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[iCubGenova09] Increase the frequency of the low level
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- increasing the frequency of IMUs to 100Hz
- all MAS interfaces for the FTs go at 500Hz
- all control boards go at 500Hz
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@GiulioRomualdi
GiulioRomualdi authored and icub committed Sep 30, 2022
1 parent d33dae0 commit 274612c
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Showing 60 changed files with 69 additions and 68 deletions.
1 change: 1 addition & 0 deletions iCubGenova09/estimators/wholebodydynamics.xml
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<param name="forceTorqueFilterCutoffInHz">2.0</param>
<param name="jointVelFilterCutoffInHz">3.0</param> <!-- used if useJointVelocity is set to true -->
<param name="jointAccFilterCutoffInHz">3.0</param> <!-- used if useJointAcceleration is set to true -->
<param name="devicePeriodInSeconds">0.002</param>
<param name="useSkinForContacts">false</param>
<param name="publishNetExternalWrenches">true</param>
<param name="estimateJointVelocityAcceleration">false</param> <!-- if true a kf will estimate the joint velocities and accelerations -->
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2 changes: 1 addition & 1 deletion iCubGenova09/hardware/FT/left_arm-eb1-j0_1-strain.xml
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<group name="SETTINGS">
<param name="enabledSensors"> l_arm_ft_sensor </param>
<param name="ftPeriod"> 10 </param>
<param name="ftPeriod"> 2 </param>
<param name="temperaturePeriod"> 1000 </param>
<param name="useCalibration"> true </param>
</group>
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2 changes: 1 addition & 1 deletion iCubGenova09/hardware/FT/left_leg-eb7-j0_2-strain.xml
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<group name="SETTINGS">
<param name="enabledSensors"> l_leg_ft_sensor </param>
<param name="ftPeriod"> 10 </param>
<param name="ftPeriod"> 2 </param>
<param name="temperaturePeriod"> 1000 </param>
<param name="useCalibration"> true </param>
</group>
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2 changes: 1 addition & 1 deletion iCubGenova09/hardware/FT/left_leg-eb8-j3_5-strain.xml
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<group name="SETTINGS">
<param name="enabledSensors"> l_foot_rear_ft_sensor l_foot_front_ft_sensor </param>
<param name="ftPeriod"> 10 10 </param>
<param name="ftPeriod"> 2 2 </param>
<param name="temperaturePeriod"> 1000 1000 </param>
<param name="useCalibration"> true true </param>
</group>
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2 changes: 1 addition & 1 deletion iCubGenova09/hardware/FT/right_arm-eb3-j0_1-strain.xml
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<group name="SETTINGS">
<param name="enabledSensors"> r_arm_ft_sensor </param>
<param name="ftPeriod"> 10 </param>
<param name="ftPeriod"> 2 </param>
<param name="temperaturePeriod"> 1000 </param>
<param name="useCalibration"> true </param>
</group>
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2 changes: 1 addition & 1 deletion iCubGenova09/hardware/FT/right_leg-eb11-j0_2-strain.xml
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<group name="SETTINGS">
<param name="enabledSensors"> r_leg_ft_sensor </param>
<param name="ftPeriod"> 10 </param>
<param name="ftPeriod"> 2 </param>
<param name="temperaturePeriod"> 1000 </param>
<param name="useCalibration"> true </param>
</group>
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2 changes: 1 addition & 1 deletion iCubGenova09/hardware/FT/right_leg-eb12-j3_5-strain.xml
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<group name="SETTINGS">
<param name="enabledSensors"> r_foot_rear_ft_sensor r_foot_front_ft_sensor </param>
<param name="ftPeriod"> 10 10 </param>
<param name="ftPeriod"> 2 2 </param>
<param name="temperaturePeriod"> 1000 1000 </param>
<param name="useCalibration"> true true </param>
</group>
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2 changes: 1 addition & 1 deletion iCubGenova09/hardware/electronics/face-eb22-j0-eln.xml
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<param name="maxTimeOfRXactivity"> 400 </param>
<param name="maxTimeOfDOactivity"> 300 </param>
<param name="maxTimeOfTXactivity"> 300 </param>
<param name="TXrateOfRegularROPs"> 3 </param>
<param name="TXrateOfRegularROPs"> 2 </param>
</group>
</group>

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2 changes: 1 addition & 1 deletion iCubGenova09/hardware/electronics/face-eb22-j0_1-eln.xml
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<param name="maxTimeOfRXactivity"> 400 </param>
<param name="maxTimeOfDOactivity"> 300 </param>
<param name="maxTimeOfTXactivity"> 300 </param>
<param name="TXrateOfRegularROPs"> 3 </param>
<param name="TXrateOfRegularROPs"> 2 </param>
</group>
</group>

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2 changes: 1 addition & 1 deletion iCubGenova09/hardware/electronics/face-eb23-j2_5-eln.xml
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<param name="maxTimeOfRXactivity"> 400 </param>
<param name="maxTimeOfDOactivity"> 300 </param>
<param name="maxTimeOfTXactivity"> 300 </param>
<param name="TXrateOfRegularROPs"> 5 </param>
<param name="TXrateOfRegularROPs"> 2 </param>
</group>
</group>

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2 changes: 1 addition & 1 deletion iCubGenova09/hardware/electronics/head-eb20-j0_1-eln.xml
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<param name="maxTimeOfRXactivity"> 400 </param>
<param name="maxTimeOfDOactivity"> 300 </param>
<param name="maxTimeOfTXactivity"> 300 </param>
<param name="TXrateOfRegularROPs"> 5 </param>
<param name="TXrateOfRegularROPs"> 2 </param>
</group>
</group>

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2 changes: 1 addition & 1 deletion iCubGenova09/hardware/electronics/head-eb21-j2_5-eln.xml
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<param name="maxTimeOfRXactivity"> 400 </param>
<param name="maxTimeOfDOactivity"> 300 </param>
<param name="maxTimeOfTXactivity"> 300 </param>
<param name="TXrateOfRegularROPs"> 5 </param>
<param name="TXrateOfRegularROPs"> 2 </param>
</group>
</group>

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2 changes: 1 addition & 1 deletion iCubGenova09/hardware/electronics/left_arm-eb1-j0_1-eln.xml
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<param name="maxTimeOfRXactivity"> 400 </param>
<param name="maxTimeOfDOactivity"> 300 </param>
<param name="maxTimeOfTXactivity"> 300 </param>
<param name="TXrateOfRegularROPs"> 5 </param>
<param name="TXrateOfRegularROPs"> 2 </param>
</group>
</group>

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2 changes: 1 addition & 1 deletion iCubGenova09/hardware/electronics/left_arm-eb2-j2_3-eln.xml
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<param name="maxTimeOfRXactivity"> 400 </param>
<param name="maxTimeOfDOactivity"> 300 </param>
<param name="maxTimeOfTXactivity"> 300 </param>
<param name="TXrateOfRegularROPs"> 5 </param>
<param name="TXrateOfRegularROPs"> 2 </param>
</group>
</group>

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2 changes: 1 addition & 1 deletion iCubGenova09/hardware/electronics/left_arm-eb24-j4_7-eln.xml
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<param name="maxTimeOfRXactivity"> 400 </param>
<param name="maxTimeOfDOactivity"> 300 </param>
<param name="maxTimeOfTXactivity"> 300 </param>
<param name="TXrateOfRegularROPs"> 3 </param>
<param name="TXrateOfRegularROPs"> 2 </param>
</group>
</group>

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2 changes: 1 addition & 1 deletion iCubGenova09/hardware/electronics/left_arm-eb25-j8_11-eln.xml
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<param name="maxTimeOfRXactivity"> 400 </param>
<param name="maxTimeOfDOactivity"> 300 </param>
<param name="maxTimeOfTXactivity"> 300 </param>
<param name="TXrateOfRegularROPs"> 5 </param>
<param name="TXrateOfRegularROPs"> 2 </param>
</group>
</group>

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2 changes: 1 addition & 1 deletion iCubGenova09/hardware/electronics/left_arm-eb26-j12_15-eln.xml
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<param name="maxTimeOfRXactivity"> 400 </param>
<param name="maxTimeOfDOactivity"> 300 </param>
<param name="maxTimeOfTXactivity"> 300 </param>
<param name="TXrateOfRegularROPs"> 5 </param>
<param name="TXrateOfRegularROPs"> 2 </param>
</group>
</group>

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2 changes: 1 addition & 1 deletion iCubGenova09/hardware/electronics/left_leg-eb7-j0_2-eln.xml
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<param name="maxTimeOfRXactivity"> 400 </param>
<param name="maxTimeOfDOactivity"> 300 </param>
<param name="maxTimeOfTXactivity"> 300 </param>
<param name="TXrateOfRegularROPs"> 5 </param>
<param name="TXrateOfRegularROPs"> 2 </param>
</group>
</group>

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2 changes: 1 addition & 1 deletion iCubGenova09/hardware/electronics/left_leg-eb8-j3_5-eln.xml
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<param name="maxTimeOfRXactivity"> 400 </param>
<param name="maxTimeOfDOactivity"> 300 </param>
<param name="maxTimeOfTXactivity"> 300 </param>
<param name="TXrateOfRegularROPs"> 5 </param>
<param name="TXrateOfRegularROPs"> 2 </param>
</group>
</group>

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2 changes: 1 addition & 1 deletion iCubGenova09/hardware/electronics/pc104.xml
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<param name="PC104IpAddress"> 10.0.1.104 </param>
<param name="PC104IpPort"> 12345 </param>
<param name="PC104TXrate"> 1 </param>
<param name="PC104RXrate"> 5 </param>
<param name="PC104RXrate"> 2 </param>
</group>

</params>
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2 changes: 1 addition & 1 deletion iCubGenova09/hardware/electronics/right_arm-eb27-j4_7-eln.xml
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<param name="maxTimeOfRXactivity"> 400 </param>
<param name="maxTimeOfDOactivity"> 300 </param>
<param name="maxTimeOfTXactivity"> 300 </param>
<param name="TXrateOfRegularROPs"> 3 </param>
<param name="TXrateOfRegularROPs"> 2 </param>
</group>
</group>

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2 changes: 1 addition & 1 deletion iCubGenova09/hardware/electronics/right_arm-eb28-j8_11-eln.xml
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<param name="maxTimeOfRXactivity"> 400 </param>
<param name="maxTimeOfDOactivity"> 300 </param>
<param name="maxTimeOfTXactivity"> 300 </param>
<param name="TXrateOfRegularROPs"> 5 </param>
<param name="TXrateOfRegularROPs"> 2 </param>
</group>
</group>

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2 changes: 1 addition & 1 deletion iCubGenova09/hardware/electronics/right_arm-eb29-j12_15-eln.xml
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<param name="maxTimeOfRXactivity"> 400 </param>
<param name="maxTimeOfDOactivity"> 300 </param>
<param name="maxTimeOfTXactivity"> 300 </param>
<param name="TXrateOfRegularROPs"> 5 </param>
<param name="TXrateOfRegularROPs"> 2 </param>
</group>
</group>

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2 changes: 1 addition & 1 deletion iCubGenova09/hardware/electronics/right_arm-eb3-j0_1-eln.xml
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<param name="maxTimeOfRXactivity"> 400 </param>
<param name="maxTimeOfDOactivity"> 300 </param>
<param name="maxTimeOfTXactivity"> 300 </param>
<param name="TXrateOfRegularROPs"> 5 </param>
<param name="TXrateOfRegularROPs"> 2 </param>
</group>
</group>

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2 changes: 1 addition & 1 deletion iCubGenova09/hardware/electronics/right_arm-eb4-j2_3-eln.xml
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<param name="maxTimeOfRXactivity"> 400 </param>
<param name="maxTimeOfDOactivity"> 300 </param>
<param name="maxTimeOfTXactivity"> 300 </param>
<param name="TXrateOfRegularROPs"> 5 </param>
<param name="TXrateOfRegularROPs"> 2 </param>
</group>
</group>

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2 changes: 1 addition & 1 deletion iCubGenova09/hardware/electronics/right_leg-eb11-j0_2-eln.xml
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<param name="maxTimeOfRXactivity"> 400 </param>
<param name="maxTimeOfDOactivity"> 300 </param>
<param name="maxTimeOfTXactivity"> 300 </param>
<param name="TXrateOfRegularROPs"> 5 </param>
<param name="TXrateOfRegularROPs"> 2 </param>
</group>
</group>

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2 changes: 1 addition & 1 deletion iCubGenova09/hardware/electronics/right_leg-eb12-j3_5-eln.xml
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<param name="maxTimeOfRXactivity"> 400 </param>
<param name="maxTimeOfDOactivity"> 300 </param>
<param name="maxTimeOfTXactivity"> 300 </param>
<param name="TXrateOfRegularROPs"> 5 </param>
<param name="TXrateOfRegularROPs"> 2 </param>
</group>
</group>

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2 changes: 1 addition & 1 deletion iCubGenova09/hardware/electronics/torso-eb5-j0_2-eln.xml
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<param name="maxTimeOfRXactivity"> 400 </param>
<param name="maxTimeOfDOactivity"> 300 </param>
<param name="maxTimeOfTXactivity"> 300 </param>
<param name="TXrateOfRegularROPs"> 5 </param>
<param name="TXrateOfRegularROPs"> 2 </param>
</group>
</group>

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2 changes: 1 addition & 1 deletion iCubGenova09/hardware/inertials/left_arm-eb1-IMU.xml
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</group>

<group name="SETTINGS">
<param name="acquisitionRate"> 50 </param>
<param name="acquisitionRate"> 10 </param>
<param name="enabledSensors"> l_arm_ft_acc l_arm_ft_gyro l_arm_ft_eul l_arm_ft_mag l_arm_ft_stat </param>
</group>
</group>
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2 changes: 1 addition & 1 deletion iCubGenova09/hardware/inertials/left_leg-eb7-IMU.xml
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</group>

<group name="SETTINGS">
<param name="acquisitionRate"> 50 </param>
<param name="acquisitionRate"> 10 </param>
<param name="enabledSensors"> l_leg_ft_acc l_leg_ft_gyro l_leg_ft_eul l_leg_ft_mag l_leg_ft_stat </param>
</group>
</group>
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2 changes: 1 addition & 1 deletion iCubGenova09/hardware/inertials/left_leg-eb8-IMU.xml
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</group>

<group name="SETTINGS">
<param name="acquisitionRate"> 50 </param>
<param name="acquisitionRate"> 10 </param>
<param name="enabledSensors"> l_foot_rear_ft_acc l_foot_rear_ft_gyro l_foot_rear_ft_eul l_foot_rear_ft_mag l_foot_rear_ft_stat l_foot_front_ft_acc l_foot_front_ft_gyro l_foot_front_ft_eul l_foot_front_ft_mag l_foot_front_ft_stat</param>
</group>
</group>
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2 changes: 1 addition & 1 deletion iCubGenova09/hardware/inertials/right_arm-eb3-IMU.xml
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</group>

<group name="SETTINGS">
<param name="acquisitionRate"> 50 </param>
<param name="acquisitionRate"> 10 </param>
<param name="enabledSensors"> r_arm_ft_acc r_arm_ft_gyro r_arm_ft_eul r_arm_ft_mag r_arm_ft_stat </param>
</group>
</group>
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2 changes: 1 addition & 1 deletion iCubGenova09/hardware/inertials/right_leg-eb11-IMU.xml
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</group>

<group name="SETTINGS">
<param name="acquisitionRate"> 50 </param>
<param name="acquisitionRate"> 10 </param>
<param name="enabledSensors"> r_leg_ft_acc r_leg_ft_gyro r_leg_ft_eul r_leg_ft_mag r_leg_ft_stat </param>
</group>
</group>
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2 changes: 1 addition & 1 deletion iCubGenova09/hardware/inertials/right_leg-eb12-IMU.xml
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</group>

<group name="SETTINGS">
<param name="acquisitionRate"> 50 </param>
<param name="acquisitionRate"> 10 </param>
<param name="enabledSensors"> r_foot_rear_ft_acc r_foot_rear_ft_gyro r_foot_rear_ft_eul r_foot_rear_ft_mag r_foot_rear_ft_stat r_foot_front_ft_acc r_foot_front_ft_gyro r_foot_front_ft_eul r_foot_front_ft_mag r_foot_front_ft_stat</param>
</group>
</group>
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2 changes: 1 addition & 1 deletion iCubGenova09/wrappers/FT/left_arm-FT_wrapper.xml
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<device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_arm-FT_wrapper" type="multipleanalogsensorsserver">
<param name="period"> 10 </param>
<param name="period"> 2 </param>
<param name="name"> /icub/left_arm </param>

<action phase="startup" level="5" type="attach">
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2 changes: 1 addition & 1 deletion iCubGenova09/wrappers/FT/left_arm-FT_wrapper_multipleSens.xml
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<device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_arm-FT_wrapper" type="multipleanalogsensorsserver">
<param name="period"> 10 </param>
<param name="period"> 2 </param>
<param name="name"> /icub/left_arm </param>

<action phase="startup" level="5" type="attach">
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2 changes: 1 addition & 1 deletion iCubGenova09/wrappers/FT/left_foot-FT_wrapper.xml
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<device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_foot-FT_wrapper" type="multipleanalogsensorsserver">
<param name="period"> 10 </param>
<param name="period"> 2 </param>
<param name="name"> /icub/left_foot_heel_tiptoe </param>

<action phase="startup" level="5" type="attach">
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2 changes: 1 addition & 1 deletion iCubGenova09/wrappers/FT/left_foot_heel-FT_wrapper.xml
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<device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_foot_heel-FT_wrapper" type="analogServer">
<param name="period"> 10 </param>
<param name="period"> 2 </param>
<param name="name"> /icub/left_foot_heel/analog:o </param>

<action phase="startup" level="5" type="attach">
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2 changes: 1 addition & 1 deletion iCubGenova09/wrappers/FT/left_foot_heel-FT_wrapper_multipleSens.xml
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<device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_foot_heel-FT_wrapper" type="multipleanalogsensorsserver">
<param name="period"> 10 </param>
<param name="period"> 2 </param>
<param name="name"> /icub/left_foot_heel </param>

<action phase="startup" level="5" type="attach">
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