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Merge branch 'master' into devel
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@pattacini
pattacini committed Mar 25, 2024
2 parents f594039 + d0fe1a9 commit 1e04b6b
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Showing 15 changed files with 118 additions and 67 deletions.
2 changes: 1 addition & 1 deletion iCubLondon01/calibrators/head_calib.xml
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Expand Up @@ -22,7 +22,7 @@
<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="calibrationDelta"> 0.00 0.00 5.00 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>
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24 changes: 12 additions & 12 deletions iCubLondon01/calibrators/left_arm_calib.xml
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Expand Up @@ -15,18 +15,18 @@

<group name="CALIBRATION">

<param name="calibrationType"> 3 3 3 3 0 2 2 3 </param>
<param name="calibration1"> 2388.75 3241.875 -275.933 1535.625 800 750 750 1955 </param>
<param name="calibration2"> 10 10 10 10 20 -10 -10 100 </param>
<param name="calibration3"> 894.5 1768.875 2302.625 1962.5 0 0 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"> -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>
<param name="calibrationType"> 3 3 3 3 0 2 2 3 </param>
<param name="calibration1"> 2388.75 3241.875 -275 1535.625 800 750 750 1700 </param>
<param name="calibration2"> 10 10 10 10 20 -10 -10 100 </param>
<param name="calibration3"> 3618.5 1726.875 2216.5 1952.5 0 0 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"> 7.00 -15.00 -2.00 -8.00 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>


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4 changes: 2 additions & 2 deletions iCubLondon01/calibrators/left_hand_calib.xml
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Expand Up @@ -16,9 +16,9 @@
<group name="CALIBRATION">

<param name="calibrationType"> 3 4 4 4 4 4 4 4 </param>
<param name="calibration1"> 1091.11 236 5 220 30 235 15 687 </param>
<param name="calibration1"> 1091.11 236 61 220 30 235 15 687 </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="calibration3"> 0 6000 6600 6000 7400 7400 -7400 14000 </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>
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2 changes: 1 addition & 1 deletion iCubLondon01/camera/dragonfly2_config_right.ini
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Expand Up @@ -17,5 +17,5 @@ saturation 0.5
framerate 20
use_network_time 1
#d 1
guid 00b09d01009a72ed
guid 0x00b09d01009a72f2

2 changes: 1 addition & 1 deletion iCubLondon01/camera/dragonfly2_config_right_320_240.ini
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Expand Up @@ -17,5 +17,5 @@ saturation 0.5
framerate 25
use_network_time 1
#d 1
guid 00b09d01009a72ed
guid 0x00b09d01009a72f2

2 changes: 1 addition & 1 deletion iCubLondon01/camera/dragonfly2_config_right_bayer_320_240.ini
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Expand Up @@ -17,5 +17,5 @@ saturation 0.271
framerate 30
use_network_time 1
#d 1
guid 00b09d01009a72ed
guid 0x00b09d01009a72f2

2 changes: 1 addition & 1 deletion iCubLondon01/camera/dragonfly2_config_right_bayer_640_480.ini
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Expand Up @@ -17,5 +17,5 @@ saturation 0.271
framerate 30
use_network_time 1
#d 1
guid 00b09d01009a72ed
guid 0x00b09d01009a72f2

2 changes: 1 addition & 1 deletion iCubLondon01/hardware/motorControl/icub_head.xml
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Expand Up @@ -33,7 +33,7 @@
<param name="AxisName"> "neck_pitch" "neck_roll" "neck_yaw" "eyes_tilt" "eyes_version" "eyes_vergence" </param>
<param name="AxisType"> "revolute" "revolute" "revolute" "revolute" "revolute" "revolute" </param>
<param name="Encoder"> 11.375 -11.375 11.375 11.375 568.88 284.44 </param>
<param name="Zeros"> 181 -179 180 180 -50 0 </param>
<param name="Zeros"> 181 -179 185 180 -50 0 </param>
<param name="fullscalePWM"> 1333 1333 1333 1333 1333 1333 </param>
<param name="ampsToSensor"> 1000.0 1000.0 1000.0 1000.0 1000.0 1000.0 </param>
<param name="TorqueId"> 0 0 0 0 0 0 </param>
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7 changes: 5 additions & 2 deletions iCubLondon01/hardware/motorControl/icub_left_arm.xml
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Expand Up @@ -32,8 +32,11 @@
<param name="AxisMap"> 0 1 2 3 4 5 6 7 </param>
<param name="AxisName"> "l_shoulder_pitch" "l_shoulder_roll" "l_shoulder_yaw" "l_elbow" "l_wrist_prosup" "l_wrist_pitch" "l_wrist_yaw" "l_hand_finger" </param>
<param name="AxisType"> "revolute" "revolute" "revolute" "revolute" "revolute" "revolute" "revolute" "revolute" </param>
<param name="Encoder"> -11.375 -11.375 -11.375 -11.375 -706.67 -978.46 -978.46 2.916667 </param>
<param name="Zeros"> -232 -328 -37.74218 -184 90 -20 -52 670.2857 </param>

<param name="Encoder"> -11.375 -11.375 -11.375 -11.375 -706.67 -978.46 -978.46 1.667 </param>
<param name="Zeros"> -173 -330 22.257819103973 -188 78 -20 -52 1050 </param>


<param name="fullscalePWM"> 800 800 800 800 1333 1333 1333 1333 </param>
<param name="ampsToSensor"> 1000.0 1000.0 1000.0 1000.0 1000.0 1000.0 1000.0 1000.0 </param>
<param name="TorqueId"> 0x0C 0x0C 0x0C 0x0C 0x0C 0 0 0 </param>
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4 changes: 2 additions & 2 deletions iCubLondon01/hardware/motorControl/icub_left_hand.xml
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Expand Up @@ -32,8 +32,8 @@
<param name="AxisMap"> 0 1 2 3 4 5 6 7 </param>
<param name="AxisName"> "l_thumb_oppose" "l_thumb_proximal" "l_thumb_distal" "l_index_proximal" "l_index_distal" "l_middle_proximal" "l_middle_distal" "l_pinky" </param>
<param name="AxisType"> "revolute" "revolute" "revolute" "revolute" "revolute" "revolute" "revolute" "revolute" </param>
<param name="Encoder"> 19.11 -2.46 -2.54 -2.17 -2.33 -2.39 -2.31 -1.35 </param>
<param name="Zeros"> 47.09 -96.11 -181.97 -101.54 -192.86 -98.37 -186.51 -509.64 </param>
<param name="Encoder"> 19.11 -2.46 -2.54 -2.17 -2.33 -2.39 -2.31 -1.47 </param>
<param name="Zeros"> 47.09 -96.11 -181.97 -101.54 -192.86 -98.37 -186.51 -467.98 </param>
<param name="fullscalePWM"> 1333 1333 1333 1333 1333 1333 1333 1333 </param>
<param name="ampsToSensor"> 1000.0 1000.0 1000.0 1000.0 1000.0 1000.0 1000.0 1000.0 </param>
<param name="TorqueId"> 0 0 0 0 0 0 0 0 </param>
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32 changes: 28 additions & 4 deletions iCubLondon01/hardware/skin/left_arm-cfw2_can7-skinSpec.xml
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Expand Up @@ -24,16 +24,40 @@

</group>
<group name="defaultCfgTriangle">
<param name="enabled"> false </param>
<param name="enabled"> true </param>
<param name="shift"> 2 </param>
<param name="cdcOffset"> 0x2200 </param>
</group>

<group name="specialCfgTriangles">
<param name="numOfSets"> 0x01 </param> <!-- id starts from 1 for triangleSetCfg-->
<param name="numOfSets"> 19 </param> <!-- id starts from 1 for triangleSetCfg-->
<!-- patch boardAddr idStart idEnd enabled shift cdcOffset -->
<param name="triangleSetCfg1"> 7 0xE 0 6 1 0 0x2000 </param>
</group>
<param name="triangleSetCfg1"> 7 14 0 6 1 0 0x2000 </param> <!-- fingertips -->
<param name="triangleSetCfg2"> 7 14 8 11 1 2 0x2200 </param>

<param name="triangleSetCfg3"> 7 13 0 15 1 2 0x2200 </param>

<param name="triangleSetCfg4"> 7 12 2 2 1 2 0x2200 </param>
<param name="triangleSetCfg5"> 7 12 5 5 1 2 0x2200 </param>
<param name="triangleSetCfg6"> 7 12 8 10 1 2 0x2200 </param>
<param name="triangleSetCfg7"> 7 12 12 12 1 2 0x2200 </param>

<param name="triangleSetCfg8"> 7 11 3 7 1 2 0x2200 </param>
<param name="triangleSetCfg9"> 7 11 9 10 1 2 0x2200 </param>
<param name="triangleSetCfg10"> 7 11 14 14 1 2 0x2200 </param>

<param name="triangleSetCfg11"> 7 10 6 6 1 2 0x2200 </param>
<param name="triangleSetCfg12"> 7 10 8 15 1 2 0x2200 </param>

<param name="triangleSetCfg13"> 7 9 0 8 1 2 0x2200 </param>
<param name="triangleSetCfg14"> 7 9 12 13 1 2 0x2200 </param>

<param name="triangleSetCfg15"> 7 8 0 0 1 2 0x2200 </param>
<param name="triangleSetCfg16"> 7 8 8 9 1 2 0x2200 </param>
<param name="triangleSetCfg17"> 7 8 10 11 1 2 0x2200 </param>
<param name="triangleSetCfg18"> 7 8 13 13 1 2 0x2200 </param>
<param name="triangleSetCfg19"> 7 8 15 15 1 2 0x2200 </param>
</group>


</params>
32 changes: 28 additions & 4 deletions iCubLondon01/hardware/skin/right_arm-cfw2_can8-skinSpec.xml
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Expand Up @@ -24,16 +24,40 @@

</group>
<group name="defaultCfgTriangle">
<param name="enabled"> false </param>
<param name="enabled"> true </param>
<param name="shift"> 2 </param>
<param name="cdcOffset"> 0x2200 </param>
</group>

<group name="specialCfgTriangles">
<param name="numOfSets"> 0x01 </param> <!-- id starts from 1 for triangleSetCfg-->
<param name="numOfSets"> 19 </param> <!-- id starts from 1 for triangleSetCfg-->
<!-- patch boardAddr idStart idEnd enabled shift cdcOffset -->
<param name="triangleSetCfg1"> 8 0xE 0 6 1 0 0x2000 </param>
</group>
<param name="triangleSetCfg1"> 8 14 0 6 1 0 0x2000 </param> <!-- fingertips -->
<param name="triangleSetCfg2"> 8 14 8 11 1 2 0x2200 </param>

<param name="triangleSetCfg3"> 8 13 0 15 1 2 0x2200 </param>

<param name="triangleSetCfg4"> 8 12 2 2 1 2 0x2200 </param>
<param name="triangleSetCfg5"> 8 12 5 5 1 2 0x2200 </param>
<param name="triangleSetCfg6"> 8 12 8 10 1 2 0x2200 </param>
<param name="triangleSetCfg7"> 8 12 12 12 1 2 0x2200 </param>

<param name="triangleSetCfg8"> 8 11 3 7 1 2 0x2200 </param>
<param name="triangleSetCfg9"> 8 11 9 10 1 2 0x2200 </param>
<param name="triangleSetCfg10"> 8 11 14 14 1 2 0x2200 </param>

<param name="triangleSetCfg11"> 8 10 6 6 1 2 0x2200 </param>
<param name="triangleSetCfg12"> 8 10 8 15 1 2 0x2200 </param>

<param name="triangleSetCfg13"> 8 9 0 8 1 2 0x2200 </param>
<param name="triangleSetCfg14"> 8 9 12 13 1 2 0x2200 </param>

<param name="triangleSetCfg15"> 8 8 0 0 1 2 0x2200 </param>
<param name="triangleSetCfg16"> 8 8 8 9 1 2 0x2200 </param>
<param name="triangleSetCfg17"> 8 8 10 11 1 2 0x2200 </param>
<param name="triangleSetCfg18"> 8 8 13 13 1 2 0x2200 </param>
<param name="triangleSetCfg19"> 8 8 15 15 1 2 0x2200 </param>
</group>


</params>
Binary file modified iCubLondon01/iCub_Calibration_V1_3_1_iCubLondon01.xls
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