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[ergoCubSN001] Configuration files alignment with ergoCubSN000 (#566)
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@AntonioConsilvio
AntonioConsilvio authored Sep 12, 2023
1 parent e2af5f9 commit 9f038ec
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Showing 46 changed files with 450 additions and 82 deletions.
2 changes: 1 addition & 1 deletion ergoCubSN000/ft.xml
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<?xml version="1.0" encoding="UTF-8" ?>
<!DOCTYPE robot PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">

<robot name="iCubGenovergoCubSN000" build="1" portprefix="ergocub" xmlns:xi="http://www.w3.org/2001/XInclude">
<robot name="ergoCubSN000" build="1" portprefix="ergocub" xmlns:xi="http://www.w3.org/2001/XInclude">

<params>
<xi:include href="hardware/electronics/pc104.xml" />
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2 changes: 1 addition & 1 deletion ergoCubSN000/general.xml
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Expand Up @@ -5,7 +5,7 @@

<group name="GENERAL">
<param name="skipCalibration"> false </param>
<param name="useRawEncoderData"> false </param>
<param name="useRawEncoderData"> false </param>
<param name="useLimitedPWM"> false </param>
<param name="verbose"> false </param>
</group>
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11 changes: 11 additions & 0 deletions ergoCubSN001/battery_test.xml
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<?xml version="1.0" encoding="UTF-8" ?>
<!DOCTYPE robot PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">

<robot name="ergoCubSN001" build="1" portprefix="/ergocub" xmlns:xi="http://www.w3.org/2001/XInclude">

<devices>
<xi:include href="hardware/battery/battery.xml" />
<xi:include href="wrappers/battery/battery.xml" />
</devices>

</robot>
12 changes: 6 additions & 6 deletions ergoCubSN001/calibrators/left_arm-calib.xml
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Expand Up @@ -12,19 +12,19 @@

<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 0.00 0.00 0.00 0.00 0.00 0.00 </param>
<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>
</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 0 150 0 150 150 150 </param>
<param name="calibration2"> 0 0 0 0 0 0 0 0 10923 0 14564 13653 12743 </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 0 180 0 0 0 0 </param>
<param name="calibration5"> 0 0 0 0 0 0 0 0 -273.0 0 -261.0 -259.0 -296.0 </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 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 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>
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12 changes: 6 additions & 6 deletions ergoCubSN001/calibrators/right_arm-calib.xml
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<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 0.00 0.00 30.00 0.00 0.00 0.00 </param>
<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>
</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 19023 28993 36030 0 150 0 150 150 150 </param>
<param name="calibration2"> 0 0 0 0 0 0 0 0 9000 0 10923 13653 9000 </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 0 180 0 0 0 0 </param>
<param name="calibration5"> 0 0 0 0 0 0 0 0 -184.0 0 -294.0 -247.0 -65.0 </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 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>
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2 changes: 1 addition & 1 deletion ergoCubSN001/calibrators/torso-calib.xml
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Expand Up @@ -39,7 +39,7 @@

<!-- Joint 1 has been removed from the calibration order for motor safety -->
<!-- <param name="CALIB_ORDER">(0) (1) (2) </param> --> <!-- Don't remove this line -->
<param name="CALIB_ORDER">(0) (2) </param>
<param name="CALIB_ORDER">(0) (1) (2) </param>

<action phase="startup" level="10" type="calibrate">
<param name="target">torso-eb5-j0_2-mc</param>
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6 changes: 6 additions & 0 deletions ergoCubSN001/ergocub_all.xml
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Expand Up @@ -94,6 +94,8 @@
<xi:include href="wrappers/inertials/head-imuFilter.xml" />
<xi:include href="wrappers/inertials/head-inertials_wrapper.xml" />
<xi:include href="hardware/inertials/head-inertial.xml" />
<xi:include href="hardware/inertials/waist-inertial.xml" />
<xi:include href="wrappers/inertials/waist-inertials_wrapper.xml" />

<!-- IMU - MTB4 BOARDS -->
<xi:include href="hardware/inertials/left_arm-eb4-j2_3-inertial.xml" />
Expand All @@ -112,6 +114,10 @@
<xi:include href="wrappers/inertials/right_arm-imu_wrapper.xml" />
<xi:include href="wrappers/inertials/left_foot-imu_wrapper.xml" />
<xi:include href="wrappers/inertials/right_foot-imu_wrapper.xml" />

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

<!-- CALIBRATORS -->
<xi:include href="calibrators/torso-calib.xml" />
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7 changes: 7 additions & 0 deletions ergoCubSN001/ergocub_all_ros2.xml
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Expand Up @@ -96,6 +96,13 @@
<xi:include href="wrappers/inertials/head-imuFilter.xml" />
<xi:include href="wrappers/inertials/head-inertials_wrapper.xml" />
<xi:include href="hardware/inertials/head-inertial.xml" />
<xi:include href="hardware/inertials/waist-inertial.xml" />
<xi:include href="wrappers/inertials/waist-inertials_wrapper.xml" />


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

<!-- CALIBRATORS -->
<xi:include href="calibrators/torso-calib.xml" />
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6 changes: 6 additions & 0 deletions ergoCubSN001/ergocub_wbd.xml
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Expand Up @@ -93,6 +93,8 @@
<xi:include href="wrappers/inertials/head-imuFilter.xml" />
<xi:include href="wrappers/inertials/head-inertials_wrapper.xml" />
<xi:include href="hardware/inertials/head-inertial.xml" />
<xi:include href="hardware/inertials/waist-inertial.xml" />
<xi:include href="wrappers/inertials/waist-inertials_wrapper.xml" />

<!-- FT SENSORS - IMU -->
<xi:include href="hardware/inertials/left_arm-eb2-j0_1-inertial.xml" />
Expand All @@ -109,6 +111,10 @@
<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-->
<xi:include href="hardware/battery/battery.xml" />
<xi:include href="wrappers/battery/battery.xml" />

<!-- CALIBRATORS -->
<xi:include href="calibrators/torso-calib.xml" />
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137 changes: 137 additions & 0 deletions ergoCubSN001/ergocub_wbd_ros2.xml
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<?xml version="1.0" encoding="UTF-8" ?>
<!DOCTYPE robot PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">

<robot name="ergoCubSN001" xmlns:xi="http://www.w3.org/2001/XInclude">

<params>
<xi:include href="hardware/electronics/pc104.xml" />
</params>

<devices>

<!-- POS4 -->
<xi:include href="wrappers/POS/right_hand-pos_wrapper4.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" />

<!-- POS2 -->
<xi:include href="wrappers/POS/right_hand-pos_wrapper2.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" />

<!-- motor controllers wrappers -->
<xi:include href="wrappers/motorControl/left_leg-mc_wrapper.xml" />
<xi:include href="wrappers/motorControl/right_leg-mc_wrapper.xml" />

<xi:include href="wrappers/motorControl/left_leg-mc_remapper.xml" />
<xi:include href="wrappers/motorControl/right_leg-mc_remapper.xml" />

<xi:include href="wrappers/motorControl/right_arm-mc_wrapper.xml" />

<xi:include href="wrappers/motorControl/right_arm-mc_remapper.xml" />

<xi:include href="wrappers/motorControl/left_arm-mc_wrapper.xml" />
<xi:include href="wrappers/motorControl/left_arm-mc_remapper.xml" />

<xi:include href="wrappers/motorControl/torso-mc_wrapper.xml" />
<xi:include href="wrappers/motorControl/torso-mc_remapper.xml" />

<xi:include href="wrappers/motorControl/head-mc_wrapper.xml" />
<xi:include href="wrappers/motorControl/head-mc_remapper.xml" />

<!-- HEAD -->
<xi:include href="hardware/motorControl/head-eb20-j0_1-mc.xml" />
<xi:include href="hardware/motorControl/head-eb21-j2_3-mc.xml" />

<!-- TORSO -->
<xi:include href="hardware/motorControl/torso-eb5-j0_2-mc.xml" />

<!-- 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-eb23-j7_10-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-eb22-j7_10-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" />
<xi:include href="hardware/motorControl/left_leg-eb9-j4_5-mc.xml" />

<!-- RIGHT LEG -->
<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 -->
<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/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" />
<xi:include href="hardware/FT/right_leg-eb6-j0_3-strain.xml" />

<!-- FT SENSORS - REMAPPERS -->
<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 -->
<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/left_leg-FT_wrapper.xml" />
<xi:include href="wrappers/FT/right_leg-FT_wrapper.xml" />

<!-- INERTIAL SENSOR -->
<xi:include href="wrappers/inertials/head-imuFilter_wrapper.xml" />
<xi:include href="wrappers/inertials/head-imuFilter.xml" />
<xi:include href="wrappers/inertials/head-inertials_wrapper.xml" />
<xi:include href="hardware/inertials/head-inertial.xml" />

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

<!-- CALIBRATORS -->
<xi:include href="calibrators/torso-calib.xml" />
<xi:include href="calibrators/left_leg-calib.xml" />
<xi:include href="calibrators/right_leg-calib.xml" />
<xi:include href="calibrators/left_arm-calib.xml" />
<xi:include href="calibrators/right_arm-calib.xml" />
<xi:include href="calibrators/head-calib.xml" />
<!-- ROS2 -->
<!--<xi:include href="wrappers/inertials/imu_ros2.xml" />-->
<xi:include href="wrappers/motorControl/alljoints-mc_remapper.xml" />
<xi:include href="wrappers/motorControl/alljoints-mc_nws_ros2.xml" />
<xi:include href="wrappers/FT/left_arm-FT_nws_ros2.xml" />
<xi:include href="wrappers/FT/right_arm-FT_nws_ros2.xml" />
<xi:include href="wrappers/FT/left_foot-FT_nws_ros2.xml" />
<xi:include href="wrappers/FT/right_foot-FT_nws_ros2.xml" />

<!-- estimators -->
<xi:include href="estimators/wholebodydynamics.xml" />

</devices>
</robot>
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