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Use calib 6 for open-close finger joints right arm of ergoCubSN000 (#461
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@MSECode
MSECode committed Mar 24, 2023
1 parent 8c0beac commit a8b0d52
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Showing 5 changed files with 41 additions and 40 deletions.
32 changes: 16 additions & 16 deletions ergoCubSN000/calibrators/left_arm-calib.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -11,27 +11,27 @@
</group>

<group name="HOME">
<param name="positionHome"> 5 30 0 10 0 0 0 30.00 30.00 30.00 30.00 30.00 30.00 </param>
<param name="velocityHome"> 10 10 10 10 10 10 10 40.00 40.00 40.00 40.00 40.00 40.00 </param>
<!-- shoulder-pitch shoulder-roll shoulder-yaw elbow wrist-yaw wrist-roll wrist-pitch thumb_add thumb_oc index_add index_oc middle_oc ring_pinky_oc -->
<param name="positionHome"> 5 30 0 10 0 0 0 30.00 30.00 30.00 30.00 30.00 30.00 </param>
<param name="velocityHome"> 10 10 10 10 10 10 10 40.00 40.00 40.00 40.00 40.00 40.00 </param>
</group>
<group name="CALIBRATION">
<param name="calibrationType"> 10 10 10 10 12 12 12 12 6 12 6 6 6 </param>
<param name="calibration1"> 4000 -3000 -3000 4000 10816 7369 21632 0 0 0 0 0 0 </param>
<param name="calibration2"> 0 0 0 0 0 0 0 0 9102 0 9102 9102 9102 </param>
<param name="calibration3"> 0 0 0 0 0 0 0 0 1 0 1 1 1 </param>
<param name="calibration4"> 0 0 0 0 0 0 0 0 0 0 0 0 0 </param>
<param name="calibration5"> 0 0 0 0 0 0 0 0 10923 0 14564 14564 14564 </param>
<param name="calibrationZero"> 35 -15 -52 -5 0 0 0 0 0 0 0 0 0 </param>
<param name="calibrationDelta"> 0 0 0 0 0 0 0 0 0 0 0 0 0 </param>
<param name="startupPosition"> 34 50 0 10 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 </param>
<param name="startupVelocity"> 10.0 10.0 10.0 10.0 10.0 10.0 10.0 100.0 100.0 0.0 100 100.0 100.0 </param>
<param name="startupMaxPwm"> 8000 8000 8000 8000 16000 16000 16000 0 0 0 0 0 0 </param>
<param name="startupPosThreshold"> 2 2 2 2 2 2 2 90 90 90 90 90 90 </param>
<param name="calibrationType"> 10 10 10 10 12 12 12 12 6 12 6 6 6 </param>
<param name="calibration1"> 4000 -3000 -3000 4000 17565 8161 21461 0 0 0 0 0 0 </param>
<param name="calibration2"> 0 0 0 0 0 0 0 0 9102 0 9102 9102 9102 </param>
<param name="calibration3"> 0 0 0 0 0 0 0 0 1 0 1 1 1 </param>
<param name="calibration4"> 0 0 0 0 0 0 0 0 0 0 0 0 0 </param>
<param name="calibration5"> 0 0 0 0 0 0 0 0 10923 0 14564 13653 12743 </param>
<param name="calibrationZero"> 35 -15 -52 -5 0 0 0 0 0 0 0 0 0 </param>
<param name="calibrationDelta"> 0 0 0 0 0 0 0 0 0 0 0 0 0 </param>
<param name="startupPosition"> 34 50 0 10 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 </param>
<param name="startupVelocity"> 10.0 10.0 10.0 10.0 10.0 10.0 10.0 100.0 100.0 0.0 100 100.0 100.0 </param>
<param name="startupMaxPwm"> 8000 8000 8000 8000 16000 16000 16000 0 0 0 0 0 0 </param>
<param name="startupPosThreshold"> 2 2 2 2 2 2 2 90 90 90 90 90 90 </param>
</group>

<!-- motor's encoder of joint 7 can't read -->

<param name="CALIB_ORDER"> (4 5 6) (3) (2) (0) (1) (8) (7 9 10) (11 12) </param>
<param name="CALIB_ORDER"> (4 5 6) (2) (0) (1) (3) (7 8) (10) (11 12) </param>

<action phase="startup" level="10" type="calibrate">
<param name="target">left_arm-mc_remapper</param>
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34 changes: 17 additions & 17 deletions ergoCubSN000/calibrators/right_arm-calib.xml
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Expand Up @@ -11,27 +11,27 @@
</group>

<group name="HOME">
<!-- shoulder-pitch shoulder-roll shoulder-yaw elbow wrist-yaw wrist-roll wrist-pitch -->
<param name="positionHome"> 5 30 0 10 0 0 0 30.00 30.00 30.00 30.00 30.00 30.00 </param>
<param name="velocityHome"> 10 10 10 10 10 10 10 40.00 40.00 40.00 40.00 40.00 40.00 </param>
<!-- For calib6 to set calibration5, i.e. target just multiply desidered pos in deg by 182,044444 (2^(16)/360) -->
<!-- shoulder-pitch shoulder-roll shoulder-yaw elbow wrist-yaw wrist-roll wrist-pitch thumb_add thumb_oc index_add index_oc middle_oc ring_pinky_oc -->
<param name="positionHome"> 5 30 0 10 0 0 0 30.00 30.00 30.00 30.00 30.00 30.00 </param>
<param name="velocityHome"> 10 10 10 10 10 10 10 40.00 40.00 40.00 40.00 40.00 40.00 </param>
</group>
<group name="CALIBRATION">
<param name="calibrationType"> 10 10 10 10 12 12 12 12 12 12 12 12 12 </param>
<param name="calibration1"> -4000 3000 3000 -4000 19023 28993 36030 0 0 0 0 0 0 </param>
<param name="calibration2"> 0 0 0 0 0 0 0 0 0 0 0 0 0 </param>
<param name="calibration3"> 0 0 0 0 0 0 0 0 0 0 0 0 0 </param>
<param name="calibration4"> 0 0 0 0 0 0 0 0 0 0 0 0 0 </param>
<param name="calibration5"> 0 0 0 0 0 0 0 0 0 0 0 0 0 </param>
<param name="calibrationZero"> 35 -15 -52 -5 0 0 0 0 0 0 0 0 0 </param>
<param name="calibrationDelta"> 0 0 0 0 0 0 0 0 0 0 0 0 0 </param>
<param name="startupPosition"> 34 50 0 10 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0 </param>
<param name="startupVelocity"> 10.0 10.0 10.0 10.0 10.0 10.0 10.0 100.0 100.0 0.0 100 100.0 100.0 </param>
<param name="startupMaxPwm"> 8000 8000 8000 8000 16000 16000 16000 0 0 0 0 0 0 </param>
<param name="startupPosThreshold"> 2 2 2 2 2 2 2 90 90 90 90 90 90 </param>
<param name="calibrationType"> 10 10 10 10 12 12 12 12 6 12 6 6 6 </param>
<param name="calibration1"> -4000 3000 3000 -4000 19023 28993 36030 0 0 0 0 0 0 </param>
<param name="calibration2"> 0 0 0 0 0 0 0 0 9102 0 9102 9102 9102 </param>
<param name="calibration3"> 0 0 0 0 0 0 0 0 1 0 1 1 1 </param>
<param name="calibration4"> 0 0 0 0 0 0 0 0 0 0 0 0 0 </param>
<param name="calibration5"> 0 0 0 0 0 0 0 0 10923 0 12743 13653 12743 </param>
<param name="calibrationZero"> 35 -15 -52 -5 0 0 0 0 0 0 0 0 0 </param>
<param name="calibrationDelta"> 0 0 0 0 0 0 0 0 0 0 0 0 0 </param>
<param name="startupPosition"> 34 50 0 10 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0 </param>
<param name="startupVelocity"> 10.0 10.0 10.0 10.0 10.0 10.0 10.0 30.0 30.0 30.0 30.0 30.0 30.0 </param>
<param name="startupMaxPwm"> 8000 8000 8000 8000 16000 16000 16000 0 0 0 0 0 0 </param>
<param name="startupPosThreshold"> 2 2 2 2 2 2 2 90 90 90 90 90 90 </param>
</group>

<!-- <param name="CALIB_ORDER"> (4 5 6) (2) (0) (1) (3) (7 8) (11 12) </param> -->
<param name="CALIB_ORDER"> (3) (2) (0) (1) (7 8) (11 12) </param>
<param name="CALIB_ORDER"> (4 5 6) (2) (0) (1) (3) (7 8) (9 10) (11 12) </param>

<action phase="startup" level="10" type="calibrate">
<param name="target">right_arm-mc_remapper</param>
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6 changes: 3 additions & 3 deletions ergoCubSN000/hardware/mechanicals/left_arm-eb23-j7_10-mec.xml
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Expand Up @@ -9,7 +9,7 @@
<!-- joint number in sub-part 0 1 2 3 -->
<!-- joint name -->
<param name="AxisMap"> 0 1 2 3 </param>
<param name="AxisName"> "l_thumb_oc" "l_index_oc" "l_middle_oc" "l_ring_pinky_oc" </param>
<param name="AxisName"> "l_thumb_oc" "l_index_oc" "l_middle_oc" "l_ring_pinky_oc" </param>
<param name="AxisType"> "revolute" "revolute" "revolute" "revolute" </param>
<param name="Encoder"> 182.044 182.044 182.044 182.044 </param>
<param name="fullscalePWM"> 3360 3360 3360 3360 </param>
Expand All @@ -25,8 +25,8 @@
<group name="LIMITS">
<param name="hardwareJntPosMax"> 90 90 90 90 </param>
<param name="hardwareJntPosMin"> 0 0 0 0 </param>
<param name="rotorPosMin"> 0 -1000 -1000 -1000 </param>
<param name="rotorPosMax"> 0 32000 37000 24000 </param>
<param name="rotorPosMin"> -5000 -8000 -15000 -5000 </param>
<param name="rotorPosMax"> 20000 27000 25000 24000 </param>
</group>

<group name="COUPLINGS">
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7 changes: 4 additions & 3 deletions ergoCubSN000/hardware/mechanicals/right_arm-eb22-j7_10-mec.xml
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Expand Up @@ -9,7 +9,7 @@
<!-- joint number in sub-part 0 1 2 3 -->
<!-- joint name -->
<param name="AxisMap"> 0 1 2 3 </param>
<param name="AxisName"> "r_thumb_oc" "r_index_oc" "r_middle_oc" "r_ring_pinky_oc" </param>
<param name="AxisName"> "r_thumb_oc" "r_index_oc" "r_middle_oc" "r_ring_pinky_oc" </param>
<param name="AxisType"> "revolute" "revolute" "revolute" "revolute" </param>
<param name="Encoder"> 182.044 182.044 182.044 182.044 </param>
<param name="fullscalePWM"> 3360 3360 3360 3360 </param>
Expand All @@ -23,10 +23,11 @@
</group>

<group name="LIMITS">
<!-- After run 1st round of calibration check best rotorPosMin and rotorPosMin on motor position in the yarpmotorgui and set them (just do that one time)-->
<param name="hardwareJntPosMax"> 90 90 90 90 </param>
<param name="hardwareJntPosMin"> 0 0 0 0 </param>
<param name="rotorPosMin"> 0 0 0 0 </param>
<param name="rotorPosMax"> 0 0 0 0 </param>
<param name="rotorPosMin"> -25000 -3000 -5000 -5000 </param>
<param name="rotorPosMax"> 3000 32000 22000 27000 </param>
</group>

<group name="COUPLINGS">
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2 changes: 1 addition & 1 deletion ergoCubSN000/hardware/motorControl/right_arm-eb22-j7_10-mc.xml
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Expand Up @@ -14,7 +14,7 @@
<!-- joint name thumb index medium pinky -->
<group name="LIMITS">
<param name="jntPosMin"> 0 0 0 0 </param>
<param name="jntPosMax"> 85 85 85 85 </param>
<param name="jntPosMax"> 85 75 85 85 </param>
<param name="jntVelMax"> 1000 1000 1000 1000 </param>
<param name="motorOverloadCurrents"> 2000 2000 2000 2000 </param>
<param name="motorNominalCurrents"> 700 700 700 700 </param>
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