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Update ergoCubSN001 conf files from robot fork #739

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Merged
merged 45 commits into from
Jun 25, 2025
Merged

Update ergoCubSN001 conf files from robot fork #739

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7ed4654
[ergoCubSN001] Remove neck calibration
isorrentino Feb 28, 2025
28b8262
[ergoCubSN001] Change calibration direction of the right ankle pitch
isorrentino Feb 28, 2025
389120a
[ergoCubSN001] Disable calibration of left fingers
isorrentino Feb 28, 2025
09023f4
[ergoCubSN001] Change delta calibration of right ankle pitch
isorrentino Feb 28, 2025
82f63ea
[ergoCubSN001] Resume normal calibration of right ankle pitch
isorrentino Mar 6, 2025
ff74751
[ergoCubSN001] Disable temperature sensor for hip yaw of both legs an…
isorrentino Mar 6, 2025
12ad0a4
[ergoCubSN001] Calibrate leg joints
isorrentino Mar 6, 2025
650865c
[ergoCubSN001] No arms on the robot
fils99 Mar 11, 2025
aef573c
[ergoCubSN001] Change limits for torso joints; no calibration for tor…
fils99 Mar 11, 2025
5393280
[ergoCubSN001] Remove WBD
fils99 Mar 11, 2025
21a2dd6
[ergoCubSN001] Revert "[ergoCubSN001] No arms on the robot"
AntonioConsilvio Mar 14, 2025
c7d1fae
[ergoCubSN001] Updated calibrators of head, wrists and left hand conf…
AntonioConsilvio Mar 17, 2025
45cf51a
[ergoCubSN001] Calibrated right ankle pitch and renabled WBD
S-Dafarra Mar 17, 2025
ab91557
[ergoCubSN001] change calibration values for right wrist
filippoborgogni Mar 19, 2025
e89dc49
[ergoCubSN001] Updated autonomy applications for 001
S-Dafarra Mar 21, 2025
f769e99
[ergoCubSN001] Fix active motor temperature sensors
isorrentino Mar 27, 2025
a27e84b
[ergoCubSN001] Removed POS wrappers and added alias to run yri with p…
S-Dafarra Apr 1, 2025
48825b0
[ergoCubSN001] Added possibility to specify name for realsense device
S-Dafarra Apr 1, 2025
29555ce
[ergoCubSN001] Changed shutdown level of head inertials to avoid erro…
S-Dafarra Apr 7, 2025
851420d
[ergoCubSN001] Moved calibration of wrist after the arms and before t…
S-Dafarra Apr 7, 2025
f523aac
[ergoCubSN001] Enabled streaming of IR cameras in realsense
S-Dafarra Apr 7, 2025
22cec6a
[ergoCubSN001] Fixed typo in IR port name
S-Dafarra Apr 7, 2025
f45a642
[ergoCubSN001] Disable AMO for calibration of right ankle pitch
LoreMoretti Apr 14, 2025
f6c7d6e
[ergoCubSN001] Added possibility to set enableEmitter from outside
S-Dafarra Apr 24, 2025
0ec4868
[ergoCubSN001] Added also the possibility to specify the resolution o…
S-Dafarra Apr 24, 2025
16cbc1e
[ergoCubSN001] Update calibration values for open-close, enable abduc…
MSECode May 6, 2025
7959aa1
[ergoCubSN001] Enable torso yaw calibration; set type ENCODER 1 = Non…
fils99 May 6, 2025
367deeb
[ergoCubSN001] new calib values for right hip roll
filippoborgogni May 13, 2025
e0674a4
[ergoCubSN001] enable amo reading for ankle pitch joint
filippoborgogni May 14, 2025
d9470bc
[ergoCubSN001] Updates on autonomy applications
S-Dafarra May 15, 2025
454325d
[ergoCubSN001] ergocub 001 skin configuration complete with palm (to …
simeonedussoni May 15, 2025
5e6dc1c
[ergoCubSN001] Fixed autonomy applications for 001
S-Dafarra May 15, 2025
eeef428
[ergoCubSN001] Disable neck calibration
fils99 May 21, 2025
27887e0
[ergoCubSN001] Head enabled
AntonioConsilvio May 22, 2025
bc61b16
[ergoCubSN001] disable temperature sensor of torso roll
filippoborgogni May 27, 2025
2877c16
[ergoCubSN001] change software limit for both hands
filippoborgogni May 27, 2025
c537c9f
[ergoCubSN001] Remove the left lower arm
GiulioRomualdi May 27, 2025
79f30ef
[ergoCubSN001] Revert "[ergoCubSN001] Remove the left lower arm"
icub-tech-iit-bot May 30, 2025
f1a5876
[ergoCubSN001] disable temperature sensors for both lef and right hip…
filippoborgogni May 30, 2025
494ef24
[ergoCubSN001] Removed right wrist from calibration
S-Dafarra Jun 16, 2025
931808c
[ergoCubSN001] Removed use of legs and arm FTs from WBD
S-Dafarra Jun 17, 2025
33f3981
[ergoCubSN001] fixed left adductions connection and range of motion
AntonioConsilvio Jun 19, 2025
4263908
[ergoCubSN001] New right wrist and index OC calibration values
AntonioConsilvio Jun 20, 2025
359ce73
[ergoCubSN001] enable amo reading for left shoulder pitch
filippoborgogni Jun 25, 2025
c6419b1
Update left_arm-eb4-j2_3-skinSpec.xml
pattacini Jun 25, 2025
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6 changes: 3 additions & 3 deletions ergoCubSN001/calibrators/head-calib.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -20,8 +20,8 @@
<!-- joint name neck-pitch neck-roll neck-yaw eyes-tilt -->
<group name="CALIBRATION">
<param name="calibrationType"> 12 12 12 12 </param>
<param name="calibration1"> 62951 -44411 13160 28977 </param>
<param name="calibration2"> 0 0 0 0 </param>
<param name="calibration1"> 62951 -44411 13160 28977 </param>
<param name="calibration2"> 0 0 0 0 </param>
<param name="calibration3"> 0 0 0 0 </param>

<param name="calibration4"> 0 0 0 0 </param>
Expand All @@ -35,7 +35,7 @@
<param name="startupMaxPwm"> 1000 1000 1000 1000 </param>
<param name="startupPosThreshold"> 90 90 2 2 </param>
</group>
<!-- <param name="CALIB_ORDER"> (0 1 2) (3) </param> --> <!-- Don't remove this line -->
<!-- <param name="CALIB_ORDER"> (0 1 2) (3) </param> -->
<param name="CALIB_ORDER"> (0 1 2) (3) </param>

<action phase="startup" level="10" type="calibrate">
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33 changes: 16 additions & 17 deletions ergoCubSN001/calibrators/left_arm-calib.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -11,28 +11,27 @@
</group>

<group name="HOME">
<!-- shoulder-pitch shoulder-roll shoulder-yaw elbow wrist-yaw wrist-roll wrist-pitch thumb_add thumb_oc index_add index_oc middle_oc ring_pinky_oc -->
<param name="positionHome"> 5 30 0 10 0 0 0 0.00 15.00 5.00 5.00 5.00 5.00 </param>
<param name="velocityHome"> 10 10 10 10 10 10 10 40.00 40.00 40.00 40.00 40.00 40.00 </param>
<!-- shoulder-pitch shoulder-roll shoulder-yaw elbow wrist-yaw wrist-roll wrist-pitch thumb_add thumb_oc index_add index_oc middle_oc ring_pinky_oc -->
<param name="positionHome"> 5 30 0 10 0 0 0 0.00 15.00 5.00 5.00 5.00 5.00 </param>
<param name="velocityHome"> 10 10 10 10 10 10 10 40.00 40.00 40.00 40.00 40.00 40.00 </param>
</group>
<group name="CALIBRATION">
<param name="calibrationType"> 10 10 10 10 12 12 12 12 14 12 14 14 14 </param>
<param name="calibration1"> 4000 -3000 -3000 4000 27080 5487 831 0 300 0 300 300 300 </param>
<param name="calibration2"> 0 0 0 0 0 0 0 0 0 0 0 0 0 </param>
<param name="calibration3"> 0 0 0 0 0 0 0 0 0 0 0 0 1 </param>
<param name="calibration4"> 0 0 0 0 0 0 0 0 0 0 32768 0 0 </param>
<param name="calibration5"> 0 0 0 0 0 0 0 0 9100 0 48450 37450 56800 </param>
<param name="calibrationZero"> 35 -15 -52 -5 0 0 0 0 0 0 0 0 0 </param>
<param name="calibrationDelta"> 0 0 0 0 0 0 0 0 0 0 0 0 0 </param>
<param name="startupPosition"> 34 50 -10 90 0.0 0.0 0.0 0.0 15.0 5.0 5.0 5.0 5.0 </param>
<param name="startupVelocity"> 10.0 10.0 10.0 10.0 10.0 10.0 10.0 100.0 100.0 100.0 100 100.0 100.0 </param>
<param name="startupMaxPwm"> 8000 8000 8000 8000 16000 16000 16000 0 0 0 0 0 0 </param>
<param name="startupPosThreshold"> 2 2 2 2 2 2 2 5 5 5 5 5 5 </param>
<param name="calibrationType"> 10 10 10 10 12 12 12 14 14 14 14 14 14 </param>
<param name="calibration1"> 4000 -3000 -3000 4000 32074 15767 15767 300 300 300 300 300 300 </param>
<param name="calibration2"> 0 0 0 0 0 0 0 0 0 0 0 0 0 </param>
<param name="calibration3"> 0 0 0 0 0 0 0 1 0 0 0 0 1 </param>
<param name="calibration4"> 0 0 0 0 0 0 0 0 0 0 32768 0 0 </param>
<param name="calibration5"> 0 0 0 0 0 0 0 39600 9850 0 49000 38000 57400 </param>
<param name="calibrationZero"> 35 -15 -52 -5 0 0 0 0 0 0 0 0 0 </param>
<param name="calibrationDelta"> 0 0 0 0 0 0 0 0 0 0 0 0 0 </param>
<param name="startupPosition"> 34 50 -10 90 0.0 0.0 0.0 0.0 15.0 5.0 5.0 5.0 5.0 </param>
<param name="startupVelocity"> 10.0 10.0 10.0 10.0 10.0 10.0 10.0 100.0 100.0 100.0 100 100.0 100.0 </param>
<param name="startupMaxPwm"> 8000 8000 8000 8000 16000 16000 16000 0 0 0 0 0 0 </param>
<param name="startupPosThreshold"> 2 2 2 2 2 2 2 5 5 5 5 5 5 </param>
</group>

<!-- <param name="CALIB_ORDER"> (4 5 6) (3) (2) (0) (1) (7 8) (9) (10 11 12) </param> --> <!-- Don't remove this line -->
<!-- <param name="CALIB_ORDER"> (4 5 6) (3) (2) (0) (1) (7 8) (10 11 12) </param> -->
<param name="CALIB_ORDER"> (3) (2) (0) (1) (7 8) (10 11 12) </param> <!-- Removed wrist -->
<param name="CALIB_ORDER"> (3) (2) (0) (1) (4 5 6) (7 8) (10 11 12) </param>

<action phase="startup" level="10" type="calibrate">
<param name="target">left_arm-mc_remapper</param>
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3 changes: 2 additions & 1 deletion ergoCubSN001/calibrators/left_leg-calib.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -20,7 +20,8 @@
<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"> 109.886 111.04 81.353 7.75 -46.651 25.604 </param>
<!-- <param name="calibrationZero"> 109.886 111.04 81.353 7.75 -46.651 25.604 </param> -->
<param name="calibrationZero"> 109.886 111.177 81.353 7.75 -46.541 25.791 </param> <!-- meno -->
<param name="calibrationDelta"> 0 0 0 0 0 0 </param>
<param name="startupPosition"> 90 80 0 -95 0 0 </param>
<param name="startupVelocity"> 10.0 10.0 10.0 10 10 10 </param>
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32 changes: 16 additions & 16 deletions ergoCubSN001/calibrators/right_arm-calib.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -12,27 +12,27 @@

<group name="HOME">
<!-- For calib6 to set calibration5, i.e. target just multiply desidered pos in deg by 182,044444 (2^(16)/360) -->
<!-- shoulder-pitch shoulder-roll shoulder-yaw elbow wrist-yaw wrist-roll wrist-pitch thumb_add thumb_oc index_add index_oc middle_oc ring_pinky_oc -->
<param name="positionHome"> 5 30 0 10 0 0 0 0.00 5.00 5.00 5.00 5.00 5.00 </param>
<param name="velocityHome"> 10 10 10 10 10 10 10 40.00 40.00 40.00 40.00 40.00 40.00 </param>
<!-- shoulder-pitch shoulder-roll shoulder-yaw elbow wrist-yaw wrist-roll wrist-pitch thumb_add thumb_oc index_add index_oc middle_oc ring_pinky_oc -->
<param name="positionHome"> 5 30 0 10 0 0 0 0.00 5.00 5.00 5.00 5.00 5.00 </param>
<param name="velocityHome"> 10 10 10 10 10 10 10 40.00 40.00 40.00 40.00 40.00 40.00 </param>
</group>
<group name="CALIBRATION">
<param name="calibrationType"> 10 10 10 10 12 12 12 12 14 12 14 14 14 </param>
<param name="calibration1"> -4000 3000 3000 -4000 17592 14298 16562 0 300 0 300 300 300 </param>
<param name="calibration2"> 0 0 0 0 0 0 0 0 0 0 0 0 0 </param>
<param name="calibration3"> 0 0 0 0 0 0 0 0 0 0 1 0 0 </param>
<param name="calibration4"> 0 0 0 0 0 0 0 0 0 0 32768 0 0 </param>
<param name="calibration5"> 0 0 0 0 0 0 0 0 24080 0 1300 16238 19000 </param>
<param name="calibrationZero"> 35 -15 -52 -5 0 0 0 0 0 0 0 0 0 </param>
<param name="calibrationDelta"> 0 0 0 0 0 0 0 0 0 0 0 0 0 </param>
<param name="startupPosition"> 34 50 -10 90 0.0 0.0 0.0 0.0 15.0 5.0 5.0 5.0 5.0 </param>
<param name="startupVelocity"> 10.0 10.0 10.0 10.0 10.0 10.0 10.0 100.0 100.0 100.0 100.0 100.0 100.0 </param>
<param name="startupMaxPwm"> 8000 8000 8000 12000 16000 16000 16000 0 0 0 0 0 0 </param>
<param name="startupPosThreshold"> 2 2 2 2 2 2 2 5 5 5 5 5 5 </param>
<param name="calibrationType"> 10 10 10 10 12 12 12 14 14 14 14 14 14 </param>
<param name="calibration1"> -4000 3000 3000 -4000 15913 16000 18845 300 300 300 300 300 300 </param>
<param name="calibration2"> 0 0 0 0 0 0 0 0 0 0 0 0 0 </param>
<param name="calibration3"> 0 0 0 0 0 0 0 0 0 0 1 0 0 </param>
<param name="calibration4"> 0 0 0 0 0 0 0 0 0 0 32768 0 0 </param>
<param name="calibration5"> 0 0 0 0 0 0 0 43440 25000 53000 1270 16800 18700 </param>
<param name="calibrationZero"> 35 -15 -52 -5 0 0 0 0 0 0 0 0 0 </param>
<param name="calibrationDelta"> 0 0 0 0 0 0 0 0 0 0 0 0 0 </param>
<param name="startupPosition"> 34 50 -10 90 0.0 0.0 0.0 0.0 15.0 5.0 5.0 5.0 5.0 </param>
<param name="startupVelocity"> 10.0 10.0 10.0 10.0 10.0 10.0 10.0 100.0 100.0 100.0 100.0 100.0 100.0 </param>
<param name="startupMaxPwm"> 8000 8000 8000 12000 16000 16000 16000 0 0 0 0 0 0 </param>
<param name="startupPosThreshold"> 2 2 2 2 2 2 2 5 5 5 5 5 5 </param>
</group>

<!-- <param name="CALIB_ORDER"> (4 5 6) (3) (2) (0) (1) (7 8) (9) (10 11 12) </param> --> <!-- Don't remove this line -->
<param name="CALIB_ORDER">(4 5 6) (3) (2) (0) (1) (7 8) (10 11 12) </param>
<param name="CALIB_ORDER"> (4 5 6) (3) (2) (0) (1) (7 8) (9) (10 11 12) </param>


<action phase="startup" level="10" type="calibrate">
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15 changes: 8 additions & 7 deletions ergoCubSN001/calibrators/right_leg-calib.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -2,7 +2,7 @@
<!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="right_leg-calibrator" type="parametricCalibratorEth">
<xi:include href="../general.xml"/>

<group name="GENERAL">
<param name="joints"> 6 </param> <!-- the number of joints of the robot part -->
<param name="deviceName"> Right_Leg_Calibrator </param>
Expand All @@ -17,22 +17,23 @@

<group name="CALIBRATION">
<param name="calibrationType"> 10 10 10 10 10 10 </param>
<param name="calibration1"> 5500 -4000 2500 5000 -2500 3000 </param>
<param name="calibration2"> 0.0 0.0 0 0 0 0 </param>
<param name="calibration3"> 0.0 0.0 0 0 0 0 </param>
<param name="calibration1"> 5500 -4000 2500 5000 2500 3000 </param>
<param name="calibration2"> 0.0 0.0 0 0 0 0 </param>
<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"> 110.166 111.139 83.146 7.75 -47.118 25.643 </param>
<!-- <param name="calibrationZero"> 110.166 111.139 83.146 7.75 -47.118 25.643 </param> -->
<param name="calibrationZero"> 109.781 111.342 83.146 7.75 47.101 26.071 </param> <!-- meno -->
<param name="calibrationDelta"> 0 0 0 0 0 0 </param>

<param name="startupPosition"> 90 80 0 -95 0 0 </param>
<param name="startupVelocity"> 10.0 10.0 10.0 10 10 10 </param>
<param name="startupMaxPwm"> 8000 8000 8000 8000 12000 8000 </param>
<param name="startupPosThreshold"> 2 2 2 2 2 2 </param>
</group>

<!-- <param name="CALIB_ORDER"> (4) (5) (2) (3) (0) (1) </param> --> <!-- Don't remove this line -->
<param name="CALIB_ORDER"> (4) (5) (2) (3) (0) (1) </param>
<param name="CALIB_ORDER"> (4) (5) (2) (3) (0) (1) </param>


<action phase="startup" level="10" type="calibrate">
Expand Down
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