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[iCubGenova07] Change calibration values after maintenance #718

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merged 1 commit into from
Mar 5, 2025
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[iCubGenova07] Change calibration values after maintenance #718

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19 changes: 9 additions & 10 deletions iCubGenova07/calibrators/right_arm-calib.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -9,24 +9,24 @@
<param name="joints">16</param> <!-- the number of joints of the robot part -->
<param name="deviceName"> Right_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 35 65 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>
<param name="positionHome"> -30 30 0 45 0 0 0 35 65 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"> 10639 14927 34735 62415 1500 15919 42111 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 3640 </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 2530 2560 248 510 255 500 234 505 752 </param>
<param name="calibration5"> 0 0 0 0 0 0 0 2960 3770 44 19 0 20 15 10 175 </param>
<param name="calibration2"> 0 0 0 0 16384 0 0 0 0 9102 9102 9102 9102 9102 9102 3640 </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 2450 3300 255 510 255 500 234 505 752 </param>
<param name="calibration5"> 0 0 0 0 0 0 0 2850 4380 35 5 0 30 15 5 175 </param>
<param name="calibrationZero"> 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 </param>
<param name="calibrationDelta"> 0 -7.6 -8.3 0 0 -6 8 0 0 0 0 0 0 0 0 0 </param>
<param name="calibrationDelta"> 0 -7.6 -8.3 0 0 -6 8 0 0 0 0 0 0 0 0 0 </param>

<param name="startupPosition"> -35 30 0 50 0 0 0 25 30 0 0 0 0 0 0 0 </param>
<param name="startupPosition"> -35 30 0 50 0 0 0 25 50 0 0 0 0 0 0 0 </param>
<param name="startupVelocity"> 10 10 10 10 30 30 30 60 100 100 100 100 100 100 100 100 </param>
<param name="startupMaxPwm"> 2000 2000 2000 2000 1500 0 0 0 0 0 0 0 0 0 0 0 </param>
<param name="startupPosThreshold"> 2 2 2 2 90 90 90 90 90 90 90 90 90 90 90 90 </param>
Expand All @@ -46,4 +46,3 @@
<action phase="interrupt3" level="1" type="abort" />

</device>

2 changes: 1 addition & 1 deletion iCubGenova07/general.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -5,7 +5,7 @@

<group name="GENERAL">
<param name="skipCalibration"> false </param>
<param name="useRawEncoderData"> false </param>
<param name="useRawEncoderData"> false </param>
<param name="useLimitedPWM"> false </param>
<param name="verbose"> false </param>
</group>
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6 changes: 3 additions & 3 deletions iCubGenova07/hardware/mechanicals/right_arm-eb28-j8_11-mec.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -29,16 +29,16 @@

<group name="COUPLINGS">

<param name ="matrixJ2M">
<param name ="matrixJ2M">
1.000 0.000 0.000 0.000
1.000 +1.000 0.000 0.000
-1.000 +1.000 0.000 0.000
0.000 0.000 1.000 0.000
0.000 0.000 0.000 1.000
</param>

<param name ="matrixM2J">
1.000 0.000 0.000 0.000
-1.000 +1.000 0.000 0.000
+1.000 +1.000 0.000 0.000
Comment on lines +32 to +41
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Can merge this although we're still inquiring about the correct matrix.

0.000 0.000 1.000 0.000
0.000 0.000 0.000 1.000
</param>
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