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Merged
merged 11 commits into from
Sep 2, 2025
Merged

Update ergoCubSN002 conf files from robot fork #755

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4a093b9
[ergoCubSN002] Added possibility to disable emitter as in https://git…
steb6 Apr 28, 2025
ded52bc
[ergoCubSN002] Added possibility to choose camera resolution as in ht…
steb6 Apr 28, 2025
ca93d5b
[ergoCubSN002] Added scripts to check wifi powersave and ignoring onn…
S-Dafarra Jun 30, 2025
54bdbf5
Add RX-DO-TX configuration diagnostic (#6)
martinaxgloria Jun 30, 2025
1f6d711
[ergoCubSN002] Added alias to restart wifi radio
S-Dafarra Jul 2, 2025
228c2da
[ergoCubSN002] Changed connector for right thumb add encoder
AntonioConsilvio Jul 17, 2025
a00d149
[ergoCubSN002] Removed use of right arm FT
S-Dafarra Jul 17, 2025
fa94065
[ergoCubSN002] change calib values for left wrist
filippoborgogni Jul 21, 2025
6585f6b
[ergoCubSN002] Added other utility commands
S-Dafarra Jul 24, 2025
e6b12f8
[ergoCubSN002] change connectors for left index and thumb motors
filippoborgogni Jul 28, 2025
c6a696e
Update neck mk3 PID gains
martinaxgloria Sep 2, 2025
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2 changes: 1 addition & 1 deletion ergoCubSN002/calibrators/left_arm-calib.xml
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Expand Up @@ -17,7 +17,7 @@
</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 30375 17543 0 300 0 300 300 300 </param>
<param name="calibration1"> 4000 -3000 -3000 4000 9385 30845 3031 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 32768 0 16384 </param>
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20 changes: 10 additions & 10 deletions ergoCubSN002/ergocub.xml
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Expand Up @@ -75,8 +75,8 @@
<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/right_arm-eb1-j0_1-strain.xml" disabled_by="disable_right_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" />
<xi:include href="hardware/FT/left_leg-eb8-j0_3-strain.xml" disabled_by="disable_left_leg" />
Expand All @@ -87,8 +87,8 @@
<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/right_arm-FT_wrapper.xml" disabled_by="disable_right_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" />

Expand All @@ -107,16 +107,16 @@
<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/right_arm-eb1-j0_1-inertial.xml" disabled_by="disable_right_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/right_arm-imu_wrapper.xml" disabled_by="disable_right_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" />
<xi:include href="wrappers/inertials/left_foot-imu_wrapper.xml" disabled_by="disable_left_leg" />
Expand Down Expand Up @@ -144,8 +144,8 @@
<!--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/right_arm-FT_nws_ros2.xml" enabled_by="enable_ros2" disabled_by="disable_ros2 disable_right_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" />

Expand Down
8 changes: 4 additions & 4 deletions ergoCubSN002/estimators/wholebodydynamics.xml
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Expand Up @@ -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">(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">(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>
Expand All @@ -28,7 +28,7 @@
</group>

<group name="multipleAnalogSensorsNames">
<param name="SixAxisForceTorqueSensorsNames">(l_foot_front_ft, l_foot_rear_ft, r_foot_front_ft, r_foot_rear_ft, r_arm_ft)</param>
<param name="SixAxisForceTorqueSensorsNames">(l_foot_front_ft, l_foot_rear_ft, r_foot_front_ft, r_foot_rear_ft)</param>
</group>


Expand Down Expand Up @@ -72,8 +72,8 @@
<!-- 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="r_arm_ft_sensors">right_arm-eb1-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>

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41 changes: 41 additions & 0 deletions ergoCubSN002/extra/scripts/additionalCommands.sh
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Expand Up @@ -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 <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 @@ -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 <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
Expand All @@ -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
Expand Down
2 changes: 1 addition & 1 deletion ergoCubSN002/extra/scripts/checkConfigurationFiles.sh
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@@ -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
2 changes: 1 addition & 1 deletion ergoCubSN002/hardware/POS/right_hand-pos2.xml
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Expand Up @@ -35,7 +35,7 @@
<param name="port"> POS:hand_thumb_add POS:hand_index_add </param>

<param name="boardType"> mtb4c mtb4c </param>
<param name="connector"> CONN:J3_SDA3 CONN:J3_SDA0 </param>
<param name="connector"> CONN:J3_SDA2 CONN:J3_SDA0 </param>

<group name="CALIBRATION">
<!-- it is not mandatory. if not present, sensors have defaults: TYPE:decideg, ROT:zero, 0.0, false -->
Expand Down
10 changes: 10 additions & 0 deletions ergoCubSN002/hardware/electronics/head-eb20-j0_2-eln.xml
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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
10 changes: 10 additions & 0 deletions ergoCubSN002/hardware/electronics/head-eb21-j3-eln.xml
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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
10 changes: 10 additions & 0 deletions ergoCubSN002/hardware/electronics/left_arm-eb2-j0_1-eln.xml
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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
10 changes: 10 additions & 0 deletions ergoCubSN002/hardware/electronics/left_arm-eb23-j7_10-eln.xml
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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
10 changes: 10 additions & 0 deletions ergoCubSN002/hardware/electronics/left_arm-eb25-j11_12-eln.xml
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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
10 changes: 10 additions & 0 deletions ergoCubSN002/hardware/electronics/left_arm-eb31-j4_6-eln.xml
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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
10 changes: 10 additions & 0 deletions ergoCubSN002/hardware/electronics/left_arm-eb4-j2_3-eln.xml
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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
10 changes: 10 additions & 0 deletions ergoCubSN002/hardware/electronics/left_leg-eb8-j0_3-eln.xml
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Expand Up @@ -23,6 +23,16 @@
<param name="maxTimeOfDOactivity"> 500 </param>
<param name="maxTimeOfTXactivity"> 200 </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
10 changes: 10 additions & 0 deletions ergoCubSN002/hardware/electronics/left_leg-eb9-j4_5-eln.xml
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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
10 changes: 10 additions & 0 deletions ergoCubSN002/hardware/electronics/right_arm-eb1-j0_1-eln.xml
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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
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