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[ergoCub002] Update the robot configuration files (#656)
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Co-authored-by: ergocub <ergocub@iit.it>
Co-authored-by: Stefano Dafarra <stefano.dafarra@gmail.com>
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@GiulioRomualdi @S-Dafarra
3 people authored Jun 18, 2024
1 parent 86ca58a commit 8883a01
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Showing 13 changed files with 40 additions and 24 deletions.
4 changes: 2 additions & 2 deletions ergoCubSN002/calibrators/left_leg-calib.xml
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<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"> 109.27 111.776 81.65 6.38 -46.624 24.803 </param>
<param name="calibrationZero"> 109.27 110.848 81.65 6.38 -46.624 25.808 </param>
<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 13000 8000 </param>
<param name="startupMaxPwm"> 8000 8000 8000 16000 16000 8000 </param>
<param name="startupPosThreshold"> 2 2 2 2 2 2 </param>
</group>
<!-- <param name="CALIB_ORDER"> (2) (4) (5) (3) (0) (1) </param> --> <!-- Don't remove this line -->
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4 changes: 2 additions & 2 deletions ergoCubSN002/calibrators/right_leg-calib.xml
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<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"> 108.705 111.463 79.808 7.79 -46.012 25.566 </param>
<param name="calibrationZero"> 108.705 111.133 79.808 7.79 -46.012 25.181 </param>
<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 13000 8000 </param>
<param name="startupMaxPwm"> 8000 8000 8000 16000 16000 8000 </param>
<param name="startupPosThreshold"> 2 2 2 2 2 2 </param>
</group>

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3 changes: 2 additions & 1 deletion ergoCubSN002/ergocub_wbd_ros2.xml
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<xi:include href="wrappers/inertials/head-imuFilter.xml" />
<xi:include href="wrappers/inertials/head-inertials_wrapper.xml" />
<xi:include href="hardware/inertials/head-inertial.xml" />

<xi:include href="hardware/inertials/waist-inertial.xml" />
<xi:include href="wrappers/inertials/waist-inertials_wrapper.xml" />
<!-- FT SENSORS - IMU -->
<xi:include href="hardware/inertials/left_arm-eb2-j0_1-inertial.xml" />
<xi:include href="hardware/inertials/right_arm-eb1-j0_1-inertial.xml" />
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2 changes: 1 addition & 1 deletion ergoCubSN002/estimators/wholebodydynamics.xml
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<device xmlns:xi="http://www.w3.org/2001/XInclude" name="wholebodydynamics" type="wholebodydynamics">
<param name="axesNames">(torso_pitch,torso_roll,torso_yaw,neck_pitch, neck_roll,neck_yaw,l_shoulder_pitch,l_shoulder_roll,l_shoulder_yaw,r_shoulder_pitch,r_shoulder_roll,r_shoulder_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="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_roll,l_wrist_pitch,l_wrist_yaw,r_shoulder_pitch,r_shoulder_roll,r_shoulder_yaw,r_elbow,r_wrist_roll,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_palm,r_hand_palm,root_link,l_foot_front,l_foot_rear,r_foot_front,r_foot_rear,l_upper_leg,r_upper_leg)</param>
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5 changes: 5 additions & 0 deletions ergoCubSN002/extra/motorStatePublisher/config_left_leg.ini
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[GENERAL]
robotname ergocub
period 0.1
portprefix /left_leg
listofjoints (0 1 2 3 4 5)
5 changes: 5 additions & 0 deletions ergoCubSN002/extra/motorStatePublisher/config_right_leg.ini
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[GENERAL]
robotname ergocub
period 0.1
portprefix /right_leg
listofjoints (0 1 2 3 4 5)
5 changes: 5 additions & 0 deletions ergoCubSN002/extra/motorStatePublisher/config_torso.ini
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[GENERAL]
robotname ergocub
period 0.1
portprefix /torso
listofjoints (0 1 2)
2 changes: 1 addition & 1 deletion ergoCubSN002/hardware/FT/left_leg-eb9-j4_5-strain.xml
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<group name="SETTINGS">
<param name="enabledSensors"> l_foot_rear_ft l_foot_front_ft </param>
<param name="ftPeriod"> 2 10 </param>
<param name="ftPeriod"> 2 2 </param>
<param name="temperaturePeriod"> 1000 1000 </param>
<param name="useCalibration"> true true </param>
</group>
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2 changes: 1 addition & 1 deletion ergoCubSN002/hardware/FT/right_leg-eb7-j4_5-strain.xml
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<group name="SETTINGS">
<param name="enabledSensors"> r_foot_rear_ft r_foot_front_ft </param>
<param name="ftPeriod"> 2 10 </param>
<param name="ftPeriod"> 2 2 </param>
<param name="temperaturePeriod"> 1000 1000 </param>
<param name="useCalibration"> true true </param>
</group>
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8 changes: 4 additions & 4 deletions ergoCubSN002/hardware/motorControl/left_leg-eb8-j0_3-mc.xml
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<param name="jntPosMax"> 102 108 78 5 </param>
<param name="jntPosMin"> -42 -15 -78 -103 </param>
<param name="jntVelMax"> 240 240 240 240 </param>
<param name="motorNominalCurrents"> 15000 5000 5000 10000 </param>
<param name="motorPeakCurrents"> 20000 10000 10000 15000 </param>
<param name="motorOverloadCurrents"> 30000 15000 15000 20000 </param>
<param name="motorPwmLimit"> 16000 18000 18000 16000 </param>
<param name="motorNominalCurrents"> 15000 15000 5000 10000 </param>
<param name="motorPeakCurrents"> 20000 20000 10000 15000 </param>
<param name="motorOverloadCurrents"> 30000 30000 15000 20000 </param>
<param name="motorPwmLimit"> 16000 16000 18000 16000 </param>
<param name="hardwareTemperatureLimits"> 110 110 110 110 </param>
<param name="warningTemperatureLimits"> 90 90 90 90 </param> <!-- keep commented until TemperatureSensorType is not ENABLE by setting it different from NONE-->
</group>
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8 changes: 4 additions & 4 deletions ergoCubSN002/hardware/motorControl/left_leg-eb9-j4_5-mc.xml
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<param name="jntPosMax"> 43 23 </param>
<param name="jntPosMin"> -43 -23 </param>
<param name="jntVelMax"> 240 240 </param>
<param name="motorNominalCurrents"> 10000 5000 </param>
<param name="motorPeakCurrents"> 15000 10000 </param>
<param name="motorOverloadCurrents"> 30000 35000 </param>
<param name="motorPwmLimit"> 16000 18000 </param>
<param name="motorNominalCurrents"> 10000 10000 </param>
<param name="motorPeakCurrents"> 15000 15000 </param>
<param name="motorOverloadCurrents"> 30000 30000 </param>
<param name="motorPwmLimit"> 16000 16000 </param>
<param name="hardwareTemperatureLimits"> 110 110 </param>
<param name="warningTemperatureLimits"> 90 90 </param> <!-- keep commented until TemperatureSensorType is not ENABLE by setting it different from NONE-->
</group>
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8 changes: 4 additions & 4 deletions ergoCubSN002/hardware/motorControl/right_leg-eb6-j0_3-mc.xml
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<param name="jntPosMax"> 102 108 78 5 </param>
<param name="jntPosMin"> -42 -15 -78 -103 </param>
<param name="jntVelMax"> 240 240 240 240 </param>
<param name="motorNominalCurrents"> 15000 5000 5000 10000 </param>
<param name="motorPeakCurrents"> 20000 10000 10000 15000 </param>
<param name="motorOverloadCurrents"> 30000 15000 15000 20000 </param>
<param name="motorPwmLimit"> 16000 18000 18000 16000 </param>
<param name="motorNominalCurrents"> 15000 15000 5000 10000 </param>
<param name="motorPeakCurrents"> 20000 20000 10000 15000 </param>
<param name="motorOverloadCurrents"> 30000 30000 15000 20000 </param>
<param name="motorPwmLimit"> 16000 16000 18000 16000 </param>
<param name="hardwareTemperatureLimits"> 110 110 110 110 </param>
<param name="warningTemperatureLimits"> 90 90 90 90 </param> <!-- keep commented until TemperatureSensorType is not ENABLE by setting it different from NONE-->
</group>
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8 changes: 4 additions & 4 deletions ergoCubSN002/hardware/motorControl/right_leg-eb7-j4_5-mc.xml
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Expand Up @@ -14,10 +14,10 @@
<param name="jntPosMax"> 43 23 </param>
<param name="jntPosMin"> -43 -23 </param>
<param name="jntVelMax"> 240 240 </param>
<param name="motorNominalCurrents"> 10000 5000 </param>
<param name="motorPeakCurrents"> 15000 10000 </param>
<param name="motorOverloadCurrents"> 30000 15000 </param>
<param name="motorPwmLimit"> 16000 18000 </param>
<param name="motorNominalCurrents"> 10000 10000 </param>
<param name="motorPeakCurrents"> 15000 15000 </param>
<param name="motorOverloadCurrents"> 30000 30000 </param>
<param name="motorPwmLimit"> 16000 16000 </param>
<param name="hardwareTemperatureLimits"> 110 110 </param>
<param name="warningTemperatureLimits"> 90 90 </param> <!-- keep commented until TemperatureSensorType is not ENABLE by setting it different from NONE-->
</group>
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