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[ergoCubSN001] update all configuration files after testing #581

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merged 5 commits into from
Oct 19, 2023
Merged

[ergoCubSN001] update all configuration files after testing #581

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c6b432f
ergoCubSN001 first calibration values
AntonioConsilvio Oct 11, 2023
cf4fb94
ergoCubSN001 Configurations values
AntonioConsilvio Oct 11, 2023
09bbf12
ergoCubSN001 Shoulders yaw calibrations
AntonioConsilvio Oct 13, 2023
091dd25
ergoCubSN001 update configuration files
AntonioConsilvio Oct 19, 2023
851c8b2
ergoCubSN001 ergocub_all.xml file
AntonioConsilvio Oct 19, 2023
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3 changes: 1 addition & 2 deletions ergoCubSN001/calibrators/head-calib.xml
View file
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Original file line number Diff line number Diff line change
Expand Up @@ -20,7 +20,7 @@
<!-- 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 61615 52575 </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>

Expand Down Expand Up @@ -49,4 +49,3 @@
<action phase="interrupt3" level="1" type="abort" />

</device>

35 changes: 16 additions & 19 deletions ergoCubSN001/calibrators/left_arm-calib.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -6,32 +6,32 @@
<xi:include href="../general.xml" />

<group name="GENERAL">
<param name="joints">13</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"> 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 30.00 0.00 0.00 0.00 0.00 0.00 </param>
<param name="velocityHome"> 10 10 10 10 10 10 10 40.00 40.00 40.00 40.00 40.00 40.00 </param>
<param name="positionHome"> 5 30 0 10 <!-- 0 0 0 30.00 0.00 0.00 0.00 0.00 0.00 --> </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 17565 8161 21461 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 1 0 0 0 1 </param>
<param name="calibration4"> 0 0 0 0 0 0 0 0 32768 0 0 0 0 </param>
<param name="calibration5"> 0 0 0 0 0 0 0 0 18277 0 47003 47513 54558 </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 4.0 0.0 4.0 4.0 4.0 </param>
<param name="startupVelocity"> 10.0 10.0 10.0 10.0 10.0 10.0 10.0 100.0 100.0 0.0 100 100.0 100.0 </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 90 5 90 5 5 5 </param>
<param name="calibrationType"> 10 10 10 10 <!-- 12 12 12 12 14 12 14 14 14 --> </param>
<param name="calibration1"> 4000 -3000 -3000 4000 <!-- 17565 8161 21461 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 1 0 0 0 1 --> </param>
<param name="calibration4"> 0 0 0 0 <!-- 0 0 0 0 32768 0 0 0 0 --> </param>
<param name="calibration5"> 0 0 0 0 <!-- 0 0 0 0 18277 0 47003 47513 54558 --> </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 4.0 0.0 4.0 4.0 4.0 --> </param>
<param name="startupVelocity"> 10.0 10.0 10.0 10.0 <!-- 10.0 10.0 10.0 100.0 100.0 0.0 100 100.0 100.0 --> </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 90 5 90 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) (10 11 12) </param>
<param name="CALIB_ORDER"> (3) (2) (0) (1) </param>

<action phase="startup" level="10" type="calibrate">
<param name="target">left_arm-mc_remapper</param>
Expand All @@ -44,6 +44,3 @@
<action phase="interrupt3" level="1" type="abort" />

</device>



35 changes: 16 additions & 19 deletions ergoCubSN001/calibrators/right_arm-calib.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -6,33 +6,33 @@
<xi:include href="../general.xml" />

<group name="GENERAL">
<param name="joints">13</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"> 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 30.00 0.00 30.00 0.00 0.00 0.00 </param>
<param name="velocityHome"> 10 10 10 10 10 10 10 40.00 40.00 40.00 40.00 40.00 40.00 </param>
<param name="positionHome"> 5 30 0 10 <!-- 0 0 0 30.00 0.00 30.00 0.00 0.00 0.00 --> </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 11796 13254 16440 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 1 0 1 0 0 </param>
<param name="calibration4"> 0 0 0 0 0 0 0 0 32768 0 0 0 0 </param>
<param name="calibration5"> 0 0 0 0 0 0 0 0 2366 0 53484 45147 12415 </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 4.0 0.0 4.0 4.0 4.0 </param>
<param name="startupVelocity"> 10.0 10.0 10.0 10.0 10.0 10.0 10.0 30.0 30.0 30.0 30.0 30.0 30.0 </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 90 5 90 5 5 5 </param>
<param name="calibrationType"> 10 10 10 10 <!-- 12 12 12 12 14 12 14 14 14 --> </param>
<param name="calibration1"> -4000 3000 3000 -4000 <!-- 11796 13254 16440 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 1 0 1 0 0 --> </param>
<param name="calibration4"> 0 0 0 0 <!-- 0 0 0 0 32768 0 0 0 0 --> </param>
<param name="calibration5"> 0 0 0 0 <!-- 0 0 0 0 2366 0 53484 45147 12415 --> </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 4.0 0.0 4.0 4.0 4.0 --> </param>
<param name="startupVelocity"> 10.0 10.0 10.0 10.0 <!-- 10.0 10.0 10.0 30.0 30.0 30.0 30.0 30.0 30.0 --> </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 90 5 90 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) (10 11 12) </param>
<param name="CALIB_ORDER"> (3) (2) (0) (1) </param>


<action phase="startup" level="10" type="calibrate">
Expand All @@ -46,6 +46,3 @@
<action phase="interrupt3" level="1" type="abort" />

</device>



3 changes: 1 addition & 2 deletions ergoCubSN001/calibrators/torso-calib.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -21,7 +21,7 @@
<!-- roll pitch yaw -->
<param name="calibrationType"> 12 12 12 </param>

<param name="calibration1"> 38354 67734 6013 </param>
<param name="calibration1"> 48803 22272 26900 </param>
<param name="calibration2"> 0 0 0 </param>
<param name="calibration3"> 0 0 0 </param>

Expand Down Expand Up @@ -52,4 +52,3 @@
<action phase="interrupt3" level="1" type="abort" />

</device>

24 changes: 14 additions & 10 deletions ergoCubSN001/ergocub_all.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -9,17 +9,17 @@

<devices>

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

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

<!-- motor controllers wrappers -->
<xi:include href="wrappers/motorControl/left_leg-mc_wrapper.xml" />
Expand Down Expand Up @@ -51,16 +51,16 @@
<!-- 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" />
<xi:include href="hardware/motorControl/left_arm-eb31-j4_6-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" />
<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-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" />
<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 Down Expand Up @@ -97,21 +97,25 @@
<xi:include href="hardware/inertials/waist-inertial.xml" />
<xi:include href="wrappers/inertials/waist-inertials_wrapper.xml" />

<!-- IMU - MTB4 BOARDS -->
<!-- IMU - MTB4 BOARDS
<xi:include href="hardware/inertials/left_arm-eb4-j2_3-inertial.xml" />
<xi:include href="wrappers/inertials/left_arm-inertials_wrapper.xml" />
<xi:include href="hardware/inertials/right_arm-eb3-j2_3-inertial.xml" />
<xi:include href="wrappers/inertials/right_arm-inertials_wrapper.xml" />
<xi:include href="wrappers/inertials/right_arm-inertials_wrapper.xml" /> -->

<!-- FT SENSORS - IMU -->
<xi:include href="hardware/inertials/left_arm-eb2-j0_1-inertial.xml" />
<xi:include href="hardware/inertials/right_arm-eb1-j0_1-inertial.xml" />
<xi:include href="hardware/inertials/left_leg-eb8-j0_3-inertial.xml" />
<xi:include href="hardware/inertials/right_leg-eb6-j0_3-inertial.xml" />
<xi:include href="hardware/inertials/left_leg-eb9-j4_5-inertial.xml" />
<xi:include href="hardware/inertials/right_leg-eb7-j4_5-inertial.xml" />

<!-- FT SENSORS - IMU - MULTIPLE ANALOG SENSOR SERVERS -->
<xi:include href="wrappers/inertials/left_arm-imu_wrapper.xml" />
<xi:include href="wrappers/inertials/right_arm-imu_wrapper.xml" />
<xi:include href="wrappers/inertials/left_leg-imu_wrapper.xml" />
<xi:include href="wrappers/inertials/right_leg-imu_wrapper.xml" />
<xi:include href="wrappers/inertials/left_foot-imu_wrapper.xml" />
<xi:include href="wrappers/inertials/right_foot-imu_wrapper.xml" />

Expand Down
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