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Devel ergoCubSN001 #717

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merged 7 commits into from
Feb 26, 2025
Merged

Devel ergoCubSN001 #717

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50f520e
[ergoCubSN001] Apply the kalman filter for the joint velocity estimation
GiulioRomualdi Dec 10, 2024
615140d
[ergoCubSN001] various changes after upgrades
AntonioConsilvio Feb 20, 2025
72507b5
[ergoCubSN001] Updated XBG applications
S-Dafarra Feb 24, 2025
1f29bda
[ergoCubSN001] Removed wrist from calibrators
S-Dafarra Feb 24, 2025
1c2452a
[ergoCubSN001] Update the network.ergoCubSN001.xml file
AntonioConsilvio Feb 25, 2025
233e1f8
[ergoCubSN001] Change firmware version
isorrentino Feb 26, 2025
88bca58
[ergoCubSN001] Removed check of FW version on wrists and mtb
traversaro Feb 25, 2025
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3 changes: 2 additions & 1 deletion ergoCubSN001/calibrators/left_arm-calib.xml
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Expand Up @@ -31,7 +31,8 @@
</group>

<!-- <param name="CALIB_ORDER"> (4 5 6) (3) (2) (0) (1) (7 8) (9) (10 11 12) </param> --> <!-- Don't remove this line -->
<param name="CALIB_ORDER"> (4 5 6) (3) (2) (0) (1) (7 8) (10 11 12) </param>
<!-- <param name="CALIB_ORDER"> (4 5 6) (3) (2) (0) (1) (7 8) (10 11 12) </param> -->
<param name="CALIB_ORDER"> (3) (2) (0) (1) (7 8) (10 11 12) </param> <!-- Removed wrist -->

<action phase="startup" level="10" type="calibrate">
<param name="target">left_arm-mc_remapper</param>
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2 changes: 1 addition & 1 deletion ergoCubSN001/calibrators/right_arm-calib.xml
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Expand Up @@ -22,7 +22,7 @@
<param name="calibration2"> 0 0 0 0 0 0 0 0 0 0 0 0 0 </param>
<param name="calibration3"> 0 0 0 0 0 0 0 0 0 0 1 0 0 </param>
<param name="calibration4"> 0 0 0 0 0 0 0 0 0 0 32768 0 0 </param>
<param name="calibration5"> 0 0 0 0 0 0 0 0 24080 0 1230 16238 18350 </param>
<param name="calibration5"> 0 0 0 0 0 0 0 0 24080 0 1300 16238 19000 </param>
<param name="calibrationZero"> 35 -15 -52 -5 0 0 0 0 0 0 0 0 0 </param>
<param name="calibrationDelta"> 0 0 0 0 0 0 0 0 0 0 0 0 0 </param>
<param name="startupPosition"> 34 50 -10 90 0.0 0.0 0.0 0.0 15.0 5.0 5.0 5.0 5.0 </param>
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25 changes: 25 additions & 0 deletions ergoCubSN001/extra/applications/ami-autonomous.xml
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@@ -0,0 +1,25 @@
<!-- Copyright (C) 2023 Fondazione Istituto Italiano di Tecnologia (IIT) -->
<!-- All Rights Reserved. -->

<application>

<name>ami-autonomous</name>
<description>Application to run module related to autonomous behaviour.</description>
<version>1.0</version>
<authors>
<author email="[email protected]">Carlos Cardenas</author>
</authors>

<application>
<name> ami-xbg</name>
</application>

<!-- <application>
<name> llm</name>
</application> -->

<application>
<name> xbgTwoRobots</name>
</application>

</application>
90 changes: 90 additions & 0 deletions ergoCubSN001/extra/applications/ami-xbg.xml
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<application>
<name>ami-xbg</name>

<module>
<name>yarprobotinterface</name>
<parameters>--config realsense2.xml</parameters>
<node>ergocub-head</node>
</module>
<module>
<name>ergoCubEmotions</name>
<parameters>--context ergoCubEmotions --from config.ini </parameters>
<node>ergocub-head</node>
</module>
<module>
<name>WalkingModule</name>
<parameters>--from dcm_walking_autonomous.ini</parameters>
<node>ergocub-torso</node>
</module>
<module>
<workdir>D:\element_llm-task-planner\src\talkingllm</workdir>
<name>python</name>
<parameters>allyGUI.py </parameters>
<node>llm-node</node>
</module>
<module>
<name>yarpdev</name>
<parameters>--device deviceBundler --wrapper_device AudioRecorderWrapper --attached_device portaudioRecorder --name /ergocub/microphone --min_samples_over_network 150 --max_samples_over_network 1000 --AUDIO_BASE::rate 16000 --AUDIO_BASE::samples 4000 --AUDIO_BASE::channels 1 --start</parameters>
<node>ergocub-torso</node>
</module>
<module>
<name>ffplay</name>
<parameters>-protocol_whitelist "file,udp,rtp" -nodisp audio_ffmpeg_llm.sdp</parameters>
<node>ergocub-head</node>
</module>
<module>
<name>ffmpeg</name>
<parameters>-f dshow -i audio="Stereo Mix (Realtek(R) Audio)" -acodec libopus -f rtp rtp://10.0.2.23:5000 -sdp_file C:/Users/ergocub/Documents/audio_ffmpeg_llm.sdp </parameters>
<node>llm-node</node>
</module>
<module>
<workdir>D:\element_llm-task-planner\src\talkingllm\config\walking_chat</workdir>
<name>yarprobotinterface</name>
<parameters>--config iframetransform_to_iwear_walking.xml</parameters>
<node>llm-node</node>
</module>
<module>
<workdir>D:\element_llm-task-planner\src\talkingllm</workdir>
<name>python</name>
<parameters>llmGUI.py</parameters>
<node>llm-node</node>
</module>
<module>
<workdir>/usr/local/src/robot/ami/element_exteroceptive-behaviour-generation/src/</workdir>
<name>conda</name>
<parameters>run -n autonomousenv python -m inference.inference</parameters>
<node>localhost</node>
</module>

<connection>
<output>/xbg/joints</output>
<input>/walking-coordinator/humanState:i</input>
<protocol>fast_tcp</protocol>
</connection>
<connection>
<output>/xbg/joypad</output>
<input>/talking_ergocub/joypad/xbg_joypad:i</input>
<protocol>fast_tcp</protocol>
</connection>
<connection>
<output>/talking_ergocub/joypad/joypad:o</output>
<input>/walking-coordinator/goal:i</input>
<protocol>fast_tcp</protocol>
</connection>
<connection>
<output>/talking_ergocub/FrameTransform/data:o</output>
<input>/talking_ergocub/FrameTransform/data:i</input>
<protocol>fast_tcp</protocol>
</connection>
<connection>
<output>/ergocub/microphone/audio:o</output>
<input>/talking_ergocub/asr/audio:i</input>
<protocol>fast_tcp</protocol>
</connection>
<connection>
<output>/xbg/joypad</output>
<input>/walking-coordinator/goal:i</input>
<protocol>fast_tcp</protocol>
</connection>

</application>
49 changes: 0 additions & 49 deletions ergoCubSN001/extra/applications/xbg.xml
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This file was deleted.

50 changes: 50 additions & 0 deletions ergoCubSN001/extra/applications/xbgTwoRobots.xml
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<application>
<name>xbgTwoRobots</name>

<module>
<name>yarprobotinterface</name>
<parameters>--config realsense2.xml</parameters>
<node>ergocub001-head</node>
</module>
<module>
<name>ergoCubEmotions</name>
<parameters>--context ergoCubEmotions --from config.ini --portprefix /ergocub001</parameters>
<node>ergocub001-head</node>
</module>
<module>
<name>WalkingModule</name>
<parameters>--from dcm_walking_autonomous.ini</parameters>
<node>ergocub001-torso</node>
</module>
<module>
<workdir>D:\element_llm-task-planner\src\talkingllm</workdir>
<name>python</name>
<parameters>allyGUI.py </parameters>
<node>llm-node</node>
</module>
<module>
<workdir>D:\element_llm-task-planner\src\talkingllm</workdir>
<name>python</name>
<parameters>llmGUI.py</parameters>
<node>llm-node</node>
</module>
<module>
<workdir>/usr/local/src/robot/ami/element_exteroceptive-behaviour-generation/</workdir>
<name>bash</name>
<parameters>xbgTwoRobots.sh </parameters>
<node>localhost</node>
</module>

<connection>
<output>/xbg001/joypad</output>
<input>/walking-coordinator-001/goal:i</input>
<protocol>fast_tcp</protocol>
</connection>
<connection>
<output>/xbg001/joints</output>
<input>/walking-coordinator-001/humanState:i</input>
<protocol>fast_tcp</protocol>
</connection>


</application>
2 changes: 1 addition & 1 deletion ergoCubSN001/hardware/FT/left_leg-eb9-j4_5-strain.xml
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Expand Up @@ -16,7 +16,7 @@
<group name="PROPERTIES">

<group name="CANBOARDS">
<param name="type"> strain2 </param>
<param name="type"> strain2c </param>

<group name="PROTOCOL">
<param name="major"> 2 </param>
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8 changes: 4 additions & 4 deletions ergoCubSN001/hardware/POS/left_hand-pos2.xml
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Expand Up @@ -19,8 +19,8 @@
<param name="minor"> 0 </param>
</group>
<group name="FIRMWARE">
<param name="major"> 2 </param>
<param name="minor"> 2 </param>
<param name="major"> 0 </param>
<param name="minor"> 0 </param>
<param name="build"> 0 </param>
</group>
</group>
Expand All @@ -40,8 +40,8 @@
<group name="CALIBRATION">
<!-- it is not mandatory. if not present, sensors have defaults: TYPE:decideg, ROT:zero, 0.0, false -->
<param name="type"> TYPE:decideg TYPE:decideg </param>
<param name="rotation"> ROT:plus180 ROT:zero </param>
<param name="offset"> -209.0 -161.0 </param>
<param name="rotation"> ROT:zero ROT:zero </param>
<param name="offset"> -178.0 -161.0 </param>
<param name="invertDirection"> true true </param>
</group>

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4 changes: 2 additions & 2 deletions ergoCubSN001/hardware/POS/left_hand-pos4.xml
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Expand Up @@ -19,8 +19,8 @@
<param name="minor"> 0 </param>
</group>
<group name="FIRMWARE">
<param name="major"> 2 </param>
<param name="minor"> 2 </param>
<param name="major"> 0 </param>
<param name="minor"> 0 </param>
<param name="build"> 0 </param>
</group>
</group>
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8 changes: 4 additions & 4 deletions ergoCubSN001/hardware/POS/right_hand-pos2.xml
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Expand Up @@ -19,8 +19,8 @@
<param name="minor"> 0 </param>
</group>
<group name="FIRMWARE">
<param name="major"> 2 </param>
<param name="minor"> 2 </param>
<param name="major"> 0 </param>
<param name="minor"> 0 </param>
<param name="build"> 0 </param>
</group>
</group>
Expand All @@ -40,8 +40,8 @@
<group name="CALIBRATION">
<!-- it is not mandatory. if not present, sensors have defaults: TYPE:decideg, ROT:zero, 0.0, false -->
<param name="type"> TYPE:decideg TYPE:decideg </param>
<param name="rotation"> ROT:plus180 ROT:zero </param>
<param name="offset"> -91.0 -291.0 </param>
<param name="rotation"> ROT:zero ROT:zero </param>
<param name="offset"> -239.0 -291.0 </param>
<param name="invertDirection"> false false </param>
</group>

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4 changes: 2 additions & 2 deletions ergoCubSN001/hardware/POS/right_hand-pos4.xml
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Expand Up @@ -19,8 +19,8 @@
<param name="minor"> 0 </param>
</group>
<group name="FIRMWARE">
<param name="major"> 2 </param>
<param name="minor"> 2 </param>
<param name="major"> 0 </param>
<param name="minor"> 0 </param>
<param name="build"> 0 </param>
</group>
</group>
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2 changes: 1 addition & 1 deletion ergoCubSN001/hardware/inertials/right_arm-eb3-j2_3-inertial.xml
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Expand Up @@ -16,7 +16,7 @@
<group name="PROPERTIES">

<group name="CANBOARDS">
<param name="type"> mtb4c </param>
<param name="type"> mtb4 </param>

<group name="PROTOCOL">
<param name="major"> 2 </param>
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3 changes: 2 additions & 1 deletion ergoCubSN001/hardware/mechanicals/left_arm-eb2-j0_1-mec.xml
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Expand Up @@ -30,7 +30,8 @@
<param name="Verbose"> 0 0 </param>
<param name="AutoCalibration"> 0 0 </param>
<param name="HasHallSensor"> 0 0 </param>
<param name="TemperatureSensorType"> NONE NONE </param> <!-- if using set it to PT100. HasTempSensor is gonna be deprecated -->
<param name="TemperatureSensorType"> PT100 PT100 </param> <!-- Supported values: PT100 or NONE -->
<!-- <param name="TemperatureSensorType"> NONE NONE </param> -->
<param name="HasRotorEncoder"> 1 1 </param>
<param name="HasRotorEncoderIndex"> 1 1 </param>
<param name="HasSpeedEncoder"> 0 0 </param>
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2 changes: 1 addition & 1 deletion ergoCubSN001/hardware/mechanicals/left_arm-eb23-j7_10-mec.xml
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Expand Up @@ -25,7 +25,7 @@
<group name="LIMITS">
<param name="hardwareJntPosMax"> 90 90 90 90 </param>
<param name="hardwareJntPosMin"> 0 0 0 0 </param>
<param name="rotorPosMin"> -26500 -26500 -26500 -26500 </param>
<param name="rotorPosMin"> -28000 -28000 -28000 -28000 </param>
<param name="rotorPosMax"> -100 -100 -100 -100 </param>
</group>

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3 changes: 2 additions & 1 deletion ergoCubSN001/hardware/mechanicals/left_arm-eb4-j2_3-mec.xml
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<param name="Verbose"> 0 0 </param>
<param name="AutoCalibration"> 0 0 </param>
<param name="HasHallSensor"> 0 0 </param>
<param name="TemperatureSensorType"> NONE NONE </param> <!-- if using set it to PT100. HasTempSensor is gonna be deprecated-->
<param name="TemperatureSensorType"> PT100 PT100 </param> <!-- Supported values: PT100 or NONE -->
<!-- <param name="TemperatureSensorType"> NONE NONE </param> -->
<param name="HasRotorEncoder"> 1 1 </param>
<param name="HasRotorEncoderIndex"> 1 1 </param>
<param name="HasSpeedEncoder"> 0 0 </param>
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3 changes: 2 additions & 1 deletion ergoCubSN001/hardware/mechanicals/right_arm-eb1-j0_1-mec.xml
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Expand Up @@ -30,7 +30,8 @@
<param name="AutoCalibration"> 0 0 </param>
<param name="Verbose"> 0 0 </param>
<param name="HasHallSensor"> 0 0 </param>
<param name="TemperatureSensorType"> NONE NONE </param> <!-- if using set it to PT100. HasTempSensor is gonna be deprecated -->
<param name="TemperatureSensorType"> PT100 PT100 </param> <!-- Supported values: PT100 or NONE -->
<!-- <param name="TemperatureSensorType"> NONE NONE </param> -->
<param name="HasRotorEncoder"> 1 1 </param>
<param name="HasRotorEncoderIndex"> 1 1 </param>
<param name="HasSpeedEncoder"> 0 0 </param>
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2 changes: 1 addition & 1 deletion ergoCubSN001/hardware/mechanicals/right_arm-eb22-j7_10-mec.xml
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Expand Up @@ -26,7 +26,7 @@
<!-- After run 1st round of calibration check best rotorPosMin and rotorPosMin on motor position in the yarpmotorgui and set them (just do that one time)-->
<param name="hardwareJntPosMax"> 90 90 90 90 </param>
<param name="hardwareJntPosMin"> 0 0 0 0 </param>
<param name="rotorPosMin"> -26500 -26500 -26500 -26500 </param>
<param name="rotorPosMin"> -28000 -28000 -28000 -28000 </param>
<param name="rotorPosMax"> -100 -100 -100 -100 </param>
</group>

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3 changes: 2 additions & 1 deletion ergoCubSN001/hardware/mechanicals/right_arm-eb3-j2_3-mec.xml
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<param name="AutoCalibration"> 0 0 </param>
<param name="Verbose"> 0 0 </param>
<param name="HasHallSensor"> 0 0 </param>
<param name="TemperatureSensorType"> NONE NONE </param> <!-- if using set it to PT100. HasTempSensor is gonna be deprecated -->
<param name="TemperatureSensorType"> PT100 PT100 </param> <!-- Supported values: PT100 or NONE -->
<!-- <param name="TemperatureSensorType"> NONE NONE </param> -->
<param name="HasRotorEncoder"> 1 1 </param>
<param name="HasRotorEncoderIndex"> 1 1 </param>
<param name="HasSpeedEncoder"> 0 0 </param>
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