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[iCubLisboa01] New calibration for left forearm #501

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merged 1 commit into from
May 5, 2023
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[iCubLisboa01] New calibration for left forearm #501

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12 changes: 6 additions & 6 deletions iCubLisboa01/calibrators/left_arm-calib.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -9,19 +9,19 @@
<param name="joints">16</param> <!-- the number of joints of the robot part -->
<param name="deviceName"> Left_Arm_Calibrator </param>
</group>
<!-- joint logical number 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 -->
<!-- joint logical number 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 -->
<group name="HOME">
<param name="positionHome"> -30 30 0 45 0 0 0 20 30 0 0 0 0 0 0 0 </param>
<param name="velocityHome"> 10 10 10 10 30 30 30 60 30 30 30 30 30 30 30 30 </param>
</group>

<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"> 25500 44300 40400 63200 -1500 -38015 4079 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 10000 </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 2420 980 225 498 254 462 226 490 718 </param>
<param name="calibration5"> 0 0 0 0 0 0 0 2630 3700 22 20 12 10 0 0 127 </param>
<param name="calibration1"> 25500 44300 40400 63200 -1500 -38015 4079 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 10000 </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 2310 755 253 498 239 435 238 495 715 </param>
<param name="calibration5"> 0 0 0 0 0 0 0 2660 3240 11 20 25 0 0 0 75 </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 -15 -13 0 0 0 0 0 0 0 0 0 0 0 0 0 </param>

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