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Added 3DMID configuration files in experimentalSetups (robotology#525)
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@simeonedussoni @valegagge
simeonedussoni authored and valegagge committed Apr 11, 2024
1 parent 2d542b6 commit 5d33ad5
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12 changes: 12 additions & 0 deletions experimentalSetups/3DMID_Fingertip_Can/general.xml
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<?xml version="1.0" encoding="UTF-8" ?>
<!DOCTYPE params PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">

<params xmlns:xi="http://www.w3.org/2001/XInclude" robot="iCubGenova01" build="1">

<group name="GENERAL">
<param name="skipCalibration"> false </param>
<param name="useRawEncoderData"> false </param>
<param name="useLimitedPWM"> false </param>
<param name="verbose"> false </param>
</group>
</params>
39 changes: 39 additions & 0 deletions experimentalSetups/3DMID_Fingertip_Can/hardware/skin/left_arm-cfw2_can7-skinSpec.xml
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<?xml version="1.0" encoding="UTF-8" ?>
<!DOCTYPE params PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">

<params xmlns:xi="http://www.w3.org/2001/XInclude" robot="iCubGenova01" build="1">

<group name="defaultCfgBoard">
<param name="period"> 50 </param>
<param name="skinType"> 0 </param> <!-- 0 ==> new skin
1 ==> palm and fingertips skin
2 ==> old skin without temperature compensation -->
<param name="noLoad"> 0xf0 </param>
<param name="diagnostic"> false </param> <!-- used to config high level -->
</group>


<group name="specialCfgBoards">
<!-- it tells some boards to be special.
we can configure only: tx period, skinType, noLoad value.
rule #1 -> CAN1:14 has: period = 50 ms, skinType = 1 (palm and fingertips skin), noLoad = 0xf0
-->
<!--param name="numOfSets"> 1 </param>
<!-- patch adr start adr end period type no_load >
<param name="boardSetCfg1"> 7 14 14 50 1 0xf0 </param-->

</group>
<group name="defaultCfgTriangle">
<param name="enabled"> false </param>
<param name="shift"> 2 </param>
<param name="cdcOffset"> 0x2200 </param>
</group>

<group name="specialCfgTriangles">
<param name="numOfSets"> 0x01 </param> <!-- id starts from 1 for triangleSetCfg-->
<!-- patch boardAddr idStart idEnd enabled shift cdcOffset -->
<param name="triangleSetCfg1"> 7 0xA 0 3 1 0 0x0000 </param>
</group>


</params>
16 changes: 16 additions & 0 deletions experimentalSetups/3DMID_Fingertip_Can/hardware/skin/left_arm.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_skin" type="canBusSkin">
<xi:include href="../../general.xml" />

<params xmlns:xi="http://www.w3.org/2001/XInclude" robot="iCubGenova01" build="1">
<param name="canDeviceNum"> 7 </param>
<param name="skinCanIds"> 10 </param>
<param name="period"> 10 </param>
<param name="canbusDevice"> cfw2can </param>
</params>
<xi:include href="./left_arm-cfw2_can7-skinSpec.xml" />
</device>

14 changes: 14 additions & 0 deletions experimentalSetups/3DMID_Fingertip_Can/hardware/skin/left_arm_accelerometers_mtb.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" type="canBusInertialMTB" name="left_arm_accelerometers_mtb">
<param name="canbusDevice"> "sharedcan" </param>
<param name="physDevice"> "cfw2can" </param>
<param name="canDeviceNum"> 7 </param>
<param name="canAddress"> 8 9 10 11 12 13 </param>
<param name="period"> 10 </param>
<param name="sensorPeriod"> 10 </param>
<param name="sensorType"> "acc" </param>
</device>

16 changes: 16 additions & 0 deletions experimentalSetups/3DMID_Fingertip_Can/hardware/skin/skin.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="fingertip_skin" type="canBusSkin">
<xi:include href="../../general.xml" />

<params xmlns:xi="http://www.w3.org/2001/XInclude" robot="skin" build="1">
<param name="canDeviceNum"> 0 </param>
<param name="skinCanIds"> 10 </param>
<param name="period"> 10 </param>
<param name="canbusDevice"> socketcan </param>
</params>
<xi:include href="./skinSpec.xml" />
</device>

39 changes: 39 additions & 0 deletions experimentalSetups/3DMID_Fingertip_Can/hardware/skin/skinSpec.xml
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<?xml version="1.0" encoding="UTF-8" ?>
<!DOCTYPE params PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">

<params xmlns:xi="http://www.w3.org/2001/XInclude" robot="skin" build="1">

<group name="defaultCfgBoard">
<param name="period"> 50 </param>
<param name="skinType"> 0 </param> <!-- 0 ==> new skin
1 ==> palm and fingertips skin
2 ==> old skin without temperature compensation -->
<param name="noLoad"> 0xf0 </param>
<param name="diagnostic"> false </param> <!-- used to config high level -->
</group>


<group name="specialCfgBoards">
<!-- it tells some boards to be special.
we can configure only: tx period, skinType, noLoad value.
rule #1 -> CAN1:14 has: period = 50 ms, skinType = 1 (palm and fingertips skin), noLoad = 0xf0
-->
<param name="numOfSets"> 1 </param>
<!-- patch adr start adr end period type no_load -->
<param name="boardSetCfg1"> 0 10 10 50 1 0xd0 </param>

</group>
<group name="defaultCfgTriangle">
<param name="enabled"> false </param>
<param name="shift"> 2 </param>
<param name="cdcOffset"> 0x2200 </param>
</group>

<group name="specialCfgTriangles">
<param name="numOfSets"> 0x01 </param> <!-- id starts from 1 for triangleSetCfg-->
<!-- patch boardAddr idStart idEnd enabled shift cdcOffset -->
<param name="triangleSetCfg1"> 0 10 0 3 1 2 0x0000 </param>
</group>


</params>
11 changes: 11 additions & 0 deletions experimentalSetups/3DMID_Fingertip_Can/icub.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="iCubGenova01" portprefix="icub" build="0" xmlns:xi="http://www.w3.org/2001/XInclude">
<devices>
<!-- cartesian -->
<xi:include href="hardware/skin/skin.xml" />">
<!-- SKIN -->
<xi:include href="wrappers/skin/left_arm_skin_wrapper.xml" />
</devices>
</robot>

23 changes: 23 additions & 0 deletions experimentalSetups/3DMID_Fingertip_Can/instructions.md
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### Preliminary

Open more tabs
1. launch `yarpserver`

2. go into `cd ~/robotology-superbuild/robots-configuration/experimentalSetups/3DMID_Fingertip_Can/`
- connect and inzialize the Esd can device:
`sudo ip link set can0 type can bitrate 1000000`
`sudo ip link set up can0`
-launch YARP:
`yarprobotinterface --config icub.xml`

3. `yarpscope --xml yarpscope.fingertip.xml`
- with data stuck to 0 means the output data port aren't properly connected to the yarpscope tmp ports: use `yarp connect /icub/skin/left_hand /tmp/port/<i>` (i: port index)
- **warning** sometimes ports remain running when yarpscope is closed. in this case you will have port indices larger than 12
- in case you experience connection errors exit all yarp process and do a yarp clean

4. anothe cause of stuck value is from wrong offsets/device reset etc. in this case you can use directly the CAN commands:
`cansend can0 20a#4d0132d0` -- d0 stands for "noLoad" value
`cansend can0 20a#50000302010000` -- 50 is the command code 00:starting triangle 03: ending triangle; 02: bitshift; 01: enable; 0000: CDC Offset
`cansend can0 20a#0700` -- startTX


18 changes: 18 additions & 0 deletions experimentalSetups/3DMID_Fingertip_Can/instructions.txt
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**aprire piu' tabs:**

tab 1- yarpserver
tab 2- cd ~/robotology-superbuild/robots-configuration/experimentalSetups/3DMID_Fingertip_Can/
- inzializza il can:
sudo ip link set can0 type can bitrate 1000000
sudo ip link set up can0
-lancia YARP:
yarprobotinterface --config icub.xml
tab 3: yarpscope --xml yarpscope.fingertip.xml
- se i dati sono fissi a 0 le porte dati non sono connesse alle porte yarpscope: connetterle con yarp connect /icub/skin/left_hand /tmp/port/<i> (i da 1 a n)

se il valore si pianta, si possono mandare i comandi CAN:
cansend can0 20a#4d0132f0 -- f0 e' il valore noLoad
cansend can0 20a#50000302010000 -- 50 = comando; 00:primo triangolo 03: ultimo triangolo; 02: bitshift; 01: enable; 0000: CDC Offset
cansend can0 20a#0700 -- start TX


9 changes: 9 additions & 0 deletions experimentalSetups/3DMID_Fingertip_Can/skin.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="skin" portprefix="skin" build="0" xmlns:xi="http://www.w3.org/2001/XInclude">
<devices>
<xi:include href="wrappers/skin/skin_wrapper.xml" />

</devices>
</robot>

23 changes: 23 additions & 0 deletions experimentalSetups/3DMID_Fingertip_Can/wrappers/skin/left_arm_skin_wrapper.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_skin_wrapper" type="skinWrapper">
<param name="period"> 20 </param>
<param name="total_taxels"> 48 </param>
<param name="device"> skinWrapper </param>

<paramlist name="ports">
<elem name="left_hand"> 0 47 0 47</elem>
</paramlist>

<action phase="startup" level="5" type="attach">
<paramlist name="networks">
<!-- The param value must match the device name in the corresponding emsX file -->
<elem name="FirstSetOfSkins"> fingertip_skin </elem>
</paramlist>
</action>

<action phase="shutdown" level="5" type="detach" />
</device>

23 changes: 23 additions & 0 deletions experimentalSetups/3DMID_Fingertip_Can/wrappers/skin/skin_wrapper.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_skin_wrapper" type="skinWrapper">
<param name="period"> 20 </param>
<param name="total_taxels"> 48 </param>
<param name="device"> skinWrapper </param>

<paramlist name="ports">
<elem name="left_hand"> 0 47 0 47</elem>
</paramlist>

<action phase="startup" level="5" type="attach">
<paramlist name="networks">
<!-- The param value must match the device name in the corresponding emsX file -->
<elem name="FirstSetOfSkins"> left_arm_skin </elem>
</paramlist>
</action>

<action phase="shutdown" level="5" type="detach" />
</device>

2 changes: 2 additions & 0 deletions experimentalSetups/3DMID_Fingertip_Can/yarprobotinterface.ini
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config ./skin.xml

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