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[iCubErzelli02] - Arms calibration and FT (strain2) upgrade #336

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Merged
merged 1 commit into from
Feb 7, 2022
Merged

[iCubErzelli02] - Arms calibration and FT (strain2) upgrade #336

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8 changes: 4 additions & 4 deletions iCubErzelli02/calibrators/left_arm-calib.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -17,13 +17,13 @@

<group name="CALIBRATION">
<param name="calibrationType"> 12 12 12 12 5 12 12 7 7 6 6 6 6 6 6 6 </param>
<param name="calibration1"> 24431 45279 15071 18911 -1500 1455 319 0 0 0 0 0 0 0 0 0 </param>
<param name="calibration2"> 0 0 0 0 16384 0 0 0 0 9102 9102 9102 9102 9102 9102 3640 </param>
<param name="calibration3"> 0 0 0 0 0 0 0 0 0 -1 1 -1 1 -1 1 -1 </param>
<param name="calibration1"> 24223 45327 16079 18719 -1500 1455 319 0 0 0 0 0 0 0 0 0 </param>
<param name="calibration2"> 0 0 0 0 16384 0 0 0 0 9102 9102 9102 9102 9102 9102 3640 </param>
<param name="calibration3"> 0 0 0 0 0 0 0 0 0 -1 1 -1 1 -1 1 -1 </param>
<param name="calibration4"> 0 0 0 0 0 0 0 2060 2792 249 475 255 493 248 489 754 </param>
<param name="calibration5"> 0 0 0 0 0 0 0 2300 4510 0 31 0 5 7 53 155 </param>
<param name="calibrationZero"> 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 </param>
<param name="calibrationDelta"> 1 -7 -11 -7 0 0 0 0 0 5 0 0 0 0 0 0 </param>
<param name="calibrationDelta"> 0 0 0 0 0 0 0 0 0 5 0 0 0 0 0 0 </param>

<param name="startupPosition"> -35 30 0 50 0 0 0 15 30 0 0 0 0 0 0 0 </param>
<param name="startupVelocity"> 10 10 10 10 30 30 30 100 100 100 100 100 100 100 100 100 </param>
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8 changes: 4 additions & 4 deletions iCubErzelli02/calibrators/right_arm-calib.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -18,13 +18,13 @@

<group name="CALIBRATION">
<param name="calibrationType"> 12 12 12 12 5 12 12 7 7 6 6 6 6 6 6 6 </param>
<param name="calibration1"> 35375 17391 28559 55327 1500 19950 17720 0 0 0 0 0 0 0 0 0 </param>
<param name="calibration2"> 0 0 0 0 16384 0 0 0 0 9102 9102 9102 9102 9102 9102 3640 </param>
<param name="calibration3"> 0 0 0 0 0 0 0 0 0 -1 1 -1 1 -1 1 -1 </param>
<param name="calibration1"> 31759 17727 24991 56095 1500 19950 17720 0 0 0 0 0 0 0 0 0 </param>
<param name="calibration2"> 0 0 0 0 16384 0 0 0 0 9102 9102 9102 9102 9102 9102 3640 </param>
<param name="calibration3"> 0 0 0 0 0 0 0 0 0 -1 1 -1 1 -1 1 -1 </param>
<param name="calibration4"> 0 0 0 0 0 0 0 2500 290 247 495 253 483 249 504 740 </param>
<param name="calibration5"> 0 0 0 0 0 0 0 2710 1938 12 14 0 0 20 7 155 </param>
<param name="calibrationZero"> 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 </param>
<param name="calibrationDelta"> -20 -6 2 -1 0 0 0 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 0 0 0 </param>

<param name="startupPosition"> -35 30 0 50 0 0 0 25 30 0 0 0 0 0 0 0 </param>
<param name="startupVelocity"> 10 10 10 10 30 30 30 60 100 100 100 100 100 100 100 100 </param>
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11 changes: 6 additions & 5 deletions iCubErzelli02/hardware/FT/left_arm-eb1-j0_3-strain.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -16,16 +16,16 @@
<group name="PROPERTIES">

<group name="CANBOARDS">
<param name="type"> eobrd_strain </param>
<param name="type"> strain2 </param>

<group name="PROTOCOL">
<param name="major"> 1 </param>
<param name="major"> 2 </param>
<param name="minor"> 0 </param>
</group>
<group name="FIRMWARE">
<param name="major"> 0 </param>
<param name="major"> 2 </param>
<param name="minor"> 0 </param>
<param name="build"> 0 </param>
<param name="build"> 9 </param>
</group>
</group>

Expand All @@ -39,7 +39,8 @@

<group name="SETTINGS">
<param name="acquisitionRate"> 10 </param>
<param name="enabledSensors"> id_l_upper_arm_strain </param>
<param name="enabledSensors"> id_l_upper_arm_strain </param>
<param name="temperature-acquisitionRate"> 1000
</group>

<group name="STRAIN_SETTINGS">
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