Devel ergo cub sn001 (#664)

Co-authored-by: Stefano Dafarra <stefano.dafarra@gmail.com> Co-authored-by: Giulio Romualdi <giulio.romualdi@gmail.com> Co-authored-by: ergocub <ergocub@iit.it>
robotology · Jul 5, 2024 · 8409b35 · 8409b35
1 parent 2fdf612
commit 8409b35
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diff --git a/ergoCubSN001/estimators/wholebodydynamics.xml b/ergoCubSN001/estimators/wholebodydynamics.xml
@@ -3,7 +3,7 @@
 
 
 <device xmlns:xi="http://www.w3.org/2001/XInclude" name="wholebodydynamics" type="wholebodydynamics">
-  <param name="axesNames">(torso_pitch,torso_roll,torso_yaw,neck_pitch, neck_roll,neck_yaw,l_shoulder_pitch,l_shoulder_roll,l_shoulder_yaw,r_shoulder_pitch,r_shoulder_roll,r_shoulder_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="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">(l_hand_palm,r_hand_palm,root_link,l_foot_front,l_foot_rear,r_foot_front,r_foot_rear,l_upper_leg,r_upper_leg)</param>
@@ -39,10 +39,10 @@
 
 
   <group name="WBD_OUTPUT_EXTERNAL_WRENCH_PORTS">
-    <!-- <param name="/wholeBodyDynamics/left_arm/cartesianEndEffectorWrench:o">(l_hand_palm,l_hand_palm,root_link)</param> -->
-    <!-- <param name="/wholeBodyDynamics/right_arm/cartesianEndEffectorWrench:o">(r_hand_palm,r_hand_palm,root_link)</param> -->
-    <!-- <param name="/wholeBodyDynamics/left_leg/cartesianEndEffectorWrench:o">(l_lower_leg,l_lower_leg,root_link)</param> -->
-    <!-- <param name="/wholeBodyDynamics/right_leg/cartesianEndEffectorWrench:o">(r_lower_leg,r_lower_leg,root_link)</param> -->
+    <param name="/wholeBodyDynamics/left_arm/cartesianEndEffectorWrench:o">(l_hand_palm,l_hand_palm,root_link)</param>
+    <param name="/wholeBodyDynamics/right_arm/cartesianEndEffectorWrench:o">(r_hand_palm,r_hand_palm,root_link)</param>
+    <param name="/wholeBodyDynamics/left_leg/cartesianEndEffectorWrench:o">(l_lower_leg,l_lower_leg,root_link)</param>
+    <param name="/wholeBodyDynamics/right_leg/cartesianEndEffectorWrench:o">(r_lower_leg,r_lower_leg,root_link)</param>
     <param name="/wholeBodyDynamics/left_foot_front/cartesianEndEffectorWrench:o">(l_foot_front,l_sole,l_sole)</param>
     <param name="/wholeBodyDynamics/left_foot_rear/cartesianEndEffectorWrench:o">(l_foot_rear,l_sole,l_sole)</param>
     <param name="/wholeBodyDynamics/right_foot_front/cartesianEndEffectorWrench:o">(r_foot_front,r_sole,r_sole)</param>

diff --git a/ergoCubSN001/extra/applications/ergoCubStartupV0-ami.xml b/ergoCubSN001/extra/applications/ergoCubStartupV0-ami.xml
@@ -13,7 +13,7 @@
 
     <module>
         <name>yarprobotinterface</name>
-        <parameters>--config ergocub_wbd.xml</parameters>
+        <parameters></parameters>
         <node>ergocub-torso</node>
     </module>
 

diff --git a/ergoCubSN001/extra/applications/xbg.xml b/ergoCubSN001/extra/applications/xbg.xml
@@ -0,0 +1,35 @@
+<application>
+    <name>ami-xbg</name>
+
+    <module>
+        <name>yarprobotinterface</name>
+        <parameters>--config realsense2.xml</parameters>
+	    <node>ergocub-head</node>
+    </module>
+
+    <module>
+        <name>WalkingModule</name>
+        <parameters>--from dcm_walking_autonomous.ini</parameters>
+	    <node>ergocub-torso</node>
+    </module>
+
+    <module>
+    	<workdir>/usr/local/src/robot/ami/element_exteroceptive-behaviour-generation/</workdir>
+        <name>bash</name>
+        <parameters>xbg.sh </parameters>
+	<node>ergocub001-lap</node>
+    </module>
+
+    <connection>
+        <output>/xbg/joints</output>
+        <input>/walking-coordinator/humanState:i</input>
+        <protocol>fast_tcp</protocol>
+    </connection>
+
+    <connection>
+        <output>/xbg/joypad</output>
+        <input>/walking-coordinator/goal:i</input>
+        <protocol>fast_tcp</protocol>
+    </connection>
+
+</application>
diff --git a/ergoCubSN001/extra/contexts/yarpmanager/cluster-config.xml b/ergoCubSN001/extra/contexts/yarpmanager/cluster-config.xml
@@ -5,10 +5,11 @@
 
   <!-- specify nodes, if you want to enable display on desktop please specify which desktop to use
        this is usually the value of the DISPLAY variable when logged on -->
-  <node display=":1" address="10.0.2.4">ergocub001-lap</node>
-  <node address="10.0.2.2">ergocub-torso</node>
-  <node display=":0" address="10.0.2.3">ergocub-head</node>
+  <node display=":1" address="10.0.2.14">ergocub001-lap</node>
+  <node address="10.0.2.12">ergocub-torso</node>
+  <node display=":0" address="10.0.2.13">ergocub-head</node>
   <node display=":0" address="10.0.10.164" user="icub">icub-console-gui</node>
   <node>icub-virtualizer</node>
+  <node>ally</node>
 
 </cluster>
diff --git a/ergoCubSN001/extra/scripts/additionalCommands.sh b/ergoCubSN001/extra/scripts/additionalCommands.sh
@@ -35,6 +35,8 @@ alias configurationSourceInstallDiff='bash ${ADDITIONAL_COMMANDS_DIR}/checkConfi
 
 alias test-speaker='speaker-test -t wav -c 1'
 
+alias rotate-screen='xrandr --display :0 -o inverted'
+
 # Test if the microphone is working
 test-microphone() {
     arecord -vvv -f dat /dev/null
@@ -49,6 +51,7 @@ ${GREEN}gotoRobotsConfigurationFolder${NC} Go to the source folder of the robot
 ${GREEN}configurationSourceInstallDiff${NC} Performs a diff between the source and install configuration files. If there is no difference, it prints nothing.
 ${GREEN}connectToJoypad${NC} To reconnect the bluetooth connection of the robot joypad.
 ${GREEN}test-speaker${NC} Test if the speaker is working.
+${GREEN}rotate-screen${NC} Rotate the screen of the ergocub-head.
 ${GREEN}test-microphone${NC} Test if the micorphone is working.
 ${GREEN}dcmFolder${NC} Go to the robot walking configuration files.
 ${GREEN}goToBuildSuperbuild${NC} Go to the corresponding build folder of the robotology superbuild."'

diff --git a/ergoCubSN001/hardware/mechanicals/left_leg-eb8-j0_3-mec.xml b/ergoCubSN001/hardware/mechanicals/left_leg-eb8-j0_3-mec.xml
@@ -29,7 +29,7 @@
         <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> <!-- if using set it to PT100. HasTempSensor is gonna be deprecated -->
+        <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="HasRotorEncoder">            1             1     1     1     </param>
         <param name="HasRotorEncoderIndex">       1             1     1     1     </param>
         <param name="HasSpeedEncoder">            0             0     0     0     </param>

diff --git a/ergoCubSN001/hardware/mechanicals/left_leg-eb9-j4_5-mec.xml b/ergoCubSN001/hardware/mechanicals/left_leg-eb9-j4_5-mec.xml
@@ -30,7 +30,7 @@
         <param name="AutoCalibration">           0             0   </param>
         <param name="Verbose">                   0             0   </param>
         <param name="HasHallSensor">             0             0   </param>
-        <param name="TemperatureSensorType">    PT100        PT100   </param> <!-- if using set it to PT100. HasTempSensor is gonna be deprecated -->
+        <param name="TemperatureSensorType">    PT100        PT100 </param> <!-- Supported values: PT100 or NONE. If setting NONE consider using the safer current limits for the ankel roll. -->
         <param name="HasRotorEncoder">           1             1   </param>
         <param name="HasRotorEncoderIndex">      1             1   </param>
         <param name="HasSpeedEncoder">           0             0   </param>

diff --git a/ergoCubSN001/hardware/mechanicals/right_leg-eb6-j0_3-mec.xml b/ergoCubSN001/hardware/mechanicals/right_leg-eb6-j0_3-mec.xml
@@ -32,7 +32,7 @@
         <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> <!-- if using set it to PT100. HasTempSensor is gonna be deprecated -->
+        <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="HasRotorEncoder">       1             1        1   1  </param>
         <param name="HasRotorEncoderIndex">  1             1        1   1  </param>
         <param name="HasSpeedEncoder">       0             0        0   0  </param>

diff --git a/ergoCubSN001/hardware/mechanicals/right_leg-eb7-j4_5-mec.xml b/ergoCubSN001/hardware/mechanicals/right_leg-eb7-j4_5-mec.xml
@@ -29,7 +29,7 @@
         <param name="AutoCalibration">                0             0       </param>
         <param name="Verbose">                        0             0       </param>	
         <param name="HasHallSensor">                  0             0       </param>
-        <param name="TemperatureSensorType">       PT100          PT100       </param> <!-- if using set it to PT100. HasTempSensor is gonna be deprecated -->
+        <param name="TemperatureSensorType">       PT100          PT100     </param> <!-- Supported values: PT100 or NONE. If setting NONE consider using the safer current limits for the ankel roll. -->
         <param name="HasRotorEncoder">                1             1       </param>
         <param name="HasRotorEncoderIndex">           1             1       </param>
         <param name="HasSpeedEncoder">                0             0       </param>

diff --git a/ergoCubSN001/hardware/motorControl/left_leg-eb8-j0_3-mc.xml b/ergoCubSN001/hardware/motorControl/left_leg-eb8-j0_3-mc.xml
@@ -19,6 +19,13 @@
         <param name="motorPeakCurrents">        20000               20000     10000     15000   </param>
         <param name="motorOverloadCurrents">    30000               30000     15000     20000   </param>
         <param name="motorPwmLimit">            16000               16000     16000     16000   </param>
+<!-- Below are safe limits for the hip roll in case no temperature sensor is used. -->
+<!--
+        <param name="motorNominalCurrents">     15000               5000      5000      10000   </param>
+        <param name="motorPeakCurrents">        20000               10000     10000     15000   </param>
+        <param name="motorOverloadCurrents">    30000               15000     15000     20000   </param>
+        <param name="motorPwmLimit">            16000               18000     16000     16000   </param>
+-->
         <param name="hardwareTemperatureLimits"> 110                110         110       110   </param>
         <param name="warningTemperatureLimits">   90                 90           90        90  </param> <!-- keep commented until TemperatureSensorType is not ENABLE by setting it different from NONE-->
     </group>

diff --git a/ergoCubSN001/hardware/motorControl/left_leg-eb9-j4_5-mc.xml b/ergoCubSN001/hardware/motorControl/left_leg-eb9-j4_5-mc.xml
@@ -18,6 +18,13 @@
         <param name="motorPeakCurrents">          15000               15000                </param>
         <param name="motorOverloadCurrents">      30000               30000                </param>
         <param name="motorPwmLimit">              16000               16000                </param>
+<!-- Below are safe limits for the anke roll in case no temperature sensor is used. -->
+<!--
+        <param name="motorNominalCurrents">       10000               5000                 </param>
+        <param name="motorPeakCurrents">          15000               10000                </param>
+        <param name="motorOverloadCurrents">      30000               15000                </param>
+        <param name="motorPwmLimit">              16000               18000                </param>
+-->
         <param name="hardwareTemperatureLimits">    110                 110                </param>
         <param name="warningTemperatureLimits">      90                  90                </param> <!-- keep commented until TemperatureSensorType is not ENABLE by setting it different from NONE-->
     </group>

diff --git a/ergoCubSN001/hardware/motorControl/right_leg-eb6-j0_3-mc.xml b/ergoCubSN001/hardware/motorControl/right_leg-eb6-j0_3-mc.xml
@@ -19,6 +19,13 @@
         <param name="motorPeakCurrents">        20000               20000     10000    15000    </param>
         <param name="motorOverloadCurrents">    30000               30000     15000    20000    </param>
         <param name="motorPwmLimit">            16000               16000     16000    16000    </param>
+<!-- Below are safe limits for the hip roll in case no temperature sensor is used. -->
+<!--
+        <param name="motorNominalCurrents">     15000               5000      5000      10000   </param>
+        <param name="motorPeakCurrents">        20000               10000     10000     15000   </param>
+        <param name="motorOverloadCurrents">    30000               15000     15000     20000   </param>
+        <param name="motorPwmLimit">            16000               18000     16000     16000   </param>
+-->
         <param name="hardwareTemperatureLimits"> 110                110         110      110    </param>
         <param name="warningTemperatureLimits">  90                 90          90       90     </param> <!-- keep commented until TemperatureSensorType is not ENABLE by setting it different from NONE-->
     </group>

diff --git a/ergoCubSN001/hardware/motorControl/right_leg-eb7-j4_5-mc.xml b/ergoCubSN001/hardware/motorControl/right_leg-eb7-j4_5-mc.xml
@@ -8,8 +8,8 @@
     <xi:include href="../../hardware/mechanicals/right_leg-eb7-j4_5-mec.xml" />
     <xi:include href="./right_leg-eb7-j4_5-mc_service.xml" />
 
-    <!-- joint name                                     ankle_pitch          ankle_roll         -->
-    <!-- joint number                                       0                   1               -->
+    <!-- joint name                            ankle_pitch          ankle_roll             -->
+    <!-- joint number                              0                   1                   -->
     <group name="LIMITS">
         <param name="jntPosMax">                  43                  23                   </param>
         <param name="jntPosMin">                 -43                 -23                   </param>
@@ -18,6 +18,13 @@
         <param name="motorPeakCurrents">           15000               15000               </param>
         <param name="motorOverloadCurrents">       30000               30000               </param>
         <param name="motorPwmLimit">               16000               16000               </param>
+<!-- Below are safe limits for the anke roll in case no temperature sensor is used. -->
+<!--
+        <param name="motorNominalCurrents">        10000               5000                </param>
+        <param name="motorPeakCurrents">           15000               10000               </param>
+        <param name="motorOverloadCurrents">       30000               15000               </param>
+        <param name="motorPwmLimit">               16000               18000               </param>
+-->
         <param name="hardwareTemperatureLimits">     110                110                </param>
         <param name="warningTemperatureLimits">      90                 90                 </param> <!-- keep commented until TemperatureSensorType is not ENABLE by setting it different from NONE-->
     </group>