icubMunich01 configuration update

HWURoboticsLab · Apr 29, 2016 · b38427c · b38427c
1 parent 1ab7eba
commit b38427c
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Showing 29 changed files with 40 additions and 34 deletions.
diff --git a/iCubGenova01/calibrators/left_arm_calib.xml b/iCubGenova01/calibrators/left_arm_calib.xml
@@ -30,11 +30,11 @@
         <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>     
+            <param name="target">left_arm_mc_wrapper</param>     
         </action>            
 
         <action phase="interrupt1" level="1" type="park">              
-            <param name="target">left_arm_mc</param>     
+            <param name="target">left_arm_mc_wrapper</param>     
         </action>            
 
         <action phase="interrupt3" level="1" type="abort" />           

diff --git a/iCubGenova01/calibrators/right_arm_calib.xml b/iCubGenova01/calibrators/right_arm_calib.xml
@@ -29,11 +29,11 @@
        <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>    
+            <param name="target">right_arm_mc_wrapper</param>    
         </action>            
 
         <action phase="interrupt1" level="1" type="park">              
-            <param name="target">right_arm_mc</param>    
+            <param name="target">right_arm_mc_wrapper</param>    
         </action>            
 
         <action phase="interrupt3" level="1" type="abort" />           

diff --git a/iCubMunich01/calibrators/left_arm_calib.xml b/iCubMunich01/calibrators/left_arm_calib.xml
@@ -17,23 +17,23 @@
 <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>       
+<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            30            30            100           </param>       
 </group>       
 
-        <param name="CALIB_ORDER">(0 1 2 3) (4 6 7) (5)</param>        
+        <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>     
+            <param name="target">left_arm_mc_wrapper</param>     
         </action>            
 
         <action phase="interrupt1" level="1" type="park">              
-            <param name="target">left_arm_mc</param>     
+            <param name="target">left_arm_mc_wrapper</param>     
         </action>            
 
         <action phase="interrupt3" level="1" type="abort" />           

diff --git a/iCubMunich01/calibrators/left_leg_calib.xml b/iCubMunich01/calibrators/left_leg_calib.xml
@@ -1,5 +1,5 @@
 <?xml version="1.0" encoding="UTF-8" ?>    
-<devices>      
+<devices robot="iCubMunich01" build="1">     
     <device name="left_leg_calibrator" type="parametricCalibrator">    
 
         <group name="GENERAL">             

diff --git a/iCubMunich01/calibrators/right_arm_calib.xml b/iCubMunich01/calibrators/right_arm_calib.xml
@@ -26,14 +26,14 @@
 <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>         
+       <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>    
+            <param name="target">right_arm_mc_wrapper</param>    
         </action>            
 
         <action phase="interrupt1" level="1" type="park">              
-            <param name="target">right_arm_mc</param>    
+            <param name="target">right_arm_mc_wrapper</param>    
         </action>            
 
         <action phase="interrupt3" level="1" type="abort" />           

diff --git a/iCubMunich01/calibrators/right_leg_calib.xml b/iCubMunich01/calibrators/right_leg_calib.xml
@@ -1,5 +1,5 @@
 <?xml version="1.0" encoding="UTF-8" ?>    
-<devices>      
+<devices robot="iCubMunich01" build="1">       
     <device name="right_leg_calibrator" type="parametricCalibrator">   
 
         <group name="GENERAL">             

diff --git a/iCubMunich01/hardware/FT/left_leg_strain.xml b/iCubMunich01/hardware/FT/left_leg_strain.xml
@@ -1,5 +1,5 @@
 <?xml version="1.0" encoding="UTF-8" ?>
-<devices>
+<devices robot="iCubMunich01" build="1">
 <device type="canBusAnalogSensor" name="left_leg_strain">
 	<param name="canbusDevice"> "sharedcan" </param>
 	<param name="physDevice"> "cfw2can" </param>

diff --git a/iCubMunich01/hardware/FT/right_leg_strain.xml b/iCubMunich01/hardware/FT/right_leg_strain.xml
@@ -1,5 +1,5 @@
 <?xml version="1.0" encoding="UTF-8" ?>
-<devices>
+<devices robot="iCubMunich01" build="1">
 <device type="canBusAnalogSensor" name="right_leg_strain">
 	<param name="canbusDevice"> "sharedcan" </param>
 	<param name="physDevice"> "cfw2can" </param>

diff --git a/iCubMunich01/hardware/VFT/left_leg_virtual_strain.xml b/iCubMunich01/hardware/VFT/left_leg_virtual_strain.xml
@@ -1,5 +1,5 @@
 <?xml version="1.0" encoding="UTF-8" ?>
-<devices>
+<devices robot="iCubMunich01" build="1">
 	<device type="canBusVirtualAnalogSensor" name="left_leg_virtual_strain">
 		<param name="canbusDevice"> "sharedcan" </param>
         <param name="physDevice"> "cfw2can" </param>

diff --git a/iCubMunich01/hardware/VFT/right_leg_virtual_strain.xml b/iCubMunich01/hardware/VFT/right_leg_virtual_strain.xml
@@ -1,5 +1,5 @@
 <?xml version="1.0" encoding="UTF-8" ?>
-<devices>
+<devices robot="iCubMunich01" build="1">
 	<device type="canBusVirtualAnalogSensor" name="right_leg_virtual_strain">
 		<param name="canbusDevice"> "sharedcan" </param>
         <param name="physDevice"> "cfw2can" </param>

diff --git a/iCubMunich01/hardware/motorControl/icub_left_arm.xml b/iCubMunich01/hardware/motorControl/icub_left_arm.xml
@@ -31,7 +31,7 @@
 <param name="AxisMap">      0             1             2             3             4             5             6             7             </param>       
 <param name="AxisName">    "l_shoulder_pitch" "l_shoulder_roll" "l_shoulder_yaw" "l_elbow"   "l_wrist_prosup" "l_wrist_pitch" "l_wrist_yaw"  "l_hand_finger" </param>
 <param name="AxisType">    "revolute"  "revolute"    "revolute"    "revolute"   "revolute"     "revolute"     "revolute"     "revolute"    </param>
-<param name="Encoder">      -11.375       -11.375       -11.375       -11.375       -706.67       -978.46       -978.46       3.5           </param>       
+<param name="Encoder">      -11.375       -11.375       -11.375       -11.375       -706.67       -978.46       -978.46       5.66          </param>       
 <param name="Zeros">        -189          -331          23.25782      -184          90            -13.9         -34.6         305.2941      </param>       
 <param name="TorqueId">     0x0C          0x0C          0x0C          0x0C          0x0C          0             0             0             </param>       
 <param name="TorqueChan">   0             1             2             3             4             0             0             0             </param>       

diff --git a/iCubMunich01/hardware/motorControl/icub_right_arm.xml b/iCubMunich01/hardware/motorControl/icub_right_arm.xml
@@ -31,7 +31,7 @@
 <param name="AxisName"> "r_shoulder_pitch" "r_shoulder_roll" "r_shoulder_yaw" "r_elbow" "r_wrist_prosup" "r_wrist_pitch" "r_wrist_yaw"  "r_hand_finger"   </param>
 <param name="AxisType">    "revolute"  "revolute"    "revolute"    "revolute"   "revolute"     "revolute"   "revolute"     "revolute"       </param>
 <param name="AxisMap">      0             1             2             3             4             5             6             7             </param>       
-<param name="Encoder">      11.375        11.375        11.375        11.375        706.67        978.46        978.46        3.666667      </param>       
+<param name="Encoder">      11.375        11.375        11.375        11.375        706.67        978.46        978.46        6.66          </param>       
 <param name="Zeros">        170.5         31            224.7422      175           93            -20           -40           255           </param>       
 <param name="TorqueId">     0x0C          0x0C          0x0C          0x0C          0x0C          0             0             0             </param>       
 <param name="TorqueChan">   0             1             2             3             4             0             0             0             </param>       

diff --git a/iCubMunich01/hardware/skin/torso.xml b/iCubMunich01/hardware/skin/torso.xml
@@ -6,7 +6,7 @@
   <device name="torso_skin" type="canBusSkin">
       <params file="general.xml" />
 
-	  <params robot="iCubGenova01" build="1">
+	  <params robot="iCubMunich01" build="1">
         <param name="canDeviceNum"> 9         </param>
         <param name="skinCanIds">   7 8 9 10  </param>
         <param name="period"> 10              </param>

diff --git a/iCubMunich01/icub_all.xml b/iCubMunich01/icub_all.xml
@@ -9,6 +9,8 @@
     <!-- motor controllers wrappers -->
     <devices file="wrappers/motorControl/left_arm_mc_wrapper.xml" />
     <devices file="wrappers/motorControl/right_arm_mc_wrapper.xml" />
+    <devices file="wrappers/motorControl/left_leg_mc_wrapper.xml" />
+    <devices file="wrappers/motorControl/right_leg_mc_wrapper.xml" />
     <devices file="wrappers/motorControl/head_mc_wrapper.xml" />
     <devices file="wrappers/motorControl/torso_mc_wrapper.xml" />
     <devices file="hardware/motorControl/icub_left_arm.xml" />
@@ -48,10 +50,12 @@
     <devices file="hardware/MAIS/right_hand_mais.xml" />
 
     <!-- SKIN -->
-    <!-- <devices file="wrappers/skin/left_arm_skin_wrapper.xml" />
+    <devices file="wrappers/skin/left_arm_skin_wrapper.xml" />
     <devices file="wrappers/skin/right_arm_skin_wrapper.xml" />
+    <devices file="wrappers/skin/torso_skin_wrapper.xml" />  
     <devices file="hardware/skin/left_arm.xml" />
-    <devices file="hardware/skin/right_arm.xml" />  -->
+    <devices file="hardware/skin/right_arm.xml" />  
+    <devices file="hardware/skin/torso.xml" />  
 
     <!-- MTX INERTIAL SENSOR & SKIN INERTIAL SENSOR-->
     <devices file="hardware/inertial.xml" />

diff --git a/iCubMunich01/wrappers/FT/left_arm_FT_wrapper.xml b/iCubMunich01/wrappers/FT/left_arm_FT_wrapper.xml
@@ -3,7 +3,6 @@
 <devices robot="iCubMunich01" build="1">
 	<device name="left_arm_as_wrapper" type="analogServer">
 		<param name="period">       10  				</param>
-		<param name="deviceId">     left_arm				</param>
 		<param name="name">     /icub/left_arm/analog:o			</param>
 
 		<action phase="startup" level="5" type="attach">

diff --git a/iCubMunich01/wrappers/FT/left_leg_FT_wrapper.xml b/iCubMunich01/wrappers/FT/left_leg_FT_wrapper.xml
@@ -1,8 +1,7 @@
 <?xml version="1.0" encoding="UTF-8" ?>
-<devices>
+<devices robot="iCubMunich01" build="1">
 	<device name="left_leg_as_wrapper" type="analogServer">
 		<param name="period">       10  				</param>
-		<param name="deviceId">     left_leg				</param>
 		<param name="name">     /icub/left_leg/analog:o			</param>
 
 		<action phase="startup" level="5" type="attach">

diff --git a/iCubMunich01/wrappers/FT/right_arm_FT_wrapper.xml b/iCubMunich01/wrappers/FT/right_arm_FT_wrapper.xml
@@ -3,7 +3,6 @@
 <devices robot="iCubMunich01" build="1">
 	<device name="right_arm_as_wrapper" type="analogServer">
 		<param name="period">       10  				</param>
-		<param name="deviceId">     right_arm				</param>
 		<param name="name">     /icub/right_arm/analog:o		</param>
 
 		<action phase="startup" level="5" type="attach">

diff --git a/iCubMunich01/wrappers/FT/right_leg_FT_wrapper.xml b/iCubMunich01/wrappers/FT/right_leg_FT_wrapper.xml
@@ -1,9 +1,8 @@
 <?xml version="1.0" encoding="UTF-8" ?>
-<devices>
+<devices robot="iCubMunich01" build="1">
 	<device name="right_leg_as_wrapper" type="analogServer">
 		<param name="period">       10  				</param>
-		<param name="deviceId">     right_leg				</param>
-		<!-- <param name="name">     /icub/right_leg/analog:o		</param>  -->
+		<param name="name">     /icub/right_leg/analog:o		</param> 
 
 		<action phase="startup" level="5" type="attach">
 		    <paramlist name="networks">

diff --git a/iCubMunich01/wrappers/MAIS/left_hand_mais_wrapper.xml b/iCubMunich01/wrappers/MAIS/left_hand_mais_wrapper.xml
@@ -3,7 +3,7 @@
 <devices robot="iCubMunich01" build="1">
 	<device name="left_hand_as_wrapper" type="analogServer">
 		<param name="period">       10  				</param>
-		<param name="deviceId">     left_hand				</param>
+		<param name="name">     /icub/left_hand/analog:o               </param>
 
 		<action phase="startup" level="5" type="attach">
 		    <paramlist name="networks">

diff --git a/iCubMunich01/wrappers/MAIS/right_hand_mais_wrapper.xml b/iCubMunich01/wrappers/MAIS/right_hand_mais_wrapper.xml
@@ -3,7 +3,7 @@
 <devices robot="iCubMunich01" build="1">
 	<device name="right_hand_as_wrapper" type="analogServer">
 		<param name="period">       10  				</param>
-		<param name="deviceId">     right_hand				</param>
+		<param name="name">     /icub/right_hand/analog:o               </param>
 
 		<action phase="startup" level="5" type="attach">
 		    <paramlist name="networks">

diff --git a/iCubMunich01/wrappers/VFT/left_leg_VFT_wrapper.xml b/iCubMunich01/wrappers/VFT/left_leg_VFT_wrapper.xml
@@ -1,5 +1,5 @@
 <?xml version="1.0" encoding="UTF-8" ?>
-<devices>
+<devices robot="iCubMunich01" build="1">
     <device name="left_leg_VFTserver" type="virtualAnalogServer">
         <param name="period">       10                  </param>
         <param name="deviceId">     left_leg                </param>

diff --git a/iCubMunich01/wrappers/VFT/right_leg_VFT_wrapper.xml b/iCubMunich01/wrappers/VFT/right_leg_VFT_wrapper.xml
@@ -1,5 +1,5 @@
 <?xml version="1.0" encoding="UTF-8" ?>
-<devices>
+<devices robot="iCubMunich01" build="1">
     <device name="right_leg_VFTserver" type="virtualAnalogServer">
         <param name="period">       10                  </param>
         <param name="deviceId">     right_leg                </param>

diff --git a/iCubMunich01/wrappers/motorControl/head_mc_wrapper.xml b/iCubMunich01/wrappers/motorControl/head_mc_wrapper.xml
@@ -15,6 +15,7 @@
       <action phase="startup" level="5" type="attach">
       <paramlist name="networks">
          <elem name="head_joints">  head_mc </elem>
+	 <elem name="Calibrator"> head_calibrator </elem>
       </paramlist>
       </action>
 

diff --git a/iCubMunich01/wrappers/motorControl/left_arm_mc_wrapper.xml b/iCubMunich01/wrappers/motorControl/left_arm_mc_wrapper.xml
@@ -16,6 +16,7 @@
       <paramlist name="networks">
 	      <elem name="left_arm_joints">  left_arm_mc </elem>
 	      <elem name="left_hand_joints"> left_hand_mc </elem>
+	      <elem name="Calibrator"> left_arm_calibrator </elem>
         </paramlist>
     </action>
 

diff --git a/iCubMunich01/wrappers/motorControl/left_leg_mc_wrapper.xml b/iCubMunich01/wrappers/motorControl/left_leg_mc_wrapper.xml
@@ -14,6 +14,7 @@
       <action phase="startup" level="5" type="attach">
          <paramlist name="networks">
             <elem name="left_leg_joints">  left_leg_mc </elem>
+	      <elem name="Calibrator"> left_leg_calibrator </elem>
          </paramlist>
       </action>
 

diff --git a/iCubMunich01/wrappers/motorControl/right_arm_mc_wrapper.xml b/iCubMunich01/wrappers/motorControl/right_arm_mc_wrapper.xml
@@ -16,6 +16,7 @@
 	  <paramlist name="networks">
 	      <elem name="right_arm_joints">  right_arm_mc </elem>
 	      <elem name="right_hand_joints"> right_hand_mc </elem>
+	      <elem name="Calibrator"> right_arm_calibrator </elem>
 	  </paramlist>
       </action>
 

diff --git a/iCubMunich01/wrappers/motorControl/right_leg_mc_wrapper.xml b/iCubMunich01/wrappers/motorControl/right_leg_mc_wrapper.xml
@@ -14,6 +14,7 @@
       <action phase="startup" level="5" type="attach">
 	  <paramlist name="networks">
             <elem name="right_joints">  right_leg_mc </elem>
+	      <elem name="Calibrator"> right_leg_calibrator </elem>
 	  </paramlist>
       </action>
 

diff --git a/iCubMunich01/wrappers/motorControl/torso_mc_wrapper.xml b/iCubMunich01/wrappers/motorControl/torso_mc_wrapper.xml
@@ -15,6 +15,7 @@
       <action phase="startup" level="5" type="attach">
       <paramlist name="networks">
          <elem name="torso_joints">  torso_mc </elem>
+	 <elem name="Calibrator"> torso_calibrator </elem>
       </paramlist>
       </action>
 

diff --git a/iCubMunich01/robotInterface.ini → iCubMunich01/yarprobotinterface.ini b/iCubMunich01/robotInterface.ini → iCubMunich01/yarprobotinterface.ini