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ergoCub - legs incremental calib (#418)
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Co-authored-by: icub <icub@iit.it>
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@davidetome
davidetome and icub committed Jan 19, 2023
1 parent a4632e7 commit 3dbb932
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Showing 11 changed files with 32 additions and 32 deletions.
2 changes: 1 addition & 1 deletion ergoCubSN000/calibrators/left_arm-calib.xml
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Expand Up @@ -29,7 +29,7 @@
<param name="startupPosThreshold"> 2 2 2 2 2 2 2 50 50 50 50 </param>
</group>

<param name="CALIB_ORDER">(1) (0) (2) (3) (4 5 6) (8 9 10)</param> <!-- joint 7 is not working (demo Rome 22) -->
<param name="CALIB_ORDER">(1) (0) (2) (3) (4 5 6) <!--(8 9 10) --></param> <!-- joint 7 is not working (demo Rome 22) -->
<action phase="startup" level="10" type="calibrate">
<param name="target">left_arm-mc_remapper</param>
</action>
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18 changes: 9 additions & 9 deletions ergoCubSN000/calibrators/left_leg-calib.xml
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Expand Up @@ -7,7 +7,7 @@
<param name="joints"> 6 </param> <!-- the number of joints of the robot part -->
<param name="deviceName"> Left_Leg_Calibrator </param>
</group>

pitch roll yaw knee ankle-pith ankle-roll >
<group name="HOME">
<param name="positionHome"> 0.00 5.00 0.00 0.00 0.00 0.00 </param>
<param name="velocityHome"> 10.00 10.00 10.00 10.00 10.00 10.00 </param>
Expand All @@ -16,24 +16,24 @@


<group name="CALIBRATION">
<param name="calibrationType"> 12 12 12 12 12 12 </param>
<param name="calibration1"> 714 501 999 -679 606 -427 </param>
<param name="calibrationType"> 10 10 10 10 10 10 </param>
<param name="calibration1"> -5500 4000 -2500 -4000 2500 -2000 </param>
<param name="calibration2"> 0.0 0.0 0 0 0 0 </param>
<param name="calibration3"> 0.0 0.0 0 0 0 0 </param>
<param name="calibration4"> 0.0 0.0 0 0 0 0 </param>
<param name="calibration5"> 0.0 0.0 0 0 0 0 </param>
<param name="calibrationZero"> 0 0 0 0 0 0 </param>
<param name="calibrationZero"> 108.91 110.67 80.5 7.23 -45.36 25.64 </param>
<param name="calibrationDelta"> 0 0 0 0 0 0 </param>

<param name="startupPosition"> 0 5 0 0 0 0 </param>
<param name="startupPosition"> 90 20 0 -95 0 0 </param>
<param name="startupVelocity"> 10.0 10.0 10.0 10 10 10 </param>
<param name="startupMaxPwm"> 2000 2000 2000 4000 2000 2000 </param>
<param name="startupMaxPwm"> 8000 8000 8000 8000 8000 8000 </param>
<param name="startupPosThreshold"> 2 2 2 2 2 2 </param>
</group>

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

<param name="CALIB_ORDER"> (2) (4) (5) (3) (0) (1) </param>
<!-- <param name="CALIB_ORDER"> (2) (4) (5) (3) (0) (1) </param> -->
<action phase="startup" level="10" type="calibrate">
<param name="target">left_leg-mc_remapper</param>
</action>
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12 changes: 6 additions & 6 deletions ergoCubSN000/calibrators/right_leg-calib.xml
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Expand Up @@ -16,22 +16,22 @@


<group name="CALIBRATION">
<param name="calibrationType"> 12 12 12 12 12 12 </param>
<param name="calibration1"> -2439 -855 -350 4569 -602 2501 </param>
<param name="calibrationType"> 10 10 10 10 10 10 </param>
<param name="calibration1"> 5500 -4000 2500 4000 -2500 2000 </param>
<param name="calibration2"> 0.0 0.0 0 0 0 0 </param>
<param name="calibration3"> 0.0 0.0 0 0 0 0 </param>
<param name="calibration4"> 0.0 0.0 0 0 0 0 </param>
<param name="calibration5"> 0.0 0.0 0 0 0 0 </param>
<param name="calibrationZero"> 0 0 0 0 0 0 </param>
<param name="calibrationZero"> 108.91 110.67 80.5 7.23 -45.36 25.64 </param>
<param name="calibrationDelta"> 0 0 0 0 0 0 </param>

<param name="startupPosition"> 0 5 0 0 0 0 </param>
<param name="startupPosition"> 90 20 0 -95 0 0 </param>
<param name="startupVelocity"> 10.0 10.0 10.0 10 10 10 </param>
<param name="startupMaxPwm"> 2000 2000 2000 4000 2000 2000 </param>
<param name="startupMaxPwm"> 8000 8000 8000 8000 8000 8000 </param>
<param name="startupPosThreshold"> 2 2 2 2 2 2 </param>
</group>

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

<action phase="startup" level="10" type="calibrate">
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4 changes: 2 additions & 2 deletions ergoCubSN000/hardware/mechanicals/left_leg-eb8-j0_3-mec.xml
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Expand Up @@ -19,8 +19,8 @@
</group>

<group name="LIMITS">
<param name="hardwareJntPosMax"> 94 120 80.5 6 </param>
<param name="hardwareJntPosMin"> -47 -20 -80.5 -80 </param>
<param name="hardwareJntPosMax"> 108.91 110.67 80.5 7.23 </param>
<param name="hardwareJntPosMin"> -44.81 -35 -80.5 -105.23 </param>
<param name="rotorPosMin"> 0 0 0 0 </param>
<param name="rotorPosMax"> 0 0 0 0 </param>
</group>
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4 changes: 2 additions & 2 deletions ergoCubSN000/hardware/mechanicals/left_leg-eb9-j4_5-mec.xml
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Expand Up @@ -20,8 +20,8 @@
</group>

<group name="LIMITS">
<param name="hardwareJntPosMax"> 45.00 25.00 </param>
<param name="hardwareJntPosMin"> -45.00 -25.00 </param>
<param name="hardwareJntPosMax"> 45.36 25.64 </param>
<param name="hardwareJntPosMin"> -45.36 -25.64 </param>
<param name="rotorPosMin"> 0 0 </param>
<param name="rotorPosMax"> 0 0 </param>
</group>
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6 changes: 3 additions & 3 deletions ergoCubSN000/hardware/mechanicals/right_leg-eb6-j0_3-mec.xml
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Expand Up @@ -21,9 +21,9 @@
</group>

<group name="LIMITS">
<!-- 0 1 2 3 -->
<param name="hardwareJntPosMax"> 94 120 80.5 6 </param>
<param name="hardwareJntPosMin"> -47 -20 -80.5 -80 </param>
<!-- 0 1 2 3 -->
<param name="hardwareJntPosMax"> 108.91 110.67 80.5 7.23 </param>
<param name="hardwareJntPosMin"> -44.81 -35 -80.5 -105.23 </param>
<param name="rotorPosMin"> 0 0 0 0 </param>
<param name="rotorPosMax"> 0 0 0 0 </param>
</group>
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4 changes: 2 additions & 2 deletions ergoCubSN000/hardware/mechanicals/right_leg-eb7-j4_5-mec.xml
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Expand Up @@ -19,8 +19,8 @@
</group>

<group name="LIMITS">
<param name="hardwareJntPosMax"> 45 25 </param>
<param name="hardwareJntPosMin"> -45 -25 </param>
<param name="hardwareJntPosMax"> 45.36 25.64 </param>
<param name="hardwareJntPosMin"> -45.36 -25.64 </param>
<param name="rotorPosMin"> 0 0 </param>
<param name="rotorPosMax"> 0 0 </param>
</group>
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4 changes: 2 additions & 2 deletions ergoCubSN000/hardware/motorControl/left_leg-eb8-j0_3-mc.xml
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Expand Up @@ -12,8 +12,8 @@
<!-- joint number 0 1 2 3 -->
<!-- joint name -->
<group name="LIMITS">
<param name="jntPosMax"> 90 100 70 3 </param>
<param name="jntPosMin"> -40 -2 -70 -70 </param>
<param name="jntPosMax"> 106 108 78 5 </param>
<param name="jntPosMin"> -42 2 -78 -103 </param>
<param name="jntVelMax"> 240 240 240 240 </param>
<param name="motorNominalCurrents"> 15000 15000 5000 10000 </param>
<param name="motorPeakCurrents"> 20000 20000 10000 15000 </param>
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2 changes: 1 addition & 1 deletion ergoCubSN000/hardware/motorControl/left_leg-eb9-j4_5-mc.xml
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Expand Up @@ -11,7 +11,7 @@
<!-- joint name knee ankle_pitch ankle_roll -->
<!-- joint number 0 1 2 -->
<group name="LIMITS">
<param name="jntPosMax"> 32 23 </param>
<param name="jntPosMax"> 43 23 </param>
<param name="jntPosMin"> -43 -23 </param>
<param name="jntVelMax"> 240 240 </param>
<param name="motorNominalCurrents"> 10000 10000 </param>
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4 changes: 2 additions & 2 deletions ergoCubSN000/hardware/motorControl/right_leg-eb6-j0_3-mc.xml
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Expand Up @@ -12,8 +12,8 @@
<!-- joint number 0 1 0 3 -->
<!-- joint name -->
<group name="LIMITS">
<param name="jntPosMax"> 90 100 70 3 </param>
<param name="jntPosMin"> -40 -2 -70 -70 </param>
<param name="jntPosMax"> 106 108 78 5 </param>
<param name="jntPosMin"> -42 2 -78 -103 </param>
<param name="jntVelMax"> 240 240 240 240 </param>
<param name="motorNominalCurrents"> 15000 15000 5000 10000 </param>
<param name="motorPeakCurrents"> 20000 20000 10000 15000 </param>
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4 changes: 2 additions & 2 deletions ergoCubSN000/hardware/motorControl/right_leg-eb7-j4_5-mc.xml
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Expand Up @@ -11,8 +11,8 @@
<!-- joint name ankle_pitch ankle_roll -->
<!-- joint number 0 1 -->
<group name="LIMITS">
<param name="jntPosMax"> 32 23 </param>
<param name="jntPosMin"> -45 -23 </param>
<param name="jntPosMax"> 43 23 </param>
<param name="jntPosMin"> -43 -23 </param>
<param name="jntVelMax"> 240 240 </param>
<param name="motorNominalCurrents"> 10000 10000 </param>
<param name="motorPeakCurrents"> 15000 15000 </param>
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