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[ergoCubSN001] Enable lowerarm and more (#598)
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Co-authored-by: ergocub <[email protected]>
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@AntonioConsilvio
AntonioConsilvio and ergocub authored Dec 6, 2023
1 parent 22af069 commit b3c6892
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Showing 37 changed files with 173 additions and 171 deletions.
32 changes: 16 additions & 16 deletions ergoCubSN001/calibrators/left_arm-calib.xml
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Expand Up @@ -6,32 +6,32 @@
<xi:include href="../general.xml" />

<group name="GENERAL">
<param name="joints">4</param> <!-- the number of joints of the robot part -->
<param name="joints">13</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 0.00 5.00 5.00 5.00 5.00 5.00 </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 24917 14878 17235 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 0 0 0 0 1 </param>
<param name="calibration4"> 0 0 0 0 0 0 0 0 0 0 32768 0 0 </param>
<param name="calibration5"> 0 0 0 0 0 0 0 0 6850 0 48450 37450 56800 </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 5.0 5.0 5.0 5.0 5.0 </param>
<param name="startupVelocity"> 10.0 10.0 10.0 10.0 10.0 10.0 10.0 100.0 100.0 100.0 100 100.0 100.0 </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 5 5 5 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"> (3) (2) (0) (1) </param>
<param name="CALIB_ORDER"> (4 5 6) (3) (2) (0) (1) (7 8) (9) (10 11 12) </param>

<action phase="startup" level="10" type="calibrate">
<param name="target">left_arm-mc_remapper</param>
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32 changes: 16 additions & 16 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">4</param> <!-- the number of joints of the robot part -->
<param name="joints">13</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 0.00 5.00 5.00 5.00 5.00 5.00 </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 1795 16373 11969 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 0 0 1 0 0 </param>
<param name="calibration4"> 0 0 0 0 0 0 0 0 0 0 32768 0 0 </param>
<param name="calibration5"> 0 0 0 0 0 0 0 0 25030 0 1230 32470 18350 </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 5.0 5.0 5.0 5.0 5.0 </param>
<param name="startupVelocity"> 10.0 10.0 10.0 10.0 10.0 10.0 10.0 100.0 100.0 100.0 100.0 100.0 100.0 </param>
<param name="startupMaxPwm"> 8000 8000 8000 12000 16000 16000 16000 0 0 0 0 0 0 </param>
<param name="startupPosThreshold"> 2 2 2 2 2 2 2 5 5 5 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"> (3) (2) (0) (1) </param>
<param name="CALIB_ORDER">(4 5 6) (3) (2) (0) (1) (7 8) (9) (10 11 12) </param>


<action phase="startup" level="10" type="calibrate">
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44 changes: 22 additions & 22 deletions ergoCubSN001/ergocub_all.xml
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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="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="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 All @@ -70,9 +70,9 @@
<xi:include href="hardware/motorControl/right_leg-eb6-j0_3-mc.xml" />
<xi:include href="hardware/motorControl/right_leg-eb7-j4_5-mc.xml" />

<!-- FT SENSORS -->
<!-- FT SENSORS
<xi:include href="hardware/FT/left_arm-eb2-j0_1-strain.xml" />
<xi:include href="hardware/FT/right_arm-eb1-j0_1-strain.xml" />
<xi:include href="hardware/FT/right_arm-eb1-j0_1-strain.xml" /> -->
<xi:include href="hardware/FT/left_leg-eb9-j4_5-strain.xml" />
<xi:include href="hardware/FT/right_leg-eb7-j4_5-strain.xml" />
<xi:include href="hardware/FT/left_leg-eb8-j0_3-strain.xml" />
Expand All @@ -82,9 +82,9 @@
<xi:include href="wrappers/FT/left_leg-FT_remapper.xml" />
<xi:include href="wrappers/FT/right_leg-FT_remapper.xml" />

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

Expand All @@ -103,29 +103,29 @@
<xi:include href="hardware/inertials/right_arm-eb3-j2_3-inertial.xml" />
<xi:include href="wrappers/inertials/right_arm-inertials_wrapper.xml" /> -->

<!-- FT SENSORS - IMU -->
<!-- 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/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 -->
<!-- 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/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" />

<!-- BATTERY BAT -->
<!-- BATTERY BAT
<xi:include href="wrappers/battery/battery_bat.xml" />
<xi:include href="hardware/battery/battery_bat.xml" />
<xi:include href="hardware/battery/battery_bat.xml" /> -->

<!-- BATTERY BMS -->
<!-- BATTERY BMS
<xi:include href="wrappers/battery/battery_bms.xml" />
<xi:include href="hardware/battery/battery_bms.xml" />
<xi:include href="hardware/battery/battery_bms.xml" /> -->

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