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Update jetpack fts secondary calibration #61

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Update jetpack fts secondary calibration #61

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18 changes: 18 additions & 0 deletions iRonCub-Mk3/estimators/ft_secondary_calibration_models/leftJet_ft_models/correction.xml
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Original file line number Diff line number Diff line change
@@ -0,0 +1,18 @@
<?xml version="1.0" encoding="utf-8"?>
<group name="modelClassParams">
<param name="np">1</param>
<param name="ny">6</param>
<param name="nu">7</param>
<param name="na">0</param>
<param name="nb">0</param>
<param name="string">correction</param>
<param name="row1">(0.9755 0 0 0 0 0)</param>
<param name="row2">(0 1 0 0 0 0)</param>
<param name="row3">(0 0 1.1028 0 0 0)</param>
<param name="row4">(0 0 0 1 0 0)</param>
<param name="row5">(0 0 0 0 0.9822 0)</param>
<param name="row6">(0 0 0 0 0 1)</param>
<param name="row7">(0 0 0 0 0 0)</param>
<param name="row8">(49.7899 -30 20.0616 0 -0.1048 0)</param>
</group>

17 changes: 17 additions & 0 deletions iRonCub-Mk3/estimators/ft_secondary_calibration_models/rightJet_ft_models/correction.xml
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Original file line number Diff line number Diff line change
@@ -0,0 +1,17 @@
<?xml version="1.0" encoding="utf-8"?>
<group name="modelClassParams">
<param name="np">1</param>
<param name="ny">6</param>
<param name="nu">7</param>
<param name="na">0</param>
<param name="nb">0</param>
<param name="string">correction</param>
<param name="row1">(0.866 0 0 0 0 0)</param>
<param name="row2">(0 1 0 0 0 0)</param>
<param name="row3">(0 0 1.0067 0 0 0)</param>
<param name="row4">(0 0 0 1 0 0)</param>
<param name="row5">(0 0 0 0 0.972 0)</param>
<param name="row6">(0 0 0 0 0 1)</param>
<param name="row7">(0 0 0 0 0 0)</param>
<param name="row8">(-3.0034 115 61.3874 0 0.7267 0)</param>
</group>
6 changes: 3 additions & 3 deletions iRonCub-Mk3/estimators/wholebodydynamics-external.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -33,7 +33,7 @@
<device name="secondaryCalibration_l_jet_ft" type="ftSecondaryCalibImpl">
<param name="period"> 0.001 </param> <!-- in seconds-->
<param name="sensorName"> l_jet_ft </param>
<xi:include href="./ft_secondary_calibration_models/dummy_ft_models/4th_order_dummy.xml" />
<xi:include href="./ft_secondary_calibration_models/leftJet_ft_models/correction.xml" />

<action phase="startup" level="6" type="attach">
<paramlist name="networks">
Expand All @@ -47,7 +47,7 @@
<device name="secondaryCalibration_r_jet_ft" type="ftSecondaryCalibImpl">
<param name="period"> 0.001 </param> <!-- in seconds-->
<param name="sensorName"> r_jet_ft </param>
<xi:include href="./ft_secondary_calibration_models/dummy_ft_models/4th_order_dummy.xml" />
<xi:include href="./ft_secondary_calibration_models/rightJet_ft_models/correction.xml" />

<action phase="startup" level="6" type="attach">
<paramlist name="networks">
Expand Down Expand Up @@ -120,7 +120,7 @@
<param name="fixedFrameGravity">(0,0,-9.81)</param>
<param name="defaultContactFrames">(l_elbow_1,chest_l_jet_turbine,chest_r_jet_turbine,r_elbow_1,root_link,l_sole,r_sole,l_ankle_1,r_ankle_1,l_foot_front,r_foot_front)</param>
<param name="overrideContactFrames">(l_arm_jet_turbine, r_arm_jet_turbine, chest_l_jet_turbine, chest_r_jet_turbine, root_link, l_foot_rear, r_foot_rear, l_foot_front, r_foot_front)</param>
<param name="contactWrenchType">( pure , pure , pure , pure , full , full , full , full , full )</param>
<param name="contactWrenchType">( pure , pure , pureKnown , pureKnown , full , full , full , full , full )</param>
<param name="contactWrenchDirection">(0,0,1 , 0,0,1 , 0,0,1 , 0,0,1 , 0,0,0 , 0,0,0 ,0,0,0 , 0,0,0 , 0,0,0 )</param>
<param name="contactWrenchPosition">( 0,0,0 , 0,0,0 , 0,0,0 , 0,0,0 , 0,0,0 , 0,0,0 ,0,0,0 , 0,0,0 , 0,0,0 )</param>
<param name="imuFrameName">chest_imu</param>
Expand Down
6 changes: 3 additions & 3 deletions iRonCub-Mk3/estimators/wholebodydynamics.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -33,7 +33,7 @@
<device name="secondaryCalibration_l_jet_ft" type="ftSecondaryCalibImpl">
<param name="period"> 0.001 </param> <!-- in seconds-->
<param name="sensorName"> l_jet_ft </param>
<xi:include href="./ft_secondary_calibration_models/dummy_ft_models/3rd_order_dummy.xml" />
<xi:include href="./ft_secondary_calibration_models/leftJet_ft_models/correction.xml" />

<action phase="startup" level="6" type="attach">
<paramlist name="networks">
Expand All @@ -47,7 +47,7 @@
<device name="secondaryCalibration_r_jet_ft" type="ftSecondaryCalibImpl">
<param name="period"> 0.001 </param> <!-- in seconds-->
<param name="sensorName"> r_jet_ft </param>
<xi:include href="./ft_secondary_calibration_models/dummy_ft_models/3rd_order_dummy.xml" />
<xi:include href="./ft_secondary_calibration_models/rightJet_ft_models/correction.xml" />

<action phase="startup" level="6" type="attach">
<paramlist name="networks">
Expand Down Expand Up @@ -120,7 +120,7 @@
<param name="fixedFrameGravity">(0,0,-9.81)</param>
<param name="defaultContactFrames">(l_elbow_1,chest_l_jet_turbine,chest_r_jet_turbine,r_elbow_1,root_link,l_sole,r_sole,l_ankle_1,r_ankle_1,l_foot_front,r_foot_front)</param>
<param name="overrideContactFrames">(l_arm_jet_turbine, r_arm_jet_turbine, chest_l_jet_turbine, chest_r_jet_turbine, root_link, l_foot_rear, r_foot_rear, l_foot_front, r_foot_front)</param>
<param name="contactWrenchType">( pure , pure , pure , pure , full , full , full , full , full )</param>
<param name="contactWrenchType">( pure , pure , pureKnown , pureKnown , full , full , full , full , full )</param>
<param name="contactWrenchDirection">(0,0,1 , 0,0,1 , 0,0,1 , 0,0,1 , 0,0,0 , 0,0,0 ,0,0,0 , 0,0,0 , 0,0,0 )</param>
<param name="contactWrenchPosition">( 0,0,0 , 0,0,0 , 0,0,0 , 0,0,0 , 0,0,0 , 0,0,0 ,0,0,0 , 0,0,0 , 0,0,0 )</param>
<param name="imuFrameName">chest_imu</param>
Expand Down