Devel ergo cub sn002 (#665)

Co-authored-by: Stefano Dafarra <stefano.dafarra@gmail.com> Co-authored-by: Antonio Consilvio <antonio.consilvio@iit.it> Co-authored-by: Giulio Romualdi <giulio.romualdi@gmail.com> Co-authored-by: ergocub <ergocub@iit.it>
robotology · Jul 5, 2024 · ee9d607 · ee9d607
1 parent 8409b35
commit ee9d607
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Showing 18 changed files with 599 additions and 16 deletions.
diff --git a/ergoCubSN002/calibrators/left_leg-calib.xml b/ergoCubSN002/calibrators/left_leg-calib.xml
@@ -20,7 +20,7 @@
     <param name="calibration3">                       0.0            0.0          0             0          0       0        </param> 
     <param name="calibration4">                       0.0            0.0          0             0          0       0        </param>
     <param name="calibration5">                       0.0            0.0          0             0          0       0        </param>
-    <param name="calibrationZero">                    109.07         110.848      81.65         7.91       -46.047 27.401   </param>
+    <param name="calibrationZero">                    109.07         110.848      81.65         7.91       -46.047 25.297   </param>
     <param name="calibrationDelta">                   0              0            0             0          0       0        </param>
     <param name="startupPosition">                    90             80           0             -95        0       0        </param>
     <param name="startupVelocity">                    10.0           10.0         10.0          10         10      10       </param>

diff --git a/ergoCubSN002/extra/applications/ergoCubStartupV0-ami.xml b/ergoCubSN002/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/ergoCubSN002/extra/applications/xbg.xml b/ergoCubSN002/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/src/simulation/</workdir>
+        <name>python3 </name>
+        <parameters>demo.py -p XBGdv2_2 -m uvwoypt8 -s epoch7 -w 0.15</parameters>
+        <node>ergocub002-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>