From b1477e8ce235976106f70328e311ed9bfa92c711 Mon Sep 17 00:00:00 2001 From: Giulio Romualdi Date: Thu, 6 Jul 2023 13:40:55 +0200 Subject: [PATCH] [ergoCubSN000] Reenable the torso pitch, increases the joints limits of the shoulders pitch and the prevent fingers from overcurrent (#537) --- ergoCubSN000/calibrators/torso-calib.xml | 2 +- ergoCubSN000/estimators/wholebodydynamics.xml | 4 ++-- .../motorControl/left_arm-eb2-j0_1-mc.xml | 2 +- .../motorControl/left_arm-eb23-j7_10-mc.xml | 4 ++-- .../motorControl/right_arm-eb1-j0_1-mc.xml | 2 +- .../motorControl/right_arm-eb22-j7_10-mc.xml | 4 ++-- .../hardware/motorControl/torso-eb5-j0_2-mc.xml | 4 ++-- .../motorControl/alljoints-mc_remapper.xml | 15 ++++++++------- 8 files changed, 19 insertions(+), 18 deletions(-) diff --git a/ergoCubSN000/calibrators/torso-calib.xml b/ergoCubSN000/calibrators/torso-calib.xml index a40d1264ed..7866ae5dc4 100644 --- a/ergoCubSN000/calibrators/torso-calib.xml +++ b/ergoCubSN000/calibrators/torso-calib.xml @@ -39,7 +39,7 @@ - (0) (2) + (0) (1) (2) torso-eb5-j0_2-mc diff --git a/ergoCubSN000/estimators/wholebodydynamics.xml b/ergoCubSN000/estimators/wholebodydynamics.xml index 6521911980..be5bd1f681 100644 --- a/ergoCubSN000/estimators/wholebodydynamics.xml +++ b/ergoCubSN000/estimators/wholebodydynamics.xml @@ -3,7 +3,7 @@ - (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) + (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) model.urdf (0,0,-9.81) (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) @@ -34,7 +34,7 @@ true root_link - (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) + (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) diff --git a/ergoCubSN000/hardware/motorControl/left_arm-eb2-j0_1-mc.xml b/ergoCubSN000/hardware/motorControl/left_arm-eb2-j0_1-mc.xml index 6fce7f483a..8c32c2ab10 100644 --- a/ergoCubSN000/hardware/motorControl/left_arm-eb2-j0_1-mc.xml +++ b/ergoCubSN000/hardware/motorControl/left_arm-eb2-j0_1-mc.xml @@ -12,7 +12,7 @@ 14 130 - -88 0 + -130 0 120 120 5000 5000 12000 12000 diff --git a/ergoCubSN000/hardware/motorControl/left_arm-eb23-j7_10-mc.xml b/ergoCubSN000/hardware/motorControl/left_arm-eb23-j7_10-mc.xml index a399c97343..3f9e40ccbd 100644 --- a/ergoCubSN000/hardware/motorControl/left_arm-eb23-j7_10-mc.xml +++ b/ergoCubSN000/hardware/motorControl/left_arm-eb23-j7_10-mc.xml @@ -17,7 +17,7 @@ 72 85 85 85 1000 1000 1000 1000 2000 2000 2000 2000 - 700 700 700 700 + 1100 1100 1100 1100 1500 1500 1500 1500 3360 3360 3360 3360 @@ -51,7 +51,7 @@ -200 -200 -200 -200 -10 -10 -10 -10 -10 -10 -10 -10 - 2000 2000 2000 2000 + 2700 2700 2700 2700 1000 1000 1000 1000 0 0 0 0 0 0 0 0 diff --git a/ergoCubSN000/hardware/motorControl/right_arm-eb1-j0_1-mc.xml b/ergoCubSN000/hardware/motorControl/right_arm-eb1-j0_1-mc.xml index d54bf91663..0196c189a4 100644 --- a/ergoCubSN000/hardware/motorControl/right_arm-eb1-j0_1-mc.xml +++ b/ergoCubSN000/hardware/motorControl/right_arm-eb1-j0_1-mc.xml @@ -13,7 +13,7 @@ 14 130 - -88 0 + -130 0 120 120 5000 5000 12000 12000 diff --git a/ergoCubSN000/hardware/motorControl/right_arm-eb22-j7_10-mc.xml b/ergoCubSN000/hardware/motorControl/right_arm-eb22-j7_10-mc.xml index e67c465799..1cf6a5bde3 100644 --- a/ergoCubSN000/hardware/motorControl/right_arm-eb22-j7_10-mc.xml +++ b/ergoCubSN000/hardware/motorControl/right_arm-eb22-j7_10-mc.xml @@ -17,7 +17,7 @@ 70 63 85 85 1000 1000 1000 1000 2000 2000 2000 2000 - 700 700 700 700 + 1100 1100 1100 1100 1500 1500 1500 1500 3360 3360 3360 3360 @@ -51,7 +51,7 @@ -200 -200 -200 -200 -10 -10 -10 -10 -10 -10 -10 -10 - 2000 2000 2000 2000 + 2700 2700 2700 2700 1000 1000 1000 1000 0 0 0 0 0 0 0 0 diff --git a/ergoCubSN000/hardware/motorControl/torso-eb5-j0_2-mc.xml b/ergoCubSN000/hardware/motorControl/torso-eb5-j0_2-mc.xml index ed57f0cf7a..666ba04157 100644 --- a/ergoCubSN000/hardware/motorControl/torso-eb5-j0_2-mc.xml +++ b/ergoCubSN000/hardware/motorControl/torso-eb5-j0_2-mc.xml @@ -16,8 +16,8 @@ 23 45 43 -23 -18 -43 120 120 120 - 3770 3770 5000 - 14000 14000 10000 + 3770 16000 5000 + 14000 17000 10000 18000 18000 15000 16000 16000 16000 diff --git a/ergoCubSN000/wrappers/motorControl/alljoints-mc_remapper.xml b/ergoCubSN000/wrappers/motorControl/alljoints-mc_remapper.xml index e9b6054d2e..364f1cad0c 100644 --- a/ergoCubSN000/wrappers/motorControl/alljoints-mc_remapper.xml +++ b/ergoCubSN000/wrappers/motorControl/alljoints-mc_remapper.xml @@ -2,13 +2,14 @@ - (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) - --> - - (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) - 44 + + + + + 45 head-mc_remapper @@ -20,4 +21,4 @@ - \ No newline at end of file +