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mfussi66mfussi66
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Add ergoCub head configuration (#393)
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‎ergoCubSN000/calibrators/face-calib.xml‎

Lines changed: 0 additions & 61 deletions
This file was deleted.

‎ergoCubSN000/calibrators/head-calib.xml‎

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@@ -3,40 +3,40 @@
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<device xmlns:xi="http://www.w3.org/2001/XInclude" name="head-calibrator" type="parametricCalibratorEth">
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<xi:include href="../general.xml" />
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<group name="GENERAL">
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<param name="joints"> 6 </param> <!-- the number of joints of the robot part -->
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<param name="joints"> 4 </param> <!-- the number of joints of the robot part -->
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<param name="deviceName"> HeadV3_Calibrator </param> <!-- this name is used for high-level debug -->
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</group>
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<group name="HOME">
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<param name="positionHome"> 0 0 0 0 0 0 </param>
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<param name="velocityHome"> 10 10 10 10 10 10 </param>
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<param name="positionHome"> 0 0 0 0 </param>
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<param name="velocityHome"> 10 10 10 10 </param>
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</group>
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19-
<!-- joint logical number 0 1 2 3 4 5 -->
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<!-- joint name neck-pitch neck-roll neck-yaw eyes-tilt eyes-vers eyes-verg -->
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<!-- joint logical number 0 1 2 3 -->
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<!-- joint name neck-pitch neck-roll neck-yaw eyes-tilt -->
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<group name="CALIBRATION">
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<param name="calibrationType"> 12 12 12 12 5 5 </param>
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<param name="calibration1"> 19567 53471 4175 770 2000 2000 </param>
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<param name="calibration2"> 0 0 0 0 8192 8192 </param>
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<param name="calibration3"> 0 0 0 0 0 0 </param>
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<param name="calibration4"> 0 0 0 0 0 0 </param>
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<param name="calibration5"> 0 0 0 0 0 0 </param>
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<param name="calibrationZero"> 0.0 0.0 0.0 0.0 0.0 0.0 </param>
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<param name="calibrationDelta"> 0.0 0.0 0.0 0.0 0.0 6.5 </param>
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<param name="startupPosition"> 0.0 0.0 0.0 0.0 0.0 0.0 </param>
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<param name="startupVelocity"> 10 10 20.0 20.0 20.0 20.0 </param>
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<param name="startupMaxPwm"> 1000 1000 1000 1000 0 0 </param>
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<param name="startupPosThreshold"> 90 90 2 2 2 2 </param>
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</group>
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<param name="CALIB_ORDER"> (0 1 2) (3) (4 5) </param>
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<param name="calibrationType"> 12 12 12 12 </param>
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<param name="calibration1"> 39103 -18095 61615 52575 </param>
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<param name="calibration2"> 0 0 0 0 </param>
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<param name="calibration3"> 0 0 0 0 </param>
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<param name="calibration4"> 0 0 0 0 </param>
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<param name="calibration5"> 0 0 0 0 </param>
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<param name="calibrationZero"> 0.0 0.0 0.0 0.0 </param>
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<param name="calibrationDelta"> 0.0 0.0 0.0 0.0 </param>
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<param name="startupPosition"> 0.0 0.0 0.0 0.0 </param>
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<param name="startupVelocity"> 10 10 20.0 20.0 </param>
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<param name="startupMaxPwm"> 1000 1000 1000 1000 </param>
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<param name="startupPosThreshold"> 90 90 2 2 </param>
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</group>
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<param name="CALIB_ORDER"> (0 1 2) (3) </param>
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<action phase="startup" level="10" type="calibrate">
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<param name="target">head-mc_remapper</param>

‎ergoCubSN000/cartesian/left_arm-cartesian.xml‎

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Original file line numberDiff line numberDiff line change
@@ -4,7 +4,7 @@
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<device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_arm-cartesian" type="cartesiancontrollerserver">
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<group name="GENERAL">
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<param name="ControllerName">icub/cartesianController/left_arm</param>
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<param name="ControllerName">ergocub/cartesianController/left_arm</param>
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<param name="ControllerPeriod">10</param>
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<param name="TaskRefVelPeriodFactor">4</param>
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<param name="SolverNameToConnect">cartesianSolver/left_arm</param>

‎ergoCubSN000/cartesian/right_arm-cartesian.xml‎

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@@ -4,7 +4,7 @@
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<device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_arm-cartesian" type="cartesiancontrollerserver">
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<group name="GENERAL">
7-
<param name="ControllerName">icub/cartesianController/right_arm</param>
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<param name="ControllerName">ergocub/cartesianController/right_arm</param>
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<param name="ControllerPeriod">10</param>
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<param name="TaskRefVelPeriodFactor">4</param>
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<param name="SolverNameToConnect">cartesianSolver/right_arm</param>

‎ergoCubSN000/cartesianSolver.ini‎

Lines changed: 4 additions & 4 deletions
Original file line numberDiff line numberDiff line change
@@ -1,5 +1,5 @@
11
[left_arm]
2-
robot icub
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robot ergocub
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name cartesianSolver/left_arm
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type left_v3
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period 20
@@ -16,7 +16,7 @@ interPoints off
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ping_robot_tmo 40.0
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[right_arm]
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robot icub
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robot ergocub
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name cartesianSolver/right_arm
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type right_v3
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period 20
@@ -33,7 +33,7 @@ interPoints off
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ping_robot_tmo 40.0
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[left_leg]
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robot icub
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robot ergocub
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name cartesianSolver/left_leg
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type left_v3
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period 20
@@ -50,7 +50,7 @@ interPoints off
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ping_robot_tmo 40.0
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[right_leg]
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robot icub
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robot ergocub
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name cartesianSolver/right_leg
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type right_v3
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period 20

‎ergoCubSN000/ergocub_all.xml‎

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Original file line numberDiff line numberDiff line change
@@ -10,36 +10,32 @@
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<devices>
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<!-- motor controllers wrappers -->
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<xi:include href="wrappers/motorControl/left_leg-mc_wrapper.xml" />
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<xi:include href="wrappers/motorControl/right_leg-mc_wrapper.xml" />
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<xi:include href="wrappers/motorControl/left_leg-mc_remapper.xml" />
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<xi:include href="wrappers/motorControl/right_leg-mc_remapper.xml" />
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<xi:include href="wrappers/motorControl/right_shoulder-mc_wrapper.xml" />
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<xi:include href="wrappers/motorControl/right_shoulder-mc_remapper.xml" />
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<xi:include href="wrappers/motorControl/left_shoulder-mc_wrapper.xml" />
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<xi:include href="wrappers/motorControl/left_shoulder-mc_remapper.xml" />
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<xi:include href="wrappers/motorControl/torso-mc_wrapper.xml" />
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<xi:include href="wrappers/motorControl/torso-mc_remapper.xml" />
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<xi:include href="wrappers/motorControl/left_leg-mc_wrapper.xml" />
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<xi:include href="wrappers/motorControl/right_leg-mc_wrapper.xml" />
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<xi:include href="wrappers/motorControl/left_leg-mc_remapper.xml" />
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<xi:include href="wrappers/motorControl/right_leg-mc_remapper.xml" />
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<xi:include href="wrappers/motorControl/right_shoulder-mc_wrapper.xml" />
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<xi:include href="wrappers/motorControl/right_shoulder-mc_remapper.xml" />
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<xi:include href="wrappers/motorControl/left_shoulder-mc_wrapper.xml" />
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<xi:include href="wrappers/motorControl/left_shoulder-mc_remapper.xml" />
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<xi:include href="wrappers/motorControl/torso-mc_wrapper.xml" />
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<xi:include href="wrappers/motorControl/torso-mc_remapper.xml" />
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<!-- TORSO -->
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<xi:include href="hardware/motorControl/torso-eb5-j0_2-mc.xml" />
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<!-- LEFT ARM -->
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<xi:include href="hardware/motorControl/left_arm-eb2-j0_1-mc.xml" />
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<xi:include href="hardware/motorControl/left_arm-eb4-j2_3-mc.xml" />
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42-
<!-- RIGHT ARM -->
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<!-- RIGHT ARM -->
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<xi:include href="hardware/motorControl/right_arm-eb1-j0_1-mc.xml" />
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<xi:include href="hardware/motorControl/right_arm-eb3-j2_3-mc.xml" />
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@@ -50,20 +46,20 @@
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<!-- RIGHT LEG -->
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<xi:include href="hardware/motorControl/right_leg-eb6-j0_3-mc.xml" />
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<xi:include href="hardware/motorControl/right_leg-eb7-j4_5-mc.xml" />
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<!-- ANALOG SENSORS FT -->
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<xi:include href="wrappers/FT/left_arm-FT_wrapper.xml" />
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<xi:include href="wrappers/FT/right_arm-FT_wrapper.xml" />
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<xi:include href="wrappers/FT/right_arm-FT_wrapper.xml" />
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<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" />
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<xi:include href="hardware/FT/right_arm-eb1-j0_1-strain.xml" />
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<xi:include href="wrappers/FT/left_foot-FT_wrapper.xml" />
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<xi:include href="wrappers/FT/right_foot-FT_wrapper.xml" />
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<xi:include href="wrappers/FT/right_foot-FT_wrapper.xml" />
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<xi:include href="hardware/FT/left_leg-eb9-j4_5-strain.xml" />
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<xi:include href="hardware/FT/right_leg-eb7-j4_5-strain.xml" />
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<xi:include href="hardware/FT/right_leg-eb7-j4_5-strain.xml" />
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<!-- CALIBRATORS -->
@@ -72,5 +68,6 @@
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<xi:include href="calibrators/left_shoulder-calib.xml" />
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<xi:include href="calibrators/right_shoulder-calib.xml" />
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<xi:include href="calibrators/torso-calib.xml" />
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<xi:include href="calibrators/head-calib.xml" />
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</devices>
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</robot>

‎ergoCubSN000/ergocub_head.xml‎

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Original file line numberDiff line numberDiff line change
@@ -0,0 +1,22 @@
1+
<?xml version="1.0" encoding="UTF-8" ?>
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<!DOCTYPE robot PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
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<robot name="ergoCubSN000" xmlns:xi="http://www.w3.org/2001/XInclude">
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<params>
7+
<xi:include href="hardware/electronics/pc104.xml" />
8+
</params>
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<devices>
11+
<!-- motor controllers wrappers and remappers -->
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<xi:include href="wrappers/motorControl/head-mc_wrapper.xml" />
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<xi:include href="wrappers/motorControl/head-mc_remapper.xml" />
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<!-- Head -->
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<xi:include href="hardware/motorControl/head-eb20-j0_1-mc.xml" />
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<xi:include href="hardware/motorControl/head-eb21-j2_3-mc.xml" />
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<xi:include href="calibrators/head-calib.xml" />
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</devices>
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</robot>

‎ergoCubSN000/estimators/wholebodydynamics.xml‎

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@@ -48,7 +48,7 @@
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<paramlist name="networks">
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<!-- motorcontrol and virtual torque sensors -->
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<elem name="head-j0">head-eb20-j0_1-mc</elem>
51-
<elem name="head-j2">head-eb21-j2_5-mc</elem>
51+
<elem name="head-j2">head-eb21-j2_3-mc</elem>
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<elem name="torso">torso-eb5-j0_2-mc</elem>
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<elem name="left_upper_arm-j0">left_arm-eb1-j0_1-mc</elem>
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<elem name="left_upper_arm-j2">left_arm-eb2-j2_3-mc</elem>

‎ergoCubSN000/extra/applications/cameras_calib_640_480.xml‎

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<module>
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<name>yarpdev</name>
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<parameters> --from camera/ServerGrabberDualDragon640_480.ini --split true</parameters>
8-
<node>icub-head</node>
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<node>ergocub-head</node>
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</module>
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<module>
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<name>camCalib</name>

‎ergoCubSN000/ft.xml‎

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<?xml version="1.0" encoding="UTF-8" ?>
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<!DOCTYPE robot PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
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4-
<robot name="iCubGenovergoCubSN000" build="1" portprefix="icub" xmlns:xi="http://www.w3.org/2001/XInclude">
4+
<robot name="iCubGenovergoCubSN000" build="1" portprefix="ergocub" xmlns:xi="http://www.w3.org/2001/XInclude">
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<params>
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<xi:include href="hardware/electronics/pc104.xml" />

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