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Add latest modifications from iCubGenova09 (#333)
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@S-Dafarra
S-Dafarra authored Feb 1, 2022
1 parent 454f238 commit 51b36db
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Showing 13 changed files with 60 additions and 57 deletions.
14 changes: 7 additions & 7 deletions iCubGenova09/calibrators/left_arm-calib.xml
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Expand Up @@ -18,21 +18,21 @@
<group name="CALIBRATION">
<param name="calibrationType"> 12 12 12 12 5 12 12 7 7 6 6 6 6 6 6 6 </param> <!--
<param name="calibration1"> -54795 22399 44679 53215 -1500 -8335 10671 0 0 0 0 0 0 0 0 0 </param> -->
<param name="calibration1"> -54795 19668 44679 53215 -1500 -8335 10671 0 0 0 0 0 0 0 0 0 </param>
<param name="calibration2"> 0 0 0 0 16384 0 0 0 0 9102 9102 9102 9102 9102 9102 10000 </param>
<param name="calibration3"> 0 0 0 0 0 0 0 0 0 -1 1 -1 1 -1 1 1 </param>
<param name="calibration4"> 0 0 0 0 0 0 0 2045 448 240 484 243 483 255 480 725 </param>
<param name="calibration5"> 0 0 0 0 0 0 0 2140 2712 0 9 15 8 20 45 125 </param>
<param name="calibration1"> -13691 19668 44530 53215 -1500 63919 12031 0 0 0 0 0 0 0 0 0 </param>
<param name="calibration2"> 0 0 0 0 16384 0 0 0 0 9102 9102 9102 9102 9102 9102 10000 </param>
<param name="calibration3"> 0 0 0 0 0 0 0 0 0 -1 1 -1 1 -1 1 1 </param>
<param name="calibration4"> 0 0 0 0 0 0 0 1948 325 250 478 243 483 255 480 725 </param>
<param name="calibration5"> 0 0 0 0 0 0 0 2073 2730 9 99 15 8 30 45 125 </param>
<param name="calibrationZero"> 0 0 0 0 0 0 0 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 0 0 0 </param>
<param name="calibrationDelta"> 14 8 0 0 0 0 0 0 0 0 0 0 0 0 0 0 </param>

<param name="startupPosition"> -35 30 0 45 0 0 0 25 45 0 0 0 0 0 0 0 </param>
<param name="startupVelocity"> 10.0 10.0 10.0 10.0 30 30 30 60 100 100 100 100 100 100 100 100 </param>
<param name="startupMaxPwm"> 8000 8000 8000 8000 2000 0 0 0 0 0 0 0 0 0 0 0 </param>
<param name="startupPosThreshold"> 2 2 2 2 90 90 90 90 90 90 90 90 90 90 90 90 </param>
</group>

<param name="CALIB_ORDER"> (1) (0) (2) (3) (4) (5 6) (7) (8 9) (11 13) (10 12 14 15)</param> <!-- removed joint 14 -->
<param name="CALIB_ORDER"> (1) (0) (2) (3) (4) (5 6) (7) (8 9) (11) (13) (10) (12) (14) (15) </param> <!-- removed joint 14 -->
<!-- <param name="CALIB_ORDER">(1) (0) (2) (3) (4) (5 6) (7) (8 9) (11 13) (10 12 14 15) </param> -->
<action phase="startup" level="10" type="calibrate">
<param name="target">left_arm-mc_remapper</param>
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20 changes: 10 additions & 10 deletions iCubGenova09/calibrators/right_arm-calib.xml
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Expand Up @@ -17,24 +17,24 @@


<group name="CALIBRATION">
<param name="calibrationType"> 12 12 12 12 5 12 12 7 7 6 6 6 6 6 6 6 </param> <!--
<param name="calibration1"> 6576 -12866 -4585 -47529 1500 36903 -12703 0 0 0 0 0 0 0 0 0 </param> -->
<param name="calibration1"> 6576 -12912 -883 -47529 1500 36903 -12703 0 0 0 0 0 0 0 0 0 </param>
<param name="calibration2"> 0 0 0 0 16384 0 0 0 0 9102 9102 9102 9102 9102 9102 10000 </param>
<param name="calibration3"> 0 0 0 0 0 0 0 0 0 -1 1 -1 1 -1 1 1 </param>
<param name="calibration4"> 0 0 0 0 0 0 0 2510 1470 255 510 255 510 200 510 748 </param>
<param name="calibration5"> 0 0 0 0 0 0 0 2670 2350 22 40 18 30 10 30 120 </param>
<param name="calibrationType"> 12 12 12 12 5 12 12 7 7 6 6 6 6 6 6 6 </param> <!--
<param name="calibration1"> 6576 -12866 -4585 -47529 1500 36903 -12703 0 0 0 0 0 0 0 0 0 </param> -->
<param name="calibration1"> 5671 -10405 -2085 -47112 1500 36903 -15403 0 0 0 0 0 0 0 0 0 </param>
<param name="calibration2"> 0 0 0 0 16384 0 0 0 0 9102 9102 9102 9102 9102 9102 10000 </param>
<param name="calibration3"> 0 0 0 0 0 0 0 0 0 -1 1 -1 1 -1 1 1 </param>
<param name="calibration4"> 0 0 0 0 0 0 0 2540 1440 255 510 255 476 255 510 764 </param>
<param name="calibration5"> 0 0 0 0 0 0 0 2618 2240 24 40 20 30 0 30 130 </param>
<param name="calibrationZero"> 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 </param>
<param name="calibrationDelta"> 0 0 -5.8 0 0 -5.5 -4 10 0 0 0 0 0 0 0 0 </param>
<param name="calibrationDelta"> 11 0 0 0 0 -5.5 -4 10 0 5 0 0 0 0 0 0 </param>

<param name="startupPosition"> -35 30 0 45 0 0 15 25 45 10 0 0 0 0 0 0 </param>
<param name="startupPosition"> -35 30 0 45 0 0 15 25 45 0 0 0 0 0 0 0 </param>
<param name="startupVelocity"> 10.0 10.0 10.0 10.0 30 30 30 60 100 100 100 100 100 100 100 100 </param>
<param name="startupMaxPwm"> 8000 8000 8000 8000 1500 0 0 0 0 0 0 0 0 0 0 0 </param>
<param name="startupPosThreshold"> 2 2 2 2 90 90 90 90 90 90 90 90 90 90 90 90 </param>
</group>

<!--param name="CALIB_ORDER"> (1) (0) (2) (3) (4) (5 6) (7) (8 9) (11 13) (10 12 14 15) </param-->
<param name="CALIB_ORDER"> (1) (0) (2) (3) (4) (5 6) (7) (8 9) (11 13) (10 12 14 15) </param>
<param name="CALIB_ORDER"> (1) (0) (2) (3) (4) (5 6) (8 9) (11) (13) (10) (12) (14) (15) </param>
<action phase="startup" level="10" type="calibrate">
<param name="target">right_arm-mc_remapper</param>
</action>
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3 changes: 3 additions & 0 deletions iCubGenova09/extra/scripts/additionalCommands.sh
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Expand Up @@ -27,6 +27,9 @@ alias connectToJoypad='sudo expect ${ADDITIONAL_COMMANDS_DIR}/bluetoothConnect.s
# Go to DCM folder
alias dcmFolder='cd ${ROBOTOLOGY_SUPERBUILD_SOURCE_DIR}/src/walking-controllers/src/WalkingModule/app/robots/${YARP_ROBOT_NAME}'

# Go to Teleoperation folder
alias teleoperationFolder='cd ${ROBOTOLOGY_SUPERBUILD_SOURCE_DIR}/src/walking-teleoperation'

# Go to the corresponding build folder in the superbuild
alias goToBuildSuperbuild='cd ../../build/src/${PWD##*/}'

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4 changes: 2 additions & 2 deletions iCubGenova09/hardware/mechanicals/left_arm-eb1-j0_1-mec.xml
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Expand Up @@ -20,8 +20,8 @@

<group name="LIMITS">
<!-- 0 1 -->
<param name="hardwareJntPosMax"> 16 165 </param>
<param name="hardwareJntPosMin"> -90 0 </param>
<param name="hardwareJntPosMax"> 25 165 </param>
<param name="hardwareJntPosMin"> -180 0 </param>
<param name="rotorPosMin"> 0 0 </param>
<param name="rotorPosMax"> 0 0 </param>
</group>
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4 changes: 2 additions & 2 deletions iCubGenova09/hardware/mechanicals/right_arm-eb3-j0_1-mec.xml
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Expand Up @@ -20,8 +20,8 @@

<group name="LIMITS">
<!-- 0 1 -->
<param name="hardwareJntPosMax"> 16 165 </param>
<param name="hardwareJntPosMin"> -90 0 </param>
<param name="hardwareJntPosMax"> 25 165 </param>
<param name="hardwareJntPosMin"> -180 0 </param>
<param name="rotorPosMin"> 0 0 </param>
<param name="rotorPosMax"> 0 0 </param>
</group>
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4 changes: 2 additions & 2 deletions iCubGenova09/hardware/motorControl/left_arm-eb1-j0_1-mc.xml
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Expand Up @@ -11,8 +11,8 @@
<!-- joint number 0 1 -->
<!-- joint name shoulder_pitch shoulder_roll -->
<group name="LIMITS">
<param name="jntPosMax"> 14 163 </param>
<param name="jntPosMin"> -88 17 </param>
<param name="jntPosMax"> 20 163 </param>
<param name="jntPosMin"> -175 17 </param>
<param name="jntVelMax"> 120 120 </param>
<param name="motorNominalCurrents"> 5000 5000 </param>
<param name="motorPeakCurrents"> 12000 12000 </param>
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10 changes: 5 additions & 5 deletions iCubGenova09/hardware/motorControl/left_leg-eb7-j0_2-mc.xml
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Expand Up @@ -34,7 +34,7 @@
<param name="positionControl"> POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT </param>
<param name="velocityControl"> POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT </param>
<param name="mixedControl"> POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT </param>
<param name="torqueControl"> TRQ_PID_DEFAULT TRQ_PID_DEFAULT TRQ_PID_DEFAULT </param>
<param name="torqueControl"> TRQ_PID_OUTPUT_CURR TRQ_PID_OUTPUT_CURR TRQ_PID_OUTPUT_CURR </param>
<param name="currentPid"> 2FOC_CUR_CONTROL 2FOC_CUR_CONTROL 2FOC_CUR_CONTROL </param>
<param name="speedPid"> 2FOC_VEL_CONTROL 2FOC_VEL_CONTROL 2FOC_VEL_CONTROL </param>
</group>
Expand Down Expand Up @@ -117,18 +117,18 @@
<param name="outputType"> current </param>
<param name="fbkControlUnits"> metric_units </param>
<param name="outputControlUnits"> machine_units </param>
<param name="kp"> -150.00 150.00 -200.00 </param>
<param name="kp"> -0.0 0.0 -0.0 </param>
<param name="kd"> 0 0 0 </param>
<param name="ki"> -80 50 -80 </param>
<param name="ki"> -0 0 -0 </param>
<param name="maxOutput"> 2500 2500 2500 </param>
<param name="maxInt"> 200 200 200 </param>
<param name="ko"> 0 0 0 </param>
<param name="stictionUp"> 0 0 0 </param>
<param name="stictionDown"> 0 0 0 </param>
<param name="kff"> 1 1 1 </param>
<param name="kbemf"> -0.0003 0.0004 -0.0003 </param>
<param name="kbemf"> -0.0 0.0 -0.0 </param>
<param name="filterType"> 0 0 0 </param>
<param name="ktau"> -175.56 177.83 -175.74 </param>
<param name="ktau"> -50 50 -50 </param>
</group>

<!-- custom PIDs: end -->
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16 changes: 8 additions & 8 deletions iCubGenova09/hardware/motorControl/left_leg-eb8-j3_5-mc.xml
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Expand Up @@ -15,8 +15,8 @@
<param name="jntPosMin"> -70 -43 -23 </param>
<param name="jntVelMax"> 240 240 240 </param>
<param name="motorNominalCurrents"> 10000 10000 10000 </param>
<param name="motorPeakCurrents"> 15000 15000 15000 </param>
<param name="motorOverloadCurrents"> 20000 30000 30000 </param>
<param name="motorPeakCurrents"> 14000 15000 15000 </param>
<param name="motorOverloadCurrents"> 19000 30000 30000 </param>
<param name="motorPwmLimit"> 16000 16000 16000 </param>
</group>

Expand All @@ -25,15 +25,15 @@
</group>

<group name="IMPEDANCE">
<param name="stiffness"> 0.1 0.1 0.1 </param>
<param name="stiffness"> 0.1 30.0 10.0 </param>
<param name="damping"> 0.05 0.05 0.05 </param>
</group>

<group name="CONTROLS">
<param name="positionControl"> POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT </param>
<param name="velocityControl"> POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT </param>
<param name="mixedControl"> POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT </param>
<param name="torqueControl"> TRQ_PID_DEFAULT TRQ_PID_DEFAULT TRQ_PID_DEFAULT </param>
<param name="torqueControl"> TRQ_PID_OUTPUT_CURR TRQ_PID_OUTPUT_CURR TRQ_PID_OUTPUT_CURR </param>
<param name="currentPid"> 2FOC_CUR_CONTROL 2FOC_CUR_CONTROL 2FOC_CUR_CONTROL </param>
<param name="speedPid"> 2FOC_VEL_CONTROL 2FOC_VEL_CONTROL 2FOC_VEL_CONTROL </param>
</group>
Expand Down Expand Up @@ -116,18 +116,18 @@
<param name="outputType"> current </param>
<param name="fbkControlUnits"> metric_units </param>
<param name="outputControlUnits"> machine_units </param>
<param name="kp"> -150.00 -36.21 -26.77 </param>
<param name="kp"> -0.0 -1000 -1000 </param>
<param name="kd"> 0 0 0 </param>
<param name="ki"> -80.00 0 0 </param>
<param name="ki"> -0.0 -500 -1000 </param>
<param name="maxOutput"> 2500 2500 2500 </param>
<param name="maxInt"> 200 200 200 </param>
<param name="ko"> 0 0 0 </param>
<param name="stictionUp"> 0 0 0 </param>
<param name="stictionDown"> 0 0 0 </param>
<param name="kff"> 1 1 1 </param>
<param name="kbemf"> -0.0002 -0.0003 -0.0003 </param>
<param name="kbemf"> -0.0 -0.0009 -0.0003 </param>
<param name="filterType"> 0 0 0 </param>
<param name="ktau"> -230.10 -162.24 -163.96 </param>
<param name="ktau"> -50.0 -128.81 -227.739 </param>
</group>
<!-- custom PIDs: end -->

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6 changes: 3 additions & 3 deletions iCubGenova09/hardware/motorControl/right_arm-eb28-j8_11-mc.xml
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Expand Up @@ -16,7 +16,7 @@
<param name="jntPosMin"> 10 0 0 0 </param>
<param name="jntVelMax"> 1000 1000 1000 1000 </param>
<param name="motorOverloadCurrents"> 2000 2000 2000 2000 </param>
<param name="motorNominalCurrents"> 600 600 600 600 </param>
<param name="motorNominalCurrents"> 500 500 600 600 </param>
<param name="motorPeakCurrents"> 1000 1000 1000 1000 </param>
<!-- to fix problem in https://github.com/robotology/icub-tech-support/issues/1048 the values are changed-->
<param name="motorPwmLimit"> 3360 3360 3360 3360 </param>
Expand Down Expand Up @@ -48,9 +48,9 @@
<param name="outputType"> pwm </param>
<param name="fbkControlUnits"> metric_units </param>
<param name="outputControlUnits"> machine_units </param>
<param name="kp"> -150 150 -500 500 </param>
<param name="kp"> -150 -150 -500 500 </param>
<param name="kd"> 0 0 0 0 </param>
<param name="ki"> -50 50 -50 50 </param>
<param name="ki"> -50 -50 -50 50 </param>
<!-- to fix problem in https://github.com/robotology/icub-tech-support/issues/1048 the values are changed-->
<param name="maxOutput"> 3360 3360 3360 3360 </param>
<param name="maxInt"> 3360 3360 3360 3360 </param>
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