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[iCubNancy01] New calibration values #618

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Merged
merged 1 commit into from
Feb 16, 2024
Merged

[iCubNancy01] New calibration values #618

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4 changes: 2 additions & 2 deletions iCubNancy01/calibrators/left_arm-calib.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -19,8 +19,8 @@
<param name="calibration1"> 38229.2 51882.5 32767 24575.9 500.0 750.0 750.0 1600 2850 0.0 0.0 0.0 0.0 0.0 0.0 0.0 </param>
<param name="calibration2"> 10.0 10.0 10.0 10.0 20.0 -10.0 -10.0 50 10.0 10.0 30.0 10.0 10.0 10.0 10.0 10.0 </param>
<param name="calibration3"> 34722.9 10159.0 0360.1 35150.1 0 -332 -6000 0.0 0.0 -1 1 -1 1 -1 1 -1 </param>
<param name="calibration4"> 0 0 0 0 0 0 0 1420 720 255 460 230 430 220 425 670 </param>
<param name="calibration5"> 0 0 0 0 0 0 0 1334 2327 35 45 10 16 25 0 110 </param>
<param name="calibration4"> 0 0 0 0 0 0 0 1400 720 255 460 230 430 210 450 760 </param>
<param name="calibration5"> 0 0 0 0 0 0 0 1500 2327 35 45 10 16 0 0 250 </param>
<param name="calibrationZero"> -180.00 -315.00 -180.00 -180.00 90.00 -10 -30.00 0.0 0 20 0.0 0.0 0.0 0.0 0.0 0.0 </param>
<param name="calibrationDelta"> 18 -6 -70 -2 -4 0.0 -5 0.0 0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 </param>

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4 changes: 2 additions & 2 deletions iCubNancy01/calibrators/right_arm-calib.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -19,8 +19,8 @@
<param name="calibration1"> 27306.6 13653.3 44740.2 40959.9 500.0 750.0 750.0 1245.0 2841.1 0.0 0.0 0.0 0.0 0.0 0.0 0.0 </param>
<param name="calibration2"> 10.0 10.0 10.0 10.0 -20.0 10.0 10.0 50.0 10.0 10.0 30.0 10.0 10.0 10.0 10.0 10.0 </param>
<param name="calibration3"> 21999.1 23135.0 51294.9 12447.1 0.0 -3017 -5810 0.0 0.0 -1 1 -1 1 -1 1 -1 </param>
<param name="calibration4"> 0 0 0 0 0 0 0 1334 2150 233 450 251 416 255 450 670 </param>
<param name="calibration5"> 0 0 0 0 0 0 0 1590 2595 10 15 0 25 50 6 60 </param>
<param name="calibration4"> 0 0 0 0 0 0 0 1910 1800 233 450 251 416 255 450 670 </param>
<param name="calibration5"> 0 0 0 0 0 0 0 2040 2400 10 15 0 25 50 6 60 </param>
<param name="calibrationZero"> 180.00 45.00 180.00 180.00 90.00 0.00 -52.00 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 </param>
<param name="calibrationDelta"> -8 -11.5 -4 -8.5 12.0 -10 12 0.0 22 0.0 0.0 0.0 0.0 0.0 0.0 0.0 </param>

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6 changes: 3 additions & 3 deletions iCubNancy01/hardware/motorControl/left_arm-eb2-j4_15-mc.xml
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Expand Up @@ -47,9 +47,9 @@
<param name="outputType"> pwm </param>
<param name="fbkControlUnits"> metric_units </param>
<param name="outputControlUnits"> machine_units </param>
<param name="kp"> 200 200 200 6000 -2000 -8000 8000 -8000 8000 -8000 -8000 -6000 </param>
<param name="kd"> 1000 1000 1000 2000 -34000 -32000 32000 -32000 32000 -32000 -32000 -31250 </param>
<param name="ki"> 1 2 2 1 -5 -5 5 -5 5 -5 -5 0 </param>
<param name="kp"> 200 200 200 -6000 -2000 -8000 8000 -8000 8000 -8000 -8000 -6000 </param>
<param name="kd"> 1000 1000 1000 -2000 -34000 -32000 32000 -32000 32000 -32000 -32000 -31250 </param>
<param name="ki"> 1 2 2 -1 -5 -5 5 -5 5 -5 -5 0 </param>
<param name="maxOutput"> 1333 1333 1333 1333 1333 1333 1333 1333 1333 1333 1333 1333 </param>
<param name="maxInt"> 1333 1333 1333 1333 1333 1333 1333 1333 1333 1333 1333 1333 </param>
<param name="stictionUp"> 0 0 0 0 0 0 0 0 0 0 0 0 </param>
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