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Fixed files #496

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merged 1 commit into from
Apr 22, 2023
Merged

Fixed files #496

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12 changes: 12 additions & 0 deletions R1SN002/wrappers/motorControl/cer_alljoints_ros2_wrapper.xml
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Original file line number Diff line number Diff line change
@@ -0,0 +1,12 @@
<?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="cbw_ros2" type="controlBoard_nws_ros2">
<param name="node_name"> ros2_cb_node </param>
<param extern-name="cbw_ros2_msgs_name" name="msgs_name"> ros2_cb_msgs </param>
<param name="topic_name"> /joint_states </param>
<action phase="startup" level="10" type="attach">
<param name="device"> cer_all_joints_mc_remapper </param>
</action>
<action phase="shutdown" level="15" type="detach" />
</device>
2 changes: 1 addition & 1 deletion R1SN003/yarprobotinterface.ini
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Original file line number Diff line number Diff line change
@@ -1,3 +1,3 @@
config ./CER.xml
config ./CER.xml
enable_tags (enable_ros2)
disable_tags ()
5 changes: 1 addition & 4 deletions ergoCubSN000/calibrators/left_leg-calib.xml
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Expand Up @@ -7,14 +7,12 @@
<param name="joints"> 6 </param> <!-- the number of joints of the robot part -->
<param name="deviceName"> Left_Leg_Calibrator </param>
</group>
pitch roll yaw knee ankle-pith ankle-roll

<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>



<group name="CALIBRATION">
<param name="calibrationType"> 10 10 10 10 10 10 </param>
<param name="calibration1"> -5500 4000 -2500 -5000 2500 -3000 </param>
Expand All @@ -24,7 +22,6 @@
<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>
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17 changes: 10 additions & 7 deletions iCubDijon01/calibrators/head_calib.xml
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Expand Up @@ -8,23 +8,26 @@
<param name="deviceName"> Head_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"> 3339.5 1683.5 2238.5 1288.5 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"> 140 140 600 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">
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17 changes: 10 additions & 7 deletions iCubDijon01/calibrators/left_arm_calib.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -8,23 +8,26 @@
<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 3241.87 -275.93 1535.62 800 750 750 1797 </param>
<param name="calibration2"> 10 10 10 10 20 -10 -10 100 </param>
<param name="calibration3"> 1568.5 3249.875 3653.75 3591.5 0 0 0 0 </param>
<param name="calibration4"> 0.00 0.00 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 0.00 0.00 </param>
<param name="calibrationZero"> 0.00 0.00 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 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">
Expand Down
17 changes: 10 additions & 7 deletions iCubDijon01/calibrators/left_hand_calib.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -8,23 +8,26 @@
<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"> 486.56 220 10 218 19 212 5 636 </param>
<param name="calibration2"> 10 10 30 10 10 10 10 10 </param>
<param name="calibration3"> 0 6000 6600 6000 7400 6000 -7400 14000 </param>
<param name="calibration4"> 0.00 0.00 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 0.00 0.00 </param>
<param name="calibrationZero"> 0.00 0.00 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 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">
Expand Down
17 changes: 10 additions & 7 deletions iCubDijon01/calibrators/left_leg_calib.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -7,23 +7,26 @@
<param name="deviceName"> Left_Leg_Calibrator </param>
</group>

<group name="HOME">
<param name="positionHome"> 0 15 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"> 2704.5 3319.5 541.5 2592.5 610.5 1683.5 </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 1.7 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 15 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">
Expand Down
17 changes: 10 additions & 7 deletions iCubDijon01/calibrators/right_arm_calib.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -8,23 +8,26 @@
<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 2559.38 800.00 750.00 750.00 1867.00 </param>
<param name="calibration2"> 10.00 10.00 10.00 10.00 -20.00 10.00 10.00 100.00 </param>
<param name="calibration3"> 2278.50 1072.13 229.13 925.50 0.00 0.00 0.00 0.00 </param>
<param name="calibration4"> 0.00 0.00 0.00 0.00 0.00 0.00 0.00 0.00 </param>
<param name="calibration5"> 0.00 0.00 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 0.00 0.00 </param>
<param name="calibrationDelta"> 0.00 0.00 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">
Expand Down
17 changes: 10 additions & 7 deletions iCubDijon01/calibrators/right_hand_calib.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -8,23 +8,26 @@
<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"> 730.00 215.00 4.00 210.00 5.00 232.00 88.00 686.00 </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 18000.00 </param>
<param name="calibration4"> 0.00 0.00 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 0.00 0.00 </param>
<param name="calibrationZero"> 0.00 0.00 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 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">
Expand Down
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