From 2e57d7dde698b268f1eecb16c92f92ecc6db2822 Mon Sep 17 00:00:00 2001 From: Giulio Romualdi Date: Mon, 19 Jul 2021 18:24:49 +0200 Subject: [PATCH 01/27] add upper-body yarprobotinterface --- iCubGenova09/upper-body.xml | 29 +++++++++++++++++++++++++++++ 1 file changed, 29 insertions(+) diff --git a/iCubGenova09/upper-body.xml b/iCubGenova09/upper-body.xml index 6ecc0fafb1..c8f814b08d 100644 --- a/iCubGenova09/upper-body.xml +++ b/iCubGenova09/upper-body.xml @@ -44,26 +44,55 @@ +<<<<<<< HEAD +======= + +>>>>>>> 25da38aae... add upper-body yarprobotinterface +<<<<<<< HEAD +======= + + + + + + + + + + + + +>>>>>>> 25da38aae... add upper-body yarprobotinterface +<<<<<<< HEAD +======= + + + + + + +>>>>>>> 25da38aae... add upper-body yarprobotinterface From 6b82e02b3c91455d676135a281e9aeabdad07da5 Mon Sep 17 00:00:00 2001 From: icub Date: Mon, 26 Jul 2021 18:12:40 +0200 Subject: [PATCH 02/27] Edited WBD file to consider new iCubGenova09 network structure. --- iCubGenova09/estimators/wholebodydynamics.xml | 18 ++++++++---------- iCubGenova09/icub_wbd.xml | 2 +- 2 files changed, 9 insertions(+), 11 deletions(-) diff --git a/iCubGenova09/estimators/wholebodydynamics.xml b/iCubGenova09/estimators/wholebodydynamics.xml index 6f5eab9bcd..8971f20b61 100644 --- a/iCubGenova09/estimators/wholebodydynamics.xml +++ b/iCubGenova09/estimators/wholebodydynamics.xml @@ -56,12 +56,10 @@ right_arm-eb3-j0_1-mc right_arm-eb4-j2_3-mc right_arm-eb27-j4_7-mc - left_leg-eb6-j0_1-mc - left_leg-eb7-j2_3-mc - left_leg-eb8-j4_5-mc - right_leg-eb10-j0_1-mc - right_leg-eb11-j2_3-mc - right_leg-eb12-j4_5-mc + left_leg-eb7-j0_2-mc + left_leg-eb8-j3_5-mc + right_leg-eb11-j0_2-mc + right_leg-eb12-j3_5-mc head-inertial @@ -74,10 +72,10 @@ left_arm-eb1-j0_1-strain right_arm-eb3-j0_1-strain - left_leg-eb9-skin-strain - left_leg-eb8-j4_5-strain - right_leg-eb13-skin-strain - right_leg-eb12-j4_5-strain + left_leg-eb8-j3_5-strain + left_leg-eb7-j0_2-strain + right_leg-eb12-j3_5-strain + right_leg-eb11-j0_2-strain diff --git a/iCubGenova09/icub_wbd.xml b/iCubGenova09/icub_wbd.xml index 00810aa3e5..e7d483d380 100644 --- a/iCubGenova09/icub_wbd.xml +++ b/iCubGenova09/icub_wbd.xml @@ -107,7 +107,7 @@ - + From 5d4ee8213eb4eea0b9e3c7b1d51f391270632d10 Mon Sep 17 00:00:00 2001 From: icub Date: Mon, 26 Jul 2021 18:13:29 +0200 Subject: [PATCH 03/27] Performed legs fine calibration. --- iCubGenova09/calibrators/left_leg-calib.xml | 2 +- iCubGenova09/calibrators/right_leg-calib.xml | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/iCubGenova09/calibrators/left_leg-calib.xml b/iCubGenova09/calibrators/left_leg-calib.xml index f5e85c2484..f94325209e 100644 --- a/iCubGenova09/calibrators/left_leg-calib.xml +++ b/iCubGenova09/calibrators/left_leg-calib.xml @@ -26,7 +26,7 @@ 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 - -4.028 -5.870 3.056 -5.118 0.0 1.483 + -2.935 -4.678 1.276 -0.064 15.529 -1.791 5 15 0 -20 0 0 10.0 10.0 10.0 10.0 10.0 10.0 diff --git a/iCubGenova09/calibrators/right_leg-calib.xml b/iCubGenova09/calibrators/right_leg-calib.xml index 83399d1584..29dd801989 100644 --- a/iCubGenova09/calibrators/right_leg-calib.xml +++ b/iCubGenova09/calibrators/right_leg-calib.xml @@ -25,7 +25,7 @@ 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 - 11.083 -3.841 2.795 0.0 -0.295 -8 + 10.885 -3.841 3.328 -5.405 24.776 -8.401 5 15 0 -20.0 0 0 10.0 10.0 10.0 10.0 10.0 10.0 From 50e8a0ad8e03127cfd3112511413e89967ad8825 Mon Sep 17 00:00:00 2001 From: icub Date: Mon, 26 Jul 2021 18:27:47 +0200 Subject: [PATCH 04/27] Fixed ankle pitch limits. --- iCubGenova09/hardware/motorControl/left_leg-eb8-j3_5-mc.xml | 4 ++-- iCubGenova09/hardware/motorControl/right_leg-eb12-j3_5-mc.xml | 4 ++-- 2 files changed, 4 insertions(+), 4 deletions(-) diff --git a/iCubGenova09/hardware/motorControl/left_leg-eb8-j3_5-mc.xml b/iCubGenova09/hardware/motorControl/left_leg-eb8-j3_5-mc.xml index 294b7fe7be..36e5c4de9e 100644 --- a/iCubGenova09/hardware/motorControl/left_leg-eb8-j3_5-mc.xml +++ b/iCubGenova09/hardware/motorControl/left_leg-eb8-j3_5-mc.xml @@ -11,8 +11,8 @@ - 3 42 23 - -70 -30 -23 + 3 32 23 + -70 -43 -23 240 240 240 10000 10000 10000 15000 15000 15000 diff --git a/iCubGenova09/hardware/motorControl/right_leg-eb12-j3_5-mc.xml b/iCubGenova09/hardware/motorControl/right_leg-eb12-j3_5-mc.xml index 37e2d5a5bb..7ed4d4ebb4 100644 --- a/iCubGenova09/hardware/motorControl/right_leg-eb12-j3_5-mc.xml +++ b/iCubGenova09/hardware/motorControl/right_leg-eb12-j3_5-mc.xml @@ -11,8 +11,8 @@ - 3 42 23 - -70 -30 -23 + 3 32 23 + -70 -43 -23 240 240 240 10000 10000 10000 15000 15000 15000 From 0480b71b79796c1d4c89ce25e47c282c844bdec8 Mon Sep 17 00:00:00 2001 From: icub Date: Wed, 28 Jul 2021 10:13:21 +0200 Subject: [PATCH 05/27] Moved skin application to applications folder. --- .../extra/{contexts/yarpmanager => applications}/iCub3SkinGui.xml | 0 1 file changed, 0 insertions(+), 0 deletions(-) rename iCubGenova09/extra/{contexts/yarpmanager => applications}/iCub3SkinGui.xml (100%) diff --git a/iCubGenova09/extra/contexts/yarpmanager/iCub3SkinGui.xml b/iCubGenova09/extra/applications/iCub3SkinGui.xml similarity index 100% rename from iCubGenova09/extra/contexts/yarpmanager/iCub3SkinGui.xml rename to iCubGenova09/extra/applications/iCub3SkinGui.xml From 29bc4f00a465d46efc3cb673789a6d64f50bca17 Mon Sep 17 00:00:00 2001 From: Giulio Romualdi Date: Wed, 28 Jul 2021 18:44:52 +0200 Subject: [PATCH 06/27] [iCubGenova09] Update the legs calibration deltas --- iCubGenova09/calibrators/left_leg-calib.xml | 2 +- iCubGenova09/calibrators/right_leg-calib.xml | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/iCubGenova09/calibrators/left_leg-calib.xml b/iCubGenova09/calibrators/left_leg-calib.xml index f94325209e..fc8696b39c 100644 --- a/iCubGenova09/calibrators/left_leg-calib.xml +++ b/iCubGenova09/calibrators/left_leg-calib.xml @@ -26,7 +26,7 @@ 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 - -2.935 -4.678 1.276 -0.064 15.529 -1.791 + 2.657 -4.738 1.254 -0.069 15.540 -2.813 5 15 0 -20 0 0 10.0 10.0 10.0 10.0 10.0 10.0 diff --git a/iCubGenova09/calibrators/right_leg-calib.xml b/iCubGenova09/calibrators/right_leg-calib.xml index 29dd801989..3fdf895c1b 100644 --- a/iCubGenova09/calibrators/right_leg-calib.xml +++ b/iCubGenova09/calibrators/right_leg-calib.xml @@ -25,7 +25,7 @@ 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 - 10.885 -3.841 3.328 -5.405 24.776 -8.401 + 10.890 -4.182 3.323 -5.416 9.082 -6.539 5 15 0 -20.0 0 0 10.0 10.0 10.0 10.0 10.0 10.0 From 6f0e227dcebbca37007ebe6c0684f634dc02746c Mon Sep 17 00:00:00 2001 From: icub Date: Thu, 29 Jul 2021 09:42:50 +0200 Subject: [PATCH 07/27] Configured telemetry as external device. --- iCubGenova09/CMakeLists.txt | 1 + iCubGenova09/telemetry.xml | 41 +++++++++++++++++++ .../telemetry/telemetryDeviceExternal.xml | 38 +++++++++++++++++ 3 files changed, 80 insertions(+) create mode 100644 iCubGenova09/telemetry.xml create mode 100644 iCubGenova09/telemetry/telemetryDeviceExternal.xml diff --git a/iCubGenova09/CMakeLists.txt b/iCubGenova09/CMakeLists.txt index 9983ef1d16..be461c6a9f 100644 --- a/iCubGenova09/CMakeLists.txt +++ b/iCubGenova09/CMakeLists.txt @@ -12,3 +12,4 @@ yarp_install(DIRECTORY wrappers DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${ yarp_install(DIRECTORY hardware DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname}) yarp_install(DIRECTORY camera DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname}) yarp_install(DIRECTORY sensors DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname}) +yarp_install(DIRECTORY telemetry DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname}) diff --git a/iCubGenova09/telemetry.xml b/iCubGenova09/telemetry.xml new file mode 100644 index 0000000000..63f1f77d12 --- /dev/null +++ b/iCubGenova09/telemetry.xml @@ -0,0 +1,41 @@ + + + + + + + + /icub/torso + /telemetry/torso + + + + /icub/left_arm + /telemetry/left_arm + + + + /icub/right_arm + /telemetry/right_arm + + + + /icub/left_leg + /telemetry/left_leg + + + + /icub/right_leg + /telemetry/right_leg + + + + /icub/head + /telemetry/head + + + + + + + diff --git a/iCubGenova09/telemetry/telemetryDeviceExternal.xml b/iCubGenova09/telemetry/telemetryDeviceExternal.xml new file mode 100644 index 0000000000..f5d7121820 --- /dev/null +++ b/iCubGenova09/telemetry/telemetryDeviceExternal.xml @@ -0,0 +1,38 @@ + + + + + + (torso_pitch,torso_roll,torso_yaw,neck_pitch, neck_roll,neck_yaw,l_shoulder_pitch,l_shoulder_roll,l_shoulder_yaw,l_elbow,l_wrist_prosup,l_wrist_pitch,l_wrist_yaw,r_shoulder_pitch,r_shoulder_roll,r_shoulder_yaw,r_elbow,r_wrist_prosup,r_wrist_pitch,r_wrist_yaw,l_hip_pitch,l_hip_roll,l_hip_yaw,l_knee,l_ankle_pitch,l_ankle_roll,r_hip_pitch,r_hip_roll,r_hip_yaw,r_knee,r_ankle_pitch,r_ankle_roll) + true + true + true + true + true + false + true + true + telemetry_iCub3 + /home/icub/telemetry_logs/ + 100000 + true + 120.0 + 300 + true + + + + + head_mc + torso_mc + left_arm_mc + right_arm_mc + left_leg_mc + right_leg_mc + + + + + + + From 1654af041f168fbb2a97af753fc18d80ca20652c Mon Sep 17 00:00:00 2001 From: icub Date: Thu, 29 Jul 2021 14:17:42 +0200 Subject: [PATCH 08/27] Fixed upper-body.xml after merge conflicts. --- iCubGenova09/upper-body.xml | 25 +------------------------ 1 file changed, 1 insertion(+), 24 deletions(-) diff --git a/iCubGenova09/upper-body.xml b/iCubGenova09/upper-body.xml index c8f814b08d..691b12f1d2 100644 --- a/iCubGenova09/upper-body.xml +++ b/iCubGenova09/upper-body.xml @@ -44,25 +44,13 @@ -<<<<<<< HEAD - - -======= - ->>>>>>> 25da38aae... add upper-body yarprobotinterface + -<<<<<<< HEAD - - - - - -======= @@ -76,23 +64,12 @@ ->>>>>>> 25da38aae... add upper-body yarprobotinterface -<<<<<<< HEAD - -======= - - - - - - ->>>>>>> 25da38aae... add upper-body yarprobotinterface From 8b7eeca75cf878c5110490c7ba2352601737b84e Mon Sep 17 00:00:00 2001 From: icub Date: Thu, 29 Jul 2021 14:19:45 +0200 Subject: [PATCH 09/27] Added icub-console applications for iCub3. --- iCubGenova09/extra/applications/SFM.xml | 48 +++ .../extra/applications/cameras_calib.xml | 67 ++++ .../applications/cameras_calib_640_480.xml | 67 ++++ .../extra/applications/demoRedBall.xml | 55 +++ .../extra/applications/faceExpressions.xml | 21 ++ .../extra/applications/grasp-processor.xml | 91 +++++ .../extra/applications/iCubStartup.xml | 51 +++ .../applications/iCubStartup_640_480.xml | 45 +++ iCubGenova09/extra/applications/iol.xml | 347 +++++++++++++++++ iCubGenova09/extra/applications/iol_egpu.xml | 353 ++++++++++++++++++ .../extra/applications/lbpExtract.xml | 68 ++++ .../robmo-icub-hand-iRC-collector.xml | 112 ++++++ ...obmo-icub-hand-iRC-test-no-calibration.xml | 65 ++++ .../applications/robmo-icub-hand-iRC-test.xml | 89 +++++ .../extra/applications/skinGuiAll.xml | 74 ++++ .../extra/applications/stereoCalib.xml | 57 +++ 16 files changed, 1610 insertions(+) create mode 100644 iCubGenova09/extra/applications/SFM.xml create mode 100644 iCubGenova09/extra/applications/cameras_calib.xml create mode 100644 iCubGenova09/extra/applications/cameras_calib_640_480.xml create mode 100644 iCubGenova09/extra/applications/demoRedBall.xml create mode 100644 iCubGenova09/extra/applications/faceExpressions.xml create mode 100644 iCubGenova09/extra/applications/grasp-processor.xml create mode 100644 iCubGenova09/extra/applications/iCubStartup.xml create mode 100644 iCubGenova09/extra/applications/iCubStartup_640_480.xml create mode 100644 iCubGenova09/extra/applications/iol.xml create mode 100644 iCubGenova09/extra/applications/iol_egpu.xml create mode 100644 iCubGenova09/extra/applications/lbpExtract.xml create mode 100644 iCubGenova09/extra/applications/robmo-icub-hand-iRC-collector.xml create mode 100644 iCubGenova09/extra/applications/robmo-icub-hand-iRC-test-no-calibration.xml create mode 100644 iCubGenova09/extra/applications/robmo-icub-hand-iRC-test.xml create mode 100644 iCubGenova09/extra/applications/skinGuiAll.xml create mode 100644 iCubGenova09/extra/applications/stereoCalib.xml diff --git a/iCubGenova09/extra/applications/SFM.xml b/iCubGenova09/extra/applications/SFM.xml new file mode 100644 index 0000000000..f515b742e3 --- /dev/null +++ b/iCubGenova09/extra/applications/SFM.xml @@ -0,0 +1,48 @@ + + SFM Application + + SFM + + icub-console + + (Pos (x 283) (y 161.9)) + + + yarpview + --name /matchViewer --x 0 --p 50 + icub-console + + (Pos (x 310) (y 10)) + + + yarpview + --name /dispViewer --x 330 --p 50 + icub-console + + (Pos (x 610) (y 10)) + + + /icub/camcalib/right/out + /SFM/right:i + tcp + (Pos ((x 231) (y 214.5)) ((x 199) (y 224)) ((x 284) (y 205)) ) + + + /icub/camcalib/left/out + /SFM/left:i + tcp + (Pos ((x 227.5) (y 177)) ((x 192) (y 174)) ((x 284) (y 180)) ) + + + /SFM/match:o + /matchViewer + mjpeg + (Pos ((x 438.5) (y 226)) ((x 397) (y 217)) ((x 501) (y 235)) ) + + + /SFM/disp:o + /dispViewer + tcp + (Pos ((x 437.5) (y 190.5)) ((x 397) (y 192)) ((x 499) (y 189)) ) + + diff --git a/iCubGenova09/extra/applications/cameras_calib.xml b/iCubGenova09/extra/applications/cameras_calib.xml new file mode 100644 index 0000000000..fa533b383d --- /dev/null +++ b/iCubGenova09/extra/applications/cameras_calib.xml @@ -0,0 +1,67 @@ + +(1)Calib Cameras + + + + yarpdev + --from camera/ServerGrabberDualDragon.ini --split true + icub-head + + + camCalib + --context cameraCalibration --from icubEyes.ini --group CAMERA_CALIBRATION_LEFT --name /icub/camcalib/left + icub-console + + + camCalib + --context cameraCalibration --from icubEyes.ini --group CAMERA_CALIBRATION_RIGHT --name /icub/camcalib/right + icub-console + + + yarpview + --name /icub/view/left --x 0 --y 0 --p 50 --w 320 --h 320 + icub-console + + + yarpview + --name /icub/view/right --x 400 --y 0 --p 50 --w 320 --h 320 + icub-console + + + frameGrabberGui2 + --local /icub/fggui/left --remote /icub/cam/left --x 0 --y 350 --width 350 --height 500 + icub-console + + /icub/cam/left + + + + frameGrabberGui2 + --local /icub/fggui/right --remote /icub/cam/right --x 320 --y 350 --width 350 --height 500 + icub-console + + /icub/cam/right + + + + /icub/cam/left + /icub/camcalib/left/in + tcp + + + /icub/cam/right + /icub/camcalib/right/in + tcp + + + /icub/camcalib/left/out + /icub/view/left + tcp + + + /icub/camcalib/right/out + /icub/view/right + tcp + + + diff --git a/iCubGenova09/extra/applications/cameras_calib_640_480.xml b/iCubGenova09/extra/applications/cameras_calib_640_480.xml new file mode 100644 index 0000000000..e0c1ce3eca --- /dev/null +++ b/iCubGenova09/extra/applications/cameras_calib_640_480.xml @@ -0,0 +1,67 @@ + +(1)Calib Cameras 640x480 (no Bayer) + + + + yarpdev + --from camera/ServerGrabberDualDragon640_480.ini --split true + icub-head + + + camCalib + --context cameraCalibration --from icubEyes_640_480.ini --group CAMERA_CALIBRATION_LEFT --name /icub/camcalib/left + icub-console + + + camCalib + --context cameraCalibration --from icubEyes_640_480.ini --group CAMERA_CALIBRATION_RIGHT --name /icub/camcalib/right + icub-console + + + yarpview + --name /icub/view/left --x 0 --y 0 --p 50 --w 320 --h 320 + icub-console + + + yarpview + --name /icub/view/right --x 400 --y 0 --p 50 --w 320 --h 320 + icub-console + + + frameGrabberGui2 + --local /icub/fggui/left --remote /icub/cam/left --x 0 --y 350 --width 350 --height 500 + icub-console + + /icub/cam/left + + + + frameGrabberGui2 + --local /icub/fggui/right --remote /icub/cam/right --x 320 --y 350 --width 350 --height 500 + icub-console + + /icub/cam/right + + + + /icub/cam/left + /icub/camcalib/left/in + mjpeg + + + /icub/cam/right + /icub/camcalib/right/in + mjpeg + + + /icub/camcalib/left/out + /icub/view/left + mjpeg + + + /icub/camcalib/right/out + /icub/view/right + mjpeg + + + diff --git a/iCubGenova09/extra/applications/demoRedBall.xml b/iCubGenova09/extra/applications/demoRedBall.xml new file mode 100644 index 0000000000..8c5420f356 --- /dev/null +++ b/iCubGenova09/extra/applications/demoRedBall.xml @@ -0,0 +1,55 @@ + +Red-Ball Demo + + + /icub/camcalib/left/out + /iKinGazeCtrl/rpc + /icub/cartesianController/right_arm/state:o + /icub/cartesianController/left_arm/state:o + /wholeBodyDynamics/right_arm/FT:i + /wholeBodyDynamics/left_arm/FT:i + + + + pf3dTracker + icub-console + + + + demoRedBall + icub-console + + + + yarpview + --name /PF3DTracker_viewer --x 320 --y 0 --p 50 --compact + icub-console-gui + + + + /icub/camcalib/left/out + /pf3dTracker/video:i + udp + + + /pf3dTracker/video:o + /PF3DTracker_viewer + mjpeg + + + /pf3dTracker/data:o + /demoRedBall/trackTarget:i + udp + + + /demoRedBall/cmdFace:rpc + /icub/face/emotions/in + tcp + + + /demoRedBall/gui:o + /iCubGui/objects + tcp + + + diff --git a/iCubGenova09/extra/applications/faceExpressions.xml b/iCubGenova09/extra/applications/faceExpressions.xml new file mode 100644 index 0000000000..4d7c00db34 --- /dev/null +++ b/iCubGenova09/extra/applications/faceExpressions.xml @@ -0,0 +1,21 @@ + +Face Expressions + + yarpdev + --name /icub/face/raw --device serial --subdevice serialport --context faceExpressions --from serialport.ini + icub-head + face_device + + + emotionInterface + --name /icub/face/emotions --context faceExpressions --from emotions_rfe.ini + icub-head + emotions_interface + + + /icub/face/emotions/out + /icub/face/raw/in + tcp + + + diff --git a/iCubGenova09/extra/applications/grasp-processor.xml b/iCubGenova09/extra/applications/grasp-processor.xml new file mode 100644 index 0000000000..51639178e2 --- /dev/null +++ b/iCubGenova09/extra/applications/grasp-processor.xml @@ -0,0 +1,91 @@ + + Grasp pose processor + + + /pointCloudRead/rpc + /actionsRenderingEngine/cmd:io + /actionsRenderingEngine/get:io + /iolReachingCalibration/rpc + /SFM/rpc + /memory/rpc + /icub/camcalib/left/out + /lbpExtract/rpc:i + + + + grasp-processor + icub-console-gui + + + + find-superquadric + --random-sample 0.2 --remove-outliers "(0.01 10)" --disable-viewer + icub-console + + + + point-cloud-read + icub-console + + + + /graspProcessor/superquadricRetrieve:rpc + /find-superquadric/points:rpc + fast_tcp + + + + /graspProcessor/pointCloud:rpc + /pointCloudRead/rpc + fast_tcp + + + + /graspProcessor/actionRenderer:rpc + /actionsRenderingEngine/cmd:io + fast_tcp + + + + /graspProcessor/tableCalib:rpc + /actionsRenderingEngine/get:io + fast_tcp + + + + /graspProcessor/reachingCalibration:rpc + /iolReachingCalibration/rpc + fast_tcp + + + + /icub/camcalib/left/out + /pointCloudRead/imgL:i + udp + + + + /pointCloudRead/OPCrpc + /memory/rpc + fast_tcp + + + + /pointCloudRead/SFMrpc + /SFM/rpc + fast_tcp + + + + /pointCloudRead/segmrpc + /lbpExtract/rpc:i + fast_tcp + + + + /iolStateMachineHandler/motor_grasp:rpc + /graspProcessor/cmd:rpc + fast_tcp + + + diff --git a/iCubGenova09/extra/applications/iCubStartup.xml b/iCubGenova09/extra/applications/iCubStartup.xml new file mode 100644 index 0000000000..020e5c632b --- /dev/null +++ b/iCubGenova09/extra/applications/iCubStartup.xml @@ -0,0 +1,51 @@ + +(0)iCubStartup + + + + + + yarplogger + --start --no_stop + icub-console + + + + yarprobotinterface + icub-head + + + + iKinCartesianSolver + --part right_arm + icub-head + + /icub/yarprobotinterface + + + + + iKinCartesianSolver + --part left_arm + icub-head + + /icub/yarprobotinterface + + + + + iKinGazeCtrl + --from config_no_imu.ini + icub-head + + /icub/yarprobotinterface + + + + + yarpmotorgui + --from homePoseBalancing.ini + icub-console + + + diff --git a/iCubGenova09/extra/applications/iCubStartup_640_480.xml b/iCubGenova09/extra/applications/iCubStartup_640_480.xml new file mode 100644 index 0000000000..aba36aaa52 --- /dev/null +++ b/iCubGenova09/extra/applications/iCubStartup_640_480.xml @@ -0,0 +1,45 @@ + +(0)iCubStartup (640x480) + + + + + + yarplogger + --start --no_stop + icub-console + + + + yarprobotinterface + icub-head + + + + iKinCartesianSolver + --part right_arm + icub-head + + /icub/yarprobotinterface + + + + + iKinCartesianSolver + --part left_arm + icub-head + + /icub/yarprobotinterface + + + + + iKinGazeCtrl + --from config_no_imu_640_480.ini + icub-head + + /icub/yarprobotinterface + + + + diff --git a/iCubGenova09/extra/applications/iol.xml b/iCubGenova09/extra/applications/iol.xml new file mode 100644 index 0000000000..2e3b5ce041 --- /dev/null +++ b/iCubGenova09/extra/applications/iol.xml @@ -0,0 +1,347 @@ + +IOL (internal GPU) + + + /icub/camcalib/left/out + /icub/camcalib/right/out + /icub/cartesianController/left_arm/state:o + /icub/cartesianController/right_arm/state:o + /wholeBodyDynamics/left_arm/cartesianEndEffectorWrench:o + /wholeBodyDynamics/right_arm/cartesianEndEffectorWrench:o + /iKinGazeCtrl/rpc + + + + lbpExtract + icub-console-gui + + + motionCUT + icub-console-gui + + + SFM + icub-console-gui + + + + + caffeCoder + --from caffeCoder_resnet.ini + icub-console-gui + + + + + + + linearClassifierModule + --BufferSize 1 --CSVM 1.0 --databaseFolder IOLDatabase --WeightedSVM 1 + icub-console-gui + + + himrepClassifier + icub-console-gui + + + blobSelector + icub-console-gui + + + actionsRenderingEngine + --motor::block_eyes 5.0 + icub-console + + + iolReachingCalibration + icub-console + + + iolStateMachineHandler + icub-console + + + objectsPropertiesCollector + --name memory --db memory_iol.ini + icub-console + + + iSpeak + --package acapela-tts + icub-win + + + speechRecognizer + icub-win + + + iolHelper + icub-console + + + yarpview + --name /iolViewer/disparity --x 0 --y 0 --p 50 --compact + icub-console-gui + + + yarpview + --name /iolViewer/lbpSegmented --x 370 --y 0 --p 50 --compact + icub-console-gui + + + yarpview + --name /iolViewer/manager/snapshot --x 370 --y 720 --p 50 --compact + icub-console-gui + + + yarpview + --name /iolViewer/pointedBlobs --x 0 --y 720 --p 50 --compact + icub-console-gui + + + yarpview + --name /iolViewer/manager/tracker --x 0 --y 370 --p 50 --compact + icub-console-gui + + + yarpview + --name /iolViewer/manager/localizer --x 370 --y 370 --out /iolViewer/manager/localizer/out --p 50 --compact + icub-console-gui + + + yarpview + --name /iolViewer/manager/histogram --x 680 --y 220 --w 600 --h 600 --p 50 --compact + icub-console-gui + + + + + + rfsmGui + icub-console-gui + --rfsm iol_root_fsm.lua --context iol/lua --run + + /iSpeak + /speechRecognizer/rpc + /iolStateMachineHandler/human:rpc + /iolHelper/rpc + + + + + /icub/camcalib/left/out + /iolStateMachineHandler/img:i + mjpeg + + + /icub/camcalib/left/out + /lbpExtract/image:i + mjpeg + + + /iolStateMachineHandler/imgClassifier:o + /himrepClassifier/img:i + tcp + + + /icub/camcalib/left/out + /blobSelector/img:i + mjpeg + + + /icub/camcalib/left/out + /motionCUT/img:i + mjpeg + + + /motionCUT/blobs:o + /blobSelector/blobs:i + udp + + + /motionCUT/blobs:o + /actionsRenderingEngine/left/blobs:i + udp + + + /lbpExtract/blobs:o + /iolStateMachineHandler/blobs:i + udp + + + /iolStateMachineHandler/classify:rpc + /himrepClassifier/rpc + tcp + + + /SFM/disp:o + /iolViewer/disparity + udp + + + /lbpExtract/segmentedlbp:o + /iolViewer/lbpSegmented + mjpeg + + + /blobSelector/img:o + /iolViewer/pointedBlobs + mjpeg + + + /iolStateMachineHandler/img:o + /iolViewer/manager/snapshot + tcp + + + /iolStateMachineHandler/imgTrack:o + /iolViewer/manager/tracker + mjpeg + + + /iolStateMachineHandler/imgLoc:o + /iolViewer/manager/localizer + mjpeg + + + /iolStateMachineHandler/imgHistogram:o + /iolViewer/manager/histogram + mjpeg + + + /iolViewer/manager/localizer/out + /iolStateMachineHandler/histObjLocation:i + tcp + + + /iolStateMachineHandler/speak:o + /iSpeak + tcp + + + /iolReachingCalibration/opc + /memory/rpc + tcp + + + /iolReachingCalibration/are + /actionsRenderingEngine/cmd:io + tcp + + + /iolStateMachineHandler/reach_calib:rpc + /iolReachingCalibration/rpc + tcp + + + /iolStateMachineHandler/motor:rpc + /actionsRenderingEngine/cmd:io + tcp + + + /iolStateMachineHandler/motor_stop:rpc + /actionsRenderingEngine/rpc + tcp + + + /actionsRenderingEngine/wbd:rpc + /wholeBodyDynamics/rpc:i + tcp + + + /iolStateMachineHandler/memory:rpc + /memory/rpc + tcp + + + /actionsRenderingEngine/OPC:io + /memory/rpc + tcp + + + /iolHelper/opc + /memory/rpc + tcp + + + /speechRecognizer/recog/continuous:o + /iolStateMachineHandler/motor_stop:i + tcp + + + /blobSelector/point:o + /iolStateMachineHandler/point:i + tcp + + + /speechRecognizer/tts/iSpeak:o + /iSpeak + tcp + + + /iSpeak/emotions:o + /icub/face/emotions/in + tcp + + + /himrepClassifier/img:o + /caffeCoder/img:i + tcp + + + /caffeCoder/code:o + /himrepClassifier/features:i + tcp + + + /himrepClassifier/features:o + /linearClassifier/features:i + tcp + + + /linearClassifier/scores:o + /himrepClassifier/scores:i + tcp + + + /himrepClassifier/classify:rpc + /linearClassifier/rpc + tcp + + + /caffeCoder/img:o + /himrepClassifier/SIFTimg:i + tcp + + + /himrepClassifier/opc + /memory/rpc + tcp + + + /icub/camcalib/right/out + /SFM/right:i + tcp + + + /icub/camcalib/left/out + /SFM/left:i + tcp + + + /iolStateMachineHandler/get3d:rpc + /SFM/rpc + tcp + + diff --git a/iCubGenova09/extra/applications/iol_egpu.xml b/iCubGenova09/extra/applications/iol_egpu.xml new file mode 100644 index 0000000000..ab57cf1505 --- /dev/null +++ b/iCubGenova09/extra/applications/iol_egpu.xml @@ -0,0 +1,353 @@ + +IOL (external GPU) + + + /icub/camcalib/left/out + /icub/camcalib/right/out + /icub/cartesianController/left_arm/state:o + /icub/cartesianController/right_arm/state:o + /wholeBodyDynamics/left_arm/cartesianEndEffectorWrench:o + /wholeBodyDynamics/right_arm/cartesianEndEffectorWrench:o + /iKinGazeCtrl/rpc + + + + lbpExtract + icub-console-gui + + + motionCUT + icub-console-gui + + + SFM + icub-console-gui + + + + + caffeCoder + --from caffeCoder_resnet.ini --device_id 0 + icub-cuda + + + linearClassifierModule + --BufferSize 1 --CSVM 1.0 --databaseFolder IOLDatabase --WeightedSVM 1 + icub-console-gui + + + himrepClassifier + icub-console-gui + + + blobSelector + icub-console-gui + + + actionsRenderingEngine + --motor::block_eyes 5.0 + icub-console + + + iolReachingCalibration + icub-console + + + iolStateMachineHandler + icub-console + + + objectsPropertiesCollector + --name memory --db memory_iol.ini + icub-console + + + iSpeak + --package speech-dev + icub-console + + + yarpdev + --device speech --lingware-context speech --default-language en-US --pitch 100 --speed 100 + icub-console + + + speechRecognizer + icub-win + + + iolHelper + icub-console + + + yarpview + --name /iolViewer/disparity --x 0 --y 0 --p 50 --compact + icub-console-gui + + + yarpview + --name /iolViewer/lbpSegmented --x 370 --y 0 --p 50 --compact + icub-console-gui + + + yarpview + --name /iolViewer/manager/snapshot --x 370 --y 720 --p 50 --compact + icub-console-gui + + + yarpview + --name /iolViewer/pointedBlobs --x 0 --y 720 --p 50 --compact + icub-console-gui + + + yarpview + --name /iolViewer/manager/tracker --x 0 --y 370 --p 50 --compact + icub-console-gui + + + yarpview + --name /iolViewer/manager/localizer --x 370 --y 370 --out /iolViewer/manager/localizer/out --p 50 --compact + icub-console-gui + + + yarpview + --name /iolViewer/manager/histogram --x 680 --y 220 --w 600 --h 600 --p 50 --compact + icub-console-gui + + + + + + rfsmGui + icub-console + --rfsm iol_root_fsm.lua --context iol/lua --run + + /iSpeak + /speechRecognizer/rpc + /iolStateMachineHandler/human:rpc + /iolHelper/rpc + + + + + /icub/camcalib/left/out + /iolStateMachineHandler/img:i + mjpeg + + + /icub/camcalib/left/out + /lbpExtract/image:i + mjpeg + + + /iolStateMachineHandler/imgClassifier:o + /himrepClassifier/img:i + tcp + + + /icub/camcalib/left/out + /blobSelector/img:i + mjpeg + + + /icub/camcalib/left/out + /motionCUT/img:i + mjpeg + + + /motionCUT/blobs:o + /blobSelector/blobs:i + udp + + + /motionCUT/blobs:o + /actionsRenderingEngine/left/blobs:i + udp + + + /lbpExtract/blobs:o + /iolStateMachineHandler/blobs:i + udp + + + /iolStateMachineHandler/classify:rpc + /himrepClassifier/rpc + tcp + + + /SFM/disp:o + /iolViewer/disparity + udp + + + /lbpExtract/segmentedlbp:o + /iolViewer/lbpSegmented + mjpeg + + + /blobSelector/img:o + /iolViewer/pointedBlobs + mjpeg + + + /iolStateMachineHandler/img:o + /iolViewer/manager/snapshot + tcp + + + /iolStateMachineHandler/imgTrack:o + /iolViewer/manager/tracker + mjpeg + + + /iolStateMachineHandler/imgLoc:o + /iolViewer/manager/localizer + mjpeg + + + /iolStateMachineHandler/imgHistogram:o + /iolViewer/manager/histogram + mjpeg + + + /iolViewer/manager/localizer/out + /iolStateMachineHandler/histObjLocation:i + tcp + + + /iolStateMachineHandler/speak:o + /iSpeak + tcp + + + /iolReachingCalibration/opc + /memory/rpc + tcp + + + /iolReachingCalibration/are + /actionsRenderingEngine/cmd:io + tcp + + + /iolStateMachineHandler/reach_calib:rpc + /iolReachingCalibration/rpc + tcp + + + /iolStateMachineHandler/motor:rpc + /actionsRenderingEngine/cmd:io + tcp + + + /iolStateMachineHandler/motor_stop:rpc + /actionsRenderingEngine/rpc + tcp + + + /actionsRenderingEngine/wbd:rpc + /wholeBodyDynamics/rpc:i + tcp + + + /iolStateMachineHandler/memory:rpc + /memory/rpc + tcp + + + /actionsRenderingEngine/OPC:io + /memory/rpc + tcp + + + /iolHelper/opc + /memory/rpc + tcp + + + /speechRecognizer/recog/continuous:o + /iolStateMachineHandler/motor_stop:i + tcp + + + /blobSelector/point:o + /iolStateMachineHandler/point:i + tcp + + + /speechRecognizer/tts/iSpeak:o + /iSpeak + tcp + + + /iSpeak/emotions:o + /icub/face/emotions/in + tcp + + + /iSpeak/speech-dev/rpc + /icub/speech:rpc + fast_tcp + + + /himrepClassifier/img:o + /caffeCoder/img:i + tcp + + + /caffeCoder/code:o + /himrepClassifier/features:i + tcp + + + /himrepClassifier/features:o + /linearClassifier/features:i + tcp + + + /linearClassifier/scores:o + /himrepClassifier/scores:i + tcp + + + /himrepClassifier/classify:rpc + /linearClassifier/rpc + tcp + + + /caffeCoder/img:o + /himrepClassifier/SIFTimg:i + tcp + + + /himrepClassifier/opc + /memory/rpc + tcp + + + /icub/camcalib/right/out + /SFM/right:i + tcp + + + /icub/camcalib/left/out + /SFM/left:i + tcp + + + /iolStateMachineHandler/get3d:rpc + /SFM/rpc + tcp + + diff --git a/iCubGenova09/extra/applications/lbpExtract.xml b/iCubGenova09/extra/applications/lbpExtract.xml new file mode 100644 index 0000000000..cb2ee248f5 --- /dev/null +++ b/iCubGenova09/extra/applications/lbpExtract.xml @@ -0,0 +1,68 @@ + + Local Binary Pattern Blob Extraction + + + + + + lbpExtract + icub-console + + + + + yarpview + icub-console-gui + --name /lbps --x 0 --y 0 --RefreshTime 33 + + + + yarpview + icub-console-gui + --name /contourslbp --x 330 --y 0 --RefreshTime 33 + + + + yarpview + icub-console-gui + --name /extracted --x 0 --y 330 --RefreshTime 33 + + + + yarpview + icub-console-gui + --name /segmented --x 330 --y 330 --RefreshTime 33 + + + + + /icub/camcalib/left/out + /lbpExtract/image:i + udp + + + + /lbpExtract/lbp:o + /lbps + udp + + + + /lbpExtract/contourslbp:o + /contourslbp + mjpeg + + + + /lbpExtract/extractedlbp:o + /extracted + mjpeg + + + + /lbpExtract/segmentedlbp:o + /segmented + mjpeg + + + diff --git a/iCubGenova09/extra/applications/robmo-icub-hand-iRC-collector.xml b/iCubGenova09/extra/applications/robmo-icub-hand-iRC-collector.xml new file mode 100644 index 0000000000..ba0fee756a --- /dev/null +++ b/iCubGenova09/extra/applications/robmo-icub-hand-iRC-collector.xml @@ -0,0 +1,112 @@ + + + iolReachingCalibrationCollector + + + robmo-icub-hand-iRC-collector + localhost + + + + robmo-icub-hand-si + localhost + icub left false left true false + + + + robmo-icub-hand-si + localhost + icub right false left true false + + + + yarpview + localhost + --name /iolReachingCalibrationCollector/viewer/left/aruco:i + + + + yarpview + localhost + --name /iolReachingCalibrationCollector/viewer/right/aruco:i + + + + yarpview + localhost + --name /iolReachingCalibrationCollector/viewer/left/si:i + + + + yarpview + localhost + --name /iolReachingCalibrationCollector/viewer/right/si:i + + + + /icub/cartesianController/left_arm/state:o + /iolReachingCalibrationCollector/left/hand_fk:i + fast_tcp + + + + /icub/cartesianController/right_arm/state:o + /iolReachingCalibrationCollector/right/hand_fk:i + fast_tcp + + + + /icub/camcalib/left/out + /robmo-icub-hand-si/left_camera/left_hand/rgbImage:i + fast_tcp + + + + /icub/camcalib/left/out + /robmo-icub-hand-si/left_camera/right_hand/rgbImage:i + fast_tcp + + + + /icub/camcalib/left/out + /iolReachingCalibrationCollector/left/rgbImage:i + fast_tcp + + + + /iolReachingCalibrationCollector/left/gt_image:o + /iolReachingCalibrationCollector/viewer/left/aruco:i + fast_tcp + + + + /iolReachingCalibrationCollector/right/gt_image:o + /iolReachingCalibrationCollector/viewer/right/aruco:i + fast_tcp + + + + /robmo-icub-hand-si/left_camera/left_hand/image:o + /iolReachingCalibrationCollector/viewer/left/si:i + fast_tcp + + + + /robmo-icub-hand-si/left_camera/right_hand/image:o + /iolReachingCalibrationCollector/viewer/right/si:i + fast_tcp + + + + /iolReachingCalibrationCollector/left/gt_pose:o + /robmo-icub-hand-si/left_camera/left_hand/si-icub-hand/left/state:i + fast_tcp + + + + /iolReachingCalibrationCollector/right/gt_pose:o + /robmo-icub-hand-si/left_camera/right_hand/si-icub-hand/right/state:i + fast_tcp + + + diff --git a/iCubGenova09/extra/applications/robmo-icub-hand-iRC-test-no-calibration.xml b/iCubGenova09/extra/applications/robmo-icub-hand-iRC-test-no-calibration.xml new file mode 100644 index 0000000000..888fdac077 --- /dev/null +++ b/iCubGenova09/extra/applications/robmo-icub-hand-iRC-test-no-calibration.xml @@ -0,0 +1,65 @@ + + + iolReachingCalibrationTest (no calibration) + + + robmo-icub-hand-si + localhost + icub right false left true false + + + + robmo-icub-hand-si + localhost + icub left false left true false + + + + yarpview + localhost + --name /iolReachingCalibrationTest/viewer/left/si:i + + + + yarpview + localhost + --name /iolReachingCalibrationTest/viewer/right/si:i + + + + /icub/camcalib/left/out + /robmo-icub-hand-si/left_camera/left_hand/rgbImage:i + fast_tcp + + + + /icub/camcalib/left/out + /robmo-icub-hand-si/left_camera/right_hand/rgbImage:i + fast_tcp + + + + /robmo-icub-hand-si/left_camera/left_hand/image:o + /iolReachingCalibrationTest/viewer/left/si:i + fast_tcp + + + + /robmo-icub-hand-si/left_camera/right_hand/image:o + /iolReachingCalibrationTest/viewer/right/si:i + fast_tcp + + + + /icub/cartesianController/left_arm/state:o + /robmo-icub-hand-si/left_camera/left_hand/si-icub-hand/left/state:i + fast_tcp + + + + /icub/cartesianController/righ_arm/state:o + /robmo-icub-hand-si/left_camera/right_hand/si-icub-hand/right/state:i + fast_tcp + + + diff --git a/iCubGenova09/extra/applications/robmo-icub-hand-iRC-test.xml b/iCubGenova09/extra/applications/robmo-icub-hand-iRC-test.xml new file mode 100644 index 0000000000..7b460e5f01 --- /dev/null +++ b/iCubGenova09/extra/applications/robmo-icub-hand-iRC-test.xml @@ -0,0 +1,89 @@ + + + iolReachingCalibrationTest + + + robmo-icub-hand-iRC-test + icub left + localhost + + + + robmo-icub-hand-iRC-test + icub right + localhost + + + + robmo-icub-hand-si + localhost + icub right false left true false + + + + robmo-icub-hand-si + localhost + icub left false left true false + + + + yarpview + localhost + --name /iolReachingCalibrationTest/viewer/left/si:i + + + + yarpview + localhost + --name /iolReachingCalibrationTest/viewer/right/si:i + + + + /icub/cartesianController/left_arm/state:o + /iolReachingCalibrationTest/left/hand_fk:i + fast_tcp + + + + /icub/cartesianController/right_arm/state:o + /iolReachingCalibrationTest/right/hand_fk:i + fast_tcp + + + + /icub/camcalib/left/out + /robmo-icub-hand-si/left_camera/left_hand/rgbImage:i + fast_tcp + + + + /icub/camcalib/left/out + /robmo-icub-hand-si/left_camera/right_hand/rgbImage:i + fast_tcp + + + + /robmo-icub-hand-si/left_camera/left_hand/image:o + /iolReachingCalibrationTest/viewer/left/si:i + fast_tcp + + + + /robmo-icub-hand-si/left_camera/right_hand/image:o + /iolReachingCalibrationTest/viewer/right/si:i + fast_tcp + + + + /iolReachingCalibrationTest/left_arm/state:o + /robmo-icub-hand-si/left_camera/left_hand/si-icub-hand/left/state:i + fast_tcp + + + + /iolReachingCalibrationTest/right_arm/state:o + /robmo-icub-hand-si/left_camera/right_hand/si-icub-hand/right/state:i + fast_tcp + + + diff --git a/iCubGenova09/extra/applications/skinGuiAll.xml b/iCubGenova09/extra/applications/skinGuiAll.xml new file mode 100644 index 0000000000..b75e27c2ae --- /dev/null +++ b/iCubGenova09/extra/applications/skinGuiAll.xml @@ -0,0 +1,74 @@ + + Skin Gui All + + skinManager + --from skinManAll.ini --context skinGui + icub-console + skinMan + + + skinManagerGui + --from skinManGui.ini --context skinGui --xpos 1020 --ypos 350 + icub-console + skinManGui + + + + + iCubSkinGui + + --from left_hand_V2_1.ini --useCalibration --xpos 320 --ypos 0 --width 300 --height 300 + icub-console-gui + skinGuiLH + + + iCubSkinGui + + --from right_hand_V2_1.ini --useCalibration --xpos 960 --ypos 0 --width 300 --height 300 + icub-console-gui + skinGuiRH + + + + + /skinManager/skin_events:o + /wholeBodyDynamics/skin_contacts:i + udp + + + /skinManagerGui/rpc:o + /skinManager/rpc + tcp + + + /skinManager/monitor:o + /skinManagerGui/monitor:i + udp + + + /skinManager/info:o + /skinManagerGui/info:i + tcp + + + + /diagnostics/skin/errors:o + /skinManager/diagnostics/skin/errors:i + tcp + + + /skinManager/diagnostics/skin/errors:o + /skinManagerGui/diagnostics/skin/errors:i + tcp + + + /icub/skin/left_hand_comp + /skinGui/left_hand:i + udp + + + /icub/skin/right_hand_comp + /skinGui/right_hand:i + udp + + diff --git a/iCubGenova09/extra/applications/stereoCalib.xml b/iCubGenova09/extra/applications/stereoCalib.xml new file mode 100644 index 0000000000..d71781c3b2 --- /dev/null +++ b/iCubGenova09/extra/applications/stereoCalib.xml @@ -0,0 +1,57 @@ + +Stereo Calibration + + /icub/cam/left + /icub/cam/right + /icub/head/state:o + + + + stereoCalib + --from icubEyes.ini + icub-console + icub-console + StereoCalib + + + + yarpview + --name /viewLeft --synch + icub-console + view1 + + + + yarpview + --name /viewRight --synch + icub-console + view2 + + + + /stereoCalib/cam/left:o + /viewLeft + tcp + + + + /stereoCalib/cam/right:o + /viewRight + tcp + + + + /icub/cam/right + /stereoCalib/cam/right:i + tcp + + + + /icub/cam/left + /stereoCalib/cam/left:i + tcp + + + + + From a005432e9920ff935e209aa7e657bd0dadcdb14d Mon Sep 17 00:00:00 2001 From: icub Date: Fri, 6 Aug 2021 16:29:50 +0200 Subject: [PATCH 10/27] Updated cluster-config to fix the display issue on icub-console. This was needed after the update to buntu 20.04. --- iCubGenova09/extra/contexts/yarpmanager/cluster-config.xml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/iCubGenova09/extra/contexts/yarpmanager/cluster-config.xml b/iCubGenova09/extra/contexts/yarpmanager/cluster-config.xml index d6fcd57c80..40d6e6265a 100644 --- a/iCubGenova09/extra/contexts/yarpmanager/cluster-config.xml +++ b/iCubGenova09/extra/contexts/yarpmanager/cluster-config.xml @@ -5,7 +5,7 @@ -icub-console +icub-console icub-console-gui pi-ifeel icub-cuda From 1f66d9d3864f90989f5c9cdd975d5192adfc2234 Mon Sep 17 00:00:00 2001 From: Giulio Romualdi Date: Tue, 10 Aug 2021 17:09:03 +0000 Subject: [PATCH 11/27] [iCubGenova09] Increase the hip roll soft limits --- iCubGenova09/hardware/motorControl/left_leg-eb7-j0_2-mc.xml | 2 +- iCubGenova09/hardware/motorControl/right_leg-eb11-j0_2-mc.xml | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/iCubGenova09/hardware/motorControl/left_leg-eb7-j0_2-mc.xml b/iCubGenova09/hardware/motorControl/left_leg-eb7-j0_2-mc.xml index a692a68aab..9c355a47a5 100644 --- a/iCubGenova09/hardware/motorControl/left_leg-eb7-j0_2-mc.xml +++ b/iCubGenova09/hardware/motorControl/left_leg-eb7-j0_2-mc.xml @@ -13,7 +13,7 @@ 110 100 70 - -40 -5 -70 + -40 -15 -70 240 240 240 15000 15000 5000 20000 20000 10000 diff --git a/iCubGenova09/hardware/motorControl/right_leg-eb11-j0_2-mc.xml b/iCubGenova09/hardware/motorControl/right_leg-eb11-j0_2-mc.xml index 274e77dd81..609338f0fc 100644 --- a/iCubGenova09/hardware/motorControl/right_leg-eb11-j0_2-mc.xml +++ b/iCubGenova09/hardware/motorControl/right_leg-eb11-j0_2-mc.xml @@ -13,7 +13,7 @@ 110 100 70 - -40 -5 -70 + -40 -15 -70 240 240 240 15000 15000 5000 20000 20000 10000 From be31b1c0707171b062fdabef01825f04d96916ef Mon Sep 17 00:00:00 2001 From: Giulio Romualdi Date: Tue, 10 Aug 2021 17:09:59 +0000 Subject: [PATCH 12/27] [iCubGenova09] Perform the legs joint fine calibration --- iCubGenova09/calibrators/left_leg-calib.xml | 2 +- iCubGenova09/calibrators/right_leg-calib.xml | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/iCubGenova09/calibrators/left_leg-calib.xml b/iCubGenova09/calibrators/left_leg-calib.xml index 0814214f75..399d387111 100644 --- a/iCubGenova09/calibrators/left_leg-calib.xml +++ b/iCubGenova09/calibrators/left_leg-calib.xml @@ -26,7 +26,7 @@ 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 - 2.657 -4.738 1.254 -0.069 15.540 -2.813 + -2.654 -5.386 1.496 -5.480 6.405 -2.280 5 15 0 -20 0 0 10.0 10.0 10.0 10.0 10.0 10.0 3000 3000 3000 3000 3000 3000 diff --git a/iCubGenova09/calibrators/right_leg-calib.xml b/iCubGenova09/calibrators/right_leg-calib.xml index 48cb1297af..197651b689 100644 --- a/iCubGenova09/calibrators/right_leg-calib.xml +++ b/iCubGenova09/calibrators/right_leg-calib.xml @@ -25,7 +25,7 @@ 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 - 10.890 -4.182 3.323 -5.416 9.082 -6.539 + 11.209 -4.369 3.323 -5.191 10.214 -6.193 5 15 0 -20.0 0 0 10.0 10.0 10.0 10.0 10.0 10.0 3000 3000 3000 3000 3000 3000 From 7432adc3a908a6c241d6f01e83e41183c8e2f418 Mon Sep 17 00:00:00 2001 From: icub Date: Tue, 10 Aug 2021 19:44:47 +0200 Subject: [PATCH 13/27] Added JOINT_LIMITs file. --- iCubGenova09/extra/JOINT_LIMITS.txt | 33 +++++++++++++++++++++++++++++ 1 file changed, 33 insertions(+) create mode 100644 iCubGenova09/extra/JOINT_LIMITS.txt diff --git a/iCubGenova09/extra/JOINT_LIMITS.txt b/iCubGenova09/extra/JOINT_LIMITS.txt new file mode 100644 index 0000000000..0ec85181f9 --- /dev/null +++ b/iCubGenova09/extra/JOINT_LIMITS.txt @@ -0,0 +1,33 @@ +left hip pitch [-47.170, ...] +left hip roll [ ] +left hip yaw [-80.546 80.739] +left_knee [5.817, ...] +left_ankle_pitch [-47.060,....] +left_ankle_roll [-25.889 25.823] + +right hip pitch [-47.175, ...] +right hip yaw [-80.327 80.700] +right_knee [5.641, ...] +right_ankle_pitch [-46.329,] +right_ankle_roll [-27.598, 24.137] + + +left hip pitch +left hip roll +left hip yaw +left_knee +left_ankle_pitch +left_ankle_roll + + +right hip pitch +right hip roll +right hip yaw +right_knee +right_ankle_pitch +right_ankle_roll + + + +Delta = theta - theta_desired + From d11abd3e76d3c527bbbc8105608d7458a6a19a90 Mon Sep 17 00:00:00 2001 From: iCubGenova09 Date: Tue, 28 Sep 2021 08:55:32 +0000 Subject: [PATCH 14/27] Calibrators arms changed --- iCubGenova09/calibrators/left_arm-calib.xml | 8 ++++---- iCubGenova09/calibrators/right_arm-calib.xml | 7 ++++--- 2 files changed, 8 insertions(+), 7 deletions(-) diff --git a/iCubGenova09/calibrators/left_arm-calib.xml b/iCubGenova09/calibrators/left_arm-calib.xml index 185ed3055e..653f3ce4c2 100644 --- a/iCubGenova09/calibrators/left_arm-calib.xml +++ b/iCubGenova09/calibrators/left_arm-calib.xml @@ -21,8 +21,8 @@ -54795 19668 44679 53215 -1500 -8335 10671 0 0 0 0 0 0 0 0 0 0 0 0 0 16384 0 0 0 0 9102 9102 9102 9102 9102 9102 10000 0 0 0 0 0 0 0 0 0 -1 1 -1 1 -1 1 1 - 0 0 0 0 0 0 0 2140 448 240 484 243 483 255 480 691 - 0 0 0 0 0 0 0 2400 2712 0 9 15 8 20 45 106 + 0 0 0 0 0 0 0 2045 448 240 484 243 483 255 480 700 + 0 0 0 0 0 0 0 2140 2712 0 9 15 8 20 45 110 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 @@ -32,8 +32,8 @@ 2 2 2 2 90 90 90 90 90 90 90 90 90 90 90 90 -(1) (0) (2) (3) (4) (5 6) (7) (8 9) (11 13) (10 12 14 15) - + (1) (0) (2) (3) (4) (5 6) (7) (8 9) (11 13) (10 12 14 15) + left_arm-mc_wrapper diff --git a/iCubGenova09/calibrators/right_arm-calib.xml b/iCubGenova09/calibrators/right_arm-calib.xml index 691560ef11..b69391ad5e 100644 --- a/iCubGenova09/calibrators/right_arm-calib.xml +++ b/iCubGenova09/calibrators/right_arm-calib.xml @@ -22,8 +22,8 @@ 6576 -12912 -883 -47529 1500 36903 -12703 0 0 0 0 0 0 0 0 0 0 0 0 0 16384 0 0 0 0 9102 9102 9102 9102 9102 9102 10000 0 0 0 0 0 0 0 0 0 -1 1 -1 1 -1 1 1 - 0 0 0 0 0 0 0 2260 1470 242 510 255 510 255 510 748 - 0 0 0 0 0 0 0 2560 2350 25 40 18 30 0 30 120 + 0 0 0 0 0 0 0 2510 1470 242 510 255 510 255 510 748 + 0 0 0 0 0 0 0 2670 2350 25 40 18 30 0 30 120 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 -5.8 0 0 -5.5 -4 0 0 0 0 0 0 0 0 0 @@ -33,7 +33,8 @@ 2 2 2 2 90 90 90 90 90 90 90 90 90 90 90 90 -(1) (0) (2) (3) (4) (5 6) (7) (8 9) (11 13) (10 12 14 15) + (1) (0) (2) (3) (4) (5 6) (7) (8 9) (11 13) (10 12 14 15) + right_arm-mc_wrapper From 04413de7fa29d3c51009e88040bd5af02b4f09bb Mon Sep 17 00:00:00 2001 From: isorrentino Date: Tue, 28 Sep 2021 08:56:09 +0000 Subject: [PATCH 15/27] Calibrators legs changed --- iCubGenova09/calibrators/left_leg-calib.xml | 4 ++-- iCubGenova09/calibrators/right_leg-calib.xml | 8 ++++---- 2 files changed, 6 insertions(+), 6 deletions(-) diff --git a/iCubGenova09/calibrators/left_leg-calib.xml b/iCubGenova09/calibrators/left_leg-calib.xml index 399d387111..ff4810f9d4 100644 --- a/iCubGenova09/calibrators/left_leg-calib.xml +++ b/iCubGenova09/calibrators/left_leg-calib.xml @@ -26,14 +26,14 @@ 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 - -2.654 -5.386 1.496 -5.480 6.405 -2.280 + -3.154 -5.386 1.988 -5.551 0.791 -2.225 5 15 0 -20 0 0 10.0 10.0 10.0 10.0 10.0 10.0 3000 3000 3000 3000 3000 3000 2 2 2 2 2 2 - (0) (1) (2) (3) (4) (5) + (0) (1) (2) (3) (4) (5) left_leg-mc_wrapper diff --git a/iCubGenova09/calibrators/right_leg-calib.xml b/iCubGenova09/calibrators/right_leg-calib.xml index 197651b689..dd8c9cf859 100644 --- a/iCubGenova09/calibrators/right_leg-calib.xml +++ b/iCubGenova09/calibrators/right_leg-calib.xml @@ -18,21 +18,21 @@ 12 12 12 12 12 12 - -46203 -26675 -54991 28574 -21495 9657 + -44781 -26675 -54991 28574 -21495 9657 + 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 - 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 - 11.209 -4.369 3.323 -5.191 10.214 -6.193 + 0.0 -4.369 4.191 -5.180 -1.679 -6.451 5 15 0 -20.0 0 0 10.0 10.0 10.0 10.0 10.0 10.0 3000 3000 3000 3000 3000 3000 2 2 2 2 2 2 - (0) (1) (2) (3) (4) (5) + (0) (1) (2) (3) (4) (5) From f86ed3787828297a74fede2eff93b935e7c27a7a Mon Sep 17 00:00:00 2001 From: isorrentino Date: Tue, 28 Sep 2021 08:56:52 +0000 Subject: [PATCH 16/27] motor control left arm changed --- iCubGenova09/hardware/motorControl/left_arm-eb26-j12_15-mc.xml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/iCubGenova09/hardware/motorControl/left_arm-eb26-j12_15-mc.xml b/iCubGenova09/hardware/motorControl/left_arm-eb26-j12_15-mc.xml index bc91d76239..061f611299 100644 --- a/iCubGenova09/hardware/motorControl/left_arm-eb26-j12_15-mc.xml +++ b/iCubGenova09/hardware/motorControl/left_arm-eb26-j12_15-mc.xml @@ -49,7 +49,7 @@ machine_units -500 500 500 -200 0 0 0 0 - -50 50 50 -20 + -50 50 50 -30 3360 3360 3360 3360 3360 3360 3360 3360 0 0 0 0 From 0bb8372f38fd07153e9bc4be8e30b5276cd27ec6 Mon Sep 17 00:00:00 2001 From: isorrentino Date: Tue, 28 Sep 2021 08:57:20 +0000 Subject: [PATCH 17/27] motor control right leg changed --- iCubGenova09/hardware/motorControl/right_leg-eb12-j3_5-mc.xml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/iCubGenova09/hardware/motorControl/right_leg-eb12-j3_5-mc.xml b/iCubGenova09/hardware/motorControl/right_leg-eb12-j3_5-mc.xml index 7ed4d4ebb4..b772aa34b9 100644 --- a/iCubGenova09/hardware/motorControl/right_leg-eb12-j3_5-mc.xml +++ b/iCubGenova09/hardware/motorControl/right_leg-eb12-j3_5-mc.xml @@ -12,7 +12,7 @@ 3 32 23 - -70 -43 -23 + -70 -39 -23 240 240 240 10000 10000 10000 15000 15000 15000 From 5bd2074ccb7eb7db636c348561e650c77bf9f66e Mon Sep 17 00:00:00 2001 From: isorrentino Date: Tue, 28 Sep 2021 08:57:46 +0000 Subject: [PATCH 18/27] mechanical right leg changed --- iCubGenova09/hardware/mechanicals/right_leg-eb12-j3_5-mec.xml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/iCubGenova09/hardware/mechanicals/right_leg-eb12-j3_5-mec.xml b/iCubGenova09/hardware/mechanicals/right_leg-eb12-j3_5-mec.xml index c7465be58e..bafc832b6a 100644 --- a/iCubGenova09/hardware/mechanicals/right_leg-eb12-j3_5-mec.xml +++ b/iCubGenova09/hardware/mechanicals/right_leg-eb12-j3_5-mec.xml @@ -20,7 +20,7 @@ 6 45 25 - -80 -45 -25 + -80 -40 -25 0 0 0 0 0 0 From ff691e561af5e6f2015a30a85a1559f538d381f7 Mon Sep 17 00:00:00 2001 From: isorrentino Date: Tue, 28 Sep 2021 08:58:17 +0000 Subject: [PATCH 19/27] general config file for left leg changed --- iCubGenova09/icub_left_leg.xml | 7 +++---- 1 file changed, 3 insertions(+), 4 deletions(-) diff --git a/iCubGenova09/icub_left_leg.xml b/iCubGenova09/icub_left_leg.xml index ff551ca1ab..32e88472f0 100644 --- a/iCubGenova09/icub_left_leg.xml +++ b/iCubGenova09/icub_left_leg.xml @@ -9,10 +9,9 @@ - - - - + + + From be45ed1a28162dacf5fc4c2b7d7ea939571869a2 Mon Sep 17 00:00:00 2001 From: icub Date: Fri, 1 Oct 2021 18:01:41 +0200 Subject: [PATCH 20/27] Updated icubEyes.ini. --- iCubGenova09/icubEyes.ini | 46 +++++++++++++++++++-------------------- 1 file changed, 23 insertions(+), 23 deletions(-) diff --git a/iCubGenova09/icubEyes.ini b/iCubGenova09/icubEyes.ini index 98d1678af1..2e43e322c5 100644 --- a/iCubGenova09/icubEyes.ini +++ b/iCubGenova09/icubEyes.ini @@ -3,32 +3,32 @@ projection pinhole drawCenterCross 0 -w 320 -h 240 -fx 234.305 -fy 234.105 -cx 178.308 -cy 126.216 -k1 -0.392689 -k2 0.128257 -p1 -0.000703228 -p2 0.00141878 +w 1024 +h 768 +fx 746.539 +fy 751.274 +cx 559.26 +cy 355.631 +k1 -0.467452 +k2 0.245837 +p1 0.00379421 +p2 0.00670889 [CAMERA_CALIBRATION_LEFT] projection pinhole drawCenterCross 0 -w 320 -h 240 -fx 233.625 -fy 233.556 -cx 177.975 -cy 136.554 -k1 -0.38994 -k2 0.126949 -p1 0.00016208 -p2 0.00177482 +w 1024 +h 768 +fx 726.389 +fy 728.673 +cx 548.169 +cy 371.598 +k1 -0.434368 +k2 0.219995 +p1 0.00347889 +p2 -0.0014471 [CAMERA_CALIBRATION_CONFIGURATION_LEFT] @@ -58,6 +58,6 @@ boardSize 0.09241 numberOfPairs 30 [STEREO_DISPARITY] -HN (0.997735 0.0572752 0.0352903 -0.0673139 -0.0589052 0.997155 0.0470234 0.001888 -0.0324966 -0.0489957 0.99827 0.00142079 0 0 0 1) -QL ( 0.000000 0.000000 0.000000 -0.000096 0.000192 0.003068 0.000000 0.001294) -QR ( 0.000000 0.000000 0.000000 -0.000096 0.000192 0.003068 0.000000 0.000431) +HN (0.998748 0.0418866 0.0273391 -0.232222 -0.0416763 0.999097 -0.00821842 -0.0045673 -0.0276587 0.00706874 0.999592 0.014123 0 0 0 1) +QL ( 0.000000 0.000000 0.000000 0.000000 0.000000 -0.004602 0.000000 -0.000863) +QR ( 0.000000 0.000000 0.000000 0.000000 0.000000 -0.004602 0.000000 -0.000863) From 358eae6c711f257c8019844ca869e86a7bad20c8 Mon Sep 17 00:00:00 2001 From: isorrentino Date: Wed, 27 Oct 2021 09:02:51 +0000 Subject: [PATCH 21/27] Modified face calibration param --- iCubGenova09/calibrators/face-calib.xml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/iCubGenova09/calibrators/face-calib.xml b/iCubGenova09/calibrators/face-calib.xml index 8907613d39..9e22bb918b 100644 --- a/iCubGenova09/calibrators/face-calib.xml +++ b/iCubGenova09/calibrators/face-calib.xml @@ -21,7 +21,7 @@ 12 - -25108 + -2800 0 0 From 6e5356e9ad746d7c99208b72bc42418c2f6df2cb Mon Sep 17 00:00:00 2001 From: isorrentino Date: Wed, 27 Oct 2021 09:20:28 +0000 Subject: [PATCH 22/27] Increase ki for eyelids --- iCubGenova09/hardware/motorControl/face-eb22-j0-mc.xml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/iCubGenova09/hardware/motorControl/face-eb22-j0-mc.xml b/iCubGenova09/hardware/motorControl/face-eb22-j0-mc.xml index a805716a13..8961e47804 100644 --- a/iCubGenova09/hardware/motorControl/face-eb22-j0-mc.xml +++ b/iCubGenova09/hardware/motorControl/face-eb22-j0-mc.xml @@ -49,7 +49,7 @@ machine_units 600.00 0.0 - 100.0 + 600.0 3360 3360 0 From 6d552d1e811b7284638c0735ebfdce98521b45ba Mon Sep 17 00:00:00 2001 From: isorrentino Date: Wed, 27 Oct 2021 09:23:27 +0000 Subject: [PATCH 23/27] Enable testing of mais boards on the arms --- iCubGenova09/test_left_arm.xml | 3 +-- iCubGenova09/test_right_arm.xml | 4 ++-- 2 files changed, 3 insertions(+), 4 deletions(-) diff --git a/iCubGenova09/test_left_arm.xml b/iCubGenova09/test_left_arm.xml index 0052b4eb07..4a99289f24 100644 --- a/iCubGenova09/test_left_arm.xml +++ b/iCubGenova09/test_left_arm.xml @@ -26,10 +26,9 @@ - - + From 6f16c7ed3e98eddc7d157621f20dcaf98f46ce8b Mon Sep 17 00:00:00 2001 From: isorrentino Date: Wed, 27 Oct 2021 09:29:45 +0000 Subject: [PATCH 24/27] Configuration files changed after maintenance --- iCubGenova09/calibrators/right_arm-calib.xml | 12 ++++++------ .../mechanicals/right_leg-eb11-j0_2-mec.xml | 7 ++++--- .../mechanicals/right_leg-eb12-j3_5-mec.xml | 13 +++++++------ .../motorControl/left_arm-eb26-j12_15-mc.xml | 2 +- .../motorControl/right_arm-eb28-j8_11-mc.xml | 2 +- .../motorControl/right_leg-eb11-j0_2-mc_service.xml | 5 +++-- .../motorControl/right_leg-eb12-j3_5-mc.xml | 2 +- .../motorControl/right_leg-eb12-j3_5-mc_service.xml | 5 +++-- 8 files changed, 26 insertions(+), 22 deletions(-) diff --git a/iCubGenova09/calibrators/right_arm-calib.xml b/iCubGenova09/calibrators/right_arm-calib.xml index b69391ad5e..b6a008ae02 100644 --- a/iCubGenova09/calibrators/right_arm-calib.xml +++ b/iCubGenova09/calibrators/right_arm-calib.xml @@ -22,19 +22,19 @@ 6576 -12912 -883 -47529 1500 36903 -12703 0 0 0 0 0 0 0 0 0 0 0 0 0 16384 0 0 0 0 9102 9102 9102 9102 9102 9102 10000 0 0 0 0 0 0 0 0 0 -1 1 -1 1 -1 1 1 - 0 0 0 0 0 0 0 2510 1470 242 510 255 510 255 510 748 - 0 0 0 0 0 0 0 2670 2350 25 40 18 30 0 30 120 + 0 0 0 0 0 0 0 2510 1470 255 510 255 510 200 510 748 + 0 0 0 0 0 0 0 2670 2350 22 40 18 30 10 30 120 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 - 0 0 -5.8 0 0 -5.5 -4 0 0 0 0 0 0 0 0 0 + 0 0 -5.8 0 0 -5.5 -4 10 0 0 0 0 0 0 0 0 - -35 30 0 45 0 0 0 25 45 0 0 0 0 0 0 0 + -35 30 0 45 0 0 15 25 45 10 0 0 0 0 0 0 10.0 10.0 10.0 10.0 30 30 30 60 100 100 100 100 100 100 100 100 8000 8000 8000 8000 1500 0 0 0 0 0 0 0 0 0 0 0 2 2 2 2 90 90 90 90 90 90 90 90 90 90 90 90 - (1) (0) (2) (3) (4) (5 6) (7) (8 9) (11 13) (10 12 14 15) - + + (1) (0) (2) (3) (4) (5 6) (7) (8 9) (11 13) (10 12 14 15) right_arm-mc_wrapper diff --git a/iCubGenova09/hardware/mechanicals/right_leg-eb11-j0_2-mec.xml b/iCubGenova09/hardware/mechanicals/right_leg-eb11-j0_2-mec.xml index 6ad8881669..f681d68e41 100644 --- a/iCubGenova09/hardware/mechanicals/right_leg-eb11-j0_2-mec.xml +++ b/iCubGenova09/hardware/mechanicals/right_leg-eb11-j0_2-mec.xml @@ -13,7 +13,8 @@ 32000 32000 32000 1000.0 1000.0 1000.0 100.00 -100.00 100.0 - 1 1 1 + 1 1 1 + 1 1 1 "MOOG_C2900580" "MOOG_C2900576" "MOOG_C2900576" @@ -22,8 +23,8 @@ - 114 118 80.5 - -47 -20 -80.5 + 114 118 80.7 + -47 -16 -80.5 0 0 0 0 0 0 diff --git a/iCubGenova09/hardware/mechanicals/right_leg-eb12-j3_5-mec.xml b/iCubGenova09/hardware/mechanicals/right_leg-eb12-j3_5-mec.xml index bafc832b6a..80bd459066 100644 --- a/iCubGenova09/hardware/mechanicals/right_leg-eb12-j3_5-mec.xml +++ b/iCubGenova09/hardware/mechanicals/right_leg-eb12-j3_5-mec.xml @@ -12,21 +12,22 @@ 32000 32000 32000 1000.0 1000.0 1000.0 100.0 100.0 100.0 - 1 1.0 1.0 + + 1 1 1 1 1 1 "MOOG_C2900580" "MOOG_C2900580" "MOOG_C2900575" 0 - 6 45 25 - -80 -40 -25 - 0 0 0 - 0 0 0 + 6 38 25 + -80 -47 -25 + 0 0 0 + 0 0 0 - 0 0 0 + 0 0 0 0 0 0 0 0 0 0 0 0 diff --git a/iCubGenova09/hardware/motorControl/left_arm-eb26-j12_15-mc.xml b/iCubGenova09/hardware/motorControl/left_arm-eb26-j12_15-mc.xml index 061f611299..8dca7ad2e5 100644 --- a/iCubGenova09/hardware/motorControl/left_arm-eb26-j12_15-mc.xml +++ b/iCubGenova09/hardware/motorControl/left_arm-eb26-j12_15-mc.xml @@ -47,7 +47,7 @@ pwm metric_units machine_units - -500 500 500 -200 + -500 300 500 -200 0 0 0 0 -50 50 50 -30 3360 3360 3360 3360 diff --git a/iCubGenova09/hardware/motorControl/right_arm-eb28-j8_11-mc.xml b/iCubGenova09/hardware/motorControl/right_arm-eb28-j8_11-mc.xml index 02f5984861..064d3cb61c 100644 --- a/iCubGenova09/hardware/motorControl/right_arm-eb28-j8_11-mc.xml +++ b/iCubGenova09/hardware/motorControl/right_arm-eb28-j8_11-mc.xml @@ -48,7 +48,7 @@ pwm metric_units machine_units - -500 500 -500 500 + -150 150 -500 500 0 0 0 0 -50 50 -50 50 diff --git a/iCubGenova09/hardware/motorControl/right_leg-eb11-j0_2-mc_service.xml b/iCubGenova09/hardware/motorControl/right_leg-eb11-j0_2-mc_service.xml index 84c7d40368..e880336e96 100644 --- a/iCubGenova09/hardware/motorControl/right_leg-eb11-j0_2-mc_service.xml +++ b/iCubGenova09/hardware/motorControl/right_leg-eb11-j0_2-mc_service.xml @@ -28,7 +28,7 @@ - + foc foc foc @@ -39,7 +39,8 @@ amo amo amo CONN:P6 CONN:P7 CONN:P8 atjoint atjoint atjoint - -1048576 -1048576 -1048576 + + -1048576 -1048576 -1048576 0.703 0.703 0.703 diff --git a/iCubGenova09/hardware/motorControl/right_leg-eb12-j3_5-mc.xml b/iCubGenova09/hardware/motorControl/right_leg-eb12-j3_5-mc.xml index b772aa34b9..eba4c88c06 100644 --- a/iCubGenova09/hardware/motorControl/right_leg-eb12-j3_5-mc.xml +++ b/iCubGenova09/hardware/motorControl/right_leg-eb12-j3_5-mc.xml @@ -12,7 +12,7 @@ 3 32 23 - -70 -39 -23 + -70 -45 -23 240 240 240 10000 10000 10000 15000 15000 15000 diff --git a/iCubGenova09/hardware/motorControl/right_leg-eb12-j3_5-mc_service.xml b/iCubGenova09/hardware/motorControl/right_leg-eb12-j3_5-mc_service.xml index d18904d24f..d6aec1c1e0 100644 --- a/iCubGenova09/hardware/motorControl/right_leg-eb12-j3_5-mc_service.xml +++ b/iCubGenova09/hardware/motorControl/right_leg-eb12-j3_5-mc_service.xml @@ -38,8 +38,9 @@ amo amo amo CONN:P7 CONN:P6 CONN:P8 atjoint atjoint atjoint - 1048576 -1048576 1048576 - 0.703 0.703 0.703 + + 1048576 -1048576 1048576 + 0.703 0.703 0.703 From 5062211d89501d5b4efc6ee3212274defc1c852c Mon Sep 17 00:00:00 2001 From: iCubGenova09 Date: Fri, 5 Nov 2021 15:27:09 +0000 Subject: [PATCH 25/27] Update iCubGenova09 head calibrator --- iCubGenova09/calibrators/head-calib.xml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/iCubGenova09/calibrators/head-calib.xml b/iCubGenova09/calibrators/head-calib.xml index e9093fcdb7..60f6ac19f7 100644 --- a/iCubGenova09/calibrators/head-calib.xml +++ b/iCubGenova09/calibrators/head-calib.xml @@ -20,7 +20,7 @@ 12 12 12 12 5 5 - 19567 53471 63631 543 2000 2000 + 19567 53471 4175 543 2000 2000 0 0 0 0 8192 8192 0 0 0 0 0 0 From 798914fcc80a37d2a87dac59ef84694854653e62 Mon Sep 17 00:00:00 2001 From: iCubGenova09 Date: Fri, 12 Nov 2021 12:13:02 +0000 Subject: [PATCH 26/27] Increased eyelids PI gains. --- iCubGenova09/hardware/motorControl/face-eb22-j0-mc.xml | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/iCubGenova09/hardware/motorControl/face-eb22-j0-mc.xml b/iCubGenova09/hardware/motorControl/face-eb22-j0-mc.xml index 8961e47804..5ee2a2aad4 100644 --- a/iCubGenova09/hardware/motorControl/face-eb22-j0-mc.xml +++ b/iCubGenova09/hardware/motorControl/face-eb22-j0-mc.xml @@ -47,9 +47,9 @@ pwm metric_units machine_units - 600.00 + 700.00 0.0 - 600.0 + 700.0 3360 3360 0 From abc0155cf546481f55e437ca241fbf20c4f20b10 Mon Sep 17 00:00:00 2001 From: iCubGenova09 Date: Fri, 12 Nov 2021 12:13:20 +0000 Subject: [PATCH 27/27] Updated legs calibration deltas. --- iCubGenova09/calibrators/left_leg-calib.xml | 2 +- iCubGenova09/calibrators/right_leg-calib.xml | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/iCubGenova09/calibrators/left_leg-calib.xml b/iCubGenova09/calibrators/left_leg-calib.xml index ff4810f9d4..b62afc0811 100644 --- a/iCubGenova09/calibrators/left_leg-calib.xml +++ b/iCubGenova09/calibrators/left_leg-calib.xml @@ -26,7 +26,7 @@ 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 - -3.154 -5.386 1.988 -5.551 0.791 -2.225 + -2.763 -5.386 1.988 -5.423 6.360 -2.225 5 15 0 -20 0 0 10.0 10.0 10.0 10.0 10.0 10.0 3000 3000 3000 3000 3000 3000 diff --git a/iCubGenova09/calibrators/right_leg-calib.xml b/iCubGenova09/calibrators/right_leg-calib.xml index dd8c9cf859..542af714f4 100644 --- a/iCubGenova09/calibrators/right_leg-calib.xml +++ b/iCubGenova09/calibrators/right_leg-calib.xml @@ -25,7 +25,7 @@ 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 - 0.0 -4.369 4.191 -5.180 -1.679 -6.451 + 1.902 -4.369 4.191 -5.082 -9.597 -6.451 5 15 0 -20.0 0 0 10.0 10.0 10.0 10.0 10.0 10.0 3000 3000 3000 3000 3000 3000