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Uboldi80iCub
Uboldi80
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iCub
authored
iCubNancy01 - final configuration files (#291)
Co-authored-by: iCub <icub@icub.com>
1 parent d40d47b commit f92ce7f

23 files changed

+115
-94
lines changed

‎iCubNancy01/calibrators/left_arm-calib.xml‎

Lines changed: 12 additions & 12 deletions
Original file line numberDiff line numberDiff line change
@@ -15,19 +15,19 @@
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<group name="CALIBRATION">
18-
<param name="calibrationType"> 3 3 3 3 0 2 2 7 7 6 6 6 6 6 6 6 </param>
19-
<param name="calibration1"> 38229.2 51882.5 -4411.6 24575.9 500.0 750.0 750.0 2250.0 2877.8 0.0 0.0 0.0 0.0 0.0 0.0 0.0 </param>
20-
<param name="calibration2"> 10.0 10.0 10.0 10.0 20.0 -10.0 -10.0 100.0 10.0 10.0 30.0 10.0 10.0 10.0 10.0 10.0 </param>
21-
<param name="calibration3"> 28463.1 10527.0 46798.9 34094.9 0.0 0.0 0.0 0.0 0.0 -1 1 -1 1 -1 1 -1 </param>
22-
<param name="calibration4"> 0 0 0 0 0 0 0 2490 3160 252 481 252 500 218 495 715 </param>
23-
<param name="calibration5"> 0 0 0 0 0 0 0 2690 790 20 40 0 32 22 8 150 </param>
24-
<param name="calibrationZero"> -180.00 -315.00 -180.00 -180.00 90.00 -20.00 -52.00 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 </param>
25-
<param name="calibrationDelta"> -7 -2.9 0.4 -3.5 0.0 0.0 9.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 </param>
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<param name="startupPosition"> -30.0 30.0 0.0 45.0 0.0 0.0 0.0 15.0 30.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 </param>
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<param name="calibrationType"> 3 3 3 3 0 2 2 7 7 6 6 6 6 6 6 6 </param>
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<param name="calibration1"> 38229.2 51882.5 32767 24575.9 500.0 750.0 750.0 1600 2850 0.0 0.0 0.0 0.0 0.0 0.0 0.0 </param>
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<param name="calibration2"> 10.0 10.0 10.0 10.0 20.0 -10.0 -10.0 50 10.0 10.0 30.0 10.0 10.0 10.0 10.0 10.0 </param>
21+
<param name="calibration3"> 34722.9 10159.0 0360.1 35150.1 0 -332 -6000 0.0 0.0 -1 1 -1 1 -1 1 -1 </param>
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<param name="calibration4"> 0 0 0 0 0 0 0 1420 720 255 460 230 430 220 425 670 </param>
23+
<param name="calibration5"> 0 0 0 0 0 0 0 1334 2327 35 45 10 16 25 0 110 </param>
24+
<param name="calibrationZero"> -180.00 -315.00 -180.00 -180.00 90.00 -10 -30.00 0.0 0 20 0.0 0.0 0.0 0.0 0.0 0.0 </param>
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<param name="calibrationDelta"> 18 -6 -70 -2 -4 0.0 -5 0.0 0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 </param>
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<param name="startupPosition"> -30.0 30.0 0.0 45.0 0.0 0.0 0.0 15 30.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 </param>
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<param name="startupVelocity"> 10.0 10.0 10.0 10.0 30.0 30.0 30.0 100.0 100.0 100.0 100.0 100.0 100.0 100.0 100.0 100.0 </param>
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<param name="startupMaxPwm"> 2000 2000 2000 2000 0 0 0 0 0 0 0 0 0 0 0 0 </param>
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<param name="startupPosThreshold"> 2 2 2 2 2 2 90 90 1000 1000 1000 1000 1000 1000 1000 1000 </param>
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<param name="startupMaxPwm"> 2000 2000 2000 2000 0 0 0 100 100 0 0 0 0 0 0 0 </param>
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<param name="startupPosThreshold"> 2 2 2 2 2 2 90 90 90 1000 1000 1000 1000 1000 1000 1000 </param>
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</group>
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<param name="CALIB_ORDER">(0 1 2 3) (4 6 7) (5) (8 9 11 13) (10 12 14 15) </param>

‎iCubNancy01/calibrators/left_leg-calib.xml‎

Lines changed: 15 additions & 15 deletions
Original file line numberDiff line numberDiff line change
@@ -4,36 +4,36 @@
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<xi:include href="../general.xml"/>
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<group name="GENERAL">
7-
<param name="joints"> 6 </param> <!-- the number of joints of the robot part -->
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<param name="joints"> 6 </param> <!-- the number of joints of the robot part -->
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<param name="deviceName"> Left_Leg_Calibrator </param>
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</group>
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<group name="HOME">
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<param name="positionHome"> 0.00 10.00 0.00 0.00 0.00 0.00 </param>
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<param name="velocityHome"> 10.00 10.00 10.00 10.00 10.00 10.00 </param>
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<param name="velocityHome"> 10.00 10.00 10.00 10.00 10.00 10.00 </param>
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</group>
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<group name="CALIBRATION">
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<param name="calibrationType"> 3 3 3 3 3 3 </param>
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<param name="calibration1"> 32767.9 32767.9 32767.9 32767.9 32767.9 32767.9 </param>
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<param name="calibration2"> 10.0 10.0 10.0 10.0 10.0 10.0 </param>
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<param name="calibration3"> 48094.9 22911.1 1103.1 42142.9 45646.9 35326.9 </param>
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<param name="calibration4"> 0.0 0.0 0.0 0.0 0.0 0.0 </param>
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<param name="calibration5"> 0.0 0.0 0.0 0.0 0.0 0.0 </param>
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<param name="calibrationZero"> 180.00 180.00 180.00 -180.00 -180.00 180.00 </param>
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<param name="calibrationDelta"> 1.15 -1.0 -3.4 -5.0 4.6 0.0 </param>
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<param name="calibrationType"> 3 3 3 3 3 3 </param>
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<param name="calibration1"> 32767.9 32767.9 32767.9 32767.9 32767.9 32767.9 </param>
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<param name="calibration2"> 10.0 10.0 10.0 10.0 10.0 10.0 </param>
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<param name="calibration3"> 48094.9 22911.1 1103.1 42142.9 45646.9 35326.9 </param>
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<param name="calibration4"> 0.0 0.0 0.0 0.0 0.0 0.0 </param>
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<param name="calibration5"> 0.0 0.0 0.0 0.0 0.0 0.0 </param>
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<param name="calibrationZero"> 180.00 180.00 180.00 -180.00 -180.00 180.00 </param>
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<param name="calibrationDelta"> 1.15 4.0 -3.4 -5.0 4.6 0.0 </param>
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<!-- put j1 >= 5 for startup to avoid touching the pole with the leg cover -->
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<param name="startupPosition"> 0 5.0 0 0 0 0 </param>
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<param name="startupVelocity"> 10.0 10.0 10.0 10.0 10.0 10.0 </param>
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<param name="startupMaxPwm"> 1200 1200 1200 1200 1200 1200 </param>
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<param name="startupPosThreshold"> 2 2 2 2 2 2 </param>
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<param name="startupVelocity"> 10.0 10.0 10.0 10.0 10.0 10.0 </param>
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<param name="startupMaxPwm"> 1500 1500 1500 1500 1200 1200 </param>
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<param name="startupPosThreshold"> 2 2 2 2 2 2 </param>
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</group>
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<param name="CALIB_ORDER"> (0 1 2 3 4 5) </param>
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<param name="CALIB_ORDER"> (0 1 2 3 4 5)</param>
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<action level="10" phase="startup" type="calibrate">
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<param name="target">left_leg-mc_wrapper</param>
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</action>

‎iCubNancy01/calibrators/right_arm-calib.xml‎

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Original file line numberDiff line numberDiff line change
@@ -16,18 +16,18 @@
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<group name="CALIBRATION">
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<param name="calibrationType"> 3 3 3 3 0 2 2 7 7 6 6 6 6 6 6 6 </param>
19-
<param name="calibration1"> 27306.6 13653.3 44740.2 40959.9 500.0 750.0 750.0 1245.0 3041.1 0.0 0.0 0.0 0.0 0.0 0.0 0.0 </param>
20-
<param name="calibration2"> 10.0 10.0 10.0 10.0 -20.0 10.0 10.0 100.0 10.0 10.0 30.0 10.0 10.0 10.0 10.0 10.0 </param>
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<param name="calibration3"> 21999.1 23135.0 51294.9 12447.1 0.0 0.0 0.0 0.0 0.0 -1 1 -1 1 -1 1 -1 </param>
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<param name="calibration4"> 0 0 0 0 0 0 0 1380 2660 233 455 251 462 238 466 708 </param>
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<param name="calibration5"> 0 0 0 0 0 0 0 1520 2038 10 43 0 35 0 6 110 </param>
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<param name="calibrationZero"> 180.00 45.00 180.00 180.00 90.00 -20.00 -52.00 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 </param>
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<param name="calibrationDelta"> -3.9 -8.5 -9.9 -6.5 0.0 0.0 12 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 </param>
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<param name="startupPosition"> -30.0 30.0 0.0 45.0 0.0 0.0 0.0 15.0 30.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 </param>
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<param name="calibration1"> 27306.6 13653.3 44740.2 40959.9 500.0 750.0 750.0 1245.0 2841.1 0.0 0.0 0.0 0.0 0.0 0.0 0.0 </param>
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<param name="calibration2"> 10.0 10.0 10.0 10.0 -20.0 10.0 10.0 50.0 10.0 10.0 30.0 10.0 10.0 10.0 10.0 10.0 </param>
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<param name="calibration3"> 21999.1 23135.0 51294.9 12447.1 0.0 -3017 -5810 0.0 0.0 -1 1 -1 1 -1 1 -1 </param>
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<param name="calibration4"> 0 0 0 0 0 0 0 1334 2150 233 450 251 416 255 450 670 </param>
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<param name="calibration5"> 0 0 0 0 0 0 0 1590 2595 10 15 0 25 50 6 60 </param>
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<param name="calibrationZero"> 180.00 45.00 180.00 180.00 90.00 0.00 -52.00 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 </param>
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<param name="calibrationDelta"> -8 -11.5 -4 -8.5 12.0 -10 12 0.0 22 0.0 0.0 0.0 0.0 0.0 0.0 0.0 </param>
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<param name="startupPosition"> -30.0 30.0 0.0 45.0 0.0 0.0 0.0 15.0 30 0.0 0.0 0.0 0.0 0.0 0.0 0.0 </param>
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<param name="startupVelocity"> 10.0 10.0 10.0 10.0 30.0 30.0 30.0 100.0 100.0 100.0 100.0 100.0 100.0 100.0 100.0 100.0 </param>
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<param name="startupMaxPwm"> 2000 2000 2000 2000 0 0 0 0 0 0 0 0 0 0 0 0 </param>
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<param name="startupPosThreshold"> 2 2 2 2 2 2 90 90 1000 1000 1000 1000 1000 1000 1000 1000 </param>
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<param name="startupMaxPwm"> 2000 2000 2000 2000 0 1000 1000 0 0 0 0 0 0 0 0 0 </param>
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<param name="startupPosThreshold"> 2 2 2 2 2 100 100 90 1000 1000 1000 1000 1000 1000 1000 1000 </param>
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</group>
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<param name="CALIB_ORDER">(0 1 2 3) (4 6 7) (5) (8 9 11 13) (10 12 14 15) </param>

‎iCubNancy01/calibrators/right_leg-calib.xml‎

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Original file line numberDiff line numberDiff line change
@@ -23,12 +23,12 @@
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<param name="calibration4"> 0.0 0.0 0.0 0.0 0.0 0.0 </param>
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<param name="calibration5"> 0.0 0.0 0.0 0.0 0.0 0.0 </param>
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<param name="calibrationZero"> -180.00 -180.00 -180.00 180.00 180.00 -180.00 </param>
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<param name="calibrationDelta"> 0.5 -3.5 0.5 -3.5 5.2 1.0 </param>
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<param name="calibrationDelta"> 0.5 3.2 0.5 -3.5 5.2 1.0 </param>
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<!-- put j1 >= 5 for startup to avoid touching the pole with the leg cover -->
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<param name="startupPosition"> 0 5.0 0 0 0 0 </param>
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<param name="startupVelocity"> 10.0 10.0 10.0 10.0 10.0 10.0 </param>
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<param name="startupMaxPwm"> 1200 1200 1200 1200 4200 4200 </param>
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<param name="startupMaxPwm"> 1500 1500 1500 1500 1200 1200 </param>
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<param name="startupPosThreshold"> 2 2 2 2 2 2 </param>
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</group>
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‎iCubNancy01/calibrators/torso-calib.xml‎

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Original file line numberDiff line numberDiff line change
@@ -25,7 +25,7 @@
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<param name="calibrationZero"> 180.00 180.00 180.00 </param>
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<param name="calibrationDelta"> -1.0 -1.9 1.8 </param>
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<param name="startupPosition"> 0.0 0.0 0.0 </param>
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<param name="startupPosition"> 0.0 0.0 -4.0 </param>
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<param name="startupVelocity"> 10.0 10.0 10.0 </param>
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<param name="startupMaxPwm"> 2000 2000 2000 </param>
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<param name="startupPosThreshold"> 2 2 2 </param>

‎iCubNancy01/hardware/FT/left_leg-eb6-j0_3-strain.xml‎

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Original file line numberDiff line numberDiff line change
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6-
<device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_leg-eb6-j0_3-strain" type="embObjStrain">
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<device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_leg-eb6-j0_3-strain" type="embObjFTsensor">
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<xi:include href="../../general.xml"/>
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<group name="PROPERTIES">
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<group name="CANBOARDS">
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<param name="type"> eobrd_strain </param>
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<param name="type"> strain2 </param>
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<group name="PROTOCOL">
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<param name="major"> 1 </param>
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<param name="major"> 2 </param>
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<param name="minor"> 0 </param>
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</group>
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<group name="FIRMWARE">
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<param name="major"> 2 </param>
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<param name="minor"> 0 </param>
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<param name="build"> 4 </param>
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<param name="build"> 9 </param>
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</group>
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</group>
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‎iCubNancy01/hardware/FT/left_leg-eb7-j4_5-strain.xml‎

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Original file line numberDiff line numberDiff line change
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6-
<device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_leg-eb7-j4_5-strain" type="embObjStrain">
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<device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_leg-eb7-j4_5-strain" type="embObjFTsensor">
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<xi:include href="../../general.xml"/>
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<group name="PROPERTIES">
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<group name="CANBOARDS">
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<param name="type"> eobrd_strain </param>
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<param name="type"> strain2 </param>
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<group name="PROTOCOL">
22-
<param name="major"> 1 </param>
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<param name="major"> 2 </param>
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<param name="minor"> 0 </param>
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</group>
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<group name="FIRMWARE">
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<param name="major"> 2 </param>
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<param name="minor"> 0 </param>
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<param name="build"> 4 </param>
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<param name="build"> 9 </param>
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</group>
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</group>
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