diff --git a/iRonCub-Mk3/estimators/ft_secondary_calibration_models/leftJet_ft_models/correction.xml b/iRonCub-Mk3/estimators/ft_secondary_calibration_models/leftJet_ft_models/correction.xml new file mode 100644 index 0000000000..02c6796b63 --- /dev/null +++ b/iRonCub-Mk3/estimators/ft_secondary_calibration_models/leftJet_ft_models/correction.xml @@ -0,0 +1,18 @@ + + + 1 + 6 + 7 + 0 + 0 + correction + (0.9755 0 0 0 0 0) + (0 1 0 0 0 0) + (0 0 1.1028 0 0 0) + (0 0 0 1 0 0) + (0 0 0 0 0.9822 0) + (0 0 0 0 0 1) + (0 0 0 0 0 0) + (49.7899 -30 20.0616 0 -0.1048 0) + + diff --git a/iRonCub-Mk3/estimators/ft_secondary_calibration_models/rightJet_ft_models/correction.xml b/iRonCub-Mk3/estimators/ft_secondary_calibration_models/rightJet_ft_models/correction.xml new file mode 100644 index 0000000000..8f8c0b9a9b --- /dev/null +++ b/iRonCub-Mk3/estimators/ft_secondary_calibration_models/rightJet_ft_models/correction.xml @@ -0,0 +1,17 @@ + + + 1 + 6 + 7 + 0 + 0 + correction + (0.866 0 0 0 0 0) + (0 1 0 0 0 0) + (0 0 1.0067 0 0 0) + (0 0 0 1 0 0) + (0 0 0 0 0.972 0) + (0 0 0 0 0 1) + (0 0 0 0 0 0) + (-3.0034 115 61.3874 0 0.7267 0) + diff --git a/iRonCub-Mk3/estimators/wholebodydynamics-external.xml b/iRonCub-Mk3/estimators/wholebodydynamics-external.xml index 1af7aa42f3..9e372f24c2 100644 --- a/iRonCub-Mk3/estimators/wholebodydynamics-external.xml +++ b/iRonCub-Mk3/estimators/wholebodydynamics-external.xml @@ -33,7 +33,7 @@ 0.001 l_jet_ft - + @@ -47,7 +47,7 @@ 0.001 r_jet_ft - + @@ -120,7 +120,7 @@ (0,0,-9.81) (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) (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) - ( pure , pure , pure , pure , full , full , full , full , full ) + ( pure , pure , pureKnown , pureKnown , full , full , full , full , full ) (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 ) ( 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 ) chest_imu diff --git a/iRonCub-Mk3/estimators/wholebodydynamics.xml b/iRonCub-Mk3/estimators/wholebodydynamics.xml index 1afc1eea21..aa1f4d5b35 100644 --- a/iRonCub-Mk3/estimators/wholebodydynamics.xml +++ b/iRonCub-Mk3/estimators/wholebodydynamics.xml @@ -33,7 +33,7 @@ 0.001 l_jet_ft - + @@ -47,7 +47,7 @@ 0.001 r_jet_ft - + @@ -120,7 +120,7 @@ (0,0,-9.81) (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) (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) - ( pure , pure , pure , pure , full , full , full , full , full ) + ( pure , pure , pureKnown , pureKnown , full , full , full , full , full ) (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 ) ( 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 ) chest_imu