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Support of 7 joints in the mk3 hand #253

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Apr 27, 2021
Merged

Support of 7 joints in the mk3 hand #253

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de7b683
added xml files for the hand w/ 7 joints
marcoaccame Mar 25, 2021
ab532e8
added
marcoaccame Mar 31, 2021
d1a6612
[experimental setup: wristmk2_handmk3] added support for 7 joints in …
marcoaccame Apr 26, 2021
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53 changes: 53 additions & 0 deletions experimentalSetups/wristmk2_handmk3/calibrators/hv3_left_hand7-calib.xml
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<?xml version="1.0" encoding="UTF-8" ?>
<!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">


<device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_hand7_calibrator" type="parametricCalibratorEth">
<xi:include href="../general.xml" />

<group name="GENERAL">
<param name="joints"> 7 </param> <!-- the number of joints of the robot part -->
<param name="deviceName"> Left_Hand7_Calibrator </param>
</group>


<group name="PARKING_SEQUENCE">
<param name= "numberOfSequences"> 1 </param>

<group name="SEQUENCE_0">
<param name="position"> 30.00 30.00 30.00 30.00 30.00 30.00 30.00 </param>
<param name="velocity"> 40.00 40.00 40.00 40.00 40.00 40.00 40.00 </param>
</group>
</group>


<group name="CALIBRATION">
<param name="calibrationType"> 12 12 12 12 12 12 12 </param>
<param name="calibration1"> 0 0 0 0 0 0 0 </param>
<param name="calibration2"> 0 0 0 0 0 0 0 </param>
<param name="calibration3"> 0 0 0 0 0 0 0 </param>
<param name="calibration4"> 0 0 0 0 0 0 0 </param>
<param name="calibration5"> 0 0 0 0 0 0 0 </param>
<param name="calibrationZero"> 0 0 0 0 0 0 0 </param>
<param name="calibrationDelta"> 0 0 0 0 0 0 0 </param>
<param name="startupPosition"> 30.0 30.0 30.0 30.0 30.0 30.0 30.0 </param>
<param name="startupVelocity"> 40.0 40.0 40.0 40.0 40.0 40.0 40.0 </param>
<param name="startupMaxPwm"> 0 0 0 0 0 0 0 </param>
<param name="startupPosThreshold"> 10 10 10 10 10 10 10 </param>
</group>

<param name="CALIB_ORDER"> (0 1 2 3 4 5 6) </param>

<action phase="startup" level="10" type="calibrate">
<param name="target">hv3_left_hand7_mc_wrapper</param>
</action>

<action phase="interrupt1" level="1" type="park">
<param name="target">hv3_left_hand7_mc_wrapper</param>
</action>

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

</device>


4 changes: 2 additions & 2 deletions experimentalSetups/wristmk2_handmk3/hardware/POS/left_hand-pos.xml
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Expand Up @@ -18,11 +18,11 @@
<param name="type"> eobrd_pmc </param>

<group name="PROTOCOL">
<param name="major"> 2 </param>
<param name="major"> 0 </param>
<param name="minor"> 0 </param>
</group>
<group name="FIRMWARE">
<param name="major"> 1 </param>
<param name="major"> 0 </param>
<param name="minor"> 0 </param>
<param name="build"> 0 </param>
</group>
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92 changes: 92 additions & 0 deletions experimentalSetups/wristmk2_handmk3/hardware/mechanicals/hv3_left_hand7-mcp9-mec.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="new_forarm" build="1">
<group name="GENERAL">
<param name="MotioncontrolVersion"> 6 </param>
<param name="Joints"> 7 </param>

<!-- joint number in sub-part 0 1 2 3 4 5 6 -->
<!-- joint name -->
<param name="AxisMap"> 0 1 2 3 4 5 6 </param>
<param name="AxisName"> "l_thumb_open" "l_index_open" "l_medium_open" "l_pinky_open" "l_thumb_metac" "l_thumb_rot" "l_index_adduc" </param>
<param name="AxisType"> "revolute" "revolute" "revolute" "revolute" "revolute" "revolute" "revolute" </param>
<param name="Encoder"> 182.044 182.044 182.044 182.044 182.044 182.044 182.044 </param>
<param name="fullscalePWM"> 3360 3360 3360 3360 3360 3360 3360 </param>
<param name="ampsToSensor"> 1000.0 1000.0 1000.0 1000.0 1000.0 1000.0 1000.0 </param>
<param name="Gearbox_M2J"> 159 159 159 159 159 159 159 </param>
<param name="Gearbox_E2J"> 1 1 1 1 1 1 1 </param>
<param name="useMotorSpeedFbk"> 0 0 0 0 0 0 0 </param>
<param name="MotorType"> "DC" "DC" "DC" "DC" "DC" "DC" "DC" </param>

<param name="Verbose"> 0 </param>
</group>

<group name="LIMITS">
<param name="hardwareJntPosMax"> 100 100 100 100 100 100 100 </param>
<param name="hardwareJntPosMin"> 0 0 0 0 0 0 0 </param>
<param name="rotorPosMin"> 0 0 0 0 0 0 0 </param>
<param name="rotorPosMax"> 0 0 0 0 0 0 0 </param>
</group>


<!-- marco.accame on 08apr2021
the COUPLING and JOINTSET_CFG sections manage at maximum 4 joints.
this case of 7 joints is nevertheless simple because we have all joints that are independent.
so far we can keep the two sections like that. later on we can remove their parsing.
-->
<group name="COUPLINGS">

<param name ="matrixJ2M">
1.000 0.000 0.000 0.000
0.000 1.000 0.000 0.000
0.000 0.000 1.000 0.000
0.000 0.000 0.000 1.000
</param>

<param name ="matrixM2J">
1.000 0.000 0.000 0.000
0.000 1.000 0.000 0.000
0.000 0.000 1.000 0.000
0.000 0.000 0.000 1.000
</param>

<param name ="matrixE2J">
1.000 0.000 0.000 0.000 0.000 0.000
0.000 1.000 0.000 0.000 0.000 0.000
0.000 0.000 1.000 0.000 0.000 0.000
0.000 0.000 0.000 1.000 0.000 0.000
</param>

</group>

<group name="JOINTSET_CFG">
<param name= "numberofsets"> 4 </param>
<group name="JOINTSET_0">
<param name="listofjoints"> 0 </param>
<param name="constraint"> none </param>
<param name="param1"> 0 </param>
<param name="param2"> 0 </param>
</group>
<group name="JOINTSET_1">
<param name="listofjoints"> 1 </param>
<param name="constraint"> none </param>
<param name="param1"> 0 </param>
<param name="param2"> 0 </param>
</group>
<group name="JOINTSET_2">
<param name="listofjoints"> 2 </param>
<param name="constraint"> none </param>
<param name="param1"> 0 </param>
<param name="param2"> 0 </param>
</group>
<group name="JOINTSET_3">
<param name="listofjoints"> 3 </param>
<param name="constraint"> none </param>
<param name="param1"> 0 </param>
<param name="param2"> 0 </param>
</group>
</group>

</params>

4 changes: 2 additions & 2 deletions experimentalSetups/wristmk2_handmk3/hardware/motorControl/hv3_left_hand-mc-service.xml
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Expand Up @@ -16,11 +16,11 @@
<group name="CANBOARDS">
<param name="type"> pmc </param>
<group name="PROTOCOL">
<param name="major"> 2 </param>
<param name="major"> 0 </param>
<param name="minor"> 0 </param>
</group>
<group name="FIRMWARE">
<param name="major"> 1 </param>
<param name="major"> 0 </param>
<param name="minor"> 0 </param>
<param name="build"> 0 </param>
</group>
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64 changes: 64 additions & 0 deletions experimentalSetups/wristmk2_handmk3/hardware/motorControl/hv3_left_hand7-mc-service.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="new_forearm" build="1">

<group name="SERVICE">

<param name="type"> eomn_serv_MC_mc4pluspmc </param>

<group name="PROPERTIES">

<group name="ETHBOARD">
<param name="type"> mc4plus </param>
</group>

<group name="CANBOARDS">
<param name="type"> pmc </param>
<group name="PROTOCOL">
<param name="major"> 2 </param>
<param name="minor"> 0 </param>
</group>
<group name="FIRMWARE">
<param name="major"> 1 </param>
<param name="minor"> 0 </param>
<param name="build"> 0 </param>
</group>
</group>

<group name="POS">
<param name="location"> CAN1:1 </param>
</group>


<group name="JOINTMAPPING">

<group name="ACTUATOR">
<param name="type"> pwm pwm pwm pwm pmc pmc pmc </param>
<param name="port"> CONN:P2 CONN:P3 CONN:P4 CONN:P5 CAN1:1 CAN1:1 CAN1:1 </param>
</group>

<group name="ENCODER1">
<param name="type"> pos pos pos pos pos pos pos </param>
<param name="port"> POS:hand_thumb POS:hand_index POS:hand_medium POS:hand_pinky POS:hand_thumbmetacarpus POS:hand_thumbrotation POS:hand_indexadduction </param>
<param name="position"> atjoint atjoint atjoint atjoint atjoint atjoint atjoint </param>
<param name="resolution"> 65535 65535 65535 65535 65535 65535 65535 </param>
<param name="tolerance"> 5 5 5 5 5 5 5 </param>
</group>

<group name="ENCODER2">
<param name="type"> qenc qenc qenc qenc none none none </param>
<param name="port"> CONN:P2 CONN:P3 CONN:P4 CONN:P5 CONN:none CONN:none CONN:none </param>
<param name="position"> atmotor atmotor atmotor atmotor none none none </param>
<param name="resolution"> -1600 1600 -1600 -1600 0 0 0 </param>
<param name="tolerance"> 0 0 0 0 0 0 0 </param>
</group>
</group>

</group>

</group>


</params>

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