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Changes on iCubGenova09 #380

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merged 25 commits into from
Sep 1, 2022
Merged

Changes on iCubGenova09 #380

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3b888e7
Add group for enabling the kalman filter on the legs of iCubGenova09
isorrentino Jul 7, 2022
03d2c9f
Revert "Add group for enabling the kalman filter on the legs of iCubG…
Jul 7, 2022
fe784f1
[iCubGenova09] Add left upper leg ft sensors in wbd config file
Jul 7, 2022
abcf74a
[iCubGenova09] Add server and wrapper to read left foot FTs IMUs
GiulioRomualdi Jun 30, 2022
69e24b7
[iCubGenova09] Add server and wrapper to read left leg FTs IMUs
GiulioRomualdi Jun 30, 2022
1520b6d
[iCubGenova09] Add server and wrapper to read left arm FTs IMUs
GiulioRomualdi Jun 30, 2022
63f5518
[iCubGenova09] Add server and wrapper to read right arm FTs IMUs
GiulioRomualdi Jun 30, 2022
3f4864b
[iCubGenova09] Add server and wrapper to read right leg FTs IMUs
GiulioRomualdi Jun 30, 2022
af8abf6
[iCubGenova09] Add server and wrapper to read right foot FTs IMUs
GiulioRomualdi Jun 30, 2022
49ea800
[iCubGenova09] Remove outdated hardware and inertials files
GiulioRomualdi Jun 30, 2022
b0e9f6d
[iCubGenova09] Enable the left and right FTs IMUs streaming
GiulioRomualdi Jun 30, 2022
7ec8a36
Add group for enabling the kalman filter on the legs of iCubGenova09
isorrentino Jul 7, 2022
7fb5e66
Using mjpeg as carrier for CalibCameras application.
Jul 12, 2022
9cac46e
Increased knee current limits
Jul 12, 2022
cb5be0f
yaw wrist calibration and recover
Jul 15, 2022
731683d
[iCubGenova09] Decrease the max PID output of the left hip yaw
GiulioRomualdi Jul 15, 2022
2c153cd
[iCubGenova09] Decrease the max PID output of the left knee
GiulioRomualdi Jul 15, 2022
26568a3
[iCubGenova09] Decrease the max PID output of the right hip yaw
GiulioRomualdi Jul 15, 2022
2ed79e6
[iCubGenova09] Decrease the max PID output of the right knee
GiulioRomualdi Jul 15, 2022
e1fb349
Fixed right wrist yaw.
Jul 25, 2022
ae7ea33
Moved yarpserver node to icub-console-cuda.
Jul 27, 2022
67a2e0a
Updated hip roll limits after installing new hard stops.
Aug 17, 2022
4c26d8f
Using bayer for the cameras, increasing the FPS.
Aug 18, 2022
ac07350
Eyes calibration.
Aug 24, 2022
a65de00
New attempt of eyes calibration
Sep 1, 2022
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2 changes: 1 addition & 1 deletion iCubGenova09/calibrators/head-calib.xml
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Expand Up @@ -28,7 +28,7 @@
<param name="calibration5"> 0 0 0 0 0 0 </param>

<param name="calibrationZero"> 0.0 0.0 0.0 0.0 0.0 0.0 </param>
<param name="calibrationDelta"> 0.0 0.0 0.0 0.0 0.0 6.5 </param>
<param name="calibrationDelta"> 0.0 0.0 0.0 0.0 -8.0 -1.5 </param>

<param name="startupPosition"> 0.0 0.0 0.0 0.0 0.0 0.0 </param>
<param name="startupVelocity"> 10 10 20.0 20.0 20.0 20.0 </param>
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6 changes: 3 additions & 3 deletions iCubGenova09/calibrators/left_arm-calib.xml
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Expand Up @@ -18,13 +18,13 @@
<group name="CALIBRATION">
<param name="calibrationType"> 10 10 10 10 5 12 12 7 7 6 6 6 6 6 6 6 </param> <!--
<param name="calibration1"> -54795 22399 44679 53215 -1500 -8335 10671 0 0 0 0 0 0 0 0 0 </param> -->
<param name="calibration1"> 4000 -3000 -3000 4000 -1500 63200 20250 0 0 0 0 0 0 0 0 0 </param>
<param name="calibration1"> 4000 -3000 -3000 4000 -1500 63200 12447 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 325 250 478 243 478 255 480 715 </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="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 0 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/left_leg-calib.xml
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Expand Up @@ -22,7 +22,7 @@
<param name="calibration3"> 0.0 0.0 0 0 0 0 </param>
<param name="calibration4"> 0.0 0.0 0 0 0 0 </param>
<param name="calibration5"> 0.0 0.0 0 0 0 0 </param>
<param name="calibrationZero"> 93.0 119.90 80.761 5.817 -47.060 25.823 </param>
<param name="calibrationZero"> 93.0 112.35 80.761 5.817 -47.060 25.823 </param>
<param name="calibrationDelta"> 0 0 0 0 0 0 </param>

<param name="startupPosition"> 90 20 0 -70 0 0 </param>
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6 changes: 3 additions & 3 deletions iCubGenova09/calibrators/right_arm-calib.xml
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Expand Up @@ -19,13 +19,13 @@
<group name="CALIBRATION">
<param name="calibrationType"> 10 10 10 10 5 12 12 7 7 6 6 6 6 6 6 6 </param> <!--
<param name="calibration1"> 6576 -12866 -4585 -47529 1500 36903 -12703 0 0 0 0 0 0 0 0 0 </param> -->
<param name="calibration1"> -4000 3000 3000 -4000 1500 36903 -15403 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="calibration1"> -4000 3000 3000 -4000 1500 63000 17600 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 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 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>
<param name="calibrationDelta"> 0 0 0 0 0 0 0 15 0 5 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_leg-calib.xml
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Expand Up @@ -22,7 +22,7 @@
<param name="calibration3"> 0.0 0.0 0 0 0 0 </param>
<param name="calibration4"> 0.0 0.0 0 0 0 0 </param>
<param name="calibration5"> 0.0 0.0 0 0 0 0 </param>
<param name="calibrationZero"> 93.2 119 80.761 5.641 -46.329 24.137 </param>
<param name="calibrationZero"> 93.2 111.4 80.761 5.641 -46.329 24.137 </param>
<param name="calibrationDelta"> 0 0 0 0 0 0 </param>

<param name="startupPosition"> 90 20 0 -70 0 0 </param>
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6 changes: 3 additions & 3 deletions iCubGenova09/camera/dragonfly2_config_left.ini
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@@ -1,10 +1,10 @@
device dragonfly2
width 1024
height 768
video_type 10
video_type 11
white_balance 0.561 0.631
gain 0.0
shutter 0.512
shutter 1.0
name /icub/cam/left
brightness 0
DR2
Expand All @@ -13,7 +13,7 @@ sharpness 0.518
hue 0.479
gamma 0.399
saturation 0.467
framerate 15
framerate 30
#d 1
guid 00b09d0100c77485
#<64bit global identifier, without the leading 0x> then remove the d option
6 changes: 3 additions & 3 deletions iCubGenova09/camera/dragonfly2_config_right.ini
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@@ -1,10 +1,10 @@
device dragonfly2
width 1024
height 768
video_type 10
video_type 11
white_balance 0.561 0.627
gain 0.0
shutter 0.635
shutter 1.0
name /icub/cam/right
brightness 0
DR2
Expand All @@ -13,7 +13,7 @@ sharpness 0.499
hue 0.479
gamma 0.399
saturation 0.449
framerate 15
framerate 30
#d 0
guid 00b09d0100bbb395
#<64bit global identifier, without the leading 0x> then remove the d option
21 changes: 9 additions & 12 deletions iCubGenova09/estimators/wholebodydynamics.xml
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Expand Up @@ -6,7 +6,7 @@
<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,l_wrist_prosup,l_wrist_pitch,l_wrist_yaw,r_shoulder_pitch,r_shoulder_roll,r_shoulder_yaw,r_elbow,r_wrist_prosup,r_wrist_pitch,r_wrist_yaw,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>
<param name="modelFile">model.urdf</param>
<param name="fixedFrameGravity">(0,0,-9.81)</param>
<param name="defaultContactFrames">(l_hand,r_hand,root_link,l_foot_front,l_foot_rear,r_upper_leg,r_foot_front,r_foot_rear,l_lower_leg,r_lower_leg)</param>
<param name="defaultContactFrames">(l_hand,r_hand,root_link,l_upper_leg,l_foot_front,l_foot_rear,r_upper_leg,r_foot_front,r_foot_rear,l_lower_leg,r_lower_leg)</param>
<param name="imuFrameName">imu_frame</param>
<param name="publishOnROS">true</param>
<param name="forceTorqueEstimateConfidence">2</param>
Expand Down Expand Up @@ -70,7 +70,7 @@

<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>
<param name="SixAxisForceTorqueSensorsNames">(l_arm_ft_sensor, r_arm_ft_sensor, l_leg_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>`


Expand Down Expand Up @@ -114,6 +114,7 @@
<group name="WBD_OUTPUT_EXTERNAL_WRENCH_PORTS">
<param name="/wholeBodyDynamics/left_arm/cartesianEndEffectorWrench:o">(l_hand,l_hand,root_link)</param>
<param name="/wholeBodyDynamics/right_arm/cartesianEndEffectorWrench:o">(r_hand,r_hand,root_link)</param>
<param name="/wholeBodyDynamics/left_upper_leg/cartesianEndEffectorWrench:o">(l_upper_leg,l_upper_leg,root_link)</param>
<param name="/wholeBodyDynamics/right_upper_leg/cartesianEndEffectorWrench:o">(r_upper_leg,r_upper_leg,root_link)</param>
<param name="/wholeBodyDynamics/left_lower_leg/cartesianEndEffectorWrench:o">(l_lower_leg,l_lower_leg,root_link)</param>
<param name="/wholeBodyDynamics/right_lower_leg/cartesianEndEffectorWrench:o">(r_lower_leg,r_lower_leg,root_link)</param>
Expand Down Expand Up @@ -145,17 +146,13 @@
<!-- imu_waist -->
<!-- <elem name="imu">xsensmt-inertial</elem> -->
<!-- ft -->
<!--
<elem name="l_leg_ft_sensor">left_leg-eb6-j0_3-strain</elem>
<elem name="r_leg_ft_sensor">right_leg-eb8-j0_3-strain</elem> -->

<elem name="l_arm_ft_sensor">left_arm-eb1-j0_1-strain</elem>
<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_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> -->
<elem name="l_foot_ft_sensors">left_leg-eb8-j3_5-strain</elem> <!-- left_rear, left_front -->
<elem name="l_leg_ft_sensor">left_leg-eb7-j0_2-strain</elem> <!-- left_upper_leg -->
<elem name="r_foot_ft_sensors">right_leg-eb12-j3_5-strain</elem> <!-- right_rear, right_front -->
<elem name="r_leg_ft_sensor">right_leg-eb11-j0_2-strain</elem> <!-- right_upper_leg -->

</paramlist>
</action>

Expand Down
8 changes: 4 additions & 4 deletions iCubGenova09/extra/applications/cameras_calib.xml
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Expand Up @@ -46,22 +46,22 @@
<connection>
<from>/icub/cam/left</from>
<to>/icub/camcalib/left/in</to>
<protocol>tcp</protocol>
<protocol>mjpeg</protocol>
</connection>
<connection>
<from>/icub/cam/right</from>
<to>/icub/camcalib/right/in</to>
<protocol>tcp</protocol>
<protocol>mjpeg</protocol>
</connection>
<connection>
<from>/icub/camcalib/left/out</from>
<to>/icub/view/left</to>
<protocol>tcp</protocol>
<protocol>mjpeg</protocol>
</connection>
<connection>
<from>/icub/camcalib/right/out</from>
<to>/icub/view/right</to>
<protocol>tcp</protocol>
<protocol>mjpeg</protocol>
</connection>
</application>

4 changes: 2 additions & 2 deletions iCubGenova09/extra/contexts/yarpmanager/cluster-config.xml
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@@ -1,11 +1,11 @@
<cluster name="icub09" user="icub">

<!-- specify type="yarpserver" or type="yarpserver3" to use the old or new nameserver default behavior is to use yarpserver3 -->
<nameserver namespace="/icub09" node="icub-console" type="yarpserver"> </nameserver>
<nameserver namespace="/icub09" node="10.0.0.165" type="yarpserver"> </nameserver>

<!-- specify nodes, if you want to enable display on desktop please specify which desktop to use
this is usually the value of the DISPLAY variable when logged on -->
<node display=":0" address="10.0.0.158">icub-console</node>
<node display=":0" address="10.0.0.165">icub-console</node>
<node display=":0" address="10.0.10.164">icub-console-gui</node>
<node address="10.0.10.115" user="pi">pi-ifeel</node>
<node display=":1">icub-cuda</node>
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46 changes: 46 additions & 0 deletions iCubGenova09/hardware/inertials/left_arm-eb1-IMU.xml
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@@ -0,0 +1,46 @@
<?xml version="1.0" encoding="UTF-8" ?>
<!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">

<device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_arm-eb1-imu" type="embObjIMU">

<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_inertials3 </param>

<group name="PROPERTIES">

<group name="CANBOARDS">
<param name="type"> eobrd_strain2 </param>

<group name="PROTOCOL">
<param name="major"> 0 </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"> l_arm_ft_acc l_arm_ft_gyro l_arm_ft_eul l_arm_ft_mag l_arm_ft_stat </param>
<param name="type"> eoas_imu_acc eoas_imu_gyr eoas_imu_eul eoas_imu_mag eoas_imu_status </param>
<param name="boardType"> strain2 strain2 strain2 strain2 strain2 </param>
<param name="location"> CAN2:13 CAN2:13 CAN2:13 CAN2:13 CAN2:13 </param>
</group>

</group>

<group name="SETTINGS">
<param name="acquisitionRate"> 50 </param>
<param name="enabledSensors"> l_arm_ft_acc l_arm_ft_gyro l_arm_ft_eul l_arm_ft_mag l_arm_ft_stat </param>
</group>
</group>

</device>
63 changes: 0 additions & 63 deletions iCubGenova09/hardware/inertials/left_arm-eb24-j4_7-inertials.xml
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