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set(appname ergoCubSN000) | ||
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file(GLOB xml ${CMAKE_CURRENT_SOURCE_DIR}/*.xml) | ||
file(GLOB ini ${CMAKE_CURRENT_SOURCE_DIR}/*.ini) | ||
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yarp_install(FILES ${xml} DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname}) | ||
yarp_install(FILES ${ini} DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname}) | ||
yarp_install(DIRECTORY estimators DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname}) | ||
yarp_install(DIRECTORY calibrators DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname}) | ||
yarp_install(DIRECTORY wrappers DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname}) | ||
yarp_install(DIRECTORY hardware DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname}) | ||
yarp_install(DIRECTORY sensors DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname}) | ||
yarp_install(DIRECTORY telemetry DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname}) |
52 changes: 52 additions & 0 deletions
52
experimentalSetups/right_forearm/calibrators/head-calib.xml
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<?xml version="1.0" encoding="UTF-8" ?> | ||
<!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd"> | ||
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<device xmlns:xi="http://www.w3.org/2001/XInclude" name="head-calibrator" type="parametricCalibratorEth"> | ||
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<xi:include href="../general.xml" /> | ||
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<group name="GENERAL"> | ||
<param name="joints"> 4 </param> <!-- the number of joints of the robot part --> | ||
<param name="deviceName"> HeadV3_Calibrator </param> <!-- this name is used for high-level debug --> | ||
</group> | ||
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<group name="HOME"> | ||
<param name="positionHome"> 0 0 0 0 </param> | ||
<param name="velocityHome"> 10 10 10 10 </param> | ||
</group> | ||
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<!-- joint logical number 0 1 2 3 --> | ||
<!-- joint name neck-pitch neck-roll neck-yaw eyes-tilt --> | ||
<group name="CALIBRATION"> | ||
<param name="calibrationType"> 12 12 12 12 </param> | ||
<param name="calibration1"> 25220 -17823 61615 52575 </param> | ||
<param name="calibration2"> 0 0 0 0 </param> | ||
<param name="calibration3"> 0 0 0 0 </param> | ||
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<param name="calibration4"> 0 0 0 0 </param> | ||
<param name="calibration5"> 0 0 0 0 </param> | ||
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<param name="calibrationZero"> 0.0 0.0 0.0 0.0 </param> | ||
<param name="calibrationDelta"> 0.0 0.0 0.0 0.0 </param> | ||
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<param name="startupPosition"> 0.0 0.0 0.0 0.0 </param> | ||
<param name="startupVelocity"> 10 10 20.0 20.0 </param> | ||
<param name="startupMaxPwm"> 1000 1000 1000 1000 </param> | ||
<param name="startupPosThreshold"> 90 90 2 2 </param> | ||
</group> | ||
<!-- <param name="CALIB_ORDER"> (0 1 2) (3) </param> --> <!-- Don't remove this line --> | ||
<param name="CALIB_ORDER"> (0 1 2) (3) </param> | ||
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<action phase="startup" level="10" type="calibrate"> | ||
<param name="target">head-mc_remapper</param> | ||
</action> | ||
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<action phase="interrupt1" level="1" type="park"> | ||
<param name="target">head-mc_remapper</param> | ||
</action> | ||
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<action phase="interrupt3" level="1" type="abort" /> | ||
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</device> | ||
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49 changes: 49 additions & 0 deletions
49
experimentalSetups/right_forearm/calibrators/left_arm-calib.xml
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<?xml version="1.0" encoding="UTF-8" ?> | ||
<!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd"> | ||
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<device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_arm-calibrator" type="parametricCalibratorEth"> | ||
<xi:include href="../general.xml" /> | ||
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<group name="GENERAL"> | ||
<param name="joints">13</param> <!-- the number of joints of the robot part --> | ||
<param name="deviceName"> Left_Arm_Calibrator </param> | ||
</group> | ||
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<group name="HOME"> | ||
<!-- 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 0.00 0.00 0.00 0.00 0.00 </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 14 12 14 14 14 </param> | ||
<param name="calibration1"> 4000 -3000 -3000 4000 17565 8161 21461 0 300 0 300 300 300 </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 1 0 0 0 1 </param> | ||
<param name="calibration4"> 0 0 0 0 0 0 0 0 32768 0 0 0 0 </param> | ||
<param name="calibration5"> 0 0 0 0 0 0 0 0 18277 0 47003 47513 54558 </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 -10 90 0.0 0.0 0.0 0.0 4.0 0.0 4.0 4.0 4.0 </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 5 90 5 5 5 </param> | ||
</group> | ||
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<!-- <param name="CALIB_ORDER"> (4 5 6) (3) (2) (0) (1) (7 8) (9) (10 11 12) </param> --> <!-- Don't remove this line --> | ||
<param name="CALIB_ORDER"> (4 5 6) (3) (2) (0) (1) (7 8) (10 11 12) </param> | ||
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<action phase="startup" level="10" type="calibrate"> | ||
<param name="target">left_arm-mc_remapper</param> | ||
</action> | ||
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<action phase="interrupt1" level="1" type="park"> | ||
<param name="target">left_arm-mc_remapper</param> | ||
</action> | ||
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<action phase="interrupt3" level="1" type="abort" /> | ||
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</device> | ||
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43 changes: 43 additions & 0 deletions
43
experimentalSetups/right_forearm/calibrators/left_leg-calib.xml
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<?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_leg-calibrator" type="parametricCalibratorEth"> | ||
<xi:include href="../general.xml"/> | ||
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<group name="GENERAL"> | ||
<param name="joints"> 6 </param> <!-- the number of joints of the robot part --> | ||
<param name="deviceName"> Left_Leg_Calibrator </param> | ||
</group> | ||
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<group name="HOME"> | ||
<param name="positionHome"> 0.00 5.00 0.00 0.00 0.00 0.00 </param> | ||
<param name="velocityHome"> 10.00 10.00 10.00 10.00 10.00 10.00 </param> | ||
</group> | ||
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<group name="CALIBRATION"> | ||
<param name="calibrationType"> 10 10 10 10 10 10 </param> | ||
<param name="calibration1"> -5500 4000 -2500 -5000 2500 -3000 </param> | ||
<param name="calibration2"> 0.0 0.0 0 0 0 0 </param> | ||
<param name="calibration3"> 0.0 0.0 0 0 0 0 </param> | ||
<param name="calibration4"> 0.0 0.0 0 0 0 0 </param> | ||
<param name="calibration5"> 0.0 0.0 0 0 0 0 </param> | ||
<param name="calibrationZero"> 110.15 111.776 81.65 7.75 -46.624 25.313 </param> | ||
<param name="calibrationDelta"> 0 0 0 0 0 0 </param> | ||
<param name="startupPosition"> 90 80 0 -95 0 0 </param> | ||
<param name="startupVelocity"> 10.0 10.0 10.0 10 10 10 </param> | ||
<param name="startupMaxPwm"> 8000 8000 8000 8000 8000 8000 </param> | ||
<param name="startupPosThreshold"> 2 2 2 2 2 2 </param> | ||
</group> | ||
<!-- <param name="CALIB_ORDER"> (2) (4) (5) (3) (0) (1) </param> --> <!-- Don't remove this line --> | ||
<param name="CALIB_ORDER"> (2) (4) (5) (3) (0) (1) </param> | ||
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<action phase="startup" level="10" type="calibrate"> | ||
<param name="target">left_leg-mc_remapper</param> | ||
</action> | ||
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<action phase="interrupt1" level="1" type="park"> | ||
<param name="target">left_leg-mc_remapper</param> | ||
</action> | ||
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<action phase="interrupt3" level="1" type="abort"/> | ||
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</device> |
53 changes: 53 additions & 0 deletions
53
experimentalSetups/right_forearm/calibrators/right_arm-calib.xml
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<?xml version="1.0" encoding="UTF-8" ?> | ||
<!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd"> | ||
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<device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_arm-calibrator" type="parametricCalibratorEth"> | ||
<xi:include href="../general.xml" /> | ||
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<group name="GENERAL"> | ||
<param name="joints">9</param> <!-- the number of joints of the robot part --> | ||
<param name="deviceName"> Right_Arm_Calibrator </param> | ||
</group> | ||
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<group name="HOME"> | ||
<!-- For calib6 to set calibration5, i.e. target just multiply desidered pos in deg by 182,044444 (2^(16)/360) --> | ||
<!-- wrist-yaw wrist-roll wrist-pitch thumb_add thumb_oc index_add index_oc middle_oc ring_pinky_oc --> | ||
<param name="positionHome"> 0 0 0 30.00 0.00 30.00 0.00 0.00 0.00 </param> | ||
<param name="velocityHome"> 10 10 10 40.00 40.00 40.00 40.00 40.00 40.00 </param> | ||
</group> | ||
<group name="CALIBRATION"> | ||
<param name="calibrationType"> 12 12 12 12 14 12 14 14 14 </param> | ||
<param name="calibration1"> 19023 13272 16420 0 300 0 300 300 300 </param> | ||
<param name="calibration2"> 0 0 0 0 0 0 0 0 0 </param> | ||
<param name="calibration3"> 0 0 0 0 1 0 1 0 0 </param> | ||
<param name="calibration4"> 0 0 0 0 32768 0 0 0 0 </param> | ||
<param name="calibration5"> 0 0 0 0 2366 0 53484 45147 12415 </param> | ||
<param name="calibrationZero"> 0 0 0 0 0 0 0 0 0 </param> | ||
<param name="calibrationDelta"> 0 0 0 0 0 0 0 0 0 </param> | ||
<param name="startupPosition"> 0.0 0.0 0.0 0.0 4.0 0.0 4.0 4.0 4.0 </param> | ||
<param name="startupVelocity"> 10.0 10.0 10.0 30.0 30.0 30.0 30.0 30.0 30.0 </param> | ||
<param name="startupMaxPwm"> 16000 16000 16000 0 0 0 0 0 0 </param> | ||
<param name="startupPosThreshold"> 2 2 2 90 5 90 5 5 5 </param> | ||
</group> | ||
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<!-- <param name="CALIB_ORDER"> (4 5 6) (3) (2) (0) (1) (7 8) (9) (10 11 12) </param> --> <!-- Don't remove this line --> | ||
<!-- <param name="CALIB_ORDER"> (4 5 6) (3) (2) (0) (1) (7 8) (10 11 12) </param> --> | ||
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<param name="CALIB_ORDER"> (0 1 2) (3 4) (6 7 8) </param> | ||
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<action phase="startup" level="10" type="calibrate"> | ||
<param name="target">right_arm-mc_remapper</param> | ||
</action> | ||
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<action phase="interrupt1" level="1" type="park"> | ||
<param name="target">right_arm-mc_remapper</param> | ||
</action> | ||
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<action phase="interrupt3" level="1" type="abort" /> | ||
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</device> | ||
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48 changes: 48 additions & 0 deletions
48
experimentalSetups/right_forearm/calibrators/right_leg-calib.xml
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<?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="right_leg-calibrator" type="parametricCalibratorEth"> | ||
<xi:include href="../general.xml"/> | ||
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<group name="GENERAL"> | ||
<param name="joints"> 6 </param> <!-- the number of joints of the robot part --> | ||
<param name="deviceName"> Right_Leg_Calibrator </param> | ||
</group> | ||
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<group name="HOME"> | ||
<param name="positionHome"> 0.00 5.00 0.00 0.00 0.00 0.00 </param> | ||
<param name="velocityHome"> 10.00 10.00 10.00 10.00 10.00 10.00 </param> | ||
</group> | ||
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<group name="CALIBRATION"> | ||
<param name="calibrationType"> 10 10 10 10 10 10 </param> | ||
<param name="calibration1"> 5500 -4000 2500 5000 -2500 3000 </param> | ||
<param name="calibration2"> 0.0 0.0 0 0 0 0 </param> | ||
<param name="calibration3"> 0.0 0.0 0 0 0 0 </param> | ||
<param name="calibration4"> 0.0 0.0 0 0 0 0 </param> | ||
<param name="calibration5"> 0.0 0.0 0 0 0 0 </param> | ||
<param name="calibrationZero"> 110.15 111.463 81.078 7.75 -45.942 25.786 </param> | ||
<param name="calibrationDelta"> 0 0 0 0 0 0 </param> | ||
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<param name="startupPosition"> 90 80 0 -95 0 0 </param> | ||
<param name="startupVelocity"> 10.0 10.0 10.0 10 10 10 </param> | ||
<param name="startupMaxPwm"> 8000 8000 8000 8000 8000 8000 </param> | ||
<param name="startupPosThreshold"> 2 2 2 2 2 2 </param> | ||
</group> | ||
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<!-- <param name="CALIB_ORDER"> (4) (5) (2) (3) (0) (1) </param> --> <!-- Don't remove this line --> | ||
<param name="CALIB_ORDER"> (4) (5) (2) (3) (0) (1) </param> | ||
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<action phase="startup" level="10" type="calibrate"> | ||
<param name="target">right_leg-mc_remapper</param> | ||
</action> | ||
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<action phase="interrupt1" level="1" type="park"> | ||
<param name="target">right_leg-mc_remapper</param> | ||
</action> | ||
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<action phase="interrupt3" level="1" type="abort"/> | ||
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</device> |
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