From 3b888e7338fecefb0a775409117158da987000e7 Mon Sep 17 00:00:00 2001 From: Ines Date: Thu, 7 Jul 2022 14:37:22 +0200 Subject: [PATCH 01/25] Add group for enabling the kalman filter on the legs of iCubGenova09 --- .../hardware/motorControl/left_leg-eb7-j0_2-mc.xml | 13 +++++++++++++ .../hardware/motorControl/left_leg-eb8-j3_5-mc.xml | 13 +++++++++++++ .../motorControl/right_leg-eb11-j0_2-mc.xml | 13 +++++++++++++ .../motorControl/right_leg-eb12-j3_5-mc.xml | 13 +++++++++++++ 4 files changed, 52 insertions(+) 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 f565f9c3a8..6938907aa4 100644 --- a/iCubGenova09/hardware/motorControl/left_leg-eb7-j0_2-mc.xml +++ b/iCubGenova09/hardware/motorControl/left_leg-eb7-j0_2-mc.xml @@ -136,5 +136,18 @@ 0.0049 0.0049 0.0049 + + + + 1 1 1 + 0 0 0 + 0 0 0 + 0 0 0 + 0.0001 0.0001 0.0001 + 0.01 0.01 0.01 + 10 10 10 + 0.001 0.001 0.001 + 0.000099 0.000099 0.000099 + 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 4e78b05580..6fc560b769 100644 --- a/iCubGenova09/hardware/motorControl/left_leg-eb8-j3_5-mc.xml +++ b/iCubGenova09/hardware/motorControl/left_leg-eb8-j3_5-mc.xml @@ -134,6 +134,19 @@ 0.0049 0.0049 0.0049 + + + + 1 1 1 + 0 0 0 + 0 0 0 + 0 0 0 + 0.0001 0.0001 0.0001 + 0.01 0.01 0.01 + 10 10 10 + 0.001 0.001 0.001 + 0.000099 0.000099 0.000099 + 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 37bc05da7e..d1a314f0b4 100644 --- a/iCubGenova09/hardware/motorControl/right_leg-eb11-j0_2-mc.xml +++ b/iCubGenova09/hardware/motorControl/right_leg-eb11-j0_2-mc.xml @@ -136,5 +136,18 @@ 0.0049 0.0049 0.0049 + + + + 1 1 1 + 0 0 0 + 0 0 0 + 0 0 0 + 0.0001 0.0001 0.0001 + 0.01 0.01 0.01 + 10 10 10 + 0.001 0.001 0.001 + 0.000099 0.000099 0.000099 + 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 55fc195c17..d89fd41005 100644 --- a/iCubGenova09/hardware/motorControl/right_leg-eb12-j3_5-mc.xml +++ b/iCubGenova09/hardware/motorControl/right_leg-eb12-j3_5-mc.xml @@ -134,6 +134,19 @@ 0.011 0.011 0.011 + + + + 1 1 1 + 0 0 0 + 0 0 0 + 0 0 0 + 0.0001 0.0001 0.0001 + 0.01 0.01 0.01 + 10 10 10 + 0.001 0.001 0.001 + 0.000099 0.000099 0.000099 + From 03d2c9f86d229d146adeae7d6409973ff1d5f277 Mon Sep 17 00:00:00 2001 From: iCubGenova09 Date: Thu, 7 Jul 2022 13:57:05 +0000 Subject: [PATCH 02/25] Revert "Add group for enabling the kalman filter on the legs of iCubGenova09" This reverts commit bf8420e1d94e8bdec54b810f493f4eb21ea2fbe2. --- .../hardware/motorControl/left_leg-eb7-j0_2-mc.xml | 13 ------------- .../hardware/motorControl/left_leg-eb8-j3_5-mc.xml | 13 ------------- .../motorControl/right_leg-eb11-j0_2-mc.xml | 13 ------------- .../motorControl/right_leg-eb12-j3_5-mc.xml | 13 ------------- 4 files changed, 52 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 6938907aa4..f565f9c3a8 100644 --- a/iCubGenova09/hardware/motorControl/left_leg-eb7-j0_2-mc.xml +++ b/iCubGenova09/hardware/motorControl/left_leg-eb7-j0_2-mc.xml @@ -136,18 +136,5 @@ 0.0049 0.0049 0.0049 - - - - 1 1 1 - 0 0 0 - 0 0 0 - 0 0 0 - 0.0001 0.0001 0.0001 - 0.01 0.01 0.01 - 10 10 10 - 0.001 0.001 0.001 - 0.000099 0.000099 0.000099 - 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 6fc560b769..4e78b05580 100644 --- a/iCubGenova09/hardware/motorControl/left_leg-eb8-j3_5-mc.xml +++ b/iCubGenova09/hardware/motorControl/left_leg-eb8-j3_5-mc.xml @@ -134,19 +134,6 @@ 0.0049 0.0049 0.0049 - - - - 1 1 1 - 0 0 0 - 0 0 0 - 0 0 0 - 0.0001 0.0001 0.0001 - 0.01 0.01 0.01 - 10 10 10 - 0.001 0.001 0.001 - 0.000099 0.000099 0.000099 - 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 d1a314f0b4..37bc05da7e 100644 --- a/iCubGenova09/hardware/motorControl/right_leg-eb11-j0_2-mc.xml +++ b/iCubGenova09/hardware/motorControl/right_leg-eb11-j0_2-mc.xml @@ -136,18 +136,5 @@ 0.0049 0.0049 0.0049 - - - - 1 1 1 - 0 0 0 - 0 0 0 - 0 0 0 - 0.0001 0.0001 0.0001 - 0.01 0.01 0.01 - 10 10 10 - 0.001 0.001 0.001 - 0.000099 0.000099 0.000099 - 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 d89fd41005..55fc195c17 100644 --- a/iCubGenova09/hardware/motorControl/right_leg-eb12-j3_5-mc.xml +++ b/iCubGenova09/hardware/motorControl/right_leg-eb12-j3_5-mc.xml @@ -134,19 +134,6 @@ 0.011 0.011 0.011 - - - - 1 1 1 - 0 0 0 - 0 0 0 - 0 0 0 - 0.0001 0.0001 0.0001 - 0.01 0.01 0.01 - 10 10 10 - 0.001 0.001 0.001 - 0.000099 0.000099 0.000099 - From fe784f11f0443e4b6d419fe103d8ca3aa5bee34b Mon Sep 17 00:00:00 2001 From: iCubGenova09 Date: Thu, 7 Jul 2022 14:25:06 +0000 Subject: [PATCH 03/25] [iCubGenova09] Add left upper leg ft sensors in wbd config file --- iCubGenova09/estimators/wholebodydynamics.xml | 21 ++++++++----------- 1 file changed, 9 insertions(+), 12 deletions(-) diff --git a/iCubGenova09/estimators/wholebodydynamics.xml b/iCubGenova09/estimators/wholebodydynamics.xml index 570ba3d885..dda9c91411 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_upper_leg,r_foot_front,r_foot_rear,l_lower_leg,r_lower_leg) + (l_hand,r_hand,root_link,l_upper_leg,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 @@ -70,7 +70,7 @@ - (l_arm_ft_sensor, r_arm_ft_sensor, r_leg_ft_sensor,l_foot_front_ft_sensor, l_foot_rear_ft_sensor, r_foot_front_ft_sensor, r_foot_rear_ft_sensor) + (l_arm_ft_sensor, r_arm_ft_sensor, l_leg_ft_sensor, r_leg_ft_sensor,l_foot_front_ft_sensor, l_foot_rear_ft_sensor, r_foot_front_ft_sensor, r_foot_rear_ft_sensor) ` @@ -114,6 +114,7 @@ (l_hand,l_hand,root_link) (r_hand,r_hand,root_link) + (l_upper_leg,l_upper_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) @@ -145,17 +146,13 @@ - - - left_arm-eb1-j0_1-strain + left_arm-eb1-j0_1-strain right_arm-eb3-j0_1-strain - left_leg-eb8-j3_5-strain - - right_leg-eb12-j3_5-strain - right_leg-eb11-j0_2-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 + From abcf74aaa5dc9cae762d008531dfb0e4a8674cdf Mon Sep 17 00:00:00 2001 From: Giulio Romualdi Date: Thu, 30 Jun 2022 14:13:41 +0000 Subject: [PATCH 04/25] [iCubGenova09] Add server and wrapper to read left foot FTs IMUs --- .../inertials/left_leg-eb10-inertials.xml | 64 ------------------- .../hardware/inertials/left_leg-eb8-IMU.xml | 46 +++++++++++++ ..._wrapper.xml => left_foot-IMU_wrapper.xml} | 9 ++- 3 files changed, 50 insertions(+), 69 deletions(-) delete mode 100644 iCubGenova09/hardware/inertials/left_leg-eb10-inertials.xml create mode 100644 iCubGenova09/hardware/inertials/left_leg-eb8-IMU.xml rename iCubGenova09/wrappers/inertials/{left_leg-inertials_wrapper.xml => left_foot-IMU_wrapper.xml} (78%) diff --git a/iCubGenova09/hardware/inertials/left_leg-eb10-inertials.xml b/iCubGenova09/hardware/inertials/left_leg-eb10-inertials.xml deleted file mode 100644 index cbcffafce6..0000000000 --- a/iCubGenova09/hardware/inertials/left_leg-eb10-inertials.xml +++ /dev/null @@ -1,64 +0,0 @@ - - - - - - - - - - - - - - eomn_serv_AS_inertials - - - - - eobrd_mtb - - - 0 - 0 - - - 0 - 0 - 0 - - - - - on_ems10_accel on_ems10_gyros l_upper_leg_1_10B1 - l_upper_leg_2_10B2 l_upper_leg_3_10B3 l_upper_leg_4_10B4 l_upper_leg_5_10B5 - l_upper_leg_6_10B6 l_upper_leg_7_10B7 l_lower_leg_1_10B8 l_lower_leg_2_10B9 - l_lower_leg_3_10B10 l_lower_leg_4_10B11 l_foot_1_10B12 l_foot_2_10B13 - - - eoas_accel_st_lis3x eoas_gyros_st_l3g4200d eoas_accel_mtb_int - eoas_accel_mtb_int eoas_accel_mtb_int eoas_accel_mtb_int eoas_accel_mtb_int - eoas_accel_mtb_int eoas_accel_mtb_int eoas_accel_mtb_int eoas_accel_mtb_int - eoas_accel_mtb_int eoas_accel_mtb_int eoas_accel_mtb_int eoas_accel_mtb_int - - - ETH:0 ETH:0 CAN1:1 - CAN1:2 CAN1:3 CAN1:4 CAN1:5 - CAN1:6 CAN1:7 CAN2:8 CAN2:9 - CAN2:10 CAN2:11 CAN2:13 CAN2:12 - - - - - - - 50 - l_upper_leg_1_10B1 l_upper_leg_2_10B2 l_upper_leg_3_10B3 l_upper_leg_4_10B4 - - - - - - - - diff --git a/iCubGenova09/hardware/inertials/left_leg-eb8-IMU.xml b/iCubGenova09/hardware/inertials/left_leg-eb8-IMU.xml new file mode 100644 index 0000000000..5bb9dd61de --- /dev/null +++ b/iCubGenova09/hardware/inertials/left_leg-eb8-IMU.xml @@ -0,0 +1,46 @@ + + + + + + + + + + + + eomn_serv_AS_inertials3 + + + + + eobrd_strain2 + + + 0 + 0 + + + + 0 + 0 + 0 + + + + + l_foot_rear_ft_acc l_foot_rear_ft_gyro l_foot_rear_ft_eul l_foot_rear_ft_mag l_foot_rear_ft_stat l_foot_front_ft_acc l_foot_front_ft_gyro l_foot_front_ft_eul l_foot_front_ft_mag l_foot_front_ft_stat + eoas_imu_acc eoas_imu_gyr eoas_imu_eul eoas_imu_mag eoas_imu_status eoas_imu_acc eoas_imu_gyr eoas_imu_eul eoas_imu_mag eoas_imu_status + strain2 strain2 strain2 strain2 strain2 strain2 strain2 strain2 strain2 strain2 + CAN2:13 CAN2:13 CAN2:13 CAN2:13 CAN2:13 CAN2:14 CAN2:14 CAN2:14 CAN2:14 CAN2:14 + + + + + + 50 + l_foot_rear_ft_acc l_foot_rear_ft_gyro l_foot_rear_ft_eul l_foot_rear_ft_mag l_foot_rear_ft_stat l_foot_front_ft_acc l_foot_front_ft_gyro l_foot_front_ft_eul l_foot_front_ft_mag l_foot_front_ft_stat + + + + diff --git a/iCubGenova09/wrappers/inertials/left_leg-inertials_wrapper.xml b/iCubGenova09/wrappers/inertials/left_foot-IMU_wrapper.xml similarity index 78% rename from iCubGenova09/wrappers/inertials/left_leg-inertials_wrapper.xml rename to iCubGenova09/wrappers/inertials/left_foot-IMU_wrapper.xml index 49922cee21..62e516e171 100644 --- a/iCubGenova09/wrappers/inertials/left_leg-inertials_wrapper.xml +++ b/iCubGenova09/wrappers/inertials/left_foot-IMU_wrapper.xml @@ -2,20 +2,19 @@ - + 10 - /icub/left_leg/inertialMTB + /icub/left_foot/imu + - - left_leg-eb10-inertials + left_leg-eb8-imu - From 69e24b7b30966ab9f8c694a9127227c7af1fa51f Mon Sep 17 00:00:00 2001 From: Giulio Romualdi Date: Thu, 30 Jun 2022 14:29:13 +0000 Subject: [PATCH 05/25] [iCubGenova09] Add server and wrapper to read left leg FTs IMUs --- .../hardware/inertials/left_leg-eb7-IMU.xml | 46 +++++++++++++++++++ .../inertials/left_leg-IMU_wrapper.xml | 20 ++++++++ 2 files changed, 66 insertions(+) create mode 100644 iCubGenova09/hardware/inertials/left_leg-eb7-IMU.xml create mode 100644 iCubGenova09/wrappers/inertials/left_leg-IMU_wrapper.xml diff --git a/iCubGenova09/hardware/inertials/left_leg-eb7-IMU.xml b/iCubGenova09/hardware/inertials/left_leg-eb7-IMU.xml new file mode 100644 index 0000000000..dd737f00cd --- /dev/null +++ b/iCubGenova09/hardware/inertials/left_leg-eb7-IMU.xml @@ -0,0 +1,46 @@ + + + + + + + + + + + + eomn_serv_AS_inertials3 + + + + + eobrd_strain2 + + + 0 + 0 + + + + 0 + 0 + 0 + + + + + l_leg_ft_acc l_leg_ft_gyro l_leg_ft_eul l_leg_ft_mag l_leg_ft_stat + eoas_imu_acc eoas_imu_gyr eoas_imu_eul eoas_imu_mag eoas_imu_status + strain2 strain2 strain2 strain2 strain2 + CAN2:13 CAN2:13 CAN2:13 CAN2:13 CAN2:13 + + + + + + 50 + l_leg_ft_acc l_leg_ft_gyro l_leg_ft_eul l_leg_ft_mag l_leg_ft_stat + + + + diff --git a/iCubGenova09/wrappers/inertials/left_leg-IMU_wrapper.xml b/iCubGenova09/wrappers/inertials/left_leg-IMU_wrapper.xml new file mode 100644 index 0000000000..96820612c3 --- /dev/null +++ b/iCubGenova09/wrappers/inertials/left_leg-IMU_wrapper.xml @@ -0,0 +1,20 @@ + + + + + + 10 + /icub/left_leg/imu + + + + + + left_leg-eb7-imu + + + + + From 1520b6daf2dd9a83b9164de76ba2325a3820a6f6 Mon Sep 17 00:00:00 2001 From: Giulio Romualdi Date: Thu, 30 Jun 2022 15:21:24 +0000 Subject: [PATCH 06/25] [iCubGenova09] Add server and wrapper to read left arm FTs IMUs --- .../hardware/inertials/left_arm-eb1-IMU.xml | 46 +++++++++++++++++++ .../inertials/left_arm-IMU_wrapper.xml | 20 ++++++++ 2 files changed, 66 insertions(+) create mode 100644 iCubGenova09/hardware/inertials/left_arm-eb1-IMU.xml create mode 100644 iCubGenova09/wrappers/inertials/left_arm-IMU_wrapper.xml diff --git a/iCubGenova09/hardware/inertials/left_arm-eb1-IMU.xml b/iCubGenova09/hardware/inertials/left_arm-eb1-IMU.xml new file mode 100644 index 0000000000..2357d76116 --- /dev/null +++ b/iCubGenova09/hardware/inertials/left_arm-eb1-IMU.xml @@ -0,0 +1,46 @@ + + + + + + + + + + + + eomn_serv_AS_inertials3 + + + + + eobrd_strain2 + + + 0 + 0 + + + + 0 + 0 + 0 + + + + + l_arm_ft_acc l_arm_ft_gyro l_arm_ft_eul l_arm_ft_mag l_arm_ft_stat + eoas_imu_acc eoas_imu_gyr eoas_imu_eul eoas_imu_mag eoas_imu_status + strain2 strain2 strain2 strain2 strain2 + CAN2:13 CAN2:13 CAN2:13 CAN2:13 CAN2:13 + + + + + + 50 + l_arm_ft_acc l_arm_ft_gyro l_arm_ft_eul l_arm_ft_mag l_arm_ft_stat + + + + diff --git a/iCubGenova09/wrappers/inertials/left_arm-IMU_wrapper.xml b/iCubGenova09/wrappers/inertials/left_arm-IMU_wrapper.xml new file mode 100644 index 0000000000..5a3fe80c58 --- /dev/null +++ b/iCubGenova09/wrappers/inertials/left_arm-IMU_wrapper.xml @@ -0,0 +1,20 @@ + + + + + + 10 + /icub/left_arm/imu + + + + + + left_arm-eb1-imu + + + + + From 63f55183b92a4ad5b6e7ce43c1f1c6e811a852e0 Mon Sep 17 00:00:00 2001 From: Giulio Romualdi Date: Thu, 30 Jun 2022 15:21:52 +0000 Subject: [PATCH 07/25] [iCubGenova09] Add server and wrapper to read right arm FTs IMUs --- .../hardware/inertials/right_arm-eb3-IMU.xml | 46 +++++++++++++++++++ .../inertials/right_arm-IMU_wrapper.xml | 20 ++++++++ 2 files changed, 66 insertions(+) create mode 100644 iCubGenova09/hardware/inertials/right_arm-eb3-IMU.xml create mode 100644 iCubGenova09/wrappers/inertials/right_arm-IMU_wrapper.xml diff --git a/iCubGenova09/hardware/inertials/right_arm-eb3-IMU.xml b/iCubGenova09/hardware/inertials/right_arm-eb3-IMU.xml new file mode 100644 index 0000000000..3a12e54284 --- /dev/null +++ b/iCubGenova09/hardware/inertials/right_arm-eb3-IMU.xml @@ -0,0 +1,46 @@ + + + + + + + + + + + + eomn_serv_AS_inertials3 + + + + + eobrd_strain2 + + + 0 + 0 + + + + 0 + 0 + 0 + + + + + r_arm_ft_acc r_arm_ft_gyro r_arm_ft_eul r_arm_ft_mag r_arm_ft_stat + eoas_imu_acc eoas_imu_gyr eoas_imu_eul eoas_imu_mag eoas_imu_status + strain2 strain2 strain2 strain2 strain2 + CAN2:13 CAN2:13 CAN2:13 CAN2:13 CAN2:13 + + + + + + 50 + r_arm_ft_acc r_arm_ft_gyro r_arm_ft_eul r_arm_ft_mag r_arm_ft_stat + + + + diff --git a/iCubGenova09/wrappers/inertials/right_arm-IMU_wrapper.xml b/iCubGenova09/wrappers/inertials/right_arm-IMU_wrapper.xml new file mode 100644 index 0000000000..e456a5f365 --- /dev/null +++ b/iCubGenova09/wrappers/inertials/right_arm-IMU_wrapper.xml @@ -0,0 +1,20 @@ + + + + + + 10 + /icub/right_arm/imu + + + + + + right_arm-eb3-imu + + + + + From 3f4864b6c7a71cc38f90323a1ce86970523228e9 Mon Sep 17 00:00:00 2001 From: Giulio Romualdi Date: Thu, 30 Jun 2022 15:22:19 +0000 Subject: [PATCH 08/25] [iCubGenova09] Add server and wrapper to read right leg FTs IMUs --- .../hardware/inertials/right_leg-eb11-IMU.xml | 46 +++++++++++++++++++ .../inertials/right_leg-IMU_wrapper.xml | 20 ++++++++ 2 files changed, 66 insertions(+) create mode 100644 iCubGenova09/hardware/inertials/right_leg-eb11-IMU.xml create mode 100644 iCubGenova09/wrappers/inertials/right_leg-IMU_wrapper.xml diff --git a/iCubGenova09/hardware/inertials/right_leg-eb11-IMU.xml b/iCubGenova09/hardware/inertials/right_leg-eb11-IMU.xml new file mode 100644 index 0000000000..b9a2030c5c --- /dev/null +++ b/iCubGenova09/hardware/inertials/right_leg-eb11-IMU.xml @@ -0,0 +1,46 @@ + + + + + + + + + + + + eomn_serv_AS_inertials3 + + + + + eobrd_strain2 + + + 0 + 0 + + + + 0 + 0 + 0 + + + + + r_leg_ft_acc r_leg_ft_gyro r_leg_ft_eul r_leg_ft_mag r_leg_ft_stat + eoas_imu_acc eoas_imu_gyr eoas_imu_eul eoas_imu_mag eoas_imu_status + strain2 strain2 strain2 strain2 strain2 + CAN2:13 CAN2:13 CAN2:13 CAN2:13 CAN2:13 + + + + + + 50 + r_leg_ft_acc r_leg_ft_gyro r_leg_ft_eul r_leg_ft_mag r_leg_ft_stat + + + + diff --git a/iCubGenova09/wrappers/inertials/right_leg-IMU_wrapper.xml b/iCubGenova09/wrappers/inertials/right_leg-IMU_wrapper.xml new file mode 100644 index 0000000000..1dcee40b7a --- /dev/null +++ b/iCubGenova09/wrappers/inertials/right_leg-IMU_wrapper.xml @@ -0,0 +1,20 @@ + + + + + + 10 + /icub/right_leg/imu + + + + + + right_leg-eb11-imu + + + + + From af8abf675458518cf6b4eec12607db3ff8489fa6 Mon Sep 17 00:00:00 2001 From: Giulio Romualdi Date: Thu, 30 Jun 2022 15:22:32 +0000 Subject: [PATCH 09/25] [iCubGenova09] Add server and wrapper to read right foot FTs IMUs --- .../hardware/inertials/right_leg-eb12-IMU.xml | 46 +++++++++++++++++++ .../inertials/right_foot-IMU_wrapper.xml | 20 ++++++++ 2 files changed, 66 insertions(+) create mode 100644 iCubGenova09/hardware/inertials/right_leg-eb12-IMU.xml create mode 100644 iCubGenova09/wrappers/inertials/right_foot-IMU_wrapper.xml diff --git a/iCubGenova09/hardware/inertials/right_leg-eb12-IMU.xml b/iCubGenova09/hardware/inertials/right_leg-eb12-IMU.xml new file mode 100644 index 0000000000..6f740d04db --- /dev/null +++ b/iCubGenova09/hardware/inertials/right_leg-eb12-IMU.xml @@ -0,0 +1,46 @@ + + + + + + + + + + + + eomn_serv_AS_inertials3 + + + + + eobrd_strain2 + + + 0 + 0 + + + + 0 + 0 + 0 + + + + + r_foot_rear_ft_acc r_foot_rear_ft_gyro r_foot_rear_ft_eul r_foot_rear_ft_mag r_foot_rear_ft_stat r_foot_front_ft_acc r_foot_front_ft_gyro r_foot_front_ft_eul r_foot_front_ft_mag r_foot_front_ft_stat + eoas_imu_acc eoas_imu_gyr eoas_imu_eul eoas_imu_mag eoas_imu_status eoas_imu_acc eoas_imu_gyr eoas_imu_eul eoas_imu_mag eoas_imu_status + strain2 strain2 strain2 strain2 strain2 strain2 strain2 strain2 strain2 strain2 + CAN2:13 CAN2:13 CAN2:13 CAN2:13 CAN2:13 CAN2:14 CAN2:14 CAN2:14 CAN2:14 CAN2:14 + + + + + + 50 + r_foot_rear_ft_acc r_foot_rear_ft_gyro r_foot_rear_ft_eul r_foot_rear_ft_mag r_foot_rear_ft_stat r_foot_front_ft_acc r_foot_front_ft_gyro r_foot_front_ft_eul r_foot_front_ft_mag r_foot_front_ft_stat + + + + diff --git a/iCubGenova09/wrappers/inertials/right_foot-IMU_wrapper.xml b/iCubGenova09/wrappers/inertials/right_foot-IMU_wrapper.xml new file mode 100644 index 0000000000..49a6e9efd9 --- /dev/null +++ b/iCubGenova09/wrappers/inertials/right_foot-IMU_wrapper.xml @@ -0,0 +1,20 @@ + + + + + + 10 + /icub/right_foot/imu + + + + + + right_leg-eb12-imu + + + + + From 49ea80096065464f06df85d6213daef81674574c Mon Sep 17 00:00:00 2001 From: Giulio Romualdi Date: Thu, 30 Jun 2022 15:23:15 +0000 Subject: [PATCH 10/25] [iCubGenova09] Remove outdated hardware and inertials files --- .../left_arm-eb24-j4_7-inertials.xml | 63 ------------------ .../right_arm-eb27-j4_7-inertials.xml | 61 ------------------ .../inertials/right_leg-eb11-inertials.xml | 64 ------------------- .../inertials/left_arm-inertials_wrapper.xml | 21 ------ .../inertials/right_arm-inertials_wrapper.xml | 21 ------ .../inertials/right_leg-inertials_wrapper.xml | 21 ------ 6 files changed, 251 deletions(-) delete mode 100644 iCubGenova09/hardware/inertials/left_arm-eb24-j4_7-inertials.xml delete mode 100644 iCubGenova09/hardware/inertials/right_arm-eb27-j4_7-inertials.xml delete mode 100644 iCubGenova09/hardware/inertials/right_leg-eb11-inertials.xml delete mode 100644 iCubGenova09/wrappers/inertials/left_arm-inertials_wrapper.xml delete mode 100644 iCubGenova09/wrappers/inertials/right_arm-inertials_wrapper.xml delete mode 100644 iCubGenova09/wrappers/inertials/right_leg-inertials_wrapper.xml diff --git a/iCubGenova09/hardware/inertials/left_arm-eb24-j4_7-inertials.xml b/iCubGenova09/hardware/inertials/left_arm-eb24-j4_7-inertials.xml deleted file mode 100644 index df008caeb5..0000000000 --- a/iCubGenova09/hardware/inertials/left_arm-eb24-j4_7-inertials.xml +++ /dev/null @@ -1,63 +0,0 @@ - - - - - - - - - - - - - - eomn_serv_AS_inertials - - - - - eobrd_mtb - - - 0 - 0 - - - 0 - 0 - 0 - - - - - on_ems2_accel on_ems2_gyros - l_upper_arm_4 l_upper_arm_1 l_upper_arm_3 l_upper_arm_2 - l_forearm_1 l_forearm_2 l_hand l_hand_gyro - - - eoas_accel_st_lis3x eoas_gyros_st_l3g4200d - eoas_accel_mtb_int eoas_accel_mtb_int eoas_accel_mtb_int eoas_accel_mtb_int - eoas_accel_mtb_int eoas_accel_mtb_int eoas_accel_mtb_int eoas_gyros_mtb_ext - - - ETH:0 ETH:0 - CAN1:8 CAN1:9 CAN1:10 CAN1:11 - CAN1:12 CAN1:13 CAN1:14 CAN1:14 - - - - - - - 50 - l_hand l_forearm_1 l_forearm_2 l_hand_gyro - - - - - - - - - - diff --git a/iCubGenova09/hardware/inertials/right_arm-eb27-j4_7-inertials.xml b/iCubGenova09/hardware/inertials/right_arm-eb27-j4_7-inertials.xml deleted file mode 100644 index 5a866a5ca7..0000000000 --- a/iCubGenova09/hardware/inertials/right_arm-eb27-j4_7-inertials.xml +++ /dev/null @@ -1,61 +0,0 @@ - - - - - - - - - - - - - - eomn_serv_AS_inertials - - - - - eobrd_mtb - - - 0 - 0 - - - 0 - 0 - 0 - - - - - on_ems4_accel on_ems4_gyros - r_upper_arm_4 r_upper_arm_1 r_upper_arm_3 r_upper_arm_2 - r_forearm_1 r_forearm_2 r_hand r_hand_gyro - - - eoas_accel_st_lis3x eoas_gyros_st_l3g4200d - eoas_accel_mtb_int eoas_accel_mtb_int eoas_accel_mtb_int eoas_accel_mtb_int - eoas_accel_mtb_int eoas_accel_mtb_int eoas_accel_mtb_int eoas_gyros_mtb_ext - - - ETH:0 ETH:0 - CAN1:8 CAN1:9 CAN1:10 CAN1:11 - CAN1:12 CAN1:13 CAN1:14 CAN1:14 - - - - - - - 50 - r_hand r_forearm_1 r_forearm_2 r_hand_gyro - - - - - - - - diff --git a/iCubGenova09/hardware/inertials/right_leg-eb11-inertials.xml b/iCubGenova09/hardware/inertials/right_leg-eb11-inertials.xml deleted file mode 100644 index 664ad83bc8..0000000000 --- a/iCubGenova09/hardware/inertials/right_leg-eb11-inertials.xml +++ /dev/null @@ -1,64 +0,0 @@ - - - - - - - - - - - - - - eomn_serv_AS_inertials - - - - - eobrd_mtb - - - 0 - 0 - - - 0 - 0 - 0 - - - - - on_ems11_accel on_ems11_gyros r_upper_leg_1_10B1 - r_upper_leg_2_10B2 r_upper_leg_3_10B3 r_upper_leg_4_10B4 r_upper_leg_5_10B5 - r_upper_leg_6_10B6 r_upper_leg_7_10B7 r_lower_leg_1_10B8 r_lower_leg_2_10B9 - r_lower_leg_3_10B10 r_lower_leg_4_10B11 r_foot_1_10B12 r_foot_2_10B13 - - - eoas_accel_st_lis3x eoas_gyros_st_l3g4200d eoas_accel_mtb_int - eoas_accel_mtb_int eoas_accel_mtb_int eoas_accel_mtb_int eoas_accel_mtb_int - eoas_accel_mtb_int eoas_accel_mtb_int eoas_accel_mtb_int eoas_accel_mtb_int - eoas_accel_mtb_int eoas_accel_mtb_int eoas_accel_mtb_int eoas_accel_mtb_int - - - ETH:0 ETH:0 CAN1:1 - CAN1:2 CAN1:3 CAN1:4 CAN1:5 - CAN1:6 CAN1:7 CAN2:8 CAN2:9 - CAN2:10 CAN2:11 CAN2:12 CAN2:13 - - - - - - - 50 - r_upper_leg_1_10B1 r_upper_leg_2_10B2 r_upper_leg_3_10B3 r_upper_leg_4_10B4 - - - - - - - - diff --git a/iCubGenova09/wrappers/inertials/left_arm-inertials_wrapper.xml b/iCubGenova09/wrappers/inertials/left_arm-inertials_wrapper.xml deleted file mode 100644 index f654cb77c3..0000000000 --- a/iCubGenova09/wrappers/inertials/left_arm-inertials_wrapper.xml +++ /dev/null @@ -1,21 +0,0 @@ - - - - - - 10 - /icub/left_hand/inertialMTB - - - - - - left_arm-eb24-j4_7-inertials - - - - - - diff --git a/iCubGenova09/wrappers/inertials/right_arm-inertials_wrapper.xml b/iCubGenova09/wrappers/inertials/right_arm-inertials_wrapper.xml deleted file mode 100644 index ec039799b2..0000000000 --- a/iCubGenova09/wrappers/inertials/right_arm-inertials_wrapper.xml +++ /dev/null @@ -1,21 +0,0 @@ - - - - - - 10 - /icub/right_hand/inertialMTB - - - - - - right_arm-eb27-j4_7-inertials - - - - - - diff --git a/iCubGenova09/wrappers/inertials/right_leg-inertials_wrapper.xml b/iCubGenova09/wrappers/inertials/right_leg-inertials_wrapper.xml deleted file mode 100644 index cca4c068ec..0000000000 --- a/iCubGenova09/wrappers/inertials/right_leg-inertials_wrapper.xml +++ /dev/null @@ -1,21 +0,0 @@ - - - - - - 10 - /icub/right_leg/inertialMTB - - - - - - right_leg-eb11-inertials - - - - - - From b0e9f6def257535331f0b91f5830868a0c35d1bb Mon Sep 17 00:00:00 2001 From: Giulio Romualdi Date: Thu, 30 Jun 2022 15:26:13 +0000 Subject: [PATCH 11/25] [iCubGenova09] Enable the left and right FTs IMUs streaming --- iCubGenova09/icub_wbd.xml | 14 +++++++++++++- 1 file changed, 13 insertions(+), 1 deletion(-) diff --git a/iCubGenova09/icub_wbd.xml b/iCubGenova09/icub_wbd.xml index 5b49e96f6f..093dca9ca4 100644 --- a/iCubGenova09/icub_wbd.xml +++ b/iCubGenova09/icub_wbd.xml @@ -95,7 +95,19 @@ - + + + + + + + + + + + + + From 7ec8a3602c9527c2d69952e3aa221a392316c082 Mon Sep 17 00:00:00 2001 From: Ines Date: Thu, 7 Jul 2022 14:37:22 +0200 Subject: [PATCH 12/25] Add group for enabling the kalman filter on the legs of iCubGenova09 --- .../hardware/motorControl/left_leg-eb7-j0_2-mc.xml | 13 +++++++++++++ .../hardware/motorControl/left_leg-eb8-j3_5-mc.xml | 13 +++++++++++++ .../motorControl/right_leg-eb11-j0_2-mc.xml | 13 +++++++++++++ .../motorControl/right_leg-eb12-j3_5-mc.xml | 13 +++++++++++++ 4 files changed, 52 insertions(+) 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 f565f9c3a8..6938907aa4 100644 --- a/iCubGenova09/hardware/motorControl/left_leg-eb7-j0_2-mc.xml +++ b/iCubGenova09/hardware/motorControl/left_leg-eb7-j0_2-mc.xml @@ -136,5 +136,18 @@ 0.0049 0.0049 0.0049 + + + + 1 1 1 + 0 0 0 + 0 0 0 + 0 0 0 + 0.0001 0.0001 0.0001 + 0.01 0.01 0.01 + 10 10 10 + 0.001 0.001 0.001 + 0.000099 0.000099 0.000099 + 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 4e78b05580..6fc560b769 100644 --- a/iCubGenova09/hardware/motorControl/left_leg-eb8-j3_5-mc.xml +++ b/iCubGenova09/hardware/motorControl/left_leg-eb8-j3_5-mc.xml @@ -134,6 +134,19 @@ 0.0049 0.0049 0.0049 + + + + 1 1 1 + 0 0 0 + 0 0 0 + 0 0 0 + 0.0001 0.0001 0.0001 + 0.01 0.01 0.01 + 10 10 10 + 0.001 0.001 0.001 + 0.000099 0.000099 0.000099 + 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 37bc05da7e..d1a314f0b4 100644 --- a/iCubGenova09/hardware/motorControl/right_leg-eb11-j0_2-mc.xml +++ b/iCubGenova09/hardware/motorControl/right_leg-eb11-j0_2-mc.xml @@ -136,5 +136,18 @@ 0.0049 0.0049 0.0049 + + + + 1 1 1 + 0 0 0 + 0 0 0 + 0 0 0 + 0.0001 0.0001 0.0001 + 0.01 0.01 0.01 + 10 10 10 + 0.001 0.001 0.001 + 0.000099 0.000099 0.000099 + 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 55fc195c17..d89fd41005 100644 --- a/iCubGenova09/hardware/motorControl/right_leg-eb12-j3_5-mc.xml +++ b/iCubGenova09/hardware/motorControl/right_leg-eb12-j3_5-mc.xml @@ -134,6 +134,19 @@ 0.011 0.011 0.011 + + + + 1 1 1 + 0 0 0 + 0 0 0 + 0 0 0 + 0.0001 0.0001 0.0001 + 0.01 0.01 0.01 + 10 10 10 + 0.001 0.001 0.001 + 0.000099 0.000099 0.000099 + From 7fb5e6694744a4ddcb9dbee864d63f5c42cbee15 Mon Sep 17 00:00:00 2001 From: icub Date: Tue, 12 Jul 2022 17:38:50 +0200 Subject: [PATCH 13/25] Using mjpeg as carrier for CalibCameras application. --- iCubGenova09/extra/applications/cameras_calib.xml | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/iCubGenova09/extra/applications/cameras_calib.xml b/iCubGenova09/extra/applications/cameras_calib.xml index fa533b383d..5f52f6700a 100644 --- a/iCubGenova09/extra/applications/cameras_calib.xml +++ b/iCubGenova09/extra/applications/cameras_calib.xml @@ -46,22 +46,22 @@ /icub/cam/left /icub/camcalib/left/in - tcp + mjpeg /icub/cam/right /icub/camcalib/right/in - tcp + mjpeg /icub/camcalib/left/out /icub/view/left - tcp + mjpeg /icub/camcalib/right/out /icub/view/right - tcp + mjpeg From 9cac46e78445ee1023e1b9ed469814043059a039 Mon Sep 17 00:00:00 2001 From: iCubGenova09 Date: Tue, 12 Jul 2022 17:57:49 +0000 Subject: [PATCH 14/25] Increased knee current 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 6fc560b769..212f75ab40 100644 --- a/iCubGenova09/hardware/motorControl/left_leg-eb8-j3_5-mc.xml +++ b/iCubGenova09/hardware/motorControl/left_leg-eb8-j3_5-mc.xml @@ -15,8 +15,8 @@ -70 -43 -23 240 240 240 10000 10000 10000 - 14000 15000 15000 - 19000 30000 30000 + 15000 15000 15000 + 30000 30000 30000 16000 16000 16000 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 d89fd41005..dd88e83c4c 100644 --- a/iCubGenova09/hardware/motorControl/right_leg-eb12-j3_5-mc.xml +++ b/iCubGenova09/hardware/motorControl/right_leg-eb12-j3_5-mc.xml @@ -15,8 +15,8 @@ -70 -45 -23 240 240 240 10000 10000 10000 - 14000 15000 15000 - 19000 30000 30000 + 15000 15000 15000 + 30000 30000 30000 16000 16000 16000 From cb5be0fbfa1beb1dee55ec73b20c1adae36b110f Mon Sep 17 00:00:00 2001 From: iCubGenova09 Date: Fri, 15 Jul 2022 10:52:06 +0000 Subject: [PATCH 15/25] yaw wrist calibration and recover --- iCubGenova09/calibrators/left_arm-calib.xml | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/iCubGenova09/calibrators/left_arm-calib.xml b/iCubGenova09/calibrators/left_arm-calib.xml index e796be878e..41b60e08e2 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 63200 20250 0 0 0 0 0 0 0 0 0 + 4000 -3000 -3000 4000 -1500 63200 12447 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 325 250 478 243 478 255 480 715 0 0 0 0 0 0 0 2073 2730 9 99 15 30 30 90 140 - 25 -8.4 -51.3 -5 0 0 0 0 0 0 0 0 0 0 0 0 - 0 0 0 0 0 -2 -30 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 -2 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 From 731683d1aef75603fbbc927e880ca69669595bf9 Mon Sep 17 00:00:00 2001 From: Giulio Romualdi Date: Fri, 15 Jul 2022 17:12:43 +0000 Subject: [PATCH 16/25] [iCubGenova09] Decrease the max PID output of the left hip yaw --- iCubGenova09/hardware/motorControl/left_leg-eb7-j0_2-mc.xml | 4 ++-- 1 file 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 6938907aa4..84ad62a847 100644 --- a/iCubGenova09/hardware/motorControl/left_leg-eb7-j0_2-mc.xml +++ b/iCubGenova09/hardware/motorControl/left_leg-eb7-j0_2-mc.xml @@ -51,8 +51,8 @@ -3000 7000 -711 0 0 0 -1500 5000 -7111 - 12000 12000 12000 - 1500 5000 750 + 12000 12000 10000 + 1500 5000 2000 0 0 0 0 0 0 From 2c153cdfab84ed507343d0b609cb2d8b4fd4697f Mon Sep 17 00:00:00 2001 From: Giulio Romualdi Date: Fri, 15 Jul 2022 17:13:13 +0000 Subject: [PATCH 17/25] [iCubGenova09] Decrease the max PID output of the left knee --- iCubGenova09/hardware/motorControl/left_leg-eb8-j3_5-mc.xml | 4 ++-- 1 file changed, 2 insertions(+), 2 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 212f75ab40..68545eb0c0 100644 --- a/iCubGenova09/hardware/motorControl/left_leg-eb8-j3_5-mc.xml +++ b/iCubGenova09/hardware/motorControl/left_leg-eb8-j3_5-mc.xml @@ -42,7 +42,7 @@ - minjerk + minjerk pwm metric_units machine_units @@ -50,7 +50,7 @@ -5000 -5000 -3000 0 0 0 -1500 -1000 -1000 - 12000 12000 12000 + 10000 12000 12000 2000 1000 1000 0 0 0 0 0 0 From 26568a39367c5c56c34a467ded8734db7434bcd7 Mon Sep 17 00:00:00 2001 From: Giulio Romualdi Date: Fri, 15 Jul 2022 17:14:02 +0000 Subject: [PATCH 18/25] [iCubGenova09] Decrease the max PID output of the right hip yaw --- iCubGenova09/hardware/motorControl/right_leg-eb11-j0_2-mc.xml | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) 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 d1a314f0b4..1be7f9fe5e 100644 --- a/iCubGenova09/hardware/motorControl/right_leg-eb11-j0_2-mc.xml +++ b/iCubGenova09/hardware/motorControl/right_leg-eb11-j0_2-mc.xml @@ -43,7 +43,7 @@ - minjerk + minjerk pwm metric_units machine_units @@ -51,7 +51,7 @@ 5000 -7000 3000 0 0 0 1500 -5000 2000 - 12000 12000 12000 + 12000 12000 10000 1500 5000 2000 0 0 0 0 0 0 From 2ed79e6bf12a1fe52be721c5a988ab8ff61c1d28 Mon Sep 17 00:00:00 2001 From: Giulio Romualdi Date: Fri, 15 Jul 2022 17:14:17 +0000 Subject: [PATCH 19/25] [iCubGenova09] Decrease the max PID output of the right knee --- iCubGenova09/hardware/motorControl/right_leg-eb12-j3_5-mc.xml | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) 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 dd88e83c4c..04125ef3d4 100644 --- a/iCubGenova09/hardware/motorControl/right_leg-eb12-j3_5-mc.xml +++ b/iCubGenova09/hardware/motorControl/right_leg-eb12-j3_5-mc.xml @@ -42,7 +42,7 @@ - minjerk + minjerk pwm metric_units machine_units @@ -50,7 +50,7 @@ 5000 5000 2310 0 0 0 1500 1000 1000 - 12000 12000 12000 + 10000 12000 12000 2000 1000 1000 0 0 0 0 0 0 From e1fb34985dadde5300f3301bd8efa66df1598a8b Mon Sep 17 00:00:00 2001 From: iCubGenova09 Date: Mon, 25 Jul 2022 09:29:01 +0000 Subject: [PATCH 20/25] Fixed right wrist yaw. --- iCubGenova09/calibrators/right_arm-calib.xml | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/iCubGenova09/calibrators/right_arm-calib.xml b/iCubGenova09/calibrators/right_arm-calib.xml index 90701eabfd..6cf5ce4a5a 100644 --- a/iCubGenova09/calibrators/right_arm-calib.xml +++ b/iCubGenova09/calibrators/right_arm-calib.xml @@ -19,13 +19,13 @@ 10 10 10 10 5 12 12 7 7 6 6 6 6 6 6 6 - -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 + -4000 3000 3000 -4000 1500 63000 17600 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 2680 1440 255 497 255 476 255 510 764 0 0 0 0 0 0 0 2780 2240 24 80 20 30 0 35 138 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 + 0 0 0 0 0 0 0 15 0 5 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 ae7ea3363d9d1348858a16c0a03b61090231b55c Mon Sep 17 00:00:00 2001 From: iCub Date: Wed, 27 Jul 2022 18:06:52 +0200 Subject: [PATCH 21/25] Moved yarpserver node to icub-console-cuda. --- iCubGenova09/extra/contexts/yarpmanager/cluster-config.xml | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/iCubGenova09/extra/contexts/yarpmanager/cluster-config.xml b/iCubGenova09/extra/contexts/yarpmanager/cluster-config.xml index 40d6e6265a..4383de3b32 100644 --- a/iCubGenova09/extra/contexts/yarpmanager/cluster-config.xml +++ b/iCubGenova09/extra/contexts/yarpmanager/cluster-config.xml @@ -1,11 +1,11 @@ - + -icub-console +icub-console icub-console-gui pi-ifeel icub-cuda From 67a2e0a3da7c3d8fb08daf6b81f2adf211fb9938 Mon Sep 17 00:00:00 2001 From: iCubGenova09 Date: Wed, 17 Aug 2022 07:34:59 +0000 Subject: [PATCH 22/25] Updated hip roll limits after installing new hard stops. --- iCubGenova09/calibrators/left_leg-calib.xml | 2 +- iCubGenova09/calibrators/right_leg-calib.xml | 2 +- iCubGenova09/hardware/mechanicals/left_leg-eb7-j0_2-mec.xml | 2 +- iCubGenova09/hardware/mechanicals/right_leg-eb11-j0_2-mec.xml | 4 ++-- 4 files changed, 5 insertions(+), 5 deletions(-) diff --git a/iCubGenova09/calibrators/left_leg-calib.xml b/iCubGenova09/calibrators/left_leg-calib.xml index 10e6d9491e..1165a53149 100644 --- a/iCubGenova09/calibrators/left_leg-calib.xml +++ b/iCubGenova09/calibrators/left_leg-calib.xml @@ -22,7 +22,7 @@ 0.0 0.0 0 0 0 0 0.0 0.0 0 0 0 0 0.0 0.0 0 0 0 0 - 93.0 119.90 80.761 5.817 -47.060 25.823 + 93.0 112.35 80.761 5.817 -47.060 25.823 0 0 0 0 0 0 90 20 0 -70 0 0 diff --git a/iCubGenova09/calibrators/right_leg-calib.xml b/iCubGenova09/calibrators/right_leg-calib.xml index 0c38732c8e..da42c9f31d 100644 --- a/iCubGenova09/calibrators/right_leg-calib.xml +++ b/iCubGenova09/calibrators/right_leg-calib.xml @@ -22,7 +22,7 @@ 0.0 0.0 0 0 0 0 0.0 0.0 0 0 0 0 0.0 0.0 0 0 0 0 - 93.2 119 80.761 5.641 -46.329 24.137 + 93.2 111.4 80.761 5.641 -46.329 24.137 0 0 0 0 0 0 90 20 0 -70 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 b4dacda5c0..3a32d1bd24 100644 --- a/iCubGenova09/hardware/mechanicals/left_leg-eb7-j0_2-mec.xml +++ b/iCubGenova09/hardware/mechanicals/left_leg-eb7-j0_2-mec.xml @@ -19,7 +19,7 @@ - 94 120 80.5 + 94 112 80.5 -47 -20 -80.5 0 0 0 0 0 0 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 8f48a22860..2db900905c 100644 --- a/iCubGenova09/hardware/mechanicals/right_leg-eb11-j0_2-mec.xml +++ b/iCubGenova09/hardware/mechanicals/right_leg-eb11-j0_2-mec.xml @@ -21,8 +21,8 @@ - - 94 120 80.5 + + 94 112 80.5 -47 -20 -80.5 0 0 0 0 0 0 From 4c26d8f0b6fd0d963fc11b02f135b9b0c8146058 Mon Sep 17 00:00:00 2001 From: iCubGenova09 Date: Thu, 18 Aug 2022 16:35:33 +0000 Subject: [PATCH 23/25] Using bayer for the cameras, increasing the FPS. As downside, the image is darker now. --- iCubGenova09/camera/dragonfly2_config_left.ini | 6 +++--- iCubGenova09/camera/dragonfly2_config_right.ini | 6 +++--- 2 files changed, 6 insertions(+), 6 deletions(-) diff --git a/iCubGenova09/camera/dragonfly2_config_left.ini b/iCubGenova09/camera/dragonfly2_config_left.ini index 66a1aff7d7..e6973faeb4 100644 --- a/iCubGenova09/camera/dragonfly2_config_left.ini +++ b/iCubGenova09/camera/dragonfly2_config_left.ini @@ -1,10 +1,10 @@ device dragonfly2 width 1024 height 768 -video_type 10 +video_type 11 white_balance 0.561 0.631 gain 0.0 -shutter 0.512 +shutter 1.0 name /icub/cam/left brightness 0 DR2 @@ -13,7 +13,7 @@ sharpness 0.518 hue 0.479 gamma 0.399 saturation 0.467 -framerate 15 +framerate 30 #d 1 guid 00b09d0100c77485 #<64bit global identifier, without the leading 0x> then remove the d option diff --git a/iCubGenova09/camera/dragonfly2_config_right.ini b/iCubGenova09/camera/dragonfly2_config_right.ini index 80a9fdce4b..f224f080ba 100644 --- a/iCubGenova09/camera/dragonfly2_config_right.ini +++ b/iCubGenova09/camera/dragonfly2_config_right.ini @@ -1,10 +1,10 @@ device dragonfly2 width 1024 height 768 -video_type 10 +video_type 11 white_balance 0.561 0.627 gain 0.0 -shutter 0.635 +shutter 1.0 name /icub/cam/right brightness 0 DR2 @@ -13,7 +13,7 @@ sharpness 0.499 hue 0.479 gamma 0.399 saturation 0.449 -framerate 15 +framerate 30 #d 0 guid 00b09d0100bbb395 #<64bit global identifier, without the leading 0x> then remove the d option From ac07350dae88fd49a2c0ec9d2c822f6a04f3b42a Mon Sep 17 00:00:00 2001 From: iCubGenova09 Date: Wed, 24 Aug 2022 17:15:18 +0000 Subject: [PATCH 24/25] Eyes calibration. --- 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 24c6899ddb..4fb973960a 100644 --- a/iCubGenova09/calibrators/head-calib.xml +++ b/iCubGenova09/calibrators/head-calib.xml @@ -28,7 +28,7 @@ 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 6.5 + 0.0 0.0 0.0 0.0 -5.4 1.1 0.0 0.0 0.0 0.0 0.0 0.0 10 10 20.0 20.0 20.0 20.0 From a65de00b4679e8c9b2056c4faef196e3c0aafb26 Mon Sep 17 00:00:00 2001 From: iCubGenova09 Date: Thu, 1 Sep 2022 07:15:10 +0000 Subject: [PATCH 25/25] New attempt of eyes calibration --- 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 4fb973960a..d17162115a 100644 --- a/iCubGenova09/calibrators/head-calib.xml +++ b/iCubGenova09/calibrators/head-calib.xml @@ -28,7 +28,7 @@ 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 -5.4 1.1 + 0.0 0.0 0.0 0.0 -8.0 -1.5 0.0 0.0 0.0 0.0 0.0 0.0 10 10 20.0 20.0 20.0 20.0