Skip to content

Update ergoCubSN001 conf files from robot fork #754

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Merged
merged 9 commits into from
Sep 2, 2025
Merged

Update ergoCubSN001 conf files from robot fork #754

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
9 commits
Select commit Hold shift + click to select a range
0e42159
[ergoCubSN001] Updated scripts to check the wifi powersave and ignori…
S-Dafarra Jun 27, 2025
b989d53
[ergoCubSN001] Removed right arm FT sensor.
S-Dafarra Jun 30, 2025
ae16c2d
[ergoCubSN001] Improved script to check wifi powersave status
S-Dafarra Jun 30, 2025
f65e634
Add RX-DO-TX configuration diagnostic (#7)
martinaxgloria Jun 30, 2025
99e3968
[ergoCubSN001] Added alias to restart wifi radio
S-Dafarra Jul 2, 2025
376e5b8
[ergoCubSN001] Disable temperature sensor
isorrentino Jul 11, 2025
d267e01
[ergoCubSN001] Add joint torque control device
isorrentino Jul 11, 2025
04d3a58
[ergoCubSN001] Modify custom positions, remove unused configurations,…
isorrentino Jul 14, 2025
2c2f646
[ergoCubSN001] Added more utility scripts
S-Dafarra Jul 24, 2025
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
76 changes: 16 additions & 60 deletions ergoCubSN001/custom_positions.ini
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -3,6 +3,22 @@ robot ergocub
//parts to be opened by the GUI
parts (head torso left_arm right_arm right_leg left_leg)

[customPosition_MomentumBasedTorqueControl]
/$robot/head_Position 0 0 0 0
/$robot/head_Velocity 10 10 10 10
/$robot/torso_Position 0 10 0
/$robot/torso_Velocity 10 10 10
/$robot/left_arm_Position -35.97 29.97 0.06 50.00 0.00 0.00 0.00 0 0 0 0 0 0
/$robot/left_arm_Velocity 10 10 10 10 10 10 10 10 10 10 10 10 10
/$robot/right_arm_Position -35.97 29.97 0.06 50.00 0.00 0.00 0.00 0 0 0 0 0 0
/$robot/right_arm_Velocity 10 10 10 10 10 10 10 10 10 10 10 10 10
/$robot/right_leg_Position 12 5 0 -10 -1.6 -5.8
/$robot/right_leg_Velocity 10 10 10 10 10 10
/$robot/left_leg_Position 12 5 0 -10 -1.6 -5.8
/$robot/left_leg_Velocity 10 10 10 10 10 10



[customPosition_TwoFeetStanding]
/$robot/head_Position 0 0 0 0
/$robot/head_Velocity 10 10 10 10
Expand Down Expand Up @@ -61,63 +77,3 @@ parts (head torso left_arm right_arm right_leg left_leg)
/$robot/right_leg_Velocity 10 10 10 10 10 10
/$robot/left_leg_Position 3.73915 -0.126503 0.419082 -37.7386 -22.523 8.02819
/$robot/left_leg_Velocity 10 10 10 10 10 10


[customPosition_SingleSupportLeftRear]
/$robot/head_Position 0 0 0 0
/$robot/head_Velocity 10 10 10 10
/$robot/torso_Position 3.0644 10.7846 -0.0746
/$robot/torso_Velocity 10 10 10
/$robot/left_arm_Position -2.7001 18.6152 -12.7549 39.3860 0.00 0.00 0.00 0 0 0 0 0 0
/$robot/left_arm_Velocity 10 10 10 10 10 10 10 10 10 10 10 10 10
/$robot/right_arm_Position -2.8786 17.8109 -12.6644 39.3409 0.00 0.00 0.00 0 0 0 0 0 0
/$robot/right_arm_Velocity 10 10 10 10 10 10 10 10 10 10 10 10 10
/$robot/right_leg_Position 8.2115 1.5915 -1.0463 -45.1356 -26.3389 -7.4474
/$robot/right_leg_Velocity 10 10 10 10 10 10
/$robot/left_leg_Position 8.8084 -0.6396 0.7477 -37.8755 -18.6081 5.6976
/$robot/left_leg_Velocity 10 10 10 10 10 10


[customPosition_SingleSupportLeftFront]
/$robot/head_Position 0 0 0 0
/$robot/head_Velocity 10 10 10 10
/$robot/torso_Position -5.9194 9.2542 1.1148
/$robot/torso_Velocity 10 10 10
/$robot/left_arm_Position -3.3139 18.3559 -12.7163 39.6640 0.00 0.00 0.00 0 0 0 0 0 0
/$robot/left_arm_Velocity 10 10 10 10 10 10 10 10 10 10 10 10 10
/$robot/right_arm_Position -2.9313 17.9427 -12.8949 39.3302 0.00 0.00 0.00 0 0 0 0 0 0
/$robot/right_arm_Velocity 10 10 10 10 10 10 10 10 10 10 10 10 10
/$robot/right_leg_Position 9.3425 0.3996 0.1466 -43.4850 -24.4811 -7.4353
/$robot/right_leg_Velocity 10 10 10 10 10 10
/$robot/left_leg_Position 0.4488 1.2695 -0.5615 -32.394 -25.2128 7.3119
/$robot/left_leg_Velocity 10 10 10 10 10 10


[customPosition_SingleSupportRightRear]
/$robot/head_Position 0 0 0 0
/$robot/head_Velocity 10 10 10 10
/$robot/torso_Position 3.0644 10.7846 -0.0746
/$robot/torso_Velocity 10 10 10
/$robot/left_arm_Position -2.8786 17.8109 -12.6644 39.3409 0.00 0.00 0.00 0 0 0 0 0 0
/$robot/left_arm_Velocity 10 10 10 10 10 10 10 10 10 10 10 10 10
/$robot/right_arm_Position -2.7001 18.6152 -12.7549 39.3860 0.00 0.00 0.00 0 0 0 0 0 0
/$robot/right_arm_Velocity 10 10 10 10 10 10 10 10 10 10 10 10 10
/$robot/right_leg_Position 8.8084 -0.6396 0.7477 -37.8755 -18.6081 5.6976
/$robot/right_leg_Velocity 10 10 10 10 10 10
/$robot/left_leg_Position 8.2115 1.5915 -1.0463 -45.1356 -26.3389 -7.4474
/$robot/left_leg_Velocity 10 10 10 10 10 10


[customPosition_SingleSupportRightFront]
/$robot/head_Position 0 0 0 0
/$robot/head_Velocity 10 10 10 10
/$robot/torso_Position 5.9194 9.2542 1.1148
/$robot/torso_Velocity 10 10 10
/$robot/left_arm_Position -2.9313 17.9427 -12.8949 39.3302 0.00 0.00 0.00 0 0 0 0 0 0
/$robot/left_arm_Velocity 10 10 10 10 10 10 10 10 10 10 10 10 10
/$robot/right_arm_Position -3.3139 18.3559 -12.7163 39.6640 0.00 0.00 0.00 0 0 0 0 0 0
/$robot/right_arm_Velocity 10 10 10 10 10 10 10 10 10 10 10 10 10
/$robot/right_leg_Position 0.4488 1.2695 -0.5615 -32.394 -25.2128 7.3119
/$robot/right_leg_Velocity 10 10 10 10 10 10
/$robot/left_leg_Position 9.3425 0.3996 0.1466 -43.4850 -24.4811 -7.4353
/$robot/left_leg_Velocity 10 10 10 10 10 10
39 changes: 29 additions & 10 deletions ergoCubSN001/ergocub.xml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -21,17 +21,25 @@
<xi:include href="wrappers/motorControl/left_leg-mc_wrapper.xml" disabled_by="disable_left_leg" />
<xi:include href="wrappers/motorControl/right_leg-mc_wrapper.xml" disabled_by="disable_right_leg" />

<xi:include href="wrappers/motorControl/left_leg-mc_remapper.xml" disabled_by="disable_left_leg" />
<xi:include href="wrappers/motorControl/right_leg-mc_remapper.xml" disabled_by="disable_right_leg" />
<xi:include href="wrappers/motorControl/left_leg-mc_remapper-jtcvc.xml" disabled_by="disable_left_leg disable_jtcvc" />
<xi:include href="wrappers/motorControl/left_leg-mc_remapper.xml" disabled_by="disable_left_leg" enabled_by="remapper_no_jtcvc" />

<xi:include href="wrappers/motorControl/right_arm-mc_wrapper.xml" disabled_by="disable_right_arm" />
<xi:include href="wrappers/motorControl/right_arm-mc_remapper.xml" disabled_by="disable_right_arm" />
<xi:include href="wrappers/motorControl/right_leg-mc_remapper-jtcvc.xml" disabled_by="disable_right_leg disable_jtcvc" />
<xi:include href="wrappers/motorControl/right_leg-mc_remapper.xml" disabled_by="disable_right_leg" enabled_by="remapper_no_jtcvc" />

<xi:include href="wrappers/motorControl/right_arm-mc_wrapper.xml" disabled_by="disable_right_arm" />
<xi:include href="wrappers/motorControl/left_arm-mc_wrapper.xml" disabled_by="disable_left_arm" />
<xi:include href="wrappers/motorControl/left_arm-mc_remapper.xml" disabled_by="disable_left_arm" />

<xi:include href="wrappers/motorControl/right_arm-mc_remapper-jtcvc.xml" disabled_by="disable_right_arm disable_jtcvc" />
<xi:include href="wrappers/motorControl/right_arm-mc_remapper.xml" disabled_by="disable_right_arm" enabled_by="remapper_no_jtcvc" />

<xi:include href="wrappers/motorControl/left_arm-mc_remapper-jtcvc.xml" disabled_by="disable_left_arm disable_jtcvc" />
<xi:include href="wrappers/motorControl/left_arm-mc_remapper.xml" disabled_by="disable_left_arm" enabled_by="remapper_no_jtcvc" />

<xi:include href="wrappers/motorControl/torso-mc_wrapper.xml" disabled_by="disable_torso" />
<xi:include href="wrappers/motorControl/torso-mc_remapper.xml" disabled_by="disable_torso" />

<xi:include href="wrappers/motorControl/torso-mc_remapper-jtcvc.xml" disabled_by="disable_torso disable_jtcvc" />
<xi:include href="wrappers/motorControl/torso-mc_remapper.xml" disabled_by="disable_torso" enabled_by="remapper_no_jtcvc" />

<xi:include href="wrappers/motorControl/head-mc_wrapper.xml" disabled_by="disable_head" />
<xi:include href="wrappers/motorControl/head-mc_remapper.xml" disabled_by="disable_head" />
Expand Down Expand Up @@ -68,7 +76,7 @@

<!-- FT SENSORS -->
<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/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" />
<xi:include href="hardware/FT/left_leg-eb8-j0_3-strain.xml" disabled_by="disable_left_leg" />
Expand All @@ -80,7 +88,7 @@

<!-- 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/right_arm-FT_wrapper.xml" disabled_by="disable_right_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" />

Expand All @@ -100,15 +108,15 @@

<!-- 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/right_arm-eb1-j0_1-inertial.xml" disabled_by="disable_right_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/right_arm-imu_wrapper.xml" disabled_by="disable_right_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" />
<xi:include href="wrappers/inertials/left_foot-imu_wrapper.xml" disabled_by="disable_left_leg" />
Expand Down Expand Up @@ -141,6 +149,17 @@
<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" />

<!-- motor controllers jtcvc -->
<xi:include href="wrappers/motorControl/left_arm-eb2-j0_1-jtcvc.xml" disabled_by="disable_left_arm disable_jtcvc" />
<xi:include href="wrappers/motorControl/left_arm-eb4-j2_3-jtcvc.xml" disabled_by="disable_left_arm disable_jtcvc" />
<xi:include href="wrappers/motorControl/right_arm-eb1-j0_1-jtcvc.xml" disabled_by="disable_right_arm disable_jtcvc" />
<xi:include href="wrappers/motorControl/right_arm-eb3-j2_3-jtcvc.xml" disabled_by="disable_right_arm disable_jtcvc" />
<xi:include href="wrappers/motorControl/torso-eb5-j0_2-jtcvc.xml" disabled_by="disable_torso disable_jtcvc" />
<xi:include href="wrappers/motorControl/right_leg-eb6-j0_3-jtcvc.xml" disabled_by="disable_right_leg disable_jtcvc" />
<xi:include href="wrappers/motorControl/right_leg-eb7-j4_5-jtcvc.xml" disabled_by="disable_right_leg disable_jtcvc" />
<xi:include href="wrappers/motorControl/left_leg-eb8-j0_3-jtcvc.xml" disabled_by="disable_left_leg disable_jtcvc" />
<xi:include href="wrappers/motorControl/left_leg-eb9-j4_5-jtcvc.xml" disabled_by="disable_left_leg disable_jtcvc" />

<!-- ESTIMATORS -->
<xi:include href="estimators/wholebodydynamics.xml" disabled_by="disable_wholebodynamics disable_head disable_torso disable_right_arm disable_left_arm disable_right_leg disable_left_leg" />

Expand Down
2 changes: 1 addition & 1 deletion ergoCubSN001/estimators/wholebodydynamics.xml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -73,7 +73,7 @@
<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="r_arm_ft_sensors">right_arm-eb1-j0_1-strain</elem>
<!-- <elem name="r_arm_ft_sensors">right_arm-eb1-j0_1-strain</elem> -->
</paramlist>
</action>

Expand Down
41 changes: 41 additions & 0 deletions ergoCubSN001/extra/scripts/additionalCommands.sh
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -52,9 +52,20 @@ alias list-windows='DISPLAY=:0 wmctrl -lp'

alias close-window='DISPLAY=:0 wmctrl -c'

check-interface-powersave() {
if [ "$#" -ne 1 ]; then
echo "Usage: check-interface-powersave <interface_name>"
return 1
fi

echo "$1: $(iw $1 get power_save)"
}

_WIFI_INTERFACE=`iw dev | awk '$1=="Interface"{print $2}'`
alias disable-wifi-powersave="sudo iw dev ${_WIFI_INTERFACE} set power_save off"
alias check-wifi-powersave="check-interface-powersave ${_WIFI_INTERFACE}"
unset _WIFI_INTERFACE
alias restart-wifi="sudo nmcli radio wifi off && sleep 5 && sudo nmcli radio wifi on"

function set-blf-webcam() {
# Check if the camera number is provided
Expand Down Expand Up @@ -85,6 +96,30 @@ gerDevice/app/robots/${YARP_ROBOT_NAME}/blf-yarp-robot-logger-interfaces/webcams
cd -
}

alias list-webcams="v4l2-ctl --list-devices"

set-yarp-namespace() {
local namespace="$1"
local hosts=("10.0.2.14" "ergocub-torso" "ergocub-head")

if [[ -z "$namespace" ]]; then
echo "Usage: set_namespace <namespace>"
return 1
fi

for host in "${hosts[@]}"; do
echo "------------------------------"
echo "Setting namespace on $host..."
ssh "$host" "yarp namespace $namespace"

if [[ $? -eq 0 ]]; then
echo "[$host] Namespace set successfully."
else
echo "[$host] ERROR: Failed to set namespace."
fi
done
}


GREEN='\033[0;32m'
NC='\033[0m' # No Color
Expand All @@ -103,10 +138,16 @@ ${GREEN}close-window${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.
${GREEN}disable-wifi-powersave${NC} Disable the WiFi powersave.
${GREEN}check-wifi-powersave${NC} Checks the WiFi powersave.
${GREEN}restart-wifi${NC} Restart the WiFi radio.
${GREEN}set-blf-webcam${NC} Bash script that can be used to set the number of the blf webcam in the logger. IT WILL RECOMPILE AND INSTALL BLF.
${GREEN}list-webcams${NC} List the available webcams.
${GREEN}set-yarp-namespace${NC} Set the yarp namespace on the laptop, ergocub-torso, and ergocub-head.
${GREEN}runYarpRobotInterface${NC} Run yarprobotinterface with whole-body-dynamics."'

if [ "$PS1" ]; then
check-wifi-powersave

echo -e "Type ${GREEN}helpRobot${NC} for a list of useful commands."

# automatic terminator title
Expand Down
2 changes: 1 addition & 1 deletion ergoCubSN001/extra/scripts/checkConfigurationFiles.sh
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -1,6 +1,6 @@
#!/bin/bash

diff -r --exclude="CMakeLists.txt" $ROBOTOLOGY_SUPERBUILD_SOURCE_DIR/src/robots-configuration/$YARP_ROBOT_NAME $ROBOTOLOGY_SUPERBUILD_SOURCE_DIR/build/install/share/ICUBcontrib/robots/$YARP_ROBOT_NAME | grep -ve dcm_walking -ve extra > /tmp/diff_out 2>&1
diff -r --exclude="CMakeLists.txt" --exclude="*.onnx" $ROBOTOLOGY_SUPERBUILD_SOURCE_DIR/src/robots-configuration/$YARP_ROBOT_NAME $ROBOTOLOGY_SUPERBUILD_SOURCE_DIR/build/install/share/ICUBcontrib/robots/$YARP_ROBOT_NAME | grep -ve dcm_walking -ve extra > /tmp/diff_out 2>&1

GREEN='\033[0;32m'
RED='\033[0;31m'
Expand Down
10 changes: 10 additions & 0 deletions ergoCubSN001/hardware/electronics/head-eb20-j0_1-eln.xml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -23,6 +23,16 @@
<param name="maxTimeOfDOactivity"> 300 </param>
<param name="maxTimeOfTXactivity"> 300 </param>
<param name="TXrateOfRegularROPs"> 1 </param>

<group name="LOGGING">
<group name="IMMEDIATE">
<param name="emitRXDOTXoverflow"> false </param>
</group>
<group name="PERIODIC">
<param name="period"> 10.0 </param>
<param name="emitRXDOTXstatistics"> true </param>
</group>
</group>
</group>
</group>

Expand Down
Loading