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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,67 +1,67 @@ | ||
| <?xml version="1.0" encoding="UTF-8" ?> | ||
| <devices> | ||
| <device name="head_calibrator" type="parametricCalibrator"> | ||
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| <group name="GENERAL"> | ||
| <param name="joints"> 6 </param> | ||
| <param name="deviceName"> Head_Calibrator </param> | ||
| </group> | ||
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| <group name="CALIBRATION"> | ||
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| <param name="calibrationType"> 3 3 3 3 0 0 </param> | ||
| <param name="calibration1"> 2047.5 2047.5 2047.5 2047.5 900 900 </param> | ||
| <param name="calibration2"> 10 10 10 10 20 20 </param> | ||
| <param name="calibration3"> 2975.7 792.8375 1007.825 2997.313 0 0 </param> | ||
| <param name="positionZero"> 0 0 0 0 0 0 </param> | ||
| <param name="velocityZero"> 10 10 10 10 10 10 </param> | ||
| <param name="maxPwm"> 120 120 120 0 0 0 </param> | ||
| <param name="posZeroThreshold"> 2 2 2 2 2 2 </param> | ||
| </group> | ||
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| <group name="HOME"> | ||
| <param name="positionHome"> -30 0 0 0 0 0 </param> | ||
| <param name="velocityHome"> 10 10 10 10 10 10 </param> | ||
| </group> | ||
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| <param name="CALIB_ORDER"> (0 1 2 3) (4) (5) </param> | ||
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| <action phase="startup" level="10" type="calibrate"> | ||
| <param name="target">head_mc_wrapper</param> | ||
| </action> | ||
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| <action phase="interrupt1" level="1" type="park"> | ||
| <param name="target">head_mc_wrapper</param> | ||
| </action> | ||
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| <action phase="interrupt3" level="1" type="abort" /> | ||
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| </device> | ||
| </devices> | ||
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| <?xml version="1.0" encoding="UTF-8" ?> | ||
| <devices> | ||
| <device name="head_calibrator" type="parametricCalibrator"> | ||
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| <group name="GENERAL"> | ||
| <param name="joints"> 6 </param> | ||
| <param name="deviceName"> Head_Calibrator </param> | ||
| </group> | ||
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| <group name="CALIBRATION"> | ||
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| <param name="calibrationType"> 3 3 3 3 0 0 </param> | ||
| <param name="calibration1"> 2047.5 2047.5 2047.5 2047.5 900 900 </param> | ||
| <param name="calibration2"> 10 10 10 10 20 20 </param> | ||
| <param name="calibration3"> 2975.7 792.8375 1007.825 2997.313 0 0 </param> | ||
| <param name="positionZero"> 0 0 0 0 0 0 </param> | ||
| <param name="velocityZero"> 10 10 10 10 10 10 </param> | ||
| <param name="maxPwm"> 120 120 0 0 0 0 </param> | ||
| <param name="posZeroThreshold"> 2 2 2 2 2 2 </param> | ||
| </group> | ||
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| <group name="HOME"> | ||
| <param name="positionHome"> -30 0 0 0 0 0 </param> | ||
| <param name="velocityHome"> 10 10 10 10 10 10 </param> | ||
| </group> | ||
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| <param name="CALIB_ORDER"> (0 1 2 3) (4) (5) </param> | ||
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| <action phase="startup" level="10" type="calibrate"> | ||
| <param name="target">head_mc_wrapper</param> | ||
| </action> | ||
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| <action phase="interrupt1" level="1" type="park"> | ||
| <param name="target">head_mc_wrapper</param> | ||
| </action> | ||
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| <action phase="interrupt3" level="1" type="abort" /> | ||
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| </device> | ||
| </devices> | ||
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This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,67 +1,67 @@ | ||
| <?xml version="1.0" encoding="UTF-8" ?> | ||
| <!DOCTYPE devices PUBLIC "-//YARP//DTD robotInterface 1.0//EN" "http://www.icub.org/DTD/robotInterfaceV1.0.dtd"> | ||
| <devices robot="iCubGrenoble01" build="1"> | ||
| <device name="head_calibrator" type="parametricCalibrator"> | ||
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| <group name="GENERAL"> | ||
| <param name="joints"> 6 </param> | ||
| <param name="deviceName"> TalkingHead_Calibrator </param> | ||
| </group> | ||
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| <group name="CALIBRATION"> | ||
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| <param name="calibrationType"> 3 3 3 3 0 0 </param> | ||
| <param name="calibration1"> 2047.5 2047.5 2047.5 2047.5 900 900 </param> | ||
| <param name="calibration2"> 10 10 10 10 20 20 </param> | ||
| <param name="calibration3"> 154.7 503.9125 2951.813 773.5 0 0 </param> | ||
| <param name="positionZero"> 0 0 0 0 0 0 </param> | ||
| <param name="velocityZero"> 10 10 10 10 10 10 </param> | ||
| <param name="maxPwm"> 120 120 120 0 0 0 </param> | ||
| <param name="posZeroThreshold"> 2 2 2 2 2 2 </param> | ||
| </group> | ||
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| <group name="HOME"> | ||
| <param name="positionHome"> -30 0 0 0 0 0 </param> | ||
| <param name="velocityHome"> 10 10 10 10 10 10 </param> | ||
| </group> | ||
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| <param name="CALIB_ORDER"> (0 1 2 3) (4) (5) </param> | ||
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| <action phase="startup" level="10" type="calibrate"> | ||
| <param name="target">head_mc_wrapper</param> | ||
| </action> | ||
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| <action phase="interrupt1" level="1" type="park"> | ||
| <param name="target">head_mc_wrapper</param> | ||
| </action> | ||
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| <action phase="interrupt3" level="1" type="abort" /> | ||
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| </device> | ||
| </devices> | ||
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| <?xml version="1.0" encoding="UTF-8" ?> | ||
| <!DOCTYPE devices PUBLIC "-//YARP//DTD robotInterface 1.0//EN" "http://www.icub.org/DTD/robotInterfaceV1.0.dtd"> | ||
| <devices robot="iCubGrenoble01" build="1"> | ||
| <device name="head_calibrator" type="parametricCalibrator"> | ||
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| <group name="GENERAL"> | ||
| <param name="joints"> 6 </param> | ||
| <param name="deviceName"> TalkingHead_Calibrator </param> | ||
| </group> | ||
|
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| <group name="CALIBRATION"> | ||
|
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| <param name="calibrationType"> 3 3 3 3 0 0 </param> | ||
| <param name="calibration1"> 2047.5 2047.5 2047.5 2047.5 900 900 </param> | ||
| <param name="calibration2"> 10 10 10 10 20 20 </param> | ||
| <param name="calibration3"> 154.7 503.9125 2951.813 773.5 0 0 </param> | ||
| <param name="positionZero"> 0 0 0 0 0 0 </param> | ||
| <param name="velocityZero"> 10 10 10 10 10 10 </param> | ||
| <param name="maxPwm"> 120 120 0 0 0 0 </param> | ||
| <param name="posZeroThreshold"> 2 2 2 2 2 2 </param> | ||
| </group> | ||
|
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| <group name="HOME"> | ||
| <param name="positionHome"> -30 0 0 0 0 0 </param> | ||
| <param name="velocityHome"> 10 10 10 10 10 10 </param> | ||
| </group> | ||
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| <param name="CALIB_ORDER"> (0 1 2 3) (4) (5) </param> | ||
|
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| <action phase="startup" level="10" type="calibrate"> | ||
| <param name="target">head_mc_wrapper</param> | ||
| </action> | ||
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| <action phase="interrupt1" level="1" type="park"> | ||
| <param name="target">head_mc_wrapper</param> | ||
| </action> | ||
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| <action phase="interrupt3" level="1" type="abort" /> | ||
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| </device> | ||
| </devices> | ||
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