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added iCubMunich01 configuration for robotInterface
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@randaz81
randaz81 committed Apr 27, 2016
1 parent 71377d6 commit 9c11083
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Showing 66 changed files with 2,295 additions and 0 deletions.
17 changes: 17 additions & 0 deletions iCubMunich01/CMakeLists.txt
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set(appname iCubMunich01)

file(GLOB xml ${CMAKE_CURRENT_SOURCE_DIR}/*.xml)
file(GLOB ini ${CMAKE_CURRENT_SOURCE_DIR}/*.ini)
set(whatsleft firmwareUpdate.txt)

yarp_install(FILES ${xml} DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname})
yarp_install(FILES ${ini} DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname})
yarp_install(FILES ${whatsleft} DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname})
yarp_install(DIRECTORY calibrators DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname} PATTERN .svn EXCLUDE)
yarp_install(DIRECTORY cartesian DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname} PATTERN .svn EXCLUDE)
yarp_install(DIRECTORY wrappers DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname} PATTERN .svn EXCLUDE)
yarp_install(DIRECTORY hardware DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname} PATTERN .svn EXCLUDE)
yarp_install(DIRECTORY camera DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname} PATTERN .svn EXCLUDE)



68 changes: 68 additions & 0 deletions iCubMunich01/calibrators/head_calib.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="iCubMunich01" build="1">
<device name="head_calibrator" type="parametricCalibrator">
<params file="general.xml" />
<group name="GENERAL">
<param name="joints"> 6 </param>
<param name="deviceName"> Head_Calibrator </param>
</group>

<group name="CALIBRATION">

<param name="calibrationType"> 0 0 0 0 0 0 </param>
<param name="calibration1"> 500 1333 1333 600 500 500 </param>
<param name="calibration2"> 20 20 20 -20 20 20 </param>
<param name="calibration3"> 0 0 0 0 0 0 </param>
<param name="positionZero"> 0 0 0 0 0 0 </param>
<param name="velocityZero"> 10 10 10 10 10 10 </param>
<param name="maxPwm"> 1300 1300 1330 1300 1300 1300 </param>
<param name="posZeroThreshold"> 2 2 180 2 180 180 </param>
</group>

<group name="HOME">
<param name="positionHome"> -40 0 0 0 0 0 </param>
<param name="velocityHome"> 10 10 10 10 10 10 </param>
</group>

<param name="CALIB_ORDER"> (0) (1) (2 3) (5) (4) </param>

<action phase="startup" level="10" type="calibrate">
<param name="target">head_mc_wrapper</param>
</action>

<action phase="interrupt1" level="1" type="park">
<param name="target">head_mc_wrapper</param>
</action>

<action phase="interrupt3" level="1" type="abort" />

</device>
</devices>


























68 changes: 68 additions & 0 deletions iCubMunich01/calibrators/left_arm_calib.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="iCubMunich01" build="1">
<device name="left_arm_calibrator" type="parametricCalibrator">
<params file="general.xml" />
<group name="GENERAL">
<param name="joints"> 8 </param>
<param name="deviceName"> Left_Arm_Calibrator </param>
</group>

<group name="CALIBRATION">

<param name="calibrationType"> 3 3 3 3 0 2 2 3 </param>
<param name="calibration1"> 2388.75 3241.875 -275.933 1532 1000 750 750 1730 </param>
<param name="calibration2"> 10 10 10 10 20 -10 -10 100 </param>
<param name="calibration3"> 1969.0125 2492.2625 1586.528 229.775 0 0 0 0 </param>
<param name="positionZero"> -30 30 0 45 0 0 0 15 </param>
<param name="velocityZero"> 10 10 10 10 30 30 30 100 </param>
<param name="maxPwm"> 10 10 10 10 30 30 30 100 </param>
<param name="posZeroThreshold"> 120 120 120 120 0 0 0 0 </param>
</group>

<group name="HOME">
<param name="positionHome"> -30 30 0 45 0 0 40 15 </param>
<param name="velocityHome"> 10 10 10 10 30 30 30 100 </param>
</group>

<param name="CALIB_ORDER">(0 1 2 3) (4 6 7) (5)</param>

<action phase="startup" level="10" type="calibrate">
<param name="target">left_arm_mc</param>
</action>

<action phase="interrupt1" level="1" type="park">
<param name="target">left_arm_mc</param>
</action>

<action phase="interrupt3" level="1" type="abort" />

</device>
</devices>


























68 changes: 68 additions & 0 deletions iCubMunich01/calibrators/left_hand_calib.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="iCubMunich01" build="1">
<device name="left_hand_calibrator" type="parametricCalibrator">
<params file="general.xml" />
<group name="GENERAL">
<param name="joints"> 8 </param>
<param name="deviceName"> Left_Hand_Calibrator </param>
</group>

<group name="CALIBRATION">

<param name="calibrationType"> 3 4 4 4 4 4 4 4 </param>
<param name="calibration1"> 920 240 20 243 10 246 35 673 </param>
<param name="calibration2"> 10 10 30 10 10 10 10 10 </param>
<param name="calibration3"> 0 6000 6600 6000 7000 6000 -7000 20000 </param>
<param name="positionZero"> 30 0 0 0 0 0 0 0 </param>
<param name="velocityZero"> 100 100 100 100 100 100 100 100 </param>
<param name="maxPwm"> 0 0 0 0 0 0 0 0 </param>
<param name="posZeroThreshold"> 90 90 90 90 90 90 90 90 </param>
</group>

<group name="HOME">
<param name="positionHome"> 90 3 0 0 0 0 0 0 </param>
<param name="velocityHome"> 10 10 10 10 10 10 10 10 </param>
</group>

<param name="CALIB_ORDER">(0 1 3 5) (2 4 6 7) </param>

<action phase="startup" level="10" type="calibrate">
<param name="target">left_hand_mc</param>
</action>

<action phase="interrupt1" level="1" type="park">
<param name="target">left_hand_mc</param>
</action>

<action phase="interrupt3" level="1" type="abort" />

</device>
</devices>


























67 changes: 67 additions & 0 deletions iCubMunich01/calibrators/left_leg_calib.xml
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<?xml version="1.0" encoding="UTF-8" ?>
<devices>
<device name="left_leg_calibrator" type="parametricCalibrator">

<group name="GENERAL">
<param name="joints"> 6 </param>
<param name="deviceName"> Left_Leg_Calibrator </param>
</group>

<group name="CALIBRATION">

<param name="calibrationType"> 3 3 3 3 3 3 </param>
<param name="calibration1"> 2047.5 2047.5 2047.5 2047.5 2047.5 2047.5 </param>
<param name="calibration2"> 10 10 10 10 10 10 </param>
<param name="calibration3"> 2745.925 953.225 2517.288 3531.9375 3368.1375 1151.15 </param>
<param name="positionZero"> 0.00 0.00 0.00 0.00 0.00 0.00 </param>
<param name="velocityZero"> 10.00 10.00 10.00 10.00 10.00 10.00 </param>
<param name="maxPwm"> 120 120 120 120 120 120 </param>
<param name="posZeroThreshold"> 2 2 2 2 2 2 </param>
</group>

<group name="HOME">
<param name="positionHome"> 0 0 0 0 0 0 </param>
<param name="velocityHome"> 10 10 10 10 10 10 </param>
</group>

<param name="CALIB_ORDER">(0 1 2 3 4 5) </param>

<action phase="startup" level="10" type="calibrate">
<param name="target">left_leg_mc_wrapper</param>
</action>

<action phase="interrupt1" level="1" type="park">
<param name="target">left_leg_mc_wrapper</param>
</action>

<action phase="interrupt3" level="1" type="abort" />

</device>
</devices>



























68 changes: 68 additions & 0 deletions iCubMunich01/calibrators/right_arm_calib.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="iCubMunich01" build="1">
<device name="right_arm_calibrator" type="parametricCalibrator">
<params file="general.xml" />
<group name="GENERAL">
<param name="joints"> 8 </param>
<param name="deviceName"> Right_Arm_Calibrator </param>
</group>

<group name="CALIBRATION">

<param name="calibrationType"> 3 3 3 3 0 2 2 3 </param>
<param name="calibration1"> 1706.25 853.125 2795.317 2558 900 750 750 1700 </param>
<param name="calibration2"> 10 10 10 10 -20 10 10 100 </param>
<param name="calibration3"> 3363.5875 1543.588 2694.453 213.85 0 0 0 0 </param>
<param name="positionZero"> -30 30 0 45 0 0 0 15 </param>
<param name="velocityZero"> 10 10 10 10 30 30 30 100 </param>
<param name="maxPwm"> 120 120 120 120 0 0 0 0 </param>
<param name="posZeroThreshold"> 2 2 2 2 2 2 90 90 </param>
</group>

<group name="HOME">
<param name="positionHome"> -30 30 0 45 0 0 40 15 </param>
<param name="velocityHome"> 10 10 10 10 30 10 10 100 </param>
</group>

<param name="CALIB_ORDER">(0 1 2 3) (4 6 7) (5)</param>

<action phase="startup" level="10" type="calibrate">
<param name="target">right_arm_mc</param>
</action>

<action phase="interrupt1" level="1" type="park">
<param name="target">right_arm_mc</param>
</action>

<action phase="interrupt3" level="1" type="abort" />

</device>
</devices>


























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