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ergoCub - aligning XML - tentative nr.2 #432

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merged 3 commits into from
Feb 3, 2023
Merged

ergoCub - aligning XML - tentative nr.2 #432

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93c8501
ergoCub - aligning XML
davidetome Feb 3, 2023
633bf29
ergoCub - fixed head-only XML files
davidetome Feb 3, 2023
62b2bde
ergoCub - removed unused file
davidetome Feb 3, 2023
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12 changes: 7 additions & 5 deletions ergoCubSN000/calibrators/left_arm-calib.xml
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Expand Up @@ -23,13 +23,15 @@
<param name="calibration5"> 0 0 0 0 0 0 0 0 0 0 0 0 0 </param>
<param name="calibrationZero"> 0 0 0 0 0 0 0 0 0 0 0 0 0 </param>
<param name="calibrationDelta"> 0 0 0 0 0 0 0 0 0 0 0 0 0 </param>
<param name="startupPosition"> -35 30 0 45 0.0 0.0 0.0 20.0 20.0 20.0 20.0 20.0 20.0 </param>
<param name="startupVelocity"> 10.0 10.0 10.0 10.0 10.0 10.0 10.0 40.0 40.0 40.0 40.0 40.0 40.0 </param>
<param name="startupMaxPwm"> 4000 4000 2000 2000 16000 16000 16000 0 0 0 0 3360 3360 </param>
<param name="startupPosThreshold"> 2 2 2 2 2 2 2 20 20 20 20 20 20 </param>
<param name="startupPosition"> -35 30 0 45 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 </param>
<param name="startupVelocity"> 10.0 10.0 10.0 10.0 10.0 10.0 10.0 0.0 0.0 0.0 0.0 0.0 0.0 </param>
<param name="startupMaxPwm"> 4000 4000 2000 2000 16000 16000 16000 0 0 0 0 0 0 </param>
<param name="startupPosThreshold"> 2 2 2 2 2 2 2 0 0 0 0 0 0 </param>
</group>

<param name="CALIB_ORDER"> (1) (0) (2) (3) (4 5 6) (7 8 9 10) (11 12)</param> <!-- motor's encoder of joint 7 can't read -->
<!-- motor's encoder of joint 7 can't read -->
<param name="CALIB_ORDER"> (1) (0) (2) (3) (4 5 6) (7 8 9 10) (11 12)</param>

<action phase="startup" level="10" type="calibrate">
<param name="target">left_arm-mc_remapper</param>
</action>
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11 changes: 6 additions & 5 deletions ergoCubSN000/calibrators/right_arm-calib.xml
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Expand Up @@ -23,13 +23,14 @@
<param name="calibration5"> 0 0 0 0 0 0 0 0 0 0 0 0 0 </param>
<param name="calibrationZero"> 0 0 0 0 0 0 0 0 0 0 0 0 0 </param>
<param name="calibrationDelta"> 0 0 0 0 0 0 0 0 0 0 0 0 0 </param>
<param name="startupPosition"> -35 30 0 45 0.0 0.0 0.0 20.0 20.0 20.0 20.0 20.0 20.0 </param>
<param name="startupVelocity"> 10.0 10.0 10.0 10.0 10.0 10.0 10.0 40.0 40.0 40.0 40.0 40.0 40.0 </param>
<param name="startupMaxPwm"> 4000 4000 2000 2000 16000 16000 16000 0 0 0 0 3360 3360 </param>
<param name="startupPosThreshold"> 2 2 2 2 2 2 2 20 20 20 20 20 20 </param>
<param name="startupPosition"> -35 30 0 45 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0 </param>
<param name="startupVelocity"> 10.0 10.0 10.0 10.0 10.0 10.0 10.0 0.0 0.0 0.0 0.0 0.0 0.0 </param>
<param name="startupMaxPwm"> 4000 4000 2000 2000 16000 16000 16000 0 0 0 0 0 0 </param>
<param name="startupPosThreshold"> 2 2 2 2 2 2 2 0 0 0 0 0 0 </param>
</group>

<param name="CALIB_ORDER"> (1) (0) (2) (3) (4 5 6) (7 8 9 10) (11 12)</param>
<param name="CALIB_ORDER"> (1) (0) (2) (3) (4 5 6) (7 8 9 10) (11 12) </param>

<action phase="startup" level="10" type="calibrate">
<param name="target">right_arm-mc_remapper</param>
</action>
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8 changes: 5 additions & 3 deletions ergoCubSN000/calibrators/torso-calib.xml
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Expand Up @@ -20,8 +20,9 @@
<group name="CALIBRATION">
<!-- roll pitch yaw -->
<param name="calibrationType"> 12 12 12 </param>

<param name="calibration1"> 38354 67734 6013 </param>
<!--
<param name="calibration1"> 58233 8433 35531 </param> -->
<param name="calibration1"> 38354 1234 6551 </param>
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@davidetome why these lines have been removed? I found those values during the torso's tests and they should be the right one. See the PR.

cc @pattacini @mfussi66

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Ok then, I'll patch devel straight away.

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@AntonioConsilvio please see df25353 and check if it's good.

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@AntonioConsilvio , I pushed the files that were in /usr/local/src/robot/robots-configuration where, as agreed, we did the changes to the robot files (not inside robotology-superbuild).

did you work there too?

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@AntonioConsilvio , as suggested by @pattacini , please check if they're correct 👍🏻

<param name="calibration2"> 0 0 0 </param>
<param name="calibration3"> 0 0 0 </param>

Expand All @@ -38,7 +39,7 @@
</group>

<!-- check old calibrator for the correct sequence, then ask to Randazz -->
<param name="CALIB_ORDER"> (1) (2) (0) </param> <!-- roll disabled demo Rome 22 -->
<param name="CALIB_ORDER">(0) (1) (2) </param>

<action phase="startup" level="10" type="calibrate">
<param name="target">torso-mc_remapper</param>
Expand All @@ -51,3 +52,4 @@
<action phase="interrupt3" level="1" type="abort" />

</device>

21 changes: 19 additions & 2 deletions ergoCubSN000/ergocub_all.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -9,6 +9,18 @@

<devices>

<!-- POS4 -->
<xi:include href="wrappers/POS/right_hand-pos_wrapper4.xml" />
<xi:include href="hardware/POS/right_hand-pos4.xml" />
<xi:include href="wrappers/POS/left_hand-pos_wrapper4.xml" />
<xi:include href="hardware/POS/left_hand-pos4.xml" />

<!-- POS2 -->
<xi:include href="wrappers/POS/right_hand-pos_wrapper2.xml" />
<xi:include href="hardware/POS/right_hand-pos2.xml" />
<xi:include href="wrappers/POS/left_hand-pos_wrapper2.xml" />
<xi:include href="hardware/POS/left_hand-pos2.xml" />

<!-- motor controllers wrappers -->
<xi:include href="wrappers/motorControl/left_leg-mc_wrapper.xml" />
<xi:include href="wrappers/motorControl/right_leg-mc_wrapper.xml" />
Expand All @@ -21,11 +33,9 @@
<xi:include href="wrappers/motorControl/right_arm-mc_remapper.xml" />

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

<xi:include href="wrappers/motorControl/left_arm-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/head-mc_wrapper.xml" />
Expand All @@ -43,12 +53,14 @@
<xi:include href="hardware/motorControl/left_arm-eb4-j2_3-mc.xml" />
<xi:include href="hardware/motorControl/left_arm-eb31-j4_6-mc.xml" />
<xi:include href="hardware/motorControl/left_arm-eb23-j7_10-mc.xml" />
<xi:include href="hardware/motorControl/left_arm-eb25-j11_12-mc.xml" />

<!-- 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" />
<xi:include href="hardware/motorControl/right_arm-eb30-j4_6-mc.xml" />
<xi:include href="hardware/motorControl/right_arm-eb22-j7_10-mc.xml" />
<xi:include href="hardware/motorControl/right_arm-eb24-j11_12-mc.xml" />

<!-- LEFT LEG -->
<xi:include href="hardware/motorControl/left_leg-eb8-j0_3-mc.xml" />
Expand All @@ -72,6 +84,11 @@
<xi:include href="hardware/FT/left_leg-eb9-j4_5-strain.xml" />
<xi:include href="hardware/FT/right_leg-eb7-j4_5-strain.xml" />

<!-- INERTIAL SENSOR -->
<xi:include href="wrappers/inertials/head-imuFilter_wrapper.xml" />
<xi:include href="wrappers/inertials/head-imuFilter.xml" />
<xi:include href="wrappers/inertials/head-inertials_wrapper.xml" />
<xi:include href="hardware/inertials/head-inertial.xml" />

<!-- CALIBRATORS -->
<xi:include href="calibrators/torso-calib.xml" />
Expand Down
6 changes: 3 additions & 3 deletions ergoCubSN000/hardware/inertials/head-inertial.xml
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Expand Up @@ -23,9 +23,9 @@
<param name="minor"> 0 </param>
</group>
<group name="FIRMWARE">
<param name="major"> 0 </param>
<param name="minor"> 0 </param>
<param name="build"> 0 </param>
<param name="major"> 1 </param>
<param name="minor"> 2 </param>
<param name="build"> 3 </param>
</group>
</group>

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6 changes: 3 additions & 3 deletions ergoCubSN000/hardware/motorControl/head-eb20-j0_1-mc.xml
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Expand Up @@ -47,9 +47,9 @@
<param name="outputType"> pwm </param>
<param name="fbkControlUnits"> metric_units </param>
<param name="outputControlUnits"> machine_units </param>
<param name="kp"> -512 +535 </param>
<param name="kd"> -15 +14 </param>
<param name="ki"> -1621 +1670 </param>
<param name="kp"> -537 +571 </param>
<param name="kd"> -17 +14 </param>
<param name="ki"> -2822 +2923 </param>
<param name="maxOutput"> 3360 3360 </param>
<param name="maxInt"> 3360 3360 </param>
<param name="stictionUp"> 0 0 </param>
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4 changes: 2 additions & 2 deletions ergoCubSN000/hardware/motorControl/right_arm-eb22-j7_10-mc.xml
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Expand Up @@ -13,8 +13,8 @@
<!-- joint number 0 1 2 3 -->
<!-- joint name thumb index medium pinky -->
<group name="LIMITS">
<param name="jntPosMin"> 4 0 0 0 </param>
<param name="jntPosMax"> 72 85 85 85 </param>
<param name="jntPosMin"> 0 0 0 0 </param>
<param name="jntPosMax"> 85 85 85 85 </param>
<param name="jntVelMax"> 1000 1000 1000 1000 </param>
<param name="motorOverloadCurrents"> 2000 2000 2000 2000 </param>
<param name="motorNominalCurrents"> 700 700 700 700 </param>
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23 changes: 23 additions & 0 deletions ergoCubSN000/head-imu.xml
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@@ -0,0 +1,23 @@
<?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>




<!-- INERTIAL SENSOR -->
<xi:include href="wrappers/inertials/head-imuFilter_wrapper.xml" />
<xi:include href="wrappers/inertials/head-imuFilter.xml" />
<xi:include href="wrappers/inertials/head-inertials_wrapper.xml" />
<xi:include href="hardware/inertials/head-inertial.xml" />

<!-- CALIBRATORS -->
</devices>
</robot>
12 changes: 8 additions & 4 deletions ergoCubSN000/head.xml
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@@ -1,8 +1,7 @@
<?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">

<robot name="ergoCubSN000" build="0" portprefix="/ergocub" xmlns:xi="http://www.w3.org/2001/XInclude">
<params>
<xi:include href="hardware/electronics/pc104.xml" />
</params>
Expand All @@ -16,12 +15,17 @@
<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" />
<!-- Inertials -->
<xi:include href="wrappers/inertials/head-inertials_wrapper.xml" />
<xi:include href="hardware/inertials/head-inertial.xml" />

<!-- Head sensors-->
<!-- Head sensors-->
<xi:include href="sensors/realsense.xml" />
<xi:include href="sensors/rplidar.xml" />

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

</devices>

</robot>