Update ergoCubSN002 conf files from robot fork
#740
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…and noise rejection. right arm skin aligned though not streaming data
…, before the fingers
…prefix and removed POS wrappers
…llm task planner structure
…nfiguration for right arm
Move the cursor back to 0 0
…ing llmGUI After recent updates of llm_task_planner
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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 integrates the latest configuration updates for the ergoCubSN002 robot, focusing on comprehensive adjustments across its hardware, calibration, and software application layers. The changes aim to enhance the robot's operational capabilities, particularly in areas related to head and arm control, tactile sensing, and advanced AI/LLM integration within a multi-robot framework.
Highlights
- Configuration File Synchronization: This pull request primarily synchronizes the
ergoCubSN002robot's configuration files with updates from a robot fork, ensuring the latest operational parameters are in place. - Head Subsystem Updates: The head's electronic board, mechanical, and motor control configurations have been significantly updated, including renaming files (e.g.,
j0_1toj0_2,j2_3toj3), adjusting calibration parameters, and introducing new detailed mechanical and motor control XMLs with updated PID settings and limits. This also affects the head's IMU and motor control remapper. - Arm and Hand Calibration Refinements: Calibration parameters for the left and right arms, including
calibration1,calibration4,calibration5,startupPosition, andCALIB_ORDER, have been adjusted. Hand position sensor offsets and rotation parameters have also been updated, along with minor adjustments to joint position limits for the fingers. - Skin Sensor Configuration Changes: The skin GUI configurations for both left and right hands have been completely revised, replacing old sensor types with
triangle_10padandfingertipMIDand updating their placements. The total taxel count and ranges for the arm skin wrappers have also been adjusted. - Application and Cluster Enhancements: A new YARP application (
xbgTwoRobots001.xml) has been added to support a multi-robot setup, integrating various modules for perception, control, and LLM interaction. Existing applications likeami-xbg.xmlhave been updated with new paths, parameters, and connections for depth cameras and emotion handlers, indicating deeper integration with AI/LLM functionalities. The YARP cluster configuration has been expanded to include new nodes for LLM processing and a second robot (ergocub000). - Sensor and System Parameter Adjustments: The Realsense camera configuration now includes
stereoModeand support for IR cameras. Variousshutdownlevels for inertial wrappers have been standardized, and theskin.xml's port prefix has been changed fromicubtoergocub.
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Code Review
This pull request updates various configuration files for ergoCubSN002, likely synchronizing them from a specific robot's operational setup. The changes are extensive and cover calibration parameters, hardware definition files, application configuration files, YARP cluster configuration, skin GUI configurations, realsense camera settings and a global change in YARP port prefixing. My review focused on portability and correctness.
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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.