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[iCubErzelli01] Configuration files alignment after maintenance #763

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Merged
merged 2 commits into from
Oct 31, 2025
Merged

[iCubErzelli01] Configuration files alignment after maintenance #763

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8d561f7
[iCubErzelli01] Configuration files alignment after maintenance
AntonioConsilvio Oct 30, 2025
62d9d4f
[iCubErzelli01] Removing unused subparts from icub_all.xml
AntonioConsilvio Oct 31, 2025
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10 changes: 5 additions & 5 deletions iCubErzelli01/calibrators/left_arm-calib.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -17,11 +17,11 @@

<group name="CALIBRATION">
<param name="calibrationType"> 3 3 3 3 5 3 3 7 7 6 6 6 6 6 6 6 </param>
<param name="calibration1"> 0 0 0 0 -1500 0 0 0 0 0 0 0 0 0 0 0 </param>
<param name="calibration2"> 0 0 0 0 16384 0 0 0 0 9102 9102 9102 9102 9102 9102 3640 </param>
<param name="calibration3"> 48111 53135 48095 4671 0 43568 39823 0 0 -1 1 -1 1 -1 1 -1 </param>
<param name="calibration4"> 0 0 0 0 0 0 0 2195 2190 255 320 254 510 237 479 720 </param>
<param name="calibration5"> 0 0 0 0 0 0 0 2460 4170 0 0 0 0 7 16 65 </param>
<param name="calibration1"> 0 0 0 0 -1500 0 0 0 0 0 0 0 0 0 0 0 </param>
<param name="calibration2"> 0 0 0 0 16384 0 0 0 0 9102 9102 9102 9102 9102 9102 3640 </param>
<param name="calibration3"> 48111 53135 48095 4671 0 43568 39823 0 0 -1 1 -1 1 -1 1 -1 </param>
<param name="calibration4"> 0 0 0 0 0 0 0 2200 1860 255 320 254 510 237 479 720 </param>
<param name="calibration5"> 0 0 0 0 0 0 0 2420 4060 0 0 0 0 7 16 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"> 5 -8 -6 -8 0 -3 1 0 0 0 0 0 0 0 0 0 </param>

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8 changes: 4 additions & 4 deletions iCubErzelli01/calibrators/right_arm-calib.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -19,10 +19,10 @@
<group name="CALIBRATION">
<param name="calibrationType"> 3 3 3 3 5 3 3 7 7 6 6 6 6 6 6 6 </param>
<param name="calibration1"> 0 0 0 0 1500 0 0 0 0 0 0 0 0 0 0 0 </param>
<param name="calibration2"> 0 0 0 0 16384 0 0 0 0 9102 9102 9102 9102 9102 9102 3640 </param>
<param name="calibration3"> 63839 52223 23503 64623 0 63768 16432 0 0 -1 1 -1 1 -1 1 -1 </param>
<param name="calibration4"> 0 0 0 0 0 0 0 2760 640 255 490 255 505 255 480 730 </param>
<param name="calibration5"> 0 0 0 0 0 0 0 2990 2650 15 0 0 20 0 0 100 </param>
<param name="calibration2"> 0 0 0 0 16384 0 0 0 0 9102 9102 9102 9102 9102 9102 3640 </param>
<param name="calibration3"> 63839 52223 23503 64623 0 63768 16432 0 0 -1 1 -1 1 -1 1 -1 </param>
<param name="calibration4"> 0 0 0 0 0 0 0 2600 1200 255 490 255 505 255 480 730 </param>
<param name="calibration5"> 0 0 0 0 0 0 0 2900 3660 17 0 0 20 0 0 100 </param>
<param name="calibrationZero"> 180 45 -180 180 0 180 -180 0 0 0 0 0 0 0 0 0 </param>
<param name="calibrationDelta"> 6 -9 -13 2 0 7 0 0 0 0 0 0 0 0 0 0 </param>

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4 changes: 2 additions & 2 deletions iCubErzelli01/hardware/mechanicals/right_arm-eb28-j8_11-mec.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -31,14 +31,14 @@

<param name ="matrixJ2M">
1.000 0.000 0.000 0.000
1.000 +1.000 0.000 0.000
-1.000 +1.000 0.000 0.000
0.000 0.000 1.000 0.000
0.000 0.000 0.000 1.000
</param>

<param name ="matrixM2J">
1.000 0.000 0.000 0.000
-1.000 +1.000 0.000 0.000
+1.000 +1.000 0.000 0.000
0.000 0.000 1.000 0.000
0.000 0.000 0.000 1.000
</param>
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40 changes: 20 additions & 20 deletions iCubErzelli01/icub_all.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -11,15 +11,15 @@
<!-- motor controllers wrappers -->
<xi:include href="wrappers/motorControl/left_arm-mc_wrapper.xml" />
<xi:include href="wrappers/motorControl/right_arm-mc_wrapper.xml" />
<xi:include href="wrappers/motorControl/left_leg-mc_wrapper.xml" />
<xi:include href="wrappers/motorControl/right_leg-mc_wrapper.xml" />
<!-- <xi:include href="wrappers/motorControl/left_leg-mc_wrapper.xml" />
<xi:include href="wrappers/motorControl/right_leg-mc_wrapper.xml" /> -->
<xi:include href="wrappers/motorControl/head-mc_wrapper.xml" />
<xi:include href="wrappers/motorControl/torso-mc_wrapper.xml" />

<xi:include href="wrappers/motorControl/left_arm-mc_remapper.xml" />
<xi:include href="wrappers/motorControl/right_arm-mc_remapper.xml" />
<xi:include href="wrappers/motorControl/left_leg-mc_remapper.xml" />
<xi:include href="wrappers/motorControl/right_leg-mc_remapper.xml" />
<!-- <xi:include href="wrappers/motorControl/left_leg-mc_remapper.xml" />
<xi:include href="wrappers/motorControl/right_leg-mc_remapper.xml" /> -->
<xi:include href="wrappers/motorControl/head-mc_remapper.xml" />
<xi:include href="wrappers/motorControl/torso-mc_remapper.xml" />

Expand All @@ -42,13 +42,13 @@
<xi:include href="hardware/motorControl/right_arm-eb28-j8_11-mc.xml" />
<xi:include href="hardware/motorControl/right_arm-eb29-j12_15-mc.xml" />

<!-- LEFT LEG -->
<!-- LEFT LEG
<xi:include href="hardware/motorControl/left_leg-eb6-j0_3-mc.xml" />
<xi:include href="hardware/motorControl/left_leg-eb7-j4_5-mc.xml" />
<xi:include href="hardware/motorControl/left_leg-eb7-j4_5-mc.xml" /> -->

<!-- RIGHT LEG -->
<!-- RIGHT LEG
<xi:include href="hardware/motorControl/right_leg-eb8-j0_3-mc.xml" />
<xi:include href="hardware/motorControl/right_leg-eb9-j4_5-mc.xml" />
<xi:include href="hardware/motorControl/right_leg-eb9-j4_5-mc.xml" /> -->


<!-- INERTIAL SENSOR-->
Expand All @@ -63,7 +63,7 @@
<xi:include href="hardware/MAIS/left_arm-eb26-j12_15-mais.xml" />
<xi:include href="hardware/MAIS/right_arm-eb29-j12_15-mais.xml" />

<!-- SKINS -->
<!-- SKINS
<xi:include href="wrappers/skin/left_arm-skin_wrapper.xml" />
<xi:include href="hardware/skin/left_arm-eb24-j4_7-skin.xml" />
<xi:include href="wrappers/skin/right_arm-skin_wrapper.xml" />
Expand All @@ -72,35 +72,35 @@
<xi:include href="wrappers/skin/right_leg-skin_wrapper.xml" />
<xi:include href="hardware/skin/left_leg-eb10-skin.xml" />
<xi:include href="hardware/skin/right_leg-eb11-skin.xml" />
<xi:include href="wrappers/skin/torso-skin_wrapper.xml" />
<xi:include href="hardware/skin/torso-eb22-skin.xml" />
<xi:include href="wrappers/skin/torso-skin_wrapper.xml" />
<xi:include href="hardware/skin/torso-eb22-skin.xml" /> -->

<!-- ANALOG SENSOR FT -->
<xi:include href="wrappers/FT/left_arm-FT_wrapper.xml" />
<xi:include href="wrappers/FT/right_arm-FT_wrapper.xml" />
<xi:include href="wrappers/FT/right_leg-FT_wrapper.xml" />
<xi:include href="wrappers/FT/left_leg-FT_wrapper.xml" />
<!-- <xi:include href="wrappers/FT/right_leg-FT_wrapper.xml" />
<xi:include href="wrappers/FT/left_leg-FT_wrapper.xml" />
<xi:include href="wrappers/FT/right_leg-FT_remapper.xml" />
<xi:include href="wrappers/FT/left_leg-FT_remapper.xml" />
<xi:include href="wrappers/FT/left_leg-FT_remapper.xml" /> -->
<xi:include href="hardware/FT/left_arm-eb1-j0_3-strain.xml" />
<xi:include href="hardware/FT/right_arm-eb3-j0_3-strain.xml" />
<xi:include href="hardware/FT/left_leg-eb6-j0_3-strain.xml" />
<!-- <xi:include href="hardware/FT/left_leg-eb6-j0_3-strain.xml" />
<xi:include href="hardware/FT/left_leg-eb7-j4_5-strain.xml" />
<xi:include href="hardware/FT/right_leg-eb8-j0_3-strain.xml" />
<xi:include href="hardware/FT/right_leg-eb9-j4_5-strain.xml" />
<xi:include href="hardware/FT/right_leg-eb9-j4_5-strain.xml" /> -->

<!-- VIRTUAL ANALOG SENSORS (WRAPPER ONLY) -->
<xi:include href="wrappers/VFT/left_arm-VFT_wrapper.xml" />
<xi:include href="wrappers/VFT/right_leg-VFT_wrapper.xml" />
<xi:include href="wrappers/VFT/left_leg-VFT_wrapper.xml" />
<!-- <xi:include href="wrappers/VFT/right_leg-VFT_wrapper.xml" />
<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/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/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" />

Expand Down