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Fix after Upgrade robots to the latest NWS/NWC layers - 12 #356

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Fix after Upgrade robots to the latest NWS/NWC layers - 12 #356

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fea3b88
iCubGrenoble01 - updated files for nws layer
davidetome Mar 30, 2022
5bddf26
iCubLethbridge01 - updated files for nws layer
davidetome Mar 30, 2022
5e3d2f9
iCubLugano01 - updated files for nws layer
davidetome Mar 30, 2022
8f0bb66
iCubGrenoble01 - fix
davidetome Mar 30, 2022
58a9ffe
iCubMunich01 - updated files for nws layer
davidetome Mar 30, 2022
7159309
iCubPisa01 - updated files for nws layer
davidetome Mar 30, 2022
3aca2df
iCubPlymouth01 - updated files for nws layer
davidetome Mar 30, 2022
3173114
iCubPlymouth02 - updated files for nws layer
davidetome Mar 30, 2022
c9707bb
iCubRomeh02 - updated files for nws layer
davidetome Mar 30, 2022
f0b80b6
iCubSeoul01 - updated files for nws layer
davidetome Mar 30, 2022
5c2b50d
files tested and fixed with XSD and XPATH
davidetome May 16, 2022
827c46d
added missing file
davidetome May 16, 2022
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32 changes: 20 additions & 12 deletions iCubGrenoble01/calibrators/face_calib.xml
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -1,38 +1,46 @@
<?xml version="1.0" encoding="UTF-8" ?>
<!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">

<device xmlns:xi="http://www.w3.org/2001/XInclude" name="face_calibrator" type="parametricCalibrator">

<?xml version="1.0" encoding="UTF-8" ?>
<!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">


<device xmlns:xi="http://www.w3.org/2001/XInclude" name="head_calibrator" type="parametricCalibrator">
<xi:include href="../general.xml" />

<group name="GENERAL">
<param name="joints"> 6 </param>
<param name="deviceName"> TalkingFace_Calibrator </param>
</group>

<group name="HOME">
<param name="positionHome"> 15 -175 -6 0 -6 11 </param>
<param name="velocityHome"> 10 50 10 10 10 10 </param>
</group>

<group name="CALIBRATION">

<param name="calibrationType"> 3 3 0 0 0 0 </param>
<param name="calibration1"> 2047.5 2047.5 800 400 400 900 </param>
<param name="calibration2"> 10 10 -20 10 20 20 </param>
<param name="calibration3"> 1535.625 1592.5 0 0 0 0 </param>
<param name="calibration3"> 1535.625 1592.5 0 0 0 0 </param>
<param name="calibration4"> 0.00 0.00 0.00 0.00 0.00 0.00 </param>
<param name="calibration5"> 0.00 0.00 0.00 0.00 0.00 0.00 </param>
<param name="calibrationZero"> 0.00 0.00 0.00 0.00 0.00 0.00 </param>
<param name="calibrationDelta"> 0.00 0.00 0.00 0.00 0.00 0.00 </param>
<param name="startupPosition"> 15 0 -6 28 -6 0 </param>
<param name="startupVelocity"> 10 10 10 10 10 10 </param>
<param name="startupMaxPwm"> 0 0 0 0 0 0 </param>
<param name="startupPosThreshold"> 90 90 90 90 90 90 </param>
</group>

<group name="HOME">
<param name="positionHome"> 15 -175 -6 0 -6 11 </param>
<param name="velocityHome"> 10 50 10 10 10 10 </param>
</group>


<param name="CALIB_ORDER"> (0 1 2 3 4 5) </param>

<action phase="startup" level="10" type="calibrate">
<param name="target">face_mc_wrapper</param>
<param name="target">face-mc_remapper</param>
</action>

<action phase="interrupt1" level="1" type="park">
<param name="target">face_mc_wrapper</param>
<param name="target">face-mc_remapper</param>
</action>

<action phase="interrupt3" level="1" type="abort" />
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32 changes: 20 additions & 12 deletions iCubGrenoble01/calibrators/head_calib.xml
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -1,38 +1,46 @@
<?xml version="1.0" encoding="UTF-8" ?>
<!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">

<device xmlns:xi="http://www.w3.org/2001/XInclude" name="head_calibrator" type="parametricCalibrator">

<?xml version="1.0" encoding="UTF-8" ?>
<!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">


<device xmlns:xi="http://www.w3.org/2001/XInclude" name="head_calibrator" type="parametricCalibrator">
<xi:include href="../general.xml" />

<group name="GENERAL">
<param name="joints"> 6 </param>
<param name="deviceName"> TalkingHead_Calibrator </param>
</group>

<group name="HOME">
<param name="positionHome"> -30 0 0 0 0 0 </param>
<param name="velocityHome"> 10 10 10 10 10 10 </param>
</group>

<group name="CALIBRATION">

<param name="calibrationType"> 3 3 3 3 0 0 </param>
<param name="calibration1"> 2047.5 2047.5 2047.5 2047.5 900 900 </param>
<param name="calibration2"> 10 10 10 10 20 20 </param>
<param name="calibration3"> 154.7 503.9125 2951.813 773.5 0 0 </param>
<param name="calibration3"> 154.7 503.9125 2951.813 773.5 0 0 </param>
<param name="calibration4"> 0.00 0.00 0.00 0.00 0.00 0.00 </param>
<param name="calibration5"> 0.00 0.00 0.00 0.00 0.00 0.00 </param>
<param name="calibrationZero"> 0.00 0.00 0.00 0.00 0.00 0.00 </param>
<param name="calibrationDelta"> 0.00 0.00 0.00 0.00 0.00 0.00 </param>
<param name="startupPosition"> 0 0 0 0 0 0 </param>
<param name="startupVelocity"> 10 10 10 10 10 10 </param>
<param name="startupMaxPwm"> 120 120 0 0 0 0 </param>
<param name="startupPosThreshold"> 2 2 2 2 2 2 </param>
</group>

<group name="HOME">
<param name="positionHome"> -30 0 0 0 0 0 </param>
<param name="velocityHome"> 10 10 10 10 10 10 </param>
</group>


<param name="CALIB_ORDER"> (0 1 2 3) (4) (5) </param>

<action phase="startup" level="10" type="calibrate">
<param name="target">head_mc_wrapper</param>
<param name="target">head-mc_remapper</param>
</action>

<action phase="interrupt1" level="1" type="park">
<param name="target">head_mc_wrapper</param>
<param name="target">head-mc_remapper</param>
</action>

<action phase="interrupt3" level="1" type="abort" />
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31 changes: 20 additions & 11 deletions iCubGrenoble01/calibrators/left_arm_calib.xml
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -1,38 +1,47 @@
<?xml version="1.0" encoding="UTF-8" ?>
<!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">

<device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_arm_calibrator" type="parametricCalibrator">
<?xml version="1.0" encoding="UTF-8" ?>
<!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">


<device xmlns:xi="http://www.w3.org/2001/XInclude" name="head_calibrator" type="parametricCalibrator">
<xi:include href="../general.xml" />


<group name="GENERAL">
<param name="joints"> 8 </param>
<param name="deviceName"> Left_Arm_Calibrator </param>
</group>

<group name="HOME">
<param name="positionHome"> -30 30 0 45 0 0 0 15 </param>
<param name="velocityHome"> 10 10 10 10 30 10 10 100 </param>
</group>

<group name="CALIBRATION">

<param name="calibrationType"> 3 3 3 3 0 3 3 3 </param>
<param name="calibration1"> 2388.75 3241.875 2047.5 1535.625 1000 2047.5 2047.5 2160 </param>
<param name="calibration2"> 10 10 10 10 20 10 10 100 </param>
<param name="calibration3"> 461.825 1682.363 3514.875 459.55 0 1971.288 1197.788 0 </param>
<param name="calibration3"> 461.825 1682.363 3514.875 459.55 0 1971.288 1197.788 0 </param>
<param name="calibration4"> 0.00 0.00 0.00 0.00 0.00 0.00 </param>
<param name="calibration5"> 0.00 0.00 0.00 0.00 0.00 0.00 </param>
<param name="calibrationZero"> 0.00 0.00 0.00 0.00 0.00 0.00 </param>
<param name="calibrationDelta"> 0.00 0.00 0.00 0.00 0.00 0.00 </param>
<param name="startupPosition"> -30 30 0 45 0 0 0 15 </param>
<param name="startupVelocity"> 10 10 10 10 30 10 10 100 </param>
<param name="startupMaxPwm"> 120 120 120 120 0 0 0 0 </param>
<param name="startupPosThreshold"> 2 2 2 2 2 2 90 90 </param>
</group>

<group name="HOME">
<param name="positionHome"> -30 30 0 45 0 0 0 15 </param>
<param name="velocityHome"> 10 10 10 10 30 10 10 100 </param>
</group>


<param name="CALIB_ORDER">(0 1 2 3) (4 6 7) (5)</param>

<action phase="startup" level="10" type="calibrate">
<param name="target">left_arm_mc_wrapper</param>
<param name="target">left_arm-mc_remapper</param>
</action>

<action phase="interrupt1" level="1" type="park">
<param name="target">left_arm_mc_wrapper</param>
<param name="target">left_arm-mc_remapper</param>
</action>

<action phase="interrupt3" level="1" type="abort" />
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32 changes: 20 additions & 12 deletions iCubGrenoble01/calibrators/left_hand_calib.xml
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -1,38 +1,46 @@
<?xml version="1.0" encoding="UTF-8" ?>
<!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">

<device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_hand_calibrator" type="parametricCalibrator">

<?xml version="1.0" encoding="UTF-8" ?>
<!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">


<device xmlns:xi="http://www.w3.org/2001/XInclude" name="head_calibrator" type="parametricCalibrator">
<xi:include href="../general.xml" />

<group name="GENERAL">
<param name="joints"> 8 </param>
<param name="deviceName"> Left_Hand_Calibrator </param>
</group>

<group name="HOME">
<param name="positionHome"> 90 3 0 0 0 0 0 0 </param>
<param name="velocityHome"> 10 10 10 10 10 10 10 10 </param>
</group>

<group name="CALIBRATION">

<param name="calibrationType"> 3 4 4 4 4 4 4 4 </param>
<param name="calibration1"> 1326.67 195 20 248 10 248 50 700 </param>
<param name="calibration2"> 10 10 30 10 10 10 10 10 </param>
<param name="calibration3"> 0 6000 -8000 6000 7400 6000 -7400 -14000 </param>
<param name="calibration3"> 0 6000 -8000 6000 7400 6000 -7400 -14000 </param>
<param name="calibration4"> 0.00 0.00 0.00 0.00 0.00 0.00 </param>
<param name="calibration5"> 0.00 0.00 0.00 0.00 0.00 0.00 </param>
<param name="calibrationZero"> 0.00 0.00 0.00 0.00 0.00 0.00 </param>
<param name="calibrationDelta"> 0.00 0.00 0.00 0.00 0.00 0.00 </param>
<param name="startupPosition"> 30 3 0 0 0 0 0 0 </param>
<param name="startupVelocity"> 100 100 100 100 100 100 100 100 </param>
<param name="startupMaxPwm"> 0 0 0 0 0 0 0 0 </param>
<param name="startupPosThreshold"> 90 90 90 90 90 90 90 90 </param>
</group>

<group name="HOME">
<param name="positionHome"> 90 3 0 0 0 0 0 0 </param>
<param name="velocityHome"> 10 10 10 10 10 10 10 10 </param>
</group>


<param name="CALIB_ORDER">(0 1 3 5) (2 4 6 7) </param>

<action phase="startup" level="10" type="calibrate">
<param name="target">left_hand_mc</param>
<param name="target">left_hand-mc</param>
</action>

<action phase="interrupt1" level="1" type="park">
<param name="target">left_hand_mc</param>
<param name="target">left_hand-mc</param>
</action>

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