[ergoCubSN002] Update the joint calibrations (robotology#644)

traversaro · Apr 19, 2024 · dc8f31d · dc8f31d
1 parent e8619b9
commit dc8f31d
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Showing 7 changed files with 14 additions and 15 deletions.
diff --git a/ergoCubSN002/calibrators/left_leg-calib.xml b/ergoCubSN002/calibrators/left_leg-calib.xml
@@ -20,7 +20,7 @@
  <param name="calibration3"> 0.0 0.0 0 0 0 0 </param> 
  <param name="calibration4"> 0.0 0.0 0 0 0 0 </param>
  <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="calibrationZero"> 109.27 111.776 81.65 6.38 -46.624 24.803 </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>

diff --git a/ergoCubSN002/calibrators/right_leg-calib.xml b/ergoCubSN002/calibrators/right_leg-calib.xml
@@ -22,7 +22,7 @@
  <param name="calibration3"> 0.0 0.0 0 0 0 0 </param> 
  <param name="calibration4"> 0.0 0.0 0 0 0 0 </param>
  <param name="calibration5"> 0.0 0.0 0 0 0 0 </param>
- <param name="calibrationZero">  110.15  111.463 81.078  7.75 -45.942 25.786 </param>
+  <param name="calibrationZero"> 108.705 111.463 79.808 7.79 -46.012 25.566  </param>
  <param name="calibrationDelta"> 0 0 0 0 0 0 </param>
 
  <param name="startupPosition"> 90 80 0 -95 0 0 </param>

diff --git a/ergoCubSN002/calibrators/torso-calib.xml b/ergoCubSN002/calibrators/torso-calib.xml
@@ -29,7 +29,7 @@
 <param name="calibration4"> 0 0 0 </param>
 <param name="calibration5"> 0 0 0 </param>
 <param name="calibrationZero"> 0 0 0 </param>
-<param name="calibrationDelta"> -0.939 2.917 0 </param>
+<param name="calibrationDelta"> -0.489 2.917 0 </param>
 
 <param name="startupPosition"> 0 0 0 </param>
 <param name="startupVelocity"> 10 10 10 </param>

diff --git a/ergoCubSN002/ergocub_wbd.xml b/ergoCubSN002/ergocub_wbd.xml
@@ -96,7 +96,7 @@
  <xi:include href="hardware/inertials/head-inertial.xml" />
  <xi:include href="hardware/inertials/waist-inertial.xml" />
  <xi:include href="wrappers/inertials/waist-inertials_wrapper.xml" />
- 
+
  <!-- IMU - MTB4 BOARDS
  <xi:include href="hardware/inertials/left_arm-eb4-j2_3-inertial.xml" />
  <xi:include href="wrappers/inertials/left_arm-inertials_wrapper.xml" />
@@ -120,14 +120,14 @@
  <xi:include href="wrappers/inertials/right_foot-imu_wrapper.xml" />
  <xi:include href="wrappers/inertials/alljoints-inertials_wrapper.xml" />
  <xi:include href="wrappers/inertials/alljoints-inertials_remapper.xml" />
- 
+
  <!-- BATTERY BAT -->
- <xi:include href="wrappers/battery/battery_bat.xml" /> 
- <xi:include href="hardware/battery/battery_bat.xml" /> 
- 
+ <xi:include href="wrappers/battery/battery_bat.xml" />
+ <xi:include href="hardware/battery/battery_bat.xml" />
+
  <!-- BATTERY BMS -->
- <xi:include href="wrappers/battery/battery_bms.xml" /> 
- <xi:include href="hardware/battery/battery_bms.xml" /> 
+ <xi:include href="wrappers/battery/battery_bms.xml" />
+ <xi:include href="hardware/battery/battery_bms.xml" />
 
  <!-- CALIBRATORS -->
  <xi:include href="calibrators/torso-calib.xml" />

diff --git a/ergoCubSN002/hardware/mechanicals/left_leg-eb8-j0_3-mec.xml b/ergoCubSN002/hardware/mechanicals/left_leg-eb8-j0_3-mec.xml
@@ -19,7 +19,7 @@
  </group>
 
  <group name="LIMITS">
- <param name="hardwareJntPosMax"> 110.15  111.77 81.65 7.75 </param>
+ <param name="hardwareJntPosMax"> 109.27 111.776 81.65  6.38 </param>
  <param name="hardwareJntPosMin"> -44.81 -35 -81.65 -105.23 </param>
  <param name="rotorPosMin"> 0 0 0 0 </param> 
  <param name="rotorPosMax"> 0 0 0 0 </param>

diff --git a/ergoCubSN002/hardware/mechanicals/right_leg-eb6-j0_3-mec.xml b/ergoCubSN002/hardware/mechanicals/right_leg-eb6-j0_3-mec.xml
@@ -22,7 +22,7 @@
 
  <group name="LIMITS">
  <!-- 0 1 2 3 -->
- <param name="hardwareJntPosMax"> 110.15  111.463 81.078  7.75 </param>
+ <param name="hardwareJntPosMax"> 108.705 111.463  79.808 7.79 </param>
  <param name="hardwareJntPosMin"> -44.81 -35 -81.078 -105.23 </param>
  <param name="rotorPosMin"> 0 0 0 0 </param> 
  <param name="rotorPosMax"> 0 0 0 0 </param>

diff --git a/ergoCubSN002/hardware/mechanicals/right_leg-eb7-j4_5-mec.xml b/ergoCubSN002/hardware/mechanicals/right_leg-eb7-j4_5-mec.xml
@@ -17,10 +17,9 @@
  <param name="MotorType"> "MOOG_C2900580" "MOOG_C2900575" </param>
  <param name="Verbose"> 0 </param>
  </group>
-
  <group name="LIMITS">
- <param name="hardwareJntPosMax"> 45.94 25.786 </param>
- <param name="hardwareJntPosMin"> -45.94 -25.786 </param>
+ <param name="hardwareJntPosMax"> 45.94 24.803 </param>
+ <param name="hardwareJntPosMin"> -46.012 -25.786 </param>
  <param name="rotorPosMin"> 0 0 </param> 
  <param name="rotorPosMax"> 0 0 </param>
  </group>