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Devel ergo cub sn002 #682

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Devel ergo cub sn002 #682

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130b973
[ergoCubSN002] Added alias to trigger mouse clicks in the ergoCub scr…
S-Dafarra Jul 22, 2024
da3a937
[ergoCubSN002] Left pinky new calibration
AntonioConsilvio Jul 23, 2024
49e2f2e
[ergoCubSN002] Added aliases to list and close windows.
S-Dafarra Jul 23, 2024
5fca939
[ergoCubSN002] New fingers calibration
AntonioConsilvio Jul 24, 2024
0b1b226
[ergoCubSN002] SN002 fixed mtb4c instead of mtb4 in network file
simeonedussoni Sep 4, 2024
9fc20ae
[ergoCubSN002] ergocub SN002 skin config files update
simeonedussoni Sep 4, 2024
0b5748c
[ergoCubSN002] Added configuration files for skin gui in extra folder
S-Dafarra Sep 4, 2024
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8 changes: 4 additions & 4 deletions ergoCubSN002/calibrators/left_arm-calib.xml
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Expand Up @@ -17,11 +17,11 @@
</group>
<group name="CALIBRATION">
<param name="calibrationType"> 10 10 10 10 12 12 12 12 14 12 14 14 14 </param>
<param name="calibration1"> 4000 -3000 -3000 4000 11385 11761 7561 0 300 0 300 300 300 </param>
<param name="calibration1"> 4000 -3000 -3000 4000 11385 11761 7561 0 300 0 300 300 300 </param>
<param name="calibration2"> 0 0 0 0 0 0 0 0 0 0 0 0 0 </param>
<param name="calibration3"> 0 0 0 0 0 0 0 0 0 0 0 0 1 </param>
<param name="calibration4"> 0 0 0 0 0 0 0 0 0 0 0 0 0 </param>
<param name="calibration5"> 0 0 0 0 0 0 0 0 49961 0 22173 46002 14200 </param>
<param name="calibration4"> 0 0 0 0 0 0 0 0 32768 0 0 0 32768 </param>
<param name="calibration5"> 0 0 0 0 0 0 0 0 50800 0 22173 46002 14200 </param>
<param name="calibrationZero"> 35 -15 -52 -5 0 0 0 0 0 0 0 0 0 </param>
<param name="calibrationDelta"> 0 0 0 0 0 0 0 0 0 0 0 0 0 </param>
<param name="startupPosition"> 34 50 -10 90 0.0 0.0 0.0 0.0 5.0 5.0 5.0 5.0 5.0 </param>
Expand All @@ -31,7 +31,7 @@
</group>

<!-- <param name="CALIB_ORDER"> (4 5 6) (3) (2) (0) (1) (7 8) (9) (10 11 12) </param> --> <!-- Don't remove this line -->
<param name="CALIB_ORDER"> (4 5 6) (3) (2) (0) (1) (7 8) (9) (10 11 12) </param>
<param name="CALIB_ORDER"> (4 5 6) (3) (2) (0) (1) (7 8) (10 11 12) </param>

<action phase="startup" level="10" type="calibrate">
<param name="target">left_arm-mc_remapper</param>
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6 changes: 3 additions & 3 deletions ergoCubSN002/calibrators/right_arm-calib.xml
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Expand Up @@ -18,11 +18,11 @@
</group>
<group name="CALIBRATION">
<param name="calibrationType"> 10 10 10 10 12 12 12 12 14 12 14 14 14 </param>
<param name="calibration1"> -4000 3000 3000 -4000 4617 8371 2523 0 300 0 300 300 300 </param>
<param name="calibration1"> -4000 3000 3000 -4000 4617 8371 2523 0 300 0 300 300 300 </param>
<param name="calibration2"> 0 0 0 0 0 0 0 0 0 0 0 0 0 </param>
<param name="calibration3"> 0 0 0 0 0 0 0 0 0 0 1 0 0 </param>
<param name="calibration4"> 0 0 0 0 0 0 0 0 0 0 0 0 0 </param>
<param name="calibration5"> 0 0 0 0 0 0 0 0 15700 0 51500 37150 16511 </param>
<param name="calibration5"> 0 0 0 0 0 0 0 0 16800 0 51500 37150 16511 </param>
<param name="calibrationZero"> 35 -15 -52 -5 0 0 0 0 0 0 0 0 0 </param>
<param name="calibrationDelta"> 0 0 0 0 0 0 0 0 0 0 0 0 0 </param>
<param name="startupPosition"> 34 50 -10 90 0.0 0.0 0.0 0.0 5.0 5.0 5.0 5.0 5.0 </param>
Expand All @@ -32,7 +32,7 @@
</group>

<!-- <param name="CALIB_ORDER"> (4 5 6) (3) (2) (0) (1) (7 8) (9) (10 11 12) </param> --> <!-- Don't remove this line -->
<param name="CALIB_ORDER"> (4 5 6) (3) (2) (0) (1) (7 8) (9) (10 11 12) </param>
<param name="CALIB_ORDER"> (4 5 6) (3) (2) (0) (1) (7 8) (10 11 12) </param>


<action phase="startup" level="10" type="calibrate">
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9 changes: 9 additions & 0 deletions ergoCubSN002/extra/scripts/additionalCommands.sh
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Expand Up @@ -40,6 +40,12 @@ test-microphone() {
arecord -vvv -f dat /dev/null
}

alias trigger-click='DISPLAY=:0 xdotool click 1'

alias list-windows='DISPLAY=:0 wmctrl -lp'

alias close-window='DISPLAY=:0 wmctrl -c'

GREEN='\033[0;32m'
NC='\033[0m' # No Color
## Alias for displaying info messages about the other aliases
Expand All @@ -50,6 +56,9 @@ ${GREEN}configurationSourceInstallDiff${NC} Performs a diff between the source a
${GREEN}connectToJoypad${NC} To reconnect the bluetooth connection of the robot joypad.
${GREEN}test-speaker${NC} Test if the speaker is working.
${GREEN}test-microphone${NC} Test if the micorphone is working.
${GREEN}trigger-click${NC} Emulates a mouse click to make banners disappear on the ergoCub screen.
${GREEN}list-windows${NC} List the open windows. The first output is the window ID. The third value is the ID of the process owning the window.
${GREEN}close-window${NC} Close a window given the Window ID.
${GREEN}dcmFolder${NC} Go to the robot walking configuration files.
${GREEN}goToBuildSuperbuild${NC} Go to the corresponding build folder of the robotology superbuild."'

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29 changes: 29 additions & 0 deletions ergoCubSN002/extra/skinGuiConf/left_hand_V2_2.ini
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@@ -0,0 +1,29 @@
cardid 2
#CanDeviceName cfw2can
#CanDeviceNum 7
robotPart left_hand
width 1000
height 1000
xpos 32
ypos 32

#placements are
#
# 1 2
# 0 3
#
# 10
# 4 8
# 9
# 11

# x y th gain leftright LayoutNum

[SENSORS]
fakePalm 8 -30.0 0.0 0.0 4.0 0 0
fingertip3L 4 20.0 30.0 -30.0 4.0 0 0
fingertip3L 3 -5.0 40.0 -15.0 4.0 0 0
fingertip3L 2 -30.0 40.0 15.0 4.0 0 0
fingertip3L 1 -55.0 30.0 30.0 4.0 0 0
fingertip3L 0 -40.0 -40.0 90.0 4.0 0 0

29 changes: 29 additions & 0 deletions ergoCubSN002/extra/skinGuiConf/right_hand_V2_2.ini
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@@ -0,0 +1,29 @@
cardid 2
#CanDeviceName cfw2can
#CanDeviceNum 7
robotPart left_hand
width 1000
height 1000
xpos 32
ypos 32

#placements are
#
# 1 2
# 0 3
#
# 10
# 4 8
# 9
# 11

# x y th gain leftright LayoutNum

[SENSORS]
fakePalm 8 -30.0 0.0 0.0 4.0 0 0
fingertip3L 4 -20.0 30.0 30.0 4.0 0 0
fingertip3L 3 5.0 40.0 15.0 4.0 0 0
fingertip3L 2 30.0 40.0 -15.0 4.0 0 0
fingertip3L 1 55.0 30.0 -30.0 4.0 0 0
fingertip3L 0 40.0 -40.0 -90.0 4.0 0 0

6 changes: 3 additions & 3 deletions ergoCubSN002/hardware/POS/left_hand-pos2.xml
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Expand Up @@ -40,9 +40,9 @@
<group name="CALIBRATION">
<!-- it is not mandatory. if not present, sensors have defaults: TYPE:decideg, ROT:zero, 0.0, false -->
<param name="type"> TYPE:decideg TYPE:decideg </param>
<param name="rotation"> ROT:zero ROT:zero </param>
<param name="offset"> -98.0 -111.0 </param>
<param name="invertDirection"> true true </param>
<param name="rotation"> ROT:plus180 ROT:zero </param>
<param name="offset"> -230.0 -111.0 </param>
<param name="invertDirection"> true true </param>
</group>

</group>
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4 changes: 2 additions & 2 deletions ergoCubSN002/hardware/POS/right_hand-pos2.xml
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Expand Up @@ -40,8 +40,8 @@
<group name="CALIBRATION">
<!-- it is not mandatory. if not present, sensors have defaults: TYPE:decideg, ROT:zero, 0.0, false -->
<param name="type"> TYPE:decideg TYPE:decideg </param>
<param name="rotation"> ROT:plus180 ROT:zero </param>
<param name="offset"> -171.0 -293.0 </param>
<param name="rotation"> ROT:zero ROT:zero </param>
<param name="offset"> -233.0 -293.0 </param>
<param name="invertDirection"> false false </param>
</group>

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2 changes: 1 addition & 1 deletion ergoCubSN002/hardware/motorControl/left_arm-eb23-j7_10-mc.xml
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Expand Up @@ -14,7 +14,7 @@
<!-- joint name thumb index medium pinky -->
<group name="LIMITS">
<param name="jntPosMin"> 0 0 0 0 </param>
<param name="jntPosMax"> 90 90 90 90 </param>
<param name="jntPosMax"> 90 90 90 80 </param>
<param name="jntVelMax"> 1000 1000 1000 1000 </param>
<param name="motorOverloadCurrents"> 2000 2000 2000 2000 </param>
<param name="motorNominalCurrents"> 1100 1100 1100 1100 </param>
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2 changes: 1 addition & 1 deletion ergoCubSN002/hardware/motorControl/right_arm-eb22-j7_10-mc.xml
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Expand Up @@ -14,7 +14,7 @@
<!-- joint name thumb index medium pinky -->
<group name="LIMITS">
<param name="jntPosMin"> 0 0 0 0 </param>
<param name="jntPosMax"> 90 90 90 90 </param>
<param name="jntPosMax"> 90 90 90 80 </param>
<param name="jntVelMax"> 1000 1000 1000 1000 </param>
<param name="motorOverloadCurrents"> 2000 2000 2000 2000 </param>
<param name="motorNominalCurrents"> 1100 1100 1100 1100 </param>
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6 changes: 3 additions & 3 deletions ergoCubSN002/hardware/skin/left_arm-eb4-j2_3-skinSpec.xml
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Expand Up @@ -19,20 +19,20 @@
-->
<param name="numOfSets"> 1 </param>
<!-- CAN BUS = patch adr start adr end period type no_load -->
<param name="boardSetCfg1"> 2 2 2 50 1 0xc8 </param>
<param name="boardSetCfg1"> 2 2 2 50 1 0xe8 </param>

</group>


<group name="defaultCfgTriangle">
<param name="enabled"> false </param>
<param name="shift"> 1 </param>
<param name="cdcOffset"> 0x0000 </param>
<param name="cdcOffset"> 0x2200 </param>
</group>

<group name="specialCfgTriangles">
<param name="numOfSets"> 1 </param>
<param name="triangleSetCfg1"> 2 2 0 15 1 1 0x0000 </param>
<param name="triangleSetCfg1"> 2 2 0 4 1 1 0x0000 </param>
<param name="triangleSetCfg2"> 2 2 0 15 1 1 0x0000 </param>
<param name="triangleSetCfg3"> 2 2 8 8 1 1 0x0000 </param>
<param name="triangleSetCfg4"> 2 2 12 12 1 1 0x0000 </param>
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6 changes: 3 additions & 3 deletions ergoCubSN002/hardware/skin/right_arm-eb3-j2_3-skinSpec.xml
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Expand Up @@ -20,20 +20,20 @@
-->
<param name="numOfSets"> 1 </param>
<!-- CAN BUS = patch adr start adr end period type no_load -->
<param name="boardSetCfg1"> 2 2 2 50 1 0xc8 </param>
<param name="boardSetCfg1"> 2 2 2 50 1 0xe8 </param>

</group>


<group name="defaultCfgTriangle">
<param name="enabled"> false </param>
<param name="shift"> 1 </param>
<param name="cdcOffset"> 0x0000 </param>
<param name="cdcOffset"> 0x2200 </param>
</group>
<!-- for now (jan 2024) we put a unique set of parameters activating all 16 I2C addr -->
<group name="specialCfgTriangles">
<param name="numOfSets"> 1 </param>
<param name="triangleSetCfg1"> 2 2 0 15 1 1 0x0000 </param>
<param name="triangleSetCfg1"> 2 2 0 4 1 1 0x0000 </param>
<param name="triangleSetCfg2"> 2 2 0 15 1 1 0x0000 </param>
<param name="triangleSetCfg3"> 2 2 8 8 1 1 0x0000 </param>
<param name="triangleSetCfg4"> 2 2 12 12 1 1 0x0000 </param>
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16 changes: 8 additions & 8 deletions ergoCubSN002/network.ergoCubSN002.xml
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Expand Up @@ -102,9 +102,9 @@
<connected bus="CAN" />
</board>

<board type='mtb4' name="mtb4.1">
<board type='mtb4c' name="mtb4.1">
<ondevice>ETH</ondevice>
<ataddress ip="10.0.1.4" canbus="2" canadr="1" />
<ataddress ip="10.0.1.4" canbus="2" canadr="2" />
<connected bus="CAN" />
</board>

Expand All @@ -120,13 +120,13 @@
<connected bus="ETH" prev="10.0.1.23" next="10.0.1.31" />
</board>

<board type='mtb4' name="mtb4.1">
<board type='mtb4c' name="mtb4.1">
<ondevice>ETH</ondevice>
<ataddress ip="10.0.1.25" canbus="1" canadr="1" />
<connected bus="CAN" />
</board>

<board type='mtb4' name="mtb4.2">
<board type='mtb4c' name="mtb4.2">
<ondevice>ETH</ondevice>
<ataddress ip="10.0.1.25" canbus="1" canadr="2" />
<connected bus="CAN" />
Expand Down Expand Up @@ -202,9 +202,9 @@
<connected bus="CAN" />
</board>

<board type='mtb4' name="mtb4.1">
<board type='mtb4c' name="mtb4.1">
<ondevice>ETH</ondevice>
<ataddress ip="10.0.1.3" canbus="2" canadr="1" />
<ataddress ip="10.0.1.3" canbus="2" canadr="2" />
<connected bus="CAN" />
</board>

Expand All @@ -220,13 +220,13 @@
<connected bus="ETH" prev="10.0.1.22" next="10.0.1.30" />
</board>

<board type='mtb4' name="mtb4.1">
<board type='mtb4c' name="mtb4.1">
<ondevice>ETH</ondevice>
<ataddress ip="10.0.1.24" canbus="1" canadr="1" />
<connected bus="CAN" />
</board>

<board type='mtb4' name="mtb4.2">
<board type='mtb4c' name="mtb4.2">
<ondevice>ETH</ondevice>
<ataddress ip="10.0.1.24" canbus="1" canadr="2" />
<connected bus="CAN" />
Expand Down