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iCub Genova03 config update + index finger fix (#625)
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Co-authored-by: iCub16 <nomail>
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@MissingSignal
MissingSignal authored Mar 6, 2024
1 parent d7bf79c commit de329b1
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Showing 4 changed files with 29 additions and 29 deletions.
2 changes: 1 addition & 1 deletion iCubGenova03/calibrators/left_arm_calib.xml
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Expand Up @@ -37,7 +37,7 @@

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

<action phase="startup" level="15" type="calibrate">
<action phase="startup" level="10" type="calibrate">
<param name="target">left_arm_mc_remapper</param>
</action>

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2 changes: 1 addition & 1 deletion iCubGenova03/calibrators/right_arm_calib.xml
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Expand Up @@ -34,7 +34,7 @@

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

<action phase="startup" level="15" type="calibrate">
<action phase="startup" level="10" type="calibrate">
<param name="target">right_arm_mc_remapper</param>
</action>

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10 changes: 5 additions & 5 deletions iCubGenova03/hardware/motorControl/icub_left_hand.xml
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Expand Up @@ -31,8 +31,8 @@
<param name="AxisMap"> 0 1 2 3 4 5 6 7 </param>
<param name="AxisName"> "l_thumb_oppose" "l_thumb_proximal" "l_thumb_distal" "l_index_proximal" "l_index_distal" "l_middle_proximal" "l_middle_distal" "l_pinky" </param>
<param name="AxisType"> "revolute" "revolute" "revolute" "revolute" "revolute" "revolute" "revolute" "revolute" </param>
<param name="Encoder"> 22.878 -2.556 -2.518 -2.278 -2.347 -2.700 -2.347 -2.204 </param>
<param name="Zeros"> 70.85 -98.58 -192.64 -110.63 -214.29 -89.00 -217.29 -333.88 </param>
<param name="Encoder"> 22.878 -2.556 -2.518 -2.278 -1.876 -2.700 -2.347 -2.204 </param>
<param name="Zeros"> 70.85 -98.58 -192.64 -110.63 -229.15 -89.00 -217.29 -333.88 </param>
<param name="fullscalePWM"> 1333 1333 1333 1333 1333 1333 1333 1333 </param>
<param name="ampsToSensor"> 1000.0 1000.0 1000.0 1000.0 1000.0 1000.0 1000.0 1000.0 </param>
<param name="TorqueId"> 0 0 0 0 0 0 0 0 </param>
Expand All @@ -59,9 +59,9 @@
</group>

<group name="POS_PIDS">
<param name="kp"> -8000 -8000 -8000 -8000 -8000 -8000 -8000 120 </param>
<param name="kd"> -32000 -32000 -32000 -32000 -32000 -32000 -32000 1250 </param>
<param name="ki"> -5 -5 -5 -5 -5 -5 -5 0 </param>
<param name="kp"> -8000 -8000 -8000 -8000 8000 -8000 -8000 120 </param>
<param name="kd"> -32000 -32000 -32000 -32000 32000 -32000 -32000 1250 </param>
<param name="ki"> -5 -5 -5 -5 5 -5 -5 0 </param>
<param name="maxOutput"> 1333 1333 1333 1333 1333 1333 1333 1333 </param>
<param name="maxInt"> 1333 1333 1333 1333 1333 1333 1333 1333 </param>
<param name="shift"> 10 10 10 8 10 10 10 4 </param>
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44 changes: 22 additions & 22 deletions iCubGenova03/icub_all.xml
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Expand Up @@ -9,54 +9,54 @@
<!-- motor controllers wrappers -->
<xi:include href="wrappers/motorControl/left_arm-mc_wrapper.xml" />
<xi:include href="wrappers/motorControl/right_arm-mc_wrapper.xml" />
<xi:include href="wrappers/motorControl/left_leg-mc_wrapper.xml" />
<xi:include href="wrappers/motorControl/right_leg-mc_wrapper.xml" />
<!-- <xi:include href="wrappers/motorControl/left_leg-mc_wrapper.xml" />
<xi:include href="wrappers/motorControl/right_leg-mc_wrapper.xml" /> -->
<xi:include href="wrappers/motorControl/head-mc_wrapper.xml" />
<xi:include href="wrappers/motorControl/torso-mc_wrapper.xml" />
<xi:include href="wrappers/motorControl/left_arm-mc_remapper.xml" />
<xi:include href="wrappers/motorControl/right_arm-mc_remapper.xml" />
<xi:include href="wrappers/motorControl/head-mc_remapper.xml" />
<xi:include href="wrappers/motorControl/torso-mc_remapper.xml" />
<xi:include href="wrappers/motorControl/left_leg-mc_remapper.xml" />
<xi:include href="wrappers/motorControl/right_leg-mc_remapper.xml" />
<!-- <xi:include href="wrappers/motorControl/left_leg-mc_remapper.xml" />
<xi:include href="wrappers/motorControl/right_leg-mc_remapper.xml" /> -->
<xi:include href="hardware/motorControl/icub_left_arm.xml" />
<xi:include href="hardware/motorControl/icub_left_hand.xml" />
<xi:include href="hardware/motorControl/icub_right_arm.xml" />
<xi:include href="hardware/motorControl/icub_right_hand.xml" />
<xi:include href="hardware/motorControl/icub_left_leg.xml" />
<xi:include href="hardware/motorControl/icub_right_leg.xml" />
<!-- <xi:include href="hardware/motorControl/icub_left_leg.xml" />
<xi:include href="hardware/motorControl/icub_right_leg.xml" /> -->
<xi:include href="hardware/motorControl/icub_head.xml" />
<xi:include href="hardware/motorControl/icub_torso.xml" />


<!-- VIRTUAL ANALOG SERVERs -->
<xi:include href="wrappers/VFT/left_arm_VFT_wrapper.xml" />
<xi:include href="wrappers/VFT/left_leg_VFT_wrapper.xml" />
<!-- <xi:include href="wrappers/VFT/left_leg_VFT_wrapper.xml" /> -->
<xi:include href="wrappers/VFT/right_arm_VFT_wrapper.xml" />
<xi:include href="wrappers/VFT/right_leg_VFT_wrapper.xml" />
<!-- <xi:include href="wrappers/VFT/right_leg_VFT_wrapper.xml" /> -->
<xi:include href="wrappers/VFT/torso_VFT_wrapper.xml" />

<xi:include href="hardware/VFT/left_arm_virtual_strain.xml" />
<xi:include href="hardware/VFT/left_leg_virtual_strain.xml" />
<!-- <xi:include href="hardware/VFT/left_leg_virtual_strain.xml" /> -->
<xi:include href="hardware/VFT/right_arm_virtual_strain.xml" />
<xi:include href="hardware/VFT/right_leg_virtual_strain.xml" />
<!-- <xi:include href="hardware/VFT/right_leg_virtual_strain.xml" /> -->
<xi:include href="hardware/VFT/torso_virtual_strain.xml" />

<!-- REAL ANALOG SENSORS -->
<xi:include href="wrappers/FT/left_arm_FT_wrapper.xml" />
<xi:include href="wrappers/FT/left_leg-FT_remapper.xml" />
<xi:include href="wrappers/FT/left_leg_FT_wrapper.xml" />
<!-- <xi:include href="wrappers/FT/left_leg-FT_remapper.xml" />
<xi:include href="wrappers/FT/left_leg_FT_wrapper.xml" /> -->
<xi:include href="wrappers/FT/right_arm_FT_wrapper.xml" />
<xi:include href="wrappers/FT/right_leg_FT_wrapper.xml" />
<xi:include href="wrappers/FT/right_leg-FT_remapper.xml" />
<!-- <xi:include href="wrappers/FT/right_leg_FT_wrapper.xml" />
<xi:include href="wrappers/FT/right_leg-FT_remapper.xml" /> -->
<xi:include href="wrappers/MAIS/left_hand_mais_wrapper.xml" />
<xi:include href="wrappers/MAIS/right_hand_mais_wrapper.xml" />
<xi:include href="hardware/FT/left_arm_strain.xml" />
<xi:include href="hardware/FT/left_leg_strain.xml" />
<xi:include href="hardware/FT/left_foot_strain.xml" />
<!-- <xi:include href="hardware/FT/left_leg_strain.xml" /> -->
<!-- <xi:include href="hardware/FT/left_foot_strain.xml" /> -->
<xi:include href="hardware/FT/right_arm_strain.xml" />
<xi:include href="hardware/FT/right_leg_strain.xml" />
<xi:include href="hardware/FT/right_foot_strain.xml" />
<!-- <xi:include href="hardware/FT/right_leg_strain.xml" /> -->
<!-- <xi:include href="hardware/FT/right_foot_strain.xml" /> -->
<xi:include href="hardware/MAIS/left_hand_mais.xml" />
<xi:include href="hardware/MAIS/right_hand_mais.xml" />

Expand All @@ -69,22 +69,22 @@
<xi:include href="hardware/skin/torso.xml" />

<!-- MTX INERTIAL SENSOR & SKIN INERTIAL SENSOR-->
<xi:include href="wrappers/inertials/head-imuFilter_wrapper.xml" />
<!-- <xi:include href="wrappers/inertials/head-imuFilter_wrapper.xml" />
<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="wrappers/skin/left_hand_inertial_wrapper.xml" />
<xi:include href="wrappers/skin/right_hand_inertial_wrapper.xml" />
<xi:include href="hardware/skin/left_hand_inertial_mtb.xml" />
<xi:include href="hardware/skin/right_hand_inertial_mtb.xml" />
<xi:include href="hardware/skin/right_hand_inertial_mtb.xml" /> -->


<!-- CALIBRATORS -->
<xi:include href="calibrators/head_calib.xml" />
<xi:include href="calibrators/torso_calib.xml" />
<xi:include href="calibrators/right_leg_calib.xml" />
<xi:include href="calibrators/left_leg_calib.xml" />
<!-- <xi:include href="calibrators/right_leg_calib.xml" />
<xi:include href="calibrators/left_leg_calib.xml" /> -->
<xi:include href="calibrators/left_arm_calib.xml" />
<xi:include href="calibrators/right_arm_calib.xml" />
<xi:include href="calibrators/left_hand_calib.xml" />
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