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Update on the torso cabling, FT cabling and hip roll gear ratio of iCubGenova09 #365

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merged 13 commits into from
Jun 22, 2022
Merged

Update on the torso cabling, FT cabling and hip roll gear ratio of iCubGenova09 #365

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a36c62c
PROTO_FIC: Changed torso wiring of the 2FOCs.
May 9, 2022
7f54fbe
Fixed skin files.
May 9, 2022
8aec68a
Left ring and pinkie calibration values
May 25, 2022
4fa48cf
Fixed iKinGaze conf file. Added application for look pixel
May 27, 2022
4ad7e22
Remove dependency for iKinGazeCtrl application
May 30, 2022
0c2a871
Calibrated once more the left wrist yaw.
Jun 7, 2022
cc9410e
Increased the gearbox rato in the hip roll joints.
Jun 8, 2022
79adae3
Modified FT files to use multipleFTSensors
Jun 8, 2022
374cfc6
[iCubGenova09] update WBD related config to read from MAS FTs
Jun 9, 2022
92d8055
[iCubGenova09] make r_hip_roll pids symmetric to l_hip_roll
Jun 9, 2022
1d8187f
[iCubGenova09] fix port names for MAS FTs
Jun 9, 2022
8f7a252
Updated calibration of left index.
Jun 10, 2022
7926ad0
Updated hands calibration.
Jun 13, 2022
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8 changes: 4 additions & 4 deletions iCubGenova09/calibrators/left_arm-calib.xml
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Expand Up @@ -21,10 +21,10 @@
<param name="calibration1"> 4000 -3000 -3000 4000 -1500 63200 20250 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 90 165 </param>
<param name="calibrationZero"> 25 -8.4 -51.3 -5 0 0 0 0 0 0 0 0 0 0 0 0 </param>
<param name="calibrationDelta"> 0 0 0 0 0 0 -16 0 0 0 0 0 0 0 0 0 </param>
<param name="calibration4"> 0 0 0 0 0 0 0 1948 325 250 478 243 478 255 480 715 </param>
<param name="calibration5"> 0 0 0 0 0 0 0 2073 2730 9 99 15 30 30 90 140 </param>
<param name="calibrationZero"> 25 -8.4 -51.3 -5 0 0 0 0 0 0 0 0 0 0 0 0 </param>
<param name="calibrationDelta"> 0 0 0 0 0 -2 -30 0 0 0 0 0 0 0 0 0 </param>

<param name="startupPosition"> 24 50 0 10 -75 0 0 15 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>
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2 changes: 1 addition & 1 deletion iCubGenova09/calibrators/right_arm-calib.xml
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Expand Up @@ -23,7 +23,7 @@
<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 2680 1440 255 497 255 476 255 510 764 </param>
<param name="calibration5"> 0 0 0 0 0 0 0 2780 2240 24 80 20 30 0 27 130 </param>
<param name="calibration5"> 0 0 0 0 0 0 0 2780 2240 24 80 20 30 0 35 138 </param>
<param name="calibrationZero"> 25 -8.4 -51.3 -5 0 0 0 0 0 0 0 0 0 0 0 0 </param>
<param name="calibrationDelta"> 0 0 0 0 0 -5.5 11 15 0 5 0 0 0 0 0 0 </param>

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18 changes: 12 additions & 6 deletions iCubGenova09/estimators/wholebodydynamics.xml
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Expand Up @@ -66,7 +66,13 @@
<group name="HW_USE_MAS_IMU">
<param name="accelerometer">rfeimu_acc</param>
<param name="gyroscope">rfeimu_gyro</param>
</group>
</group>

<group name="multipleAnalogSensorsNames">
<!--param name="TemperatureSensorsNames">(l_leg_ft_sensor,r_leg_ft_sensor,l_foot_ft_sensor,r_foot_ft_sensor)</param-->
<param name="SixAxisForceTorqueSensorsNames">(l_arm_ft_sensor, r_arm_ft_sensor, r_leg_ft_sensor,l_foot_front_ft_sensor, l_foot_rear_ft_sensor, r_foot_front_ft_sensor, r_foot_rear_ft_sensor)</param>
</group>`



<group name="GRAVITY_COMPENSATION">
Expand Down Expand Up @@ -145,11 +151,11 @@

<elem name="l_arm_ft_sensor">left_arm-eb1-j0_1-strain</elem>
<elem name="r_arm_ft_sensor">right_arm-eb3-j0_1-strain</elem>
<elem name="l_foot_front_ft_sensor">left_leg-eb8-j3_5-strain</elem>
<elem name="l_foot_rear_ft_sensor">left_leg-eb7-j0_2-strain</elem>
<elem name="r_foot_front_ft_sensor">right_leg-eb12-j3_5-strain</elem>
<elem name="r_foot_rear_ft_sensor">right_leg-eb11-j0_2-strain</elem>
<elem name="r_leg_ft_sensor">torso-eb5-j0_2-strain</elem>
<elem name="l_foot_ft_sensors">left_leg-eb8-j3_5-strain</elem>
<!-- <elem name="l_leg_ft_sensor">left_leg-eb7-j0_2-strain</elem>-->
<elem name="r_foot_ft_sensors">right_leg-eb12-j3_5-strain</elem>
<elem name="r_leg_ft_sensor">right_leg-eb11-j0_2-strain</elem>
<!-- <elem name="r_leg_ft_sensor">torso-eb5-j0_2-strain</elem> -->
</paramlist>
</action>

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6 changes: 3 additions & 3 deletions iCubGenova09/extra/applications/iCubStartup.xml
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Expand Up @@ -35,11 +35,11 @@

<module>
<name>iKinGazeCtrl</name>
<parameters>--from config_no_imu.ini</parameters>
<parameters>--from iKinGazeCtrl.ini</parameters>
<node>icub-head</node>
<dependencies>
<!--dependencies>
<port timeout="60.0" request="is_ready" reply="[ok]">/icub/yarprobotinterface</port>
</dependencies>
</dependencies-->
</module>

<module>
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35 changes: 35 additions & 0 deletions iCubGenova09/extra/applications/look-pixel.xml
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@@ -0,0 +1,35 @@
<application>
<name>Look Pixel</name>

<dependencies>
<port>/iKinGazeCtrl/rpc</port>
</dependencies>

<module>
<name>yarpview</name>
<parameters>--name /viewer --out /viewer/out</parameters>
<node>icub-console</node>
</module>
<module>
<name>look-pixel.lua</name>
<parameters></parameters>
<deployer>lua</deployer>
<node>icub-console</node>
</module>

<connection>
<from>/look-pixel/tx</from>
<to>/iKinGazeCtrl/mono:i</to>
<protocol>tcp</protocol>
</connection>
<connection>
<from>/viewer/out</from>
<to>/look-pixel/rx</to>
<protocol>tcp</protocol>
</connection>
<connection>
<from>/icub/camcalib/left/out</from>
<to>/viewer</to>
<protocol>mjpeg</protocol>
</connection>
</application>
34 changes: 34 additions & 0 deletions iCubGenova09/ft.xml
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@@ -0,0 +1,34 @@
<?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="iCubGenova09" build="1" portprefix="icub" xmlns:xi="http://www.w3.org/2001/XInclude">

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

<devices>

<!-- ANALOG SENSORS FT -->

<xi:include href="wrappers/FT/left_foot-FT_wrapper.xml" />
<xi:include href="wrappers/FT/right_foot-FT_wrapper.xml" />

<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_leg_hip-FT_wrapper.xml" />
<xi:include href="wrappers/FT/left_leg_hip-FT_wrapper.xml" />


<xi:include href="hardware/FT/left_leg-eb7-j0_2-strain.xml" />
<xi:include href="hardware/FT/right_leg-eb11-j0_2-strain.xml" />
<xi:include href="hardware/FT/left_leg-eb8-j3_5-strain.xml" />
<xi:include href="hardware/FT/right_leg-eb12-j3_5-strain.xml" />

<xi:include href="hardware/FT/left_arm-eb1-j0_1-strain.xml" />
<xi:include href="hardware/FT/right_arm-eb3-j0_1-strain.xml" />


</devices>
</robot>
27 changes: 15 additions & 12 deletions iCubGenova09/hardware/FT/left_arm-eb1-j0_1-strain.xml
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Expand Up @@ -3,15 +3,15 @@



<device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_arm-eb1-j0_1-strain" type="embObjFTsensor">
<device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_arm-eb1-j0_1-strain" type="embObjMultipleFTsensors">

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

<xi:include href="../../hardware/electronics/left_arm-eb1-j0_1-eln.xml" />

<group name="SERVICE">

<param name="type"> eomn_serv_AS_strain </param>
<param name="type"> eomn_serv_AS_ft </param>

<group name="PROPERTIES">

Expand All @@ -30,22 +30,25 @@
</group>

<group name="SENSORS">
<param name="id"> id_l_upper_arm_strain </param>
<param name="type"> eoas_strain </param>
<param name="id"> l_arm_ft_sensor </param>
<param name="board"> strain2 </param>
<param name="location"> CAN2:13 </param>
</group>

</group>

<group name="SETTINGS">
<param name="acquisitionRate"> 10 </param>
<param name="enabledSensors"> id_l_upper_arm_strain </param>
<param name="temperature-acquisitionRate"> 1000 </param> <!-- 1 seconds -->
</group>

<group name="STRAIN_SETTINGS">
<param name="useCalibration"> true </param>
</group>
<param name="enabledSensors"> l_arm_ft_sensor </param>
<param name="ftPeriod"> 10 </param>
<param name="temperaturePeriod"> 1000 </param>
<param name="useCalibration"> true </param>
</group>

<group name="CANMONITOR">
<param name="checkPeriod"> 100 </param>
<param name="reportMode"> ALL </param>
<param name="ratePeriod"> 20000 </param>
</group>

</group>

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27 changes: 15 additions & 12 deletions iCubGenova09/hardware/FT/left_leg-eb7-j0_2-strain.xml
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Expand Up @@ -3,15 +3,15 @@



<device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_leg-eb7-j0_2-strain" type="embObjFTsensor">
<device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_leg-eb7-j0_2-strain" type="embObjMultipleFTsensors">

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

<xi:include href="../../hardware/electronics/left_leg-eb7-j0_2-eln.xml" />

<group name="SERVICE">

<param name="type"> eomn_serv_AS_strain </param>
<param name="type"> eomn_serv_AS_ft </param>

<group name="PROPERTIES">

Expand All @@ -30,22 +30,25 @@
</group>

<group name="SENSORS">
<param name="id"> id_l_heel_strain </param>
<param name="type"> eoas_strain </param>
<param name="id"> l_leg_ft_sensor </param>
<param name="board"> strain2 </param>
<param name="location"> CAN2:13 </param>
</group>

</group>

<group name="SETTINGS">
<param name="acquisitionRate"> 10 </param>
<param name="enabledSensors"> id_l_heel_strain </param>
<param name="temperature-acquisitionRate"> 1000 </param> <!-- 1 seconds -->
</group>

<group name="STRAIN_SETTINGS">
<param name="useCalibration"> true </param>
</group>
<param name="enabledSensors"> l_leg_ft_sensor </param>
<param name="ftPeriod"> 10 </param>
<param name="temperaturePeriod"> 1000 </param>
<param name="useCalibration"> true </param>
</group>

<group name="CANMONITOR">
<param name="checkPeriod"> 100 </param>
<param name="reportMode"> ALL </param>
<param name="ratePeriod"> 20000 </param>
</group>

</group>

Expand Down
39 changes: 21 additions & 18 deletions iCubGenova09/hardware/FT/left_leg-eb8-j3_5-strain.xml
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Expand Up @@ -3,49 +3,52 @@



<device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_leg-eb8-j3_5-strain" type="embObjFTsensor">
<device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_leg-eb8-j3_5-strain" type="embObjMultipleFTsensors">

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

<xi:include href="../../hardware/electronics/left_leg-eb8-j3_5-eln.xml" />

<group name="SERVICE">

<param name="type"> eomn_serv_AS_strain </param>
<param name="type"> eomn_serv_AS_ft </param>

<group name="PROPERTIES">

<group name="CANBOARDS">
<param name="type"> strain2 </param>

<group name="PROTOCOL">
<param name="major"> 2 </param>
<param name="minor"> 0 </param>
<param name="major"> 2 </param>
<param name="minor"> 0 </param>
</group>
<group name="FIRMWARE">
<param name="major"> 2 </param>
<param name="minor"> 0 </param>
<param name="build"> 9 </param>
<param name="major"> 2 </param>
<param name="minor"> 0 </param>
<param name="build"> 9 </param>
</group>
</group>

<group name="SENSORS">
<param name="id"> id_l_tiptoe_strain </param>
<param name="type"> eoas_strain </param>
<param name="location"> CAN2:13 </param>
<param name="id"> l_foot_rear_ft_sensor l_foot_front_ft_sensor </param>
<param name="board"> strain2 strain2 </param>
<param name="location"> CAN2:13 CAN2:14 </param>
</group>

</group>

<group name="SETTINGS">
<param name="acquisitionRate"> 10 </param>
<param name="enabledSensors"> id_l_tiptoe_strain </param>
<param name="temperature-acquisitionRate"> 1000 </param> <!-- 1 seconds -->
</group>

<group name="STRAIN_SETTINGS">
<param name="useCalibration"> true </param>
</group>
<param name="enabledSensors"> l_foot_rear_ft_sensor l_foot_front_ft_sensor </param>
<param name="ftPeriod"> 10 10 </param>
<param name="temperaturePeriod"> 1000 1000 </param>
<param name="useCalibration"> true true </param>
</group>

<group name="CANMONITOR">
<param name="checkPeriod"> 100 </param>
<param name="reportMode"> ALL </param>
<param name="ratePeriod"> 20000 </param>
</group>

</group>

Expand Down
27 changes: 15 additions & 12 deletions iCubGenova09/hardware/FT/right_arm-eb3-j0_1-strain.xml
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Expand Up @@ -3,15 +3,15 @@



<device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_arm-eb3-j0_1-strain" type="embObjFTsensor">
<device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_arm-eb3-j0_1-strain" type="embObjMultipleFTsensors">

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

<xi:include href="../../hardware/electronics/right_arm-eb3-j0_1-eln.xml" />

<group name="SERVICE">

<param name="type"> eomn_serv_AS_strain </param>
<param name="type"> eomn_serv_AS_ft </param>

<group name="PROPERTIES">

Expand All @@ -30,22 +30,25 @@
</group>

<group name="SENSORS">
<param name="id"> id_r_upper_arm_strain </param>
<param name="type"> eoas_strain </param>
<param name="id"> r_arm_ft_sensor </param>
<param name="board"> strain2 </param>
<param name="location"> CAN2:13 </param>
</group>

</group>

<group name="SETTINGS">
<param name="acquisitionRate"> 10 </param>
<param name="enabledSensors"> id_r_upper_arm_strain </param>
<param name="temperature-acquisitionRate"> 1000 </param> <!-- 1 seconds -->
</group>

<group name="STRAIN_SETTINGS">
<param name="useCalibration"> true </param>
</group>
<param name="enabledSensors"> r_arm_ft_sensor </param>
<param name="ftPeriod"> 10 </param>
<param name="temperaturePeriod"> 1000 </param>
<param name="useCalibration"> true </param>
</group>

<group name="CANMONITOR">
<param name="checkPeriod"> 100 </param>
<param name="reportMode"> ALL </param>
<param name="ratePeriod"> 20000 </param>
</group>

</group>

Expand Down
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