diff --git a/.github/local-workflow-tech.md b/.github/local-workflow-tech.md index f65ed388d3..27f5fabf60 100644 --- a/.github/local-workflow-tech.md +++ b/.github/local-workflow-tech.md @@ -1,22 +1,31 @@ Technicalities underlying the fast-pace local workflow ====================================================== +## 🔲 Clone the fork locally +- Clone the ``icub-tech-iit`` fork + ```console + git remote add icub-tech https://github.com/icub-tech-iit/robots-configuration.git + ``` +- Switch to the branch corresponding to the robot. + ## 🔲 Set the default committer - Fine-grained PAT can be scoped to work on a specified organization and only on a specified repository. - To store credentials locally, one needs to issue the following, once the fork is cloned locally: ```console git config --local user.name "icub-tech-iit-bot" git config --local user.email "icub-tech@iit.it" - git config --local credential.helper store + git config --local credential.https://github.com/icub-tech-iit/robots-configuration.git.helper store ``` ⚠️ Note the use of the option `--local` to avoid impacting Git globally on the system. -- The first time there's a push, the PAT needs to be provided. The credentials will be stored plainly under `~/.git-credentials` (the format is: `https://icub-tech-iit-bot:`). No worries though, as this PAT has a very narrowed use and impacts a fork that is backed up anyhow by the upstream repository. The PAT can be stored in `~/.git-credentials` upfront as well. Being the local system shared, no one else should store his/her PAT in the same file. +- In order to push without password, the PAT needs to be provided. The credentials will be stored plainly under `~/.git-credentials` (the format is: `https://icub-tech-iit-bot:@github`). No worries though, as this PAT has a very narrowed use and impacts a fork that is backed up anyhow by the upstream repository. +- The PAT can be stored manually in `~/.git-credentials` with the format `https://icub-tech-iit-bot:@github`. Alternatively, when attempting to push the first time, it is enough to use `icub-tech-iit-bot` as user and specifying the `` as password. These will be stored in the `~/.git-credentials` file automatically. +- ⚠️ Being the local system shared, no one else should store his/her PAT in the same file. - ⌛ The PAT expires after **`1 year`** at the latest, thus needing to be regenerated. - The upstream maintainer will take care of the PAT. ## 🔲 Ensure that the author information is specified explicitly at commit time - We do rely on [Git hoooks](../.githooks). -- After cloning the fork locally, issue: +- Run the following command from the `robots-configuration` root folder: ```console git config --local core.hooksPath .githooks/ ``` diff --git a/ergoCubSN001/hardware/motorControl/left_arm-eb2-j0_1-mc_service.xml b/ergoCubSN001/hardware/motorControl/left_arm-eb2-j0_1-mc_service.xml index 009e9a14d3..c5e5ed71cb 100644 --- a/ergoCubSN001/hardware/motorControl/left_arm-eb2-j0_1-mc_service.xml +++ b/ergoCubSN001/hardware/motorControl/left_arm-eb2-j0_1-mc_service.xml @@ -36,7 +36,7 @@ - amo amo + none amo CONN:P6 CONN:P8 atjoint atjoint -16384 16384 diff --git a/ergoCubSN002/calibrators/left_leg-calib.xml b/ergoCubSN002/calibrators/left_leg-calib.xml index 9433981ff3..2a9f179482 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 - 109.27 110.848 81.65 6.38 -46.624 25.808 + 109.07 110.848 81.65 7.91 -46.047 27.401 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/calibrators/right_leg-calib.xml b/ergoCubSN002/calibrators/right_leg-calib.xml index 21b5a6f3ce..b27fd701d9 100644 --- a/ergoCubSN002/calibrators/right_leg-calib.xml +++ b/ergoCubSN002/calibrators/right_leg-calib.xml @@ -22,7 +22,7 @@ 0.0 0.0 0 0 0 0 0.0 0.0 0 0 0 0 0.0 0.0 0 0 0 0 - 108.705 111.133 79.808 7.79 -46.012 25.181 + 109.545 111.133 79.808 7.56 -47.272 25.758 0 0 0 0 0 0 90 80 0 -95 0 0 diff --git a/ergoCubSN002/estimators/wholebodydynamics.xml b/ergoCubSN002/estimators/wholebodydynamics.xml index 58f25db470..b662ac1807 100644 --- a/ergoCubSN002/estimators/wholebodydynamics.xml +++ b/ergoCubSN002/estimators/wholebodydynamics.xml @@ -39,10 +39,10 @@ - - - - + (l_hand_palm,l_hand_palm,root_link) + (r_hand_palm,r_hand_palm,root_link) + (l_lower_leg,l_lower_leg,root_link) + (r_lower_leg,r_lower_leg,root_link) (l_foot_front,l_sole,l_sole) (l_foot_rear,l_sole,l_sole) (r_foot_front,r_sole,r_sole)