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pattacinipattacini
committed
Merge branch 'master' into devel
2 parents c9df1e3 + 2db75cd commit 3ee19d2

16 files changed

+216
-147
lines changed

‎iCubGenova02/calibrators/face-calib.xml‎

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@@ -20,15 +20,15 @@
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<!-- joint name eyelids -->
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<group name="CALIBRATION">
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<param name="calibrationType"> 12 </param>
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<param name="calibration1"> -7643 </param>
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<param name="calibration1"> -11172 </param>
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<param name="calibration2"> 0 </param>
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<param name="calibration3"> 0 </param>
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<param name="calibration4"> 0 </param>
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<param name="calibration5"> 0 </param>
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<param name="calibrationZero"> 0 </param>
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<param name="calibrationDelta"> -8 </param>
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<param name="calibrationDelta"> 5 </param>
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<param name="startupPosition"> 0 </param>
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<param name="startupVelocity"> 10 </param>

‎iCubGenova02/calibrators/left_arm-calib.xml‎

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@@ -33,6 +33,7 @@
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</group>
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<param name="CALIB_ORDER">(0 1 2 3) (4) (5 6) (7) (8 9 11 13) (10 12 14 15) </param>
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<action phase="startup" level="10" type="calibrate">
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<param name="target">left_arm-mc_wrapper</param>

‎iCubGenova02/estimators/wholebodydynamics.xml‎

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Original file line numberDiff line numberDiff line change
@@ -3,6 +3,7 @@
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44

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<device xmlns:xi="http://www.w3.org/2001/XInclude" name="wholebodydynamics" type="wholebodydynamics">
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<param name="portPrefix">/icub02/wholebodydynamics</param>
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<param name="axesNames">(torso_pitch,torso_roll,torso_yaw,neck_pitch, neck_roll,neck_yaw,l_shoulder_pitch,l_shoulder_roll,l_shoulder_yaw,l_elbow,r_shoulder_pitch,r_shoulder_roll,r_shoulder_yaw,r_elbow,l_hip_pitch,l_hip_roll,l_hip_yaw,l_knee,l_ankle_pitch,l_ankle_roll,r_hip_pitch,r_hip_roll,r_hip_yaw,r_knee,r_ankle_pitch,r_ankle_roll)</param>
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<param name="modelFile">model.urdf</param>
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<param name="fixedFrameGravity">(0,0,-9.81)</param>
@@ -42,10 +43,10 @@
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</group>
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<group name="WBD_OUTPUT_EXTERNAL_WRENCH_PORTS">
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<param name="/wholeBodyDynamics/left_leg/cartesianEndEffectorWrench:o">(l_lower_leg,l_lower_leg,root_link)</param>
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<param name="/wholeBodyDynamics/left_foot/cartesianEndEffectorWrench:o">(l_foot,l_sole,l_sole)</param>
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<param name="/wholeBodyDynamics/right_leg/cartesianEndEffectorWrench:o">(r_lower_leg,r_lower_leg,root_link)</param>
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<param name="/wholeBodyDynamics/right_foot/cartesianEndEffectorWrench:o">(r_foot,r_sole,r_sole)</param>
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<param name="/icub02/wholeBodyDynamics/left_leg/cartesianEndEffectorWrench:o">(l_lower_leg,l_lower_leg,root_link)</param>
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<param name="/icub02/wholeBodyDynamics/left_foot/cartesianEndEffectorWrench:o">(l_foot,l_sole,l_sole)</param>
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<param name="/icub02/wholeBodyDynamics/right_leg/cartesianEndEffectorWrench:o">(r_lower_leg,r_lower_leg,root_link)</param>
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<param name="/icub02/wholeBodyDynamics/right_foot/cartesianEndEffectorWrench:o">(r_foot,r_sole,r_sole)</param>
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</group>
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<action phase="startup" level="15" type="attach">

‎iCubGenova02/general.xml‎

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Original file line numberDiff line numberDiff line change
@@ -5,7 +5,7 @@
55

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<group name="GENERAL">
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<param name="skipCalibration"> false </param>
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<param name="useRawEncoderData"> false </param>
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<param name="useRawEncoderData"> false </param>
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<param name="useLimitedPWM"> false </param>
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<param name="verbose"> false </param>
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</group>

‎iCubGenova02/hardware/motorControl/face-eb22-j0-mc.xml‎

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Original file line numberDiff line numberDiff line change
@@ -47,9 +47,9 @@
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<param name="outputType"> pwm </param>
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<param name="fbkControlUnits"> metric_units </param>
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<param name="outputControlUnits"> machine_units </param>
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<param name="kp"> +1200.00 </param>
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<param name="kp"> 600.00 </param>
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<param name="kd"> 0.0 </param>
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<param name="ki"> 0.0 </param>
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<param name="ki"> 100.0 </param>
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<param name="maxOutput"> 3360 </param>
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<param name="maxInt"> 3360 </param>
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<param name="stictionUp"> 0 </param>

‎iCubGenova02/hardware/motorControl/left_arm-eb2-j4_15-mc.xml‎

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@@ -47,8 +47,8 @@
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<param name="outputType"> pwm </param>
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<param name="fbkControlUnits"> metric_units </param>
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<param name="outputControlUnits"> machine_units </param>
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<param name="kp"> -200 1000 -1000 -200 -500 -8000 -8000 -8000 8000 -8000 -8000 1200 </param>
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<param name="kd"> -1000 10000 -10000 -200 -32000 -32000 -32000 -32000 32000 -32000 -32000 12500 </param>
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<param name="kp"> -200 1000 -1000 -500 -500 -8000 -8000 -8000 8000 -8000 -8000 1200 </param>
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<param name="kd"> -1000 10000 -1000 -1000 -32000 -32000 -32000 -32000 32000 -32000 -32000 12500 </param>
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<param name="ki"> -1 1 -1 -1 -1 -5 -5 -5 5 -5 -5 1 </param>
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<param name="maxOutput"> 1333 1333 1333 1333 1333 1333 1333 1333 1333 1333 1333 1333 </param>
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<param name="maxInt"> 1333 1333 1333 1333 1333 1333 1333 1333 1333 1333 1333 1333 </param>

‎iCubGenova02/hardware/motorControl/right_arm-eb4-j4_15-mc.xml‎

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Original file line numberDiff line numberDiff line change
@@ -47,8 +47,8 @@
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<param name="outputType"> pwm </param>
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<param name="fbkControlUnits"> metric_units </param>
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<param name="outputControlUnits"> machine_units </param>
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<param name="kp"> -200 1000 -1000 200 -500 -8000 8000 -8000 -8000 -8000 8000 -1200 </param>
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<param name="kd"> -1000 10000 -10000 200 -32000 -32000 32000 -32000 -32000 -32000 32000 -12500 </param>
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<param name="kp"> -200 1000 -1000 500 -500 -8000 8000 -8000 -8000 -8000 8000 -1200 </param>
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<param name="kd"> -1000 10000 -10000 1000 -32000 -32000 32000 -32000 -32000 -32000 32000 -12500 </param>
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<param name="ki"> -1 1 -1 1 -1 -5 5 -5 -5 -5 5 -1 </param>
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<param name="maxOutput"> 1333 1333 1333 1333 1333 1333 1333 1333 1333 1333 1333 1333 </param>
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<param name="maxInt"> 1333 1333 1333 1333 1333 1333 1333 1333 1333 1333 1333 1333 </param>

‎iCubGenova02/icub_all.xml‎

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@@ -52,10 +52,9 @@
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<xi:include href="hardware/inertials/head-inertial.xml" />
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<!-- IMU -->
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<!-- it is the imu bosch bno055 inside the rfe board
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<!-- it is the imu bosch bno055 inside the rfe board -->
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<xi:include href="hardware/inertials/head-imu-rfe.xml" />
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<xi:include href="wrappers/inertials/head-imu-rfe_wrapper.xml" />
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-->
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<!-- ANALOG SENSOR MAIS -->

‎iCubGenova02/wrappers/motorControl/face-mc_wrapper.xml‎

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Original file line numberDiff line numberDiff line change
@@ -1,19 +1,29 @@
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<?xml version="1.0" encoding="UTF-8"?>
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<?xml version="1.0" encoding="UTF-8" ?>
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<!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
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<device xmlns:xi="http://www.w3.org/2001/XInclude" name="face-mc_wrapper" type="controlboardwrapper2">
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<paramlist name="networks">
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<elem name="FirstSetOfJoints">( 0 0 0 0 )</elem>
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</paramlist>
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<param name="period"> 10 </param>
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<param name="name"> /icub/face </param>
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<param name="ports"> face </param>
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<param name="joints"> 1 </param>
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<action phase="startup" level="5" type="attach">
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<device xmlns:xi="http://www.w3.org/2001/XInclude" name="face-mc_wrapper" type="controlboardwrapper2">
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<paramlist name="networks">
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<!-- The param value must match the device name in the corresponding body_part-ebX-jA_B-mc.xml file -->
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<elem name="FirstSetOfJoints"> face-eb22-j0-mc </elem>
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<elem name="Calibrator"> face-calibrator </elem>
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<elem name="FirstSetOfJoints"> (0 0 0 0) </elem>
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</paramlist>
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</action>
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<action phase="shutdown" level="5" type="detach" />
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</device>
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<param name="period"> 10 </param>
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<param name="name"> /icub/face </param>
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<param name="ports"> face </param>
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<param name="joints"> 1 </param>
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<action phase="startup" level="5" type="attach">
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<paramlist name="networks">
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<!-- The param value must match the device name in the corresponding body_part-ebX-jA_B-mc.xml file -->
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<elem name="FirstSetOfJoints"> face-eb22-j0-mc </elem>
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<elem name="Calibrator"> face-calibrator </elem>
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</paramlist>
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</action>
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<action phase="shutdown" level="5" type="detach" />
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</device>
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‎iCubGenova02/wrappers/motorControl/face-no-eyelids-mc_wrapper.xml‎

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@@ -1,21 +1,30 @@
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<?xml version="1.0" encoding="UTF-8"?>
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<?xml version="1.0" encoding="UTF-8" ?>
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<!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
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<device xmlns:xi="http://www.w3.org/2001/XInclude" name="face-no-eyelids-mc_wrapper" type="controlboardwrapper2">
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<paramlist name="networks">
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<elem name="FirstSetOfJoints">( 0 0 0 0 )</elem>
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<elem name="SecondSetOfJoints">( 1 4 0 3 )</elem>
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</paramlist>
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<param name="period"> 10 </param>
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<param name="name"> /icub/face </param>
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<param name="ports"> face </param>
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<param name="joints"> 5 </param>
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<action phase="startup" level="5" type="attach">
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<device xmlns:xi="http://www.w3.org/2001/XInclude" name="face-no-eyelids-mc_wrapper" type="controlboardwrapper2">
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<paramlist name="networks">
14-
<!-- The param value must match the device name in the corresponding body_part-ebX-jA_B-mc.xml file -->
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<elem name="FirstSetOfJoints"> face-eb22-j0_1-mc </elem>
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<elem name="SecondSetOfJoints"> face-eb23-j2_5-mc </elem>
17-
<elem name="Calibrator"> face-no-eyelids-calibrator </elem>
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<elem name="FirstSetOfJoints"> (0 0 0 0) </elem>
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<elem name="SecondSetOfJoints"> (1 4 0 3) </elem>
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</paramlist>
19-
</action>
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<action phase="shutdown" level="5" type="detach" />
21-
</device>
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<param name="period"> 10 </param>
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<param name="name"> /icub/face </param>
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<param name="ports"> face </param>
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<param name="joints"> 5 </param>
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<action phase="startup" level="5" type="attach">
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<paramlist name="networks">
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<!-- The param value must match the device name in the corresponding body_part-ebX-jA_B-mc.xml file -->
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<elem name="FirstSetOfJoints"> face-eb22-j0_1-mc </elem>
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<elem name="SecondSetOfJoints"> face-eb23-j2_5-mc </elem>
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<elem name="Calibrator"> face-no-eyelids-calibrator </elem>
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</paramlist>
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</action>
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<action phase="shutdown" level="5" type="detach" />
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</device>
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