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cmvr-es/config/cabin_robot.xml

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feat:add eye hand calibration and pose follow
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<CMVR-ES>
<Constants rootDir="/home/xtkuang/projects/cmvr-es"/>
<Logger dir="../log" level="info" bufSize="5" logSize="1024"/>
<DeviceManager name="cmvr_es" ver="0.1" description="cmvr edge system version 0.1">
<Devices>
<AGV>
</AGV>
<Battery>
</Battery>
<Camera>
<!-- <UVCCamera id="cam1" serial="/dev/video6" w="640" h="480" fps="30" mode="video" codec="H265"/>-->
<!-- <UVCCamera id="cam2" serial="/dev/video14" w="640" h="480" fps="30" mode="video" codec="H265"/>-->
update camera intrinsics
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<!-- <RealsenseCamera id="cam3" serial="243122072252" w="640" h="480" fps="30" mode="video" stream_mode="rgbd" align_mode="color" codec="H265"/>-->
update
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<!-- <RealsenseCamera id="cam4" serial="243122075614" w="1280" h="720" fps="30" mode="video" stream_mode="rgbd" align_mode="color" codec="H265"/>-->
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<!-- <MechMind id="cam5" ip="10.148.108.111" align="true" _2dtype="color"/>-->
update
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<!-- <RealsenseCamera id="cam6" serial="243122075389" w="640" h="480" fps="30" mode="video" stream_mode="rgbd" align_mode="color" codec="H265"/>-->
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</Camera>
<DexHand>
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<!-- <RH56DFTP id="hand1" default_force="500" default_speed="500" ip_address="192.168.1.223" port="6000">-->
update
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<!-- <Freedom order="01" default_force="500" default_speed="500" />-->
<!-- </RH56DFTP>-->
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<!-- <RH56DFTP id="hand2" default_force="500" default_speed="500" ip_address="192.168.1.224" port="6000">-->
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<!-- <Freedom order="01" default_force="500" default_speed="500" />-->
<!-- </RH56DFTP>-->
</DexHand>
<Robot>
<!-- <LeftArm id="left_arm" devtype="ti5Robot" />-->
<!-- <RightArm />-->
<!-- <Neck/>-->
<Humanoid id="hc01" dof="14"
Merge branch 'lgv_dev_touch' into dev
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urdf="/home/lgv/cmvr/cmvr-es/config/robot_description/hc_description/dual_arm.urdf"
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baseLink="PELVIS_S"
jointNames="L_SHOULDER_P,L_SHOULDER_R,L_SHOULDER_Y,L_ELBOW_R,L_WRIST_P,L_WRIST_Y,L_WRIST_R,R_SHOULDER_P,R_SHOULDER_R,R_SHOULDER_Y,R_ELBOW_R,R_WRIST_P,R_WRIST_Y,R_WRIST_R"
update
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linkNames="PELVIS_S,L_SHOULDER_P_S,L_SHOULDER_R_S,L_SHOULDER_Y_S,L_ELBOW_R_S,L_WRIST_P_S,L_WRIST_Y_S,L_WRIST_R_S,R_SHOULDER_P_S,R_SHOULDER_R_S,R_SHOULDER_Y_S,R_ELBOW_R_S,R_WRIST_P_S,R_WRIST_Y_S,R_WRIST_R_S,R_FINGER_TIP,R_CAM"
bufferSize="50"
verbose="false">
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<CanManger id="" devId="">
feat:head fun1
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<LeftArmCan id = " " devId = " " channelId ="0" enable="true" toolFrame="L_FINGER_TIP">
feat:add head control API
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<Motor id="23" jointName="L_SHOULDER_P" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/>
<Motor id="24" jointName="L_SHOULDER_R" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/>
<Motor id="25" jointName="L_SHOULDER_Y" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/>
<Motor id="26" jointName="L_ELBOW_R" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/>
<Motor id="27" jointName="L_WRIST_P" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/>
<Motor id="28" jointName="L_WRIST_Y" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/>
<Motor id="1" jointName="L_WRIST_R" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/>
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</LeftArmCan>
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<RightArmCan id = " " devId = " " channelId ="1" enable="true" toolFrame="R_FINGER_TIP">
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<Motor id="16" jointName="R_SHOULDER_P" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/>
<Motor id="17" jointName="R_SHOULDER_R" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/>
<Motor id="18" jointName="R_SHOULDER_Y" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/>
<Motor id="19" jointName="R_ELBOW_R" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/>
<Motor id="20" jointName="R_WRIST_P" limitQLb="-3.14" limitQUb="3.14" limitQd="3.0"/>
<Motor id="21" jointName="R_WRIST_Y" limitQLb="-1.102" limitQUb="1.02" limitQd="3.0"/>
<Motor id="22" jointName="R_WRIST_R" limitQLb="-0.293" limitQUb="1.57079" limitQd="3.0"/>
</RightArmCan>
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<HeadCan id = " " devId = " " channelId ="2" enable="false">
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<Motor id="32" jointName="HEAD_Y" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/>
<Motor id="30" jointName="HEAD_P" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/>
<Motor id="31" jointName="HEAD_R" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/>
</HeadCan>
<WaistCan id = " " devId = " " channelId ="3" enable="false">
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<Motor id="14" jointName="WAIST_Y" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/>
<Motor id="15" jointName="WAIST_P" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/>
</WaistCan>
</CanManger>
</Humanoid>
</Robot>
<BioHead>
feat:head fun1
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<esp32 id="bio_head" serial="/dev/ttyUSB0" ctrlFreq="50">
<!-- 眉毛 -->
<EyeBrow serial="64:0~3"
offest="90 90 90 90"
jLmtUp="90 170 155 110"
jLmtLow="20 77 90 20"/>
<!-- 眼睛 -->
<Eye serial="64:4~9"
offest="90 90 90 90 90 90"
jLmtUp="90 150 165 90 120 115"
jLmtLow="20 90 90 25 70 75"/>
<!-- 嘴巴 -->
<Mouth serial="65:0~9"
offest="90 90 90 90 90 90 90 90 90 90"
jLmtUp="150 110 130 140 100 105 110 125 90 95"
jLmtLow="70 30 80 80 65 55 45 80 85 90"/>
</esp32>
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</BioHead >
<Microphone>
update camera intrinsics
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<!-- <ffmpegMicPhone id="mic1" alsa="hw:0" channels="2" sampleRate="44100" volume="80"/>-->
update
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<!-- <ffmpegMicPhone id="mic2" alsa="hw:1" channels="1" sampleRate="44100" volume="80"/>-->
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</Microphone>
<Speaker>
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<ffmpegSpeaker id="spk1" serial="" alas="hw:0,0" channels="2" sampleRate="44100" softResample="1" latency="50000" volume="100"/>
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</Speaker>
<Canbus>
<!-- <rightArmCan id="can1" brand="SOCKET_CAN_RAW" type="USB_CARD" channel_id="CHANNEL_ID_ZERO" interface="NATIVE" baudrate="BCAN_BAUDRATE_500K"/>-->
</Canbus>
</Devices>
<HighLevelController>
<BioHeadExpre headId="bio_head" />
<CartesianWBC urdf="" />
<ScreenTouch robotID="" DexhandID="" />
</HighLevelController>
</DeviceManager>
<MonitorManager>
<DiskMonitor id="file_monitor" freq="1">
<!-- <Folder fileDir="/home/share/assets/audio" maxVolume="1000"/>-->
<!-- <Folder fileDir="/home/share/assets/image" maxVolume="1000"/>-->
<!-- <Folder fileDir="/home/share/assets/video" maxVolume="1000"/>-->
<!-- <Folder fileDir="../log" maxVolume="1000"/>-->
</DiskMonitor>
<JointMonitor id="robot_joint_monitor" freq="200">
<RobotJoint robotID="left_arm" motorID="0" maxTemp="80" maxCurrent="5" maxVel="2"/>
<RobotJoint robotID="left_arm" motorID="1" maxTemp="80" maxCurrent="5" maxVel="2"/>
<RobotJoint robotID="left_arm" motorID="2" maxTemp="80" maxCurrent="5" maxVel="2"/>
<RobotJoint robotID="left_arm" motorID="3" maxTemp="80" maxCurrent="5" maxVel="2"/>
<RobotJoint robotID="left_arm" motorID="4" maxTemp="80" maxCurrent="5" maxVel="2"/>
<RobotJoint robotID="left_arm" motorID="6" maxTemp="80" maxCurrent="5" maxVel="2"/>
<RobotJoint robotID="left_arm" motorID="7" maxTemp="80" maxCurrent="5" maxVel="2"/>
<RobotJoint robotID="right_arm" motorID="0" maxTemp="80" maxCurrent="5" maxVel="2"/>
<RobotJoint robotID="right_arm" motorID="1" maxTemp="80" maxCurrent="5" maxVel="2"/>
<RobotJoint robotID="right_arm" motorID="2" maxTemp="80" maxCurrent="5" maxVel="2"/>
<RobotJoint robotID="right_arm" motorID="3" maxTemp="80" maxCurrent="5" maxVel="2"/>
<RobotJoint robotID="right_arm" motorID="4" maxTemp="80" maxCurrent="5" maxVel="2"/>
<RobotJoint robotID="right_arm" motorID="6" maxTemp="80" maxCurrent="5" maxVel="2"/>
<RobotJoint robotID="right_arm" motorID="7" maxTemp="80" maxCurrent="5" maxVel="2"/>
</JointMonitor>
</MonitorManager>
update
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<gRPCServer port="50052">
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</gRPCServer>
</CMVR-ES>
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