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ergoCubSN000: add xml files with the forearms #400

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merged 9 commits into from
Nov 28, 2022
Merged

ergoCubSN000: add xml files with the forearms #400

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106c29d
ergoCubSN000: add xml files for commanding left and right arm until t…
Nicogene Nov 17, 2022
bb17860
ergoCubSN000: add fixed xml files for right wrist
Nicogene Nov 17, 2022
efdd56d
ergoCubSN000: fix left wrist files
Nicogene Nov 17, 2022
abf4b3e
ergoCubSN000: fix calibration for right writst
Nicogene Nov 21, 2022
94713db
ergoCubSN000: fix remappers for the arms
Nicogene Nov 22, 2022
e6cf711
ergoCubSN000 - adding fingers support (4 joints - no FAP)
davidetome Nov 22, 2022
cde0c50
Update ra.xml
davidetome Nov 22, 2022
fbc6311
ergoCubSN000: cleanup + make work both hands + ergocub_all working
Nicogene Nov 22, 2022
2ab5fa0
ergoCubSN000: latest fixes before departing for Rome
Nicogene Nov 23, 2022
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42 changes: 19 additions & 23 deletions ergoCubSN000/calibrators/left_arm-calib.xml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -6,34 +6,30 @@
<xi:include href="../general.xml" />

<group name="GENERAL">
<param name="joints">16</param> <!-- the number of joints of the robot part -->
<param name="joints">11</param> <!-- the number of joints of the robot part -->
<param name="deviceName"> Left_Arm_Calibrator </param>
</group>

<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>
</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="calibration1"> -54795 22399 44679 53215 -1500 -8335 10671 0 0 0 0 0 0 0 0 0 </param> -->
<param name="calibration1"> -24629 11873 21733 50433 -1500 -8335 10671 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 2045 448 240 484 243 483 255 480 725 </param>
<param name="calibration5"> 0 0 0 0 0 0 0 2140 2712 0 9 15 8 20 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"> 0 0 0 0 0 0 0 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="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>
<param name="positionHome"> 5 30 0 10 0 0 0 30.00 30.00 30.00 30.00 </param>
<param name="velocityHome"> 10 10 10 10 10 10 10 40.00 40.00 40.00 40.00 </param>
</group>
<group name="CALIBRATION">
<param name="calibrationType"> 12 12 12 12 12 12 12 5 5 5 5 </param>
<param name="calibration1"> -41179 7782 11224 25717 10816 7369 21632 500 500 500 500 </param>
<param name="calibration2"> 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 </param>
<param name="calibration4"> 0 0 0 0 0 0 0 0 0 0 0 </param>
<param name="calibration5"> 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 </param>
<param name="calibrationDelta"> 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 10.0 10.0 10.0 10.0 </param>
<param name="startupVelocity"> 10.0 10.0 10.0 10.0 10.0 10.0 10.0 70.0 70.0 70.0 70.0 </param>
<param name="startupMaxPwm"> 4000 4000 2000 2000 16000 16000 16000 0 1000 1000 0 </param>
<param name="startupPosThreshold"> 2 2 2 2 2 2 2 50 50 50 50 </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">(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 10)</param> <!-- joint 7 is not working (demo Rome 22) -->
<action phase="startup" level="10" type="calibrate">
<param name="target">left_arm-mc_remapper</param>
</action>
Expand All @@ -47,4 +43,4 @@
</device>



46 changes: 46 additions & 0 deletions ergoCubSN000/calibrators/left_arm_nohand-calib.xml
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Original file line number Diff line number Diff line change
@@ -0,0 +1,46 @@
<?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">11]</param> <!-- the number of joints of the robot part -->
<param name="deviceName"> Left_Arm_Calibrator </param>
</group>

<group name="HOME">
<param name="positionHome"> 5 30 0 10 0 0 0 30.00 30.00 30.00 30.00 </param>
<param name="velocityHome"> 10 10 10 10 10 10 10 40.00 40.00 40.00 40.00 </param>
</group>
<group name="CALIBRATION">
<param name="calibrationType"> 12 12 12 12 12 12 12 10 10 10 10 </param>
<param name="calibration1"> -41179 7782 11224 25717 10816 7369 21632 -850 -850 -850 -850 </param>
<param name="calibration2"> 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 </param>
<param name="calibration4"> 0 0 0 0 0 0 0 0 0 0 0 </param>
<param name="calibration5"> 0 0 0 0 0 0 0 0 0 0 0 </param>
<param name="calibrationZero"> 0 0 0 0 0 0 0 85 85 85 85 </param>
<param name="calibrationDelta"> 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 30.0 30.0 30.0 30.0 </param>
<param name="startupVelocity"> 10.0 10.0 10.0 10.0 10.0 10.0 10.0 70.0 70.0 70.0 70.0 </param>
<param name="startupMaxPwm"> 8000 8000 8000 8000 16000 16000 16000 0 0 0 0 </param>
<param name="startupPosThreshold"> 2 2 2 2 2 2 2 10 10 10 10 </param>
</group>

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



6 changes: 3 additions & 3 deletions ergoCubSN000/calibrators/left_leg-calib.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -9,7 +9,7 @@
</group>

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

Expand All @@ -25,9 +25,9 @@
<param name="calibrationZero"> 0 0 0 0 0 0 </param>
<param name="calibrationDelta"> 0 0 0 0 0 0 </param>

<param name="startupPosition"> 0 5 0 -5 0 0 </param>
<param name="startupPosition"> 0 5 0 0 0 0 </param>
<param name="startupVelocity"> 10.0 10.0 10.0 10 10 10 </param>
<param name="startupMaxPwm"> 12000 8000 3000 8000 4000 3000 </param>
<param name="startupMaxPwm"> 2000 2000 2000 4000 2000 2000 </param>
<param name="startupPosThreshold"> 2 2 2 2 2 2 </param>
</group>

Expand Down
47 changes: 47 additions & 0 deletions ergoCubSN000/calibrators/left_upper_arm_no_wrist_no_hand-calib.xml
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Original file line number Diff line number Diff line change
@@ -0,0 +1,47 @@
<?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">4</param> <!-- the number of joints of the robot part -->
<param name="deviceName"> Left_Arm_Calibrator </param>
</group>

<group name="HOME">
<param name="positionHome"> 5 30 0 10 </param>
<param name="velocityHome"> 10 10 10 10 </param>
</group>
<group name="CALIBRATION">
<param name="calibrationType"> 12 12 12 12 </param>
<param name="calibration1"> -41179 7782 11224 25717 </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 </param>
<param name="calibrationDelta"> 0 0 0 0 </param>

<param name="startupPosition"> -35 30 0 45 </param>
<param name="startupVelocity"> 10.0 10.0 10.0 10.0 </param>
<param name="startupMaxPwm"> 8000 8000 8000 8000 </param>
<param name="startupPosThreshold"> 2 2 2 2 </param>
</group>

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



42 changes: 20 additions & 22 deletions ergoCubSN000/calibrators/right_arm-calib.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -6,35 +6,31 @@
<xi:include href="../general.xml" />

<group name="GENERAL">
<param name="joints">16</param> <!-- the number of joints of the robot part -->
<param name="joints">11</param> <!-- the number of joints of the robot part -->
<param name="deviceName"> Right_Arm_Calibrator </param>
</group>
<!-- 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="positionHome"> 5 30 0 10 0 0 0 30.00 30.00 30.00 30.00 </param>
<param name="velocityHome"> 10 10 10 10 10 10 10 40.00 40.00 40.00 40.00 </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="calibration1"> 6576 -12866 -4585 -47529 1500 36903 -12703 0 0 0 0 0 0 0 0 0 </param> -->
<param name="calibration1"> -11711 -59070 -25844 -11080 1500 36903 -12703 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 2510 1470 255 510 255 510 200 510 748 </param>
<param name="calibration5"> 0 0 0 0 0 0 0 2670 2350 22 40 18 30 10 30 120 </param>
<param name="calibrationZero"> 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 </param>
<param name="calibrationDelta"> 0 0 0 0 0 -5.5 -4 10 0 0 0 0 0 0 0 0 </param>

<param name="startupPosition"> -35 30 0 45 0 0 15 25 45 10 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>
<param name="calibrationType"> 12 12 12 12 12 12 12 5 5 5 5 </param>
<param name="calibration1"> 40139 -3690 -60282 -59034 30262 28993 36030 500 500 500 500 </param>
<param name="calibration2"> 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 </param>
<param name="calibration4"> 0 0 0 0 0 0 0 0 0 0 0 </param>
<param name="calibration5"> 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 </param>
<param name="calibrationDelta"> 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 10.0 10.0 10.0 10.0 </param>
<param name="startupVelocity"> 10.0 10.0 10.0 10.0 10.0 10.0 10.0 70.0 70.0 70.0 70.0 </param>
<param name="startupMaxPwm"> 4000 4000 2000 2000 16000 16000 16000 0 0 0 0 </param>
<param name="startupPosThreshold"> 2 2 2 2 2 2 2 10 10 10 10 </param>
</group>

<!--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) (7) (8 9) (11 13) (10 12 14 15) </param>
<!-- <param name="CALIB_ORDER"> (7 8 9 10) </param> -->
<param name="CALIB_ORDER"> (1) (0) (2) (3) (4 5 6) (7 8 9 10) </param>
<action phase="startup" level="10" type="calibrate">
<param name="target">right_arm-mc_remapper</param>
</action>
Expand All @@ -47,3 +43,5 @@

</device>



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