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Merged
pattacini merged 6 commits into from
May 28, 2021
Merged

Added new robot iCubPrague01 S/N:047 #266

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f03b1ac
added new robot iCubPrague01
May 27, 2021
53617cf
face calib
May 28, 2021
8b71c65
Merge branch 'robotology:master' into master
violadelbono May 28, 2021
5e7c991
all_robots.xml updated
May 28, 2021
b5a6ec4
Merge branch 'master' of https://github.com/violadelbono/robots-confi…
May 28, 2021
2ae039b
deleted extra test files
May 28, 2021
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1 change: 1 addition & 0 deletions all_robots.xml
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<xi:include href="./iCubGenova08/icub_all.xml" />
<xi:include href="./iCubWaterloo01/icub_all.xml" />
<xi:include href="./iCubZagreb01/icub_all.xml" />
<xi:include href="./iCubPrague01/icub_all.xml" />
</robot_database >
13 changes: 13 additions & 0 deletions iCubPrague01/CMakeLists.txt
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set(appname iCubPrague01)

file(GLOB xml ${CMAKE_CURRENT_SOURCE_DIR}/*.xml)
file(GLOB ini ${CMAKE_CURRENT_SOURCE_DIR}/*.ini)

yarp_install(FILES ${xml} DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})
yarp_install(FILES ${ini} DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})
yarp_install(DIRECTORY calibrators DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})
yarp_install(DIRECTORY cartesian DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})
yarp_install(DIRECTORY wrappers DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})
yarp_install(DIRECTORY hardware DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})
yarp_install(DIRECTORY camera DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})
yarp_install(DIRECTORY estimators DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})
64 changes: 64 additions & 0 deletions iCubPrague01/calib_all_joints.xml
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<?xml version="1.0" encoding="UTF-8" ?>
<!DOCTYPE robot PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">

<robot name="iCubPrague01" portprefix="icub" build="1">

<devices>

<!-- HEAD -->
<xi:include href="./hardware/motorControl/head-eb20-j0_1-mc.xml" />
<xi:include href="./hardware/motorControl/head-eb21-j2_5-mc.xml" />
<xi:include href="./wrappers/motorControl/head-mc_wrapper.xml" />

<!-- FACE -->
<xi:include href="./hardware/motorControl/face-eb22-j0-mc.xml" />
<xi:include href="./wrappers/motorControl/face-mc_wrapper.xml" />

<!-- LEFT ARM -->
<xi:include href="hardware/motorControl/left_arm-eb1-j0_3-mc.xml" />
<xi:include href="hardware/motorControl/left_arm-eb24-j4_7-mc.xml" />
<xi:include href="hardware/motorControl/left_arm-eb25-j8_11-mc.xml" />
<xi:include href="hardware/motorControl/left_arm-eb26-j12_15-mc.xml" />
<xi:include href="wrappers/motorControl/left_arm-mc_wrapper.xml" />

<!-- RIGHT ARM -->
<xi:include href="hardware/motorControl/right_arm-eb3-j0_3-mc.xml" />
<xi:include href="hardware/motorControl/right_arm-eb27-j4_7-mc.xml" />
<xi:include href="hardware/motorControl/right_arm-eb28-j8_11-mc.xml" />
<xi:include href="hardware/motorControl/right_arm-eb29-j12_15-mc.xml" />
<xi:include href="wrappers/motorControl/right_arm-mc_wrapper.xml" />

<!-- ANALOG SENSOR MAIS -->
<xi:include href="wrappers/MAIS/left_arm-mais_wrapper.xml" />
<xi:include href="wrappers/MAIS/right_arm-mais_wrapper.xml" />
<xi:include href="hardware/MAIS/left_arm-eb26-j12_15-mais.xml" />
<xi:include href="hardware/MAIS/right_arm-eb29-j12_15-mais.xml" />


<!-- TORSO -->
<xi:include href="hardware/motorControl/torso-eb5-j0_2-mc.xml" />
<xi:include href="wrappers/motorControl/torso-mc_wrapper.xml" />


<!-- LEFT LEG -->
<xi:include href="hardware/motorControl/left_leg-eb6-j0_3-mc.xml" />
<xi:include href="hardware/motorControl/left_leg-eb7-j4_5-mc.xml" />
<xi:include href="wrappers/motorControl/left_leg-mc_wrapper.xml" />

<!-- RIGHT LEG -->
<xi:include href="hardware/motorControl/right_leg-eb8-j0_3-mc.xml" />
<xi:include href="hardware/motorControl/right_leg-eb9-j4_5-mc.xml" />
<xi:include href="wrappers/motorControl/right_leg-mc_wrapper.xml" />


<!-- CALIBRATORS -->
<xi:include href="calibrators/left_arm-calib.xml" />
<xi:include href="calibrators/right_arm-calib.xml" />
<xi:include href="calibrators/head-calib.xml" />
<xi:include href="calibrators/left_leg-calib.xml" />
<xi:include href="calibrators/right_leg-calib.xml" />
<xi:include href="calibrators/torso-calib.xml" />
<xi:include href="calibrators/face-calib.xml" />

</devices>
</robot>
25 changes: 25 additions & 0 deletions iCubPrague01/calib_head.xml
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<?xml version="1.0" encoding="UTF-8" ?>
<!DOCTYPE robot PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">

<robot name="iCubPrague01" build="1">

<params>
<xi:include href="hardware/electronics/pc104.xml" />
</params>

<devices>

<!-- HEAD -->
<xi:include href="./hardware/motorControl/head-eb20-j0_1-mc.xml" />
<xi:include href="./hardware/motorControl/head-eb21-j2_5-mc.xml" />
<xi:include href="./wrappers/motorControl/head-mc_wrapper.xml" />

<!-- FACE -->
<xi:include href="./hardware/motorControl/face-eb22-j0-mc.xml" />
<xi:include href="./wrappers/motorControl/face-mc_wrapper.xml" />


<xi:include href="calibrators/head-calib.xml" />
<xi:include href="calibrators/face-calib.xml" />
</devices>
</robot>
34 changes: 34 additions & 0 deletions iCubPrague01/calib_lowerbody.xml
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<?xml version="1.0" encoding="UTF-8" ?>
<!DOCTYPE robot PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">

<robot name="iCubPrague01" portprefix="icub" build="1">
<params>
<xi:include href="hardware/electronics/pc104.xml" />
</params>

<devices>


<!-- TORSO -->
<xi:include href="hardware/motorControl/torso-eb5-j0_2-mc.xml" />
<xi:include href="wrappers/motorControl/torso-mc_wrapper.xml" />


<!-- LEFT LEG -->
<xi:include href="hardware/motorControl/left_leg-eb6-j0_3-mc.xml" />
<xi:include href="hardware/motorControl/left_leg-eb7-j4_5-mc.xml" />
<xi:include href="wrappers/motorControl/left_leg-mc_wrapper.xml" />

<!-- RIGHT LEG -->
<xi:include href="hardware/motorControl/right_leg-eb8-j0_3-mc.xml" />
<xi:include href="hardware/motorControl/right_leg-eb9-j4_5-mc.xml" />
<xi:include href="wrappers/motorControl/right_leg-mc_wrapper.xml" />


<!-- CALIBRATORS -->
<xi:include href="calibrators/left_leg-calib.xml" />
<xi:include href="calibrators/right_leg-calib.xml" />
<xi:include href="calibrators/torso-calib.xml" />

</devices>
</robot>
22 changes: 22 additions & 0 deletions iCubPrague01/calib_torso.xml
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<?xml version="1.0" encoding="UTF-8" ?>
<!DOCTYPE robot PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">

<robot name="iCubPrague01" portprefix="icub" build="1">
<params>
<xi:include href="hardware/electronics/pc104.xml" />
</params>

<devices>


<!-- TORSO -->
<xi:include href="hardware/motorControl/torso-eb5-j0_2-mc.xml" />
<xi:include href="wrappers/motorControl/torso-mc_wrapper.xml" />



<!-- CALIBRATORS -->
<xi:include href="calibrators/torso-calib.xml" />

</devices>
</robot>
48 changes: 48 additions & 0 deletions iCubPrague01/calib_upperbody.xml
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<?xml version="1.0" encoding="UTF-8" ?>
<!DOCTYPE robot PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">

<robot name="iCubPrague01" portprefix="icub" build="1">
<params>
<xi:include href="hardware/electronics/pc104.xml" />
</params>

<devices>


<!-- HEAD -->
<xi:include href="./hardware/motorControl/head-eb20-j0_1-mc.xml" />
<xi:include href="./hardware/motorControl/head-eb21-j2_5-mc.xml" />
<xi:include href="./wrappers/motorControl/head-mc_wrapper.xml" />

<!-- FACE -->
<xi:include href="./hardware/motorControl/face-eb22-j0-mc.xml" />
<xi:include href="./wrappers/motorControl/face-mc_wrapper.xml" />

<!-- LEFT ARM -->
<xi:include href="hardware/motorControl/left_arm-eb1-j0_3-mc.xml" />
<xi:include href="hardware/motorControl/left_arm-eb24-j4_7-mc.xml" />
<xi:include href="hardware/motorControl/left_arm-eb25-j8_11-mc.xml" />
<xi:include href="hardware/motorControl/left_arm-eb26-j12_15-mc.xml" />
<xi:include href="wrappers/motorControl/left_arm-mc_wrapper.xml" />

<!-- RIGHT ARM -->
<xi:include href="hardware/motorControl/right_arm-eb3-j0_3-mc.xml" />
<xi:include href="hardware/motorControl/right_arm-eb27-j4_7-mc.xml" />
<xi:include href="hardware/motorControl/right_arm-eb28-j8_11-mc.xml" />
<xi:include href="hardware/motorControl/right_arm-eb29-j12_15-mc.xml" />
<xi:include href="wrappers/motorControl/right_arm-mc_wrapper.xml" />

<!-- ANALOG SENSOR MAIS -->
<xi:include href="wrappers/MAIS/left_arm-mais_wrapper.xml" />
<xi:include href="wrappers/MAIS/right_arm-mais_wrapper.xml" />
<xi:include href="hardware/MAIS/left_arm-eb26-j12_15-mais.xml" />
<xi:include href="hardware/MAIS/right_arm-eb29-j12_15-mais.xml" />

<!-- CALIBRATORS -->
<xi:include href="calibrators/left_arm-calib.xml" />
<xi:include href="calibrators/right_arm-calib.xml" />
<xi:include href="calibrators/head-calib.xml" />
<xi:include href="calibrators/face-calib.xml" />

</devices>
</robot>
61 changes: 61 additions & 0 deletions iCubPrague01/calibrators/face-calib.xml
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<?xml version="1.0" encoding="UTF-8" ?>
<!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">


<device xmlns:xi="http://www.w3.org/2001/XInclude" name="face-calibrator" type="parametricCalibratorEth">

<xi:include href="../general.xml" />

<group name="GENERAL">
<param name="joints"> 1 </param> <!-- the number of joints of the robot part -->
<param name="deviceName"> FaceV3_Calibrator </param> <!-- this name is used for high-level debug -->
</group>

<group name="HOME">
<param name="positionHome"> 0 </param>
<param name="velocityHome"> 10 </param>
</group>

<!-- joint logical number 0 -->
<!-- joint name eyelids -->
<group name="CALIBRATION">
<param name="calibrationType"> 12 </param>
<!-- The value of the raw encoder needs to be with sign -->
<param name="calibration1"> 282 </param>
<param name="calibration2"> 0 </param>
<param name="calibration3"> 0 </param>

<param name="calibration4"> 0 </param>
<param name="calibration5"> 0 </param>

<param name="calibrationZero"> 0 </param>
<param name="calibrationDelta"> 0 </param>

<param name="startupPosition"> 0 </param>
<param name="startupVelocity"> 10 </param>
<param name="startupMaxPwm"> 3360 </param>
<param name="startupPosThreshold"> 90 </param>
</group>

<!-- calibration of eyelids where Gearbox_E2J is != 1:
1. in general.xml we set useRawEncoderData = true [as for any type3 calib].
2. retrieve the encoder reading of joint placed in zero position [as for any type3 calib].
3. for computation of calibration3 param use the standard excel formula [as for any type3 calib].
4. for calibrationZero (and VERY IMPORTANT: value of zero in execl formula) use a correction factor of 1/Gearbox_E2J.
As an example, to move away from zero crossing use zero = (+/-) 180 / Gearbox_E2J, where the sign is the same as the encoder reading.

-->
<param name="CALIB_ORDER"> (0) </param> <!-- we can calibrate all joints in parallel (for now not the jaw yet)-->

<action phase="startup" level="10" type="calibrate">
<param name="target">face-mc_wrapper</param>
</action>

<action phase="interrupt1" level="1" type="park">
<param name="target">face-mc_wrapper</param>
</action>

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

</device>

50 changes: 50 additions & 0 deletions iCubPrague01/calibrators/head-calib.xml
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<?xml version="1.0" encoding="UTF-8" ?>
<!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">


<device xmlns:xi="http://www.w3.org/2001/XInclude" name="head-calibrator" type="parametricCalibratorEth">

<xi:include href="../general.xml" />

<group name="GENERAL">
<param name="joints"> 6 </param> <!-- the number of joints of the robot part -->
<param name="deviceName"> HeadV3_Calibrator </param> <!-- this name is used for high-level debug -->
</group>

<group name="HOME">
<param name="positionHome"> 0 0 0 0 0 0 </param>
<param name="velocityHome"> 10 10 10 10 10 10 </param>
</group>

<!-- joint logical number 0 1 2 3 4 5 -->
<!-- joint name neck-pitch neck-roll neck-yaw eyes-tilt eyes-vers eyes-verg --> <!-- j4 is right-eye, j5 is left-eye -->
<group name="CALIBRATION">
<param name="calibrationType"> 12 12 12 12 5 5 </param>
<param name="calibration1"> 64975 45999 13119 47103 3000 3000 </param>
<param name="calibration2"> 0 0 0 0 8192 8192 </param>
<param name="calibration3"> 0 0 0 0 0 0 </param>
<param name="calibration4"> 0 0 0 0 0 0 </param>
<param name="calibration5"> 0 0 0 0 0 0 </param>
<param name="calibrationZero"> 0 0 0 0 0 0 </param>
<param name="calibrationDelta"> 0 0 0 0 -3.6 -3.6 </param>

<param name="startupPosition"> 0 0 0 0 0 0 </param>
<param name="startupVelocity"> 10 10 20 20 20 20 </param>
<param name="startupMaxPwm"> 3000 3000 3000 3000 0 0 </param>
<param name="startupPosThreshold"> 90 90 2 2 2 2 </param>
</group>

<param name="CALIB_ORDER"> (0 1 2) (3) (4 5) </param>

<action phase="startup" level="10" type="calibrate">
<param name="target">head-mc_wrapper</param>
</action>

<action phase="interrupt1" level="1" type="park">
<param name="target">head-mc_wrapper</param>
</action>

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

</device>

50 changes: 50 additions & 0 deletions iCubPrague01/calibrators/left_arm-calib.xml
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<?xml version="1.0" encoding="UTF-8" ?>
<!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">


<device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_arm-calibrator" type="parametricCalibratorEth">
<xi:include href="../general.xml" />

<group name="GENERAL">
<param name="joints">16</param> <!-- the number of joints of the robot part -->
<param name="deviceName"> Left_Arm_Calibrator </param>
</group>
<!-- joint logical number 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 -->
<group name="HOME">
<param name="positionHome"> -30 30 0 45 0 0 0 35 65 0 0 0 0 0 0 0 </param>
<param name="velocityHome"> 10 10 10 10 30 30 30 60 30 30 30 30 30 30 30 30 </param>
</group>

<group name="CALIBRATION">
<param name="calibrationType"> 12 12 12 12 5 12 12 7 7 6 6 6 6 6 6 6 </param>
<param name="calibration1"> 42767 4880 32415 58031 -1500 37087 45583 0 0 0 0 0 0 0 0 0 </param>
<param name="calibration2"> 0 0 0 0 16384 0 0 0 0 9102 9102 9102 9102 9102 9102 10000 </param>
<param name="calibration3"> 0 0 0 0 0 0 0 0 0 -1 1 -1 1 -1 1 1 </param>
<param name="calibration4"> 0 0 0 0 0 0 0 2500 670 251 474 236 486 255 464 748 </param>
<param name="calibration5"> 0 0 0 0 0 0 0 2860 4312 0 0 0 37 9 2 90 </param>
<param name="calibrationZero"> 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 </param>
<param name="calibrationDelta"> -3.13 5.29 -8.28 -1.75 0 0 0 0 0 0 0 0 0 0 0 0 </param>

<param name="startupPosition"> -35 30 0 50 0 0 0 15 30 0 0 0 0 0 0 0 </param>
<param name="startupVelocity"> 10 10 10 10 30 30 30 100 100 100 100 100 100 100 100 100 </param>
<param name="startupMaxPwm"> 2000 2000 2000 2000 2000 0 0 0 0 0 0 0 0 0 0 0 </param>
<param name="startupPosThreshold"> 2 2 2 2 90 90 90 90 90 90 90 90 90 90 90 90 </param>
</group>

<param name="CALIB_ORDER">(0 1 2 3) (4) (5 6 7) (8 9 11 13) (10 12 14 15) </param>


<action phase="startup" level="10" type="calibrate">
<param name="target">left_arm-mc_wrapper</param>
</action>

<action phase="interrupt1" level="1" type="park">
<param name="target">left_arm-mc_wrapper</param>
</action>

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

</device>



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