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Merge pull request #68 from robotology/fix/develAlignement_iCubGenova04
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Align configuration files to YARP devel
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@S-Dafarra
S-Dafarra authored Jun 12, 2018
2 parents a1d89d4 + 459d0a1 commit 12ebad4
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Showing 55 changed files with 1,426 additions and 482 deletions.
6 changes: 4 additions & 2 deletions iCubGenova04/calibrators/left_arm-calib.xml
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Expand Up @@ -10,6 +10,8 @@
<param name="deviceName"> Left_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"> -30 30 0 45 0 0 0 35 65 0 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>
Expand All @@ -20,8 +22,8 @@
<param name="calibration1"> 0 0 0 0 -1500 0 0 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 3640 </param>
<param name="calibration3"> 30431.08 3135.14 6479.08 64526.92 0 5635 351 0 0 -1 1 -1 1 -1 1 -1 </param>
<param name="calibration4"> 0 0 0 0 0 0 0 2170 200 241 499 255 465 226 485 694 </param>
<param name="calibration5"> 0 0 0 0 0 0 0 2580 2372 46 22 16 10 33 5 135 </param>
<param name="calibration4"> 0 0 0 0 0 0 0 2240 200 241 499 254 465 226 485 694 </param>
<param name="calibration5"> 0 0 0 0 0 0 0 2580 2372 46 22 9 10 33 5 135 </param>
<param name="calibrationZero"> -180.00 -315.00 180.00 -180.00 0 -180 180 0 0 0 0 0 0 0 0 0 </param>
<param name="calibrationDelta"> 106.4 -11.0 -17.0 -0.8 0 0 0 0 0 0 0 0 0 0 0 0 </param>

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16 changes: 8 additions & 8 deletions iCubGenova04/calibrators/right_arm-calib.xml
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Expand Up @@ -17,18 +17,18 @@


<group name="CALIBRATION">
<param name="calibrationType"> 3 3 3 3 5 3 3 7 7 6 6 6 6 6 6 6 </param>
<param name="calibration1"> 0 0 0 0 1500 0 0 0 0 0 0 0 0 0 0 0 </param>
<param name="calibrationType"> 3 3 3 3 5 12 12 7 7 6 6 6 6 6 6 6 </param>
<param name="calibration1"> 0 0 0 0 1500 3030 28500 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 3640 </param>
<param name="calibration3"> 21631.1 40063.0 5167.08 4975.08 0 35438 55518 0 0 -1 1 -1 1 -1 1 -1 </param>
<param name="calibration4"> 0 0 0 0 0 0 0 1800 1720 255 495 255 508 237 483 750 </param>
<param name="calibration5"> 0 0 0 0 0 0 0 2000 4090 0 0 5 5 0 10 170 </param>
<param name="calibrationZero"> 180.00 45.00 -180.00 180.00 0 180 -180 0 0 0 0 0 0 0 0 0 </param>
<param name="calibrationDelta"> 17.5 -8.3 -17.2 -1.3 0 2.9 2.0 -14 0 0 0 0 0 0 0 0 </param>
<param name="calibration3"> 21631.1 40063.0 5167.08 4975.08 0 0 0 0 0 -1 1 -1 1 -1 1 -1 </param>
<param name="calibration4"> 0 0 0 0 0 0 0 1740 1180 255 495 255 506 237 483 750 </param>
<param name="calibration5"> 0 0 0 0 0 0 0 1930 3912 0 0 5 3 0 10 170 </param>
<param name="calibrationZero"> 180.00 45.00 -180.00 180.00 0 0 0 0 0 0 0 0 0 0 0 0 </param>
<param name="calibrationDelta"> 17.5 -8.3 -17.2 -1.3 0 0.0 0.0 0 0 0 0 0 0 0 0 0 </param>

<param name="startupPosition"> -35 30 0 50 0 0 0 25 65 0 0 0 0 0 0 0 </param>
<param name="startupVelocity"> 10.0 10.0 10 10 30 30 30 60 100 100 100 100 100 100 100 100 </param>
<param name="startupMaxPwm"> 5000 5000 5000 5000 1500 0 0 0 0 0 0 0 0 0 0 0 </param>
<param name="startupMaxPwm"> 5000 5000 5000 5000 1500 0 0 0 0 0 0 0 0 0 0 0 </param>
<param name="startupPosThreshold"> 2 2 90 90 90 90 90 90 90 90 90 90 90 90 90 90 </param>
</group>

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2 changes: 1 addition & 1 deletion iCubGenova04/calibrators/right_leg-calib.xml
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Expand Up @@ -27,7 +27,7 @@
<param name="calibration4"> 0.0 0.0 0.0 0.0 0.0 0.0 </param>
<param name="calibration5"> 0.0 0.0 0.0 0.0 0.0 0.0 </param>
<param name="calibrationZero"> -180.00 -180.00 -180.00 180.00 180.00 -180.00 </param>
<param name="calibrationDelta"> 0.1 -4.7 5.0 -3.5 -1.4 1.4 </param>
<param name="calibrationDelta"> 0.4 -5.3 3.0 -3.5 -1.4 1.4 </param>
<param name="startupPosition"> 15.60 6.80 -1.400 -30.00 -14.400 -12.400 </param>
<param name="startupVelocity"> 10.0 10.0 10.0 10.0 10.0 10.0 </param>
<param name="startupMaxPwm"> 1200 1200 1200 1200 1200 1200 </param>
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29 changes: 15 additions & 14 deletions iCubGenova04/estimators/wholebodydynamics.xml
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Expand Up @@ -41,21 +41,22 @@
</group>

<group name="FT_SECONDARY_CALIBRATION">
<param name="l_leg_ft_sensor">
(6.079236e-01,2.967437e-02,-5.478893e-02,4.638877e-01,1.067088e+00,3.497801e-02
,1.112398e-01,5.500845e-01,1.302811e-02,-1.245697e-01,-5.250743e-01,4.396532e+00
,6.255357e-03,-1.505020e-03,9.738926e-01,3.961398e-01,3.902908e-01,4.579145e-01
,-8.647321e-03,-2.836473e-02,-1.840247e-04,8.261000e-01,4.659817e-02,3.751658e-02
,-1.901417e-18,1.661923e-18,-3.564856e-18,-1.844789e-16,1.000000e+00,3.705321e-18
,0.0,0.0,0.0,0.0,0.0,1.0)</param>
<param name="l_leg_ft_sensor">
(5.969361e-01,2.428213e-02,-5.463457e-02,4.254463e-01,1.123516e+00,-1.303151e-01
,-2.818578e-02,6.863783e-01,2.028274e-02,6.585433e-01,1.573658e-01,1.544577e+00
,-3.915223e-02,3.971615e-02,9.679746e-01,-3.150958e-03,3.718397e-01,-8.653098e-02
,-8.647321e-03,-2.836473e-02,-1.840247e-04,8.261000e-01,4.659817e-02,3.751658e-02
,5.671831e-03,6.968371e-03,4.892937e-03,5.396529e-02,9.499420e-01,-1.575216e-01
,3.469447e-18,0,-7.993503e-20,0,0,1.000000e+00)</param>

<param name="r_leg_ft_sensor">
(7.619710e-01,-9.833019e-02,-5.603709e-02,-7.503703e-01,4.654638e-01,-2.100801e+00
,2.708629e-02,8.108288e-01,-3.377881e-03,8.122805e-01,4.181660e-02,8.531041e-01
,-7.067404e-02,-3.179978e-02,9.888732e-01,-4.080758e-02,5.046211e-01,-5.754858e-01
,7.021926e-03,-2.948727e-02,-1.022865e-03,8.566027e-01,-3.532611e-02,-8.280662e-02
,3.959038e-02,1.290493e-03,-6.796986e-04,-6.866659e-02,8.221872e-01,-6.964079e-03
,-1.542292e-04,3.264395e-04,-6.124671e-04,-2.551378e-02,5.215466e-03,7.234167e-01)</param>

<param name="r_leg_ft_sensor">
(6.182729e-01,-7.517110e-02,-4.206069e-02,-6.894176e-01,1.196391e+00,-2.444093e-01
,1.674170e-01,6.611260e-01,-1.565839e-03,-1.105249e-01,-6.616288e-01,7.498256e-01
,8.854899e-03,1.337852e-02,9.970182e-01,-6.809221e-01,5.098147e-01,-4.057021e-01
,3.127489e-03,-1.180096e-02,1.690016e-04,8.666081e-01,2.382600e-02,-6.542111e-02
,-1.245428e-19,1.921199e-18,-2.013402e-18,-1.928427e-16,1,1.655828e-18
,0.0,0.0,0.0,0.0,0.0,1.0)</param>
</group>


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57 changes: 57 additions & 0 deletions iCubGenova04/hardware/FT/left_leg-eb6-j0_3-strain2.xml
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@@ -0,0 +1,57 @@
<?xml version="1.0" encoding="UTF-8" ?>
<!DOCTYPE devices PUBLIC "-//YARP//DTD robotInterface 1.0//EN" "http://www.icub.org/DTD/robotInterfaceV1.0.dtd">

<devices robot="iCubGenova04" build="1">

<device name="left_leg-eb6-j0_3-strain" type="embObjFTsensor">

<params file="general.xml"/>

<params file="hardware/electronics/left_leg-eb6-j0_3-eln.xml" />

<group name="SERVICE">

<param name="type"> eomn_serv_AS_strain </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>
</group>
<group name="FIRMWARE">
<param name="major"> 0 </param>
<param name="minor"> 0 </param>
<param name="build"> 0 </param>
</group>
</group>

<group name="SENSORS">
<param name="id"> id_l_upper_leg_strain </param>
<param name="type"> eoas_strain </param>
<param name="location"> CAN2:13 </param>
</group>

</group>

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

<group name="STRAIN_SETTINGS">
<param name="useCalibration"> true </param>
</group>

</group>

</device>

</devices>



57 changes: 57 additions & 0 deletions iCubGenova04/hardware/FT/left_leg-eb7-j4_5-strain2.xml
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<?xml version="1.0" encoding="UTF-8" ?>
<!DOCTYPE devices PUBLIC "-//YARP//DTD robotInterface 1.0//EN" "http://www.icub.org/DTD/robotInterfaceV1.0.dtd">

<devices robot="iCubGenova04" build="1">

<device name="left_leg-eb7-j4_5-strain" type="embObjFTsensor">

<params file="general.xml"/>

<params file="hardware/electronics/left_leg-eb7-j4_5-eln.xml" />

<group name="SERVICE">

<param name="type"> eomn_serv_AS_strain </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>
</group>
<group name="FIRMWARE">
<param name="major"> 0 </param>
<param name="minor"> 0 </param>
<param name="build"> 0 </param>
</group>
</group>

<group name="SENSORS">
<param name="id"> id_l_lower_leg_strain </param>
<param name="type"> eoas_strain </param>
<param name="location"> CAN2:13 </param>
</group>

</group>

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

<group name="STRAIN_SETTINGS">
<param name="useCalibration"> true </param>
</group>

</group>

</device>

</devices>



56 changes: 56 additions & 0 deletions iCubGenova04/hardware/FT/right_leg-eb8-j0_3-strain2.xml
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<?xml version="1.0" encoding="UTF-8" ?>
<!DOCTYPE devices PUBLIC "-//YARP//DTD robotInterface 1.0//EN" "http://www.icub.org/DTD/robotInterfaceV1.0.dtd">

<devices robot="iCubGenova04" build="1">

<device name="right_leg-eb8-j0_3-strain" type="embObjFTsensor">

<params file="general.xml"/>

<params file="hardware/electronics/right_leg-eb8-j0_3-eln.xml" />

<group name="SERVICE">

<param name="type"> eomn_serv_AS_strain </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>
</group>
<group name="FIRMWARE">
<param name="major"> 0 </param>
<param name="minor"> 0 </param>
<param name="build"> 0 </param>
</group>
</group>

<group name="SENSORS">
<param name="id"> id_r_upper_leg_strain </param>
<param name="type"> eoas_strain </param>
<param name="location"> CAN2:13 </param>
</group>

</group>

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

<group name="STRAIN_SETTINGS">
<param name="useCalibration"> true </param>
</group>

</group>

</device>

</devices>


58 changes: 58 additions & 0 deletions iCubGenova04/hardware/FT/right_leg-eb9-j4_5-strain2.xml
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@@ -0,0 +1,58 @@
<?xml version="1.0" encoding="UTF-8" ?>
<!DOCTYPE devices PUBLIC "-//YARP//DTD robotInterface 1.0//EN" "http://www.icub.org/DTD/robotInterfaceV1.0.dtd">

<devices robot="iCubGenova04" build="1">

<device name="right_leg-eb9-j4_5-strain" type="embObjFTsensor">

<params file="general.xml"/>

<params file="hardware/electronics/right_leg-eb9-j4_5-eln.xml" />

<group name="SERVICE">

<param name="type"> eomn_serv_AS_strain </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>
</group>
<group name="FIRMWARE">
<param name="major"> 0 </param>
<param name="minor"> 0 </param>
<param name="build"> 0 </param>
</group>
</group>

<group name="SENSORS">
<param name="id"> id_r_lower_leg_strain </param>
<param name="type"> eoas_strain </param>
<param name="location"> CAN2:13 </param>
</group>

</group>

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

<group name="STRAIN_SETTINGS">
<param name="useCalibration"> true </param>
</group>

</group>

</device>

</devices>




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