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Merged
merged 1 commit into from
Oct 26, 2022
Merged

Add ergoCub head configuration #393

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61 changes: 0 additions & 61 deletions ergoCubSN000/calibrators/face-calib.xml
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50 changes: 25 additions & 25 deletions ergoCubSN000/calibrators/head-calib.xml
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Expand Up @@ -3,40 +3,40 @@


<device xmlns:xi="http://www.w3.org/2001/XInclude" name="head-calibrator" type="parametricCalibratorEth">

<xi:include href="../general.xml" />

<group name="GENERAL">
<param name="joints"> 6 </param> <!-- the number of joints of the robot part -->
<param name="joints"> 4 </param> <!-- the number of joints of the robot part -->
<param name="deviceName"> HeadV3_Calibrator </param> <!-- this name is used for high-level debug -->
</group>

<group name="HOME">
<param name="positionHome"> 0 0 0 0 0 0 </param>
<param name="velocityHome"> 10 10 10 10 10 10 </param>
<param name="positionHome"> 0 0 0 0 </param>
<param name="velocityHome"> 10 10 10 10 </param>
</group>

<!-- joint logical number 0 1 2 3 4 5 -->
<!-- joint name neck-pitch neck-roll neck-yaw eyes-tilt eyes-vers eyes-verg -->
<!-- joint logical number 0 1 2 3 -->
<!-- joint name neck-pitch neck-roll neck-yaw eyes-tilt -->
<group name="CALIBRATION">
<param name="calibrationType"> 12 12 12 12 5 5 </param>
<param name="calibration1"> 19567 53471 4175 770 2000 2000 </param>
<param name="calibration2"> 0 0 0 0 8192 8192 </param>
<param name="calibration3"> 0 0 0 0 0 0 </param>

<param name="calibration4"> 0 0 0 0 0 0 </param>
<param name="calibration5"> 0 0 0 0 0 0 </param>
<param name="calibrationZero"> 0.0 0.0 0.0 0.0 0.0 0.0 </param>
<param name="calibrationDelta"> 0.0 0.0 0.0 0.0 0.0 6.5 </param>
<param name="startupPosition"> 0.0 0.0 0.0 0.0 0.0 0.0 </param>
<param name="startupVelocity"> 10 10 20.0 20.0 20.0 20.0 </param>
<param name="startupMaxPwm"> 1000 1000 1000 1000 0 0 </param>
<param name="startupPosThreshold"> 90 90 2 2 2 2 </param>
</group>

<param name="CALIB_ORDER"> (0 1 2) (3) (4 5) </param>
<param name="calibrationType"> 12 12 12 12 </param>
<param name="calibration1"> 39103 -18095 61615 52575 </param>
<param name="calibration2"> 0 0 0 0 </param>
<param name="calibration3"> 0 0 0 0 </param>

<param name="calibration4"> 0 0 0 0 </param>
<param name="calibration5"> 0 0 0 0 </param>

<param name="calibrationZero"> 0.0 0.0 0.0 0.0 </param>
<param name="calibrationDelta"> 0.0 0.0 0.0 0.0 </param>

<param name="startupPosition"> 0.0 0.0 0.0 0.0 </param>
<param name="startupVelocity"> 10 10 20.0 20.0 </param>
<param name="startupMaxPwm"> 1000 1000 1000 1000 </param>
<param name="startupPosThreshold"> 90 90 2 2 </param>
</group>

<param name="CALIB_ORDER"> (0 1 2) (3) </param>

<action phase="startup" level="10" type="calibrate">
<param name="target">head-mc_remapper</param>
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2 changes: 1 addition & 1 deletion ergoCubSN000/cartesian/left_arm-cartesian.xml
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Expand Up @@ -4,7 +4,7 @@

<device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_arm-cartesian" type="cartesiancontrollerserver">
<group name="GENERAL">
<param name="ControllerName">icub/cartesianController/left_arm</param>
<param name="ControllerName">ergocub/cartesianController/left_arm</param>
<param name="ControllerPeriod">10</param>
<param name="TaskRefVelPeriodFactor">4</param>
<param name="SolverNameToConnect">cartesianSolver/left_arm</param>
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2 changes: 1 addition & 1 deletion ergoCubSN000/cartesian/right_arm-cartesian.xml
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Expand Up @@ -4,7 +4,7 @@

<device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_arm-cartesian" type="cartesiancontrollerserver">
<group name="GENERAL">
<param name="ControllerName">icub/cartesianController/right_arm</param>
<param name="ControllerName">ergocub/cartesianController/right_arm</param>
<param name="ControllerPeriod">10</param>
<param name="TaskRefVelPeriodFactor">4</param>
<param name="SolverNameToConnect">cartesianSolver/right_arm</param>
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8 changes: 4 additions & 4 deletions ergoCubSN000/cartesianSolver.ini
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@@ -1,5 +1,5 @@
[left_arm]
robot icub
robot ergocub
name cartesianSolver/left_arm
type left_v3
period 20
Expand All @@ -16,7 +16,7 @@ interPoints off
ping_robot_tmo 40.0

[right_arm]
robot icub
robot ergocub
name cartesianSolver/right_arm
type right_v3
period 20
Expand All @@ -33,7 +33,7 @@ interPoints off
ping_robot_tmo 40.0

[left_leg]
robot icub
robot ergocub
name cartesianSolver/left_leg
type left_v3
period 20
Expand All @@ -50,7 +50,7 @@ interPoints off
ping_robot_tmo 40.0

[right_leg]
robot icub
robot ergocub
name cartesianSolver/right_leg
type right_v3
period 20
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55 changes: 26 additions & 29 deletions ergoCubSN000/ergocub_all.xml
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Expand Up @@ -10,36 +10,32 @@
<devices>

<!-- motor controllers wrappers -->
<xi:include href="wrappers/motorControl/left_leg-mc_wrapper.xml" />
<xi:include href="wrappers/motorControl/right_leg-mc_wrapper.xml" />

<xi:include href="wrappers/motorControl/left_leg-mc_remapper.xml" />
<xi:include href="wrappers/motorControl/right_leg-mc_remapper.xml" />

<xi:include href="wrappers/motorControl/right_shoulder-mc_wrapper.xml" />


<xi:include href="wrappers/motorControl/right_shoulder-mc_remapper.xml" />

<xi:include href="wrappers/motorControl/left_shoulder-mc_wrapper.xml" />


<xi:include href="wrappers/motorControl/left_shoulder-mc_remapper.xml" />


<xi:include href="wrappers/motorControl/torso-mc_wrapper.xml" />


<xi:include href="wrappers/motorControl/torso-mc_remapper.xml" />

<xi:include href="wrappers/motorControl/left_leg-mc_wrapper.xml" />
<xi:include href="wrappers/motorControl/right_leg-mc_wrapper.xml" />

<xi:include href="wrappers/motorControl/left_leg-mc_remapper.xml" />
<xi:include href="wrappers/motorControl/right_leg-mc_remapper.xml" />

<xi:include href="wrappers/motorControl/right_shoulder-mc_wrapper.xml" />

<xi:include href="wrappers/motorControl/right_shoulder-mc_remapper.xml" />

<xi:include href="wrappers/motorControl/left_shoulder-mc_wrapper.xml" />

<xi:include href="wrappers/motorControl/left_shoulder-mc_remapper.xml" />

<xi:include href="wrappers/motorControl/torso-mc_wrapper.xml" />

<xi:include href="wrappers/motorControl/torso-mc_remapper.xml" />

<!-- TORSO -->
<xi:include href="hardware/motorControl/torso-eb5-j0_2-mc.xml" />

<!-- LEFT ARM -->
<xi:include href="hardware/motorControl/left_arm-eb2-j0_1-mc.xml" />
<xi:include href="hardware/motorControl/left_arm-eb4-j2_3-mc.xml" />

<!-- RIGHT ARM -->
<!-- RIGHT ARM -->
<xi:include href="hardware/motorControl/right_arm-eb1-j0_1-mc.xml" />
<xi:include href="hardware/motorControl/right_arm-eb3-j2_3-mc.xml" />

Expand All @@ -50,20 +46,20 @@
<!-- RIGHT LEG -->
<xi:include href="hardware/motorControl/right_leg-eb6-j0_3-mc.xml" />
<xi:include href="hardware/motorControl/right_leg-eb7-j4_5-mc.xml" />

<!-- ANALOG SENSORS FT -->
<xi:include href="wrappers/FT/left_arm-FT_wrapper.xml" />
<xi:include href="wrappers/FT/right_arm-FT_wrapper.xml" />
<xi:include href="wrappers/FT/right_arm-FT_wrapper.xml" />

<xi:include href="hardware/FT/left_arm-eb2-j0_1-strain.xml" />
<xi:include href="hardware/FT/right_arm-eb1-j0_1-strain.xml" />
<xi:include href="hardware/FT/right_arm-eb1-j0_1-strain.xml" />


<xi:include href="wrappers/FT/left_foot-FT_wrapper.xml" />
<xi:include href="wrappers/FT/right_foot-FT_wrapper.xml" />
<xi:include href="wrappers/FT/right_foot-FT_wrapper.xml" />

<xi:include href="hardware/FT/left_leg-eb9-j4_5-strain.xml" />
<xi:include href="hardware/FT/right_leg-eb7-j4_5-strain.xml" />
<xi:include href="hardware/FT/right_leg-eb7-j4_5-strain.xml" />


<!-- CALIBRATORS -->
Expand All @@ -72,5 +68,6 @@
<xi:include href="calibrators/left_shoulder-calib.xml" />
<xi:include href="calibrators/right_shoulder-calib.xml" />
<xi:include href="calibrators/torso-calib.xml" />
<xi:include href="calibrators/head-calib.xml" />
</devices>
</robot>
22 changes: 22 additions & 0 deletions ergoCubSN000/ergocub_head.xml
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@@ -0,0 +1,22 @@
<?xml version="1.0" encoding="UTF-8" ?>
<!DOCTYPE robot PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">

<robot name="ergoCubSN000" xmlns:xi="http://www.w3.org/2001/XInclude">

<params>
<xi:include href="hardware/electronics/pc104.xml" />
</params>

<devices>
<!-- motor controllers wrappers and remappers -->
<xi:include href="wrappers/motorControl/head-mc_wrapper.xml" />
<xi:include href="wrappers/motorControl/head-mc_remapper.xml" />

<!-- Head -->
<xi:include href="hardware/motorControl/head-eb20-j0_1-mc.xml" />
<xi:include href="hardware/motorControl/head-eb21-j2_3-mc.xml" />

<xi:include href="calibrators/head-calib.xml" />
</devices>

</robot>
2 changes: 1 addition & 1 deletion ergoCubSN000/estimators/wholebodydynamics.xml
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Expand Up @@ -48,7 +48,7 @@
<paramlist name="networks">
<!-- motorcontrol and virtual torque sensors -->
<elem name="head-j0">head-eb20-j0_1-mc</elem>
<elem name="head-j2">head-eb21-j2_5-mc</elem>
<elem name="head-j2">head-eb21-j2_3-mc</elem>
<elem name="torso">torso-eb5-j0_2-mc</elem>
<elem name="left_upper_arm-j0">left_arm-eb1-j0_1-mc</elem>
<elem name="left_upper_arm-j2">left_arm-eb2-j2_3-mc</elem>
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2 changes: 1 addition & 1 deletion ergoCubSN000/extra/applications/cameras_calib_640_480.xml
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Expand Up @@ -5,7 +5,7 @@
<module>
<name>yarpdev</name>
<parameters> --from camera/ServerGrabberDualDragon640_480.ini --split true</parameters>
<node>icub-head</node>
<node>ergocub-head</node>
</module>
<module>
<name>camCalib</name>
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2 changes: 1 addition & 1 deletion ergoCubSN000/ft.xml
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<?xml version="1.0" encoding="UTF-8" ?>
<!DOCTYPE robot PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">

<robot name="iCubGenovergoCubSN000" build="1" portprefix="icub" xmlns:xi="http://www.w3.org/2001/XInclude">
<robot name="iCubGenovergoCubSN000" build="1" portprefix="ergocub" xmlns:xi="http://www.w3.org/2001/XInclude">

<params>
<xi:include href="hardware/electronics/pc104.xml" />
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40 changes: 0 additions & 40 deletions ergoCubSN000/hardware/electronics/face-eb22-j0-eln.xml
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