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iCubGenova09 - mods for fingertips and legs (#284)
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@davidetome
davidetome authored Aug 3, 2021
1 parent 2a8f43a commit 577f423
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Showing 5 changed files with 42 additions and 58 deletions.
5 changes: 3 additions & 2 deletions iCubGenova09/calibrators/left_leg-calib.xml
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Expand Up @@ -18,15 +18,16 @@
<group name="CALIBRATION">
<param name="calibrationType"> 12 12 12 12 12 12 </param> <!--
<param name="calibration1"> 24444 29251 18367 -46782 -13812 -47721 </param> -->
<param name="calibration1"> 40461 29421 50502 -14794 13583 -34276 </param>
<param name="calibration1"> 40461 29421 50502 -13781 15352 -34276 </param>

<param name="calibration2"> 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 </param>

<param name="calibration4"> 0.0 0.0 0.0 0.0 0.0 0.0 </param>
<param name="calibration5"> 0.0 0.0 0.0 0.0 0.0 0.0 </param>
<param name="calibrationZero"> 0.0 0.0 0.0 0.0 0.0 0.0 </param>
<param name="calibrationDelta"> 2.657 -4.738 1.254 -0.069 15.540 -2.813</param>

<param name="calibrationDelta"> -2.53 -4.738 1.254 0.0 0.0 -2.813</param>

<param name="startupPosition"> 5 15 0 -20 0 0 </param>
<param name="startupVelocity"> 10.0 10.0 10.0 10.0 10.0 10.0 </param>
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5 changes: 3 additions & 2 deletions iCubGenova09/calibrators/right_leg-calib.xml
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Expand Up @@ -18,14 +18,15 @@
<group name="CALIBRATION">
<param name="calibrationType"> 12 12 12 12 12 12 </param> <!--
<param name="calibration1"> -46315 -27486 -21455 29918 27285 7866 </param> -->
<param name="calibration1"> -46203 -26675 -54991 28574 -26605 9657 </param>
<param name="calibration1"> -46203 -26675 -54991 28574 -21495 9657 </param>
<param name="calibration2"> 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 </param>

<param name="calibration4"> 0.0 0.0 0.0 0.0 0.0 0.0 </param>
<param name="calibration5"> 0.0 0.0 0.0 0.0 0.0 0.0 </param>
<param name="calibrationZero"> 0.0 0.0 0.0 0.0 0.0 0.0 </param>
<param name="calibrationDelta"> 10.890 -4.182 3.323 -5.416 9.082 -6.539</param>

<param name="calibrationDelta"> 10.890 -4.182 3.323 -5.416 0.0 -6.539</param>

<param name="startupPosition"> 5 15 0 -20.0 0 0 </param>
<param name="startupVelocity"> 10.0 10.0 10.0 10.0 10.0 10.0 </param>
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46 changes: 17 additions & 29 deletions iCubGenova09/hardware/skin/left_arm-eb24-j4_7-skinSpec.xml
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Expand Up @@ -5,49 +5,37 @@

<group name="defaultCfgBoard">
<param name="period"> 50 </param>
<param name="skinType"> 0 </param> <!-- 0 ==> new skin
<param name="skinType"> 0 </param> <!-- 0 ==> new skin
1 ==> palm and fingertips skin
2 ==> old skin without temperature compensation -->
<param name="noLoad"> 0xf0 </param>
<param name="diagnostic"> false </param> <!-- used to config high level -->
</group>

<group name="specialCfgBoards">
<!-- it tells some boards to be special.
we can configure only: tx period, skinType, noLoad value.
rule #1 -> CAN1:14 has: period = 50 ms, skinType = 1 (palm and fingertips skin), noLoad = 0xf0
-->
<param name="numOfSets"> 1 </param>
<!-- patch adr start adr end period type no_load -->
<param name="boardSetCfg1"> 1 14 14 50 1 0xf0 </param>

</group>


<group name="defaultCfgTriangle">
<param name="enabled"> true </param>
<param name="enabled"> false </param>
<param name="shift"> 2 </param>
<param name="cdcOffset"> 0x2200 </param>
</group>



<group name="specialCfgTriangles">
<param name="numOfSets"> 20 </param>
<param name="triangleSetCfg1"> 1 14 0 6 1 0 0x2000 </param>
<param name="numOfSets"> 2 </param>
<param name="triangleSetCfg1"> 1 14 0 6 1 0 0x2000 </param>
<param name="triangleSetCfg2"> 1 14 8 11 1 2 0x2200 </param>

<param name="triangleSetCfg3"> 1 13 0 15 1 2 0x2200 </param>

<param name="triangleSetCfg4"> 1 12 0 1 1 2 0x2200 </param>
<param name="triangleSetCfg5"> 1 12 3 3 1 2 0x2200 </param>
<param name="triangleSetCfg6"> 1 12 6 6 1 2 0x2200 </param>
<param name="triangleSetCfg7"> 1 12 8 9 1 2 0x2200 </param>
<param name="triangleSetCfg8"> 1 12 12 13 1 2 0x2200 </param>

<param name="triangleSetCfg9"> 1 11 1 4 1 2 0x2200 </param>
<param name="triangleSetCfg10"> 1 11 8 13 1 2 0x2200 </param>

<param name="triangleSetCfg11"> 1 10 0 1 1 2 0x2200 </param>
<param name="triangleSetCfg12"> 1 10 6 6 1 2 0x2200 </param>
<param name="triangleSetCfg13"> 1 10 8 15 1 2 0x2200 </param>

<param name="triangleSetCfg14"> 1 9 0 8 1 2 0x2200 </param>
<param name="triangleSetCfg15"> 1 9 12 13 1 2 0x2200 </param>

<param name="triangleSetCfg16"> 1 8 0 0 1 2 0x2200 </param>
<param name="triangleSetCfg17"> 1 8 8 9 1 2 0x2200 </param>
<param name="triangleSetCfg18"> 1 8 10 11 1 2 0x2200 </param>
<param name="triangleSetCfg19"> 1 8 13 13 1 2 0x2200 </param>
<param name="triangleSetCfg20"> 1 8 15 15 1 2 0x2200 </param>

</group>


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39 changes: 14 additions & 25 deletions iCubGenova09/hardware/skin/right_arm-eb27-j4_7-skinSpec.xml
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Expand Up @@ -11,42 +11,31 @@
<param name="noLoad"> 0xf0 </param>
<param name="diagnostic"> false </param> <!-- used to config high level -->
</group>

<group name="specialCfgBoards">
<!-- it tells some boards to be special.
we can configure only: tx period, skinType, noLoad value.
rule #1 -> CAN1:14 has: period = 50 ms, skinType = 1 (palm and fingertips skin), noLoad = 0xf0
-->
<param name="numOfSets"> 1 </param>
<!-- patch adr start adr end period type no_load -->
<param name="boardSetCfg1"> 1 14 14 50 1 0xf0 </param>

</group>


<group name="defaultCfgTriangle">
<param name="enabled"> true </param>
<param name="enabled"> false </param>
<param name="shift"> 2 </param>
<param name="cdcOffset"> 0x2200 </param>
</group>

<group name="specialCfgTriangles">
<param name="numOfSets"> 20 </param>
<param name="numOfSets"> 2 </param>
<param name="triangleSetCfg1"> 1 14 0 6 1 0 0x2000 </param>
<param name="triangleSetCfg2"> 1 14 8 11 1 2 0x2200 </param>

<param name="triangleSetCfg3"> 1 13 0 15 1 2 0x2200 </param>

<param name="triangleSetCfg4"> 1 12 0 1 1 2 0x2200 </param>
<param name="triangleSetCfg5"> 1 12 3 3 1 2 0x2200 </param>
<param name="triangleSetCfg6"> 1 12 6 6 1 2 0x2200 </param>
<param name="triangleSetCfg7"> 1 12 8 9 1 2 0x2200 </param>
<param name="triangleSetCfg8"> 1 12 12 13 1 2 0x2200 </param>

<param name="triangleSetCfg9"> 1 11 1 4 1 2 0x2200 </param>
<param name="triangleSetCfg10"> 1 11 8 13 1 2 0x2200 </param>

<param name="triangleSetCfg11"> 1 9 0 1 1 2 0x2200 </param>
<param name="triangleSetCfg12"> 1 9 6 6 1 2 0x2200 </param>
<param name="triangleSetCfg13"> 1 9 8 15 1 2 0x2200 </param>

<param name="triangleSetCfg14"> 1 10 0 8 1 2 0x2200 </param>
<param name="triangleSetCfg15"> 1 10 12 13 1 2 0x2200 </param>

<param name="triangleSetCfg16"> 1 8 0 0 1 2 0x2200 </param>
<param name="triangleSetCfg17"> 1 8 8 9 1 2 0x2200 </param>
<param name="triangleSetCfg18"> 1 8 10 11 1 2 0x2200 </param>
<param name="triangleSetCfg19"> 1 8 13 13 1 2 0x2200 </param>
<param name="triangleSetCfg20"> 1 8 15 15 1 2 0x2200 </param>

</group>


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5 changes: 5 additions & 0 deletions iCubGenova09/icub_wbd.xml
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Expand Up @@ -96,6 +96,11 @@
<xi:include href="wrappers/skin/right_upperarm-skin_wrapper.xml" />
<xi:include href="hardware/skin/right_upperarm-eb4-skin.xml" />

<xi:include href="wrappers/skin/right_arm-skin_wrapper.xml" />
<xi:include href="hardware/skin/right_arm-eb27-j4_7-skin.xml" />
<xi:include href="wrappers/skin/left_arm-skin_wrapper.xml" />
<xi:include href="hardware/skin/left_arm-eb24-j4_7-skin.xml" />

<!-- CALIBRATORS -->

<xi:include href="calibrators/head-calib.xml" />
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