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GiulioRomualdilrapettimebbaidergocub
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[ergoCubSN000] Update the configuration file (#450)
Co-authored-by: Lorenzo <[email protected]> Co-authored-by: mebbaid <[email protected]> Co-authored-by: ergocub <[email protected]>
1 parent c5818cb commit 1cb3252

17 files changed

+228
-95
lines changed

‎ergoCubSN000/calibrators/left_arm-calib.xml‎

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -30,7 +30,7 @@
3030
</group>
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<!-- motor's encoder of joint 7 can't read -->
33-
<param name="CALIB_ORDER"> (4 5 6) (2) (0) (1) (3) (7 8 9 10) (11 12) </param>
33+
<param name="CALIB_ORDER"> (4 5 6) (3) (2) (0) (1) (7 8 9 10) (11 12) </param>
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3535
<action phase="startup" level="10" type="calibrate">
3636
<param name="target">left_arm-mc_remapper</param>

‎ergoCubSN000/calibrators/right_arm-calib.xml‎

Lines changed: 3 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -17,7 +17,7 @@
1717
</group>
1818
<group name="CALIBRATION">
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<param name="calibrationType"> 10 10 10 10 12 12 12 12 12 12 12 12 12 </param>
20-
<param name="calibration1"> -4000 3000 3000 -4000 6109 28993 36030 0 0 0 0 0 0 </param>
20+
<param name="calibration1"> -4000 3000 3000 -4000 19023 28993 36030 0 0 0 0 0 0 </param>
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<param name="calibration2"> 0 0 0 0 0 0 0 0 0 0 0 0 0 </param>
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<param name="calibration3"> 0 0 0 0 0 0 0 0 0 0 0 0 0 </param>
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<param name="calibration4"> 0 0 0 0 0 0 0 0 0 0 0 0 0 </param>
@@ -30,7 +30,8 @@
3030
<param name="startupPosThreshold"> 2 2 2 2 2 2 2 90 90 90 90 90 90 </param>
3131
</group>
3232

33-
<param name="CALIB_ORDER"> (4 5 6) (2) (0) (1) (3) (7 8 9 10) (11 12) </param>
33+
<!-- <param name="CALIB_ORDER"> (4 5 6) (2) (0) (1) (3) (7 8) (11 12) </param> -->
34+
<param name="CALIB_ORDER"> (3) (2) (0) (1) (7 8) (11 12) </param>
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3536
<action phase="startup" level="10" type="calibrate">
3637
<param name="target">right_arm-mc_remapper</param>

‎ergoCubSN000/extra/contexts/yarpmanager/cluster-config.xml‎

Lines changed: 12 additions & 14 deletions
Original file line numberDiff line numberDiff line change
@@ -1,17 +1,15 @@
1-
<cluster name="icub09" user="icub">
2-
3-
<!-- specify type="yarpserver" or type="yarpserver3" to use the old or new nameserver default behavior is to use yarpserver3 -->
4-
<nameserver namespace="/icub09" node="icub-console" type="yarpserver"> </nameserver>
5-
6-
<!-- specify nodes, if you want to enable display on desktop please specify which desktop to use
7-
this is usually the value of the DISPLAY variable when logged on -->
8-
<node display=":0" address="10.0.0.158">icub-console</node>
9-
<node display=":0" address="10.0.10.164">icub-console-gui</node>
10-
<node address="10.0.10.115" user="pi">pi-ifeel</node>
11-
<node display=":1">icub-cuda</node>
12-
<node address="10.0.0.2">icub-head</node>
13-
<node>icub-virtualizer</node>
14-
<node display=":1" address="10.0.10.29">icub29</node>
1+
<cluster name="ergocub00" user="ergocub">
2+
3+
<!-- specify type="yarpserver" or type="yarpserver3" to use the old or new nameserver default behavior is to use yarpserver3 -->
4+
<nameserver namespace="/ergocub00" node="ergocub-torso" type="yarpserver"> </nameserver>
5+
6+
<!-- specify nodes, if you want to enable display on desktop please specify which desktop to use
7+
this is usually the value of the DISPLAY variable when logged on -->
8+
<node display=":0" address="10.0.2.1">ergocub-laptop</node>
9+
<node address="10.0.2.2">ergocub-torso</node>
10+
<node display=":1" address="10.0.2.3">ergocub-head</node>
11+
<node display=":0" address="10.0.10.164" user="icub">icub-console-gui</node>
12+
<node>icub-virtualizer</node>
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</cluster>
1715

‎ergoCubSN000/hardware/motorControl/head-eb20-j0_1-mc.xml‎

Lines changed: 3 additions & 3 deletions
Original file line numberDiff line numberDiff line change
@@ -47,9 +47,9 @@
4747
<param name="outputType"> pwm </param>
4848
<param name="fbkControlUnits"> metric_units </param>
4949
<param name="outputControlUnits"> machine_units </param>
50-
<param name="kp"> -512 +535 </param>
51-
<param name="kd"> -17 +14 </param>
52-
<param name="ki"> -1621 +1670 </param>
50+
<param name="kp"> -150 +150 </param>
51+
<param name="kd"> 0 0 </param>
52+
<param name="ki"> -15 +15 </param>
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<param name="maxOutput"> 3360 3360 </param>
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<param name="maxInt"> 3360 3360 </param>
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<param name="stictionUp"> 0 0 </param>

‎ergoCubSN000/hardware/motorControl/left_arm-eb2-j0_1-mc.xml‎

Lines changed: 32 additions & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -33,7 +33,7 @@
3333
<param name="positionControl"> POS_PID_DEFAULT POS_PID_DEFAULT </param>
3434
<param name="velocityControl"> POS_PID_DEFAULT POS_PID_DEFAULT </param>
3535
<param name="mixedControl"> POS_PID_DEFAULT POS_PID_DEFAULT </param>
36-
<param name="torqueControl"> TRQ_PID_DEFAULT TRQ_PID_DEFAULT </param>
36+
<param name="torqueControl"> TRQ_PID_OUTPUT_CURR TRQ_PID_OUTPUT_CURR </param>
3737
<param name="currentPid"> 2FOC_CUR_CONTROL 2FOC_CUR_CONTROL </param>
3838
<param name="speedPid"> 2FOC_VEL_CONTROL 2FOC_VEL_CONTROL </param>
3939
</group>
@@ -112,12 +112,43 @@
112112

113113

114114
<!-- custom PIDs: begin -->
115+
<group name="TRQ_PID_OUTPUT_CURR">
116+
<param name="controlLaw"> torque </param>
117+
<param name="outputType"> current </param>
118+
<param name="fbkControlUnits"> metric_units </param>
119+
<param name="outputControlUnits"> machine_units </param>
120+
<param name="kp"> 150 100 </param>
121+
<param name="kd"> 0 0 </param>
122+
<param name="ki"> 0 0 </param>
123+
<param name="maxOutput"> 2500 2500 </param>
124+
<param name="maxInt"> 200 200 </param>
125+
<param name="ko"> 0 0 </param>
126+
<param name="stictionUp"> 0 0 </param>
127+
<param name="stictionDown"> 0 0 </param>
128+
<param name="kff"> 1 1 </param>
129+
<param name="kbemf"> 0.0001 0.0001 </param>
130+
<param name="filterType"> 0 0 </param>
131+
<param name="ktau"> 250 200 </param>
132+
</group>
115133
<!-- custom PIDs: end -->
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117135
<group name="OTHER_CONTROL_PARAMETERS">
118136
<param name="deadZone"> 0.0049 0.0049 </param>
119137
</group>
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139+
<!-- kalman filter parameters - vel & acc estimation -->
140+
<group name="KALMAN_FILTER">
141+
<param name="kalmanFilterEnabled"> 1 1 </param>
142+
<param name="x0"> 0 0 </param>
143+
<param name="x1"> 0 0 </param>
144+
<param name="x2"> 0 0 </param>
145+
<param name="Q0"> 0.0001 0.0001 </param>
146+
<param name="Q1"> 0.01 0.01 </param>
147+
<param name="Q2"> 10 10 </param>
148+
<param name="R"> 0.001 0.001 </param>
149+
<param name="P0"> 0.000099 0.000099 </param>
150+
</group>
151+
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</device>
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‎ergoCubSN000/hardware/motorControl/left_arm-eb31-j4_6-mc.xml‎

Lines changed: 6 additions & 6 deletions
Original file line numberDiff line numberDiff line change
@@ -15,9 +15,9 @@
1515
<param name="jntPosMax"> 90 50 30 </param>
1616
<param name="jntPosMin"> -90 -60 -30 </param>
1717
<param name="jntVelMax"> 90 90 90 </param>
18-
<param name="motorNominalCurrents"> 1000 1000 1000 </param>
19-
<param name="motorPeakCurrents"> 1500 1500 1500 </param>
20-
<param name="motorOverloadCurrents"> 2000 2000 2000 </param>
18+
<param name="motorNominalCurrents"> 300 300 300 </param>
19+
<param name="motorPeakCurrents"> 360 360 360 </param>
20+
<param name="motorOverloadCurrents"> 450 450 450 </param>
2121
<param name="motorPwmLimit"> 16000 16000 16000 </param>
2222
</group>
2323

@@ -47,9 +47,9 @@
4747
<param name="outputType"> current </param>
4848
<param name="fbkControlUnits"> metric_units </param>
4949
<param name="outputControlUnits"> machine_units </param>
50-
<param name="kp"> -67 -67 -67 </param>
51-
<param name="kd"> -11 -11 -11 </param>
52-
<param name="ki"> -294 -294 -294 </param>
50+
<param name="kp"> -50 -50 -50 </param>
51+
<param name="kd"> -8 -8 -8 </param>
52+
<param name="ki"> -220 -220 -220 </param>
5353
<param name="maxOutput"> 500 500 500 </param>
5454
<param name="maxInt"> 200 200 200 </param>
5555
<param name="stictionUp"> 0 0 0 </param>

‎ergoCubSN000/hardware/motorControl/left_arm-eb4-j2_3-mc.xml‎

Lines changed: 32 additions & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -33,7 +33,7 @@
3333
<param name="positionControl"> POS_PID_DEFAULT POS_PID_DEFAULT </param>
3434
<param name="velocityControl"> POS_PID_DEFAULT POS_PID_DEFAULT </param>
3535
<param name="mixedControl"> POS_PID_DEFAULT POS_PID_DEFAULT </param>
36-
<param name="torqueControl"> TRQ_PID_DEFAULT TRQ_PID_DEFAULT </param>
36+
<param name="torqueControl"> TRQ_PID_OUTPUT_CURR TRQ_PID_OUTPUT_CURR </param>
3737
<param name="currentPid"> 2FOC_CUR_CONTROL 2FOC_CUR_CONTROL </param>
3838
<param name="speedPid"> 2FOC_VEL_CONTROL 2FOC_VEL_CONTROL </param>
3939
</group>
@@ -112,12 +112,43 @@
112112

113113

114114
<!-- custom PIDs: begin -->
115+
<group name="TRQ_PID_OUTPUT_CURR">
116+
<param name="controlLaw"> torque </param>
117+
<param name="outputType"> current </param>
118+
<param name="fbkControlUnits"> metric_units </param>
119+
<param name="outputControlUnits"> machine_units </param>
120+
<param name="kp"> 0 -200 </param>
121+
<param name="kd"> 0 0 </param>
122+
<param name="ki"> 0 0 </param>
123+
<param name="maxOutput"> 2500 2500 </param>
124+
<param name="maxInt"> 200 200 </param>
125+
<param name="ko"> 0 0 </param>
126+
<param name="stictionUp"> 0 0 </param>
127+
<param name="stictionDown"> 0 0 </param>
128+
<param name="kff"> 1 1 </param>
129+
<param name="kbemf"> 0.0001 -0.0002 </param>
130+
<param name="filterType"> 0 0 </param>
131+
<param name="ktau"> 50 -300 </param>
132+
</group>
115133
<!-- custom PIDs: end -->
116134

117135
<group name="OTHER_CONTROL_PARAMETERS">
118136
<param name="deadZone"> 0.0049 0.0049 </param>
119137
</group>
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139+
<!-- kalman filter parameters - vel & acc estimation -->
140+
<group name="KALMAN_FILTER">
141+
<param name="kalmanFilterEnabled"> 1 1 </param>
142+
<param name="x0"> 0 0 </param>
143+
<param name="x1"> 0 0 </param>
144+
<param name="x2"> 0 0 </param>
145+
<param name="Q0"> 0.0001 0.0001 </param>
146+
<param name="Q1"> 0.01 0.01 </param>
147+
<param name="Q2"> 10 10 </param>
148+
<param name="R"> 0.001 0.001 </param>
149+
<param name="P0"> 0.000099 0.000099 </param>
150+
</group>
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</device>
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‎ergoCubSN000/hardware/motorControl/left_leg-eb8-j0_3-mc.xml‎

Lines changed: 4 additions & 4 deletions
Original file line numberDiff line numberDiff line change
@@ -117,18 +117,18 @@
117117
<param name="outputType"> current </param>
118118
<param name="fbkControlUnits"> metric_units </param>
119119
<param name="outputControlUnits"> machine_units </param>
120-
<param name="kp"> -0.0 0.0 -0.0 -0.0 </param>
120+
<param name="kp"> -100 150 -0.0 -350 </param>
121121
<param name="kd"> 0 0 0 0 </param>
122-
<param name="ki"> -0 0 -0 -0 </param>
122+
<param name="ki"> -10 25 -0 -100 </param>
123123
<param name="maxOutput"> 2500 2500 2500 2500 </param>
124124
<param name="maxInt"> 200 200 200 200 </param>
125125
<param name="ko"> 0 0 0 0 </param>
126126
<param name="stictionUp"> 0 0 0 0 </param>
127127
<param name="stictionDown"> 0 0 0 0 </param>
128128
<param name="kff"> 1 1 1 1 </param>
129-
<param name="kbemf"> -0.0 0.0 -0.0 -0.0 </param>
129+
<param name="kbemf"> -0.0001 0.0001 -0.0005 -0.0003 </param>
130130
<param name="filterType"> 0 0 0 0 </param>
131-
<param name="ktau"> -50 50 -50 -50 </param>
131+
<param name="ktau"> -40 50 -150 -110 </param>
132132
</group>
133133

134134
<!-- custom PIDs: end -->

‎ergoCubSN000/hardware/motorControl/left_leg-eb9-j4_5-mc.xml‎

Lines changed: 7 additions & 7 deletions
Original file line numberDiff line numberDiff line change
@@ -116,18 +116,18 @@
116116
<param name="outputType"> current </param>
117117
<param name="fbkControlUnits"> metric_units </param>
118118
<param name="outputControlUnits"> machine_units </param>
119-
<param name="kp"> -1000 -1000 </param>
120-
<param name="kd"> 0 0 </param>
121-
<param name="ki"> -500 -1000 </param>
122-
<param name="maxOutput"> 2500 2500 </param>
123-
<param name="maxInt"> 200 200 </param>
119+
<param name="kp"> -0 -50 </param>
120+
<param name="kd"> 0 0 </param>
121+
<param name="ki"> -0 0 </param>
122+
<param name="maxOutput"> 2500 2500 </param>
123+
<param name="maxInt"> 200 200 </param>
124124
<param name="ko"> 0 0 </param>
125125
<param name="stictionUp"> 0 0 </param>
126126
<param name="stictionDown"> 0 0 </param>
127127
<param name="kff"> 1 1 </param>
128-
<param name="kbemf"> -0.0009 -0.0003 </param>
128+
<param name="kbemf"> -0.0009 -0.0003 </param>
129129
<param name="filterType"> 0 0 </param>
130-
<param name="ktau"> -128.81 -227.739 </param>
130+
<param name="ktau"> -128.81 -160 </param>
131131
</group>
132132
<!-- custom PIDs: end -->
133133

‎ergoCubSN000/hardware/motorControl/right_arm-eb1-j0_1-mc.xml‎

Lines changed: 32 additions & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -34,7 +34,7 @@
3434
<param name="positionControl"> POS_PID_DEFAULT POS_PID_DEFAULT </param>
3535
<param name="velocityControl"> POS_PID_DEFAULT POS_PID_DEFAULT </param>
3636
<param name="mixedControl"> POS_PID_DEFAULT POS_PID_DEFAULT </param>
37-
<param name="torqueControl"> TRQ_PID_DEFAULT TRQ_PID_DEFAULT </param>
37+
<param name="torqueControl"> TRQ_PID_OUTPUT_CURR TRQ_PID_OUTPUT_CURR </param>
3838
<param name="currentPid"> 2FOC_CUR_CONTROL 2FOC_CUR_CONTROL </param>
3939
<param name="speedPid"> 2FOC_VEL_CONTROL 2FOC_VEL_CONTROL </param>
4040
</group>
@@ -114,12 +114,43 @@
114114

115115

116116
<!-- custom PIDs: begin -->
117+
<group name="TRQ_PID_OUTPUT_CURR">
118+
<param name="controlLaw"> torque </param>
119+
<param name="outputType"> current </param>
120+
<param name="fbkControlUnits"> metric_units </param>
121+
<param name="outputControlUnits"> machine_units </param>
122+
<param name="kp"> -150 -100 </param>
123+
<param name="kd"> 0 0 </param>
124+
<param name="ki"> 0 0 </param>
125+
<param name="maxOutput"> 2500 2500 </param>
126+
<param name="maxInt"> 200 200 </param>
127+
<param name="ko"> 0 0 </param>
128+
<param name="stictionUp"> 0 0 </param>
129+
<param name="stictionDown"> 0 0 </param>
130+
<param name="kff"> 1 1 </param>
131+
<param name="kbemf"> -0.0001 -0.0001 </param>
132+
<param name="filterType"> 0 0 </param>
133+
<param name="ktau"> -250 -200 </param>
134+
</group>
117135
<!-- custom PIDs: end -->
118136

119137
<group name="OTHER_CONTROL_PARAMETERS">
120138
<param name="deadZone"> 0.0049 0.0049 </param>
121139
</group>
122140

141+
<!-- kalman filter parameters - vel & acc estimation -->
142+
<group name="KALMAN_FILTER">
143+
<param name="kalmanFilterEnabled"> 1 1 </param>
144+
<param name="x0"> 0 0 </param>
145+
<param name="x1"> 0 0 </param>
146+
<param name="x2"> 0 0 </param>
147+
<param name="Q0"> 0.0001 0.0001 </param>
148+
<param name="Q1"> 0.01 0.01 </param>
149+
<param name="Q2"> 10 10 </param>
150+
<param name="R"> 0.001 0.001 </param>
151+
<param name="P0"> 0.000099 0.000099 </param>
152+
</group>
153+
123154
</device>
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