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davidetomeicubGabriele
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ergoCubSN000 - files update (#375)
Co-authored-by: icub <icub@iit.it> Co-authored-by: Gabriele <gabriele.sisinna@iit.it>
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‎ergoCubSN000/calibrators/left_arm-calib.xml‎

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -18,7 +18,7 @@
1818
<group name="CALIBRATION">
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<param name="calibrationType"> 12 12 12 12 5 12 12 7 7 6 6 6 6 6 6 6 </param> <!--
2020
<param name="calibration1"> -54795 22399 44679 53215 -1500 -8335 10671 0 0 0 0 0 0 0 0 0 </param> -->
21-
<param name="calibration1"> -54795 19668 44679 53215 -1500 -8335 10671 0 0 0 0 0 0 0 0 0 </param>
21+
<param name="calibration1"> -24629 11873 21733 50433 -1500 -8335 10671 0 0 0 0 0 0 0 0 0 </param>
2222
<param name="calibration2"> 0 0 0 0 16384 0 0 0 0 9102 9102 9102 9102 9102 9102 10000 </param>
2323
<param name="calibration3"> 0 0 0 0 0 0 0 0 0 -1 1 -1 1 -1 1 1 </param>
2424
<param name="calibration4"> 0 0 0 0 0 0 0 2045 448 240 484 243 483 255 480 725 </param>

‎ergoCubSN000/calibrators/left_leg-calib.xml‎

Lines changed: 6 additions & 5 deletions
Original file line numberDiff line numberDiff line change
@@ -16,22 +16,23 @@
1616

1717

1818
<group name="CALIBRATION">
19-
<param name="calibrationType"> 10 10 10 10 10 10 </param>
20-
<param name="calibration1"> -4500 4500 -2500 -4000 2500 -2000 </param>
19+
<param name="calibrationType"> 12 12 12 12 12 12 </param>
20+
<param name="calibration1"> 792 308 220 -367 873 -4100 </param>
2121
<param name="calibration2"> 0.0 0.0 0 0 0 0 </param>
2222
<param name="calibration3"> 0.0 0.0 0 0 0 0 </param>
2323
<param name="calibration4"> 0.0 0.0 0 0 0 0 </param>
2424
<param name="calibration5"> 0.0 0.0 0 0 0 0 </param>
25-
<param name="calibrationZero"> 93.0 119.90 80.761 5.817 -47.060 25.823 </param>
25+
<param name="calibrationZero"> 0 0 0 0 0 0 </param>
2626
<param name="calibrationDelta"> 0 0 0 0 0 0 </param>
2727

28-
<param name="startupPosition"> 90 20 0 -70 0 0 </param>
28+
<param name="startupPosition"> 0 5 0 -5 0 0 </param>
2929
<param name="startupVelocity"> 10.0 10.0 10.0 10 10 10 </param>
3030
<param name="startupMaxPwm"> 12000 8000 3000 8000 4000 3000 </param>
3131
<param name="startupPosThreshold"> 2 2 2 2 2 2 </param>
3232
</group>
3333

34-
<param name="CALIB_ORDER"> (2) (4) (5) (3) (0) (1) </param>
34+
<param name="CALIB_ORDER"> (4) (5) (2) (3) (0) (1) </param>
35+
<!-- (4) (5) (2) (3) (0) (1) -->
3536

3637
<action phase="startup" level="10" type="calibrate">
3738
<param name="target">left_leg-mc_remapper</param>

‎ergoCubSN000/calibrators/left_shoulder-calib.xml‎

Lines changed: 50 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,50 @@
1+
<?xml version="1.0" encoding="UTF-8" ?>
2+
<!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
3+
4+
5+
<device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_arm-calibrator" type="parametricCalibratorEth">
6+
<xi:include href="../general.xml" />
7+
8+
<group name="GENERAL">
9+
<param name="joints">4</param> <!-- the number of joints of the robot part -->
10+
<param name="deviceName"> Left_Arm_Calibrator </param>
11+
</group>
12+
13+
<group name="HOME">
14+
<param name="positionHome"> 5 30 0 10 </param>
15+
<param name="velocityHome"> 10 10 10 10 </param>
16+
</group>
17+
18+
<group name="CALIBRATION">
19+
<param name="calibrationType"> 12 12 12 12 </param> <!--
20+
<param name="calibration1"> -54795 22399 44679 53215 </param> -->
21+
<param name="calibration1"> -41179 7782 11224 25717 </param>
22+
<param name="calibration2"> 0 0 0 0 </param>
23+
<param name="calibration3"> 0 0 0 0 </param>
24+
<param name="calibration4"> 0 0 0 0 </param>
25+
<param name="calibration5"> 0 0 0 0 </param>
26+
<param name="calibrationZero"> 0 0 0 0 </param>
27+
<param name="calibrationDelta"> 0 0 0 0 </param>
28+
29+
<param name="startupPosition"> -35 30 0 45 </param>
30+
<param name="startupVelocity"> 10.0 10.0 10.0 10.0 </param>
31+
<param name="startupMaxPwm"> 8000 8000 8000 8000 </param>
32+
<param name="startupPosThreshold"> 2 2 2 2 </param>
33+
</group>
34+
35+
<param name="CALIB_ORDER"> (1) (0) (2) (3) </param> <!-- removed joint 14 -->
36+
<!-- <param name="CALIB_ORDER">(1) (0) (2) (3) (4) (5 6) (7) (8 9) (11 13) (10 12 14 15) </param> -->
37+
<action phase="startup" level="10" type="calibrate">
38+
<param name="target">left_shoulder-mc_remapper</param>
39+
</action>
40+
41+
<action phase="interrupt1" level="1" type="park">
42+
<param name="target">left_shoulder-mc_remapper</param>
43+
</action>
44+
45+
<action phase="interrupt3" level="1" type="abort" />
46+
47+
</device>
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49+
50+

‎ergoCubSN000/calibrators/right_arm-calib.xml‎

Lines changed: 2 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -19,13 +19,13 @@
1919
<group name="CALIBRATION">
2020
<param name="calibrationType"> 12 12 12 12 5 12 12 7 7 6 6 6 6 6 6 6 </param> <!--
2121
<param name="calibration1"> 6576 -12866 -4585 -47529 1500 36903 -12703 0 0 0 0 0 0 0 0 0 </param> -->
22-
<param name="calibration1"> 6576 -12912 -883 -47529 1500 36903 -12703 0 0 0 0 0 0 0 0 0 </param>
22+
<param name="calibration1"> -11711 -59070 -25844 -11080 1500 36903 -12703 0 0 0 0 0 0 0 0 0 </param>
2323
<param name="calibration2"> 0 0 0 0 16384 0 0 0 0 9102 9102 9102 9102 9102 9102 10000 </param>
2424
<param name="calibration3"> 0 0 0 0 0 0 0 0 0 -1 1 -1 1 -1 1 1 </param>
2525
<param name="calibration4"> 0 0 0 0 0 0 0 2510 1470 255 510 255 510 200 510 748 </param>
2626
<param name="calibration5"> 0 0 0 0 0 0 0 2670 2350 22 40 18 30 10 30 120 </param>
2727
<param name="calibrationZero"> 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 </param>
28-
<param name="calibrationDelta"> 0 0 -5.8 0 0 -5.5 -4 10 0 0 0 0 0 0 0 0 </param>
28+
<param name="calibrationDelta"> 0 0 0 0 0 -5.5 -4 10 0 0 0 0 0 0 0 0 </param>
2929

3030
<param name="startupPosition"> -35 30 0 45 0 0 15 25 45 10 0 0 0 0 0 0 </param>
3131
<param name="startupVelocity"> 10.0 10.0 10.0 10.0 30 30 30 60 100 100 100 100 100 100 100 100 </param>

‎ergoCubSN000/calibrators/right_leg-calib.xml‎

Lines changed: 8 additions & 8 deletions
Original file line numberDiff line numberDiff line change
@@ -16,23 +16,23 @@
1616

1717

1818
<group name="CALIBRATION">
19-
<param name="calibrationType"> 10 10 10 10 10 10 </param>
20-
<param name="calibration1"> 4500 -4500 2500 4000 -2500 2000 </param>
21-
<param name="calibration2"> 0.0 0.0 0 0 0 0 </param>
19+
<param name="calibrationType"> 12 12 12 12 12 12 </param>
20+
<param name="calibration1"> -963 -247 -615 925 -617 367 </param>
21+
<param name="calibration2"> 0.0 0.0 0 0 0 0 </param>
2222
<param name="calibration3"> 0.0 0.0 0 0 0 0 </param>
2323
<param name="calibration4"> 0.0 0.0 0 0 0 0 </param>
2424
<param name="calibration5"> 0.0 0.0 0 0 0 0 </param>
25-
<param name="calibrationZero"> 93.2 119 80.761 5.641 -46.329 24.137 </param>
25+
<param name="calibrationZero"> 0 0 0 0 0 0 </param>
2626
<param name="calibrationDelta"> 0 0 0 0 0 0 </param>
2727

28-
<param name="startupPosition"> 90 20 0 -70 0 0 </param>
28+
<param name="startupPosition"> 0 5 0 -5 0 0 </param>
2929
<param name="startupVelocity"> 10.0 10.0 10.0 10 10 10 </param>
30-
<param name="startupMaxPwm"> 12000 8000 3000 8000 4000 3000 </param>
30+
<param name="startupMaxPwm"> 12000 12000 4000 8000 4000 3000 </param>
3131
<param name="startupPosThreshold"> 2 2 2 2 2 2 </param>
3232
</group>
3333

34-
<param name="CALIB_ORDER"> (4) (5) (2) (3) (0) (1) </param>
35-
<!-- (1) (2) (3) (4) (5) -->
34+
<param name="CALIB_ORDER"> (4) (5) (2) (3) (0) (1) </param>
35+
<!-- (4) (5) (2) (3) (0) (1) -->
3636

3737
<action phase="startup" level="10" type="calibrate">
3838
<param name="target">right_leg-mc_remapper</param>

‎ergoCubSN000/calibrators/right_shoulder-calib.xml‎

Lines changed: 49 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,49 @@
1+
<?xml version="1.0" encoding="UTF-8" ?>
2+
<!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
3+
4+
5+
<device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_arm-calibrator" type="parametricCalibratorEth">
6+
<xi:include href="../general.xml" />
7+
8+
<group name="GENERAL">
9+
<param name="joints">4</param> <!-- the number of joints of the robot part -->
10+
<param name="deviceName"> Right_Arm_Calibrator </param>
11+
</group>
12+
<!-- joint logical number 0 1 2 3 -->
13+
<group name="HOME">
14+
<param name="positionHome"> 5 30 0 10 </param>
15+
<param name="velocityHome"> 10 10 10 10 </param>
16+
</group>
17+
18+
19+
<group name="CALIBRATION">
20+
<param name="calibrationType"> 12 12 12 12 </param> <!--
21+
<param name="calibration1"> 6576 -12866 -4585 -47529 </param> -->
22+
<param name="calibration1"> 40139 -2945 -60282 -59034 </param>
23+
<param name="calibration2"> 0 0 0 0 </param>
24+
<param name="calibration3"> 0 0 0 0 </param>
25+
<param name="calibration4"> 0 0 0 0 </param>
26+
<param name="calibration5"> 0 0 0 0 </param>
27+
<param name="calibrationZero"> 0 0 0 0 </param>
28+
<param name="calibrationDelta"> 0 0 0 0 </param>
29+
30+
<param name="startupPosition"> -35 30 0 45 </param>
31+
<param name="startupVelocity"> 10.0 10.0 10.0 10.0 </param>
32+
<param name="startupMaxPwm"> 8000 8000 8000 8000 </param>
33+
<param name="startupPosThreshold"> 2 2 2 2 </param>
34+
</group>
35+
36+
<!--param name="CALIB_ORDER"> (1) (0) (2) (3) (4) (5 6) (7) (8 9) (11 13) (10 12 14 15) </param-->
37+
<param name="CALIB_ORDER"> (1) (0) (2) (3) </param>
38+
<action phase="startup" level="10" type="calibrate">
39+
<param name="target">right_shoulder-mc_remapper</param>
40+
</action>
41+
42+
<action phase="interrupt1" level="1" type="park">
43+
<param name="target">right_shoulder-mc_remapper</param>
44+
</action>
45+
46+
<action phase="interrupt3" level="1" type="abort" />
47+
48+
</device>
49+

‎ergoCubSN000/calibrators/torso-calib.xml‎

Lines changed: 2 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -22,7 +22,7 @@
2222
<param name="calibrationType"> 12 12 12 </param>
2323
<!--
2424
<param name="calibration1"> 58233 8433 35531 </param> -->
25-
<param name="calibration1"> 58213 9527 35531 </param>
25+
<param name="calibration1"> 38354 67960 6551 </param>
2626
<param name="calibration2"> 0 0 0 </param>
2727
<param name="calibration3"> 0 0 0 </param>
2828

@@ -39,7 +39,7 @@
3939
</group>
4040

4141
<!-- check old calibrator for the correct sequence, then ask to Randazz -->
42-
<param name="CALIB_ORDER"> (0) (1) (2) </param>
42+
<param name="CALIB_ORDER"> (0) (2) </param>
4343

4444
<action phase="startup" level="10" type="calibrate">
4545
<param name="target">torso-mc_remapper</param>

‎ergoCubSN000/ergocub_all.xml‎

Lines changed: 46 additions & 23 deletions
Original file line numberDiff line numberDiff line change
@@ -8,46 +8,69 @@
88
</params>
99

1010
<devices>
11-
11+
1212
<!-- motor controllers wrappers -->
13-
<xi:include href="wrappers/motorControl/left_arm-mc_wrapper.xml" />
14-
<xi:include href="wrappers/motorControl/right_arm-mc_wrapper.xml" />
15-
<xi:include href="wrappers/motorControl/torso-mc_wrapper.xml" />
1613
<xi:include href="wrappers/motorControl/left_leg-mc_wrapper.xml" />
1714
<xi:include href="wrappers/motorControl/right_leg-mc_wrapper.xml" />
1815

19-
<xi:include href="wrappers/motorControl/left_arm-mc_remapper.xml" />
20-
<xi:include href="wrappers/motorControl/right_arm-mc_remapper.xml" />
21-
<xi:include href="wrappers/motorControl/torso-mc_remapper.xml" />
2216
<xi:include href="wrappers/motorControl/left_leg-mc_remapper.xml" />
2317
<xi:include href="wrappers/motorControl/right_leg-mc_remapper.xml" />
24-
25-
<!-- LEFT ARM -->
26-
<xi:include href="hardware/motorControl/left_arm-eb1-j0_1-mc.xml" />
27-
<xi:include href="hardware/motorControl/left_arm-eb3-j2_3-mc.xml" />
18+
19+
<xi:include href="wrappers/motorControl/right_shoulder-mc_wrapper.xml" />
20+
2821

29-
<!-- RIGHT ARM -->
30-
<xi:include href="hardware/motorControl/right_arm-eb2-j0_1-mc.xml" />
31-
<xi:include href="hardware/motorControl/right_arm-eb4-j2_3-mc.xml" />
22+
<xi:include href="wrappers/motorControl/right_shoulder-mc_remapper.xml" />
23+
24+
<xi:include href="wrappers/motorControl/left_shoulder-mc_wrapper.xml" />
25+
26+
27+
<xi:include href="wrappers/motorControl/left_shoulder-mc_remapper.xml" />
28+
29+
30+
<xi:include href="wrappers/motorControl/torso-mc_wrapper.xml" />
3231

33-
<!-- TORSO -->
32+
33+
<xi:include href="wrappers/motorControl/torso-mc_remapper.xml" />
34+
35+
<!-- TORSO -->
3436
<xi:include href="hardware/motorControl/torso-eb5-j0_2-mc.xml" />
37+
38+
<!-- LEFT ARM -->
39+
<xi:include href="hardware/motorControl/left_arm-eb2-j0_1-mc.xml" />
40+
<xi:include href="hardware/motorControl/left_arm-eb4-j2_3-mc.xml" />
41+
42+
<!-- RIGHT ARM -->
43+
<xi:include href="hardware/motorControl/right_arm-eb1-j0_1-mc.xml" />
44+
<xi:include href="hardware/motorControl/right_arm-eb3-j2_3-mc.xml" />
3545

3646
<!-- LEFT LEG -->
37-
<xi:include href="hardware/motorControl/left_leg-eb7-j0_2-mc.xml" />
38-
<xi:include href="hardware/motorControl/left_leg-eb8-j3_5-mc.xml" />
47+
<xi:include href="hardware/motorControl/left_leg-eb8-j0_3-mc.xml" />
48+
<xi:include href="hardware/motorControl/left_leg-eb9-j4_5-mc.xml" />
3949

4050
<!-- RIGHT LEG -->
41-
<xi:include href="hardware/motorControl/right_leg-eb9-j0_2-mc.xml" />
42-
<xi:include href="hardware/motorControl/right_leg-eb10-j3_5-mc.xml" />
51+
<xi:include href="hardware/motorControl/right_leg-eb6-j0_3-mc.xml" />
52+
<xi:include href="hardware/motorControl/right_leg-eb7-j4_5-mc.xml" />
53+
54+
<!-- ANALOG SENSORS FT -->
55+
<xi:include href="wrappers/FT/left_arm-FT_wrapper.xml" />
56+
<xi:include href="wrappers/FT/right_arm-FT_wrapper.xml" />
57+
58+
<xi:include href="hardware/FT/left_arm-eb2-j0_1-strain.xml" />
59+
<xi:include href="hardware/FT/right_arm-eb1-j0_1-strain.xml" />
60+
61+
62+
<xi:include href="wrappers/FT/left_foot-FT_wrapper.xml" />
63+
<xi:include href="wrappers/FT/right_foot-FT_wrapper.xml" />
64+
65+
<xi:include href="hardware/FT/left_leg-eb9-j4_5-strain.xml" />
66+
<xi:include href="hardware/FT/right_leg-eb7-j4_5-strain.xml" />
4367

4468

4569
<!-- CALIBRATORS -->
46-
<xi:include href="calibrators/left_arm-calib.xml" />
47-
<xi:include href="calibrators/right_arm-calib.xml" />
48-
<xi:include href="calibrators/torso-calib.xml" />
4970
<xi:include href="calibrators/left_leg-calib.xml" />
5071
<xi:include href="calibrators/right_leg-calib.xml" />
51-
72+
<xi:include href="calibrators/left_shoulder-calib.xml" />
73+
<xi:include href="calibrators/right_shoulder-calib.xml" />
74+
<xi:include href="calibrators/torso-calib.xml" />
5275
</devices>
5376
</robot>

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