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Merge branch 'master' into devel
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@pattacini
pattacini committed Aug 9, 2023
2 parents 059ebb2 + ff39b63 commit 368af64
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Showing 11 changed files with 47 additions and 46 deletions.
4 changes: 2 additions & 2 deletions iCubSingapore01/calibrators/head-calib.xml
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Expand Up @@ -22,11 +22,11 @@
<param name="calibrationType"> 3 3 3 3 5 5 </param>
<param name="calibration1"> 0 0 0 0 3000 3000 </param>
<param name="calibration2"> 0 0 0 0 8192 8192 </param>
<param name="calibration3"> 31999 22783 36255 42815 0 0 </param>
<param name="calibration3"> 31999 22783 36255 10239 0 0 </param>
<param name="calibration4"> 0 0 0 0 0 0 </param>
<param name="calibration5"> 0 0 0 0 0 0 </param>
<param name="calibrationZero"> 180 -180 180 180 0 0 </param>
<param name="calibrationDelta"> 3 -2 1 -11 0 0 </param>
<param name="calibrationDelta"> 3 -2 1 -7.4 -11.6 -6 </param>

<param name="startupPosition"> 0.0 0.0 0.0 0.0 0.0 0.0 </param>
<param name="startupVelocity"> 10 10 20.0 20.0 20.0 20.0 </param>
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8 changes: 4 additions & 4 deletions iCubSingapore01/calibrators/left_arm-calib.xml
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Expand Up @@ -20,10 +20,10 @@
<param name="calibrationType"> 3 3 3 3 5 3 3 7 7 6 6 6 6 6 6 6 </param>
<param name="calibration1"> 38229 51882 32768 24576 -1500 0 0 0 0 0 0 0 0 0 0 0 </param>
<param name="calibration2"> 10 10 10.0 10.0 16384 0 0 0 0 9102 9102 9102 9102 9102 9102 3640 </param>
<param name="calibration3"> 65519 60703 4719 56703 0 27552 60911 0 0 -1 1 -1 1 -1 1 -1 </param>
<param name="calibration4"> 0 0 0 0 0 0 0 2610 530 240 468 247 482 255 485 682 </param>
<param name="calibration5"> 0 0 0 0 0 0 0 2900 1797 0 5 0 15 0 20 65 </param>
<param name="calibrationZero"> -180 -315 180 -180 0 -180 180 0 0 0 0 0 0 0 0 0 </param>
<param name="calibration3"> 64447 60703 4719 56703 0 27552 60911 0 0 -1 1 -1 1 -1 1 -1 </param>
<param name="calibration4"> 0 0 0 0 0 0 0 2610 2400 240 500 247 482 255 485 682 </param>
<param name="calibration5"> 0 0 0 0 0 0 0 2900 4550 0 5 0 15 0 20 65 </param>
<param name="calibrationZero"> -180 -315 180 -180 0 -180 180 0 0 0 0 0 0 0 0 0 </param>
<param name="calibrationDelta"> 0 -10.3 -3 -8 0 0 0 0 0 0 0 0 0 0 0 0 </param>

<param name="startupPosition"> -35 30 0 50 0 0 0 15 30 0 0 0 0 0 0 0 </param>
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2 changes: 1 addition & 1 deletion iCubSingapore01/calibrators/left_leg-calib.xml
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Expand Up @@ -19,7 +19,7 @@
<param name="calibrationType"> 3 3 3 3 3 3 </param>
<param name="calibration1"> 32768 32768 32768 32768 32768 32768 </param>
<param name="calibration2"> 10 10 10 10 10 10 </param>
<param name="calibration3"> 40735 36047 5423 43471 30287 58223 </param>
<param name="calibration3"> 61807 36047 5423 43471 30287 58223 </param>
<param name="calibration4"> 0 0 0 0 0 0 </param>
<param name="calibration5"> 0 0 0 0 0 0 </param>
<param name="calibrationZero"> 180 180 180 -180 -180 180 </param>
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8 changes: 4 additions & 4 deletions iCubSingapore01/calibrators/right_arm-calib.xml
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Expand Up @@ -20,10 +20,10 @@
<param name="calibrationType"> 3 3 3 3 5 3 3 7 7 6 6 6 6 6 6 6 </param>
<param name="calibration1"> 27307 13653 32768 40960 1500 0 0 0 0 0 0 0 0 0 0 0 </param>
<param name="calibration2"> 10 10 10 10 16384 0 0 0 0 9102 9102 9102 9102 9102 9102 3640 </param>
<param name="calibration3"> 46063 40335 27503 39183 0 52668 49800 0 0 -1 1 -1 1 -1 1 -1 </param>
<param name="calibration4"> 0 0 0 0 0 0 0 2740 486 255 472 240 470 255 475 680 </param>
<param name="calibration5"> 0 0 0 0 0 0 0 3045 1703 0 5 10 10 30 17 65 </param>
<param name="calibrationZero"> 180 45 -180 180 0 180 -180 0 0 0 0 0 0 0 0 0 </param>
<param name="calibration3"> 47695 40335 27503 39183 0 52668 49800 0 0 -1 1 -1 1 -1 1 -1 </param>
<param name="calibration4"> 0 0 0 0 0 0 0 1850 580 255 470 250 470 255 475 685 </param>
<param name="calibration5"> 0 0 0 0 0 0 0 2100 3000 0 5 10 10 30 17 120 </param>
<param name="calibrationZero"> 180 45 -180 180 0 180 -180 0 0 0 0 0 0 0 0 0 </param>
<param name="calibrationDelta"> -2 -9.5 -4 -15 0 0 0 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>
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2 changes: 1 addition & 1 deletion iCubSingapore01/cartesian/left_arm-cartesian.xml
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Expand Up @@ -9,7 +9,7 @@
<param name="TaskRefVelPeriodFactor">4</param>
<param name="SolverNameToConnect">cartesianSolver/left_arm</param>
<param name="KinematicPart">arm</param>
<param name="KinematicType">left_v2</param>
<param name="KinematicType">left_v2.5</param>
<param name="PositionControl">on</param>
<param name="NumberOfDrivers">2</param>
</group>
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2 changes: 1 addition & 1 deletion iCubSingapore01/cartesian/right_arm-cartesian.xml
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Expand Up @@ -9,7 +9,7 @@
<param name="TaskRefVelPeriodFactor">4</param>
<param name="SolverNameToConnect">cartesianSolver/right_arm</param>
<param name="KinematicPart">arm</param>
<param name="KinematicType">right_v2</param>
<param name="KinematicType">right_v2.5</param>
<param name="PositionControl">on</param>
<param name="NumberOfDrivers">2</param>
</group>
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2 changes: 1 addition & 1 deletion iCubSingapore01/hardware/mechanicals/head-eb21-j2_5-mec.xml
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Expand Up @@ -23,7 +23,7 @@
</group>

<group name="LIMITS">
<param name="hardwareJntPosMin"> -45 -30 -45 0 </param>
<param name="hardwareJntPosMin"> -45 -30 -45 0 </param>
<param name="hardwareJntPosMax"> +45 +30 +45 +45 </param>
<param name="rotorPosMin"> 0 0 0 0 </param>
<param name="rotorPosMax"> 0 0 0 0 </param>
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4 changes: 2 additions & 2 deletions iCubSingapore01/hardware/motorControl/right_arm-eb28-j8_11-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"> -500.0 500.0 -500.0 500.0 </param>
<param name="kp"> -500.0 -500.0 -500.0 500.0 </param>
<param name="kd"> 0.0 0.0 0.0 0.0 </param>
<param name="ki"> -50.0 50.0 -50.0 50.0 </param>
<param name="ki"> -50.0 -50.0 -50.0 50.0 </param>
<param name="maxOutput"> 3360 3360 3360 3360 </param>
<param name="maxInt"> 3360 3360 3360 3360 </param>
<param name="stictionUp"> 0 0 0 0 </param>
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2 changes: 1 addition & 1 deletion iCubSingapore01/iKinGazeCtrl.ini
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@@ -1,4 +1,4 @@
head_version v2.0
head_version v2.5

[cameras]
context cameraCalibration
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45 changes: 23 additions & 22 deletions iCubSingapore01/icubEyes.ini
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Expand Up @@ -5,14 +5,14 @@ drawCenterCross 0

w 320
h 240
fx 237.599
fy 237.149
cx 181.635
cy 144.859
k1 -0.412969
k2 0.145895
p1 0.000531684
p2 -0.00072717
fx 222.834
fy 222.442
cx 184.455
cy 145.355
k1 -0.357715
k2 0.107263
p1 7.93927e-05
p2 -0.00329061

[CAMERA_CALIBRATION_LEFT]

Expand All @@ -21,14 +21,14 @@ drawCenterCross 0

w 320
h 240
fx 236.476
fy 236.278
cx 153.05
cy 141.829
k1 -0.41691
k2 0.164864
p1 0.000463526
p2 0.000172292
fx 259.49
fy 258.677
cx 149.222
cy 149.746
k1 -0.502769
k2 0.22783
p1 -0.0102489
p2 0.00335395

[CAMERA_CALIBRATION_CONFIGURATION_LEFT]

Expand All @@ -52,13 +52,14 @@ outputGroupname CAMERA_CALIBRATION_RIGHT


[STEREO_CALIBRATION_CONFIGURATION]
boardWidth 8
boardHeight 6
boardSize 0.09241
boardWidth 9
boardHeight 7
boardSize 0.245
numberOfPairs 30

[STEREO_DISPARITY]
HN (0.999876 -0.0016283 -0.0156848 -0.0668214 0.00188078 0.999869 0.0160957 -0.000576745 0.0156565 -0.0161232 0.999747 -0.00550025 0 0 0 1)
QL ( 0.000000 0.000000 0.000000 -0.001726 -0.000383 0.004027 0.001822 0.000096)
QR ( 0.000000 0.000000 0.000000 -0.001726 -0.000383 0.004027 0.001822 -0.000096)
HN (0.996777 -0.00916447 0.0796969 -0.232565 0.00814255 0.999881 0.0131382 0.0055351 -0.0798077 -0.0124469 0.996733 -0.0852971 0 0 0 1)
QL ( 0.000000 0.000000 0.000000 -0.000192 -0.000383 -0.000575 0.000288 0.000000)
QR ( 0.000000 0.000000 0.000000 -0.000192 -0.000383 -0.000575 0.000288 0.000000)


14 changes: 7 additions & 7 deletions iCubSingapore01/icub_all.xml
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@@ -1,7 +1,7 @@
<?xml version="1.0" encoding="UTF-8" ?>
<!DOCTYPE robot PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">

<robot name="iCubSingapore01" xmlns:xi="http://www.w3.org/2001/XInclude">
<robot name="iCubSingapore01" portprefix="icub" xmlns:xi="http://www.w3.org/2001/XInclude">
<params>
<xi:include href="hardware/electronics/pc104.xml" />
</params>
Expand Down Expand Up @@ -50,10 +50,10 @@
<xi:include href="hardware/motorControl/right_leg-eb9-j4_5-mc.xml" />

<!-- INERTIAL SENSOR-->
<xi:include href="wrappers/inertials/head-imuFilter_wrapper.xml" />
<!--<xi:include href="wrappers/inertials/head-imuFilter_wrapper.xml" />
<xi:include href="wrappers/inertials/head-imuFilter.xml" />
<xi:include href="wrappers/inertials/head-inertials_wrapper.xml" />
<xi:include href="hardware/inertials/head-inertial.xml" />
<xi:include href="hardware/inertials/head-inertial.xml" />-->

<!-- ANALOG SENSOR MAIS -->
<xi:include href="wrappers/MAIS/left_arm-mais_wrapper.xml" />
Expand Down Expand Up @@ -93,15 +93,15 @@
<xi:include href="wrappers/VFT/left_leg-VFT_wrapper.xml" />
<xi:include href="wrappers/VFT/right_arm-VFT_wrapper.xml" />
<xi:include href="wrappers/VFT/torso-VFT_wrapper.xml" />

<!-- CALIBRATORS -->
<xi:include href="calibrators/head-calib.xml" />
<xi:include href="calibrators/torso-calib.xml" />
<xi:include href="calibrators/left_arm-calib.xml" />
<xi:include href="calibrators/right_arm-calib.xml" />
<xi:include href="calibrators/left_leg-calib.xml" />
<xi:include href="calibrators/right_leg-calib.xml" />
<xi:include href="calibrators/torso-calib.xml" />
<xi:include href="calibrators/head-calib.xml" />


<!-- CARTESIANS -->
<xi:include href="cartesian/left_arm-cartesian.xml" />
<xi:include href="cartesian/right_arm-cartesian.xml" />
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