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ergoCub1.0 S/N:000 – Update and improve configuration files #512

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merged 2 commits into from
May 15, 2023
Merged

ergoCub1.0 S/N:000 – Update and improve configuration files #512

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0668e25
numerous modifications
AntonioConsilvio May 15, 2023
ae010b7
restored the file realsense2 and sensors as file name instead of real…
AntonioConsilvio May 15, 2023
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4 changes: 2 additions & 2 deletions ergoCubSN000/calibrators/head-calib.xml
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Expand Up @@ -20,7 +20,7 @@
<!-- joint name neck-pitch neck-roll neck-yaw eyes-tilt -->
<group name="CALIBRATION">
<param name="calibrationType"> 12 12 12 12 </param>
<param name="calibration1"> 27519 -17823 61615 52575 </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>

Expand All @@ -35,7 +35,7 @@
<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>

<action phase="startup" level="10" type="calibrate">
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2 changes: 1 addition & 1 deletion ergoCubSN000/calibrators/left_arm-calib.xml
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Expand Up @@ -30,7 +30,7 @@
<param name="startupPosThreshold"> 2 2 2 2 2 2 2 90 5 90 5 5 5 </param>
</group>

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

<action phase="startup" level="10" type="calibrate">
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46 changes: 0 additions & 46 deletions ergoCubSN000/calibrators/left_arm_nohand-calib.xml
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2 changes: 1 addition & 1 deletion ergoCubSN000/calibrators/left_leg-calib.xml
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Expand Up @@ -27,7 +27,7 @@
<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>

<action phase="startup" level="10" type="calibrate">
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50 changes: 0 additions & 50 deletions ergoCubSN000/calibrators/left_shoulder-calib.xml
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47 changes: 0 additions & 47 deletions ergoCubSN000/calibrators/left_upper_arm_no_wrist_no_hand-calib.xml
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2 changes: 1 addition & 1 deletion ergoCubSN000/calibrators/right_arm-calib.xml
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Expand Up @@ -31,7 +31,7 @@
<param name="startupPosThreshold"> 2 2 2 2 2 2 2 90 5 90 5 5 5 </param>
</group>

<!-- <param name="CALIB_ORDER"> (4 5 6) (3) (2) (0) (1) (7 8) (9) (10 11 12) </param> -->
<!-- <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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47 changes: 0 additions & 47 deletions ergoCubSN000/calibrators/right_arm_nohand-calib.xml
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3 changes: 2 additions & 1 deletion ergoCubSN000/calibrators/right_leg-calib.xml
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Expand Up @@ -31,8 +31,9 @@
<param name="startupPosThreshold"> 2 2 2 2 2 2 </param>
</group>

<!-- <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>
<!-- (4) (5) (2) (3) (0) (1) -->


<action phase="startup" level="10" type="calibrate">
<param name="target">right_leg-mc_remapper</param>
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49 changes: 0 additions & 49 deletions ergoCubSN000/calibrators/right_shoulder-calib.xml
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1 change: 1 addition & 0 deletions ergoCubSN000/calibrators/torso-calib.xml
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Expand Up @@ -38,6 +38,7 @@
</group>

<!-- Joint 1 has been removed from the calibration order for motor safety -->
<!-- <param name="CALIB_ORDER">(0) (1) (2) </param> --> <!-- Don't remove this line -->
<param name="CALIB_ORDER">(0) (2) </param>

<action phase="startup" level="10" type="calibrate">
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4 changes: 2 additions & 2 deletions ergoCubSN000/hardware/mechanicals/right_arm-eb22-j7_10-mec.xml
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Expand Up @@ -26,8 +26,8 @@
<!-- 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"> 100 -26000 -26000 -26000 </param>
<param name="rotorPosMax"> 26000 -100 -100 -100 </param>
<param name="rotorPosMin"> -26000 -26000 -26000 -26000 </param>
<param name="rotorPosMax"> -6500 -100 -100 -100 </param>
</group>

<group name="COUPLINGS">
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2 changes: 1 addition & 1 deletion ergoCubSN000/hardware/motorControl/left_arm-eb2-j0_1-mc_service.xml
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Expand Up @@ -22,7 +22,7 @@
<group name="FIRMWARE">
<param name="major"> 3 </param>
<param name="minor"> 3 </param>
<param name="build"> 3 </param>
<param name="build"> 10 </param>
</group>
</group>

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2 changes: 1 addition & 1 deletion ergoCubSN000/hardware/motorControl/left_arm-eb25-j11_12-mc_service.xml
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Expand Up @@ -59,7 +59,7 @@

<group name="ACTUATOR">
<param name="type"> pwm pwm </param>
<param name="port"> CONN:P5 CONN:P2 </param>
<param name="port"> CONN:P2 CONN:P5 </param>
</group>

<group name="ENCODER1">
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2 changes: 1 addition & 1 deletion ergoCubSN000/hardware/motorControl/left_arm-eb4-j2_3-mc_service.xml
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Expand Up @@ -22,7 +22,7 @@
<group name="FIRMWARE">
<param name="major"> 3 </param>
<param name="minor"> 3 </param>
<param name="build"> 3 </param>
<param name="build"> 10 </param>
</group>
</group>

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2 changes: 1 addition & 1 deletion ergoCubSN000/hardware/motorControl/left_leg-eb8-j0_3-mc_service.xml
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Expand Up @@ -22,7 +22,7 @@
<group name="FIRMWARE">
<param name="major"> 3 </param>
<param name="minor"> 3 </param>
<param name="build"> 3 </param>
<param name="build"> 10 </param>
</group>
</group>

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2 changes: 1 addition & 1 deletion ergoCubSN000/hardware/motorControl/left_leg-eb9-j4_5-mc_service.xml
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Expand Up @@ -22,7 +22,7 @@
<group name="FIRMWARE">
<param name="major"> 3 </param>
<param name="minor"> 3 </param>
<param name="build"> 3 </param>
<param name="build"> 10 </param>
</group>
</group>

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