Update ergoCubSN001 conf files from robot fork
#739
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…d shoulder yaw of both arms
This reverts commit 604fc62.
…rs when closing the yri
…f the realsense from outside
…tion other than index_abduction for left_arm since encoder not transmitting, remove CALIBRATION group from POS folder since now all finger calibrates with calibration type 14 that is based on MC
…e for joint 0 in left_arm-eb2-j0_1-mc_service.xml
This reverts commit c537c9f.
They seemed to cause issues in the computation of the ZMP
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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 synchronizes the ergoCubSN001 configuration files with updates from a robot fork. The changes encompass a broad range of robot parameters, including calibration data, hardware and motor control settings, and significant enhancements to autonomous applications. These updates aim to improve robot performance, integrate new sensor capabilities, and enable advanced functionalities like large language model (LLM) interaction and multi-robot coordination.
Highlights
- Robot Configuration Synchronization: This pull request updates various calibration, hardware, and motor control parameters across the
ergoCubSN001robot. These changes likely reflect the latest validated configurations from a robot fork, ensuring the robot operates with up-to-date and optimized settings. - Enhanced Autonomous Capabilities & LLM Integration: A new
xbgTwoRobots001application has been introduced, setting up a complex environment for advanced multi-robot or single-robot operations. Significant updates to the existingami-xbgapplication facilitate deeper integration with Large Language Models (LLMs), including new sensor data streams and communication protocols. - Hardware Parameter Adjustments: Joint limits for the torso and hand have been refined, and temperature sensor configurations for various mechanical parts have been updated (mostly disabling PT100 sensors in favor of 'NONE'). Additionally, POS sensor settings have been adjusted, indicating ongoing hardware tuning and optimization efforts.
- Sensor and Estimator Refinements: The
wholebodydynamicsestimator now uses a more focused set of default contact frames and force/torque sensors. The Realsense camera configuration has been enhanced to expose more parameters for external control and to support Infrared (IR) camera streams, improving sensor data availability for perception tasks.
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Code Review
This pull request updates various configuration files for ergoCubSN001, including calibration parameters, hardware settings, joint limits, application definitions, and sensor configurations. Several critical issues need addressing, including hardcoded file paths in application XMLs, an encoder type set to none in left_arm-eb2-j0_1-mc_service.xml, and duplicate skin configuration groups in left_arm-eb4-j2_3-skinSpec.xml. Other high-severity concerns include significant functional changes to wholebodydynamics.xml and the removal of POS wrappers in ergocub.xml.
ergoCubSN001/hardware/motorControl/left_arm-eb2-j0_1-mc_service.xml
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/remind June 25 We will get back to this PR after an important demo that will take place on June 23. |
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⏰ Reminder
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/gemini review |
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Code Review
This pull request updates various configuration files for the ergoCubSN001 robot, primarily focusing on calibration values, sensor configurations, and application setups. Key changes include updates to joint calibration parameters, modifications to whole-body dynamics sensor inputs, and significant additions for a multi-robot application (xbgTwoRobots001). Several changes related to disabling temperature sensors for mechanical parts and updating skin sensor configurations are also present. The review highlights critical and high-severity issues related to potential hardware damage due to disabled temperature sensors and significant functional changes in application and sensor data processing. Medium-severity issues cover updated calibration values, changes in module inclusions, and modified joint limits. Overall, the changes introduce new capabilities and refine existing configurations, but require careful verification of functional correctness and safety implications.
As per the title.