/
body_part-ebX-jA_B-mec.xml
91 lines (76 loc) · 6.96 KB
/
body_part-ebX-jA_B-mec.xml
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
<?xml version="1.0" encoding="UTF-8" ?>
<!DOCTYPE params PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
<params xmlns:xi="http://www.w3.org/2001/XInclude" robot="myrobot" build="1">
<group name="GENERAL">
<param name="MotioncontrolVersion"> Version of motor control device. Currently is 3.</param>
<param name="Joints"> Number of joints manged from this device. Usually is the number of joints controlled by Ethernet board. </param>
<param name="AxisMap"> Map joint number from user to firmware. </param>
<param name="AxisName"> String wich describes name of joint. see http://wiki.icub.org/wiki/ICub_joints for name convention. </param>
<param name="AxisType"> It can be "revolute" or "prismatic" </param>
<param name="Encoder"> this value let you to transform debgree in firmware measurament units. </param>
<param name="fullscalePWM"> Value of fullscale pwm. This values is equal for all joints, becuse it depend on type of board, ems, mc4plus, etc. </param>
<param name="ampsToSensor"> Scale value for the ampsToSensor conversion factor </param>
<param name="Gearbox_M2J"> This is the total reduction factor between joint and encoder. </param>
<param name="Gearbox_E2J"> This is the reduction factor between the joint and the encoder at joint. (Usually it is 1) </param>
<param name="useMotorSpeedFbk"> Indicate if the motor controller uses feedback from motors to compute speed. Alllowed values are [0, 1] </param>
<param name="MotorType"> Motor type. This is only a note, for support guys. </param>
<param name="Verbose"> Specifies if enable verbose prints in yarprobotinterface. Alllowed values are [0, 1] </param>
</group>
<group name="LIMITS">
<param name="hardwareJntPosMin"> Max hardware position of joint [expressed in degrees]. Due to mechanical constraints. See https://wiki.icub.org/wiki/ICub_joints_limits for more details </param>
<param name="hardwareJntPosMax"> Min hardware position of joint [expressed in degrees]. Due to mechanical constraints. See https://wiki.icub.org/wiki/ICub_joints_limits for more details </param>
<param name="rotorPosMin"> Min position of rotor [expressed in degrees]. NOTE: if both limits of rotor have value 0, then no check of rotor limits is performed. </param>
<param name="rotorPosMax"> Max position of rotor [expressed in degrees]. NOTE: if both limits of rotor have value 0, then no check of rotor limits is performed. </param>
</group>
<group name="2FOC"> <!-- this group must be present only if the service of controlled is eomn_serv_MC_foc -->
<param name="Verbose"> If 1, it enables debug prints of 2FOC boards. It is optional and its default value is 1.</param>
<param name="AutoCalibration"> If 1, it enables AutoCalibration procedure of optical encoder. It is optional and its default value is 0.</param>
<param name="HasHallSensor"> Indicates if hall sensors are connected to 2FOC board </param>
<param name="HasTempSensor"> Indicates if temperature ensor are connected to 2FOC board </param>
<param name="HasRotorEncoder"> Indicates if rotor has encoder </param>
<param name="HasRotorEncoderIndex"> Indicates if the rotor encoder has index </param>
<param name="HasSpeedEncoder"> It is as an alternative to rotorEncoder. It is not used for FOC controller. </param>
<param name="RotorIndexOffset"> Rotor index offset between first electric sector and encoder index [degree] </param>
<param name="MotorPoles"> Number of poles of motor </param>
</group>
<group name="COUPLINGS">
<param name ="matrixJ2M"> <!-- joint to motor decouplig matrix -->
0.00 0.00 0.00 0.00
0.00 0.00 0.00 0.00
0.00 0.00 0.00 0.00
0.00 0.00 0.00 0.00
</param>
<!-- matrixJ2M isn't, generally speaking, the inverse of matrixM2J. It is used in position/velocity stiff control,
performed at joint level and decoupled after the control loops.
see https://github.com/robotology/robots-configuration/issues/39 for more info -->
<param name ="matrixM2J"> <!-- motor to joint couplig matrix -->
0.00 0.00 0.00 0.00
0.00 0.00 0.00 0.00
0.00 0.00 0.00 0.00
0.00 0.00 0.00 0.00
</param>
<!-- matrixM2J is the Jacobian matrix that transforms the velocities expressed in the motor space into the velocities expressed in the joint space,
i.e. matrixM2J = dqj/dqm. It depends exclusively on the mechanical implementation of the joint set, and can't be modified -->
<param name ="matrixE2J"> <!-- encoder to joint matrix -->
1.000 0.000 0.000 0.000 0.000 0.000
0.000 1.000 0.000 0.000 0.000 0.000
0.000 0.000 1.000 0.000 0.000 0.000
0.000 0.000 0.000 1.000 0.000 0.000
</param>
</group>
<group name="JOINTSET_CFG"> <!-- this group contains configuration of jointset. One jointset contains the coupling joints. At most there can be as many jointsets as many joints -->
<param name= "numberofsets"> 2 </param> <!-- total number of sets -->
<group name="JOINTSET_0">
<param name="listofjoints"> List of joints beloning to this set </param>
<param name="constraint"> Some hawdare configurations need particular constraint. Values of this param are: cerhand, trifig and none </param>
<param name="param1"> Special value related to a specific constraint. It should be e double. If contraint is none, this paran isn't taken into account. </param>
<param name="param2"> Special value related to a specific constraint. (Currently not used). </param>
</group>
<group name="JOINTSET_1">
<param name="listofjoints"> 3 </param>
<param name="constraint"> none </param>
<param name="param1"> 0 </param>
<param name="param2"> 0 </param>
</group>
</group>
</params>