From 7d0b2f4f51a74caccbe5409677e025c63fecf966 Mon Sep 17 00:00:00 2001 From: Stefano Dafarra Date: Thu, 27 Jun 2024 09:49:20 +0200 Subject: [PATCH 1/7] Modified documentation to use the credential store only for the icub-tech fork --- .github/local-workflow-tech.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.github/local-workflow-tech.md b/.github/local-workflow-tech.md index f65ed388d3..74107c0b0d 100644 --- a/.github/local-workflow-tech.md +++ b/.github/local-workflow-tech.md @@ -7,7 +7,7 @@ Technicalities underlying the fast-pace local workflow ```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.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. From 2883e9c993b48f4ea6ee099bfea194a0639f5b2e Mon Sep 17 00:00:00 2001 From: Stefano Dafarra Date: Thu, 27 Jun 2024 10:03:29 +0200 Subject: [PATCH 2/7] Temporarily remove the use of the AMO in the left shoulder pitch --- .../hardware/motorControl/left_arm-eb2-j0_1-mc_service.xml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) 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 From e2c01bce74e3d55466c241163614827917d179f4 Mon Sep 17 00:00:00 2001 From: Stefano Dafarra Date: Thu, 27 Jun 2024 10:30:10 +0200 Subject: [PATCH 3/7] SN002 legs fine calibration --- ergoCubSN002/calibrators/left_leg-calib.xml | 2 +- ergoCubSN002/calibrators/right_leg-calib.xml | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) 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 From dbf0301f47dc2310156ad175a834f684f6915daf Mon Sep 17 00:00:00 2001 From: Stefano Dafarra Date: Thu, 27 Jun 2024 10:35:39 +0200 Subject: [PATCH 4/7] Added arms wrench ports in SN002 --- ergoCubSN002/estimators/wholebodydynamics.xml | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) 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) From fab4f646e4983b1f431b8250f0372ba9c37a24f2 Mon Sep 17 00:00:00 2001 From: Stefano Dafarra Date: Thu, 27 Jun 2024 12:45:23 +0200 Subject: [PATCH 5/7] Minor modification to local-workflow-tech.md --- .github/local-workflow-tech.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.github/local-workflow-tech.md b/.github/local-workflow-tech.md index 74107c0b0d..0d3b8f1884 100644 --- a/.github/local-workflow-tech.md +++ b/.github/local-workflow-tech.md @@ -10,7 +10,7 @@ Technicalities underlying the fast-pace local workflow git config --local credential.https://github.com/icub-tech-iit/robots-configuration.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. +- 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:@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 in `~/.git-credentials` upfront as well. 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. From b89000b2e0338f60f6c2c73bdc18d7dd116938ff Mon Sep 17 00:00:00 2001 From: Stefano Dafarra Date: Thu, 27 Jun 2024 13:04:44 +0200 Subject: [PATCH 6/7] More info on the credentials storing for the local workflow documentation --- .github/local-workflow-tech.md | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/.github/local-workflow-tech.md b/.github/local-workflow-tech.md index 0d3b8f1884..35fa786270 100644 --- a/.github/local-workflow-tech.md +++ b/.github/local-workflow-tech.md @@ -10,7 +10,9 @@ Technicalities underlying the fast-pace local workflow git config --local credential.https://github.com/icub-tech-iit/robots-configuration.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:@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 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. From 89aa49b8c23311e2360979be63f03ec97253e085 Mon Sep 17 00:00:00 2001 From: Stefano Dafarra Date: Thu, 27 Jun 2024 13:28:54 +0200 Subject: [PATCH 7/7] Added more info to the local workflow md file --- .github/local-workflow-tech.md | 11 +++++++++-- 1 file changed, 9 insertions(+), 2 deletions(-) diff --git a/.github/local-workflow-tech.md b/.github/local-workflow-tech.md index 35fa786270..27f5fabf60 100644 --- a/.github/local-workflow-tech.md +++ b/.github/local-workflow-tech.md @@ -1,13 +1,20 @@ 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.https://github.com/icub-tech-iit/robots-configuration.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. - 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. @@ -18,7 +25,7 @@ Technicalities underlying the fast-pace local workflow ## 🔲 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/ ```