Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

Use calib 6 for open-close finger joints right arm of ergoCubSN000 #461

Merged
merged 1 commit into from
Mar 24, 2023
Merged

Use calib 6 for open-close finger joints right arm of ergoCubSN000 #461

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
32 changes: 16 additions & 16 deletions ergoCubSN000/calibrators/left_arm-calib.xml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -11,27 +11,27 @@
</group>

<group name="HOME">
<param name="positionHome"> 5 30 0 10 0 0 0 30.00 30.00 30.00 30.00 30.00 30.00 </param>
<param name="velocityHome"> 10 10 10 10 10 10 10 40.00 40.00 40.00 40.00 40.00 40.00 </param>
<!-- shoulder-pitch shoulder-roll shoulder-yaw elbow wrist-yaw wrist-roll wrist-pitch thumb_add thumb_oc index_add index_oc middle_oc ring_pinky_oc -->
<param name="positionHome"> 5 30 0 10 0 0 0 30.00 30.00 30.00 30.00 30.00 30.00 </param>
<param name="velocityHome"> 10 10 10 10 10 10 10 40.00 40.00 40.00 40.00 40.00 40.00 </param>
</group>
<group name="CALIBRATION">
<param name="calibrationType"> 10 10 10 10 12 12 12 12 6 12 6 6 6 </param>
<param name="calibration1"> 4000 -3000 -3000 4000 10816 7369 21632 0 0 0 0 0 0 </param>
<param name="calibration2"> 0 0 0 0 0 0 0 0 9102 0 9102 9102 9102 </param>
<param name="calibration3"> 0 0 0 0 0 0 0 0 1 0 1 1 1 </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 10923 0 14564 14564 14564 </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 0 10 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 </param>
<param name="startupVelocity"> 10.0 10.0 10.0 10.0 10.0 10.0 10.0 100.0 100.0 0.0 100 100.0 100.0 </param>
<param name="startupMaxPwm"> 8000 8000 8000 8000 16000 16000 16000 0 0 0 0 0 0 </param>
<param name="startupPosThreshold"> 2 2 2 2 2 2 2 90 90 90 90 90 90 </param>
<param name="calibrationType"> 10 10 10 10 12 12 12 12 6 12 6 6 6 </param>
<param name="calibration1"> 4000 -3000 -3000 4000 17565 8161 21461 0 0 0 0 0 0 </param>
<param name="calibration2"> 0 0 0 0 0 0 0 0 9102 0 9102 9102 9102 </param>
<param name="calibration3"> 0 0 0 0 0 0 0 0 1 0 1 1 1 </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 10923 0 14564 13653 12743 </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 0 10 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 </param>
<param name="startupVelocity"> 10.0 10.0 10.0 10.0 10.0 10.0 10.0 100.0 100.0 0.0 100 100.0 100.0 </param>
<param name="startupMaxPwm"> 8000 8000 8000 8000 16000 16000 16000 0 0 0 0 0 0 </param>
<param name="startupPosThreshold"> 2 2 2 2 2 2 2 90 90 90 90 90 90 </param>
</group>

<!-- motor's encoder of joint 7 can't read -->

<param name="CALIB_ORDER"> (4 5 6) (3) (2) (0) (1) (8) (7 9 10) (11 12) </param>
<param name="CALIB_ORDER"> (4 5 6) (2) (0) (1) (3) (7 8) (10) (11 12) </param>

<action phase="startup" level="10" type="calibrate">
<param name="target">left_arm-mc_remapper</param>
Expand Down
34 changes: 17 additions & 17 deletions ergoCubSN000/calibrators/right_arm-calib.xml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -11,27 +11,27 @@
</group>

<group name="HOME">
<!-- shoulder-pitch shoulder-roll shoulder-yaw elbow wrist-yaw wrist-roll wrist-pitch -->
<param name="positionHome"> 5 30 0 10 0 0 0 30.00 30.00 30.00 30.00 30.00 30.00 </param>
<param name="velocityHome"> 10 10 10 10 10 10 10 40.00 40.00 40.00 40.00 40.00 40.00 </param>
<!-- For calib6 to set calibration5, i.e. target just multiply desidered pos in deg by 182,044444 (2^(16)/360) -->
<!-- shoulder-pitch shoulder-roll shoulder-yaw elbow wrist-yaw wrist-roll wrist-pitch thumb_add thumb_oc index_add index_oc middle_oc ring_pinky_oc -->
<param name="positionHome"> 5 30 0 10 0 0 0 30.00 30.00 30.00 30.00 30.00 30.00 </param>
<param name="velocityHome"> 10 10 10 10 10 10 10 40.00 40.00 40.00 40.00 40.00 40.00 </param>
</group>
<group name="CALIBRATION">
<param name="calibrationType"> 10 10 10 10 12 12 12 12 12 12 12 12 12 </param>
<param name="calibration1"> -4000 3000 3000 -4000 19023 28993 36030 0 0 0 0 0 0 </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 0 </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 0 0 0 0 0 </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 0 10 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0 </param>
<param name="startupVelocity"> 10.0 10.0 10.0 10.0 10.0 10.0 10.0 100.0 100.0 0.0 100 100.0 100.0 </param>
<param name="startupMaxPwm"> 8000 8000 8000 8000 16000 16000 16000 0 0 0 0 0 0 </param>
<param name="startupPosThreshold"> 2 2 2 2 2 2 2 90 90 90 90 90 90 </param>
<param name="calibrationType"> 10 10 10 10 12 12 12 12 6 12 6 6 6 </param>
<param name="calibration1"> -4000 3000 3000 -4000 19023 28993 36030 0 0 0 0 0 0 </param>
<param name="calibration2"> 0 0 0 0 0 0 0 0 9102 0 9102 9102 9102 </param>
<param name="calibration3"> 0 0 0 0 0 0 0 0 1 0 1 1 1 </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 10923 0 12743 13653 12743 </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 0 10 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0 </param>
<param name="startupVelocity"> 10.0 10.0 10.0 10.0 10.0 10.0 10.0 30.0 30.0 30.0 30.0 30.0 30.0 </param>
<param name="startupMaxPwm"> 8000 8000 8000 8000 16000 16000 16000 0 0 0 0 0 0 </param>
<param name="startupPosThreshold"> 2 2 2 2 2 2 2 90 90 90 90 90 90 </param>
</group>

<!-- <param name="CALIB_ORDER"> (4 5 6) (2) (0) (1) (3) (7 8) (11 12) </param> -->
<param name="CALIB_ORDER"> (3) (2) (0) (1) (7 8) (11 12) </param>
<param name="CALIB_ORDER"> (4 5 6) (2) (0) (1) (3) (7 8) (9 10) (11 12) </param>

<action phase="startup" level="10" type="calibrate">
<param name="target">right_arm-mc_remapper</param>
Expand Down
6 changes: 3 additions & 3 deletions ergoCubSN000/hardware/mechanicals/left_arm-eb23-j7_10-mec.xml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -9,7 +9,7 @@
<!-- joint number in sub-part 0 1 2 3 -->
<!-- joint name -->
<param name="AxisMap"> 0 1 2 3 </param>
<param name="AxisName"> "l_thumb_oc" "l_index_oc" "l_middle_oc" "l_ring_pinky_oc" </param>
<param name="AxisName"> "l_thumb_oc" "l_index_oc" "l_middle_oc" "l_ring_pinky_oc" </param>
<param name="AxisType"> "revolute" "revolute" "revolute" "revolute" </param>
<param name="Encoder"> 182.044 182.044 182.044 182.044 </param>
<param name="fullscalePWM"> 3360 3360 3360 3360 </param>
Expand All @@ -25,8 +25,8 @@
<group name="LIMITS">
<param name="hardwareJntPosMax"> 90 90 90 90 </param>
<param name="hardwareJntPosMin"> 0 0 0 0 </param>
<param name="rotorPosMin"> 0 -1000 -1000 -1000 </param>
<param name="rotorPosMax"> 0 32000 37000 24000 </param>
<param name="rotorPosMin"> -5000 -8000 -15000 -5000 </param>
<param name="rotorPosMax"> 20000 27000 25000 24000 </param>
</group>

<group name="COUPLINGS">
Expand Down
7 changes: 4 additions & 3 deletions ergoCubSN000/hardware/mechanicals/right_arm-eb22-j7_10-mec.xml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -9,7 +9,7 @@
<!-- joint number in sub-part 0 1 2 3 -->
<!-- joint name -->
<param name="AxisMap"> 0 1 2 3 </param>
<param name="AxisName"> "r_thumb_oc" "r_index_oc" "r_middle_oc" "r_ring_pinky_oc" </param>
<param name="AxisName"> "r_thumb_oc" "r_index_oc" "r_middle_oc" "r_ring_pinky_oc" </param>
<param name="AxisType"> "revolute" "revolute" "revolute" "revolute" </param>
<param name="Encoder"> 182.044 182.044 182.044 182.044 </param>
<param name="fullscalePWM"> 3360 3360 3360 3360 </param>
Expand All @@ -23,10 +23,11 @@
</group>

<group name="LIMITS">
<!-- After run 1st round of calibration check best rotorPosMin and rotorPosMin on motor position in the yarpmotorgui and set them (just do that one time)-->
<param name="hardwareJntPosMax"> 90 90 90 90 </param>
<param name="hardwareJntPosMin"> 0 0 0 0 </param>
<param name="rotorPosMin"> 0 0 0 0 </param>
<param name="rotorPosMax"> 0 0 0 0 </param>
<param name="rotorPosMin"> -25000 -3000 -5000 -5000 </param>
<param name="rotorPosMax"> 3000 32000 22000 27000 </param>
</group>

<group name="COUPLINGS">
Expand Down
2 changes: 1 addition & 1 deletion ergoCubSN000/hardware/motorControl/right_arm-eb22-j7_10-mc.xml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -14,7 +14,7 @@
<!-- joint name thumb index medium pinky -->
<group name="LIMITS">
<param name="jntPosMin"> 0 0 0 0 </param>
<param name="jntPosMax"> 85 85 85 85 </param>
<param name="jntPosMax"> 85 75 85 85 </param>
<param name="jntVelMax"> 1000 1000 1000 1000 </param>
<param name="motorOverloadCurrents"> 2000 2000 2000 2000 </param>
<param name="motorNominalCurrents"> 700 700 700 700 </param>
Expand Down