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wrist mk2.1 configuration files used for ROM tests (robotology#594)
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@simeonedussoni @valegagge
simeonedussoni authored and valegagge committed Apr 11, 2024
1 parent fe74889 commit 83c9edd
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29 changes: 29 additions & 0 deletions experimentalSetups/wristMK2.1_SN002F/IMU_new_forearm-no_hand.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="new_forearm" build="1" portprefix="/nfa" xmlns:xi="http://www.w3.org/2001/XInclude">
<params>
<xi:include href="hardware/electronics/pc104.xml" />
</params>

<devices>

<!-- WRIST MC -->
<xi:include href="hardware/motorControl/wrist-eb2-j0_2-mc.xml" />
<xi:include href="wrappers/motorControl/wrist-mc_wrapper.xml" />
<xi:include href="wrappers/motorControl/wrist-mc_remapper.xml" />

<!-- CALIBRATORS -->
<xi:include href="calibrators/wrist-calib.xml" />

<!-- multienc >
<xi:include href="hardware/multienc/wrist-eb2-j0_2-multienc.xml" />
<xi:include href="wrappers/multienc/wrist-multienc_wrapper.xml" />
<!--IMERTIALS>
<xi:include href="hardware/inertials/wrist-eb2-j0_2-inertial.xml" />
<xi:include href="wrappers/inertials/wrist-imu_wrapper.xml" />
-->

</devices>
</robot>
49 changes: 49 additions & 0 deletions experimentalSetups/wristMK2.1_SN002F/calibrators/wrist-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="wrist-calibrator" type="parametricCalibratorEth">

<xi:include href="../general.xml" />

<group name="GENERAL">
<param name="joints"> 3 </param> <!-- the number of joints of the robot part -->
<param name="deviceName"> Wrist_Calibrator </param>
</group>

<group name="HOME">
<param name="positionHome"> 0 0 0 </param>
<param name="velocityHome"> 10 10 10 </param>
</group>

<group name="CALIBRATION">
<param name="calibrationType"> 12 12 12 </param>

<!--param name="calibration1"> 729 15429 11211 </param-->
<param name="calibration1"> 11443.0 11188.0 23850.0 </param>
<!--param name="calibration1"> -21434.0 -21264.0 -8858.0 </param-->
<param name="calibration2"> 0 0 0 </param>
<param name="calibration3"> 0 0 0 </param>
<param name="calibration4"> 0 0 0 </param>
<param name="calibration5"> 0 0 0 </param>
<param name="calibrationZero"> 0 0 0 </param>
<param name="calibrationDelta"> 0 0 0 </param>

<param name="startupPosition"> 0.0 0.0 0.0 </param>
<param name="startupVelocity"> 10.0 10.0 10.0 </param>
<param name="startupMaxPwm"> 16000 16000 16000 </param>
<param name="startupPosThreshold"> 2 2 2 </param>
</group>

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

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

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

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

</device>
2 changes: 2 additions & 0 deletions experimentalSetups/wristMK2.1_SN002F/firmwareupdater.ini
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[DRIVERS]
ETH "eth"
12 changes: 12 additions & 0 deletions experimentalSetups/wristMK2.1_SN002F/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="nfa" 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>
14 changes: 14 additions & 0 deletions experimentalSetups/wristMK2.1_SN002F/hardware/electronics/pc104.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="new_forearm" build="1">

<group name="PC104">
<param name="PC104IpAddress"> 10.0.1.104 </param>
<param name="PC104IpPort"> 12345 </param>
<param name="PC104TXrate"> 1 </param>
<param name="PC104RXrate"> 5 </param>
</group>

</params>

40 changes: 40 additions & 0 deletions experimentalSetups/wristMK2.1_SN002F/hardware/electronics/wrist-eb2-j0_2-eln.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="nfa" build="1">

<xi:include href="./pc104.xml" />

<group name="ETH_BOARD">

<group name="ETH_BOARD_PROPERTIES">
<param name="IpAddress"> 10.0.1.1 </param>
<param name="IpPort"> 12345 </param>
<param name="Type"> amc </param>
<param name="maxSizeRXpacket"> 768 </param>
<param name="maxSizeROP"> 384 </param>
</group>

<group name="ETH_BOARD_SETTINGS">
<param name="Name"> "wrist-eb2-j0_2" </param>
<group name="RUNNINGMODE">
<param name="period"> 1000 </param>
<param name="maxTimeOfRXactivity"> 300 </param>
<param name="maxTimeOfDOactivity"> 350 </param>
<param name="maxTimeOfTXactivity"> 350 </param>
<param name="TXrateOfRegularROPs"> 2 </param>
</group>
</group>

<group name="ETH_BOARD_ACTIONS">
<group name="MONITOR_ITS_PRESENCE">
<param name="enabled"> true </param>
<param name="timeout"> 0.020 </param>
<param name="periodOfMissingReport"> 60.0 </param>
</group>
</group>

</group>

</params>

59 changes: 59 additions & 0 deletions experimentalSetups/wristMK2.1_SN002F/hardware/inertials/right_arm-eb3-j2_3-inertial.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-eb3-j2_3-inertial" type="embObjIMU">

<xi:include href="../../general.xml" />

<xi:include href="../../hardware/electronics/right_arm-eb3-j2_3-eln.xml" />

<group name="SERVICE">

<param name="type"> eomn_serv_AS_inertials3 </param>

<group name="PROPERTIES">

<group name="CANBOARDS">
<param name="type"> mtb4 </param>

<group name="PROTOCOL">
<param name="major"> 2 </param>
<param name="minor"> 0 </param>
</group>
<group name="FIRMWARE">
<param name="major"> 1 </param>
<param name="minor"> 4 </param>
<param name="build"> 7 </param>
</group>
</group>

<group name="SENSORS">

<param name="id"> IDacc IDgyr
</param>

<param name="sensorName"> r_hand_acc r_hand_gyro
</param>

<param name="type"> eoas_imu_acc eoas_imu_gyr
</param>

<param name="boardType"> mtb4 mtb4
</param>

<param name="location"> CAN2:2 CAN2:2
</param>
</group>

</group>

<group name="SETTINGS">
<param name="acquisitionRate"> 50 </param>
<param name="enabledSensors"> IDacc IDgyr </param>
</group>

</group>

</device>
58 changes: 58 additions & 0 deletions experimentalSetups/wristMK2.1_SN002F/hardware/inertials/wrist-eb2-j0_2-inertial.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="wrist-eb2-j0_2-inertial" type="embObjIMU">

<xi:include href="../../general.xml" />

<xi:include href="../../hardware/electronics/wrist-eb2-j0_2-eln.xml" />

<group name="SERVICE">

<param name="type"> eomn_serv_AS_inertials3 </param>

<group name="PROPERTIES">

<group name="CANBOARDS">
<param name="type"> mtb4 </param>

<group name="PROTOCOL">
<param name="major"> 2 </param>
<param name="minor"> 0 </param>
</group>
<group name="FIRMWARE">
<param name="major"> 1 </param>
<param name="minor"> 4 </param>
<param name="build"> 7 </param>
</group>
</group>

<group name="SENSORS">

<param name="id"> IDacc IDgyr
</param>

<param name="sensorName"> l_hand_acc l_hand_gyro
</param>

<param name="type"> eoas_imu_acc eoas_imu_gyr
</param>

<param name="boardType"> mtb4 mtb4
</param>

<param name="location"> CAN2:10 CAN2:10
</param>
</group>

</group>

<group name="SETTINGS">
<param name="acquisitionRate"> 50 </param>
<param name="enabledSensors"> IDacc IDgyr </param>
</group>

</group>

</device>
77 changes: 77 additions & 0 deletions experimentalSetups/wristMK2.1_SN002F/hardware/mechanicals/wrist-eb2-j0_2-mec.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="nfa" build="1">
<group name="GENERAL">
<param name="MotioncontrolVersion"> 6 </param>
<param name="Joints"> 3 </param>
<param name="AxisMap"> 0 1 2 </param>
<param name="AxisName"> "wrist_yaw" "wrist_roll" "wrist_pitch" </param>
<param name="AxisType"> "revolute" "revolute" "revolute" </param>
<param name="Encoder"> 182.044 182.044 182.044 </param>
<param name="fullscalePWM"> 32000 32000 32000 </param>
<param name="ampsToSensor"> 1000.0 1000.0 1000.0 </param>
<param name="Gearbox_M2J"> -392 -392.0 -392 </param>
<param name="Gearbox_E2J"> 2.0 2.0 2.0 </param>
<param name="useMotorSpeedFbk"> 0 0 0 </param>
<param name="MotorType"> "FAULHABER" "FAULHABER" "FAULHABER" </param>
<param name="Verbose"> 0 </param>
</group>

<group name="LIMITS">
<param name="hardwareJntPosMax"> 180 180 180 </param>
<param name="hardwareJntPosMin"> -180 -180 -180 </param>
<param name="rotorPosMin"> 0 0 0 </param>
<param name="rotorPosMax"> 0 0 0 </param>
</group>

<group name="AMCBLDC">
<param name="HasHallSensor"> 1 1 1 </param>
<param name="HasTempSensor"> 0 0 0 </param>
<param name="HasRotorEncoder"> 0 0 0 </param>
<param name="HasRotorEncoderIndex"> 0 0 0 </param>
<param name="HasSpeedEncoder"> 0 0 0 </param>
<param name="RotorIndexOffset"> 0 0 0 </param>
<param name="MotorPoles"> 14 14 14 </param>
</group>

<group name="COUPLINGS">

<param name ="matrixJ2M">
1.0 0.0 0.0 0.0
0.0 1.0 0.0 0.0
0.0 0.0 1.0 0.0
0.0 0.0 0.0 1.0
</param>

<param name ="matrixM2J">
1.0 0.0 0.0 0.0
0.0 1.0 0.0 0.0
0.0 0.0 1.0 0.0
0.0 0.0 0.0 1.0
</param>

<param name ="matrixE2J">
1.00 0.00 0.00 0.00 0.00 0.00
0.00 1.00 0.00 0.00 0.00 0.00
0.00 0.00 1.00 0.00 0.00 0.00
0.00 0.00 0.00 1.00 0.00 0.00
</param>

</group>

<group name="JOINTSET_CFG">
<param name= "numberofsets"> 1 </param>
<group name="JOINTSET_0">
<param name="listofjoints"> 0 1 2 </param>
<param name="constraint"> ergocubwrist </param>
<param name="param1"> 21 </param>
<param name="param2"> 0 </param> <!-- 0:left 1: right-->
<!--
<param name="constraint"> none </param>
<param name="param1"> 0 </param>
<param name="param2"> 0 </param> <!-- calibration set -->
</group>
</group>

</params>
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