0" encoding="UTF-8" ?>
<!DOCTYPE devices PUBLIC "-//YARP//DTD robotInterface 1.0//EN" "http://www.icub.org/DTD/robotInterfaceV1.0.dtd">

<!-- Initialization file for EMS 15 - CER torso tripod + yaw, 4 dof -->

<devices robot="CER01" build="1">
<device name="cer_torso_mc" type="embObjMotionControl">
<params file="general.xml" />
<params file="hardware/electronics/cer_torso-ems15-eln.xml" />
<params file="hardware/mechanicals/cer_torso-ems15-mec.xml" />

<group name="LIMITS">
<!-- 0 1 2 3 -->
<param name="Max"> 2000 2000 2000 90 </param>
<param name="Min"> 0 0 0 -90 </param>
<param name="Currents"> 5000 5000 5000 8000 </param>
<param name="RotorMin"> 0 0 0 0 </param>
<param name="RotorMax"> 0 0 0 0 </param>
<param name="JntVelocityMax"> 1000 1000 1000 1000 </param>
</group>

<group name="POSITION_CONTROL">
<param name="controlLaw"> joint_pid_v1 </param>
<param name="controlUnits"> metric_units </param>
<param name="kp"> 3000 3000 3000 0 </param>
<param name="kd"> 0 0 0 0 </param>
<param name="ki"> 5000 5000 5000 0 </param>
<param name="limPwm"> 5000 5000 5000 0 </param>
<param name="maxPwm"> 30000 30000 30000 0 </param>
<param name="maxInt"> 4000 4000 4000 0 </param>
<param name="shift"> 0 0 0 0 </param>
<param name="ko"> 0 0 0 0 </param>
<param name="stictionUp"> 0 0 0 0 </param>
<param name="stictionDwn"> 0 0 0 0 </param>
<param name="kff"> 0 0 0 0 </param>
</group>

<group name="TORQUE_CONTROL">
<param name="controlLaw"> motor_pid_with_friction_v1 </param>
<param name="controlUnits"> metric_units </param>
<param name="kp"> 0 0 0 0 </param>
<param name="kd"> 0 0 0 0 </param>
<param name="ki"> 0 0 0 0 </param>
<param name="maxPwm"> 0 0 0 0 </param>
<param name="maxInt"> 0 0 0 0 </param>
<param name="shift"> 0 0 0 0 </param>
<param name="ko"> 0 0 0 0 </param>
<param name="stictionUp"> 0 0 0 0 </param>
<param name="stictionDwn"> 0 0 0 0 </param>
<param name="kff"> 0 0 0 0 </param>
<param name="kbemf"> 0 0 0 0 </param>
<param name="filterType"> 0 0 0 0 </param>
<param name="ktau"> 0 0 0 0 </param>
</group>

<group name="IMPEDANCE">
<param name="stiffness"> 0 0 0 0 </param>
<param name="damping"> 0 0 0 0 </param>
</group>

</device>
</devices>

40 changes: 40 additions & 0 deletions app/robots/CER01/hardware/motorControl/cer_torso_tripod-mc.xml
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<?xml version="1.0" encoding="UTF-8" ?>
<!DOCTYPE devices PUBLIC "-//YARP//DTD robotInterface 1.0//EN" "http://www.icub.org/DTD/robotInterfaceV1.0.dtd">

<devices robot="CER01" build="1">
<device name="cer_torso_tripod_mc" type="tripodMotionControl">
<params file="general.xml" />

<group name="GENERAL">
<param name="Joints"> 3 </param>
<param name="AxisMap"> 0 1 2 </param>
<param name="verbose"> true </param>
<param name="Encoder"> 1 1 1 </param>
</group>

<group name="TRIPOD">
<param name="Radius"> 0.09 </param>
<param name="Max_el"> 0.15 </param>
<param name="Min_el"> -0.05 </param>
<param name="Max_alpha"> 30.0 </param>
</group>

<!--
<group name="CONNECTION">
<param name="local"> /icubGazeboSim/torso_out </param>
<param name="remote"> /icubGazeboSim/torso </param>
<param name="writeStrict"> off </param>
</group>
-->

<!-- action is alternative to CONNECTION group -->
<action phase="startup" level="5" type="attach">
<paramlist name="networks">
<elem name="FirstSetOfJoints"> cer_torso_mc </elem>
</paramlist>
</action>

<action phase="shutdown" level="5" type="detach" />

</device>
</devices>
2 changes: 2 additions & 0 deletions app/robots/CER01/robotInterface.ini
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config ./CER_torso_only.xml

18 changes: 18 additions & 0 deletions app/robots/CER01/wrappers/FT/left_arm-FT_wrapper.xml
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<?xml version="1.0" encoding="UTF-8" ?>
<!DOCTYPE devices PUBLIC "-//YARP//DTD robotInterface 1.0//EN" "http://www.icub.org/DTD/robotInterfaceV1.0.dtd">

<devices robot="iCubDarmstadt01" build="1">
<device name="left_arm_as_wrapper" type="analogServer">
<param name="period"> 10 </param>
<param name="deviceId"> left_arm </param>

<action phase="startup" level="5" type="attach">
<paramlist name="networks">
<!-- The param value must match the device name in the corresponding emsX file -->
<elem name="FirstStrain"> left_upper_arm_strain </elem>
</paramlist>
</action>

<action phase="shutdown" level="5" type="detach" />
</device>
</devices>
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