[R1SN003] change calib values for right hand #749
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Summary of Changes
Hello @filippoborgogni, 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 introduces a comprehensive set of updates across multiple robot configurations, including R1SN003, ergoCubSN000, and ergoCubSN001. The primary focus is on refining calibration values for various robot parts, such as arms, legs, and head, to enhance precision. A significant architectural change involves the integration of new Joint Torque Control (JTC) configurations for ergoCubSN000's arms, legs, and torso, alongside updates to Kalman filter parameters in motor controllers. The changes also encompass adjustments to mechanical limits, sensor configurations, and a general refactoring of XML device loading. Furthermore, the pull request updates skin sensor configurations and introduces new aliases for multi-robot operations, reflecting ongoing development and optimization of the robot's capabilities.
Highlights
- Extensive Calibration Updates: This pull request significantly updates calibration values across multiple robot parts and configurations for R1SN003, ergoCubSN000, and ergoCubSN001, ensuring more precise robot operation.
- Introduction of Joint Torque Control (JTC): New Joint Torque Control (JTC) configurations have been introduced for arms, legs, and torso, and integrated into the 'ergocub.xml' files for ergoCubSN000, laying the groundwork for advanced control strategies.
- Kalman Filter Parameter Refinements: Kalman filter parameters have been fine-tuned and updated across various motor control XMLs, aiming to improve the accuracy of velocity and acceleration estimations for different joints.
- Hardware Configuration Adjustments: The configuration files for mechanical limits, sensor types, and motor control services have been adjusted, reflecting hardware updates and optimizing robot performance.
- XML Structure Refactoring: The 'ergocub.xml' files have been refactored to remove outdated POS wrappers and update motor control remapper includes, streamlining the robot's device loading process.
- Force-Torque Sensor Configuration Update: The 'wholebodydynamics.xml' files have been modified to exclude leg force-torque sensors from the main list, potentially simplifying or specializing force-torque data processing.
- Tactile Skin Configuration Enhancements: Skin configuration files for ergoCubSN001 and ergoCubSN002 have received updates, including changes to 'skinType', 'cdcOffset', and 'triangleSetCfg' parameters, which are crucial for tactile sensing.
- Head Control Architecture Revision (ergoCubSN002): Head motor control and mechanical files for ergoCubSN002 have been renamed and updated, indicating a significant revision of the head's control architecture.
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[R1SN003] change calib values for right hand.
See the reference issue: