diff --git a/ergoCubSN002/calibrators/left_leg-calib.xml b/ergoCubSN002/calibrators/left_leg-calib.xml
index 2a9f179482..37eb72c33a 100644
--- a/ergoCubSN002/calibrators/left_leg-calib.xml
+++ b/ergoCubSN002/calibrators/left_leg-calib.xml
@@ -20,7 +20,7 @@
0.0 0.0 0 0 0 0
0.0 0.0 0 0 0 0
0.0 0.0 0 0 0 0
- 109.07 110.848 81.65 7.91 -46.047 27.401
+ 109.07 110.848 81.65 7.91 -46.047 25.297
0 0 0 0 0 0
90 80 0 -95 0 0
10.0 10.0 10.0 10 10 10
diff --git a/ergoCubSN002/extra/applications/ergoCubStartupV0-ami.xml b/ergoCubSN002/extra/applications/ergoCubStartupV0-ami.xml
index 5f6fa28c2e..dc8023358e 100644
--- a/ergoCubSN002/extra/applications/ergoCubStartupV0-ami.xml
+++ b/ergoCubSN002/extra/applications/ergoCubStartupV0-ami.xml
@@ -13,7 +13,7 @@
yarprobotinterface
- --config ergocub_wbd.xml
+
ergocub-torso
diff --git a/ergoCubSN002/extra/applications/xbg.xml b/ergoCubSN002/extra/applications/xbg.xml
new file mode 100644
index 0000000000..ec2e702ed4
--- /dev/null
+++ b/ergoCubSN002/extra/applications/xbg.xml
@@ -0,0 +1,35 @@
+
+ ami-xbg
+
+
+ yarprobotinterface
+ --config realsense2.xml
+ ergocub-head
+
+
+
+ WalkingModule
+ --from dcm_walking_autonomous.ini
+ ergocub-torso
+
+
+
+ /usr/local/src/robot/ami/element_exteroceptive-behaviour-generation/src/simulation/
+ python3
+ demo.py -p XBGdv2_2 -m uvwoypt8 -s epoch7 -w 0.15
+ ergocub002-lap
+
+
+
+
+ /walking-coordinator/humanState:i
+ fast_tcp
+
+
+
+
+ /walking-coordinator/goal:i
+ fast_tcp
+
+
+
diff --git a/ergoCubSN002/extra/conda-env/ergocub002-lap/robotologyenv.yaml b/ergoCubSN002/extra/conda-env/ergocub002-lap/robotologyenv.yaml
new file mode 100644
index 0000000000..b63673772a
--- /dev/null
+++ b/ergoCubSN002/extra/conda-env/ergocub002-lap/robotologyenv.yaml
@@ -0,0 +1,387 @@
+name: robotologyenv
+channels:
+ -
+ - conda-forge
+dependencies:
+ - _libgcc_mutex=0.1=conda_forge
+ - _openmp_mutex=4.5=2_gnu
+ - _sysroot_linux-64_curr_repodata_hack=3=h69a702a_14
+ - ace=7.1.4=h59595ed_0
+ - aiohttp=3.9.3=py312h98912ed_1
+ - aiosignal=1.3.1=pyhd8ed1ab_0
+ - alsa-lib=1.2.11=hd590300_1
+ - ampl-mp=3.1.0=h2cc385e_1006
+ - aom=3.7.1=h59595ed_0
+ - asio=1.29.0=h59595ed_0
+ - assimp=5.4.0=h8343317_0
+ - asttokens=2.4.1=pyhd8ed1ab_0
+ - atk-1.0=2.38.0=hd4edc92_1
+ - attr=2.5.1=h166bdaf_1
+ - attrs=23.2.0=pyh71513ae_0
+ - bash-completion=2.11=ha770c72_1
+ - binutils=2.40=hdd6e379_0
+ - binutils_impl_linux-64=2.40=hf600244_0
+ - binutils_linux-64=2.40=hdade7a5_3
+ - blosc=1.21.5=h0f2a231_0
+ - boost=1.84.0=h8da182e_2
+ - brotli=1.1.0=hd590300_1
+ - brotli-bin=1.1.0=hd590300_1
+ - bzip2=1.0.8=hd590300_5
+ - c-ares=1.28.1=hd590300_0
+ - c-compiler=1.7.0=hd590300_0
+ - ca-certificates=2024.2.2=hbcca054_0
+ - cached-property=1.5.2=hd8ed1ab_1
+ - cached_property=1.5.2=pyha770c72_1
+ - cairo=1.18.0=h3faef2a_0
+ - certifi=2024.2.2=pyhd8ed1ab_0
+ - cmake=3.28.3=hcfe8598_0
+ - coinhsl=2023.11.17.0=hf90ab62_0
+ - compilers=1.7.0=ha770c72_0
+ - contourpy=1.2.1=py312h8572e83_0
+ - cudatoolkit=11.8.0=h4ba93d1_13
+ - cxx-compiler=1.7.0=h00ab1b0_0
+ - cycler=0.12.1=pyhd8ed1ab_0
+ - dav1d=1.2.1=hd590300_0
+ - dbus=1.13.6=h5008d03_3
+ - decorator=5.1.1=pyhd8ed1ab_0
+ - double-conversion=3.3.0=h59595ed_0
+ - eigen=3.4.0=h00ab1b0_0
+ - exceptiongroup=1.2.0=pyhd8ed1ab_2
+ - executing=2.0.1=pyhd8ed1ab_0
+ - expat=2.5.0=hcb278e6_1
+ - ffmpeg=6.1.1=gpl_h186bccc_100
+ - flann=1.9.2=h2b5ea80_0
+ - fmt=10.2.1=h00ab1b0_0
+ - font-ttf-dejavu-sans-mono=2.37=hab24e00_0
+ - font-ttf-inconsolata=3.000=h77eed37_0
+ - font-ttf-source-code-pro=2.038=h77eed37_0
+ - font-ttf-ubuntu=0.83=h77eed37_1
+ - fontconfig=2.14.2=h14ed4e7_0
+ - fonts-conda-ecosystem=1=0
+ - fonts-conda-forge=1=0
+ - fonttools=4.51.0=py312h98912ed_0
+ - fortran-compiler=1.7.0=heb67821_0
+ - freeglut=3.2.2=hac7e632_2
+ - freetype=2.12.1=h267a509_2
+ - fribidi=1.0.10=h36c2ea0_0
+ - frozenlist=1.4.1=py312h98912ed_0
+ - gcc=12.3.0=h95e488c_3
+ - gcc_impl_linux-64=12.3.0=he2b93b0_5
+ - gcc_linux-64=12.3.0=h6477408_3
+ - gdk-pixbuf=2.42.10=h829c605_4
+ - gettext=0.22.5=h59595ed_2
+ - gettext-tools=0.22.5=h59595ed_2
+ - gfortran=12.3.0=h7389182_3
+ - gfortran_impl_linux-64=12.3.0=hfcedea8_5
+ - gfortran_linux-64=12.3.0=h617cb40_3
+ - giflib=5.2.2=hd590300_0
+ - gl2ps=1.4.2=h0708190_0
+ - glew=2.1.0=h9c3ff4c_2
+ - glfw=3.4=hd590300_0
+ - glib=2.78.1=hfc55251_0
+ - glib-networking=2.80.0=h2ef3c98_0
+ - glib-tools=2.78.1=hfc55251_0
+ - glm=0.9.9.8=h00ab1b0_0
+ - gmp=6.3.0=h59595ed_1
+ - gnutls=3.7.9=hb077bed_0
+ - graphite2=1.3.13=h59595ed_1003
+ - graphviz=9.0.0=h78e8752_1
+ - gsl=2.7=he838d99_0
+ - gst-plugins-bad=1.22.6=h06bf7ac_0
+ - gst-plugins-base=1.22.7=h8e1006c_0
+ - gst-plugins-good=1.22.7=h16e77d8_0
+ - gstreamer=1.22.7=h98fc4e7_0
+ - gtk2=2.24.33=h90689f9_2
+ - gts=0.7.6=h977cf35_4
+ - gxx=12.3.0=h95e488c_3
+ - gxx_impl_linux-64=12.3.0=he2b93b0_5
+ - gxx_linux-64=12.3.0=h4a1b8e8_3
+ - h5py=3.11.0=nompi_py312h1b477d7_100
+ - harfbuzz=8.3.0=h3d44ed6_0
+ - hdf4=4.2.15=h2a13503_7
+ - hdf5=1.14.3=nompi_h4f84152_100
+ - icu=73.2=h59595ed_0
+ - idna=3.7=pyhd8ed1ab_0
+ - ipopt=3.14.15=h04b96a2_0
+ - ipython=8.22.2=pyh707e725_0
+ - irrlicht=1.8.5=h2a6caf8_4
+ - jack=1.9.22=h7c63dc7_2
+ - jasper=4.2.3=he6dfbbe_0
+ - jedi=0.19.1=pyhd8ed1ab_0
+ - jsoncpp=1.9.5=h4bd325d_1
+ - kernel-headers_linux-64=3.10.0=h4a8ded7_14
+ - keyutils=1.6.1=h166bdaf_0
+ - kiwisolver=1.4.5=py312h8572e83_1
+ - krb5=1.21.2=h659d440_0
+ - lame=3.100=h166bdaf_1003
+ - lcms2=2.16=hb7c19ff_0
+ - ld_impl_linux-64=2.40=h41732ed_0
+ - lerc=4.0.0=h27087fc_0
+ - libabseil=20230802.1=cxx17_h59595ed_0
+ - libaec=1.1.3=h59595ed_0
+ - libasprintf=0.22.5=h661eb56_2
+ - libasprintf-devel=0.22.5=h661eb56_2
+ - libass=0.17.1=h8fe9dca_1
+ - libblas=3.9.0=22_linux64_openblas
+ - libboost=1.84.0=h8013b2b_2
+ - libboost-devel=1.84.0=h00ab1b0_2
+ - libboost-headers=1.84.0=ha770c72_2
+ - libboost-python=1.84.0=py312hfb10629_2
+ - libboost-python-devel=1.84.0=py312h8da182e_2
+ - libbrotlicommon=1.1.0=hd590300_1
+ - libbrotlidec=1.1.0=hd590300_1
+ - libbrotlienc=1.1.0=hd590300_1
+ - libcap=2.69=h0f662aa_0
+ - libcblas=3.9.0=22_linux64_openblas
+ - libccd-double=2.1=h59595ed_3
+ - libclang=15.0.7=default_h127d8a8_5
+ - libclang13=15.0.7=default_h5d6823c_5
+ - libcups=2.3.3=h4637d8d_4
+ - libcurl=8.7.1=hca28451_0
+ - libdb=6.2.32=h9c3ff4c_0
+ - libdc1394=2.2.7=h59595ed_1
+ - libdeflate=1.20=hd590300_0
+ - libdrm=2.4.120=hd590300_0
+ - libdrm-cos7-x86_64=2.4.97=h9b0a68f_1105
+ - libedit=3.1.20191231=he28a2e2_2
+ - libev=4.33=hd590300_2
+ - libevent=2.1.12=hf998b51_1
+ - libexpat=2.5.0=hcb278e6_1
+ - libffi=3.4.2=h7f98852_5
+ - libflac=1.4.3=h59595ed_0
+ - libgcc-devel_linux-64=12.3.0=h8bca6fd_105
+ - libgcc-ng=13.2.0=h807b86a_5
+ - libgcrypt=1.10.3=hd590300_0
+ - libgd=2.3.3=h119a65a_9
+ - libgettextpo=0.22.5=h59595ed_2
+ - libgettextpo-devel=0.22.5=h59595ed_2
+ - libgfortran-ng=13.2.0=h69a702a_5
+ - libgfortran5=13.2.0=ha4646dd_5
+ - libglib=2.78.1=hebfc3b9_0
+ - libglu=9.0.0=hac7e632_1003
+ - libglvnd-cos7-x86_64=1.0.1=h9b0a68f_1105
+ - libglvnd-glx-cos7-x86_64=1.0.1=h9b0a68f_1105
+ - libgomp=13.2.0=h807b86a_5
+ - libgpg-error=1.48=h71f35ed_0
+ - libhwloc=2.9.3=default_h554bfaf_1009
+ - libi2c=4.3=hcb278e6_2
+ - libiconv=1.17=hd590300_2
+ - libidn2=2.3.7=hd590300_0
+ - libjpeg-turbo=3.0.0=hd590300_1
+ - liblapack=3.9.0=22_linux64_openblas
+ - liblapacke=3.9.0=22_linux64_openblas
+ - libllvm15=15.0.7=hb3ce162_4
+ - libmatio=1.5.26=h31675a7_0
+ - libnetcdf=4.9.2=nompi_h9612171_113
+ - libnghttp2=1.58.0=h47da74e_1
+ - libnsl=2.0.1=hd590300_0
+ - libode=0.16.2=h30efb56_14
+ - libogg=1.3.4=h7f98852_1
+ - libopenblas=0.3.27=pthreads_h413a1c8_0
+ - libopencv=4.8.1=py312hed1d938_5
+ - libopenvino=2023.1.0=h59595ed_2
+ - libopenvino-auto-batch-plugin=2023.1.0=h59595ed_2
+ - libopenvino-auto-plugin=2023.1.0=h59595ed_2
+ - libopenvino-hetero-plugin=2023.1.0=h59595ed_2
+ - libopenvino-intel-cpu-plugin=2023.1.0=h59595ed_2
+ - libopenvino-intel-gpu-plugin=2023.1.0=h59595ed_2
+ - libopenvino-ir-frontend=2023.1.0=h59595ed_2
+ - libopenvino-onnx-frontend=2023.1.0=h59595ed_2
+ - libopenvino-paddle-frontend=2023.1.0=h59595ed_2
+ - libopenvino-pytorch-frontend=2023.1.0=h59595ed_2
+ - libopenvino-tensorflow-frontend=2023.1.0=h59595ed_2
+ - libopenvino-tensorflow-lite-frontend=2023.1.0=h59595ed_2
+ - libopus=1.3.1=h7f98852_1
+ - libpciaccess=0.18=hd590300_0
+ - libpng=1.6.43=h2797004_0
+ - libpq=16.2=h33b98f1_1
+ - libprotobuf=4.24.4=hf27288f_0
+ - libpsl=0.21.2=h3253dac_2
+ - librsvg=2.56.3=he3f83f7_1
+ - libsanitizer=12.3.0=h0f45ef3_5
+ - libscotch=7.0.4=h91e35bf_1
+ - libselinux-cos7-x86_64=2.5=h9b0a68f_1105
+ - libsepol-cos7-x86_64=2.5=h9b0a68f_1105
+ - libsndfile=1.2.2=hc60ed4a_1
+ - libsodium=1.0.18=h36c2ea0_1
+ - libsoup=3.4.4=hb337396_0
+ - libspral=2024.01.18=h6aa6db2_0
+ - libsqlite=3.45.2=h2797004_0
+ - libssh2=1.11.0=h0841786_0
+ - libstdcxx-devel_linux-64=12.3.0=h8bca6fd_105
+ - libstdcxx-ng=13.2.0=h7e041cc_5
+ - libsystemd0=255=h3516f8a_1
+ - libtasn1=4.19.0=h166bdaf_0
+ - libtheora=1.1.1=h7f98852_1005
+ - libtiff=4.6.0=h1dd3fc0_3
+ - libudev1=255=h3f72095_1
+ - libunistring=0.9.10=h7f98852_0
+ - libusb=1.0.27=h520f47e_100
+ - libuuid=2.38.1=h0b41bf4_0
+ - libuv=1.48.0=hd590300_0
+ - libva=2.21.0=hd590300_0
+ - libvorbis=1.3.7=h9c3ff4c_0
+ - libvpx=1.13.1=h59595ed_0
+ - libwebp=1.3.2=h658648e_1
+ - libwebp-base=1.3.2=hd590300_1
+ - libxcb=1.15=h0b41bf4_0
+ - libxcrypt=4.4.36=hd590300_1
+ - libxkbcommon=1.7.0=h662e7e4_0
+ - libxml2=2.12.6=h232c23b_2
+ - libxshmfence-cos7-x86_64=1.2=h9b0a68f_1105
+ - libxshmfence-devel-cos7-x86_64=1.2=h9b0a68f_1105
+ - libzip=1.10.1=h2629f0a_3
+ - libzlib=1.2.13=hd590300_5
+ - loguru=0.7.2=py312h7900ff3_1
+ - lua=5.4.6=h9627803_0
+ - lz4-c=1.9.4=hcb278e6_0
+ - make=4.3=hd18ef5c_1
+ - matplotlib=3.8.4=py312h7900ff3_0
+ - matplotlib-base=3.8.4=py312he5832f3_0
+ - matplotlib-inline=0.1.7=pyhd8ed1ab_0
+ - mesa-khr-devel-cos7-x86_64=18.3.4=h9b0a68f_1105
+ - mesa-libgl-cos7-x86_64=18.3.4=h9b0a68f_1105
+ - mesa-libgl-devel-cos7-x86_64=18.3.4=h9b0a68f_1105
+ - mesa-libglapi-cos7-x86_64=18.3.4=h9b0a68f_1105
+ - metis=5.1.0=h59595ed_1007
+ - mpg123=1.32.6=h59595ed_0
+ - msgpack-python=1.0.7=py312h8572e83_0
+ - multidict=6.0.5=py312h98912ed_0
+ - mumps-include=5.6.2=ha770c72_4
+ - mumps-seq=5.6.2=hfef103a_4
+ - munkres=1.1.4=pyh9f0ad1d_0
+ - mysql-common=8.0.33=hf1915f5_6
+ - mysql-libs=8.0.33=hca2cd23_6
+ - ncurses=6.4.20240210=h59595ed_0
+ - nettle=3.9.1=h7ab15ed_0
+ - ninja=1.12.0=h00ab1b0_0
+ - nlohmann_json=3.11.3=h59595ed_0
+ - nspr=4.35=h27087fc_0
+ - nss=3.98=h1d7d5a4_0
+ - numpy=1.26.4=py312heda63a1_0
+ - ocl-icd=2.3.2=hd590300_1
+ - ocl-icd-system=1.0.0=1
+ - onnxruntime-cpp=1.17.1=h7b6976b_202_cuda
+ - opencv=4.8.1=py312h74ac831_5
+ - openh264=2.4.0=h59595ed_0
+ - openjpeg=2.5.2=h488ebb8_0
+ - openssl=3.2.1=hd590300_1
+ - p11-kit=0.24.1=hc5aa10d_0
+ - packaging=24.0=pyhd8ed1ab_0
+ - pango=1.50.14=ha41ecd1_2
+ - parso=0.8.4=pyhd8ed1ab_0
+ - pcl=1.14.0=h3a61c4f_1
+ - pcre2=10.40=hc3806b6_0
+ - pexpect=4.9.0=pyhd8ed1ab_0
+ - pickleshare=0.7.5=py_1003
+ - pillow=10.3.0=py312hdcec9eb_0
+ - pip=24.0=pyhd8ed1ab_0
+ - pixman=0.43.2=h59595ed_0
+ - pkg-config=0.29.2=h36c2ea0_1008
+ - ply=3.11=pyhd8ed1ab_2
+ - portaudio=19.6.0=h7c63dc7_9
+ - proj=9.3.1=h1d62c97_0
+ - prompt-toolkit=3.0.42=pyha770c72_0
+ - pthread-stubs=0.4=h36c2ea0_1001
+ - ptyprocess=0.7.0=pyhd3deb0d_0
+ - pugixml=1.14=h59595ed_0
+ - pulseaudio-client=16.1=hb77b528_5
+ - pure_eval=0.2.2=pyhd8ed1ab_0
+ - py-opencv=4.8.1=py312h0af958d_5
+ - pybind11=2.12.0=py312h8572e83_0
+ - pybind11-global=2.12.0=py312h8572e83_0
+ - pygments=2.17.2=pyhd8ed1ab_0
+ - pyparsing=3.1.2=pyhd8ed1ab_0
+ - pyqt=5.15.9=py312h949fe66_5
+ - pyqt5-sip=12.12.2=py312h30efb56_5
+ - pyqtwebengine=5.15.9=py312hbd9a932_5
+ - python=3.12.2=hab00c5b_0_cpython
+ - python-dateutil=2.9.0=pyhd8ed1ab_0
+ - python_abi=3.12=4_cp312
+ - pyyaml=6.0.1=py312h98912ed_1
+ - pyzmq=26.0.0=py312h886d080_0
+ - qhull=2020.2=h4bd325d_2
+ - qt-main=5.15.8=h82b777d_17
+ - qt-webengine=5.15.8=h75ea521_4
+ - qtpy=2.4.1=pyhd8ed1ab_0
+ - readline=8.2=h8228510_1
+ - rhash=1.4.4=hd590300_0
+ - scotch=7.0.4=h23d43cc_1
+ - sdl=1.2.68=h293081c_0
+ - sdl2=2.28.5=h77f46ba_0
+ - setuptools=69.5.1=pyhd8ed1ab_0
+ - sip=6.7.12=py312h30efb56_0
+ - six=1.16.0=pyh6c4a22f_0
+ - snappy=1.1.10=hdb0a2a9_1
+ - soxr=0.1.3=h0b41bf4_3
+ - spdlog=1.12.0=hd2e6256_2
+ - sqlite=3.45.2=h2c6b66d_0
+ - stack_data=0.6.2=pyhd8ed1ab_0
+ - svt-av1=1.8.0=h59595ed_0
+ - swig=4.1.0=h5d7ef5f_4
+ - sysroot_linux-64=2.17=h4a8ded7_14
+ - tbb=2021.11.0=h00ab1b0_1
+ - tbb-devel=2021.11.0=h5ccd973_1
+ - tinyxml=2.6.2=h4bd325d_2
+ - tinyxml2=10.0.0=h59595ed_0
+ - tk=8.6.13=noxft_h4845f30_101
+ - toml=0.10.2=pyhd8ed1ab_0
+ - tomli=2.0.1=pyhd8ed1ab_0
+ - tomlplusplus=3.3.0=hcb278e6_0
+ - tornado=6.4=py312h98912ed_0
+ - traitlets=5.14.2=pyhd8ed1ab_0
+ - typing_extensions=4.11.0=pyha770c72_0
+ - tzdata=2024a=h0c530f3_0
+ - u-msgpack-python=2.8.0=pyhd8ed1ab_0
+ - unixodbc=2.3.12=h661eb56_0
+ - utfcpp=4.0.5=ha770c72_0
+ - vtk=9.2.6=qt_py312h1234567_220
+ - vtk-base=9.2.6=qt_py312h1234567_220
+ - vtk-io-ffmpeg=9.2.6=qt_py312h1234567_220
+ - wayland=1.22.0=h8c25dac_1
+ - wcwidth=0.2.13=pyhd8ed1ab_0
+ - wheel=0.43.0=pyhd8ed1ab_1
+ - wslink=2.0.1=pyhd8ed1ab_0
+ - x264=1!164.3095=h166bdaf_2
+ - x265=3.5=h924138e_3
+ - xcb-util=0.4.0=hd590300_1
+ - xcb-util-image=0.4.0=h8ee46fc_1
+ - xcb-util-keysyms=0.4.0=h8ee46fc_1
+ - xcb-util-renderutil=0.3.9=hd590300_1
+ - xcb-util-wm=0.4.1=h8ee46fc_1
+ - xkeyboard-config=2.41=hd590300_0
+ - xorg-compositeproto=0.4.2=h7f98852_1001
+ - xorg-damageproto=1.2.1=h7f98852_1002
+ - xorg-fixesproto=5.0=h7f98852_1002
+ - xorg-inputproto=2.3.2=h7f98852_1002
+ - xorg-kbproto=1.0.7=h7f98852_1002
+ - xorg-libice=1.1.1=hd590300_0
+ - xorg-libsm=1.2.4=h7391055_0
+ - xorg-libx11=1.8.9=h8ee46fc_0
+ - xorg-libxau=1.0.11=hd590300_0
+ - xorg-libxcomposite=0.4.6=h0b41bf4_1
+ - xorg-libxdamage=1.1.5=h7f98852_1
+ - xorg-libxdmcp=1.1.3=h7f98852_0
+ - xorg-libxext=1.3.4=h0b41bf4_2
+ - xorg-libxfixes=5.0.3=h7f98852_1004
+ - xorg-libxi=1.7.10=h7f98852_0
+ - xorg-libxinerama=1.1.5=h27087fc_0
+ - xorg-libxrandr=1.5.2=h7f98852_1
+ - xorg-libxrender=0.9.11=hd590300_0
+ - xorg-libxt=1.3.0=hd590300_1
+ - xorg-libxtst=1.2.3=h7f98852_1002
+ - xorg-libxxf86vm=1.1.5=h0b41bf4_0
+ - xorg-randrproto=1.5.0=h7f98852_1001
+ - xorg-recordproto=1.14.2=h7f98852_1002
+ - xorg-renderproto=0.11.1=h7f98852_1002
+ - xorg-util-macros=1.19.3=h7f98852_0
+ - xorg-xextproto=7.3.0=h0b41bf4_1003
+ - xorg-xf86vidmodeproto=2.3.1=h7f98852_1002
+ - xorg-xproto=7.0.31=h7f98852_1007
+ - xz=5.2.6=h166bdaf_0
+ - yaml=0.2.5=h7f98852_2
+ - yarl=1.9.4=py312h98912ed_0
+ - zeromq=4.3.5=h59595ed_1
+ - zlib=1.2.13=hd590300_5
+ - zstd=1.5.5=hfc55251_0
+prefix: /home/ergocub/mambaforge/envs/robotologyenv
diff --git a/ergoCubSN002/extra/contexts/yarpmanager/cluster-config.xml b/ergoCubSN002/extra/contexts/yarpmanager/cluster-config.xml
index 0690819a1d..b18529e401 100644
--- a/ergoCubSN002/extra/contexts/yarpmanager/cluster-config.xml
+++ b/ergoCubSN002/extra/contexts/yarpmanager/cluster-config.xml
@@ -5,10 +5,11 @@
- ergocub002-lap
- ergocub-torso
- ergocub-head
+ ergocub002-lap
+ ergocub-torso
+ ergocub-head
icub-console-gui
icub-virtualizer
+ ally
diff --git a/ergoCubSN002/extra/motorStatePublisher/plotTemperatureLeftLeg.xml b/ergoCubSN002/extra/motorStatePublisher/plotTemperatureLeftLeg.xml
new file mode 100644
index 0000000000..50852952ef
--- /dev/null
+++ b/ergoCubSN002/extra/motorStatePublisher/plotTemperatureLeftLeg.xml
@@ -0,0 +1,50 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/ergoCubSN002/extra/motorStatePublisher/plotTemperatureRightLeg.xml b/ergoCubSN002/extra/motorStatePublisher/plotTemperatureRightLeg.xml
new file mode 100644
index 0000000000..642fc3861f
--- /dev/null
+++ b/ergoCubSN002/extra/motorStatePublisher/plotTemperatureRightLeg.xml
@@ -0,0 +1,50 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/ergoCubSN002/extra/motorStatePublisher/plotTemperatureTorso.xml b/ergoCubSN002/extra/motorStatePublisher/plotTemperatureTorso.xml
new file mode 100644
index 0000000000..efbb76e792
--- /dev/null
+++ b/ergoCubSN002/extra/motorStatePublisher/plotTemperatureTorso.xml
@@ -0,0 +1,32 @@
+
+
+
+
+
+
+
+
+
+
diff --git a/ergoCubSN002/hardware/electronics/left_leg-eb8-j0_3-eln.xml b/ergoCubSN002/hardware/electronics/left_leg-eb8-j0_3-eln.xml
index 18217f74e1..413a34561e 100644
--- a/ergoCubSN002/hardware/electronics/left_leg-eb8-j0_3-eln.xml
+++ b/ergoCubSN002/hardware/electronics/left_leg-eb8-j0_3-eln.xml
@@ -20,8 +20,8 @@
1000
300
- 350
- 350
+ 500
+ 200
1
diff --git a/ergoCubSN002/hardware/electronics/right_leg-eb6-j0_3-eln.xml b/ergoCubSN002/hardware/electronics/right_leg-eb6-j0_3-eln.xml
index 88f6bc83af..55b61fd150 100644
--- a/ergoCubSN002/hardware/electronics/right_leg-eb6-j0_3-eln.xml
+++ b/ergoCubSN002/hardware/electronics/right_leg-eb6-j0_3-eln.xml
@@ -20,9 +20,9 @@
1000
300
- 350
- 350
- 1
+ 500
+ 200
+ 1
diff --git a/ergoCubSN002/hardware/mechanicals/left_leg-eb8-j0_3-mec.xml b/ergoCubSN002/hardware/mechanicals/left_leg-eb8-j0_3-mec.xml
index b283aab370..2af77cfb54 100644
--- a/ergoCubSN002/hardware/mechanicals/left_leg-eb8-j0_3-mec.xml
+++ b/ergoCubSN002/hardware/mechanicals/left_leg-eb8-j0_3-mec.xml
@@ -29,7 +29,7 @@
0 0 0 0
0 0 0 0
0 0 0 0
- PT100 PT100 PT100 PT100
+ PT100 PT100 PT100 PT100
1 1 1 1
1 1 1 1
0 0 0 0
diff --git a/ergoCubSN002/hardware/mechanicals/left_leg-eb9-j4_5-mec.xml b/ergoCubSN002/hardware/mechanicals/left_leg-eb9-j4_5-mec.xml
index 2bc7e873a5..f43701d2e1 100644
--- a/ergoCubSN002/hardware/mechanicals/left_leg-eb9-j4_5-mec.xml
+++ b/ergoCubSN002/hardware/mechanicals/left_leg-eb9-j4_5-mec.xml
@@ -30,7 +30,7 @@
0 0
0 0
0 0
- PT100 PT100
+ PT100 PT100
1 1
1 1
0 0
diff --git a/ergoCubSN002/hardware/mechanicals/right_leg-eb6-j0_3-mec.xml b/ergoCubSN002/hardware/mechanicals/right_leg-eb6-j0_3-mec.xml
index 6915b57823..f56a10e3b9 100644
--- a/ergoCubSN002/hardware/mechanicals/right_leg-eb6-j0_3-mec.xml
+++ b/ergoCubSN002/hardware/mechanicals/right_leg-eb6-j0_3-mec.xml
@@ -32,7 +32,7 @@
0 0 0 0
0 0 0 0
0 0 0 0
- PT100 PT100 PT100 PT100
+ PT100 PT100 PT100 PT100
1 1 1 1
1 1 1 1
0 0 0 0
diff --git a/ergoCubSN002/hardware/mechanicals/right_leg-eb7-j4_5-mec.xml b/ergoCubSN002/hardware/mechanicals/right_leg-eb7-j4_5-mec.xml
index 756d910352..6fea46bad2 100644
--- a/ergoCubSN002/hardware/mechanicals/right_leg-eb7-j4_5-mec.xml
+++ b/ergoCubSN002/hardware/mechanicals/right_leg-eb7-j4_5-mec.xml
@@ -28,7 +28,7 @@
0 0
0 0
0 0
- PT100 PT100
+ PT100 PT100
1 1
1 1
0 0
diff --git a/ergoCubSN002/hardware/motorControl/left_leg-eb8-j0_3-mc.xml b/ergoCubSN002/hardware/motorControl/left_leg-eb8-j0_3-mc.xml
index 2fc92c405a..7941032a03 100644
--- a/ergoCubSN002/hardware/motorControl/left_leg-eb8-j0_3-mc.xml
+++ b/ergoCubSN002/hardware/motorControl/left_leg-eb8-j0_3-mc.xml
@@ -19,6 +19,13 @@
20000 20000 10000 15000
30000 30000 15000 20000
16000 16000 18000 16000
+
+
110 110 110 110
90 90 90 90
diff --git a/ergoCubSN002/hardware/motorControl/left_leg-eb9-j4_5-mc.xml b/ergoCubSN002/hardware/motorControl/left_leg-eb9-j4_5-mc.xml
index 4ab01c891c..e849e38941 100644
--- a/ergoCubSN002/hardware/motorControl/left_leg-eb9-j4_5-mc.xml
+++ b/ergoCubSN002/hardware/motorControl/left_leg-eb9-j4_5-mc.xml
@@ -18,6 +18,13 @@
15000 15000
30000 30000
16000 16000
+
+
110 110
90 90
diff --git a/ergoCubSN002/hardware/motorControl/right_leg-eb6-j0_3-mc.xml b/ergoCubSN002/hardware/motorControl/right_leg-eb6-j0_3-mc.xml
index 966f6f016b..66cff20a40 100644
--- a/ergoCubSN002/hardware/motorControl/right_leg-eb6-j0_3-mc.xml
+++ b/ergoCubSN002/hardware/motorControl/right_leg-eb6-j0_3-mc.xml
@@ -19,6 +19,13 @@
20000 20000 10000 15000
30000 30000 15000 20000
16000 16000 18000 16000
+
+
110 110 110 110
90 90 90 90
diff --git a/ergoCubSN002/hardware/motorControl/right_leg-eb7-j4_5-mc.xml b/ergoCubSN002/hardware/motorControl/right_leg-eb7-j4_5-mc.xml
index 2876544479..a58012a358 100644
--- a/ergoCubSN002/hardware/motorControl/right_leg-eb7-j4_5-mc.xml
+++ b/ergoCubSN002/hardware/motorControl/right_leg-eb7-j4_5-mc.xml
@@ -8,8 +8,8 @@
-
-
+
+
43 23
-43 -23
@@ -18,6 +18,13 @@
15000 15000
30000 30000
16000 16000
+
+
110 110
90 90