From 9b46d74c94e075b552b476f60b95a47974e7837d Mon Sep 17 00:00:00 2001 From: Stefano Dafarra Date: Mon, 22 Jul 2024 19:12:39 +0200 Subject: [PATCH 01/19] [ergoCubSN002] Added alias to trigger mouse clicks in the ergoCub screen. --- ergoCubSN002/extra/scripts/additionalCommands.sh | 3 +++ 1 file changed, 3 insertions(+) diff --git a/ergoCubSN002/extra/scripts/additionalCommands.sh b/ergoCubSN002/extra/scripts/additionalCommands.sh index 55cf419332..f4a429e03a 100644 --- a/ergoCubSN002/extra/scripts/additionalCommands.sh +++ b/ergoCubSN002/extra/scripts/additionalCommands.sh @@ -40,6 +40,8 @@ test-microphone() { arecord -vvv -f dat /dev/null } +alias trigger-click='DISPLAY=:0 xdotool click 1' + GREEN='\033[0;32m' NC='\033[0m' # No Color ## Alias for displaying info messages about the other aliases @@ -50,6 +52,7 @@ ${GREEN}configurationSourceInstallDiff${NC} Performs a diff between the source a ${GREEN}connectToJoypad${NC} To reconnect the bluetooth connection of the robot joypad. ${GREEN}test-speaker${NC} Test if the speaker is working. ${GREEN}test-microphone${NC} Test if the micorphone is working. +${GREEN}trigger-click${NC} Emulates a mouse click to make banners disappear on the ergoCub screen. ${GREEN}dcmFolder${NC} Go to the robot walking configuration files. ${GREEN}goToBuildSuperbuild${NC} Go to the corresponding build folder of the robotology superbuild."' From 84a61aa28f699199ef80f005440cd5bc9ff09665 Mon Sep 17 00:00:00 2001 From: Antonio Consilvio Date: Tue, 23 Jul 2024 11:55:00 +0200 Subject: [PATCH 02/19] [ergoCubSN002] Left pinky new calibration --- ergoCubSN002/calibrators/left_arm-calib.xml | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/ergoCubSN002/calibrators/left_arm-calib.xml b/ergoCubSN002/calibrators/left_arm-calib.xml index 52d62e43c7..ba0695a27c 100644 --- a/ergoCubSN002/calibrators/left_arm-calib.xml +++ b/ergoCubSN002/calibrators/left_arm-calib.xml @@ -17,10 +17,10 @@ 10 10 10 10 12 12 12 12 14 12 14 14 14 - 4000 -3000 -3000 4000 11385 11761 7561 0 300 0 300 300 300 + 4000 -3000 -3000 4000 11385 11761 7561 0 300 0 300 300 300 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 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 32768 0 0 0 0 0 0 0 0 49961 0 22173 46002 14200 35 -15 -52 -5 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 From abcf8e3879460b59e36a55614860280a6bb4223d Mon Sep 17 00:00:00 2001 From: Stefano Dafarra Date: Tue, 23 Jul 2024 12:32:35 +0200 Subject: [PATCH 03/19] [ergoCubSN002] Added aliases to list and close windows. --- ergoCubSN002/extra/scripts/additionalCommands.sh | 6 ++++++ 1 file changed, 6 insertions(+) diff --git a/ergoCubSN002/extra/scripts/additionalCommands.sh b/ergoCubSN002/extra/scripts/additionalCommands.sh index f4a429e03a..fa5c22ffe1 100644 --- a/ergoCubSN002/extra/scripts/additionalCommands.sh +++ b/ergoCubSN002/extra/scripts/additionalCommands.sh @@ -42,6 +42,10 @@ test-microphone() { alias trigger-click='DISPLAY=:0 xdotool click 1' +alias list-windows='DISPLAY=:0 wmctrl -lp' + +alias close-window='DISPLAY=:0 wmctrl -c' + GREEN='\033[0;32m' NC='\033[0m' # No Color ## Alias for displaying info messages about the other aliases @@ -53,6 +57,8 @@ ${GREEN}connectToJoypad${NC} To reconnect the bluetooth connection of the robot ${GREEN}test-speaker${NC} Test if the speaker is working. ${GREEN}test-microphone${NC} Test if the micorphone is working. ${GREEN}trigger-click${NC} Emulates a mouse click to make banners disappear on the ergoCub screen. +${GREEN}list-windows${NC} List the open windows. The first output is the window ID. The third value is the ID of the process owning the window. +${GREEN}close-window${NC} Close a window given the Window ID. ${GREEN}dcmFolder${NC} Go to the robot walking configuration files. ${GREEN}goToBuildSuperbuild${NC} Go to the corresponding build folder of the robotology superbuild."' From 5c2ac68023761c27f1fd2a5c90776d89837240e9 Mon Sep 17 00:00:00 2001 From: Antonio Consilvio Date: Wed, 24 Jul 2024 19:40:40 +0200 Subject: [PATCH 04/19] [ergoCubSN002] New fingers calibration --- ergoCubSN002/calibrators/left_arm-calib.xml | 6 +++--- ergoCubSN002/calibrators/right_arm-calib.xml | 6 +++--- ergoCubSN002/hardware/POS/left_hand-pos2.xml | 6 +++--- ergoCubSN002/hardware/POS/right_hand-pos2.xml | 4 ++-- .../hardware/motorControl/left_arm-eb23-j7_10-mc.xml | 2 +- .../hardware/motorControl/right_arm-eb22-j7_10-mc.xml | 2 +- 6 files changed, 13 insertions(+), 13 deletions(-) diff --git a/ergoCubSN002/calibrators/left_arm-calib.xml b/ergoCubSN002/calibrators/left_arm-calib.xml index ba0695a27c..fe0e6d137d 100644 --- a/ergoCubSN002/calibrators/left_arm-calib.xml +++ b/ergoCubSN002/calibrators/left_arm-calib.xml @@ -20,8 +20,8 @@ 4000 -3000 -3000 4000 11385 11761 7561 0 300 0 300 300 300 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 1 - 0 0 0 0 0 0 0 0 0 0 0 0 32768 - 0 0 0 0 0 0 0 0 49961 0 22173 46002 14200 + 0 0 0 0 0 0 0 0 32768 0 0 0 32768 + 0 0 0 0 0 0 0 0 50800 0 22173 46002 14200 35 -15 -52 -5 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 34 50 -10 90 0.0 0.0 0.0 0.0 5.0 5.0 5.0 5.0 5.0 @@ -31,7 +31,7 @@ - (4 5 6) (3) (2) (0) (1) (7 8) (9) (10 11 12) + (4 5 6) (3) (2) (0) (1) (7 8) (10 11 12) left_arm-mc_remapper diff --git a/ergoCubSN002/calibrators/right_arm-calib.xml b/ergoCubSN002/calibrators/right_arm-calib.xml index 6e7f3eff55..866749328c 100644 --- a/ergoCubSN002/calibrators/right_arm-calib.xml +++ b/ergoCubSN002/calibrators/right_arm-calib.xml @@ -18,11 +18,11 @@ 10 10 10 10 12 12 12 12 14 12 14 14 14 - -4000 3000 3000 -4000 4617 8371 2523 0 300 0 300 300 300 + -4000 3000 3000 -4000 4617 8371 2523 0 300 0 300 300 300 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 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 15700 0 51500 37150 16511 + 0 0 0 0 0 0 0 0 16800 0 51500 37150 16511 35 -15 -52 -5 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 34 50 -10 90 0.0 0.0 0.0 0.0 5.0 5.0 5.0 5.0 5.0 @@ -32,7 +32,7 @@ - (4 5 6) (3) (2) (0) (1) (7 8) (9) (10 11 12) + (4 5 6) (3) (2) (0) (1) (7 8) (10 11 12) diff --git a/ergoCubSN002/hardware/POS/left_hand-pos2.xml b/ergoCubSN002/hardware/POS/left_hand-pos2.xml index 0e46c6ef1f..a91aafd958 100644 --- a/ergoCubSN002/hardware/POS/left_hand-pos2.xml +++ b/ergoCubSN002/hardware/POS/left_hand-pos2.xml @@ -40,9 +40,9 @@ TYPE:decideg TYPE:decideg - ROT:zero ROT:zero - -98.0 -111.0 - true true + ROT:plus180 ROT:zero + -230.0 -111.0 + true true diff --git a/ergoCubSN002/hardware/POS/right_hand-pos2.xml b/ergoCubSN002/hardware/POS/right_hand-pos2.xml index b8fd57ac29..14480cbfa2 100644 --- a/ergoCubSN002/hardware/POS/right_hand-pos2.xml +++ b/ergoCubSN002/hardware/POS/right_hand-pos2.xml @@ -40,8 +40,8 @@ TYPE:decideg TYPE:decideg - ROT:plus180 ROT:zero - -171.0 -293.0 + ROT:zero ROT:zero + -233.0 -293.0 false false diff --git a/ergoCubSN002/hardware/motorControl/left_arm-eb23-j7_10-mc.xml b/ergoCubSN002/hardware/motorControl/left_arm-eb23-j7_10-mc.xml index f070f93768..0c7e93555e 100644 --- a/ergoCubSN002/hardware/motorControl/left_arm-eb23-j7_10-mc.xml +++ b/ergoCubSN002/hardware/motorControl/left_arm-eb23-j7_10-mc.xml @@ -14,7 +14,7 @@ 0 0 0 0 - 90 90 90 90 + 90 90 90 80 1000 1000 1000 1000 2000 2000 2000 2000 1100 1100 1100 1100 diff --git a/ergoCubSN002/hardware/motorControl/right_arm-eb22-j7_10-mc.xml b/ergoCubSN002/hardware/motorControl/right_arm-eb22-j7_10-mc.xml index 8edfd39972..17a389f2a4 100644 --- a/ergoCubSN002/hardware/motorControl/right_arm-eb22-j7_10-mc.xml +++ b/ergoCubSN002/hardware/motorControl/right_arm-eb22-j7_10-mc.xml @@ -14,7 +14,7 @@ 0 0 0 0 - 90 90 90 90 + 90 90 90 80 1000 1000 1000 1000 2000 2000 2000 2000 1100 1100 1100 1100 From 5feaad0d1f0ae2603cd3b7d3b359b646977cc4a7 Mon Sep 17 00:00:00 2001 From: Simeone Dussoni Date: Wed, 4 Sep 2024 10:24:30 +0200 Subject: [PATCH 05/19] [ergoCubSN002] SN002 fixed mtb4c instead of mtb4 in network file --- ergoCubSN002/network.ergoCubSN002.xml | 16 ++++++++-------- 1 file changed, 8 insertions(+), 8 deletions(-) diff --git a/ergoCubSN002/network.ergoCubSN002.xml b/ergoCubSN002/network.ergoCubSN002.xml index 07b6ea5e58..d20b83a667 100644 --- a/ergoCubSN002/network.ergoCubSN002.xml +++ b/ergoCubSN002/network.ergoCubSN002.xml @@ -102,9 +102,9 @@ - + ETH - + @@ -120,13 +120,13 @@ - + ETH - + ETH @@ -202,9 +202,9 @@ - + ETH - + @@ -220,13 +220,13 @@ - + ETH - + ETH From bc9dae4d002d7c31cd6f990b3c12679358aaf6af Mon Sep 17 00:00:00 2001 From: Simeone Dussoni Date: Wed, 4 Sep 2024 10:25:07 +0200 Subject: [PATCH 06/19] [ergoCubSN002] ergocub SN002 skin config files update --- ergoCubSN002/hardware/skin/left_arm-eb4-j2_3-skinSpec.xml | 6 +++--- ergoCubSN002/hardware/skin/right_arm-eb3-j2_3-skinSpec.xml | 6 +++--- 2 files changed, 6 insertions(+), 6 deletions(-) diff --git a/ergoCubSN002/hardware/skin/left_arm-eb4-j2_3-skinSpec.xml b/ergoCubSN002/hardware/skin/left_arm-eb4-j2_3-skinSpec.xml index c4fa2a3f29..2864eb28d4 100644 --- a/ergoCubSN002/hardware/skin/left_arm-eb4-j2_3-skinSpec.xml +++ b/ergoCubSN002/hardware/skin/left_arm-eb4-j2_3-skinSpec.xml @@ -19,7 +19,7 @@ --> 1 - 2 2 2 50 1 0xc8 + 2 2 2 50 1 0xe8 @@ -27,12 +27,12 @@ false 1 - 0x0000 + 0x2200 1 - 2 2 0 15 1 1 0x0000 + 2 2 0 4 1 1 0x0000 2 2 0 15 1 1 0x0000 2 2 8 8 1 1 0x0000 2 2 12 12 1 1 0x0000 diff --git a/ergoCubSN002/hardware/skin/right_arm-eb3-j2_3-skinSpec.xml b/ergoCubSN002/hardware/skin/right_arm-eb3-j2_3-skinSpec.xml index 83bfc43d40..f7c2c0cf79 100644 --- a/ergoCubSN002/hardware/skin/right_arm-eb3-j2_3-skinSpec.xml +++ b/ergoCubSN002/hardware/skin/right_arm-eb3-j2_3-skinSpec.xml @@ -20,7 +20,7 @@ --> 1 - 2 2 2 50 1 0xc8 + 2 2 2 50 1 0xe8 @@ -28,12 +28,12 @@ false 1 - 0x0000 + 0x2200 1 - 2 2 0 15 1 1 0x0000 + 2 2 0 4 1 1 0x0000 2 2 0 15 1 1 0x0000 2 2 8 8 1 1 0x0000 2 2 12 12 1 1 0x0000 From 0e58b69c2cfadc741f2014c021a0f4441e792792 Mon Sep 17 00:00:00 2001 From: Stefano Dafarra Date: Wed, 4 Sep 2024 10:57:37 +0200 Subject: [PATCH 07/19] [ergoCubSN002] Added configuration files for skin gui in extra folder --- .../extra/skinGuiConf/left_hand_V2_2.ini | 29 +++++++++++++++++++ .../extra/skinGuiConf/right_hand_V2_2.ini | 29 +++++++++++++++++++ 2 files changed, 58 insertions(+) create mode 100644 ergoCubSN002/extra/skinGuiConf/left_hand_V2_2.ini create mode 100644 ergoCubSN002/extra/skinGuiConf/right_hand_V2_2.ini diff --git a/ergoCubSN002/extra/skinGuiConf/left_hand_V2_2.ini b/ergoCubSN002/extra/skinGuiConf/left_hand_V2_2.ini new file mode 100644 index 0000000000..cd860974e1 --- /dev/null +++ b/ergoCubSN002/extra/skinGuiConf/left_hand_V2_2.ini @@ -0,0 +1,29 @@ +cardid 2 +#CanDeviceName cfw2can +#CanDeviceNum 7 +robotPart left_hand +width 1000 +height 1000 +xpos 32 +ypos 32 + +#placements are +# +# 1 2 +# 0 3 +# +# 10 +# 4 8 +# 9 +# 11 + +# x y th gain leftright LayoutNum + +[SENSORS] +fakePalm 8 -30.0 0.0 0.0 4.0 0 0 +fingertip3L 4 20.0 30.0 -30.0 4.0 0 0 +fingertip3L 3 -5.0 40.0 -15.0 4.0 0 0 +fingertip3L 2 -30.0 40.0 15.0 4.0 0 0 +fingertip3L 1 -55.0 30.0 30.0 4.0 0 0 +fingertip3L 0 -40.0 -40.0 90.0 4.0 0 0 + diff --git a/ergoCubSN002/extra/skinGuiConf/right_hand_V2_2.ini b/ergoCubSN002/extra/skinGuiConf/right_hand_V2_2.ini new file mode 100644 index 0000000000..b71ee30e61 --- /dev/null +++ b/ergoCubSN002/extra/skinGuiConf/right_hand_V2_2.ini @@ -0,0 +1,29 @@ +cardid 2 +#CanDeviceName cfw2can +#CanDeviceNum 7 +robotPart left_hand +width 1000 +height 1000 +xpos 32 +ypos 32 + +#placements are +# +# 1 2 +# 0 3 +# +# 10 +# 4 8 +# 9 +# 11 + +# x y th gain leftright LayoutNum + +[SENSORS] +fakePalm 8 -30.0 0.0 0.0 4.0 0 0 +fingertip3L 4 -20.0 30.0 30.0 4.0 0 0 +fingertip3L 3 5.0 40.0 15.0 4.0 0 0 +fingertip3L 2 30.0 40.0 -15.0 4.0 0 0 +fingertip3L 1 55.0 30.0 -30.0 4.0 0 0 +fingertip3L 0 40.0 -40.0 -90.0 4.0 0 0 + From 5675d5a04f17d40c2e13fd74b5ab79a3574e4c76 Mon Sep 17 00:00:00 2001 From: Stefano Dafarra Date: Tue, 26 Nov 2024 19:41:37 +0100 Subject: [PATCH 08/19] [ergoCubSN002] Temporarily removed wrist from calibrators --- ergoCubSN002/calibrators/left_arm-calib.xml | 2 +- ergoCubSN002/calibrators/right_arm-calib.xml | 5 +++-- 2 files changed, 4 insertions(+), 3 deletions(-) diff --git a/ergoCubSN002/calibrators/left_arm-calib.xml b/ergoCubSN002/calibrators/left_arm-calib.xml index fe0e6d137d..10b2561c90 100644 --- a/ergoCubSN002/calibrators/left_arm-calib.xml +++ b/ergoCubSN002/calibrators/left_arm-calib.xml @@ -31,7 +31,7 @@ - (4 5 6) (3) (2) (0) (1) (7 8) (10 11 12) + (3) (2) (0) (1) (7 8) (10 11 12) left_arm-mc_remapper diff --git a/ergoCubSN002/calibrators/right_arm-calib.xml b/ergoCubSN002/calibrators/right_arm-calib.xml index 866749328c..5019e6fc91 100644 --- a/ergoCubSN002/calibrators/right_arm-calib.xml +++ b/ergoCubSN002/calibrators/right_arm-calib.xml @@ -32,7 +32,8 @@ - (4 5 6) (3) (2) (0) (1) (7 8) (10 11 12) + + (3) (2) (0) (1) (7 8) (10 11 12) @@ -45,4 +46,4 @@ - \ No newline at end of file + From 1c18a88e838bfa73ad63ac6b287a006135a0b7c6 Mon Sep 17 00:00:00 2001 From: Stefano Dafarra Date: Tue, 26 Nov 2024 19:43:15 +0100 Subject: [PATCH 09/19] [ergoCubSN002] Avoid using left arm FT It seems broken --- ergoCubSN002/ergocub.xml | 10 +++++----- ergoCubSN002/estimators/wholebodydynamics.xml | 6 +++--- .../inertials/alljoints-inertials_remapper.xml | 4 ++-- 3 files changed, 10 insertions(+), 10 deletions(-) diff --git a/ergoCubSN002/ergocub.xml b/ergoCubSN002/ergocub.xml index c3217f8cb1..afffac83c3 100644 --- a/ergoCubSN002/ergocub.xml +++ b/ergoCubSN002/ergocub.xml @@ -71,7 +71,7 @@ - + @@ -83,7 +83,7 @@ - + @@ -103,7 +103,7 @@ --> - + @@ -111,7 +111,7 @@ - + @@ -140,7 +140,7 @@ - + diff --git a/ergoCubSN002/estimators/wholebodydynamics.xml b/ergoCubSN002/estimators/wholebodydynamics.xml index e744fe9b27..8445ee5a76 100644 --- a/ergoCubSN002/estimators/wholebodydynamics.xml +++ b/ergoCubSN002/estimators/wholebodydynamics.xml @@ -6,7 +6,7 @@ (torso_pitch,torso_roll,torso_yaw,neck_pitch, neck_roll,neck_yaw,l_shoulder_pitch,l_shoulder_roll,l_shoulder_yaw,l_elbow,l_wrist_roll,l_wrist_pitch,l_wrist_yaw,r_shoulder_pitch,r_shoulder_roll,r_shoulder_yaw,r_elbow,r_wrist_roll,r_wrist_pitch,r_wrist_yaw,l_hip_pitch,l_hip_roll,l_hip_yaw,l_knee,l_ankle_pitch,l_ankle_roll,r_hip_pitch,r_hip_roll,r_hip_yaw,r_knee,r_ankle_pitch,r_ankle_roll) model.urdf (0,0,-9.81) - (l_hand_palm,r_hand_palm,root_link,l_foot_front,l_foot_rear,r_foot_front,r_foot_rear,l_upper_leg,r_upper_leg) + (r_hand_palm,root_link,l_foot_front,l_foot_rear,r_foot_front,r_foot_rear,l_upper_leg,r_upper_leg) waist_imu_0 true 2 @@ -28,7 +28,7 @@ - (l_leg_ft, l_foot_front_ft, l_foot_rear_ft, r_leg_ft, r_foot_front_ft, r_foot_rear_ft, r_arm_ft, l_arm_ft) + (l_foot_front_ft, l_foot_rear_ft, r_foot_front_ft, r_foot_rear_ft, r_arm_ft) @@ -72,7 +72,7 @@ left_leg-FT_remapper right_leg-FT_remapper - left_arm-eb2-j0_1-strain + right_arm-eb1-j0_1-strain diff --git a/ergoCubSN002/wrappers/inertials/alljoints-inertials_remapper.xml b/ergoCubSN002/wrappers/inertials/alljoints-inertials_remapper.xml index fc18715124..4c4d7ac363 100644 --- a/ergoCubSN002/wrappers/inertials/alljoints-inertials_remapper.xml +++ b/ergoCubSN002/wrappers/inertials/alljoints-inertials_remapper.xml @@ -4,12 +4,12 @@ - (head_imu_0 l_arm_ft_imu l_leg_ft_imu l_foot_rear_ft_imu l_foot_front_ft_imu r_arm_ft_imu r_leg_ft_imu r_foot_rear_ft_imu r_foot_front_ft_imu waist_imu_0) + (head_imu_0 l_leg_ft_imu l_foot_rear_ft_imu l_foot_front_ft_imu r_arm_ft_imu r_leg_ft_imu r_foot_rear_ft_imu r_foot_front_ft_imu waist_imu_0) head-inertial - left_arm-eb2-j0_1-inertial + left_leg-eb8-j0_3-inertial left_leg-eb9-j4_5-inertial right_arm-eb1-j0_1-inertial From fd606f532a8ebcc168765a59058859cf24125acb Mon Sep 17 00:00:00 2001 From: Stefano Dafarra Date: Tue, 26 Nov 2024 19:44:44 +0100 Subject: [PATCH 10/19] [ergoCubSN002] Updated firmware version of battery bms --- ergoCubSN002/hardware/battery/battery_bms.xml | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/ergoCubSN002/hardware/battery/battery_bms.xml b/ergoCubSN002/hardware/battery/battery_bms.xml index f4053dcc6b..9fc47c8f26 100644 --- a/ergoCubSN002/hardware/battery/battery_bms.xml +++ b/ergoCubSN002/hardware/battery/battery_bms.xml @@ -20,8 +20,8 @@ 0 - 1 - 3 + 0 + 0 0 From efc87a90147536cc898f16a10be4b09dcb416221 Mon Sep 17 00:00:00 2001 From: Stefano Dafarra Date: Tue, 26 Nov 2024 19:45:11 +0100 Subject: [PATCH 11/19] [ergoCubSN002] Avoid using temperature sensor in the ankle since it is broken --- ergoCubSN002/hardware/mechanicals/left_leg-eb9-j4_5-mec.xml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/ergoCubSN002/hardware/mechanicals/left_leg-eb9-j4_5-mec.xml b/ergoCubSN002/hardware/mechanicals/left_leg-eb9-j4_5-mec.xml index 95c1da6000..427c4d04ad 100644 --- a/ergoCubSN002/hardware/mechanicals/left_leg-eb9-j4_5-mec.xml +++ b/ergoCubSN002/hardware/mechanicals/left_leg-eb9-j4_5-mec.xml @@ -30,7 +30,7 @@ 0 0 0 0 0 0 - PT100 PT100 + PT100 NONE 1 1 1 1 From da0df39d42348ba949cb05fba98e54e810a5aaec Mon Sep 17 00:00:00 2001 From: Stefano Dafarra Date: Wed, 27 Nov 2024 13:56:58 +0100 Subject: [PATCH 12/19] [ergoCubSN002] Updated additional commands copying from other robots --- .../extra/scripts/additionalCommands.sh | 45 ++++++++++++++++++- 1 file changed, 44 insertions(+), 1 deletion(-) diff --git a/ergoCubSN002/extra/scripts/additionalCommands.sh b/ergoCubSN002/extra/scripts/additionalCommands.sh index fa5c22ffe1..e987daf614 100644 --- a/ergoCubSN002/extra/scripts/additionalCommands.sh +++ b/ergoCubSN002/extra/scripts/additionalCommands.sh @@ -35,6 +35,9 @@ alias configurationSourceInstallDiff='bash ${ADDITIONAL_COMMANDS_DIR}/checkConfi alias test-speaker='speaker-test -t wav -c 1' +# Alias for running whole-body-dynamics +alias runYarpRobotInterface='YARP_FORWARD_LOG_ENABLE=1 yarprobotinterface' + # Test if the microphone is working test-microphone() { arecord -vvv -f dat /dev/null @@ -46,6 +49,39 @@ alias list-windows='DISPLAY=:0 wmctrl -lp' alias close-window='DISPLAY=:0 wmctrl -c' +_WIFI_INTERFACE=`iw dev | awk '$1=="Interface"{print $2}'` +alias disable-wifi-powersave="sudo iw dev ${_WIFI_INTERFACE} set power_save off" +unset _WIFI_INTERFACE + +function set-blf-webcam() { + # Check if the camera number is provided + if [ "$#" -ne 1 ]; then + echo "Usage: set-blf-webcam " + return 1 + fi + + CAMERA_NUMBER="$1" + + # Construct the path to the XML file + XML_FILE="${ROBOTOLOGY_SUPERBUILD_SOURCE_DIR}/src/bipedal-locomotion-framework/devices/YarpRobotLog\ +gerDevice/app/robots/${YARP_ROBOT_NAME}/blf-yarp-robot-logger-interfaces/webcams.xml" + + # Check if the XML file exists + if [ ! -f "$XML_FILE" ]; then + echo "Error: File $XML_FILE does not exist." + return 1 + fi + + # Modify the camera number in the XML file + sed -i 's|\(\)[^<]*\(\)|\1'"$CAMERA_NUMBER"'\2|' "$XML_FILE" + + echo "Camera number in $XML_FILE has been set to $CAMERA_NUMBER." + + cd ${ROBOTOLOGY_SUPERBUILD_SOURCE_DIR}/build/src/bipedal-locomotion-framework + cmake . && cmake --build . --target install + cd - +} + GREEN='\033[0;32m' NC='\033[0m' # No Color ## Alias for displaying info messages about the other aliases @@ -60,9 +96,16 @@ ${GREEN}trigger-click${NC} Emulates a mouse click to make banners disappear on t ${GREEN}list-windows${NC} List the open windows. The first output is the window ID. The third value is the ID of the process owning the window. ${GREEN}close-window${NC} Close a window given the Window ID. ${GREEN}dcmFolder${NC} Go to the robot walking configuration files. -${GREEN}goToBuildSuperbuild${NC} Go to the corresponding build folder of the robotology superbuild."' +${GREEN}goToBuildSuperbuild${NC} Go to the corresponding build folder of the robotology superbuild. +${GREEN}disable-wifi-powersave${NC} Disable the WiFi powersave. +${GREEN}set-blf-webcam${NC} Bash script that can be used to set the number of the blf webcam in the logger. IT WILL RECOMPILE AND INSTALL BLF. +${GREEN}runYarpRobotInterface${NC} Run yarprobotinterface with whole-body-dynamics."' + if [ "$PS1" ]; then echo -e "Type ${GREEN}helpRobot${NC} for a list of useful commands." + + # automatic terminator title + trap 'echo -ne "\033]2;$(history 1 | sed "s/^[ ]*[0-9]*[ ]*//g")\007"' DEBUG fi From f382f630a88ab8c32b5553c7fd819dec558e401f Mon Sep 17 00:00:00 2001 From: Antonio Consilvio <114915464+AntonioConsilvio@users.noreply.github.com> Date: Wed, 4 Dec 2024 09:34:19 +0100 Subject: [PATCH 13/19] [ergoCubSN002] Reenabled the wrists --- ergoCubSN002/calibrators/left_arm-calib.xml | 4 ++-- ergoCubSN002/calibrators/right_arm-calib.xml | 4 ++-- 2 files changed, 4 insertions(+), 4 deletions(-) diff --git a/ergoCubSN002/calibrators/left_arm-calib.xml b/ergoCubSN002/calibrators/left_arm-calib.xml index 10b2561c90..6cdc02f6f1 100644 --- a/ergoCubSN002/calibrators/left_arm-calib.xml +++ b/ergoCubSN002/calibrators/left_arm-calib.xml @@ -17,7 +17,7 @@ 10 10 10 10 12 12 12 12 14 12 14 14 14 - 4000 -3000 -3000 4000 11385 11761 7561 0 300 0 300 300 300 + 4000 -3000 -3000 4000 10815 30471 17387 0 300 0 300 300 300 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 1 0 0 0 0 0 0 0 0 32768 0 0 0 32768 @@ -31,7 +31,7 @@ - (3) (2) (0) (1) (7 8) (10 11 12) + (4 5 6) (3) (2) (0) (1) (7 8) (10 11 12) left_arm-mc_remapper diff --git a/ergoCubSN002/calibrators/right_arm-calib.xml b/ergoCubSN002/calibrators/right_arm-calib.xml index 5019e6fc91..d882423163 100644 --- a/ergoCubSN002/calibrators/right_arm-calib.xml +++ b/ergoCubSN002/calibrators/right_arm-calib.xml @@ -18,7 +18,7 @@ 10 10 10 10 12 12 12 12 14 12 14 14 14 - -4000 3000 3000 -4000 4617 8371 2523 0 300 0 300 300 300 + -4000 3000 3000 -4000 4407 18960 26985 0 300 0 300 300 300 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 @@ -33,7 +33,7 @@ - (3) (2) (0) (1) (7 8) (10 11 12) + (4 5 6) (3) (2) (0) (1) (7 8) (10 11 12) From 4f0759cdc2dfdff6481809d4698ece9e208782bb Mon Sep 17 00:00:00 2001 From: Stefano Dafarra Date: Wed, 4 Dec 2024 14:03:01 +0100 Subject: [PATCH 14/19] [ergoCubSN002] Updated xbg applications --- .../extra/applications/ami-autonomous.xml | 25 ++++++++ ergoCubSN002/extra/applications/ami-xbg.xml | 61 +++++++++++++++++++ ergoCubSN002/extra/applications/xbg.xml | 35 ----------- .../extra/applications/xbgTwoRobots.xml | 50 +++++++++++++++ 4 files changed, 136 insertions(+), 35 deletions(-) create mode 100644 ergoCubSN002/extra/applications/ami-autonomous.xml create mode 100644 ergoCubSN002/extra/applications/ami-xbg.xml delete mode 100644 ergoCubSN002/extra/applications/xbg.xml create mode 100644 ergoCubSN002/extra/applications/xbgTwoRobots.xml diff --git a/ergoCubSN002/extra/applications/ami-autonomous.xml b/ergoCubSN002/extra/applications/ami-autonomous.xml new file mode 100644 index 0000000000..e592e83121 --- /dev/null +++ b/ergoCubSN002/extra/applications/ami-autonomous.xml @@ -0,0 +1,25 @@ + + + + + + ami-autonomous + Application to run module related to autonomous behaviour. + 1.0 + + Carlos Cardenas + + + + ami-xbg + + + + + + xbgTwoRobots + + + \ No newline at end of file diff --git a/ergoCubSN002/extra/applications/ami-xbg.xml b/ergoCubSN002/extra/applications/ami-xbg.xml new file mode 100644 index 0000000000..81abe5fea4 --- /dev/null +++ b/ergoCubSN002/extra/applications/ami-xbg.xml @@ -0,0 +1,61 @@ + + ami-xbg + + + yarprobotinterface + --config realsense2.xml + ergocub-head + + + ergoCubEmotions + --context ergoCubEmotions --from config.ini + ergocub-head + + + WalkingModule + --from dcm_walking_autonomous.ini + ergocub-torso + + + + D:\element_llm-task-planner\src\talkingllm + python + allyGUI.py + llm-node + + + AudioRecorderWrapper + --subdevice portaudioRecorder --name /icub/microphone --min_samples_over_network 150 --max_samples_over_network 1000 --AUDIO_BASE::rate 16000 --AUDIO_BASE::samples 4000 --AUDIO_BASE::channels 1 --start + yarpdev + ergocub-torso + + + D:\element_llm-task-planner\src\talkingllm + python + llmGUI.py + llm-node + + + /usr/local/src/robot/ami/element_exteroceptive-behaviour-generation/src/inference/ + conda + run -n autonomousenv python inference.py + localhost + + + + /xbg/joints + /walking-coordinator/humanState:i + fast_tcp + + + /xbg/joypad + /walking-coordinator/goal:i + fast_tcp + + + diff --git a/ergoCubSN002/extra/applications/xbg.xml b/ergoCubSN002/extra/applications/xbg.xml deleted file mode 100644 index ec2e702ed4..0000000000 --- a/ergoCubSN002/extra/applications/xbg.xml +++ /dev/null @@ -1,35 +0,0 @@ - - ami-xbg - - - yarprobotinterface - --config realsense2.xml - ergocub-head - - - - WalkingModule - --from dcm_walking_autonomous.ini - ergocub-torso - - - - /usr/local/src/robot/ami/element_exteroceptive-behaviour-generation/src/simulation/ - python3 - demo.py -p XBGdv2_2 -m uvwoypt8 -s epoch7 -w 0.15 - ergocub002-lap - - - - /xbg/joints - /walking-coordinator/humanState:i - fast_tcp - - - - /xbg/joypad - /walking-coordinator/goal:i - fast_tcp - - - diff --git a/ergoCubSN002/extra/applications/xbgTwoRobots.xml b/ergoCubSN002/extra/applications/xbgTwoRobots.xml new file mode 100644 index 0000000000..85de5c24dd --- /dev/null +++ b/ergoCubSN002/extra/applications/xbgTwoRobots.xml @@ -0,0 +1,50 @@ + + xbgTwoRobots + + + yarprobotinterface + --config realsense2.xml + ergocub001-head + + + ergoCubEmotions + --context ergoCubEmotions --from config.ini --portprefix /ergocub001 + ergocub001-head + + + WalkingModule + --from dcm_walking_autonomous.ini + ergocub001-torso + + + D:\element_llm-task-planner\src\talkingllm + python + allyGUI.py + llm-node + + + D:\element_llm-task-planner\src\talkingllm + python + llmGUI.py + llm-node + + + /usr/local/src/robot/ami/element_exteroceptive-behaviour-generation/ + bash + xbgTwoRobots.sh + localhost + + + + /xbg001/joypad + /walking-coordinator-001/goal:i + fast_tcp + + + /xbg001/joints + /walking-coordinator-001/humanState:i + fast_tcp + + + + From 619021448f41ee604fd6fd7166123fb940344f7f Mon Sep 17 00:00:00 2001 From: Stefano Dafarra Date: Wed, 4 Dec 2024 14:03:25 +0100 Subject: [PATCH 15/19] [ergoCubSN002] Updated cluster --- ergoCubSN002/extra/contexts/yarpmanager/cluster-config.xml | 5 ++++- 1 file changed, 4 insertions(+), 1 deletion(-) diff --git a/ergoCubSN002/extra/contexts/yarpmanager/cluster-config.xml b/ergoCubSN002/extra/contexts/yarpmanager/cluster-config.xml index b18529e401..dd0d396251 100644 --- a/ergoCubSN002/extra/contexts/yarpmanager/cluster-config.xml +++ b/ergoCubSN002/extra/contexts/yarpmanager/cluster-config.xml @@ -5,11 +5,14 @@ - ergocub002-lap + ergocub002-lap ergocub-torso ergocub-head icub-console-gui icub-virtualizer ally + ergocub001-lap + ergocub001-torso + ergocub001-head From 6344af7807476c249185ea2fc13d75cffc960dee Mon Sep 17 00:00:00 2001 From: Stefano Dafarra Date: Wed, 4 Dec 2024 17:26:25 +0100 Subject: [PATCH 16/19] [ergoCubSN002] Removed check of FW version on wrists and mtb # Conflicts: # ergoCubSN002/hardware/motorControl/left_arm-eb31-j4_6-mc_service.xml # ergoCubSN002/hardware/motorControl/right_arm-eb30-j4_6-mc_service.xml --- ergoCubSN002/hardware/POS/left_hand-pos2.xml | 4 ++-- ergoCubSN002/hardware/POS/left_hand-pos4.xml | 4 ++-- ergoCubSN002/hardware/POS/right_hand-pos2.xml | 4 ++-- ergoCubSN002/hardware/POS/right_hand-pos4.xml | 6 +++--- .../motorControl/left_arm-eb23-j7_10-mc_service.xml | 4 ++-- .../motorControl/left_arm-eb25-j11_12-mc_service.xml | 4 ++-- .../hardware/motorControl/left_arm-eb31-j4_6-mc_service.xml | 4 ++-- .../motorControl/right_arm-eb22-j7_10-mc_service.xml | 4 ++-- .../motorControl/right_arm-eb24-j11_12-mc_service.xml | 4 ++-- .../motorControl/right_arm-eb30-j4_6-mc_service.xml | 6 +++--- 10 files changed, 22 insertions(+), 22 deletions(-) diff --git a/ergoCubSN002/hardware/POS/left_hand-pos2.xml b/ergoCubSN002/hardware/POS/left_hand-pos2.xml index a91aafd958..e5ebf85f4f 100644 --- a/ergoCubSN002/hardware/POS/left_hand-pos2.xml +++ b/ergoCubSN002/hardware/POS/left_hand-pos2.xml @@ -19,8 +19,8 @@ 0 - 2 - 2 + 0 + 0 0 diff --git a/ergoCubSN002/hardware/POS/left_hand-pos4.xml b/ergoCubSN002/hardware/POS/left_hand-pos4.xml index 4da127f0ce..75e06c541f 100644 --- a/ergoCubSN002/hardware/POS/left_hand-pos4.xml +++ b/ergoCubSN002/hardware/POS/left_hand-pos4.xml @@ -19,8 +19,8 @@ 0 - 2 - 2 + 0 + 0 0 diff --git a/ergoCubSN002/hardware/POS/right_hand-pos2.xml b/ergoCubSN002/hardware/POS/right_hand-pos2.xml index 14480cbfa2..7d6c157b45 100644 --- a/ergoCubSN002/hardware/POS/right_hand-pos2.xml +++ b/ergoCubSN002/hardware/POS/right_hand-pos2.xml @@ -19,8 +19,8 @@ 0 - 2 - 2 + 0 + 0 0 diff --git a/ergoCubSN002/hardware/POS/right_hand-pos4.xml b/ergoCubSN002/hardware/POS/right_hand-pos4.xml index aab05a0fef..d4bca99708 100644 --- a/ergoCubSN002/hardware/POS/right_hand-pos4.xml +++ b/ergoCubSN002/hardware/POS/right_hand-pos4.xml @@ -19,8 +19,8 @@ 0 - 2 - 2 + 0 + 0 0 @@ -56,4 +56,4 @@ - \ No newline at end of file + diff --git a/ergoCubSN002/hardware/motorControl/left_arm-eb23-j7_10-mc_service.xml b/ergoCubSN002/hardware/motorControl/left_arm-eb23-j7_10-mc_service.xml index 01a8c7084a..b6b5a33e56 100644 --- a/ergoCubSN002/hardware/motorControl/left_arm-eb23-j7_10-mc_service.xml +++ b/ergoCubSN002/hardware/motorControl/left_arm-eb23-j7_10-mc_service.xml @@ -20,8 +20,8 @@ 0 - 2 - 2 + 0 + 0 0 diff --git a/ergoCubSN002/hardware/motorControl/left_arm-eb25-j11_12-mc_service.xml b/ergoCubSN002/hardware/motorControl/left_arm-eb25-j11_12-mc_service.xml index 605ab0b15e..879921ca83 100644 --- a/ergoCubSN002/hardware/motorControl/left_arm-eb25-j11_12-mc_service.xml +++ b/ergoCubSN002/hardware/motorControl/left_arm-eb25-j11_12-mc_service.xml @@ -20,8 +20,8 @@ 0 - 2 - 2 + 0 + 0 0 diff --git a/ergoCubSN002/hardware/motorControl/left_arm-eb31-j4_6-mc_service.xml b/ergoCubSN002/hardware/motorControl/left_arm-eb31-j4_6-mc_service.xml index 44d20ecf13..cc5c3a7bdf 100644 --- a/ergoCubSN002/hardware/motorControl/left_arm-eb31-j4_6-mc_service.xml +++ b/ergoCubSN002/hardware/motorControl/left_arm-eb31-j4_6-mc_service.xml @@ -20,8 +20,8 @@ 0 0 - 2 3 - 1 1 + 0 0 + 0 0 0 0 diff --git a/ergoCubSN002/hardware/motorControl/right_arm-eb22-j7_10-mc_service.xml b/ergoCubSN002/hardware/motorControl/right_arm-eb22-j7_10-mc_service.xml index cffca8c458..ed252eeffa 100644 --- a/ergoCubSN002/hardware/motorControl/right_arm-eb22-j7_10-mc_service.xml +++ b/ergoCubSN002/hardware/motorControl/right_arm-eb22-j7_10-mc_service.xml @@ -20,8 +20,8 @@ 0 - 2 - 2 + 0 + 0 0 diff --git a/ergoCubSN002/hardware/motorControl/right_arm-eb24-j11_12-mc_service.xml b/ergoCubSN002/hardware/motorControl/right_arm-eb24-j11_12-mc_service.xml index d065814074..2349623308 100644 --- a/ergoCubSN002/hardware/motorControl/right_arm-eb24-j11_12-mc_service.xml +++ b/ergoCubSN002/hardware/motorControl/right_arm-eb24-j11_12-mc_service.xml @@ -20,8 +20,8 @@ 0 - 2 - 2 + 0 + 0 0 diff --git a/ergoCubSN002/hardware/motorControl/right_arm-eb30-j4_6-mc_service.xml b/ergoCubSN002/hardware/motorControl/right_arm-eb30-j4_6-mc_service.xml index 3be609900e..cc5c3a7bdf 100644 --- a/ergoCubSN002/hardware/motorControl/right_arm-eb30-j4_6-mc_service.xml +++ b/ergoCubSN002/hardware/motorControl/right_arm-eb30-j4_6-mc_service.xml @@ -20,9 +20,9 @@ 0 0 - 2 3 - 1 1 - 0 0 + 0 0 + 0 0 + 0 0 From fe2000fdd06244e5f2faabe0c045675976bcb504 Mon Sep 17 00:00:00 2001 From: Stefano Dafarra Date: Thu, 5 Dec 2024 13:04:11 +0100 Subject: [PATCH 17/19] [ergoCubSN002] Updated knee limits to reflect calibration --- ergoCubSN002/hardware/mechanicals/left_leg-eb8-j0_3-mec.xml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/ergoCubSN002/hardware/mechanicals/left_leg-eb8-j0_3-mec.xml b/ergoCubSN002/hardware/mechanicals/left_leg-eb8-j0_3-mec.xml index e87a2eb1e0..aff9402dff 100644 --- a/ergoCubSN002/hardware/mechanicals/left_leg-eb8-j0_3-mec.xml +++ b/ergoCubSN002/hardware/mechanicals/left_leg-eb8-j0_3-mec.xml @@ -19,7 +19,7 @@ - 109.27 111.776 81.65 6.38 + 109.27 111.776 81.65 7.91 -44.81 -35 -81.65 -105.23 0 0 0 0 0 0 0 0 From 370fb0a6eac8d676b2fb9f35c882416b64c18ab2 Mon Sep 17 00:00:00 2001 From: Stefano Dafarra Date: Thu, 5 Dec 2024 13:06:05 +0100 Subject: [PATCH 18/19] [ergoCubSN002] Disabled temperature sensor on right ankle pitch. It might be broken: https://github.com/robotology/icub-tech-support/issues/1986 --- ergoCubSN002/hardware/mechanicals/right_leg-eb7-j4_5-mec.xml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/ergoCubSN002/hardware/mechanicals/right_leg-eb7-j4_5-mec.xml b/ergoCubSN002/hardware/mechanicals/right_leg-eb7-j4_5-mec.xml index 6656df0e52..11ae20fa93 100644 --- a/ergoCubSN002/hardware/mechanicals/right_leg-eb7-j4_5-mec.xml +++ b/ergoCubSN002/hardware/mechanicals/right_leg-eb7-j4_5-mec.xml @@ -28,7 +28,7 @@ 0 0 0 0 0 0 - PT100 PT100 + NONE PT100 1 1 1 1 From f89a68a88d7347fd7362cfc05e7d5879ac012496 Mon Sep 17 00:00:00 2001 From: icub-tech-iit-bot Date: Thu, 5 Dec 2024 18:36:43 +0100 Subject: [PATCH 19/19] [ergoCubSN002] Reenabled temperature sensor on right ankle pitch This reverts commit bfedb467f041f23707e36515853d0a4dce6c4638. --- ergoCubSN002/hardware/mechanicals/right_leg-eb7-j4_5-mec.xml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/ergoCubSN002/hardware/mechanicals/right_leg-eb7-j4_5-mec.xml b/ergoCubSN002/hardware/mechanicals/right_leg-eb7-j4_5-mec.xml index 11ae20fa93..6656df0e52 100644 --- a/ergoCubSN002/hardware/mechanicals/right_leg-eb7-j4_5-mec.xml +++ b/ergoCubSN002/hardware/mechanicals/right_leg-eb7-j4_5-mec.xml @@ -28,7 +28,7 @@ 0 0 0 0 0 0 - NONE PT100 + PT100 PT100 1 1 1 1