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R1SN003: Move POS devices on top and calibrators on bottom, tune finger pids #705

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merged 1 commit into from
Jan 21, 2025
Merged

R1SN003: Move POS devices on top and calibrators on bottom, tune finger pids #705

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41 changes: 20 additions & 21 deletions R1SN003/R1.xml
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Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -4,6 +4,18 @@
<robot name="R1SN003" build="1" portprefix="cer" xmlns:xi="http://www.w3.org/2001/XInclude">
<devices>

<!-- POS4 -->
<xi:include href="wrappers/POS/right_hand-pos_wrapper4.xml" disabled_by="disable_right_hand" />
<xi:include href="hardware/POS/right_hand-pos4.xml" disabled_by="disable_right_hand" />
<xi:include href="wrappers/POS/left_hand-pos_wrapper4.xml" disabled_by="disable_left_hand" />
<xi:include href="hardware/POS/left_hand-pos4.xml" disabled_by="disable_left_hand" />

<!-- POS2 -->
<xi:include href="wrappers/POS/right_hand-pos_wrapper2.xml" disabled_by="disable_right_hand" />
<xi:include href="hardware/POS/right_hand-pos2.xml" disabled_by="disable_right_hand" />
<xi:include href="wrappers/POS/left_hand-pos_wrapper2.xml" disabled_by="disable_left_hand" />
<xi:include href="hardware/POS/left_hand-pos2.xml" disabled_by="disable_left_hand" />

<!-- ODOMETRY -->
<xi:include href="hardware/odometry/odometry.xml" disabled_by="disable_odometry" />
<xi:include href="wrappers/odometry/odometry_nws_yarp.xml" disabled_by="disable_odometry" />
Expand Down Expand Up @@ -33,18 +45,6 @@
<xi:include href="wrappers/motorControl/cer_torso-mc_remapper.xml" disabled_by="disable_torso" />
<xi:include href="wrappers/motorControl/cer_torso-mc_wrapper.xml" disabled_by="disable_torso" />

<!-- POS4 -->
<xi:include href="wrappers/POS/right_hand-pos_wrapper4.xml" disabled_by="disable_right_hand" />
<xi:include href="hardware/POS/right_hand-pos4.xml" disabled_by="disable_right_hand" />
<xi:include href="wrappers/POS/left_hand-pos_wrapper4.xml" disabled_by="disable_left_hand" />
<xi:include href="hardware/POS/left_hand-pos4.xml" disabled_by="disable_left_hand" />

<!-- POS2 -->
<xi:include href="wrappers/POS/right_hand-pos_wrapper2.xml" disabled_by="disable_right_hand" />
<xi:include href="hardware/POS/right_hand-pos2.xml" disabled_by="disable_right_hand" />
<xi:include href="wrappers/POS/left_hand-pos_wrapper2.xml" disabled_by="disable_left_hand" />
<xi:include href="hardware/POS/left_hand-pos2.xml" disabled_by="disable_left_hand" />

<!-- LEFT ARM -->
<xi:include href="wrappers/motorControl/left_arm-mc_wrapper.xml" disabled_by="disable_left_arm" />
<xi:include href="wrappers/motorControl/left_arm-mc_remapper.xml" disabled_by="disable_left_arm disable_left_hand" />
Expand Down Expand Up @@ -72,19 +72,11 @@
<xi:include href="wrappers/motorControl/cer_head-mc_remapper.xml" disabled_by="disable_head"/>
<xi:include href="wrappers/motorControl/cer_head-mc_wrapper.xml" disabled_by="disable_head"/>

<!-- CALIBRATORS -->
<xi:include href="calibrators/cer_torso-calib.xml" disabled_by="disable_torso"/>
<xi:include href="calibrators/cer_head-calib.xml" disabled_by="disable_head"/>
<xi:include href="calibrators/cer_base-calib.xml" disabled_by="disable_base"/>
<xi:include href="calibrators/left_arm-calib.xml" disabled_by="disable_left_arm" />
<xi:include href="calibrators/right_arm-calib.xml" disabled_by="disable_right_arm" />

<!-- SKIN-->
<!--<xi:include href="wrappers/skin/right_arm-skin_wrapper.xml" />
<xi:include href="hardware/skin/right_arm-eb7-j2_3-skin.xml" />
<xi:include href="wrappers/skin/left_arm-skin_wrapper.xml" />
<xi:include href="hardware/skin/left_arm-eb4-j2_3-skin.xml" />
-->
<xi:include href="hardware/skin/left_arm-eb4-j2_3-skin.xml" /> -->

<!-- IMU - MTB4 BOARDS
<xi:include href="hardware/inertials/left_arm-eb4-j2_3-inertial.xml" disabled_by="disable_left_arm" />
Expand Down Expand Up @@ -112,6 +104,13 @@
<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"/>
<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"/>

<!-- CALIBRATORS -->
<xi:include href="calibrators/cer_torso-calib.xml" disabled_by="disable_torso"/>
<xi:include href="calibrators/cer_head-calib.xml" disabled_by="disable_head"/>
<xi:include href="calibrators/cer_base-calib.xml" disabled_by="disable_base"/>
<xi:include href="calibrators/left_arm-calib.xml" disabled_by="disable_left_arm" />
<xi:include href="calibrators/right_arm-calib.xml" disabled_by="disable_right_arm" />

<!-- BATTERY -->
<xi:include href="wrappers/battery/r1battery.xml" enabled_by="enable_battery" disabled_by="disable_battery" />
<xi:include href="wrappers/battery/r1battery_nws_ros2.xml" enabled_by="enable_battery enable_ros2" disabled_by="disable_battery disable_ros2" />
Expand Down
6 changes: 3 additions & 3 deletions R1SN003/hardware/motorControl/left_arm-eb23-j7_10-mc.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -48,9 +48,9 @@
<param name="outputType"> pwm </param>
<param name="fbkControlUnits"> metric_units </param>
<param name="outputControlUnits"> machine_units </param>
<param name="kp"> -19.8 -11.3 -10.5 -12.4 </param>
<param name="kd"> -2.82 -1.34 -1.55 -1.51 </param>
<param name="ki"> -9.14 -11.7 -21.22 -16.9 </param>
<param name="kp"> -15 -22 -22 -18 </param>
<param name="kd"> -2 -4 -4 -3 </param>
<param name="ki"> -5 -18 -18 -20 </param>
<param name="maxOutput"> 1350 1350 1350 1350 </param>
<param name="maxInt"> 1000 1000 1000 1000 </param>
<param name="stictionUp"> 0 0 0 0 </param>
Expand Down
6 changes: 3 additions & 3 deletions R1SN003/hardware/motorControl/right_arm-eb22-j7_10-mc.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -48,9 +48,9 @@
<param name="outputType"> pwm </param>
<param name="fbkControlUnits"> metric_units </param>
<param name="outputControlUnits"> machine_units </param>
<param name="kp"> -12.9 -11.3 -10.5 -11 </param>
<param name="kd"> -1.76 -1.34 -1.55 -0.9 </param>
<param name="ki"> -10.4 -11.7 -22.9 -17 </param>
<param name="kp"> -15 -22 -22 -18 </param>
<param name="kd"> -2 -4 -4 -3 </param>
<param name="ki"> -5 -18 -18 -20 </param>
<param name="maxOutput"> 1350 1350 1350 1350 </param>
<param name="maxInt"> 1000 1000 1000 1000 </param>
<param name="stictionUp"> 0 0 0 0 </param>
Expand Down
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