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[ergoCubSN000] Reenable the torso pitch, increases the joints limits …
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…of the shoulders pitch and the prevent fingers from overcurrent (robotology#537)
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@GiulioRomualdi
GiulioRomualdi committed Jul 6, 2023
1 parent c250bef commit b1477e8
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Showing 8 changed files with 19 additions and 18 deletions.
2 changes: 1 addition & 1 deletion ergoCubSN000/calibrators/torso-calib.xml
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<!-- Joint 1 has been removed from the calibration order for motor safety -->
<!-- <param name="CALIB_ORDER">(0) (1) (2) </param> --> <!-- Don't remove this line -->
<param name="CALIB_ORDER">(0) (2) </param>
<param name="CALIB_ORDER">(0) (1) (2) </param>

<action phase="startup" level="10" type="calibrate">
<param name="target">torso-eb5-j0_2-mc</param>
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4 changes: 2 additions & 2 deletions ergoCubSN000/estimators/wholebodydynamics.xml
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<device xmlns:xi="http://www.w3.org/2001/XInclude" name="wholebodydynamics" type="wholebodydynamics">
<param name="axesNames">(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="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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<group name="GRAVITY_COMPENSATION">
<param name="enableGravityCompensation">true</param>
<param name="gravityCompensationBaseLink">root_link</param>
<param name="gravityCompensationAxesNames">(torso_roll,torso_yaw,neck_pitch,neck_roll,neck_yaw,l_shoulder_pitch,l_shoulder_roll,l_shoulder_yaw,l_elbow,r_shoulder_pitch,r_shoulder_roll,r_shoulder_yaw,r_elbow,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="gravityCompensationAxesNames">(torso_pitch,torso_roll,torso_yaw,neck_pitch,neck_roll,neck_yaw,l_shoulder_pitch,l_shoulder_roll,l_shoulder_yaw,l_elbow,r_shoulder_pitch,r_shoulder_roll,r_shoulder_yaw,r_elbow,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>
</group>


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2 changes: 1 addition & 1 deletion ergoCubSN000/hardware/motorControl/left_arm-eb2-j0_1-mc.xml
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<!-- joint name shoulder_pitch shoulder_roll -->
<group name="LIMITS">
<param name="jntPosMax"> 14 130 </param>
<param name="jntPosMin"> -88 0 </param>
<param name="jntPosMin"> -130 0 </param>
<param name="jntVelMax"> 120 120 </param>
<param name="motorNominalCurrents"> 5000 5000 </param>
<param name="motorPeakCurrents"> 12000 12000 </param>
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4 changes: 2 additions & 2 deletions ergoCubSN000/hardware/motorControl/left_arm-eb23-j7_10-mc.xml
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<param name="jntPosMax"> 72 85 85 85 </param>
<param name="jntVelMax"> 1000 1000 1000 1000 </param>
<param name="motorOverloadCurrents"> 2000 2000 2000 2000 </param>
<param name="motorNominalCurrents"> 700 700 700 700 </param>
<param name="motorNominalCurrents"> 1100 1100 1100 1100 </param>
<param name="motorPeakCurrents"> 1500 1500 1500 1500 </param>
<param name="motorPwmLimit"> 3360 3360 3360 3360 </param>
</group>
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<param name="kp"> -200 -200 -200 -200 </param>
<param name="kd"> -10 -10 -10 -10 </param>
<param name="ki"> -10 -10 -10 -10 </param>
<param name="maxOutput"> 2000 2000 2000 2000 </param>
<param name="maxOutput"> 2700 2700 2700 2700 </param>
<param name="maxInt"> 1000 1000 1000 1000 </param>
<param name="stictionUp"> 0 0 0 0 </param>
<param name="stictionDown"> 0 0 0 0 </param>
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2 changes: 1 addition & 1 deletion ergoCubSN000/hardware/motorControl/right_arm-eb1-j0_1-mc.xml
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<!-- joint name shoulder_pitch shoulder_roll -->
<group name="LIMITS">
<param name="jntPosMax"> 14 130 </param>
<param name="jntPosMin"> -88 0 </param>
<param name="jntPosMin"> -130 0 </param>
<param name="jntVelMax"> 120 120 </param>
<param name="motorNominalCurrents"> 5000 5000 </param>
<param name="motorPeakCurrents"> 12000 12000 </param>
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4 changes: 2 additions & 2 deletions ergoCubSN000/hardware/motorControl/right_arm-eb22-j7_10-mc.xml
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<param name="jntPosMax"> 70 63 85 85 </param>
<param name="jntVelMax"> 1000 1000 1000 1000 </param>
<param name="motorOverloadCurrents"> 2000 2000 2000 2000 </param>
<param name="motorNominalCurrents"> 700 700 700 700 </param>
<param name="motorNominalCurrents"> 1100 1100 1100 1100 </param>
<param name="motorPeakCurrents"> 1500 1500 1500 1500 </param>
<param name="motorPwmLimit"> 3360 3360 3360 3360 </param>
</group>
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<param name="kp"> -200 -200 -200 -200 </param>
<param name="kd"> -10 -10 -10 -10 </param>
<param name="ki"> -10 -10 -10 -10 </param>
<param name="maxOutput"> 2000 2000 2000 2000 </param>
<param name="maxOutput"> 2700 2700 2700 2700 </param>
<param name="maxInt"> 1000 1000 1000 1000 </param>
<param name="stictionUp"> 0 0 0 0 </param>
<param name="stictionDown"> 0 0 0 0 </param>
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4 changes: 2 additions & 2 deletions ergoCubSN000/hardware/motorControl/torso-eb5-j0_2-mc.xml
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Expand Up @@ -16,8 +16,8 @@
<param name="jntPosMax"> 23 45 43 </param>
<param name="jntPosMin"> -23 -18 -43 </param>
<param name="jntVelMax"> 120 120 120 </param>
<param name="motorNominalCurrents"> 3770 3770 5000 </param>
<param name="motorPeakCurrents"> 14000 14000 10000 </param>
<param name="motorNominalCurrents"> 3770 16000 5000 </param>
<param name="motorPeakCurrents"> 14000 17000 10000 </param>
<param name="motorOverloadCurrents"> 18000 18000 15000 </param>
<param name="motorPwmLimit"> 16000 16000 16000 </param>
</group>
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15 changes: 8 additions & 7 deletions ergoCubSN000/wrappers/motorControl/alljoints-mc_remapper.xml
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<!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="alljoints-mc_remapper" type="controlboardremapper">
<!--
These are the regular parameters

<!-- These are the regular parameters -->
<param name="axesNames">(neck_pitch,neck_roll,neck_yaw,camera_tilt,l_shoulder_pitch,l_shoulder_roll,l_shoulder_yaw,l_elbow,l_wrist_yaw,l_wrist_roll,l_wrist_pitch,l_thumb_add,l_thumb_oc,l_index_add,l_index_oc,l_middle_oc,l_ring_pinky_oc,r_shoulder_pitch,r_shoulder_roll,r_shoulder_yaw,r_elbow,r_wrist_yaw,r_wrist_roll,r_wrist_pitch,r_thumb_add,r_thumb_oc,r_index_add,r_index_oc,r_middle_oc,r_ring_pinky_oc,torso_roll,torso_pitch,torso_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>
-->
<!-- These are the parameters with torso_pitch removed -->
<param name="axesNames">(neck_pitch,neck_roll,neck_yaw,camera_tilt,l_shoulder_pitch,l_shoulder_roll,l_shoulder_yaw,l_elbow,l_wrist_yaw,l_wrist_roll,l_wrist_pitch,l_thumb_add,l_thumb_oc,l_index_add,l_index_oc,l_middle_oc,l_ring_pinky_oc,r_shoulder_pitch,r_shoulder_roll,r_shoulder_yaw,r_elbow,r_wrist_yaw,r_wrist_roll,r_wrist_pitch,r_thumb_add,r_thumb_oc,r_index_add,r_index_oc,r_middle_oc,r_ring_pinky_oc,torso_roll,torso_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="joints"> 44 </param>

<!-- <!-\- These are the parameters with torso_pitch removed -\-> -->
<!-- <param name="axesNames">(neck_pitch,neck_roll,neck_yaw,camera_tilt,l_shoulder_pitch,l_shoulder_roll,l_shoulder_yaw,l_elbow,l_wrist_yaw,l_wrist_roll,l_wrist_pitch,l_thumb_add,l_thumb_oc,l_index_add,l_index_oc,l_middle_oc,l_ring_pinky_oc,r_shoulder_pitch,r_shoulder_roll,r_shoulder_yaw,r_elbow,r_wrist_yaw,r_wrist_roll,r_wrist_pitch,r_thumb_add,r_thumb_oc,r_index_add,r_index_oc,r_middle_oc,r_ring_pinky_oc,torso_roll,torso_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="joints"> 45 </param>
<action phase="startup" level="6" type="attach">
<paramlist name="networks">
<elem name="head_joints"> head-mc_remapper </elem>
Expand All @@ -20,4 +21,4 @@
</paramlist>
</action>
<action phase="shutdown" level="19" type="detach" />
</device>
</device>

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