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.
| <group name="defaultCfgTriangle"> | ||
| <param name="enabled"> false </param> | ||
| <param name="shift"> 1 </param> | ||
| <param name="cdcOffset"> 0x2200 </param> | ||
| </group> | ||
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| <group name="specialCfgTriangles"> | ||
| <param name="numOfSets"> 4 </param> | ||
| <param name="triangleSetCfg1"> 2 2 0 4 1 1 0x0000 </param> | ||
| <param name="triangleSetCfg2"> 2 2 0 4 1 1 0x0000 </param> | ||
| <param name="triangleSetCfg3"> 2 2 5 9 1 1 0x0000 </param> | ||
| <param name="triangleSetCfg4"> 2 2 5 9 1 1 0x0000 </param> | ||
| </group> | ||
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| <group name="defaultCfgTriangle"> | ||
| <param name="enabled"> false </param> | ||
| <param name="shift"> 1 </param> | ||
| <param name="cdcOffset"> 0x0000 </param> | ||
| </group> | ||
| </group> | ||
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| <group name="specialCfgTriangles"> | ||
| <group name="specialCfgTriangles"> | ||
| <param name="numOfSets"> 1 </param> | ||
| <param name="triangleSetCfg1"> 2 2 0 15 1 1 0x0000 </param> | ||
| </group> | ||
| </group> |
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There appear to be duplicate <group name="defaultCfgTriangle"> and <group name="specialCfgTriangles"> sections. This duplication can lead to parsing errors or unpredictable behavior. Please remove the redundant or outdated sections to ensure a clean and correct configuration.
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| </group> | |||
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| <group name="ENCODER1"> | |||
| <param name="type"> amo amo </param> | |||
| <param name="type"> none amo </param> | |||
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The type for ENCODER1 of the first joint (l_shoulder_pitch) has been changed from amo to none. If ENCODER1 is the primary absolute encoder at the joint, setting its type to none will effectively disable it. This is a critical change that needs careful verification to ensure the joint control remains safe and functional.
| </group> | ||
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| <group name="2FOC"> | ||
| <param name="AutoCalibration"> 0 0 0 0 </param> | ||
| <param name="Verbose"> 0 0 0 0 </param> | ||
| <param name="HasHallSensor"> 0 0 0 0 </param> | ||
| <param name="TemperatureSensorType"> PT100 PT100 PT100 PT100 </param> <!-- Supported values: PT100 or NONE. If setting NONE consider using the safer current limits for the hip roll. --> | ||
| <param name="TemperatureSensorType"> NONE PT100 NONE PT100 </param> <!-- Supported values: PT100 or NONE. If setting NONE consider using the safer current limits for the hip roll. --> |
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The TemperatureSensorType for r_hip_pitch (joint 0) and r_hip_yaw (joint 2) has been changed from PT100 to NONE. This disables temperature monitoring for these specific hip joints. Please confirm this is the intended configuration.
| <param name="Verbose"> 0 0 0 </param> | ||
| <param name="AutoCalibration"> 0 0 0 </param> | ||
| <param name="HasHallSensor"> 0 0 0 </param> | ||
| <param name="TemperatureSensorType"> PT100 PT100 PT100 </param> <!-- if using set it to PT100. HasTempSensor is gonna be deprecated --> | ||
| <param name="TemperatureSensorType"> NONE PT100 PT100 </param> <!-- if using set it to PT100. HasTempSensor is gonna be deprecated --> |
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The TemperatureSensorType for torso_roll (joint 0) has been changed from PT100 to NONE. This disables temperature monitoring for this joint. Please verify this is intentional.
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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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As per the title.