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[ergoCubSN002] New configuration folder #617

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Feb 16, 2024
Merged

[ergoCubSN002] New configuration folder #617

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1 change: 1 addition & 0 deletions all_robots.xml
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Expand Up @@ -2,6 +2,7 @@
<robot_database xmlns:xi="http://www.w3.org/2001/XInclude">
<xi:include href="./ergoCubSN000/ergocub_all.xml" />
<xi:include href="./ergoCubSN001/ergocub_all.xml" />
<xi:include href="./ergoCubSN002/ergocub_all.xml" />
<xi:include href="./iCubDijon01/icub_all.xml" />
<xi:include href="./iCubEdinburgh01/icub_all.xml" />
<xi:include href="./iCubErzelli01/icub_all.xml" />
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13 changes: 13 additions & 0 deletions ergoCubSN002/CMakeLists.txt
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set(appname ergoCubSN002)

file(GLOB xml ${CMAKE_CURRENT_SOURCE_DIR}/*.xml)
file(GLOB ini ${CMAKE_CURRENT_SOURCE_DIR}/*.ini)

yarp_install(FILES ${xml} DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})
yarp_install(FILES ${ini} DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})
yarp_install(DIRECTORY estimators DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})
yarp_install(DIRECTORY calibrators DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})
yarp_install(DIRECTORY wrappers DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})
yarp_install(DIRECTORY hardware DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})
yarp_install(DIRECTORY sensors DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})
yarp_install(DIRECTORY telemetry DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})
16 changes: 16 additions & 0 deletions ergoCubSN002/battery_test.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="ergoCubSN002" build="1" portprefix="/ergocub" xmlns:xi="http://www.w3.org/2001/XInclude">

<devices>
<!-- battery BAT -->
<xi:include href="wrappers/battery/battery_bat.xml" />
<xi:include href="hardware/battery/battery_bat.xml" />

<!-- battery BMS -->
<xi:include href="wrappers/battery/battery_bms.xml" />
<xi:include href="hardware/battery/battery_bms.xml" />
</devices>

</robot>
51 changes: 51 additions & 0 deletions ergoCubSN002/calibrators/head-calib.xml
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<?xml version="1.0" encoding="UTF-8" ?>
<!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">


<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"> 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"> 15 0 0 0 </param>
<param name="velocityHome"> 10 10 10 10 </param>
</group>

<!-- 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 </param>
<param name="calibration1"> 62951 -44411 13160 28977 </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"> 4.0 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> --> <!-- Don't remove this line -->
<param name="CALIB_ORDER"> (0 1 2) (3) </param>

<action phase="startup" level="10" type="calibrate">
<param name="target">head-mc_remapper</param>
</action>

<action phase="interrupt1" level="1" type="park">
<param name="target">head-mc_remapper</param>
</action>

<action phase="interrupt3" level="1" type="abort" />

</device>
46 changes: 46 additions & 0 deletions ergoCubSN002/calibrators/left_arm-calib.xml
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<?xml version="1.0" encoding="UTF-8" ?>
<!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">


<device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_arm-calibrator" type="parametricCalibratorEth">
<xi:include href="../general.xml" />

<group name="GENERAL">
<param name="joints">13</param> <!-- the number of joints of the robot part -->
<param name="deviceName"> Left_Arm_Calibrator </param>
</group>

<group name="HOME">
<!-- shoulder-pitch shoulder-roll shoulder-yaw elbow wrist-yaw wrist-roll wrist-pitch thumb_add thumb_oc index_add index_oc middle_oc ring_pinky_oc -->
<param name="positionHome"> 5 30 0 10 0 0 0 0.00 5.00 5.00 5.00 5.00 5.00 </param>
<param name="velocityHome"> 10 10 10 10 10 10 10 40.00 40.00 40.00 40.00 40.00 40.00 </param>
</group>
<group name="CALIBRATION">
<param name="calibrationType"> 10 10 10 10 12 12 12 12 14 12 14 14 14 </param>
<param name="calibration1"> 4000 -3000 -3000 4000 24917 14878 17235 0 300 0 300 300 300 </param>
<param name="calibration2"> 0 0 0 0 0 0 0 0 0 0 0 0 0 </param>
<param name="calibration3"> 0 0 0 0 0 0 0 0 0 0 0 0 1 </param>
<param name="calibration4"> 0 0 0 0 0 0 0 0 0 0 32768 0 0 </param>
<param name="calibration5"> 0 0 0 0 0 0 0 0 6850 0 48450 37450 56800 </param>
<param name="calibrationZero"> 35 -15 -52 -5 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"> 34 50 -10 90 0.0 0.0 0.0 0.0 5.0 5.0 5.0 5.0 5.0 </param>
<param name="startupVelocity"> 10.0 10.0 10.0 10.0 10.0 10.0 10.0 100.0 100.0 100.0 100 100.0 100.0 </param>
<param name="startupMaxPwm"> 8000 8000 8000 8000 16000 16000 16000 0 0 0 0 0 0 </param>
<param name="startupPosThreshold"> 2 2 2 2 2 2 2 5 5 5 5 5 5 </param>
</group>

<!-- <param name="CALIB_ORDER"> (4 5 6) (3) (2) (0) (1) (7 8) (9) (10 11 12) </param> --> <!-- Don't remove this line -->
<param name="CALIB_ORDER"> (4 5 6) (3) (2) (0) (1) (7 8) (9) (10 11 12) </param>

<action phase="startup" level="10" type="calibrate">
<param name="target">left_arm-mc_remapper</param>
</action>

<action phase="interrupt1" level="1" type="park">
<param name="target">left_arm-mc_remapper</param>
</action>

<action phase="interrupt3" level="1" type="abort" />

</device>
43 changes: 43 additions & 0 deletions ergoCubSN002/calibrators/left_leg-calib.xml
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<?xml version='1.0' encoding='UTF-8'?>
<!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
<device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_leg-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="deviceName"> Left_Leg_Calibrator </param>
</group>

<group name="HOME">
<param name="positionHome"> 0.00 5.00 0.00 0.00 0.00 0.00 </param>
<param name="velocityHome"> 10.00 10.00 10.00 10.00 10.00 10.00 </param>
</group>

<group name="CALIBRATION">
<param name="calibrationType"> 10 10 10 10 10 10 </param>
<param name="calibration1"> -5500 4000 -2500 -5000 2500 -3000 </param>
<param name="calibration2"> 0.0 0.0 0 0 0 0 </param>
<param name="calibration3"> 0.0 0.0 0 0 0 0 </param>
<param name="calibration4"> 0.0 0.0 0 0 0 0 </param>
<param name="calibration5"> 0.0 0.0 0 0 0 0 </param>
<param name="calibrationZero"> 110.15 111.776 81.65 7.75 -46.624 25.313 </param>
<param name="calibrationDelta"> 0 0 0 0 0 0 </param>
<param name="startupPosition"> 90 80 0 -95 0 0 </param>
<param name="startupVelocity"> 10.0 10.0 10.0 10 10 10 </param>
<param name="startupMaxPwm"> 8000 8000 8000 8000 8000 8000 </param>
<param name="startupPosThreshold"> 2 2 2 2 2 2 </param>
</group>
<!-- <param name="CALIB_ORDER"> (2) (4) (5) (3) (0) (1) </param> --> <!-- Don't remove this line -->
<param name="CALIB_ORDER"> (2) (4) (5) (3) (0) (1) </param>

<action phase="startup" level="10" type="calibrate">
<param name="target">left_leg-mc_remapper</param>
</action>

<action phase="interrupt1" level="1" type="park">
<param name="target">left_leg-mc_remapper</param>
</action>

<action phase="interrupt3" level="1" type="abort"/>

</device>
48 changes: 48 additions & 0 deletions ergoCubSN002/calibrators/right_arm-calib.xml
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<?xml version="1.0" encoding="UTF-8" ?>
<!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">


<device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_arm-calibrator" type="parametricCalibratorEth">
<xi:include href="../general.xml" />

<group name="GENERAL">
<param name="joints">13</param> <!-- the number of joints of the robot part -->
<param name="deviceName"> Right_Arm_Calibrator </param>
</group>

<group name="HOME">
<!-- For calib6 to set calibration5, i.e. target just multiply desidered pos in deg by 182,044444 (2^(16)/360) -->
<!-- shoulder-pitch shoulder-roll shoulder-yaw elbow wrist-yaw wrist-roll wrist-pitch thumb_add thumb_oc index_add index_oc middle_oc ring_pinky_oc -->
<param name="positionHome"> 5 30 0 10 0 0 0 0.00 5.00 5.00 5.00 5.00 5.00 </param>
<param name="velocityHome"> 10 10 10 10 10 10 10 40.00 40.00 40.00 40.00 40.00 40.00 </param>
</group>
<group name="CALIBRATION">
<param name="calibrationType"> 10 10 10 10 12 12 12 12 14 12 14 14 14 </param>
<param name="calibration1"> -4000 3000 3000 -4000 1795 16373 11969 0 300 0 300 300 300 </param>
<param name="calibration2"> 0 0 0 0 0 0 0 0 0 0 0 0 0 </param>
<param name="calibration3"> 0 0 0 0 0 0 0 0 0 0 1 0 0 </param>
<param name="calibration4"> 0 0 0 0 0 0 0 0 0 0 32768 0 0 </param>
<param name="calibration5"> 0 0 0 0 0 0 0 0 25030 0 1230 32470 18350 </param>
<param name="calibrationZero"> 35 -15 -52 -5 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"> 34 50 -10 90 0.0 0.0 0.0 0.0 5.0 5.0 5.0 5.0 5.0 </param>
<param name="startupVelocity"> 10.0 10.0 10.0 10.0 10.0 10.0 10.0 100.0 100.0 100.0 100.0 100.0 100.0 </param>
<param name="startupMaxPwm"> 8000 8000 8000 12000 16000 16000 16000 0 0 0 0 0 0 </param>
<param name="startupPosThreshold"> 2 2 2 2 2 2 2 5 5 5 5 5 5 </param>
</group>

<!-- <param name="CALIB_ORDER"> (4 5 6) (3) (2) (0) (1) (7 8) (9) (10 11 12) </param> --> <!-- Don't remove this line -->
<param name="CALIB_ORDER">(4 5 6) (3) (2) (0) (1) (7 8) (9) (10 11 12) </param>


<action phase="startup" level="10" type="calibrate">
<param name="target">right_arm-mc_remapper</param>
</action>

<action phase="interrupt1" level="1" type="park">
<param name="target">right_arm-mc_remapper</param>
</action>

<action phase="interrupt3" level="1" type="abort" />

</device>
48 changes: 48 additions & 0 deletions ergoCubSN002/calibrators/right_leg-calib.xml
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<?xml version='1.0' encoding='UTF-8'?>
<!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
<device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_leg-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="deviceName"> Right_Leg_Calibrator </param>
</group>

<group name="HOME">
<param name="positionHome"> 0.00 5.00 0.00 0.00 0.00 0.00 </param>
<param name="velocityHome"> 10.00 10.00 10.00 10.00 10.00 10.00 </param>
</group>



<group name="CALIBRATION">
<param name="calibrationType"> 10 10 10 10 10 10 </param>
<param name="calibration1"> 5500 -4000 2500 5000 -2500 3000 </param>
<param name="calibration2"> 0.0 0.0 0 0 0 0 </param>
<param name="calibration3"> 0.0 0.0 0 0 0 0 </param>
<param name="calibration4"> 0.0 0.0 0 0 0 0 </param>
<param name="calibration5"> 0.0 0.0 0 0 0 0 </param>
<param name="calibrationZero"> 110.15 111.463 81.078 7.75 -45.942 25.786 </param>
<param name="calibrationDelta"> 0 0 0 0 0 0 </param>

<param name="startupPosition"> 90 80 0 -95 0 0 </param>
<param name="startupVelocity"> 10.0 10.0 10.0 10 10 10 </param>
<param name="startupMaxPwm"> 8000 8000 8000 8000 8000 8000 </param>
<param name="startupPosThreshold"> 2 2 2 2 2 2 </param>
</group>

<!-- <param name="CALIB_ORDER"> (4) (5) (2) (3) (0) (1) </param> --> <!-- Don't remove this line -->
<param name="CALIB_ORDER"> (4) (5) (2) (3) (0) (1) </param>


<action phase="startup" level="10" type="calibrate">
<param name="target">right_leg-mc_remapper</param>
</action>

<action phase="interrupt1" level="1" type="park">
<param name="target">right_leg-mc_remapper</param>
</action>

<action phase="interrupt3" level="1" type="abort"/>

</device>
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