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Upgrade robots to the latest NWS/NWC layers - 8 (#337)
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@davidetome
davidetome authored May 13, 2022
1 parent 5ee8c1f commit 40181fd
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Showing 167 changed files with 1,632 additions and 756 deletions.
22 changes: 14 additions & 8 deletions iCubAberystwyth01/calibrators/head_calib.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -7,31 +7,37 @@
<param name="deviceName"> Head_Calibrator </param>
</group>


<group name="HOME">
<param name="positionHome"> -40 0 0 0 0 0 </param>
<param name="velocityHome"> 10 10 10 10 10 10 </param>
</group>

<group name="CALIBRATION">

<param name="calibrationType"> 0 0 0 0 0 0 </param>
<param name="calibration1"> 1333 1333 1333 600 500 500 </param>
<param name="calibration2"> 40 40 40 -20 20 20 </param>
<param name="calibration3"> 0 0 0 0 0 0 </param>
<param name="calibration3"> 0 0 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"> 0 0 0 0 0 0 </param>
<param name="startupVelocity"> 10 10 10 10 10 10 </param>
<param name="startupMaxPwm"> 1300 1300 1330 1300 1300 1300 </param>
<param name="startupPosThreshold"> 2 2 180 2 180 180 </param>
</group>

<group name="HOME">
<param name="positionHome"> -40 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) (5) (4) </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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20 changes: 13 additions & 7 deletions iCubAberystwyth01/calibrators/left_arm_calib.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -7,31 +7,37 @@
<param name="deviceName"> Left_Arm_Calibrator </param>
</group>

<group name="HOME">
<param name="positionHome"> -30 30 0 45 0 0 40 15 </param>
<param name="velocityHome"> 10 10 10 10 30 30 30 100 </param>
</group>

<group name="CALIBRATION">

<param name="calibrationType"> 3 3 3 3 0 2 2 3 </param>
<param name="calibration1"> 2388.75 3241.875 -275.933 1535.625 500 750 750 1790 </param>
<param name="calibration2"> 10 10 10 10 20 -10 -10 100 </param>
<param name="calibration3"> 1583.5 1598.875 567.125 3157.5 0 0 0 0 </param>
<param name="calibration3"> 1583.5 1598.875 567.125 3157.5 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"> -30 30 0 45 0 0 0 15 </param>
<param name="startupVelocity"> 10 10 10 10 30 30 30 100 </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 40 15 </param>
<param name="velocityHome"> 10 10 10 10 30 30 30 100 </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</param>
<param name="target">left_arm_mc_remapper</param>
</action>

<action phase="interrupt1" level="1" type="park">
<param name="target">left_arm_mc</param>
<param name="target">left_arm_mc_remapper</param>
</action>

<action phase="interrupt3" level="1" type="abort" />
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16 changes: 11 additions & 5 deletions iCubAberystwyth01/calibrators/left_hand_calib.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -7,22 +7,28 @@
<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"> 536.67 255 10 240 55 240 40 735 </param>
<param name="calibration2"> 10 10 30 10 10 10 10 10 </param>
<param name="calibration3"> 0 6000 -6600 6000 7400 6000 -7400 -21000 </param>
<param name="calibration3"> 0 6000 -6600 6000 7400 6000 -7400 -21000 </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>

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20 changes: 13 additions & 7 deletions iCubAberystwyth01/calibrators/left_leg_calib.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -7,31 +7,37 @@
<param name="deviceName"> Left_Leg_Calibrator </param>
</group>

<group name="HOME">
<param name="positionHome"> 0 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 3 3 </param>
<param name="calibration1"> 2047.5 2047.5 2047.5 2047.5 2047.5 2047.5 </param>
<param name="calibration2"> 10 10 10 10 10 10 </param>
<param name="calibration3"> 181.5 537.5 3506.5 3447.5 1025.5 2913.5 </param>
<param name="calibration3"> 181.5 537.5 3506.5 3447.5 1025.5 2913.5 </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"> 120 120 120 120 120 120 </param>
<param name="startupPosThreshold"> 2 2 2 2 2 2 </param>
</group>

<group name="HOME">
<param name="positionHome"> 0 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">left_leg_mc_wrapper</param>
<param name="target">left_leg_mc_remapper</param>
</action>

<action phase="interrupt1" level="1" type="park">
<param name="target">left_leg_mc_wrapper</param>
<param name="target">left_leg_mc_remapper</param>
</action>

<action phase="interrupt3" level="1" type="abort" />
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22 changes: 14 additions & 8 deletions iCubAberystwyth01/calibrators/right_arm_calib.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -7,31 +7,37 @@
<param name="deviceName"> Right_Arm_Calibrator </param>
</group>


<group name="HOME">
<param name="positionHome"> -30 30 0 45 0 0 40 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 2 2 3 </param>
<param name="calibration1"> 1706.25 853.13 2795.32 2559.38 500.00 750.00 750.00 2520.00 </param>
<param name="calibration2"> 10.00 10.00 10.00 10.00 -20.00 10.00 10.00 100.00 </param>
<param name="calibration3"> 1676.50 320.13 1605.50 3270.50 0.00 0.00 0.00 0.00 </param>
<param name="calibration3"> 1676.50 320.13 1605.50 3270.50 0.00 0.00 0.00 0.00 </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 40 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">right_arm_mc</param>
<param name="target">right_arm_mc_remapper</param>
</action>

<action phase="interrupt1" level="1" type="park">
<param name="target">right_arm_mc</param>
<param name="target">right_arm_mc_remapper</param>
</action>

<action phase="interrupt3" level="1" type="abort" />
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16 changes: 11 additions & 5 deletions iCubAberystwyth01/calibrators/right_hand_calib.xml
View file
Original file line number Diff line number Diff line change
Expand Up @@ -7,22 +7,28 @@
<param name="deviceName"> Right_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"> 410.00 243.00 0.00 255.00 0.00 249.00 0.00 741.00 </param>
<param name="calibration2"> 10.00 10.00 30.00 10.00 10.00 10.00 10.00 10.00 </param>
<param name="calibration3"> 0.00 6000.00 8000.00 6000.00 -7400.00 6000.00 7400.00 21000.00 </param>
<param name="calibration3"> 0.00 6000.00 8000.00 6000.00 -7400.00 6000.00 7400.00 21000.00 </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>

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