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iCubGenova01 - Fine calibration of torso and arms #350

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Merged
merged 1 commit into from
Mar 31, 2022
Merged

iCubGenova01 - Fine calibration of torso and arms #350

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2 changes: 1 addition & 1 deletion iCubGenova01/hardware/motorControl/icub_left_arm.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -32,7 +32,7 @@
<param name="AxisName"> "l_shoulder_pitch" "l_shoulder_roll" "l_shoulder_yaw" "l_elbow" "l_wrist_prosup" "l_wrist_pitch" "l_wrist_yaw" "l_hand_finger" </param>
<param name="AxisType"> "revolute" "revolute" "revolute" "revolute" "revolute" "revolute" "revolute" "revolute" </param>
<param name="Encoder"> -11.375 -11.375 -11.375 -11.375 706.67 -11.375 11.375 -6.244 </param>
<param name="Zeros"> -179.00 -327.00 20.26 -187.00 -75.00 -180.00 183.00 -386.4 </param>
<param name="Zeros"> -179.73 -327.53 18.93 -188.65 -75.00 -180.00 183.00 -386.4 </param>
<param name="fullscalePWM"> 800 800 800 800 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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2 changes: 1 addition & 1 deletion iCubGenova01/hardware/motorControl/icub_right_arm.xml
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Expand Up @@ -30,7 +30,7 @@
<param name="Joints"> 8 </param>
<param name="AxisMap"> 0 1 2 3 4 5 6 7 </param>
<param name="Encoder"> 11.375 11.375 11.375 11.375 -706.67 11.375 -11.375 -3.333</param>
<param name="Zeros"> 180.00 36.00 226.74 173.00 -75.00 180.00 -157.00 -549.00</param>
<param name="Zeros"> 178.22 38.71 226.44 175.81 -75.00 180.00 -157.00 -549.00</param>
<param name="fullscalePWM"> 800 800 800 800 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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2 changes: 1 addition & 1 deletion iCubGenova01/hardware/motorControl/icub_torso.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -32,7 +32,7 @@
<param name="AxisName"> "torso_yaw" "torso_roll" "torso_pitch" "none" </param>
<param name="AxisType"> "revolute" "revolute" "revolute" "revolute" </param>
<param name="Encoder"> 11.375 11.375 11.375 0 </param>
<param name="Zeros"> 177 180 180 0 </param>
<param name="Zeros"> 179 180 181.84 0 </param>
<param name="TorqueId"> 0x0C 0x0C 0x0C 0 </param>
<param name="TorqueChan"> 0 1 2 0 </param>
<param name="TorqueMax"> 12 12 12 0 </param>
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