From 234e33927c5a8ad0333ee19ffcc11121a122eee3 Mon Sep 17 00:00:00 2001 From: icub Date: Tue, 1 Feb 2022 18:55:57 +0100 Subject: [PATCH 01/33] Updated cluster config fixing problem with GUI applications on icub-console. --- iCubGenova09/extra/contexts/yarpmanager/cluster-config.xml | 2 +- iCubGenova09/extra/scripts/additionalCommands.sh | 1 + 2 files changed, 2 insertions(+), 1 deletion(-) diff --git a/iCubGenova09/extra/contexts/yarpmanager/cluster-config.xml b/iCubGenova09/extra/contexts/yarpmanager/cluster-config.xml index 40d6e6265a..d6fcd57c80 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 diff --git a/iCubGenova09/extra/scripts/additionalCommands.sh b/iCubGenova09/extra/scripts/additionalCommands.sh index 862796ebd8..f10ce00d12 100644 --- a/iCubGenova09/extra/scripts/additionalCommands.sh +++ b/iCubGenova09/extra/scripts/additionalCommands.sh @@ -54,6 +54,7 @@ ${GREEN}connectToJoypad${NC} To reconnect the bluetooth connection of the robot ${GREEN}test-speaker${NC} Test if the speaker is working. ${GREEN}test-microphone${NC} Test if the micorphone is working. ${GREEN}dcmFolder${NC} Go to the robot walking configuration files. +${GREEN}teleoperationFolder${NC} Go to the walking-teleoperation source folder. ${GREEN}goToBuildSuperbuild${NC} Go to the corresponding build folder of the robotology superbuild."' if [ "$PS1" ]; then From 5e2fd3bed9093fe56b36bdf266351ed6e534fc0f Mon Sep 17 00:00:00 2001 From: tumme Date: Mon, 7 Feb 2022 15:30:14 +0100 Subject: [PATCH 02/33] iCubGenova09 - added incremental AMO calibration on the shoulders --- iCubGenova09/calibrators/left_arm-calib.xml | 14 ++++++++------ iCubGenova09/calibrators/right_arm-calib.xml | 13 +++++++------ .../hardware/mechanicals/left_arm-eb1-j0_1-mec.xml | 6 +++--- .../hardware/mechanicals/left_arm-eb2-j2_3-mec.xml | 4 ++-- .../mechanicals/right_arm-eb3-j0_1-mec.xml | 6 +++--- .../mechanicals/right_arm-eb4-j2_3-mec.xml | 4 ++-- .../motorControl/left_arm-eb1-j0_1-mc_service.xml | 2 +- .../motorControl/left_arm-eb2-j2_3-mc_service.xml | 2 +- .../motorControl/right_arm-eb3-j0_1-mc_service.xml | 2 +- .../motorControl/right_arm-eb4-j2_3-mc_service.xml | 2 +- 10 files changed, 29 insertions(+), 26 deletions(-) diff --git a/iCubGenova09/calibrators/left_arm-calib.xml b/iCubGenova09/calibrators/left_arm-calib.xml index 0dc2385ff3..dd05427b37 100644 --- a/iCubGenova09/calibrators/left_arm-calib.xml +++ b/iCubGenova09/calibrators/left_arm-calib.xml @@ -16,23 +16,25 @@ - 12 12 12 12 5 12 12 7 7 6 6 6 6 6 6 6 - -13691 19668 44530 53215 -1500 63919 12031 0 0 0 0 0 0 0 0 0 + 4000 -3000 -3000 4000 -1500 63919 12031 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 1948 325 250 478 243 483 255 480 725 0 0 0 0 0 0 0 2073 2730 9 99 15 8 30 45 125 - 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 - 14 8 0 0 0 0 0 0 0 0 0 0 0 0 0 0 + 36.2 -8.4 -51.3 -5 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 - -35 30 0 45 0 0 0 25 45 0 0 0 0 0 0 0 + 34 50 0 10 -75 0 0 25 45 0 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 2000 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) + (2) (0) (1) (4) (3) (5 6) (8 9) (11) (13) (10) (12) (14) (15) + + left_arm-mc_remapper diff --git a/iCubGenova09/calibrators/right_arm-calib.xml b/iCubGenova09/calibrators/right_arm-calib.xml index 7b2644cbbe..5cdada4ced 100644 --- a/iCubGenova09/calibrators/right_arm-calib.xml +++ b/iCubGenova09/calibrators/right_arm-calib.xml @@ -17,24 +17,25 @@ - 12 12 12 12 5 12 12 7 7 6 6 6 6 6 6 6 - 5671 -10405 -2085 -47112 1500 36903 -15403 0 0 0 0 0 0 0 0 0 + -4000 3000 3000 -4000 1500 36903 -15403 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 2540 1440 255 510 255 476 255 510 764 0 0 0 0 0 0 0 2618 2240 24 40 20 30 0 30 130 - 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 - 11 0 0 0 0 -5.5 -4 10 0 5 0 0 0 0 0 0 + 36.2 -8.4 -51.3 -5 0 0 0 0 0 0 0 0 0 0 0 0 + 0 0 0 0 0 -5.5 -4 10 0 5 0 0 0 0 0 0 - -35 30 0 45 0 0 15 25 45 0 0 0 0 0 0 0 + 34 50 0 10 -75 0 15 25 45 0 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 + (2) (0) (1) (4) (3) (5 6) (8 9) (11) (13) (10) (12) (14) (15) - (1) (0) (2) (3) (4) (5 6) (8 9) (11) (13) (10) (12) (14) (15) + right_arm-mc_remapper diff --git a/iCubGenova09/hardware/mechanicals/left_arm-eb1-j0_1-mec.xml b/iCubGenova09/hardware/mechanicals/left_arm-eb1-j0_1-mec.xml index a6e80d03d0..084d9e3453 100644 --- a/iCubGenova09/hardware/mechanicals/left_arm-eb1-j0_1-mec.xml +++ b/iCubGenova09/hardware/mechanicals/left_arm-eb1-j0_1-mec.xml @@ -12,7 +12,7 @@ 32000 32000 1000.0 1000.0 100.00 100.00 - 1 1 + 64 64 1 1 "MOOG-BL-C2900576" "MOOG-BL-C2900576" 0 @@ -20,8 +20,8 @@ - 25 165 - -180 0 + 36.2 165 + -180 -8.4 0 0 0 0 diff --git a/iCubGenova09/hardware/mechanicals/left_arm-eb2-j2_3-mec.xml b/iCubGenova09/hardware/mechanicals/left_arm-eb2-j2_3-mec.xml index 708056c3c5..ec897d58e7 100644 --- a/iCubGenova09/hardware/mechanicals/left_arm-eb2-j2_3-mec.xml +++ b/iCubGenova09/hardware/mechanicals/left_arm-eb2-j2_3-mec.xml @@ -12,7 +12,7 @@ 32000 32000 1000.0 1000.0 100.00 -100.00 - 1 1 + 32 32 1 1 "MOOG-BL-C2900575" "MOOG-BL-C2900575" 0 @@ -21,7 +21,7 @@ 82 105 - -52 -5 + -51.3 -5 0 0 0 0 diff --git a/iCubGenova09/hardware/mechanicals/right_arm-eb3-j0_1-mec.xml b/iCubGenova09/hardware/mechanicals/right_arm-eb3-j0_1-mec.xml index d5c6626456..0275e98a9c 100644 --- a/iCubGenova09/hardware/mechanicals/right_arm-eb3-j0_1-mec.xml +++ b/iCubGenova09/hardware/mechanicals/right_arm-eb3-j0_1-mec.xml @@ -12,7 +12,7 @@ 32000 32000 1000.0 1000.0 -100.00 -100.00 - 1 1 + 64 64 1 1 "MOOG-BL-C2900576" "MOOG-BL-C2900576" 0 @@ -20,8 +20,8 @@ - 25 165 - -180 0 + 36.2 165 + -180 -8.4 0 0 0 0 diff --git a/iCubGenova09/hardware/mechanicals/right_arm-eb4-j2_3-mec.xml b/iCubGenova09/hardware/mechanicals/right_arm-eb4-j2_3-mec.xml index ac9938a812..29826bcec6 100644 --- a/iCubGenova09/hardware/mechanicals/right_arm-eb4-j2_3-mec.xml +++ b/iCubGenova09/hardware/mechanicals/right_arm-eb4-j2_3-mec.xml @@ -12,7 +12,7 @@ 32000 32000 1000.0 1000.0 -100.00 100.00 - 1 1 + 32 32 1 1 "MOOG-BL-C2900575" "MOOG-BL-C2900575" 0 @@ -21,7 +21,7 @@ 82 105 - -52 -5 + -51.3 -5 0 0 0 0 diff --git a/iCubGenova09/hardware/motorControl/left_arm-eb1-j0_1-mc_service.xml b/iCubGenova09/hardware/motorControl/left_arm-eb1-j0_1-mc_service.xml index 34aa9cc83a..0667448cb6 100644 --- a/iCubGenova09/hardware/motorControl/left_arm-eb1-j0_1-mc_service.xml +++ b/iCubGenova09/hardware/motorControl/left_arm-eb1-j0_1-mc_service.xml @@ -39,7 +39,7 @@ amo amo CONN:P6 CONN:P8 atjoint atjoint - -1048576 1048576 + -16384 16384 0.703 0.703 diff --git a/iCubGenova09/hardware/motorControl/left_arm-eb2-j2_3-mc_service.xml b/iCubGenova09/hardware/motorControl/left_arm-eb2-j2_3-mc_service.xml index 9224b5b7d4..2521a06d55 100644 --- a/iCubGenova09/hardware/motorControl/left_arm-eb2-j2_3-mc_service.xml +++ b/iCubGenova09/hardware/motorControl/left_arm-eb2-j2_3-mc_service.xml @@ -39,7 +39,7 @@ amo amo CONN:P6 CONN:P8 atjoint atjoint - 1048576 1048576 + 16384 16384 0.703 0.703 diff --git a/iCubGenova09/hardware/motorControl/right_arm-eb3-j0_1-mc_service.xml b/iCubGenova09/hardware/motorControl/right_arm-eb3-j0_1-mc_service.xml index 93ff46ebef..1d4e4c998f 100644 --- a/iCubGenova09/hardware/motorControl/right_arm-eb3-j0_1-mc_service.xml +++ b/iCubGenova09/hardware/motorControl/right_arm-eb3-j0_1-mc_service.xml @@ -39,7 +39,7 @@ amo amo CONN:P6 CONN:P8 atjoint atjoint - 1048576 -1048576 + 16384 -16384 0.703 0.703 diff --git a/iCubGenova09/hardware/motorControl/right_arm-eb4-j2_3-mc_service.xml b/iCubGenova09/hardware/motorControl/right_arm-eb4-j2_3-mc_service.xml index a0dafb4186..e385d23d86 100644 --- a/iCubGenova09/hardware/motorControl/right_arm-eb4-j2_3-mc_service.xml +++ b/iCubGenova09/hardware/motorControl/right_arm-eb4-j2_3-mc_service.xml @@ -39,7 +39,7 @@ amo amo CONN:P6 CONN:P8 atjoint atjoint - -1048576 -1048576 + -16384 -16384 0.703 0.703 From 4028ba161cbf95671790c701137e816fabe53722 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Davide=20Tom=C3=A9?= Date: Tue, 8 Feb 2022 08:57:56 +0100 Subject: [PATCH 03/33] Update left_arm-calib.xml added joint 7 --- iCubGenova09/calibrators/left_arm-calib.xml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/iCubGenova09/calibrators/left_arm-calib.xml b/iCubGenova09/calibrators/left_arm-calib.xml index dd05427b37..cdf51dadbf 100644 --- a/iCubGenova09/calibrators/left_arm-calib.xml +++ b/iCubGenova09/calibrators/left_arm-calib.xml @@ -32,7 +32,7 @@ 2 2 2 2 90 90 90 90 90 90 90 90 90 90 90 90 - (2) (0) (1) (4) (3) (5 6) (8 9) (11) (13) (10) (12) (14) (15) + (2) (0) (1) (4) (3) (5 6) (7) (8 9) (11) (13) (10) (12) (14) (15) From 6b72214dac196be6ea417fa3edb9669839c26e50 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Davide=20Tom=C3=A9?= Date: Tue, 8 Feb 2022 08:58:59 +0100 Subject: [PATCH 04/33] Update right_arm-calib.xml added joint 7 --- iCubGenova09/calibrators/right_arm-calib.xml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/iCubGenova09/calibrators/right_arm-calib.xml b/iCubGenova09/calibrators/right_arm-calib.xml index 5cdada4ced..cb2e8ee5ad 100644 --- a/iCubGenova09/calibrators/right_arm-calib.xml +++ b/iCubGenova09/calibrators/right_arm-calib.xml @@ -33,7 +33,7 @@ 2 2 2 2 90 90 90 90 90 90 90 90 90 90 90 90 - (2) (0) (1) (4) (3) (5 6) (8 9) (11) (13) (10) (12) (14) (15) + (2) (0) (1) (4) (3) (5 6) (7) (8 9) (11) (13) (10) (12) (14) (15) From 9fcae50d0329c726cafaddaa9e3969f8e332bed2 Mon Sep 17 00:00:00 2001 From: tumme Date: Thu, 10 Feb 2022 14:03:40 +0100 Subject: [PATCH 05/33] added support for the ft58 on the right hip --- .../hardware/FT/torso-eb5-j0_2-strain.xml | 57 +++++++++++++++++++ iCubGenova09/icub_FT_right_hip.xml | 21 +++++++ iCubGenova09/icub_wbd.xml | 2 + .../wrappers/FT/right_leg_hip-FT_wrapper.xml | 18 ++++++ 4 files changed, 98 insertions(+) create mode 100644 iCubGenova09/hardware/FT/torso-eb5-j0_2-strain.xml create mode 100644 iCubGenova09/icub_FT_right_hip.xml create mode 100644 iCubGenova09/wrappers/FT/right_leg_hip-FT_wrapper.xml diff --git a/iCubGenova09/hardware/FT/torso-eb5-j0_2-strain.xml b/iCubGenova09/hardware/FT/torso-eb5-j0_2-strain.xml new file mode 100644 index 0000000000..36c8477e0a --- /dev/null +++ b/iCubGenova09/hardware/FT/torso-eb5-j0_2-strain.xml @@ -0,0 +1,57 @@ + + + + + + + + + + + + + + eomn_serv_AS_strain + + + + + strain2 + + + 2 + 0 + + + 2 + 0 + 9 + + + + + id_r_hip_strain + eoas_strain + CAN2:13 + + + + + + 10 + id_r_hip_strain + 1000 + + + + true + + + + + + + + + + diff --git a/iCubGenova09/icub_FT_right_hip.xml b/iCubGenova09/icub_FT_right_hip.xml new file mode 100644 index 0000000000..8c4f718820 --- /dev/null +++ b/iCubGenova09/icub_FT_right_hip.xml @@ -0,0 +1,21 @@ + + + + + + + + + + + + + + + + + + + + + diff --git a/iCubGenova09/icub_wbd.xml b/iCubGenova09/icub_wbd.xml index 2fcadd03b2..3d1f5d0e48 100644 --- a/iCubGenova09/icub_wbd.xml +++ b/iCubGenova09/icub_wbd.xml @@ -78,7 +78,9 @@ + + diff --git a/iCubGenova09/wrappers/FT/right_leg_hip-FT_wrapper.xml b/iCubGenova09/wrappers/FT/right_leg_hip-FT_wrapper.xml new file mode 100644 index 0000000000..a7ecb80eb6 --- /dev/null +++ b/iCubGenova09/wrappers/FT/right_leg_hip-FT_wrapper.xml @@ -0,0 +1,18 @@ + + + + + + 10 + /icub/right_leg_hip/analog:o + + + + + torso-eb5-j0_2-strain + + + + + + From c2b036774059246762bebc719e983823f5cd35ef Mon Sep 17 00:00:00 2001 From: tumme Date: Thu, 10 Feb 2022 16:15:37 +0100 Subject: [PATCH 06/33] fixed shoulders pitch limits --- iCubGenova09/calibrators/left_arm-calib.xml | 4 ++-- iCubGenova09/calibrators/right_arm-calib.xml | 4 ++-- iCubGenova09/hardware/mechanicals/left_arm-eb1-j0_1-mec.xml | 2 +- iCubGenova09/hardware/mechanicals/right_arm-eb3-j0_1-mec.xml | 2 +- 4 files changed, 6 insertions(+), 6 deletions(-) diff --git a/iCubGenova09/calibrators/left_arm-calib.xml b/iCubGenova09/calibrators/left_arm-calib.xml index cdf51dadbf..60b8691615 100644 --- a/iCubGenova09/calibrators/left_arm-calib.xml +++ b/iCubGenova09/calibrators/left_arm-calib.xml @@ -23,10 +23,10 @@ 0 0 0 0 0 0 0 0 0 -1 1 -1 1 -1 1 1 0 0 0 0 0 0 0 1948 325 250 478 243 483 255 480 725 0 0 0 0 0 0 0 2073 2730 9 99 15 8 30 45 125 - 36.2 -8.4 -51.3 -5 0 0 0 0 0 0 0 0 0 0 0 0 + 25 -8.4 -51.3 -5 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 - 34 50 0 10 -75 0 0 25 45 0 0 0 0 0 0 0 + 24 50 0 10 -75 0 0 25 45 0 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 2000 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 diff --git a/iCubGenova09/calibrators/right_arm-calib.xml b/iCubGenova09/calibrators/right_arm-calib.xml index cb2e8ee5ad..c23e2a56cc 100644 --- a/iCubGenova09/calibrators/right_arm-calib.xml +++ b/iCubGenova09/calibrators/right_arm-calib.xml @@ -24,10 +24,10 @@ 0 0 0 0 0 0 0 0 0 -1 1 -1 1 -1 1 1 0 0 0 0 0 0 0 2540 1440 255 510 255 476 255 510 764 0 0 0 0 0 0 0 2618 2240 24 40 20 30 0 30 130 - 36.2 -8.4 -51.3 -5 0 0 0 0 0 0 0 0 0 0 0 0 + 25 -8.4 -51.3 -5 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 -5.5 -4 10 0 5 0 0 0 0 0 0 - 34 50 0 10 -75 0 15 25 45 0 0 0 0 0 0 0 + 24 50 0 10 -75 0 15 25 45 0 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 diff --git a/iCubGenova09/hardware/mechanicals/left_arm-eb1-j0_1-mec.xml b/iCubGenova09/hardware/mechanicals/left_arm-eb1-j0_1-mec.xml index 084d9e3453..78197a96ca 100644 --- a/iCubGenova09/hardware/mechanicals/left_arm-eb1-j0_1-mec.xml +++ b/iCubGenova09/hardware/mechanicals/left_arm-eb1-j0_1-mec.xml @@ -20,7 +20,7 @@ - 36.2 165 + 25 165 -180 -8.4 0 0 0 0 diff --git a/iCubGenova09/hardware/mechanicals/right_arm-eb3-j0_1-mec.xml b/iCubGenova09/hardware/mechanicals/right_arm-eb3-j0_1-mec.xml index 0275e98a9c..df262d795f 100644 --- a/iCubGenova09/hardware/mechanicals/right_arm-eb3-j0_1-mec.xml +++ b/iCubGenova09/hardware/mechanicals/right_arm-eb3-j0_1-mec.xml @@ -20,7 +20,7 @@ - 36.2 165 + 25 165 -180 -8.4 0 0 0 0 From 011930b39f98ed1df0ac6d55f0b9fc1e636bb379 Mon Sep 17 00:00:00 2001 From: iCubGenova09 Date: Thu, 10 Feb 2022 18:29:07 +0000 Subject: [PATCH 07/33] Fixed calibration of right wrist yaw. --- iCubGenova09/calibrators/right_arm-calib.xml | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/iCubGenova09/calibrators/right_arm-calib.xml b/iCubGenova09/calibrators/right_arm-calib.xml index c23e2a56cc..669f478855 100644 --- a/iCubGenova09/calibrators/right_arm-calib.xml +++ b/iCubGenova09/calibrators/right_arm-calib.xml @@ -25,9 +25,9 @@ 0 0 0 0 0 0 0 2540 1440 255 510 255 476 255 510 764 0 0 0 0 0 0 0 2618 2240 24 40 20 30 0 30 130 25 -8.4 -51.3 -5 0 0 0 0 0 0 0 0 0 0 0 0 - 0 0 0 0 0 -5.5 -4 10 0 5 0 0 0 0 0 0 + 0 0 0 0 0 -5.5 11 10 0 5 0 0 0 0 0 0 - 24 50 0 10 -75 0 15 25 45 0 0 0 0 0 0 0 + 24 50 0 10 -75 0 0 25 45 0 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 From f834d631523cf437b3f8043733c7837e6e38677c Mon Sep 17 00:00:00 2001 From: Paolo Viceconte Date: Wed, 5 Jan 2022 12:31:46 +0100 Subject: [PATCH 08/33] Add telemetry-logger application --- .../extra/applications/telemetry-logger.xml | 23 +++++++++++++++++++ 1 file changed, 23 insertions(+) create mode 100644 iCubGenova09/extra/applications/telemetry-logger.xml diff --git a/iCubGenova09/extra/applications/telemetry-logger.xml b/iCubGenova09/extra/applications/telemetry-logger.xml new file mode 100644 index 0000000000..4498fdd481 --- /dev/null +++ b/iCubGenova09/extra/applications/telemetry-logger.xml @@ -0,0 +1,23 @@ + + + + + + + TelemetryLogger + An application to use the telemetry-based logger. + 1.0 + + Paolo Maria Viceconte + + + + + yarprobotinterface + --config launch-yarp-robot-logger.xml + icub-console + /home/icub/Desktop/walking_logger + + + + From f3ae016f305f6cb94d08dd34fd0e551aa4cb4a18 Mon Sep 17 00:00:00 2001 From: iCubGenova09 Date: Wed, 23 Feb 2022 10:16:05 +0000 Subject: [PATCH 09/33] Fixed indentantion on FT files on iCubGenova09 legs. --- iCubGenova09/hardware/FT/left_leg-eb7-j0_2-strain.xml | 2 +- iCubGenova09/hardware/FT/left_leg-eb8-j3_5-strain.xml | 2 +- iCubGenova09/hardware/FT/right_leg-eb11-j0_2-strain.xml | 2 +- iCubGenova09/hardware/FT/right_leg-eb12-j3_5-strain.xml | 2 +- iCubGenova09/hardware/FT/torso-eb5-j0_2-strain.xml | 2 +- 5 files changed, 5 insertions(+), 5 deletions(-) diff --git a/iCubGenova09/hardware/FT/left_leg-eb7-j0_2-strain.xml b/iCubGenova09/hardware/FT/left_leg-eb7-j0_2-strain.xml index 7b47923328..cfd467ef4c 100644 --- a/iCubGenova09/hardware/FT/left_leg-eb7-j0_2-strain.xml +++ b/iCubGenova09/hardware/FT/left_leg-eb7-j0_2-strain.xml @@ -40,7 +40,7 @@ 10 id_l_heel_strain - 1000 + 1000 diff --git a/iCubGenova09/hardware/FT/left_leg-eb8-j3_5-strain.xml b/iCubGenova09/hardware/FT/left_leg-eb8-j3_5-strain.xml index de1551cab5..c2b1b3dbf5 100644 --- a/iCubGenova09/hardware/FT/left_leg-eb8-j3_5-strain.xml +++ b/iCubGenova09/hardware/FT/left_leg-eb8-j3_5-strain.xml @@ -40,7 +40,7 @@ 10 id_l_tiptoe_strain - 1000 + 1000 diff --git a/iCubGenova09/hardware/FT/right_leg-eb11-j0_2-strain.xml b/iCubGenova09/hardware/FT/right_leg-eb11-j0_2-strain.xml index 8d4760a6b6..9fe71087ae 100644 --- a/iCubGenova09/hardware/FT/right_leg-eb11-j0_2-strain.xml +++ b/iCubGenova09/hardware/FT/right_leg-eb11-j0_2-strain.xml @@ -40,7 +40,7 @@ 10 id_r_heel_strain - 1000 + 1000 diff --git a/iCubGenova09/hardware/FT/right_leg-eb12-j3_5-strain.xml b/iCubGenova09/hardware/FT/right_leg-eb12-j3_5-strain.xml index b7d3a2bcd8..0a577fe727 100644 --- a/iCubGenova09/hardware/FT/right_leg-eb12-j3_5-strain.xml +++ b/iCubGenova09/hardware/FT/right_leg-eb12-j3_5-strain.xml @@ -40,7 +40,7 @@ 10 id_r_tiptoe_strain - 1000 + 1000 diff --git a/iCubGenova09/hardware/FT/torso-eb5-j0_2-strain.xml b/iCubGenova09/hardware/FT/torso-eb5-j0_2-strain.xml index 36c8477e0a..b447cf43c4 100644 --- a/iCubGenova09/hardware/FT/torso-eb5-j0_2-strain.xml +++ b/iCubGenova09/hardware/FT/torso-eb5-j0_2-strain.xml @@ -40,7 +40,7 @@ 10 id_r_hip_strain - 1000 + 1000 From e8064142113ba6c7c0eebb4cf6681221e9b9ac84 Mon Sep 17 00:00:00 2001 From: iCubGenova09 Date: Wed, 23 Feb 2022 10:16:46 +0000 Subject: [PATCH 10/33] Using STRAIN2 FTs on iCUbGenova09 arms. --- .../hardware/FT/left_arm-eb1-j0_1-strain.xml | 11 ++++++----- .../hardware/FT/right_arm-eb3-j0_1-strain.xml | 11 ++++++----- .../FT/left_arm-FT_wrapper_multipleSens.xml | 18 ++++++++++++++++++ .../FT/right_arm-FT_wrapper_multipleSens.xml | 18 ++++++++++++++++++ 4 files changed, 48 insertions(+), 10 deletions(-) create mode 100644 iCubGenova09/wrappers/FT/left_arm-FT_wrapper_multipleSens.xml create mode 100644 iCubGenova09/wrappers/FT/right_arm-FT_wrapper_multipleSens.xml diff --git a/iCubGenova09/hardware/FT/left_arm-eb1-j0_1-strain.xml b/iCubGenova09/hardware/FT/left_arm-eb1-j0_1-strain.xml index 0d034f459d..d9e03e73e2 100644 --- a/iCubGenova09/hardware/FT/left_arm-eb1-j0_1-strain.xml +++ b/iCubGenova09/hardware/FT/left_arm-eb1-j0_1-strain.xml @@ -16,16 +16,16 @@ - eobrd_strain + strain2 - 1 + 2 0 - 0 + 2 0 - 0 + 9 @@ -39,7 +39,8 @@ 10 - id_l_upper_arm_strain + id_l_upper_arm_strain + 1000 diff --git a/iCubGenova09/hardware/FT/right_arm-eb3-j0_1-strain.xml b/iCubGenova09/hardware/FT/right_arm-eb3-j0_1-strain.xml index 7e9bcb8562..1ef5b98da9 100644 --- a/iCubGenova09/hardware/FT/right_arm-eb3-j0_1-strain.xml +++ b/iCubGenova09/hardware/FT/right_arm-eb3-j0_1-strain.xml @@ -16,16 +16,16 @@ - eobrd_strain + strain2 - 1 + 2 0 - 0 + 2 0 - 0 + 9 @@ -39,7 +39,8 @@ 10 - id_r_upper_arm_strain + id_r_upper_arm_strain + 1000 diff --git a/iCubGenova09/wrappers/FT/left_arm-FT_wrapper_multipleSens.xml b/iCubGenova09/wrappers/FT/left_arm-FT_wrapper_multipleSens.xml new file mode 100644 index 0000000000..326016647f --- /dev/null +++ b/iCubGenova09/wrappers/FT/left_arm-FT_wrapper_multipleSens.xml @@ -0,0 +1,18 @@ + + + + + + 10 + /icub/left_arm + + + + + left_arm-eb1-j0_1-strain + + + + + + diff --git a/iCubGenova09/wrappers/FT/right_arm-FT_wrapper_multipleSens.xml b/iCubGenova09/wrappers/FT/right_arm-FT_wrapper_multipleSens.xml new file mode 100644 index 0000000000..19d13bf87a --- /dev/null +++ b/iCubGenova09/wrappers/FT/right_arm-FT_wrapper_multipleSens.xml @@ -0,0 +1,18 @@ + + + + + + 10 + /icub/right_arm + + + + + right_arm-eb3-j0_1-strain + + + + + + From 2a75c9313d65550ca97e5a9cbe35dc73295a0fff Mon Sep 17 00:00:00 2001 From: iCubGenova09 Date: Thu, 24 Feb 2022 16:31:14 +0000 Subject: [PATCH 11/33] Update hard limits of right and left wrist yaw and thumb oppose --- iCubGenova09/hardware/mechanicals/left_arm-eb24-j4_7-mec.xml | 2 +- iCubGenova09/hardware/mechanicals/left_arm-eb25-j8_11-mec.xml | 2 +- iCubGenova09/hardware/mechanicals/right_arm-eb27-j4_7-mec.xml | 2 +- iCubGenova09/hardware/mechanicals/right_arm-eb28-j8_11-mec.xml | 2 +- 4 files changed, 4 insertions(+), 4 deletions(-) diff --git a/iCubGenova09/hardware/mechanicals/left_arm-eb24-j4_7-mec.xml b/iCubGenova09/hardware/mechanicals/left_arm-eb24-j4_7-mec.xml index e37f0643db..1c72e89518 100644 --- a/iCubGenova09/hardware/mechanicals/left_arm-eb24-j4_7-mec.xml +++ b/iCubGenova09/hardware/mechanicals/left_arm-eb24-j4_7-mec.xml @@ -22,7 +22,7 @@ 90 30 35 60 - -90 -80 -15 10 + -90 -80 -35 10 0 0 0 0 0 0 0 0 diff --git a/iCubGenova09/hardware/mechanicals/left_arm-eb25-j8_11-mec.xml b/iCubGenova09/hardware/mechanicals/left_arm-eb25-j8_11-mec.xml index 4089a83ad5..0da4b45fbb 100644 --- a/iCubGenova09/hardware/mechanicals/left_arm-eb25-j8_11-mec.xml +++ b/iCubGenova09/hardware/mechanicals/left_arm-eb25-j8_11-mec.xml @@ -21,7 +21,7 @@ - 110 90 180 90 + 190 90 180 90 10 0 0 0 0 0 -70000 -5120 0 0 5120 32000 diff --git a/iCubGenova09/hardware/mechanicals/right_arm-eb27-j4_7-mec.xml b/iCubGenova09/hardware/mechanicals/right_arm-eb27-j4_7-mec.xml index d92f0ef05d..e184ab27eb 100644 --- a/iCubGenova09/hardware/mechanicals/right_arm-eb27-j4_7-mec.xml +++ b/iCubGenova09/hardware/mechanicals/right_arm-eb27-j4_7-mec.xml @@ -22,7 +22,7 @@ 90 30 35 60 - -97 -80 -15 10 + -97 -80 -35 10 0 0 0 0 0 0 0 0 diff --git a/iCubGenova09/hardware/mechanicals/right_arm-eb28-j8_11-mec.xml b/iCubGenova09/hardware/mechanicals/right_arm-eb28-j8_11-mec.xml index c8222e4f37..e15efb7262 100644 --- a/iCubGenova09/hardware/mechanicals/right_arm-eb28-j8_11-mec.xml +++ b/iCubGenova09/hardware/mechanicals/right_arm-eb28-j8_11-mec.xml @@ -21,7 +21,7 @@ - 110 90 180 90 + 190 90 180 90 10 0 0 0 0 0 -5120 -5120 0 0 70000 32000 From 723ff7e2194797834910875aa10d428ea9a07a8e Mon Sep 17 00:00:00 2001 From: iCubGenova09 Date: Sat, 26 Feb 2022 16:10:19 +0000 Subject: [PATCH 12/33] Add right leg contact wrench --- iCubGenova09/estimators/wholebodydynamics.xml | 10 ++++++---- 1 file changed, 6 insertions(+), 4 deletions(-) diff --git a/iCubGenova09/estimators/wholebodydynamics.xml b/iCubGenova09/estimators/wholebodydynamics.xml index 8971f20b61..baadc049d3 100644 --- a/iCubGenova09/estimators/wholebodydynamics.xml +++ b/iCubGenova09/estimators/wholebodydynamics.xml @@ -6,7 +6,7 @@ (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) model.urdf (0,0,-9.81) - (l_hand,r_hand,root_link,l_foot_front,l_foot_rear,r_foot_front,r_foot_rear,l_lower_leg,r_lower_leg) + (l_hand,r_hand,root_link,l_foot_front,l_foot_rear,r_upper_leg,r_foot_front,r_foot_rear,l_lower_leg,r_lower_leg) imu_frame true 2 @@ -36,8 +36,9 @@ (l_hand,l_hand,root_link) (r_hand,r_hand,root_link) - (l_lower_leg,l_lower_leg,root_link) - (r_lower_leg,r_lower_leg,root_link) + (r_upper_leg,r_upper_leg,root_link) + (l_lower_leg,l_lower_leg,root_link) + (r_lower_leg,r_lower_leg,root_link) (l_foot_front,l_sole,l_sole) (l_foot_rear,l_sole,l_sole) (r_foot_front,r_sole,r_sole) @@ -75,7 +76,8 @@ left_leg-eb8-j3_5-strain left_leg-eb7-j0_2-strain right_leg-eb12-j3_5-strain - right_leg-eb11-j0_2-strain + right_leg-eb11-j0_2-strain + torso-eb5-j0_2-strain From fab02fe65329fb7b30068e6586c8ab99f0c72a9b Mon Sep 17 00:00:00 2001 From: iCubGenova09 Date: Sat, 26 Feb 2022 16:16:30 +0000 Subject: [PATCH 13/33] Add parameters to align config file to last version of WBD implementing the KF for the joint vel and acc estimation --- iCubGenova09/estimators/wholebodydynamics.xml | 43 +++++++++++++++++++ 1 file changed, 43 insertions(+) diff --git a/iCubGenova09/estimators/wholebodydynamics.xml b/iCubGenova09/estimators/wholebodydynamics.xml index baadc049d3..0ca3da985a 100644 --- a/iCubGenova09/estimators/wholebodydynamics.xml +++ b/iCubGenova09/estimators/wholebodydynamics.xml @@ -19,6 +19,49 @@ 3.0 false true + false + (1.0e-3, 1.0e-3, 1.0e-3, + 1.0e-3, 1.0e-3, 1.0e-3, + 1.0e-3, 1.0e-3, 1.0e-3, 1.0e-3, 1.0e-3, 1.0e-3, 1.0e-3, + 1.0e-3, 1.0e-3, 1.0e-3, 1.0e-3, 1.0e-3, 1.0e-3, 1.0e-3, + 1.0e-3, 1.0e-3, 1.0e-3, 1.0e-3, 1.0e-3, 1.0e-3, + 1.0e-3, 1.0e-3, 1.0e-3, 1.0e-3, 1.0e-3, 1.0e-3, + 1.0e-3, 1.0e-3, 1.0e-3, + 1.0e-3, 1.0e-3, 1.0e-3, + 1.0e-3, 1.0e-3, 1.0e-3, 1.0e-3, 1.0e-3, 1.0e-3, 1.0e-3, + 1.0e-3, 1.0e-3, 1.0e-3, 1.0e-3, 1.0e-3, 1.0e-3, 1.0e-3, + 1.0e-3, 1.0e-3, 1.0e-3, 1.0e-3, 1.0e-3, 1.0e-3, + 1.0e-3, 1.0e-3, 1.0e-3, 1.0e-3, 1.0e-3, 1.0e-3, + 1.0e+1, 1.0e+1, 1.0e+1, + 1.0e+1, 1.0e+1, 1.0e+1, + 1.0e+1, 1.0e+1, 1.0e+1, 1.0e+1, 1.0e+1, 1.0e+1, 1.0e+1, + 1.0e+1, 1.0e+1, 1.0e+1, 1.0e+1, 1.0e+1, 1.0e+1, 1.0e+1, + 1.0e+1, 1.0e+1, 1.0e+1, 1.0e+1, 1.0e+1, 1.0e+1, + 1.0e+1, 1.0e+1, 1.0e+1, 1.0e+1, 1.0e+1, 1.0e+1) + (1.0e-3, 1.0e-3, 1.0e-3, + 1.0e-3, 1.0e-3, 1.0e-3, + 1.0e-3, 1.0e-3, 1.0e-3, 1.0e-3, 1.0e-3, 1.0e-3, 1.0e-3, + 1.0e-3, 1.0e-3, 1.0e-3, 1.0e-3, 1.0e-3, 1.0e-3, 1.0e-3, + 1.0e-3, 1.0e-3, 1.0e-3, 1.0e-3, 1.0e-3, 1.0e-3, + 1.0e-3, 1.0e-3, 1.0e-3, 1.0e-3, 1.0e-3, 1.0e-3) + (5.0e-4, 5.0e-4, 5.0e-4, + 5.0e-4, 5.0e-4, 5.0e-4, + 5.0e-4, 5.0e-4, 5.0e-4, 5.0e-4, 5.0e-4, 5.0e-4, 5.0e-4, + 5.0e-4, 5.0e-4, 5.0e-4, 5.0e-4, 5.0e-4, 5.0e-4, 5.0e-4, + 5.0e-4, 5.0e-4, 5.0e-4, 5.0e-4, 5.0e-4, 5.0e-4, + 5.0e-4, 5.0e-4, 5.0e-4, 5.0e-4, 5.0e-4, 5.0e-4, + 1.0e-3, 1.0e-3, 1.0e-3, + 1.0e-3, 1.0e-3, 1.0e-3, + 1.0e-3, 1.0e-3, 1.0e-3, 1.0e-3, 1.0e-3, 1.0e-3, 1.0e-3, + 1.0e-3, 1.0e-3, 1.0e-3, 1.0e-3, 1.0e-3, 1.0e-3, 1.0e-3, + 1.0e-3, 1.0e-3, 1.0e-3, 1.0e-3, 1.0e-3, 1.0e-3, + 1.0e-3, 1.0e-3, 1.0e-3, 1.0e-3, 1.0e-3, 1.0e-3, + 1.0e-1, 1.0e-1, 1.0e-1, + 1.0e-1, 1.0e-1, 1.0e-1, + 1.0e-1, 1.0e-1, 1.0e-1, 1.0e-1, 1.0e-1, 1.0e-1, 1.0e-1, + 1.0e-1, 1.0e-1, 1.0e-1, 1.0e-1, 1.0e-1, 1.0e-1, 1.0e-1, + 1.0e-1, 1.0e-1, 1.0e-1, 1.0e-1, 1.0e-1, 1.0e-1, + 1.0e-1, 1.0e-1, 1.0e-1, 1.0e-1, 1.0e-1, 1.0e-1) rfeimu_acc From f6d23281506aaafbac5608c5ee9796c4bdd28e34 Mon Sep 17 00:00:00 2001 From: iCubGenova09 Date: Mon, 28 Feb 2022 11:02:13 +0000 Subject: [PATCH 14/33] calibrazione giunto 14 Rhand --- iCubGenova09/calibrators/right_arm-calib.xml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/iCubGenova09/calibrators/right_arm-calib.xml b/iCubGenova09/calibrators/right_arm-calib.xml index 669f478855..9ced1c395d 100644 --- a/iCubGenova09/calibrators/right_arm-calib.xml +++ b/iCubGenova09/calibrators/right_arm-calib.xml @@ -23,7 +23,7 @@ 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 2540 1440 255 510 255 476 255 510 764 - 0 0 0 0 0 0 0 2618 2240 24 40 20 30 0 30 130 + 0 0 0 0 0 0 0 2618 2240 24 40 20 30 0 27 130 25 -8.4 -51.3 -5 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 -5.5 11 10 0 5 0 0 0 0 0 0 From c79376cc3279f6516a1c2787a55d75e0f7ce2453 Mon Sep 17 00:00:00 2001 From: icub Date: Fri, 4 Mar 2022 19:08:16 +0100 Subject: [PATCH 15/33] Fixed display value in cluster config for icub-console. --- 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 e22bdb34137821f0f27de3355025c0081bd9619c Mon Sep 17 00:00:00 2001 From: icub Date: Fri, 4 Mar 2022 19:16:26 +0100 Subject: [PATCH 16/33] Added alias to run yarp-openmct --- iCubGenova09/extra/scripts/additionalCommands.sh | 5 ++++- 1 file changed, 4 insertions(+), 1 deletion(-) diff --git a/iCubGenova09/extra/scripts/additionalCommands.sh b/iCubGenova09/extra/scripts/additionalCommands.sh index f10ce00d12..cb747a84e3 100644 --- a/iCubGenova09/extra/scripts/additionalCommands.sh +++ b/iCubGenova09/extra/scripts/additionalCommands.sh @@ -43,6 +43,8 @@ test-microphone() { arecord -vvv -f dat /dev/null } +alias run-yarp-openmct='cd /usr/local/src/robot/yarp-openmct/ && npm start' + GREEN='\033[0;32m' NC='\033[0m' # No Color ## Alias for displaying info messages about the other aliases @@ -55,7 +57,8 @@ ${GREEN}test-speaker${NC} Test if the speaker is working. ${GREEN}test-microphone${NC} Test if the micorphone is working. ${GREEN}dcmFolder${NC} Go to the robot walking configuration files. ${GREEN}teleoperationFolder${NC} Go to the walking-teleoperation source folder. -${GREEN}goToBuildSuperbuild${NC} Go to the corresponding build folder of the robotology superbuild."' +${GREEN}goToBuildSuperbuild${NC} Go to the corresponding build folder of the robotology superbuild. +${GREEN}run-yarp-openmct${NC} Run yarp-openmct server for online logging visualization."' if [ "$PS1" ]; then echo -e "Type ${GREEN}helpRobot${NC} for a list of useful commands." From 5b39304cfa30968f8702e630399ec76d334f2412 Mon Sep 17 00:00:00 2001 From: icub Date: Tue, 8 Mar 2022 13:37:10 +0100 Subject: [PATCH 17/33] Added alias to set the transforms for the retargeting. --- iCubGenova09/extra/scripts/additionalCommands.sh | 5 ++++- 1 file changed, 4 insertions(+), 1 deletion(-) diff --git a/iCubGenova09/extra/scripts/additionalCommands.sh b/iCubGenova09/extra/scripts/additionalCommands.sh index cb747a84e3..d98750074f 100644 --- a/iCubGenova09/extra/scripts/additionalCommands.sh +++ b/iCubGenova09/extra/scripts/additionalCommands.sh @@ -45,6 +45,8 @@ test-microphone() { alias run-yarp-openmct='cd /usr/local/src/robot/yarp-openmct/ && npm start' +alias prepareRetargetingTransforms='bash ${ROBOTOLOGY_SUPERBUILD_SOURCE_DIR}/src/HumanDynamicsEstimation/conf/iFeelOpenXRCalibration.sh' + GREEN='\033[0;32m' NC='\033[0m' # No Color ## Alias for displaying info messages about the other aliases @@ -58,7 +60,8 @@ ${GREEN}test-microphone${NC} Test if the micorphone is working. ${GREEN}dcmFolder${NC} Go to the robot walking configuration files. ${GREEN}teleoperationFolder${NC} Go to the walking-teleoperation source folder. ${GREEN}goToBuildSuperbuild${NC} Go to the corresponding build folder of the robotology superbuild. -${GREEN}run-yarp-openmct${NC} Run yarp-openmct server for online logging visualization."' +${GREEN}run-yarp-openmct${NC} Run yarp-openmct server for online logging visualization. +${GREEN}prepareRetargetingTransforms${NC} Run a bash script to prepare the transforms for the retargeting."' if [ "$PS1" ]; then echo -e "Type ${GREEN}helpRobot${NC} for a list of useful commands." From 949e8d54af6869b8dba265429a5781b19ea608f1 Mon Sep 17 00:00:00 2001 From: Giulio Romualdi Date: Tue, 15 Mar 2022 13:05:25 +0000 Subject: [PATCH 18/33] Change calibration delta for the right arm finger --- iCubGenova09/calibrators/right_arm-calib.xml | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/iCubGenova09/calibrators/right_arm-calib.xml b/iCubGenova09/calibrators/right_arm-calib.xml index 9ced1c395d..72e3bc7132 100644 --- a/iCubGenova09/calibrators/right_arm-calib.xml +++ b/iCubGenova09/calibrators/right_arm-calib.xml @@ -25,9 +25,9 @@ 0 0 0 0 0 0 0 2540 1440 255 510 255 476 255 510 764 0 0 0 0 0 0 0 2618 2240 24 40 20 30 0 27 130 25 -8.4 -51.3 -5 0 0 0 0 0 0 0 0 0 0 0 0 - 0 0 0 0 0 -5.5 11 10 0 5 0 0 0 0 0 0 + 0 0 0 0 0 -5.5 11 15 0 5 0 0 0 0 0 0 - 24 50 0 10 -75 0 0 25 45 0 0 0 0 0 0 0 + 24 50 0 10 -75 0 0 25 45 0 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 From 72b06c807f06708162c325a515f79a919e057f27 Mon Sep 17 00:00:00 2001 From: iCubGenova09 Date: Thu, 17 Mar 2022 12:24:19 +0000 Subject: [PATCH 19/33] update the calibration values of the right arm made by icub tech --- iCubGenova09/calibrators/right_arm-calib.xml | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/iCubGenova09/calibrators/right_arm-calib.xml b/iCubGenova09/calibrators/right_arm-calib.xml index 72e3bc7132..5faf39d47b 100644 --- a/iCubGenova09/calibrators/right_arm-calib.xml +++ b/iCubGenova09/calibrators/right_arm-calib.xml @@ -22,8 +22,8 @@ -4000 3000 3000 -4000 1500 36903 -15403 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 2540 1440 255 510 255 476 255 510 764 - 0 0 0 0 0 0 0 2618 2240 24 40 20 30 0 27 130 + 0 0 0 0 0 0 0 2540 1440 255 497 255 476 255 510 764 + 0 0 0 0 0 0 0 2618 2240 24 57 20 30 0 27 130 25 -8.4 -51.3 -5 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 -5.5 11 15 0 5 0 0 0 0 0 0 From b1de99a6a5ff887faf53a928490d92be2733ca4d Mon Sep 17 00:00:00 2001 From: iCubGenova09 Date: Thu, 17 Mar 2022 12:25:14 +0000 Subject: [PATCH 20/33] increase the range of HW wrist ROM to avoid hardware fault --- iCubGenova09/hardware/mechanicals/left_arm-eb24-j4_7-mec.xml | 2 +- iCubGenova09/hardware/mechanicals/right_arm-eb27-j4_7-mec.xml | 4 ++-- 2 files changed, 3 insertions(+), 3 deletions(-) diff --git a/iCubGenova09/hardware/mechanicals/left_arm-eb24-j4_7-mec.xml b/iCubGenova09/hardware/mechanicals/left_arm-eb24-j4_7-mec.xml index 1c72e89518..1372aa636c 100644 --- a/iCubGenova09/hardware/mechanicals/left_arm-eb24-j4_7-mec.xml +++ b/iCubGenova09/hardware/mechanicals/left_arm-eb24-j4_7-mec.xml @@ -21,7 +21,7 @@ - 90 30 35 60 + 90 30 50 60 -90 -80 -35 10 0 0 0 0 0 0 0 0 diff --git a/iCubGenova09/hardware/mechanicals/right_arm-eb27-j4_7-mec.xml b/iCubGenova09/hardware/mechanicals/right_arm-eb27-j4_7-mec.xml index e184ab27eb..ba17bfe594 100644 --- a/iCubGenova09/hardware/mechanicals/right_arm-eb27-j4_7-mec.xml +++ b/iCubGenova09/hardware/mechanicals/right_arm-eb27-j4_7-mec.xml @@ -21,8 +21,8 @@ - 90 30 35 60 - -97 -80 -35 10 + 90 30 45 60 + -97 -80 -42 10 0 0 0 0 0 0 0 0 From 67418c45814b8173106c927d879085f1bdf5d409 Mon Sep 17 00:00:00 2001 From: Giulio Romualdi Date: Fri, 18 Mar 2022 23:11:58 +0000 Subject: [PATCH 21/33] Reduce the roll shoulder limits from 17 to 6 --- iCubGenova09/hardware/motorControl/left_arm-eb1-j0_1-mc.xml | 2 +- iCubGenova09/hardware/motorControl/right_arm-eb3-j0_1-mc.xml | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/iCubGenova09/hardware/motorControl/left_arm-eb1-j0_1-mc.xml b/iCubGenova09/hardware/motorControl/left_arm-eb1-j0_1-mc.xml index 02131c28d2..6b0fe149b6 100644 --- a/iCubGenova09/hardware/motorControl/left_arm-eb1-j0_1-mc.xml +++ b/iCubGenova09/hardware/motorControl/left_arm-eb1-j0_1-mc.xml @@ -12,7 +12,7 @@ 20 163 - -175 17 + -175 6 120 120 5000 5000 12000 12000 diff --git a/iCubGenova09/hardware/motorControl/right_arm-eb3-j0_1-mc.xml b/iCubGenova09/hardware/motorControl/right_arm-eb3-j0_1-mc.xml index be3776e575..f6eb8e16e3 100644 --- a/iCubGenova09/hardware/motorControl/right_arm-eb3-j0_1-mc.xml +++ b/iCubGenova09/hardware/motorControl/right_arm-eb3-j0_1-mc.xml @@ -13,7 +13,7 @@ 20 163 - -175 17 + -175 6 120 120 5000 5000 12000 12000 From b2ddcd1efb46aed9d2de0ba1f8ab7e80abe5311c Mon Sep 17 00:00:00 2001 From: Giulio Romualdi Date: Fri, 18 Mar 2022 23:12:32 +0000 Subject: [PATCH 22/33] Change the fingers startup position --- iCubGenova09/calibrators/left_arm-calib.xml | 4 ++-- iCubGenova09/calibrators/right_arm-calib.xml | 4 ++-- 2 files changed, 4 insertions(+), 4 deletions(-) diff --git a/iCubGenova09/calibrators/left_arm-calib.xml b/iCubGenova09/calibrators/left_arm-calib.xml index 60b8691615..22b5bfcf60 100644 --- a/iCubGenova09/calibrators/left_arm-calib.xml +++ b/iCubGenova09/calibrators/left_arm-calib.xml @@ -12,7 +12,7 @@ 5 30 0 10 0 0 0 35 15 65 0 0 0 0 0 0 - 10 10 10 10 30 30 30 60 30 30 30 30 30 30 30 30 + 10 10 10 10 30 30 30 15 30 30 30 30 30 30 30 30 @@ -26,7 +26,7 @@ 25 -8.4 -51.3 -5 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 - 24 50 0 10 -75 0 0 25 45 0 0 0 0 0 0 0 + 24 50 0 10 -75 0 0 15 45 0 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 2000 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 diff --git a/iCubGenova09/calibrators/right_arm-calib.xml b/iCubGenova09/calibrators/right_arm-calib.xml index 5faf39d47b..06a4d831db 100644 --- a/iCubGenova09/calibrators/right_arm-calib.xml +++ b/iCubGenova09/calibrators/right_arm-calib.xml @@ -12,7 +12,7 @@ 5 30 0 10 0 0 0 35 15 65 0 0 0 0 0 0 - 10 10 10 10 30 30 30 60 30 30 30 30 30 30 30 30 + 10 10 10 10 30 30 30 15 30 30 30 30 30 30 30 30 @@ -27,7 +27,7 @@ 25 -8.4 -51.3 -5 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 -5.5 11 15 0 5 0 0 0 0 0 0 - 24 50 0 10 -75 0 0 25 45 0 0 0 0 0 0 0 + 24 50 0 10 -75 0 0 15 45 0 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 From 97ca2ba68087c758bd329c3066c213500d3c75d3 Mon Sep 17 00:00:00 2001 From: Giulio Romualdi Date: Fri, 18 Mar 2022 23:13:55 +0000 Subject: [PATCH 23/33] Reduce the ft cutoff frequency in WBD from 3hz to 2hz --- iCubGenova09/estimators/wholebodydynamics.xml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/iCubGenova09/estimators/wholebodydynamics.xml b/iCubGenova09/estimators/wholebodydynamics.xml index 0ca3da985a..12523eb93a 100644 --- a/iCubGenova09/estimators/wholebodydynamics.xml +++ b/iCubGenova09/estimators/wholebodydynamics.xml @@ -14,7 +14,7 @@ false true 3.0 - 3.0 + 2.0 3.0 3.0 false From 457934730590023d28491bb46f7820a4df246952 Mon Sep 17 00:00:00 2001 From: Giulio Romualdi Date: Sun, 20 Mar 2022 17:58:52 +0000 Subject: [PATCH 24/33] Update the FT calibration in wbd --- iCubGenova09/estimators/wholebodydynamics.xml | 29 +++++++++++++++++++ 1 file changed, 29 insertions(+) diff --git a/iCubGenova09/estimators/wholebodydynamics.xml b/iCubGenova09/estimators/wholebodydynamics.xml index 12523eb93a..d29457c51f 100644 --- a/iCubGenova09/estimators/wholebodydynamics.xml +++ b/iCubGenova09/estimators/wholebodydynamics.xml @@ -75,6 +75,35 @@ (torso_roll,torso_pitch,torso_yaw,neck_pitch,neck_roll,neck_yaw,l_shoulder_pitch,l_shoulder_roll,l_shoulder_yaw,l_elbow,r_shoulder_pitch,r_shoulder_roll,r_shoulder_yaw,r_elbow,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) + + + (-0.453943748858079,-0.0207290731454895,0.0259765206090363,-0.718082150306232,20.0760035320647,-31.8380701315778, +0.246893385284633,0.131596038814277,-0.0311012312708342,-6.80536484234716,-2.50755415278684,5.54450412565179, +0.355624671215812,0.0288883339093784,1.07987839437286,1.74993294368285,-4.13534211854201,5.17353495406937, +-0.0282045676873515,-0.010639094001773,-0.0276521318915258,0.454542458253858,0.272315682629766,-0.432257093387273, +-0.0426175259925151,-0.00226319226759765,-0.0252830271716641,-0.0945190281452346,1.56472162917137,-2.39647445051718, +-0.00618535407666329,0.00270756194409757,-0.000126188940004081,-0.193262353184156,0.503149786495756,-0.792725998694521) + + + + (-0.3074986450118,0.166319460647718,-0.0744761172303641,2.28351161269885,17.803567176725,29.7657227144731, +-0.0550976408308005,0.180526981376886,-0.0305221915946819,-5.86934063764629,2.35283003548601,12.7102669990724, +-0.0413098446573611,-0.15161778882429,1.15947861552172,-2.18397653661656,2.11337659942283,6.52597994212099, +0.00252878385866509,-0.0183198480563073,0.0390861481806284,0.369040878113529,-0.0942012366965869,-0.688710410261083, +-0.0221727541161846,0.0138043289728184,-0.015898266246628,0.187998975528831,1.29240192105994,2.11309829209008, +0.0094914880635709,-0.0036234283827821,0.00212121520644588,-0.126864592608127,-0.556355373823465,-0.875100018833281) + + + + + + (-8.458958238581,18.9645423508596,5.01464123963002,-1.54527454195987,-0.75593243710498,0.247784639700732) + + + + (-11.0545900497843,-19.1558631667883,1.55355109320928,1.46258051785715,-0.824085201312761,0.18996767949017) + + (l_hand,l_hand,root_link) From 3923e7dd235264edda9c358842ee255a83e2cb88 Mon Sep 17 00:00:00 2001 From: iCubGenova09 Date: Fri, 1 Apr 2022 09:05:11 +0000 Subject: [PATCH 25/33] Add delta calibration left wrist --- iCubGenova09/calibrators/left_arm-calib.xml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/iCubGenova09/calibrators/left_arm-calib.xml b/iCubGenova09/calibrators/left_arm-calib.xml index 22b5bfcf60..2fde4022c5 100644 --- a/iCubGenova09/calibrators/left_arm-calib.xml +++ b/iCubGenova09/calibrators/left_arm-calib.xml @@ -24,7 +24,7 @@ 0 0 0 0 0 0 0 1948 325 250 478 243 483 255 480 725 0 0 0 0 0 0 0 2073 2730 9 99 15 8 30 45 125 25 -8.4 -51.3 -5 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 42 0 0 0 0 0 0 0 0 0 24 50 0 10 -75 0 0 15 45 0 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 From 25afb2d6a4843c732d8c1acb1f1aafeb9eb78d97 Mon Sep 17 00:00:00 2001 From: iCubGenova09 Date: Mon, 4 Apr 2022 15:53:05 +0000 Subject: [PATCH 26/33] Left wrist and right thumb calibration --- iCubGenova09/calibrators/left_arm-calib.xml | 4 ++-- iCubGenova09/calibrators/right_arm-calib.xml | 2 +- 2 files changed, 3 insertions(+), 3 deletions(-) diff --git a/iCubGenova09/calibrators/left_arm-calib.xml b/iCubGenova09/calibrators/left_arm-calib.xml index 2fde4022c5..750d93dcd6 100644 --- a/iCubGenova09/calibrators/left_arm-calib.xml +++ b/iCubGenova09/calibrators/left_arm-calib.xml @@ -18,13 +18,13 @@ 10 10 10 10 5 12 12 7 7 6 6 6 6 6 6 6 - 4000 -3000 -3000 4000 -1500 63919 12031 0 0 0 0 0 0 0 0 0 + 4000 -3000 -3000 4000 -1500 63200 20250 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 1948 325 250 478 243 483 255 480 725 0 0 0 0 0 0 0 2073 2730 9 99 15 8 30 45 125 25 -8.4 -51.3 -5 0 0 0 0 0 0 0 0 0 0 0 0 - 0 0 0 0 0 0 42 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 24 50 0 10 -75 0 0 15 45 0 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 diff --git a/iCubGenova09/calibrators/right_arm-calib.xml b/iCubGenova09/calibrators/right_arm-calib.xml index 06a4d831db..92ffd88d2b 100644 --- a/iCubGenova09/calibrators/right_arm-calib.xml +++ b/iCubGenova09/calibrators/right_arm-calib.xml @@ -23,7 +23,7 @@ 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 2540 1440 255 497 255 476 255 510 764 - 0 0 0 0 0 0 0 2618 2240 24 57 20 30 0 27 130 + 0 0 0 0 0 0 0 2618 2240 24 80 20 30 0 27 130 25 -8.4 -51.3 -5 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 -5.5 11 15 0 5 0 0 0 0 0 0 From 5a300e67fc18b7c0500c12e64d207ccd5781782b Mon Sep 17 00:00:00 2001 From: iCubGenova09 Date: Wed, 6 Apr 2022 10:40:14 +0000 Subject: [PATCH 27/33] Change calibration limits for left middle distal --- iCubGenova09/calibrators/left_arm-calib.xml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/iCubGenova09/calibrators/left_arm-calib.xml b/iCubGenova09/calibrators/left_arm-calib.xml index 750d93dcd6..4ebe224b52 100644 --- a/iCubGenova09/calibrators/left_arm-calib.xml +++ b/iCubGenova09/calibrators/left_arm-calib.xml @@ -22,7 +22,7 @@ 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 1948 325 250 478 243 483 255 480 725 - 0 0 0 0 0 0 0 2073 2730 9 99 15 8 30 45 125 + 0 0 0 0 0 0 0 2073 2730 9 99 15 8 30 90 125 25 -8.4 -51.3 -5 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 From d36d1fd3bee49cbe7d47f1b651f35d2c5979a75e Mon Sep 17 00:00:00 2001 From: iCubGenova09 Date: Wed, 6 Apr 2022 21:52:57 +0000 Subject: [PATCH 28/33] Disable left hip roll AMO calibration --- iCubGenova09/hardware/mechanicals/left_leg-eb7-j0_2-mec.xml | 2 +- .../hardware/motorControl/left_leg-eb7-j0_2-mc_service.xml | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/iCubGenova09/hardware/mechanicals/left_leg-eb7-j0_2-mec.xml b/iCubGenova09/hardware/mechanicals/left_leg-eb7-j0_2-mec.xml index eaca05bd24..e00724f53b 100644 --- a/iCubGenova09/hardware/mechanicals/left_leg-eb7-j0_2-mec.xml +++ b/iCubGenova09/hardware/mechanicals/left_leg-eb7-j0_2-mec.xml @@ -12,7 +12,7 @@ 32000 32000 32000 1000.0 1000.0 1000.0 -100.0 100.0 -100.0 - 64 64 64 + 64 1 64 1 1 1 "MOOG_C2900580" "MOOG_C2900576" "MOOG_C2900576" 0 diff --git a/iCubGenova09/hardware/motorControl/left_leg-eb7-j0_2-mc_service.xml b/iCubGenova09/hardware/motorControl/left_leg-eb7-j0_2-mc_service.xml index c9ac1f2b4c..53e5d694bf 100644 --- a/iCubGenova09/hardware/motorControl/left_leg-eb7-j0_2-mc_service.xml +++ b/iCubGenova09/hardware/motorControl/left_leg-eb7-j0_2-mc_service.xml @@ -36,7 +36,7 @@ - amo amo amo + amo none amo CONN:P6 CONN:P7 CONN:P8 atjoint atjoint atjoint 16384 16384 16384 From 1391307a576a3e3fed9a966a2a188bc4e426cd29 Mon Sep 17 00:00:00 2001 From: iCubGenova09 Date: Fri, 15 Apr 2022 12:38:23 +0000 Subject: [PATCH 29/33] Restore AMO left_leg configuration and left_arm pinky calibration --- iCubGenova09/calibrators/left_arm-calib.xml | 2 +- iCubGenova09/hardware/mechanicals/left_leg-eb7-j0_2-mec.xml | 2 +- .../hardware/motorControl/left_leg-eb7-j0_2-mc_service.xml | 2 +- 3 files changed, 3 insertions(+), 3 deletions(-) diff --git a/iCubGenova09/calibrators/left_arm-calib.xml b/iCubGenova09/calibrators/left_arm-calib.xml index 4ebe224b52..b780a8f9fa 100644 --- a/iCubGenova09/calibrators/left_arm-calib.xml +++ b/iCubGenova09/calibrators/left_arm-calib.xml @@ -22,7 +22,7 @@ 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 1948 325 250 478 243 483 255 480 725 - 0 0 0 0 0 0 0 2073 2730 9 99 15 8 30 90 125 + 0 0 0 0 0 0 0 2073 2730 9 99 15 8 30 90 165 25 -8.4 -51.3 -5 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 diff --git a/iCubGenova09/hardware/mechanicals/left_leg-eb7-j0_2-mec.xml b/iCubGenova09/hardware/mechanicals/left_leg-eb7-j0_2-mec.xml index e00724f53b..eaca05bd24 100644 --- a/iCubGenova09/hardware/mechanicals/left_leg-eb7-j0_2-mec.xml +++ b/iCubGenova09/hardware/mechanicals/left_leg-eb7-j0_2-mec.xml @@ -12,7 +12,7 @@ 32000 32000 32000 1000.0 1000.0 1000.0 -100.0 100.0 -100.0 - 64 1 64 + 64 64 64 1 1 1 "MOOG_C2900580" "MOOG_C2900576" "MOOG_C2900576" 0 diff --git a/iCubGenova09/hardware/motorControl/left_leg-eb7-j0_2-mc_service.xml b/iCubGenova09/hardware/motorControl/left_leg-eb7-j0_2-mc_service.xml index 53e5d694bf..c9ac1f2b4c 100644 --- a/iCubGenova09/hardware/motorControl/left_leg-eb7-j0_2-mc_service.xml +++ b/iCubGenova09/hardware/motorControl/left_leg-eb7-j0_2-mc_service.xml @@ -36,7 +36,7 @@ - amo none amo + amo amo amo CONN:P6 CONN:P7 CONN:P8 atjoint atjoint atjoint 16384 16384 16384 From 8ddc802ab669b4571a33c7ede470ebb1b70d1b97 Mon Sep 17 00:00:00 2001 From: iCubGenova09 Date: Wed, 27 Apr 2022 13:58:29 +0000 Subject: [PATCH 30/33] Modify type of embObjFT of arms and add the MAS devices for the FT on the arms --- iCubGenova09/hardware/FT/left_arm-eb1-j0_1-strain.xml | 2 +- iCubGenova09/hardware/FT/right_arm-eb3-j0_1-strain.xml | 2 +- iCubGenova09/icub_wbd.xml | 4 ++++ 3 files changed, 6 insertions(+), 2 deletions(-) diff --git a/iCubGenova09/hardware/FT/left_arm-eb1-j0_1-strain.xml b/iCubGenova09/hardware/FT/left_arm-eb1-j0_1-strain.xml index d9e03e73e2..2755bb184e 100644 --- a/iCubGenova09/hardware/FT/left_arm-eb1-j0_1-strain.xml +++ b/iCubGenova09/hardware/FT/left_arm-eb1-j0_1-strain.xml @@ -3,7 +3,7 @@ - + diff --git a/iCubGenova09/hardware/FT/right_arm-eb3-j0_1-strain.xml b/iCubGenova09/hardware/FT/right_arm-eb3-j0_1-strain.xml index 1ef5b98da9..ee94a174b2 100644 --- a/iCubGenova09/hardware/FT/right_arm-eb3-j0_1-strain.xml +++ b/iCubGenova09/hardware/FT/right_arm-eb3-j0_1-strain.xml @@ -3,7 +3,7 @@ - + diff --git a/iCubGenova09/icub_wbd.xml b/iCubGenova09/icub_wbd.xml index 3d1f5d0e48..e949dbc07c 100644 --- a/iCubGenova09/icub_wbd.xml +++ b/iCubGenova09/icub_wbd.xml @@ -89,6 +89,10 @@ + + + + + + + + + + torso-eb5-j0_2-strain + + + + + + From 89bbe0f812c5273be937a66d53f56efd3cc2d27e Mon Sep 17 00:00:00 2001 From: iCubGenova09 Date: Mon, 2 May 2022 14:59:04 +0000 Subject: [PATCH 32/33] Update file names to the correct ones for starting only the right leg --- iCubGenova09/icub_right_leg.xml | 5 ++--- 1 file changed, 2 insertions(+), 3 deletions(-) diff --git a/iCubGenova09/icub_right_leg.xml b/iCubGenova09/icub_right_leg.xml index cb7afaf83e..ff5d195561 100644 --- a/iCubGenova09/icub_right_leg.xml +++ b/iCubGenova09/icub_right_leg.xml @@ -14,9 +14,8 @@ - - - + + From 2dd03f4c7534795ffb183a70e96c99a37b7655a8 Mon Sep 17 00:00:00 2001 From: iCubGenova09 Date: Tue, 3 May 2022 08:18:03 +0000 Subject: [PATCH 33/33] Updates on arms calibrators. --- iCubGenova09/calibrators/left_arm-calib.xml | 2 +- iCubGenova09/calibrators/right_arm-calib.xml | 4 ++-- 2 files changed, 3 insertions(+), 3 deletions(-) diff --git a/iCubGenova09/calibrators/left_arm-calib.xml b/iCubGenova09/calibrators/left_arm-calib.xml index b780a8f9fa..6a2dea3338 100644 --- a/iCubGenova09/calibrators/left_arm-calib.xml +++ b/iCubGenova09/calibrators/left_arm-calib.xml @@ -24,7 +24,7 @@ 0 0 0 0 0 0 0 1948 325 250 478 243 483 255 480 725 0 0 0 0 0 0 0 2073 2730 9 99 15 8 30 90 165 25 -8.4 -51.3 -5 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 -16 0 0 0 0 0 0 0 0 0 24 50 0 10 -75 0 0 15 45 0 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 diff --git a/iCubGenova09/calibrators/right_arm-calib.xml b/iCubGenova09/calibrators/right_arm-calib.xml index 92ffd88d2b..7047f9e2c2 100644 --- a/iCubGenova09/calibrators/right_arm-calib.xml +++ b/iCubGenova09/calibrators/right_arm-calib.xml @@ -22,8 +22,8 @@ -4000 3000 3000 -4000 1500 36903 -15403 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 2540 1440 255 497 255 476 255 510 764 - 0 0 0 0 0 0 0 2618 2240 24 80 20 30 0 27 130 + 0 0 0 0 0 0 0 2680 1440 255 497 255 476 255 510 764 + 0 0 0 0 0 0 0 2780 2240 24 80 20 30 0 27 130 25 -8.4 -51.3 -5 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 -5.5 11 15 0 5 0 0 0 0 0 0