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ergoCubSN000 - new conf folder #343

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Mar 2, 2022
Merged

ergoCubSN000 - new conf folder #343

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7c62a8b
ergoCubSN000 - new conf folder
davidetome Mar 2, 2022
e35d5da
cleanup
davidetome Mar 2, 2022
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1 change: 1 addition & 0 deletions all_robots.xml
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Expand Up @@ -68,4 +68,5 @@
<xi:include href="./iCubZagreb01/icub_all.xml" />
<xi:include href="./iCubPrague01/icub_all.xml" />
<xi:include href="./iCubValparaiso01/icub_all.xml" />
<xi:include href="./ergoCubSN000/ergocub_all.xml" />
</robot_database >
15 changes: 15 additions & 0 deletions ergoCubSN000/CMakeLists.txt
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set(appname ergoCubSN000)

file(GLOB xml ${CMAKE_CURRENT_SOURCE_DIR}/*.xml)
file(GLOB ini ${CMAKE_CURRENT_SOURCE_DIR}/*.ini)

yarp_install(FILES ${xml} DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})
yarp_install(FILES ${ini} DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})
yarp_install(DIRECTORY estimators DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})
yarp_install(DIRECTORY calibrators DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})
yarp_install(DIRECTORY cartesian DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})
yarp_install(DIRECTORY wrappers DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})
yarp_install(DIRECTORY hardware DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})
yarp_install(DIRECTORY camera DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})
yarp_install(DIRECTORY sensors DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})
yarp_install(DIRECTORY telemetry DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})
61 changes: 61 additions & 0 deletions ergoCubSN000/calibrators/face-calib.xml
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<?xml version="1.0" encoding="UTF-8" ?>
<!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">


<device xmlns:xi="http://www.w3.org/2001/XInclude" name="face-calibrator" type="parametricCalibratorEth">

<xi:include href="../general.xml" />

<group name="GENERAL">
<param name="joints"> 1 </param> <!-- the number of joints of the robot part -->
<param name="deviceName"> FaceV3_Calibrator </param> <!-- this name is used for high-level debug -->
</group>

<group name="HOME">
<param name="positionHome"> 0 </param>
<param name="velocityHome"> 10 </param>
</group>

<!-- joint logical number 0 -->
<!-- joint name eyelids -->
<group name="CALIBRATION">
<param name="calibrationType"> 12 </param>
<!-- The value of the raw encoder needs to be with sign -->
<param name="calibration1"> -2800 </param>
<param name="calibration2"> 0 </param>
<param name="calibration3"> 0 </param>

<param name="calibration4"> 0 </param>
<param name="calibration5"> 0 </param>

<param name="calibrationZero"> 0 </param>
<param name="calibrationDelta"> 0 </param>

<param name="startupPosition"> 0 </param>
<param name="startupVelocity"> 10 </param>
<param name="startupMaxPwm"> 3360 </param>
<param name="startupPosThreshold"> 90 </param>
</group>

<!-- calibration of eyelids where Gearbox_E2J is != 1:
1. in general.xml we set useRawEncoderData = true [as for any type3 calib].
2. retrieve the encoder reading of joint placed in zero position [as for any type3 calib].
3. for computation of calibration3 param use the standard excel formula [as for any type3 calib].
4. for calibrationZero (and VERY IMPORTANT: value of zero in execl formula) use a correction factor of 1/Gearbox_E2J.
As an example, to move away from zero crossing use zero = (+/-) 180 / Gearbox_E2J, where the sign is the same as the encoder reading.

-->
<param name="CALIB_ORDER"> (0) </param> <!-- we can calibrate all joints in parallel (for now not the jaw yet)-->

<action phase="startup" level="10" type="calibrate">
<param name="target">face-mc_remapper</param>
</action>

<action phase="interrupt1" level="1" type="park">
<param name="target">face-mc_remapper</param>
</action>

<action phase="interrupt3" level="1" type="abort" />

</device>

52 changes: 52 additions & 0 deletions ergoCubSN000/calibrators/head-calib.xml
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<?xml version="1.0" encoding="UTF-8" ?>
<!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">


<device xmlns:xi="http://www.w3.org/2001/XInclude" name="head-calibrator" type="parametricCalibratorEth">

<xi:include href="../general.xml" />

<group name="GENERAL">
<param name="joints"> 6 </param> <!-- the number of joints of the robot part -->
<param name="deviceName"> HeadV3_Calibrator </param> <!-- this name is used for high-level debug -->
</group>

<group name="HOME">
<param name="positionHome"> 0 0 0 0 0 0 </param>
<param name="velocityHome"> 10 10 10 10 10 10 </param>
</group>

<!-- joint logical number 0 1 2 3 4 5 -->
<!-- joint name neck-pitch neck-roll neck-yaw eyes-tilt eyes-vers eyes-verg -->
<group name="CALIBRATION">
<param name="calibrationType"> 12 12 12 12 5 5 </param>
<param name="calibration1"> 19567 53471 4175 770 2000 2000 </param>
<param name="calibration2"> 0 0 0 0 8192 8192 </param>
<param name="calibration3"> 0 0 0 0 0 0 </param>

<param name="calibration4"> 0 0 0 0 0 0 </param>
<param name="calibration5"> 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"> 0.0 0.0 0.0 0.0 0.0 6.5 </param>

<param name="startupPosition"> 0.0 0.0 0.0 0.0 0.0 0.0 </param>
<param name="startupVelocity"> 10 10 20.0 20.0 20.0 20.0 </param>
<param name="startupMaxPwm"> 1000 1000 1000 1000 0 0 </param>
<param name="startupPosThreshold"> 90 90 2 2 2 2 </param>
</group>

<param name="CALIB_ORDER"> (0 1 2) (3) (4 5) </param>

<action phase="startup" level="10" type="calibrate">
<param name="target">head-mc_remapper</param>
</action>

<action phase="interrupt1" level="1" type="park">
<param name="target">head-mc_remapper</param>
</action>

<action phase="interrupt3" level="1" type="abort" />

</device>

50 changes: 50 additions & 0 deletions ergoCubSN000/calibrators/left_arm-calib.xml
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<?xml version="1.0" encoding="UTF-8" ?>
<!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">


<device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_arm-calibrator" type="parametricCalibratorEth">
<xi:include href="../general.xml" />

<group name="GENERAL">
<param name="joints">16</param> <!-- the number of joints of the robot part -->
<param name="deviceName"> Left_Arm_Calibrator </param>
</group>

<group name="HOME">
<param name="positionHome"> 5 30 0 10 0 0 0 35 15 65 0 0 0 0 0 0 </param>
<param name="velocityHome"> 10 10 10 10 30 30 30 60 30 30 30 30 30 30 30 30 </param>
</group>

<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="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="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> -->
<action phase="startup" level="10" type="calibrate">
<param name="target">left_arm-mc_remapper</param>
</action>

<action phase="interrupt1" level="1" type="park">
<param name="target">left_arm-mc_remapper</param>
</action>

<action phase="interrupt3" level="1" type="abort" />

</device>



46 changes: 46 additions & 0 deletions ergoCubSN000/calibrators/left_leg-calib.xml
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<?xml version='1.0' encoding='UTF-8'?>
<!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
<device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_leg-calibrator" type="parametricCalibratorEth">
<xi:include href="../general.xml"/>

<group name="GENERAL">
<param name="joints"> 6 </param> <!-- the number of joints of the robot part -->
<param name="deviceName"> Left_Leg_Calibrator </param>
</group>

<group name="HOME">
<param name="positionHome"> 0.00 5.00 0.00 -5.00 0.00 0.00 </param>
<param name="velocityHome"> 10.00 10.00 10.00 10.00 10.00 10.00 </param>
</group>



<group name="CALIBRATION">
<param name="calibrationType"> 10 10 10 10 10 10 </param>
<param name="calibration1"> -4500 4500 -2500 -4000 2500 -2000 </param>
<param name="calibration2"> 0.0 0.0 0 0 0 0 </param>
<param name="calibration3"> 0.0 0.0 0 0 0 0 </param>
<param name="calibration4"> 0.0 0.0 0 0 0 0 </param>
<param name="calibration5"> 0.0 0.0 0 0 0 0 </param>
<param name="calibrationZero"> 93.0 119.90 80.761 5.817 -47.060 25.823 </param>
<param name="calibrationDelta"> 0 0 0 0 0 0 </param>

<param name="startupPosition"> 90 20 0 -70 0 0 </param>
<param name="startupVelocity"> 10.0 10.0 10.0 10 10 10 </param>
<param name="startupMaxPwm"> 12000 8000 3000 8000 4000 3000 </param>
<param name="startupPosThreshold"> 2 2 2 2 2 2 </param>
</group>

<param name="CALIB_ORDER"> (2) (4) (5) (3) (0) (1) </param>

<action phase="startup" level="10" type="calibrate">
<param name="target">left_leg-mc_remapper</param>
</action>

<action phase="interrupt1" level="1" type="park">
<param name="target">left_leg-mc_remapper</param>
</action>

<action phase="interrupt3" level="1" type="abort"/>

</device>
49 changes: 49 additions & 0 deletions ergoCubSN000/calibrators/right_arm-calib.xml
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<?xml version="1.0" encoding="UTF-8" ?>
<!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">


<device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_arm-calibrator" type="parametricCalibratorEth">
<xi:include href="../general.xml" />

<group name="GENERAL">
<param name="joints">16</param> <!-- the number of joints of the robot part -->
<param name="deviceName"> Right_Arm_Calibrator </param>
</group>
<!-- joint logical number 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 -->
<group name="HOME">
<param name="positionHome"> 5 30 0 10 0 0 0 35 15 65 0 0 0 0 0 0 </param>
<param name="velocityHome"> 10 10 10 10 30 30 30 60 30 30 30 30 30 30 30 30 </param>
</group>


<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="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="startupPosition"> -35 30 0 45 0 0 15 25 45 10 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>
<action phase="startup" level="10" type="calibrate">
<param name="target">right_arm-mc_remapper</param>
</action>

<action phase="interrupt1" level="1" type="park">
<param name="target">right_arm-mc_remapper</param>
</action>

<action phase="interrupt3" level="1" type="abort" />

</device>

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