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Merged
merged 37 commits into from
May 3, 2022
Merged

Updates on iCubGenova09 files after XPrize semifinals #352

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234e339
Updated cluster config fixing problem with GUI applications on icub-c…
Feb 1, 2022
5e2fd3b
iCubGenova09 - added incremental AMO calibration on the shoulders
davidetome Feb 7, 2022
4028ba1
Update left_arm-calib.xml
davidetome Feb 8, 2022
6b72214
Update right_arm-calib.xml
davidetome Feb 8, 2022
9fcae50
added support for the ft58 on the right hip
davidetome Feb 10, 2022
79cffd8
Merge pull request #15 from ami-iit/fix/add-ft58
S-Dafarra Feb 10, 2022
c2b0367
fixed shoulders pitch limits
davidetome Feb 10, 2022
996a239
Merge pull request #14 from ami-iit/fix/add-amo-inc-calib
S-Dafarra Feb 10, 2022
011930b
Fixed calibration of right wrist yaw.
Feb 10, 2022
f834d63
Add telemetry-logger application
paolo-viceconte Jan 5, 2022
afbe7f7
Merge pull request #11 from paolo-viceconte/telemetry_logger_application
S-Dafarra Feb 16, 2022
f3ae016
Fixed indentantion on FT files on iCubGenova09 legs.
Feb 23, 2022
e806414
Using STRAIN2 FTs on iCUbGenova09 arms.
Feb 23, 2022
2a75c93
Update hard limits of right and left wrist yaw and thumb oppose
Feb 24, 2022
723ff7e
Add right leg contact wrench
Feb 26, 2022
fab02fe
Add parameters to align config file to last version of WBD implementi…
Feb 26, 2022
f6d2328
calibrazione giunto 14 Rhand
Feb 28, 2022
c79376c
Fixed display value in cluster config for icub-console.
Mar 4, 2022
e22bdb3
Added alias to run yarp-openmct
Mar 4, 2022
5b39304
Added alias to set the transforms for the retargeting.
Mar 8, 2022
949e8d5
Change calibration delta for the right arm finger
GiulioRomualdi Mar 15, 2022
72b06c8
update the calibration values of the right arm made by icub tech
Mar 17, 2022
b1de99a
increase the range of HW wrist ROM to avoid hardware fault
Mar 17, 2022
67418c4
Reduce the roll shoulder limits from 17 to 6
GiulioRomualdi Mar 18, 2022
b2ddcd1
Change the fingers startup position
GiulioRomualdi Mar 18, 2022
97ca2ba
Reduce the ft cutoff frequency in WBD from 3hz to 2hz
GiulioRomualdi Mar 18, 2022
4579347
Update the FT calibration in wbd
GiulioRomualdi Mar 20, 2022
3923e7d
Add delta calibration left wrist
Apr 1, 2022
25afb2d
Left wrist and right thumb calibration
Apr 4, 2022
5a300e6
Change calibration limits for left middle distal
Apr 6, 2022
d36d1fd
Disable left hip roll AMO calibration
Apr 6, 2022
1391307
Restore AMO left_leg configuration and left_arm pinky calibration
Apr 15, 2022
8ddc802
Modify type of embObjFT of arms and add the MAS devices for the FT on…
Apr 27, 2022
3ee5ea2
Create MAS device for right upper leg ft sensor
isorrentino Apr 28, 2022
89bbe0f
Update file names to the correct ones for starting only the right leg
May 2, 2022
0904307
Merge branch 'devel_iCubGenova09' of https://github.com/ami-iit/robot…
May 2, 2022
2dd03f4
Updates on arms calibrators.
May 3, 2022
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18 changes: 10 additions & 8 deletions iCubGenova09/calibrators/left_arm-calib.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -12,27 +12,29 @@

<group name="HOME">
<param name="positionHome"> 5 30 0 10 0 0 0 35 15 65 0 0 0 0 0 0 </param>
<param name="velocityHome"> 10 10 10 10 30 30 30 60 30 30 30 30 30 30 30 30 </param>
<param name="velocityHome"> 10 10 10 10 30 30 30 15 30 30 30 30 30 30 30 30 </param>
</group>

<group name="CALIBRATION">
<param name="calibrationType"> 12 12 12 12 5 12 12 7 7 6 6 6 6 6 6 6 </param> <!--
<param name="calibrationType"> 10 10 10 10 5 12 12 7 7 6 6 6 6 6 6 6 </param> <!--
<param name="calibration1"> -54795 22399 44679 53215 -1500 -8335 10671 0 0 0 0 0 0 0 0 0 </param> -->
<param name="calibration1"> -13691 19668 44530 53215 -1500 63919 12031 0 0 0 0 0 0 0 0 0 </param>
<param name="calibration1"> 4000 -3000 -3000 4000 -1500 63200 20250 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 1948 325 250 478 243 483 255 480 725 </param>
<param name="calibration5"> 0 0 0 0 0 0 0 2073 2730 9 99 15 8 30 45 125 </param>
<param name="calibrationZero"> 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 </param>
<param name="calibrationDelta"> 14 8 0 0 0 0 0 0 0 0 0 0 0 0 0 0 </param>
<param name="calibration5"> 0 0 0 0 0 0 0 2073 2730 9 99 15 8 30 90 165 </param>
<param name="calibrationZero"> 25 -8.4 -51.3 -5 0 0 0 0 0 0 0 0 0 0 0 0 </param>
<param name="calibrationDelta"> 0 0 0 0 0 0 -16 0 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"> 24 50 0 10 -75 0 0 15 45 0 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 2000 0 0 0 0 0 0 0 0 0 0 0 </param>
<param name="startupPosThreshold"> 2 2 2 2 90 90 90 90 90 90 90 90 90 90 90 90 </param>
</group>

<param name="CALIB_ORDER"> (1) (0) (2) (3) (4) (5 6) (7) (8 9) (11) (13) (10) (12) (14) (15) </param> <!-- removed joint 14 -->
<param name="CALIB_ORDER"> (2) (0) (1) (4) (3) (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_remapper</param>
Expand Down
19 changes: 10 additions & 9 deletions iCubGenova09/calibrators/right_arm-calib.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -12,29 +12,30 @@
<!-- joint logical number 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 -->
<group name="HOME">
<param name="positionHome"> 5 30 0 10 0 0 0 35 15 65 0 0 0 0 0 0 </param>
<param name="velocityHome"> 10 10 10 10 30 30 30 60 30 30 30 30 30 30 30 30 </param>
<param name="velocityHome"> 10 10 10 10 30 30 30 15 30 30 30 30 30 30 30 30 </param>
</group>


<group name="CALIBRATION">
<param name="calibrationType"> 12 12 12 12 5 12 12 7 7 6 6 6 6 6 6 6 </param> <!--
<param name="calibrationType"> 10 10 10 10 5 12 12 7 7 6 6 6 6 6 6 6 </param> <!--
<param name="calibration1"> 6576 -12866 -4585 -47529 1500 36903 -12703 0 0 0 0 0 0 0 0 0 </param> -->
<param name="calibration1"> 5671 -10405 -2085 -47112 1500 36903 -15403 0 0 0 0 0 0 0 0 0 </param>
<param name="calibration1"> -4000 3000 3000 -4000 1500 36903 -15403 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 2540 1440 255 510 255 476 255 510 764 </param>
<param name="calibration5"> 0 0 0 0 0 0 0 2618 2240 24 40 20 30 0 30 130 </param>
<param name="calibrationZero"> 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 </param>
<param name="calibrationDelta"> 11 0 0 0 0 -5.5 -4 10 0 5 0 0 0 0 0 0 </param>
<param name="calibration4"> 0 0 0 0 0 0 0 2680 1440 255 497 255 476 255 510 764 </param>
<param name="calibration5"> 0 0 0 0 0 0 0 2780 2240 24 80 20 30 0 27 130 </param>
<param name="calibrationZero"> 25 -8.4 -51.3 -5 0 0 0 0 0 0 0 0 0 0 0 0 </param>
<param name="calibrationDelta"> 0 0 0 0 0 -5.5 11 15 0 5 0 0 0 0 0 0 </param>

<param name="startupPosition"> -35 30 0 45 0 0 15 25 45 0 0 0 0 0 0 0 </param>
<param name="startupPosition"> 24 50 0 10 -75 0 0 15 45 0 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"> (2) (0) (1) (4) (3) (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-->
<param name="CALIB_ORDER"> (1) (0) (2) (3) (4) (5 6) (8 9) (11) (13) (10) (12) (14) (15) </param>
<!-- <param name="CALIB_ORDER"> (1) (0) (2) (3) (4) (5 6) (8 9) (11) (13) (10) (12) (14) (15) </param> -->
<action phase="startup" level="10" type="calibrate">
<param name="target">right_arm-mc_remapper</param>
</action>
Expand Down
84 changes: 79 additions & 5 deletions iCubGenova09/estimators/wholebodydynamics.xml
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Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -6,19 +6,62 @@
<param name="axesNames">(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)</param>
<param name="modelFile">model.urdf</param>
<param name="fixedFrameGravity">(0,0,-9.81)</param>
<param name="defaultContactFrames">(l_hand,r_hand,root_link,l_foot_front,l_foot_rear,r_foot_front,r_foot_rear,l_lower_leg,r_lower_leg)</param>
<param name="defaultContactFrames">(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)</param>
<param name="imuFrameName">imu_frame</param>
<param name="publishOnROS">true</param>
<param name="forceTorqueEstimateConfidence">2</param>
<param name="useJointVelocity">true</param>
<param name="useJointAcceleration">false</param>
<param name="streamFilteredFT">true</param>
<param name="imuFilterCutoffInHz">3.0</param>
<param name="forceTorqueFilterCutoffInHz">3.0</param>
<param name="forceTorqueFilterCutoffInHz">2.0</param>
<param name="jointVelFilterCutoffInHz">3.0</param> <!-- used if useJointVelocity is set to true -->
<param name="jointAccFilterCutoffInHz">3.0</param> <!-- used if useJointAcceleration is set to true -->
<param name="useSkinForContacts">false</param>
<param name="publishNetExternalWrenches">true</param>
<param name="estimateJointVelocityAcceleration">false</param> <!-- if true a kf will estimate the joint velocities and accelerations -->
<param name="processNoiseCovariance">(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)</param>
<param name="measurementNoiseCovariance">(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)</param>
<param name="stateCovariance">(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)</param>
<!-- <param name="assume_fixed">root_link</param>-->
<group name="HW_USE_MAS_IMU">
<param name="accelerometer">rfeimu_acc</param>
Expand All @@ -32,12 +75,42 @@
<param name="gravityCompensationAxesNames">(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)</param>
</group>

<group name="FT_SECONDARY_CALIBRATION">
<param name="l_arm_ft_sensor">
(-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)
</param>

<param name="r_arm_ft_sensor">
(-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)
</param>
</group>

<group name="FT_OFFSET">
<param name="l_arm_ft_sensor">
(-8.458958238581,18.9645423508596,5.01464123963002,-1.54527454195987,-0.75593243710498,0.247784639700732)
</param>

<param name="r_arm_ft_sensor">
(-11.0545900497843,-19.1558631667883,1.55355109320928,1.46258051785715,-0.824085201312761,0.18996767949017)
</param>
</group>

<group name="WBD_OUTPUT_EXTERNAL_WRENCH_PORTS">
<param name="/wholeBodyDynamics/left_arm/cartesianEndEffectorWrench:o">(l_hand,l_hand,root_link)</param>
<param name="/wholeBodyDynamics/right_arm/cartesianEndEffectorWrench:o">(r_hand,r_hand,root_link)</param>
<param name="/wholeBodyDynamics/left_leg/cartesianEndEffectorWrench:o">(l_lower_leg,l_lower_leg,root_link)</param>
<param name="/wholeBodyDynamics/right_leg/cartesianEndEffectorWrench:o">(r_lower_leg,r_lower_leg,root_link)</param>
<param name="/wholeBodyDynamics/right_upper_leg/cartesianEndEffectorWrench:o">(r_upper_leg,r_upper_leg,root_link)</param>
<param name="/wholeBodyDynamics/left_lower_leg/cartesianEndEffectorWrench:o">(l_lower_leg,l_lower_leg,root_link)</param>
<param name="/wholeBodyDynamics/right_lower_leg/cartesianEndEffectorWrench:o">(r_lower_leg,r_lower_leg,root_link)</param>
<param name="/wholeBodyDynamics/left_foot_front/cartesianEndEffectorWrench:o">(l_foot_front,l_sole,l_sole)</param>
<param name="/wholeBodyDynamics/left_foot_rear/cartesianEndEffectorWrench:o">(l_foot_rear,l_sole,l_sole)</param>
<param name="/wholeBodyDynamics/right_foot_front/cartesianEndEffectorWrench:o">(r_foot_front,r_sole,r_sole)</param>
Expand Down Expand Up @@ -75,7 +148,8 @@
<elem name="l_foot_front_ft_sensor">left_leg-eb8-j3_5-strain</elem>
<elem name="l_foot_rear_ft_sensor">left_leg-eb7-j0_2-strain</elem>
<elem name="r_foot_front_ft_sensor">right_leg-eb12-j3_5-strain</elem>
<elem name="r_foot_rear_ft_sensor">right_leg-eb11-j0_2-strain</elem>
<elem name="r_foot_rear_ft_sensor">right_leg-eb11-j0_2-strain</elem>
<elem name="r_leg_ft_sensor">torso-eb5-j0_2-strain</elem>
</paramlist>
</action>

Expand Down
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