Parametrized Wrist decoupler and aea3 support in AMC board #424
Conversation
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
…wrist_decoupler library
… also in non wrist configuration.
Removed wrist project
This was referenced Oct 10, 2023
Add ergocubwrist constraint in the joint mechanical specification
robotology/icub-firmware-shared#88
Merged
EMS 1.76, AMC 1.1, MC2PLUS 3.58, MC4PLUS 3.79
valegagge
force-pushed
the
wristMK2plusAEA3
branch
from
e349115 to
d36f008
Compare
marcoaccame
reviewed
Oct 13, 2023
There was a problem hiding this comment.
Hi @valegagge, the changes are OK. Thanks.
The amc w/ the decoupler works on the setup and it is very useful to have the amc single project. I used it for some tests I had to do where the decoupler is not called and it works fine.
We wait till next week to complete the evaluation of execution duration of the decoupler and we shall merge afterwards.
Today @valegagge @sgiraz and I tested the |
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
In this PR the main changes are:
Other details:
icub-firmware-wrist\emBODY\eBcode\arch-arm\board\amc\application\v1WRIST_MK2macro, only to avoid compiling the decoupler in the EMS board. It is important to notice that the wrist decoupler can be activated by software by configuring the correctjointset-constraintin the configuration filesWRIST_MK2macro has been added to activate the code related to the wrist decoupler. As said before, if we want to run the controller without the wrist decoupler, we don't need to remove theWRIST_MK2macro in the project, but only set the correct parameter in the configuration files. For more details see here Updated mechanical file in iCubTemplateV6_0 with the ergoCub wrist constraint robots-configuration#578Note
This is a personal note: I developed the code in order to make it completely configurable and, in general, I'm not a fan of MACRO in the code, but in this case, it's the faster and safer solution because of the RAM issue on EMS.