From 4a093b9599972192167ee088a02a234155a169fe Mon Sep 17 00:00:00 2001 From: Stefano Berti Date: Mon, 28 Apr 2025 10:50:59 +0200 Subject: [PATCH 01/11] [ergoCubSN002] Added possibility to disable emitter as in https://github.com/icub-tech-iit/robots-configuration/commit/f6c7d6efa4728a2d8202c94f567ef2bcbfc56134 --- ergoCubSN002/sensors/realsense.xml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/ergoCubSN002/sensors/realsense.xml b/ergoCubSN002/sensors/realsense.xml index 57a1bbc2ad..f4de987175 100644 --- a/ergoCubSN002/sensors/realsense.xml +++ b/ergoCubSN002/sensors/realsense.xml @@ -8,7 +8,7 @@ (640 480) (640 480) 30 - true + true RGB From ded52bc079f0eb55ed3ed8d5ade271625a0cc491 Mon Sep 17 00:00:00 2001 From: Stefano Berti Date: Mon, 28 Apr 2025 10:53:41 +0200 Subject: [PATCH 02/11] [ergoCubSN002] Added possibility to choose camera resolution as in https://github.com/icub-tech-iit/robots-configuration/commit/0ec4868a65b056acbee3b1a059fdc0ef9c1cd623 --- ergoCubSN002/sensors/realsense.xml | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/ergoCubSN002/sensors/realsense.xml b/ergoCubSN002/sensors/realsense.xml index f4de987175..2cbc9d3d70 100644 --- a/ergoCubSN002/sensors/realsense.xml +++ b/ergoCubSN002/sensors/realsense.xml @@ -5,8 +5,8 @@ - (640 480) - (640 480) + (640 480) + (640 480) 30 true RGB From ca93d5bdfd787625fc667beab3db9c8745007c27 Mon Sep 17 00:00:00 2001 From: Stefano Dafarra Date: Mon, 30 Jun 2025 12:25:56 +0200 Subject: [PATCH 03/11] [ergoCubSN002] Added scripts to check wifi powersave and ignoring onnxx files when checking source/install diff --- ergoCubSN002/extra/scripts/additionalCommands.sh | 13 +++++++++++++ .../extra/scripts/checkConfigurationFiles.sh | 2 +- 2 files changed, 14 insertions(+), 1 deletion(-) diff --git a/ergoCubSN002/extra/scripts/additionalCommands.sh b/ergoCubSN002/extra/scripts/additionalCommands.sh index 713eeae5f4..52fc776508 100644 --- a/ergoCubSN002/extra/scripts/additionalCommands.sh +++ b/ergoCubSN002/extra/scripts/additionalCommands.sh @@ -50,8 +50,18 @@ 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 function set-blf-webcam() { @@ -99,12 +109,15 @@ ${GREEN}close-window${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. ${GREEN}set-blf-webcam${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 [[ $- == *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' From 54bdbf5c03b9eefe8d8eadd58101a94f2d38d447 Mon Sep 17 00:00:00 2001 From: Martina Gloria <114698424+martinaxgloria@users.noreply.github.com> Date: Mon, 30 Jun 2025 17:16:58 +0200 Subject: [PATCH 04/11] Add RX-DO-TX configuration diagnostic (#6) --- .../hardware/electronics/head-eb20-j0_2-eln.xml | 10 ++++++++++ ergoCubSN002/hardware/electronics/head-eb21-j3-eln.xml | 10 ++++++++++ .../hardware/electronics/left_arm-eb2-j0_1-eln.xml | 10 ++++++++++ .../hardware/electronics/left_arm-eb23-j7_10-eln.xml | 10 ++++++++++ .../hardware/electronics/left_arm-eb25-j11_12-eln.xml | 10 ++++++++++ .../hardware/electronics/left_arm-eb31-j4_6-eln.xml | 10 ++++++++++ .../hardware/electronics/left_arm-eb4-j2_3-eln.xml | 10 ++++++++++ .../hardware/electronics/left_leg-eb8-j0_3-eln.xml | 10 ++++++++++ .../hardware/electronics/left_leg-eb9-j4_5-eln.xml | 10 ++++++++++ .../hardware/electronics/right_arm-eb1-j0_1-eln.xml | 10 ++++++++++ .../hardware/electronics/right_arm-eb22-j7_10-eln.xml | 10 ++++++++++ .../hardware/electronics/right_arm-eb24-j11_12-eln.xml | 10 ++++++++++ .../hardware/electronics/right_arm-eb3-j2_3-eln.xml | 10 ++++++++++ .../hardware/electronics/right_arm-eb30-j4_6-eln.xml | 10 ++++++++++ .../hardware/electronics/right_leg-eb6-j0_3-eln.xml | 10 ++++++++++ .../hardware/electronics/right_leg-eb7-j4_5-eln.xml | 10 ++++++++++ .../hardware/electronics/torso-eb5-j0_2-eln.xml | 10 ++++++++++ 17 files changed, 170 insertions(+) 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 + + From 1f6d711ddb41e7f899cb21b7e73b6fc331819757 Mon Sep 17 00:00:00 2001 From: Stefano Dafarra Date: Wed, 2 Jul 2025 09:31:26 +0200 Subject: [PATCH 05/11] [ergoCubSN002] Added alias to restart wifi radio --- ergoCubSN002/extra/scripts/additionalCommands.sh | 2 ++ 1 file changed, 2 insertions(+) diff --git a/ergoCubSN002/extra/scripts/additionalCommands.sh b/ergoCubSN002/extra/scripts/additionalCommands.sh index 52fc776508..681f8b1bd2 100644 --- a/ergoCubSN002/extra/scripts/additionalCommands.sh +++ b/ergoCubSN002/extra/scripts/additionalCommands.sh @@ -63,6 +63,7 @@ _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 @@ -110,6 +111,7 @@ ${GREEN}dcmFolder${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. ${GREEN}runYarpRobotInterface${NC} Run yarprobotinterface with whole-body-dynamics."' From 228c2da8ceffb1b47d8848af96b0d6b1263d4dd4 Mon Sep 17 00:00:00 2001 From: Antonio Consilvio Date: Thu, 17 Jul 2025 18:48:51 +0200 Subject: [PATCH 06/11] [ergoCubSN002] Changed connector for right thumb add encoder Done by Antonio, committed by Stefano --- ergoCubSN002/hardware/POS/right_hand-pos2.xml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) 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 From a00d14912598c02b628f9e46475d9254648b4b80 Mon Sep 17 00:00:00 2001 From: Stefano Dafarra Date: Thu, 17 Jul 2025 18:56:38 +0200 Subject: [PATCH 07/11] [ergoCubSN002] Removed use of right arm FT --- ergoCubSN002/ergocub.xml | 20 +++++++++---------- ergoCubSN002/estimators/wholebodydynamics.xml | 8 ++++---- .../alljoints-inertials_remapper.xml | 4 ++-- 3 files changed, 16 insertions(+), 16 deletions(-) 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/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 From fa940657a05999485032d4af245f5e3891c12f31 Mon Sep 17 00:00:00 2001 From: filippoborgogni Date: Mon, 21 Jul 2025 16:45:42 +0200 Subject: [PATCH 08/11] [ergoCubSN002] change calib values for left wrist --- ergoCubSN002/calibrators/left_arm-calib.xml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) 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 From 6585f6b296051dc777e4a0e7ecf3987245ad8350 Mon Sep 17 00:00:00 2001 From: Stefano Dafarra Date: Thu, 24 Jul 2025 14:17:49 +0200 Subject: [PATCH 09/11] [ergoCubSN002] Added other utility commands --- .../extra/scripts/additionalCommands.sh | 26 +++++++++++++++++++ 1 file changed, 26 insertions(+) diff --git a/ergoCubSN002/extra/scripts/additionalCommands.sh b/ergoCubSN002/extra/scripts/additionalCommands.sh index 681f8b1bd2..b72a8d9cad 100644 --- a/ergoCubSN002/extra/scripts/additionalCommands.sh +++ b/ergoCubSN002/extra/scripts/additionalCommands.sh @@ -94,6 +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 @@ -113,6 +137,8 @@ ${GREEN}disable-wifi-powersave${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."' From e6b12f85e14f5ec983595aaa9e85fb6167e23a54 Mon Sep 17 00:00:00 2001 From: filippoborgogni Date: Mon, 28 Jul 2025 16:22:38 +0200 Subject: [PATCH 10/11] [ergoCubSN002] change connectors for left index and thumb motors --- .../hardware/motorControl/left_arm-eb23-j7_10-mc_service.xml | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) 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 From c6a696e01df808b33b8f9bf9a04a7812bcec6ea5 Mon Sep 17 00:00:00 2001 From: Martina Gloria <114698424+martinaxgloria@users.noreply.github.com> Date: Tue, 2 Sep 2025 14:03:47 +0200 Subject: [PATCH 11/11] Update neck mk3 PID gains --- .../hardware/motorControl/head-eb20-j0_2-mc.xml | 12 ++++++------ 1 file changed, 6 insertions(+), 6 deletions(-) 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