Update ergoCubSN001 conf files from robot fork
#754
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…ng onnx files when checking the diff
… add home for balancing demo
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Summary of Changes
Hello @pattacini, I'm Gemini Code Assist1! I'm currently reviewing this pull request and will post my feedback shortly. In the meantime, here's a summary to help you and other reviewers quickly get up to speed!
This pull request primarily focuses on integrating advanced Joint Torque Control with Velocity Control (JTCVC) capabilities into the ergoCubSN001 robot's motor control system. It includes significant updates to core configuration files to support these new control modes, alongside refinements to sensor data processing and the addition of practical system management scripts.
Highlights
- Joint Torque Control with Velocity Control (JTCVC) Integration: Introduced new XML configuration files for Joint Torque Control with Velocity Control (JTCVC) for the arms, legs, and torso, enabling more precise motor control strategies.
- Configuration File Updates: Modified
ergocub.xmlto conditionally enable the new JTCVC remappers and updatedcustom_positions.iniwith a new momentum-based torque control position while removing older single-support configurations. - Sensor and Inertial Configuration Adjustments: Updated sensor and inertial configurations by commenting out specific right arm FT sensors and IMU elements in
ergocub.xmlandalljoints-inertials_remapper.xml. - Enhanced Utility Scripts: Added new command-line utilities to
additionalCommands.shfor checking and restarting WiFi powersave, listing webcams, and setting YARP namespaces across multiple robot components. - Standardized Electronic Board Logging: Applied consistent logging parameters across numerous electronic board configuration files, enabling better monitoring of RX/TX statistics.
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Code Review
This pull request updates configuration files for ergoCubSN001, introducing new configurations for Joint Torque Control (jtcvc), updating logging parameters, and adding several useful helper scripts. The changes are generally well-structured. I've provided a few comments to improve maintainability and fix some minor issues, including a potential runtime error in an XML configuration file and some small corrections in the new shell scripts.
4 participants
As per the title.