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ergoCub1.0 S/N000 – update left/right calib for startup and home position #524

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May 22, 2023
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ergoCub1.0 S/N000 – update left/right calib for startup and home position #524

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089158c
ergoCub1.0 S/N000: update left/right calib for startup and home position
sgiraz May 22, 2023
1e4dc9e
ergoCub1.0 S/N000: update `jntPosMin` for right arm mc
sgiraz May 22, 2023
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4 changes: 2 additions & 2 deletions ergoCubSN000/calibrators/left_arm-calib.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -12,7 +12,7 @@

<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 0.00 0.00 0.00 0.00 0.00 0.00 </param>
<param name="positionHome"> 5 30 0 10 0 0 0 0.00 4.00 0.00 4.00 4.00 4.00 </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">
Expand All @@ -24,7 +24,7 @@
<param name="calibration5"> 0 0 0 0 0 0 0 0 -273.0 0 -261.0 -259.0 -296.0 </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 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>
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8 changes: 4 additions & 4 deletions ergoCubSN000/calibrators/right_arm-calib.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -13,19 +13,19 @@
<group name="HOME">
<!-- For calib6 to set calibration5, i.e. target just multiply desidered pos in deg by 182,044444 (2^(16)/360) -->
<!-- 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 0.00 0.00 30.00 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>
<param name="positionHome"> 5 30 0 10 0 0 0 0.0 4.0 30.0 4.0 4.0 4.0 </param>
<param name="velocityHome"> 10 10 10 10 10 10 10 40.0 40.0 40.0 40.0 40.0 40.0 </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 19023 28993 36030 0 150 0 150 150 150 </param>
<param name="calibration2"> 0 0 0 0 0 0 0 0 9000 0 10923 13653 9000 </param>
<param name="calibration2"> 0 0 0 0 0 0 0 0 9000 0 10923 13653 9000 </param>
<param name="calibration3"> 0 0 0 0 0 0 0 0 1 0 1 0 0 </param>
<param name="calibration4"> 0 0 0 0 0 0 0 0 180 0 0 0 0 </param>
<param name="calibration5"> 0 0 0 0 0 0 0 0 -184.0 0 -294.0 -247.0 -65.0 </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 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 30.0 30.0 30.0 30.0 30.0 30.0 </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>
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2 changes: 1 addition & 1 deletion ergoCubSN000/hardware/motorControl/right_arm-eb22-j7_10-mc.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -13,7 +13,7 @@
<!-- joint number 0 1 2 3 -->
<!-- joint name thumb index medium pinky -->
<group name="LIMITS">
<param name="jntPosMin"> 0 0 0 0 </param>
<param name="jntPosMin"> 4 4 4 4 </param>
<param name="jntPosMax"> 70 63 85 85 </param>
<param name="jntVelMax"> 1000 1000 1000 1000 </param>
<param name="motorOverloadCurrents"> 2000 2000 2000 2000 </param>
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