Changes on iCubGenova09 (robotology#380)

Co-authored-by: Ines <[email protected]> Co-authored-by: iCubGenova09 <[email protected]> Co-authored-by: Giulio Romualdi <[email protected]> Co-authored-by: icub <[email protected]> Co-authored-by: iCub <[email protected]>
ami-iit · Sep 1, 2022 · e3aec73 · e3aec73
1 parent 5a8d3dd
commit e3aec73
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Showing 33 changed files with 442 additions and 321 deletions.
diff --git a/iCubGenova09/calibrators/head-calib.xml b/iCubGenova09/calibrators/head-calib.xml
@@ -28,7 +28,7 @@
             <param name="calibration5">         0           0           0           0            0          0           </param>        
 
             <param name="calibrationZero">      0.0         0.0        0.0         0.0         0.0        0.0       </param>
-            <param name="calibrationDelta">     0.0         0.0        0.0         0.0         0.0        6.5        </param>
+            <param name="calibrationDelta">     0.0         0.0        0.0         0.0         -8.0       -1.5        </param>
 
             <param name="startupPosition">      0.0         0.0         0.0         0.0         0.0         0.0         </param>        
             <param name="startupVelocity">      10          10          20.0        20.0        20.0        20.0        </param>        

diff --git a/iCubGenova09/calibrators/left_arm-calib.xml b/iCubGenova09/calibrators/left_arm-calib.xml
@@ -18,13 +18,13 @@
 <group name="CALIBRATION">                                                      
 <param name="calibrationType">        10          10          10         10          5       12      12      7       7       6       6       6       6       6       6       6       </param> <!-- 
 <param name="calibration1">           -54795      22399       44679      53215    -1500     -8335   10671    0       0       0       0       0       0       0       0       0       </param> -->
-<param name="calibration1">           4000        -3000       -3000      4000    -1500     63200   20250     0       0       0       0       0       0       0       0       0       </param>
+<param name="calibration1">           4000        -3000       -3000      4000    -1500     63200   12447     0       0       0       0       0       0       0       0       0       </param>
 <param name="calibration2">	       0           0           0          0        16384      0       0        0       0       9102    9102    9102    9102    9102    9102    10000    </param>
 <param name="calibration3">           0           0           0          0           0       0       0       0       0      -1        1       -1      1      -1       1       1      </param>
 <param name="calibration4">           0           0           0          0           0       0       0       1948    325     250     478     243     478     255     480     715     </param>
 <param name="calibration5">           0           0           0          0           0       0       0       2073    2730    9       99       15      30       30      90     140     </param>
-<param name="calibrationZero">        25       -8.4        -51.3       -5           0       0        0       0       0       0       0        0        0       0       0       0       </param>
-<param name="calibrationDelta">       0           0           0          0           0       -2       -30    0       0       0       0         0       0       0       0       0       </param>
+<param name="calibrationZero">        25       -8.4        -51.3       -5            0       0      0       0       0       0       0        0        0       0       0       0       </param>
+<param name="calibrationDelta">       0           0           0          0           0      -2      0       0       0       0       0         0       0       0       0       0       </param>
 
 <param name="startupPosition">        24        50            0        10           -75       0       0      15      45      0       0       0       0       0       0       0       </param>
 <param name="startupVelocity">        10.0       10.0         10.0      10.0         30      30      30      60      100     100     100     100     100     100     100     100     </param>

diff --git a/iCubGenova09/calibrators/left_leg-calib.xml b/iCubGenova09/calibrators/left_leg-calib.xml
@@ -22,7 +22,7 @@
     <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">                    93.0          119.90       80.761         5.817    -47.060  25.823   </param>
+   <param name="calibrationZero">                    93.0            112.35       80.761         5.817    -47.060  25.823   </param>
     <param name="calibrationDelta">                   0              0            0             0          0       0        </param>
 
     <param name="startupPosition">                    90              20          0            -70         0       0        </param>

diff --git a/iCubGenova09/calibrators/right_arm-calib.xml b/iCubGenova09/calibrators/right_arm-calib.xml
@@ -19,13 +19,13 @@
 <group name="CALIBRATION">
 <param name="calibrationType">     10          10          10         10         5       12       12      7       7       6       6       6       6       6       6       6       </param> <!--
 <param name="calibration1">        6576       -12866      -4585      -47529     1500    36903  -12703     0       0       0       0       0       0       0       0       0       </param> -->
-<param name="calibration1">        -4000        3000       3000      -4000    1500    36903   -15403     0       0       0       0       0       0       0       0       0       </param>
-<param name="calibration2">	    0           0           0          0        16384     0       0        0       0      9102    9102    9102    9102    9102    9102    10000    </param>
+<param name="calibration1">        -4000        3000       3000      -4000    1500     63000    17600     0       0       0       0       0       0       0       0       0       </param>
+<param name="calibration2">	    0           0           0          0        16384     0      0        0       0      9102    9102    9102    9102    9102    9102    10000    </param>
 <param name="calibration3">        0           0           0          0          0       0       0        0       0       -1      1       -1      1       -1      1       1      </param>
 <param name="calibration4">        0           0           0          0          0       0       0       2680    1440    255     497     255     476     255     510     764     </param>
 <param name="calibration5">        0           0           0          0          0       0       0       2780    2240    24      80      20      30      0       35      138     </param>
 <param name="calibrationZero">     25       -8.4        -51.3       -5           0       0       0       0       0       0       0       0       0       0       0       0             </param>
-<param name="calibrationDelta">    0          0           0          0          0      -5.5     11      15      0       5       0       0       0       0       0       0       </param>
+<param name="calibrationDelta">    0          0           0          0          0        0       0      15      0       5       0       0       0       0       0       0       </param>
 
 <param name="startupPosition">     24        50            0         10          -75       0     0       15      45      0       0       0       0       0       0       0       </param>
 <param name="startupVelocity">     10.0       10.0         10.0      10.0        30      30      30      60      100     100     100     100     100     100     100     100     </param>

diff --git a/iCubGenova09/calibrators/right_leg-calib.xml b/iCubGenova09/calibrators/right_leg-calib.xml
@@ -22,7 +22,7 @@
     <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">                    93.2           119          80.761        5.641     -46.329  24.137   </param>
+    <param name="calibrationZero">                    93.2           111.4        80.761        5.641     -46.329  24.137   </param>
     <param name="calibrationDelta">                   0              0            0             0          0       0        </param>
 
     <param name="startupPosition">                    90              20          0            -70         0       0        </param>

diff --git a/iCubGenova09/camera/dragonfly2_config_left.ini b/iCubGenova09/camera/dragonfly2_config_left.ini
@@ -1,10 +1,10 @@
 device dragonfly2
 width 1024
 height 768
-video_type 10
+video_type 11
 white_balance 0.561 0.631
 gain 0.0
-shutter 0.512
+shutter 1.0
 name /icub/cam/left
 brightness 0
 DR2
@@ -13,7 +13,7 @@ sharpness 0.518
 hue 0.479
 gamma 0.399
 saturation 0.467
-framerate 15
+framerate 30
 #d 1
 guid 00b09d0100c77485
 #<64bit global identifier, without the leading 0x> then remove the d option
diff --git a/iCubGenova09/camera/dragonfly2_config_right.ini b/iCubGenova09/camera/dragonfly2_config_right.ini
@@ -1,10 +1,10 @@
 device dragonfly2
 width 1024
 height 768
-video_type 10
+video_type 11
 white_balance 0.561 0.627
 gain 0.0
-shutter 0.635
+shutter 1.0
 name /icub/cam/right
 brightness 0
 DR2
@@ -13,7 +13,7 @@ sharpness 0.499
 hue 0.479
 gamma 0.399
 saturation 0.449
-framerate 15
+framerate 30
 #d 0
 guid 00b09d0100bbb395
 #<64bit global identifier, without the leading 0x> then remove the d option
diff --git a/iCubGenova09/estimators/wholebodydynamics.xml b/iCubGenova09/estimators/wholebodydynamics.xml
@@ -6,7 +6,7 @@
         <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_prosup,l_wrist_pitch,l_wrist_yaw,r_shoulder_pitch,r_shoulder_roll,r_shoulder_yaw,r_elbow,r_wrist_prosup,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,r_hand,root_link,l_foot_front,l_foot_rear,r_upper_leg,r_foot_front,r_foot_rear,l_lower_leg,r_lower_leg)</param>
+	<param name="defaultContactFrames">(l_hand,r_hand,root_link,l_upper_leg,l_foot_front,l_foot_rear,r_upper_leg,r_foot_front,r_foot_rear,l_lower_leg,r_lower_leg)</param>
         <param name="imuFrameName">imu_frame</param>
         <param name="publishOnROS">true</param>
 	<param name="forceTorqueEstimateConfidence">2</param>
@@ -70,7 +70,7 @@
 
         <group name="multipleAnalogSensorsNames">
               <!--param name="TemperatureSensorsNames">(l_leg_ft_sensor,r_leg_ft_sensor,l_foot_ft_sensor,r_foot_ft_sensor)</param-->
-              <param name="SixAxisForceTorqueSensorsNames">(l_arm_ft_sensor, r_arm_ft_sensor,  r_leg_ft_sensor,l_foot_front_ft_sensor, l_foot_rear_ft_sensor, r_foot_front_ft_sensor, r_foot_rear_ft_sensor)</param>
+              <param name="SixAxisForceTorqueSensorsNames">(l_arm_ft_sensor, r_arm_ft_sensor, l_leg_ft_sensor, r_leg_ft_sensor,l_foot_front_ft_sensor, l_foot_rear_ft_sensor, r_foot_front_ft_sensor, r_foot_rear_ft_sensor)</param>
         </group>`
 
 
@@ -114,6 +114,7 @@
         <group name="WBD_OUTPUT_EXTERNAL_WRENCH_PORTS">
 	     <param name="/wholeBodyDynamics/left_arm/cartesianEndEffectorWrench:o">(l_hand,l_hand,root_link)</param>
             <param name="/wholeBodyDynamics/right_arm/cartesianEndEffectorWrench:o">(r_hand,r_hand,root_link)</param>
+            <param name="/wholeBodyDynamics/left_upper_leg/cartesianEndEffectorWrench:o">(l_upper_leg,l_upper_leg,root_link)</param>
             <param name="/wholeBodyDynamics/right_upper_leg/cartesianEndEffectorWrench:o">(r_upper_leg,r_upper_leg,root_link)</param>
             <param name="/wholeBodyDynamics/left_lower_leg/cartesianEndEffectorWrench:o">(l_lower_leg,l_lower_leg,root_link)</param>
             <param name="/wholeBodyDynamics/right_lower_leg/cartesianEndEffectorWrench:o">(r_lower_leg,r_lower_leg,root_link)</param>
@@ -145,17 +146,13 @@
                 <!-- imu_waist -->
 <!--            <elem name="imu">xsensmt-inertial</elem> -->
                 <!-- ft -->
-                <!--
-                <elem name="l_leg_ft_sensor">left_leg-eb6-j0_3-strain</elem>
-                <elem name="r_leg_ft_sensor">right_leg-eb8-j0_3-strain</elem> -->
-
-  		 <elem name="l_arm_ft_sensor">left_arm-eb1-j0_1-strain</elem>
+  		<elem name="l_arm_ft_sensor">left_arm-eb1-j0_1-strain</elem>
                 <elem name="r_arm_ft_sensor">right_arm-eb3-j0_1-strain</elem>
-                <elem name="l_foot_ft_sensors">left_leg-eb8-j3_5-strain</elem>
-			<!-- <elem name="l_leg_ft_sensor">left_leg-eb7-j0_2-strain</elem>-->
-                <elem name="r_foot_ft_sensors">right_leg-eb12-j3_5-strain</elem>
-		<elem name="r_leg_ft_sensor">right_leg-eb11-j0_2-strain</elem>
-			<!-- <elem name="r_leg_ft_sensor">torso-eb5-j0_2-strain</elem> -->
+                <elem name="l_foot_ft_sensors">left_leg-eb8-j3_5-strain</elem> <!-- left_rear, left_front -->
+		<elem name="l_leg_ft_sensor">left_leg-eb7-j0_2-strain</elem>    <!-- left_upper_leg -->
+                <elem name="r_foot_ft_sensors">right_leg-eb12-j3_5-strain</elem> <!-- right_rear, right_front -->
+		<elem name="r_leg_ft_sensor">right_leg-eb11-j0_2-strain</elem>    <!-- right_upper_leg -->
+
             </paramlist>
         </action>
 

diff --git a/iCubGenova09/extra/applications/cameras_calib.xml b/iCubGenova09/extra/applications/cameras_calib.xml
@@ -46,22 +46,22 @@
 <connection>
   <from>/icub/cam/left</from>
   <to>/icub/camcalib/left/in</to>
-  <protocol>tcp</protocol>
+  <protocol>mjpeg</protocol>
 </connection>
 <connection>
   <from>/icub/cam/right</from>
   <to>/icub/camcalib/right/in</to>
-  <protocol>tcp</protocol>
+  <protocol>mjpeg</protocol>
 </connection>
 <connection>
   <from>/icub/camcalib/left/out</from>
   <to>/icub/view/left</to>
-  <protocol>tcp</protocol>
+  <protocol>mjpeg</protocol>
 </connection>
 <connection>
   <from>/icub/camcalib/right/out</from>
   <to>/icub/view/right</to>
-  <protocol>tcp</protocol>
+  <protocol>mjpeg</protocol>
 </connection>
 </application>
 
diff --git a/iCubGenova09/extra/contexts/yarpmanager/cluster-config.xml b/iCubGenova09/extra/contexts/yarpmanager/cluster-config.xml
@@ -1,11 +1,11 @@
 <cluster name="icub09" user="icub">
 
 <!-- specify type="yarpserver" or type="yarpserver3" to use the old or new nameserver default behavior is to use yarpserver3 -->
-<nameserver namespace="/icub09" node="icub-console" type="yarpserver"> </nameserver>
+<nameserver namespace="/icub09" node="10.0.0.165" type="yarpserver"> </nameserver>
 
 <!-- specify nodes, if you want to enable display on desktop please specify which desktop to use
 this is usually the value of the DISPLAY variable when logged on -->
-<node display=":0" address="10.0.0.158">icub-console</node>
+<node display=":0" address="10.0.0.165">icub-console</node>
 <node display=":0" address="10.0.10.164">icub-console-gui</node>
 <node address="10.0.10.115" user="pi">pi-ifeel</node>
 <node display=":1">icub-cuda</node>

diff --git a/iCubGenova09/hardware/inertials/left_arm-eb1-IMU.xml b/iCubGenova09/hardware/inertials/left_arm-eb1-IMU.xml
@@ -0,0 +1,46 @@
+<?xml version="1.0" encoding="UTF-8" ?>
+<!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-eb1-imu" type="embObjIMU">
+
+        <xi:include href="../../general.xml" />
+
+        <xi:include href="../../hardware/electronics/left_arm-eb1-j0_1-eln.xml" />
+
+        <group name="SERVICE">
+
+            <param name="type"> eomn_serv_AS_inertials3 </param>
+
+            <group name="PROPERTIES">
+
+                <group name="CANBOARDS">
+                    <param name="type">             eobrd_strain2           </param>
+
+                    <group name="PROTOCOL">
+                        <param name="major">            0                   </param>
+                        <param name="minor">            0                   </param>
+                    </group>
+
+                    <group name="FIRMWARE">
+                        <param name="major">            0                   </param>
+                        <param name="minor">            0                   </param>
+                        <param name="build">            0                   </param>
+                    </group>
+                </group>
+
+                <group name="SENSORS">
+                    <param name="id">       l_arm_ft_acc    l_arm_ft_gyro    l_arm_ft_eul    l_arm_ft_mag    l_arm_ft_stat    </param>
+                    <param name="type">     eoas_imu_acc    eoas_imu_gyr     eoas_imu_eul    eoas_imu_mag    eoas_imu_status  </param>
+                    <param name="boardType">  strain2       strain2      strain2       strain2        strain2  </param>
+                    <param name="location">  CAN2:13       CAN2:13      CAN2:13       CAN2:13        CAN2:13   </param>
+                </group>
+
+            </group>
+
+            <group name="SETTINGS">
+                <param name="acquisitionRate">      50      </param>
+                <param name="enabledSensors">       l_arm_ft_acc    l_arm_ft_gyro    l_arm_ft_eul    l_arm_ft_mag    l_arm_ft_stat </param>
+            </group>
+        </group>
+
+    </device>
diff --git a/iCubGenova09/hardware/inertials/left_arm-eb24-j4_7-inertials.xml b/iCubGenova09/hardware/inertials/left_arm-eb24-j4_7-inertials.xml