Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

[ergoCubSN000] Update the configuration file to be alligned with the IIT 20y demo #571

Merged
merged 3 commits into from
Sep 22, 2023
Merged

[ergoCubSN000] Update the configuration file to be alligned with the IIT 20y demo #571

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
3 commits
Select commit Hold shift + click to select a range
092d772
[ergoCubSN000] Add the battery device in ergocub_wbd.xml
GiulioRomualdi Sep 22, 2023
23e95b2
[ergoCubSN000] Increase the nominal current and the peak current for …
GiulioRomualdi Sep 22, 2023
3fd6ec8
[ergoCubSN000] Use the xsens waist imu in WBD
GiulioRomualdi Sep 22, 2023
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
3 changes: 3 additions & 0 deletions ergoCubSN000/ergocub_wbd.xml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -116,6 +116,9 @@
<xi:include href="hardware/battery/battery.xml" />
<xi:include href="wrappers/battery/battery.xml" />

<xi:include href="hardware/battery/battery_bat.xml" />
<xi:include href="wrappers/battery/battery_bat.xml" />

<!-- CALIBRATORS -->
<xi:include href="calibrators/torso-calib.xml" />
<xi:include href="calibrators/left_leg-calib.xml" />
Expand Down
8 changes: 4 additions & 4 deletions ergoCubSN000/estimators/wholebodydynamics.xml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -7,7 +7,7 @@
<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>
<param name="imuFrameName">head_imu_0</param>
<param name="imuFrameName">waist_imu_0</param>
<param name="publishOnROS">true</param>
<param name="forceTorqueEstimateConfidence">2</param>
<param name="useJointVelocity">true</param>
Expand All @@ -22,8 +22,8 @@
<param name="publishNetExternalWrenches">true</param>
<!--<param name="assume_fixed">root_link</param>-->
<group name="HW_USE_MAS_IMU">
<param name="accelerometer">rfeimu_acc</param>
<param name="gyroscope">rfeimu_gyro</param>
<param name="accelerometer">sensor_imu_xsensmt</param>
<param name="gyroscope">sensor_imu_xsensmt</param>
</group>

<group name="multipleAnalogSensorsNames">
Expand Down Expand Up @@ -67,7 +67,7 @@
<elem name="right_lower_leg-j2">right_leg-eb7-j4_5-mc</elem>

<!-- imu -->
<elem name="imu">head-inertial</elem>
<elem name="imu">waist-inertial</elem>
<!-- imu_waist -->
<!-- <elem name="imu">xsensmt-inertial</elem> -->
<!-- ft -->
Expand Down
6 changes: 3 additions & 3 deletions ergoCubSN000/hardware/motorControl/torso-eb5-j0_2-mc.xml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -16,9 +16,9 @@
<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 16000 5000 </param>
<param name="motorPeakCurrents"> 14000 17000 10000 </param>
<param name="motorOverloadCurrents"> 18000 18000 15000 </param>
<param name="motorNominalCurrents"> 13770 16000 15000 </param>
<param name="motorPeakCurrents"> 14000 17000 17000 </param>
<param name="motorOverloadCurrents"> 18000 18000 18000 </param>
<param name="motorPwmLimit"> 16000 16000 16000 </param>
</group>

Expand Down