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renamed iCubChemnitz_RI -> iCubChemnitz
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svn path=/trunk/iCub/; revision=25979
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@randaz81
randaz81 committed Sep 16, 2013
1 parent 2b20de0 commit 72c6368
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11 changes: 11 additions & 0 deletions iCubChemnitz01/CMakeLists.txt
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set(appname iCubChemnitz01_RI)

set(scripts icub_all.xml robotMotorGui.ini firmwareUpdate.txt robotInterface.ini)

yarp_install(FILES ${scripts} DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname})
yarp_install(DIRECTORY calibrators DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname})
yarp_install(DIRECTORY cartesian DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname})
yarp_install(DIRECTORY wrappers DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname})
yarp_install(DIRECTORY hardware DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname})


67 changes: 67 additions & 0 deletions iCubChemnitz01/calibrators/head_calib.xml
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<?xml version="1.0" encoding="UTF-8" ?>
<devices>
<device name="head_calibrator" type="parametricCalibrator">

<group name="GENERAL">
<param name="joints"> 6 </param>
<param name="deviceName"> Head_Calibrator </param>
</group>

<group name="CALIBRATION">

<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"> 20 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>

<group name="HOME">
<param name="positionHome"> -30 0 0 0 0 0 </param>
<param name="velocityHome"> 10 10 10 10 10 10 </param>
</group>

<param name="CALIB_ORDER"> (0 1 2 3) (4) (5) </param>

<action phase="startup" level="10" type="calibrate">
<param name="target">head_mc_wrapper</param>
</action>

<action phase="interrupt1" level="1" type="park">
<param name="target">head_mc_wrapper</param>
</action>

<action phase="interrupt3" level="1" type="abort" />

</device>
</devices>



























67 changes: 67 additions & 0 deletions iCubChemnitz01/calibrators/left_arm_calib.xml
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<?xml version="1.0" encoding="UTF-8" ?>
<devices>
<device name="left_arm_calibrator" type="parametricCalibrator">

<group name="GENERAL">
<param name="joints"> 8 </param>
<param name="deviceName"> Left_Arm_Calibrator </param>
</group>

<group name="CALIBRATION">

<param name="calibrationType"> 3 3 3 3 0 3 3 3 </param>
<param name="calibration1"> 2388.75 3241.875 2047.5 1535.625 1000 2047.5 2047.5 2500 </param>
<param name="calibration2"> 10 10 10 10 20 10 10 100 </param>
<param name="calibration3"> 3167.938 1200.063 3992.625 1766.538 0 2735.688 119.4375 0 </param>
<param name="positionZero"> -30 30 0 45 0 0 0 15 </param>
<param name="velocityZero"> 10 10 10 10 30 10 10 100 </param>
<param name="maxPwm"> 120 120 120 120 0 0 0 0 </param>
<param name="posZeroThreshold"> 2 2 2 2 2 2 90 90 </param>
</group>

<group name="HOME">
<param name="positionHome"> -30 30 0 45 0 0 0 15 </param>
<param name="velocityHome"> 10 10 10 10 30 10 10 100 </param>
</group>

<param name="CALIB_ORDER">(0 1 2 3) (4 6 7) (5)</param>

<action phase="startup" level="10" type="calibrate">
<param name="target">left_arm_mc</param>
</action>

<action phase="interrupt1" level="1" type="park">
<param name="target">left_arm_mc</param>
</action>

<action phase="interrupt3" level="1" type="abort" />

</device>
</devices>



























67 changes: 67 additions & 0 deletions iCubChemnitz01/calibrators/left_hand_calib.xml
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<?xml version="1.0" encoding="UTF-8" ?>
<devices>
<device name="left_hand_calibrator" type="parametricCalibrator">

<group name="GENERAL">
<param name="joints"> 8 </param>
<param name="deviceName"> Left_Hand_Calibrator </param>
</group>

<group name="CALIBRATION">

<param name="calibrationType"> 3 4 4 4 4 4 4 4 </param>
<param name="calibration1"> 1357.78 237 40 255 90 245 60 750 </param>
<param name="calibration2"> 10 10 30 10 10 10 10 10 </param>
<param name="calibration3"> 0 6000 -8000 6000 7400 6000 -7400 -14000 </param>
<param name="positionZero"> 30 3 0 0 0 0 0 0 </param>
<param name="velocityZero"> 100 100 100 100 100 100 100 100 </param>
<param name="maxPwm"> 0 0 0 0 0 0 0 0 </param>
<param name="posZeroThreshold"> 90 90 90 90 90 90 90 90 </param>
</group>

<group name="HOME">
<param name="positionHome"> 90 3 0 0 0 0 0 0 </param>
<param name="velocityHome"> 10 10 10 10 10 10 10 10 </param>
</group>

<param name="CALIB_ORDER">(0 1 3 5) (2 4 6 7) </param>

<action phase="startup" level="10" type="calibrate">
<param name="target">left_hand_mc</param>
</action>

<action phase="interrupt1" level="1" type="park">
<param name="target">left_hand_mc</param>
</action>

<action phase="interrupt3" level="1" type="abort" />

</device>
</devices>



























67 changes: 67 additions & 0 deletions iCubChemnitz01/calibrators/left_leg_calib.xml
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<?xml version="1.0" encoding="UTF-8" ?>
<devices>
<device name="left_leg_calibrator" type="parametricCalibrator">

<group name="GENERAL">
<param name="joints"> 6 </param>
<param name="deviceName"> Left_Leg_Calibrator </param>
</group>

<group name="CALIBRATION">

<param name="calibrationType"> 3 3 3 3 3 3 </param>
<param name="calibration1"> 2047.5 2047.5 2047.5 2047.5 2047.5 2047.5 </param>
<param name="calibration2"> 10 10 10 10 10 10 </param>
<param name="calibration3"> 2712.938 2900.625 4027.888 548.275 2188.55 1942.85 </param>
<param name="positionZero"> 0 0 0 0 0 0 </param>
<param name="velocityZero"> 10 10 10 10 10 10 </param>
<param name="maxPwm"> 120 120 120 120 120 120 </param>
<param name="posZeroThreshold"> 2 2 2 2 2 2 </param>
</group>

<group name="HOME">
<param name="positionHome"> 0 0 0 0 0 0 </param>
<param name="velocityHome"> 10 10 10 10 10 10 </param>
</group>

<param name="CALIB_ORDER">(0 1 2 3 4 5) </param>

<action phase="startup" level="10" type="calibrate">
<param name="target">left_leg_mc_wrapper</param>
</action>

<action phase="interrupt1" level="1" type="park">
<param name="target">left_leg_mc_wrapper</param>
</action>

<action phase="interrupt3" level="1" type="abort" />

</device>
</devices>



























67 changes: 67 additions & 0 deletions iCubChemnitz01/calibrators/right_arm_calib.xml
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<?xml version="1.0" encoding="UTF-8" ?>
<devices>
<device name="right_arm_calibrator" type="parametricCalibrator">

<group name="GENERAL">
<param name="joints"> 8 </param>
<param name="deviceName"> Right_Arm_Calibrator </param>
</group>

<group name="CALIBRATION">

<param name="calibrationType"> 3 3 3 3 0 3 3 3 </param>
<param name="calibration1"> 1706.25 853.13 2047.50 2559.38 900.00 2047.50 2047.50 2250.00 </param>
<param name="calibration2"> 10.00 10.00 10.00 10.00 -20.00 10.00 10.00 100.00 </param>
<param name="calibration3"> 582.40 3939.16 2573.03 473.20 0.00 2138.50 2121.44 0.00 </param>
<param name="positionZero"> -30 30 0 45 0 0 0 15 </param>
<param name="velocityZero"> 10 10 10 10 30 10 10 100 </param>
<param name="maxPwm"> 120 120 120 120 0 0 0 0 </param>
<param name="posZeroThreshold"> 2 2 2 2 2 2 90 90 </param>
</group>

<group name="HOME">
<param name="positionHome"> -30 30 0 45 0 0 0 15 </param>
<param name="velocityHome"> 10 10 10 10 30 10 10 100 </param>
</group>

<param name="CALIB_ORDER">(0 1 2 3) (4 6 7) (5)</param>

<action phase="startup" level="10" type="calibrate">
<param name="target">right_arm_mc</param>
</action>

<action phase="interrupt1" level="1" type="park">
<param name="target">right_arm_mc</param>
</action>

<action phase="interrupt3" level="1" type="abort" />

</device>
</devices>



























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