Skip to content

Commit 71e5bb5

Browse files
S-DafarraS-Dafarra
authored
Update on the torso cabling, FT cabling and hip roll gear ratio of iCubGenova09 (#365)
1 parent c9bf950 commit 71e5bb5

27 files changed

+303
-226
lines changed

‎iCubGenova09/calibrators/left_arm-calib.xml‎

Lines changed: 4 additions & 4 deletions
Original file line numberDiff line numberDiff line change
@@ -21,10 +21,10 @@
2121
<param name="calibration1"> 4000 -3000 -3000 4000 -1500 63200 20250 0 0 0 0 0 0 0 0 0 </param>
2222
<param name="calibration2"> 0 0 0 0 16384 0 0 0 0 9102 9102 9102 9102 9102 9102 10000 </param>
2323
<param name="calibration3"> 0 0 0 0 0 0 0 0 0 -1 1 -1 1 -1 1 1 </param>
24-
<param name="calibration4"> 0 0 0 0 0 0 0 1948 325 250 478 243 483 255 480 725 </param>
25-
<param name="calibration5"> 0 0 0 0 0 0 0 2073 2730 9 99 15 8 30 90 165 </param>
26-
<param name="calibrationZero"> 25 -8.4 -51.3 -5 0 0 0 0 0 0 0 0 0 0 0 0 </param>
27-
<param name="calibrationDelta"> 0 0 0 0 0 0 -16 0 0 0 0 0 0 0 0 0 </param>
24+
<param name="calibration4"> 0 0 0 0 0 0 0 1948 325 250 478 243 478 255 480 715 </param>
25+
<param name="calibration5"> 0 0 0 0 0 0 0 2073 2730 9 99 15 30 30 90 140 </param>
26+
<param name="calibrationZero"> 25 -8.4 -51.3 -5 0 0 0 0 0 0 0 0 0 0 0 0 </param>
27+
<param name="calibrationDelta"> 0 0 0 0 0 -2 -30 0 0 0 0 0 0 0 0 0 </param>
2828

2929
<param name="startupPosition"> 24 50 0 10 -75 0 0 15 45 0 0 0 0 0 0 0 </param>
3030
<param name="startupVelocity"> 10.0 10.0 10.0 10.0 30 30 30 60 100 100 100 100 100 100 100 100 </param>

‎iCubGenova09/calibrators/right_arm-calib.xml‎

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -23,7 +23,7 @@
2323
<param name="calibration2"> 0 0 0 0 16384 0 0 0 0 9102 9102 9102 9102 9102 9102 10000 </param>
2424
<param name="calibration3"> 0 0 0 0 0 0 0 0 0 -1 1 -1 1 -1 1 1 </param>
2525
<param name="calibration4"> 0 0 0 0 0 0 0 2680 1440 255 497 255 476 255 510 764 </param>
26-
<param name="calibration5"> 0 0 0 0 0 0 0 2780 2240 24 80 20 30 0 27 130 </param>
26+
<param name="calibration5"> 0 0 0 0 0 0 0 2780 2240 24 80 20 30 0 35 138 </param>
2727
<param name="calibrationZero"> 25 -8.4 -51.3 -5 0 0 0 0 0 0 0 0 0 0 0 0 </param>
2828
<param name="calibrationDelta"> 0 0 0 0 0 -5.5 11 15 0 5 0 0 0 0 0 0 </param>
2929

‎iCubGenova09/estimators/wholebodydynamics.xml‎

Lines changed: 12 additions & 6 deletions
Original file line numberDiff line numberDiff line change
@@ -66,7 +66,13 @@
6666
<group name="HW_USE_MAS_IMU">
6767
<param name="accelerometer">rfeimu_acc</param>
6868
<param name="gyroscope">rfeimu_gyro</param>
69-
</group>
69+
</group>
70+
71+
<group name="multipleAnalogSensorsNames">
72+
<!--param name="TemperatureSensorsNames">(l_leg_ft_sensor,r_leg_ft_sensor,l_foot_ft_sensor,r_foot_ft_sensor)</param-->
73+
<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>
74+
</group>`
75+
7076

7177

7278
<group name="GRAVITY_COMPENSATION">
@@ -145,11 +151,11 @@
145151

146152
<elem name="l_arm_ft_sensor">left_arm-eb1-j0_1-strain</elem>
147153
<elem name="r_arm_ft_sensor">right_arm-eb3-j0_1-strain</elem>
148-
<elem name="l_foot_front_ft_sensor">left_leg-eb8-j3_5-strain</elem>
149-
<elem name="l_foot_rear_ft_sensor">left_leg-eb7-j0_2-strain</elem>
150-
<elem name="r_foot_front_ft_sensor">right_leg-eb12-j3_5-strain</elem>
151-
<elem name="r_foot_rear_ft_sensor">right_leg-eb11-j0_2-strain</elem>
152-
<elem name="r_leg_ft_sensor">torso-eb5-j0_2-strain</elem>
154+
<elem name="l_foot_ft_sensors">left_leg-eb8-j3_5-strain</elem>
155+
<!-- <elem name="l_leg_ft_sensor">left_leg-eb7-j0_2-strain</elem>-->
156+
<elem name="r_foot_ft_sensors">right_leg-eb12-j3_5-strain</elem>
157+
<elem name="r_leg_ft_sensor">right_leg-eb11-j0_2-strain</elem>
158+
<!-- <elem name="r_leg_ft_sensor">torso-eb5-j0_2-strain</elem> -->
153159
</paramlist>
154160
</action>
155161

‎iCubGenova09/extra/applications/iCubStartup.xml‎

Lines changed: 3 additions & 3 deletions
Original file line numberDiff line numberDiff line change
@@ -35,11 +35,11 @@
3535

3636
<module>
3737
<name>iKinGazeCtrl</name>
38-
<parameters>--from config_no_imu.ini</parameters>
38+
<parameters>--from iKinGazeCtrl.ini</parameters>
3939
<node>icub-head</node>
40-
<dependencies>
40+
<!--dependencies>
4141
<port timeout="60.0" request="is_ready" reply="[ok]">/icub/yarprobotinterface</port>
42-
</dependencies>
42+
</dependencies-->
4343
</module>
4444

4545
<module>

‎iCubGenova09/extra/applications/look-pixel.xml‎

Lines changed: 35 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,35 @@
1+
<application>
2+
<name>Look Pixel</name>
3+
4+
<dependencies>
5+
<port>/iKinGazeCtrl/rpc</port>
6+
</dependencies>
7+
8+
<module>
9+
<name>yarpview</name>
10+
<parameters>--name /viewer --out /viewer/out</parameters>
11+
<node>icub-console</node>
12+
</module>
13+
<module>
14+
<name>look-pixel.lua</name>
15+
<parameters></parameters>
16+
<deployer>lua</deployer>
17+
<node>icub-console</node>
18+
</module>
19+
20+
<connection>
21+
<from>/look-pixel/tx</from>
22+
<to>/iKinGazeCtrl/mono:i</to>
23+
<protocol>tcp</protocol>
24+
</connection>
25+
<connection>
26+
<from>/viewer/out</from>
27+
<to>/look-pixel/rx</to>
28+
<protocol>tcp</protocol>
29+
</connection>
30+
<connection>
31+
<from>/icub/camcalib/left/out</from>
32+
<to>/viewer</to>
33+
<protocol>mjpeg</protocol>
34+
</connection>
35+
</application>

‎iCubGenova09/ft.xml‎

Lines changed: 34 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,34 @@
1+
<?xml version="1.0" encoding="UTF-8" ?>
2+
<!DOCTYPE robot PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
3+
4+
<robot name="iCubGenova09" build="1" portprefix="icub" xmlns:xi="http://www.w3.org/2001/XInclude">
5+
6+
<params>
7+
<xi:include href="hardware/electronics/pc104.xml" />
8+
</params>
9+
10+
<devices>
11+
12+
<!-- ANALOG SENSORS FT -->
13+
14+
<xi:include href="wrappers/FT/left_foot-FT_wrapper.xml" />
15+
<xi:include href="wrappers/FT/right_foot-FT_wrapper.xml" />
16+
17+
<xi:include href="wrappers/FT/left_arm-FT_wrapper.xml" />
18+
<xi:include href="wrappers/FT/right_arm-FT_wrapper.xml" />
19+
20+
<xi:include href="wrappers/FT/right_leg_hip-FT_wrapper.xml" />
21+
<xi:include href="wrappers/FT/left_leg_hip-FT_wrapper.xml" />
22+
23+
24+
<xi:include href="hardware/FT/left_leg-eb7-j0_2-strain.xml" />
25+
<xi:include href="hardware/FT/right_leg-eb11-j0_2-strain.xml" />
26+
<xi:include href="hardware/FT/left_leg-eb8-j3_5-strain.xml" />
27+
<xi:include href="hardware/FT/right_leg-eb12-j3_5-strain.xml" />
28+
29+
<xi:include href="hardware/FT/left_arm-eb1-j0_1-strain.xml" />
30+
<xi:include href="hardware/FT/right_arm-eb3-j0_1-strain.xml" />
31+
32+
33+
</devices>
34+
</robot>

‎iCubGenova09/hardware/FT/left_arm-eb1-j0_1-strain.xml‎

Lines changed: 15 additions & 12 deletions
Original file line numberDiff line numberDiff line change
@@ -3,15 +3,15 @@
33

44

55

6-
<device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_arm-eb1-j0_1-strain" type="embObjFTsensor">
6+
<device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_arm-eb1-j0_1-strain" type="embObjMultipleFTsensors">
77

88
<xi:include href="../../general.xml"/>
99

1010
<xi:include href="../../hardware/electronics/left_arm-eb1-j0_1-eln.xml" />
1111

1212
<group name="SERVICE">
1313

14-
<param name="type"> eomn_serv_AS_strain </param>
14+
<param name="type"> eomn_serv_AS_ft </param>
1515

1616
<group name="PROPERTIES">
1717

@@ -30,22 +30,25 @@
3030
</group>
3131

3232
<group name="SENSORS">
33-
<param name="id"> id_l_upper_arm_strain </param>
34-
<param name="type"> eoas_strain </param>
33+
<param name="id"> l_arm_ft_sensor </param>
34+
<param name="board"> strain2 </param>
3535
<param name="location"> CAN2:13 </param>
3636
</group>
3737

3838
</group>
3939

4040
<group name="SETTINGS">
41-
<param name="acquisitionRate"> 10 </param>
42-
<param name="enabledSensors"> id_l_upper_arm_strain </param>
43-
<param name="temperature-acquisitionRate"> 1000 </param> <!-- 1 seconds -->
44-
</group>
45-
46-
<group name="STRAIN_SETTINGS">
47-
<param name="useCalibration"> true </param>
48-
</group>
41+
<param name="enabledSensors"> l_arm_ft_sensor </param>
42+
<param name="ftPeriod"> 10 </param>
43+
<param name="temperaturePeriod"> 1000 </param>
44+
<param name="useCalibration"> true </param>
45+
</group>
46+
47+
<group name="CANMONITOR">
48+
<param name="checkPeriod"> 100 </param>
49+
<param name="reportMode"> ALL </param>
50+
<param name="ratePeriod"> 20000 </param>
51+
</group>
4952

5053
</group>
5154

‎iCubGenova09/hardware/FT/left_leg-eb7-j0_2-strain.xml‎

Lines changed: 15 additions & 12 deletions
Original file line numberDiff line numberDiff line change
@@ -3,15 +3,15 @@
33

44

55

6-
<device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_leg-eb7-j0_2-strain" type="embObjFTsensor">
6+
<device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_leg-eb7-j0_2-strain" type="embObjMultipleFTsensors">
77

88
<xi:include href="../../general.xml"/>
99

1010
<xi:include href="../../hardware/electronics/left_leg-eb7-j0_2-eln.xml" />
1111

1212
<group name="SERVICE">
1313

14-
<param name="type"> eomn_serv_AS_strain </param>
14+
<param name="type"> eomn_serv_AS_ft </param>
1515

1616
<group name="PROPERTIES">
1717

@@ -30,22 +30,25 @@
3030
</group>
3131

3232
<group name="SENSORS">
33-
<param name="id"> id_l_heel_strain </param>
34-
<param name="type"> eoas_strain </param>
33+
<param name="id"> l_leg_ft_sensor </param>
34+
<param name="board"> strain2 </param>
3535
<param name="location"> CAN2:13 </param>
3636
</group>
3737

3838
</group>
3939

4040
<group name="SETTINGS">
41-
<param name="acquisitionRate"> 10 </param>
42-
<param name="enabledSensors"> id_l_heel_strain </param>
43-
<param name="temperature-acquisitionRate"> 1000 </param> <!-- 1 seconds -->
44-
</group>
45-
46-
<group name="STRAIN_SETTINGS">
47-
<param name="useCalibration"> true </param>
48-
</group>
41+
<param name="enabledSensors"> l_leg_ft_sensor </param>
42+
<param name="ftPeriod"> 10 </param>
43+
<param name="temperaturePeriod"> 1000 </param>
44+
<param name="useCalibration"> true </param>
45+
</group>
46+
47+
<group name="CANMONITOR">
48+
<param name="checkPeriod"> 100 </param>
49+
<param name="reportMode"> ALL </param>
50+
<param name="ratePeriod"> 20000 </param>
51+
</group>
4952

5053
</group>
5154

‎iCubGenova09/hardware/FT/left_leg-eb8-j3_5-strain.xml‎

Lines changed: 21 additions & 18 deletions
Original file line numberDiff line numberDiff line change
@@ -3,49 +3,52 @@
33

44

55

6-
<device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_leg-eb8-j3_5-strain" type="embObjFTsensor">
6+
<device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_leg-eb8-j3_5-strain" type="embObjMultipleFTsensors">
77

88
<xi:include href="../../general.xml"/>
99

1010
<xi:include href="../../hardware/electronics/left_leg-eb8-j3_5-eln.xml" />
1111

1212
<group name="SERVICE">
1313

14-
<param name="type"> eomn_serv_AS_strain </param>
14+
<param name="type"> eomn_serv_AS_ft </param>
1515

1616
<group name="PROPERTIES">
1717

1818
<group name="CANBOARDS">
1919
<param name="type"> strain2 </param>
2020

2121
<group name="PROTOCOL">
22-
<param name="major"> 2 </param>
23-
<param name="minor"> 0 </param>
22+
<param name="major"> 2 </param>
23+
<param name="minor"> 0 </param>
2424
</group>
2525
<group name="FIRMWARE">
26-
<param name="major"> 2 </param>
27-
<param name="minor"> 0 </param>
28-
<param name="build"> 9 </param>
26+
<param name="major"> 2 </param>
27+
<param name="minor"> 0 </param>
28+
<param name="build"> 9 </param>
2929
</group>
3030
</group>
3131

3232
<group name="SENSORS">
33-
<param name="id"> id_l_tiptoe_strain </param>
34-
<param name="type"> eoas_strain </param>
35-
<param name="location"> CAN2:13 </param>
33+
<param name="id"> l_foot_rear_ft_sensor l_foot_front_ft_sensor </param>
34+
<param name="board"> strain2 strain2 </param>
35+
<param name="location"> CAN2:13 CAN2:14 </param>
3636
</group>
3737

3838
</group>
3939

4040
<group name="SETTINGS">
41-
<param name="acquisitionRate"> 10 </param>
42-
<param name="enabledSensors"> id_l_tiptoe_strain </param>
43-
<param name="temperature-acquisitionRate"> 1000 </param> <!-- 1 seconds -->
44-
</group>
45-
46-
<group name="STRAIN_SETTINGS">
47-
<param name="useCalibration"> true </param>
48-
</group>
41+
<param name="enabledSensors"> l_foot_rear_ft_sensor l_foot_front_ft_sensor </param>
42+
<param name="ftPeriod"> 10 10 </param>
43+
<param name="temperaturePeriod"> 1000 1000 </param>
44+
<param name="useCalibration"> true true </param>
45+
</group>
46+
47+
<group name="CANMONITOR">
48+
<param name="checkPeriod"> 100 </param>
49+
<param name="reportMode"> ALL </param>
50+
<param name="ratePeriod"> 20000 </param>
51+
</group>
4952

5053
</group>
5154

‎iCubGenova09/hardware/FT/right_arm-eb3-j0_1-strain.xml‎

Lines changed: 15 additions & 12 deletions
Original file line numberDiff line numberDiff line change
@@ -3,15 +3,15 @@
33

44

55

6-
<device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_arm-eb3-j0_1-strain" type="embObjFTsensor">
6+
<device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_arm-eb3-j0_1-strain" type="embObjMultipleFTsensors">
77

88
<xi:include href="../../general.xml"/>
99

1010
<xi:include href="../../hardware/electronics/right_arm-eb3-j0_1-eln.xml" />
1111

1212
<group name="SERVICE">
1313

14-
<param name="type"> eomn_serv_AS_strain </param>
14+
<param name="type"> eomn_serv_AS_ft </param>
1515

1616
<group name="PROPERTIES">
1717

@@ -30,22 +30,25 @@
3030
</group>
3131

3232
<group name="SENSORS">
33-
<param name="id"> id_r_upper_arm_strain </param>
34-
<param name="type"> eoas_strain </param>
33+
<param name="id"> r_arm_ft_sensor </param>
34+
<param name="board"> strain2 </param>
3535
<param name="location"> CAN2:13 </param>
3636
</group>
3737

3838
</group>
3939

4040
<group name="SETTINGS">
41-
<param name="acquisitionRate"> 10 </param>
42-
<param name="enabledSensors"> id_r_upper_arm_strain </param>
43-
<param name="temperature-acquisitionRate"> 1000 </param> <!-- 1 seconds -->
44-
</group>
45-
46-
<group name="STRAIN_SETTINGS">
47-
<param name="useCalibration"> true </param>
48-
</group>
41+
<param name="enabledSensors"> r_arm_ft_sensor </param>
42+
<param name="ftPeriod"> 10 </param>
43+
<param name="temperaturePeriod"> 1000 </param>
44+
<param name="useCalibration"> true </param>
45+
</group>
46+
47+
<group name="CANMONITOR">
48+
<param name="checkPeriod"> 100 </param>
49+
<param name="reportMode"> ALL </param>
50+
<param name="ratePeriod"> 20000 </param>
51+
</group>
4952

5053
</group>
5154

0 commit comments

Comments
 (0)