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Merged
merged 7 commits into from
Dec 13, 2021
Merged

iCubGenova01_nws promoted #297

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c4eccec
initial commit: clone of iCubGenova01
randaz81 Sep 28, 2021
afe9284
all motorControl nws, remappers, calibrators and cartesian controller…
randaz81 Oct 8, 2021
244429d
removed deprecated stuff
randaz81 Dec 10, 2021
1df70d2
updated hand calibration with Nicola's files (part1)
randaz81 Dec 10, 2021
2cb6230
* updated hand calibration with Nicola's files (part2)
randaz81 Dec 10, 2021
433cef5
removed icubGenova01.
randaz81 Dec 10, 2021
805f39f
cleanup
randaz81 Dec 13, 2021
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6 changes: 3 additions & 3 deletions iCubGenova01/calibrators/head_calib.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -31,12 +31,12 @@

<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 phase="startup" level="15" type="calibrate">
<param name="target">head_mc_remapper</param>
</action>

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

<action phase="interrupt3" level="1" type="abort" />
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6 changes: 3 additions & 3 deletions iCubGenova01/calibrators/left_arm_calib.xml
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Expand Up @@ -29,12 +29,12 @@
</group>
<param name="CALIB_ORDER">(0 1 2 3) (4 6 7) (5)</param>

<action phase="startup" level="10" type="calibrate">
<param name="target">left_arm_mc_wrapper</param>
<action phase="startup" level="15" type="calibrate">
<param name="target">left_arm_mc_remapper</param>
</action>

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

<action phase="interrupt3" level="1" type="abort" />
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72 changes: 22 additions & 50 deletions iCubGenova01/calibrators/left_hand_calib.xml
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@@ -1,15 +1,15 @@
<?xml version="1.0" encoding="UTF-8" ?>
<?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_hand_calibrator" type="parametricCalibrator">
<device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_hand_calibrator" type="parametricCalibrator">
<xi:include href="../general.xml" />
<group name="GENERAL">
<param name="joints"> 8 </param>
<param name="deviceName"> Left_Hand_Calibrator </param>
</group>

<group name="GENERAL">
<param name="joints"> 8 </param>
<param name="deviceName"> Left_Hand_Calibrator </param>
</group>



<!--USE THIS FOR CAN ROBOT CALIBRATION-->
Expand All @@ -31,45 +31,17 @@
</group>



<param name="CALIB_ORDER">(0 1 3 5) (2 4 6 7) </param>

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

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

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

</device>





























<param name="CALIB_ORDER">(0 1 3 5) (2 4 6 7) </param>

<action phase="startup" level="15" type="calibrate">
<param name="target">left_hand_mc</param>
</action>

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

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

</device>
6 changes: 3 additions & 3 deletions iCubGenova01/calibrators/left_leg_calib.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -28,12 +28,12 @@

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

<action phase="startup" level="10" type="calibrate">
<param name="target">left_leg_mc_wrapper</param>
<action phase="startup" level="15" type="calibrate">
<param name="target">left_leg_mc_remapper</param>
</action>

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

<action phase="interrupt3" level="1" type="abort" />
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6 changes: 3 additions & 3 deletions iCubGenova01/calibrators/right_arm_calib.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -28,12 +28,12 @@
</group>
<param name="CALIB_ORDER">(0 1 2 3) (4 6 7) (5)</param>

<action phase="startup" level="10" type="calibrate">
<param name="target">right_arm_mc_wrapper</param>
<action phase="startup" level="15" type="calibrate">
<param name="target">right_arm_mc_remapper</param>
</action>

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

<action phase="interrupt3" level="1" type="abort" />
Expand Down
76 changes: 24 additions & 52 deletions iCubGenova01/calibrators/right_hand_calib.xml
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Original file line number Diff line number Diff line change
@@ -1,15 +1,15 @@
<?xml version="1.0" encoding="UTF-8" ?>
<?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="right_hand_calibrator" type="parametricCalibrator">
<device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_hand_calibrator" type="parametricCalibrator">
<xi:include href="../general.xml" />
<group name="GENERAL">
<param name="joints"> 8 </param>
<param name="deviceName"> Right_Hand_Calibrator </param>
</group>

<group name="GENERAL">
<param name="joints"> 8 </param>
<param name="deviceName"> Right_Hand_Calibrator </param>
</group>




Expand All @@ -22,54 +22,26 @@
<!--USE THIS FOR CAN ROBOT CALIBRATION-->
<group name="CALIBRATION">
<param name="calibrationType"> 3 4 4 4 4 4 4 4 </param>
<param name="calibration1"> 1742.4 180.0 5.0 196.0 13.0 207.0 22.0 580.0 </param>
<param name="calibration1"> 1742.4 255.0 5.0 196.0 13.0 207.0 22.0 580.0 </param>
<param name="calibration2"> 10.0 10.0 30.0 10.0 10.0 10.0 10.0 10.0 </param>
<param name="calibration3"> 0.0 6000.0 6600.0 6000.0 -7000.0 6000.0 7000.0 14000.0 </param>
<param name="startupPosition"> 45.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 </param>
<param name="startupVelocity"> 100.0 100.0 100.0 100.0 100.0 100.0 100.0 100.0 </param>
<param name="startupMaxPwm"> 0 0 0 0 0 0 0 0 </param>
<param name="startupPosThreshold"> 1000 1000 1000 1000 1000 1000 1000 1000 </param>
</group>


<param name="CALIB_ORDER">(0 1 3 5) (2 4 6 7) </param>

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

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

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

</device>






























<param name="CALIB_ORDER">(0 1 3 5) (2 4 6 7) </param>

<action phase="startup" level="15" type="calibrate">
<param name="target">right_hand_mc</param>
</action>

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

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

</device>
6 changes: 3 additions & 3 deletions iCubGenova01/calibrators/right_leg_calib.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -28,12 +28,12 @@

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

<action phase="startup" level="10" type="calibrate">
<param name="target">right_leg_mc_wrapper</param>
<action phase="startup" level="15" type="calibrate">
<param name="target">right_leg_mc_remapper</param>
</action>

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

<action phase="interrupt3" level="1" type="abort" />
Expand Down
6 changes: 3 additions & 3 deletions iCubGenova01/calibrators/torso_calib.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -28,12 +28,12 @@

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

<action phase="startup" level="10" type="calibrate">
<param name="target">torso_mc_wrapper</param>
<action phase="startup" level="15" type="calibrate">
<param name="target">torso_mc_remapper</param>
</action>

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

<action phase="interrupt3" level="1" type="abort" />
Expand Down
8 changes: 4 additions & 4 deletions iCubGenova01/cartesian/left_arm_cartesian.xml
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Expand Up @@ -40,14 +40,14 @@
<param name="joint_9">((Kp 1.000) (Tz 0.000) (Tw 0.000) (Zeta 0.000) (Td 0.000))</param>
</group>

<action phase="startup" level="15" type="attach">
<action phase="startup" level="20" type="attach">
<paramlist name="networks">
<elem name="torso">torso_mc_wrapper</elem>
<elem name="left_arm">left_arm_mc_wrapper</elem>
<elem name="torso">torso_mc_remapper</elem>
<elem name="left_arm">left_arm_mc_remapper</elem>
</paramlist>
</action>

<action phase="shutdown" level="2" type="detach" />
<action phase="shutdown" level="5" type="detach" />

</device>

8 changes: 4 additions & 4 deletions iCubGenova01/cartesian/right_arm_cartesian.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -40,14 +40,14 @@
<param name="joint_9">((Kp 1.000) (Tz 0.000) (Tw 0.000) (Zeta 0.000) (Td 0.000))</param>
</group>

<action phase="startup" level="15" type="attach">
<action phase="startup" level="20" type="attach">
<paramlist name="networks">
<elem name="torso">torso_mc_wrapper</elem>
<elem name="right_arm">right_arm_mc_wrapper</elem>
<elem name="torso">torso_mc_remapper</elem>
<elem name="right_arm">right_arm_mc_remapper</elem>
</paramlist>
</action>

<action phase="shutdown" level="2" type="detach" />
<action phase="shutdown" level="5" type="detach" />

</device>

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