diff --git a/ergoCubSN002/calibrators/left_arm-calib.xml b/ergoCubSN002/calibrators/left_arm-calib.xml
index 618dca6e1b..d84d2aaf31 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 30375 17543 0 300 0 300 300 300
+ 4000 -3000 -3000 4000 9385 30845 3031 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 32768 0 16384
diff --git a/ergoCubSN002/ergocub.xml b/ergoCubSN002/ergocub.xml
index 75b7a56ee4..e189400b6d 100644
--- a/ergoCubSN002/ergocub.xml
+++ b/ergoCubSN002/ergocub.xml
@@ -75,8 +75,8 @@
-
-
+
@@ -87,8 +87,8 @@
-
-
+
@@ -107,16 +107,16 @@
-->
-
-
+
-
-
+
@@ -144,8 +144,8 @@
-
-
+
diff --git a/ergoCubSN002/estimators/wholebodydynamics.xml b/ergoCubSN002/estimators/wholebodydynamics.xml
index d1e0cb4c7f..0405a07069 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)
- (r_hand_palm,root_link,l_foot_front,l_foot_rear,r_foot_front,r_foot_rear,l_upper_leg,r_upper_leg)
+ (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_foot_front_ft, l_foot_rear_ft, r_foot_front_ft, r_foot_rear_ft, r_arm_ft)
+ (l_foot_front_ft, l_foot_rear_ft, r_foot_front_ft, r_foot_rear_ft)
@@ -72,8 +72,8 @@
left_leg-FT_remapper
right_leg-FT_remapper
-
- right_arm-eb1-j0_1-strain
+
diff --git a/ergoCubSN002/extra/scripts/additionalCommands.sh b/ergoCubSN002/extra/scripts/additionalCommands.sh
index 713eeae5f4..b72a8d9cad 100644
--- a/ergoCubSN002/extra/scripts/additionalCommands.sh
+++ b/ergoCubSN002/extra/scripts/additionalCommands.sh
@@ -50,9 +50,20 @@ 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 "
+ 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 ${_WIFI_INTERFACE}"
unset _WIFI_INTERFACE
+alias restart-wifi="sudo nmcli radio wifi off && sleep 5 && sudo nmcli radio wifi on"
function set-blf-webcam() {
# Check if the camera number is provided
@@ -83,6 +94,30 @@ gerDevice/app/robots/${YARP_ROBOT_NAME}/blf-yarp-robot-logger-interfaces/webcams
cd -
}
+alias list-webcams="v4l2-ctl --list-devices"
+
+set-yarp-namespace() {
+ local namespace="$1"
+ local hosts=("10.0.2.24" "ergocub-torso" "ergocub-head")
+
+ if [[ -z "$namespace" ]]; then
+ echo "Usage: set_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
## Alias for displaying info messages about the other aliases
@@ -99,12 +134,18 @@ ${GREEN}close-window${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 [[ $- == *i* ]]
then
+ check-wifi-powersave
+
echo -e "Type ${GREEN}helpRobot${NC} for a list of useful commands."
# automatic terminator title
diff --git a/ergoCubSN002/extra/scripts/checkConfigurationFiles.sh b/ergoCubSN002/extra/scripts/checkConfigurationFiles.sh
index defd0376e2..5a20b7591d 100644
--- a/ergoCubSN002/extra/scripts/checkConfigurationFiles.sh
+++ b/ergoCubSN002/extra/scripts/checkConfigurationFiles.sh
@@ -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'
diff --git a/ergoCubSN002/hardware/POS/right_hand-pos2.xml b/ergoCubSN002/hardware/POS/right_hand-pos2.xml
index e55d975a01..ba0f251684 100644
--- a/ergoCubSN002/hardware/POS/right_hand-pos2.xml
+++ b/ergoCubSN002/hardware/POS/right_hand-pos2.xml
@@ -35,7 +35,7 @@
POS:hand_thumb_add POS:hand_index_add
mtb4c mtb4c
- CONN:J3_SDA3 CONN:J3_SDA0
+ CONN:J3_SDA2 CONN:J3_SDA0
diff --git a/ergoCubSN002/hardware/electronics/head-eb20-j0_2-eln.xml b/ergoCubSN002/hardware/electronics/head-eb20-j0_2-eln.xml
index 017ef3fc09..7f47596827 100644
--- a/ergoCubSN002/hardware/electronics/head-eb20-j0_2-eln.xml
+++ b/ergoCubSN002/hardware/electronics/head-eb20-j0_2-eln.xml
@@ -23,6 +23,16 @@
300
300
1
+
+
+
+ false
+
+
+ 10.0
+ true
+
+
diff --git a/ergoCubSN002/hardware/electronics/head-eb21-j3-eln.xml b/ergoCubSN002/hardware/electronics/head-eb21-j3-eln.xml
index 9f5e2e2bdd..b7e67f8f7c 100644
--- a/ergoCubSN002/hardware/electronics/head-eb21-j3-eln.xml
+++ b/ergoCubSN002/hardware/electronics/head-eb21-j3-eln.xml
@@ -23,6 +23,16 @@
300
300
1
+
+
+
+ false
+
+
+ 10.0
+ true
+
+
diff --git a/ergoCubSN002/hardware/electronics/left_arm-eb2-j0_1-eln.xml b/ergoCubSN002/hardware/electronics/left_arm-eb2-j0_1-eln.xml
index 03e26f9235..aec924e724 100644
--- a/ergoCubSN002/hardware/electronics/left_arm-eb2-j0_1-eln.xml
+++ b/ergoCubSN002/hardware/electronics/left_arm-eb2-j0_1-eln.xml
@@ -23,6 +23,16 @@
300
300
1
+
+
+
+ false
+
+
+ 10.0
+ true
+
+
diff --git a/ergoCubSN002/hardware/electronics/left_arm-eb23-j7_10-eln.xml b/ergoCubSN002/hardware/electronics/left_arm-eb23-j7_10-eln.xml
index 4e4325914b..9a9031c3cb 100644
--- a/ergoCubSN002/hardware/electronics/left_arm-eb23-j7_10-eln.xml
+++ b/ergoCubSN002/hardware/electronics/left_arm-eb23-j7_10-eln.xml
@@ -23,6 +23,16 @@
300
300
1
+
+
+
+ false
+
+
+ 10.0
+ true
+
+
diff --git a/ergoCubSN002/hardware/electronics/left_arm-eb25-j11_12-eln.xml b/ergoCubSN002/hardware/electronics/left_arm-eb25-j11_12-eln.xml
index dbdb60f287..88d1acb935 100644
--- a/ergoCubSN002/hardware/electronics/left_arm-eb25-j11_12-eln.xml
+++ b/ergoCubSN002/hardware/electronics/left_arm-eb25-j11_12-eln.xml
@@ -23,6 +23,16 @@
300
300
1
+
+
+
+ false
+
+
+ 10.0
+ true
+
+
diff --git a/ergoCubSN002/hardware/electronics/left_arm-eb31-j4_6-eln.xml b/ergoCubSN002/hardware/electronics/left_arm-eb31-j4_6-eln.xml
index de05e8fa73..5d48ec7a67 100644
--- a/ergoCubSN002/hardware/electronics/left_arm-eb31-j4_6-eln.xml
+++ b/ergoCubSN002/hardware/electronics/left_arm-eb31-j4_6-eln.xml
@@ -23,6 +23,16 @@
300
300
1
+
+
+
+ false
+
+
+ 10.0
+ true
+
+
diff --git a/ergoCubSN002/hardware/electronics/left_arm-eb4-j2_3-eln.xml b/ergoCubSN002/hardware/electronics/left_arm-eb4-j2_3-eln.xml
index 55057d467a..d0353a299d 100644
--- a/ergoCubSN002/hardware/electronics/left_arm-eb4-j2_3-eln.xml
+++ b/ergoCubSN002/hardware/electronics/left_arm-eb4-j2_3-eln.xml
@@ -23,6 +23,16 @@
300
300
1
+
+
+
+ false
+
+
+ 10.0
+ true
+
+
diff --git a/ergoCubSN002/hardware/electronics/left_leg-eb8-j0_3-eln.xml b/ergoCubSN002/hardware/electronics/left_leg-eb8-j0_3-eln.xml
index 413a34561e..e7fd25a058 100644
--- a/ergoCubSN002/hardware/electronics/left_leg-eb8-j0_3-eln.xml
+++ b/ergoCubSN002/hardware/electronics/left_leg-eb8-j0_3-eln.xml
@@ -23,6 +23,16 @@
500
200
1
+
+
+
+ false
+
+
+ 10.0
+ true
+
+
diff --git a/ergoCubSN002/hardware/electronics/left_leg-eb9-j4_5-eln.xml b/ergoCubSN002/hardware/electronics/left_leg-eb9-j4_5-eln.xml
index 72b19c5891..8b32d14eac 100644
--- a/ergoCubSN002/hardware/electronics/left_leg-eb9-j4_5-eln.xml
+++ b/ergoCubSN002/hardware/electronics/left_leg-eb9-j4_5-eln.xml
@@ -23,6 +23,16 @@
300
300
1
+
+
+
+ false
+
+
+ 10.0
+ true
+
+
diff --git a/ergoCubSN002/hardware/electronics/right_arm-eb1-j0_1-eln.xml b/ergoCubSN002/hardware/electronics/right_arm-eb1-j0_1-eln.xml
index a2f479e3a4..935cc9cc01 100644
--- a/ergoCubSN002/hardware/electronics/right_arm-eb1-j0_1-eln.xml
+++ b/ergoCubSN002/hardware/electronics/right_arm-eb1-j0_1-eln.xml
@@ -23,6 +23,16 @@
300
300
1
+
+
+
+ false
+
+
+ 10.0
+ true
+
+
diff --git a/ergoCubSN002/hardware/electronics/right_arm-eb22-j7_10-eln.xml b/ergoCubSN002/hardware/electronics/right_arm-eb22-j7_10-eln.xml
index 62d442baf7..5bd216f29f 100644
--- a/ergoCubSN002/hardware/electronics/right_arm-eb22-j7_10-eln.xml
+++ b/ergoCubSN002/hardware/electronics/right_arm-eb22-j7_10-eln.xml
@@ -23,6 +23,16 @@
300
300
1
+
+
+
+ false
+
+
+ 10.0
+ true
+
+
diff --git a/ergoCubSN002/hardware/electronics/right_arm-eb24-j11_12-eln.xml b/ergoCubSN002/hardware/electronics/right_arm-eb24-j11_12-eln.xml
index 3c207acb5b..3acf3d3495 100644
--- a/ergoCubSN002/hardware/electronics/right_arm-eb24-j11_12-eln.xml
+++ b/ergoCubSN002/hardware/electronics/right_arm-eb24-j11_12-eln.xml
@@ -23,6 +23,16 @@
300
300
1
+
+
+
+ false
+
+
+ 10.0
+ true
+
+
diff --git a/ergoCubSN002/hardware/electronics/right_arm-eb3-j2_3-eln.xml b/ergoCubSN002/hardware/electronics/right_arm-eb3-j2_3-eln.xml
index a0a3f145c3..6536ad937f 100644
--- a/ergoCubSN002/hardware/electronics/right_arm-eb3-j2_3-eln.xml
+++ b/ergoCubSN002/hardware/electronics/right_arm-eb3-j2_3-eln.xml
@@ -23,6 +23,16 @@
300
300
1
+
+
+
+ false
+
+
+ 10.0
+ true
+
+
diff --git a/ergoCubSN002/hardware/electronics/right_arm-eb30-j4_6-eln.xml b/ergoCubSN002/hardware/electronics/right_arm-eb30-j4_6-eln.xml
index 1223a73a07..ac4c0aac00 100644
--- a/ergoCubSN002/hardware/electronics/right_arm-eb30-j4_6-eln.xml
+++ b/ergoCubSN002/hardware/electronics/right_arm-eb30-j4_6-eln.xml
@@ -23,6 +23,16 @@
300
300
1
+
+
+
+ false
+
+
+ 10.0
+ true
+
+
diff --git a/ergoCubSN002/hardware/electronics/right_leg-eb6-j0_3-eln.xml b/ergoCubSN002/hardware/electronics/right_leg-eb6-j0_3-eln.xml
index 55b61fd150..82f4c6c9d0 100644
--- a/ergoCubSN002/hardware/electronics/right_leg-eb6-j0_3-eln.xml
+++ b/ergoCubSN002/hardware/electronics/right_leg-eb6-j0_3-eln.xml
@@ -23,6 +23,16 @@
500
200
1
+
+
+
+ false
+
+
+ 10.0
+ true
+
+
diff --git a/ergoCubSN002/hardware/electronics/right_leg-eb7-j4_5-eln.xml b/ergoCubSN002/hardware/electronics/right_leg-eb7-j4_5-eln.xml
index 1652f923ad..3f43566719 100644
--- a/ergoCubSN002/hardware/electronics/right_leg-eb7-j4_5-eln.xml
+++ b/ergoCubSN002/hardware/electronics/right_leg-eb7-j4_5-eln.xml
@@ -23,6 +23,16 @@
300
300
1
+
+
+
+ false
+
+
+ 10.0
+ true
+
+
diff --git a/ergoCubSN002/hardware/electronics/torso-eb5-j0_2-eln.xml b/ergoCubSN002/hardware/electronics/torso-eb5-j0_2-eln.xml
index 3ea30cbb15..3e87ca1af4 100644
--- a/ergoCubSN002/hardware/electronics/torso-eb5-j0_2-eln.xml
+++ b/ergoCubSN002/hardware/electronics/torso-eb5-j0_2-eln.xml
@@ -23,6 +23,16 @@
300
300
1
+
+
+
+ false
+
+
+ 10.0
+ true
+
+
diff --git a/ergoCubSN002/hardware/motorControl/head-eb20-j0_2-mc.xml b/ergoCubSN002/hardware/motorControl/head-eb20-j0_2-mc.xml
index a7c2bb57a5..9b665cc029 100644
--- a/ergoCubSN002/hardware/motorControl/head-eb20-j0_2-mc.xml
+++ b/ergoCubSN002/hardware/motorControl/head-eb20-j0_2-mc.xml
@@ -18,7 +18,7 @@
1100 1100 360
1500 1500 600
2200 2200 900
- 16000 16000 16000
+ 32000 32000 32000
@@ -47,11 +47,11 @@
pwm
metric_units
machine_units
- +387 +387 +1600
- +20 +0 +0
- +67 +67 +667
- 16000 16000 16000
- 16000 16000 16000
+ +774 +774 +3200
+ +40 +0 +0
+ +134 +134 +1334
+ 32000 32000 32000
+ 32000 32000 32000
0 0 0
0 0 0
0 0 0
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 b6b5a33e56..c8524a7e25 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
@@ -59,7 +59,7 @@
pwm pwm pwm pwm
- CONN:P5 CONN:P4 CONN:P3 CONN:P2
+ CONN:P4 CONN:P5 CONN:P3 CONN:P2
@@ -72,7 +72,7 @@
qenc qenc qenc qenc
- CONN:P5 CONN:P4 CONN:P3 CONN:P2
+ CONN:P4 CONN:P5 CONN:P3 CONN:P2
atmotor atmotor atmotor atmotor
1600 1600 1600 1600
0 0 0 0
diff --git a/ergoCubSN002/sensors/realsense.xml b/ergoCubSN002/sensors/realsense.xml
index 57a1bbc2ad..2cbc9d3d70 100644
--- a/ergoCubSN002/sensors/realsense.xml
+++ b/ergoCubSN002/sensors/realsense.xml
@@ -5,10 +5,10 @@
- (640 480)
- (640 480)
+ (640 480)
+ (640 480)
30
- true
+ true
RGB
diff --git a/ergoCubSN002/wrappers/inertials/alljoints-inertials_remapper.xml b/ergoCubSN002/wrappers/inertials/alljoints-inertials_remapper.xml
index 4c4d7ac363..b0dd9c25f9 100644
--- a/ergoCubSN002/wrappers/inertials/alljoints-inertials_remapper.xml
+++ b/ergoCubSN002/wrappers/inertials/alljoints-inertials_remapper.xml
@@ -4,7 +4,7 @@
- (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_imu_0 l_leg_ft_imu l_foot_rear_ft_imu l_foot_front_ft_imu r_leg_ft_imu r_foot_rear_ft_imu r_foot_front_ft_imu waist_imu_0)
@@ -12,7 +12,7 @@
left_leg-eb8-j0_3-inertial
left_leg-eb9-j4_5-inertial
- right_arm-eb1-j0_1-inertial
+
right_leg-eb6-j0_3-inertial
right_leg-eb7-j4_5-inertial
waist-inertial