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pattacinipattacini
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Merge branch 'master' into devel
2 parents dfefd13 + 4bd25cf commit b1caad2

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3 files changed

+26
-27
lines changed

3 files changed

+26
-27
lines changed

‎R1SN003/R1.xml

+20-21
Original file line numberDiff line numberDiff line change
@@ -4,6 +4,18 @@
44
<robot name="R1SN003" build="1" portprefix="cer" xmlns:xi="http://www.w3.org/2001/XInclude">
55
<devices>
66

7+
<!-- POS4 -->
8+
<xi:include href="wrappers/POS/right_hand-pos_wrapper4.xml" disabled_by="disable_right_hand" />
9+
<xi:include href="hardware/POS/right_hand-pos4.xml" disabled_by="disable_right_hand" />
10+
<xi:include href="wrappers/POS/left_hand-pos_wrapper4.xml" disabled_by="disable_left_hand" />
11+
<xi:include href="hardware/POS/left_hand-pos4.xml" disabled_by="disable_left_hand" />
12+
13+
<!-- POS2 -->
14+
<xi:include href="wrappers/POS/right_hand-pos_wrapper2.xml" disabled_by="disable_right_hand" />
15+
<xi:include href="hardware/POS/right_hand-pos2.xml" disabled_by="disable_right_hand" />
16+
<xi:include href="wrappers/POS/left_hand-pos_wrapper2.xml" disabled_by="disable_left_hand" />
17+
<xi:include href="hardware/POS/left_hand-pos2.xml" disabled_by="disable_left_hand" />
18+
719
<!-- ODOMETRY -->
820
<xi:include href="hardware/odometry/odometry.xml" disabled_by="disable_odometry" />
921
<xi:include href="wrappers/odometry/odometry_nws_yarp.xml" disabled_by="disable_odometry" />
@@ -33,18 +45,6 @@
3345
<xi:include href="wrappers/motorControl/cer_torso-mc_remapper.xml" disabled_by="disable_torso" />
3446
<xi:include href="wrappers/motorControl/cer_torso-mc_wrapper.xml" disabled_by="disable_torso" />
3547

36-
<!-- POS4 -->
37-
<xi:include href="wrappers/POS/right_hand-pos_wrapper4.xml" disabled_by="disable_right_hand" />
38-
<xi:include href="hardware/POS/right_hand-pos4.xml" disabled_by="disable_right_hand" />
39-
<xi:include href="wrappers/POS/left_hand-pos_wrapper4.xml" disabled_by="disable_left_hand" />
40-
<xi:include href="hardware/POS/left_hand-pos4.xml" disabled_by="disable_left_hand" />
41-
42-
<!-- POS2 -->
43-
<xi:include href="wrappers/POS/right_hand-pos_wrapper2.xml" disabled_by="disable_right_hand" />
44-
<xi:include href="hardware/POS/right_hand-pos2.xml" disabled_by="disable_right_hand" />
45-
<xi:include href="wrappers/POS/left_hand-pos_wrapper2.xml" disabled_by="disable_left_hand" />
46-
<xi:include href="hardware/POS/left_hand-pos2.xml" disabled_by="disable_left_hand" />
47-
4848
<!-- LEFT ARM -->
4949
<xi:include href="wrappers/motorControl/left_arm-mc_wrapper.xml" disabled_by="disable_left_arm" />
5050
<xi:include href="wrappers/motorControl/left_arm-mc_remapper.xml" disabled_by="disable_left_arm disable_left_hand" />
@@ -72,19 +72,11 @@
7272
<xi:include href="wrappers/motorControl/cer_head-mc_remapper.xml" disabled_by="disable_head"/>
7373
<xi:include href="wrappers/motorControl/cer_head-mc_wrapper.xml" disabled_by="disable_head"/>
7474

75-
<!-- CALIBRATORS -->
76-
<xi:include href="calibrators/cer_torso-calib.xml" disabled_by="disable_torso"/>
77-
<xi:include href="calibrators/cer_head-calib.xml" disabled_by="disable_head"/>
78-
<xi:include href="calibrators/cer_base-calib.xml" disabled_by="disable_base"/>
79-
<xi:include href="calibrators/left_arm-calib.xml" disabled_by="disable_left_arm" />
80-
<xi:include href="calibrators/right_arm-calib.xml" disabled_by="disable_right_arm" />
81-
8275
<!-- SKIN-->
8376
<!--<xi:include href="wrappers/skin/right_arm-skin_wrapper.xml" />
8477
<xi:include href="hardware/skin/right_arm-eb7-j2_3-skin.xml" />
8578
<xi:include href="wrappers/skin/left_arm-skin_wrapper.xml" />
86-
<xi:include href="hardware/skin/left_arm-eb4-j2_3-skin.xml" />
87-
-->
79+
<xi:include href="hardware/skin/left_arm-eb4-j2_3-skin.xml" /> -->
8880

8981
<!-- IMU - MTB4 BOARDS
9082
<xi:include href="hardware/inertials/left_arm-eb4-j2_3-inertial.xml" disabled_by="disable_left_arm" />
@@ -112,6 +104,13 @@
112104
<xi:include href="wrappers/motorControl/cer_alljoints_remapper.xml" enabled_by="enable_ros2" disabled_by="disable_base disable_head disable_left_arm disable_left_hand disable_right_arm disable_right_hand disable_torso"/>
113105
<xi:include href="wrappers/motorControl/cer_alljoints_ros2_wrapper.xml" enabled_by="enable_ros2" disabled_by="disable_base disable_head disable_left_arm disable_left_hand disable_right_arm disable_right_hand disable_torso"/>
114106

107+
<!-- CALIBRATORS -->
108+
<xi:include href="calibrators/cer_torso-calib.xml" disabled_by="disable_torso"/>
109+
<xi:include href="calibrators/cer_head-calib.xml" disabled_by="disable_head"/>
110+
<xi:include href="calibrators/cer_base-calib.xml" disabled_by="disable_base"/>
111+
<xi:include href="calibrators/left_arm-calib.xml" disabled_by="disable_left_arm" />
112+
<xi:include href="calibrators/right_arm-calib.xml" disabled_by="disable_right_arm" />
113+
115114
<!-- BATTERY -->
116115
<xi:include href="wrappers/battery/r1battery.xml" enabled_by="enable_battery" disabled_by="disable_battery" />
117116
<xi:include href="wrappers/battery/r1battery_nws_ros2.xml" enabled_by="enable_battery enable_ros2" disabled_by="disable_battery disable_ros2" />

‎R1SN003/hardware/motorControl/left_arm-eb23-j7_10-mc.xml

+3-3
Original file line numberDiff line numberDiff line change
@@ -48,9 +48,9 @@
4848
<param name="outputType"> pwm </param>
4949
<param name="fbkControlUnits"> metric_units </param>
5050
<param name="outputControlUnits"> machine_units </param>
51-
<param name="kp"> -19.8 -11.3 -10.5 -12.4 </param>
52-
<param name="kd"> -2.82 -1.34 -1.55 -1.51 </param>
53-
<param name="ki"> -9.14 -11.7 -21.22 -16.9 </param>
51+
<param name="kp"> -15 -22 -22 -18 </param>
52+
<param name="kd"> -2 -4 -4 -3 </param>
53+
<param name="ki"> -5 -18 -18 -20 </param>
5454
<param name="maxOutput"> 1350 1350 1350 1350 </param>
5555
<param name="maxInt"> 1000 1000 1000 1000 </param>
5656
<param name="stictionUp"> 0 0 0 0 </param>

‎R1SN003/hardware/motorControl/right_arm-eb22-j7_10-mc.xml

+3-3
Original file line numberDiff line numberDiff line change
@@ -48,9 +48,9 @@
4848
<param name="outputType"> pwm </param>
4949
<param name="fbkControlUnits"> metric_units </param>
5050
<param name="outputControlUnits"> machine_units </param>
51-
<param name="kp"> -12.9 -11.3 -10.5 -11 </param>
52-
<param name="kd"> -1.76 -1.34 -1.55 -0.9 </param>
53-
<param name="ki"> -10.4 -11.7 -22.9 -17 </param>
51+
<param name="kp"> -15 -22 -22 -18 </param>
52+
<param name="kd"> -2 -4 -4 -3 </param>
53+
<param name="ki"> -5 -18 -18 -20 </param>
5454
<param name="maxOutput"> 1350 1350 1350 1350 </param>
5555
<param name="maxInt"> 1000 1000 1000 1000 </param>
5656
<param name="stictionUp"> 0 0 0 0 </param>

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