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Adding icubHalfie01 configuration (robotology#587)
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Co-authored-by: luca <[email protected]>
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@lindalastrico @MissingSignal @valegagge
2 people authored and valegagge committed Apr 11, 2024
1 parent e918579 commit 630c9d3
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Showing 28 changed files with 629 additions and 0 deletions.
13 changes: 13 additions & 0 deletions robots-icebox/iCubHalfie01/CMakeLists.txt
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set(appname iCubAbuDhabi01)

file(GLOB xml ${CMAKE_CURRENT_SOURCE_DIR}/*.xml)
file(GLOB ini ${CMAKE_CURRENT_SOURCE_DIR}/*.ini)
set(whatsleft firmwareUpdate.txt)

yarp_install(FILES ${xml} DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})
yarp_install(FILES ${ini} DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})
yarp_install(FILES ${whatsleft} DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})
yarp_install(DIRECTORY calibrators DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})
yarp_install(DIRECTORY wrappers DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})
yarp_install(DIRECTORY hardware DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})
yarp_install(DIRECTORY camera DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})
Binary file added robots-icebox/iCubHalfie01/calibrators/.head_calib.xml.swp
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73 changes: 73 additions & 0 deletions robots-icebox/iCubHalfie01/calibrators/head_calib.xml
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<?xml version="1.0" encoding="UTF-8" ?>

<device xmlns:xi="http://www.w3.org/2001/XInclude" name="head_calibrator" type="parametricCalibrator">
<xi:include href="../general.xml" />
<group name="GENERAL">
<param name="joints"> 6 </param>
<param name="deviceName"> Head_Calibrator </param>
</group>

<group name="HOME">
<param name="positionHome"> -40 0 0 0 0 0 </param>
<param name="velocityHome"> 10 10 10 10 10 10 </param>
</group>

<group name="CALIBRATION">

<param name="calibrationType"> 0 0 0 0 0 0 </param>
<param name="calibration1"> 1333 1333 1333 600 500 500 </param>
<param name="calibration2"> 40 40 40 -20 20 20 </param>
<param name="calibration3"> 0 0 0 0 0 0 </param>
<!--><param name="calibration4"> 0.00 0.00 0.00 0.00 0.00 0.00 </param><-->
<!--><param name="calibration5"> 0.00 0.00 0.00 0.00 0.00 0.00 </param><-->
<!--><param name="calibrationZero"> 0.00 0.00 0.00 0.00 0.00 0.00 </param>
<param name="calibrationDelta"> 0.00 0.00 0.00 0.00 0.00 0.00 </param> <-->
<param name="startupPosition"> 0 0 0 0 0 0 </param>
<param name="startupVelocity"> 10 10 10 10 10 10 </param>
<param name="startupMaxPwm"> 1300 1300 1330 1300 1300 1300 </param>
<param name="startupPosThreshold"> 2 2 180 2 180 180 </param>
</group>



<param name="CALIB_ORDER"> (0) (1) (2 3) (5) (4) </param>


<action phase="startup" level="10" type="calibrate">
<param name="target">head_mc_remapper</param>
</action>

<action phase="interrupt1" level="1" type="park">
<param name="target">head_mc_remapper</param>
</action>

<action phase="interrupt3" level="1" type="abort" />

</device>



























67 changes: 67 additions & 0 deletions robots-icebox/iCubHalfie01/calibrators/head_calib_appiccicoso.xml
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<?xml version="1.0" encoding="UTF-8" ?>

<device xmlns:xi="http://www.w3.org/2001/XInclude" name="head_calibrator" type="parametricCalibrator">
<xi:include href="../general.xml" />
<group name="GENERAL">
<param name="joints"> 6 </param>
<param name="deviceName"> Head_Calibrator </param>
</group>

<group name="CALIBRATION">

<param name="calibrationType"> 0 0 0 0 0 0 </param>
<param name="calibration1"> 1333 1333 1333 600 500 500 </param>
<param name="calibration2"> 40 40 40 -20 20 20 </param>
<param name="calibration3"> 0 0 0 0 0 0 </param>
<param name="startupPosition"> 0 0 0 0 0 0 </param>
<param name="startupVelocity"> 10 10 10 10 10 10 </param>
<param name="startupMaxPwm"> 1300 1300 1330 1300 1300 1300 </param>
<param name="startupPosThreshold"> 2 2 180 2 180 180 </param>
</group>

<group name="HOME">
<param name="positionHome"> -40 0 0 0 0 0 </param>
<param name="velocityHome"> 10 10 10 10 10 10 </param>
</group>

<param name="CALIB_ORDER"> (0) (1) (2 3) (5) (4) </param>


<action phase="startup" level="10" type="calibrate">
<param name="target">head_mc_wrapper</param>
</action>

<action phase="interrupt1" level="1" type="park">
<param name="target">head_mc_wrapper</param>
</action>

<action phase="interrupt3" level="1" type="abort" />

</device>



























20 changes: 20 additions & 0 deletions robots-icebox/iCubHalfie01/camera/dragonfly2_config_left.ini
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device dragonfly2
capabilities COLOR
width 320
height 240
video_type 1
white_balance 0.514 0.610
gain 0.0
shutter 0.913
name /icub/cam/left
brightness 0
DR2
stamp
sharpness 0.5
hue 0.48
gamma 0.4
saturation 0.420
framerate 30
#d 0
guid 00b09d010070ed88

21 changes: 21 additions & 0 deletions robots-icebox/iCubHalfie01/camera/dragonfly2_config_left_bayer_320_240.ini
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device dragonfly2raw
capabilities RAW
width 320
height 240
video_type 3
white_balance 0.477 0.514
gain 0.0
shutter 0.666
name /icub/cam/left
brightness 0
DR2
stamp
sharpness 1.0
hue 0.48
gamma 0.4
saturation 0.271
framerate 30
use_network_time 1
#d 0
guid 00b09d010070ed88

22 changes: 22 additions & 0 deletions robots-icebox/iCubHalfie01/camera/dragonfly2_config_left_bayer_640_480.ini
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device dragonfly2
capabilities COLOR
width 640
height 480
video_type 3
white_balance 0.524 0.671
gain 0.0
exposure 0.177
shutter 0.869
name /icub/cam/left
brightness 0.658
DR2
stamp
sharpness 1.0
hue 0.48
gamma 0.4
saturation 0.271
framerate 30
use_network_time 1
#d 0
guid 00b09d010070ed88

20 changes: 20 additions & 0 deletions robots-icebox/iCubHalfie01/camera/dragonfly2_config_right.ini
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device dragonfly2
capabilities COLOR
width 320
height 240
video_type 1
white_balance 0.514 0.610
gain 0.0
shutter 0.913
name /icub/cam/right
brightness 0
DR2
stamp
sharpness 0.5
hue 0.48
gamma 0.4
saturation 0.420
framerate 30
#d 1
guid 00b09d010070ed89

21 changes: 21 additions & 0 deletions robots-icebox/iCubHalfie01/camera/dragonfly2_config_right_bayer_320_240.ini
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device dragonfly2
capabilities COLOR
width 640
height 480
video_type 3
white_balance 0.477 0.514
gain 0.0
shutter 0.666
name /icub/cam/right
brightness 0
DR2
stamp
sharpness 1.0
hue 0.48
gamma 0.4
saturation 0.271
framerate 30
use_network_time 1
#d 1
guid 00b09d010070ed89

21 changes: 21 additions & 0 deletions robots-icebox/iCubHalfie01/camera/dragonfly2_config_right_bayer_640_480.ini
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device dragonfly2
capabilities COLOR
width 640
height 480
video_type 3
white_balance 0.477 0.514
gain 0.0
shutter 0.666
name /icub/cam/right
brightness 0
DR2
stamp
sharpness 1.0
hue 0.48
gamma 0.4
saturation 0.271
framerate 30
use_network_time 1
#d 1
guid 00b09d010070ed89

9 changes: 9 additions & 0 deletions robots-icebox/iCubHalfie01/firmwareUpdate.txt
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// head
cfw2can 0 1 4DC.1.11.out.S
cfw2can 0 3 4DC.1.15.out.S






2 changes: 2 additions & 0 deletions robots-icebox/iCubHalfie01/firmwareupdater.ini
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[DRIVERS]
CFW2_CAN "0"
12 changes: 12 additions & 0 deletions robots-icebox/iCubHalfie01/general.xml
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<?xml version="1.0" encoding="UTF-8" ?>
<!DOCTYPE params PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">

<params xmlns:xi="http://www.w3.org/2001/XInclude" robot="iCubAbuDhabi01" build="1">

<group name="GENERAL">
<param name="skipCalibration"> false </param>
<param name="useRawEncoderData"> false </param>
<param name="useLimitedPWM"> false </param>
<param name="verbose"> false </param>
</group>
</params>
6 changes: 6 additions & 0 deletions robots-icebox/iCubHalfie01/hardware/inertials/head-inertial.xml
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<device xmlns:xi="http://www.w3.org/2001/XInclude" name="head-inertial" type="xsensmtx">
<param name="serial"> /dev/ttyS0 </param>
</device>


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