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[ergoCubSN001] Fix skin configuration files after tests and left hip …
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…roll rotor-stator calibration (#604)

Co-authored-by: ergocub <[email protected]>
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@AntonioConsilvio
AntonioConsilvio and ergocub authored Jan 3, 2024
1 parent be872a4 commit bf21b68
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Showing 8 changed files with 53 additions and 30 deletions.
2 changes: 1 addition & 1 deletion ergoCubSN001/hardware/mechanicals/left_leg-eb8-j0_3-mec.xml
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<param name="HasRotorEncoder"> 1 1 1 1 </param>
<param name="HasRotorEncoderIndex"> 1 1 1 1 </param>
<param name="HasSpeedEncoder"> 0 0 0 0 </param>
<param name="RotorIndexOffset"> 337 148 112 113 </param>
<param name="RotorIndexOffset"> 337 153 112 113 </param>
<param name="MotorPoles"> 12 8 8 12 </param>
</group>

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8 changes: 4 additions & 4 deletions ...hardware/skin/left_arm-eb24-j4_7-skin.xml → .../hardware/skin/left_arm-eb4-j2_3-skin.xml
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Expand Up @@ -2,14 +2,14 @@
<!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-eb24-j4_7-skin" type="embObjSkin">
<device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_arm-eb4-j2_3-skin" type="embObjSkin">
<xi:include href="../../general.xml" />

<xi:include href="../../hardware/electronics/left_arm-eb24-j4_7-eln.xml" />
<xi:include href="../../hardware/electronics/left_arm-eb4-j2_3-eln.xml" />
<group name="patches">
<param name="skinCanAddrsPatch1"> 14 </param>
<param name="skinCanAddrsPatch2"> 2 </param>
</group>
<xi:include href="./left_arm-eb24-j4_7-skinSpec.xml" />
<xi:include href="./left_arm-eb4-j2_3-skinSpec.xml" />
</device>


16 changes: 8 additions & 8 deletions ...are/skin/right_arm-eb27-j4_7-skinSpec.xml → ...dware/skin/left_arm-eb4-j2_3-skinSpec.xml
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Expand Up @@ -15,11 +15,11 @@
<group name="specialCfgBoards">
<!-- it tells some boards to be special.
we can configure only: tx period, skinType, noLoad value.
rule #1 -> CAN1:14 has: period = 50 ms, skinType = 1 (palm and fingertips skin), noLoad = 0xf0
rule #1 -> CAN1:2 has: period = 50 ms, skinType = 1 (palm and fingertips skin), noLoad = 0xf0
-->
<param name="numOfSets"> 1 </param>
<!-- patch adr start adr end period type no_load -->
<param name="boardSetCfg1"> 1 14 14 50 1 0xc8 </param>
<!-- CAN BUS = patch adr start adr end period type no_load -->
<param name="boardSetCfg1"> 2 2 2 50 1 0xc8 </param>

</group>

Expand All @@ -31,11 +31,11 @@
</group>

<group name="specialCfgTriangles">
<param name="numOfSets"> 4 </param>
<param name="triangleSetCfgThumb"> 1 14 0 0 1 1 0x0000 </param>
<param name="triangleSetCfgIndex"> 1 14 4 4 1 1 0x0000 </param>
<param name="triangleSetCfgMiddle"> 1 14 8 8 1 1 0x0000 </param>
<param name="triangleSetCfgRing"> 1 14 12 12 1 1 0x0000 </param>
<param name="numOfSets"> 1 </param>
<param name="triangleSetCfg1"> 2 2 0 15 1 1 0x0000 </param>
<param name="triangleSetCfg2"> 2 2 0 15 1 1 0x0000 </param>
<param name="triangleSetCfg3"> 2 2 8 8 1 1 0x0000 </param>
<param name="triangleSetCfg4"> 2 2 12 12 1 1 0x0000 </param>
</group>


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12 changes: 6 additions & 6 deletions ...ardware/skin/right_arm-eb27-j4_7-skin.xml → ...hardware/skin/right_arm-eb3-j2_3-skin.xml
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Expand Up @@ -2,13 +2,13 @@
<!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_arm-eb27-j4_7-skin" type="embObjSkin">
<device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_arm-eb3-j2_3-skin" type="embObjSkin">
<xi:include href="../../general.xml" />

<xi:include href="../../hardware/electronics/right_arm-eb27-j4_7-eln.xml" />
<group name="patches">
<param name="skinCanAddrsPatch1"> 14 </param>
</group>
<xi:include href="./right_arm-eb27-j4_7-skinSpec.xml" />
<xi:include href="../../hardware/electronics/right_arm-eb3-j2_3-eln.xml" />
<group name="patches"><!--the PATCH number is actually the number of the CAN BUS used -->
<param name="skinCanAddrsPatch2"> 2 </param>
</group>_
<xi:include href="./right_arm-eb3-j2_3-skinSpec.xml" />
</device>

19 changes: 10 additions & 9 deletions ...ware/skin/left_arm-eb24-j4_7-skinSpec.xml → ...ware/skin/right_arm-eb3-j2_3-skinSpec.xml
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Expand Up @@ -16,10 +16,11 @@
<!-- it tells some boards to be special.
we can configure only: tx period, skinType, noLoad value.
rule #1 -> CAN1:14 has: period = 50 ms, skinType = 1 (palm and fingertips skin), noLoad = 0xf0
-->
rule #3 -> the CAN BUS is identified by the patch number!!!!!!!
-->
<param name="numOfSets"> 1 </param>
<!-- patch adr start adr end period type no_load -->
<param name="boardSetCfg1"> 1 14 14 50 1 0xc8 </param>
<!-- CAN BUS = patch adr start adr end period type no_load -->
<param name="boardSetCfg1"> 2 2 2 50 1 0xc8 </param>

</group>

Expand All @@ -29,13 +30,13 @@
<param name="shift"> 1 </param>
<param name="cdcOffset"> 0x0000 </param>
</group>

<!-- for now (jan 2024) we put a unique set of parameters activating all 16 I2C addr -->
<group name="specialCfgTriangles">
<param name="numOfSets"> 4 </param>
<param name="triangleSetCfgThumb"> 1 14 0 0 1 1 0x0000 </param>
<param name="triangleSetCfgIndex"> 1 14 4 4 1 1 0x0000 </param>
<param name="triangleSetCfgMiddle"> 1 14 8 8 1 1 0x0000 </param>
<param name="triangleSetCfgRing"> 1 14 12 12 1 1 0x0000 </param>
<param name="numOfSets"> 1 </param>
<param name="triangleSetCfg1"> 2 2 0 15 1 1 0x0000 </param>
<param name="triangleSetCfg2"> 2 2 0 15 1 1 0x0000 </param>
<param name="triangleSetCfg3"> 2 2 8 8 1 1 0x0000 </param>
<param name="triangleSetCfg4"> 2 2 12 12 1 1 0x0000 </param>
</group>


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22 changes: 22 additions & 0 deletions ergoCubSN001/skin.xml
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@@ -0,0 +1,22 @@
<?xml version="1.0" encoding="UTF-8" ?>
<!DOCTYPE robot PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">

<robot name="ergoCubSN001" build="1" portprefix="icub" xmlns:xi="http://www.w3.org/2001/XInclude">

<params>
<xi:include href="hardware/electronics/pc104.xml" />
</params>

<devices>

<!-- SKINS -->

<xi:include href="wrappers/skin/right_arm-skin_wrapper.xml" />
<xi:include href="hardware/skin/right_arm-eb3-j2_3-skin.xml" />
<xi:include href="wrappers/skin/left_arm-skin_wrapper.xml" />
<xi:include href="hardware/skin/left_arm-eb4-j2_3-skin.xml" />



</devices>
</robot>
2 changes: 1 addition & 1 deletion ergoCubSN001/wrappers/skin/left_arm-skin_wrapper.xml
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Expand Up @@ -17,7 +17,7 @@
<paramlist name="networks">
<!-- The param value must match the device name in the corresponding body_part-ebX-jA_B-skin.xml file
or body_part-ebX-skin.xml-->
<elem name="FirstSetOfSkins"> left_arm-eb24-j4_7-skin </elem>
<elem name="FirstSetOfSkins"> left_arm-eb4-j2_3-skin </elem>
</paramlist>
</action>

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2 changes: 1 addition & 1 deletion ergoCubSN001/wrappers/skin/right_arm-skin_wrapper.xml
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Expand Up @@ -17,7 +17,7 @@
<paramlist name="networks">
<!-- The param value must match the device name in the corresponding body_part-ebX-jA_B-skin.xml file
or body_part-ebX-skin.xml-->
<elem name="FirstSetOfSkins"> right_arm-eb27-j4_7-skin </elem>
<elem name="FirstSetOfSkins"> right_arm-eb3-j2_3-skin </elem>
</paramlist>
</action>

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