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iCubGenova01 - Update fingers calibration #299

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Merged
merged 1 commit into from
Oct 14, 2021
Merged

iCubGenova01 - Update fingers calibration #299

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2 changes: 1 addition & 1 deletion iCubGenova01/calibrators/left_hand_calib.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -21,7 +21,7 @@
<!--USE THIS FOR CAN ROBOT CALIBRATION-->
<group name="CALIBRATION">
<param name="calibrationType"> 3 4 4 4 4 4 4 4 </param>
<param name="calibration1"> 1204.5 252.0 16.0 245.0 37.0 254.0 26.0 746.0 </param>
<param name="calibration1"> 1314.1 255.0 5.0 247.0 38.0 255.0 0.0 650.0 </param>
<param name="calibration2"> 10.0 10.0 30.0 10.0 10.0 10.0 10.0 10.0 </param>
<param name="calibration3"> 0.0 6000.0 -6600.0 6000.0 7000.0 6000.0 -7000.0 -14000.0 </param>
<param name="startupPosition"> 45.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 </param>
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2 changes: 1 addition & 1 deletion iCubGenova01/calibrators/right_hand_calib.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -22,7 +22,7 @@
<!--USE THIS FOR CAN ROBOT CALIBRATION-->
<group name="CALIBRATION">
<param name="calibrationType"> 3 4 4 4 4 4 4 4 </param>
<param name="calibration1"> 1547.8 255.0 35.0 245.0 42.0 253.0 14.0 675.0 </param>
<param name="calibration1"> 1580.7 255.0 5.0 196.0 13.0 207.0 22.0 627.0 </param>
<param name="calibration2"> 10.0 10.0 30.0 10.0 10.0 10.0 10.0 10.0 </param>
<param name="calibration3"> 0.0 6000.0 6600.0 6000.0 -7000.0 6000.0 7000.0 14000.0 </param>
<param name="startupPosition"> 45.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 </param>
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4 changes: 2 additions & 2 deletions iCubGenova01/hardware/motorControl/icub_left_hand.xml
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Expand Up @@ -31,8 +31,8 @@
<param name="AxisMap"> 0 1 2 3 4 5 6 7 </param>
<param name="AxisName"> "l_thumb_oppose" "l_thumb_proximal" "l_thumb_distal" "l_index_proximal" "l_index_distal" "l_middle_proximal" "l_middle_distal" "l_pinky" </param>
<param name="AxisType"> "revolute" "revolute" "revolute" "revolute" "revolute" "revolute" "revolute" "revolute" </param>
<param name="Encoder"> 9.85 -2.433 -2.712 -2.544 -2.494 -2.822 -2.694 -2.096 </param>
<param name="Zeros"> 112.22 -103.56 -175.90 -96.29 -184.83 -90.00 -179.65 -355.92 </param>
<param name="Encoder"> 7.611 -2.478 -2.765 -2.744 -2.406 -2.833 -2.576 -2.040 </param>
<param name="Zeros"> 162.66 -102.91 -171.81 -90.00 -185.79 -90.00 -170.00 -318.63 </param>
<param name="fullscalePWM"> 1333 1333 1333 1333 1333 1333 1333 1333 </param>
<param name="ampsToSensor"> 1000.0 1000.0 1000.0 1000.0 1000.0 1000.0 1000.0 1000.0 </param>

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4 changes: 2 additions & 2 deletions iCubGenova01/hardware/motorControl/icub_right_hand.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -31,8 +31,8 @@
<param name="AxisMap"> 0 1 2 3 4 5 6 7 </param>
<param name="AxisName"> "r_thumb_oppose" "r_thumb_proximal" "r_thumb_distal" "r_index_proximal" "r_index_distal" "r_middle_proximal" "r_middle_distal" "r_pinky" </param>
<param name="AxisType"> "revolute" "revolute" "revolute" "revolute" "revolute" "revolute" "revolute" "revolute" </param>
<param name="Encoder"> 10.778 -2.344 -2.771 -2.500 -2.559 -2.733 -2.794 -1.400 </param>
<param name="Zeros"> 133.61 -107.06 -180.83 -98.00 -186.41 -92.56 -175.01 -480.70 </param>
<param name="Encoder"> 8.867 -2.344 -2.453 -2.078 -2.365 -2.300 -2.359 -1.716 </param>
<param name="Zeros"> 168.27 -107.06 -172.04 -94.33 -175.50 -90.00 -179.33 -365.38 </param>
<param name="fullscalePWM"> 1333 1333 1333 1333 1333 1333 1333 1333 </param>
<param name="ampsToSensor"> 1000.0 1000.0 1000.0 1000.0 1000.0 1000.0 1000.0 1000.0 </param>

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