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Devel ergo cub sn002 #661

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merged 7 commits into from
Jun 27, 2024
Merged

Devel ergo cub sn002 #661

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7d0b2f4
Modified documentation to use the credential store only for the icub-…
S-Dafarra Jun 27, 2024
2883e9c
Temporarily remove the use of the AMO in the left shoulder pitch
S-Dafarra Jun 27, 2024
e2c01bc
SN002 legs fine calibration
S-Dafarra Jun 27, 2024
dbf0301
Added arms wrench ports in SN002
S-Dafarra Jun 27, 2024
fab4f64
Minor modification to local-workflow-tech.md
S-Dafarra Jun 27, 2024
b89000b
More info on the credentials storing for the local workflow documenta…
S-Dafarra Jun 27, 2024
89aa49b
Added more info to the local workflow md file
S-Dafarra Jun 27, 2024
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15 changes: 12 additions & 3 deletions .github/local-workflow-tech.md
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@@ -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 "[email protected]"
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:<PAT>`). 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:<PAT>@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:<PAT>@github`. Alternatively, when attempting to push the first time, it is enough to use `icub-tech-iit-bot` as user and specifying the `<PAT>` 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/
```
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2 changes: 1 addition & 1 deletion ergoCubSN001/hardware/motorControl/left_arm-eb2-j0_1-mc_service.xml
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</group>

<group name="ENCODER1">
<param name="type"> amo amo </param>
<param name="type"> none amo </param>
<param name="port"> CONN:P6 CONN:P8 </param>
<param name="position"> atjoint atjoint </param>
<param name="resolution"> -16384 16384 </param>
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2 changes: 1 addition & 1 deletion ergoCubSN002/calibrators/left_leg-calib.xml
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<param name="calibration3"> 0.0 0.0 0 0 0 0 </param>
<param name="calibration4"> 0.0 0.0 0 0 0 0 </param>
<param name="calibration5"> 0.0 0.0 0 0 0 0 </param>
<param name="calibrationZero"> 109.27 110.848 81.65 6.38 -46.624 25.808 </param>
<param name="calibrationZero"> 109.07 110.848 81.65 7.91 -46.047 27.401 </param>
<param name="calibrationDelta"> 0 0 0 0 0 0 </param>
<param name="startupPosition"> 90 80 0 -95 0 0 </param>
<param name="startupVelocity"> 10.0 10.0 10.0 10 10 10 </param>
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2 changes: 1 addition & 1 deletion ergoCubSN002/calibrators/right_leg-calib.xml
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<param name="calibration3"> 0.0 0.0 0 0 0 0 </param>
<param name="calibration4"> 0.0 0.0 0 0 0 0 </param>
<param name="calibration5"> 0.0 0.0 0 0 0 0 </param>
<param name="calibrationZero"> 108.705 111.133 79.808 7.79 -46.012 25.181 </param>
<param name="calibrationZero"> 109.545 111.133 79.808 7.56 -47.272 25.758 </param>
<param name="calibrationDelta"> 0 0 0 0 0 0 </param>

<param name="startupPosition"> 90 80 0 -95 0 0 </param>
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8 changes: 4 additions & 4 deletions ergoCubSN002/estimators/wholebodydynamics.xml
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<group name="WBD_OUTPUT_EXTERNAL_WRENCH_PORTS">
<!-- <param name="/wholeBodyDynamics/left_arm/cartesianEndEffectorWrench:o">(l_hand_palm,l_hand_palm,root_link)</param> -->
<!-- <param name="/wholeBodyDynamics/right_arm/cartesianEndEffectorWrench:o">(r_hand_palm,r_hand_palm,root_link)</param> -->
<!-- <param name="/wholeBodyDynamics/left_leg/cartesianEndEffectorWrench:o">(l_lower_leg,l_lower_leg,root_link)</param> -->
<!-- <param name="/wholeBodyDynamics/right_leg/cartesianEndEffectorWrench:o">(r_lower_leg,r_lower_leg,root_link)</param> -->
<param name="/wholeBodyDynamics/left_arm/cartesianEndEffectorWrench:o">(l_hand_palm,l_hand_palm,root_link)</param>
<param name="/wholeBodyDynamics/right_arm/cartesianEndEffectorWrench:o">(r_hand_palm,r_hand_palm,root_link)</param>
<param name="/wholeBodyDynamics/left_leg/cartesianEndEffectorWrench:o">(l_lower_leg,l_lower_leg,root_link)</param>
<param name="/wholeBodyDynamics/right_leg/cartesianEndEffectorWrench:o">(r_lower_leg,r_lower_leg,root_link)</param>
<param name="/wholeBodyDynamics/left_foot_front/cartesianEndEffectorWrench:o">(l_foot_front,l_sole,l_sole)</param>
<param name="/wholeBodyDynamics/left_foot_rear/cartesianEndEffectorWrench:o">(l_foot_rear,l_sole,l_sole)</param>
<param name="/wholeBodyDynamics/right_foot_front/cartesianEndEffectorWrench:o">(r_foot_front,r_sole,r_sole)</param>
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