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[ergoCubSN002] Updating configuration files after robot testing (#642)
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Co-authored-by: ergocub <ergocub@iit.it>
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@AntonioConsilvio
AntonioConsilvio and ergocub authored Apr 17, 2024
1 parent f7878a4 commit e8619b9
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Showing 17 changed files with 44 additions and 44 deletions.
2 changes: 1 addition & 1 deletion ergoCubSN002/calibrators/head-calib.xml
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<!-- joint name neck-pitch neck-roll neck-yaw eyes-tilt -->
<group name="CALIBRATION">
<param name="calibrationType"> 12 12 12 12 </param>
<param name="calibration1"> 62951 -44411 13160 28977 </param>
<param name="calibration1"> 11307 -50691 52719 4995 </param>
<param name="calibration2"> 0 0 0 0 </param>
<param name="calibration3"> 0 0 0 0 </param>

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8 changes: 4 additions & 4 deletions ergoCubSN002/calibrators/left_arm-calib.xml
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Expand Up @@ -17,11 +17,11 @@
</group>
<group name="CALIBRATION">
<param name="calibrationType"> 10 10 10 10 12 12 12 12 14 12 14 14 14 </param>
<param name="calibration1"> 4000 -3000 -3000 4000 24917 14878 17235 0 300 0 300 300 300 </param>
<param name="calibration1"> 4000 -3000 -3000 4000 11385 11761 7561 0 300 0 300 300 300 </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 1 </param>
<param name="calibration4"> 0 0 0 0 0 0 0 0 0 0 32768 0 0 </param>
<param name="calibration5"> 0 0 0 0 0 0 0 0 6850 0 48450 37450 56800 </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 49961 0 22173 46002 14200 </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 -10 90 0.0 0.0 0.0 0.0 5.0 5.0 5.0 5.0 5.0 </param>
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</group>

<!-- <param name="CALIB_ORDER"> (4 5 6) (3) (2) (0) (1) (7 8) (9) (10 11 12) </param> --> <!-- Don't remove this line -->
<param name="CALIB_ORDER"> (4 5 6) (3) (2) (0) (1) (7 8) (9) (10 11 12) </param>
<param name="CALIB_ORDER"> (4 5 6) (3) (2) (0) (1) (7 8) (9) (10 11 12) </param>

<action phase="startup" level="10" type="calibrate">
<param name="target">left_arm-mc_remapper</param>
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4 changes: 2 additions & 2 deletions ergoCubSN002/calibrators/left_leg-calib.xml
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Expand Up @@ -15,7 +15,7 @@

<group name="CALIBRATION">
<param name="calibrationType"> 10 10 10 10 10 10 </param>
<param name="calibration1"> -5500 4000 -2500 -5000 2500 -3000 </param>
<param name="calibration1"> -5500 4000 -2500 -5000 4000 -3000 </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>
Expand All @@ -24,7 +24,7 @@
<param name="calibrationDelta"> 0 0 0 0 0 0 </param>
<param name="startupPosition"> 90 80 0 -95 0 0 </param>
<param name="startupVelocity"> 10.0 10.0 10.0 10 10 10 </param>
<param name="startupMaxPwm"> 8000 8000 8000 8000 12000 8000 </param>
<param name="startupMaxPwm"> 8000 8000 8000 8000 13000 8000 </param>
<param name="startupPosThreshold"> 2 2 2 2 2 2 </param>
</group>
<!-- <param name="CALIB_ORDER"> (2) (4) (5) (3) (0) (1) </param> --> <!-- Don't remove this line -->
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10 changes: 5 additions & 5 deletions ergoCubSN002/calibrators/right_arm-calib.xml
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Expand Up @@ -18,11 +18,11 @@
</group>
<group name="CALIBRATION">
<param name="calibrationType"> 10 10 10 10 12 12 12 12 14 12 14 14 14 </param>
<param name="calibration1"> -4000 3000 3000 -4000 1795 16373 11969 0 300 0 300 300 300 </param>
<param name="calibration1"> -4000 3000 3000 -4000 4617 8371 2523 0 300 0 300 300 300 </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 1 0 0 </param>
<param name="calibration4"> 0 0 0 0 0 0 0 0 0 0 32768 0 0 </param>
<param name="calibration5"> 0 0 0 0 0 0 0 0 25030 0 1230 32470 18350 </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 15700 0 51500 37150 16511 </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 -10 90 0.0 0.0 0.0 0.0 5.0 5.0 5.0 5.0 5.0 </param>
Expand All @@ -32,7 +32,7 @@
</group>

<!-- <param name="CALIB_ORDER"> (4 5 6) (3) (2) (0) (1) (7 8) (9) (10 11 12) </param> --> <!-- Don't remove this line -->
<param name="CALIB_ORDER">(4 5 6) (3) (2) (0) (1) (7 8) (9) (10 11 12) </param>
<param name="CALIB_ORDER"> (4 5 6) (3) (2) (0) (1) (7 8) (9) (10 11 12) </param>


<action phase="startup" level="10" type="calibrate">
Expand All @@ -45,4 +45,4 @@

<action phase="interrupt3" level="1" type="abort" />

</device>
</device>
4 changes: 2 additions & 2 deletions ergoCubSN002/calibrators/right_leg-calib.xml
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Expand Up @@ -17,7 +17,7 @@

<group name="CALIBRATION">
<param name="calibrationType"> 10 10 10 10 10 10 </param>
<param name="calibration1"> 5500 -4000 2500 5000 -2500 3000 </param>
<param name="calibration1"> 5500 -4000 2500 5000 -4000 3000 </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>
Expand All @@ -27,7 +27,7 @@

<param name="startupPosition"> 90 80 0 -95 0 0 </param>
<param name="startupVelocity"> 10.0 10.0 10.0 10 10 10 </param>
<param name="startupMaxPwm"> 8000 8000 8000 8000 12000 8000 </param>
<param name="startupMaxPwm"> 8000 8000 8000 8000 13000 8000 </param>
<param name="startupPosThreshold"> 2 2 2 2 2 2 </param>
</group>

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4 changes: 2 additions & 2 deletions ergoCubSN002/calibrators/torso-calib.xml
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Expand Up @@ -21,15 +21,15 @@
<!-- roll pitch yaw -->
<param name="calibrationType"> 12 12 12 </param>

<param name="calibration1"> 48803 22272 26900 </param>
<param name="calibration1"> 4062 22758 31628 </param>
<param name="calibration2"> 0 0 0 </param>
<param name="calibration3"> 0 0 0 </param>


<param name="calibration4"> 0 0 0 </param>
<param name="calibration5"> 0 0 0 </param>
<param name="calibrationZero"> 0 0 0 </param>
<param name="calibrationDelta"> -0.939 2.917 0 </param>
<param name="calibrationDelta"> -0.939 2.917 0 </param>

<param name="startupPosition"> 0 0 0 </param>
<param name="startupVelocity"> 10 10 10 </param>
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8 changes: 4 additions & 4 deletions ergoCubSN002/ergocub_all.xml
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Expand Up @@ -121,13 +121,13 @@
<xi:include href="wrappers/inertials/alljoints-inertials_wrapper.xml" />
<xi:include href="wrappers/inertials/alljoints-inertials_remapper.xml" />

<!-- BATTERY BAT
<!-- BATTERY BAT -->
<xi:include href="wrappers/battery/battery_bat.xml" />
<xi:include href="hardware/battery/battery_bat.xml" /> -->
<xi:include href="hardware/battery/battery_bat.xml" />

<!-- BATTERY BMS
<!-- BATTERY BMS -->
<xi:include href="wrappers/battery/battery_bms.xml" />
<xi:include href="hardware/battery/battery_bms.xml" /> -->
<xi:include href="hardware/battery/battery_bms.xml" />

<!-- CALIBRATORS -->
<xi:include href="calibrators/torso-calib.xml" />
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6 changes: 3 additions & 3 deletions ergoCubSN002/hardware/POS/left_hand-pos2.xml
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Expand Up @@ -40,9 +40,9 @@
<group name="CALIBRATION">
<!-- it is not mandatory. if not present, sensors have defaults: TYPE:decideg, ROT:zero, 0.0, false -->
<param name="type"> TYPE:decideg TYPE:decideg </param>
<param name="rotation"> ROT:plus180 ROT:zero </param>
<param name="offset"> -209.0 -161.0 </param>
<param name="invertDirection"> true true </param>
<param name="rotation"> ROT:zero ROT:zero </param>
<param name="offset"> -98.0 -111.0 </param>
<param name="invertDirection"> true true </param>
</group>

</group>
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2 changes: 1 addition & 1 deletion ergoCubSN002/hardware/POS/right_hand-pos2.xml
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Expand Up @@ -41,7 +41,7 @@
<!-- it is not mandatory. if not present, sensors have defaults: TYPE:decideg, ROT:zero, 0.0, false -->
<param name="type"> TYPE:decideg TYPE:decideg </param>
<param name="rotation"> ROT:plus180 ROT:zero </param>
<param name="offset"> -91.0 -291.0 </param>
<param name="offset"> -171.0 -293.0 </param>
<param name="invertDirection"> false false </param>
</group>

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4 changes: 2 additions & 2 deletions ergoCubSN002/hardware/mechanicals/left_arm-eb2-j0_1-mec.xml
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Expand Up @@ -30,11 +30,11 @@
<param name="Verbose"> 0 0 </param>
<param name="AutoCalibration"> 0 0 </param>
<param name="HasHallSensor"> 0 0 </param>
<param name="TemperatureSensorType"> NONE NONE </param> <!-- if using set it to PT100. HasTempSensor is gonna be deprecated -->
<param name="TemperatureSensorType"> PT100 NONE </param> <!-- if using set it to PT100. HasTempSensor is gonna be deprecated -->
<param name="HasRotorEncoder"> 1 1 </param>
<param name="HasRotorEncoderIndex"> 1 1 </param>
<param name="HasSpeedEncoder"> 0 0 </param>
<param name="RotorIndexOffset"> 214 284 </param>
<param name="RotorIndexOffset"> 246 79 </param>
<param name="MotorPoles"> 8 8 </param>
</group>

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4 changes: 2 additions & 2 deletions ergoCubSN002/hardware/mechanicals/left_arm-eb4-j2_3-mec.xml
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Expand Up @@ -30,11 +30,11 @@
<param name="Verbose"> 0 0 </param>
<param name="AutoCalibration"> 0 0 </param>
<param name="HasHallSensor"> 0 0 </param>
<param name="TemperatureSensorType"> NONE NONE </param> <!-- if using set it to PT100. HasTempSensor is gonna be deprecated-->
<param name="TemperatureSensorType"> PT100 PT100 </param> <!-- if using set it to PT100. HasTempSensor is gonna be deprecated-->
<param name="HasRotorEncoder"> 1 1 </param>
<param name="HasRotorEncoderIndex"> 1 1 </param>
<param name="HasSpeedEncoder"> 0 0 </param>
<param name="RotorIndexOffset"> 1 96 </param>
<param name="RotorIndexOffset"> 101 294 </param>
<param name="MotorPoles"> 8 8 </param>
</group>

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4 changes: 2 additions & 2 deletions ergoCubSN002/hardware/mechanicals/right_arm-eb1-j0_1-mec.xml
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Expand Up @@ -30,11 +30,11 @@
<param name="AutoCalibration"> 0 0 </param>
<param name="Verbose"> 0 0 </param>
<param name="HasHallSensor"> 0 0 </param>
<param name="TemperatureSensorType"> NONE NONE </param> <!-- if using set it to PT100. HasTempSensor is gonna be deprecated -->
<param name="TemperatureSensorType"> PT100 PT100 </param> <!-- if using set it to PT100. HasTempSensor is gonna be deprecated -->
<param name="HasRotorEncoder"> 1 1 </param>
<param name="HasRotorEncoderIndex"> 1 1 </param>
<param name="HasSpeedEncoder"> 0 0 </param>
<param name="RotorIndexOffset"> 270 177 </param>
<param name="RotorIndexOffset"> 317 235 </param>
<param name="MotorPoles"> 8 8 </param>
</group>

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4 changes: 2 additions & 2 deletions ergoCubSN002/hardware/mechanicals/right_arm-eb3-j2_3-mec.xml
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Expand Up @@ -30,11 +30,11 @@
<param name="AutoCalibration"> 0 0 </param>
<param name="Verbose"> 0 0 </param>
<param name="HasHallSensor"> 0 0 </param>
<param name="TemperatureSensorType"> NONE NONE </param> <!-- if using set it to PT100. HasTempSensor is gonna be deprecated -->
<param name="TemperatureSensorType"> PT100 PT100 </param> <!-- if using set it to PT100. HasTempSensor is gonna be deprecated -->
<param name="HasRotorEncoder"> 1 1 </param>
<param name="HasRotorEncoderIndex"> 1 1 </param>
<param name="HasSpeedEncoder"> 0 0 </param>
<param name="RotorIndexOffset"> 205 59 </param>
<param name="RotorIndexOffset"> 308 127 </param>
<param name="MotorPoles"> 8 8 </param>
</group>

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