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iCubGenova09 updates after Venice video #308

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2e57d7d
add upper-body yarprobotinterface
GiulioRomualdi Jul 19, 2021
6b82e02
Edited WBD file to consider new iCubGenova09 network structure.
Jul 26, 2021
5d4ee82
Performed legs fine calibration.
Jul 26, 2021
50e8a0a
Fixed ankle pitch limits.
Jul 26, 2021
0480b71
Moved skin application to applications folder.
Jul 28, 2021
29bc4f0
[iCubGenova09] Update the legs calibration deltas
GiulioRomualdi Jul 28, 2021
6f0e227
Configured telemetry as external device.
Jul 29, 2021
1654af0
Fixed upper-body.xml after merge conflicts.
Jul 29, 2021
8b7eeca
Added icub-console applications for iCub3.
Jul 29, 2021
e37e5c1
Merge branch 'devel' of https://github.com/robotology/robots-configur…
Aug 3, 2021
a005432
Updated cluster-config to fix the display issue on icub-console.
Aug 6, 2021
1f66d9d
[iCubGenova09] Increase the hip roll soft limits
GiulioRomualdi Aug 10, 2021
be31b1c
[iCubGenova09] Perform the legs joint fine calibration
GiulioRomualdi Aug 10, 2021
7432adc
Added JOINT_LIMITs file.
Aug 10, 2021
d11abd3
Calibrators arms changed
Sep 28, 2021
04413de
Calibrators legs changed
isorrentino Sep 28, 2021
f86ed37
motor control left arm changed
isorrentino Sep 28, 2021
0bb8372
motor control right leg changed
isorrentino Sep 28, 2021
5bd2074
mechanical right leg changed
isorrentino Sep 28, 2021
ff691e5
general config file for left leg changed
isorrentino Sep 28, 2021
be45ed1
Updated icubEyes.ini.
Oct 1, 2021
358eae6
Modified face calibration param
isorrentino Oct 27, 2021
6e5356e
Increase ki for eyelids
isorrentino Oct 27, 2021
6d552d1
Enable testing of mais boards on the arms
isorrentino Oct 27, 2021
6f16c7e
Configuration files changed after maintenance
isorrentino Oct 27, 2021
5062211
Update iCubGenova09 head calibrator
Nov 5, 2021
798914f
Increased eyelids PI gains.
Nov 12, 2021
abc0155
Updated legs calibration deltas.
Nov 12, 2021
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2 changes: 1 addition & 1 deletion iCubGenova09/calibrators/face-calib.xml
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Expand Up @@ -21,7 +21,7 @@
<group name="CALIBRATION">
<param name="calibrationType"> 12 </param>
<!-- The value of the raw encoder needs to be with sign -->
<param name="calibration1"> -25108 </param>
<param name="calibration1"> -2800 </param>
<param name="calibration2"> 0 </param>
<param name="calibration3"> 0 </param>

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2 changes: 1 addition & 1 deletion iCubGenova09/calibrators/head-calib.xml
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Expand Up @@ -20,7 +20,7 @@
<!-- joint name neck-pitch neck-roll neck-yaw eyes-tilt eyes-vers eyes-verg -->
<group name="CALIBRATION">
<param name="calibrationType"> 12 12 12 12 5 5 </param>
<param name="calibration1"> 19567 53471 63631 543 2000 2000 </param>
<param name="calibration1"> 19567 53471 4175 543 2000 2000 </param>
<param name="calibration2"> 0 0 0 0 8192 8192 </param>
<param name="calibration3"> 0 0 0 0 0 0 </param>

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8 changes: 4 additions & 4 deletions iCubGenova09/calibrators/left_arm-calib.xml
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Expand Up @@ -21,8 +21,8 @@
<param name="calibration1"> -54795 19668 44679 53215 -1500 -8335 10671 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 2140 448 240 484 243 483 255 480 691 </param>
<param name="calibration5"> 0 0 0 0 0 0 0 2400 2712 0 9 15 8 20 45 106 </param>
<param name="calibration4"> 0 0 0 0 0 0 0 2045 448 240 484 243 483 255 480 700 </param>
<param name="calibration5"> 0 0 0 0 0 0 0 2140 2712 0 9 15 8 20 45 110 </param>
<param name="calibrationZero"> 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 </param>
<param name="calibrationDelta"> 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 </param>

Expand All @@ -32,8 +32,8 @@
<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">(1) (0) (2) (3) (4) (5 6) (7) (8 9) (11 13) (10 12 14 15) </param> <!-- removed joint 14 -->

<param name="CALIB_ORDER"> (1) (0) (2) (3) (4) (5 6) (7) (8 9) (11 13) (10 12 14 15)</param> <!-- removed joint 14 -->
<!-- <param name="CALIB_ORDER">(1) (0) (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>
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6 changes: 2 additions & 4 deletions iCubGenova09/calibrators/left_leg-calib.xml
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Expand Up @@ -26,16 +26,14 @@
<param name="calibration4"> 0.0 0.0 0.0 0.0 0.0 0.0 </param>
<param name="calibration5"> 0.0 0.0 0.0 0.0 0.0 0.0 </param>
<param name="calibrationZero"> 0.0 0.0 0.0 0.0 0.0 0.0 </param>

<param name="calibrationDelta"> -2.53 -4.738 1.254 0.0 0.0 -2.813</param>

<param name="calibrationDelta"> -2.763 -5.386 1.988 -5.423 6.360 -2.225</param>
<param name="startupPosition"> 5 15 0 -20 0 0 </param>
<param name="startupVelocity"> 10.0 10.0 10.0 10.0 10.0 10.0 </param>
<param name="startupMaxPwm"> 3000 3000 3000 3000 3000 3000 </param>
<param name="startupPosThreshold"> 2 2 2 2 2 2 </param>
</group>

<param name="CALIB_ORDER"> (0) (1) (2) (3) (4) (5) </param>
<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>
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11 changes: 6 additions & 5 deletions iCubGenova09/calibrators/right_arm-calib.xml
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Expand Up @@ -22,18 +22,19 @@
<param name="calibration1"> 6576 -12912 -883 -47529 1500 36903 -12703 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 2260 1470 242 510 255 510 255 510 748 </param>
<param name="calibration5"> 0 0 0 0 0 0 0 2560 2350 25 40 18 30 0 30 120 </param>
<param name="calibration4"> 0 0 0 0 0 0 0 2510 1470 255 510 255 510 200 510 748 </param>
<param name="calibration5"> 0 0 0 0 0 0 0 2670 2350 22 40 18 30 10 30 120 </param>
<param name="calibrationZero"> 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 </param>
<param name="calibrationDelta"> 0 0 -5.8 0 0 -5.5 -4 0 0 0 0 0 0 0 0 0 </param>
<param name="calibrationDelta"> 0 0 -5.8 0 0 -5.5 -4 10 0 0 0 0 0 0 0 0 </param>

<param name="startupPosition"> -35 30 0 45 0 0 0 25 45 0 0 0 0 0 0 0 </param>
<param name="startupPosition"> -35 30 0 45 0 0 15 25 45 10 0 0 0 0 0 0 </param>
<param name="startupVelocity"> 10.0 10.0 10.0 10.0 30 30 30 60 100 100 100 100 100 100 100 100 </param>
<param name="startupMaxPwm"> 8000 8000 8000 8000 1500 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">(1) (0) (2) (3) (4) (5 6) (7) (8 9) (11 13) (10 12 14 15) </param>
<!--param name="CALIB_ORDER"> (1) (0) (2) (3) (4) (5 6) (7) (8 9) (11 13) (10 12 14 15) </param-->
<param name="CALIB_ORDER"> (1) (0) (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">right_arm-mc_wrapper</param>
</action>
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10 changes: 4 additions & 6 deletions iCubGenova09/calibrators/right_leg-calib.xml
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Expand Up @@ -18,23 +18,21 @@
<group name="CALIBRATION">
<param name="calibrationType"> 12 12 12 12 12 12 </param> <!--
<param name="calibration1"> -46315 -27486 -21455 29918 27285 7866 </param> -->
<param name="calibration1"> -46203 -26675 -54991 28574 -21495 9657 </param>
<param name="calibration1"> -44781 -26675 -54991 28574 -21495 9657 </param>
<!-- <param name="calibration1"> -44781 -26675 -54991 28574 -1000 9657 </param> -->
<param name="calibration2"> 0.0 0.0 0.0 0.0 0.0 0.0 </param>
<param name="calibration3"> 0.0 0.0 0.0 0.0 0.0 0.0 </param>

<param name="calibration4"> 0.0 0.0 0.0 0.0 0.0 0.0 </param>
<param name="calibration5"> 0.0 0.0 0.0 0.0 0.0 0.0 </param>
<param name="calibrationZero"> 0.0 0.0 0.0 0.0 0.0 0.0 </param>

<param name="calibrationDelta"> 10.890 -4.182 3.323 -5.416 0.0 -6.539</param>

<param name="calibrationDelta"> 1.902 -4.369 4.191 -5.082 -9.597 -6.451</param>
<param name="startupPosition"> 5 15 0 -20.0 0 0 </param>
<param name="startupVelocity"> 10.0 10.0 10.0 10.0 10.0 10.0 </param>
<param name="startupMaxPwm"> 3000 3000 3000 3000 3000 3000 </param>
<param name="startupPosThreshold"> 2 2 2 2 2 2 </param>
</group>

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

<action phase="startup" level="10" type="calibrate">
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33 changes: 33 additions & 0 deletions iCubGenova09/extra/JOINT_LIMITS.txt
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@@ -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

2 changes: 1 addition & 1 deletion iCubGenova09/extra/contexts/yarpmanager/cluster-config.xml
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Expand Up @@ -5,7 +5,7 @@

<!-- specify nodes, if you want to enable display on desktop please specify which desktop to use
this is usually the value of the DISPLAY variable when logged on -->
<node display=":1" address="10.0.0.158">icub-console</node>
<node display=":0" address="10.0.0.158">icub-console</node>
<node display=":0" address="10.0.10.164">icub-console-gui</node>
<node address="10.0.10.115" user="pi">pi-ifeel</node>
<node display=":1">icub-cuda</node>
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7 changes: 4 additions & 3 deletions iCubGenova09/hardware/mechanicals/right_leg-eb11-j0_2-mec.xml
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Expand Up @@ -13,7 +13,8 @@
<param name="fullscalePWM"> 32000 32000 32000 </param>
<param name="ampsToSensor"> 1000.0 1000.0 1000.0 </param>
<param name="Gearbox_M2J"> 100.00 -100.00 100.0 </param>
<param name="Gearbox_E2J"> 1 1 1</param>
<param name="Gearbox_E2J"> 1 1 1 </param>
<!--<param name="Gearbox_E2J"> 64 64 64</param>-->
<param name="useMotorSpeedFbk"> 1 1 1 </param>
<param name="MotorType"> "MOOG_C2900580" "MOOG_C2900576" "MOOG_C2900576" </param>

Expand All @@ -22,8 +23,8 @@

<group name="LIMITS">
<!-- 0 1 2 -->
<param name="hardwareJntPosMax"> 114 118 80.5 </param>
<param name="hardwareJntPosMin"> -47 -20 -80.5 </param>
<param name="hardwareJntPosMax"> 114 118 80.7 </param>
<param name="hardwareJntPosMin"> -47 -16 -80.5 </param>
<param name="rotorPosMin"> 0 0 0 </param>
<param name="rotorPosMax"> 0 0 0 </param>
</group>
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13 changes: 7 additions & 6 deletions iCubGenova09/hardware/mechanicals/right_leg-eb12-j3_5-mec.xml
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Expand Up @@ -12,21 +12,22 @@
<param name="fullscalePWM"> 32000 32000 32000 </param>
<param name="ampsToSensor"> 1000.0 1000.0 1000.0 </param>
<param name="Gearbox_M2J"> 100.0 100.0 100.0 </param>
<param name="Gearbox_E2J"> 1 1.0 1.0 </param>
<!--<param name="Gearbox_E2J"> 64 64 32 </param>-->
<param name="Gearbox_E2J"> 1 1 1 </param>
<param name="useMotorSpeedFbk"> 1 1 1 </param>
<param name="MotorType"> "MOOG_C2900580" "MOOG_C2900580" "MOOG_C2900575" </param>
<param name="Verbose"> 0 </param>
</group>

<group name="LIMITS">
<param name="hardwareJntPosMax"> 6 45 25 </param>
<param name="hardwareJntPosMin"> -80 -45 -25 </param>
<param name="rotorPosMin"> 0 0 0 </param>
<param name="rotorPosMax"> 0 0 0 </param>
<param name="hardwareJntPosMax"> 6 38 25 </param>
<param name="hardwareJntPosMin"> -80 -47 -25 </param>
<param name="rotorPosMin"> 0 0 0 </param>
<param name="rotorPosMax"> 0 0 0 </param>
</group>

<group name="2FOC">
<param name="AutoCalibration"> 0 0 0 </param>
<param name="AutoCalibration"> 0 0 0 </param>
<param name="Verbose"> 0 0 0 </param>
<param name="HasHallSensor"> 0 0 0 </param>
<param name="HasTempSensor"> 0 0 0 </param>
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4 changes: 2 additions & 2 deletions iCubGenova09/hardware/motorControl/face-eb22-j0-mc.xml
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Expand Up @@ -47,9 +47,9 @@
<param name="outputType"> pwm </param>
<param name="fbkControlUnits"> metric_units </param>
<param name="outputControlUnits"> machine_units </param>
<param name="kp"> 600.00 </param>
<param name="kp"> 700.00 </param>
<param name="kd"> 0.0 </param>
<param name="ki"> 100.0 </param>
<param name="ki"> 700.0 </param>
<param name="maxOutput"> 3360 </param>
<param name="maxInt"> 3360 </param>
<param name="stictionUp"> 0 </param>
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4 changes: 2 additions & 2 deletions iCubGenova09/hardware/motorControl/left_arm-eb26-j12_15-mc.xml
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Expand Up @@ -47,9 +47,9 @@
<param name="outputType"> pwm </param>
<param name="fbkControlUnits"> metric_units </param>
<param name="outputControlUnits"> machine_units </param>
<param name="kp"> -500 500 500 -200 </param>
<param name="kp"> -500 300 500 -200 </param>
<param name="kd"> 0 0 0 0 </param>
<param name="ki"> -50 50 50 -20 </param>
<param name="ki"> -50 50 50 -30 </param>
<param name="maxOutput"> 3360 3360 3360 3360 </param>
<param name="maxInt"> 3360 3360 3360 3360 </param>
<param name="stictionUp"> 0 0 0 0 </param>
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2 changes: 1 addition & 1 deletion iCubGenova09/hardware/motorControl/left_leg-eb7-j0_2-mc.xml
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Expand Up @@ -13,7 +13,7 @@
<!-- joint name -->
<group name="LIMITS">
<param name="jntPosMax"> 110 100 70 </param>
<param name="jntPosMin"> -40 -5 -70 </param>
<param name="jntPosMin"> -40 -15 -70 </param>
<param name="jntVelMax"> 240 240 240 </param>
<param name="motorNominalCurrents"> 15000 15000 5000 </param>
<param name="motorPeakCurrents"> 20000 20000 10000 </param>
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2 changes: 1 addition & 1 deletion iCubGenova09/hardware/motorControl/right_arm-eb28-j8_11-mc.xml
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Expand Up @@ -48,7 +48,7 @@
<param name="outputType"> pwm </param>
<param name="fbkControlUnits"> metric_units </param>
<param name="outputControlUnits"> machine_units </param>
<param name="kp"> -500 500 -500 500 </param>
<param name="kp"> -150 150 -500 500 </param>
<param name="kd"> 0 0 0 0 </param>
<param name="ki"> -50 50 -50 50 </param>
<!-- to fix problem in https://github.com/robotology/icub-tech-support/issues/1048 the values are changed-->
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2 changes: 1 addition & 1 deletion iCubGenova09/hardware/motorControl/right_leg-eb11-j0_2-mc.xml
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Expand Up @@ -13,7 +13,7 @@
<!-- joint name -->
<group name="LIMITS">
<param name="jntPosMax"> 110 100 70 </param>
<param name="jntPosMin"> -40 -5 -70 </param>
<param name="jntPosMin"> -40 -15 -70 </param>
<param name="jntVelMax"> 240 240 240 </param>
<param name="motorNominalCurrents"> 15000 15000 5000 </param>
<param name="motorPeakCurrents"> 20000 20000 10000 </param>
Expand Down
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