Devel ergocub sn002

ergoCubSN002/calibrators/left_arm-calib.xml

@@ -17,11 +17,11 @@
 	</group>
 	<group name="CALIBRATION">
 		<param name="calibrationType">        10                 10              10          10        12           12            12            12           14          12           14          14             14      </param>
-		<param name="calibration1">           4000               -3000           -3000       4000     11385        11761         7561          0            300         0            300         300            300     </param>
+		<param name="calibration1">           4000               -3000           -3000       4000     10815         30471         17387           0            300         0            300         300            300     </param>
 		<param name="calibration2">	          0                  0               0           0         0            0             0             0            0           0            0           0              0       </param>
 		<param name="calibration3">           0                  0               0           0         0            0             0             0            0           0            0           0              1       </param>
-		<param name="calibration4">           0                  0               0           0         0            0             0             0            0           0            0           0              0       </param>
-		<param name="calibration5">           0                  0               0           0         0            0             0             0            49961       0            22173       46002          14200   </param>
+		<param name="calibration4">           0                  0               0           0         0            0             0             0            32768       0            0           0              32768   </param>
+		<param name="calibration5">           0                  0               0           0         0            0             0             0            50800       0            22173       46002          14200   </param>
 		<param name="calibrationZero">        35                -15             -52          -5        0            0             0             0            0           0            0           0              0       </param>
 		<param name="calibrationDelta">       0                  0               0           0         0            0             0             0            0           0            0           0              0       </param>
 		<param name="startupPosition">        34                 50              -10         90        0.0          0.0           0.0           0.0          5.0         5.0          5.0         5.0            5.0     </param>
@@ -31,7 +31,7 @@
 	</group>
 
 <!--	<param name="CALIB_ORDER"> (4 5 6) (3) (2) (0) (1) (7 8) (9) (10 11 12) </param> --> <!-- Don't remove this line -->
-	<param name="CALIB_ORDER"> (4 5 6) (3) (2) (0) (1) (7 8) (9) (10 11 12) </param> 
+	<param name="CALIB_ORDER"> (4 5 6) (3) (2) (0) (1) (7 8) (10 11 12) </param>
 
 	<action phase="startup" level="10" type="calibrate">
 		<param name="target">left_arm-mc_remapper</param>

ergoCubSN002/calibrators/right_arm-calib.xml

@@ -18,11 +18,11 @@
 	</group>
 	<group name="CALIBRATION">
 		<param name="calibrationType">         10                10             10          10        12            12             12           12           14          12           14          14          14         </param>
-		<param name="calibration1">           -4000              3000           3000       -4000     4617          8371           2523         0            300         0            300         300         300        </param>
+		<param name="calibration1">           -4000              3000           3000        -4000     4407          18960          26985        0            300         0            300         300         300        </param>
 		<param name="calibration2">	           0                 0              0           0         0             0              0            0            0           0            0           0           0          </param>
 		<param name="calibration3">            0                 0              0           0         0             0              0            0            0           0            1           0           0          </param>
 		<param name="calibration4">            0                 0              0           0         0             0              0            0            0           0            0           0           0          </param>
-		<param name="calibration5">            0                 0              0           0         0             0              0            0            15700       0            51500       37150       16511      </param>
+		<param name="calibration5">            0                 0              0           0         0             0              0            0            16800       0            51500       37150       16511      </param>
 		<param name="calibrationZero">         35               -15            -52         -5         0             0              0            0            0           0            0           0           0          </param>
 		<param name="calibrationDelta">        0                 0              0           0         0             0              0            0            0           0            0           0           0          </param>
 		<param name="startupPosition">         34                50             -10         90        0.0           0.0            0.0          0.0          5.0         5.0          5.0         5.0         5.0        </param>
@@ -32,7 +32,8 @@
 	</group>
 
 <!--	<param name="CALIB_ORDER"> (4 5 6) (3) (2) (0) (1) (7 8) (9) (10 11 12) </param> --> <!-- Don't remove this line -->
-	<param name="CALIB_ORDER"> (4 5 6) (3) (2) (0) (1) (7 8) (9) (10 11 12) </param> 
+        <!-- <param name="CALIB_ORDER"> (4 5 6) (3) (2) (0) (1) (7 8) (10 11 12) </param> -->
+	<param name="CALIB_ORDER"> (4 5 6) (3) (2) (0) (1) (7 8) (10 11 12) </param>
 
 
 	<action phase="startup" level="10" type="calibrate">
@@ -45,4 +46,4 @@
 
 	<action phase="interrupt3" level="1" type="abort" />
 
-</device>
+</device>

ergoCubSN002/ergocub.xml

@@ -71,7 +71,7 @@
     <xi:include href="hardware/motorControl/right_leg-eb7-j4_5-mc.xml" disabled_by="disable_right_leg" />
 
     <!-- FT SENSORS -->
-    <xi:include href="hardware/FT/left_arm-eb2-j0_1-strain.xml" disabled_by="disable_left_arm" />
+   <!-- <xi:include href="hardware/FT/left_arm-eb2-j0_1-strain.xml" disabled_by="disable_left_arm" /> -->
     <xi:include href="hardware/FT/right_arm-eb1-j0_1-strain.xml" disabled_by="disable_right_arm" />
     <xi:include href="hardware/FT/left_leg-eb9-j4_5-strain.xml" disabled_by="disable_left_leg" />
     <xi:include href="hardware/FT/right_leg-eb7-j4_5-strain.xml" disabled_by="disable_right_leg" />
@@ -83,7 +83,7 @@
     <xi:include href="wrappers/FT/right_leg-FT_remapper.xml" disabled_by="disable_right_leg" />
 
     <!-- FT SENSORS - MULTIPLE ANALOG SENSOR SERVERS -->
-    <xi:include href="wrappers/FT/left_arm-FT_wrapper.xml" disabled_by="disable_left_arm" />
+<!--    <xi:include href="wrappers/FT/left_arm-FT_wrapper.xml" disabled_by="disable_left_arm" /> -->
     <xi:include href="wrappers/FT/right_arm-FT_wrapper.xml" disabled_by="disable_right_arm" />
     <xi:include href="wrappers/FT/left_leg-FT_wrapper.xml" disabled_by="disable_left_leg" />
     <xi:include href="wrappers/FT/right_leg-FT_wrapper.xml" disabled_by="disable_right_leg" />
@@ -103,15 +103,15 @@
     <xi:include href="wrappers/inertials/right_arm-inertials_wrapper.xml" disabled_by="disable_right_arm" /> -->
 
     <!-- FT SENSORS - IMU -->
-    <xi:include href="hardware/inertials/left_arm-eb2-j0_1-inertial.xml" disabled_by="disable_left_arm" />
+    <!-- <xi:include href="hardware/inertials/left_arm-eb2-j0_1-inertial.xml" disabled_by="disable_left_arm" /> -->
     <xi:include href="hardware/inertials/right_arm-eb1-j0_1-inertial.xml" disabled_by="disable_right_arm" />
     <xi:include href="hardware/inertials/left_leg-eb8-j0_3-inertial.xml" disabled_by="disable_left_leg" />
     <xi:include href="hardware/inertials/right_leg-eb6-j0_3-inertial.xml" disabled_by="disable_right_leg" />
     <xi:include href="hardware/inertials/left_leg-eb9-j4_5-inertial.xml" disabled_by="disable_left_leg" />
     <xi:include href="hardware/inertials/right_leg-eb7-j4_5-inertial.xml" disabled_by="disable_right_leg" />
 
     <!-- FT SENSORS - IMU - MULTIPLE ANALOG SENSOR SERVERS -->
-    <xi:include href="wrappers/inertials/left_arm-imu_wrapper.xml" disabled_by="disable_left_arm" />
+    <!--<xi:include href="wrappers/inertials/left_arm-imu_wrapper.xml" disabled_by="disable_left_arm" />-->
     <xi:include href="wrappers/inertials/right_arm-imu_wrapper.xml" disabled_by="disable_right_arm" />
     <xi:include href="wrappers/inertials/left_leg-imu_wrapper.xml" disabled_by="disable_left_leg" />
     <xi:include href="wrappers/inertials/right_leg-imu_wrapper.xml" disabled_by="disable_right_leg" />
@@ -140,7 +140,7 @@
     <!--m<xi:include href="wrappers/inertials/imu_ros2.xml" /> -->
     <xi:include href="wrappers/motorControl/alljoints-mc_remapper.xml" enabled_by="enable_ros2" disabled_by="disable_ros2 disable_head disable_torso disable_right_arm disable_left_arm disable_right_leg disable_left_leg" />
     <xi:include href="wrappers/motorControl/alljoints-mc_nws_ros2.xml" enabled_by="enable_ros2" disabled_by="disable_ros2 disable_head disable_torso disable_right_arm disable_left_arm disable_right_leg disable_left_leg" />
-    <xi:include href="wrappers/FT/left_arm-FT_nws_ros2.xml" enabled_by="enable_ros2" disabled_by="disable_ros2 disable_left_arm" />
+    <!--<xi:include href="wrappers/FT/left_arm-FT_nws_ros2.xml" enabled_by="enable_ros2" disabled_by="disable_ros2 disable_left_arm" /> -->
     <xi:include href="wrappers/FT/right_arm-FT_nws_ros2.xml" enabled_by="enable_ros2" disabled_by="disable_ros2 disable_right_arm" />
     <xi:include href="wrappers/FT/left_foot-FT_nws_ros2.xml" enabled_by="enable_ros2" disabled_by="disable_ros2 disable_left_leg" />
     <xi:include href="wrappers/FT/right_foot-FT_nws_ros2.xml" enabled_by="enable_ros2" disabled_by="disable_ros2 disable_right_leg" />

ergoCubSN002/estimators/wholebodydynamics.xml

@@ -6,7 +6,7 @@
   <param name="axesNames">(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)</param>
   <param name="modelFile">model.urdf</param>
   <param name="fixedFrameGravity">(0,0,-9.81)</param>
-  <param name="defaultContactFrames">(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)</param>
+  <param name="defaultContactFrames">(r_hand_palm,root_link,l_foot_front,l_foot_rear,r_foot_front,r_foot_rear,l_upper_leg,r_upper_leg)</param>
   <param name="imuFrameName">waist_imu_0</param>
   <param name="publishOnROS">true</param>
   <param name="forceTorqueEstimateConfidence">2</param>
@@ -28,7 +28,7 @@
   </group>
 
   <group name="multipleAnalogSensorsNames">
-    <param name="SixAxisForceTorqueSensorsNames">(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)</param>
+    <param name="SixAxisForceTorqueSensorsNames">(l_foot_front_ft, l_foot_rear_ft, r_foot_front_ft, r_foot_rear_ft, r_arm_ft)</param>
   </group>
 
 
@@ -72,7 +72,7 @@
       <!-- ft -->
       <elem name="l_leg_ft_sensors">left_leg-FT_remapper</elem>
       <elem name="r_leg_ft_sensors">right_leg-FT_remapper</elem>
-      <elem name="l_arm_ft_sensors">left_arm-eb2-j0_1-strain</elem>
+      <!--<elem name="l_arm_ft_sensors">left_arm-eb2-j0_1-strain</elem>-->
       <elem name="r_arm_ft_sensors">right_arm-eb1-j0_1-strain</elem>
     </paramlist>
   </action>

ergoCubSN002/extra/applications/ami-autonomous.xml

@@ -0,0 +1,25 @@
+<!-- Copyright (C) 2023 Fondazione Istituto Italiano di Tecnologia (IIT) -->
+<!-- All Rights Reserved. -->
+
+<application>
+
+  <name>ami-autonomous</name>
+  <description>Application to run module related to autonomous behaviour.</description>
+  <version>1.0</version>
+  <authors>
+    <author email="[email protected]">Carlos Cardenas</author>
+  </authors>
+
+  <application>
+    <name> ami-xbg</name>
+  </application>
+
+  <!-- <application>
+    <name> llm</name>
+  </application> -->
+
+  <application>
+    <name> xbgTwoRobots</name>
+  </application>
+
+</application>

ergoCubSN002/extra/applications/ami-xbg.xml

@@ -0,0 +1,61 @@
+<application>
+    <name>ami-xbg</name>
+
+    <module>
+        <name>yarprobotinterface</name>
+        <parameters>--config realsense2.xml</parameters>
+	    <node>ergocub-head</node>
+    </module>    
+    <module>
+    	<name>ergoCubEmotions</name>
+    	<parameters>--context ergoCubEmotions --from config.ini </parameters>
+    	<node>ergocub-head</node>
+    </module>    
+    <module>
+        <name>WalkingModule</name>
+        <parameters>--from dcm_walking_autonomous.ini</parameters>
+	    <node>ergocub-torso</node>
+    </module>      
+    <!-- <module>
+    	<workdir>/usr/local/src/robot/ami/element_exteroceptive-behaviour-generation/src/simulation/</workdir>
+        <name>python3 </name>
+        <parameters>demo.py -p XBGdv2_2 -m uvwoypt8 -s epoch7 -w 0.15</parameters>
+        <node>ergocub002-lap</node>
+    </module> -->    
+    <module>
+        <workdir>D:\element_llm-task-planner\src\talkingllm</workdir>
+        <name>python</name>
+        <parameters>allyGUI.py </parameters>
+	    <node>llm-node</node>
+    </module>
+    <module>
+    	<name>AudioRecorderWrapper</name>
+    	<parameters>--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</parameters>
+   	<deployer>yarpdev</deployer>
+    	<node>ergocub-torso</node>
+   </module>
+   <module>
+        <workdir>D:\element_llm-task-planner\src\talkingllm</workdir>
+        <name>python</name>
+        <parameters>llmGUI.py</parameters>
+	    <node>llm-node</node>
+    </module>
+    <module>
+    	<workdir>/usr/local/src/robot/ami/element_exteroceptive-behaviour-generation/src/inference/</workdir>
+        <name>conda</name>
+        <parameters>run -n autonomousenv python inference.py</parameters>
+	    <node>localhost</node>
+    </module>
+
+    <connection>
+        <output>/xbg/joints</output>
+        <input>/walking-coordinator/humanState:i</input>
+        <protocol>fast_tcp</protocol>
+    </connection>    
+      <connection>
+        <output>/xbg/joypad</output>
+        <input>/walking-coordinator/goal:i</input>
+        <protocol>fast_tcp</protocol>
+    </connection> 
+
+</application>

ergoCubSN002/extra/applications/xbgTwoRobots.xml

@@ -0,0 +1,50 @@
+<application>
+    <name>xbgTwoRobots</name>
+
+    <module>
+        <name>yarprobotinterface</name>
+        <parameters>--config realsense2.xml</parameters>
+	    <node>ergocub001-head</node>
+    </module>
+    <module>
+    	<name>ergoCubEmotions</name>
+    	<parameters>--context ergoCubEmotions --from config.ini --portprefix /ergocub001</parameters>
+    	<node>ergocub001-head</node>
+    </module>
+    <module>
+        <name>WalkingModule</name>
+        <parameters>--from dcm_walking_autonomous.ini</parameters>
+	    <node>ergocub001-torso</node>
+    </module>   
+    <module>
+        <workdir>D:\element_llm-task-planner\src\talkingllm</workdir>
+        <name>python</name>
+        <parameters>allyGUI.py </parameters>
+	    <node>llm-node</node>
+    </module>
+     <module>
+        <workdir>D:\element_llm-task-planner\src\talkingllm</workdir>
+        <name>python</name>
+        <parameters>llmGUI.py</parameters>
+	    <node>llm-node</node>
+    </module>
+    <module>
+    	<workdir>/usr/local/src/robot/ami/element_exteroceptive-behaviour-generation/</workdir>
+        <name>bash</name>
+        <parameters>xbgTwoRobots.sh </parameters>
+	    <node>localhost</node>
+    </module>
+
+    <connection>
+        <output>/xbg001/joypad</output>
+        <input>/walking-coordinator-001/goal:i</input>
+        <protocol>fast_tcp</protocol>
+    </connection>    
+    <connection>
+        <output>/xbg001/joints</output>
+        <input>/walking-coordinator-001/humanState:i</input>
+        <protocol>fast_tcp</protocol>
+    </connection>
+
+
+</application>

ergoCubSN002/extra/contexts/yarpmanager/cluster-config.xml

@@ -5,11 +5,14 @@
 
   <!-- specify nodes, if you want to enable display on desktop please specify which desktop to use
        this is usually the value of the DISPLAY variable when logged on -->
-  <node display=":1" address="10.0.2.5">ergocub002-lap</node>
+  <node display=":1" address="10.0.2.24">ergocub002-lap</node>
   <node address="10.0.2.22">ergocub-torso</node>
   <node display=":0" address="10.0.2.23">ergocub-head</node>
   <node display=":0" address="10.0.10.164" user="icub">icub-console-gui</node>
   <node>icub-virtualizer</node>
   <node>ally</node>
+  <node display=":1" address="10.0.2.14">ergocub001-lap</node>
+  <node address="10.0.2.12">ergocub001-torso</node>
+  <node display=":0" address="10.0.2.13">ergocub001-head</node>
 
 </cluster>